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2 •  SBI-COP/DN-AGy Card 

Instruction Manual

Eng

lish

Chapter 4 - DeviceNet Integrated Interface

4.1 DeviceNet Function

In this chapter are described the functions of  DeviceNet managed by the 

driver. The main characteristics of the card are:

1.   The driver operates only as Slave in “Predifined Master/Slave Connection 

Set”.

2.   Within  the  “Predefined  Master/Slave  Connection  Set”  the  driver  is  a 

“UCMM Capable Device”.

3.   The “Explicit Messaging” is managed.
4.   The “Polling” for the fast cyclical data exchange Master/Slave is man-

aged.

5.   The detection mechanism of the “Duplicate MAC ID” is implemented.  

Regarding the “Explicit Messaging” the fragmentation of the data frame, with 

a total of max. 32 byte, is managed.

Connection sizes

CONNECTION INSTANCE 

PRODUCED 

CONSUMED 

 

Polled I/O 

Depending on frame setting 

 

Explicit messaging 

32 

32 

 

4.2 Object Description

Hereafter you find the description of the objects managed by the SBI-COP/

DN-AGy card.

4.2.1 Object Model

The following figure shows the SBI-COP/DN-AGy “Object Model”.

Application Objects

Drive par

Message

Router

DeviceNet

IDENTITY

Explicit

I/O

Connection

Содержание ARTDriveG SBI-COP/DN-AGy

Страница 1: ...Instruction Manual ARTDriveG Field bus interface card SBI COP DN AGy CANOpen DeviceNet Interface card...

Страница 2: ...dati indicati servono unicamente alla descrizione del prodotto e non devono essere intesi come propriet assicurate nel senso legale Tutti i diritti riservati Thank you for choosing this Gefran product...

Страница 3: ...ANopen 11 3 1 1 Pre defined Master Slave Connection 11 3 1 2 NMT Servizi Network Management 12 3 1 3 Inizializzazione 12 3 1 4 Oggetti di Comunicazione 12 3 1 5 Elementi Object Dictionary 13 3 1 6 Rec...

Страница 4: ...Reply OK 24 B 3 Read drive parameter Reply Error 24 4 4 Operativita Polling 25 4 4 1 Drv to SBI 25 4 4 2 SBI to Drv 26 4 5 Configurazione dell Interfaccia SBI COP DN AGy 27 4 5 1 Menu Expansion Board...

Страница 5: ...ection 43 3 1 2 NMT Services Network Management 43 3 1 3 Initialization 44 3 1 4 Communication Object 44 3 1 5 Object Dictionary Elements 45 3 1 6 Receive PDO Communication 45 3 1 7 Transmit PDO Commu...

Страница 6: ...meter Reply OK 56 B 3 Read drive parameter Reply Error 56 4 4 Polling Function 57 4 4 1 Drv to SBI 57 4 4 2 SBI to Drv 58 4 5 SBI COP DN AGy Interface Configuration 59 4 5 1 Expansion Board Menu 59 4...

Страница 7: ...la specifica CiA Draft Standard 301 revisione 3 0 del 30 10 1996 Come protocollo CAN ISO 11898 viene usato CAN2 0A con l identificatore a 11 bit La scheda SBI sviluppata come Minimum Capability Devic...

Страница 8: ...e Italiano Capitolo 2 Descrizione dell Hardware 2 1 Dimensioni Peso Grado di Protezione 88 01 143 51 Dimensioni ___________________mm inches 143 5 5 65 x 88 3 4 Peso ________________________67 g 2 36...

Страница 9: ...rete CANopen o DeviceNet La piedinatura la seguente Pin Signal Description Max Signal Level 5 V CAN external positive supply dedicated for supply of transceiver and optocouplers 11 30 V 4 CAN_H CAN_H...

Страница 10: ...azzinaggio ___ 20 70 C 68 158 F Temperatura d esercizio __________0 55 C 32 131 F Queste temperature sono adeguate a quelle dell azionamento al quale sono connesse 2 7 Interfaccia Per la connessione m...

Страница 11: ...stita 7 E implementata una Pre Defined Master Slave connection per sem plificare il lavoro svolto dal Master durante la fase d inizializzazione Inhibit Times espresso in unit di 100 uS modificabile fi...

Страница 12: ...me 0 communication cycle period 0 life time factor 0 communication cycle period 1000 life time factor tab04 Se sia guard time che communication cycle period sono impostati a 0 o lo life time factor la...

Страница 13: ...Type Unsigned32 20191hex Device profile 401 Additional info 32 1001hex Error Register Unsigned8 Stato errori come definito dal protocollo 1005hex COB ID SYNC Message Unsigned32 128 1006hex Communicati...

Страница 14: ...ona 253 Asincrona con RTR 3 Tempo di Inhibit tab08i 3 1 8 Server SDO Viene utilizzata solo la modalit di trasferimento dati Expedited max 4 Byte Per quanto riguarda il SDO Communication Parameter esso...

Страница 15: ...al number 0 tab10i 3 2 Gestione CANopen L interfaccia utente del protocollo CANopen avviene tramite parametri drive Tutte le modifiche ai parametri di scrittura relativi ai bus di campo sono attive so...

Страница 16: ...non sia superiore a 12 byte con un solo PDO max 8 byte Esempio 1 Si possono avere da 0 a 6 dati da 2 byte 1 dato a 4 byte da 0 a 4 dati da 2 byte 2 dati da 4 byte da 0 a 2 dati da 2 byte 3 dati da 4...

Страница 17: ...Digital output 1 I 770 1 Drive output frequency I 771 20 Drive digital state Nei byte 0 e 1 ricevo la frequenza di uscita e nei byte 2 e 3 lo stato Nota possibile conoscere lo stato del drive utilizza...

Страница 18: ...a in dicare nel comando SDO per accedere ad un parametro del drive si ottiene mediante la seguente regola SDO index 2000 hex IPA Il campo Subindex deve essere posto sempre a 0 in caso contrario viene...

Страница 19: ...CANopen le cause possibili di anomalie sono stato Bus off della lina CAN superamento della soglia di Life Guarding Con il parametro I 754 Bus Flt Holdoff possibile impostare un tempo di ritardo per l...

Страница 20: ...il Polling per l interscambio veloce ciclico Master Slave 5 Viene implementato il meccanismo di rilevazione del Duplicate MAC ID Per quanto concerne l Explicit Messaging viene gestita la frammentazion...

Страница 21: ...ive Parameter Access Optional many 4 2 2 How Objects Affect Behavior L Affect Behaviour degli oggetti riportato nella seguente tabella Object Effect on Behavior Identity Supports Reset Service Message...

Страница 22: ...Name DeviceNet Data Type Description of Attribute Semantics of values dn350 This instance does not provide attributes 4 3 1 4 Common Services Questo oggetto non ha servizi comuni 4 3 1 5 Object Specif...

Страница 23: ...r value dn360 See Note 1 Byte 2 VALUE 1 Byte o Word in base al tipo di allocazione effettuata dal Master 2 Il numero di Byte del campo Value dipende dalla lunghezza del parametro Drive es se il parame...

Страница 24: ...0 Result field equal to zero means reading correctly executed Low byte Low word drive parameter value High byte Low word drive parameter value Low byte High word drive parameter value High byte High w...

Страница 25: ...ere i parametri del drive Un dato pu essere sia di 2 che di 4 byte Con il termine dati si intende un numero qualsiasi di parametri da 0 a 6 purch il numero di byte richiesti da questi parametri non si...

Страница 26: ...ive utilizzando il parametro H 034 Modificare quindi l impostazione del parametro I 771 1042 4 4 2 SBI to Drv Esistono 6 parametri con i quali possibile configurare i dati scritti dal drive I 760 SBI...

Страница 27: ...ion Board Il menu Interface contiene i seguenti parametri I 753 SBI CAN Mode 0 OFF 1 CAN Open 2 DeviceNet I 750 SBI Address I 751 CAN baudrate I 754 Bus fault holdoff I 753 SBI CAN Mode Con questo par...

Страница 28: ...se non c comunica zione sul bus PDC polling I O Questo allarme si attiva anche quando il drive disabilitato 4 6 2 Gestione Allarmi Drive Nessun trattamento speciale Lo stato di allarme pu essere rilev...

Страница 29: ...virtuali H 010 H 011 Il possibile utilizzo delle impostazioni virtuali determinato dai parametri maschera I 420 I 430 I parametri maschera devono essere gestiti in base ai bit Ad ogni bit corri spond...

Страница 30: ...zione Drive 1 Controllo virtuale Fare anche riferimento al paragrafo 7 4 Menu I Interface sezione Abilita zione I O virtuali del manuale d istruzioni del drive Per ulteriori informazioni riguardo la c...

Страница 31: ...C 000 Save parameters Spegnere e riaccendere il drive Esempio con CANopen Comandi Run e Reverse dal Bus Comando Ext fault dall Ingresso digitale 5 del morsetto Riferimento di frequenza dal Bus Il Driv...

Страница 32: ...motore si ferma Leggendo P 001 byte 1 e 2 H 034 viene ripristinato lo stato del drive bit 0 1 Drive pronto 0 Drive non pronto bit 1 1 Allarme attivo 0 Allarme non attivo bit 2 1 Motore in funzione 0 M...

Страница 33: ...rametri Load default Autotaratura etc Prg Menu per la messa in servizio rapida del drive All accensione del drive il display del tastierino mostra il parametro Output frequency d 000 del men DISPLAY D...

Страница 34: ...uttura di scambio dati disponibile nel formato da 6 word In ogni singola word la lettura o scrittura del parametro deve essere indirizzata impostando il numero IPA specifico Cod Nome Default MIN MAX I...

Страница 35: ...rme intervenuto Display a 7 segmenti Il tastierino del drive indica sul display a 7 segmenti un messaggio lampeg giante con il codice dell allarme intervenuto Riconoscimento allarme L allarme attivo p...

Страница 36: ...COB all interno della rete esso determina anche la priorit del COB CS Command Specifier definisce il servizio NMT DBT Distributor E un elemento di servizio del CAN Application Layer nel Modello di Ri...

Страница 37: ...Protocol pubblicato da DeviceNet Specifications Volume 2 DeviceNet Device Profiles and Object Library pubblicato da ODVA Manuale d istruzione AGy Manuale d istruzione APC DGFCy CANopen CANopen CAL Ba...

Страница 38: ...38 Scheda SBI COP DN AGy Manuale Istruzione Italiano...

Страница 39: ...rial systems The reference document is the CIA Draft Standard 301 Specification revision 3 0 dated 30 10 1996 The used CAN protocol ISO 11898 is the CAN2 0A type with an 11 bit identificator The SBI c...

Страница 40: ...ual English Chapter 2 Hardware Description 2 1 Dimensions Weight Protection Degree 88 01 143 51 Dimensions ___________________mm inches 143 5 5 65 x 88 3 4 Weight _ ______________________67 g 2 36 oz...

Страница 41: ...nect the SBI card to the CANopen or DeviceNet network The pins are the following Pin Signal Description Max Signal Level 5 V CAN external positive supply dedicated for supply of transceiver and optoco...

Страница 42: ...e __________ 20 70 C 68 158 F Operating temperature _________ 0 55 C 32 131 F Such temperatures are suitable to be used with those of the drive which they are connected to 2 7 Interface As for the mec...

Страница 43: ...ion synchronization is not supported 9 TIME STAMP is not managed 10 On the access of the structured parameters the OFFhex option subindex access to the whole object is not managed 11 In order to obtai...

Страница 44: ...le period 0 life time factor 0 communication cycle period 1000 life time factor tab04 If both guard time and communication cycle period are set to 0 or if life time factor is set to 0 then the functio...

Страница 45: ...Device Type Unsigned32 20191hex Device profile 401 Additional info 32 1001hex Error Register Unsigned8 Errors status as defined by protocol 1005hex COB ID SYNC Message Unsigned32 128 1006hex Communic...

Страница 46: ...e 0 Acyclic synchronous 1 240 Cyclic synchronous 254 o 255 Asynchronous 253 Asynchronous with RTR 3 Inhibit Time tab08g 3 1 8 SDO Server Only the Expedited data transfer mode max 4 Bytes is used Subin...

Страница 47: ...entries 4 1 Vendor ID company 00000172h 2 Product code Quix 11 AGy 12 3 Revision number 0100h 4 Serial number 0 tab10g 3 2 CANopen Management The user interface of the CANopen protocol is performed v...

Страница 48: ...ave from 0 to 6 data with 2 bytes 1 datum with 4 bytes from 0 to 4 data with 2 bytes 2 data with 4 bytes from 0 to 2 data with 2 bytes 3 data with 4 bytes The drive has 2 bytes writing data The drive...

Страница 49: ...ital output 1 I 770 1 Drive output frequency I 771 20 Drive digital state The bytes 0 and 1 receive the output frequency and the bytes 2 and 3 receive the status condition Note It is possible to know...

Страница 50: ...to be stated in the SDO command to access a drive parameter can be obtained via the following formula SDO index 2000 hex IPA The Subindex field has always to be set with 0 if not an error message is d...

Страница 51: ...possible failure causes are Bus off condition of the CAN line the Life Guarding threshold has been overcome The I 754 Bus Flt Holdoff parameter allows to set a delay time for the intervention of the b...

Страница 52: ...The Polling for the fast cyclical data exchange Master Slave is man aged 5 The detection mechanism of the Duplicate MAC ID is implemented Regarding the Explicit Messaging the fragmentation of the data...

Страница 53: ...tional many 4 2 2 How Objects Affect Behavior The Affect Behaviour of the objects is reported in the following table Object Effect on Behavior Identity Supports Reset Service Message Router No effect...

Страница 54: ...Rule Name DeviceNet Data Type Description of Attribute Semantics of values dn350 This instance does not provide attributes 4 3 1 4 Common Services This object has no common services 4 3 1 5 Object Spe...

Страница 55: ...n360 See Note 1 Byte 2 VALUE 1 Byte or Word depending on the type of allocation executed by the Master 2 The number of bytes of the Value field depends on the length of the Drive param eter i e if the...

Страница 56: ...Result field equal to zero means reading correctly executed Low byte Low word drive parameter value High byte Low word drive parameter value Low byte High word drive parameter value High byte High wo...

Страница 57: ...datum can be made both of 2 and 4 bytes The word data refers to any quantity of bytes included between 0 and 6 if the byte total number required is not higher than 12 Example 1 It is possible to have...

Страница 58: ...know the drive status using the H 034 parameter Change the setting of the I 771 parameter to 1042 4 4 2 SBI to Drv There are 6 parameters allowing to configure the drive written data I 760 SBI to Drv...

Страница 59: ...terface 4 5 1 Expansion Board Menu This INTERFACE menu contains the following parameters I 753 SBI CAN Mode 0 OFF 1 CAN Open 2 DeviceNet I 750 SBI Address I 751 CAN baudrate I 754 Bus fault holdoff I...

Страница 60: ...is not received within the established time 4 6 2 Drive Alarm Handling No special treatment The alarm status can be detected by the master reading H 034 Drive Status parameter bit 1 4 6 3 Alarm Reset...

Страница 61: ...0 H 011 Whether to use the virtual settings is determined by mask parameters I 420 I 430 Mask parameters have to be managed bitwise At each bit corresponds a switch according to the following logic Ma...

Страница 62: ...e also paragraph 7 4 Menu I Interface Enabling Virtual I O section of the drive instruction manual For more info on virtual digital I O configuration please refer to the para graph 7 9 HIDDEN Virtual...

Страница 63: ...th C 000 Save parameters Switch the drive off on CANopen example Run and Reverse commands from Bus Ext fault command from terminal Digital input 5 Frequency reference from Bus Drive sends to Bus Drive...

Страница 64: ...byte 1 and 2 H 000 0 the motor Stops Reading P 001 byte 1 and 2 H 034 the drive status is returned bit 0 1 Drive ready 0 Drive not ready bit 1 1 Alarm active 0 Alarm not active bit 2 1 Motor running 0...

Страница 65: ...ettings Menu of control type parameters Save Load default etc Prg At the drive power up the keypad display will show Output frequency d 000 parameter of DISPLAY menu After starting the drive press the...

Страница 66: ...is available as a 6 words format In each word the parameters reading or writing has to be addressed setting the relative number of IPA Cod Nome Default MIN MAX IPA I 750 SBI address 3 0 255 163 I 751...

Страница 67: ...ng message with code and name of the alarm occurred 7 segments display The drive keypad will show on the 7th segment display a blinking message with code of the alarm occurred Alarm acknowledge The ac...

Страница 68: ...ork and states also the COB priority CS Command Specifier it defines the NMT service DBT Distributor It is a service element of the CAN Application Layer in the CAN Reference Model the DBT has the tas...

Страница 69: ...ation Model and Protocol issued by ODVA Volume 2 DeviceNet Device Profiles and Object Library issued by ODVA AGy Instruction manual APC DGFCy Instruction manual CANopen CANopen CAL Base COMMUNICATION...

Страница 70: ...merica c SIEI AREG GERMANY Zachersweg 17 D 74376 Gemmrigheim Ph 49 7143 9730 Fax 49 7143 97397 info sieiareg de GEFRAN SIEI UK Ltd 7 Pearson Road Central Park TELFORD TF2 9TX Ph 44 0 845 2604555 Fax 4...

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