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Issue Number:   2 

21 

5.7 Fieldbus 

Control 

Word 

for 

Unidrive 

NOTE 

This section assumes that the Unidrive is configured to use the 
default Wire Proof PLC sequencing mode (#6.04 = 4).  If PLC mode is 
selected (#6.04 = 3), the control word mapping is slightly different.  
Refer to section 9.2 for details. 

The Control Word is an efficient way of remotely controlling the motion 
of a Unidrive.  Each bit in the control word has a particular function, and 
provides a method of controlling the function of the Unidrive (RUN, 
JOG, etc.) with a single data word.  The control word is addressed in 
the UD70 by writing to #90.11. 

b15 b14 b13 B12 b11 b10  b9 

b8 

M6 M5 

#18.33 

M3 M2 M1 M0 #18.32 

 

b7 b6 b5 b4 b3 b2 b1  b0 

#18.31 #1.46  #1.45  TRIP  RUN 

REV 

JOG RUN 

FWD 

ENABLE 

The bits shown as “Mx” are individual mask bits that allow the 
corresponding "bx” to be masked, i.e. the MASK bits determine whether 
or not the data bit is written through to the corresponding parameter. 

#6.15

#6.30

#6.31

#6.32

b0

b1

b2

b3

b4

b5

b6

b7

b8

MO

M1

M2

M3

b13

M5

M6

1

1

0

0

1

0

#1.47

Trip

#1.46

#18.33

#18.32

#18.31

1

0

1

0

1

0

 

If mask bits M0 and M1 are set to 1, ENABLE and RUN FWD are 
updated with the values of b0 and b1 (either 0 or 1) every time the 
control word value is received.  JOG and RUN REV will not be updated, 
even if the values of b2 and b3 change, because their mask bits (M2 
and M3) are not set to 1.  If M0 and M1 are reset to 0, the values in b0 
and b1 will NOT be written to ENABLE and RUN FWD, and these 
parameters will remain set to their current state. 

Содержание UD77 DeviceNet

Страница 1: ...User Guide UD77 DeviceNet Option Module For Unidrive Part Number 0460 0077 Issue Number 2...

Страница 2: ...or or its driven equipment and to prevent potential damage to equipment users and operators all necessary precautions must be taken if operating the Drive in this mode The Stop and Start inputs of the...

Страница 3: ...ress 13 4 3 DeviceNet Data Rate 14 4 4 Product Code Elaboration 14 4 5 Data Format 14 4 6 Node Status 15 4 7 Network Status 15 4 8 Network Loss Trip 16 4 9 Initialising Set up Changes 16 5 Polled Data...

Страница 4: ...t DPL Code 33 9 3 2 Reset Using Explicit Communications 33 9 3 3 Reset Using DPL Code 34 9 4 Non Cyclic Parameter Store 34 9 5 EVENT Task Trigger on UD70 35 9 6 Multi Master Networks 35 9 7 Supported...

Страница 5: ...48 9 11 13 ZeroParam 48 9 12 AC DC Drive Object 48 9 12 1 AtReference 49 9 12 2 NetRef 49 9 12 3 DriveMode 49 9 12 4 SpeedActual 49 9 12 5 SpeedRef 50 9 12 6 TorqueActual 50 9 12 7 TorqueRef 50 9 13...

Страница 6: ......

Страница 7: ...power requirements for the Unidrive DeviceNet interface A DeviceNet network power supply must also be connected but this power supply does NOT keep the UD70 powered up when the Unidrive is switched of...

Страница 8: ...on Warning The Unidrive must be disconnected from the mains supply before installing or removing an option module 2 1 Unidrive 1 Slide the option module into the Unidrive 2 Push the option module into...

Страница 9: ...D type connector Connectors C and D on the Unidrive DeviceNet interface are the RS232 C and RS485 D ports of the UD70 A B C D 1 2 3 4 5 The pin connections for the DeviceNet connector are given in the...

Страница 10: ...er nodes on the network Details of approved cables types and their manufacturers can be found on the Open DeviceNet Vendors Association web site at www odva org NOTE The Open DeviceNet Vendors Associa...

Страница 11: ...ow CAN L CAN H 0V 24V Shield 1 2 3 4 5 Fit 120W 0 25W network termination resistor between CAN L and CAN H 0V 24V CAN L CAN H NOTE The above method of connecting the termination resistor ensures that...

Страница 12: ...Allen Bradley Publication Number DN 6 7 2 This document is available from the Allen Bradley web site at www ab com 3 7 External Power Supply An external isolated 24V power supply is required to power...

Страница 13: ...viceNet module into the Unidrive Power up the Unidrive Set the MAC ID node address in 20 05 as required Set the Data Rate in 20 08 as required Ensure Product Code Elaboration 20 12 is set to 0 Set 17...

Страница 14: ...set to 0 For details on using this parameter refer to section 7 4 4 5 Data Format The Unidrive DeviceNet interface has a data format of 3 Polled Words as used on Mentor II and Commander SE Each polled...

Страница 15: ...operate 10 Hardware fault Internal hardware error the DeviceNet interface could not be initialised 4 7 Network Status Unidrive 20 10 When the Unidrive is powered up and the DeviceNet interface has ini...

Страница 16: ...een reset See section 4 9 4 9 Initialising Set up Changes UD70 17 PP and DeviceNet 20 PP configuration parameters are only read during the initialisation sequence of the UD70 This prevents corruption...

Страница 17: ...t locations This method relies on the PLC program writing and reading data values to and from the registers allocated to the node during network configuration and the source and destination of IN and...

Страница 18: ...arameter is set to an invalid value e g destination parameter is read only or parameter does not exist the Unidrive will reset the mapping parameter 20 PP to its default value If a cyclic channel is n...

Страница 19: ...Storing Parameters Although any changes to the mapping will take effect after a UD70 reset sequence the new values must be stored in non volatile memory if they are to be restored automatically when t...

Страница 20: ...eading to erratic behaviour Function Mapping Parameter Function Mapping Parameter Analogue I P 1 7 10 Logic O P 2 9 20 Analogue I P 2 7 14 Motorised Pot O P 9 25 Analogue I P 3 7 18 Binary Summer 9 33...

Страница 21: ...M0 18 32 b7 b6 b5 b4 b3 b2 b1 b0 18 31 1 46 1 45 TRIP RUN REV JOG RUN FWD ENABLE The bits shown as Mx are individual mask bits that allow the corresponding bx to be masked i e the MASK bits determine...

Страница 22: ...the JOG bit is reset to 0 depending on the status of the RUN FWD and RUN REV bits 3 RUN REV Set to 1 to run the motor in the reverse direction When reset to 0 the Unidrive will decelerate the motor to...

Страница 23: ...ter Description 0 10 01 Drive healthy 1 10 02 Drive running 2 10 03 Zero speed 3 10 04 Running at or below min speed 4 10 05 Below set speed 5 10 06 At speed 6 10 07 Above set speed 7 10 08 Load reach...

Страница 24: ...y specific technical support with implementing non cyclic data transfer on any particular DeviceNet scanner and PLC combination 6 1 Explicit Parameter Access The Control Techniques object Class 100 or...

Страница 25: ...pen loop closed loop and servo mode Generic EDS files for Mentor II and Commander SE are also supplied These files are available from your local Control Techniques Drive Centre These files contain a b...

Страница 26: ...dule that may be fitted to the drive Advanced EDS files must be created using the Advanced EDS File Compiler available from your local Control Techniques Drive Centre To use an advanced EDS file 1 Spe...

Страница 27: ...ead from 20 14 on the Unidrive display This number is shown in the form XYZ where X is the fieldbus type Y is the fieldbus flavour and Z is the hardware revision level Code Fieldbus Type Fieldbus Flav...

Страница 28: ...idrive 20 05 Every DeviceNet node must be assigned a unique node address If two or more nodes have the same address this will cause a conflict when the master attempts to initialise the network Ideall...

Страница 29: ...nections have been established The device is not allocated to a master On line Connected 3 Device on line and a connection has been established Device is allocated to a master Connection Time out 4 On...

Страница 30: ...and UD70 boards inside the module are properly clipped together This should only be attempted by suitably qualified personnel tr57 An illegal operating system call has been made e g WRNET CTNet comma...

Страница 31: ...r sec Sample points 20 11 Unidrive trips on tr60 As can be seen from the diagram the actual time from network loss to Unidrive trip will range from 20 11 ms to 2 20 11 ms If the trip time is set too l...

Страница 32: ...Unidrive The motor will coast to rest if it is running when the Unidrive is disabled JOG the jog bit must be set along with the appropriate run and direction signals To reset the Unidrive using the De...

Страница 33: ...meter Value 9 04 9 14 18 31 9 08 9 18 0 9 05 9 15 0 9 09 9 19 0 0 9 06 9 16 0 00 9 10 9 20 10 33 By default 10 33 is directly controlled by digital input 2 This must be disabled by setting the mapping...

Страница 34: ...it 10 01 is set The DPL program will also be reset and the INITIAL task will run when the reset sequence ins complete NOTE If a run time program error occurs in the UD70 the DPL program will stop and...

Страница 35: ...ster Networks DeviceNet networks can operate with more than one master device connected to the same lines Commander SE Unidrive and Mentor II DeviceNet interfaces can all operate on multi master netwo...

Страница 36: ...the group DeviceNet Config In this group you will find the attributes Polled Input Assembly and Polled Output Assembly Update with the appropriate value NOTE The parameter mapping of the pre defined D...

Страница 37: ...tion b15 b14 b13 B12 b11 b10 b9 b8 b7 b6 b5 B4 b3 b2 b1 b0 NetRef NetCtrl FaultRst RunRev RunFwd 9 7 3 Basic Speed and Torque Control Output Assembly Object 22 The scanner must be configured for 6 Tx...

Страница 38: ...below Refer to section 9 11 for mapping details of each function b15 b14 b13 B12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 NetRef NetCtrl FaultRst RunRev RunFwd 9 7 5 Basic Speed Control Input Assembly Ob...

Страница 39: ...he Object Model used to represent an AC or DC Drive has the following object classes present Object Class Class Code Effect on behaviour Identity 1 0x01 Supports the device reset service Message Route...

Страница 40: ...1 0x1 Instance 1 0x1 Attribute 1 0x1 The Vendor ID is a unique code assigned to each manufacturer of DeviceNet compatible equipment by the Open DeviceNetVendors Association The code for Control Techni...

Страница 41: ...nts the current status of the entire device Its value changes as the state of the device changes b15 b14 b13 b12 b11 b10 b9 b8 Major fault U Major fault R Minor fault U Minor fault R b7 b6 b5 b4 B3 b2...

Страница 42: ...3 Instance 1 0x1 Attribute 1 0x1 Specifies the MAC ID to be used by the node Valid range is from 0 to 63 If this value is changed the node will assume the new MAC ID immediately NOTE It is not recomme...

Страница 43: ...ribute 4 0x4 The Bus Off counter counts the number of times the CAN chip went to the bus off state The counter has values of 0 to 255 decimal The bus off counter is reset to zero whenever set regardle...

Страница 44: ...te 8 Get RunningRev Byte 9 Get Ready Byte 10 Get Faulted Byte 12 Set FaultRst Byte 13 Get FaultCode Word 100 Get Set OutputAssembly Byte 101 Get Set InputAssembly Byte 102 Get Set DriveEnable Byte 103...

Страница 45: ...will be over written by bit 7 in the control word Action Mapping Read 18 31 Write 0 18 31 0 Write 1 18 31 1 NOTE The user must implement DPL code in the UD70 to select between local terminal control a...

Страница 46: ...e a complete reset of the DeviceNet interface Action Mapping Write 0 No action Write 1 10 38 100 9 11 9 FaultCode Class 41 0x29 Instance 1 0x1 Attribute 13 0xD Returns a fault code number indicating t...

Страница 47: ...is transferred from the scanner to the drive Four pre defined DeviceNet output assemblies are supported and a Control Techniques output assembly is also provided See section9 7 Value Description 20 B...

Страница 48: ...Mode Change UD70 Reset etc to be controlled via the DeviceNet network Action Mapping Read 0 00 Write 0 00 9 12 AC DC Drive Object Class 42 0x2A Models the drive specific functions e g ramp times torq...

Страница 49: ...twork reference from 1 21 9 12 3 DriveMode Class 42 0x2A Instance 1 0x1 Attribute 6 0x6 The Unidrive allows speed and torque control is all modes of operation It is not possible to dynamically switch...

Страница 50: ...e motor current being supplied by the Unidrive Action Mapping Read 4 02 9 12 7 TorqueRef Class 42 0x2A Instance 1 0x1 Attribute 12 0xC Provides the torque reference for the drive when running in torqu...

Страница 51: ...ecimal place is not available inside the drive but it must be specified over DeviceNet Action Mapping Read 5 07 Write 5 07 9 13 3 RatedVoltage Class 42 0x2A Instance 1 0x1 Attribute 7 0x7 This attribu...

Страница 52: ...19 User Menu 2 50 20 Large Option Module 50 70 Application Menu 100 71 Application Menu 100 72 Application Menu 100 73 Application Menu 100 If an attempt to access a drive parameter using this object...

Страница 53: ...de Elaboration 20 14 Option ID Code Read only 20 15 Firmware Version XXYY where the firmware version is VXX YY ZZ Read only 20 50 Fieldbus Diagnostic Read only 17 02 System File Version Read only 17 1...

Страница 54: ...UN FWD or RUN REV bit also set to jog the motor in the appropriate direction The Unidrive will ramp the motor to the normal speed or stop when the JOG bit is reset to 0 depending on the status of the...

Страница 55: ...eter Description 0 10 01 Drive healthy 1 10 02 Drive running 2 10 03 Zero speed 3 10 04 Running at or below min speed 4 10 05 Below set speed 5 10 06 At speed 6 10 07 Above set speed 7 10 08 Load reac...

Страница 56: ...If the trip persists ensure that the UD73A and UD70 boards inside the module are properly clipped together This should only be attempted by suitably qualified personnel tr57 An illegal operating syste...

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