Reliance SP600 RECOMM-DNET Communications Module Instruction Manual

8/19/2019 Reliance SP600 RECOMM-DNET Communications Module Instruction Manual

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Instruction Manual

DeviceNet Adapterfor use with

DPI AC DrivesM/N RECOMM-DNET

D2-3478


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II DeviceNet Adapter for use with DPI AC Drives

Chapter 5 Configuring the Scanner

5.1 Configuring a Simple Network: An Example.................. 5-1

5.2 Setting Up the Scan List ................................................ 5-2

5.3 Mapping the Drive Data in the Scanner......................... 5-6

5.3.1 Mapping the Input I/O .......................................... 5-6

5.3.2 Mapping the Output I/O ....................................... 5-7

5.4 Saving the Configuration................................................5-8

Chapter 6 Using I/O Messaging

6.1 About I/O Messaging ..................................................... 6-1

6.2 Understanding the I/O Image......................................... 6-2

6.3 Using Logic Command/Status .......................................6-4

6.4 Using Reference/Feedback ........................................... 6-4

6.5 Using Datalinks .............................................................. 6-4

6.5.1 Rules for Using Datalinks .................................... 6-4

6.5.2 32-Bit Parameters Using 16-Bit Datalinks ........... 6-5

6.6 Sample Ladder Logic Programs .................................... 6-6

6.6.1 Sample ControlLogix Ladder Logic Program....... 6-7

6.6.2 Sample PLC-5 Ladder Logic Program.................6-9

6.6.3 Sample SLC Ladder Logic Program.................. 6-11

Chapter 7 Using Explicit Messaging

7.1 About Explicit Messaging.............................................. 7-1

7.2 Formatting Explicit Messages for a ControlLogixController ....................................................................... 7-2

7.3 Formatting Explicit Messages for a PLC or SLC

Controller ....................................................................... 7-4

7.4 Running Explicit Messages............................................ 7-7

7.5 ControlLogix Example....................................................7-8

7.6 PLC-5 Example............................................................ 7-10

7.7 SLC Example ...............................................................7-12

Chapter 8 Troubleshooting the DeviceNet Adapter and Network

8.1 Understanding the Status Indicators.............................. 8-1

8.1.1 DRIVE Status Indicator........................................8-2

8.1.2 MS Status Indicator ............................................. 8-3

8.1.3 NET A Status Indicator ........................................ 8-48.2 Adapter Diagnostic Items...............................................8-5

8.3 Viewing and Clearing Events........................................ 8-7


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Contents III

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

Appendix B DeviceNet Adapter Parameters ...........................................B-1

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

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

Appendix E Master-Slave I/O Configuration............................................E-1

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

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


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IV DeviceNet Adapter for use with DPI AC Drives


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VI DeviceNet Adapter for use with DPI AC Drives

Figure 6.1 – Sample I/O Image with All I/O Enabled...................................6-2

Figure 6.2 – Sample I/O Image with Only Logic/Reference and Datalink B

Enabled ..................................................................................6-3

Figure 6.3 – Sample ControlLogix Ladder Logic Program..........................6-7

Figure 6.4 – Sample ControlLogix Ladder Logic Program

(continued)..............................................................................6-8

Figure 6.5 – Sample PLC-5 Ladder Logic Program....................................6-9

Figure 6.6 – Sample PLC-5 Ladder Logic Program (continued) ...............6-10

Figure 6.7 – Sample SLC Ladder Logic Program .....................................6-11

Figure 6.8 – Sample SLC Ladder Logic Program (continued) ..................6-12

Figure 7.1 – ControlLogix Message Format in RSLogix 5000 ....................7-2

Figure 7.2 – PLC Explicit Message Format.................................................7-4

Figure 7.3 – SLC Explicit Message Format.................................................7-4

Figure 7.4 – Explicit Message Process .......................................................7-7

Figure 7.5 – Data Format for a Read and Write Parameter (1 of 2)............7-8

Figure 7.6 – Data Format for a Read and Write Parameter (2 of 2)............7-9

Figure 7.7 – Sample ControlLogix Ladder Logic Program..........................7-9

Figure 7.8 – Sample PLC-5 Ladder Logic Program..................................7-11

Figure 7.9 – Sample SLC Ladder Logic Program .....................................7-13

Figure 8.1 – Status Indicators (location on drive may vary) ........................8-1

Figure 8.2 – VIewing and Clearing Events Using an LCD OIM...................8-7


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VIII DeviceNet Adapter for use with DPI AC Drives


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Introduction 1-1

CHAPTER 1Introduction

This manual provides information about the DeviceNet adapter

(RECOMM-DNET) and using it with SP600 drives. The adapter ismounted in the SP600 drive and receives its required power fromthe drive and from the DeviceNet network.

The DeviceNet adapter can be used with other products thatimplement DPI. DPI is a peripheral communication interface. Referto the documentation for your product for specific information abouthow it works with the adapter.

This manual is intended for qualified electrical personnel familiarwith installing, programming, and maintaining AC drives andDeviceNet networks.

1.1 DeviceNet Adapter Features

The DeviceNet adapter features the following:

• Switches that enable you to set a node address and network datarate before applying power to the SP600 drive. Alternatively, youcan disable the switches and use parameters to configure thesefeatures.

• A number of configuration tools that can be used to configure theadapter and connected drive. The tools include the OperatorInterface Module (OIM) on the drive, network software such asRSNetWorx for DeviceNet, or drive-configuration software suchas VS Utilities.

• Status indicators that report the status of the drivecommunications, adapter, and network. They are visible both

when the cover is opened and when it is closed.• I/O, including Logic Command/Reference and up to four pairs of

Datalinks, that may be configured for your application using aparameter.

• Explicit and UCMM (Unconnected Message Manager) messagesare supported.

• Multiple data exchange methods, including polled, cyclic, andchange of state (COS), that can be used to transmit data betweenthe network and adapter.


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1-2 DeviceNet Adapter for use with DPI AC Drives

• Master-slave or peer-to-peer hierarchies that can be set up sothat the adapter and connected SP600 drive transmit data to andfrom either a scanner or another SP600 drive on the network.

• User-defined fault actions that determine how the adapter andSP600 drive respond to communication disruptions on thenetwork and controllers in idle mode.

• Faulted node recovery is supported. You can configure a deviceeven when it is faulted on the network if you have a configurationtool that uses faulted node recovery and have set the data rate

switch to “PGM” (Program). With the PGM setting, the adapteruses parameter settings for the data rate and node addressinstead of switch settings.

1.2 Related Documentation

Refer to the following related publications as necessary for moreinformation. All of the publications are available fromhttp://www.theautomationbookstore.com.

• D2-3485 SP600 AC Drive User Manual

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

• 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 ScannerInstallation Instructions

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

• 9399-RL53GR RSLogix 5 Getting Results GuideOnline help installed with the software

• 9399-RL50GR RSLogix 500 Getting Results GuideOnline help installed with the software

• 9399-RLD300GR RSLogix 5000 Getting Results GuideOnline help installed with the software

• 9399-DNETGR RSNetWorx for DeviceNet Getting ResultsGuideOnline help installed with the software

• 1747-5.8 DeviceNet Scanner Module InstallationInstructions


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Introduction 1-3

• 1747-6.5.2 DeviceNet Scanner Module ConfigurationManual

• 1747-5.8 DeviceNet Scanner Module InstallationInstructions

• 1771-6.5.118 DeviceNet Scanner Module ConfigurationManual

1.3 Conventions Used in This Manual

The following conventions are used throughout this manual:

• Menu commands are shown in bold type face and follow theformat Menu > Command.

For example, if you read “Select File > Open,” you should clickthe File menu and then click the Open command.

• Parameters will be referenced as follows:Parameter Name ( Parameter Number)

For example: DPI Port (1)

1.4 Getting Assistance from RelianceElectric

If you have any questions or problems with the products describedin this instruction manual, contact your local Reliance Electr ic salesoffice. For technical assistance, call 1-800-726-8112.


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Getting Started 2-1

CHAPTER 2Getting Started

This chapter provides:

• A description of the DeviceNet adapter’s components

• A list of parts shipped with the adapter

• A list of user-supplied parts required for installing the adapter

• An installation checklist

2.1 DeviceNet Adapter Components

Status Indicators Three LEDs that indicate the status of theconnected drive, adapter, and network.Refer to Chapter 8, Troubleshooting.

DPI Connector A 20-pin, single-row shrouded maleheader. An Internal Interface cable isconnected to this connector and aconnector on the drive. See table 2.2.

DeviceNet Connector A 5-pin connector to which a 5-pin linearplug can be connected.

Node Address Switches Switches for setting the node address.

Data Rate Switch Switch for setting the DeviceNet data rateat which the adapter communicates.

Figure 2.1 – Components of the DeviceNet Adapter

4

53

2

1


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2.2 Required EquipmentTable 2.2 lists the equipment shipped with the DeviceNet adapter.When you unpack the adapter, verify that the package includes allof these items.

Table 2.3 lists user-supplied equipment also required to install andconfigure the DeviceNet adapter.

Table 2.2 – Equipment Shipped with the DeviceNet Adapter

Item Description

DeviceNet adapter

2.54 cm (1 in) and 15.24 cm (6 in) Internal Interface cables

(Only one cable is needed to connect the adapter to the drive)Five-pin linear DeviceNet plug (connected to the DeviceNetconnector on the adapter)

Grounding wrist strap

DeviceNet Adapter User Manual (D23478)

Table 2.3 – Required User-Supplied Equipment

Item Description

A small flathead screwdriver

DeviceNet cable

• Thin cable with an outside diameter of 6.9 mm (0.27 in.) is

recommended

Configuration tool, such as:

• LCD OIM

• VS Utilities

• RSNetWorx for DeviceNet

• Serial Converter

Computer with a DeviceNet communications adapter installed(such as 1784-PCD, 1784-PCID, 1784-PCIDS, or 177-KFD)

Controller configuration software (examples: RSLogix5,RSLogix500, or RSLogix 5000)


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Getting Started 2-3

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

Step Action Refer to

1 Review the safety precautions for theadapter.

Throughoutthis manual

2 Verify that the SP600 drive is properly

installed.

SP600 AC

Drive UserManual

3 Commission the adapter.Set a unique node address and theappropriate data rate using the switches onthe adapter. If desired, you can disable theswitches and use parameter settingsinstead.

Chapter 3,InstallingtheDeviceNetAdapter

4 Install the adapter.Verify that the SP600 drive and DeviceNetnetwork are not powered. Then, connectthe adapter to the network using aDeviceNet cable and to the drive using theInternal Interface cable. Use the captivescrews to secure and ground the adapter to

the drive.


5 Apply power to the adapter.The adapter receives power from the driveand network. Apply power to the networkand to the drive. The status indicatorsshould be green. If they flash red, there is aproblem. Refer to Chapter 8,Troubleshooting.


6 Configure the adapter for yourapplication.Set the parameters for the followingfeatures as required by your application:

• Node address and data rate (if the Data

Rate switch is set to “PGM”).

• I/O configuration.

• Change of State, Cyclic, or polled I/Odata exchange.

• Master-slave or peer-to-peer hierarchy.

• Fault actions.

Chapter 4,ConfiguringtheDeviceNetAdapter


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7 Apply power to the DeviceNet masterand other devices on the network.Verify that the master and network areinstalled and functioning in accordance withDeviceNet standards, and then apply powerto them.

DeviceNetCableSystemPlanningandInstallationManual

8 Configure the scanner to communicatewith the adapter.

Use a network tool such as RSNetWorx forDeviceNet to configure the scanner on thenetwork. Make sure to:

• Set up the scan list.

• Map the adapter data to the scan list.

• Save your DeviceNet configuration to thescanner and a file.

Chapter 5,Configuring

the Scanner

9 Create a ladder logic program.Use a programming tool such as RSLogixto create a ladder logic program thatenables you to do the following:

• Control the adapter and connected drive.

• Monitor or configure the drive using

Explicit Messages.

Chapter 6,Using I/OMessaging

Chapter 7,UsingExplicit

Messaging

Step Action Refer to


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Installing the DeviceNet Adapter 3-1

CHAPTER 3Installing the

DeviceNet Adapter

Chapter 3 provides instructions for installing the DeviceNet adapterin an SP600 drive.

3.1 Preparing for an Installation

Before installing the DeviceNet adapter:

• 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 DeviceNetAdapter

To commission the adapter, you must set a unique node addressand the data rate that is used by the network. (Refer to the Glossaryfor details about data rates and node addresses.)

Important: New settings are recognized only when power is appliedto the adapter. If you change a setting, cycle power.

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

!

ATTENTION: The DeviceNet adapter contains

ESD- (Electrostatic Discharge) sensitive parts thatcan be damaged if you do not follow ESD controlprocedures. Static control precautions are requiredwhen handling the adapter. Failure to observe theseprecautions could result in damage to equipment.


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Step 2. Set the data rate switch as shown in figure 3.2

Setting Description

0-63 Node address used by the adapter if switches areenabled. The default switch setting is 63. Nodeaddress 63 is also the default address used by alluncommissioned devices. Do not use this addressas the final adapter address.

Important: If the Data Rate switch is set to “PGM”(Program), the adapter will use the setting of DNAddr Cfg (3) for the node address. The defaultparameter setting is 63. Refer to chapter 4,Configuring the DeviceNet Adapter.

64-99 Do not use. The adapter does not recognize theseaddresses.

Figure 3.1 – Setting the Node Address

21

0

9

8

34

5

67

21

0

9

8

34

5

67

TensDigit

OnesDigit

Setting Description

Auto The adapter is set to the data rate used by othernetwork devices. Another device on the networkmust be set to a data rate.

125 K250 K500 K

The adapter is set to the respective data rate.

PGM The adapter uses the setting of DN Rate Cfg (5) forthe data rate. Refer to chapter 4, Configuring theDeviceNet Adapter.

Figure 3.2 – Setting the Data Rate

125K

250K500K PGM

AUTO


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3.3 Connecting the Adapter to theNetwork

Step 1. Remove power from the network and drive.

Step 2. Use static control precautions.

Step 3. Connect a DeviceNet cable to the network, and route itthrough the bottom of the SP600 drive. DeviceNet thincable with an outside diameter of 6.9 mm (0.27 in.) isrecommended. (See figure 3.5.)

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

Step 4. Connect a 5-pin linear plug to the DeviceNet cable. Referto figure 3.3.

Note that a 10-pin linear plug is not supported. Use the5-pin linear plug shipped with the adapter.

Step 5. Connect the DeviceNet cable to the adapter and secure itwith the two screws (see figure 3.4).

!

ATTENTION: The drive may contain high voltagesthat can cause injury or death. Remove all powerfrom the drive, and then verify power has beenremoved before installing or removing a DeviceNetadapter. Failure to observe these precautions couldresult in severe bodily injury or loss of life.

Terminal Color Signal Function

5 Red V+ Power Supply4 White CAN_H Signal High

3 Bare SHIELD Shield

2 Blue CAN_L Signal Low

1 Black V– Common

Figure 3.3 – Connecting a 5-Pin Linear Plug to the Cable

54321

RedWhiteBareBlueBlack


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Step 4. Mount the adapter on the drive, using the four captivescrews to secure it in place and ground it to the drive.

Important: On an SP600 drive, tighten the screw in the lower righthole to ground the adapter.

3.5 Applying Power

Step 1. Close the door or reinstall the cover on the drive. Thestatus indicators can be viewed on the front of the driveafter power has been applied.

Step 2. Ensure that the adapter will have a unique address on thenetwork and is set at the correct data rate or to autobaud. Ifa new data rate or address is needed, reset its switches

(refer to section 3.2).

Step 3. Apply power to the network.

Step 4. Apply power to the drive. The adapter receives its powerfrom the connected drive and network. When you applypower to the product and network for the first time, thestatus indicators should be green after an initialization. Ifthe status indicators are red, there is a problem. Refer tochapter 8, Troubleshooting the DeviceNet Adapter andNetwork.

Figure 3.5 – Mounting and Grounding the DeviceNet Adapter

SP600 AC Drive

!

ATTENTION: Unpredictable operation may occur ifyou fail to verify that parameter settings and switchsettings are compatible with your application. Verifythat settings are compatible with your applicationbefore applying power to the drive. Failure toobserve these precautions could result in severebodily injury or loss of life.


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Step 5. If the data rate switch is set to “PGM,” use a configurationtool to set the data rate and node address parameters inthe adapter (see chapter 4, Configuring the DeviceNetAdapter). If you are using RSNetWorx for DeviceNet, youneed to create a point-to-point connection to the drive.

Step 6. Apply power to the master device (scanner) and otherdevices on the network.


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Configuring the DeviceNet Adapter 4-1

CHAPTER 4Configuring the

DeviceNet Adapter

Chapter 4 provides instructions and information for setting theparameters in the DeviceNet adapter.

For a list of parameters, refer to Appendix B, DeviceNet AdapterParameters. For definitions of terms in this chapter, refer to theGlossary.

4.1 Configuration Tools

The DeviceNet adapter stores parameters and other information inits own non-volatile memory. Therefore, you must access theadapter to view and edit its parameters. Table 4.1 lists the tools thatcan be used to access the adapter parameters.

RSNetWorx for DeviceNet (version 2.22.18) and RSLinx (version2.10.118) were used for examples in this manual. Different versionsof software may differ in appearance and procedures.

Note that explicit messaging can also be used to configure aDeviceNet adapter and drive. Refer to Chapter 7, Using Explicit

Messaging.

Table 4.1 – Configuration Tools

Tool Refer To:

VS Utilities Software VS Utilities online help

LCD OIM Section 4.2

RSNetWorx for DeviceNet Section 4.3


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4.2 Using the LCD OIM to Configure theAdapter

Use the procedure in figure 4.1 to access the parameters on theDeviceNet adapter using the LCD OIM. If you are unfamiliar withthe operation of the LCD OIM, refer to the SP600 AC Drive UserManual (D2-3485) for more information.

4.3 Using RSNetWorx for DeviceNet

RSNetWorx for DeviceNet is a Rockwell Software application thatcan be used to set up DeviceNet networks and configure connecteddevices.

4.3.1 Setting Up RSLinx for RSNetWorx forDeviceNet

To use RSNetWorx for DeviceNet, you must first set up a driver inRSLinx. The driver provides a communications link between thecomputer and DeviceNet network. See table 4.2 and figure 4.2 forthis procedure.

Figure 4.1 – Accessing the DeviceNet Parameters using the LCD OIM


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Table 4.2 – Procedure for Setting Up RSLinx for RSNetworx for DeviceNet

Step Action Icon

1. Star t RSLinx, and select Communications >Configure Drivers to display the ConfigureDrivers dialog box. See figure 4.2.

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

appears.3. In the Available DeviceNet Drivers list, select

the adapter connected to your computer, andthen click Select. A Driver Configuration dialogbox appears.

Configure the driver for your computer andnetwork settings, and then click OK. TheConfigure Drivers dialog box reports theprogress of the configuration. Then, the AddNew 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 DriversList.

5. Click Close to close the dialog box. LeaveRSLinx running.

Shortcut to

RSLinx

Figure 4.2 – Configure Drivers Dialog Box with a Configured Driver


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4.3.2 Going Online with RSNetWorx for DeviceNet

You can view the devices on a DeviceNet network by going online. Adevice may appear as an unrecognized device (node 63 in figure4.3) if RSNetWorx for DeviceNet does not have an Electronic DataSheet (EDS) file for it. See table 4.3 for the procedure to viewdevices.

Table 4.3 – Viewing Devices on the DeviceNet Network using RSNetWorx

Step Action Icon

1. After setting up a driver in RSLinx, startRSNetWorx for DeviceNet.

2. Select Network > Online. If the Browsefor Network dialog box appears, RSLinxhas multiple drivers configured. Selectyour DeviceNet network, and click OK. Aprompt appears.

3. Click OK to go online. The devices on thenetwork appear in the Configuration View.You can select Graph, Spreadsheet, orMaster/Slave views. Figure 4.3 shows asample network in a Graph view.

Shortcut to

RSNetWorx

Figure 4.3 – Sample DeviceNet Network (Graph View)


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4.3.3 Creating an Electronic Data Sheet (EDS) File

If the adapter and drive appear as an unrecognized device, createan EDS file for it using the procedure in table 4.4.

Table 4.4 – Procedure for Creating an EDS File

Step Action Icon

1. Right-click the “Unrecognized Device” icon,and select Register Device in the menu. TheEDS 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 clickNext.

5. Under Polled, select Enabled, type 4 in theInput Size and Output Size boxes, and thenclick Next. RSNetWorx will upload the EDS filefrom the drive and adapter.

6. Click Next to display the icon options for thenode. We recommend that you use the icon foryour product. You can change icons by clickingChange 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 SP600 drive and adapterin the Configuration View.

Important: RSNetWorx for DeviceNet(versions 2.22.18 and earlier) replaces 32-bitvalues with exponential values. For the EDSfile to work in RSNetWorx, you must edit theEDS file, replacing exponential values with32-bit values (typically 4294967295), and thenrestart RSNetWorx.

SP600AC Drive


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4.3.4 Accessing and Editing Parameters

Parameters in the drive and adapter can be edited with RSNetWorxusing the procedure in table 4.5. The adapter parameters areappended to the list of drive parameters. In figure 4.5, for example,

the drive has 387 parameters, so parameter 388 is the first adapterparameter.

Figure 4.4 – EDS Wizard Screen

Table 4.5 – Procedure to Access and Edit Parameters Using RSNetWorx

Step Action Icon

1. After creating an EDS file, right-click on theicon for the SP600 drive and adapter andselect Properties. The SP600 Drive dialog boxappears.

2. Click the Device Parameters tab (figure 4.5).If an EDS Editor message appears, clickUpload to load the parameter values in thedrive to the computer.

Parameters are displayed in numerical orderunder Parameter. You can either scroll throughthe list or select a specific group of parametersin the Groups box. The available groups andthe numbers of the adapter parameters willvary based on the type of drive that isconnected to the adapter.

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

4. Click Apply to save changes to the device.

SP600AC Drive


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4.4 Setting the Node Address

If the adapter Data Rate switch is set to “PGM,” the value of DNAddr Cfg (3) determines the node address.

Step 1. Set the value of DN Addr Cfg (3) to a unique node address.See figure 4.6. Do not use node address 63 because allnew devices use it as the default address. Address 63 isalso used for Automatic Device Replacement (ADR).

Step 2. Reset the adapter. Refer to section 4.10, Resetting theAdapter, for this procedure.

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

Figure 4.5 – Sample SP600 Drive Dialog Box (Drive Parameters Tab)

SP600 Standard

Figure 4.6 – DeviceNet Node Address Screen on an LCD OIM

Port 5 Device

RECOMM-DNET

Parameter #: 3

DN Addr Cfg

630 63

Default = 63


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4.5 Setting the Data Rate

If the adapter Data Rate switch is set to “PGM,” the value ofDN Rate Cfg (05) determines the DeviceNet data rate. See figure4.7. The Autobaud setting will detect the data rate used on thenetwork if another device is setting the data rate. Your applicationmay require a different setting.

Step 1. Set the value of DN Rate Cfg (05) to the data rate at whichyour network is operating.

Step 2. Reset the adapter. Refer to section 4.10 for this procedure.

4.6 Setting the I/O ConfigurationThe I/O configuration determines the type of data sent to the drive.Logic Command/Status, Reference/Feedback, and Datalinks maybe enabled or disabled. A “1” enables the I/O. A “0” disables it.

Step 1. Set the bits in DPI I/O Confg (13). Bit 0 is the right-most bit.In figure 4.8, it is highlighted and equals “1.”

Step 2. Set a master-slave or peer-to-peer hierarchy. Refer tosection 4.7.

Figure 4.7 – DeviceNet Data Rate Screen on an LCD OIM

Value Baud Rate

0 125 kbps

1 250 kbps

2 500 kbps

3 Autobaud (Default)

Port 5 Device

RECOMM-DNET

Parameter #: 5

DN Rate Cfg

3

Autobaud

Figure 4.8 – I/O Configuration Screen on an LCD OIM

Bit Description

0 Logic Command/Reference (Default)

1 Datalink A

2 Datalink B

3 Datalink C

4 Datalink D

5-15 Not Used

Port 5 Device

RECOMM-DNET

Parameter #: 13

DPI I/O Configx x x x x x x x x x x 0 0 0 0 1

Cmd/Ref b00


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Step 3. If you enabled Logic Command/Reference, configure theparameters in the drive to accept the logic and referencefrom the adapter. For example, set Speed Ref A Sel (90) inan SP600 drive to “Network” so that the drive uses thereference from the adapter.

Step 4. If you enabled one or more Datalinks, configureparameters in the drive to determine the source anddestination of data in the Datalink(s). Also, ensure that theDeviceNet adapter is the only adapter using the enabledDatalink(s).

Step 5. Reset the adapter. Refer to the section 4.10 for thisprocedure.

4.7 Selecting Master-Slave orPeer-to-PeerA hierarchy determines the type of device with which the adapterexchanges data. In a master-slave hierarchy, an adapterexchanges data with a scanner. In a peer-to-peer hierarchy, anadapter can exchange data with one or more DeviceNet adapter(s)connected to SP600 drives that have similar data structures.

4.7.1 Setting a Master-Slave Hierarchy

Step 1. Enable the desired I/O in DPI I/O Config (13). Refer tofigure 4.8.

Step 2. Set the bits in M-S Input (25). This parameter determinesthe data transmitted from the scanner to the drive. A “1”enables the I/O. A “0” disables the I/O. Bit 0 is theright-most bit. In figure 4.9, it is highlighted and equals “1.”

Figure 4.9 – Master-Slave Input Screen on an LCD OIM

Bit Description

0 Logic Command/Reference (Default)

1 Datalink A Input

2 Datalink B Input

3 Datalink C Input

4 Datalink D Input5-15 Not Used

Port 5 Device

RECOMM-DNET

Parameter #: 25

M-S Input

x x x x x x x x x x x 0 0 0 0 1Cmd/Ref b00


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Step 3. Set the bits in M-S Output (26). This parameter determinesthe data transmitted from the drive to the scanner. A “1”enables the I/O. A “0” disables the I/O. Bit 0 is theright-most bit. In figure 4.10, it is highlighted and equals“1.”

Step 4. Reset the adapter. Refer to section 4.10 for this procedure.

The adapter is ready to receive I/O from the master (i.e., scanner).You must now configure the scanner to recognize and transmit I/Oto the adapter. Refer to chapter 5, Configuring the Scanner.

4.7.2 Setting an Adapter To Transmit Peer-to-Peer

DataStep 1. Verify that Peer Out Enable (41) is set to Off. This

parameter must be set to Off while you configure some ofthe peer output parameters. See figure 4.11.

Step 2. Select the source of the data to output to the network inPeer A Output A (39). If you are transmitting a 32-bitReference or 32-bit Datalink, only Peer A Output will beavailable. Peer B Output cannot be used. See figure 4.12.

Figure 4.10 – Master-Slave Output Screen on an LCD OIM

Bit Description

0 Status/Feedback (Default)

1 Datalink A Output

2 Datalink B Output

3 Datalink C Output

4 Datalink D Output

5-15 Not Used

Port 5 Device

RECOMM-DNET

Parameter #: 26M-S Output

x x x x x x x x x x x 0 0 0 0 1

Status/Fdbk b00

Figure 4.11 – Peer Out Enable Screen on an LCD OIM

Value Setting

0 Off (Default)

1 On

Port 5 Device

RECOMM-DNET

Parameter #: 41

Peer Out Enable

0

Off


35/168


Step 3. If desired, select an additional source of the data to outputto the network in Peer B Output (40). See figure 4.13.

Step 4. Set Peer Out Time (42) and Peer Out Skip (43) to establishthe minimum and maximum intervals between Peermessages. The minimum interval is set in Peer Out Time(42). The maximum interval is the value of Peer Out Time(42) multiplied by the value of Peer Out Skip (43). Seefigure 4.14.

Step 5. Set Peer Out Enable (41) to On. The adapter will transmitthe data selected in Peer A Output (39) and Peer B Output(40) to the network. Another adapter must be configured toreceive the data.

Figure 4.12 – Peer A Output Screen on an LCD OIM

Figure 4.13 – Peer B Output Screen on an LCD OIM

Figure 4.14 – Min Peer TX Time and Peer Out Skip Screens on an LCD OIM

Port 5 Device

RECOMM-DNET

Parameter #: 39

Peer A Output

1

Cmd/Ref

Value Description

0 Off (Default)

1 Logic Command/Reference

2-5 Datalink A, B, C, or D

Input


Output

Port 5 Device

RECOMM-DNET

Parameter #: 40

Peer B Output

2

DL A Input

Value Description

0 Off (Default)



Input


Output

Port 5 Device

RECOMM-DNET

Parameter #: 42

Peer Out Time

10.00 Secs.

0 10.00

Port 5 Device

RECOMM-DNET

Parameter #: 43

Peer Out Skip

1

1 16


36/168


4.7.3 Setting an Adapter To Receive Peer-to-Peer Data

Step 1. Verify that Peer Inp Enable (37) is set to Off. Thisparameter must be set to Off while you configure some ofthe peer input parameters. See figure 4.15.

Step 2. Select the node from which you want to receive data inPeer Note to Inp (35). Valid nodes must haveRECOMM-DNET adapters connected to drives with similardata structures. See figure 4.16.

Step 3. Select the destination of the data that is input to the drivein Peer A Input (30). If you are receiving a 32-bit Referenceor 32-bit Datalink, only Peer A Input will be available. PeerB Input cannot be used. See figure 4.17.

.

Figure 4.15 – Peer Input Enable Screen on an LCD OIM

Figure 4.16 – Peer Node to Input Screen on an LCD OIM

Figure 4.17 – Peer A Input Screen on an LCD OIM

Value Setting

0 Off (Default)

1 On

Port 5 Device

RECOMM-DNET

Parameter #: 37

Peer Inp Enable

0

Off

Port 5 Device

RECOMM-DNET

Parameter #: 35

Peer Node to Inp

0

0 63

Default = 0

Port 5 Device

RECOMM-DNET

Parameter #: 30

Peer A Input

1

Cmd/Ref

Value Description

0 Off (Default)

1 Log ic Command/Reference

2 5 Datalink A, B, C, or D

Input


37/168


Step 4. If desired, select the destination of the data to input to thedrive in Peer B Input (31). See figure 4.18.

Step 5. If you are receiving a Logic Command, set the bits in it thatshould be used in Peer Cmd Mask (32). The bit definitionsfor the Logic Command word will depend on the drive towhich the adapter is connected. Refer to the drivedocumentation.

If the adapter receives a Logic Command from both amaster device and a peer device, each command bit musthave only one source. The source of command bits set to“0” will be the master device. The source of command bitsset to “1” will be the peer device. See figure 4.19.

Step 6. If you are receiving a Reference, set the scale in Peer RefAdjust (33). It can be scaled between 0.00 and 199.99%.

See figure 4.20.

Figure 4.18 – Peer B Input Screen on an LCD OIM

Figure 4.19 – Peer Logic Command Mask Screen on an LCD OIM

!

ATTENTION: Note that changes to Peer Ref Adjust(33) take effect immediately. A drive receiving itsReference from peer I/O will receive the newlyscaled Reference, resulting in a change of speed.Failure to observe this precaution could result inbodily injury or damage to, or destruction of,equipment.

Port 5 Device

RECOMM-DNET

Parameter #: 31

Peer B Input

2

DL A Input

Value Description

0 Off (Default)


2 5 Datalink A, B, C, or D

Input

Value Description

0 Ignore this command bit.(Default)

1 Use this command bit.

Port 5 Device

RECOMM-DNET

Parameter #: 32

Peer Cmd Mask

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Bit 0 B00


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Step 7. Set Peer Inp Timeout (36) to the maximum amount of timethe adapter will wait for a message before timing out. Seefigure 4.21.

Important: This value must be greater than the product of Peer OutTime (42) multiplied by Peer Out Skip (43) in theadapter from which you are receiving I/O.

Step 8. Peer Flt Action (34) specifies the action that the adapterwill take if it times out. See figure 4.22. For details, refer tosection 4.9.

Figure 4.20 – Peer Reference Adjust Screen on an LCD OIM

Figure 4.21 – Minimum Peer Receiving Time Screen on an LCD OIM

!

ATTENTION: Peer Flt Action (34) lets you determinethe action of the adapter and connected drive ifcommunications are disrupted. By default, this

parameter faults the drive. You can set thisparameter so that the drive continues to run.Precautions should be taken to ensure that thesetting of this parameter does not create a hazardof injury or equipment damage. Failure to observethese precautions could result in bodily injury ordamage to equipment.

Port 5 Device

RECOMM-DNET

Parameter #: 33

Peer Ref Adjust

0.00 %

0.00 199.99

Default = 0.00%

Port 5 Device

RECOMM-DNET

Parameter #: 36

Min Peer Rx Time

10.00 Secs.

0.01 180.00

Default = 10.00 Secs


39/168


Step 9. Set Peer Inp Enable (37) to On. The adapter is nowconfigured to receive I/O from the specified node. Ensurethat the specified node is configured to transmit I/O.

4.8 Selecting COS, Cyclic, or Polled I/O

The data exchange (sometimes called allocation) is the method thatthe adapter uses to exchange data on the DeviceNet network. Theadapter can be configured to use one of the following dataexchanges:

• COS (change of state)

• Polled and COS

• Cyclic

• Polled and cyclic

• Polled

If “polled and COS” or “polled and cyclic” is used, the adapterreceives the I/O from the polled messages. It transmits its LogicStatus and Feedback in COS or cyclic messages. Other data istransmitted in polled messages.

Cyclic and polled data exchanges are configured in the scanner, soyou only need to set the I/O configuration in the adapter. COS dataexchange must be configured in both the adapter and the scanner.

You need to set the I/O configuration and COS parameters in theadapter.

4.8.1 Using COS (Change of State) Data Exchange

Step 1. Set bit 0 (the Logic Command/Reference bit) in DPI I/OConfig (13) to 1 (Enabled) and bit 0 (the LogicStatus/Feedback bit) in M-S Output (26) to 1 (Enabled).Changes to bits in the Logic Status or Feedback triggermessages in COS data exchange. See figure 4.23.

Figure 4.22 – Peer Fault Action Screen on an LCD OIM

Port 5 Device

RECOMM-DNET

Parameter #: 34

Peer Flt Action

0

Fault

Value Description

0 Fault (Default)

1 Stop

2 Zero Data

3 Hold Last

4 Send Flt Cfg


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Step 2. Set the bits in the Logic Status word that should bechecked for changes in COS Status Mask (27). See figure4.24. The bit definitions for the Status Mask will depend onthe drive to which you are connected. Refer to the drivedocumentation.

Step 3. Set the amount of change to the Feedback that is requiredto trigger a Change of state message in COS FdbkChange (28). See figure 4.25.

.

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

Figure 4.23 – I/O Configuration Screens on an LCD OIM

Figure 4.24 – COS Status Mask Configuration Screen on an LCD OIM

Figure 4.25 – COS Fdbk Change Configuration Screen on an LCD OIM

Port 5 Device

RECOMM-DNET

Parameter #: 13

DPI I/O Config

x x x x x x x x x x x 0 0 0 0 1

Cmd/Ref b00

Port 5 Device

RECOMM-DNET

Parameter #: 26

M-S Output

x x x x x x x x x x x 0 0 0 0 1

Status/Fdbk b00

Port 5 Device

RECOMM-DNET

Parameter #: 27

COS Status Mask

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1Bit 0 b00

Value Description

0 Ignore this logic bit. (Default)

1 Check this logic bit.

Port 5 Device

RECOMM-DNET

Parameter #: 28

COS Fdbk Change

0

0 4294967295


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4.9 Setting a Fault Action

By default, when communications are disrupted (for example, acable is disconnected) or the scanner is idle, the drive responds byfaulting if it is using I/O from the network.

You can configure a different response to communicationdisruptions using Comm Flt Action (10) and a different response toan idle scanner using Idle Flt Action (11).

4.9.1 Changing the Fault Action

Set the values of Comm Flt Action (10) and Idle Flt Action (11) to

the desired responses as shown in table 4.6. See figure 4.26 forsample LCD OIM Fault Action Screens.

!

ATTENTION: Comm Flt Action (10) and Idle FltAction (11) let you determine the action of theadapter and connected drive if communications aredisrupted or the scanner is idle. By default, theseparameters fault the drive. You can set theseparameters so that the drive continues to run.Precautions should be taken to ensure that thesettings of these parameters do not create a hazardof injury or equipment damage. Failure to observethese precautions could result in bodily injury ordamage to, or destruction of, equipment.

Table 4.6 – Selections for Drive Response to Communication Fault

Value Action Description

0 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 acommunications disruption. This does notcommand a stop.

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

4 Send FltCfg

The drive is sent the data that you set in the faultconfiguration parameters Flt Cfg Logic (15)through Flt Cfg D2 In (24).


42/168


Changes to these parameters take effect immediately. A reset is notrequired.

4.9.2 Setting the Fault Configuration Parameters

If you set Comm Flt Action (10), Idle Flt Action (11), or Peer FltAction (34) to the “Send Flt Cfg,” the values in parameters shown intable 4.7 are sent to the drive after a communications fault and/oridle fault occurs. You must set these parameters to values requiredby your application.

Changes to these parameters take effect immediately. A reset is notrequired.

Figure 4.26 – Fault Action Screens on an LCD OIM

Port 5 Device

RECOMM-DNET

Parameter #: 10

Comm Flt Action

0

Fault

Port 5 Device

RECOMM-DNET

Parameter #: 11

Idle Flt Action

0

Fault

Table 4.7 – Fault Configuration Parameters

Parameter Name Description

15 Flt Cfg Logic A 16-bit value sent to the drive for LogicCommand.

16 Flt Cfg Ref A 32-bit value (0 – 4294967295) sent to thedrive as a Reference or Datalink.

Important: If the drive uses a 16-bitReference or 16-bit Datalinks, the mostsignificant word of the value must be set tozero (0) or a fault will occur.

17 – 24 Flt Cfg x1 Inor Flt Cfg x2In


43/168


4.10 Resetting the Adapter

Changes to switch settings on some adapter parameters requirethat you reset the adapter before the new settings take effect. Youcan reset the adapter by cycling power to the drive or by usingReset Module (9).

Set Reset Module (9) to 1 (Reset Module). See figure 4.27.

When you enter 1 (Reset Module), the adapter will be immediatelyreset. When you enter 2 (Set Defaults), the adapter will set alladapter parameters to their factory-default settings. The value ofthis parameter will be restored to 0 (Ready) after the adapter isreset.

!

ATTENTION: If the adapter is transmitting controlI/O to the drive, the drive may fault when you resetthe adapter. Determine how your drive will respond

before resetting a connected adapter. Failure toobserve these precautions could result in bodilyinjury or damage to equipment.

Figure 4.27 – Reset Screen on an LCD OIM

Value Description

0 Ready (Default)

1 Reset Module

2 Set Defaults

Port 5 Device

RECOMM-DNET

Parameter #: 9

Reset Module

1

Reset Module


44/168


4.11 Viewing the Adapter Configuration

The parameters in table 4.8 provide information about how theadapter is configured. You can view these parameters at any time.

Table 4.8 – Adapter Configuration Status Parameters

Number Name Description

01 DPI Port The port on the drive to which the adapter isconnected. Usually, it is port 5.

02 DPI DataRate

The data rate used by DPI in the drive. It willbe either 125 kbps or 500 kbps. It is set in thedrive, and the adapter detects it.

04 DN AddrActual

The node address used by the adapter. Thiswill be one of the following values:

• The address set by the rotary switches.

• The value of DN Addr Cfg (3) if the switcheshave been disabled.

• An old address of the switches or parameterif they have been changed and the adapterhas not been reset.

06 DN RateActual

The data rate used by the adapter. This will beone of the following values:

• The data rate set by the DIP switch.• The value of DN Rate Cfg (5) if the switches

have been disabled.

• An old data rate of the switches or parameterif they have been changed and the adapterhas not been reset.

07 Ref/FdbkSize

The size of the Reference/Feedback. It willeither be 16 bits or 32 bits. It is set in the driveand the adapter automatically uses the correctsize.

08 DatalinkSize

The size of the Datalinks. It will either be 16bits or 32 bits. It is set in the drive and theadapter automatically uses the correct size.

12 DN ActiveCfg

Source from which the adapter node addressand data rate are taken. This will be eitherswitches or parameters in EEPROM. It isdetermined by the settings of the switches onthe adapter.


45/168


14 DPI I/OActive

The Reference/Feedback and Datalinks usedby the adapter. This value is the same as DPII/O Config (13) unless the parameter waschanged and the adapter was not reset.

Table 4.8 – Adapter Configuration Status Parameters (Continued)

Number Name Description

000 10xxx01234567

1 =Enabled0

=Disabledx =Not Used C

m d / R e

f

D

a t a l i n k

A

D

a t a l i n k B

D

a t a l i n k

C

D

a t a l i n k D


46/168


47/168

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 providescommunication with an adapter connected to a network.

Chapter 5 provides instructions on how to configure a scanner tocommunicate with the DeviceNet adapter and the connected SP600drive.

5.1 Configuring a Simple Network:An Example

After the adapter is configured, the connected drive and adapter willbe a single node on the network. This chapter provides the stepsthat are needed to configure a simple network like the network infigure 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 0

SCL 500 Controller with

1747-SDN- Scanner

Node 62

Computer with 1770-KFD and

RSNetWorx for DeviceNet

Node 1

SP600 Drive with

DeviceNet Adapter


48/168


5.2 Setting Up the Scan List

For the scanner to communicate with a drive, the scanner must beconfigured and the drive’s node number must be added to its scanlist.

Step 1. Go online with RSNetWorx for DeviceNet. Refer to section4.3.2. The devices on the network are displayed in theconfiguration 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 boxappears.

Important: If your scanner is an unrecognized device, you mustcreate an EDS file for it and then configure it. Create anEDS file by following the instructions in section 4.3.Configure the scanner using the General and Moduletabs. Click Help or refer to your scanner documentationif you need more information.

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

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

Step 5. Select the Automap on Add box (a check mark 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)

SP600

AC Drive


49/168


.

Step 7. Under Scanlist, select the drive, and then click Edit I/OParameters. The Edit I/O Parameters dialog box (figure5.4) appears.

Figure 5.3 – Scanlist Page in the Scanner Module Dialog Box

Figure 5.4 – Edit I/O Parameters Dialog Box


50/168


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

Step 9. Type the number of bytes that are required for your I/O inthe Rx Size and Tx Size boxes. The size will depend onthe following:

• I/O that you enabled in the adapter. This information can

be found in DPI I/O Active (14) in the adapter.

• Size of the Reference/Feedback and Datalinks in yourdrive. This information can be viewed using Ref/FdbkSize (7) and Datalink Size (8) in the adapter. A 16-bit

word is two bytes, and a 32-bit word is four bytes.

• The actual size value used in the Rx Size box can bedetermined by the setting of the M-S Input parameter asshown in table E.1 or table E.2 for “Poll Only.”

• The actual size value used in the Tx Size box can bedetermined by the setting of the M-S Output parameter asshown in table E.3 or table E.4 for “Poll Only.”

• Tables 5.1 and 5.2 show common configuration Tx/Rxsizes.

In our example, we typed 4 in the Rx Size and Tx Size boxesbecause we enabled only the Logic Command/Status for I/O in theadapter and our drive uses a 16-bit Reference/Feedback.

Both the M-S Input and M-S Output parameters are set to 00001.Therefore, the Logic Command/Status uses 2 bytes and theReference/Feedback uses 2 bytes totaling 4 bytes.

Table 5.1 – Host Products Using 16-Bit Reference/Feedback & Datalinks1

1 SP600 drives use 16-bit datalinks.

Rx

Size

Tx

Size

Logic

Command/

Status

Reference/

Feedback

(16-bit)

Datalinks (16-bit)

A B C D

4 4

8 8

12 12

16 16

20 20


51/168


Step 10. Set the scan rate. See table 5.3. (Click Help for moreinformation.)

Step 11. Click OK. If you changed any settings, a Scanner Appletasks if it is OK to unmap the I/O. Click Yes to continue. The

Edit I/O Parameters dialog box closes and then theScanner Module dialog box (figure 5.3) reappears. You willmap the I/O in the next section in this chapter.

Table 5.2 – Host Products Using 32-Bit Reference/Feedback & Datalinks

Rx

Size

Tx

Size

Logic

Command/

Status

Reference/

Feedback

(32-bit)

Datalinks (32-bit)

A B C D

8 8

16 16

24 24

32 32

40 40

Table 5.3 – Scan Rates

Data Exchange Rate to set

Polled Polled Rate

Change of State Heartbeat Rate

Cyclic Send Rate


52/168


5.3 Mapping the Drive Data in theScanner

Data from I/O messages must be mapped in the scanner. Thismapping determines where a ladder logic program can find datathat is passed over the network. You must map both the Input I/Oand the Output I/O.

5.3.1 Mapping the Input I/O

Step 1. In the Scanner Module dialog box, click the Input tab. Seefigure 5.5. (If necessary, right-click the scanner in theconfiguration 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 notmapped, click Automap to map it. If you need to change themapping, click Advanced and change the settings. Click Help forassistance.

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

Figure 5.5 – Input Page on the Scanner Module Dialog Box


53/168


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 whichthe data should start. In our example, we selected 1. LogicStatus and Speed Feedback information will be found inI:1.1 and I:1.2, respectively.

5.3.2 Mapping the Output I/O

Step 1. In the Scanner Module dialog box, click the Output tab.See figure 5.6. To display this dialog box, right-click thescanner 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 notmapped, click Automap to map it. If you need to change themapping, click Advanced and change the settings. Click Help forassistance.

Table 5.4 – Scanner Module Memory Locations

Scanner Memory Locations

1747-SDN Discrete or M-File

1756-DNB Assembly Data

1771-SDN Block Xfer 62 – 57

Figure 5.6 – Output Page on the Scanner Module Dialog Box


54/168


Step 2. In the Memory box, select a location in scanner memoryfrom table 5.5.

In our example, we are using a 1747-SDN scanner and selectedDiscrete.

Step 3. In the Start Word box, select the word in memory at whichthe data should start. In our example, we selected 1. LogicCommand and Speed Reference data should be written toO: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 ScannerConfiguration 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 boxreappears.

Step 3. Click OK to close the Scanner Module dialog box.

Step 4. Select File > Save. If this is the first time that you savedthe project, the Save As dialog box appears. Navigate to afolder, type a file name, and click Save to save theconfiguration to a file.

Table 5.5 – Scanner Module Memory Locations

Scanner Memory Locations

1747-SDN Discrete or M-File

1756-DNB Assembly Data

1771-SDN Block Xfer 62 – 57


55/168

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 SP600 drive.

6.1 About I/O Messaging

On DeviceNet networks, I/O Messaging is used to transfer the datawhich controls the SP600 drive and sets its Reference. I/O can alsobe used to transfer data to and from Datalinks in SP600 drives.

The DeviceNet adapter provides many options for configuring andusing I/O, including the following:

• The size of I/O can be configured by enabling or disabling theLogic Command/Reference and Datalinks.

• A master-slave hierarchy or peer-to-peer communications can beset up.

• Change of state, cyclic, or polled data exchange methods can beused.

Chapter 4, Configuring the DeviceNet Adapter, and chapter 5,Configuring the Scanner, discuss how to configure the DeviceNetadapter and scanner on the network for these options. TheGlossary defines the different options. This chapter discusses howto use I/O after you have configured the adapter and scanner.

!

ATTENTION: The examples in this publication areintended solely for purposes of example. There aremany variables and requirements with anyapplication. Rockwell Automation does not assumeresponsibility or liability (to include intellectualproperty liability) for actual use of the examplesshown in this publication. Failure to observe thisprecaution could result in bodily injury or damage toequipment.


56/168


6.2 Understanding the I/O Image

The DeviceNet specification requires that the terms input andoutput be defined from scanner’s point of view.

Output I/O is data that is output from the scanner and consumed bythe DeviceNet adapter.

Input I/O is status data that is produced by the adapter andconsumed as input by the scanner. The I/O image table will varybased on the following:

• Size (either 16-bit or 32-bit) of the Reference/Feedback word andDatalink words used by the drive.

• Configuration of DPI I/O Config (13) in the adapter. If all I/O is notenabled, the image table is truncated. The image table alwaysuses consecutive words starting at word 0.

Figure 6.1 illustrates an example of an I/O image with 16-bit words.

Figure 6.1 – Sample I/O Image with All I/O Enabled

Controller Scanner Module SP600 Drive

DeviceNet DPI

OutputImage

(Write)

Input

Image

(Read)

Message

HandlerMessage

Buffer

Message

Handler

0 Logic Status

1 Feedback

2 Datalink Out A1

3 Datalink Out A2

4 Datalink Out B15 Datalink Out B2

6 Datalink Out C1

7 Datalink Out C2

8 Datalink Out D1

9 Datalink Out D2

0 Logic Command1 Reference

2 Datalink In A1

3 Datalink In A2

4 Datalink In B1

5 Datalink In B2

6 Datalink In C1

7 Datalink In C2

8 Datalink In D1

9 Datalink In D2

Logic CommandReference

Data In A1

Data In A2

Data In B1

Data In B2

Data In C1

Data In C2

Data In D1

Data In D2

Logic Status

Feedback

Data Out A1

Data Out A2

Data Out B1Data Out B2

Data Out C1

Data Out C2

Data Out D1

Data Out D2

Word and I/O


57/168


An image that uses 32-bit words for Reference and Datalinks wouldchange the I/O image in figure 6.1 as follows:

Figure 6.2 illustrates an example of an I/O image that does not useall of the I/O data. Only the Logic Command/Reference andDatalink B are enabled. In this example, the Reference is a 32-bitword, and Datalinks are 16-bit words.

Word I/O Word I/O

0 LogicCommand/Status

7 - 10 Datalink B

1 - 2 Reference/Feedback 11 -14

Datalink C

3 - 6 Datalink A 15 -18

Datalink D

Figure 6.2 – Sample I/O Image with Only Logic/Reference and Datalink BEnabled

Controller Scanner Module SP600 Drive

DeviceNet DPI

Output

Image

(Write)

Input

Image

(Read)

Message

HandlerMessage

Buffer

Message

Handler

0 Logic Status

1 Feedback (LSW)

2 Feedback (MSW)

3 Datalink Out B1

4 Datalink Out B2

0 Logic Command

1 Reference (LSW)

2 Reference (MSW)

3 Datalink In B14 Datalink In B2

Logic Command

Reference

Data In A1

Data In A2Data In B1

Data In B2

Data In C1

Data In C2

Data In D1

Data In D2

Logic Status

Feedback

Data Out A1

Data Out A2

Data Out B1

Data Out B2

Data Out C1

Data Out C2Data Out D1

Data Out D2

Word and I/O

LSW = Least Significant Word (Bits 15 0)MSW = Most Significant Word (Bits 31 16)


58/168


6.3 Using Logic Command/StatusWhen enabled, the Logic Command/Status word is always word 0 inthe I/O image. The Logic Command is a 16-bit word of controlproduced by the scanner and consumed by the adapter. The LogicStatus is a 16-bit word of status produced by the adapter andconsumed by the scanner.

This manual contains the bit definitions for compatible productsavailable at the time of publication in Appendix D, LogicCommand/Status Words. For other products, refer to the

corresponding documentation.

6.4 Using Reference/FeedbackWhen enabled, Reference/Feedback always begins at word 1 in theI/O image. The Reference (16 bits or 32 bits) is produced by thecontroller and consumed by the adapter. The Feedback (16 bits or32 bits) is produced by the adapter and consumed by the controller.The size of the Reference/Feedback is determined by the drive anddisplayed in Ref/Fdbk Size (7) in the adapter.

6.5 Using DatalinksA Datalink is a mechanism used by SP600 drives to transfer data toand from the controller. Datalinks allow a parameter value to bechanged without using an Explicit Message.

When enabled, each Datalink occupies two 16- or 32-bit words inboth the input and output image. Datalink Size (8) will indicatewhether the drive uses 16- or 32-bit words for Datalinks.

6.5.1 Rules for Using Datalinks

Note the following regarding the use of Datalinks:

• Each set of Datalink parameters in a SP600 drive can be used byonly one adapter. If more than one adapter is connected to asingle drive, multiple adapters must not try to use the sameDatalink.

• Parameter settings in the drive determine the data passedthrough the Datalink mechanism. Refer to the documentation foryour drive.

• When you use a Datalink to change a value, the value is notwritten to the non-volatile storage (NVS). The value is stored involatile memory and lost when the drive loses power.

Size Valid Values In I/O Image Example

16-bit -32768 to 32767 Word 1 Figure 6.1

32-bit -2147483648 to

2147483647

Word 1 and Word 2 Figure 6.2


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6.5.2 32-Bit Parameters Using 16-Bit Datalinks

To read (and/or write) a 32-bit parameter using 16-bit Datalinks,typically both Datalinks (A,B,C,D) are set to the 32-bit parameter.

For example, to read Elapsed MWH (9), both Datalink A1 and A2are set to “9.” Datalink A1 will contain the least significant word(LSW) and Datalink A2 the most significant word (MSW). In thisexample, the parameter 9 value of 5.8MWh is read as a “58” inDatalink A1.

Regardless of the Datalink combination, x1 will always contain theLSW and x2 will always contain the MSW. In the followingexamples, Power Up Marker (242) contains a value of 88.4541hours.

32-bit data is stored in binary as follows:

Example:

Power Up Marker (242) = 88.4541 hours

MSW = 13decimal = 1101binary = 216 + 218 + 219 = 851968

LSW = 32573

851968 + 32573 = 884541

Datalink

Most/Least

Significant Word Parameter Data (decimal)

A1 LSW 9 58

A2 MSW 9 0

Datalink

Most/Least

Significant Word Parameter

Data

(decimal)

A1 LSW 242 32573

A2 - Not Used - 0 0

Datalink

Most/Least


Data

(decimal)

A1 - Not Used - 0 0

A2 MSW 242 13

Datalink

Most/Least


Data

(decimal)

A2 MSW 242 13

B1 LSW 242 32573

MSW 231 through 216

LSW 215 through 20


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6.6 Sample Ladder Logic Programs

These sample ladder logic programs (figures 6.3 through 6.8) workwith SP600 drives.

Functions of the Sample Programs

The sample programs use an operator station wired to an I/Omodule in Slot 0, Module Group 0, Rack 0. The operator canperform 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.

Adapter Settings for the Sample Programs

• Node address 1 is set using the switches.

• Logic Command/Reference and Datalink A are enabled in DN I/OConfig (13).

• Master-slave hierarchy is set using M-S Input (25) and M-SOutput (26).

• Polled I/O was enabled during the scanner configuration.

Scanner Settings for the Sample 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.

Logic Command/Status Words

These examples use the Logic Command word and Logic Statusword for SP600 drives. Refer to Appendix D, LogicCommand/Status Words to view these. The definition of the bits inthese words may vary if you are using a different DPI product. Referto the documentation for your drive.


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6.6.1 Sample ControlLogix Ladder Logic Program

Table 6.1 – Tags for the Sample ControlLogix Program

Tag Name Type Tag Name Type

Local:1:I DINT[] DriveFeedback INT

Local:1:O DINT[] DriveInputImage INT[2]

DriveCommandClearFault BOOL DriveOutputImage INT[2]

DriveCommandJog BOOL DriveReference INT

DriveCommandStart BOOL DriveStatusFaulted BOOL

DriveCommandStop BOOL DriveStatusRunning BOOL

Figure 6.3 – Sample ControlLogix Ladder Logic Program

0Local:1:O.CommandRegister.Run

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

COP

2 DriveInputImage[0].1 DriveStatusRunning

3 DriveInputImage[0].7 DriveStatusFaulted

4 Copy FileSource DriveInputImage[1]Dest DriveFeedbackLength 1

COP

5DriveCommandStart DriveOutputImage[0].1

6DriveCommandStop DriveOutputImage[0].0

7DriveCommandJog DriveOutputImage[0].2

This rung enables the DeviceNet scanner.

This rung copies the 32-bit DeviceNet scanner input image intoan array of two 16-bit words. The length in this instruction is twobecause two 16-bit array elements of the destination are used.

These rungs read the Running and Faulted status bits from theinput image of the drive and place the data in respective tags.

This rung reads the drive's Feedback word and places it in theFeedback tag.

These rungs move the inputs of the operator from theoperator station to the drive's output image.


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6.6.2 Sample PLC-5 Ladder Logic Program

Table 6.2 – Control File for Block Transfers

EN ST DN ER CO EW NR TO RW RLEN DLEN FILE ELEM R G S

BT20:0 0 0 0 0 0 0 0 0 0 62 0 9 0 00 0 0

BT20:1 0 0 0 0 0 0 0 0 0 62 0 10 0 00 0 0

Figure 6.5 – Sample PLC-5 Ladder Logic Program

0000

BT20:0

ENEN

DN

ER

BTRBlock Transfer ReadModule Type Generic Block TransferRack 000Group 0Module 0Control Block BT20:0Data File N9:0Length 62Continuous No

0001

N9:1

1

SP600RUNNINGStatus Bit

O:000

10

Operator DisplayDrive RunningStatus Bit

0002

N9:1

7

SP600FAULTEDStatus Bit

O:000

11

Operator DisplayDrive FaultedStatus Bit

0003MO

MoveSource N9:2

0<Dest N21:1

0<

MOV

Operator DisplayDrive FeedbackStatus Word

0004

N10:0

0

1771-SDN ScannerPort A Enable

0005

I:000

10

Operator InputDrive StartCommand Bit

N10:1

1

SP600STARTCommand Bit

The scanner gathers drive data via the DeviceNet network. The Block Transfer Readin this rung then moves the drive status data from the scanner to the N9 data file in the

PLC.

These rungs move the drive statusfrom the Block Transfer Read datato an operator display.

This rung enables the scanner.

These rungs move the inputs of theoperator station to the Block Transfer Writedata file. They will then be sent to thescanner and out to the drive via theDeviceNet network.


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Figure 6.6 – Sample PLC-5 Ladder Logic Program (continued)

0007

12

N10:1

2

SP600JOGCommand Bit

000813

N10:1

3

SP600CLEAR FAULTCommand Bit

0009MOV

MoveSource N21:0

0<Dest N10:2

0<

SP600REFERENCECommand Word

0010

BT20:1

ENEN

DN

ER

BTW

0011 END

Operator InputDrive JogCommand Bit

Operator InputDrive Clear FaultsCommand Bit

I:000

I:000

Block Transfer WriteModule Type Generic Block TransferRack 000Group 0Module 0Control Block BT20:1Data File N10:0Length 62Continuous No

11

N10:1

0

SP600STOPCommand Bit

Operator InputDrive StopCommand Bit

I:000

0006

The Block Transfer Write in this rung sendsthe drive command to the scanner and out tothe drive via the DeviceNet network.


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6.6.3 Sample SLC Ladder Logic Program

Figure 6.7 – Sample SLC Ladder Logic Program

0000 Copy FileSource #M1:1:0Dest #N9:0Length 128

CO P

0001

N9:0

1

SP600RUNNINGStatus Bit

O:3.0

01746-O*8

Operator DisplayDrive RunningStatus Bit

00027 1

0003 MoveSource N9:1

0<Dest N21:1

0<

MOV

0004I:2.0

01746-I*16

Operator InputDrive StartCommand Bit

N10:0

1

SP600STARTCommand Bit

0005I:2.0

1 0

00062 2

O:3.0

Operator DisplayDrive FaultedStatus Bit

1746-O*8

N9:0

SP600FAULTEDStatus Bit

Operator DisplayDrive FeedbackStatus Word

Operator InputDrive StopCommand Bit

I:2.0

Operator InputDrive JogCommand Bit

1746-I*16

N10:0

SP600STOPCommand Bit

N10:0

SP600JOGCommand Bit

1746-I*16

The scanner gathers drive status data via the DeviceNetnetwork. The M-File is copied into the N9 data file in theSLC to move the drive status information to aconvenient location.

These rungs move the inputs of theoperator from the operator station to theN9 data file. They will then be sent to thescanner and out to the drive via theDeviceNet network.

These rungs move the drive status from theN9 data file to an operator display.


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Figure 6.8 – Sample SLC Ladder Logic Program (continued)

0008MOV

MoveSource N21:0

0<Dest N10:1

0<

0009O:1.0

01747-SDN

1747-SDNScannerEnableBit

0010COP

Copy FileSource #N10:0Dest #M0:1.0

Length 128

0011 END

SP600REFERENCECommand Word

0007

3 3

I:2.0

Operator InputDrive Clear FaultsCommand Bit

1746-I*16

N10:0

SP600CLEAR FAULTSCommand Bit

This rung enables the scanner. It changes the scanner to RUN mode.

This rung copies the drive command data to thescanner and out to the drive via the DeviceNet network.


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Using Explicit Messaging 7-1

CHAPTER 7Using Explicit

Messaging

Chapter 7 provides information and examples that explain how touse Explicit Messaging to monitor and configure the adapter andthe connected SP600 drive.

7.1 About Explicit Messaging

Explicit Messaging is used to transfer data that does not require

continuous updates. With Explicit Messaging, you can configureand monitor a slave device’s parameters on the DeviceNet network.

!

ATTENTION: The examples in this publication areintended solely for purposes of example. There aremany variables and requirements with anyapplication. Rockwell Automation does not assumeresponsibility or liability (to include intellectualproperty liability) for actual use of the examplesshown in this publication. Failure to observe thisprecaution could result in bodily injury or damage toequipment.

ATTENTION: If Explicit Messages are programmedto write parameter data to non-volatile storage(NVS) frequently, the NVS will quickly exceed its lifecycle and cause the drive to malfunction. Do notcreate a program that frequently uses ExplicitMessages to write parameter data to NVS. Datalinksdo not write to NVS and should be used for frequentlychanged parameters. Failure to observe thisprecaution could result in damage to, or destructionof, equipment.


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7.2 Formatting Explicit Messages for aControlLogix ControllerControlLogix scanners accommodate both downloading ExplicitMessage Requests and uploading Explicit Message Responses.The scanner module can accommodate one request or response foreach transaction block. Each transaction block must be formattedas shown in figure 7.1. Refer to table 7.1 for a description of thedata that is required in each box (items 1 – 9).

To display the Message Configuration dialog box in RSLogix 5000,add a message instruction, create a tag for the message(properties: base tag, MESSAGE data type, controller scope), andclick the blue box inside the message.

When using a 1756-DNB scanner, five Explicit Messages can beexecuted at a time.

Figure 7.1 – ControlLogix Message Format in RSLogix 5000

3

5

1

2

4

67

9

8


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Using Explicit Messaging 7-3

Table 7.1 – ControlLogix Message Requests and Responses

Box Description

Message TypeThe message type must be CIP Generic.

Service CodeThe service code is the requested DeviceNet service.Available services depend on the class and instancethat you are using. Refer to Appendix C, DeviceNetObjects.

Object TypeThe object type is a DeviceNet class. Refer toAppendix C, DeviceNet Objects, for available classes.

Object IDThe object ID is an instance of a DeviceNet class. Referto Appendix C, DeviceNet Objects, for availableinstances.

Object AttributeThe object attribute is a class or instance attribute. Referto Appendix C, DeviceNet Objects, for available classes.

SourceThis box contains the name of the tag for any servicedata to be sent from the scanner to the adapter anddrive. A tag must be specified even if it is not used.

Num. of ElementsThis box contains the number of bytes of service data tobe sent or received in the message.

DestinationThis box contains the name of the tag that will receiveservice response data from the adapter and drive. A tagmust be specified even if it is not used.

PathThe path includes the following:

• Name of the DeviceNet scanner.

• Communication port on the front of the 1756-DNBscanner. Always 2.

• Node address of the DeviceNet adapter. This is setwith switches or parameters in the DeviceNet adapter.

Click Browse to find the path or type in the name of aadapter that you previously mapped.


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7.3 Formatting Explicit Messages for aPLC or SLC ControllerTransaction blocks in PLC and SLC scanners accommodate bothdownloading Explicit Message Requests and uploading ExplicitMessage Responses. The scanner module can accommodate onerequest or response for each transaction block. Each transactionblock must be formatted as shown in figure 7.2 or figure 7.3.

Refer to tables 7.2 and 7.3 for a description of the data that isrequired in each word.

Bit 15 0 15 0

Word 0 TXID Command TXID Status

Port Size Port Size

Service Address Service Address

Class Service Response Data

Instance

Attribute

Word 6 - 31 Service Data


Port Size Port Size


Class Service Response Data

Instance

Attribute


Figure 7.2 – PLC Explicit Message Format

Bit 15 0 15 0


Port Size Port Size


Class Service Response DataInstance

Attribute


Figure 7.3 – SLC Explicit Message Format

Request Response

Request Response

Documents

Reliance SP600 RECOMM-DNET Communications Module Instruction Manual