Epsilon Ei DeviceNet Drive Reference Manual P/N 400501-08 Revision A2 Date: March 20,2002 © 2001, 2002 Control Techniques Drives, Inc.
Epsilon Ei DeviceNet Drive Reference Manual Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document.
© 2001, 2002 Control Techniques Drives, Inc. Part Number: 400501-08 Revision A2 Date: March 2002 Printed in United States of America Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques.
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• Exact wording of any messages that appear on your screen • What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical support center when on-site service or maintenance is required. Training Services (952) 995-8000 or (800) 397-3786 Email: training@emersonct.
In addition, you will find the following typographic conventions throughout this manual. This Represents bold Characters that you must type exactly as they appear. For example, if you are directed to type a:setup, you should type all the bold characters exactly as they are printed. italic Placeholders for information you must provide. For example, if you are directed to type filename, you should type the actual name for a file instead of the word shown in italic type.
Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use.
Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy, or are used to control mechanical equipment that can cause injury.
Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety of Machinery. The product has been designed and tested to a high standard. However the level of integrity offered by the product’s control function – for example stop/start, forward/reverse and maximum speed – is not sufficient for use in safety-critical applications without additional independent channels of protection.
Table of Contents Safety Considerations Introduction vii 1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 DeviceNet Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 DeviceNet Communications Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 DeviceNet Messaging and Communications. .
DN Master Send Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DN Master Send FAB Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DN Module Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DN Network Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon Ei DeviceNet Drive Reference Manual Introduction Purpose This manual describes the Epsilon Ei DeviceNet (Ei-DN) Servo Drive and gives examples for connecting DeviceNet® with Epsilon Indexing drives. The reader should have knowledge of basic DeviceNet concepts. In addition, the user should be familiar with the functionality of the Epsilon Ei drive. The Ei-DN drive is capable of all functions of the Epsilon Ei, as described in the Epsilon Ei Reference Manual (P/N 400507-01).
Epsilon Ei DeviceNet Drive Reference Manual The Epsilon Ei-DN configuration is easily set within PowerTools FM software. In PowerTools FM software, the user has the option to select between 8 predefined assembly blocks to be transferred using polled data (8 bytes input, 8 bytes output polled data length per drive). The Ei-DN additionally allows the master to set up an explicit messaging connection to access all user accessible parameters within the Epsilon drive through PLC logic.
Introduction 9. Operation with off-the-shelf power supplies 10. Power taps that allow the connection of several power supplies from multiple vendors that comply with DeviceNet standards 11. Built-in overload protection 12. Power available along the bus: both signal and power lines contained in the trunk line DeviceNet Messaging and Communications Master/Slave Relationship ODVA defines a DeviceNet Master as: The device that gathers and distributes I/O data for the process controller.
Epsilon Ei DeviceNet Drive Reference Manual DeviceNet Configure Master RSNetworx RsLinx Configure PLC Configure Ei-DN DeviceNet Slaves (Nodes) Drop Line Trunk Line DeviceNet Master Scanner Card Explicit Message Setup RSLogix RsLinx Figure 2: 4 Master/Slave Relationship 24VDC Power Supply
Epsilon Ei DeviceNet Drive Reference Manual Installation Mechanical Installation Follow the instructions for mechanical installation of an Epsilon Ei Drive as outlined in the Epsilon Ei Installation Manual (P/N 400501-06). DeviceNet Hardware Components The following components are necessary to design a DeviceNet cable system: • Cables • Nodes/Devices • Connectors • Power Supply • Terminating Resistors Cables These cables can be obtained from the supplier of the DeviceNet Network Master.
Epsilon Ei DeviceNet Drive Reference Manual Connectors DeviceNet connectors can be either open-style (wires exposed) or sealed. These connectors can be obtained from the supplier of the DeviceNet Network Master. (For more details see the ODVA Specification Volumes I and II, Release 2.0.) Power Supply Requirements A separate 24 VDC power supply is needed for the DeviceNet network. The Ei-DN slave interface is powered using this “network power.
Installation The connector provided for the DeviceNet connection is keyed: VT (pin 5) and should be wired to the keyed slot.
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Epsilon Ei DeviceNet Drive Reference Manual Configuring the DeviceNet Network Connection Types The Epsilon Ei-DN DeviceNet interface was designed to communicate with a DeviceNet network in two ways. Polled I/O connections and Explicit Messaging connections can be used to access all read or read/write data from the Epsilon Ei-DN. Polled I/O Connections (Implicit Messaging) The Poll Command is an I/O Message that is transmitted by the Master.
Epsilon Ei DeviceNet Drive Reference Manual Figure 4: The DeviceNet Setup Tab MacID The MacID is the number assigned to a particular node. Every node on a DeviceNet network must have a unique MacID. The range is 0-63. The MacID is also read/write accessible with the one-touch configuration described in “Setting the Baud Rate and MacID Externally (One Touch)” on page 32. Baud Rate Three standard baud rates can be configured for the DeviceNet network: 125K, 250K, and 500K.
Configuring the DeviceNet Network and has many parameters premapped for quick setup and replacement. Index Sel (Predef) was created to keep everything simple and standard for the user. Bits that are generally used have been included in the assembly block for “no-work” access to DeviceNet I/O. The Index Sel (Predef) is set as default so the user can set Baud Rate, MacID, drive type and then start communication. The following tables display the data mapping for the Index Sel (PreDef) Assembly Blocks.
Epsilon Ei DeviceNet Drive Reference Manual Master Send Assembly Block - Index Sel (Userdef) Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Index Select Bit 3 Index Select Bit 2 Index Select Bit 1 Index Select Bit 0 DN Bit 11 MS DN Bit 10 MS DN Bit 9 MS DN Bit 8 MS DN Bit 7 MS DN Bit 6 MS DN Bit 5 MS DN Bit 4 MS DN Bit 3 MS DN Bit 2 MS DN Bit 1 MS DN Bit 0 MS 1 Reserved Reserved Reserved Reserved Reserved E
Configuring the DeviceNet Network the position controller profile positions, velocities, accels, and decels can be written for a single index. The index can then be initiated. The Position Control object is used heavily when a central PLC is desired to control all of the Slaves. This type of configuration allows for quick parameter changes. The following tables display the data mapping for the Position Control Assembly Blocks.
Epsilon Ei DeviceNet Drive Reference Manual Input Word Select Data Pointer The Input Word Select Data Pointer may be used when a polled connection is established between the Ei-DN and the DeviceNet Master. Using the Input Data Pointer Bits, 32-bit parameters may be read from the Ei-DN by the PLC. Entering the code into the input select data pointer will place the corresponding parameter value within the two high words of the 4 word polled data packet.
Configuring the DeviceNet Network Output Word Select Data Pointer The Output Word Select Data Pointer may be used when a polled connection is established between the Ei-DN and the DeviceNet master. Using the Output Word Select Data Pointer bits, 32-bit parameters may be read from the Ei-DN by the PLC. Entering the code into the Output Select Data Pointer will place the corresponding parameter value within the two high words of the 4 word polled data.
Epsilon Ei DeviceNet Drive Reference Manual Command Assembly Code The Command Assembly Code is used only when the position controller object is in use and the Ei-DN is online and connected. The Command Assembly Code gives the drive a 32-bit parameter based on the code it is set for. The parameter is placed in words 2 and 3 of the polled I/O.
Configuring the DeviceNet Network Data Processing/Order of Operations for Fixed Assembly Blocks Since the transfer of parameters over the DeviceNet network has the potential to transfer on the same scan of the PLC, the user needs to take special consideration of the order of bits sent.
Epsilon Ei DeviceNet Drive Reference Manual Host Mode Enable Host Mode Enable allows the user to decide where the control will occur from the DeviceNet network. Host Mode Enable allows the user to ignore hardwire inputs. Conversely, non-host mode logically OR’s the Inputs with the DeviceNet function.
Configuring the DeviceNet Network DeviceNet Online Tab The DeviceNet Online Tab is available to the user when PowerTools FM is online with the Ei-DN. This tab displays DeviceNet specific diagnostics and allows the user to view the status of the DeviceNet network. Figure 6: DeviceNet Online Tab Information Master MacID The Master MacID is the MacID of the DeviceNet master to the Ei-DN.
Epsilon Ei DeviceNet Drive Reference Manual Status Network Status LED Network Status vitual LED indicates whether the Ei-DN is communicating properly with the DeviceNet network. The table below will describe the current condition of this parameter. Virtual LED State Drive State Indicates Off Not Powered/Not online Device is not online: The device has not completed the Duplicate MacID test yet. The Device may not be powered, look at Module Status LED.
Configuring the DeviceNet Network Input and Output Tab DeviceNet Bits DeviceNet bits are user-defined bits that are assigned within the inputs and outputs tabs. These bits are used with specific assembly blocks to transfer data via the polled connection. DeviceNet bit numbering is the same for all assembly blocks selected; therefore, DN bit 0 MR (Master Receive) under “Index Sel (User Def)” is the same as DN bit 0 MR (Master Receive) for “Index Type.
Epsilon Ei DeviceNet Drive Reference Manual Figure 8: Outputs Tab When an unsupported DN bit assignment is made, a warning message will pop up telling the user that the selected assembly block does not support that bit. When acknowledged, the assignment will be mapped to that bit anyway and will not be transferred via DeviceNet. Faults and Diagnostic Display PowerTools FM has implemented an extended set of fault and diagnostic parameters to aid in setup and monitoring of the DeviceNet Network.
Configuring the DeviceNet Network Figure 9: Watch Window DN Allocation Choice (Connections Established) Ei-DN Range Modbus Address: 34003 Units Default Type DN Type BM16 WORD Group NVM Res. Access No RO This parameter monitors the status of the established connections and displays the corresponding bitmap. Bit 0 Explicit Message, Bit1 Polled. DN Allocation Master MacID Ei-DN Range 0-63 Modbus Address: 34004 Units Default Type DN Type 63 US16 UINT Group NVM No Res.
Epsilon Ei DeviceNet Drive Reference Manual DN Baud Rate Ei-DN Modbus Address: 44002 Range Units 0-2 Baud Default Type DN Type ENM WORD Group NVM Res. Access Yes RW Three standard baud rates can be configured for the DeviceNet network: 125K, 250K, and 500K. The baud rate is also read/write accessible with the one touch configuration located directly on the drive.
Configuring the DeviceNet Network DN Comm Time-out Fault Count Ei-DN Modbus Address: 40717 Range Units 0-215-1 Counts Default Type DN Type US16 UINT Group NVM Res. Access Yes RO This parameter indicates the total # of Communication Time-out Faults that have occurred on the DeviceNet network. DN Device Type Ei-DN Range Modbus Address: 34002 Units Default Type DN Type US16 UINT Group NVM Res.
Epsilon Ei DeviceNet Drive Reference Manual DN FAB Master Send Block Ei-DN Range Modbus Address: 34007-34010 Units Default Type DN Type US16 UINT Group NVM Res. Access No RO The DN FAB Master Send Block displays the polled data being transferred from the master to the drive via the Master Send fixed assembly block (FAB). Word Modbus Address 0 34007 1 34008 2 34009 3 34010 DN Host Mode Ei-DN Range Modbus Address: 44003 Units Default 0,1 Type DN Type ENM Word Group NVM Res.
Configuring the DeviceNet Network DN Master Receive Bitmap Ei-DN Range Modbus Address: 34006 Units Default Type DN Type US16 UINT Group NVM Res. Access No RO This parameter returns the values for the selected master receive bits. DN Master Receive FAB Type Ei-DN Range Modbus Address: 44005 Units Default 0-3 Type DN Type ENM Word Group NVM Res. Access Yes RW The DN Master Receive FAB Type displays the chosen fixed assembly block configuration as shown.
Epsilon Ei DeviceNet Drive Reference Manual DN Master Send FAB Type Ei-DN Range Modbus Address: 44004 Units Default 0-4 Type DN Type ENM Word Group NVM Res. Access Yes RW The DN Master Send FAB Type displays the chosen fixed assembly block configuration as shown.
Configuring the DeviceNet Network DN Network Status Ei-DN Range Modbus Address: 34207 Units Default 0-31 Type DN Type ENM Word Group NVM Res. Access No RO The DN Network status indicates the ODVA specific status of the DeviceNet network as follows: Value Network Status 1 No Power 2 Not Connected 3 Connected 4 Time-out 5 Link Failure DN Receive Counter Ei-DN Modbus Address: 34203-34204 Range Units 0-231-1 Counts Default Type DN Type US32 UDINT Group NVM Res.
Epsilon Ei DeviceNet Drive Reference Manual DN Status Minor Recoverable Fault Ei-DN Range Modbus Address: 14001 Units Default True/False Type DN Type BIT BOOL Group NVM Res. Access No RO A Minor Recoverable Fault occurs when the drive experiences a connection time-out. This fault will not disable the bridge and will clear after the fault clears. DN Status Minor Unrecoverable Fault Ei-DN Range Modbus Address: 14002 Units Default True/False Type DN Type BIT BOOL Group NVM Res.
Configuring the DeviceNet Network Accessing the EDS File The EDS file is used for configuration of the DeviceNet master. This file tells the Master software how much I/O data is supported for a particular DeviceNet device as well as Control Techniques’ vendor code, module revision, etc. The EDS file for the Ei-DN also contains the Class, Instance, and Attribute ID’s for all Ei drive parameters.
Epsilon Ei DeviceNet Drive Reference Manual Network Status LED The Network Status LED located on the front of the drive provides network status according to the following table: LED State Drive State Indicates Off Not Powered/Not online Device is not online: The device has not completed the Dup MacID test yet. The device may not be powered, look at Module Status LED. Flashing Green Online, Not Connected Device is online but has no connections in the established state.
Configuring the DeviceNet Network the display shows the correct number for the low digit of the MacID. (The display will now flash between the letter “L” and the new ones digit for MacID.) 3. Double-click the Reset Button to view the Baud Rate selected. The display will flash between the letter B and the number of the baud rate that is currently configured. Display Value Baud 1 125K 2 250K 3 500K To change the baud rate hold the reset button down and scroll through these three options.
Epsilon Ei DeviceNet Drive Reference Manual 4. Double-click the “Reset” button to reveal a flashing “S” on the diagnostic display. If the parameters entered reflect the proper DeviceNet network settings, the configuration can be saved by holding the “Reset” button while the “S” is flashing. After the parameters are saved, the display will flash “O” and then “K” and return the display back to either a disabled or enabled state.
Epsilon Ei DeviceNet Drive Reference Manual Network Configuration Quick Start This chapter presents sample startups with a Epsilon Ei-DN drive using a 1747-SDN scanner card as the DeviceNet master in a SLC 500 PLC™. The examples presented are intended as a tutorial. For greater information about the steps in this chapter, please refer to the “Configuring the DeviceNet Network” chapter.
Epsilon Ei DeviceNet Drive Reference Manual 5. Install the .eds file in the Master Configuration software (RsNetworx, Wonderware, etc.). 6. Download a configuration for 8 polled input bytes and 8 polled output bytes to be transferred to/from the Ei-DN. 7. Use ladder logic commands to initiate explicit messaging commands over DeviceNet. Polled I/O Setup The following examples assume that the user is familiar with and can set up the Ei using the Epsilon Ei Reference Manual (P/N 400507-01).
Network Configuration Quick Start Figure 10: DN Setup / Index Sel (Predef) 4. Download this file to the Ei-DN. 5. Proceed to “Master Configuration” on page 48 before going any farther with this example. After configuring the master return to this point and continue. The following will initiate motion. While Online with both the Ei-DN via PowerTools FM and the PLC via RSLogix 500: 6. Set Output Bit O:1.2/7 high to software enable the drive. 7. Set Output Bit O:1.1/0 high to initiate Index 0. 8.
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Network Configuration Quick Start Figure 11: 3. DN Setup / Index Sel (Userdef) Click the Inputs tab to configure the DN bits that will be written from the PLC (Master Send). The following assignments will be used for this application example: DN Bit00 (MS) = Index Initiate DN Bit01 (MS) = Home Initiate DN Bit02 (MS) = Jog + DN Bit03 (MS) = Jog DN Bit04 (MS) = Jog Fast Note Index Sel (Userdef) allows 16 DN bits to be configured.
Epsilon Ei DeviceNet Drive Reference Manual Figure 12: 4. Inputs Tab Click the Outputs tab to configure the DN bits that will be written to from the PLC (Master Receive).
Network Configuration Quick Start Figure 13: Outputs Tab Note Index Sel (userdef) allows 16 DN bits to be configured. Although these bits are optional to assign, bandwidth used on the DeviceNet network remains the same. 5. Once all parameters are configured, download this file to the Ei-DN. 6. Proceed to “Master Configuration” on page 48 before going any farther with this example. After configuring the master return to this point and continue. The following will initiate motion.
Epsilon Ei DeviceNet Drive Reference Manual 11. Set Output Bit O:1.1/3 high to Jog -. 12. Set Output Bit O:1.1/4 high to enable Jog Fast. 13. Set Output Bits O:1.1/12 - O:1.1/15 to select the index to initiate or to select the index to read from or write to using the Input/Output Word Select Data Pointer. 14.
Network Configuration Quick Start Figure 14: 3. DN Setup / Index Type Click the Inputs tab to configure the DN bits that will be written from the PLC (Master Send). The following assignments will be used for this application example: DN Bit00 (MS) = Reset DN Bit01 (MS) = Home Initiate DN Bit02 (MS) = Jog + Note Index type allows 8 DN bits to be configured. Although these bits are optional to assign, bandwidth used on the DeviceNet network remains the same. 4.
Epsilon Ei DeviceNet Drive Reference Manual 5. Download this file to the Ei-DN. 6. Proceed to “Master Configuration” on page 48 before going any farther with this example. After configuring the master return to this point and continue. While online with the Ei-DN via PowerTools FM and with the PLC via RSLogix 500: 7. Set Output Bit O:1.1/7 high to software enable the drive. 8. Set Output Bit O:1.1/1 high to indicate an incremental index. 9.
Network Configuration Quick Start 12. Using Output Word Select Data Pointer 0x04 to set the Index Deceleration Register and Input Select Data Pointer 0x0A to read back this same parameter in order to verify the transfer. Reserved Reserved Reserved Output Word Select Data Pointer (See page 15) = 0x04 Reserved Jog - Jog + Input Word Select Data Pointer (See page 14) = 0x0A X X X 00100 X X X 01010 Final Word = XXX00100XXX01010 With zeros in for reserved bits Final Word = 1034 (0x40A) 13.
Epsilon Ei DeviceNet Drive Reference Manual 2. Enter the DN setup and set the MacID to 1 and the Baud Rate to 125K. Select PositionControl for both Master Send Assembly Block and Master Receive Assembly Block setups. Figure 15: 46 Dn Setup / Position Control 3. Download this file to the Ei-DN. 4. Proceed to “Master Configuration” on page 48 before going any farther with this example. After configuring the master return to this point and continue. 5.
Network Configuration Quick Start 9. Set the Receive Assembly code to read the Actual Position O:1.2 = 0x02 (parameter). This response will be read back from I:1.3 and I:1.4 (low/high word response). 10. Set O:1.1/7 = 1 to Enable the Drive. Set O:1.1./2 = 0 indicating an Absolute Move. Set O:1.1/0 = 1 indicating start of the Move. After these values are in place, toggle the Valid Data Bit (O:1.1/6). Using the parameter set previously, a second motion can be initiated with one Valid Data Bit toggle.
Epsilon Ei DeviceNet Drive Reference Manual Master Configuration RS Networx™ will be used to install the Ei-DN onto the DeviceNet network as a slave. In order to have RS Networx recognize the Ei-DN as a node on the network, an .eds file must be installed using the .eds wizard found under the Tools menu. The .eds file is located in the Emerson directory under Emerson\PtoolsFM\Ei.eds. An icon file can also be found in this directory under Emerson\PtoolsFM\Ei.ico.
Network Configuration Quick Start Figure 17: Scanlist Tab Click the Input tab and map the 4 words of data from the Ei-DN to I:1.1 - I:1.4. These addresses are the addresses in the PLC where the Ei-DN data will be mapped.
Epsilon Ei DeviceNet Drive Reference Manual Figure 18: Input Tab Click the Output tab and map the 4 words of data from the Ei-DN to O:1.1 - O:1.4 as shown. These addresses are the addresses in the PLC where the Ei-DN will pull its data from.
Network Configuration Quick Start Figure 19: Output Tab After all of the data is mapped click OK, go online, and then download this RsNetworx file to the DeviceNet scanner. (Make sure processor is in program mode.) Note If, after a download, errors occur on the DeviceNet Master (scanner card), clear all mappings in the scanlist and download this “empty” file to the Master. The network should display two green LED’s (if not check wiring... etc.).
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Epsilon Ei DeviceNet Drive Reference Manual Explicit Messaging Quick Start To send explicit messages, the Epsilon Ei-DN drive should be configured and successfully connected to the DeviceNet system as a unique node. This chapter will present examples that should be used as a tutorial.
Epsilon Ei DeviceNet Drive Reference Manual COMMAND 0x01 EXECUTE 0x04 CLEAR RESPONSE BUFFER Size of field is the size of the message data section and does not contain the message header. For GET Service command, size should be 6 bytes; for SET Service command, size should be 10 [0x0A] bytes. SIZE OF DATA FIELD Get Fields 0x06 bytes Set Fields 0x0A bytes The service parameter determines whether the data will be sent to or received from the slave.
Explicit Messaging Quick Start Figure 20: Description of N10 Integer File Explicit Messaging Examples The following two examples of DeviceNet Explicit Messaging will be assuming a PLC configuration as follows: Figure 21: PLC Configuration for Explicit Messaging 55
Epsilon Ei DeviceNet Drive Reference Manual Explanation of PLC Program The copy command in Rung 0 will activate when B3:0/0 is turned on. This command will send out a request to the DeviceNet master by copying the N10 integer file into the M0: file. After this request gets sent out, the PLC indicates when it has all data returned by setting bit I:3/15 high. Once this occurs bit B3:0/1 can be set high to view the results via a copy command from the scanner card M1: to integer file N11:.
Explicit Messaging Quick Start Integer File N10 High Byte Low Byte N10:0 TXID= 0x01 COMMAND= 0x01 N10:1 PORT= 0x00 SIZE OF DATA FIELD= 0x06 N10:2 SERVICE= 0x0E (GET) MacID= 0x04 N10:3 CLASS= 0x68 N10:4 INSTANCE= 0x01 N10:5 ATTRIBUTE= 0x09 After the N10 file is set, B3:0/0 can be set high to send the explicit message to the scanner card. After bit I:3/15 is set by the PLC, the message can be viewed by setting B3:0/2 high which copies the M1: file to the N11: file.
Epsilon Ei DeviceNet Drive Reference Manual Index 1 Velocity is mapped to class 0x68, instance 0x02, attribute 0x09, as shown in the table below. The following parameters will be used to set up this explicit message.
Explicit Messaging Quick Start Integer File N11 High Byte Low Byte N11:0 TXID=0x01 COMMAND=0x01 N11:1 PORT=0x00 SIZE OF DATA FIELD=0x04 N11:2 SERVICE=0x90 (Successful Transmit) MacID=0x04 N11:3 LOW DATA WORD = 0x7D0 N11:4 HIGH DATA WORD = 0x00 59
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Epsilon Ei DeviceNet Drive Reference Manual Drive Parameters This section lists all parameters available for Epsilon Ei DeviceNet drive. The tables provide the following information about each parameter: Name The parameter’s name DeviceNet Data Type INT, UINT = 16 bit value DINT, UDINT = 32 bit value BOOL = Bit Word = Bitmap 16 DWord = Bitmap 32 String: XXX = ASCII characters of XXX length, padded with white space Class, Instance, Attribute The path necessary to access the parameter.
Epsilon Ei DeviceNet Drive Reference Manual Name DN Data Type Class BOOL 101 (0x65) 1 (0x01) Execute.ExecuteWriteBaseDriveRAMtoNVM BOOL 101 (0x65) 1 (0x01) 4 (0x04) Fault.FaultInstance#.Code WORD 102 (0x66) See Note 1 1 (0x01) 2 (0x02) Execute.ExecuteStopAllMotion Attribute 3 (0x03) Fault.FaultInstance#.PowerUpCount UINT 102 (0x66) See Note 1 Fault.FaultInstance#.
Drive Parameters DN Data Type Class InputLine.DriveEnableInputDebouncedStatus Name BOOL 106 (0x6A) 1 (0x01) Instance 9 (0x09) Attribute InputLine.DriveEnableInputRawStatus BOOL 106 (0x6A) 1 (0x01) 10 (0x0A) InputLine.DriveEnableInputStatus BOOL 106 (0x6A) 1 (0x01) 11 (0x0B) InputLine.EnableDebounceTime UINT 106 (0x6A) 1 (0x01) 8 (0x08) InputLine.InputLineInstance#.DebouncedStatusArray BOOL 106 (0x6A) See Note 1 1 (0x01) InputLine.InputLineInstance#.
Epsilon Ei DeviceNet Drive Reference Manual DN Data Type Class ProductID.Option1IDFunctionModule Name UINT 111 (0x6F) 1 (0x01) 5 (0x05) ProductID.Option2IDAnybus1 UINT 111 (0x6F) 1 (0x01) 6 (0x06) ProductID.Option3IDAnybus2 UINT 111 (0x6F) 1 (0x01) 7 (0x07) ProductID.ProductGroup UINT 111 (0x6F) 1 (0x01) 8 (0x08) ProductID.ProductID UINT 111 (0x6F) 1 (0x01) 9 (0x09) ProductID.ProductSerialNumber String 111 (0x6F) 1 (0x01) 10 (0x0A) ProductID.
Drive Parameters Name Tuning.EnableFeedforwards DN Data Type Class WORD 115 (0x73) Instance 1 (0x01) Attribute 1 (0x01) Tuning.Friction UINT 115 (0x73) 1 (0x01) 2 (0x02) Tuning.LoadIntertia UINT 115 (0x73) 1 (0x01) 3 (0x03) Tuning.LowPassFilterEnable Tuning.LowPassFilterFrequency Tuning.PositionErrorIntegral Tuning.
Epsilon Ei DeviceNet Drive Reference Manual Name DeviceNet.DeviceNetIdentityObject.VendorID DeviceNet.DeviceNetIdentityObject.DeviceType UINT Class 1 (0x01) Instance 1 (0x01) Attribute 1 (0x01) UINT 1 (0x01) 1 (0x01) 2 (0x02) ProductSubGroup UINT16 1 (0x01) 1 (0x01) 3 (0x03) ModuleFirmwareRevision String:4 1 (0x01) 1 (0x01) 4 (0x04) UINT 1 (0x01) 1 (0x01) 5 (0x05) String:16 1 (0x01) 1 (0x01) 6 (0x06) DINT 1 (0x01) 1 (0x01) 10 (0x0A) DeviceNet.DeviceNetIdentityObject.
Drive Parameters Name DN Data Type Class UDINT 104 (0x68) Index.Instance#.RegistrationOffset DINT 104 (0x68) See Note 1 10 (0x0A) Index.CurrentIndexCount UINT 104 (0x68) 1 (0x01) 21 (0x15) Index.CurrentIndexNumber UINT 104 (0x68) 1 (0x01) 22 (0x16) Index.ChainingCount UINT 104 (0x68) 1 (0x01) 23 (0x17) Index.CurrentChainingCount UINT 104 (0x68) 1 (0x01) 24 (0x18) WORD 104 (0x68) 1 (0x01) 25 (0x19) Index.IndexInstance#.Velocity Index.
Epsilon Ei DeviceNet Drive Reference Manual Name OutputLine.OutputLinesStatusBitMap Position.FollowingError Position.FollowingErrorEnable Position.FollowingErrorLimit Class WORD 109 (0x6D) Instance 1 (0x01) Attribute 4 (0x04) DINT 110 (0x6E) 1 (0x01) 1 (0x01) WORD 110 (0x6E) 1 (0x01) 2 (0x02) DINT 110 (0x6E) 1 (0x01) 3 (0x03) UDINT 110 (0x6E) 1 (0x01) 4 (0x04) Position.RolloverPositionEnable WORD 110 (0x6E) 1 (0x01) 5 (0x05) Position.
Drive Parameters Name Status.OptionSerialNumber Status.TorqueFeedback Status.TotalCommandChangeOut DN Data Type Class String 113 (0x71) 1 (0x01) Instance Attribute INT 113 (0x71) 1 (0x01) 14 (0x0D) DINT 113 (0x71) 1 (0x01) 15 (0x0E) 13 (0x0D) Status.TotalPowerUpTime UDINT 113 (0x71) 1 (0x01) 16 (0x10) Status.VelocityCommand DINT 113 (0x71) 1 (0x01) 17 (0x11) Torque.FoldbackRMSCurrentLevel UINT 114 (0x72) 1 (0x01) 1 (0x01) INT 114 (0x72) 1 (0x01) 2 (0x02) Torque.
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Reserved 0 1 3 MS Bit Index Select Bit 2 Index Select Bit 3 Reserved Bit 14 Bit 15 2 End of Index Motion Bit 12 Travel Limit + Bit 10 Bit 8 Brake Release Bit 9 Reg Limit Distance Hit Reset Index Select Bit 1 Bit 13 Index Select Bit 0 Bit 12 Jog + Bit 10 Home Initiate Bit 9 Start Index Bit 8 Data High Word Enable DN Bit 7 MS Bit 7 Data High Word Stop DN Bit 6 MS Bit 6 Registration Sensor 2 Status Registration Sensor 1 Status Data Low Word Output Word Select Data Pointer Jog
72 Reserved 0 1 3 MS Bit Index Select Bit 2 Index Select Bit 3 Reserved Bit 14 Bit 15 2 Bit 13 Reserved DN Bit 13 MR Bit 12 DN Bit 12 MR Bit 11 Bit 10 DN Bit 10 MR Bit 9 DN Bit 9 MR Reserved Index Select Bit 1 Bit 13 Index Select Bit 0 Bit 12 DN Bit 10 MS Bit 10 DN Bit 9 MS Bit 9 DN Bit 8 MS Bit 8 Reserved DN Bit 7 MS Bit 7 Data High Word Reserved DN Bit 6 MS Bit 6 Index Select Bit 2 Index Select Bit 3 Bit 6 DN Bit 6 MR Bit 7 DN Bit 7 MR Data High Word Data Low Word Out
Reserved 1 3 MS Bit DN Bit 6 MS DN Bit 7 MS 0 Reserved Bit 14 Bit 15 2 Reserved DN Bit 5 MR Bit 13 DN Bit 3 MR DN Bit 4 MR DN Bit 2 MR Bit 10 Reserved DN Bit 5 MS Bit 13 DN Bit 1 MR Bit 9 DN Bit 4 MS Bit 12 DN Bit 2 MS Bit 10 DN Bit 1 MS Bit 9 DN Bit 0 MS Bit 8 Data High Word Jog Fast Enable Bit 7 Jog - Reset Jog + Stop Bit 5 Home Initiate Bit 4 Index Type Bit 1 Index Type Bit 0 Bit 1 Input Word Select Data Pointer Bit 2 Motion State Bit 1 Motion State Bit 2 Index
74 3 2 1 0 Word 3 2 1 0 Word Bit 14 Bit 13 Bit 9 Response Assembly Code Reserved Bit 12 Bit 11 Bit 10 MS Bit Bit 15 Reserved Bit 14 Bit 13 Bit 11 Bit 10 Bit 9 Response Assembly Code Reserved Bit 12 Enable Bit 7 Reserved Valid Data = 1 Ignore Data = 0 Reserved Bit 5 Bit 6 Data High Word Data Low Word Bit 8 Data High Word Stop Input Bit 4 Fault Bit 3 End of Index Motion Bit 2 Reserved Bit 1 Trajectory Started Bit 0 Stop Bit 4 Bit 1 Bit 0 LS Bit Absolute=0 Start
Epsilon Ei DeviceNet Drive Reference Manual Glossary Application Objects These implement the intended purpose of the product. Attribute A sub-classification for a parameter or bit. The attribute is grouped directly under the more broad category of class. Example: Class = Index, Attribute = Index Dwell. Each Attribute accessible to the user is assigned a number (See “Drive Parameters” on page 61. ) Baud Rate The number of times the communication signal changes per second.
Epsilon Ei DeviceNet Drive Reference Manual Drop Line A DeviceNet cable that runs from the trunk of a system to a device. EDS Electronic Data Sheet file is a formatted ASCII file that contains configuration information of the device. Epsilon Drive The Epsilon drive is a digital positioning drive. In addition to the basic single axis motion control features, it provides advanced diagnostics and high speed communication capabilities.
Glossary I/O Connections These provide dedicated, special-purpose communication paths between a producing application and one or more consuming applications. Application specific I/O data moves through these ports. Link Consumer Object This object is used by a Connection Object to receive data from DeviceNet. Link Producer Object This object is used by a Connection Object to transmit data onto DeviceNet. MacID DeviceNet specific term for a node address.
Epsilon Ei DeviceNet Drive Reference Manual UCMM The Unconnected Message Manager processes DeviceNet Unconnected Explicit messages.
Epsilon Ei DeviceNet Drive Reference Manual Index A Accessing the EDS File, 31 B Baud Rate, 10 Bus-Off Counter, 19 By DeviceNet Class, 65 By Name, 61 C Command Assembly Code, 16 Connection Types, 9 Customer Support, iii D Data Processing/Order of Operations for Fixed Assembly Blocks, 17 DeviceNet Bits, 21 DeviceNet Hardware Components, 5 DeviceNet Messaging and Communications, 3 DeviceNet Online Tab, 19 DeviceNet Overview, 2 DeviceNet Tab, 9 DN Allocation Choice (Connections Established), 23 DN Allocati
Epsilon Ei DeviceNet Drive Reference Manual Overview, 5 O H Output Word Select Data Pointer, 15 Host/Remote Mode, 18 How to Send Explicit Messages, 53 P I Implicit Messaging, 9 Index, 79 Index Sel (Predef), 36 Index Sel (Userdef), 38 Index Select (User Defined), 11 Index Select Predefined, 10 Index Type, 12, 42 Input and Output Tab, 21 Input Word Select Data Pointer, 14 Introduction, 1 Reference Materials, vi M MacID, 10 Master MacID, 19 Master Receive/Master Send Assembly Block Selection, 10 Master/
Index W Write Index 1 Velocity, 57 81
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Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance. For more information about Control Techniques “Motion Made Easy” products and services, call (800) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
