Reliance MD65 MDCOMM-DNET Communications Module

Instruction Manual

DeviceNet CommunicationsModuleM/N MDCOMM-DNET

D2-3520

2003 Rockwell Automation. All rights reserved.

The information in this manual is subject to change without notice.Throughout this manual, the following notes are used to alert you to safety considerations:

Important: Identifies information that is critical for successful application and understanding of the product.

!ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.

RSLinx, RSLogix, and RSNetWorx are trademarks of Rockwell Software.DeviceNet is a trademark of the Open DeviceNet Vendor Association.Window, Windows CE, Windows NT, and Microsoft are either registered trademarks or trademarks of Microsoft Corporation.MD65, VS Utilities, Reliance, MDI, and SLC are trademarks of Rockwell Automation.

!ATTENTION:The drive may contain high voltages that can cause injury or death. Remove all power from the drive, and then verify power has been removed before installing or removing a DeviceNet module. Failure to observe these precautions could result in severe bodily injury or loss of life.ATTENTION:Only qualified personnel familiar with the construction and operation of this equipment and the hazards involved should install, adjust, operate, or service this equipment. Read and understand this document in its entirety before proceeding. Failure to observe this precaution could result in severe bodily injury or loss of life.ATTENTION: If the DeviceNet module is transmitting control I/O to the drive, the drive may fault when you reset the module. Determine how your drive will respond before resetting a module. Failure to observe this precaution could result in bodily injury and/or damage to equipment.ATTENTION:Comm Flt Action (7) and Idle Flt Action (8) let you determine the action of the module and connected drive if communications are disrupted. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a hazard of injury or equipment damage. Failure to observe this precaution could result in bodily injury and/or damage to equipment.ATTENTION:When a system is configured for the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing. Failure to observe this precaution could result in bodily injury and/or damage to equipment.

Contents I

CONTENTSChapter 1 Introduction

1.1 DeviceNet Module Features .......................................... 1-11.2 Related Documentation ................................................. 1-21.3 Conventions Used in This Manual ................................. 1-31.4 Getting Assistance from Reliance Electric..................... 1-3

Chapter 2 Getting Started2.1 DeviceNet Module Components .................................... 2-12.2 Required Equipment ...................................................... 2-22.3 Installation Checklist ...................................................... 2-3

Chapter 3 Installing the DeviceNet Module3.1 Preparing for an Installation........................................... 3-13.2 Commissioning the Module ........................................... 3-13.3 Connecting the Module to the Network.......................... 3-43.4 Connecting the Module to the Drive .............................. 3-53.5 Applying Power.............................................................. 3-7

Chapter 4 Configuring the DeviceNet Module4.1 Configuration Tools........................................................ 4-14.2 Using the LCD OIM to Configure the Module ................ 4-24.3 Using RSNetWorx for DeviceNet................................... 4-2

4.3.1 Setting Up RSLinx for RSNetWorx for DeviceNet 4-24.3.2 Going Online with RSNetWorx for DeviceNet ..... 4-44.3.3 Creating an Electronic Data Sheet (EDS) File..... 4-54.3.4 Accessing and Editing Parameters...................... 4-6

4.4 Setting the Node Address.............................................. 4-74.5 Setting the Data Rate .................................................... 4-74.6 Setting the I/O Configuration ......................................... 4-84.7 Selecting COS, Cyclic, or Polled I/O.............................. 4-8

4.7.1 Using COS (Change of State) Data Exchange.... 4-94.8 Setting a Fault Action................................................... 4-10

4.8.1 Setting the Fault Configuration Parameters ...... 4-114.9 Resetting the Module................................................... 4-124.10Viewing the Module Configuration ............................... 4-13

Chapter 5 Configuring the Scanner5.1 Configuring a Simple Network: An Example.................. 5-15.2 Setting Up the Scan List ................................................ 5-25.3 Mapping the Drive Data in the Scanner......................... 5-5

5.3.1 Mapping the Input I/O .......................................... 5-5

II DeviceNet Communications Module

5.3.2 Mapping the Output I/O ....................................... 5-65.4 Saving the Configuration................................................ 5-7

Chapter 6 Using I/O Messaging6.1 About I/O Messaging ..................................................... 6-16.2 Understanding the I/O Image......................................... 6-26.3 Using Logic Command/Status ....................................... 6-36.4 Using Reference/Feedback ........................................... 6-36.5 Sample Ladder Logic Programs .................................... 6-3

6.5.1 Sample ControlLogix Ladder Logic Program....... 6-46.5.2 Sample PLC-5 Ladder Logic Program................. 6-76.5.3 Sample SLC Ladder Logic Program .................... 6-9

Chapter 7 Using Explicit Messaging7.1 About Explicit Messaging.............................................. 7-17.2 Formatting Explicit Messages for a ControlLogix

Controller ....................................................................... 7-27.3 Formatting Explicit Messages for a PLC or SLC

Controller ....................................................................... 7-47.4 Running Explicit Messages............................................ 7-77.5 ControlLogix Example.................................................... 7-87.6 PLC-5 Example............................................................ 7-117.7 SLC Example ............................................................... 7-13

Chapter 8 Using Multi-Drive Mode8.1 Single-Drive Mode vs. Multi-Drive Mode........................ 8-18.2 System Wiring................................................................ 8-38.3 Understanding the I/O Image......................................... 8-48.4 Configuring the RS-485 Network ................................... 8-58.5 Multi-Drive Ladder Logic Program Example .................. 8-68.6 ControlLogix Example.................................................... 8-88.7 Multi-Drive Mode Explicit Messaging ........................... 8-208.8 Additional Information .................................................. 8-22

Chapter 9 Troubleshooting the DeviceNet Module and Network9.1 Understanding the Status Indicators.............................. 9-1

9.1.1 DRIVE Status Indicator........................................ 9-29.1.2 MS Status Indicator ............................................. 9-39.1.3 NET A Status Indicator ........................................ 9-4

9.2 Module Diagnostic Items in Single- Drive Mode ............ 9-59.3 Module Diagnostic Items in Multi-Drive Mode................ 9-59.4 Viewing and Clearing Events ......................................... 9-6

Appendix A Technical Specifications...................................................... A-1

Appendix B DeviceNet Module Parameters............................................. B-1

Contents III

Appendix C DeviceNet Objects ................................................................C-1

Appendix D Logic Command/Status Words .............................................D-1

Glossary ..................................................................................Glossary-1

Index ....................................................................................... Index-1

IV DeviceNet Communications Module

Contents V

List of Figures

Figure 2.1 Components of the DeviceNet Module ................................... 2-1

Figure 3.1 Setting the Node Address/ Data Switches and Single-/Multi-Drive Operation Jumper..................................... 3-2

Figure 3.2 Connecting a 5-Pin Linear Plug to the Cable.......................... 3-5Figure 3.3 MDI Ports and Internal Interface Cables................................. 3-6Figure 3.4 Mounting the Module .............................................................. 3-7

Figure 4.1 Accessing the DeviceNet Parameters using the LCD OIM..... 4-2Figure 4.2 Configure Drivers Dialog Box with a Configured Driver.......... 4-3Figure 4.3 Sample DeviceNet Network (Graph View).............................. 4-4Figure 4.4 EDS Wizard Screen................................................................ 4-5Figure 4.5 Sample MD65 Drive Dialog Box (Drive Parameters Tab)....... 4-6Figure 4.6 DeviceNet Node Address Screen on an LCD OIM................. 4-7Figure 4.7 DeviceNet Data Rate Screen on an LCD OIM........................ 4-7Figure 4.8 I/O Configuration Screen on an LCD OIM .............................. 4-8Figure 4.9 COS Status Mask Configuration Screen on an LCD OIM ...... 4-9Figure 4.10 COS Fdbk Change Configuration Screen on an LCD OIM... 4-9Figure 4.11 Fault Action Screens on an LCD OIM................................. 4-11Figure 4.12 Reset Screen on an LCD OIM............................................ 4-12

Figure 5.1 Sample DeviceNet Network.................................................... 5-1Figure 5.2 Configuration View (Graph Tab)............................................. 5-2Figure 5.3 Scanlist Page in the Scanner Module Dialog Box .................. 5-3Figure 5.4 Edit I/O Parameters Dialog Box.............................................. 5-3Figure 5.5 Input Page on the Scanner Module Dialog Box...................... 5-5Figure 5.6 Output Page on the Scanner Module Dialog Box................... 5-6

Figure 6.1 Example of Single-Drive I/O Image ........................................ 6-2Figure 6.2 Sample ControlLogix Ladder Logic Program.......................... 6-5Figure 6.3 Sample ControlLogix Ladder Logic Program (continued)....... 6-6Figure 6.4 Sample PLC-5 Ladder Logic Program.................................... 6-7Figure 6.5 Sample PLC-5 Ladder Logic Program (continued)................. 6-8Figure 6.6 Sample SLC Ladder Logic Program....................................... 6-9Figure 6.7 Sample SLC Ladder Logic Program (continued) .................. 6-10Figure 6.8 Sample SLC Ladder Logic Program (continued) .................. 6-11

Figure 7.1 ControlLogix Message Format in RSLogix 5000 .................... 7-2Figure 7.2 PLC Explicit Message Format ................................................ 7-4Figure 7.3 SLC Explicit Message Format ................................................ 7-4Figure 7.4 Explicit Message Process....................................................... 7-7Figure 7.5 Data Format for a Read and Write Parameter (1 of 2) ........... 7-8Figure 7.6 Data Format for a Read and Write Parameter (2 of 2) ........... 7-9Figure 7.7 Sample ControlLogix Ladder Logic Program........................ 7-10

VI DeviceNet Communications Module

Figure 7.8 Sample PLC-5 Ladder Logic Program.................................. 7-12Figure 7.9 Sample SLC Ladder Logic Program ..................................... 7-14

Figure 8.1 Example of a Single-Drive Mode Network .............................. 8-1Figure 8.2 Example of a Multi-Drive Mode Network................................. 8-2Figure 8.3 AK-U0-RJ45-TB2P Terminal Block Connector ....................... 8-3Figure 8.4 AK-U0-RJ45-TB2P Connector Wiring Diagram ...................... 8-4Figure 8.5 Example of Multi-Drive I/O Image........................................... 8-5Figure 8.6 Main Routine........................................................................... 8-9Figure 8.7 Main Routine (Continued)..................................................... 8-10Figure 8.8 Drive 0 Control Routine......................................................... 8-11Figure 8.9 Drive 0 Control Routine (Continued)..................................... 8-12Figure 8.10 Drive 1 Control Routine....................................................... 8-13Figure 8.11 Drive 1 Control Routine (Continued)................................... 8-14Figure 8.12 Drive 2 Control Routine....................................................... 8-15Figure 8.13 Drive 2 Control Routine (Continued)................................... 8-16Figure 8.14 Drive 3 Control Routine....................................................... 8-17Figure 8.15 Drive 3 Control Routine (Continued)................................... 8-18Figure 8.16 Drive 4 Control Routine....................................................... 8-19Figure 8.17 Drive 4 Control Routine (Continued)................................... 8-20Figure 8.18 Parameter Read Message Configuration............................ 8-21Figure 8.19 Parameter Write Message Configuration............................ 8-21

Figure 9.1 Status Indicators (location on drive may vary) ........................ 9-1Figure 9.2 VS Utilities Event View/Clear Screen...................................... 9-6

Contents VII

List of Tables

Table 2.2 Equipment Shipped with the DeviceNet Module...................... 2-2Table 2.3 Required User-Supplied Equipment ........................................ 2-2

Table 3.1 Node Address Switch Settings (UP = OPEN = 1).................... 3-3Table 3.2 Data Rate Switch Settings (UP = OPEN = 1) .......................... 3-3Table 3.3 Jumper Settings for Single- or Multi-Drive Operation .............. 3-4

Table 4.1 Configuration Tools.................................................................. 4-1Table 4.2 Procedure for Setting Up RSLinx for RSNetworx for

DeviceNet ................................................................................ 4-3Table 4.3 Viewing Devices on the DeviceNet Network using

RSNetWorx.............................................................................. 4-4Table 4.4 Procedure for Creating an EDS File ........................................ 4-5Table 4.5 Procedure to Access and Edit Parameters Using RSNetWorx 4-6Table 4.6 Selections for Drive Response to Communication Fault........ 4-10Table 4.7 Fault Configuration Parameters ............................................. 4-11Table 4.8 Module Configuration Parameters ......................................... 4-13

Table 5.1 Input/Output Size Configuration............................................... 5-4Table 5.2 Scan Rates .............................................................................. 5-4Table 5.3 Scanner Module Memory Locations ........................................ 5-6Table 5.4 Scanner Module Memory Locations ........................................ 5-7

Table 6.1 Tags for the Sample ControlLogix Program............................. 6-4Table 6.2 Control File for Block Transfers ............................................... 6-7

Table 7.1 ControlLogix Message Requests and Responses ................... 7-3Table 7.2 Number of Transaction Blocks Reserved for Explicit

Messaging................................................................................ 7-5Table 7.3 PLC / SLC Explicit Message Requests.................................... 7-5Table 7.4 PLC / SLC Explicit Message Responses................................. 7-6Table 7.5 Tags for the Sample Explicit Messaging Program................... 7-9Table 7.6 Request Data for Read of Drive Parameter 39 ...................... 7-11Table 7.7 Response Data for Read of Drive Parameter 39 ................... 7-11Table 7.8 Request Data for Write to Drive Parameter 101 .................... 7-11Table 7.9 Response Data for Write to Drive Parameter 101 ................. 7-11Table 7.10 Request Data for Read of Drive Parameter 101 .................. 7-13Table 7.11 Response Data for Read of Drive Parameter 101 ............... 7-13Table 7.12 Request Data for Write to Drive Parameter 101 .................. 7-13Table 7.13 Response Data for Write to Drive Parameter 101 ............... 7-13

Table 8.1 Additional Throughput Time for Logic Command/Reference... 8-3

VIII DeviceNet Communications Module

Table 9.1 DRIVE Status Indicator: State Definitions................................9-2Table 9.2 MS Status Indicator: State Definitions......................................9-3Table 9.3 NET A Status Indicator: State Definitions ................................9-4Table 9.4 Diagnostic Items Accessed Using VS Utilities in

Single-Drive Mode....................................................................9-5Table 9.5 Diagnostic Items Accessed Using VS Utilities in

Multi-Drive Mode ......................................................................9-5Table 9.6 Event Codes and Descriptions.................................................9-7

Introduction 1-1

CHAPTER 1Introduction

This manual provides information about the DeviceNet module (MDCOMM-DNET) and using it with MD65 drives. The module is mounted in the MD65 drive and receives its required power from the drive and from the DeviceNet network.

This manual is intended for qualified electrical personnel familiar with installing, programming, and maintaining AC drives and DeviceNet networks.

1.1 DeviceNet Module FeaturesThe DeviceNet module features the following: Switches that enable you to set a node address and network data

rate before applying power to the drive. Alternatively, you can disable the switches and use parameters to configure these features.

A jumper that allows you to select between Single- or Multi-Drive mode of operation. In single mode, the module represents one single drive on one node. In Multi-Drive mode, the module represents up to five drives on one node.

A number of configuration tools that can be used to configure the module and connected drive. The tools include the Operator Interface Module (OIM) on the drive, network software such as RSNetWorx for DeviceNet, or drive-configuration software such as VS Utilities.

Status indicators that report the status of the drive communications, module, and network. They are visible both when the cover is opened and when it is closed.

I/O, including Logic Command/Reference, that may be configured for your application using a parameter.

Explicit and UCMM (Unconnected Message Manager) messages are supported.

Multiple data exchange methods, including polled, cyclic, and change of state (COS), that can be used to transmit data between the network and module.

1-2 DeviceNet Communications Module

User-defined fault actions that determine how the module and MD65 drive respond to communication disruptions on the network and controllers in idle mode.

Faulted node recovery is supported. You can configure a device even when it is faulted on the network if you have a configuration tool that uses faulted node recovery and have properly set module node address switches and data rate switches.

1.2 Related DocumentationRefer to the following related publications as necessary for more information. All of the publications are available from http://www.theautomationbookstore.com.

D2-3519 MD65 AC Drive User Manual

D2-3488 VS Utilities Getting Results ManualOnline help installed with the software

RA-IN003A-EN-P RJ45 Splitter Cable For Use With DSI/MDI Products

D2-3523 MD65 Communication Module Cover

DN-2.5 DeviceNet Product Overview

DN-6.7.2 DeviceNet Cable System Planning and Installation Manual

DN-6.5.16 DeviceNet Starter Kit

1756-5.66 ControlLogix DeviceNet Scanner Installation Instructions

9399-WAB32GR Getting Results with RSLinxOnline help installed with the software

9399-RL53GR RSLogix 5 Getting Results Guide Online help installed with the software

9399-RL50GR RSLogix 500 Getting Results Guide Online help installed with the software

9399-RLD300GR RSLogix 5000 Getting Results Guide Online help installed with the software

9399-DNETGR RSNetWorx for DeviceNet Getting Results Guide Online help installed with the software

1747-5.8 DeviceNet Scanner Module Installation Instructions

Introduction 1-3

1747-6.5.2 DeviceNet Scanner Module Configuration Manual

1747-5.14 DeviceNet Scanner Module Installation Instructions

1771-6.5.118 DeviceNet Scanner Module Configuration Manual

1.3 Conventions Used in This ManualThe following conventions are used throughout this manual: Menu commands are shown in bold type face and follow the

format Menu > Command. For example, if you read Select File > Open, you should click the File menu and then click the Open command.

Parameters will be referenced as follows: Parameter Name (Parameter Number)For example: Mode (01)

The terms MDI and DSI are used interchangeably. Both terms refer to the serial interface.

1.4 Getting Assistance from Reliance ElectricIf you have any questions or problems with the products described in this instruction manual, contact your local Reliance Electric sales office.

For technical assistance, call 1-800-726-8112. Before calling, please review the troubleshooting section of this manual and check the Reliance drives website for additional information. When you call this number, you will be asked for the drive model number and this instruction manual number.

Getting Started 2-1

CHAPTER 2Getting Started

This chapter provides: A description of the DeviceNet modules components A list of parts shipped with the module A list of user-supplied parts required for installing the module An installation checklist

2.1 DeviceNet Module Components

Status Indicators Three LEDs that indicate the status of the connected drive, module, and network. Refer to chapter 9, Troubleshooting.

MDI Connector A 20-pin, single-row shrouded male header. An Internal Interface cable is connected to this connector and a connector on the drive. See table 2.2.

DeviceNet Connector A 5-pin connector to which a 5-pin linear plug can be connected. Node Address/Rate Switches

Switches for setting the node address and network data rate.

Mode Jumper (J2) Selects Single- or Multi-Drive mode of operation.

Figure 2.1 Components of the DeviceNet Module


2.2 Required Equipment Table 2.2 lists the equipment shipped with the DeviceNet module. When you unpack the module, verify that the package includes all of these items.

Table 2.3 lists user-supplied equipment also required to install and configure the DeviceNet module.

Table 2.2 Equipment Shipped with the DeviceNet Module

Item DescriptionDeviceNet module15.24 cm (6 in) Internal Interface cableFive-pin linear DeviceNet plug (connected to the DeviceNet connector on the module)Grounding wrist strapDeviceNet Module User Manual (D2-3520)

Table 2.3 Required User-Supplied Equipment

Item DescriptionA small flathead screwdriverDeviceNet cable Thin cable with an outside diameter of 6.9 mm (0.27 in.) is

recommendedConfiguration tool, such as: LCD OIM VS Utilities RSNetWorx for DeviceNet Serial ConverterComputer with a DeviceNet communications module installed (such as 1784-PCD, 1784-PCID, 1784-PCIDS, or 177-KFD) Controller configuration software (examples: RSLogix5, RSLogix500, or RSLogix 5000)DeviceNet Cover Kit (replaces standard cover supplied with MD65 drive when the DeviceNet module is installed). B-Frame: Model Number 6MD-COMMCVRB C-Frame: Model Number 6MD-COMMCVRC

Getting Started 2-3

2.3 Installation ChecklistThis section is designed to help experienced users start using the DeviceNet module. If you are unsure how to complete a step, refer to the referenced chapter.

Step Action Refer to 1 Review the safety precautions for the

module.Throughout this manual

2 Verify that the MD65 drive is properly installed.

MD65 AC Drive User Manual

3 Commission the module. Set a unique node address and the appropriate data rate using the switches on the module. If desired, you can disable the switches and use parameter settings instead.

Chapter 3, Installing the DeviceNet Module

4 Install the module.Verify that the MD65 drive and DeviceNet network are not powered. Then, connect the module to the network using a DeviceNet cable and to the drive using the Internal Interface cable. Use the captive screws to secure and ground the module to the drive.

5 Apply power to the module.The module receives power from the drive and network. Apply power to the network and to the drive. The status indicators should be green. If they flash red, there is a problem. Refer to Chapter 9, Troubleshooting.

6 Configure the module for your application.Set the parameters for the following features as required by your application: Node address and data rate. I/O configuration. Change of State, Cyclic, or polled I/O

data exchange. Fault actions.

Chapter 4, Configuring the DeviceNet Module


7 Apply power to the DeviceNet master and other devices on the network.Verify that the master and network are installed and functioning in accordance with DeviceNet standards, and then apply power to them.

DeviceNet Cable System Planning and Installation Manual

8 Configure the scanner to communicate with the module.Use a network tool such as RSNetWorx for DeviceNet to configure the scanner on the network. Make sure to: Set up the scan list. Map the module data to the scan list. Save your DeviceNet configuration to the

scanner and a file.

Chapter 5, Configuring the Scanner

9 Create a ladder logic program.Use a programming tool such as RSLogix to create a ladder logic program that enables you to do the following: Control the module and connected drive. Monitor or configure the drive using

Explicit Messages.

Chapter 6, Using I/O Messaging

Chapter 7, Using Explicit Messaging

Step Action Refer to

Installing the DeviceNet Module 3-1

CHAPTER 3Installing the

DeviceNet Module

Chapter 3 provides instructions for installing the DeviceNet module in an MD65 drive.

3.1 Preparing for an InstallationBefore installing the DeviceNet module: Read the DeviceNet Product Overview Manual, Publication

DN-2.5, and the DeviceNet Cable System Planning and Installation Manual, Publication DN-6.7.2. These manuals will provide information on selecting cables, setting up a network, and network basics.

Verify that you have all required equipment. Refer to chapter 2, Getting Started.

3.2 Commissioning the ModuleTo commission the module, you must set a unique node address and the data rate that is used by the network. (Refer to the Glossary for details about data rates and node addresses.) Important: New settings are recognized only when power is applied

to the module. If you change a setting, cycle power.

Step 1. Set the node address and data rate switches as shown in figure 3.1.

Step 2. Set the module mode jumper for Single- or Multi-Drive operation. See figure 3.1 and table 3.3.

!ATTENTION: The DeviceNet module contains ESD- (Electrostatic Discharge) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the module. Failure to observe these precautions could result in damage to equipment.


Important: If all switches are in the CLOSED position (all 0s), then the Node Address and Data Rate are determined by parameter settings in DN Addr Cfg (02) and DN Rate Cfg (04).

Switches Description Default

SW 1 Least Significant Bit (LSB) of Node Address 1

Node 63

SW 2 Bit 1 of Node Address 1




SW 6 Most Significant Bit (MSB) of Node Address 1

SW 7 Least Significant Bit (LSB) of Data Rate 1 Autobaud

SW 8 Most Significant Bit (MSB) of Data Rate 1

Figure 3.1 Setting the Node Address/ Data Switches and Single-/Multi-Drive Operation Jumper

2 2

ingle Driveperation

ulti-Driveperation

ODE ATE

P = OPEN = 1


Table 3.1 Node Address Switch Settings (UP = OPEN = 1)Switch Setting Node Switch Setting Node

SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address0 0 0 0 0 0 0 1 0 1 1 0 0 131 0 0 0 0 0 1 0 1 1 1 0 0 140 1 0 0 0 0 2 1 1 1 1 0 0 151 1 0 0 0 0 3 0 0 0 0 1 0 160 0 1 0 0 0 4 1 0 0 0 1 0 171 0 1 0 0 0 5 0 1 0 0 1 0 180 1 1 0 0 0 6 1 1 0 0 1 0 191 1 1 0 0 0 7 0 0 1 0 1 0 200 0 0 1 0 0 8 1 0 1 0 1 0 211 0 0 1 0 0 9 0 1 1 0 1 0 220 1 0 1 0 0 10 1 1 1 0 1 0 231 1 0 1 0 0 11 0 0 0 1 1 0 240 0 1 1 0 0 12 1 0 0 1 1 0 25

SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address0 1 0 1 1 0 26 1 0 1 1 0 1 451 1 0 1 1 0 27 0 1 1 1 0 1 460 0 1 1 1 0 28 1 1 1 1 0 1 471 0 1 1 1 0 29 0 0 0 0 1 1 480 1 1 1 1 0 30 1 0 0 0 1 1 491 1 1 1 1 0 31 0 1 0 0 1 1 500 0 0 0 0 1 32 1 1 0 0 1 1 511 0 0 0 0 1 33 0 0 1 0 1 1 520 1 0 0 0 1 34 1 0 1 0 1 1 531 1 0 0 0 1 35 0 1 1 0 1 1 540 0 1 0 0 1 36 1 1 1 0 1 1 551 0 1 0 0 1 37 0 0 0 1 1 1 560 1 1 0 0 1 38 1 0 0 1 1 1 571 1 1 0 0 1 39 0 1 0 1 1 1 580 0 0 1 0 1 40 1 1 0 1 1 1 591 0 0 1 0 1 41 0 0 1 1 1 1 600 1 0 1 0 1 42 1 0 1 1 1 1 611 1 0 1 0 1 43 0 1 1 1 1 1 620 0 1 1 0 1 44 1 1 1 1 1 1 63

Table 3.2 Data Rate Switch Settings (UP = OPEN = 1)Switch Setting Data

SW 7 SW 8 Rate0 0 125 kbps1 0 250 kbps0 1 500 kbps1 1 Autobaud


3.3 Connecting the Module to the Network

Step 1. Remove power from the drive.Step 2. Use static control precautions.Step 3. Remove the drive cover.Step 4. Connect a DeviceNet cable to the network and route it

through the bottom of the MD65 drive. DeviceNet thin cable with an outside diameter of 6.9 mm (0.27 in.) is recommended. (See figure 3.5.)

Important: Maximum cable length depends on data rate. Refer to data rate in the Glossary.

Step 5. Connect a 5-pin linear plug to the DeviceNet cable. Refer to figure 3.2.Note that a 10-pin linear plug is not supported. Use the 5-pin linear plug shipped with the module.

Table 3.3 Jumper Settings for Single- or Multi-Drive Operation

Jumper Setting

Description

Right position or jumper missing

Sets the module for Single-Drive mode (default setting) using a single drive connection.Important: In this mode, connections to multiple drives must be removed since all powered and connected hosts will respond to any message sent by the module.

Left position Sets the module for Multi-Drive operation mode using up to 5 different drives. MDI peripherals do not operate with the module in this mode.

!ATTENTION: The drive may contain high voltages that can cause injury or death. Remove all power from the drive, and then verify power has been removed before installing or removing a DeviceNet module. Failure to observe these precautions could result in severe bodily injury or loss of life.


Step 6. Insert the DeviceNet cable plug into the mating module receptacle and secure it with the two screws. (See figure 3.3, item 3.) Verify that the colors of the wires match up with the color codes on the receptacle.

3.4 Connecting the Module to the DriveStep 1. Remove power from the drive.Step 2. Use static control precautions.Step 3. Mount the module on the B- or C-Frame Communications

Module Cover using the screw on the DeviceNet module to secure it into place. See figure 3.3. Also, refer to the installation manual that shipped with the Communications Cover (D2-3523). B-Frame Cover: M/N 6MD-COMMCVRB C-Frame Cover: M/N 6MD-COMMCVRC

Important: Tighten the screw in the lower left hole to ground the module. See figure 3.4.

Step 4. Connect the Internal Interface cable to the MDI port on the drive and then to the MDI connector on the module.

Terminal Color Signal Function5 Red V+ Power Supply4 White CAN_H Signal High3 Bare SHIELD Shield2 Blue CAN_L Signal Low1 Black V Common

Figure 3.2 Connecting a 5-Pin Linear Plug to the Cable

54321

RedWhiteBareBlueBlack


MDI connector

15.24 cm (6 in) Internal Interface cable

DeviceNet cable

Figure 3.3 MDI Ports and Internal Interface Cables

MDCOMM-DNETDeviceNet Module

MD65 DriveB and C Frames(cover removed)

Back of Cover

6MD-COMMCVRB6MD-COMMCVRC


3.5 Applying Power

Step 1. Reinstall the cover on the drive. The status indicators can be viewed on the front of the drive after power has been applied.

Step 2. Ensure that the module will have a unique address on the network and is set at the correct data rate or to autobaud. If a new data rate or address is needed, reset the switches on the module (refer to section 3.2).

Figure 3.4 Mounting the Module

MD65 DriveB and C Frames(cover removed)

DeviceNet Module Mounted on Back of Cover

!ATTENTION: Unpredictable operation may occur if you fail to verify that parameter settings and switch settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive. Failure to observe these precautions could result in severe bodily injury or loss of life.


Step 3. Apply power to the drive. The module receives its power from the connected drive and network. When you apply power to the product and network for the first time, the status indicators should be green after an initialization. If the status indicators are red, there is a problem. Refer to chapter 9, Troubleshooting the DeviceNet Module and Network.

Step 4. If the software settings for the data rate and node address are to be used, a configuration tool such as VS Utilities can be used to adjust the respective parameters in the module.

Configuring the DeviceNet Module 4-1

CHAPTER 4Configuring the

DeviceNet Module

Chapter 4 provides instructions and information for setting the parameters in the DeviceNet module.

For a list of parameters, refer to Appendix B, DeviceNet Module Parameters. For definitions of terms in this chapter, refer to the Glossary.

4.1 Configuration ToolsThe DeviceNet module stores parameters and other information in its own non-volatile memory. Therefore, you must access the module to view and edit its parameters. Table 4.1 lists the tools that can be used to access the module parameters.

RSNetWorx for DeviceNet (version 4.018) and RSLinx (version 2.40) were used for examples in this manual. Different versions of software may differ in appearance and procedures.

Note that explicit messaging can also be used to configure a DeviceNet module and drive. Refer to Chapter 7, Using Explicit Messaging.

Table 4.1 Configuration Tools

Tool Refer To:VS Utilities Software VS Utilities online helpLCD OIM Section 4.2RSNetWorx for DeviceNet Section 4.3


4.2 Using the LCD OIM to Configure the ModuleUse the procedure in figure 4.1 to access the parameters on the DeviceNet module using the LCD OIM (M/N MD4LCD-PNL, MD4ALCD, or MD1CC). If you are unfamiliar with the operation of the LCD OIM, refer to the OIM Quick Reference (D2-3508) for more information.

4.3 Using RSNetWorx for DeviceNetRSNetWorx for DeviceNet is a Rockwell Software application that can be used to set up DeviceNet networks and configure connected devices.

4.3.1 Setting Up RSLinx for RSNetWorx for DeviceNetTo use RSNetWorx for DeviceNet, you must first set up a driver in RSLinx. The driver provides a communications link between the computer and DeviceNet network. See table 4.2 and figure 4.2 for this procedure.

Figure 4.1 Accessing the DeviceNet Parameters using the LCD OIM

MDI DevicesDevice Select

DIAG PARAM DSEL MEM SEL

MDI Devices

MDCOMM-DNETMD65 Linear List

Parameters

DIAG PARAM DSEL MEM SEL

Changed Params


Table 4.2 Procedure for Setting Up RSLinx for RSNetworx for DeviceNet

Step Action Icon1. Start RSLinx, and select Communications >

Configure Drivers to display the Configure Drivers dialog box. See figure 4.2.

2. In the Available Driver Types box, select DeviceNet Drivers, and then click Add New. The DeviceNet Driver Selection dialog box appears.

3. In the Available DeviceNet Drivers list, select the module connected to your computer, and then click Select. A Driver Configuration dialog box appears.Configure the driver for your computer and network settings, and then click OK. The Configure Drivers dialog box reports the progress of the configuration. Then, the Add New RSLinx Driver dialog box appears.

4. Type a name (if desired), and then click OK. The Configure Drivers dialog box reappears, and the new driver is in the Configured Drivers List. See figure 4.2.

5. Click Close to close the dialog box. Leave RSLinx running.

Shortcut toRSLinx

Figure 4.2 Configure Drivers Dialog Box with a Configured Driver


4.3.2 Going Online with RSNetWorx for DeviceNetYou can view the devices on a DeviceNet network by going online. A device may appear as an unrecognized device (node 63 in figure 4.3) if RSNetWorx for DeviceNet does not have an Electronic Data Sheet (EDS) file for it. See table 4.3 for the procedure to view devices.

Table 4.3 Viewing Devices on the DeviceNet Network using RSNetWorx

Step Action Icon1. After setting up a driver in RSLinx, start

RSNetWorx for DeviceNet.2. Select Network > Online. If the Browse for

Network dialog box appears, RSLinx has multiple drivers configured. Select your DeviceNet network, and click OK. A prompt appears.

3. RSNetworx browses the network and any devices on the network appear in the Configuration View. You can select Graph, Spreadsheet, or Master/Slave views. Figure 4.3 shows a sample network in a Graph view.

Shortcut to RSNetWorx

Figure 4.3 Sample DeviceNet Network (Graph View)


4.3.3 Creating an Electronic Data Sheet (EDS) FileIf the module and drive appear as an unrecognized device, create an EDS file for it using the procedure in table 4.4.

Table 4.4 Procedure for Creating an EDS File

Step Action Icon1. Right-click the Unrecognized Device icon,

and select Register Device in the menu. The EDS Wizard (figure 4.4) appears.

2. Click Next to display the next step.3. Select Upload EDS, and then click Next.4. Type a description (if desired), and then click

Next.5. Under Polled, select Enabled, type 4 in the

Input Size and Output Size boxes, and then click Next. RSNetWorx will upload the EDS file from the drive and module.

6. Click Next to display the icon options for the node. We recommend that you use the icon for your product. You can change icons by clicking Change icon.

7. Click Next to view a summary, and then click Next again to accept it.

8. Click Finish to finish the EDS creation. A new icon represents the MD65 drive and module in the Configuration View.

MD65AC Drive

Figure 4.4 EDS Wizard Screen


4.3.4 Accessing and Editing ParametersParameters in the drive and module can be edited with RSNetWorx using the procedure in table 4.5. The module parameters are appended to the list of drive parameters.

Table 4.5 Procedure to Access and Edit Parameters Using RSNetWorx

Step Action Icon1. After creating an EDS file, right-click on the

icon for the MD65 drive and module and select Properties. The MD65 Drive dialog box appears.

2. Click the Parameters tab (figure 4.5). If an EDS Editor message appears, click Upload to load the parameter values in the drive to the computer.Parameters are displayed in numerical order under Parameter. You can either scroll through the list or select a specific group of parameters in the Groups box. The available groups and the numbers of the module parameters will vary based on the type of drive that is connected to the module.

3. In the Current Value column, double-click a value to edit it.

4. Click Apply to save changes to the device.

Figure 4.5 Sample MD65 Drive Dialog Box (Drive Parameters Tab)

MD65AC Drive

MD65 1P 110V 1.5HP


4.4 Setting the Node AddressThe value of DN Addr Cfg (2) determines the node address if all of the module DIP switches are in the CLOSED position (all 0s). We recommend that you do not use node address 63 because all new devices use it as the default address. Address 63 is also used for Automatic Device Recovery. Step 1. Set the value of DN Addr Cfg (3) to a unique node address.

See figure 4.6.

Step 2. Reset the module. Refer to section 4.9, Resetting the Module, for this procedure.

If you are using RSNetWorx for DeviceNet, select Network > Single Browse Path to see the new address; then delete the old address.

4.5 Setting the Data RateThe value of DN Rate Cfg (4) determines the DeviceNet data rate if all of the module DIP switches are in the CLOSED position (all 0s). The Autobaud setting will detect the data rate used on the network if another device is setting the data rate. Your application may require a different setting.Step 1. Set the value of DN Rate Cfg (4) to the data rate at which

your network is operating.

Step 2. Reset the module. Refer to section 4.9 for this procedure.

Figure 4.6 DeviceNet Node Address Screen on an LCD OIM

DN Addr Cfg

Parameter: # 002

63

VALUE LIMITS SEL

Default = 63

Figure 4.7 DeviceNet Data Rate Screen on an LCD OIM

Value Baud Rate0 125 kbps1 250 kbps2 500 kbps3 Autobaud (Default)

DN Rate Cfg

Parameter: # 004

Autobaud 3

VALUE LIMITS SEL


4.6 Setting the I/O ConfigurationThe I/O configuration determines the number of drives that will be represented on the network as one node by the module. If the Mode Jumper is set to the Single-Mode position, only one drive is represented by the module, and DSI I/O Cfg (15) has no effect. If the Mode Jumper is set to the Multi-Drive position, up to five drives can be represented as one node by the module.Step 1. Set the value in DSI I/O Cfg (15).

Drive 0 is the MD65 drive with the MDCOMM-DNET module installed. Drives 1 through 4 are MD65 drives that multi-drop to the RS485 port on Drive 0. Refer to chapter 8, Using Multi-Drive Mode for more information.

Step 2. If a drive is enabled, configure the parameters in the drive to accept the Logic Command and Reference from the module. For example, set Start Source (P036) and Speed Reference (P038) in an MD65 drive to Comm Port.

Step 3. Reset the module. Refer to section 4.9 for this procedure.

4.7 Selecting COS, Cyclic, or Polled I/OThe data exchange (sometimes called allocation) is the method that the module uses to exchange data on the DeviceNet network. The module can be configured to use one of the following data exchanges: COS (change of state) Polled and COS Cyclic Polled and cyclic Polled

If polled and COS or polled and cyclic is used, the module receives the I/O from the polled messages. It transmits its Logic Status and Feedback in COS or cyclic messages. Other data is transmitted in polled messages.

Figure 4.8 I/O Configuration Screen on an LCD OIM

Value DescriptionMode Jumper PositionSingle Multi-Drive

0 Drive 0 (Default) 1 Drives 0-1 2 Drives 0-2 3 Drives 0-3 4 Drives 0-4

DSI I/O Cfg

Parameter: # 015

Drive 0 0

VALUE LIMITS SEL


Cyclic and polled data exchanges are configured in the scanner, so you only need to set the I/O configuration in the module. COS data exchange must be configured in both the module and the scanner. You need to set the I/O configuration and COS parameters in the module.

4.7.1 Using COS (Change of State) Data ExchangeStep 1. Set the bits in the Logic Status word that should be

checked for changes in COS Status Mask (12). The bit definitions for the Status Mask will depend on the drive to which you are connected. Refer to the drive documentation.

Step 2. Set the amount of change to the Feedback that is required to trigger a Change of State message in COS Fdbk Change (13).

.

The module is now configured for COS data exchange. You must configure the scanner to allocate it using COS (see chapter 5, Configuring the Scanner).

Figure 4.9 COS Status Mask Configuration Screen on an LCD OIM

Figure 4.10 COS Fdbk Change Configuration Screen on an LCD OIM

COS Status Mask

Parameter: # 012

0

VALUE LIMITS SEL

Value Description0 Ignore this logic bit. (Default)1 Check this logic bit.

COS Fdbk Change

Parameter: # 013

0

VALUE LIMITS SEL


4.8 Setting a Fault ActionBy default, when communications are disrupted (for example, a cable is disconnected) or the scanner is idle, the drive responds by faulting if it is using I/O from the network.

You can configure a different response to communication disruptions using Comm Flt Action (7) and a different response to an idle scanner using Idle Flt Action (8).

To set the fault action:

Set the values of Comm Flt Action (7) and Idle Flt Action (8) to the desired responses as shown in table 4.6. See figure 4.11 for sample LCD OIM Fault Action Screens.

!ATTENTION: Comm Flt Action (7) and Idle Flt Action (8) let you determine the action of the module and connected drive if communications are disrupted or the scanner is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a hazard of injury or equipment damage. Failure to observe these precautions could result in bodily injury or damage to, or destruction of, equipment.

Table 4.6 Selections for Drive Response to Communication Fault

Value Action Description0 Fault The drive is faulted and stopped. (Default)1 Stop The drive is stopped, but not faulted.2 Zero Data The drive is sent 0 for output data after a

communications disruption. This does not command a stop.

3 Hold Last The drive continues in its present state after a communications disruption.

4 Send Flt Cfg

The drive is sent the data that you set in the fault configuration parameters Flt Cfg Logic (10) and Flt Config Ref (11).


Changes to these parameters take effect immediately. A reset is not required.

If Multi-Drive mode is used, the same fault action is used by the module for all of the drives it controls (Drive 0 - Drive 4).

4.8.1 Setting the Fault Configuration ParametersIf you set Comm Flt Action (7) or Idle Flt Action (8) to Send Flt Cfg, the values in parameters shown in table 4.7 are sent to the drive after a communications fault and/or idle fault occurs. You must set these parameters to values required by your application.

Changes to these parameters take effect immediately. A reset is not required.

Figure 4.11 Fault Action Screens on an LCD OIM

Comm Flt Action

Parameter: # 007

Fault 0

VALUE LIMITS SEL

Idle Flt Action

Parameter: # 008

Fault 0

VALUE LIMITS SEL

Table 4.7 Fault Configuration Parameters

Parameter Name Description10 Flt Cfg Logic A 16-bit value sent to the drive for

Logic Command. 11 Flt Cfg Ref A 16-bit value (0 65535) sent to

the drive as a Reference.


4.9 Resetting the ModuleChanges to switch settings on some module parameters require that you reset the module before the new settings take effect. You can reset the module by cycling power to the drive or by using Reset Module (6).

Set Reset Module (6) to 1 = Reset Module. See figure 4.12.

When you enter 1= Reset Module, the module will be immediately reset. When you enter 2 = Set Defaults, the module will set all module parameters to their factory-default settings. The value of this parameter will be restored to 0 = Ready after the module is reset.

!ATTENTION: If the module is transmitting control I/O to the drive, the drive may fault when you reset the module. Determine how your drive will respond before resetting a connected module. Failure to observe these precautions could result in bodily injury or damage to equipment.

Figure 4.12 Reset Screen on an LCD OIM

Value Description0 Ready (Default)1 Reset Module2 Set Defaults

Reset Module

Parameter: # 006

Ready 0

VALUE LIMITS SEL


4.10 Viewing the Module ConfigurationThe parameters in table 4.8 provide information about how the module is configured. You can view these parameters at any time.

Table 4.8 Module Configuration Parameters

Number Name Description01 Mode The mode in which the module is set

(0 = Single drive operation, or 1 = Multi-Drive operation).

03 DN Addr Actual

The node address used by the module. This will be one of the following values: The address set by the module DIP

switches 1 through 6. The value of DN Addr Config (2) if the

switches have been disabled. An old address of the switches or

parameter if they have been changed and the module has not been reset.

05 DN Rate Actual

The data rate used by the module. This will be one of the following values: The data rate set by the module DIP

switches 7 and 8. The value of DN Rate Config (4) if the

switches have been disabled. An old data rate of the switches or

parameter if they have been changed and the module has not been reset.

09 DN Active Config

The source from which the module node address and data rate are taken. This will be either switches or parameters in EEPROM. It is determined by the settings of the module DIP switches 1 through 8.

16 DSI I/O Actual

Indicating the drives that make up the node:Values:0 = Drive 01 = Drives 0-12 = Drives 0-23 = Drives 0-34 = Drives 0-4

Configuring the Scanner 5-1

CHAPTER 5Configuring the Scanner

A scanner is a separate module of a multi-module controller or a built-in component of a single-module controller that provides communication with a module connected to a network.

Chapter 5 provides instructions on how to configure a scanner to communicate with the DeviceNet module and the connected MD65 drive.

5.1 Configuring a Simple Network: An ExampleAfter the module is configured, the connected drive and module will be a single node on the network. This chapter provides the steps that are needed to configure a simple network like the network shown in figure 5.1. In our example, we will configure the drive for using Logic Command/Status and Reference Feedback over the network.

Figure 5.1 Sample DeviceNet Network

Node 1MD65 Drive with DeviceNet Module

DeviceNet

Node 0SLC 500 Controller with1747-SDN Scanner

Node 62Computer with 1784-PCD andRSNetWorx for DeviceNet


5.2 Setting Up the Scan ListFor the scanner to communicate with a drive, the scanner must be configured and the drives node number must be added to its scan list.Step 1. Go online with RSNetWorx for DeviceNet. Refer to section

4.3.2. The devices on the network are displayed in the configuration view as shown in figure 5.2.

Step 2. Right-click the DeviceNet scanner (node 00 in figure 5.2 and select Properties. The Scanner Module dialog box appears.

Important: If your scanner is an unrecognized device, you must create an EDS file for it and then configure it. Create an EDS file by following the instructions in section 4.3. Configure the scanner using the General and Module tabs. Click Help or refer to your scanner documentation if you need more information.

Step 3. Click the Scanlist tab. A message box prompts you to upload.

Step 4. Click Upload. Data is uploaded from the scanner, and then the Scanlist page (figure 5.3) appears.

Step 5. Select the Automap on Add box (a checkmark will appear).

Step 6. Under Available Devices, select the drive, and then click > (right arrow) to add it to the scanlist. See figure 5.3.

Figure 5.2 Configuration View (Graph Tab)

MD65 Drive


.

Step 7. Under Scanlist, select the drive, and then click Edit I/O Parameters. The Edit I/O Parameters dialog box (figure 5.4) appears.

Figure 5.3 Scanlist Page in the Scanner Module Dialog Box

Figure 5.4 Edit I/O Parameters Dialog Box

01, MD65


Step 8. Select the type(s) of data exchange (Polled, Change of State, and/or Cyclic). In our example, we selected Polled.

Step 9. Type the number of bytes that are required for your I/O in the Input Size and Output Size boxes. The size will depend on the I/O that you enabled in the module. This information can be found in DSI I/O Actual (16) in the module. Table 5.1 shows common configuration Input/Output sizes.

In our example, we typed 4 in the Input Size and Output Size boxes because the Mode Jumper on the module is set to Single (default) and DSI I/O Active (16) is set to Drive 0 (only one drive being connected). Logic Command/Reference uses 4 bytes and Logic Status/Feedback uses 4 bytes.

Step 10. Set the scan rate. See table 5.2.

Step 11. Click OK. If you changed any settings, a Scanner Applet asks if it is OK to unmap the I/O. Click Yes to continue. The Edit I/O Parameters dialog box closes and then the Scanner Module dialog box (figure 5.2) reappears. You will map the I/O in the next section in this chapter.

Table 5.1 Input/Output Size Configuration

Input Size

Output Size

Logic Command/

StatusReference/Feedback

Parameter 16 - (DSI I/O Active)

Parameter 1 - (Mode)

4 4 Drive 0 Single8 8 Drives 0-1

Multi-Drive12 12 Drives 0-216 16 Drives 0-320 20 Drives 0-4

Table 5.2 Scan Rates

Data Exchange Rate to set

Polled Polled Rate

Change of State Heartbeat Rate

Cyclic Send Rate


5.3 Mapping the Drive Data in the ScannerData from I/O messages must be mapped in the scanner. This mapping determines where a ladder logic program can find data that is passed over the network. You must map both the Input I/O and the Output I/O.

5.3.1 Mapping the Input I/OStep 1. In the Scanner Module dialog box, click the Input tab. See

figure 5.5. (If necessary, right-click the scanner in the configuration view (figure 5.2) to display this dialog box.)

If you selected the Automap on Add box in the Scanlist page (figure 5.3), RSNetWorx has already mapped the I/O. If it is not mapped, click Automap to map it. If you need to change the mapping, click Advanced and change the settings. Step 2. In the Memory box, select a location in scanner memory

from table 5.3.

Figure 5.5 Input Page on the Scanner Module Dialog Box

01, MD65 w/MDCOMM-DNET01, MD65 w/MDCOMM-DNET

01, MD65 AC Drive


In our example, we are using a 1747-SDN and selected Discrete.Step 3. In the Start Word box, select the word in memory at which

the data should start. In our example, we selected 1. Logic Status and Speed Feedback information will be found in I:1.1 and I:1.2, respectively.

5.3.2 Mapping the Output I/OStep 1. In the Scanner Module dialog box, click the Output tab.

See figure 5.6. To display this dialog box, right-click the scanner in the configuration view (figure 5.2).

If you selected the Automap on Add box in the Scanlist page (figure 5.3), RSNetWorx has already mapped the I/O. If it is not mapped, click Automap to map it. If you need to change the mapping, click Advanced and change the settings.

Table 5.3 Scanner Module Memory Locations

Scanner Memory Locations1747-SDN Discrete or M-File1756-DNB Assembly Data1771-SDN Block Xfer 62 57

Figure 5.6 Output Page on the Scanner Module Dialog Box

01, MD65 AC Drive

01, MD65 w/MDCOMM-DNET01, MD65 w/MDCOMM-DNET


Step 2. In the Memory box, select a location in scanner memory from table 5.4.

In our example, we are using a 1747-SDN scanner and selected Discrete.Step 3. In the Start Word box, select the word in memory at which

the data should start. In our example, we selected 1. Logic Command and Speed Reference data should be written to O:1.1 and O:1.2, respectively.

5.4 Saving the ConfigurationAfter configuring a scanner, you must download it to the scanner. You should also save it to a file on your computer.Step 1. In the Scanner Module dialog box (figure 5.6), click Apply

to save the configuration to the scanner. A Scanner Configuration Applet appears and asks if it is OK to download the changes.

Step 2. Click Yes to download the changes. The changes are downloaded and then the Scanner Module dialog box reappears.

Step 3. Click OK to close the Scanner Module dialog box.Step 4. Select File > Save. If this is the first time that you saved

the project, the Save As dialog box appears. Navigate to a folder, type a file name, and click Save to save the configuration to a file.

Table 5.4 Scanner Module Memory Locations

Scanner Memory Locations1747-SDN Discrete or M-File1756-DNB Assembly Data1771-SDN Block Xfer 62 57

Using I/O Messaging 6-1

CHAPTER 6Using I/O Messaging

Chapter 6 provides information and examples that explain how to use I/O Messaging to control an MD65 drive.

6.1 About I/O MessagingOn DeviceNet networks, I/O Messaging is used to transfer the data that controls the MD65 drive and sets its Reference.

The DeviceNet module provides many options for configuring and using I/O, including the following: The size of I/O can be configured by selecting the number of

attached drives (Single- or Multi-Drive mode). Change of state, cyclic, or polled data exchange methods can be

used.

Chapter 4, Configuring the DeviceNet Module, and chapter 5, Configuring the Scanner, discuss how to configure the DeviceNet module and scanner on the network for these options. The Glossary defines the different options. This chapter discusses how to use I/O after you have configured the module and scanner.

!ATTENTION: The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. Failure to observe this precaution could result in bodily injury or damage to equipment.


6.2 Understanding the I/O ImageThe DeviceNet specification requires that the terms input and output be defined from scanners point of view.

Output I/O is data that is output from the scanner and consumed by the DeviceNet module.

Input I/O is status data that is produced by the module and consumed as input by the scanner. The I/O image table will vary based on the configuration of the Mode Jumper (J2) on the module and DSI I/O Config (15). The image table always uses consecutive words starting at word 0.

Figure 6.1 illustrates an example of a Single-Drive I/O image (6-bit words).

Single-Drive mode is the typical configuration, where one node consists of an MD65 drive with a DeviceNet module.

For Multi-Drive mode, where one node can consist of up to 5 drives, refer to chapter 8, Using Multi-Drive Mode.

Figure 6.1 Example of Single-Drive I/O Image

Controller Scanner Module MD65 Drives

DeviceNet MDI

OutputImage(Write)

InputImage(Read)

MessageHandler

MessageBuffer

0 Logic Status1 Feedback

Logic StatusFeedback

Word and I/O

MessageHandler

0 Logic Command1 Reference

Logic CommandReference


6.3 Using Logic Command/StatusWhen enabled, the Logic Command/Status word is always word 0 in the I/O image. The Logic Command is a 16-bit word of control produced by the scanner and consumed by the module. The Logic Status is a 16-bit word of status produced by the module and consumed by the scanner.

This manual contains the bit definitions for compatible products available at the time of publication in Appendix D, Logic Command/Status Words. For other products, refer to the corresponding documentation.

6.4 Using Reference/FeedbackWhen enabled, Reference/Feedback always begins at word 1 in the I/O image. The Reference (16 bits) is produced by the controller and consumed by the module. The Feedback (16 bits) is produced by the module and consumed by the controller.

6.5 Sample Ladder Logic ProgramsThe sample ladder logic programs work with MD65 drives.Functions of the Sample ProgramsThe sample programs enable an operator to perform the following actions: Obtain status information from the drive. Use the Logic Command to control the drive (for example, start,

stop). Send a Reference to the drive.

Module Settings for the Sample Programs Node address 1 is set using the switches. The module is configured for Single-Drive mode (mode jumper is

set to Single). Polled I/O was enabled during the scanner configuration.

Scanner Settings for the Example Programs The scanner is node 0 on the DeviceNet network. The scanner is in slot 1. The module I/O is mapped in word 0 and word 1. Data files, when used, are pointed out in the examples.

Size Valid Values In I/O Image Example16-bit -32768 to 32767 Word 1 Figure 6.1


Logic Command/Status Words

These examples use the Logic Command word and Logic Status word for MD65 drives. Refer to Appendix D, Logic Command/Status Words to view these. The definition of the bits in these words may vary if you are using a different MDI product. Refer to the documentation for your drive.

6.5.1 Sample ControlLogix Ladder Logic ProgramTable 6.1 Tags for the Sample ControlLogix Program

Tag Name Type Tag Name TypeLocal:1:I DINT[] DriveFeedback INTLocal:1:O DINT[] DriveInputImage INT[2]DriveCommandClearFault BOOL DriveOutputImage INT[2]DriveCommandJog BOOL DriveReference INTDriveCommandStart BOOL DriveStatusFaulted BOOLDriveCommandStop BOOL DriveStatusRunning BOOL


Figure 6.2 Sample ControlLogix Ladder Logic Program

0 Local:3:O.CommandRegister.Run

Sample ControlLogix program with an MD65 drive at node address 1.

specifc tags for use elsewhere in the ladder program.

1 Copy FileSource Local:3:I.Data[0]Dest DriveInputImage[0]Length 2

COP

2 DriveInputImage[0].0

DriveStatusReady


DriveStatusActive


DriveStatusForward


DriveStatusFaulted


DriveStatusAtReference

7 Copy FileSource DriveInputImage[1]Dest DriveFeedbackLength 1

COP

8 DriveCommandStop

DriveOutputImage[0].0

9 DriveCommandStart


10 DriveCommandJog


11 DriveCommandClearFaults


Command bits and Reference) and writes them to the scanner for output over the network.

This rung enables the scanner (changes the scanner to RUN mode).

This section retrieves the Logic Status and Feedback data from the scanner and moves it to

This section takes the data from specific tags used elsewhere in the ladder program (Logic


For the explicit message portion of this sample ladder program, see figure 7.7.

Figure 6.3 Sample ControlLogix Ladder Logic Program (continued)

12 DriveCommandForward


13 /DriveCommandForward


14 Copy FileSource DriveReferenceDest DriveOutputImage[1]Length 1

COP

15 Copy FileSource DriveOutputImage[0]Dest Local:3:O.Data[0]Length 1

COP


6.5.2 Sample PLC-5 Ladder Logic ProgramTable 6.2 Control File for Block Transfers

EN ST DN ER CO EW NR TO RW RLEN DLEN FILE ELEM R G SBT20:0 0 0 0 0 0 0 0 0 0 62 0 9 0 00 0 0BT20:1 0 0 0 0 0 0 0 0 0 62 0 10 0 00 0 0

Figure 6.4 Sample PLC-5 Ladder Logic Program

Sample PLC-5 program with an MD65 drive at DeviceNet node address 1.

The DeviceNet scanner gathers the drive status data via the network. The BTR in this rung then moves the drive status data from the scanner to the N9: data file in the PLC, where:

N9:0 = Scanner Status word N9:1 = MD65 (node 1) Logic Status N9:2 = MD65 (node 1) Feedback

Note that the Feedback for the MD65 drive is received in Hz and not in engineering units.For example, "300" equates to 30.0 Hz (the decimal point is always implied).

0000BT20:0

EN

EN

DN

ER

BTRBlock Transfer ReadModule Type 1771-SDN DeviceNet Scanner ModuleRack 000Group 0Module 0Control Block BT20:0Data File N9:0Length 62Continuous No

Setup Screen

BTR

This rung enables the DeviceNet scanner.

0001 N10:0

0

1771-SDNScannerEnable bit


For the explicit message portion of this sample ladder program, see figure 7.8.

Figure 6.5 Sample PLC-5 Ladder Logic Program (continued)

The BTR in this rung moves the drive control data to the scanner from the N10: data file inthe PLC, where:

N10:0 = Scanner Control word N10:1 = MD65 (node 1) Logic Command N10:2 = MD65 (node 1) Reference

Note that the Reference for the MD65 drive is set in Hz and not in engineering units.For example, "300" equates to 30.0 Hz (the decimal point is always implied).

The scanner then sends the data to the drive over the network.

0002BT20:1

EN

EN

DN

ER

BTWBlock Transfer WriteModule Type 1771-SDN DeviceNet Scanner ModuleRack 000Group 0Module 0Control Block BT20:1Data File N10:0Length 62Continuous No

Setup Screen

BTW


6.5.3 Sample SLC Ladder Logic Program

Figure 6.6 Sample SLC Ladder Logic Program

SLC 5/03 example program with an MD65 at DeviceNet node address 1.

This rung enables the scanner (changes the scanner to RUN mode).

0000 O:1

0 1747-SDN

1747-SDNScannerEnable bit

This section of rungs control the Logic Command bits for the MD65 drive. TheB3:0 bits would be controlled elsewhere in the user program.

0001B3:0

0

Node 1StopCommand

O:1

16 1747-SDN

Node 1Logic CommandSTOP

0002B3:0

1

Node 1StartCommand

O:1

17 1747-SDN

Node 1Logic CommandSTART

0003B3:0

2

Node 1JogCommand

B3:0

0

Node 1StopCommand

O:1

18 1747-SDN

Node 1Logic CommandJOG

0004B3:0

3

Node 1Clear FaultsCommand

O:1

19 1747-SDN

Node 1Logic CommandCLEAR FAULTS

0005B3:0

4

Node 1ForwardCommand

O:1

20 1747-SDN

Node 1Logic CommandFORWARD


Figure 6.7 Sample SLC Ladder Logic Program (continued)

0006B3:0

4

Node 1ForwardCommand

O:1

21 1747-SDN

Node 1Logic CommandREVERSE

This rung controls the Reference for the MD65 drive. N7:0 would be controlledelsewhere in the user program. Note that the Reference for the MD65 drive is setin Hz and not in engineering units. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

0007MOV

MoveSource N7:0 300

Documents

Reliance MD65 MDCOMM-DNET Communications Module