Instruction Manual D2-3520 - Rockwell Automation

Instruction Manual

DeviceNet CommunicationsModule

M/N MDCOMM-DNET

D2-3520

©2003 Rockwell Automation. All rights reserved.

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

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

Important: Identifies information that is critical for successful application and understanding of the product.

!ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.

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

!

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

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

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

ATTENTION:Comm Flt Action (7) and Idle Flt Action (8) let you determine the action of the module and connected drive if communications are disrupted. 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. Failure to observe this precaution could result in bodily injury and/or damage to equipment.

ATTENTION:When a system is configured for the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing. Failure to observe this precaution could result in bodily injury and/or damage to equipment.

Contents I

CONTENTSChapter 1 Introduction

1.1 DeviceNet Module Features .......................................... 1-11.2 Related Documentation ................................................. 1-21.3 Conventions Used in This Manual ................................. 1-31.4 Getting Assistance from Reliance Electric..................... 1-3

Chapter 2 Getting Started2.1 DeviceNet Module Components .................................... 2-12.2 Required Equipment ...................................................... 2-22.3 Installation Checklist ...................................................... 2-3

Chapter 3 Installing the DeviceNet Module3.1 Preparing for an Installation........................................... 3-13.2 Commissioning the Module ........................................... 3-13.3 Connecting the Module to the Network.......................... 3-43.4 Connecting the Module to the Drive .............................. 3-53.5 Applying Power.............................................................. 3-7

Chapter 4 Configuring the DeviceNet Module4.1 Configuration Tools........................................................ 4-14.2 Using the LCD OIM to Configure the Module ................ 4-24.3 Using RSNetWorx for DeviceNet................................... 4-2

4.3.1 Setting Up RSLinx for RSNetWorx for DeviceNet 4-24.3.2 Going Online with RSNetWorx for DeviceNet ..... 4-44.3.3 Creating an Electronic Data Sheet (EDS) File..... 4-54.3.4 Accessing and Editing Parameters...................... 4-6

4.4 Setting the Node Address.............................................. 4-74.5 Setting the Data Rate .................................................... 4-74.6 Setting the I/O Configuration ......................................... 4-84.7 Selecting COS, Cyclic, or Polled I/O.............................. 4-8

4.7.1 Using COS (Change of State) Data Exchange.... 4-94.8 Setting a Fault Action................................................... 4-10

4.8.1 Setting the Fault Configuration Parameters ...... 4-114.9 Resetting the Module................................................... 4-124.10Viewing the Module Configuration ............................... 4-13

Chapter 5 Configuring the Scanner5.1 Configuring a Simple Network: An Example.................. 5-15.2 Setting Up the Scan List ................................................ 5-25.3 Mapping the Drive Data in the Scanner......................... 5-5

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

II DeviceNet Communications Module

5.3.2 Mapping the Output I/O ....................................... 5-65.4 Saving the Configuration................................................ 5-7

Chapter 6 Using I/O Messaging6.1 About I/O Messaging ..................................................... 6-16.2 Understanding the I/O Image......................................... 6-26.3 Using Logic Command/Status ....................................... 6-36.4 Using Reference/Feedback ........................................... 6-36.5 Sample Ladder Logic Programs .................................... 6-3

6.5.1 Sample ControlLogix Ladder Logic Program....... 6-46.5.2 Sample PLC-5 Ladder Logic Program................. 6-76.5.3 Sample SLC Ladder Logic Program .................... 6-9

Chapter 7 Using Explicit Messaging7.1 About Explicit Messaging.............................................. 7-17.2 Formatting Explicit Messages for a ControlLogix

Controller ....................................................................... 7-27.3 Formatting Explicit Messages for a PLC or SLC

Controller ....................................................................... 7-47.4 Running Explicit Messages............................................ 7-77.5 ControlLogix Example.................................................... 7-87.6 PLC-5 Example............................................................ 7-117.7 SLC Example ............................................................... 7-13

Chapter 8 Using Multi-Drive Mode8.1 Single-Drive Mode vs. Multi-Drive Mode........................ 8-18.2 System Wiring................................................................ 8-38.3 Understanding the I/O Image......................................... 8-48.4 Configuring the RS-485 Network ................................... 8-58.5 Multi-Drive Ladder Logic Program Example .................. 8-68.6 ControlLogix Example.................................................... 8-88.7 Multi-Drive Mode Explicit Messaging ........................... 8-208.8 Additional Information .................................................. 8-22

Chapter 9 Troubleshooting the DeviceNet Module and Network9.1 Understanding the Status Indicators.............................. 9-1

9.1.1 DRIVE Status Indicator........................................ 9-29.1.2 MS Status Indicator ............................................. 9-39.1.3 NET A Status Indicator ........................................ 9-4

9.2 Module Diagnostic Items in Single- Drive Mode ............ 9-59.3 Module Diagnostic Items in Multi-Drive Mode................ 9-59.4 Viewing and Clearing Events ......................................... 9-6

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

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

Contents III

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

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

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

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

IV DeviceNet Communications Module

Contents V

List of Figures

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

Figure 3.1 – Setting the Node Address/ Data Switches and Single-/Multi-Drive Operation Jumper..................................... 3-2

Figure 3.2 – Connecting a 5-Pin Linear Plug to the Cable.......................... 3-5Figure 3.3 – MDI Ports and Internal Interface Cables................................. 3-6Figure 3.4 – Mounting the Module .............................................................. 3-7

Figure 4.1 – Accessing the DeviceNet Parameters using the LCD OIM..... 4-2Figure 4.2 – Configure Drivers Dialog Box with a Configured Driver.......... 4-3Figure 4.3 – Sample DeviceNet Network (Graph View).............................. 4-4Figure 4.4 – EDS Wizard Screen................................................................ 4-5Figure 4.5 – Sample MD65 Drive Dialog Box (Drive Parameters Tab)....... 4-6Figure 4.6 – DeviceNet Node Address Screen on an LCD OIM................. 4-7Figure 4.7 – DeviceNet Data Rate Screen on an LCD OIM........................ 4-7Figure 4.8 – I/O Configuration Screen on an LCD OIM .............................. 4-8Figure 4.9 – COS Status Mask Configuration Screen on an LCD OIM ...... 4-9Figure 4.10 – COS Fdbk Change Configuration Screen on an LCD OIM... 4-9Figure 4.11 – Fault Action Screens on an LCD OIM................................. 4-11Figure 4.12 – Reset Screen on an LCD OIM............................................ 4-12

Figure 5.1 – Sample DeviceNet Network.................................................... 5-1Figure 5.2 – Configuration View (Graph Tab)............................................. 5-2Figure 5.3 – Scanlist Page in the Scanner Module Dialog Box .................. 5-3Figure 5.4 – Edit I/O Parameters Dialog Box.............................................. 5-3Figure 5.5 – Input Page on the Scanner Module Dialog Box...................... 5-5Figure 5.6 – Output Page on the Scanner Module Dialog Box................... 5-6

Figure 6.1 – Example of Single-Drive I/O Image ........................................ 6-2Figure 6.2 – Sample ControlLogix Ladder Logic Program.......................... 6-5Figure 6.3 – Sample ControlLogix Ladder Logic Program (continued)....... 6-6Figure 6.4 – Sample PLC-5 Ladder Logic Program.................................... 6-7Figure 6.5 – Sample PLC-5 Ladder Logic Program (continued)................. 6-8Figure 6.6 – Sample SLC Ladder Logic Program....................................... 6-9Figure 6.7 – Sample SLC Ladder Logic Program (continued) .................. 6-10Figure 6.8 – Sample SLC Ladder Logic Program (continued) .................. 6-11

Figure 7.1 – ControlLogix Message Format in RSLogix 5000 .................... 7-2Figure 7.2 – PLC Explicit Message Format ................................................ 7-4Figure 7.3 – SLC Explicit Message Format ................................................ 7-4Figure 7.4 – Explicit Message Process....................................................... 7-7Figure 7.5 – Data Format for a Read and Write Parameter (1 of 2) ........... 7-8Figure 7.6 – Data Format for a Read and Write Parameter (2 of 2) ........... 7-9Figure 7.7 – Sample ControlLogix Ladder Logic Program........................ 7-10

VI DeviceNet Communications Module

Figure 7.8 – Sample PLC-5 Ladder Logic Program.................................. 7-12Figure 7.9 – Sample SLC Ladder Logic Program ..................................... 7-14

Figure 8.1 – Example of a Single-Drive Mode Network .............................. 8-1Figure 8.2 – Example of a Multi-Drive Mode Network................................. 8-2Figure 8.3 – AK-U0-RJ45-TB2P Terminal Block Connector ....................... 8-3Figure 8.4 – AK-U0-RJ45-TB2P Connector Wiring Diagram ...................... 8-4Figure 8.5 – Example of Multi-Drive I/O Image........................................... 8-5Figure 8.6 – Main Routine........................................................................... 8-9Figure 8.7 – Main Routine (Continued) ..................................................... 8-10Figure 8.8 – Drive 0 Control Routine......................................................... 8-11Figure 8.9 – Drive 0 Control Routine (Continued)..................................... 8-12Figure 8.10 – Drive 1 Control Routine....................................................... 8-13Figure 8.11 – Drive 1 Control Routine (Continued)................................... 8-14Figure 8.12 – Drive 2 Control Routine....................................................... 8-15Figure 8.13 – Drive 2 Control Routine (Continued)................................... 8-16Figure 8.14 – Drive 3 Control Routine....................................................... 8-17Figure 8.15 – Drive 3 Control Routine (Continued)................................... 8-18Figure 8.16 – Drive 4 Control Routine....................................................... 8-19Figure 8.17 – Drive 4 Control Routine (Continued)................................... 8-20Figure 8.18 – Parameter Read Message Configuration............................ 8-21Figure 8.19 – Parameter Write Message Configuration............................ 8-21

Figure 9.1 – Status Indicators (location on drive may vary) ........................ 9-1Figure 9.2 – VS Utilities Event View/Clear Screen...................................... 9-6

Contents VII

List of Tables

Table 2.2 – Equipment Shipped with the DeviceNet Module...................... 2-2Table 2.3 – Required User-Supplied Equipment ........................................ 2-2

Table 3.1 – Node Address Switch Settings (UP = OPEN = 1).................... 3-3Table 3.2 – Data Rate Switch Settings (UP = OPEN = 1) .......................... 3-3Table 3.3 – Jumper Settings for Single- or Multi-Drive Operation .............. 3-4

Table 4.1 – Configuration Tools.................................................................. 4-1Table 4.2 – Procedure for Setting Up RSLinx for RSNetworx for

DeviceNet ................................................................................ 4-3Table 4.3 – Viewing Devices on the DeviceNet Network using

RSNetWorx.............................................................................. 4-4Table 4.4 – Procedure for Creating an EDS File ........................................ 4-5Table 4.5 – Procedure to Access and Edit Parameters Using RSNetWorx 4-6Table 4.6 – Selections for Drive Response to Communication Fault........ 4-10Table 4.7 – Fault Configuration Parameters ............................................. 4-11Table 4.8 – Module Configuration Parameters ......................................... 4-13

Table 5.1 – Input/Output Size Configuration............................................... 5-4Table 5.2 – Scan Rates .............................................................................. 5-4Table 5.3 – Scanner Module Memory Locations ........................................ 5-6Table 5.4 – Scanner Module Memory Locations ........................................ 5-7

Table 6.1 – Tags for the Sample ControlLogix Program............................. 6-4Table 6.2 – Control File for Block Transfers ............................................... 6-7

Table 7.1 – ControlLogix Message Requests and Responses ................... 7-3Table 7.2 – Number of Transaction Blocks Reserved for Explicit

Messaging................................................................................ 7-5Table 7.3 – PLC / SLC Explicit Message Requests.................................... 7-5Table 7.4 – PLC / SLC Explicit Message Responses................................. 7-6Table 7.5 – Tags for the Sample Explicit Messaging Program................... 7-9Table 7.6 – Request Data for Read of Drive Parameter 39 ...................... 7-11Table 7.7 – Response Data for Read of Drive Parameter 39 ................... 7-11Table 7.8 – Request Data for Write to Drive Parameter 101 .................... 7-11Table 7.9 – Response Data for Write to Drive Parameter 101 ................. 7-11Table 7.10 – Request Data for Read of Drive Parameter 101 .................. 7-13Table 7.11 – Response Data for Read of Drive Parameter 101 ............... 7-13Table 7.12 – Request Data for Write to Drive Parameter 101 .................. 7-13Table 7.13 – Response Data for Write to Drive Parameter 101 ............... 7-13

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

VIII DeviceNet Communications Module

Table 9.1 – DRIVE Status Indicator: State Definitions................................9-2Table 9.2 – MS Status Indicator: State Definitions......................................9-3Table 9.3 – NET A Status Indicator: State Definitions ................................9-4Table 9.4 – Diagnostic Items Accessed Using VS Utilities in

Single-Drive Mode....................................................................9-5Table 9.5 – Diagnostic Items Accessed Using VS Utilities in

Multi-Drive Mode ......................................................................9-5Table 9.6 – Event Codes and Descriptions.................................................9-7

Introduction 1-1

CHAPTER 1Introduction

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

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

1.1 DeviceNet Module FeaturesThe DeviceNet module features the following:

• Switches that enable you to set a node address and network data rate before applying power to the drive. Alternatively, you can disable the switches and use parameters to configure these features.

• A jumper that allows you to select between Single- or Multi-Drive mode of operation. In single mode, the module represents one single drive on one node. In Multi-Drive mode, the module represents up to five drives on one node.

• A number of configuration tools that can be used to configure the module and connected drive. The tools include the Operator Interface Module (OIM) on the drive, network software such as RSNetWorx for DeviceNet, or drive-configuration software such as VS Utilities.

• Status indicators that report the status of the drive communications, module, and network. They are visible both when the cover is opened and when it is closed.

• I/O, including Logic Command/Reference, that 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), that can be used to transmit data between the network and module.

1-2 DeviceNet Communications Module

• User-defined fault actions that determine how the module and MD65 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 module node address switches and data rate switches.

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

• D2-3519 MD65 AC Drive User Manual

• D2-3488 VS Utilities Getting Results ManualOnline help installed with the software

• RA-IN003A-EN-P RJ45 Splitter Cable For Use With DSI/MDI Products

• D2-3523 MD65 Communication Module Cover

• DN-2.5 DeviceNet Product Overview

• DN-6.7.2 DeviceNet Cable System Planning and Installation Manual

• DN-6.5.16 DeviceNet Starter Kit

• 1756-5.66 ControlLogix DeviceNet Scanner Installation Instructions

• 9399-WAB32GR Getting Results with RSLinxOnline help installed with the software

• 9399-RL53GR RSLogix 5 Getting Results Guide Online help installed with the software

• 9399-RL50GR RSLogix 500 Getting Results Guide Online help installed with the software

• 9399-RLD300GR RSLogix 5000 Getting Results Guide Online help installed with the software

• 9399-DNETGR RSNetWorx for DeviceNet Getting Results Guide Online help installed with the software

• 1747-5.8 DeviceNet Scanner Module Installation Instructions

Introduction 1-3

• 1747-6.5.2 DeviceNet Scanner Module Configuration Manual

• 1747-5.14 DeviceNet Scanner Module Installation Instructions

• 1771-6.5.118 DeviceNet Scanner Module Configuration Manual

1.3 Conventions Used in This ManualThe following conventions are used throughout this manual:

• Menu commands are shown in bold type face and follow the format Menu > Command. For example, if you read “Select File > Open,” you should click the File menu and then click the Open command.

• Parameters will be referenced as follows: Parameter Name (Parameter Number)For example: Mode (01)

• The terms MDI and DSI are used interchangeably. Both terms refer to the serial interface.

1.4 Getting Assistance from Reliance ElectricIf you have any questions or problems with the products described in this instruction manual, contact your local Reliance Electric sales office.

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

Getting Started 2-1

CHAPTER 2Getting Started

This chapter provides:

• A description of the DeviceNet module’s components

• A list of parts shipped with the module

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

• An installation checklist

2.1 DeviceNet Module Components

Status Indicators Three LEDs that indicate the status of the connected drive, module, and network. Refer to chapter 9, Troubleshooting.

MDI Connector A 20-pin, single-row shrouded male header. An Internal Interface cable is connected to this connector and a connector on the drive. See table 2.2.

DeviceNet Connector A 5-pin connector to which a 5-pin linear plug can be connected.

Node Address/Rate Switches

Switches for setting the node address and network data rate.

Mode Jumper (J2) Selects Single- or Multi-Drive mode of operation.

Figure 2.1 – Components of the DeviceNet Module

➊

➋

➌

➍

➎


2.2 Required Equipment Table 2.2 lists the equipment shipped with the DeviceNet module. When you unpack the module, verify that the package includes all of these items.

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

Table 2.2 – Equipment Shipped with the DeviceNet Module

Item DescriptionDeviceNet module

15.24 cm (6 in) Internal Interface cable

Five-pin linear DeviceNet plug (connected to the DeviceNet connector on the module)

Grounding wrist strap

DeviceNet Module User Manual (D2-3520)

Table 2.3 – Required User-Supplied Equipment

Item DescriptionA small flathead screwdriver

DeviceNet cable

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

Configuration tool, such as:

• LCD OIM

• VS Utilities

• RSNetWorx for DeviceNet

• Serial Converter

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

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

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

• B-Frame: Model Number 6MD-COMMCVRB

• C-Frame: Model Number 6MD-COMMCVRC

Getting Started 2-3

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

Step Action Refer to

1 Review the safety precautions for the module.

Throughout this manual

2 Verify that the MD65 drive is properly installed.

MD65 AC Drive User Manual

3 Commission the module. Set a unique node address and the appropriate data rate using the switches on the module. If desired, you can disable the switches and use parameter settings instead.

Chapter 3, Installing the DeviceNet Module

4 Install the module.Verify that the MD65 drive and DeviceNet network are not powered. Then, connect the module to the network using a DeviceNet cable and to the drive using the Internal Interface cable. Use the captive screws to secure and ground the module to the drive.

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

6 Configure the module for your application.Set the parameters for the following features as required by your application:

• Node address and data rate.

• I/O configuration.

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

• Fault actions.

Chapter 4, Configuring the DeviceNet Module


7 Apply power to the DeviceNet master and other devices on the network.Verify that the master and network are installed and functioning in accordance with DeviceNet standards, and then apply power to them.

DeviceNet Cable System Planning and Installation Manual

8 Configure the scanner to communicate with the module.Use a network tool such as RSNetWorx for DeviceNet to configure the scanner on the network. Make sure to:

• Set up the scan list.

• Map the module data to the scan list.

• Save your DeviceNet configuration to the scanner and a file.

Chapter 5, Configuring the Scanner

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

• Control the module and connected drive.

• Monitor or configure the drive using Explicit Messages.

Chapter 6, Using I/O Messaging

Chapter 7, Using Explicit Messaging

Step Action Refer to

Installing the DeviceNet Module 3-1

CHAPTER 3Installing the

DeviceNet Module

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

3.1 Preparing for an InstallationBefore installing the DeviceNet module:

• 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 2, Getting Started.

3.2 Commissioning the ModuleTo commission the module, 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 module. If you change a setting, cycle power.

Step 1. Set the node address and data rate switches as shown in figure 3.1.

Step 2. Set the module mode jumper for Single- or Multi-Drive operation. See figure 3.1 and table 3.3.

!ATTENTION: The DeviceNet module 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 module. Failure to observe these precautions could result in damage to equipment.


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

Switches Description Default

SW 1 Least Significant Bit (LSB) of Node Address 1

Node 63

SW 2 Bit 1 of Node Address 1




SW 6 Most Significant Bit (MSB) of Node Address 1

SW 7 Least Significant Bit (LSB) of Data Rate 1 Autobaud

SW 8 Most Significant Bit (MSB) of Data Rate 1

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

J2 J2

Single DriveOperation

Multi-DriveOperation

21 83 4 5 6 7

NODE RATE

UP = OPEN = 1

21 83 4 5 6 7


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

Switch Setting Node Switch Setting NodeSW 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 0 131 0 0 0 0 0 1 0 1 1 1 0 0 140 1 0 0 0 0 2 1 1 1 1 0 0 151 1 0 0 0 0 3 0 0 0 0 1 0 160 0 1 0 0 0 4 1 0 0 0 1 0 171 0 1 0 0 0 5 0 1 0 0 1 0 180 1 1 0 0 0 6 1 1 0 0 1 0 191 1 1 0 0 0 7 0 0 1 0 1 0 200 0 0 1 0 0 8 1 0 1 0 1 0 211 0 0 1 0 0 9 0 1 1 0 1 0 220 1 0 1 0 0 10 1 1 1 0 1 0 231 1 0 1 0 0 11 0 0 0 1 1 0 240 0 1 1 0 0 12 1 0 0 1 1 0 25

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 Address0 1 0 1 1 0 26 1 0 1 1 0 1 451 1 0 1 1 0 27 0 1 1 1 0 1 460 0 1 1 1 0 28 1 1 1 1 0 1 471 0 1 1 1 0 29 0 0 0 0 1 1 480 1 1 1 1 0 30 1 0 0 0 1 1 491 1 1 1 1 0 31 0 1 0 0 1 1 500 0 0 0 0 1 32 1 1 0 0 1 1 511 0 0 0 0 1 33 0 0 1 0 1 1 520 1 0 0 0 1 34 1 0 1 0 1 1 531 1 0 0 0 1 35 0 1 1 0 1 1 540 0 1 0 0 1 36 1 1 1 0 1 1 551 0 1 0 0 1 37 0 0 0 1 1 1 560 1 1 0 0 1 38 1 0 0 1 1 1 571 1 1 0 0 1 39 0 1 0 1 1 1 580 0 0 1 0 1 40 1 1 0 1 1 1 591 0 0 1 0 1 41 0 0 1 1 1 1 600 1 0 1 0 1 42 1 0 1 1 1 1 611 1 0 1 0 1 43 0 1 1 1 1 1 620 0 1 1 0 1 44 1 1 1 1 1 1 63

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

Switch Setting DataSW 7 SW 8 Rate

0 0 125 kbps1 0 250 kbps0 1 500 kbps1 1 Autobaud


3.3 Connecting the Module to the Network

Step 1. Remove power from the drive.

Step 2. Use static control precautions.

Step 3. Remove the drive cover.

Step 4. Connect a DeviceNet cable to the network and route it through the bottom of the MD65 drive. DeviceNet thin cable with an outside diameter of 6.9 mm (0.27 in.) is recommended. (See figure 3.5.)

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

Step 5. Connect a 5-pin linear plug to the DeviceNet cable. Refer to figure 3.2.

Note that a 10-pin linear plug is not supported. Use the 5-pin linear plug shipped with the module.

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

Jumper Setting

Description

Right position or jumper missing

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

Important: In this mode, connections to multiple drives must be removed since all powered and connected hosts will respond to any message sent by the module.

Left position Sets the module for Multi-Drive operation mode using up to 5 different drives. MDI peripherals do not operate with the module in this mode.

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


Step 6. Insert the DeviceNet cable plug into the mating module receptacle and secure it with the two screws. (See figure 3.3, item 3.) Verify that the colors of the wires match up with the color codes on the receptacle.

3.4 Connecting the Module to the DriveStep 1. Remove power from the drive.

Step 2. Use static control precautions.

Step 3. Mount the module on the B- or C-Frame Communications Module Cover using the screw on the DeviceNet module to secure it into place. See figure 3.3. Also, refer to the installation manual that shipped with the Communications Cover (D2-3523).• B-Frame Cover: M/N 6MD-COMMCVRB• C-Frame Cover: M/N 6MD-COMMCVRC

Important: Tighten the screw in the lower left hole to ground the module. See figure 3.4.

Step 4. Connect the Internal Interface cable to the MDI port on the drive and then to the MDI connector on the module.

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

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

54321

RedWhiteBareBlueBlack


MDI connector

15.24 cm (6 in) Internal Interface cable

DeviceNet cable

Figure 3.3 – MDI Ports and Internal Interface Cables

➊

➋

MDCOMM-DNETDeviceNet Module

MD65 DriveB and C Frames(cover removed)

➌

Back of Cover6MD-COMMCVRB6MD-COMMCVRC


3.5 Applying Power

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

Step 2. Ensure that the module will have a unique address on the network and is set at the correct data rate or to autobaud. If a new data rate or address is needed, reset the switches on the module (refer to section 3.2).

Figure 3.4 – Mounting the Module

MD65 DriveB and C Frames(cover removed)

DeviceNet Module Mounted on Back of Cover

!ATTENTION: 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. Failure to observe these precautions could result in severe bodily injury or loss of life.


Step 3. Apply power to the drive. The module 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 are red, there is a problem. Refer to chapter 9, Troubleshooting the DeviceNet Module and Network.

Step 4. If the software settings for the data rate and node address are to be used, a configuration tool such as VS Utilities can be used to adjust the respective parameters in the module.

Configuring the DeviceNet Module 4-1

CHAPTER 4Configuring the

DeviceNet Module

Chapter 4 provides instructions and information for setting the parameters in the DeviceNet module.

For a list of parameters, refer to Appendix B, DeviceNet Module Parameters. For definitions of terms in this chapter, refer to the Glossary.

4.1 Configuration ToolsThe DeviceNet module stores parameters and other information in its own non-volatile memory. Therefore, you must access the module to view and edit its parameters. Table 4.1 lists the tools that can be used to access the module parameters.

RSNetWorx for DeviceNet (version 4.018) and RSLinx (version 2.40) were used for examples in this manual. Different versions of software may differ in appearance and procedures.

Note that explicit messaging can also be used to configure a DeviceNet module and drive. Refer to Chapter 7, Using Explicit Messaging.

Table 4.1 – Configuration Tools

Tool Refer To:

VS Utilities Software VS Utilities online help

LCD OIM Section 4.2

RSNetWorx for DeviceNet Section 4.3


4.2 Using the LCD OIM to Configure the ModuleUse the procedure in figure 4.1 to access the parameters on the DeviceNet module using the LCD OIM (M/N MD4LCD-PNL, MD4ALCD, or MD1CC). If you are unfamiliar with the operation of the LCD OIM, refer to the OIM Quick Reference (D2-3508) for more information.

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

4.3.1 Setting Up RSLinx for RSNetWorx for DeviceNet

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

Figure 4.1 – Accessing the DeviceNet Parameters using the LCD OIM

MDI Devices

Device Select

DIAG PARAM DSEL MEM SEL

MDI Devices

MDCOMM-DNETMD65 Linear List

Parameters

DIAG PARAM DSEL MEM SEL

Changed Params


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

Step Action Icon

1. Start RSLinx, and select Communications > Configure Drivers to display the Configure Drivers dialog box. See figure 4.2.

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

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

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

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

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

Shortcut toRSLinx

Figure 4.2 – Configure Drivers Dialog Box with a Configured Driver


4.3.2 Going Online with RSNetWorx for DeviceNet

You can view the devices on a DeviceNet network by going online. A device may appear as an unrecognized device (node 63 in figure 4.3) if RSNetWorx for DeviceNet does not have an Electronic Data Sheet (EDS) file for it. See table 4.3 for the procedure to view devices.

Table 4.3 – Viewing Devices on the DeviceNet Network using RSNetWorx

Step Action Icon

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

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

3. RSNetworx browses the network and any devices on the network appear in the Configuration View. You can select Graph, Spreadsheet, or Master/Slave views. Figure 4.3 shows a sample network in a Graph view.

Shortcut to RSNetWorx

Figure 4.3 – Sample DeviceNet Network (Graph View)


4.3.3 Creating an Electronic Data Sheet (EDS) File

If the module and drive appear as an unrecognized device, create an EDS file for it using the procedure in table 4.4.

Table 4.4 – Procedure for Creating an EDS File

Step Action Icon

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

2. Click Next to display the next step.

3. Select Upload EDS, and then click Next.

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

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

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

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

8. Click Finish to finish the EDS creation. A new icon represents the MD65 drive and module in the Configuration View.

MD65AC Drive

Figure 4.4 – EDS Wizard Screen


4.3.4 Accessing and Editing Parameters

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

Table 4.5 – Procedure to Access and Edit Parameters Using RSNetWorx

Step Action Icon

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

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

Parameters are displayed in numerical order under Parameter. 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 module parameters will vary based on the type of drive that is connected to the module.

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

4. Click Apply to save changes to the device.

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

MD65AC Drive

MD65 1P 110V 1.5HP


4.4 Setting the Node AddressThe value of DN Addr Cfg (2) determines the node address if all of the module DIP switches are in the CLOSED position (all 0s). We recommend that you do not use node address 63 because all new devices use it as the default address. Address 63 is also used for Automatic Device Recovery.

Step 1. Set the value of DN Addr Cfg (3) to a unique node address. See figure 4.6.

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

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

4.5 Setting the Data RateThe value of DN Rate Cfg (4) determines the DeviceNet data rate if all of the module DIP switches are in the CLOSED position (all 0s). 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.

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

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

Figure 4.6 – DeviceNet Node Address Screen on an LCD OIM

DN Addr Cfg

Parameter: # 002

63

VALUE LIMITS SEL

Default = 63

Figure 4.7 – DeviceNet Data Rate Screen on an LCD OIM

Value Baud Rate0 125 kbps1 250 kbps2 500 kbps3 Autobaud (Default)

DN Rate Cfg

Parameter: # 004

Autobaud 3

VALUE LIMITS SEL


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

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

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

Step 2. If a drive is enabled, configure the parameters in the drive to accept the Logic Command and Reference from the module. For example, set Start Source (P036) and Speed Reference (P038) in an MD65 drive to Comm Port.

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

4.7 Selecting COS, Cyclic, or Polled I/OThe data exchange (sometimes called allocation) is the method that the module uses to exchange data on the DeviceNet network. The module can be configured to use one of the following data exchanges:

• COS (change of state)

• Polled and COS

• Cyclic

• Polled and cyclic

• Polled

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

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

Value DescriptionMode Jumper PositionSingle Multi-Drive

0 Drive 0 (Default)

1 Drives 0-1

2 Drives 0-2

3 Drives 0-3

4 Drives 0-4

DSI I/O Cfg

Parameter: # 015

Drive 0 0

VALUE LIMITS SEL


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

4.7.1 Using COS (Change of State) Data ExchangeStep 1. Set the bits in the Logic Status word that should be

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

Step 2. Set the amount of change to the Feedback that is required to trigger a Change of State message in COS Fdbk Change (13).

.

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

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

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

COS Status Mask

Parameter: # 012

0

VALUE LIMITS SEL

Value Description0 Ignore this logic bit. (Default)1 Check this logic bit.

COS Fdbk Change

Parameter: # 013

0

VALUE LIMITS SEL


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

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

To set the fault action:

Set the values of Comm Flt Action (7) and Idle Flt Action (8) to the desired responses as shown in table 4.6. See figure 4.11 for sample LCD OIM Fault Action Screens.

!ATTENTION: Comm Flt Action (7) and Idle Flt Action (8) let you determine the action of the module 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. Failure to observe these precautions could result in bodily injury or damage to, or destruction of, equipment.

Table 4.6 – Selections for Drive Response to Communication Fault

Value Action Description

0 Fault The drive is faulted and stopped. (Default)

1 Stop The drive is stopped, but not faulted.

2 Zero Data The drive is sent 0 for output data after a communications disruption. This does not command a stop.

3 Hold Last The drive continues in its present state after a communications disruption.

4 Send Flt Cfg

The drive is sent the data that you set in the fault configuration parameters Flt Cfg Logic (10) and Flt Config Ref (11).


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 module for all of the drives it controls (Drive 0 - Drive 4).

4.8.1 Setting the Fault Configuration Parameters

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

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

Figure 4.11 – Fault Action Screens on an LCD OIM

Comm Flt Action

Parameter: # 007

Fault 0

VALUE LIMITS SEL

Idle Flt Action

Parameter: # 008

Fault 0

VALUE LIMITS SEL

Table 4.7 – Fault Configuration Parameters

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.


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

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

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

!ATTENTION: If the module is transmitting control I/O to the drive, the drive may fault when you reset the module. Determine how your drive will respond before resetting a connected module. Failure to observe these precautions could result in bodily injury or damage to equipment.

Figure 4.12 – Reset Screen on an LCD OIM

Value Description0 Ready (Default)1 Reset Module2 Set Defaults

Reset Module

Parameter: # 006

Ready 0

VALUE LIMITS SEL


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

Table 4.8 – Module Configuration Parameters

Number Name Description01 Mode The mode in which the module is set

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

03 DN Addr Actual

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

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

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

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

05 DN Rate Actual

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

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

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

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

09 DN Active Config

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

16 DSI I/O Actual

Indicating the drives that make up the node:Values:0 = Drive 01 = Drives 0-12 = Drives 0-23 = Drives 0-34 = Drives 0-4

Configuring the Scanner 5-1

CHAPTER 5Configuring the Scanner

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

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

5.1 Configuring a Simple Network: An ExampleAfter the module is configured, the connected drive and module will be a single node on the network. This chapter provides the steps that are needed to configure a simple network like the network shown in figure 5.1. In our example, we will configure the drive for using Logic Command/Status and Reference Feedback over the network.

Figure 5.1 – Sample DeviceNet Network

Node 1MD65 Drive with DeviceNet Module

DeviceNet

Node 0SLC 500 Controller with1747-SDN Scanner

Node 62Computer with 1784-PCD andRSNetWorx for DeviceNet


5.2 Setting Up the Scan ListFor the scanner to communicate with a drive, the scanner must be configured and the drive’s node number must be added to its scan list.

Step 1. Go online with RSNetWorx for DeviceNet. Refer to section 4.3.2. The devices on the network are displayed in the configuration view as shown in figure 5.2.

Step 2. Right-click the DeviceNet scanner (node 00 in figure 5.2 and select Properties. The Scanner Module dialog box appears.

Important: If your scanner is an unrecognized device, you must create an EDS file for it and then configure it. Create an EDS file by following the instructions in section 4.3. Configure the scanner using the General and Module tabs. Click Help or refer to your scanner documentation if you need more information.

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

Step 4. Click Upload. Data is uploaded from the scanner, and then the Scanlist page (figure 5.3) appears.

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

Step 6. Under Available Devices, select the drive, and then click > (right arrow) to add it to the scanlist. See figure 5.3.

Figure 5.2 – Configuration View (Graph Tab)

MD65 Drive


.

Step 7. Under Scanlist, select the drive, and then click Edit I/O Parameters. The Edit I/O Parameters dialog box (figure 5.4) appears.

Figure 5.3 – Scanlist Page in the Scanner Module Dialog Box

Figure 5.4 – Edit I/O Parameters Dialog Box

01, MD65


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

Step 9. Type the number of bytes that are required for your I/O in the Input Size and Output Size boxes. The size will depend on the I/O that you enabled in the module. This information can be found in DSI I/O Actual (16) in the module. Table 5.1 shows common configuration Input/Output sizes.

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

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

Step 11. Click OK. If you changed any settings, a Scanner Applet asks if it is OK to unmap the I/O. Click Yes to continue. The Edit I/O Parameters dialog box closes and then the Scanner Module dialog box (figure 5.2) reappears. You will map the I/O in the next section in this chapter.

Table 5.1 – Input/Output Size Configuration

Input Size

Output Size

Logic Command/

StatusReference/Feedback

Parameter 16 - (DSI I/O Active)

Parameter 1 - (Mode)

4 4 Drive 0 Single8 8 Drives 0-1

Multi-Drive12 12 Drives 0-216 16 Drives 0-320 20 Drives 0-4

Table 5.2 – Scan Rates

Data Exchange Rate to set

Polled Polled Rate

Change of State Heartbeat Rate

Cyclic Send Rate


5.3 Mapping the Drive Data in the Scanner

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

5.3.1 Mapping the Input I/O

Step 1. In the Scanner Module dialog box, click the Input tab. See figure 5.5. (If necessary, right-click the scanner in the configuration view (figure 5.2) to display this dialog box.)

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

Step 2. In the Memory box, select a location in scanner memory from table 5.3.

Figure 5.5 – Input Page on the Scanner Module Dialog Box

01, MD65 w/MDCOMM-DNET01, MD65 w/MDCOMM-DNET

01, MD65 AC Drive


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

Step 3. In the Start Word box, select the word in memory at which the data should start. In our example, we selected 1. Logic Status and Speed Feedback information will be found in I:1.1 and I:1.2, respectively.

5.3.2 Mapping the Output I/O

Step 1. In the Scanner Module dialog box, click the Output tab. See figure 5.6. To display this dialog box, right-click the scanner in the configuration view (figure 5.2).

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

Table 5.3 – Scanner Module Memory Locations

Scanner Memory Locations

1747-SDN Discrete or M-File

1756-DNB Assembly Data

1771-SDN Block Xfer 62 – 57

Figure 5.6 – Output Page on the Scanner Module Dialog Box

01, MD65 AC Drive

01, MD65 w/MDCOMM-DNET01, MD65 w/MDCOMM-DNET


Step 2. In the Memory box, select a location in scanner memory from table 5.4.

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

Step 3. In the Start Word box, select the word in memory at which the data should start. In our example, we selected 1. Logic Command and Speed Reference data should be written to O:1.1 and O:1.2, respectively.

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

Step 1. In the Scanner Module dialog box (figure 5.6), click Apply to save the configuration to the scanner. A Scanner Configuration Applet appears and asks if it is OK to download the changes.

Step 2. Click Yes to download the changes. The changes are downloaded and then the Scanner Module dialog box reappears.

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

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

Table 5.4 – Scanner Module Memory Locations

Scanner Memory Locations

1747-SDN Discrete or M-File

1756-DNB Assembly Data

1771-SDN Block Xfer 62 – 57

Using I/O Messaging 6-1

CHAPTER 6Using I/O Messaging

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

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

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

• The size of I/O can be configured by selecting the number of attached drives (Single- or Multi-Drive mode).

• Change of state, cyclic, or polled data exchange methods can be used.

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

!ATTENTION: The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. Failure to observe this precaution could result in bodily injury or damage to equipment.


6.2 Understanding the I/O ImageThe DeviceNet specification requires that the terms input and output be defined from scanner’s point of view.

Output I/O is data that is output from the scanner and consumed by the DeviceNet module.

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

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

Single-Drive mode is the typical configuration, where one node consists of an MD65 drive with a DeviceNet module.

For Multi-Drive mode, where one node can consist of up to 5 drives, refer to chapter 8, Using Multi-Drive Mode.

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

Controller Scanner Module MD65 Drives

DeviceNet MDI

OutputImage(Write)

InputImage(Read)

MessageHandler

MessageBuffer

0 Logic Status1 Feedback

Logic StatusFeedback

Word and I/O

MessageHandler

0 Logic Command1 Reference

Logic CommandReference


6.3 Using Logic Command/StatusWhen 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 module. The Logic Status is a 16-bit word of status produced by the module and consumed by the scanner.

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

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

6.5 Sample Ladder Logic ProgramsThe sample ladder logic programs work with MD65 drives.

Functions of the Sample Programs

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

• Obtain status information from the drive.

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

• Send a Reference to the drive.

Module Settings for the Sample Programs

• Node address 1 is set using the switches.

• The module is configured for Single-Drive mode (mode jumper is set to “Single”).

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

Scanner Settings for the Example Programs

• The scanner is node 0 on the DeviceNet network.

• The scanner is in slot 1.

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

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

Size Valid Values In I/O Image Example16-bit -32768 to 32767 Word 1 Figure 6.1


Logic Command/Status Words

These examples use the Logic Command word and Logic Status word for MD65 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 MDI product. Refer to the documentation for your drive.

6.5.1 Sample ControlLogix Ladder Logic ProgramTable 6.1 – Tags for the Sample ControlLogix Program

Tag Name Type Tag Name TypeLocal: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


Figure 6.2 – Sample ControlLogix Ladder Logic Program

0 Local:3:O.CommandRegister.Run

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

specifc tags for use elsewhere in the ladder program.

1 Copy FileSource Local:3:I.Data[0]Dest DriveInputImage[0]Length 2

COP

2 DriveInputImage[0].0

DriveStatusReady


DriveStatusActive


DriveStatusForward


DriveStatusFaulted


DriveStatusAtReference

7 Copy FileSource DriveInputImage[1]Dest DriveFeedbackLength 1

COP

8 DriveCommandStop

DriveOutputImage[0].0

9 DriveCommandStart


10 DriveCommandJog


11 DriveCommandClearFaults


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

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

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

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


For the explicit message portion of this sample ladder program, see figure 7.7.

Figure 6.3 – Sample ControlLogix Ladder Logic Program (continued)

12 DriveCommandForward


13 /DriveCommandForward


14 Copy FileSource DriveReferenceDest DriveOutputImage[1]Length 1

COP

15 Copy FileSource DriveOutputImage[0]Dest Local:3:O.Data[0]Length 1

COP


6.5.2 Sample PLC-5 Ladder Logic Program

Table 6.2 – Control File for Block Transfers

EN ST DN ER CO EW NR TO RW RLEN DLEN FILE ELEM R G SBT20:0 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 6.4 – Sample PLC-5 Ladder Logic Program

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

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

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

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

0000BT20:0

EN

EN

DN

ER

BTRBlock Transfer ReadModule Type 1771-SDN DeviceNet Scanner ModuleRack 000Group 0Module 0Control Block BT20:0Data File N9:0Length 62Continuous No

Setup Screen

BTR

This rung enables the DeviceNet scanner.

0001 N10:0

0

1771-SDNScannerEnable bit


For the explicit message portion of this sample ladder program, see figure 7.8.

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

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

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

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

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

0002BT20:1

EN

EN

DN

ER

BTWBlock Transfer WriteModule Type 1771-SDN DeviceNet Scanner ModuleRack 000Group 0Module 0Control Block BT20:1Data File N10:0Length 62Continuous No

Setup Screen

BTW


6.5.3 Sample SLC Ladder Logic Program

Figure 6.6 – Sample SLC Ladder Logic Program

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


0000 O:1

0 1747-SDN

1747-SDNScannerEnable bit

This section of rungs control the Logic Command bits for the MD65 drive. TheB3:0 bits would be controlled elsewhere in the user program.

0001B3:0

0

Node 1StopCommand

O:1

16 1747-SDN

Node 1Logic CommandSTOP

0002B3:0

1

Node 1StartCommand

O:1

17 1747-SDN

Node 1Logic CommandSTART

0003B3:0

2

Node 1JogCommand

B3:0

0

Node 1StopCommand

O:1

18 1747-SDN

Node 1Logic CommandJOG

0004B3:0

3

Node 1Clear FaultsCommand

O:1

19 1747-SDN

Node 1Logic CommandCLEAR FAULTS

0005B3:0

4

Node 1ForwardCommand

O:1

20 1747-SDN

Node 1Logic CommandFORWARD


Figure 6.7 – Sample SLC Ladder Logic Program (continued)

0006B3:0

4

Node 1ForwardCommand

O:1

21 1747-SDN

Node 1Logic CommandREVERSE

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

0007MOV

MoveSource N7:0 300 <Dest O:1.2 300 <

MOV

Node 1REFERENCE(Hz)

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

0008I:1

16 1747-SDN

Node 1Logic StatusREADY

B3:1

0

Node 1READY

0009I:1

17 1747-SDN

Node 1Logic StatusACTIVE

B3:1

1

Node 1ACTIVE

0010I:1

19 1747-SDN

Node 1Logic StatusROTATINGFORWARD

B3:1

3

Node 1ROTATINGFORWARD


Figure 6.8 – Sample SLC Ladder Logic Program (continued)

0011I:1

23 1747-SDN

Node 1Logic StatusFAULTED

B3:1

7

Node 1FAULTED

0012I:1

24 1747-SDN

Node 1Logic StatusAT REFERENCE

B3:1

8

Node 1AT REFERENCE

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

0013MOV

MoveSource I:1.2 300 <Dest N7:1 300 <

MOV

Node 1FEEDBACK(Hz)

Using Explicit Messaging 7-1

CHAPTER 7Using Explicit

Messaging

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

7.1 About Explicit MessagingExplicit 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.

!ATTENTION: The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. Failure to observe this precaution could result in bodily injury or damage to equipment.

ATTENTION: 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. Failure to observe this precaution could result in damage to, or destruction of, equipment.


7.2 Formatting Explicit Messages for a ControlLogix ControllerControlLogix 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 7.1. Refer to table 7.1 for a description of the data that is required in each box (items 1–9).

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.

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

Figure 7.1 – ControlLogix Message Format in RSLogix 5000


Table 7.1 – ControlLogix Message Requests and Responses

Box Description

Message TypeThe message type must be CIP Generic.

Service Type/Service CodeThe 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.

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

InstanceThe object ID is an instance of a DeviceNet class. Refer to Appendix C, DeviceNet Objects, for available instances.

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

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

Source LengthThis box contains the number of bytes of service data to be sent or received in the message.

DestinationThis box contains the name of the tag that will receive service response data from the module and drive. A tag must be specified even if it is not used.

PathThe 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 module. This is set with switches or parameters in the DeviceNet module.

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


7.3 Formatting Explicit Messages for a PLC or SLC ControllerTransaction 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 7.2 or figure 7.3.

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

Bit 15 0 15 0Word 0 TXID Command TXID Status

Port Size Port SizeService Address Service AddressClass Service Response Data

InstanceAttribute

Word 6 - 31 Service Data

Word 32 TXID Command TXID StatusPort Size Port SizeService Address Service Address

Class Service Response DataInstanceAttribute


Figure 7.2 – PLC Explicit Message Format

Bit 15 0 15 0Word 0 TXID Command TXID Status

Port Size Port SizeService Address Service AddressClass Service Response DataInstanceAttribute


Figure 7.3 – SLC Explicit Message Format

Request Response

Request Response


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

Table 7.2 – Number of Transaction Blocks Reserved for Explicit Messaging

ScannerNo. of Transaction

BlocksWords in Each

Transaction Block Refer To

1747-SDN 10 32 Figure 7.3

1771-SDN 10 32 (two blocks can be moved at once)

Figure 7.2

Table 7.3 – PLC / SLC Explicit Message Requests

Word Description0 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 block02 = Get status of transaction TXID03 = Reset all client/server transactions04 = 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 ClassRefer to Appendix C, DeviceNet Objects, for available classes.

4 InstanceRefer to Appendix C, DeviceNet Objects, for available instances.

5 AttributeRefer to Appendix C, DeviceNet Objects, for available attributes.

6 – 31 Request DataThis is data used for the message. For example, it may be the value written to a parameter.


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

Table 7.4 – PLC / SLC Explicit Message Responses

Word Description0 Status (Least Significant Byte)

One of the following status codes is provided during each upload:00 = Ignore transaction block (empty)01 = Transaction completed successfully02 = Transaction in progress (not ready)03 = Slave not in scan list04 = Slave offline05 = DeviceNet port disabled or offline06 = Transaction TXID unknown08 = Invalid command code09 = Scanner out of buffers10 = Other client/server transaction in progress11 = Could not connect to slave device12 = Response data too large for block13 = Invalid port14 = Invalid size specified15 = Connection busy16 – 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 DataThis is data used for the message. For example, it may be the value read from a parameter.


7.4 Running Explicit Messages

There are five basic events in the Explicit Messaging process as shown in figure 7.4. 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 a response message for all Explicit Messages, whether you are reading or writing data.

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

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

The slave device transmits the Explicit Message Response back to the scanner. The data is stored in the scanner buffer.

The controller retrieves the Explicit Message Response from the scanner’s buffer (upload).

The Explicit Message is complete. If you are using a PLC or SLC, delete the transaction ID so that it can be reused.

Figure 7.4 – Explicit Message Process

Set up and send Explicit

Retrieve Explicit Message Response

Message Request

Complete ExplicitMessage

2


7.5 ControlLogix ExampleData Format for a Read and Write Parameter

The data in this example is for an MD65 drive at node address 1.

Refer to section 7.2 for a description of the content in each box.

Configuration Value Description Refer to . . .Service CodeObject TypeObject IDObject Attribute

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

Get_Attribute_SingleParameter ObjectParameter AddressParameter Value

Page C-10Page C-8

Page C-9

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


Configuration Value Description Refer to . . .

Service CodeObject TypeObject IDObject Attribute

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

Get_Attribute_SingleParameter ObjectParameter AddressParameter Value

Page C-10Page C-8

Page C-9

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

Table 7.5 – Tags for the Sample Explicit Messaging Program

Tag Namesfor Read Message Type

Tag Namesfor Write Messages Type

PerformParameterRead BOOL PerformParameterWrite BOOL

ParameterRDMessage MESSAGE ParameterWRMessage MESSAGE

ParameterRDValue INT ParameterWRValue INT


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

Figure 7.7 – Sample ControlLogix Ladder Logic Program

Ex plic it M essaging Ex am ple

16 PerformParameterRead

ENDNER

Type - CIP GenericMessage Control ParameterRDMessage ...

MS GEx plic it M essaging Ex am ple

17 PerformParameterWrite

ENDNER

Type - CIP GenericMessage Control ParameterWRMessage ...

MS G

(End)


7.6 PLC-5 ExampleData Format for a Read and Write Parameter


Refer to section 7.2 for a description of the content of the data file.

Table 7.6 – Request Data for Read of Drive Parameter 39

Address Value (hex) Description Refer to ...

N11:0 0101 TXID = 01, Command = 01 (execute) Section 7.3

N11:1 0006 Port = 00, Size = 06 bytes Section 7.3

N11:2 0E01 Service = 0E (Get_Attribute_Single) Page C-10

Address = 01 (Node Address) Section 7.3

N11:3 000F Class = 0F (Parameter Object) Page C-8

N11:4 0027 Instance = Parameter 39 (27 hex)

N11:5 0001 Attribute = 01 (Parameter Value) Page C-9

Table 7.7 – Response Data for Read of Drive Parameter 39


N11:100 0101 TXID = 01, Status = 01 (successful) Section 7.3


N11:102 8E01 Service = 8E (successful), Address = 01 (Node Address)

Section 7.3

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

Table 7.8 – Request Data for Write to Drive Parameter 101




N11:2 1001 Service = 10 (Set_Attribute_Single) Page C-10





N11:6 0064 Data = 100 (64 hex) = 10.0 seconds

Table 7.9 – Response Data for Write to Drive Parameter 101


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

Section 7.3


N11:102 9001 Service = 90 (successful) Address = 01 (Node Address)

Section 7.3


Ladder Logic Program

Figure 7.8 – Sample 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 isused by the BTR instruction in the next rung.

0003B3:0

0

SendExplicitMessage

ONSB3:0

1

EN

DN

ER

BTWBlock Transfer WriteModule Type 1771-SDN DeviceNet Scanner ModuleRack 000Group 0Module 0Control Block BT20:2Data File N11:0Length 64Continuous No

Setup Screen

BTW

MOVMoveSource 0 0<Dest N11:100 257<

MOV

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

0004BT20:2

DN

CMPComparisonExpression N11:100 <> N11:0

CMP BT20:3

EN

EN

DN

ER

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

Setup Screen

BTR

0005 END


7.7 SLC ExampleData Format for a Read and Write Parameter


Refer to section 7.2 for a description of the content of the data file.

Table 7.10 – Request Data for Read of Drive Parameter 101




N9:12 0E01 Service = 0E (Get_Attribute_Single) Page C-10





Table 7.11 – Response Data for Read of Drive Parameter 101


N9:50 0101 TXID = 01, Status = 01 (successful) Section 7.3


N9:52 8E01 Service = 8E (successful) Address = 01 (Node Address)

Section 7.3

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

Table 7.12 – Request Data for Write to Drive Parameter 101




N9:12 1001 Service = 10 (Set_Attribute_Single) Page C-10





N9:16 0064 Data = 100 (64 hex) = 10.0 seconds

Table 7.13 – Response Data for Write to Drive Parameter 101


N9:50 0101 TXID = 01, Status = 01 (successful transaction) Section 7.3


N9:52 9001 Service = 90 (successful) Address = 01 (Node Address)

Section 7.3


Ladder Logic 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.

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

Figure 7.9 – Sample SLC Ladder Logic Program


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

0014B3:2

0

COPCopy FileSource #N9:10Dest #M0:1.224Length 32

COP

UB3:2

0

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

0015I:1

15 1747-SDN

COPCopy FileSource #M1:1.224Dest #N9:50Length 32

COP

EQUEqualSource A N9:10 257 <Source B N9:50 257 <

EQU

MVMMasked MoveSource N9:0 4<Mask 00FFh 255 <Dest M0:1.224 ?<

MVM

0016 END

Using Multi-Drive Mode 8-1

CHAPTER 8Using Multi-Drive Mode

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

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

Multi-Drive mode is an alternative to the typical network installation, where a single DeviceNet node can consist of one to five drives (figure 8.2). The first drive must be an MD65 drive with an MDCOMM-DNET module. The remaining drives can be MD65 or MD60 drives, and they are daisy-chained over RS-485 with the first drive.

!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 does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

Figure 8.1 – Example of a Single-Drive Mode Network

MD65 Drivewith MDCOMM-DNET

DeviceNet

1 drive per node




Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one MDCOMM-DNET module is needed for up to five drives. MD60 drives can also be used for the daisy-chained drives instead of MD65 drives.

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

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

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

The trade-offs of Multi-Drive mode include:

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

• Communications throughput to the daisy-chained drives will be slower than if each drive was a separate node on DeviceNet (Single-Drive mode). This is because the MDCOMM-DNET module must take the DeviceNet data for the other drives and sequentially send the respective data to each drive over RS-485.

The approximate additional throughput time for Logic Command/Reference to be transmitted and received by each drive is shown in table 8.1.

Figure 8.2 – Example of a Multi-Drive Mode Network

DeviceNet

up to 5 drives per node

MD65 Drive

MDCOMM-DNET

Up to 4 MD65 or MD60 Drives

AK-U0-RJ45-TB2PConnector w/3rd PartyTerminating Resistor

AK-U0-RJ45-TB2PConnector w/3rd PartyTerminating Resistor

AK-U0-RJ45-TB2PRS-485


:

• 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 an OIM.

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

8.2 System WiringTo daisy-chain the drives off the MD65 drive with the MDCOMM-DNET module (Drive 0), use the AK-U0-RJ45-TB2P terminal block connector (figure 8.3).

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

Table 8.1 – Additional Throughput Time for Logic Command/Reference

Drive Additional Throughput Time versus Single-Drive Mode

MD65 w/MDCOMM-DNET 0 ms

MD65 w/MDCOMM-DNET plus 1 drive +24 msMD65 w/MDCOMM-DNET plus 2 drives +48 msMD65 w/MDCOMM-DNET plus 3 drives +72 ms

MD65 w/MDCOMM-DNET plus 4 drives +96 ms

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


8.3 Understanding the I/O ImageThe 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 module. Input I/O is status data that is produced by the module and consumed as input by the scanner. The I/O image table will vary based on the:

• Configuration of the Mode Jumper (J2) on the module and parameter 15 (DSI I/O Cfg). The image table always uses consecutive words starting at word 0.

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

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

MD65 Drive with MDCOMM-DNET

Drive #2

Drive #3

Drive #4

Drive #5

120 Ω ¼ Watt

Resistor

120 Ω ¼ Watt

Resistor


8.4 Configuring the RS-485 NetworkThe following parameters must be set in the daisy-chained drives:

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

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

Controller Scanner Module

MD65 Drive 0

DeviceNet MDI

OutputImage(Write)

InputImage(Read)

MessageHandler

MessageBuffer

Word and I/O











MD65 Drive 1

MD65 Drive 2

MD65 Drive 3

MD65 Drive 4

MD65 Drive 0

MD65 Drive 1

MD65 Drive 2

MD65 Drive 3

MD65 Drive 4

Parameter ValueP36 - (Start Source) 5 (“RS485 [MDI] Port”)P38 - (Speed Reference) 5 (“RS485 [MDI] Port”)A103 - (Comm Data Rate) 4 (“19.2K”)A104 - (Comm Node Addr) 1-247 (must be unique)A107 - (Comm Format) 0 (“RTU 8-N-1”)


Important: Comm Loss Action (A105) and Comm Loss Time (A106) 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, Comm Flt Action (7) and Idle Flt Action (8) in the MDCOMM-DNET module determine the action taken for ALL of the drives on the Multi-Drive node.

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

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

8.5 Multi-Drive Ladder Logic Program ExampleThe example ladder logic program demonstrates using Multi-Drive mode with five drives. See figure 8.2 for a system layout diagram.

Function of the Program Example

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

• View status information from the drives such as Ready, Fault, At Speed, and Feedback.

• Control 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.

Parameter Value15 - (DSI I/O Cfg) 0 = Drive 0 connected

1 = Drives 0-1 connected2 = Drives 0-2 connected3 = Drives 0-3 connected4 = Drives 0-4 connected

17 - (Drv 0 Addr) = Parameter A104 - (Comm Node Address) in Drive 018 - (Drv 1 Addr) = Parameter A104 - (Comm Node Address) in Drive 119 - (Drv 2 Addr) = Parameter A104 - (Comm Node Address) in Drive 220 - (Drv 3 Addr) = Parameter A104 - (Comm Node Address) in Drive 321 - (Drv 4 Addr) = Parameter A104 - (Comm Node Address) in Drive 4


Module Settings for the Example Program• The Mode Jumper on the module is set to the Multi-Drive

operation position. See section 3.2, Commissioning the Module.

• All DIP switches on the module are set to CLOSED (all 0s). See section 3.2, Commissioning the Module. The actual node address will be set via a software parameter.

• The following module parameters are set:

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

Drive Settings for the Program Example

Parameter Value Description02 - (DN Addr Cfg) 1 DeviceNet node address15 - (DSI I/O Cfg) 4 “Drives 0-4” — 5 drives on 1 node17 - (Drv 0 Addr)1 1 Modbus address of Drive 018 - (Drv 1 Addr) 2 Modbus address of Drive 119 - Drv 2 Addr) 3 Modbus address of Drive 220 - (Drv 3 Addr) 4 Modbus address of Drive 321 - (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.

ParameterValue

Drive 0 Drive 1 Drive 2 Drive 3 Drive 4P36 - (Start Source) 5 5 5 5 5

P38 - (Speed Reference) 5 5 5 5 5A103 - (Comm Data Rate) 4 4 4 4 4

A104 - (Comm Node Addr)1 1 2 3 4 5A105 - (Comm Loss Action) 0 0 0 0 0A106 - (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 module (parameter 17 (Drive 0 Address) through parameter 21 (Drive 4 Address)).


8.6 ControlLogix ExampleThe following common Tags are used:

The following Tags are used for Drive 0:

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

Main Routine

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

Tag Name Type DescriptionLocal : 3 : I AB: 1756_D...

1756-DNB I/OLocal : 3 : O AB: 1756_D...Local : 3 : 5 AB: 1756_D...

Drive Input Image INT [10] Input Image TableDrive Output Image INT [10] Output Image Table

Tag Name Type DescriptionDrive 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 ReferenceDrive 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 FeedbackPerform Parameter Read 0 BOOL Initiates the parameter readParameter RD Value 0 INT Read value of the parameterParameter RD Message 0 MESSAGE Get_Attribute_Single (Read)Perform Parameter Write 0 BOOL Initiates the parameter valueParameter WR Value 0 INT Write value to the parameterParameter WR Message 0 MESSAGE Set_Attribute_Single (Write)


Figure 8.6 – Main Routine

0 Local:3:O.CommandRegister.Run

1 Copy FileSource Local:3:I.Data[0]Dest DriveInputImage[0]Length 10

COP

2 Jump To SubroutineRoutine Name Drive0

JSR


JSR


JSR


JSR


JSR

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


This section retrieves the Logic Status and Feedback data for all five drives from the scanner, and moves it to specific INT tags for use elsewhere in the ladder program. The input image is as follows: Drive Input Image (0) and Drive Input Image (1) = Drive 0 Logic Status and FeedbackDrive Input Image (2) and Drive Input Image (3) = Drive 1 Logic Status and FeedbackDrive Input Image (4) and Drive Input Image (5) = Drive 2 Logic Status and Feedback Drive Input Image (6) and Drive Input Image (7) = Drive 3 Logic Status and FeedbackDrive Input Image (8) and Drive Input Image (9) = Drive 4 Logic Status and Feedback

Drive 0 controls subroutine.






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 8.8 for Drive 0, figure 8.10 for Drive 1, figure 8.12 for Drive 2, figure 8.14 for Drive 3, and figure 8.16 for Drive 4.

Figure 8.7 – Main Routine (Continued)

7 Copy FileSource DriveOutputImage[0]Dest Local:3:O.Data[0]Length 5

COP

(End)

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

Drive Output Image (0) and Drive Output Image (1) = Drive 0 Logic Command and Reference Drive Output Image (2) and Drive Output Image (3) = Drive 1 Logic Command and ReferenceDrive Output Image (4) and Drive Output Image (5) = Drive 2 Logic Command and Reference Drive Output Image (6) and Drive Output Image (7) = Drive 3 Logic Command and ReferenceDrive Output Image (8) and Drive Output Image (9) = Drive 4 Logic Command and Reference

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


Figure 8.8 – Drive 0 Control Routine


Drive0StatusReady


Drive0StatusActive


Drive0StatusForward


Drive0StatusFaulted


Drive0StatusAtReference

5 Copy FileSource DriveInputImage[1]Dest Drive0FeedbackLength 1

COP

6 Drive0CommandStop


7 Drive0CommandStart


8 Drive0CommandJog


9 Drive0CommandClearFaults


10 Drive0CommandForward


11 /Drive0CommandForward


12 Copy FileSource Drive0ReferenceDest DriveOutputImage[1]Length 1

COP

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.

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.

Drive 0 Control Subroutine


Figure 8.9 – Drive 0 Control Routine (Continued)

13

PerformParameterRead0

ENDNER

Type - CIP GenericMessage Control ParameterRDMessage0 ...

MS G

14

PerformParameterWrite0

ENDNER

Type - CIP GenericMessage Control ParameterWRMessage0 ...

MS G

15 ReturnRET

(End)

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.





Drive1StatusReady


Drive1StatusActive


Drive1StatusForward


Drive1StatusFaulted




COP

6 Drive1CommandStop




8 Drive1CommandJog









COP

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.





13


ENDNER


MS G

14


ENDNER


MS G

15 ReturnRET

(End)

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.





Drive2StatusReady


Drive2StatusActive


Drive2StatusForward


Drive2StatusFaulted




COP

6 Drive2CommandStop




8 Drive2CommandJog









COP






13


ENDNER


MS G

14


ENDNER


MS G

15 ReturnRET

(End)

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.





Drive3StatusReady


Drive3StatusActive


Drive3StatusForward


Drive3StatusFaulted




COP

6 Drive3CommandStop




8 Drive3CommandJog









COP






13


ENDNER


MS G

14


ENDNER


MS G

15 ReturnRET

(End)

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.





Drive4StatusReady


Drive4StatusActive


Drive4StatusForward


Drive4StatusFaulted




COP

6 Drive4CommandStop




8 Drive4CommandJog









COP


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.



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

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)


13


ENDNER


MS G

14


ENDNER


MS G

15 ReturnRET

(End)

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.


Instance Device Parameter4000h (16384 dec) - 43FFh MDCOMM-DNET 0 - 10234400h (17408 dec) - 47FFh Drive 0 0 - 10234800h (18432 dec) - 4BFFh Drive 1 0 - 10234C00h (19456 dec) - 4FFFh Drive 2 0 - 10235000h (20480 dec) - 53FFh Drive 3 0 - 10235400h (21504 dec) - 57FFh Drive 4 0 - 1023


Drive 0 Explicit Message Example

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

Figure 8.18 – Parameter Read Message Configuration

Figure 8.19 – Parameter Write Message Configuration


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

The Explicit messages for 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)

8.8 Additional Information• When the MD65 drive with the MDCOMM-DNET (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 MD65 drive with the MDCOMM-DNET module (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 MDCOMM-DNET module will flash red. Status information from the scanner will not indicate there is a fault at the node.

Troubleshooting the DeviceNet Module and Network 9-1

CHAPTER 9Troubleshooting the

DeviceNet Moduleand Network

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

9.1 Understanding the Status Indicators

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

Number Status Indicator Description Refer to... DRIVE MDI Connection Status 9.1.1

MS Module Status 9.1.2

NET A DeviceNet Status 9.1.4

NET B Not Used for DeviceNet -

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

➊➋➌➍

➊ ➋➌

DRIVE

MS


9.1.1 DRIVE Status IndicatorTable 9.1 – DRIVE Status Indicator: State Definitions

Status Cause Corrective ActionOff The module is not

powered or is not connected properly to the drive.

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

• Apply power to the drive.

Flashing Red

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

• Clear any drive faults.• Verify that cables are securely

connected.• Cycle power to the drive.

Solid Red

The drive has refused anI/O connection from the module.

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

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

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

Flashing Green

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

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

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

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

Solid Green

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

No Action.

Orange Daisy-chained drives in Multi-Drive mode are not all MD60 or MD65 drives.

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


9.1.2 MS Status IndicatorTable 9.2 – MS Status Indicator: State Definitions

Status Cause Corrective ActionOff The module is not

powered.• Securely connect the module to the

drive using the ribbon cable.• Apply power to the drive.

Flashing Red

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

• Clear faults in the drive.• Cycle power to the drive.• If cycling power does not correct the

problem, the parameter settings may have been corrupted. Reset defaults and reconfigure the module.

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

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

Solid Red

The module has failed the hardware test.

• Cycle power to the drive.• Replace the module.

Flashing Green

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

• Place the scanner in RUN mode.• Program the controller to recognize

and transmit I/O to the module.• Configure the module for the program

in the controller.• Normal behavior if no MDI I/O is

enabled.Solid Green

The module is operational and transferring I/O data.

No action.


9.1.3 NET A Status IndicatorTable 9.3 – NET A Status Indicator: State Definitions

Status Cause Corrective ActionsOff The module and/or

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

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

• Correctly connect the DeviceNet cable to the DeviceNet plug.

• Apply power to the drive and network.Flashing Red

A DeviceNet I/O connection has timed out.

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

• Check the amount of traffic on the network.

Solid Red Failed duplicate node detection test or bus off condition exists.

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

• Configure the module to use the correct network data rate.

• Ensure network has correct media installed.

Flashing Green

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

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

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

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

Solid Green

The module is properly connected and communicating on the network.

No action required.


9.2 Module Diagnostic Items in Single- Drive Mode

The diagnostic items shown in table 9.4 can be accessed using VS Utilities (version 3.01 or higher).

9.3 Module Diagnostic Items in Multi-Drive Mode

The diagnostic items shown in table 9.5 can be accessed using VS Utilities (version 3.01 or higher).

Table 9.4 – Diagnostic Items Accessed Using VS Utilities in Single-Drive Mode

No. Name Description1 Field Flash Cnt The number of flash updates made to the module after shipping.2 Module 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 module 2-bit data rate switch.10 Node Address SW Current setting of the module 6-bit Node address switch.

Table 9.5 – Diagnostic Items Accessed Using VS Utilities in Multi-Drive Mode

No. Name Description1 Field Flash Cnt The number of flash updates made to the module after shipping.2 Module Events The number of events in the event queue.3 Drv 0 Reference Reference being transmitted from the module to MDI drive 0. 4 Drv 0 Logic Cmd Command being transmitted from the module to MDI drive 0.5 Drv 0 Logic Sts Status of MDI drive 0 being received by the module.6 Drv 0 Feedback Feedback from MDI drive 0 being received by the module.7 Drv 1 Reference Reference being transmitted from the module to MDI drive 1. 8 Drv 1 Logic Cmd Command being transmitted from the module to MDI drive 1.9 Drv 1 Logic Sts Status of MDI drive 1 being received by the module.10 Drv 1 Feedback Feedback from MDI drive 1 being received by the module.11 Drv 2 Reference Reference being transmitted from the module to MDI drive 2. 12 Drv 2 Logic Cmd Command being transmitted from the module to MDI drive 2.13 Drv 2 Logic Sts Status of MDI drive 2 being received by the module.


9.4 Viewing and Clearing Events

The module maintains an event queue that reports the history of its actions. You can view the event queue using VS Utilities (Version 3.01 or higher) software.

14 Drv 2 Feedback Feedback from MDI drive 2 being received by the module.15 Drv 3 Reference Reference being transmitted from the module to MDI drive 3. 16 Drv 3 Logic Cmd Command being transmitted from the module to MDI drive 3.17 Drv 3 Logic Sts Status of MDI drive 3 being received by the module.18 Drv 3 Feedback Feedback from MDI drive 3 being received by the module.19 Drv 4 Reference Reference being transmitted from the module to MDI drive 4.20 Drv 4 Logic Cmd Command being transmitted from the module to MDI drive 4.21 Drv 4 Logic Sts Status of MDI drive 4 being received by the module.22 Drv 4 Feedback Feedback from MDI drive 4 being received by the module.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 module 2-bit data rate switch.26 Node Address SW Current setting of the 6-bit Node address switch.

Table 9.5 – Diagnostic Items Accessed Using VS Utilities in Multi-Drive Mode (Continued)

No. Name Description

Figure 9.2 – VS Utilities Event View/Clear Screen

MDCOMM-DNET


Events

Many events in the event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Rockwell Automation personnel troubleshoot the problem. Table 9.6 lists events that may appear in the event queue:

Table 9.6 – Event Codes and Descriptions

Code Event Description0 No Event Text displayed in an empty event queue entry.1 Host Sent Reset The MDI product issued this because it was reset.2 EEPROM Sum Flt Startup sequence detected corrupt EEPROM

storage.3 Reserved4 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 Reserved9 DSI Fault Msg MDI 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 Reserved15 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 module was allocated for a DeviceNet polled I/O

connection.18 DN COS Allocate The module 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 module has failed the

duplicate MAC test.22 Manual Reset The module 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 An MDI slave was detected on the /slave I/O line.26 Slave Removed An MDI slave was removed from the /slave I/O line.27 Language CRC Bad The language flash segment is corrupt.

Table 9.6 – Event Codes and Descriptions (Continued)

Code Event Description

Technical Specifications A-1

APPENDIX A Technical

Specifications

Communications

Electrical

Mechanical

Environmental

Regulatory Compliance

NetworkProtocolData Rates

Drive Protocol

DeviceNet125K, 250K, 500K, Autobaud

MDI

Consumption Drive Network

150 mA at +5 V supplied through the drive60 mA at +24 V supplied through DeviceNetUse the 60 mA value to size the network current draw from the power supply.

DimensionsHeightLengthWidth

19 mm (0.75 in)86 mm (3.33 in)78.5 mm (3.09 in)

Weight 85 g (3 oz)

TemperatureOperatingStorage

-10 to +50° C (14 to 149° F)-40 to +85° C (-40 to 185° F)

Relative Humidity 5 to 95% non-condensing

UL UL508C

cUL CAN / CSA C22.2 No. 14-M91

CE EM50178 and EN61800-3

A-2 DeviceNet Communications Module

DeviceNet Module Parameters B-1

APPENDIX BDeviceNet Module

Parameters

The following information is provided for each DeviceNet module parameter along with its description:

About Parameter numbers

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

Parameter Number: Unique number assigned to each parameter.

Parameter Name: Unique name assigned to each parameter.

Range: Predefined parameter limits or selections.

Default: Factory default setting.

Type: Read Only or Read/Write.

Reset Required: Module must be reset before parameter value is recognized.

Configuration Tool Numbering Scheme

• VS Utilities

• OIM

The module parameters begin with parameter 1. For example, parameter 01 (Mode) is parameter 1 as indicated by this manual.

• Explicit Messaging

• RSNetWorx for DeviceNet

The module parameters are appended to the list of drive parameters. For example, with a drive with 300 parameters, parameter 01 (Mode) is parameter 301.

B-2 DeviceNet Communications Module

Displays the Single- or Multi-Drive operating mode selected with jumper on the module.

Sets the node address used by the drive after a reset or power cycle. This setting is used when all of the module DIP switches are in the CLOSED position (all 0s).

Displays the DeviceNet node address currently being used by the module.

Sets the DeviceNet data rate after a reset or power cycle. This setting is used when all of the module DIP switches are in the CLOSED position (all 0s).

1 ModeRange: 0 = Single Drive

1 = Multiple Drive

Default: 0 = Single Drive

Type: Read Only

Reset Required: N/A

2 DN Addr CfgRange: 0 to 63

Default: 63

Type: Read/Write

Reset Required: Yes

3 DN Addr ActRange: 0 to 63

Default: 63

Type: Read Only

Reset Required: N/A

4 DN Rate CfgRange: 0 = 125 kbps

1 = 250 kbps2 = 500 kbps3 = Autobaud

Default: 3 = Autobaud

Type: Read/Write

Reset Required: Yes


Displays the DeviceNet data rate currently being used by the module.

This parameter is a command. It will be reset to 0 = Ready after the command has been performed.

5 DN Rate ActRange: 0 = 125 kpbs

1 = 250 kbps2 = 500 kbps3 = Autobaud

Default: 0 = 125 kbps

Type: Read Only

Reset Required: N/A

6 Reset ModuleRange: 0 = Ready (No action)

1 = Reset Module2 = Set Defaults (Restores module to factory-default

settings)

Default: 0 = Read

Type: Read/Write

Reset Required: No

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


Action that the module and drive take if the module detects that DeviceNet communications have been disrupted. This setting is effective only if I/O that controls the drive is transmitted though the module.

7 Comm Flt ActionRange: 0 = Fault

1 = Stop2 = Zero Data3 = Hold Last4 = Send Flt Cfg

Default: 0 = Fault

Type: Read/Write

Reset Required: No

!ATTENTION: Comm Flt Action (7) lets you determine the action of the module 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. Take precautions to ensure that the setting of this parameter does not create a hazard of injury or equipment damage. Failure to observe this precaution could result in bodily injury or damage to equipment.


Sets the action that the module and the drive take if the module detects that the scanner is idle because the controller was switched to program mode. This setting is effective only if the I/O that controls the drive is transmitted through the module.

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

8 Idle Flt ActionRange: 0 = Fault

1 = Stop2 = Zero Data3 = Hold Last4 = Send Flt Cfg

Default: 0 = Fault

Type: Read/Write

Reset Required: No

!ATTENTION: Idle Flt Action (8) lets you determine the action of the module and connected drive if the scanner is idle. By default, this parameter faults the drive. You can set this so that the drive continues to run. Ensure that the setting of this parameter does not create a hazard of injury or equipment damage. Failure to observe this precaution could result in bodily injury or damage to equipment.

9 DN Act CfgRange: 0 = Switches

1 = EEPROM

Default: 0 = Switches

Type: Read Only

Reset Required: N/A


Sets the Logic Command data that is sent to the drive if any of the following is true:

• Comm Flt Action (7) is set to Send Flt Cfg and communications are disrupted.

• Idle Flt Action (8) 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 module is connected.

Sets the Reference data that is sent to the drive if any of the following is true:

• Comm Flt Action (7) is set to Send Flt Cfg and communications are disrupted.

• Idle Flt Action (8) is set to Send Flt Cfg and the scanner is put into Program mode.

Important: If the drive uses a 16-bit Reference, the most significant word of this value must be set to zero (0) or a fault will occur.

10 Flt Cfg LogicRange: 0 to 65535

Default: 0

Type: Read/Write

Reset Required: No

11 Flt Cfg RefRange: 0 to 65535

Default: 0

Type: Read/Write

Reset Required: No


Sets the mask of the 16-bit Logic Status word. Unless they are masked out, the bits in the Logic Status word are checked for changes when the module is allocated using COS (change of state). 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.

Sets the hysteresis band to determine how much the Feedback word can change before it is reported as a change in the COS (change of state) operation.

Displays the amount of time that a scanner will wait to check for data in the module.

When COS (change of state) data exchange has been set up, this is 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.

12 COS Status MaskRange: 0 to 65535

Default: 0

Type: Read/Write

Reset Required: No

13 COS Fdbk ChangeRange: 0 to 65535

Default: 0

Type: Read/Write

Reset Required: No

14 COS/Cyc IntervalRange: 0.000 to 65.535 seconds

Default: 0.000 seconds

Type: Read Only

Reset Required: N/A


Sets the configuration of the drives that are active in the Multi-Drive mode. Identifies the connections that would be attempted on a reset or power cycle.

Displays the drives that are active in the Multi-Drive mode.

Sets the corresponding node addresses of the daisy-chained drives when the module Mode Jumper (J2) is set for Multi-Drive operation.

Important: The setting for these parameters must match the setting of parameter A104 (Comm Node Addr) in the respective drives. Each setting must also be unique (no duplicate node address).

15 DSI I/O CfgRange: 0 = Drive 0

1 = Drives 0-12 = Drives 0-23 = Drives 0-34 = Drives 0-4

Default: 0001

Type: Read/Write

Reset Required: Yes

16 DSI I/O ActRange: 0 = Drive 0

1 = Drives 0-12 = Drives 0-23 = Drives 0-34 = Drives 0-4

Default: 0001

Type: Read Only

Reset Required: N/A

1718192021

Drv 0 AddrDrv 1 AddrDrv 2 AddrDrv 3 AddrDrv 4 AddrRange: 1 to 247

Default: 17 = 118 = 219 = 320 = 421 = 5

Type: Read/Write

Reset Required: Yes

DeviceNet Objects C-1

APPENDIX CDeviceNet

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 sample ladder logic programs, refer to Chapter 7, Using Explicit Messaging.

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).

Object

Class Code Refer to SectionHex. Dec.

Identity Object 0x01 1 C.1

Connection Object 0x05 5 C.2

Register Object 0x07 7 C.3

Parameter Object 0x0F 15 C.4

Parameter Group Object 0x10 16 C.5

PCCC Object 0x67 103 C.6

C-2 DeviceNet Communications Module

C.1 Identity ObjectClass Code

Instances (Single-Drive Mode)

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

Instance (Multi-Drive Mode)

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

Class Attributes

Instance Attributes

Hexadecimal Decimal

0x01 1

Instance Description

0 Class

1 Host drive

2 MDCOMM-DNET

3 RECOMM-232 OR MD4LCD-PNL OR MD4ALCD OR MD1CC


0 Class

1 MDCOMM-DNET

Attribute ID

AccessRule Name Data Type Description

1 Get Revision UINT 1

2 Get Max Instance UINT Maximum Instance Number

Attribute ID

Access Rule Name Data Type Description

1 Get Vendor ID UINT 5 = Reliance Electric

2 Get Device Type UINT

3 Get Product Code UINT Number identifying product name and rating


Services

4 Get Revision: STRUCT ofUSINTUSINT

Product Revision: Major Minor

5 Get Status WORD Bit 0 = OwnedBit 2 = ConfiguredBit 10 = Recoverable faultBit 11 = Unrecoverable fault

6 Get Serial Number UDINT Unique 32-bit number

7 Get Product Name SHORT_STRING

Product name and rating

Service Code

Implemented for:

Service NameClass Instance

0x01 Yes Yes Get_Attributes_All

0x05 Yes No Reset

0x0E Yes Yes Get_Attribute_Single

0x10 No No Set_Attribute_Single

Attribute ID

Access Rule Name Data Type Description


C.2 Connection Object

Class Code

Instances

Instance Attributes

Refer to the DeviceNet specification for more information.

Hexadecimal Decimal

0x05 5


1 Master-Slave Explicit Message Connection

2 Polled I/O Connection

4 Change of State/Cyclic Connection

6 – 10 Explicit Message Connection

Attribute ID

Access Rule Name

Data Type Description

1 Get State USINT 0 = Nonexistent1 = Configuring2 = Waiting for connection ID3 = Established4 = Timed out

2 Get Instance Type USINT 0 = Explicit Message1 = I/O Message

3 Get Transport Class Trigger

USINT The Transport Class Trigger for this instance

4 Get Produced Cnxn ID

USINT CAN Identifier to transmit on

5 Get Consumed Cnxn ID

USINT CAN Identifier to receive on

6 Get Initial Comm Char

USINT Defines the DeviceNet message groups that the tx/rx Cnxn’s apply

7 Get Produced Cnxn Size

UINT Max bytes to transmit across this connection

8 Get Consumed Cnxn Size

UINT Max bytes to receive across this connection

9 Get/Set EPR UINT Expected Packet Rate (timer resolution = 2 ms)


Services

12 Get/Set Watchdog Action

USINT 0 = Transition to timed out1 = Auto delete2 = Auto reset

13 Get Produced Path Length

UINT Number of bytes of data in the produced connection path

14 Get Produced Connection Path

ARRAY ofUINT

Byte stream which defines Application objects whose data is to be produced by this Connection object

15 Get Consumed Path Length

UINT Number of bytes of data in the consumed connection path

16 Get Consumed Connection Path

ARRAY of USINT

Byte stream which defines Application objects whose data is to be consumed by this Connection object

Attribute ID

Access Rule Name


Service Code

Implemented for:


0x0E No1

1 This service does not support class access.

Yes Get_Attribute_Single


C.3 Register ObjectClass Code

Instances

The number of instances is fixed at 13 and is as shown below:

If a drive is not present, the Data instance attributes for the 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 module is configured.

Hexadecimal Decimal

0x07 7


0 Class

1 Command 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)









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))


Class Attributes

Not supported.

Instance Attributes

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 an MDI device.

Services

Attribute ID

Access Rule Name


1 Get Bad Flag BOOL If set to 1, then attribute 4 may contain invalid, bad or otherwise corrupt data.0 = good1 = bad

2 Get Direction BOOL Direction of data transfer0 = Producer Register1 = Consumer Register

3 Get Size UINT Size of register data in bits

4 Conditional1

1 The access rule of Set is optional if attribute 2, Direction = 1. If Direction = 0, the access rule is Get.

Data ARRAY of BITS

Data to be transferred

Service Code

Implemented for:


0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single


C.4 Parameter Object

Class Code


The number of instances is shown below.

Instances (Multi-Drive Mode)

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

Class Attributes

Hexadecimal Decimal

0x0F 15


0 Class

1 Drive Parameter 1

… …

n Drive Parameter n

n + 1 Module Parameter 1

… …

n + 21 Module parameter 21


0 Class

1 Drive Parameter 1

… …

21 Module Parameter 21

Attribute ID

Access Rule Name


1 Get Revision UINT 1

2 Get Max Instance UINT Number of parameters

8 Get Parameter Class Descriptor

WORD Bits that describe parameters.

9 Get Configuration Assembly Instance

UINT 0


Instance Attributes

10 Get Native Language

USINT 0 = English1 = French2 = Spanish3 = Italian4 = German5 = Japanese6 = Portuguese7 = Mandarin Chinese8 = Russian9 = Dutch

Attribute ID

Access Rule Name


Attribute ID

Access Rule Name


1 1 Parameter Value

2 3

2 Get Link Path Size USINT 0 = No link specifiedn = Link specified

3 Get Link Path 4

4 Get Descriptor WORD 0 = False, 1 = TrueBit 1 = Supports ENUMsBit 2 = Supports scalingBit 3 = Supports scaling linksBit 4 = Read onlyBit 5 = MonitorBit 6 = Extended precision scaling

5 Get Data Type USINT C3 = INTC7 = UINT D2 = WORD (16-bit)

6 Get Data Size USINT 3

7 Get Parameter Name String

SHORT_STRING

3

8 Get Units String SHORT_STRING

3

9 Get Help String SHORT_STRING

0

10 Get Minimum Value

1 3

11 Get Maximum Value

1 3

12 Get Default Value 1 3


Services

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 3

19 Get Base Link UINT 3

20 Get Offset Link UINT 3

21 Get Decimal Precision

USINT 3

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.

Attribute ID

Access Rule Name


Service Code

Implemented for:


0x01 No Yes Get_Attribute_All

0x05 Yes No Reset


0x10 No Yes Set_Attribute_Single

0x4B No Yes Get_Enum_String


C.5 Parameter Group Object

Class Code


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

Instances (Multi-Drive Mode)

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

Hexadecimal Decimal

0x10 16

Number Description

0 Class

1 Drive Group 1 Attributes

… …

n Drive Group n Attributes

n + 1 Module Group Attributes

Number Description

0 Class

1 Module Group Attributes


Class Attributes

Attribute ID

Access Rule Name


1 Get Parameter group version

UINT 1

2 Get Max Instance

UINT Total number of groups

8 Get Native Language

USINT 0 = English1 = French2 = Spanish (Mexican)3 = Italian4 = German5 = Japanese6 = Portuguese7 = Mandarin Chinese8 = Russian9 = Dutch


Instance Attributes

Services

Attribute ID

Access Rule Name


1 Get Group Name String

SHORT_STRING

Group name

2 Get Number of Members in Group

UINT Number of parameters in group.

3 Get 1st Parameter Number in Group

UINT 1

4 Get 2nd Parameter Number in Group

UINT 1

… …

n Get n Parameter Number in Group

UINT 1

1 Value varies based on group instance.

Service Code

Implemented for:




C.6 PCCC ObjectClass Code

Instances

Not supported.

Class Attributes

Not supported.

Instance Attributes

Not supported.

Services

Hexadecimal Decimal

0x67 103

Service Code

Implemented for:


0x4B No Yes Execute_PCCC

0x4D No Yes Execute_Local_PCCC


Message Structure for Execute_PCCC

Message Structure for Execute_Local_PCCC

Request Response

NameDataType Description Name

DataType Description

Length USINT Length of requestor ID

Length USINT Length of requestor ID

Vendor UINT Vendor number of requestor

Vendor UINT Vendor number of requestor

Serial Number

UDINT ASA serial number of requestor

Serial Number

UDINT ASA serial number of requestor

Other Product Specific

Identifier of user, task, etc., on the requestor

Other Product Specific

Identifier of user, task, etc., on the 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. Not used for all CMDs.

EXT_STS USINT Extended status. Not used for all CMDs.

PCCC_params

ARRAY of USINT

CMD/FNC specific parameters

PCCC_results

ARRAY of USINT

CMD/FNC specific result data

Request Response

NameDataType Description Name

DataType Description

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. Not used for all CMDs.

EXT_STS USINT Extended status. Not used for all CMDs.

PCCC_params

ARRAY of USINT

CMD/FNC specific parameters

PCCC_results

ARRAY of USINT

CMD/FNC specific result data

Logic Command/Status Words D-1

APPENDIX DLogic 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 module. If you do not see the Logic Command/Logic Status for the product that you are using, refer to your product’s documentation.

D.1 MD65 DrivesLogic Command Word

Logic Bits15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command Description

x Stop 0 = Not Stop1 = Stop

x Start* 0 = Not Start1 = Start

x Jog 0 = Not Jog1 = Jog

x Clear Faults 0 = Not Clear Faults1 = Clear Faults

x x Direction 00 = No Command01 = Forward Command10 = Reverse Command11 = Change Direction (toggle)

x Not usedx MOP Increment 0 = Not Increment

1 = Incrementx x Accel Rate 00 = No Command

01 = Accel Rate 1 Command10 = Accel Rate 2 Command11 = Hold Accel Rate

x x Decel Rate 00 = No Command01 = Decel Rate 1 Command10 = Decel Rate 2 Command11 = Hold Decel Rate

D-2 DeviceNet Communications Module

* A 0 = Not Stop condition (logic 0) must first be present before a 1 = Start condition will start the drive.

x x x Reference Select 000 = No Command001 = Freq Source = Select010 = Freq Source = Int. Freq011 = Freq Source = Comm100 = Preset Freq 1101 = Preset Freq 2110 = Preset Freq 3111 = Preset Freq 4

x MOP Decrement 0 = Not Decrement1 = Decrement

Logic Bits15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command Description

Logic Command/Status Words D-3

Logic Status Word

Logic Bits15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status Description

x Ready 0 = Not Ready1 = Ready

x Active 0 = Not Active1 = Active

x Command Direction

0 = Reverse1 = Forward

x Actual Direction 0 = Reverse1 = Forward

x Accel 0 = Not Accelerating1 = Accelerating

x Decel 0 = Not Decelerating1 = Decelerating

x Alarm 0 = No Alarm1 = Alarm

x Fault 0 = No Fault1 = Fault

x At Speed 0 = Not At Reference1 = At Reference

x Main Freq 0 = Not Controlled By Comm1 = Controlled By Comm

x Operation Command

0 = Not Controlled By Comm1 = Controlled By Comm

x Parameters 0 = Not Locked1 = Locked

x Digital Input 1 Status




D-4 DeviceNet Communications Module

Glossary Glossary-1

GLOSSARY

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 device’s configuration. Upon replacing a malfunctioning device with a new unit (node 63), the scanner automatically downloads the configuration data and sets the node address.

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.

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 - As defined by the DeviceNet specification, “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.”

controller - Also called programmable logic controller. 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 - Transmission of 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.

data rate - The speed at which data is transferred on the DeviceNet network. You can set the DeviceNet module 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. The available data rates depend on the type of cable and total cable length used on the network. Each device on the DeviceNet network must be set for the same data rate.

Glossary-2 DeviceNet Communications Module

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: see MDI.

Electronic Data Sheet (EDS) files - 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.

Explicit Messaging - Used to configure, monitor, and diagnose devices over the DeviceNet network.

fault action - Determines how the module and connected product act when a communications fault occurs (for example, a cable is disconnected) 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 module and MD65 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 (parameters 10 (Flt Cfg Logic) and 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.

Maximum Cable LengthCable 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)

Glossary Glossary-3

faulted node recovery - 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.

Flash update - The process of updating firmware in the module. The module can be flash updated using the X-Modem protocol and a Serial Converter Module (firmware 3.xx).

heartbeat rate - 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 occurs.

hold last - When communications are disrupted (for example, a cable is disconnected), the module and MD65 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 module, it will continue to run at the same reference.

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 module. Input is transmitted by the module and consumed by the scanner.

Logic Command/Logic Status - The Logic Command is used to control the MD65 drive (e.g., start, stop, direction). It consists of one 16-bit word of input to the module from the network. The definitions of the bits in this word depend on the drive.

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

MDI - A modification of the ModBus RS-485 serial communication protocol used by various Reliance Electric drives and power products to communicate to peripheral devices.

MDI peripheral - A device that provides an interface between MDI and a network or user. Peripheral devices are also referred to as “modules” and “adapters.” The DeviceNet module and MD65 OIM are examples of MDI peripherals.


MDI product - A device that uses the MDI communications interface to communicate with one or more peripheral devices. For example, a motor drive such as an MD65 drive is an MDI product. In this manual, an MDI product is also referred to as “product” or “host.”

module - Devices such as drives, controllers, and computers usually require a module to provide a communication interface between them and a network such as DeviceNet. A module 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 MDCOMM-DNET DeviceNet module connects MD65 drives to a DeviceNet device level communications network. Modules are sometimes also called “adapters,” “cards,” “embedded communication options,” “gateways,” and “peripherals.”

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.”

non-volatile storage (NVS) -The permanent memory of a device. Devices such as the module 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.”

objects - The DeviceNcet specification defines an object as “an abstract representation of a particular component within a product.”

operator interface module (OIM) - A device that can be used to configure and control an MD65 drive.

PCCC (Programmable Controller Communications Command) - The protocol used by some controllers to communicate with devices on a network. Some software products (for example, VS Utilities) also use PCCC to communicate.

Polled I/O Data Exchange - A device that is configured for pollingI/O data exchange sends data immediately after it receives a request for the data. For example, a module receives a Logic Status Command from the scanner and then sends the Logic Status of the connected MD65 drive.

Glossary Glossary-5

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

reference/feedback - Used to send a reference (for example, speed, frequency, torque) to the product. It consists of one word of input to the module 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 module 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 - A software 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.

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

UCMM (UnConnected Message Manager) - Provides a method to create connections between DeviceNet devices.

VS Utilities software - A software tool for monitoring and configuring Reliance Electric products and modules. VS Utilities can be used to configure the EtherNet/IP module and SP600 drives.

zero data - When communications are disrupted (for example, a cable is disconnected), the module 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 module, it will stay running but at zero reference.

Index Index-1

INDEX

Aassistance, technical, 1-3

Cchange of state (COS) data exchange

configuring a module for, 4-8configuring a scanner for, 5-3

checklist, installation, 2-3Comm Flt Action (7), B-4commissioning the module, 3-1communications specifications, A-1configuration tools, 4-1configuring the module, 4-1 to 4-13connecting the module to the drive, 3-5connecting the module to the

network, 3-4connection object, C-4connector

DeviceNet, 2-1MDI, 2-1

controllerControlLogix, 6-4, 7-8PLC, 6-7, 7-11running Explicit Messages, 7-7SLC, 6-8, 7-13

ControlLogixsample program for Explicit

Messages, 7-8sample program for I/O, 6-4sample program for Multi-Drive

mode, 8-6 to 8-20COS Fdbk Change (13), B-7COS Status Mask (12), B-7COS/Cyc Interval (14), B-7Cover, Communications Module, 3-5,

3-6cyclic data exchange

configuring a module for, 4-8configuring a scanner for, 5-3

Ddata exchange, configuring module

for, 4-8

data ratesetting with a parameter, 4-7switch settings, 3-3

DeviceNet connector, location of, 2-1diagnostic items, module, 9-5dimensions, A-1DN Act Cfg (09), B-5DN Addr Act, B-2DN Addr Cfg, B-2DN Rate Act (5), B-3DN Rate Cfg, B-2DRIVE status indicator, 9-2Drv 0 Addr (17), B-8Drv 1 Addr (18), B-8Drv 2 Addr (19), B-8Drv 3 Addr (20), B-8Drv 4 Addr (21), B-8DSI, 1-3DSI I/O Act (16), B-8DSI I/O Cfg (15), B-8

EEDS (Electronic Data Sheet) files

creating with RSNetWorx, 4-5equipment, required, 2-2events

codes and descriptions, 9-7viewing and clearing, 9-6

Explicit Messagesabout, 7-1PLC format, 7-4running, 7-7SLC format, 7-4

Ffault action

configuring a module for, 4-10fault configuration parameters, 4-11Flt Cfg Logic (10), B-6Flt Cfg Ref (11), B-6formatting Explicit Messages, 7-2

Index-2 DeviceNet Communications Module

Hhold last, configuring a module for, 4-10

II/O

configuring a module for, 4-8configuring scanner for, 5-3image, 6-2input, 5-5mapping in the scanner, 5-5messaging, 6-1output, 5-6

identity object, C-2Idle Flt Action (8), B-5indicators, status, 9-1installation

checklist, 2-3commissioning the module, 3-1preparing for, 3-1

JJumper

Mode, 2-1settings, 3-4

LLCD OIM see OIMLEDs, status, 9-1Logic, D-1Logic Command/Status

in I/O image, 6-2using, 6-3

Logic Command/Status words, D-1

MMD65 drives

adding to the scan list, 5-2mapping I/O in the scanner, 5-5

MDI connector, location of, 2-1mechanical specifications, A-1Mode (1), B-2Mode Jumper, location of, 2-1module

adding to the scan list, 5-2commissioning, 3-1components, 2-1configuring, 4-1 to 4-13

connecting to network, 3-4connecting to the drive, 3-5diagnostic items, 9-5features, 1-1installation, 3-1 to 3-8mapping I/O in the scanner, 5-5parameters, B-1 to B-8resetting, 4-12specifications, A-1tools to configure, 4-1troubleshooting, 9-1viewing the active

configuration, 4-13MS status indicator, 9-3Multi-Drive mode

jumper settings, 3-4using, 8-1

NNET A status indicator, 9-4node address

setting with a parameter, 4-7switch settings, 3-3switches, 2-1

non-volatile storage (NVS)in module, 4-1

Oobjects, DeviceNet, C-1OIM (Operator Interface Module)

configuring the module with, 4-2

Pparameter object, C-8parameters

accessing, 4-1active configuration, 4-13editing with RSNetWorx, 4-6fault configuration, 4-11module, B-1 to B-8

PCCC object, C-14PLC

formatting Explicit Messages, 7-4sample program for Explicit

Messages, 7-11sample program for I/O, 6-7

polled data exchangeconfiguring a module for, 4-8configuring a scanner for, 5-3

Index Index-3

power consumption, A-1preparing for an installation, 3-1protocol, A-1publications, related, 1-2

RReference/Feedback

in I/O image, 6-2reference/feedback

using, 6-3register object, C-6regulatory compliance, A-1Reliance Electric, getting assistance

from, 1-3Reset Module (6), B-3resetting a module, 4-12RSLinx, 4-2RSNetWorx for DeviceNet

creating EDS files with, 4-5editing parameters with, 4-6going online, 4-4saving a network configuration, 5-7setting up RSLinx for, 4-2using to map I/O, 5-5using to set up a scan list, 5-2

Ssample PLC-5 ladder logic program, 6-7sample SLC ladder logic program, 6-9scan list, 5-2scanner

adding devices to a scan list, 5-2configuring, 5-1 to 5-7configuring for COS, cyclic, or

polled, 5-3mapping I/O, 5-5

Single-Drive mode, jumper settings for, 3-4

SLCformatting Explicit Messages, 7-4sample program for Explicit

Messages, 7-13sample program for I/O, 6-8

specifications, A-1status indicator

DRIVE, 9-2MS, 9-3NET A, 9-4

status indicatorsdescription of, 9-1location of, 2-1

switcheslocation of, 2-1setting data rate, 3-3setting node address, 3-3

Ttroubleshooting the module and

network, 9-1

UUCMM, 1-5

VVS Utilities, 1-1

accessing diagnostic items with, 9-1

accessing parameters with, 4-1

Zzero data, configuring a module for, 4-10

Index-4 DeviceNet Communications Module

U.S. Drives Technical Support Tel: (1) 262.512.8176, Fax: (1) 262.512.2222, Email: [email protected], Online: www.ab.com/support/abdrives

Publication D2-3520-June 2003 Copyright © 2003 Rockwell Automation, Inc. All Rights Reserved. Printed in USA.

Instruction Manual D2-3520 - Rockwell Automation

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