Manual. MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet. Edition 11/2004 FA / EN

Transcription

1 Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ s MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet Edition 11/ / EN FA Manual

2 SEW-EURODRIVE Driving the world

3 1 Important Notes Introduction / Installation Instructions Installing the DFD11B option card Connection and terminal assignment Setting the DIP switches Display of operating status DFD11B option card I 0 4 Project Planning and Startup Startup of the drive inverter Building the DeviceNet network with the RSNetWorx software Process data exchange Parameter data exchange Return codes for parameter setting Sample Application with PLC Type SLC Exchange of polled I/O (process data) Exchange of bit-strobe I/O Exchanging explicit messages (parameter data) kva f i n P Hz 6 Technical Data DFD11B option Appendix General error codes (error messages) Statement of Conformance Definitions of terminology Index Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 3

4 1 Important Notes Handbuch 1 Important Notes This manual does not replace the detailed operating instructions! Only specialists are allowed to perform installation and startup observing relevant accident prevention regulations and the MOVIDRIVE MDX60B/61B operating instructions! Documentation Read through this manual carefully before you start installation and startup of MOVIDRIVE drive inverters with the DeviceNet DFD11B option card. This manual assumes that the user has access to and is familiar with the MOVIDRIVE documentation, in particular the MOVIDRIVE MDX60B/61B system manual. In this manual, cross references are marked with " ". For example, ( Sec. X.X) means: Further information can be found in section X.X of this manual. A requirement of fault-free operation and fulfillment of any rights to claim under guarantee is that you observe the information in the documentation. Bus systems General safety notes on bus systems: This communication system allows you to adjust the MOVIDRIVE drive inverter to your specific application very accurately. As with all bus systems, there is a danger of invisible, external (as far as the inverter is concerned) modifications to the parameters which give rise to changes in the inverter behavior. This may result in unexpected (not uncontrolled) system behavior. Safety and warning notes Always observe the safety and warning instructions contained in this publication! Electrical hazard Possible consequences: Severe or fatal injuries. Hazard Possible consequences: Severe or fatal injuries. Hazardous situation Possible consequences: Slight or minor injuries. Harmful situation Possible consequences: Damage to the unit and the environment. Tips and useful information. 4 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

5 Introduction 2 2 Introduction Contents of this manual This user manual describes how to install the DeviceNet DFD11B option card in the MOVIDRIVE MDX61B drive inverter and how to start up MOVIDRIVE with the DeviceNet fieldbus system. Besides explaining all settings on the fieldbus option card, this document also covers the various DeviceNet connection variants in the form of brief startup examples. Additional documentation For a simple and effective connection of MOVIDRIVE to the DeviceNet fieldbus system, you should request the following publications from SEW-EURODRIVE about the fieldbus technology in addition to this manual: MOVIDRIVE Fieldbus Unit Profile manual MOVIDRIVE MDX60/61B system manual The manual for the MOVIDRIVE fieldbus unit profile describes the fieldbus parameters and their coding, as well as explaining the whole range of control concepts and application options in the form of brief examples. The parameter list is a list of all drive inverter parameters that can be read and written via various communication interfaces such as RS-485, SBus and even the fieldbus interface. MOVIDRIVE and DeviceNet The MOVIDRIVE MDX61B drive inverter together with the DFD11B option and its highperformance universal fieldbus interface enable the connection to higher-level automation systems via the open and standardized DeviceNet fieldbus system. Unit profile The performance of the inverter, referred to as the unit profile, that forms the basis for the DeviceNet operation, is fieldbus-independent and, therefore, uniform. This allows the user to develop fieldbus-independent drive applications. This makes it much easier to change to other bus systems, such as PROFIBUS (DFP 21B option) or INTERBUS (DFI11B option). Drive parameters MOVIDRIVE offers you direct access to all drive parameters and functions via the DeviceNet interface. The drive inverter is controlled via the fast, cyclical process data. Via this process data channel, you have the opportunity of entering setpoints such as the setpoint speed, ramp generator time for acceleration/deceleration, etc. as well as triggering various drive functions such as enable, control inhibit, standard stop, rapid stop, etc. At the same time you can also use this channel to read back actual values from the drive inverter, such as actual speed, current, unit status, error number or reference signals. Polled I/O and Bit Strobe I/O The parameters of the inverter are set exclusively using Explicit Messages, whereas the process data exchange is replicated on the DeviceNet services Polled I/O and Bit-Strobe I/O. This parameter data exchange enables you to implement applications in which all the important drive parameters are stored in the master programmable controller, so that there is no need to make manual parameter settings on the drive inverter itself. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 5

6 / / / Introduction Startup Every DFD11B DeviceNet option card is designed so that the fieldbus-specific MAC-ID and baud rate settings are made using hardware switches on the option card. This manual setting means the drive inverter can be integrated into the DeviceNet system and switched on quickly. The parameter setting process can be performed in a completely automated process by the DeviceNet master (parameter download). This forward-looking variant shortens the system startup time and simplifies the documentation of your application program because all the important drive parameters can now be stored directly in your control program. Communication Interface MOVIDRIVE MDX61B MOVIDRIVE MDX61B MOVIDRIVE MOVIDRIVE MDX61B SPS Node_4 [4] Figure 1: DeviceNet with MOVIDRIVE MDX61B and PLC 55215AXX Monitoring functions The use of a fieldbus system requires additional drive system monitoring such as time monitoring of the fieldbus (fieldbus timeout) or even special emergency stop concepts. The MOVIDRIVE MDX61B monitoring functions can be customized to your application. You can determine, for instance, which of the drive inverter error responses should be triggered in the event of a bus error. A rapid stop is a good idea for many applications, although this can also be achieved by "freezing" the last setpoints so the drive continues operating with the most recently valid setpoints (for example, conveyor belt). As the functions of the control terminals are still active in fieldbus operation, you can still implement fieldbus-independent emergency stop concepts via the terminals of the drive inverter. Diagnostics The MOVIDRIVE MDX61B drive inverter offers numerous diagnostic options for startup and service. For example, you can use the integrated fieldbus monitor to check both the setpoints sent by the master control and the actual values. The MOVITOOLS software package offers a convenient diagnostic option that allows for a detailed display of fieldbus and device state information in addition to the settings of all drive parameters (including fieldbus parameters). 6 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

7 / Installation Instructions Installing the DFD11B option card 3 3 / Installation Instructions 3.1 Installing the DFD11B option card MOVIDRIVE MDX61B must have firmware status or above. You can display the firmware status using parameter P076. Only SEW-EURODRIVE engineers can install or remove option cards for MOVIDRIVE MDX61B size 0. Option cards can only be installed and removed for MOVIDRIVE MDX61B sizes 1 to 6. The DFD11B option card must be plugged into the fieldbus slot [1]. [1] 54703AXX Before you begin Observe the following notes before installing or removing an option card: Disconnect the inverter from power. Switch off the 24 V DC and the supply voltage. Take appropriate measures to protect the option card from electrostatic charge (use discharge strap, conductive shoes, etc.) before touching it. Before installing the option card, remove the keypad and the front cover. After installing the option card, replace the front cover and the keypad. Keep the option card in its original packaging until immediately before you are ready to install it. Hold the option card by its edges only. Do not touch any components. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 7

8 / Installation Instructions 3 Installing the DFD11B option card Basic procedure for installation/removing an option card Figure 2: Installing an option card in MOVIDRIVE MDX61B sizes 1 to 6 (schematic diagram) 53001AXX 1. Remove the retaining screws holding the card retaining bracket. Pull the card retaining bracket out evenly from the slot (do not twist!). 2. Remove the retaining screws of the black cover plate on the card retaining bracket. Remove the black cover plate. 3. Position the option card onto the retaining bracket so that the retaining screws fit into the corresponding bores on the card retaining bracket. 4. Insert the retaining bracket with installed option card into the slot, pressing slightly so it is seated properly. Secure the card retaining bracket with the retaining screws. 5. To remove the option card, follow the instructions in reverse order. 8 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

9 / Installation Instructions Connection and terminal assignment Connection and terminal assignment Part number DeviceNet fieldbus interface type DFD11B: The "DeviceNet interface type DFD11B" option is only possible in conjunction with MOVIDRIVE MDX61B, not with MDX60B. The DFD11B option must be plugged into the fieldbus slot. Front view of DFD11B Description DIP switch Terminal Function DFD 11B MOD/ Net PIO BIO BUS- OFF Mod/Net = Module/network status PIO - Polled I/O BIO - Bit-Strobe I/O BUSOFF The two-color LEDs display the current status of the fieldbus interface and the DeviceNet system: 0 1 NA(5) NA(4) NA(3) S1 NA(2) NA(1) NA(0) DR(1) DR(0) PD(4) PD(3) PD(2) PD(1) PD(0) F3 F2 F1 S2 Six DIP switches for setting of the MAC-ID Five DIP switches for setting the process data length Two DIP switches for setting the baud rate F1... F3: No Function NA(5)... NA(0) PD(4)... PD(0) DR(1)... DR(0) Setting the MAC-ID (Media Access Control Identifier) Setting the process data length ( words) Setting the baud rate: 00 = 125 kbaud 01 = 250 kbaud 10 = 500 kbaud 11 = Invalid X30: DeviceNet connection X30:1 X30:2 X30:3 X30:4 X30:5 V CAN_L DRAIN CAN_H V+ X AXX Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 9

10 / Installation Instructions 3 Connection and terminal assignment Pin assignment The assignment of connecting terminals is described in the DeviceNet specification (Volume I, Appendix A). DFD11B X AXX The DFD11B option card is opto-decoupled on the driver side in accordance with the DeviceNet specification (Volume I, Chapter 9). This means the CAN bus driver must be powered with 24 V voltage via the bus cable. The cable to be used is also described in the DeviceNet specification (Volume I, Appendix B). The connection must be made according to the color code specified in the following table. Pin no. Signal Meaning Color coding 1 V 0V24 BK 2 CAN_L CAN_L BU 3 DRAIN DRAIN Bright 4 CAN_H CAN_H WH 5 V+ 24 V RD Shielding and routing of bus cables Bus termination The DeviceNet interface supports RS-485 communications protocol and requires cable type A specified for DeviceNet in accordance with EN as shielded, twisted-pair cable for the physical connection. Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments. The following measures ensure the best possible shielding: Tighten the mounting screws on the connectors, modules and equipotential bonding conductors by hand. Attach the shielding of the bus line over a large surface on both sides. Do not route signal and bus cables parallel to power cables (motor leads). They must be routed in separate cable ducts. Use metallic, grounded cable racks in industrial environments. Route the signal cable and the corresponding equipotential bonding in close proximity using the shortest way possible. Avoid using plug connectors to extend bus cables. Route the bus cables closely along existing grounding surfaces. In case of fluctuations in the earth potential, a compensating current may flow via the bilaterally connected shield that is also connected to the protective earth (PE). Make sure you supply adequate equipotential bonding according to relevant VDE regulations in such a case. In order to avoid disruptions in the bus system due to reflections, each DeviceNet segment must be terminated with 120 Ω bus terminating resistors at the first and last physical station. Connect the bus terminating resistor between connections 2 and 4 of the bus plug. 10 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

11 / Installation Instructions Setting the DIP switches Setting the DIP switches Before changing a DIP switch setting, disconnect the drive inverter from power (supply voltage and 24 V backup operation). The DIP switch settings are adopted during initialization of the driver inverter only. Setting the MAC-ID The MAC-ID (Media Access Control Identifier) is set on the DFD11B option card with DIP switches S1-NA0...S1-NA5. The MAC-ID represents the node address of the DFD11B. MOVIDRIVE supports the address range Setting the baud rate The baud rate is set with DIP switches S2-DR0 and S2-DR1. DIP switch S2 Baud rate DR1 DR kbaud kbaud kbaud 1 1 Obsolete Setting the process data length Up to ten DeviceNet data words can be exchanged between the DeviceNet interface module and the DFD11B; these data words can be distributed to the process data channel with DIP switches S2-PD0 to S2-PD4. [1] [2] [3] [4] NA5 NA4 NA3 NA2 NA1 NA0 DR1 DR0 PD4 PD3 PD2 PD1 PD0 F3 F2 F1 0 1 S1 S2 [1] Setting the MAC-ID [2] Setting the baud rate [3] Setting the process data length [4] No Function The figure depicts the following settings: MAC-ID: 4 Baud rate: 125 kbaud Process data length: 8 PD 54078AXX Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 11

12 / Installation Instructions 3 Display of operating status DFD11B option card 3.4 Display of operating status DFD11B option card The DFD11B option card is equipped with four two-color LEDs for diagnostics of the DeviceNet system; these indicate the current status of the DFD11B and the DeviceNet system. LED abbreviation Mod/Net PIO BIO BUS-OFF Complete LED designation Module/Network Status Polled I/O Bit-Strobe IO BusOff LED Mod/Net The function of the LED Mod/Net described in the following table is contained in the DeviceNet specification. State Status Meaning Off Not switched on / OffLine Unit is offline Unit is performing DUP-MAC check Unit is switched off Flashes green (1 s cycle) Green light Flashes red (1 s cycle) Red light Online and in operational mode Online, operational mode and connected Minor fault or connection timeout Critical fault or critical link failure The unit is online and no connection has been established DUP-MAC check was performed successfully A connection has not yet been established with a master Missing, incorrect or incomplete configuration Online Connection has been established with a master Connection is active (established state) A correctable error has occurred Polled I/O or/and bit-strobe I/O connections are in timeout state DUP-MAC check has detected an fault A correctable error has occurred BusOff DUP-MAC check has detected an fault PIO LED The PIO LED checks the polled I/O connection. State Status Meaning Flashes green (125 ms cycle) DUP-MAC check Unit is performing DUP-MAC check Off Flashes green (1 s cycle) Green light Flashes red (1 s cycle) Red light Not switched on / offline but not DUP-MAC check Online and in operational mode Online, operational mode and connected Minor fault or connection timeout Critical fault or critical link failure Unit is offline Unit is switched off Unit is online DUP-MAC check was performed successfully A PIO connection is being established with a master (configuring state) Missing, incorrect or incomplete configuration Online A PIO connection has been established (established state) A correctable error has occurred Polled I/O connection is in timeout state A non-correctable fault has occurred BusOff DUP-MAC check has detected an fault 12 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

13 / Installation Instructions Display of operating status DFD11B option card 3 LED BIO The BIO LED checks the bit-strobe I/O connection. State Status Meaning Flashes green (125 ms cycle) DUP-MAC check Unit is performing DUP-MAC check Off Flashes green (1 s cycle) Green light Flashes red (1 s cycle) Red light Not switched on / offline but not DUP-MAC check Online and in operational mode Online, operational mode and connected Minor fault or connection timeout Critical fault or critical link failure Unit is offline Unit is switched off Unit is online DUP-MAC check was performed successfully A BIO connection is being established with a master (configuring status) Missing, incorrect or incomplete configuration Online A BIO connection has been established (established state) A correctable error has occurred Bit-strobe I/O connection is in timeout state A non-correctable fault has occurred BusOff DUP-MAC check has detected an fault BUS-OFF LED The BUS-OFF LED displays the physical status of the bus node. State Status Meaning Off NO ERROR The number of bus errors is in the normal range (error active status). Flashes red (125 ms cycle) Flashes red (1 s cycle) BUS WARNING The unit is performing a DUP-MAC check and cannot send any messages because no other stations are connected to the bus (error passive state). The number of physical bus errors is too high. No more error telegrams are actively written to the bus (error passive state). Red light BUS ERROR BusOff status The number of physical bus errors has increased despite a switch to the error-passive state. Access to the bus is deactivated. Yellow light POWER OFF External voltage supply has been turned off or is not connected. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 13

14 I Project Planning and Startup 4 Startup of the drive inverter 0 4 Project Planning and Startup 4.1 Startup of the drive inverter This section describes how to configure and start up the MOVIDRIVE MDX61B drive inverter with the DFD11B option. You can immediately configure the MOVIDRIVE drive inverter after installation of the DFD11B option and setting of the baud rate and MAC-ID via the fieldbus system without additional manual settings. In this way, you can download all drive parameters from the master programmable controller directly via DeviceNet after the power is switched on. However, to control the drive inverter via the DeviceNet system, you must first switch the drive inverter to the control signal source and setpoint source = FIELDBUS. The FIELDBUS setting means the inverter parameters are set for control and setpoint transfer from the fieldbus. The drive inverter then responds to the process output data sent by the master programmable controller. Activation of the control signal source/setpoint source FIELDBUS is signaled to the higher-level controller using the "Fieldbus mode active" bit in the status word. For safety reasons, the drive inverter must also be enabled at the terminals for control via the fieldbus system. Consequently, the terminals must be wired or programmed in such a way that the inverter is enabled via the input terminals. The simplest way of enabling the drive inverter at the terminals is to connect the DIØØ (function /CONTROLLER INHIBIT) input terminal to a +24 V signal and to program input terminals DIØ1... DIØ5 to NO FUNCTION. The following illustration shows by way of example how to startup the MOVIDRIVE drive inverter with fieldbus interface. 14 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

15 Project Planning and Startup Startup of the drive inverter I 0 4 Procedure for startup of the MOVIDRIVE MDX61B 1. Enable the power output stage at the terminals. Connect the input terminal DIØØ / X13.1 (function /CONTROLLER INHIBIT) to a +24 V signal (for example, using a device jumper) X13: X10: DI00 DI01 DI02 DI03 DI04 DI05 DCOM VO24 DGND ST11 ST12 TF1 DGND DB00 DO01-C DO01-NO DO01-NC DO02 VO24 VI24 DGND Enabling the power output stage via unit jumper [1] 54095AXX + - [1] 24 V ext. DI00 = Controller inhibit DI01 = no function DI02 = no function DI03 = no function DI04 = no function DI05 = no function DCOM = Reference X13:DI00... DI05 VO24 = + 24 V DGND = Reference pot. for binary signals ST11 = RS ST12 = RS TF1 = TF input DGND = Reference pot. for binary signals DB00 = Brake DO01-C = Relay contact DO01-NO = Normally open contact relay DO01-NC = Normally closed contact relay DO02 = /Malfunction VO24 = + 24 V VI24 = + 24 V (external supply) DGND = Reference pot. for binary signals 2. Turn on the external 24 V voltage supply (not mains voltage supply!). You can now configure the drive inverter. 3. Setpoint source = FIELDBUS / control signal source = FIELDBUS. Set the setpoint source and control signal source parameters to FIELDBUS to control the drive inverter via a fieldbus. P100 Setpoint source = FIELDBUS P101 Control signal source = FIELDBUS 4. Input terminals DIØ1... DIØ5 = NO FUNCTION. Set the function of the input terminals to NO FUNCTION. P600 Terminal programming DIØ1 = NO FUNCTION P601 Terminal programming DIØ2 = NO FUNCTION P602 Terminal programming DIØ3 = NO FUNCTION P603 Terminal programming DIØ4 = NO FUNCTION P604 Terminal programming DIØ5 = NO FUNCTION For more information on startup and control of the MOVIDRIVE drive inverter, refer to the "MOVIDRIVE Fieldbus Unit Profile" manual. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 15

16 I Project Planning and Startup 4 Startup of the drive inverter 0 Power-UP test A power-up test of all LEDs takes place once the drive inverter has been switched on. The LEDs are switched on in the following sequence as part of the test: Time in [ms] LED Mod/Net PIO LED LED BIO BUS-OFF LED 0 Green Off Off Off 250 red Off Off Off 500 Off Green Off Off 750 Off red Off Off 1000 Off Off Green Off 1250 Off Off red Off 1500 Off Off Off Green 1750 Off Off Off red 2000 Off Off Off Off If there is no 24 V supply voltage at the fieldbus (X30:1, X30:5), the LED BUS-OFF will be yellow ( Operating displays of DFD11B option). 16 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

17 Project Planning and Startup Building the DeviceNet network with the RSNetWorx software I Building the DeviceNet network with the RSNetWorx software Installing the EDS file Install the following files with the RSNetWorx software to build the DeviceNet network with the DFD11B option: EDS file: DFD11B.eds Icon file: DFD11B.ico Figure 3: EDS file list 54173AXX Proceed as follows: Select the menu item <Tools/EDS-Wizard> in RSNetWorx. You will be prompted to enter the names of the EDS and Icon file. The files will be installed. More details on the installation of the EDS file can be found in the Allen Bradley documentation for RSNetWorx. After installation, the device is available in the device list under the entry SEW Device Profile/SEW-EURODRIVE DFD11B. Additional information on current EDS files as well as information on DeviceNet are available at the following Internet addresses: SEW-EURODRIVE: Allen Bradley: Open Device Net Vendor Association: Connecting the device to an existing network All EDS files are automatically read in after the RSNetWorx software is started. The device list contains all devices which have been defined by an EDS file. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 17

18 I Project Planning and Startup 4 Process data exchange Process data exchange Polled I/O The polled I/O messages correspond to the process data telegrams of the SEW fieldbus profile. Up to ten process data words can be exchanged between the control and the inverter in this case. The process data length is set via DIP switches S2-PD0... S2-PD4. The set process data length influences the process data lengths of both the polled I/O and the bit-strobe I/O messages. The process data length of the bit-strobe I/O messages can include up to four process data words. If the value for the process data length set via DIP switches is less than four, it will be accepted. If the value set via DIP switches is greater than four, the process data length will be automatically limited to four. Configuration for process data words The process data length for the process data configuration is set to 3 at the factory. The value can be set via DIP switches S2-PD0... S2-PD4. This setting is displayed via the parameters DeviceNet PD configuration = 3PD or 3PD + Param in MOVITOOLS or via the DBG60B keypad. This means three process data words (6 bytes) are processed in the inverter and three process input data words are sent to the control. No process data are processed or sent back if the control transmits more than ten process output data words. Three process data words are processed and three process input data words are sent from the inverter to the control if the control transmits three process output data words. PLC address range Output file O:3.10 PD 1 O:3.11 O:3.12 PD 2 PD 3 PD 1 PD 2 PD 3 PD MOVIDRIVE MDX61B Input file I:3.10 I:3.11 PD 1 PD 2 PD 3 PD 10 PD 1 PD 2 PD /- 0. I:3.12 Figure 4: Three process data words in the PLC memory 54191AEN 18 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

19 Project Planning and Startup Process data exchange I 0 4 The process output data are stored in the output file of the PLC and the process input data of the PLC are stored in the input file. In the example above, the output data words O:3.10, O:3.11 and O:3.12 are copied to process output data words 1, 2 and 3 and processed by the inverter. The inverter sends back three process input data words that are copied into input data words I:3.10, I:3.11 and I:3.12 of the PLC. If you select a different process data length, you will have the expand the memory to be managed in the PLC as well. If the process data length is set to 10, you will have to configure 10 process output data words and 10 process input data words. Timeout response with polled I/O The timeout is triggered by the DFD11B option. The timeout time must be set by the master after the connection has been established. The DeviceNet specification refers to an "expected packet rate" rather than a timeout time in this case. The expected packet rate is calculated on the basis of the timeout interval using the following formula: t Timeout_inverter = t Timeout interval_polledio = 4 x t Expected_Packet_Rate_PolledIO The expected packet rate can be set using the connection object class 5, instance 2, attribute 9. The range of values runs from 0 ms to ms in 5 ms steps. The expected packet rate for the polled I/O connection is converted into the timeout interval and displayed in the device and the timeout interval in parameter P819. This timeout interval is retained in the device whenever the polled I/O connection is dropped, and the device switches to timeout status after the timeout interval has elapsed. The timeout interval must not be altered in the inverter using MOVITOOLS or the DBG60B keypad, because it can only be activated via the bus. If a timeout occurs for the polled I/O messages, this connection type enters timeout status. Incoming polled I/O messages are no longer accepted. The timeout causes the timeout reaction set in the inverter to be carried out. The timeout can be reset with DeviceNet by means of the reset service of the connection object (class 0x05, instance 0x02, undetermined attribute), by disconnecting the connection, by means of the reset service of the identity object (class 0x01, instance 0x01, undetermined attribute) or with the reset bit in the control word. Bit-strobe I/O Bit-strobe I/O messages are not contained in the SEW fieldbus profile. The messages represent a DeviceNet-specific process data exchange. The master sends a broadcast message that is 8 bytes (= 64 bits) long. One bit in this message is assigned to each station in accordance with its station address. The value of this bit may be 0 or 1, and thereby trigger two different reactions in the recipient. Bit value Meaning LED BIO 0 Send back the process input data only Green light 1 Trigger fieldbus timeout reaction and send back process input data Green light Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 19

20 I Project Planning and Startup 4 Process data exchange 0 Important: The BIO LED on the front of the DFD11B option can be used for distinguishing between the timeout triggered by the bit-strobe telegram and a real timeout in the connection. It remains continuously green if the timeout is triggered by the bit-strobe telegram. If the BIO LED flashes red, this means there is a timeout in the bit-strobe connection and no more bit-strobe telegrams are accepted. Each station that has received this bit-strobe I/O message responds with its current process input data. The length of the process input data corresponds to the process data length for the polled I/O connection. The process input data length can be up to four process data. The following table shows the data area of the bit-strobe request telegram which represents the allocation of stations (= station address) to data bits. Example: For example, the station with station address (MAC-ID) 16 only processes bit 0 in data byte 2. Byte offset ID 7 ID 6 ID 5 ID 4 ID 3 ID 2 ID 1 ID 0 1 ID 15 ID 14 ID 13 ID 12 ID 11 ID 10 ID 9 ID 8 2 ID 23 ID 22 ID 21 ID 20 ID 19 ID 18 ID 17 ID 16 3 ID 31 ID 30 ID 29 ID 28 ID 27 ID 26 ID 25 ID 24 4 ID 39 ID 38 ID 37 ID 36 ID 35 ID 34 ID 33 ID 32 5 ID 47 ID 46 ID 45 ID 44 ID 43 ID 42 ID 41 ID 40 6 ID 55 ID 54 ID 53 ID 52 ID 51 ID 50 ID 49 ID 48 7 ID 63 ID 62 ID 61 ID 60 ID 59 ID 58 ID 57 ID 56 PLC address range Output file O:3.10 O:3.11 O:3.12 O: Bit 16 1 Station address (MAC-ID) = 16 Input file PD 1 PD 2 PD 3 I:3.10 I:3.11 I:3.12 PD 1 PD 2 PD 3 +/- 0. Figure 5: Bit-strobe I/O messages 54192AEN In the example above, the bit-strobe I/O message is stored in memory words O:3.10 to O:3.13. The inverter sends three process input data words to the PLC; these are stored in the input file in input data words I:3.10 to I:3.12. Important: The process data length set via DIP switches influences the process data lengths of both the polled I/O and the bit-strobe I/O messages. The process data length of the bit-strobe I/O messages can include up to four process data words. 20 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

21 Project Planning and Startup Process data exchange I 0 4 Timeout response with bitstrobe I/O The timeout is triggered by the DFD11B option. The timeout time must be set by the master after the connection has been established. The DeviceNet specification refers to an "expected packet rate" rather than a timeout time in this case. The expected packet rate is calculated on the basis of the timeout interval using the following formula: t Timeout_BitStrobeIO = 4 x t Expected_Packet_Rate_BitStrobeIO It can be set using connection object class 5, instance 3, attribute 9. The range of values runs from 0 ms to ms in 5 ms steps. If a timeout occurs for the bit-strobe I/O messages, this connection type enters timeout status. Incoming bit-strobe I/O messages are no longer accepted. The timeout is not passed on to the inverter. The timeout reset takes place as follows: via DeviceNet with the reset service of the connection object (class 0x05, instance 0x03, undetermined attribute) by interrupting the connection via reset service of the identity object (class 0x01, instance 0x01, undetermined attribute) Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 21

22 I Project Planning and Startup 4 Parameter data exchange Parameter data exchange The SEW parameter data channel The SEW parameter data channel represents a connection you can use to change or read parameters in the inverter. It is represented on the DFD11B option in form of Explicit Messages. Access to the SEW parameter data channel is by means of the register object (class 7) and the parameter object (class 15). Register object class (class 7) You address the SEW parameter data channel with the Get_Attribute_Single and Set_Attribute_Single services. The following possibilities for addressing the parameter data channel derive from the way the register object is specified by DeviceNet so that INPUT objects can only be read and OUTPUT objects can be read and written. Resulting MOVILINK service with Instance INPUT / OUTPUT Get_Attribut_Single Set_Attribut_Single 1 INPUT READ Invalid 2 OUTPUT READ WRITE 3 OUTPUT READ WRITE VOLATILE 4 INPUT READ MINIMUM Invalid 5 INPUT READ MAXIMUM Invalid 6 INPUT READ DEFAULT Invalid 7 INPUT READ SCALING Invalid 8 INPUT READ ATTRIBUTE Invalid 9 INPUT READ EEPROM Invalid 22 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

23 Project Planning and Startup Parameter data exchange I 0 4 Get_Attribut_Single Input (Instance 1) READ Get_Attribut_Single Set_Attribut_Single Output (Instance 2) WRITE Get_Attribut_Single Set_Attribut_Single Output (Instance 3) WRITE VOLATILE Get_Attribut_Single Input (Instance 4) READ MINIMUM DPRAM Get_Attribut_Single Input (Instance 5) READ MAXIMUM Get_Attribut_Single Input (Instance 6) READ DEFAULT Get_Attribut_Single Input (Instance 7) READ SCALING Get_Attribut_Single Input (Instance 8) READ ATTRIBUTE Get_Attribut_Single Input (Instance 9) READ EEPROM DeviceNet SEW fieldbus profile Figure 6: Description of the parameter channel 54185AEN Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 23

24 I Project Planning and Startup 4 Parameter data exchange 0 The following table shows the attributes (column "Attribute") of the eight instances (column "Instance") of the register object. Class Instance Attribute Get Set Type Type/Value Meaning 0x07 0x01 1 X BOOL 0/1 Bad Flag (Read) 2 X BOOL 0 (Input) Direction 3 X UINT 16 bit Size 0x02 (Read /Write) 0x03 (Read/Write-Volatile) 0x04 (Read Minimum) 0x05 (Read Maximum) 0x06 (Read Default) 0x07 (Read Scaling) 0x08 (Read Attribute) 0x09 (Read EEPROM) 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 48 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 16 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 16 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 16 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 16 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 16 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 16 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 1 X BOOL 0/1 Bad Flag 2 X BOOL 1 (Output) Direction 3 X UINT 16 bit Size 4 X X ARRAY BITS 2 byte index 4 byte data Data 24 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

25 Project Planning and Startup Parameter data exchange I 0 4 Explanation of attributes Attribute 1 Bad flag signals whether an error occurred in the previous service. Attribute 2 represents the direction of the instance Attribute 3 indicates the data length in bits Attribute 4 represents the parameter data. They are made up of the index (2 bytes) and the data (4 bytes). You transmit the values with the Get_Attribute_Single and Set_Attribute_Single services. Coding Meaning Get_Attribut_Single 0x0E Read attribute Set_Attribut_Single 0x10 Write attribute Example Parameter Setpoint description PO1 (index 8304 = 2070 hex ) is to receive the value CONTROL WORD1 (9). The following table shows the file format for the parameter request telegram. Byte offset Function MAC-ID Class Instance Attribut es Index Data Significance Example Low High LSB MSB 01 hex 10 hex 07 hex 02 hex 04 hex 70 hex 20 hex 09 hex 00 hex 00 hex 00 hex The following table shows the file format for the parameter response telegram. Byte offset Function MAC-ID Index Data Significance Low High LSB MSB Example 01 hex 90 hex 70 hex 20 hex 09 hex 00 hex 00 hex 00 hex PLC address range Output data Header (, Class...) Index = 2070h Data Low-word =0009h Data High-word =0000h Header Index Data Low-Word Data High-Word Header Index Data Input data Header (, Class...) Index = 2070h Data Low-word =0009h Data High-word =0000h Header Header Index Data Low-Word Data High-Word Index Data /- 0. Figure 7: Parameter data exchange 54183AEN Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 25

26 I Project Planning and Startup 4 Parameter data exchange 0 Parameter object class (class 15) The fieldbus parameters of the inverter can be addressed directly via the instance with the parameter object. The data format for these instances deviates from the SEW fieldbus profile to meet the DeviceNet specification. It is possible to address all parameters of the inverter via the parameter object. Instances 1 to 9 have been reserved for this purpose. General SEW parameter data channel You can use the RSNetWorx software to set the inverter parameters via the parameter object. Because not all parameters are listed in the EDS file, instances have been defined in the parameter object 2 that emulate the SEW parameter data channel with its MOVILINK services. No. Group Name Comment 1 SEW Parameter Channel SEW param. index Index of the parameter 2 SEW Parameter Channel SEW-Read/Write Read or write the value of the parameter You will first have to write the desired index to the SEW-Param.-Index before you can read or write a parameter. You can then read or write the SEW parameter data via instance 2. That means you have to perform two services to read or write a parameter. The file format of the SEW-Read/Write, SEW-Read/WriteVo, SEW-Minimum, SEW-Maximum, SEW-Default, SEW-Scaling and SEW-Attribute services corresponds to the SEW communication profile MOVILINK. Writing or reading the fieldbus parameters The parameters required for operating the fieldbus have been directly incorporated into the parameter object. They can be addressed directly via the instance. No. Group Name Meaning 3R Device Identification Part number device 4 Control source Control signal source 5 Setpoint source Setpoint source 6R PD configuration Process data configuration 7 Setp.descr.PO1 Process output data assignment for PD1 8 Setp.descr.PO2 Process output data assignment for PD2 9 Setp.descr.PO3 Process output data assignment for PD3 10 Device parameter Act.v.descr. PI1 Process input data assignment for PD1 11 Act.v.descr. PI2 Process input data assignment for PD2 12 Act.v.descr. PI3 Process input data assignment for PD3 13 PO Data Enable Enable process data 14 Timeout response Timeout response 15R Fieldbus type Fieldbus type 16R Baud rate Baud rate via DIP switches 17R Station address MAC-ID via DIP switches R = Read only 26 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

27 Project Planning and Startup Parameter data exchange I 0 4 Process output data monitor (PO monitor) Use these parameters to monitor the process output data sent by the control. No. Group Name Meaning 18R PO1 setpoint Monitor of process output data word 1 19R PO2 setpoint Monitor of process output data word 2 20R PO3 setpoint Monitor of process output data word 3 21R PO4 setpoint Monitor of process output data word 4 22R PO5 setpoint Monitor of process output data word 5 PO monitor 23R PO6 setpoint Monitor of process output data word 6 24R PO7 setpoint Monitor of process output data word 7 25R PO8 setpoint Monitor of process output data word 8 26R PO09 setpoint Monitor of process output data word 9 27R PO10 setpoint Monitor of process output data word 10 R = Read only Process input data monitor (PI monitor) Use these parameters to monitor the process input data sent to the control. No. Group Name Meaning 28R PI1 actual value Monitor of process input data word 1 29R PI2 actual value Monitor of process input data word 2 30R PI3 actual value Monitor of process input data word 3 31R PI4 actual value Monitor of process input data word 4 32R PI5 actual value Monitor of process input data word 5 PI monitor 33R PI6 actual value Monitor of process input data word 6 34R PI7 actual value Monitor of process input data word 7 35R PI8 actual value Monitor of process input data word 8 36R PI9 actual value Monitor of process input data word 9 37R PI10 actual value Monitor of process input data word 10 R = Read only Scaling and representation within the telegram correspond to the DeviceNet specification and are identical to the SEW communication profile. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 27

28 I Project Planning and Startup 4 Return codes for parameter setting Return codes for parameter setting SEW-specific return codes The return codes which the inverter sends back in the event of incorrect parameter setting are described in the manual for the "SEW Fieldbus Device Profile" and do not form part of this documentation. However, the return codes are sent back in a different format in conjunction with DeviceNet. The following table shows the data format for a parameter response telegram. Byte offset Function MAC-ID code [=94hex] General Error Code Additional code Example 01 hex 94 hex 1F hex 10 hex The code of an error telegram is always 94h hex The General Error Code of an inverter-specific return code is always 1F hex = proprietary error The additional code is identical to the additional code described in the SEW fieldbus device profile manual. The table shows the proprietary error10 hex = Illegal parameter index. Return codes from DeviceNet DeviceNet-specific return codes are sent in the error telegram if the data format is not maintained during the transfer or if a service is performed which has not been implemented. The coding of these return codes is described in the DeviceNet specification ( section " Appendix"). Timeout of explicit messages The timeout is triggered by the DFD11B option. The timeout time must be set by the master after the connection has been established. The DeviceNet specification refers to an expected packet rate" rather than a timeout time in this case. The expected packet rate is calculated on the basis of the timeout interval using the following formula: t Timeout_ExplicitMessages = 4 x t Expected_Packet_Rate_ExplicitMessages It can be set using connection object class 5, instance 1, attribute 9. The range of values runs from 0 ms to ms in 5 ms steps. If a timeout is triggered for the explicit messages, the connection for the explicit messages is automatically dropped providing the polled I/O or bit-strobe I/O connections are not in the ESTABLISHED state. This is the default setting for DeviceNet. The connection for explicit messages must be re-established to communicate with these messages again. The timeout is not forwarded to the inverter. 28 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

29 / / /- 0. Sample Application with PLC Type SLC500 Return codes for parameter setting 5 5 Sample Application with PLC Type SLC500 RSLogic500 for SLC 9324-RL0300END System configuration DeviceNet Power section Chassis 1746-A7 Power section 1746-P2 PC PC RS232C 1747-CP3 16 SLC500 outputs 1747-L542 RS232C 1747-CP3 16 inputs DeviceNet Scanner 1 MAC-ID 1 MAC-ID 11 Adapter 16 inputs Terminal module 1794-TB2 MAC-ID 10 Adapter 16 inputs 1747-SDN 1746-IB OB ADN 1794-IB ADN1794-OV16 Terminal module 1794-TB2 Terminating resistor DeviceNet (remote line 1485C-P1-A50) Terminating resistor 1485A-C2 1485A-C2 MAC-ID 0 MAC-ID 8 MAC-ID 4 Figure 8: PLC equipment configuration The following devices are employed: 54179AEN Device MAC-ID SLC5/04 - DeviceNet scanner 1747-SDN 1 INPUT module with 32 inputs - OUTPUT module with 32 outputs - DeviceNet adapter with input module with 16 inputs 11 DeviceNet with output module 16 outputs 10 MOVIDRIVE MDX61B with DFD11B 8 MOVIDRIVE MDX61B with DFD11B 0 MOVIDRIVE MDX61B with DFD11B 4 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 29

30 Sample Application with PLC Type SLC500 5 Return codes for parameter setting The following memory areas have been specified with the DeviceNet manager software: ******************************************************************* 1747-SDN Scanlist Map ****************************************************************** Discrete Input Map: I:3,000 R R R R R R R R R R R R R R R R Status word of the scanner I:3, Process data from device 11 I:3, Process data from device 11 I:3, Process data from device 10 I:3, Process data from device 10 I:3, PID1 device 8 Polled IO I:3, PID2 device 8 Polled IO I:3, PID3 device 8 Polled IO I:3, PID1 device 8 Bit-Strobe I/O I:3, PID2 device 8 Bit-Strobe I/O I:3, PID3 device 8 Bit-Strobe I/O I:3, PID1 device 0 Polled IO I:3, PID2 device 0 Polled IO I:3, PID3 device 0 Polled IO I:3, PID1 device 0 Bit-Strobe I/O I:3, PID2 device 0 Bit-Strobe I/O I:3, PID3 device 0 Bit-Strobe I/O I:3, PID1 device 4 Polled IO I:3, PID2 device 4 Polled IO I:3, PID3 device 4 Polled IO I:3, PID1 device 4 Bit-Strobe I/O I:3, PID2 device 4 Bit-Strobe I/O I:3, PID3 device 4 Bit-Strobe I/O Discrete Output Map: O:3,000 R R R R R R R R R R R R R R R R Status word of the scanner O:3, Process data to device 11 O:3, Process data to device 10 O:3, POD1 device 8 Polled IO O:3, POD2 device 8 Polled IO O:3, POD3 device 8 Polled IO O:3, POD1 device 0 Polled IO O:3, POD2 device 0 Polled IO O:3, POD3 device 0 Polled IO O:3, POD1 device 4 Polled IO O:3, POD2 device 4 Polled IO O:3, POD3 device 4 Polled IO O:3, Bit-Strobe for device 8 The Bit-Strobe data are contrasted to the Polled I/O data in bold. 30 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

31 Sample Application with PLC Type SLC500 Exchange of polled I/O (process data) Exchange of polled I/O (process data) Objective In the following program, process data are to be sent to a MOVIDRIVE MDX61B and the motor should run at a different speed. The program sequence is shown in the following figure. Cycle 0 START Speed = 1000 rpm, Enable Cycle 1 Speed = 0 rpm, Rapid stop Cycle 2 Speed = -400 rpm, Enable Cycle 3 Speed = 0 rpm, Rapid stop Figure 9: Program sequence 54178AEN The parameters listed in the following table must be set in the MOVIDRIVE MDX61B drive inverter for exchange of the process data. Menu no. Index Parameter Value Setpoint source Fieldbus Control signal source Fieldbus Process output data description 1 Control word Process output data description 2 Speed Process output data description 3 No function Process output data description 1 Status word Process output data description 2 Speed Process output data description 3 No function PO data enable YES MOVIDRIVE MDX61B now works in fieldbus mode and can receive process data. The program can now be written for the SLC500. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 31

32 Sample Application with PLC Type SLC500 5 Exchange of polled I/O (process data) Start DeviceNet communication Status engine for control of sense of rotation Output of the status engine If status > 3, change to status AEN Output bit O:3.0/0 is set in rung 0 (program line 0), thereby starting DeviceNet communication ( description of the DeviceNet scanner). Rungs 1 and 3 implement the status engine with which states are implemented. The current status is written to the outputs O:1.0 of the output module of the SLC500 in rung 2. The process data values are output to the scanner memory area in the following figure. If status > 3, change to status 0 Status 0: Start motor, speed = 1000 rpm Status 1: Stop motor 01913AEN 32 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

33 Sample Application with PLC Type SLC500 Exchange of polled I/O (process data) 5 Status 0 is created in rung 4. In this status, a 6 (ENABLE) is written to memory area O:3.3 which represents process output data word 1. A 5000 is written to memory area O:3.4 (process output data word 2), which represents 1000 min 1. This means the motor runs at 1000 revolutions. Status 1 is created in rung 5. In this status, a 0 (RAPID STOP) is written to memory area O:3.3 which represents process output data word 1. A 0 is written to memory area O:3.4 (process output data word 2), which represents the value 0 min 1. This means the motor is stopped with the rapid stop. States 2 and 3 are treated similarly to states 0 and 1, and are thus not explained any further. In the figure above, the current actual value of the device with address 8, which is located in memory area I:3.6 (process input data word 2), is multiplied by a constant factor (in this case, by 1) and written to output memory area O:3.7 (process output data word 2 of the device with address 0). In addition, the value 6 (ENABLE) is written to the process output data word 1 of the device with address 0 (O:3.6). Thus, the device with address 0 follows the actual speed with enable signal from the device with address 8. Transmit actual position from motor 1 to motor AEN Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 33

34 Sample Application with PLC Type SLC500 5 Exchange of bit-strobe I/O 5.2 Exchange of bit-strobe I/O Objective In the following program the process input data are to be requested from the MOVIDRIVE drive inverter. Set the parameters listed in the following table in the inverter for process data exchange. Menu no. Index Parameter Value Setpoint source Fieldbus Control signal source Fieldbus Process output data description 1 Control word Process output data description 2 Speed Process output data description 3 No function Process output data description 1 Status word Process output data description 2 Speed Process output data description 3 No function PO data enable YES Response FIELDBUS TIMEOUT Rapid st. / Warn. MOVIDRIVE now works in fieldbus mode and can receive process data. The program can now be written for the PLC of the SLC500. Start DeviceNet communication Send Bit-Strobe message Set / reset Strobe bit Transmit actual values from the device to the output module 01915AEN DeviceNet communication is enabled again in rung 0. In rung 1, the strobe-bit of device 8 is set in relationship to the input bit I:3.2/0 (from the DeviceNet input module). In rung 2, process input data word 1 (I:3.8) is copied to the DeviceNet output module via memory word O:3.12 and process input data word 2 (I:3.9) is copied to the SLC500 output module via memory word O: Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

35 Sample Application with PLC Type SLC500 Exchanging explicit messages (parameter data) Exchanging explicit messages (parameter data) Objective In this program, parameter data are exchanged between the control and the inverter. Exchange of parameter data between inverter and SLC500 takes place via M-Files ( Installations instructions on DeviceNet scanner module). A memory area from word 224 to 255 in these M-files is reserved for explicit messages. The structure of this memory area is shown in the following figure. Transmission header TXID Connection cmd/status Size MAC-ID Word 224 Word 225 Word 226 Explicit Message Body Class Instance Attribute Data Word 227 Word 228 Word 229 Word Word AEN This memory area is split up into two areas: Transmission header (three words) Explicit message body The memory areas in the M-Files are described in more detail in the following overview. Memory area Function Length Value Description Transmission header cmd/status following cmd: Entry of command code table status: Entry of transmission status TXID During creation or downloading of a request to the scanner, the contact plan program of the SLC5 processor assigns a TXID to the transfer. Explicit message body Size Size of the explicit message body (in 1/2 word bytes!) each Connection 0 DeviceNet connection (= 0) 0E hex 10 hex 05 hex etc. Get_Attribute_Single (Read) Set_Attribute_Single (Write) Reset see DeviceNet specification for more services Class DeviceNet class Instance 1 word each DeviceNet instance Attributes DeviceNet attribute Data words Data content Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 35

36 Sample Application with PLC Type SLC500 5 Exchanging explicit messages (parameter data) The following overviews offer a description of the command and status codes. Command codes: Command code (cmd) Description 0 Ignore transmission block 1 Execute transmission block 2 Receive transmission status 3 Reset all client/server transmissions 4 Delete transmission from queue Reserved Status codes: Network node status (status) Description 0 Ignore transmission block 1 Transmission completed successfully 2 Transmission in progress 3 Error Slave device not in the scan list 4 Error Slave is offline 5 Error DeviceNet network connection deactivated (offline) 6 Error Unknown transmission TXID 7 Not used 8 Error Invalid command code 9 Error Scanner buffer full 10 Error Other client/server transmission in progress 11 Error No connection to slave device 12 Error Response data are too long for the block 13 Error Invalid connection 14 Error Invalid size specified 15 Error Busy Reserved 36 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

37 Sample Application with PLC Type SLC500 Exchanging explicit messages (parameter data) 5 The M-files are divided into a request file (M0-file) and a response file (M1-file). Data transmission takes place as shown in the following figure. PLC SLC500 Scanner 1747-SDN Request of a transmission block 1.M0-File Scanner request waiting loop 2. DeviceNet Explicit Message Request MOVIDRIVE MDX61B Execute Contact plan scanning Process requests and responses Response of a transmission block 4.M1-File Ready or Error Scanner response waiting loop 3. DeviceNet Explicit Message Response /- 0. Figure 10: Transmission of an explicit message 54175AEN Register object class (7 hex ) must be used in order to read (instance 1 to 9) or write (instance 2 and 3) parameters from the inverter via the SEW parameter data channel. The data range is divided into the index (1 word) and the parameter data (2 words). Transimission header TXID Connection cmd/status Size MAC-ID Word 224 Word 225 Word 226 Explicit Message Body Class Instance Attribute Index Data word Low (HEX) Data word High (HEX) Word 227 Word 228 Word 229 Word 230 Word 231 Word AEN Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 37

38 Sample Application with PLC Type SLC500 5 Exchanging explicit messages (parameter data) In the sample program, a data area is reserved in the integer file (N-file, following figure), into which the data of the M0/M1 files are written AXX The data telegram to be used is written in N7:0 to N7:8. N7:10 to N7:15 hold the data that are to be received. Word length Request Function Value 1 TXID 1 cmd: 1 = Start 2 Connection 0 Size 8 3 E hex = Read Request MAC_ID 8 4 Class 7 5 Instance 1 6 Attributes 4 7 Data hex 8 Data 2 0 hex 9 Data 3 0 Word length Response Function Value TXID 1 status 1 = successful Connection 0 Size 6 8 hex = Read Response MACID 8 4 Data hex 5 Data 2 9 hex 6 Data Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

39 Sample Application with PLC Type SLC500 Exchanging explicit messages (parameter data) 5 The SEW parameter data channel can be addressed via Class 7, Instance and Attribute 4 ( Statement of Conformance). In rung 5, the 9 bytes starting from N7:0 are copied into the M0-file with a rising edge of bit B3:0/1. This starts the reading of parameter 8304 (2070 hex ). In rung 6, the system waits for the rising edge of scanner bit I:3.0/15. I:3.0/15 shows that the data are present. Request profile B3:0/1 can then be reset. At this point, the received data still have to be written into the N-file. To this end, nine words of the M1-files N7: are written. Write transmit data Read receive data 01921AEN Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 39

40 n kva 6 f Technical Data i DFD11B option P Hz 6 Technical Data 6.1 DFD11B option DFD11B option Part number Power consumption P = 3 W Communication protocol Master/slave connection set acc. to DeviceNet specification version 2.0 Number of process data words Baud rate Bus cable length Adjustable via DIP switches: process data words process data words with Bit-Strobe I/O 125, 250 or 500 kbaud, to be set via DIP switches For thick cable according to DeviceNet specification 2.0 Appendix B 500 m at 125 kbaud 250 m at 250 kbaud 100 m at 500 kbaud Transmission level ISO V Connection technology 2-wire bus and 2-wire supply voltage 24 V DC with 5-pole Phoenix terminal Pin assignment acc. to DeviceNet specification MAC-ID , can be set using DIP switch Max. 64 stations Supported services Polled I/O: words Bit-Strobe I/O: words Explicit messages: Get_Attribute_Single Set_Attribute_Single Reset Allocate_MS_Connection_Set Release_MS_Connection_Set Tools for startup MOVITOOLS software package from version 4.20 DBG60B keypad Firmware status of Firmware status or above ( display with P076) MOVIDRIVE MDX61B 40 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

41 Appendix General error codes (error messages) 7 7 Appendix 7.1 General error codes (error messages) General error Error name Description code (hex) Reserved for DeviceNet 02 Resource unavailable The source required for performing the service is unavailable Reserved for DeviceNet 08 not supported The service is not supported for the selected class/instance 09 Invalid attribute value Invalid attribute data have been sent 0A Reserved for DeviceNet 0B Already in requested The selected object is already in the requested mode/state mode/state 0C Object state conflict The selected object cannot perform the service in its current status 0D Reserved for DeviceNet 0E Attribute not settable It is not possible to access the selected object for writing. 0F Pivilege violation Violation of access entitlement 10 Device state conflict The current status of the device makes it impossible to perform the required service 11 Reply data too large The length of the transmitted data is longer than the size of the receive buffer 12 Reserved for DeviceNet 13 Not enough data The length of the transferred data is too short for the service to be performed 14 Attribute not supported The selected attribute is not supported 15 Too much data The length of the transferred data is too long for the service to be performed 16 Object does not exist The selected object is not implemented in the device 17 Reserved for DeviceNet 18 No stored attribute data The requested data have not been stored previously 19 Store operation failure The data could not be stored because an error occurred while saving them 1A - 1E Reserved for DeviceNet 1F Vendor specific error Vendor specific error ( Manual"SEW Fieldbus Device Profile") 20 invalid parameter Invalid parameter This error message is used when a parameter does not satisfy the requirements of the specification and/or the requirements of the application CF Future extensions Reserved by DeviceNet for additional definitions D0 - DF Reserved for Object Class and service errors Use this area if an occurring error cannot be entered in one of the error groups listed above. Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 41

42 Appendix 7 Statement of Conformance 7.2 Statement of Conformance Device Net Statement of Conformance SOC data as of Fill in the blank or X the appropriate box General Conforms to DeviceNet Specification Volume I - Release 2.0 Volume II - Release 2.0 Device Errata Data Vendor Name SEW Eurodrive GmbH Device Profile Vendor Specific Product Name SEW-MOVIDRIVE-DFD11B Product Code 10 Product Revision 1.01 DeviceNet Physical Network Power Consumption (Max) 0,4 11V dc (worst case) Conformance Data Connector Style Open-Hardwired Sealed-Mini Open-Pluggable X Sealed-Micro Isolated Physical Layer LEDs Supported Module Combo Mod/Net X None Network I/O MAC ID Setting DIP Switch X Software Settable Other Yes No Default MAC ID 63 Communication Rate Setting DIP Switch X Software Settable Other Communication Rates Supported 125k bit/s X 500k bit/s X 250k bit/s X DeviceNet Device Network Behavior Group 2 Client Group 2 Only Client Communication Check All That Apply Group 2 Server Group 2 Only Server X Data Peer-To-Peer Tool (not a Device) UCMM Explicit Message Groups Supported Group 1 Group 2 Group 3 Dynamic I/O Message Groups (Peer to Peer) Group 1 Group 2 Group 3 Default I/O Data Address Path Input: Class 4 Inst. 64 Attr. 3 Output: Class 4 Inst. 64 Attr. 3 Fragmented Explicit Messaging Supported Yes No If yes, Acknowledge TimeOut 1000 ms Typical Target Addresses Consumption 16 Class 1 Inst. 1 Attr. 7 Production 14 Class 1 Inst. 1 Attr. 7 1 of AXX 42 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

43 Appendix Statement of Conformance 7 Device Net Statement of Conformance DeviceNet Identity Object 0x01 Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 Revision Implementation 2 Max instance X None Supported 3 Number of Instances 4 Optional attributes list s 5 Optional services list 6 Max Id of class attributes 7 Max Id of instance attributes DeviceNet s Get_Attributes_All Reset Parameter Options X None Supported Get_Attribute_Single Find_Next_Object_instance Object Instance ID Description Get Set Value Limits Attributes Open 1 Vendor X =(315) 2 Device type X =(100) 3 Product code X =(10) 4 Revision X =(1.01) 5 Status (bits supported) X 6 Serial number X 7 Product name X SEW-MOVIDRIVE-DFD11B s 8 State 9 Config. Consistency Value 10 Heartbeat Interval DeviceNet s Parameter Options Get_Attributes_All X Reset 0 X Get_Attribute_Single Set_Attribute_Single Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 2 of AXX Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 43

44 Appendix 7 Statement of Conformance Device Net Statement of Conformance DeviceNet Message Router Object 0x02 Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 Revision Implementation 2 Max instance X None Supported 3 Number of Instances 4 Optional attribute list 5 Optional service list 6 Max ID of class attributes 7 Max ID of instance attributes DeviceNet s Parameter Options s Get_Attributes_All Get_Attribute_Single X None Supported Object Instance ID Description Get Set Value Limits Attributes Open 1 Object list 2 Maximum connections supported X None Supported 3 Number of active connections 4 Active connections list s X None Supported DeviceNet s Get_Attributes_All Get_Attribute_Single Set_Attribute_Single Parameter Options Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 3 of AXX 44 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

45 Appendix Statement of Conformance 7 Device Net Statement of Conformance DeviceNet DeviceNet Object 0x03 Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 Revision X =(2) Implementation 2 Max instance None Supported 3 Number of Instances 4 Optional attribute list 5 Optional service list 6 Max ID of class attributes 7 Max ID of instance attributes DeviceNet s Parameter Options s Get_Attribute_Single X None Supported Object Instance ID Description Get Set Value Limits Attributes Open 1 MAC ID X =(0..63) 2 Baud rate X =(0..2) None Supported 3 BOI X =(0) 4 Bus-off counter X X =(0..255) 5 Allocation information X 6 MAC ID switch changed X =(0) 7 Baud rate switch changed X =(0) 8 MAC ID switch value X =(0..63) 9 Baud rate switch value X =(0..2) DeviceNet s s X Get_Attribute_Single X Set_Attribute_Single None Supported X Allocate M/S connection set X Release M/S connection set Parameter Options Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 4 of AXX Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 45

46 Appendix 7 Statement of Conformance Device Net Statement of Conformance DeviceNet Connection Object 0x05 Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 R evision Implementation X None Supported 2 Max instance 3 Number of Instances Complete this sheet for 4 Optional attribute list each connection supported. 5 Optional service list 6 Max ID of class attributes 7 Max ID of instance attributes DeviceNet s Parameter Options X None Supported Reset Create Delete Get_Attribute_Single Find_Next_Object_Instance Object Instance Connection Type Max Connection Instances M/S E xplicit Message 1 Server Client 1 Total Complete this section for Production trigger(s) Cyclic COS App. trig. Dynamic I/O connections Transport type(s) Server X Client Transport class(es) 2 X 3 ID Description Get Set Value Limits Attributes Open 1 State X 2 Instance type X 3 Transport Class trigger X 4 Produced connection ID X 5 Consumed connection ID X 6 Initial comm. characteristics X 7 Produced connection size X 8 Consumed connection size X 9 Expected packet rate X X =( ) 12 Watchdog time-out action X 13 Produced connection path len X 14 Produced connection path X 15 Consumed connection path len X 16 Consumed connection path X 17 Production inhibit time X =(0) DeviceNet s s X Reset Delete Apply_Attributes X Get_Attribute_Single X Set_Attribute_Single Parameter Options Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 5 of AXX 46 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

47 Appendix Statement of Conformance 7 Device Net Statement of Conformance DeviceNet Connection Object 0x05 Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 R evision Implementation X None Supported 2 Max instance 3 Number of Instances Complete this sheet for 4 Optional attribute list each connection supported. 5 Optional service list 6 Max ID of class attributes 7 Max ID of instance attributes DeviceNet s Parameter Options X None Supported Reset Create Delete Get_Attribute_Single Find_Next_Object_Instance Object Instance Connection Type Max Connection Instances M/S Poll 1 Server Client 1 Total Complete this section for Production trigger(s) Cyclic COS App. trig. Dynamic I/O connections Transport type(s) Server X Client Transport class(es) 2 X 3 ID Description Get Set Value Limits Attributes Open 1 State X 2 Instance type X 3 Transport Class trigger X 4 Produced connection ID X 5 Consumed connection ID X 6 Initial comm. characteristics X 7 Produced connection size X 8 Consumed connection size X 9 Expected packet rate X X =( ) 12 Watchdog time-out action X 13 Produced connection path len X 14 Produced connection path X 15 Consumed connection path len X 16 Consumed connection path X 17 Production inhibit time X =(0) DeviceNet s s X Reset Delete Apply_Attributes X Get_Attribute_Single X Set_Attribute_Single Parameter Options Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 6 of AXX Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 47

48 Appendix 7 Statement of Conformance Device Net Statement of Conformance DeviceNet Connection Object 0x05 Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 R evision Implementation X None Supported 2 Max instance 3 Number of Instances Complete this sheet for 4 Optional attribute list each connection supported. 5 Optional service list 6 Max ID of class attributes 7 Max ID of instance attributes DeviceNet s Parameter Options X None Supported Reset Create Delete Get_Attribute_Single Find_Next_Object_Instance Object Instance Connection Type Max Connection Instances M/S Bit Strobe 1 Server Client 1 Total Complete this section for Production trigger(s) Cyclic COS App. trig. Dynamic I/O connections Transport type(s) Server X Client Transport class(es) 2 X 3 ID Description Get Set Value Limits Attributes Open 1 State X 2 Instance type X 3 Transport Class trigger X 4 Produced connection ID X 5 Consumed connection ID X 6 Initial comm. characteristics X 7 Produced connection size X 8 Consumed connection size X 9 Expected packet rate X X =( ) 12 Watchdog time-out action X 13 Produced connection path len X 14 Produced connection path X 15 Consumed connection path len X 16 Consumed connection path X 17 Production inhibit time X =(0) DeviceNet s s X Reset Delete Apply_Attributes X Get_Attribute_Single X Set_Attribute_Single Parameter Options Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 7 of AXX 48 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

49 Appendix Statement of Conformance 7 Device Net Statement of Conformance DeviceNet Register Object 0x07 Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 Revision Implementation 2 Max instance X None Supported 3 Number of Instances 4 Optional attribute list 5 Optional service list 6 Max ID of class attributes 7 Max ID of instance attributes DeviceNet s Parameter Options s Get_Attribute_Single X None Supported Object Instance ID Description Get Set Value Limits Attributes Open 1 Bad Flag X 2 Direction X None Supported 3 Size X 4 Data X X DeviceNet s Parameter Options s X Get_Attribute_Single None Supported X Set_Attribute_Single Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 8 of AXX Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 49

50 Appendix 7 Statement of Conformance Device Net Statement of Conformance DeviceNet Parameter Object 0x0F Required Object Class ID Description Get Set Value Limits Object Attributes Open 1 Revision Implementation 2 Max instance X None Supported 3 Number of Instances 4 Optional attribute list 5 Optional service list 6 Max ID of class attributes 7 Max ID of instance attributes 8 Parameter class descriptor X 9 Configuration assembly instancex 10 Native language DeviceNet s Parameter Options s Get_Attributes_All Reset None Supported X Get_Attribute_Single Set_Attribute_Single Restore Save Object Instance ID Description Get Set Value Limits Attributes Open 1 Parameter value X X =( ) 2 Link Path size X None Supported 3 Link path X 4 Descriptor X 5 Data type X 6 Data size X =(4) 7 Parameter name string 8 Units string 9 Help string 10 Minimum value 11 Maximum value 12 Default value 13 Scaling multiplier 14 Scaling divisor 15 Scaling base 16 Scaling offset 17 Multiplier link 18 Divisor link 19 Base link 20 Offset link 21 Decimal precision DeviceNet s s Get_Attribute_All None Supported X Get_Attribute_Single X Set_Attribute_Single Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X X Get indicates attribute value is returned by the Get_Attribute_Single service. X Set indicates attribute value is written to by the Set_Attribute_Single service. 9 of AXX 50 Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

51 Appendix Definitions of terminology Definitions of terminology Term Allocate Attributes BIO - Bit-Strobe I/O Class Device-Net scanner DUP-MAC check Explicit message body Explicit message Get_Attribute_Single Instance MAC-ID M-file Mod/Net Node ID PIO - Polled I/O Release Reset Rung Set_Attribute_Single SLC500 Description Provides a service for setting up a connection. Attribute of an object class or instance. Describes the characteristics of the object class or instance in more detail. All stations can be addressed with a broadcast telegram. The addressed stations respond with the process input data. DeviceNet object class Plug-in module for the Allen Bradley PLC which connects the PLC fieldbus to the peripheral devices. Duplicate MAC-ID test Includes the class no., instance no., attribute no. and the data. Parameter data message; assists in addressing the DeviceNet objects. Read service for a parameter. Instance of an object class. Divides the object classes into additional subgroups. Media Access Control identifier: node address of the device. Provides the data range between the PLC and the scanner module. Module/Network Node address = MAC-ID Process data channel of DeviceNet; allows process output data to be sent and process input data to be received. Provides a service for setting up a connection. Provides a service for resetting an error. SLC500 program line performed via bus, e.g. read service, write service, etc. Write service for a parameter. Allen Bradley PLC Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet 51

52 8 Index 8 Index A Additional documentation...5 B Baud rate... 11, 40 Building the DeviceNet network with RSNetWorx Bus terminating resistor...10 BUS-OFF LED...13 C Connection and terminal assignment DFD11B...9 D Definitions of Terminology...51 Display of operating status DFD11B option card 12 E Error messages...41 I Important Notes...4 Installing the DFD11B option card...7 Installing the DFE11B option card Basic procedure...8 L LED BIO...13 LED Mod/Net...12 N Notes on routing of bus cables...10 O Operating displays of DFD11B option card LED BIO...13 LED Mod/Net...12 PIO LED...12 P Parameter data exchange...22 PCP length...11 Pin assignment...10 PIO LED...12 Process data exchange...18 Bit-strobe I/O...19 Polled I/O...18 Timeout response with bit-strobe I/O...21 Timeout response with polled I/O...19 Process data length...11 R Return codes for parameter setting...28 S Safety Notes...4 Safety notes on bus systems...4 Sample Application with PLC Type SLC Setting the DIP switches Setting the baud rate Setting the MAC-ID Setting the process data length SEW parameter data channel Startup of the drive inverter Power-UP test Statement of Conformance T Technical data DFD11B Manual MOVIDRIVE MDX61B DFD11B Fieldbus Interface DeviceNet

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