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Emerson SI-DeviceNet, User Manual

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68

SI-DeviceNet User Guide

Issue Number:  2

11.6

Control Techniques Object

Class code: 0x64 (100)

The Control Techniques object provides access to all drive parameters. For example, 
parameter Pr 

04.020

 would be accessed as Class 100, Instance 4, Attribute 20.

Table 11.10 Supported objects

Instance

Menu

Name

1 (0x01)

1

Speed reference.

2 (0x02)

2

Ramp control.

3 (0x03)

3

Speed control.

4 (0x04)

4

Current control.

5 (0x05)

5

Motor control.

6 (0x06)

6

Sequencing.

7 (0x07)

7

Analog I/O.

8 (0x08)

8

Digital I/O.

9 (0x09)

9

Logic.

10 (0x0A)

10

Drive status.

11 (0x0B)

11

Drive set-up.

12 (0x0C)

12

Programmable thresholds.

13 (0x0D)

13

Position control.

14 (0x0E)

14

Process PID loop.

15 (0x0F)

15

Slot 1 configuration.

16 (0x10)

16

Slot 2 configuration.

17 (0x11)

17

Slot 3 configuration.

18 (0x12)

18

User application menu 1.

19 (0x13)

19

User application menu 2 (not on M100-M400).

20 (0x14)

20

User application menu 3 (not on M100-M400).

21 (0x15)

21

Second motor map.

200

0

Menu 0.

Summary of Contents for SI-DeviceNet

Page 1: ...User Guide Part Number 0478 0032 02 Issue Number 2 SI DeviceNet ...

Page 2: ...nventional fasteners Virtually all parts of the product are suitable for recycling Product packaging is of good quality and can be re used Large products are packed in wooden crates while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content If not re used these containers can be recycled Polythene used on the protective film and bags from wrapping p...

Page 3: ...installation 12 4 1 SI DeviceNet terminal descriptions 12 4 2 SI DeviceNet connections 13 4 3 DeviceNet cable 13 4 4 DeviceNet network termination 14 4 5 SI DeviceNet cable shield connections 14 4 6 DeviceNet ground point 15 4 7 Maximum network length 15 4 8 Spurs 15 4 9 Minimum node to node cable length 15 5 Getting started 16 5 1 Quick start chart SI DeviceNet 17 5 2 Parameter save and restore 1...

Page 4: ... 1 What are EDS files 49 9 2 Generic EDS files 49 10 Advanced Features 50 10 1 Supported Drive assembly objects 50 11 DeviceNet Objects 54 11 1 Identity Object 54 11 2 SI DeviceNet Object 57 11 3 Motor Data Object 59 11 4 Control Supervisor 62 11 5 AC DC Drive Object 65 11 6 Control Techniques Object 68 12 Diagnostics 69 12 1 Overview 69 13 Glossary Of Terms 73 ...

Page 5: ...safety information and this User Guide carefully The STOP and SAFE TORQUE Off functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SAFE TORQUE Off function none of the drive fu...

Page 6: ...ctional areas of conductors the selection of fuses or other protection and protective earth ground connections The Unidrive M User Guide contains instructions for achieving compliance with specific EMC standards Within the European Union all machinery in which this product is used must comply with the following directives 2006 42 EC Safety of machinery 2004 108 EC Electromagnetic Compatibility 1 7...

Page 7: ...des Figure 2 1 SI DeviceNet Traditional cable layout Table 2 1 details how the wiring is used to communicate data between the controller and the nodes Each signal that is communicated requires one signal wire giving a total of 66 signal wires plus a 0V return Table 2 1 Traditional wiring details Number of signals Type Source Destination Description 16 digital inputs node 1 to master status signals...

Page 8: ... traditional wiring The data stream on DeviceNet allows up to 56 28 input and 28 output independent values to be sent or received by the master there are also methods available non cyclic data to allow random access to drive parameters Figure 2 2 DeviceNet overview Table 2 2 Data mappings for SI DeviceNet Number of network words Type Source Destination Description 1 digital inputs slave 1 to maste...

Page 9: ...hat is removed after use 2 2 What is SI DeviceNet SI DeviceNet is a fieldbus Option Module which can be installed to the expansion slot s in Unidrive M to provide DeviceNet slave connectivity It is possible to use more than one SI DeviceNet or a combination of SI DeviceNet and other Option Modules to provide additional functionality such as extended I O gateway functionality or additional PLC feat...

Page 10: ...tion by the Open DeviceNet Vendors Association ODVA A copy of the certificate is available on request from your supplier or local Control Techniques Drive Centre 2 7 Conventions used in this guide The configuration of the host drive and Option Module is done using menus and parameters A menu is a logical collection of parameters that have similar functionality In the case of an Options Module the ...

Page 11: ... an Option module 3 1 1 Installing the first Option module Option module slots must be used in the following order slot 3 slot 2 and slot 1 Orientate the Option module above the drive as shown in 1 Align and insert the Option module tab into the slot 2 Press down on the Option module until it clicks into place Before installing or removing an Option module from any drive ensure the AC supply has b...

Page 12: ...ternal supply The external supply terminals provide power for the DeviceNet transceiver circuitry but do NOT provide power to keep the SI DeviceNet operating in the event of the mains pow er supply loss to the drive An external supply will keep the DeviceNet transceivers pow ered up and the network load characteristics constant in the event of loss of power to the drive Any external supply must be...

Page 13: ...upply wires are red and black DeviceNet networks run at high data rates and require cable specifically designed to carry high frequency signals Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network Cable specifications and a list of approved manufacturers of cable for use on DeviceNet networks is available on the Open DeviceNet Vendors...

Page 14: ... some bits of information resulting in potential transmission errors 4 5 SI DeviceNet cable shield connections The SI DeviceNet should be wired with the cable shields isolated from ground at each drive The cable shields should be linked together at the point where they emerge from the cable and formed into a short pigtail to be connected to pin 3 on the DeviceNet connector Failure to terminate a n...

Page 15: ... The maximum number of nodes that can be connected to a single DeviceNet network segment is 64 The maximum length of network cable for a DeviceNet network is specified by the Open DeviceNet Vendors Association and depends on the data rate to be used 4 8 Spurs Control Techniques do not recommend the use of spurs on a DeviceNet network 4 9 Minimum node to node cable length The DeviceNet specificatio...

Page 16: ... the latest firmware is used where possible to ensure all features are supported Due to the large number of different PLCs masters that support DeviceNet details cannot be provided for any specific master or PLC Generic support is available through your supplier or local drive centre Before contacting your supplier or local drive centre for support ensure you have read Chapter 12 Diagnostics on pa...

Page 17: ... Pr Pr and Pr S 02 001 S 02 028 S 03 001 S 03 028 Perform a drive save Pr save parameters or 1000 and press reset mm 000 Reset Option module Pr On MM 007 Configure PLC to expect drive at address set in Pr S 01 004 Configure PLC network data rate to match drive Map the data from the network into the PLC program Place the PLC in Run Mode Communications functional write PLC code Ensure PLC correctly ...

Page 18: ...et Pr S 00 007 or Pr MM 007 to On 1 This will only reset the module in slot S Select Reset modules or set a value of 1070 in Pr mm 000 and performing a drive reset This will perform a reset of all option modules installed in the drive 5 4 Restoring module parameter default values Setting Pr S 00 008 or Pr MM 008 to On 1 and performing a module reset will return all parameters in the SI DeviceNet m...

Page 19: ...ion 4 Trip 0 RW Txt US S 01 012 Timeout event desti nation This slot 0 Slot 1 1 Slot 2 2 Slot 3 3 Slot 4 4 This slot 0 RW Txt US S 01 013 Timeout event No event 0 Event 0 1 Event 1 2 Event 2 3 Event 3 4 Event 4 5 No event 0 RW Txt US S 01 014 Data alignment 32 0 or 16 1 bits 32 0 bits RW Txt US S 01 018 Input Cyclic Assem bly Object ID 70 73 106 160 even 112 RW Num US S 01 019 Output Cyclic Assemb...

Page 20: ...ct type Unidrive M 0 or Unidrive SP 1 Unidrive M 0 RW Txt US S 01 032 Custom product version 0 to 9999 0 RW Num US S 01 034 Bus Off trip Enable 0 or Disable 1 Enable 0 RW Txt US S 01 040 Motor 1 Type FC DC Motor 2 WRI motor 6 SCI motor 7 Sin PM BL motor 9 Trap PM BL motor 10 SCI motor 7 RO Txt PT US S 01 041 Motor 2 Type FC DC Motor 2 WRI motor 6 SCI motor 7 Sin PM BL motor 9 Trap PM BL motor 10 S...

Page 21: ...S S 02 011 Input mapping parameter 11 0 to 499999 0 RW Num DE PT US S 02 012 Input mapping parameter 12 0 to 499999 0 RW Num DE PT US S 02 013 Input mapping parameter 13 0 to 499999 0 RW Num DE PT US S 02 014 Input mapping parameter 14 0 to 499999 0 RW Num DE PT US S 02 015 Input mapping parameter 15 0 to 499999 0 RW Num DE PT US S 02 016 Input mapping parameter 16 0 to 499999 0 RW Num DE PT US S ...

Page 22: ... 0 RW Num DE PT US S 03 013 Output mapping parameter 13 0 to 499999 0 RW Num DE PT US S 03 014 Output mapping parameter 14 0 to 499999 0 RW Num DE PT US S 03 015 Output mapping parameter 15 0 to 499999 0 RW Num DE PT US S 03 016 Output mapping parameter 16 0 to 499999 0 RW Num DE PT US S 03 017 Output mapping parameter 17 0 to 499999 0 RW Num DE PT US S 03 018 Output mapping parameter 18 0 to 4999...

Page 23: ...ult value 10 231 to 231 1 0 RW Num US S 04 011 Output Fault value 11 231 to 231 1 0 RW Num US S 04 012 Output Fault value 12 231 to 231 1 0 RW Num US S 04 013 Output Fault value 13 231 to 231 1 0 RW Num US S 04 014 Output Fault value 14 231 to 231 1 0 RW Num US S 04 015 Output Fault value 15 231 to 231 1 0 RW Num US S 04 016 Output Fault value 16 231 to 231 1 0 RW Num US S 04 017 Output Fault valu...

Page 24: ...24 SI DeviceNet User Guide Issue Number 2 Table 5 6 Menu 9 Resources Parameter Range Ú Default Ö Type S 09 030 PCB temperature 128 to 127 0C RO Num ND NC PT ...

Page 25: ...iceNet menu 0 locations on the drive 6 2 Module menu 0 Module Information All parameters in S 00 ppp i e menu 0 within the Option module menus are also present in menus 15 16 or 17 depending on the slot that the module is installed to e g Pr 3 00 007 is also present as 17 007 The functionality and properties of the parameters are identical between the two menus Pr S 00 001 displays the ID number f...

Page 26: ...meter displays the current status of the module All possible values are shown in the table below SI DeviceNet hardware version S 00 003 Default N A Range 00 00 to 99 99 Access RO Serial Number LS S 00 004 Default N A Range 0 to 99999999 Access RO Serial Number MS S 00 005 Default N A Range 0 to 99999999 Access RO Module Status S 00 006 Default N A Range Initializing 0 to Error 3 Access RO Value Te...

Page 27: ...ulted see the drive user guide for details it will also clear the current configuration for the slot SI DeviceNet is installed to This can be performed as follows Set Pr S 00 008 to On 1 Reset the module by setting Pr S 00 007 to On 1 SI DeviceNet communications will be stopped Default parameter values for the SI DeviceNet will be loaded The SI DeviceNet will reset using the default values Reset m...

Page 28: ...t the DeviceNet interface by setting Pr S 01 002 to On 1 SI DeviceNet communications will be stopped Default parameter values for the DeviceNet interface will be loaded The SI DeviceNet will reset using the default values Every node on a DeviceNet network must be given a unique network node address To activate a change in the node address value the SI DeviceNet must be reset Pr S 01 002 or MM 007 ...

Page 29: ... The DeviceNet network activity can be monitored in the SI DeviceNet operating status parameter Pr S 01 006 When the SI DeviceNet is in data exchange with the DeviceNet master controller Pr S 01 007 will give an indication of the number of cyclic data messages that are being processed per second Baud rate S 01 005 Default 125 kbps 0 Range Auto Detect 1 to 500 kbps 2 Access RW The DeviceNet cyclic ...

Page 30: ...ting for the DeviceNet master to initialize communications 2 No Cyclic No cyclic data has been recognized This could be due to the length of the mapping data is not equal to the master setup 3 Init Failed A part of the SI DeviceNet initialization sequence was not successful If this fault persists after a power cycle replace the SI DeviceNet 4 Comm Fault Fault found in the communications of the mod...

Page 31: ...PLC output parameter values are set to zero e g if Pr S 03 001 20021 and Pr S 03 002 20022 and a timeout error occurs Pr 20 021 and Pr 20 022 will be set to 0 If Pr S 01 011 is set to Hold last the last values sent by the PLC master are held in the mapped output parameters e g if Pr S 03 001 20021 and Pr S 03 002 20022 and a timeout error occurs Pr 20 021 and Pr 20 022 will equal the last values s...

Page 32: ... 32 bits two data words so a total of ten words are required Table 6 3 Mapping parameters Cyclic data alignment S 01 014 Default 32 0 Range 32 0 or 16 1 bits Access RW Parameter size bits Actual data size bits Alignment 16 bits Actual data size bits Alignment 32 bits 1 16 32 8 16 32 32 Data channel Data words used Mapping for slot 3 Setting Data width bits Mapping status IN channel 1 IN word 0 1 P...

Page 33: ... S 01 018 and Pr S 01 019 Data channel Data words used Mapping for slot 3 Setting Data width bits Mapping status IN channel 1 IN word 0 Pr 3 02 001 0 10 040 16 Pr 10 040 status word IN channel 2 IN word 1 Pr 3 02 002 0 04 020 16 Pr 04 020 Motor load as of rated motor load IN channel 3 IN word 2 3 Pr 3 02 003 0 02 001 32 Pr 02 001 post ramp speed reference IN channel 4 IN word 4 Pr 3 02 004 0 14 02...

Page 34: ...bjects chapter Polled words Input assembly object Pr S 01 018 Output assembly object Pr S 01 019 1 106 107 2 108 109 3 110 111 4 112 113 5 114 115 6 116 117 7 118 119 8 120 121 9 122 123 10 124 125 11 126 127 12 128 129 13 130 131 14 132 133 15 134 135 16 136 137 17 138 139 18 140 141 19 142 143 20 144 145 21 146 147 22 148 149 23 150 151 24 152 153 25 154 155 26 156 157 27 158 159 28 160 161 ...

Page 35: ...er Pr S 01 006 indicates Init Failed a mapping configuration error has been could have been detected The reason for the error is indicated by the SI DeviceNet input mapping status parameter Pr S 01 022 and the SI DeviceNet output mapping status parameter Pr S 01 023 When a mapping error has been corrected reset the SI DeviceNet module by setting Pr S 01 002 or MM 007 to On 1 Input cyclic mapping l...

Page 36: ...t or may not be readable 2 Hole in mapping Cyclic data mapping parameters are not contiguous 3 Dup mapping Two or more cyclic data mapping configuration parameters have been configured with the same destination parameter reference 4 Length exceed The length of the mapped parameters exceeds the length of the selected assembly object 5 Obj not support The selected assembly object is not supported 6 ...

Page 37: ...ger Source Parameter Pr S 01 027 If the input trigger source parameter defined by Pr S 01 027 is set to a non zero value for example by a user program in an applications module this indicates to the SI DeviceNet module that all the mapped parameters are ready to be read The module will then read the mapped parameters transfer them to the master and will then clear the input trigger source paramete...

Page 38: ...t network without having to make any changes to the master network configuration it changes the identity code of the module so that the master believes that a similar type drive is present for a particular node When compatibility mode has been enabled Pr S 01 032 should contain the correct product code to respond to the DeviceNet master This product code should match the product code that is being...

Page 39: ...y still be entered but the SI DeviceNet does not trip the drive Some external provision must be made to disable the drive when the process has reached a point at which it is safe to stop There are 2 instances of the Motor Data object Instance 1 will represent the Menu 5 motor information Motor Map 1 and instance 2 will represent the menu 21 motor map Motor Map 2 The instance being used by the othe...

Page 40: ...2 Pr S 02 002 0 02 001 3 Pr S 02 003 0 00 000 4 Pr S 02 004 0 00 000 5 Pr S 02 005 0 00 000 6 Pr S 02 006 0 00 000 7 Pr S 02 007 0 00 000 8 Pr S 02 008 0 00 000 9 Pr S 02 009 0 00 000 10 Pr S 02 010 0 00 000 11 Pr S 02 011 0 00 000 12 Pr S 02 012 0 00 000 13 Pr S 02 013 0 00 000 14 Pr S 02 014 0 00 000 15 Pr S 02 015 0 00 000 16 Pr S 02 016 0 00 000 17 Pr S 02 017 0 00 000 18 Pr S 02 018 0 00 000 ...

Page 41: ...eter number of the target source parameter OUT channel Mapping parameter Default value 1 Pr S 03 001 0 06 042 2 Pr S 03 002 0 01 021 3 Pr S 03 003 0 00 000 4 Pr S 03 004 0 00 000 5 Pr S 03 005 0 00 000 6 Pr S 03 006 0 00 000 7 Pr S 03 007 0 00 000 8 Pr S 03 008 0 00 000 9 Pr S 03 009 0 00 000 10 Pr S 03 010 0 00 000 11 Pr S 03 011 0 00 000 12 Pr S 03 012 0 00 000 13 Pr S 03 013 0 00 000 14 Pr S 03...

Page 42: ...ameter OUT channel Parameter 1 Pr S 04 001 2 Pr S 04 002 3 Pr S 04 003 4 Pr S 04 004 5 Pr S 04 005 6 Pr S 04 006 7 Pr S 04 007 8 Pr S 04 008 9 Pr S 04 009 10 Pr S 04 010 11 Pr S 04 011 12 Pr S 04 012 13 Pr S 04 013 14 Pr S 04 014 15 Pr S 04 015 16 Pr S 04 016 17 Pr S 04 017 18 Pr S 04 018 19 Pr S 04 019 20 Pr S 04 020 21 Pr S 04 021 22 Pr S 04 022 23 Pr S 04 023 24 Pr S 04 024 25 Pr S 04 025 26 Pr...

Page 43: ...tus word EDS Files Advanced Features DeviceNet Objects Diagnostics Glossary Of Terms Index Module menu 9 Resources Parameters S 09 030 and S 09 031 display the current temperature of the 2 internal thermistors within the option module PCB temperature 1 S 09 030 Default N A Range 128 to 127 C Access RO PCB temperature 2 S 09 031 Default N A Range 128 to 127 C Access RO ...

Page 44: ...enu Attribute Parameter Read Code 14 0x0E Get_Attribute_Single Write Code 16 0x10 Set_Attribute_Single All supported pre defined DeviceNet objects can also be accessed using explicit messaging Refer to the master controller documentation for full details about explicit messaging and how to implement explicit messaging within the particular master controller When accessing drive parameters using th...

Page 45: ...signal must be present before the fieldbus control word can be used to start the drive This terminal is normally controlled by an external Emergency Stop circuit to ensure that the drive is disabled in an emergency situation The control word REMOTE bit directly controls the drive parameter Pr 01 042 the function of which is to select the digital speed reference as the source of the drives speed re...

Page 46: ...control of the drive Control Word The Control Word Enable Pr 06 043 must also be set to 1 When reset to 0 the drive will oper ate under terminal control 8 REMOTE Set to 1 to select digital speed reference 1 Pr 01 021 and to 0 to select ana log reference 1 Pr 01 036 REMOTE directly controls Pr 01 042 so reference selector Pr 01 014 and preset selector Pr 01 015 must both be set to 0 default for the...

Page 47: ...w Set Speed Running At or Below Minimum Speed Zero Speed Drive Active Drive OK Healthy Bit Parameter Description 0 Pr 10 001 bit 0 0 Drive not ok tripped bit 0 1 Drive ok 1 Pr 10 002 Drive active When bit 1 1 the drive is in run mode 2 Pr 10 003 Zero speed In Open Loop mode zero speed indicates that the absolute value of the post ramp speed reference is at or below the zero speed threshold In RFC ...

Page 48: ...becomes active this parameter will remain on for at least one second 11 Pr 10 012 Dynamic brake alarm Dynamic brake alarm is set when the braking IGBT is active and the braking energy accumulator is greater than 75 12 Pr 10 013 Reverse direction commanded Direction commanded is set to 1 if the Pre ramp speed reference Pr 01 003 is negative and reset to 0 if the Pre ramp speed reference is zero or ...

Page 49: ...is also included that allows access to device parameters over the SI DeviceNet network EDS files are not downloaded to the PLC or scanner and are only used during network configuration It is actually possible to configure a network without the EDS files 9 2 Generic EDS files Generic EDS files are available for all supported drives These files are available from your local Control Techniques Drive ...

Page 50: ...peed control Output assembly object 20 The scanner must be configured for 4 Tx bytes or 2 Tx words if this output assembly object is selected The basic control word uses a full 16 bit word with the bits having functions as shown below Object Type Object name 20 0x14 Output Basic speed control output 21 0x15 Output Extended speed control output 22 0x16 Output Speed and torque control output 23 0x17...

Page 51: ...ected The basic control word uses a full 16 bit word with the bits having functions as shown below 10 1 4 Extended speed and torque control Output assembly object 23 The scanner must be configured for 6 Tx bytes or 3 Tx words if this output assembly object is selected Table 10 3 Extended speed control Data word Function Word 0 Extended control word see below Word 1 SpeedRef see status word b15 b14...

Page 52: ...Rx words if this input assembly object is selected The basic status word uses a full 16 bit word with the bits having functions as shown below b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 NetRef NetCtrl FaultRst RunRev RunFwd Table 10 6 Basic speed feedback Data word Function Word 0 Basic status word See below Word 1 SpeedActual See status word b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3...

Page 53: ...nput assembly object 73 The scanner must be configured for 6 Rx bytes or 3 Rx words if this input assembly object is selected The extended status word uses a full 16 bit word with the bits having functions as shown below Table 10 8 Basic speed and torque feedback Data word Function Word 0 Basic status word see below Word 1 SpeedActual see status word Word 2 TorqueActual see status word b15 b14 b13...

Page 54: ... parameter mapping Connection 5 0x05 2 Logic ports into or out of the drive Motor Data 40 0x28 2 Defines the motor data Control Supervisor 41 0x29 1 Manages drive functions operational states and control AC DC Drive 42 0x2A Provides drive configuration CT Group 100 0x64 No of menus Provides an interface to all drive parameters Be aware that menu 200 is used to access menu 0 Setup menu CT Local slo...

Page 55: ...d mode ProductCode is calculated as shown below Table 11 3 Advanced ProductCode Pr 11 029 returns the major software revision number Local Slot indicates the slot in which the SI DeviceNet is installed 0 slot 1 1 slot 2 2 slot 3 Pr 11 084 returns the drive operating mode e g open loop closed loop servo etc Slot X indicates the family of installed in the lowest numbered slot excluding the slot wher...

Page 56: ... Pr MM 005 11 1 6 ProductName Returns a short string to indicate the Product Name The SI DeviceNet returns the string SI DeviceNet Name Revision Class 0x01 Default N A Instance 0x01 Data Type ARRAY of USINT Attribute 0x04 Access Get b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Pr 11 029 mod 1000000 10000 1 0 127 Name SerialNumber Class 0x01 Default N A Instance 0x01 Data Type UDINT Attrib...

Page 57: ...written to the SI DeviceNet will update the Data Rate in Pr S 01 007 The new value is not stored automatically and the SI DeviceNet is not reset Table 11 4 shows the attribute values for each data rate Table 11 4 DeviceNet data rate 11 2 3 AllocationByte Returns 2 bytes of information The low byte contains the Allocation Byte with each bit assigned as shown in the table below The high byte indicat...

Page 58: ...User Guide Issue Number 2 Table 11 5 Allocation byte Bit Action 0 Explicit Message 1 Polled 2 Strobed Not supported 3 Reserved 4 Change of State Not supported 5 Cyclic Not supported 6 Acknowledge Suppression 7 Reserved ...

Page 59: ...tly to Pr S 01 040 and MotorType2 is linked directly to Pr S 01 041 Table 11 6 Supported motor types 11 3 2 RatedCurrent Specifies the rated current of the motor in Amps Instance 1 is mapped to Pr 05 007 in the drive while instance 2 is mapped to Pr 21 007 Set Pr 05 007 RatedCurrent1 10 Get RatedCurrent1 Pr 0 507 10 Set Pr 21 007 RatedCurrent2 10 Get RatedCurrent2 Pr 21 007 10 Name MotorType1 Clas...

Page 60: ...r in rpm Instance 1 is mapped directly to Pr 05 008 in the drive and instance 2 is mapped directly to Pr 21 008 Name RatedVoltage1 Class 0x28 Default Pr 05 009 Instance 0x01 Data Type USINT Attribute 0x07 Access Get Set Name RatedVoltage2 Class 0x28 Default Pr 21 009 Instance 0x02 Data Type USINT Attribute 0x07 Access Get Set Name RatedFreq1 Class 0x28 Default Instance 0x01 Data Type USINT Attribu...

Page 61: ...rted Parameters Non cyclic data Control status word EDS Files Advanced Features DeviceNet Objects Diagnostics Glossary Of Terms Index 11 3 6 Motor2Select Selects between Motor Map 1 and Motor Map 2 in the drive Set Pr 11 045 Get Pr 21 015 Name Motor2Select Class 0x28 Default Instance 0x01 Data Type USINT Attribute 0x64 Access Get Set ...

Page 62: ...ol Get Set Pr 06 042 bit 7 Set False terminal control Set True fieldbus control 11 4 4 State This returns a code to indicate the current operating state of the drive Name RunFwd Class 0x29 Default Instance 0x01 Data Type USINT Attribute 0x03 Access Get Set Name RunRev Class 0x29 Default Instance 0x01 Data Type USINT Attribute 0x04 Access Get Set Name NetCtrl Class 0x29 Default Instance 0x01 Data T...

Page 63: ...2 Get False Pr 10 040 0x2002 0x2002 11 4 7 Faulted Indicates that the drive is tripped i e not OK Get Pr 10 001 State DeviceNet state Drive state 1 Startup This state is skipped on 2 Not_Ready Inhibit 3 Ready Ready 4 Enabled Run or Stop stop is only enabled by default in Servo mode 5 Stopping Deceleration or Injection 6 Fault_Stop AC_UU this will only occur if Mains Loss is enabled 7 Faulted Tripp...

Page 64: ... the error code will be returned as 0x1000 Pr 10 020 Fault codes 11 4 10CtrlFromNet Indicates that the drive is operating under fieldbus control Get Pr 06 042 bit 7 Pr 06 043 Name FaultRst Class 0x29 Default Instance 0x01 Data Type USINT Attribute 0x0C Access Set Name FaultRst Class 0x29 Default N A Instance 0x01 Data Type USINT Attribute 0x0D Access Set Drive fault code ODVA fault code 2 0x3210 3...

Page 65: ...e speed reference Analog input 1 is used as the speed reference when running under local control with Digital Speed Reference 1 being used as the speed reference for network control Get Set Pr 06 042 bit 8 Set False analog speed reference Set True digital speed reference The reference can only be changed between local and remote when the drive is configured in speed control mode If a change is req...

Page 66: ...s 6 Open Loop Get RPM Pr 02 001 6 Pole Pairs Open Loop Get Set Pr 01 021 10 Closed Loop Servo Name DriveMode Class 0x2A Default Instance 0x01 Data Type USINT Attribute 0x06 Access Get Set DriveMode Drive Mode Pr 11 031 Pr 04 011 1 Open Loop Speed 0 1 0 2 Closed Loop Speed 2 3 0 3 Torque Control N A 1 0 User Defined 4 0 DriveMode Drive Mode Pr 11 031 Pr 04 011 Comment 0 Vendor Specific 4 N A Pr 11 ...

Page 67: ...ts 100 0 load Get Pr 04 020 11 5 7 TorqueRef Sets the load torque reference as of rated motor load torque This attribute has 1 decimal place fixed precision so a value of 1000 represents 100 0 load Set Pr 04 008 TorqueRef 10 Get Torque Ref Pr 04 008 10 11 5 8 RefFromNet Indicates the source of the speed reference TRUE if Pr 01 049 3 and Pr 01 050 1 FALSE otherwise Name TorqueActual Class 0x2A Defa...

Page 68: ...3 Speed control 4 0x04 4 Current control 5 0x05 5 Motor control 6 0x06 6 Sequencing 7 0x07 7 Analog I O 8 0x08 8 Digital I O 9 0x09 9 Logic 10 0x0A 10 Drive status 11 0x0B 11 Drive set up 12 0x0C 12 Programmable thresholds 13 0x0D 13 Position control 14 0x0E 14 Process PID loop 15 0x0F 15 Slot 1 configuration 16 0x10 16 Slot 2 configuration 17 0x11 17 Slot 3 configuration 18 0x12 18 User applicati...

Page 69: ...splayed on the drive will only indicate which slot initiated the trip The exact reason for the trip will be indicated in the drive trip code parameters Pr 10 020 and Pr 10 070 Table 12 1 shows the possible trips that will be displayed on the drive when a problem is detected with the option module or when the option module initiates a trip Table 12 1 Drive trip display codes Trip Description SlotX ...

Page 70: ... unknown Unknown mode 206 Mode unsupported Unsupported mode 207 FLASH corrupt Corrupted Non volatile Flash 208 Dbase init Database initialization error 209 FS init File system initialization error 210 Memory alloc Memory allocation error 211 Filesystem File system error 212 Configuration Configuration file error 213 OHt Overheated 214 TO drv The drive has not responded with the watchdog period 215...

Page 71: ...tion 0 Network OK Network ok healthy 1 Init OK The SI DeviceNet has initialized correctly and is waiting for the DeviceNet master to initialize communications 2 No Cyclic No cyclic data has been recognized This could be due to the length of the mapping data is not equal to the master setup 3 Init Failed A part of the SI DeviceNet initialization sequence was not successful If this fault persists af...

Page 72: ...mapping parameters are not contiguous 3 Dup mapping Two or more cyclic data mapping configuration parameters have been configured with the same destination parameter reference 4 Length exceed The length of the mapped parameters exceeds the length of the selected assembly object 5 Obj not support The selected assembly object is not supported 6 Pre uncompress If the predefined object is selected the...

Page 73: ...rt CAN commands DeviceNet Builds on the basic CAN protocol by offering higher level functionality Casting The process of changing between data sizes without changing the value represented e g changing from 16 bit to 32 bit Consistency Describes how data is transmitted between nodes on the network If data is consistent it is transmitted from node to node as a single entity Thus preventing data corr...

Page 74: ...tion purposes Object Dictionary A collection of the objects that are supported by the product Poll rate The rate at which cyclic data is sent and received on the network Response ID The response code of the message received when using PPO4 word non cyclic communication Scan rate See Poll rate in this section Shielding A connection to provide additional immunity to noise used on a network cable Seg...

Page 75: ...n cyclic data Control status word EDS Files Advanced Features DeviceNet Objects Diagnostics Glossary Of Terms Index Watchdog A method used to determine if a communication system is ok healthy A typical watchdog scheme uses a handshaking system to check both the master and slave are participating in communications Word A collection of 16 binary digits ...

Page 76: ... Date code 10 DeviceNet cable 13 DeviceNet ground point 15 DeviceNet network termination 14 Drive active 47 Dynamic brake active 48 E Electrical installation 12 Electrical safety 5 Environmental limits 6 Explicit parameter access 44 External power supply 13 External supply 12 G General installation 11 General specification 9 Generic EDS files 49 Getting started 16 Glossary of terms 73 H Hardware e...

Page 77: ...enu 2 40 Module menu 3 41 Module menu 4 42 O Option Module identification 10 P Parameters adjusting 6 Polled words 34 Q Quick start chart SI DeviceNet 17 R Regenerating 48 Running at or below minimum speed 47 S SI DeviceNet cable shield connections 14 SI DeviceNet connections 13 SI DeviceNet network loss trip 50 SI DeviceNet terminal descriptions 12 Spurs 15 Status word 47 Stored charge 6 System d...

Page 78: ...0478 0032 02 ...

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