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DeviceNet

Adapter
22-COMM-D
FRN 1.xxx

User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. “Safety Guidelines for the Application, Installation
and Maintenance of Solid State Controls” (Publication SGI-1.1 available from
your local Rockwell Automation Sales Office or online at http://www.ab.com/
manuals/gi) describes some important differences between solid state equipment
and hard-wired electromechanical devices. Because of this difference, and also
because of the wide variety of uses for solid state equipment, all persons
responsible for applying this equipment must satisfy themselves that each intended
application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or
consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with any
particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of
information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written
permission of Rockwell Automation, Inc. is prohibited.
Throughout this manual we use notes to make you aware of safety considerations.

ATTENTION: Identifies information about practices or circumstances


that can lead to personal injury or death, property damage, or economic
! loss.

Attentions help you:


• identify a hazard
• avoid the hazard
• recognize the consequences

Important: Identifies information that is especially important for successful


application and understanding of the product.

Shock Hazard labels may be located on or inside the drive to alert


people that dangerous voltage may be present.

Allen-Bradley, DriveExplorer, DriveTools 2000, PLC-5, PowerFlex, SCANport, and SLC are trademarks of Rockwell
Automation, Inc.
RSLinx, RSLogix, and RSNetWorx are trademarks of Rockwell Software.
DeviceNet is a trademark of the Open DeviceNet Vendor Association.
Windows, Windows CE, Windows NT, and Microsoft are either registered trademarks or trademarks of Microsoft Corporation.
Summary of Changes

This is the first release of the DeviceNet adapter FRN 1.xxx.


S-ii Summary of Changes
Table of Contents

Preface About This Manual


Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . . P-2
Rockwell Automation Support. . . . . . . . . . . . . . . . . . . . . . . . P-2

Chapter 1 Getting Started


Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Chapter 2 Installing the Adapter


Preparing for an Installation. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Commissioning the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Connecting the Adapter to the Network . . . . . . . . . . . . . . . . 2-4
Connecting the Adapter to the Drive . . . . . . . . . . . . . . . . . . . 2-5
Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

Chapter 3 Configuring the Adapter


Configuration Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Using the PowerFlex 4-Class HIM . . . . . . . . . . . . . . . . . . . . 3-2
Using RSNetWorx for DeviceNet . . . . . . . . . . . . . . . . . . . . . 3-3
Setting the Node Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Setting the Data Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Setting the I/O Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Selecting COS, Cyclic, or Polled I/O. . . . . . . . . . . . . . . . . . . 3-8
Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Resetting the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Viewing the Adapter Configuration . . . . . . . . . . . . . . . . . . . 3-12

Chapter 4 Configuring the Scanner


Example Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Setting Up the Scan List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Mapping the Drive Data in the Scanner . . . . . . . . . . . . . . . . . 4-5
Saving the Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
ii Table of Contents

Chapter 5 Using I/O Messaging


About I/O Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Example Ladder Logic Programs . . . . . . . . . . . . . . . . . . . . . 5-3
ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

Chapter 6 Using Explicit Messaging


About Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Formatting Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Running Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

Chapter 7 Using Multi-Drive Mode


Single Mode vs. Multi-Drive Mode . . . . . . . . . . . . . . . . . . . . 7-1
System Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Configuring the RS-485 Network . . . . . . . . . . . . . . . . . . . . . 7-5
Multi-Drive Ladder Logic Program Example . . . . . . . . . . . . 7-6
ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
Multi-Drive Mode Explicit Messaging . . . . . . . . . . . . . . . . 7-20
Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22

Chapter 8 Troubleshooting
Locating the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . 8-1
PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
MOD Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Net A Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Module Diagnostic Items in Single Drive Mode . . . . . . . . . . 8-4
Module Diagnostic Items in Multi-Drive Mode . . . . . . . . . . 8-5
Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . 8-6

Appendix A Specifications
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Regulatory Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Table of Contents iii

Appendix B Adapter Parameters


About Parameter Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Appendix C DeviceNet Objects


Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Connection Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Register Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8
Parameter Group Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . C-11
PCCC Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13

Appendix D Logic Command/Status Words


PowerFlex 4 and PowerFlex 40 Drives . . . . . . . . . . . . . . . . D-1

Glossary

Index
iv Table of Contents
Preface

About This Manual

Topic Page
Related Documentation P-1
Conventions Used in this Manual P-2
Rockwell Automation Support P-2

Related Documentation

For: Refer to: Publication


DeviceNet™ Cables DeviceNet Product Overview DN-2.5
and Components
DeviceNet Network DeviceNet Cable System Planning and Installation DN-6.7.2
Installation Manual
DeviceNet Networks DeviceNet Starter Kit DN-6.5.16
DriveExplorer™ DriveExplorer Getting Results Manual 9306-5.2
Online help (installed with the software)
DriveTools 2000™ DriveTools 2000 Online Help –
HIM HIM Quick Reference 22HIM-QR001…
Logix 5550 ControlLogix DeviceNet Scanner Installation Instructions 1756-5.66
PowerFlex™ 4 PowerFlex 4 User Manual 22A-UM001…
Drive PowerFlex 4 Quick Start 22A-QS001…
PowerFlex™ 40 PowerFlex 40 User Manual 22B-UM001…
Drive PowerFlex 40 Quick Start 22B-QS001…
RSLinx™ Getting Results with RSLinx 9399-WAB32GR
Online help (installed with the software)
RSLogix™ 5 RSLogix 5 Getting Results Guide 9399-RL53GR
Online help (installed with the software)
RSLogix 500 RSLogix 500 Getting Results Guide 9399-RL50GR
Online help (installed with the software)
RSLogix 5000 RSLogix 5000 Getting Results Guide 9399-RLD300GR
Online help (installed with the software)
RSNetWorx™ for RSNetWorx for DeviceNet Getting Results Guide 9398-DNETGR
DeviceNet Online help (installed with the software)
SLC 500™ and DeviceNet Scanner Module Installation Instructions 1747-5.8
1747-SDN DeviceNet Scanner Module Configuration Manual 1747-6.5.2
PLC-5™ and DeviceNet Scanner Module Installation Instructions 1747-5.14
1771-SDN DeviceNet Scanner Module Configuration Manual 1771-6.5.118

Documentation can be obtained online at http://www.ab.com/manuals.


P-2 About This Manual

Conventions Used in this Manual


The following conventions are used throughout this manual:
• Parameter names are shown in the following format Parameter
xx - [*]. The xx represents the parameter number. The * represents
the parameter name. For example Parameter 01 - [Mode].
• Menu commands are shown in bold type face and follow the format
Menu > Command. For example, if you read “Select File > Open,”
you should click the File menu and then click the Open command.
• RSNetWorx for DeviceNet (version 4.01), RSLinx (version 2.40),
and RSLogix5000 (version 11) were used for the screen shots in this
manual. Different versions of the software may differ in appearance
and procedures.
• The firmware release is displayed as FRN X.xxx. The “FRN”
signifies Firmware Release Number. The “X” is the major release
number. The “xxx” is the minor update number. This manual is for
Firmware release 1.xxx.
• This manual provides information about the DeviceNet adapter and
using it with PowerFlex 40 drives. The adapter can be used with other
products that support an internal DSI adapter. Refer to the
documentation for your product for specific information about how it
works with the adapter.

Rockwell Automation Support


Rockwell Automation, Inc. offers support services worldwide, with over
75 sales/support offices, over 500 authorized distributors, and over 250
authorized systems integrators located through the United States alone.
In addition, Rockwell Automation, Inc. representatives are in every
major country in the world.

Local Product Support


Contact your local Rockwell Automation, Inc. representative for sales
and order support, product technical training, warranty support, and
support service agreements.

Technical Product Assistance


If you need to contact Rockwell Automation, Inc. for technical assistance,
please review the information in Chapter 8, Troubleshooting first. If you
still have problems, then call your local Rockwell Automation, Inc.
representative.
Chapter 1

Getting Started

The 22-COMM-D DeviceNet adapter is a communication option


intended for installation into a PowerFlex 40 drive. It can also be used
with other Allen-Bradley products that support an internal DSI adapter.
The Multi-Drive feature (Chapter 7) also provides a means for
PowerFlex 4 drives and other DSI Hosts to connect to DeviceNet.

Topic Page Topic Page


Components 1-1 Safety Precautions 1-4
Features 1-2 Quick Start 1-5
Compatible Products 1-3 Modes of Operation 1-6
Required Equipment 1-3

Components
Figure 1.1 Components of the Adapter


Item Part Description


➊ Status Three LEDs that indicate the status of the connected drive,
Indicators adapter, and network. Refer to Chapter 8, Troubleshooting.
➋ DSI Connector A 20-pin, single-row shrouded male header. An Internal
Interface cable is connected to this connector and a connector
on the drive.
➌ DeviceNet A 5-pin connector to which a 5-pin linear plug can be connected.
Connector
➍ Node Address/ Switches for setting the node address and network data rate.
Rate Switches Refer to Chapter 2, Installing the Adapter.
➎ Mode Jumper Selects Single or Multi-Drive mode of operation. Refer to
(J2) Chapter 2, Installing the Adapter.
1-2 Getting Started

Features
The DeviceNet adapter features the following:

• The adapter is mounted in the PowerFlex 40 drive. It receives the


required power from the drive and from the DeviceNet network.

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

• A jumper lets you select between Single or Multi-Drive mode of


operation. In Single mode, the adapter represents a single drive on
one node. In Multi-Drive mode, the adapter represents up to 5 drives
on one node.

• A number of configuration tools can be used to configure the adapter


and connected drive. The tools include an external PowerFlex
4-Class HIM (22-HIM-*), network software such as RSNetWorx for
DeviceNet, or drive-configuration software such as DriveExplorer
(version 3.01 or higher) or DriveTools 2000 (version 1.01 or higher).

• Status indicators report the status of the drive communications,


adapter, and network.

• I/O, including Logic Command/Reference, may be configured for


your application using a parameter.

• Explicit and UCMM (Unconnected Message Manager) Messages are


supported.

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


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

• User-defined fault actions determine how the adapter and PowerFlex


drive respond to communication disruptions on the network and
controllers in idle mode.

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


when it is faulted on the network if you have a configuration tool that
uses faulted node recovery and have properly set the adapter node
address switches and data rate switches.
Getting Started 1-3

Compatible Products
The DeviceNet adapter is compatible with Allen-Bradley PowerFlex
drives and other products that support an internal DSI adapter. At the
time of publication, compatible products include:

• PowerFlex 40 drives

The Multi-Drive feature (Chapter 7) also provides a means for


PowerFlex 4 drives and other DSI Hosts to connect to DeviceNet.

Required Equipment

Equipment Shipped with the Adapter

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

❑ One DeviceNet adapter


❑ One five-pin linear DeviceNet plug
(connected to the DeviceNet connector on the adapter)
❑ A 15.24 cm (6 in.) Internal Interface Cable
❑ One grounding wrist strap
❑ This manual

User-Supplied Equipment

To install and configure the DeviceNet adapter, you must supply:

❑ A small flathead screwdriver


❑ DeviceNet cable
– Thin cable with an outside diameter of 6.9 mm (0.27 in.) is
recommended
❑ Configuration tool, such as:
– PowerFlex 4-Class HIM (22-HIM-*)
– DriveExplorer (version 3.01 or higher)
– DriveTools 2000 (version 1.01 or higher)
– RSNetWorx for DeviceNet
– Serial Converter (22-SCM-232)
❑ Computer with a DeviceNet communications adapter installed
(Examples: 1784-PCD, 1784-PCID, 1784-PCIDS, or 1770-KFD)
❑ Controller configuration software
(Examples: RSLogix5, RSLogix500, or RSLogix 5000)
1-4 Getting Started

Safety Precautions
Please read the following safety precautions carefully:

ATTENTION: Risk of injury or death exists. The PowerFlex drive


may contain high voltages that can cause injury or death. Remove all
! power from the PowerFlex drive, and then verify power has been
removed before installing or removing an adapter.
ATTENTION: Risk of injury or equipment damage exists. Only
personnel familiar with drive and power products and the associated
! machinery should plan or implement the installation, start-up,
configuration, and subsequent maintenance of the product using a
DeviceNet adapter. Failure to comply may result in injury and/or
equipment damage.
ATTENTION: Risk of injury or equipment damage exists. If the
DeviceNet adapter is transmitting control I/O to the drive, the drive may
! fault when you reset the adapter. Determine how your drive will
respond before resetting an adapter.
ATTENTION: Risk of injury or equipment damage exists.
Parameters 7 - [Comm Flt Action] and 8 - [Idle Flt Action] let you
! determine the action of the adapter and connected PowerFlex drive if
communications are disrupted. By default, these parameters fault the
PowerFlex drive. You can set these parameters so that the PowerFlex
drive continues to run. Precautions should be taken to ensure that the
settings of these parameters do not create a hazard of injury or
equipment damage.
ATTENTION: Hazard of injury or equipment damage exists. When a
system is configured for the first time, there may be unintended or
! incorrect machine motion. Disconnect the motor from the machine or
process during initial system testing.
ATTENTION: Hazard of injury or equipment damage exists. The
examples in this publication are intended solely for purposes of
! example. There are many variables and requirements with any
application. Rockwell Automation, Inc. does not assume responsibility
or liability (to include intellectual property liability) for actual use of
the examples shown in this publication.
Getting Started 1-5

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

Step Refer to
1 Review the safety precautions for the adapter. Throughout This
Manual
2 Verify that the PowerFlex drive is properly installed. Drive User
Manual
3 Commission the adapter.
Set a unique node address and the appropriate data rate using
the switches on the adapter. If desired, you can disable the
switches and use parameter settings instead.
4 Install the adapter.
Verify that the PowerFlex drive and DeviceNet network are not
powered. Then, connect the adapter to the network using a Chapter 2,
DeviceNet cable and to the drive using the Internal Interface Installing the
cable. Use the captive screws to secure and ground the adapter Adapter
to the drive.
5 Apply power to the adapter.
The adapter receives power from the drive and network. Apply
power to the network and to the drive. The status indicators
should be green. If they flash red, there is a problem. Refer to
Chapter 8, Troubleshooting.
6 Configure the adapter for your application. Chapter 3,
Set the following parameters for the adapter as required by your Configuring the
application: Adapter
• Node address and data rate.
• I/O configuration.
• Change of State, Cyclic, or polled I/O data exchange.
• Fault actions.
7 Apply power to the DeviceNet master and other devices on DeviceNet
the network. Cable System
Verify that the master and network are installed and functioning in Planning and
accordance with DeviceNet standards, and then apply power to Installation
them. Manual
8 Configure the scanner to communicate with the adapter. Chapter 4,
Use a network tool such as RSNetWorx for DeviceNet to Configuring the
configure the scanner on the network. Make sure to: Scanner
• Set up the scan list.
• Map the adapter data to the scan list.
• Save your DeviceNet configuration to the scanner and a file.
9 Create a ladder logic program. Chapter 5,
Use a programming tool such as RSLogix to create a ladder logic Using I/O
program that enables you to do the following: Messaging
• Control the adapter and connected drive.
• Monitor or configure the drive using Explicit Messages. Chapter 6,
Using Explicit
Messaging
1-6 Getting Started

Modes of Operation
The adapter uses three status indicators to report its operating status.
They can be viewed through the drive cover. See Figure 1.2.

Figure 1.2 Status Indicators (location on drive may vary)






Item Status Status(1) Description


Indicator
➊ PORT Green Normal Operation. The adapter is properly connected and
is communicating with the drive.
Flashing The adapter is in the process of establishing a connection
Green to the drive. This status indicator will turn solid green or
red.
➋ MOD Green Normal Operation. The adapter is operational and is
transferring I/O data.
Flashing Normal Operation. The adapter is operational but is not
Green transferring I/O data.
➌ NET A Green Normal Operation. The adapter is properly connected and
communicating on the network.
Flashing The adapter is properly connected but is not
Green communicating with any devices on the network.
➍ NET B Off Not used for DeviceNet.

(1)
If all status indicators are off, the adapter is not receiving power. Refer to Chapter 2,
Installing the Adapter, for instructions on installing the adapter. If any other conditions
occur, refer to Chapter 8, Troubleshooting.
Chapter 2

Installing the Adapter

Chapter 2 provides instructions for installing the adapter in a


PowerFlex 40 drive.

Topic Page
Preparing for an Installation 2-1
Commissioning the Adapter 2-1
Connecting the Adapter to the Network 2-4
Connecting the Adapter to the Drive 2-5
Applying Power 2-7

Preparing for an Installation


Before installing the DeviceNet adapter:

• Read the DeviceNet Product Overview Manual, Publication DN-2.5,


and the DeviceNet Cable System Planning and Installation Manual,
Publication DN-6.7.2. These manuals will provide information on
selecting cables, setting up a network, and network basics.
• Verify that you have all required equipment. Refer to Chapter 1,
Getting Started.

Commissioning the Adapter


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

Important: New settings are recognized only when power is applied to


the adapter. If you change a setting, cycle power.

ATTENTION: Risk of equipment damage exists. The DeviceNet


adapter contains ESD (Electrostatic Discharge) sensitive parts that can
! be damaged if you do not follow ESD control procedures. Static control
precautions are required when handling the adapter. If you are
unfamiliar with static control procedures, refer to Guarding Against
Electrostatic Damage, Publication 8000-4.5.2.
2-2 Installing the Adapter

1. Set the adapter node address and data rate switches (see Figure 2.1,
Figure 2.2, and Figure 2.3).

Figure 2.1 Setting Node Address/Data Rate Switches and Single/Multi-Drive


Operation Jumper

J2 J2

Single Drive Multi-Drive


Operation Operation

NODE RATE

1 2 3 4 5 6 7 8

1 2 3 4 5 6 7 8

UP = OPEN = 1

Switches Description Default


SW 1 Least Significant Bit (LSB) of Node Address 1
SW 2 Bit 1 of Node Address 1
SW 3 Bit 2 of Node Address 1
Node 63
SW 4 Bit 3 of Node Address 1
SW 5 Bit 4 of Node Address 1
SW 6 Most Significant Bit (MSB) of Node Address 1
SW 7 Least Significant Bit (LSB) of Data Rate 1
Autobaud
SW 8 Most Significant Bit (MSB) of Data Rate 1

Figure 2.2 Node Address Switch Settings (UP = OPEN = 1)

Switch Setting Node Switch Setting Node


SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address
0 0 0 0 0 0 0 1 0 1 1 0 0 13
1 0 0 0 0 0 1 0 1 1 1 0 0 14
0 1 0 0 0 0 2 1 1 1 1 0 0 15
1 1 0 0 0 0 3 0 0 0 0 1 0 16
0 0 1 0 0 0 4 1 0 0 0 1 0 17
1 0 1 0 0 0 5 0 1 0 0 1 0 18
0 1 1 0 0 0 6 1 1 0 0 1 0 19
1 1 1 0 0 0 7 0 0 1 0 1 0 20
0 0 0 1 0 0 8 1 0 1 0 1 0 21
1 0 0 1 0 0 9 0 1 1 0 1 0 22
0 1 0 1 0 0 10 1 1 1 0 1 0 23
1 1 0 1 0 0 11 0 0 0 1 1 0 24
0 0 1 1 0 0 12 1 0 0 1 1 0 25
Installing the Adapter 2-3

Figure 2.2 Node Address Switch Settings (UP = OPEN = 1) (Continued)

Switch Setting Node Switch Setting Node


SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address
0 1 0 1 1 0 26 1 0 1 1 0 1 45
1 1 0 1 1 0 27 0 1 1 1 0 1 46
0 0 1 1 1 0 28 1 1 1 1 0 1 47
1 0 1 1 1 0 29 0 0 0 0 1 1 48
0 1 1 1 1 0 30 1 0 0 0 1 1 49
1 1 1 1 1 0 31 0 1 0 0 1 1 50
0 0 0 0 0 1 32 1 1 0 0 1 1 51
1 0 0 0 0 1 33 0 0 1 0 1 1 52
0 1 0 0 0 1 34 1 0 1 0 1 1 53
1 1 0 0 0 1 35 0 1 1 0 1 1 54
0 0 1 0 0 1 36 1 1 1 0 1 1 55
1 0 1 0 0 1 37 0 0 0 1 1 1 56
0 1 1 0 0 1 38 1 0 0 1 1 1 57
1 1 1 0 0 1 39 0 1 0 1 1 1 58
0 0 0 1 0 1 40 1 1 0 1 1 1 59
1 0 0 1 0 1 41 0 0 1 1 1 1 60
0 1 0 1 0 1 42 1 0 1 1 1 1 61
1 1 0 1 0 1 43 0 1 1 1 1 1 62
0 0 1 1 0 1 44 1 1 1 1 1 1 63

Figure 2.3 Data Rate Switch Settings (UP = OPEN = 1)

Switch Setting Data


SW 7 SW 8 Rate
0 0 125 kbps
1 0 250 kbps
0 1 500 kbps
1 1 Autobaud

If all switches are in the CLOSED position (all 0’s), then the Node
Address and Data Rate are determined by parameter settings
(Parameter 02 - [DN Addr Cfg] and Parameter 04 - [DN Rate Cfg]).

2. Set the adapter mode jumper for Single or Multi-Drive operation (see
Figure 2.1 and these setting descriptions).

Jumper Setting Description


Right position or Sets the adapter for Single drive mode (default setting) using a
jumper missing single drive connection.
Important: In this mode, connections to multiple drives
must be removed since all powered and connected hosts
will respond to any message sent by the adapter.
Left position Sets the adapter for Multi-Drive operation mode using up to 5
different drives. DSI peripherals do not operate with the adapter in
this mode.
2-4 Installing the Adapter

Connecting the Adapter to the Network

ATTENTION: Risk of injury or death exists. The PowerFlex drive


may contain high voltages that can cause injury or death. Remove all
! power from the PowerFlex drive, and then verify power has been
removed before installing or removing an adapter.

1. Remove power from the drive.

2. Use static control precautions.

3. Remove the drive cover.

4. Connect a DeviceNet cable to the network, and route it through the


bottom of the PowerFlex drive. DeviceNet Thin cable with an outside
diameter of 6.9 mm (0.27 in.) is recommended. (See Figure 2.6.)

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


the Glossary, Data Rate.

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

A 10-pin linear plug is not supported. A 5-pin linear plug is shipped


with the adapter.

Figure 2.4 Connecting a 5-Pin Linear Plug to the Cable

Red
5
White
4
3 Bare
2 Blue
1 Black

Terminal Color Signal Function


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

6. Insert the DeviceNet cable plug into the mating adapter receptacle,
and secure it with the two screws. (See Figure 2.5, item 2.) Verify
that the colors of the wires on the plug match up with the color codes
on the receptacle.
Installing the Adapter 2-5

Connecting the Adapter to the Drive


1. Remove power from the drive.

2. Use static control precautions.

3. Mount the adapter on the cover, using the screw on the adapter to
secure it in place.

Important: Tighten the screw in the lower left hole to ground the
adapter (see Figure 2.6).

4. Connect the Internal Interface cable to the DSI port on the drive and
then to the mating DSI connector on the adapter.

Figure 2.5 DSI Ports and Internal Interface Cables

DeviceNet Adapter

PowerFlex 40 Drive
B and C Frames

(cover removed)
Back of Cover

# Description
➊ DSI Connector
➋ 15.24 cm (6 in.) Internal Interface cable
➌ DeviceNet cable
2-6 Installing the Adapter

Figure 2.6 Mounting the Adapter

Adapter Mounted
on Back of Cover

PowerFlex 40 Drive
B and C Frames
(cover removed)
Installing the Adapter 2-7

Applying Power

ATTENTION: Risk of equipment damage, injury, or death exists.


Unpredictable operation may occur if you fail to verify that parameter
! settings and switch settings are compatible with your application.
Verify that settings are compatible with your application before
applying power to the drive.

1. Reinstall the cover on the drive. The status indicators can be viewed
on the front of the drive after power has been applied.

2. Ensure that the adapter will have a unique address on the network
and is set at the correct data rate or to autobaud. If a new data rate or
address is needed, reset its switches (refer to Commissioning the
Adapter in this chapter).

3. Apply power to the PowerFlex drive. The adapter receives its power
from the connected drive and network. When you apply power to the
product and network for the first time, the status indicators should be
green after an initialization. If the status indicators go red, there is a
problem. Refer to Chapter 8, Troubleshooting.

4. If the software settings for the data rate and node address are to be
used, a configuration tool such as DriveExplorer can be used to
adjust the respective parameters in the adapter.
2-8 Installing the Adapter

Notes:
Chapter 3

Configuring the Adapter

Chapter 3 provides instructions and information for setting the


parameters in the adapter.

Topic Page Topic Page


Configuration Tools 3-1 Setting the I/O Configuration 3-8
Using the PowerFlex 4-Class HIM 3-2 Selecting COS, Cyclic, or Polled I/O 3-8
Using RSNetWorx for DeviceNet 3-3 Setting a Fault Action 3-10
Setting the Node Address 3-7 Resetting the Adapter 3-11
Setting the Data Rate 3-7 Viewing the Adapter Configuration 3-12

For a list of parameters, refer to Appendix B, Adapter Parameters. For


definitions of terms in this chapter, refer to the Glossary.

Configuration Tools
The DeviceNet adapter stores parameters and other information in its
own non-volatile memory. You must, therefore, access the adapter to
view and edit its parameters. The following tools can be used to access
the adapter parameters:

Tool Refer To:


DriveExplorer Software DriveExplorer Getting Results Manual,
(version 3.01 or higher) Publication 9306-5.3, or the online help
DriveTools 2000 Software DriveTools 2000 Online Help
(version 1.01 or higher)
PowerFlex 4-Class HIM (22-HIM-*) page 3-2
RSNetWorx for DeviceNet Software page 3-3

RSNetWorx for DeviceNet (version 4.01) and RSLinx (version 2.40)


were used for examples in this manual. Different versions of software
may differ in appearance and procedures.

TIP: Explicit Messaging can also be used to configure an adapter and


drive. Refer to Chapter 6, Using Explicit Messaging.
3-2 Configuring the Adapter

Using the PowerFlex 4-Class HIM


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

Using the HIM


Step Key(s) Example Screens
1. Power up the drive.
Then plug the HIM Parameters
into the drive. The Groups
Parameters menu Linear List
for the drive will be Changed Params
displayed.
DIAG PARAM DSEL MEM SEL !

2. Press Sel key once


to display the Sel
Device Selected
Device Select DSI Devices
menu.

DIAG PARAM DSEL MEM SEL !

3. Press Enter to
display the DSI and DSI Devices
Devices menu. PowerFlex 40
Press Down Arrow 22-COMM-D
to scroll to
22-COMM-D.

4. Press Enter to select


the DeviceNet Parameters
adapter. The Linear List
Parameters menu Changed Params
for the adapter will
be displayed.
DIAG PARAM DSEL MEM SEL !

5. Press Enter to
access the Mode RO
parameters. Edit the Parameter: # 001
adapter parameters
using the same Single Drive 0
techniques that you
use to edit drive
parameters. VALUE LIMITS SEL !
Configuring the Adapter 3-3

Using RSNetWorx for DeviceNet


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

To set up RSLinx for RSNetWorx for DeviceNet

To use RSNetWorx for DeviceNet, you must first set up a driver in


RSLinx. The driver provides a communications link between the
computer and DeviceNet network.

Step Icons
1. Start RSLinx, and select Communications > Configure Shortcut to
Drivers to display the Configure Drivers dialog box.
RSLinx
2. In the Available Driver Types box, select DeviceNet
Drivers, and then click Add New. The DeviceNet Driver
Selection dialog box appears.

3. In the Available DeviceNet Drivers list, select the adapter


connected to your computer, and then click Select. A Driver
Configuration dialog box appears.

4. Configure the driver for your computer and network


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

5. Type a name (if desired), and then click OK. The Configure
Drivers dialog box reappears, and the new driver is in the
Configured Drivers List (Figure 3.1).

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

Figure 3.1 Configure Drivers Dialog Box with a Configured Driver


3-4 Configuring the Adapter

To go online with RSNetWorx for DeviceNet

You can view the devices on a DeviceNet network by going online. A


device may appear as an unrecognized device if RSNetWorx for
DeviceNet does not have an EDS file for it.

Step Icons
1. After setting up a driver in RSLinx, start RSNetWorx for
DeviceNet. Shortcut to
2. Select Network > Online. If the Browse for Network dialog RSNetWorx
box appears, RSLinx has multiple drivers configured.
Select your DeviceNet network, and click OK. A prompt
appears.

3. RSNetWorx browses the network and any devices on the


network appear in the Configuration View. You can select
Graph, Spreadsheet, or Master/Slave views. Figure 3.2
shows an example network in a Graph view.

Figure 3.2 Example DeviceNet Network


Configuring the Adapter 3-5

To create an EDS file

If the adapter and drive appear as an unrecognized device, create an EDS


file for it.

Step Icons
1. Right-click the “Unrecognized Device” icon, and select
Register Device in the menu. The EDS Wizard (Figure
3.3) appears.

2. Click Next to display the next step.


3. Select Upload EDS, and then click Next.

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

5. Under Polled, select Enabled, type 4 in the Input Size and


Output Size boxes, and then click Next. RSNetWorx will
upload the EDS file from the drive and adapter.

6. Click Next to display the icon options for the node. We


recommend that you use the icon for your product. You can
change icons by clicking Change icon.

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


accept it.

8. Click Finish to finish the EDS creation. A new icon


represents the PowerFlex drive and adapter in the
Configuration View.

Figure 3.3 EDS Wizard


3-6 Configuring the Adapter

To access and edit parameters

Parameters in the drive and adapter can be edited with RSNetWorx. The
adapter parameters are appended to the list of drive parameters.

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

2. Click the Parameters tab (Figure 3.4). If an EDS Editor


message appears, click Upload to load the parameter
values in the drive to the computer.

Parameters are displayed in numerical order. You can


either scroll through the list or select a specific group of
parameters in the Groups box. The available groups and
the numbers of the adapter parameters will vary based on
the type of drive that is connected to the adapter.

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

4. Click Apply to save changes to the device.

Figure 3.4 Example PowerFlex Drive Dialog Box


Configuring the Adapter 3-7

Setting the Node Address


The value of Parameter 02 - [DN Addr Cfg] determines the node
address if all of the adapter DIP switches are in the CLOSED position
(all 0’s). We recommend that you do not use node address 63 because all
new devices use it as the default address. Address 63 is also used for
Automatic Device Recovery (ADR).

1. Set the value of Parameter 02 - [DN Addr Cfg] to a unique node


address.

Figure 3.5 DeviceNet Node Address Screen on PowerFlex 4-Class HIM (22-HIM-*)
DN Addr Cfg Default = 63
Parameter: # 002

63

VALUE LIMITS SEL !

2. Reset the adapter. Refer to Resetting the Adapter section in this chapter.

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

Setting the Data Rate


The value of Parameter 04 - [DN Rate Cfg] determines the DeviceNet
data rate if all of the adapter DIP switches are in the CLOSED position
(all 0’s). The Autobaud setting will detect the data rate used on the
network if another device is setting the data rate. Your application may
require a different setting.

1. Set the value of Parameter 04 - [DN Rate Cfg] to the data rate at
which your network is operating.

Figure 3.6 DeviceNet Data Rate Screen on PowerFlex 4-Class HIM (22-HIM-*)
DN Rate Cfg Value Baud Rate
Parameter: # 004 0 125 kbps
1 250 kbps
Autobaud 3
2 500 kbps
VALUE LIMITS SEL ! 3 Autobaud (Default)

2. Reset the adapter. Refer to Resetting the Adapter section in this chapter.
3-8 Configuring the Adapter

Setting the I/O Configuration


The I/O configuration determines the number of drives that will be
represented on the network as one node by the adapter. If the Mode
Jumper is set to the Single mode position, only one drive is represented
by the adapter and Parameter 15 - [DSI I/O Cfg] has no effect. If the
Mode Jumper is set to the Multi-Drive position, up to five drives can be
represented as one node by the adapter.

1. Set the value in Parameter 15 - [DSI I/O Cfg]:

Figure 3.7 I/O Configuration Screen on PowerFlex 4-Class HIM (22-HIM-*)


DSI I/O Cfg Mode Jumper Position
Value Description
Parameter: # 015 Single Multi-Drive
0 Drive 0 (Default) ✓ ✓
Drive 0 0
1 Drives 0-1 ✓
VALUE LIMITS SEL !
2 Drives 0-2 ✓
3 Drives 0-3 ✓
4 Drives 0-4 ✓

Drive 0 is the PowerFlex 40 with the 22-COMM-D adapter installed.


Drive 1 through 4 are PowerFlex 4 and/or 40 drives that multi-drop
to the RJ45 (RS-485) port on Drive 0. Refer to Chapter 7, Using
Multi-Drive Mode for more information.

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


the Logic Command and Reference from the adapter. For example,
set Parameters 36 - [Start Source] and 38 - [Speed Reference] in a
PowerFlex 40 drive to “DSI Port 5.”

3. Reset the adapter. Refer to Resetting the Adapter section in this chapter.

Selecting COS, Cyclic, or Polled I/O


The data exchange (sometimes called allocation) is the method that the
adapter uses to exchange data on the DeviceNet network. The adapter
can be configured to use one of the following data exchanges:

• COS (Change of State) • Polled and COS


• Cyclic • Polled and Cyclic
• Polled

If “Polled and COS” or “Polled and Cyclic” is used, the adapter receives
the I/O from the polled messages. It transmits its Logic Status and
Feedback in COS or Cyclic messages. Other data is transmitted in Polled
messages.
Configuring the Adapter 3-9

Cyclic and Polled data exchanges are configured in the scanner, so you
only need to set the I/O configuration in the adapter. COS data exchange
must be configured in both the adapter and the scanner. You need to set
the I/O configuration and COS parameters in the adapter.

To use COS (Change of State) data exchange

1. Set the bits in the Logic Status word that should be checked for
changes in Parameter 12 - [COS Status Mask]. The bit definitions
for the Status Mask will depend on the drive to which you are
connected. Refer to its documentation.

Figure 3.8 COS Status Mask Configuration Screen on


PowerFlex 4-Class HIM (22-HIM-*)
COS Status Mask Value Description
Parameter: # 012 0 Ignore this logic bit. (Default)
1 Check this logic bit.
0

VALUE LIMITS SEL !

2. Set the amount of change to the Feedback that is required to trigger a


Change of State message in Parameter 13 - [COS Fdbk Change].

Figure 3.9 COS Fdbk Change Configuration Screen on


PowerFlex 4-Class HIM (22-HIM-*)
COS Fdbk Change
Parameter: # 013

VALUE LIMITS SEL !

The adapter is now configured for COS data exchange. You must
configure the scanner to allocate it using COS (Chapter 4, Configuring
the Scanner).
3-10 Configuring the Adapter

Setting a Fault Action


By default, when communications are disrupted (for example, a cable is
disconnected) or the scanner is idle, the drive responds by faulting if it is
using I/O from the network. You can configure a different response to
communication disruptions using Parameter 07 - [Comm Flt Action]
and a different response to an idle scanner using Parameter 08 - [Idle
Flt Action].

ATTENTION: Risk of injury or equipment damage exists. Parameters


07 - [Comm Flt Action] and 08 - [Idle Flt Action] let you determine the
! action of the adapter and connected drive if communications are
disrupted or the scanner is idle. By default, these parameters fault the
drive. You can set these parameters so that the drive continues to run.
Precautions should be taken to ensure that the settings of these
parameters do not create a hazard of injury or equipment damage.

To change the fault action


• Set the values of Parameters 07 - [Comm Flt Action] and 08 - [Idle
Flt Action] to the desired responses:
Value Action Description
0 Fault (default) The drive is faulted and stopped. (Default)
1 Stop The drive is stopped, but not faulted.
2 Zero Data The drive is sent 0 for output data after a
communications disruption. This does not
command a stop.
3 Hold Last The drive continues in its present state after a
communications disruption.
4 Send Fault Cfg The drive is sent the data that you set in the fault
configuration parameters (Parameters 10 - [Flt
Config Logic] and 11 - [Flt Config Ref]).

Figure 3.10 Fault Action Screens on PowerFlex 4-Class HIM (22-HIM-*)

Comm Flt Action Idle Flt Action


Parameter: # 007 Parameter: # 008

Fault 0 Fault 0

VALUE LIMITS SEL ! VALUE LIMITS SEL !

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


required.

If Multi-Drive mode is used, the same fault action is used by the adapter
for all of the drives it controls (Drive 0 - Drive 4).
Configuring the Adapter 3-11

To set the fault configuration parameters

If you set Parameter 07 - [Comm Flt Action] or 08 - [Idle Flt Action]


to the “Send Flt Cfg,” the values in the following parameters are sent to
the drive after a communications fault and/or idle fault occurs. You must
set these parameters to values required by your application.

Parameter Name Description


10 Flt Cfg Logic A 16-bit value sent to the drive for Logic Command.
11 Flt Cfg Ref A 16-bit value (0 – 65535) sent to the drive as a
Reference.

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


required.

Resetting the Adapter


Changes to switch settings on some adapter parameters require that you
reset the adapter before the new settings take effect. You can reset the
adapter by cycling power to the drive or by using the following
parameter:

ATTENTION: Risk of injury or equipment damage exists. If the


adapter is transmitting control I/O to the drive, the drive may fault when
! you reset the adapter. Determine how your drive will respond before
resetting a connected adapter.

• Set the Parameter 06 - [Reset Module] to Reset Module:

Figure 3.11 Reset Screen on PowerFlex 4-Class HIM (22-HIM-*)


Reset Module Value Description
Parameter: # 006 0 Ready (Default)
1 Reset Module
Ready 0 2 Set Defaults
VALUE LIMITS SEL !

When you enter 1 = Reset Module, the adapter will be immediately


reset. When you enter 2 = Set Defaults, the adapter will set all adapter
parameters to their factory-default settings. The value of this parameter
will be restored to 0 = Ready after the adapter is reset.
3-12 Configuring the Adapter

Viewing the Adapter Configuration


The following parameters provide information about how the adapter is
configured. You can view these parameters at any time.

Number Name Description


01 Mode The mode in which the adapter is set
(0 = Single drive operation, or 2 = Multi-Drive operation).
03 DN Addr The node address used by the adapter. This will be one of the
Actual following values:
• The address set by the adapter DIP switches 1 through 6.
• The value of Parameter 02 - [DN Addr Config] if the
switches have been disabled.
• An old address of the switches or parameter if they have
been changed and the adapter has not been reset.
05 DN Rate The data rate used by the adapter. This will be one of the
Actual following values:
• The data rate set by the adapter DIP switches 7 and 8.
• The value of Parameter 04 - [DN Rate Config] if the
switches have been disabled.
• An old data rate of the switches or parameter if they have
been changed and the adapter has not been reset.
09 DN Active The source from which the adapter node address and data
Config rate are taken. This will be either switches or parameters in
EEPROM. It is determined by the settings of the adapter DIP
switches 1 through 8.
16 DSI I/O Indicating the Drives that make up the node:
Actual Values
0 = Drive 0
1 = Drives 0-1
2 = Drives 0-2
3 = Drives 0-3
4 = Drives 0-4
Chapter 4

Configuring the Scanner

Chapter 4 provides instructions on how to configure a scanner to


communicate with the adapter and connected PowerFlex drive.

Topic Page Topic Page


Example Network 4-1 Mapping the Drive Data in the Scanner 4-5
Setting Up the Scan List 4-2 Saving the Configuration 4-7

Example Network
After the adapter is configured, the connected drive and adapter will be a
single node on the network. This chapter provides the steps that are
needed to configure a simple network like the network in Figure 4.1. In
our example, we will configure the drive for using Logic Command/
Status and Reference Feedback over the network.

Figure 4.1 Example DeviceNet Network

Node 0 Node 62
SLC 500 Controller with Computer with 1784-PCD and
1747-SDN Scanner RSNetWorx for DeviceNet

DeviceNet

Node 1
PowerFlex 40 Drive with
DeviceNet Adapter
4-2 Configuring the Scanner

Setting Up the Scan List


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

1. Go online with RSNetWorx for DeviceNet. Refer to the Using


RSNetWorx for DeviceNet section in Chapter 3. The devices on the
network are displayed in the configuration view.

Figure 4.2 Configuration View (Graph)

2. Right-click the DeviceNet scanner (node 00 in Figure 4.2) and select


Properties. The Scanner Module dialog box appears.

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


create an EDS file for it and then configure it. Create an
EDS file by following the instructions in the Using
RSNetWorx for DeviceNet section in Chapter 3.
Configure the scanner using the General and Module
tabs. Click Help or refer to your scanner documentation
if you need more information.

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

4. Click Upload. Data is uploaded from the scanner, and then the
Scanlist page (Figure 4.3) appears.

5. Select the Automap on Add box (a check mark will appear).


Configuring the Scanner 4-3

6. Under Available Devices, select the drive, and then click > (Right
Arrow) to add it to the scanlist.

Figure 4.3 Scanlist Page in the Scanner Module Dialog Box

7. Under Scanlist, select the drive, and then click Edit I/O Parameters.
The Edit I/O Parameters dialog box (Figure 4.4) appears.
4-4 Configuring the Scanner

Figure 4.4 Edit I/O Parameters Dialog Box

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

9. Type the number of bytes that are required for your I/O in the Input
Size and Output Size boxes. The size will depend on the I/O that you
enabled in the adapter. This information can be found in Parameter
16 - [DSI I/O Actual] in the adapter. Table 4.A shows common
configuration Input/Output sizes.

In our example, we typed 4 in the Input Size and Output Size boxes
because the Mode Jumper on the adapter is set to “Single” (default)
and Parameter 16 - [DSI I/O Active] is set to “Drive 0” (only one
drive being connected). Logic Command/Reference uses 4 bytes and
Logic Status/Feedback uses 4 bytes.

Table 4.A Input/Output Size Configurations


Input Output Logic Command/ Reference/ Parameter 16 - Parameter 1 -
Size Size Status Feedback [DSI I/O Active] [Mode]
4 4 ✔ ✔ Drive 0 Single
8 8 ✔ ✔ Drives 0-1
12 12 ✔ ✔ Drives 0-2
Multi-Drive
16 16 ✔ ✔ Drives 0-3
20 20 ✔ ✔ Drives 0-4

10. Set the scan rate.

Data Exchange Rate to set


Polled Polled Rate
Change of State Heartbeat Rate
Cyclic Send Rate
Configuring the Scanner 4-5

11. Click OK. If you changed any settings, a Scanner Applet asks if it is
OK to unmap the I/O. Click Yes to continue. The Edit I/O
Parameters dialog box closes and then the Scanner Module dialog
box (Figure 4.3) re-appears. You will map the I/O in the next section
in this chapter.

Mapping the Drive Data in the Scanner


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

For: Refer to:


Mapping the Input I/O 4-5
Mapping the Output I/O 4-6

Mapping the Input I/O

1. In the Scanner Module dialog box, click the Input tab. (If necessary,
right-click the scanner in the configuration view (Figure 4.2) to
display this dialog box.)

Figure 4.5 Input Page on the Scanner Module Dialog Box


4-6 Configuring the Scanner

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

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

Scanner Memory Locations


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

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

3. In the Start Word box, select the word in memory at which the data
should start. In our example, Logic Status and Speed Feedback
information will be found in I:1.1 and I:1.2, respectively.

Mapping the Output I/O

1. In the Scanner Module dialog box, click the Output tab. To display
this dialog box, right-click the scanner in the configuration view
(Figure 4.2).

Figure 4.6 Output Page on the Scanner Module Dialog Box


Configuring the Scanner 4-7

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

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

Scanner Memory Locations


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

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

3. In the Start Word box, select the word in memory at which the data
should start. In our example, Logic Command and Speed Reference
data will be written to O:1.1 and O:1.2, respectively.

Saving the Configuration


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

1. In the Scanner Module dialog box (Figure 4.6), click Apply to save
the configuration to the scanner. A Scanner Configuration Applet
appears and asks if it is OK to download the changes.

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


and then the Scanner Module dialog box reappears.

3. Click OK to close the Scanner Module dialog box.

4. Select File > Save. If this is the first time that you saved the project,
the Save As dialog box appears. Navigate to a folder, type a file
name, and click Save to save the configuration to a file.
4-8 Configuring the Scanner
Chapter 5

Using I/O Messaging

Chapter 5 provides information and examples that explain how to use


I/O Messaging to control a PowerFlex 40 drive.

Topic Page Topic Page


About I/O Messaging 5-1 Example Ladder Logic Programs 5-3
Understanding the I/O Image 5-2 ControlLogix Example 5-4
Using Logic Command/Status 5-2 PLC-5 Example 5-7
Using Reference/Feedback 5-3 SLC Example 5-9

ATTENTION: Hazard of injury or equipment damage exists. The


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

About I/O Messaging


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

The DeviceNet adapter provides many options for configuring and using
I/O, including the following:
• The size of I/O can be configured by selecting the number of
attached drives (Single or Multi-Drive mode).
• Change of State, Cyclic, or Polled data exchange methods can be
used.

Chapter 3, Configuring the Adapter and Chapter 4, Configuring the


Scanner discuss how to configure the adapter and scanner on the network
for these options. The Glossary defines the different options. This
chapter discusses how to use I/O after you have configured the adapter
and scanner.
5-2 Using I/O Messaging

Understanding the I/O Image


The DeviceNet specification requires that the terms input and output be
defined from the scanner’s point of view. Therefore, Output I/O is data
that is output from the scanner and consumed by the DeviceNet adapter.
Input I/O is status data that is produced by the adapter and consumed as
input by the scanner. The I/O image table will vary based on the:
• Configuration of the Mode Jumper (J2) on the adapter and
Parameter 15 - [DSI I/O Cfg]. The image table always uses
consecutive words starting at word 0.

Figure 5.1 illustrates an example of a Single drive I/O image (16-bit words).

Figure 5.1 Single Drive Example of I/O Image

DeviceNet DSI
Controller Scanner Adapter PowerFlex 40 Drive
Word and I/O
Output 0 Logic Command Logic Command
Image 1 Reference Reference
(Write)

Input
Image 0 Logic Status Logic Status
(Read) 1 Feedback Feedback

Message Message Message


Handler Buffer Handler

Single drive mode is the typical configuration, where one node consists
of a PowerFlex 40 drive with a 22-COMM-D adapter.

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


refer to Chapter 7, Using Multi-Drive Mode.

Using Logic Command/Status


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

This manual contains the bit definitions for compatible products


available at the time of publication in Appendix D, Logic Command/
Status Words. For other products, refer to their documentation.
Using I/O Messaging 5-3

Using Reference/Feedback
When enabled, Reference/Feedback begins at word 1 in the I/O image.
The Reference (16 bits) is produced by the controller and consumed by
the adapter. The Feedback (16 bits) is produced by the adapter and
consumed by the controller.

Size Valid Values In I/O Image Example


16-bit -32768 to 32767 Word 1 Figure 5.1

Example Ladder Logic Programs


These example ladder logic programs (Figure 5.3 – Figure 5.6) work
with PowerFlex 40 drives.

Functions of the Example Programs

The example programs enable an operator to perform the following


actions:

• Obtain status information from the drive.


• Use the Logic Command to control the drive (for example, start,
stop).
• Send a Reference to the drive.

Adapter Settings for the Example Programs


• Node address 1 is set using the switches.
• The adapter is configured for Single drive mode (mode jumper is set
to “Single”).
• Polled I/O was enabled during the scanner configuration.

Scanner Settings for the Example Programs


• The scanner is node 0 on the DeviceNet network.
• The scanner is in slot 1.
• The adapter I/O is mapped in word 0 and word 1.
• Data files, when used, are pointed out in the examples.
5-4 Using I/O Messaging

Logic Command/Status Words

These examples use the Logic Command word and Logic Status word
for PowerFlex 40 drives. Refer to Appendix D, Logic Command/Status
Words to view these. The definition of the bits in these words may vary if
you are using a different DSI product. Refer to the documentation for
your drive.

ControlLogix Example
Figure 5.2 Tags for the Example Program

Tag Name Type Tag Name Type


Local:1:I DINT[] DriveFeedback INT
Local:1:O DINT[] DriveInputImage INT[2]
DriveCommandClearFault BOOL DriveOutputImage INT[2]
DriveCommandJog BOOL DriveReference INT
DriveCommandStart BOOL DriveStatusFaulted BOOL
DriveCommandStop BOOL DriveStatusRunning BOOL
Using I/O Messaging 5-5

Figure 5.3 Example ControlLogix Ladder Logic Program

ControlLogix example program with a PowerFlex 40 at node address 1.

This rung enables the scanner (changes the scanner to RUN mode).
Local:3:O.CommandRegister.Run
0

This section retrieves the Logic Status and Feedbackk data from the sc
scanner,, and moves it to
specifc tags for use elsewhere in the ladder program.
COP
1 Copy File
Source Local:3:I.Data[0]
Dest DriveInputImage[0]
Length 2

DriveInputImage[0].0 DriveStatusReady
2

DriveInputImage[0].1 DriveStatusActive
3

DriveInputImage[0].3 DriveStatusForward
4

DriveInputImage[0].7 DriveStatusFaulted
5

DriveInputImage[0].8 DriveStatusAtReference
6

COP
7 Copy File
Source DriveInputImage[1]
Dest DriveFeedback
Length 1

This section takes the data from specific tags used elsewhere in the ladder program (Logic
Command bits and Reference) and writes them to the scanner for output over the network.
DriveCommandStop DriveOutputImage[0].0
8

DriveCommandStart DriveOutputImage[0].1
9

DriveCommandJog DriveOutputImage[0].2
10

DriveCommandClearFaults DriveOutputImage[0].3
11
5-6 Using I/O Messaging

Figure 5.3 Example ControlLogix Ladder Logic Program (Continued)

DriveCommandForward DriveOutputImage[0].4
12

DriveCommandForward DriveOutputImage[0].5
13 /

COP
14 Copy File
Source DriveReference
Dest DriveOutputImage[1]
Length 1

COP
15 Copy File
Source DriveOutputImage[0]
Dest Local:3:O.Data[0]
Length 1

For the explicit message portion of this ladder example program, see
Figure 6.6.
Using I/O Messaging 5-7

PLC-5 Example
Figure 5.4 Control File for Block Transfers
EN ST DN ER CO EW NR TO RW RLEN DLEN FILE ELEM R G S
BT20:0 0 0 0 0 0 0 0 0 0 62 0 9 0 00 0 0
BT20:1 0 0 0 0 0 0 0 0 0 62 0 10 0 00 0 0

Figure 5.5 Example PLC-5 Ladder Logic Program

PLC-5 example program with a PowerFlex 40 at DeviceNet node address 1.

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

N9:0 = Scanner Status word


N9:1 = PowerFlex 40 (node 1) Logic Status
N9:2 = PowerFlex 40 (node 1) Feedback

Note that the Feedback for the PowerFlex 40 is received in Hz and not in engineering units
like other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is
always implied).
BT20:0
0000
EN

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

This rung enables the DeviceNet scanner.


1771-SDN
Scanner
Enable bit
N10:0
0001
0
5-8 Using I/O Messaging

Figure 5.5 Example PLC-5 Ladder Logic Program (Continued)

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

N10:0 = Scanner Control word


N10:1 = PowerFlex 40 (node 1) Logic Command
N10:2 = PowerFlex 40 (node 1) Reference

Note that the Reference for the PowerFlex 40 is set in Hz and not in engineering units like
other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is always
implied).

The scanner then sends the data to the drive over the network.
BT20:1
0002
EN

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

For the explicit message portion of this ladder example program, see
Figure 6.7.
Using I/O Messaging 5-9

SLC Example
Figure 5.6 Example SLC Ladder Logic Program

SLC 5/03 example program with a PowerFlex 40 at DeviceNet node address 1.

This rung enables the scanner (changes the scanner to RUN mode).
1747-SDN
Scanner
Enable bit
O:1
0000
0
1747-SDN

This section of rungs control the Logic Command bits for the PowerFlex 40. The
B3:0 bits would be controlled elsewhere in the user program.
Node 1 Node 1
Stop Logic Command
Command STOP
B3:0 O:1
0001
0 16
1747-SDN

Node 1 Node 1
Start Logic Command
Command START
B3:0 O:1
0002
1 17
1747-SDN

Node 1 Node 1 Node 1


Jog Stop Logic Command
Command Command JOG
B3:0 B3:0 O:1
0003
2 0 18
1747-SDN

Node 1 Node 1
Clear Faults Logic Command
Command CLEAR FAULTS
B3:0 O:1
0004
3 19
1747-SDN

Node 1 Node 1
Forward Logic Command
Command FORWARD
B3:0 O:1
0005
4 20
1747-SDN
5-10 Using I/O Messaging

Figure 5.6 Example SLC Ladder Logic Program (Continued)

Node 1 Node 1
Forward Logic Command
Command REVERSE
B3:0 O:1
0006
4 21
1747-SDN

This rung controls the Reference for the PowerFlex 40. N7:0 would be controlled
elsewhere in the user program. Note that the Reference for the PowerFlex 40 is set
in Hz and not in engineering units like other PowerFlex drives. For example, "300"
equates to 30.0 Hz (the decimal point is always implied).
Node 1
REFERENCE
(Hz)
MOV
0007 Move
Source N7:0
300<
Dest O:1.2
300<

This section of rungs displays the Logic Status bits for the PowerFlex 40. The B3:1
bits would be used elsewhere in the user program.
Node 1
Logic Status Node 1
READY READY
I:1 B3:1
0008
16 0
1747-SDN

Node 1
Logic Status Node 1
ACTIVE ACTIVE
I:1 B3:1
0009
17 1
1747-SDN

Node 1
Logic Status Node 1
ROTATING ROTATING
FORWARD FORWARD
I:1 B3:1
0010
19 3
1747-SDN
Using I/O Messaging 5-11

Figure 5.6 Example SLC Ladder Logic Program (Continued)

Node 1
Logic Status Node 1
FAULTED FAULTED
I:1 B3:1
0011
23 7
1747-SDN

Node 1
Logic Status Node 1
AT REFERENCE AT REFERENCE
I:1 B3:1
0012
24 8
1747-SDN

This rung displays the Feedback word for the PowerFlex 40. N7:1 would be used
elsewhere in the user program. Note that the Feedback for the PowerFlex 40 is set
in Hz and not in engineering units like other PowerFlex drives. For example, "300"
equates to 30.0 Hz (the decimal point is always implied).
Node 1
FEEDBACK
(Hz)
MOV
0013 Move
Source I:1.2
300<
Dest N7:1
300<

For the explicit message portion of this ladder example program, see
Figure 6.8.
5-12 Using I/O Messaging
Chapter 6

Using Explicit Messaging

Chapter 6 provides information and examples that explain how to use


Explicit Messaging to monitor and configure the adapter installed and
connected to the PowerFlex 40 drive.

Topic Page Topic Page


About Explicit Messaging 6-1 ControlLogix Example 6-8
Formatting Explicit Messages 6-2 PLC-5 Example 6-11
Running Explicit Messages 6-7 SLC Example 6-13

ATTENTION: Hazard of injury or equipment damage exists. The


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

ATTENTION: Hazard of equipment damage exists. If Explicit


Messages are programmed to write parameter data to Non-Volatile
! Storage (NVS) frequently, the NVS will quickly exceed its life cycle
and cause the drive to malfunction. Do not create a program that
frequently uses Explicit Messages to write parameter data to NVS.
Datalinks do not write to NVS and should be used for frequently
changed parameters.

About Explicit Messaging


Explicit Messaging is used to transfer data that does not require
continuous updates. With Explicit Messaging, you can configure and
monitor a slave device’s parameters on the DeviceNet network.
6-2 Using Explicit Messaging

Formatting Explicit Messages

Explicit Messages for a ControlLogix Controller

ControlLogix scanners accommodate both downloading Explicit


Message Requests and uploading Explicit Message Responses. The
scanner module can accommodate one request or response for each
transaction block. Each transaction block must be formatted as shown in
Figure 6.1.

Figure 6.1 ControlLogix Message Format in RSLogix 5000


➋ ➐
➌ ➑
➍ ➎

Refer to Page 6-3 for a description of the data that is required in each
box (1 – 9).

TIP: To display the Message Configuration dialog box in RSLogix


5000, add a message instruction, create a tag for the message (properties:
base tag, MESSAGE data type, controller scope), and click the blue box
inside the message.
Using Explicit Messaging 6-3

The following table identifies the number of Explicit Messages that can
be executed at a time.

Scanner Messages at Refer To


One Time
1756-DNB 5 Figure 6.1

ControlLogix Message Requests and Responses


Box Description
➊ Message Type
The message type must be CIP Generic.
➋ Service Type/Service Code
The service type/code is the requested DeviceNet service. Available services
depend on the class and instance that you are using. Refer to Appendix C,
DeviceNet Objects.
➌ Class
The object type is a DeviceNet class. Refer to Appendix C, DeviceNet Objects, for
available classes.
➍ Instance
The object ID is an instance of a DeviceNet class. Refer to Appendix C, DeviceNet
Objects, for available instances.
➎ Attribute
The attribute is a class or instance attribute. Refer to Appendix C, DeviceNet
Objects, for available attributes.
➏ Source Element
This box contains the name of the tag for any service data to be sent from the
scanner to the adapter and drive. A tag must be specified even if it is not used.
➐ Source Length
This box contains the number of bytes of service data to be sent or received in the
message.
➑ Destination
This box contains the name of the tag that will receive service response data from
the adapter and drive. A tag must be specified even if it is not used.
➒ Path
The path includes the following:
• Name of the DeviceNet scanner.
• Communication port on the front of the 1756-DNB scanner. Always 2.
• Node address of the DeviceNet adapter. This is set with switches or
parameters in the DeviceNet adapter.
Tip: Click Browse to find the path or type in the name of a module that you
previously mapped.
6-4 Using Explicit Messaging

Explicit Messages for a PLC or SLC Controller

Transaction blocks in PLC and SLC scanners accommodate both


downloading Explicit Message Requests and uploading Explicit
Message Responses. The scanner module can accommodate one request
or response for each transaction block. Each transaction block must be
formatted as shown in Figure 6.2 or Figure 6.3.

Figure 6.2 PLC Explicit Message Format

Request Response
Bit 15 0 15 0
Word 0 TXID Command TXID Status
Port Size Port Size
Service Address Service Address
Class Service Response Data
Instance
Attribute
Word 6 - 31 Service Data
Word 32 TXID Command TXID Status
Port Size Port Size
Service Address Service Address
Class Service Response Data
Instance
Attribute
Word 38 - 63 Service Data

Figure 6.3 SLC Explicit Message Format

Request
Response
Bit 15 0 15 0
Word 0 TXID Command TXID Status
Port Size Port Size
Service Address Service Address
Class Service Response Data
Instance
Attribute
Word 6 - 31 Service Data

Refer to Page 6-5 and Page 6-6 for a description of the data that is
required in each word.
Using Explicit Messaging 6-5

The following table identifies the number of transaction blocks within a


scanner that are reserved for Explicit Messaging.

Scanner Number of Words in Each Refer To


Transaction Blocks Transaction Block
1747-SDN 10 32 Figure 6.3
1771-SDN 10 32 (two blocks can Figure 6.2
be moved at once)

PLC / SLC Explicit Message Requests


Word Description
0 Command (Least Significant Byte)
The Command is a code that instructs the scanner how to administer the
request during each download.
00 = Ignore transaction block (empty)
01 = Execute this transaction block
02 = Get status of transaction TXID
03 = Reset all client/server transactions
04 = Delete this transaction block (available only for SLC)
05 – 255 = Reserved
TXID (Most Significant Byte)
The Transaction ID is a 1-byte integer between 1 and 255. It is assigned in the
ladder logic program when the processor creates and downloads a request to
the scanner. The scanner uses it to track the transaction to completion. It
returns this value with the response that matches the request downloaded by
the processor.
1 Size (Least Significant Byte)
The size of the service data is in bytes. Service data includes the words for the
class, instance, attribute, and any data. The maximum size is 58 bytes (29
words).
Port (Most Significant Byte)
The port that is used by the message is always zero (Channel A) on an SLC
scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.
2 Address (Least Significant Byte)
The node address of the slave device to which the transaction is sent. For the
Explicit Message to be successful, the slave device must be in the scanlist of
the scanner, and it must be online.
Service (Most Significant Byte)
Available services depend on the class and instance that you are using.
Refer to Appendix C, DeviceNet Objects.
3 Class
Refer to Appendix C, DeviceNet Objects, for available classes.
4 Instance
Refer to Appendix C, DeviceNet Objects, for available instances.
5 Attribute
Refer to Appendix C, DeviceNet Objects, for available attributes.
6 – 31 Request Data
This is data used for the message. For example, it may be the value written to a
parameter.
6-6 Using Explicit Messaging

PLC / SLC Explicit Message Responses


Word Description
0 Status (Least Significant Byte)
One of the following status codes is provided during each upload:
00 = Ignore transaction block (empty)
01 = Transaction completed successfully
02 = Transaction in progress (not ready)
03 = Slave not in scan list
04 = Slave offline
05 = DeviceNet port disabled or offline
06 = Transaction TXID unknown
08 = Invalid command code
09 = Scanner out of buffers
10 = Other client/server transaction in progress
11 = Could not connect to slave device
12 = Response data too large for block
13 = Invalid port
14 = Invalid size specified
15 = Connection busy
16 – 255 = Reserved
TXID (Most Significant Byte)
The transaction ID is a 1-byte integer in word 31 with a range of 1 to 255. It is
assigned in the ladder logic program when the processor creates and
downloads a request to the scanner. The scanner uses it to track the
transaction to completion. It returns this value with the response that matches
the request downloaded by the processor.
1 Size (Least Significant Byte)
The size of the service data is in bytes. The service data includes words used
for the response data. The maximum size is 58 bytes (29 words).
Port (Most Significant Byte)
The port that is used by the message is always zero (Channel A) on an SLC
scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.
2 Address (Least Significant Byte)
The node address of the slave device to which the transaction is sent. For the
Explicit Message to be successful, the slave device must be in the scanlist of
the scanner, and it must be online.
Service (Most Significant Byte)
If the message was successful, 0x80 is added to the service. If it is
unsuccessful, 0x94 is returned.
3 – 31 Response Data
This is data used for the message. For example, it may be the value read from a
parameter.

Refer to Page 6-5 for a description of the words in a PLC/SLC Explicit


Message request.
Using Explicit Messaging 6-7

Running Explicit Messages


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

Important: There must be a request message and an response message


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

Figure 6.4 Explicit Message Process

➊ Set up and send Explicit


Message Request

Complete Explicit
➎ Message

Retrieve Explicit
➍ Message Response



1. You format the required data and set up the ladder logic program to
send an Explicit Message request to the scanner module (download).

2. The scanner module transmits the Explicit Message Request to the


slave device over the DeviceNet network.

3. The slave device transmits the Explicit Message Response back to


the scanner. The data is stored in the scanner buffer.

4. The controller retrieves the Explicit Message Response from the


scanner’s buffer (upload).

5. The Explicit Message is complete. If you are using a PLC or SLC,


delete the transaction ID so that it can be reused.
6-8 Using Explicit Messaging

ControlLogix Example

Data Format for a Read and Write Parameter

The data in this example is for a PowerFlex drive at node address 1.

Refer to Formatting Explicit Messages in this chapter for a description of


the content in each box.

Configuration Example Value Description Refer to . . .


Service Code e (hex) Get_Attribute_Single C-10
Object Type f (hex) Parameter Object C-8
Object ID 39 (dec) Parameter Address
Object Attribute 1 (hex) Parameter Value C-9
Using Explicit Messaging 6-9

Configuration Example Value Description Refer to . . .


Service Code 10 (hex) Set_Attribute_Single C-10
Object Type f (hex) Parameter Object C-8
Object ID 39 (dec) Parameter Address
Object Attribute 1 (hex) Parameter Value C-9

Figure 6.5 Tags for the Example Explicit Messaging Program


Tag Names Tag Names
for Read Message Type for Write Messages Type
PerformParameterRead BOOL PerformParameterWrite BOOL
ParameterRDMessage MESSAGE ParameterWRMessage MESSAGE
ParameterRDValue INT ParameterWRVaule INT
6-10 Using Explicit Messaging

Figure 6.6 Example ControlLogix Ladder Logic Program

Explicit Messaging Example


PerformParameterRead MSG
16 Type - CIP Generic EN
Message Control ParameterRDMessage ... DN
ER

PerformParameterWrite MSG
17 Type - CIP Generic EN
Message Control ParameterWRMessage ... DN
ER

(End)

For the I/O message portion of this ladder example program, see
Figure 5.3.
Using Explicit Messaging 6-11

PLC-5 Example
Data Format for a Read and Write Parameter
The data in this example is for a PowerFlex drive at node address 1.
Refer to Formatting Explicit Messages in this chapter for a description of
the content of the data file.

Request Data for Read of Drive Parameter 39


Address Value (hex) Description Refer to . . .
N11:0 0101 TXID = 01, Command = 01 (execute) 6-5
N11:1 0006 Port = 00, Size = 06 bytes 6-5
N11:2 0E01 Service = 0E (Get_Attribute_Single) C-10
Address = 01 (Node Address) 6-5
N11:3 000F Class = 0F (Parameter Object) C-8
N11:4 0027 Instance = Parameter 39 (27 hex)
N11:5 0001 Attribute = 01 (Parameter Value) C-9

Response Data for Read of Drive Parameter 39


Address Value (hex) Description Refer to . . .
N11:100 0101 TXID = 01, Status = 01 (successful) 6-6
N11:101 0002 Port = 00, Size = 02 bytes 6-6
N11:102 8E01 Service = 8E (successful), Address = 01 (Node 6-6
Address)
N11:103 0064 Response Data = 100 (64 hex) = 10.0 seconds

Request Data for Write to Drive Parameter 101


Address Value (hex) Description Refer to . . .
N11:0 0101 TXID = 01, Command = 01 (execute) 6-5
N11:1 0008 Port = 00, Size = 08 bytes 6-5
N11:2 1001 Service = 10 (Set_Attribute_Single) C-10
Address = 01 (Node Address) 6-5
N11:3 000F Class = 0F (Parameter Object) C-8
N11:4 0027 Instance = Parameter 39 (27 hex)
N11:5 0001 Attribute = 01 (Parameter Value) C-9
N11:6 0064 Data = 100 (64 hex) = 10.0 seconds

Response Data for Write to Drive Parameter 101


Address Value (hex) Description Refer to . . .
N11:100 0101 TXID = 01, Status = 01 (successful transaction) 6-6
N11:101 0000 Port = 00, Size = 00 bytes 6-6
N11:102 9001 Service = 90 (successful) 6-6
Address = 01 (Node Address)
6-12 Using Explicit Messaging

Ladder Logic Program


Figure 6.7 Example PLC-5 Ladder Logic Program
Explicit Messaging Example

When B3:0/0 is set to ON, a one-time BTW sends the explicit message data (starts at N11:0)
to the scanner. The MOV instruction then initializes the first word of the data file that is
used by the BTR instruction in the next rung.
Send
Explicit
Message
B3:0 B3:0
0003 ONS
0 1

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

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

When the BTW is complete (BT20:2.DN = ON), the CMP instruction compares the first
word of data sent from the scanner to the first word of data sent by the program to the
scanner. When the messaging function is complete, the two words will be equal. The explicit
message response data is stored starting at N11:100.
BT20:2 CMP BT20:3
0004 Comparison
DN Expression N11:100 <> N11:0 EN

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

0005 END

For the I/O message portion of this ladder example program, see
Figure 5.5.
Using Explicit Messaging 6-13

SLC Example

Data Format for a Read and Write Parameter

The data in this example is for a PowerFlex drive at node address 1.

Refer to Formatting Explicit Messages in this chapter for a description of


the content of the data file.

Request Data for Read of Drive Parameter 101


Address Value (hex) Description Refer to . . .
N9:10 0101 TXID = 01, Command = 01 (execute) 6-5
N9:11 0006 Port = 00, Size = 06 bytes 6-5
N9:12 0E01 Service = 0E (Get_Attribute_Single) C-10
Address = 01 (Node Address) 6-5
N9:13 000F Class = 0F (Parameter Object) C-8
N9:14 0027 Instance = Parameter 39 (27 hex)
N9:15 0001 Attribute = 01 (Parameter Value) C-9

Response Data for Read of Drive Parameter 101


Address Value (hex) Description Refer to . . .
N9:50 0101 TXID = 01, Status = 01 (successful) 6-6
N9:51 0002 Port = 00, Size = 02 bytes 6-6
N9:52 8E01 Service = 8E (successful) 6-6
Address = 01 (Node Address)
N9:53 0064 Response Data = 100 (64 hex) = 10.0 seconds

Request Data for Write to Drive Parameter 101


Address Value (hex) Description Refer to . . .
N9:10 0101 TXID = 01, Command = 01 (execute) 6-5
N9:11 0008 Port = 00, Size = 08 bytes 6-5
N9:12 1001 Service = 10 (Set_Attribute_Single) C-10
Address = 01 (Node Address) 6-5
N9:13 000F Class = 0F (Parameter Object) C-8
N9:14 0027 Instance = Parameter 39 (27 hex)
N9:15 0001 Attribute = 01 (Parameter Value) C-9
N9:16 0064 Data =100 (64 hex) = 10.0 seconds
6-14 Using Explicit Messaging

Response Data for Write to Drive Parameter 101


Address Value (hex) Description Refer to . . .
N9:50 0101 TXID = 01, Status = 01 (successful transaction) 6-6
N9:51 0000 Port = 00, Size = 00 bytes 6-6
N9:52 9001 Service = 90 (successful) 6-6
Address = 01 (Node Address)

Program

Important: To originate a scanner transaction, use a copy operation to


M0:[slot number]:224. Then, use a copy operation to read
M1:1.224 for the result. If more than one message is
enabled, use the TXID to determine which message you are
reading.
Using Explicit Messaging 6-15

Figure 6.8 Example SLC Ladder Logic Program

Explicit Messaging Example

When B3:2/0 is set ON, this rung will copy the 32 words of Explicit Message from
the buffer at N9:10 to the M0 File Explicit Message buffer. The scanner will send
the message out over DeviceNet.
B3:2 COP
0014 Copy File
0 Source #N9:10
Dest #M0:1.224
Length 32

B3:2
U
0

When I:1.0/15 is ON (response to the explicit message is available), the response


message is copied into N9:50. A "4" command is copied into the M0 file, which
commands the 1747-SDN to discard the response data so that the buffer can be used
for the next message.
I:1 COP
0015 Copy File
15 Source #M1:1.224
1747-SDN Dest #N9:50
Length 32

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

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

0016 END

For the I/O message portion of this ladder example program, see
Figure 5.6.
6-16 Using Explicit Messaging

Notes:
Chapter 7

Using Multi-Drive Mode

Chapter 7 provides information and a ControlLogix ladder example to


explain how to use Multi-Drive mode.

Topic Page Topic Page


Single Mode vs. Multi-Drive Mode 7-1 Multi-Drive Ladder Logic Program 7-6
Example
System Wiring 7-3 ControlLogix Example 7-7
Understanding the I/O Image 7-4 Multi-Drive Mode Explicit 7-20
Messaging
Configuring the RS-485 Network 7-5 Additional Information 7-22

ATTENTION: Hazard of injury or equipment damage exists. The


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

Single Mode vs. Multi-Drive Mode


Single mode is a typical network installation, where a single DeviceNet
node consists of a single drive with a 22-COMM-D adapter (Figure 7.1).

Figure 7.1 Single Mode Example for Network

1 drive per node

DeviceNet

PowerFlex 40 PowerFlex 40 PowerFlex 40


with 22-COMM-D with 22-COMM-D with 22-COMM-D

Multi-Drive mode is an alternative to the typical network installation,


where a single DeviceNet node can consist of one to five drives (Figure
7.2). The first drive must be a PowerFlex 40 with a 22-COMM-D
adapter. The remaining drives can be PowerFlex 4 or 40 drives and they
are daisy-chained over RS-485 with the first drive.
7-2 Using Multi-Drive Mode

Figure 7.2 Multi-Drive Mode Example for Network


up to 5 drives per node

DeviceNet

Up to 4 PowerFlex 4's or 40's


PowerFlex 40

22-COMM-D
AK-U0-RJ45-TB2P
Connector w/3rd Party
Terminating Resistor

RS-485 AK-U0-RJ45-TB2P AK-U0-RJ45-TB2P


Connector w/3rd Party
Terminating Resistor

Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one 22-COMM-D adapter is needed for


up to five drives. PowerFlex 4’s can also be used for the
daisy-chained drives instead of PowerFlex 40’s.
• Reduces the network node count (DeviceNet is 63 nodes maximum).
For example, in Single mode 30 drives would consume 30 nodes. In
Multi-Drive mode, 30 drives can be connected in 6 nodes.
• Provides a means to put PowerFlex 4’s on DeviceNet (PowerFlex 4’s
do not have an internal communications adapter slot).
• Controller can control, monitor, and read/write parameters for all five drives.

The trade-offs of Multi-Drive mode include:

• If the PowerFlex 40 with the 22-COMM-D adapter is powered down,


then communications with the daisy-chained drives are disrupted and
the drives will take the appropriate communications loss action set in
each drive.
• Communications throughput to the daisy-chained drives will be
slower than if each drive was a separate node on DeviceNet (Single
mode). This is because the 22-COMM-D adapter must take the
DeviceNet data for the other drives and sequentially send the
respective data to each drive over RS-485. The approximate
additional throughput time for Logic Command/Reference to be
transmitted and received by each drive is:
Additional Throughput Time
Drive versus Single Mode
PowerFlex 40 w/22-COMM-D 0 ms
PowerFlex 40 w/22-COMM-D plus 1 drive +24 ms
PowerFlex 40 w/22-COMM-D plus 2 drives +48 ms
PowerFlex 40 w/22-COMM-D plus 3 drives +72 ms
PowerFlex 40 w/22-COMM-D plus 4 drives +96 ms
Using Multi-Drive Mode 7-3

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


the drives.
• The RSNetWorx Parameter editor cannot be used.
• Since the RS-485 ports are used for daisy-chaining the drives, there
is no connection for a peripheral device such as a HIM. The
AK-U0-RJ45-SC1 DSI Splitter cable cannot be used to add a second
connection for a peripheral device.

System Wiring
To daisy-chain the drives off the PowerFlex 40 with the 22-COMM-D
adapter (Drive 0), the AK-U0-RJ45-TB2P terminal block connector
(Figure 7.3) can be used for easy installation.

Figure 7.3 AK-U0-RJ45-TB2P Terminal Block Connector

The wiring diagram for using AK-U0-RJ45-TB2P terminal block


connectors is shown in Figure 7.4.

Figure 7.4 AK-U0-RJ45-TB2P Connector Wiring Diagram

PowerFlex 40
with 22-COMM-D

Drive Drive Drive Drive


#2 #3 #4 #5

120 Ω
¼ Watt
Resistor

120 Ω
¼ Watt
Resistor
7-4 Using Multi-Drive Mode

Understanding the I/O Image


The DeviceNet specification requires that the terms input and output be
defined from the scanner’s point of view. Therefore, Output I/O is data
that is output from the scanner and consumed by the DeviceNet adapter.
Input I/O is status data that is produced by the adapter and consumed as
input by the scanner. The I/O image table will vary based on the:

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


Parameter 15 - [DSI I/O Cfg]. The image table always uses
consecutive words starting at word 0.

Figure 7.5 illustrates the Multi-Drive I/O image with 16-bit words.

Figure 7.5 Multi-Drive Example of I/O Image

DeviceNet DSI
Controller Scanner Adapter
Word and I/O
0 Logic Command
1 Reference PowerFlex Drive 0
2 Logic Command
3 Reference PowerFlex Drive 1
Output 4 Logic Command
Image 5 Reference PowerFlex Drive 2
(Write)
6 Logic Command
7 Reference PowerFlex Drive 3
8 Logic Command
9 Reference PowerFlex Drive 4

0 Logic Status
1 Feedback PowerFlex Drive 0
2 Logic Status
3 Feedback PowerFlex Drive 1
Input 4 Logic Status
Image 5 Feedback PowerFlex Drive 2
(Read)
6 Logic Status
7 Feedback PowerFlex Drive 3
8 Logic Status
9 Feedback PowerFlex Drive 4

Message Message
Handler Buffer
Using Multi-Drive Mode 7-5

Configuring the RS-485 Network


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

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

Note that the RS-485 network is fixed at 19.2K baud, 8 data bits, no
parity, and 1 stop bit.

Important: Parameters A105 - [Comm Loss Action] and A106 -


[Comm Loss Time] in the daisy-chained drives are not
used in Multi-Drive mode. If the RS-485 cable is
disconnected or broken, the disconnected drive(s) will fault.
On the DeviceNet side, Parameters 07 - [Comm Flt
Action] and 08 - [Idle Flt Action] in the 22-COMM-D
determine the action taken for ALL of the drives on the
Multi-Drive node.

The following Multi-Drive parameters must be set in the 22-COMM-D:

Parameter Value
15 - [DSI I/O Cfg] 00010 = Drives 0-1 connected
00100 = Drives 0-2 connected
01000 = Drives 0-3 connected
10000 = Drives 0-4 connected
17 - [Drv 0 Addr] = Parameter A104 - [Comm Node Address] in Drive 0
18 - [Drv 1 Addr] = Parameter A104 - [Comm Node Address] in Drive 1
19 - [Drv 2 Addr] = Parameter A104 - [Comm Node Address] in Drive 2
20 - [Drv 3 Addr] = Parameter A104 - [Comm Node Address] in Drive 3
21 - [Drv 4 Addr] = Parameter A104 - [Comm Node Address] in Drive 4

After setting the 22-COMM-D parameters, set the adapter Mode Jumper
from Single drive operation to Multi-Drive operation, and reset the
adapter or cycle power. Refer to Chapter 2, Commissioning the Adapter.

Important: 22-COMM-D parameters can be set using a DSI peripheral


(HIM, DriveExplorer with 22-SCM-232, etc.) ONLY when
the Mode Jumper is in the Single mode position.
7-6 Using Multi-Drive Mode

Multi-Drive Ladder Logic Program Example


The example ladder logic program demonstrates using Multi-Drive
mode with five drives. See Figure 7.2 for a system layout diagram.

Function of the Example Program

The example program provided is for the ControlLogix, but other


controllers can also be used. The following actions can be performed:

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


Speed, and Feedback.
• Control the drives using various Logic Command bits (Stop, Start,
etc.) and Reference.
• Perform a single parameter read and write for each drive. The
example uses drive Parameter 39 - [Accel Time] for both so you
can see (read) the change after a write is performed.

Adapter Settings for the Example Program

• The Mode Jumper on the adapter is set to the Multi-Drive operation


position. See Chapter 2, Commissioning the Adapter.
• All DIP switches on the adapter are set to CLOSED (all 0’s). See
Chapter 2, Commissioning the Adapter. The actual node address will
be set via a software parameter.
• The following adapter parameters are set:
Parameter Value Description
02 - [DN Addr Cfg] 1 DeviceNet node address
15 - [DSI I/O Cfg] 4 “Drives 0-4” — 5 drives on 1 node
17 - [Drv 0 Addr](1) 1 Modbus address of Drive 0
18 - [Drv 1 Addr] 2 Modbus address of Drive 1
19 - [Drv 2 Addr] 3 Modbus address of Drive 2
20 - [Drv 3 Addr] 4 Modbus address of Drive 3
21 - [Drv 4 Addr] 5 Modbus address of Drive 4
(1)
The settings for these parameters must match the Parameter A104 -
[Comm Node Addr] settings in the respective drives.
Using Multi-Drive Mode 7-7

Drive Settings for the Example Program


Value
Parameter
Drive 0 Drive 1 Drive 2 Drive 3 Drive 4
P36 - [Start Source] 5 5 5 5 5
P38 - [Speed Reference] 5 5 5 5 5
A103 - [Comm Data Rate] 4 4 4 4 4
A104 - [Comm Node Addr](1) 1 2 3 4 5
A105 - [Comm Loss Action] 0 0 0 0 0
A106 - [Comm Loss Time] 5 5 5 5 5
A107 - [Comm Format] 0 0 0 0 0
(1) The settings for these parameters must match the respective parameter
settings in the adapter (Parameter 17 - [Drive 0 Address] through
Parameter 21 - [Drive 4 Address]).

ControlLogix Example
The following common Tags are used:

Tag Name Type Description


Local : 3 : I AB: 1756_D...
Local : 3 : O AB: 1756_D... 1756-DNB I/O
Local : 3 : 5 AB: 1756_D...
Drive Input Image INT [10] Input Image Table
Drive Output Image INT [10] Output Image Table

The following Tags are used for Drive 0:

Tag Name Type Description


Drive 0 Command Stop BOOL Logic Command bit 0 (STOP)
Drive 0 Command Start BOOL Logic Command bit 1 (START)
Drive 0 Command Jog BOOL Logic Command bit 2 (JOG)
Drive 0 Command Clear Faults BOOL Logic Command bit 3 (CLEAR FAULTS)
Drive 0 Command Forward BOOL Logic Command bit 4 (FORWARD)
Drive 0 Reference INT Speed Reference
Drive 0 Status Ready BOOL Logic Status bit 0 (READY)
Drive 0 Status Active BOOL Logic Status bit 1 (ACTIVE)
Drive 0 Status Forward BOOL Logic Status bit 3 (FORWARD)
Drive 0 Status Faulted BOOL Logic Status bit 7 (FAULT)
Drive 0 Status At Reference BOOL Logic Status bit 8 (AT SPEED)
Drive 0 Feedback INT Speed Feedback
Perform Parameter Read 0 BOOL Initiates the parameter read
Parameter RD Value 0 INT Read value of the parameter
Parameter RD Message 0 MESSAGE Get_Attribute_Single (Read)
7-8 Using Multi-Drive Mode

Tag Name Type Description


Perform Parameter Write 0 BOOL Initiates the parameter value
Parameter WR Value 0 INT Write value to the parameter
Parameter WR Message 0 MESSAGE Set_Attribute_Single (Write)

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

Main Routine

The Main Routine tells the 1756-DNB scanner to run, reads the network
Input Image from the scanner, calls the various drive control subroutines,
and writes the network Output Image to the scanner. See Figure 7.6.
Using Multi-Drive Mode 7-9

Figure 7.6 Main Routine

ControlLogix MultiDrive example program with a PowerFlex 40 at node address 1.


Four PowerFlex 4/40's are daisy-chained to the main PowerFlex 40 via their RJ45
ports (RS-485). In this mode, up to FIVE PowerFlex 4/40's can exist on ONE
DeviceNet node.

This rung enables the scanner (changes the scanner to RUN mode).
Local:3:O.CommandRegister.Run
0

This section retrieves the Logic Status and Feedback data for all five drives from
the scanner, and moves it to specific INT tags for use elsewhere in the ladder
program. The input image is as follows:
DriveInputImage[0] and DriveInputImage[1] = Drive 0 Logic Status and Feedback
DriveInputImage[2] and DriveInputImage[3] = Drive 1 Logic Status and Feedback
DriveInputImage[4] and DriveInputImage[5] = Drive 2 Logic Status and Feedback
DriveInputImage[6] and DriveInputImage[7] = Drive 3 Logic Status and Feedback
DriveInputImage[8] and DriveInputImage[9] = Drive 4 Logic Status and Feedback
COP
1 Copy File
Source Local:3:I.Data[0]
Dest DriveInputImage[0]
Length 10

Drive 0 control subroutine.


JSR
2 Jump To Subroutine
Routine Name Drive0

Drive 1 control subroutine.


JSR
3 Jump To Subroutine
Routine Name Drive1

Drive 2 control subroutine.


JSR
4 Jump To Subroutine
Routine Name Drive2

Drive 3 control subroutine.


JSR
5 Jump To Subroutine
Routine Name Drive3

Drive 4 control subroutine.


JSR
6 Jump To Subroutine
Routine Name Drive4
7-10 Using Multi-Drive Mode

Figure 7.6 Main Routine (Continued)

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

DriveOutputImage[0] and DriveOutputImage[1] = Drive 0 Logic Command and Reference


DriveOutputImage[2] and DriveOutputImage[3] = Drive 1 Logic Command and Reference
DriveOutputImage[4] and DriveOutputImage[5] = Drive 2 Logic Command and Reference
Dr e 3 Logic Command and Reference
DriveOutputImage[6] and DriveOutputImage[7] = Drive
DriveOutputImage[8] and DriveOutputImage[9] = Drive 4 Logic Command and Reference

(Note the length of the COP instruction is "5" because the Destination address is a DINT)
COP
7 Copy File
Source DriveOutputImage[0]
Dest Local:3:O.Data[0]
Length 5

(End)

Drive 0 - Drive 4 Control Routines

The Drive Control routines provide status information (Logic Status and
Feedback), control (Logic Command and Reference), and parameter
read/write for each of the respective drives. See Figure 7.7 for Drive 0,
Figure 7.8 for Drive 1, Figure 7.9 for Drive 2, Figure 7.10 for Drive 3,
and for Drive 4.
Using Multi-Drive Mode 7-11

Figure 7.7 Drive 0 Control Routine

Drive 0 Control Subroutine


This section takes the data from the input area and moves it to specific tags
(Logic Status bits and Feedback) for use elsewhere in the ladder program.
DriveInputImage[0].0 Drive0StatusReady
0

DriveInputImage[0].1 Drive0StatusActive
1

DriveInputImage[0].3 Drive0StatusForward
2

DriveInputImage[0].7 Drive0StatusFaulted
3

DriveInputImage[0].8 Drive0StatusAtReference
4

COP
5 Copy File
Source DriveInputImage[1]
Dest Drive0Feedback
Length 1

This section takes the data from specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.
Drive0CommandStop DriveOutputImage[0].0
6

Drive0CommandStart DriveOutputImage[0].1
7

Drive0CommandJog DriveOutputImage[0].2
8

Drive0CommandClearFaults DriveOutputImage[0].3
9

Drive0CommandForward DriveOutputImage[0].4
10

Drive0CommandForward DriveOutputImage[0].5
11 /

COP
12 Copy File
Source Drive0Reference
Dest DriveOutputImage[1]
Length 1
7-12 Using Multi-Drive Mode

Figure 7.7 Drive 0 Control Routine (Continued)

Explicit Messaging Example

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

PerformParameterRead0
MSG
13 Type - CIP Generic EN
Message Control ParameterRDMessage0 ... DN
ER

PerformParameterWrite0
MSG
14 Type - CIP Generic EN
Message Control ParameterWRMessage0 ... DN
ER

RET
15 Return

(End)
Using Multi-Drive Mode 7-13

Figure 7.8 Drive 1 Control Routine

Drive 1 Control Subroutine


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

DriveInputImage[2].0 Drive1StatusReady
0

DriveInputImage[2].1 Drive1StatusActive
1

DriveInputImage[2].3 Drive1StatusForward
2

DriveInputImage[2].7 Drive1StatusFaulted
3

DriveInputImage[2].8 Drive1StatusAtReference
4

COP
5 Copy File
Source DriveInputImage[3]
Dest Drive1Feedback
Length 1

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

Drive1CommandStop DriveOutputImage[2].0
6

Drive1CommandStart DriveOutputImage[2].1
7

Drive1CommandJog DriveOutputImage[2].2
8

Drive1CommandClearFaults DriveOutputImage[2].3
9

Drive1CommandForward DriveOutputImage[2].4
10

Drive1CommandForward DriveOutputImage[2].5
11 /

COP
12 Copy File
Source Drive1Reference
Dest DriveOutputImage[3]
Length 1
7-14 Using Multi-Drive Mode

Figure 7.8 Drive 1 Control Routine (Continued)

Explicit Messaging Example

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

PerformParameterRead1
MSG
13 Type - CIP Generic EN
Message Control ParameterRDMessage1 ... DN
ER

PerformParameterWrite1
MSG
14 Type - CIP Generic EN
Message Control ParameterWRMessage1 ... DN
ER

RET
15 Return

(End)
Using Multi-Drive Mode 7-15

Figure 7.9 Drive 2 Control Routine

Drive 2 Control Subroutine

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

DriveInputImage[4].0 Drive2StatusReady
0

DriveInputImage[4].1 Drive2StatusActive
1

DriveInputImage[4].3 Drive2StatusForward
2

DriveInputImage[4].7 Drive2StatusFaulted
3

DriveInputImage[4].8 Drive2StatusAtReference
4

COP
5 Copy File
Source DriveInputImage[5]
Dest Drive2Feedback
Length 1

This section takes the data from specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.
Drive2CommandStop DriveOutputImage[4].0
6

Drive2CommandStart DriveOutputImage[4].1
7

Drive2CommandJog DriveOutputImage[4].2
8

Drive2CommandClearFaults DriveOutputImage[4].3
9

Drive2CommandForward DriveOutputImage[4].4
10

Drive2CommandForward DriveOutputImage[4].5
11 /

COP
12 Copy File
Source Drive2Reference
Dest DriveOutputImage[5]
Length 1
7-16 Using Multi-Drive Mode

Figure 7.9 Drive 2 Control Routine (Continued)

Explicit Messaging Example

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

PerformParameterRead2
MSG
13 Type - CIP Generic EN
Message Control ParameterRDMessage2 ... DN
ER

PerformParameterWrite2
MSG
14 Type - CIP Generic EN
Message Control ParameterWRMessage2 ... DN
ER

RET
15 Return

(End)
Using Multi-Drive Mode 7-17

Figure 7.10 Drive 3 Control Routine

Drive 3 Control Subroutine

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

DriveInputImage[6].0 Drive3StatusReady
0

DriveInputImage[6].1 Drive3StatusActive
1

DriveInputImage[6].3 Drive3StatusForward
2

DriveInputImage[6].7 Drive3StatusFaulted
3

DriveInputImage[6].8 Drive3StatusAtReference
4

COP
5 Copy File
Source DriveInputImage[7]
Dest Drive3Feedback
Length 1

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

Drive3CommandStop DriveOutputImage[6].0
6

Drive3CommandStart DriveOutputImage[6].1
7

Drive3CommandJog DriveOutputImage[6].2
8

Drive3CommandClearFaults DriveOutputImage[6].3
9

Drive3CommandForward DriveOutputImage[6].4
10

Drive3CommandForward DriveOutputImage[6].5
11 /

COP
12 Copy File
Source Drive3Reference
Dest DriveOutputImage[7]
Length 1
7-18 Using Multi-Drive Mode

Figure 7.10 Drive 3 Control Routine (Continued)

Explicit Messaging Example

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

PerformParameterRead3
MSG
13 Type - CIP Generic EN
Message Control ParameterRDMessage3 ... DN
ER

PerformParameterWrite3
MSG
14 Type - CIP Generic EN
Message Control ParameterWRMessage3 ... DN
ER

RET
15 Return

(End)
Using Multi-Drive Mode 7-19

Figure 7.11 Drive 4 Control Routine

Drive 4 Control Subroutine

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

DriveInputImage[8].0 Drive4StatusReady
0

DriveInputImage[8].1 Drive4StatusActive
1

DriveInputImage[8].3 Drive4StatusForward
2

DriveInputImage[8].7 Drive4StatusFaulted
3

DriveInputImage[8].8 Drive4StatusAtReference
4

COP
5 Copy File
Source DriveInputImage[9]
Dest Drive4Feedback
Length 1

This section takes the data from the specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.
Drive4CommandStop DriveOutputImage[8].0
6

Drive4CommandStart DriveOutputImage[8].1
7

Drive4CommandJog DriveOutputImage[8].2
8

Drive4CommandClearFaults DriveOutputImage[8].3
9

Drive4CommandForward DriveOutputImage[8].4
10

Drive4CommandForward DriveOutputImage[8].5
11 /

COP
12 Copy File
Source Drive4Reference
Dest DriveOutputImage[9]
Length 1
7-20 Using Multi-Drive Mode

Figure 7.11 Drive 4 Control Routine (Continued)

Explicit Messaging Example

Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the
desired parameter number. For example, to access Parameter 39 an Instance of
21543 (21504 + 39) is used.

PerformParameterWrite4
MSG
13 Type - CIP Generic EN
Message Control ParameterRDMessage4 ... DN
ER

PerformParameterRead4
MSG
14 Type - CIP Generic EN
Message Control ParameterWRMessage4 ... DN
ER

RET
15 Return

(End)

Multi-Drive Mode Explicit Messaging


Parameter addressing for Explicit messaging is different in Multi-Drive
than with Single mode. In Single mode, the Instance value in the
message equals the desired parameter number in the drive. In
Multi-Drive mode, an Instance table is used to account for the
parameters in the adapter and up to 5 drives. The parameters in the
adapter and each of the drives are offset by 400 hex (1024 decimal):

Instance Device Parameter


4000h (16384 dec) - 43FFh 22-COMM-D 0 - 1023
4400h (17408 dec) - 47FFh Drive 0 0 - 1023
4800h (18432 dec) - 4BFFh Drive 1 0 - 1023
4000h (19456 dec) - 4FFFh Drive 2 0 - 1023
5000h (20480 dec) - 53FFh Drive 3 0 - 1023
5400h (21504 dec) - 57FFh Drive 4 0 - 1023

For example, to access Parameter P39 - [Accel Time 1] in each of the


drives, the following Instances would be used:
Drive 0 Instance = 17447 (17408 + 39)
Drive 1 Instance = 18471 (18432 + 39)
Drive 2 Instance = 19495 (19456 + 39)
Drive 3 Instance = 20519 (20480 + 39)
Drive 4 Instance = 21543 (21504 + 39)
Using Multi-Drive Mode 7-21

Drive 0 Explicit Message Example

The Explicit message examples in the ControlLogix example program


perform a read (Get_Attribute_Single) and a write (Set_Attribute_Single)
to Parameter 39 - [Accel Time 1]. The configuration for the read is
shown in Figure 7.12 and the write is shown in Figure 7.13.

Figure 7.12 Parameter Read Message Configuration

Figure 7.13 Parameter Write Message Configuration


7-22 Using Multi-Drive Mode

The Class Code is “ f ” for the Parameter Object and the Instance
Attribute is “1” to select retrieving the parameter value. See Appendix C,
Parameter Object for more information. The Instance value is “17447” to
access Parameter 39 - [Accel Time 1].

The Explicit messages for Drive 1 to Drive 4 are identical except for the
Instance values:

Drive 1 Instance = 18471 (18432 + 39)


Drive 2 Instance = 19495 (19456 + 39)
Drive 3 Instance = 20519 (20480 + 39)
Drive 4 Instance = 21543 (21504 + 39)

Additional Information
• When the PowerFlex 40 with the 22-COMM-D (Drive 0) is powered
up, all configured daisy-chained drives must be present before an I/O
connection is allowed on DeviceNet (i.e. before the drives can be
controlled).

• If the PowerFlex 40 with the 22-COMM-D adapter (Drive 0) is


powered down, communications with the four daisy-chained drives
(Drive 1 to Drive 4) are disrupted and the drives will fault.

• If any of the daisy-chained drives (Drive1 to Drive 4) are powered


down, the respective Input Image (Logic Status and Feedback) sent
to the scanner will be zeros, and the NET A and PORT LEDs on the
22-COMM-D adapter will flash red. Status information from the
scanner will not indicate there is a fault at the node.
Chapter 8

Troubleshooting

Chapter 8 contains troubleshooting information.

Topic Page Topic Page


Locating the Status Indicators 8-1 Module Diagnostic Items in 8-4
Single Drive Mode
PORT Status Indicator 8-2 Module Diagnostic Items in 8-5
Multi-Drive Mode
MOD Status Indicator 8-3 Viewing and Clearing Events 8-6
Net A Status Indicator 8-4

Locating the Status Indicators


The DeviceNet adapter has three status indicators. They can be viewed
on the adapter or through the drive cover. See Figure 8.1.

Figure 8.1 Status Indicators (location on drive may vary)






Number Status Indicator Description Page


➊ PORT DSI Connection Status 8-2
➋ MOD Adapter Status 8-3
➌ NET A DeviceNet Status 8-4
➍ NET B Not Used for DeviceNet
8-2 Troubleshooting

PORT Status Indicator

Status Cause Corrective Action


Off The adapter is not powered or • Securely connect the adapter to the drive
is not connected properly to using the ribbon cable.
the drive. • Apply power to the drive.
Flashing The adapter is not receiving • Clear any drive faults.
Red communication from the drive, • Verify that cables are securely connected.
connected drive is faulted, or
a drive is missing in • Cycle power to the drive.
Multi-Drive mode.
Solid The drive has refused an Important: Cycle power to the product after
Red I/O connection from the making the following correction:
adapter.
Verify that all DSI cables are securely
Another DSI peripheral is connected and not damaged. Replace cables
using the same DSI port as if necessary.
the adapter.
Flashing The adapter is establishing an • No Action. This status indicator will turn
Green I/O connection to the drive or solid green or red.
[DSI I/O Config] is configured • Verify Parameter 15, [DSI I/O Config]
for all I/O disabled. settings.
• Normal behavior if no DSI I/O is enabled.
Solid The adapter is properly No Action.
Green connected and is
communicating with the drive.
Orange Daisy-chained drives in Use Allen-Bradley PowerFlex 4/40’s for the
Multi-Drive mode are not all daisy-chained drives.
Allen-Bradley drives
(PowerFlex 4/40).
Troubleshooting 8-3

MOD Status Indicator

Status Cause Corrective Action


Off The adapter is not powered. • Securely connect the adapter to the drive
using the ribbon cable.
• Apply power to the drive.
Flashing The adapter has failed the • Clear faults in the drive.
Red firmware test, connected drive • Cycle power to the drive.
is faulted, or a drive is missing
in Multi-Drive mode. • If cycling power does not correct the
problem, the parameter settings may have
been corrupted. Reset defaults and
reconfigure the module.
• If resetting defaults does not correct the
problem, flash the adapter with the latest
firmware release.
• For Multi-Drive mode, determine which
drive is missing or faulted. Check cabling
and configuration settings (see Configuring
the RS-485 Network section in Chapter 7).
Solid The adapter has failed the • Cycle power to the drive.
Red hardware test. • Replace the adapter.
Flashing The adapter is operational, • Place the scanner in RUN mode.
Green but is not transferring I/O data. • Program the controller to recognize and
transmit I/O to the adapter.
• Configure the adapter for the program in
the controller.
• Normal behavior if no DSI I/O is enabled.
Solid The adapter is operational No Action.
Green and transferring I/O data.
8-4 Troubleshooting

Net A Status Indicator

Status Cause Corrective Actions


Off The adapter and/or • Securely connect the adapter to the drive
network is not powered or using the Internal Interface cable and to the
adapter is not connected network using a DeviceNet cable.
properly to the network. • Correctly connect the DeviceNet cable to the
DeviceNet plug.
• Apply power to the drive and network.
Flashing A DeviceNet I/O • Place the scanner in RUN mode, or apply
Red connection has timed out. power to the peer device that will send I/O.
• Check the amount of traffic on the network.
Solid Failed duplicate node • Configure the adapter to use a unique node
Red detection test or bus off address on the DeviceNet network.
condition exists. • Configure the adapter to use the correct
network data rate.
• Ensure network has correct media installed.
Flashing The adapter is properly • Place the controller in RUN mode, or apply
Green connected but is not power to the peer device that will send I/O.
communicating with any • Program a controller or peer device to
devices on the network. recognize and transmit I/O to the adapter.
• Configure the adapter for the program in the
controller or the I/O from the peer device.
Solid The adapter is properly No action required.
Green connected and
communicating on the
network.

Module Diagnostic Items in Single Drive Mode


The following diagnostic items can be accessed using DriveExplorer
(version 3.01 or higher).

No. Name Description


1 Field Flash Cnt The number of flash updates made to the adapter after shipping.
2 Adapter Events The number of events in the event queue.
3 Reference Reference being transmitted to the host by this peripheral.
4 Logic Cmd Command being transmitted to the host by this peripheral.
5 Logic Sts Status being received from the host by this peripheral.
6 Feedback Feedback being received from the host by this peripheral.
7 DN Rx Errors Current value of the DeviceNet CAN Receive Error Counter register.
8 DN Tx Errors Current value of the DeviceNet CAN Transmit Error Counter register.
9 Data Rate SW Current setting of the adapter 2-bit data rate switch.
10 Node Address SW Current setting of the adapter 6-bit Node address switch.
Troubleshooting 8-5

Module Diagnostic Items in Multi-Drive Mode


The following diagnostic items can be accessed using DriveExplorer
(version 3.01 or higher).

No. Name Description


1 Field Flash Cnt The number of flash updates made to the adapter after shipping.
2 Adapter Events The number of events in the event queue.
3 Drv 0 Reference Reference being transmitted from the adapter to DSI drive 0.
4 Drv 0 Logic Cmd Command being transmitted from the adapter to DSI drive 0.
5 Drv 0 Logic Sts Status of DSI drive 0 being received by the adapter.
6 Drv 0 Feedback Feedback from DSI drive 0 being received by the adapter.
7 Drv 1 Reference Reference being transmitted from the adapter to DSI drive 1.
8 Drv 1 Logic Cmd Command being transmitted from the adapter to DSI drive 1.
9 Drv 1 Logic Sts Status of DSI drive 1 being received by the adapter.
10 Drv 1 Feedback Feedback from DSI drive 1 being received by the adapter.
11 Drv 2 Reference Reference being transmitted from the adapter to DSI drive 2.
12 Drv 2 Logic Cmd Command being transmitted from the adapter to DSI drive 2.
13 Drv 2 Logic Sts Status of DSI drive 2 being received by the adapter.
14 Drv 2 Feedback Feedback from DSI drive 2 being received by the adapter.
15 Drv 3 Reference Reference being transmitted from the adapter to DSI drive 3.
16 Drv 3 Logic Cmd Command being transmitted from the adapter to DSI drive 3.
17 Drv 3 Logic Sts Status of DSI drive 3 being received by the adapter.
18 Drv 3 Feedback Feedback from DSI drive 3 being received by the adapter.
19 Drv 4 Reference Reference being transmitted from the adapter to DSI drive 4.
20 Drv 4 Logic Cmd Command being transmitted from the adapter to DSI drive 4.
21 Drv 4 Logic Sts Status of DSI drive 4 being received by the adapter.
22 Drv 4 Feedback Feedback from DSI drive 4 being received by the adapter.
23 DN Rx Errors Current value of the DeviceNet CAN Receive Error Counter register.
24 DN Tx Errors Current value of the DeviceNet CAN Transmit Error Counter register.
25 Data Rate SW Current setting of the adapter 2-bit data rate switch.
26 Node Address SW Current setting of the 6-bit Node address switch.
8-6 Troubleshooting

Viewing and Clearing Events


The adapter maintains an event queue that reports the history of its
actions. You can view the event queue using DriveExplorer (3.01)
software.

Figure 8.2 DriveExplorer Event View/Clear Screen


Troubleshooting 8-7

Events

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

Code Event Description


0 No Event Text displayed in an empty event queue entry.
1 Host Sent Reset The DSI product issued this because it was reset.
2 EEPROM Sum Flt Startup sequence detected corrupt EEPROM storage.
3 Reserved
4 Control Disabled Sets the PCCC to zero.
5 Control Enabled Sets the PCCC timeout to non-zero and sends a PCCC
control command.
6 PCCC IO Time Flt Control by a PCCC device has timed out.
7 Normal Startup Signifies the first event after a reset or power cycle.
8 Reserved
9 DSI Fault Msg DSI drive faulted.
10 DN Poll Timeout DeviceNet did not send an I/O poll message in the required
time interval.
11 DN I/O Too Long The length of the data from the I/O scanner was too long.
12 Bad I/O Fragment An I/O fragment from the scanner arrived out of sequence.
13 Idle I/O Message The DeviceNet scanner was placed in the program mode.
14 Reserved
15 DSI Fault Clear A drive fault was cleared.
16 DN COS Timeout I/O data from a DeviceNet COS connection has not been
received in the required interval.
17 DN Poll Allocate The adapter was allocated for a DeviceNet polled I/O connection.
18 DN COS Allocate The adapter was allocated for a DeviceNet COS I/O connection.
19 DN Poll Closed The DeviceNet master has closed the previous opened
polled I/O connection.
20 DN COS Closed The DeviceNet master has closed the previously opened
COS I/O connection.
21 DN Dup MAC Flt The DeviceNet side of the adapter has failed the duplicate
MAC test.
22 Manual Reset The adapter was reset from the “Reset Module” parameter.
23 Host Timeout An explicit message to a Drive host has timed out waiting for
a response.
24 Slave Timeout An explicit message to a Slave has timed out waiting for a
response.
25 Slave Detected A DSI slave was detected on the /slave I/O line.
26 Slave Removed A DSI slave was removed from the /slave I/O line.
27 Language CRC Bad The language flash segment is corrupt.
8-8 Troubleshooting

Notes:
Appendix A

Specifications

This chapter present the specifications for the adapter.

Topic Page Topic Page


Communications A-1 Environmental A-2
Electrical A-1 Regulatory Compliance A-2
Mechanical A-1

Communications

Network
Protocol DeviceNet
Data Rates 125K, 250K, 500K, Autobaud
Drive
Protocol DSI

Electrical

Consumption
Drive 150 mA at 5V supplied through the drive
Network 60 mA at 24V supplied through DeviceNet
Use the 60 mA value to size the network current draw
from the power supply.

Mechanical

Dimensions
Height 19 mm (0.75 inches)
Length 86 mm (3.39 inches)
Width 78.5 mm (3.09 inches)
Weight 85 g (3 oz.)
A-2 Specifications

Environmental

Temperature
Operating -10 to +50 °C (14 to 149 °F)
Storage -40 to +85 °C (-40 to +185 °F)
Relative Humidity -5 to 95% non-condensing

Regulatory Compliance

Certification Specification
UL UL508C
cUL CAN / CSA C22.2 No. 14-M91
CE EN50178 and EN61800-3
Appendix B

Adapter Parameters

Appendix B provides information about the DeviceNet adapter


parameters.

Topic Page
About Parameter Numbers B-1
Parameter List B-1

About Parameter Numbers


The parameters in the adapter are numbered consecutively. However,
depending on which configuration tool you use, they may have different
numbers.

Configuration Tool Numbering Scheme


• DriveExplorer The adapter parameters begin with parameter 1. For
• DriveTools 2000 example, Parameter 01 - [Mode] is parameter 1 as
• HIM indicated by this manual.
• Explicit Messaging The adapter parameters are appended to the list of drive
• RSNetWorx for parameters. For example, with a drive with 300
DeviceNet parameters, Parameter 01- [Mode] is parameter 301.

Parameter List

Parameter
No. Name and Description Details
01 [Mode] Default: 0 = Single Drive
Displays the Single or Multi-Drive operating mode Values: 0 = Single Drive
selected with the jumper on the adapter. 1 = Multiple Drive
Type: Read Only
02 [DN Addr Cfg] Default: 63
Sets the node address used by the drive after a Minimum: 0
reset or power cycle. Maximum: 63
Type: Read/Write
This setting is used when all of the adapter DIP Reset Required: Yes
switches are in the CLOSED position (all 0’s).
03 [DN Addr Act] Default: 63
Displays DeviceNet node address currently being Minimum: 0
used by the adapter. Maximum: 63
Type: Read Only
B-2 Adapter Parameters

Parameter
No. Name and Description Details
04 [DN Rate Cfg] Default: 3 = Autobaud
Sets the DeviceNet data rate after a reset or Values: 0 = 125 kbps
power cycle. 1 = 250 kbps
2 = 500 kbps
This setting is used when all of the adapter DIP 3 = Autobaud
switches are in the CLOSED position (all 0’s). Type: Read/Write
Reset Required: Yes
05 [DN Rate Act] Default: 0 = 125 kbps
Displays DeviceNet data rate currently being used Values: 0 = 125 kbps
by the adapter. 1 = 250 kbps
2 = 500 kbps
Type: Read Only
06 [Reset Module] Default: 0 = Ready
No action if set to “Ready.” Resets the adapter if Values 0 = Ready
set to “Reset Module.” Restores the adapter to its 1 = Reset Module
factory default settings if set to “Set Defaults.” This 2 = Set Defaults
parameter is a command. It will be reset to “0 = Type: Read/Write
Ready” after the command has been performed. Reset Required: No

ATTENTION: Risk of injury or equipment damage exists. If the adapter is


transmitting I/O that controls the drive, the drive may fault when you reset the
! adapter. Determine how your drive will respond before resetting a connected
adapter.

07 [Comm Flt Action] Default: 0 = Fault


Sets the action that the adapter and drive take if Values: 0 = Fault
the adapter detects that DeviceNet 1 = Stop
communications have been disrupted. This setting 2 = Zero Data
is effective only if I/O that controls the drive is 3 = Hold Last
transmitted through the adapter. 4 = Send Flt Cfg
Type: Read/Write
Reset Required: No

ATTENTION: Risk of injury or equipment damage exists. Parameter 07 - [Comm


Flt Action] lets you determine the action of the adapter and connected drive if
! communications are disrupted. By default, this parameter faults the drive. You can
set this parameter so that the drive continues to run. Precautions should be taken
to ensure that the setting of this parameter does not create a hazard of injury or
equipment damage.

08 [Idle Flt Action] Default: 0 = Fault


Sets the action that the adapter and drive take if Values: 0 = Fault
the adapter detects that scanner is idle because 1 = Stop
the controller was switched to program mode. This 2 = Zero Data
setting is effective only if I/O that controls the drive 3 = Hold Last
is transmitted through the adapter. 4 = Send Flt Cfg
Type: Read/Write
Reset Required: No

ATTENTION: Risk of injury or equipment damage exists. Parameter 08 - [Idle Flt


Action] lets you determine the action of the adapter and connected drive if the
! scanner is idle. By default, this parameter faults the drive. You can set this
parameter so that the drive continues to run. Precautions should be taken to
ensure that the setting of this parameter does not create a hazard of injury or
equipment damage.
Adapter Parameters B-3

Parameter
No. Name and Description Details
09 [DN Act Cfg] Default: 0 = Switches
Displays the source from which the adapter node Values: 0 = Switches
address and data rate are taken. This will either be 1 = EEPROM
switches or parameters in EEPROM. It is Type: Read Only
determined by the settings of the switches on the
adapter.
10 [Flt Cfg Logic] Default: 0
Sets the Logic Command data that is sent to the Minimum: 0
drive if any of the following is true: Maximum: 65535
• Parameter 07 - [Comm Flt Action] is set to Type: Read/Write
Send Flt Cfg and communications are Reset Required: No
disrupted.
• Parameter 08 - [Idle Flt Action] is set to Send
Flt Cfg and the scanner is put into Program or
Test mode.
The bit definitions will depend on the product to
which the adapter is connected.
11 [Flt Cfg Ref] Default: 0
Sets the Reference data that is sent to the drive if Minimum: 0
any of the following is true: Maximum: 65535
• Parameter 07 - [Comm Flt Action] is set to Type: Read/Write
Send Flt Cfg and communications are Reset Required: No
disrupted.
Important: If the drive uses a 16-bit
• Parameter 08 - [Idle Flt Action] is set to Send Reference, the most significant word of this
Flt Cfg and the scanner is put into Program value must be set to zero (0) or a fault will
mode. occur.
12 [COS Status Mask] Default: 0
Sets the mask of the 16-bit Logic Status word. Minimum: 0
Unless they are masked out, the bits in the Logic Maximum: 65535
Status word are checked for changes when the Type: Read/Write
adapter is allocated using COS (Change of State). Reset Required: No
If a bit changes, it is reported as a change in the
Change of State operation.

If the mask bit is 0 (Off), the bit is ignored. If the


mask bit is 1 (On), the bit is checked.

Important: The bit definitions in the Logic Status


word depend on the drive.
13 [COS Fdbk Change] Default: 0
Sets the hysteresis band to determine how much Minimum: 0
the Feedback word can change before it is Maximum: 65535
reported as a change in the COS (Change of Type: Read/Write
State) operation. Reset Required: No
14 [COS/Cyc Interval] Default: 0.000 Seconds
Displays amount of time that a scanner will wait to Minimum: 0.000 Seconds
check for data in the adapter. When COS (Change Maximum: 65.535 Seconds
of State) data exchange has been set up, this is Type: Read Only
the maximum amount of time between scans.
Scans will happen sooner if data changes. When
Cyclic data exchange has been set up, this
interval is the fixed time between scans. This
interval is the heartbeat rate configured in the
scanner.
B-4 Adapter Parameters

Parameter
No. Name and Description Details
15 [DSI I/O Cfg] Default: 0001
Sets the configuration of the Drives that are active Values: 0 = Drive 0
in the Multi-Drive mode. Identifies the connections 1 = Drives 0-1
that would be attempted on a reset or power cycle. 2 = Drives 0-2
3 = Drives 0-3
4 = Drives 0-4
Type: Read/Write
Reset Required: Yes
16 [DSI I/O Act] Default: 0001
Displays the Drives that are active in the Bit Values: 0 = Drive 0
Multi-Drive mode. 1 = Drives 0-1
2 = Drives 0-2
3 = Drives 0-3
4 = Drives 0-4
Type: Read Only
17 [Drv 0 Addr] Default: 1
18 [Drv 1 Addr] Default: 2
19 [Drv 2 Addr] Default: 3
20 [Drv 3 Addr] Default: 4
21 [Drv 4 Addr] Default: 5
Minimum: 1
Sets the corresponding node addresses of the Maximum: 247
daisy-chained drives when the adapter Mode Type: Read/Write
Jumper (J2) is set for Multi-Drive operation. Reset Required: Yes

Important: The settings for these parameters


must match the Parameter A104 - [Comm Node
Addr] settings in the respective drives. Each
setting must also be unique (no duplicate node
address).
Appendix C

DeviceNet Objects

Appendix C presents information about the DeviceNet objects that can


be accessed using Explicit Messages. For information on the format of
Explicit Messages and example ladder logic programs, refer to
Chapter 6, Using Explicit Messaging.

Object Class Code Page


Hex. Dec.
Identity Object 0x01 1 C-2
Connection Object 0x05 5 C-4
Register Object 0x07 7 C-6
Parameter Object 0x0F 15 C-8
Parameter Group Object 0x10 16 C-11
PCCC Object 0x67 103 C-13

TIP: Refer to the DeviceNet specification for more information about


DeviceNet objects. Information about the DeviceNet specification is
available on the ODVA web site (http://www.odva.org).
C-2 DeviceNet Objects

Identity Object

Class Code
Hexadecimal Decimal
0x01 1

Instances (Single-Drive Mode)


The number of instances is fixed at three and is as shown below:

Instance Description
0 Class
1 Host drive
2 22-COMM-D
3 22-SCM-232 or 22-HIM-* (when present)

Instances (Multi-Drive Mode)


The number of instances is fixed at one and is as shown below:

Instance Description
0 Class
1 22-COMM-D

Class Attributes
Attribute Access Name Data Type Description
ID Rule
1 Get Revision UINT 1
2 Get Max Instance UINT Maximum Instance Number
DeviceNet Objects C-3

Identity Object (Continued)

Instance Attributes
Attribute Access Name Data Type Description
ID Rule
1 Get Vendor ID UINT 1 = Allen-Bradley
2 Get Device Type UINT
3 Get Product Code UINT Unique number identifying the
product name and rating
4 Get Revision Struct of Product Revision:
USINT Major
USINT Minor
5 Get Status WORD Bit 0 = Owned
Bit 2 = Configured
Bit 10 = Recoverable fault
Bit 11 = Unrecoverable fault
6 Get Serial Number UDINT Unique 32-bit number
7 Get Product Name SHORT_
STRING Product name and rating

Services
Service Code Implemented for: Service Name
Class Instance
0x01 Yes Yes Get_Attributes_All
0x05 Yes No Reset
0x0E Yes Yes Get_Attribute_Single
0x10 No No Set_Attribute_Single
C-4 DeviceNet Objects

Connection Object

Class Code
Hexadecimal Decimal
0x05 5

Instances
Instance Description
1 Master-Slave Explicit Message Connection
2 Polled I/O Connection
4 Change of State/Cyclic Connection
6 – 10 Explicit Message Connection

Instance Attributes
Refer to the DeviceNet Specification for more information.

Attribute Access Name Data Type Description


ID Rule
1 Get State USINT 0 = Nonexistent
1 = Configuring
2 = Waiting for connection ID
3 = Established
4 = Timed out
2 Get Instance Type USINT 0 = Explicit Message
1 = I/O Message
3 Get Transport Class USINT The Transport Class Trigger for
Trigger this instance
4 Get Produced Cnxn USINT CAN Identifier to transmit on
ID
5 Get Consumed Cnxn USINT CAN Identifier to receive on
ID
6 Get Initial Comm USINT Defines the DeviceNet message
Char groups that the tx/rx Cnxn’s apply
7 Get Produced Cnxn UINT Max bytes to transmit across this
Size connection
8 Get Consumed Cnxn UINT Max bytes to receive across this
Size connection
9 Get/Set EPR UINT Expected Packet Rate
(timer resolution = 2 msec.)
12 Get/Set Watchdog Action USINT 0 = Transition to timed out
1 = Auto delete
2 = Auto reset
DeviceNet Objects C-5

Connection Object (Continued)

Instance Attributes (Continued)


Refer to the DeviceNet Specification for more information.

Attribute Access Name Data Type Description


ID Rule
13 Get Produced Path UINT Number of bytes of data in the
Length produced connection path
14 Get Produced ARRAY of Byte stream which defines
Connection Path UINT Application objects whose data is
to be produced by this
Connection object
15 Get Consumed Path UINT Number of bytes of data in the
Length consumed connection path
16 Get Consumed ARRAY of Byte stream which defines
Connection Path USINT Application objects whose data is
to be consumed by this
Connection object

Services
Service Code Implemented for: Service Name
Class Instance
0x0E No(1) Yes Get_Attribute_Single
(1)
This service does not support class access.
C-6 DeviceNet Objects

Register Object

Class Code
Hexadecimal Decimal
0x07 7

Instances
The number of instances is fixed at thirteen and is as shown below:

Instance Description
0 Class
1 Command and reference for all drives (read/write)
2 Status and feedback for all drives (read-only)
3 Command and reference for Drive 0 (read/write)
4 Status and feedback for Drive 0 (read-only)
5 Command and reference for Drive 1 (read/write)
6 Status and feedback for Drive 1 (read-only)
7 Command and reference for Drive 2 (read/write)
8 Status and feedback for Drive 2 (read-only)
9 Command and reference for Drive 3 (read/write)
10 Status and feedback for Drive 3 (read-only)
11 Command and reference for Drive 4 (read/write)
12 Status and feedback for Drive 4 (read-only)
13 Masked Command write for all drives (read/write)(1)
(1)
The Data instance attribute for the masked command is the same size as
the data attribute for instance 1. However, the structure is a Command word
followed by a mask word for each drive. The Logic Command for each drive
is set to the value of the first word of the data where there are ones in the
second word of the data.

Logic Command = ((Command word and not mask word) or


(command word and mask word))

If a drive is not present, the Data instance attributes for that individual
drive will contain values of zero and the Bad Flag instance attribute will
be set.

The size of the Data instance attribute for instances 1, 2, and 13 will
change depending upon the number of drives for which the adapter is
configured.
DeviceNet Objects C-7

Register Object (Continued)

Class Attributes
Not supported.

Instance Attributes
Attribute Access Rule Name Data Type Description
ID
1 Get Bad Flag BOOL If set to 1, then attribute 4
may contain invalid, bad or
otherwise corrupt data.
0 = good
1 = bad
2 Get Direction BOOL Direction of data transfer
0 = Producer Register
1 = Consumer Register
3 Get Size UINT Size of register data in bits
4 Conditional(1) Data ARRAY of Data to be transferred
BITS
(1)
The access rule of Set is optional if attribute 2, Direction = 1. If Direction = 0, the
access rule is Get.

Important: Setting a register object attribute can only be accomplished


through a connection with a non-zero expected packet rate
(EPR). This feature is to prevent accidental control of a DSI
device.

Services
Service Code Implemented for: Service Name
Class Instance
0x0E No Yes Get_Attribute_Single
0x10 No Yes Set_Attribute_Single
C-8 DeviceNet Objects

Parameter Object

Class Code
Hexadecimal Decimal
0x0F 15

Instances (Single-Drive Mode)


The number of instances is as shown below:

Instance Description
0 Class
1 Drive Parameter 1
" "
n Drive Parameter n
n+1 Adapter Parameter 1
" "
n + 21 Adapter Parameter 21

Instances (Multi-Drive Mode)


The number of instances is fixed at 21 and is as shown below:

Instance Description
0 Class
1 Adapter Parameter 1
" "
21 Adapter Parameter 21

Class Attributes
Attribute Access Name Data Type Description
ID Rule
1 Get Revision UINT 1
2 Get Max Instance UINT Number of parameters
8 Get Parameter Class WORD Bits that describe parameters.
Descriptor
9 Get Configuration UINT 0
Assembly
Instance
10 Get Native Language USINT 0 = English
1 = French
2 = Spanish
3 = Italian
4 = German
5 = Japanese
6 = Portuguese
7 = Mandarin Chinese
8 = Russian
9 = Dutch
DeviceNet Objects C-9

Parameter Object (Continued)

Instance Attributes
Attribute Access Name Data Type Description
ID Rule
1 (1) Parameter Value (2) (3)

2 Get Link Path Size USINT 0 = No link specified


n = Link specified
3 Get Link Path (4)

4 Get Descriptor WORD 0 = False, 1 = True


Bit 1 = Supports ENUMs
Bit 2 = Supports scaling
Bit 3 = Supports scaling links
Bit 4 = Read only
Bit 5 = Monitor
Bit 6 = Extended precision scaling
5 Get Data Type USINT C3 = INT
C7 = UINT
D2 = WORD (16-bit)
(3)
6 Get Data Size USINT
7 Get Parameter Name SHORT_ (3)
String STRING
8 Get Units String SHORT_ (3)
STRING
9 Get Help String SHORT_ 0
STRING
10 Get Minimum Value (1) (3)

11 Get Maximum Value (1) (3)


(1) (3)
12 Get Default Value
(3)
13 Get Scaling Multiplier UINT
(3)
14 Get Scaling Divisor UINT
(3)
15 Get Scaling Base UINT
(3)
16 Get Scaling Offset UINT
(3)
17 Get Multiplier Link UINT
(3)
18 Get Divisor Link UINT
19 Get Base Link UINT (3)
(3)
20 Get Offset Link UINT
(3)
21 Get Decimal USINT
Precision
(1)
Access rule is defined in bit 4 of instance attribute 4. 0 = Get/Set, 1 = Get.
(2) Specified in descriptor, data type, and data size.
(3)
Value varies based on parameter instance.
(4)
Refer to the DeviceNet specification for a description of the connection path.
C-10 DeviceNet Objects

Parameter Object (Continued)

Services
Service Code Implemented for: Service Name
Class Instance
0x01 No Yes Get_Attribute_All
0x05 Yes No Reset
0x0E Yes Yes Get_Attribute_Single
0x10 No Yes Set_Attribute_Single
0x4B No Yes Get_Enum_String
DeviceNet Objects C-11

Parameter Group Object

Class Code
Hexadecimal Decimal
0x10 16

Instances (Single-Drive Mode)


The number of instances depends on the number of groups in the drive.
A group of adapter parameters is appended to the list of groups in the
drive.

Instance Description
0 Class
1 Drive Group 1 Attributes
" "
n Drive Group n Attributes
n+1 Adapter Group Attributes

Instances (Multi-Drive Mode)


The number of instances is fixed at one and is as shown below:

Instance Description
0 Class
1 Adapter Group Attributes

Class Attributes
Attribute Access Name Data Description
ID Rule Type
1 Get Parameter group UINT 1
version
2 Get Max Instance UINT Total number of groups
8 Get Native USINT 0 = English
Language 1 = French
2 = Spanish (Mexican)
3 = Italian
4 = German
5 = Japanese
6 = Portuguese
7 = Mandarin Chinese
8 = Russian
9 = Dutch
C-12 DeviceNet Objects

Parameter Group Object (Continued)

Instance Attributes
Attribute Access Name Data Description
ID Rule Type
1 Get Group Name String SHORT_ Group name
STRING
2 Get Number of Members UINT Number of parameters in group.
in Group
3 Get 1st Parameter UINT (1)
Number in Group
(1)
4 Get 2nd Parameter UINT
Number in Group
" "
(1)
n Get n Parameter UINT
Number in Group
(1) Value varies based on group instance.

Services
Service Code Implemented for: Service Name
Class Instance
0x0E Yes Yes Get_Attribute_Single
DeviceNet Objects C-13

PCCC Object

Class Code
Hexadecimal Decimal
0x67 103

Instances
Not supported

Class Attributes
Not supported.

Instance Attributes
Not supported.

Services
Service Code Implemented for: Service Name
Class Instance
0x4B Yes Yes Execute_PCCC
0x4D Yes Yes Execute_Local_PCCC
C-14 DeviceNet Objects

PCCC Object (Continued)

Message Structure for Execute_PCCC


Request Response
Name Data Description Name Data Description
Type Type
Length USINT Length of Length USINT Length of requestor ID
requestor ID
Vendor UINT Vendor number Vendor UINT Vendor number of requestor
of requestor
Serial UDINT ASA serial Serial UDINT ASA serial number of
Number number of Number requestor
requestor
Other Product Identifier of user, Other Product Identifier of user, task, etc.
Specific task, etc. on the Specific on the requestor
requestor
CMD USINT Command byte CMD USINT Command byte
STS USINT 0 STS USINT Status byte
TNSW UINT Transport word TNSW UINT Transport word. Same value
as the request.
FNC USINT
Function code. EXT_STS USINT Extended status. Not used
Not used for all for all CMD’s.
CMD’s.
PCCC_ ARRAY CMD/FNC PCCC_ ARRAY CMD/FNC specific result
params of specific results of data
USINT parameters USINT

Message Structure for Execute_Local_PCCC


Request Response
Name Data Description Name Data Description
Type Type
CMD USINT Command byte CMD USINT Command byte
STS USINT 0 STS USINT Status byte
TNSW UINT Transport word TNSW UINT Transport word. Same value
as the request.
FNC USINT
Function code. EXT_STS USINT Extended status. Not used
Not used for all for all CMD’s.
CMD’s.
PCCC_ ARRAY CMD/FNC PCCC_ ARRAY CMD/FNC specific result
params of specific results of data
USINT parameters USINT
Appendix D

Logic Command/Status Words

Appendix D provides the definitions of the Logic Command/Logic


Status words that are used for some products that can be connected to the
DeviceNet adapter. If you do not see the Logic Command/Logic Status
for the product that you are using, refer to your product’s documentation.

PowerFlex 4 and PowerFlex 40 Drives


Logic Command Word
Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command Description
x Stop 0 = Not Stop
1 = Stop
x Start* 0 = Not Start
1 = Start
x Jog 0 = Not Jog
1 = Jog
x Clear 0 = Not Clear Faults
Faults 1 = Clear Faults
x x Direction 00 = No Command
01 = Forward Command
10 = Reverse Command
11 = Change Direction (toggle)
x Not used
x MOP 0 = Not Increment
Increment 1 = Increment
x x Accel Rate 00 = No Command
01 = Accel Rate 1 Command
10 = Accel Rate 2 Command
11 = Hold Accel Rate
x x Decel Rate 00 = No Command
01 = Decel Rate 1 Command
10 = Decel Rate 2 Command
11 = Hold Decel Rate
x x x Reference 000 = No Command
Select 001 = Freq Source = Select
010 = Freq Source = Int. Freq
011 = Freq Source = Comm
100 = Preset Freq 1
101 = Preset Freq 2
110 = Preset Freq 3
111 = Preset Freq 4
x MOP 0 = Not Decrement
Decrement 1 = Decrement
* A 0 = Not Stop condition (logic 0) must first be present before a 1 = Start condition will start the drive.
D-2 Logic Command/Status Words

PowerFlex 4 and PowerFlex 40 Drives

Logic Status Word


Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status Description
x Ready 0 = Not Ready
1 = Ready
x Active 0 = Not Active
1 = Active
x Command 0 = Reverse
Direction 1 = Forward
x Actual 0 = Reverse
Direction 1 = Forward
x Accel 0 = Not Accelerating
1 = Accelerating
x Decel 0 = Not Decelerating
1 = Decelerating
x Alarm 0 = No Alarm
1 = Alarm
x Fault 0 = No Fault
1 = Fault
x At Speed 0 = Not At Reference
1 = At Reference
x Main Freq 0 = Not Controlled By Comm
1 = Controlled By Comm
x Operation 0 = Not Controlled By Comm
Command 1 = Controlled By Comm
x Parameters 0 = Not Locked
1 = Locked
x Digital
Input 1
Status
x Digital
Input 2
Status
x Digital
Input 3
Status
x Digital
Input 4
Status
Glossary

A Adapter
Devices such as drives, controllers, and computers usually require an
adapter to provide a communication interface between them and a
network such as DeviceNet. An adapter reads data on the network and
transmits it to the connected device. It also reads data in the device and
transmits it to the network.

The 20-COMM-D DeviceNet adapter is an adapter that connects,


PowerFlex drives to a DeviceNet network. Adapters are sometimes also
called “cards,” “embedded communication options,” “gateways,”
“modules,” and “peripherals.”

Automatic Device Replacement (ADR)


A means for replacing a malfunctioning device with a new unit, and
having the device configuration data set automatically. The DeviceNet
scanner is set up for ADR using RSNetWorx. The scanner uploads and
stores a devices configuration. Upon replacing a malfunctioning device
with a new unit (node 63), the scanner automatically downloads the
configuration data and sets the node address.

B Bus Off
A bus off condition occurs when an abnormal rate of errors is detected
on the Control Area Network (CAN) bus in a device. The bus-off device
cannot receive or transmit messages on the network. This condition is
often caused by corruption of the network data signals due to noise or
data rate mismatch.

C Change of State (COS) I/O Data Exchange


A device that is configured for Change of State I/O data exchange
transmits data at a specified interval if its data remains unchanged. If its
data changes, the device immediately transmits the change. This type of
exchange can reduce network traffic and save resources since unchanged
data does not need to be transmitted or processed.

Class
A class is defined by the DeviceNet specification as “a set of objects that
all represent the same kind of system component. A class is a
generalization of an object. All objects in a class are identical in form
and behavior, but may contain different attribute values.”
Glossary-2

Controller
A controller, also called programmable logic controller, is a solid-state
control system that has a user-programmable memory for storage of
instructions to implement specific functions such as I/O control, logic,
timing, counting, report generation, communication, arithmetic, and data
file manipulation. A controller consists of a central processor, input/
output interface, and memory. See also Scanner.

Cyclic I/O Data Exchange


A device configured for Cyclic I/O data exchange transmits data at a
user-configured interval. This type of exchange ensures that data is
updated at an appropriate rate for the application, preserves bandwidth
for rapidly-changing devices, and allows data to be sampled at precise
intervals for better determinism.

D Data Rate

The data rate is the speed at which data is transferred on the DeviceNet
network. The available data rates depend on the type of cable and total
cable length used on the network:

Maximum Cable Length


Cable 125 K 250 K 500 K
Thick Trunk Line 500 m (1,640 ft.) 250 m (820 ft.) 100 m (328 ft.)
Thin Trunk Line 100 m (328 ft.) 100 m (328 ft.) 100 m (328 ft.)
Maximum Drop Length 6 m (20 ft.) 6 m (20 ft.) 6 m (20 ft.)
Cumulative Drop Length 156 m (512 ft.) 78 m (256 ft.) 39 m (128 ft.)

Each device on a DeviceNet network must be set for the same data rate.
You can set the DeviceNet adapter to 125 K, 250 K, or 500 K. You can
set it to Autobaud if another device on the network has set the data rate.
Glossary-3

DeviceNet Network
A DeviceNet network uses a producer/consumer Controller Area
Network (CAN) to connect devices (for example, controllers, drives, and
motor starters). Both I/O and explicit messages can be transmitted over
the network. A DeviceNet network can support a maximum of 64
devices. Each device is assigned a unique node address and transmits
data on the network at the same data rate.

A cable is used to connect devices on the network. It contains both the


signal and power wires. Devices can be connected to the network with
drop lines, in a daisy chain connection, or a combination of the two.

General information about DeviceNet and the DeviceNet specification


are maintained by the Open DeviceNet Vendor’s Association (ODVA).
ODVA is online at http://www.odva.org.

DSI
Drive Serial Interface - a modification of the ModBus RS-485 serial
communication protocol used by various Allen-Bradley drives and
power products.

DSI Peripheral
A device that provides an interface between DSI and a network or user.
Peripheral devices are also referred to as “adapters” and “modules.” The
serial converter and PowerFlex 4-Class HIMs (22-HIM-*) are examples
of DSI peripherals.

DSI Product
A device that uses the DSI communications interface to communicate
with one or more peripheral devices. For example, a motor drive such as
a PowerFlex 4-Class drive is a DSI product. In this manual, a DSI
product is also referred to as “product” or “host.”

DriveExplorer Software
DriveExplorer software is a tool for monitoring and configuring
Allen-Bradley products and adapters. It can be run on computers running
Microsoft Windows 95, Windows 98, Windows NT (version 4.0 or
greater), and Windows CE (version 2.0 or greater) operating systems.
DriveExplorer (version 3.xx) can be used to configure this adapter and
PowerFlex 4-Class drives. Information about DriveExplorer software
and a free lite version can be accessed at http://www.ab.com/drives/
driveexplorer.
Glossary-4

DriveTools Software
A software suite designed for Microsoft Windows 95, Windows 98, and
Windows NT (4.0 or greater) operating systems. This software suite
provides a family of tools that you can use to program, monitor, control,
troubleshoot, and maintain Allen Bradley products. DriveTools 2000
(version 1.xx) can be used with PowerFlex drives. Information about
DriveTools can be accessed at http://www.ab.com/drives.

E Electronic Data Sheet (EDS) Files


EDS files are simple text files that are used by network configuration
tools such as RSNetWorx for DeviceNet to describe products so that you
can easily commission them on a network. EDS files describe a product
device type, revision, and configurable parameters. EDS files for many
Allen-Bradley products can be found at http://www.ab.com/networks/
eds.

Explicit Messaging
Explicit Messages are used to configure, monitor, and diagnose devices
over DeviceNet.

F Fault Action
A fault action determines how the adapter and connected product act
when a communications fault (for example, a cable is disconnected)
occurs or when the scanner is switched out of run mode. The former uses
a communications fault action, and the latter uses an idle fault action.

Fault Configuration
When communications are disrupted (for example, a cable is
disconnected), the adapter and PowerFlex drive can respond with a
user-defined fault configuration. The user sets the data that is sent to the
drive in the fault configuration parameters (Parameter 10 - [Flt Cfg
Logic] and Parameter 11 - [Flt Cfg Ref]). When a fault action
parameter is set to use the fault configuration and a fault occurs, the data
from these parameters is sent as the Command Logic and/or Reference.

Faulted Node Recovery


This DeviceNet feature lets you change a configuration of a device that
is faulted on the network. For example, if you add a device to a network
and it does not have a unique address, it will fault. If you have a
configuration tool that supports faulted node recovery and your adapter
is using parameters to set its node address and data rate, you can change
the node address.
Glossary-5

Flash Update
The process of updating firmware in the adapter. The adapter can be
flash updated using the X-Modem protocol and a 1203-SSS Smart
Self-powered Serial converter (firmware 3.xx).

H Heartbeat Rate
The heartbeat rate is used in Change of State (COS) data exchange. It is
associated with producing data once every EPR (Expected Packet Rate)
duration. There may be four heartbeats before a time-out happens.

HIM (Human Interface Module)


A device that can be used to configure and control a PowerFlex 4-Class
drive. PowerFlex 4-Class HIMs (22-HIM-*) can be used to configure
connected peripherals.

Hold Last
When communications are disrupted (for example, a cable is
disconnected), the adapter and PowerFlex drive can respond by holding
last. Hold last results in the drive receiving the last data received via the
DeviceNet connection before the disruption. If the drive was running and
using the Reference from the adapter, it will continue to run at the same
Reference.

I I/O Data
I/O data, sometimes called “implicit messages” or “input/output,”
transmit time-critical data such as a Logic Command and Reference. The
terms “input” and “output” are defined from the scanner’s point of view.
Output is transmitted by the scanner and consumed by the adapter. Input
is transmitted by the adapter and consumed by the scanner.

L Logic Command/Logic Status


The Logic Command is used to control the PowerFlex drive (e.g., start,
stop, direction). It consists of one 16-bit word of input to the adapter
from the network. The definitions of the bits in this word depend on the
drive.

The Logic Status is used to monitor the PowerFlex drive (for example,
operating state, motor direction). It consists of one 16-bit word of output
from the adapter to the network. The definitions of the bits in this word
depend on the drive.
Glossary-6

N Node Address
A DeviceNet network can have as many as 64 devices connected to it.
Each device on the network must have a unique node address between 0
and 63. Node address 63 is the default used by uncommissioned devices.
Node addresses are sometimes called “MAC IDs.”

NVS (Non-Volatile Storage)


NVS is the permanent memory of a device. Devices such as the adapter
and drive store parameters and other information in NVS so that they are
not lost when the device loses power. NVS is sometimes called
“EEPROM.”

O Objects
The DeviceNet specification defines an object as “an abstract
representation of a particular component within a product.”

P PCCC (Programmable Controller Communications Command)


PCCC is the protocol used by some controllers to communicate with
devices on a network. Some software products (for example,
DriveExplorer and DriveTools 2000) also use PCCC to communicate.

Polled I/O Data Exchange


A device that is configured for polling I/O data exchange sends data
immediately after it receives a request for the data. For example, an
adapter receives a Logic Status Command from the scanner and then
sends the Logic Status of the connected PowerFlex drive.

PowerFlex 4-Class Drives


The Allen-Bradley PowerFlex 4-Class family of drives include the
PowerFlex 4 and PowerFlex 40. These drives can be used for
applications ranging from 0.2 kW (0.25 HP) to 7.5 kW (10 HP). All
PowerFlex 4-Class drives implement DSI, allowing those that support an
internal adapter to use the 22-COMM-D DeviceNet adapter. The adapter
can be installed in a PowerFlex 40 drive but not in the PowerFlex 4. This
manual focuses on using the adapter with a PowerFlex 40 drive.
Glossary-7

Producer/Consumer Network
On producer/consumer networks, packets are identified by content rather
than an explicit destination. If a node needs the packet, it will accept the
identifier and consume the packet. The source therefore sends a packet
once and all the nodes consume the same packet if they need it. Data is
produced once, regardless of the number of consumers. Also, better
synchronization than Master-Slave networks is possible because data
arrives at each node at the same time

R Reference/Feedback
The Reference is used to send a Reference (for example, speed,
frequency, torque) to the product. It consists of one word of input to the
adapter from the network. The size of the word (either a 16-bit word or
32-bit word) is determined by the drive.

Feedback is used to monitor the speed of a product. It consists of one


word of output from the adapter to the network. The size of the word
(either a 16-bit word or 32-bit word) is determined by the drive.

RSNetWorx for DeviceNet


RSNetWorx for DeviceNet software is a tool for configuring and
monitoring DeviceNet networks and connected devices. It is a 32-bit
Windows application that runs on Windows 95, Windows 98, and
Windows NT. Information about RSNetWorx for DeviceNet software
can be found at http://www.software.rockwell.com/rsnetworx.

S Scanner
A scanner is a separate module (of a multi-module controller) or a
built-in component (of a single-module controller) that provides
communication with adapters connected to a network. See also
Controller.

Status Indicators
Status indicators are LEDs that are used to report the status of the
adapter, network, and drive. They are on the adapter and can be viewed
on the front cover of the drive when the drive is powered.

T Type 0/Type 1/Type 2 Control


When transmitting I/O, the adapter can use different types of messages
for control. The Type 0, Type 1, and Type 2 events help Allen-Bradley
personnel identify the type of messages that an adapter is using.
Glossary-8

U UCMM (UnConnected Message Manager)


UCMM provides a method to create connections between DeviceNet
devices.

Z Zero Data
When communications are disrupted (for example, a cable is
disconnected), the adapter and drive can respond with zero data. Zero
data results in the drive receiving zero as values for command data. If the
drive was running and using the Reference from the adapter, it will stay
running but at zero Reference.
Index

Numerics bus off, G-1


10-pin linear plug, 2-4
5-pin linear plug, 2-4 C
cables
A DeviceNet, 2-4
DSI Internal Interface, 2-5
adapter
catalog number, 1-1
adding to the scan list, 4-2
applying power, 2-7 Change of State (COS)
commissioning, 2-1 configuring a scanner for, 4-4
compatible products, 1-3 configuring an adapter for, 3-8
components, 1-1 definition, G-1
definition, G-1 class, G-1
features, 1-2 Comm Flt Action parameter, B-2
grounding, 2-5 commissioning the adapter, 2-1
illustration, 1-1
communications module, refer to
installing, 2-1 to 2-7 adapter
mapping I/O in the scanner, 4-5
compatible products, 1-3
mounting, 2-5 to 2-6
parameters, B-1 to B-4 components, 1-1
resetting, 3-11 configuration tools, 3-1
Single/Multi-Drive mode of connecting the adapter to the
operation, 2-3 network, 2-4
specifications, A-1 Connection object, C-4
tools to configure, 3-1 controller
troubleshooting, 8-1 ControlLogix, 5-4, 6-8
viewing the active configuration, definition, G-2
3-12
PLC, 5-7, 6-11
applying power to the adapter, 2-7 running Explicit Messages, 6-7
attentions, 1-4 SLC, 5-9, 6-13
Automatic Device Replacement ControlLogix
(ADR) example program for Explicit
definition, G-1 Messages, 6-8
example program for I/O, 5-4
example program for Multi-Drive
B mode, 7-7 to 7-20
baud rate, refer to data rate formatting Explicit Messages, 6-2
bit definitions for Logic Command/ COS Fdbk Change parameter, B-3
Status Word, D-1
COS Status Mask parameter, B-3
Index-2

COS, refer to Change of State DriveTools


COS/Cyc Interval parameter, B-3 accessing parameters with, 3-1
Cyclic definition, G-4
configuring a scanner for, 4-4 supported feature, 1-2
configuring an adapter for, 3-8 Drv 0 - 4 Addr parameters, B-4
definition, G-2 DSI
connector on adapter, 1-1
data rate, 3-12
D definition, G-3
data exchange Internal Interface cable, 2-5
Change of State (COS), G-1 peripheral, G-3
Cyclic, G-2 products, G-3
Polled, G-6 DSI I/O Act parameter, B-4
data rate DSI I/O Cfg parameter, B-4
definition, G-2
DSI Mode parameter, B-1
setting with a parameter, 3-7
setting with the switches, 2-2
DeviceNet E
10-pin linear plug, 2-4 EDS (Electronic Data Sheet) files
5-pin linear plug, 2-4 creating with RSNetWorx, 3-5
cable, 2-4 definition, G-4
connector on adapter, 1-1 web site, G-4
definition, G-3 EEPROM, refer to Non-Volatile
example network, 4-1 Storage (NVS)
objects, C-1
equipment required, 1-3
DeviceNet adapter, refer to adapter
events
dimensions, A-1 clearing, 8-6
DN Act Cfg parameter, B-3 list of, 8-7
DN Addr Act parameter, B-1 viewing, 8-6
DN Addr Cfg parameter, B-1 Explicit Messages
DN Rate Act parameter, B-2 about, 6-1
ControlLogix format, 6-2
DN Rate Cfg parameter, B-2
definition, G-4
DriveExplorer
PLC format, 6-4
accessing parameters with, 3-1
running, 6-7
definition, G-3
SLC format, 6-4
free lite version, G-3
supported feature, 1-2
drives, see PowerFlex drives
Index-3

F I
fault action I/O
configuring an adapter, 3-10 about, 5-1
definition, G-4 configuring an adapter for, 3-8
fault configuration configuring scanner for, 4-4
configuring an adapter for, 3-10 definition, G-5
definition, G-4 examples, 5-3, 7-6
faulted node recovery image, 5-2, 7-4
definition, G-4 input, 4-5
supported feature, 1-2 mapping in the scanner, 4-5
output, 4-6
faults, refer to events
Identity object, C-2
features, 1-2
Idle Flt Action parameter, B-2
firmware release, soc-i, P-2
installation
flash update, G-5
applying power to the adapter, 2-7
Flt Cfg Logic parameter, B-3 commissioning the adapter, 2-1
Flt Cfg Ref parameter, B-3 connecting to the drive, 2-5
formatting Explicit Messages, 6-2 connecting to the network, 2-4
preparing for, 2-1
Internal Interface cable
G
connecting to a drive, 2-5
going online with RSNetWorx, 3-4 connecting to an adapter, 2-5
grounding the adapter, 2-5 illustration, 2-5

H L
heartbeat rate LEDs, refer to status indicators
definition, G-5 Logic Command/Status
setting in the scanner, 4-4 bit definitions, D-1
HIM (Human Interface Module) definition, G-5
accessing parameters with, 3-1 in I/O image, 5-2, 7-4
definition, G-5 using, 5-2
using PowerFlex 4-Class HIM, 3-2 Logix5550, refer to ControlLogix
hold last
configuring an adapter for, 3-10
definition, G-5 M
MAC ID, refer to node address
manual
conventions, P-2
related documentation, P-1
web site, P-1
Index-4

mechanical dimensions, A-1 P


messages, refer to Explicit Messages Parameter Group object, C-11
MOD status indicator Parameter object, C-8
locating, 8-1
parameters
troubleshooting with, 8-3
accessing, 3-1
modes of operation, 1-6 active configuration, 3-12
mounting the adapter, 2-5 to 2-6 convention, P-2
Multi-Drive mode editing with RSNetWorx, 3-6
additional information, 7-22 list of, B-1 to B-4
Explicit messaging, 7-20 numbers, B-1
ladder logic program example, 7-6 PCCC
setting with the jumper, 2-3 definition, G-6
system wiring, 7-3 supported feature, 1-2
using, 7-1 PCCC object, C-13
versus Single mode, 7-1
PLC
example program for Explicit
N Messages, 6-11
example program for I/O, 5-7
NET A status indicator
formatting Explicit Messages, 6-4
locating, 8-1
troubleshooting with, 8-4 plug, 2-4

NET B status indicator Polled


locating, 8-1 configuring a scanner for, 4-4
not used, 8-1 configuring an adapter for, 3-8
definition, G-6
node address
definition, G-6 PORT status indicator
setting with a parameter, 3-7 locating, 8-1
setting with switches, 2-2 troubleshooting with, 8-2

Non-Volatile Storage (NVS) power consumption, A-1


definition, G-6 PowerFlex drives, G-6
in adapter, 3-1 4/40 Logic Command/Status, D-1
in drive, 6-1 adding to the scan list, 4-2
compatible with adapter, 1-3
HIM, 3-2
O installing adapter on, 2-5
objects mapping I/O in the scanner, 4-5
definition, G-6 preparing for an installation, 2-1
list, C-1 processor, refer to controller
ODVA DeviceNet specification, G-3 producer/consumer network, G-7
operating status, 1-6 programmable logic controller, refer
to controller
Index-5

R SLC
example program for Explicit
reference/feedback
Messages, 6-13
definition, G-7
example program for I/O, 5-9
in I/O image, 5-2, 7-4
formatting Explicit Messages, 6-4
using, 5-3
specifications
Register object, C-6
adapter, A-1
regulatory compliance, A-1 DeviceNet, G-3
related documentation, P-1 status indicators
Reset Module parameter, B-2 definition, G-7
ribbon cable, refer to Internal identifying, 1-6
Interface cable locating, 8-1
RSLinx, P-2, 3-3 switches
RSNetWorx for DeviceNet locating, 1-1
creating EDS files with, 3-5 setting, 2-2
definition, G-7
editing parameters with, 3-6
going online, 3-4
T
saving a network configuration, technical support, P-2
4-7 tools required, 1-3
setting up RSLinx for, 3-3 troubleshooting, 8-1
using to map I/O, 4-5
using to set up a scan list, 4-2
web site, G-7 U
UCMM, G-8
update, see flash update
S
safety precautions, 1-4
scan list, 4-2 W
scanner web site
adding devices to a scan list, 4-2 for EDS files, G-4
configuring for COS, Cyclic, or for manuals, P-1
Polled, 4-4 wiring, refer to cables
definition, G-7
mapping I/O, 4-5
Single mode
Z
setting with the jumper, 2-3 zero data
versus Multi-Drive mode, 7-1 configuring an adapter for, 3-10
definition, G-8
Index-6
Publication 22COMM-UM003A-EN-P – January, 2003 P/N 308269-P01
Copyright 2003 Rockwell International Corporation. All rights reserved. Printed in USA.

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