EPA SM-Ethernet, User Manual

Page: 39 / 133

38
SM-Ethernet User Guide
Issue: 7
6.7.13 Supported drive assembly objects
The EtherNet/IP protocol includes a series of pre-defined assembly objects to control
and monitor the drive operation. Table 6.4
Pre-defined drive assembly objects on
page 38 lists these assembly objects and their functions.
6.7.14 Basic speed control
Output assembly object 0x14 (20
10
)
The PLC or scanner must be configured for 4 output bytes (or 2 output words) if this
assembly object is to be used.
Basic control word
The basic control word consists of 2 bytes (16 bits), with only 2 bits of the low byte being
used as shown below.
The individual bit functions are described as follows:
Conformance with the pre-defined assembly objects specification can only be guaran-
teed if the speed reference configuration of the drive has not been changed from the de-
fault settings. For information on setting default values, refer to the appropriate drive user
guide.
Table 6.4 Pre-defined drive assembly objects
Object Type Object name
0x14 (20
10
)
Output Basic speed control output.
0x15 (21
10
)
Output Extended speed control output.
0x16 (22
10
) Output Speed and torque control output.
0x17 (23
10
)
Output Extended speed and torque control output.
0x46 (70
10
)
Input Basic speed feedback.
0x47 (71
10
)
Input Extended speed feedback.
0x48 (72
10
)
Input Basic speed and torque feedback.
0x49 (73
10
)
Input Extended speed and torque feedback.
NOTE
Table 6.5 Basic speed control
Data word Function
Word 0 Basic control word.
Word 1 Speed reference ( SpeedRef ).
b15 b14 b13 b12 b11 b10 b9 b8
b7 b6 b5 b4 b3 b2 b1 b0
FaultRst RunFwd
Name Control Word Description
RunFwd b0
Set this bit to command the drive to run in the forward
direction.
FaultRst b2
A 0 to 1 transition will reset the drive if the drive was in a
trip state.