DeviceNet - Full Circle Automation
Contents
1. fr her EUROTHERM DRIVES DeviceNet Bus interface DeviceNet for Digital servo controller 635 637 637 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Further documentations related to th s document UL DeviceNet Specification UL 07 01 05 06 635 Product manual UL 07 02 08 03 lu 637 Product manual UL 07 02 09 01 637 Product manual UL 10 06 05 T BIAS Command Description m UL 10 06 03 T Serial transfer protocol EASY serial Product Description EUROTHERM Drives Limited All rights reserved No portion of this description may be produced or processed in any form without the consent of the company Changes are subject to change without notice EUROTHERM has registered in part trademark protection and legal protection of designs The handing over of the descriptions may not be construed as the transfer of any rights Made in Germany 2002 2 Product manual Type DeviceNet 07 05 08 02 E V0502 doc CONTENTS page The most important thing Tristan 5 1 User manual for the Digital drive 635 637 637 with the bus system DeviceNet ae een 6 1 1 TAY OUT EEEE T E ETE A 6 2 Basic features of the DeviceNet bus with 635 637 637 ccccccssssssscssssssssscoees 7 2 1 CO O SEEN A ME IUE A AEE 7 22 I A 7 2 Nodeaddress MAC ID ee ne ee ee ee rennen EaR eie 7 pr MEE E enn NU Us 7 2 9 PDaudtate durus He Bb doeet e C REPERI2. 10 and move 11 Vendor class 100 Receive control block In position control the axis moves infinitely in a positive or negative direction 0 l 2 3 4 5 6 7 murwT I Jow not analyzed acceleration ramp speed control word The move command can be finished with the command stop 06 or stop with ramp 07 6 10 Control word move synchronous 12 Starts the position synchronous positioning of the axis according to an external master encoder 0 l 2 By 4 9 6 da Byte 7 0 take over immediately take over after format length master Byte 6 synchronous program no 1 16 0 no profile format length master control word 18 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Vendor class 100 Receive control block 6 11 Control word synchron setting 13 0 l 2 3 4 5 6 7 not analyzed gearfactor master control word 6 12 Control word load ramp 19 0 l Za 3 4 o 6 T Lo p op D EEE offpos window0 32768 Incr decelaration ramp value x 5 Sec acceleration ramp value x 5 Sec control word 6 13 Control words 635 637 637 disable enable 20 21 0 l 9 3 4 5 6 7 not analyzed control word Product manual Type DeviceNet 07 05 08 02 E V0502 doc Vendor class 100 Receive control block 6 14 Control word
3. Figure 4 With rotary axes the gearbox ratio must however allow a clear position assignment 38 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 13 6 Search for reference with reference point shifting An The previous reference modes can also be combined with the reference point shifting With this the actual position 0 1s shifted by the amount specified in the path parameter from the zero point found according to the reference mode see figure 5 Note 1 Ifthe actual position 0 is not reachable in the specified direction after stopping the axis the actual position 0 is not moved to point Actual position D acc to search f reference after search f reference Figure 5 Reference point shifting Product manual Type DeviceNet 07 05 08 02 E V0502 doc 39 Reck Ta OT Dee SO ee Da ee ee OPE o EE A BLAS DOM airada 2 BIAS processing Pommern UE ER un S Een pn OUR ERR iee airan Sd bs S eaaa a aeieea iee aitt 19 BIAS prooranim se IG CHOR een een 30 lp mich C o ESO ne eS ern nn Re Pane nee ee C 8 In e ss no ese e CER te net eras oe bats ee ee 9 CAO KO ee ee ee ee O II ee ee ee Cable San ac ee ee E T ee o COMUNICA a 8 CONSUMO pirita 12 COMO MOERORE MEME EM 16 o E DNE PITE HERDER 11 decelaration eu mmm 18 21 Denoi on or te Ga ee er m 13 14 al A A EEE EEE Re 21 Enable SINO ERROR NER WERNER ONE ne OEP ee TU u
4. elfe amp s Ei Hardware x m P DeviceNet E Category e AC Drive Barcode Scanner Communication Adapter DeviceNet to SCANport 1747 SDN DeviceNetSlave DeviceNetSlave Scanner Module Dodge EZLINK 2 General Purpose Discrete 1 0 Generic Device amp J 27051 Eg DTAM Micro Operator Interfac DTAM Plus Operator Interface 2 IDeviceNetSlave 635 537 EUROTHERM DeviceView FlexPak 3000 Digital DC Drive G 3000 Variable Frequency Dr Powermonitor Il e Human Machine Interface 4 4 b M Graph Master Slk 4 gt ES 1747 5DN Scanner Module El ES When you have entered all devices to the project you could add the devices to the scanlist see righthand side aaa en General Module Scanlist Input Output ADA Summary a 01 DeviceNetSlave_635 6 a 02 DeviceNetSlave_635 6 03 17910 Block 140 Slnput When Automap on Add is active RSNetWorx will automatically map the in and output address ranges of this devices M Autamap on Add Hodes ctive Upload taom scannen Electronic Key Bean Poynlgadiesgannen Vendor Eroduchltode Edit lil Parameters D gt bien Revision OF Abbrechen bernehmen Hilfe CAN Dnet2 jpg Product manual Type DeviceNet 07 05 08 02 E V0502 doc 31 Eurotherm servo controllers communicate with the Allen Bradley plc Network Configuration with RSNetWorx
5. Host login Product manual Type DeviceNet 07 05 08 02 E V0502 doc 25 Example for operating the 635 637637 via the DeviceNet bus system Positioning via DeviceNet 3 Step positioning with start absolute If in this connection the acceleration and deceleration ramps stored in the 635 637 637 are not to be taken over a telegram control word 19 with the desired ramps must first be sent to the 635 637 637 load ramps Send control telegram with the control word load ramps and the desired parameters for acceleration and deceleration for example acceleration 1000 3E8 value x 5 deceleration 1500 5DC value x 5 offpos window 100 s 64h Data byte 0 l 2 3 4 5 6 PICICICICSCRERNER 7 offpos window deceleration acceleration load ramps 26 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Example for operating the 635 637637 via the DeviceNet bus system Positioning via DeviceNet send control telegram with the control word start absolute and the parameters for position and speed 1 Example Position 500 000 increments 500 000d 0007 A120h speed 2000 7DOh rpm 0 L 2 3 4 5 6 7 Patabyte je 00 20 a1 o7 o po o7 speed position start absolute 2 Example Position 0 increments 00d 00h speed 2000 7DOh 1 rpm 0 L 2 3 4 5 6 7 Databyte je 00 o o o 00 po
6. Product manual Type DeviceNet 07 05 08 02 E V0502 doc Eurotherm servo controllers communicate with the Allen Bradley plc 11 2 1 Transmitting data between the processor files and the M0 M1 files The processor does not contain an image of the MO and M1 files For access to DeviceNet data first you must copy this data from MO and M1 files to processor data files or vice versa using the COP Copy instruction The following example copied the input data in two 128 word blocks from M1 file to the N file 174 The output data are copied in two 128 word blocks from N file 175 to the MO file uelle M1 1 125 Ziel 11174 125 L nge 128 op uelle 175 125 Ziel ll0 1 125 L nge 128 tr cc OD o cr OD OLo rer re rer re re re rec OD OD OL OD re ee rt ee re OD OD MTA OE A File 2 Ki nf Product manual Type DeviceNet 07 05 08 02 E V0502 doc 33 11 2 2 Programming control for Explicit Messaging Service Eurotherm servo controllers communicate with the Allen Bradley plc In addition to the cycle data exchange by DeviceNet an Explicit Messaging Service is defined With th s possibility you can send commands to the slaves while the cycle data exchange The Eurotherm Servo controller use this functionality to read out the special data class 100 Attribute 101 with the Get_Attribute_Single More details you will found in the Allen Bradley Installation Instructions 1747 5 8 pdf to the DeviceNet Scanner 1747 SD
7. and bus configuration 1s defined in the Pre defined master slave CONNECTION Set Data exchange between masterand slave works with Explicit message Supplementary the controller adds to the objects necessary for connection setup services the services Get Attribut Single OxOE read attribut Set Attribut Single 0x10 write attribut With the the vendor specific objects class id 100 instance 1 attribut 100 101 and class id 101 instance 1 attribute 0 255 is hereby data exchange possible to and from the controller The contents of the services are described in chapters 5 6 and 7 more closely attribut send controlword Set Attribut Single 0x10 8 byte Get_Attribut_Single 0x0E Get_Attribut_Single 0x0E Get_Attribut_Single 0x0E 0 255 10 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 4 4 1 Configuration Short list of instructions for initialization 635 637 637 for DeviceNet bus connection Selection of the baudrate and nodeaddress with the DIL switches see chapter 1 and 2 If the drive is the end of the line switch the bus termination resistor on see chapter 2 4 Note The nodeaddress may be only once available in the net The baudrate must be identical at all devices in the net Connect the Digital drive 635 637 637 with the bus cable to the master Switch on the controlvoltage of the drive Initializing the DeviceNet bus connection on the 635 637 637 1s done automatically with th
8. m Pe AMD RT PPP o Po E O II 26 27 28 29 30 ORC PR OE o PEO em 23 e eri zo 17 M SICO ibas A 7 A A 21 a 1 AAA Numbers ko 0 S Is nat ON oia eras 40 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Index Pas 684 01 ae 0 eee 87 tarada PROS WO E Ai Ie PU II seed eaa oaae reoi n POS TOE IA Sa T OXICEINOL nenne ee A 26 POTS SOON aoa nsec ects E ee een nee eier 19 De RRC MGC MOC ee ee ee 39 40 41 42 43 A E ee ere ere ee er eee 18 RESET eres See 22 A Ne A A 22 PP AA 14 SHOIE HISTO SUCOS TRITT 12 OL E LO O 0 Po o CO US E OO EII ene ee eee 23 yariable A ta Product manual Type DeviceNet 07 05 08 02 E V0502 doc 41 15 Modification Record VOLUSAXXO LVeso Treaz Saladin VOL 18SA2000 36042000 T Saladin V03 36SA2000 01 09 2000 V04 448A2000 Corrections J 03 112000 NDreillich V0502 DeviceNet datatransfer 3 expand User manual for the Digital drive l supplement Vendor class 101 Attr 0 255 8 08 10 2002 T Saladin new separation German English all N Dreilich 42 Product manual Type DeviceNet 07 05 08 02 E V0502 doc AUSTRALIA Unit 10 Tel 61 2 9634 8444 http www eurotherm com au Eurotherm Pty Ltd 40 Brookhollow Avenue Fax 61 2 96348555 eurotherm eurotherm com au Baulkh
9. 0x00007D0 2000 OxFFFFF82F high word 5 input status of the controller Bit 0 input X10 22 Bit 7 target position reached E according to the travel commands 03 04 05 u Suede pone output X10 23 output X10 8 22 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 7 2 Vendor class 100 Attr 101 ext read status Get Attribut s ngle class 100 attr but 101 position reached status word 1 internal used low Byte internal used controller disabled COM 2 target position reached internal used COM 2 host log n COM 2 act ve RS232 422 trailing distance ok dyn high Byte l trailing false storing reported controller disabled COM 1 position reached dynamically internal used COM 1 Host login COM 1 active Bit 7 Setpoint in setpoint zero window status word 0 2 Bit 6 Warning output stage temperature low Byte Bit5 Warning l t regulator Bit 4 Warning motor temperature gt 5 Bit 3 Warning Pt motor s lE Bit 2 Ballast active I Bit 1 Undervoltage A Bit 0 Output stage passive Q Bit 7 Limit switch reached high Byte z 3 Bit 6 Warning le Bit 5 Speed regulator without I gain Bit 4 internal used Si Q Bit 3 EEPROM storage runs els Bit 2 Warning ballast power Ke Bit 1 N I switchover e Bit 0 internal used E t motor Error status word 4 Over voltage Temperature of t
10. 62 557308 http www ecurothermadrves it Eurotherm Drives SPA 20030 Lentate Sul Seveso Fax 39 0362 557312 info eurothermdrives it Milano JAPAN Denpa Building Tel 81 3 3447 6441 http www eurotherm com japan htm Nemic Lambda KK 1 11 15 Higahi Gotanda Fax 81 3 3447 6442 II9K IWM Qasahi netorj Shinagawa Ku Tokyo 141 0022 Eurotherm Division KOREA 3F J Building Tel 82 2 478 8507 Eurotherm Korea Ltd 402 3 Poongnab Dong Fax 82 2 488 8508 Songpa Ku Seoul 138 040 NETHERLANDS Genielaan 4 Tel t31 172 411 752 http Www eurotherm n Eurotherm BV 2404CH Fax 31 172 417 260 sales eurotherm nl Alpen aan den Rijn Holland NORWAY Postboks 650 Tel 47 66 992550 eurotherm online no Eurotherm Drives Norge 1411 Koltbotn Fax 47 66 803131 Oslo SPAIN Calle La Granja 74 Tel 34 91 6616001 eurotherm teleline es Eurotherm Espana SA Pol Ind Alcobendas Fax 34 91 6619093 28108 Madrid SWEDEN Box 9084 Tel 46 35 177300 http www eurotherm se Eurotherm Drivteknik AB S 30013 Halmstad Fax 46 35 108407 info drives eurotherm se SWITZERLAND Schwerzistrasse 20 Tel 41 55 4154400 eurotherm ch Eurotherm Produkte CH 8807 Freienbach Fax 41 55 4154415 Schweiz AG UK New Courtwick Lane Tel 44 0 1903 737000 http www eurotherm co uk Eurotherm Drives Ltd Littlehampton Fax 44 0 1903 737100 info eurotherm co uk West Sussex BN17 7RZ U S A Eurotherm Drives Inc 9225 Fors
11. 635 637 637 RESET 22 0 1 2 3 4 5 6 7 L not analyzed see Product manual control word kap Reset of a regulator trouble 6 15 Control words 635 637 637 save data 23 0 l 2 3 4 Jh 6 I 1 E not analyzed control word 20 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Vendor class 100 Receive control block 6 16 Control word operating mode speed loop 24 By this telegram you can send new speed values to the digital drive 0 1 pA 3 4 5 6 7 Byte 7 0 off l on current limit Value x 0 1A max drive example 10d 1A speed min control word A negat ve speed s created through the 2 complement Example 2000 0x7D0 2000 OxF82F 6 17 Control word write variable flags 25 By this telegram the values of the variables an the flags for BIAS programming can changed 0 E 2 J 4 5 6 ds Wert variable flag no 0 255 Byte 2 0 write variable 1 write flag control word Product manual Type DeviceNet 07 05 08 02 E V0502 doc 21 7 Vendor class 100 7 1 Vendor class 100 Attr 100 read status DeviceNet DATA CHANNEL Digital drive 635 637637 gt participant Get Attribut single class 100 attribute 100 e _ copy from control word byte 0 0 25 TAS Byte copy from control word byte 1 xx EN low word actual position of the controller 2000
12. 8 pmi 23 01 5 1 2 4 byte hexadecimal values LWORD Zahlenbereich 22 signed long A negative speed is created through the 2 complement Example The hexadecimal value 01234567h represents itself as follows 01 High Byte Byte 1 23 Low Byte Byte 2 45 High Byte Byte 3 67 Low Byte Byte 4 Precedence within the serial command Bit 7 0 15 823 16 31 24 ous we 67 45 23 01 5 2 Parameter scaling value v rpm acceleration deceleration value a rpm s 5 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 13 6 Vendor class 100 Receive control block DeviceNet DATA CHANNEL participant Digital drive 635 637 637 6 1 Contents of the control word byte 0 HOST login necessary command activated drive necessary number dec hex command description f motes 222 0 00 read status Host login attention 2 interface login Host logout start absolute position start incremental position start reference run reference mode see chapter 9 stop with braking ramp preset counter set BIAS processing pointer only in operating mode 5 with BIAS move synchron synchron adjustment not used not used not used not used not used load ramps deactivate Digital drive activate Digital drive reset Digital drive store data in drive operating mode speed serial write variable flag 14 Product manu
13. CI NO front of controller com Option RP_DEV COM 2 6 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 2 Basic features of the DeviceNet bus with 635 637 637 2 1 Communication A shielded twisted pair cable is to be used as the bus cable for pin assignment see chapter 2 2 The DeviceNet interface 1s galvan cally isolated A CAN transceiver on the 635 637 637 can be used for coupling onto the bus in accordance with ISO DIS 11898 The maximum cable length depends on the selected transmission rate 125 kBit s approx 500 m cable length 250 kBit s approx 300 m cable length 500 kBit s approx 100 m cable length The Digital drive 635 637 637 supports all data rates listed above 2 2 Vendor ID All vendors that produce DeviceNet nodes will be assigned an unique Vendor Identification Code Vendor ID by the ODVA The ODVA Open DeviceNet Vendor Association is an independent supplier organisation which manages the DeviceNet Specification and supports the world wide growth of DeviceNet DeviceNet Vendor ID 609 2 3 Nodeaddress MAC ID The nodeaddress 0 63 MAC ID is selected with the DIL sitches 1 6 DIL 122 DIL 6 2 Note The nodeaddress may only once be assigned in the DeviceNet bus 2 4 Bus termination A defined quiescence level on the bus must be guaranteed for communication It is necessary to use terminal resistors on both ends of the line Is the drive the end of the li
14. N Before attempting Explicit Messaging the scanner should be updated to V3 01 firmware For Explicit Messaging the MO MI files use the data area 224 to 255 Up to ten 32 word transaction blocks my be queued within the scanner for Explicit Messaging A transaction ID 1s use to differ the separate services Sequence 1 For request a Explicit Message copy the formatted data to the MO file Start with word 224 2 When the response has been received by the scanner the bit 15 of the scanner status register goes to 1 3 Test the transaction ID to make sure it matches the request value Then copy the input data from M1 file into a file in the SCL 500 4 At least clear the request by enter the transaction ID and the command 4 delete transaction in the MO file at word 224 After this is executed bit 15 of the scanner Status Register should go to 0 12 Reserved 34 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 13 Standard reference Homing modes overview The reference numbers 0 23 listed here must be entered into the Object homing method Index 6098h with the values 24 1 ano x Y resolver zero position Ref reference sensor positive direction negative direction Auto automatic directional selection reference point shifting 13 1 Search for reference and modes The search for reference of the axis is always necessary when there must be a fixed relatio
15. O E HM CU Ms 8 26 Pat ASSP Sie Me or CON e 9 Zar DR Sana 10 6 he ehe 9 3 Device Net data UE ANS IET snena E 10 4 Conn UE AON PC 11 4 1 Short list of instructions for initialization 635 637 637 for DeviceNet bus connection 11 5 Denniins of the data He dS aioiiir eiit iii E100 EEUDEREUE SUE EDERIEP RISE ELEIIE ESI 12 5 1 Numbers representation in the serial commands essen 13 DJ 20bytdiexadecmialyabluesd WORD see ae ee en 13 5 12 4 byte hexadecimal values LW ORD nun aan 13 SA A A 13 6 Vendor class 100 Receive control block 0 000000s00sss0000000000000000000000000000000 14 62 Hose 0720 10 a BRSUE e ee 15 6 3 Control word start absolute 3 and start incremental 4 ooooooonnonocacananccccnnnnnnnnnnnnnos 15 6 4 Control word start search for reference 5 c oooooooccnnnnnnnnccnnnnnnnnnnnnnnnnnonononoronoconononnnnnnnnnnns 16 653 Controlword stop 0 MR 16 6 6 Control word stop with braking ramp 7 ccccccceceseeseeeeeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeees 16 6 7 Control word preset COUNtEr 8 oo eeeeccccccccccsssseeccccceeeaassseeececceessaaaaeseeeccceeesaaeeeeecess 17 6 8 Control word set BIAS processing polnter 9 ccceccccccccccececeeeeeesseseeeeeeeeeeeeeeeeeeeeaaaaas 17 6 9 Control word move 10 and move T jeesaa i 18 6 10 Control Word move synchronous DD 18 6 11 Control word synchron setting DB 19 632 Control word OA U
16. The picture below shows an example when the devices are added to the scanlist ES 1747 SDN Scanner Module General Module Scanlist Input Output ADA Summary 4 01 DeviceN Polled 8 171 10 4 02 DeviceN Polled amp 11 50 zm 03 1791D 5 COS 1 1 5 0 rer ap Unmap Advanced Options Memory Discrete Start Word jo E 01 DeviceNetSlave 63 01 DeviceNetSlave 635 A 4 rp m ma mp SOC cr Be Abbrechen spnnap2pn op3s 8e 7 6 5 4 3 2 1 0 Read Only 01 DeviceNetSlave B35 B3 1 DeviceNetSlave 6357637 EUROTHERM I7 DevineNetSlave RARAS FIIBEITHERHM 1 7 EUROTHERM 32 EUROTHERM af EUROTHERM bernehmen Hilfe CAN Dnet3 jpg At least download the configuration to the scanner 11 2 PLC programing with RSLogix 500 Allen Bradley To control the DeviceNet slaves via the plc the scanner has five data areas to transfer data status and command information The DeviceNet Scanner has 4 data areas for transfer data between the scanner an the plc data area for status and command information The 4 data areas for transfer data are SLC input output image table e SLC MO MIfile SLC input data SLC output image tas DeviceNet input data DeviceNet output data command Details you will found in the Allen Bradley Installation Instructions 1747 5 8 pdf to the DeviceNet Scanner 1747 SDN 32
17. al Type DeviceNet 07 05 08 02 E V0502 doc Vendor class 100 Receive control block 6 2 Host login logout 1 2 The most applications telegrams to the digital drive only accept after HOST login The HOST login 1s only necessary once a time after power on For host login logout only the control word of the 635 637 637 is used The contents of the data bytes 2 7 should be 0 They are not analyzed Note Only one interface will be have a login COM 1 or COM 2 0 l 2 Sl 4 3 6 T control word Byte 0 1 Login Byte 0 2 Logout 6 3 Control word start absolute 3 and start incremental 4 0 i 2 3 4 5 6 7 speed position control word Byte 0 3 move absolute Byte 0 4 move incremental In the operating mode position control only positive speed values are permitted A negative position 1s created through their 2 complement Example 100 000 0x000186A0 100 000 OxFFFE795F Product manual Type DeviceNet 07 05 08 02 E V0502 doc 15 Vendor class 100 Receive control block 6 4 Control word start search for reference 5 0 l 2 3 4 5 6 7 not analyzed byte 6 reference mode 0 23 see chapter 13 position control word The search for reference is only started if the Bit position reached 1s set 1 See also chapter Data contents of the status buffers The speed for the search for reference can be chang
18. am Hills New South Wales 2153 AUSTRIA Geiereckstrasse 18 1 Tel 43 1 798 7601 http www eurotherm at Eurotherm GmbH A1110 Vienna Fax 43 1 798 7605 eurotherm eurotherm at BELGIUM Rue du Val Notre Dame 384 Tel 32 85274080 sales eurotherm belgium be Eurotherm BV B 4520 Moha Fax 32 85274081 CANADA 530 Seaman Street Tel 1 905 664 8911 andy wright drives eurotherm com Eurotherm Drives Unit 3 Fax 1 905 6645869 Stoney Creek Ontario L8E 3X7 DENMARK Enghavevej 9D Tel 45 70 201311 leif tangaa eurotherm se Eurotherm Drives Danmark DK 7100 Fax 45 70 201312 Vejle FRANCE 15 Avenue de Norvege Tel 33 1 69 185151 Eurotherm Vitesse Variable Villebon Yvette Fax 33 1 69 185159 SA 91953 Courtaboeuf Cedex Paris GERMANY Von Humboldt Strasse 10 Tel 49 6252 798200 http www eurotherm de Eurotherm Antriebstechnik 64646 Heppenheim Fax 49 6252 798205 info eurotherm de GmbH HONG KONG Unit D Tel 8522873 3826 eurotherm a eurotherm com hk Eurotherm Ltd 18 F Gee Chang Hong Centre Fax 852 2870 0148 65 Wong Chuk Hang Road Aberdeen INDIA 152 Developed Plots Estate Tel 91 44 496 1129 svs euromds rpemssems vsnl net in Eurotherm India Ltd Perungudi Fax 91 44 496 1831 Chennai 600 096 IRELAND LD A Industrial Estate Tel 353 45 879937 Eurotherm Ireland Ltd Monread Road Fax 353 45 875123 Naas Co Kildare ITALY Via Gran Sasso 9 Tel 39 03
19. an 19 6 13 Control words 635 637 637 disable enable 20 21 eese 19 6 14 Control word 635 637 637 RESET 22 sess 20 6 15 Control words 635 637 637 save data 23 ccccccccccccccccececceseaseeeseeeeeeecceeeeeeeeeeaeaaaas 20 6 16 Control word operating mode speed loop 24 ooooooonnnncnccccnnonnncnnnnnononnnnooncnccnnnnnnnnos 21 6 17 Controlword wite variable flags DI 21 Product manual Type DeviceNet 07 05 08 02 E V0502 doc CONTENTS 7 1 72 10 10 1 10 2 11 11 1 11 2 11 2 1 11 2 2 12 13 13 1 13 2 13 3 13 4 13 5 13 6 14 15 page Vendor class RB M n1 22 Vendor class 100 Attr 100 read status eene nennen nenne 22 Vendor class 100 Attr 101 ext read status ooooccconccnnccnocconcconoccnncconnccnnoconoccnncnnnccononons 23 Vendor class 101 Attr 0 255 read variable eere eene 24 ci mci T 24 Example for operating the 635 637637 via the DeviceNet bus system 25 Positioning via DeviceNet uuuueesssessnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 25 BIAS programm selection via DeviceNet eeeeeeeeseeeeeennennnnnnnnnnnnnnnnnnnnnnnnnenenennnnnnnnn 29 Eurotherm servo controller communicate with the Allen Bradley plc 31 Network Configuration with RSNetWorx cccccccccseeseeseeeeeeeeeeeeeeee
20. detection of the Low High edge of the external reference sensor At the same time the axis 1s stopped via the active deceleration ramp Note l If input X10 8 9 10 not configured as reference sensor a start fault occurs upon execution of a search for reference with sensor 5 2 If the zero position is not reachable in the specified direction after stopping the axis the zero point is not moved to Sensor 410 24 Figure 2 Search for reference to an external reference sensor 1 Configuration in outputs function 1 reference sensor In combination with the automatic directional selection this limitation does not apply Product manual Type DeviceNet 07 05 08 02 E V0502 doc 37 13 4 Search for reference to the reference sensor and the resolver zero position ano Ref HALO The reference modes with reference sensor and resolver zero position represent a combination of the individual modes They are always required wherever no clear coordination of motor position to output position can be made on the one hand on the other hand however the high repeat accuracy of the resolver zero point 1s required Typical applications are also on the other hand systems with gearboxes see figure 2 Process The axis starts the search for reference in the specified directions At sensing of the Low High edge of the external reference sensor a counter preset is executed according to the followin
21. e plug and play code After controlvoltage on the drive automatically sends the message Duplicate MAC ID check Now communication is possible with the 635 637 637 via the DeviceNet bus by using the defined messages With the menu item diagnosis field bus diagnosis the communication state of the DeviceNet Bus of the drive can be diagnosed in EASYRIDER software Product manual Type DeviceNet 07 05 08 02 E V0502 doc 11 5 Definitions of the data fields With DeviceNet for 635 637 637 drives a telegram can contain up to 8 bytes of useful data With the 635 637 637 the the vendor specific object class id 100 instance 1 attribut 100 101 is a telegram always assembled from 8 bytes of useful data The control telegrams consist of a control Word and the subsequent parameter The first two bytes form the control word defines the meaning of the telegram In the remaining useful data bytes 2 to 7 are the parameters corresponding to the selected control word data byte number of bytes 2 3 4 9 6 le control word parameter 12 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Definitions of the data fields 5 1 Numbers representation in the serial commands 5 1 1 2 byte hexadecimal values WORD Number range 2 15 signed integer Example The hexadecimal value 0123h represents itself as follows 01 High Byte Byte 1 23 Low Byte Byte 2 Precedence within the serial command Bit 7 0 15
22. ed with the telegram move incremental position 0 6 5 Control word stop 6 0 l 2 3 4 5 6 7 IRL I A e kl Lo not analyzed offpos window 0 32768 Incr not analyzed control word 6 6 Control word stop with braking ramp 7 0 b Za 2 4 5 6 7 gt DT TI Te Te not analyzed offpos window 0 32768 Incr deceleration ramp Wert x 5 control word 16 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Vendor class 100 Receive control block 6 7 Control word preset counter 8 0 l 2 3 4 3i 6 7 not analyzed Byte 6 1 actual position 1 2 actual position 2 position control word 6 8 Control word set BIAS processing pointer 9 With this telegram the processing pointer in a BIAS program can be Set to a new line In order to be able to use this function the operating mode position control with BIAS processing must be set in the digital drive During the processing of the BIAS program telegrams be still be sent to the digital drive In this regard please observe that move commands via the CAN bus and commands of the BIAS processing have equal status and are processed n the respective task of the digital drive 0 l 2 3 4 5 6 T7 not analyzed BIAS pointer 0 1499 control word Product manual Type DeviceNet 07 05 08 02 E V0502 doc 17 6 9 Control word move
23. eeeeeeeeeeeeeeeeeeeeeeeees 3 PLC programing with RSLogix 500 Allen Bradley oooooo ooooocccccccccccccnonnnanananonno conos 22 Transmitting data between the processor files and the MO MI files 33 Programming control for Explicit Messaging Service eese 34 cca MENT P E CES Tu E E 34 Standard reference Homing modes overview eee eeeeeeeeee 35 Search for reference and TIO ae 35 Search for reference to the resolver zero PoSItioN uussessssssssennnsssssssseeeeeeeseeenenennnnnnnnnnnnnnn 36 Search for reference to The Tererence SEBSOE u ee 37 Search for reference to the reference sensor and the resolver zero position 38 Search for reference with automatic directional selection esses 38 Search for reference with reference point ShI tINZ oooccccccccccccnonnooonononononacnnnnnnnnnnnonoss 39 li AAPP 40 haie ACTON Record Mc 42 Product manual Type DeviceNet 07 05 08 02 E V0502 doc The most important thing first We thank you for the trust that you have shown n our product The operating instructions presented thamseves as an overview of the technical data and features Please read the operating instructions before putting the product to use If you have any questions please contact your nearest Eurotherm representative Improper application
24. g resolver zero position At the same time the axis 1s stopped via the active deceleration ramp If the zero point can be reached in the specified direction this is subsequently moved to Note l If input X10 8 9 10 1s not configured as reference sensor a start fault will occur upon execution of a search for reference with sensor 2 If the zero position is not reachable in the specified direction after stopping the axis the zero point will not be moved to 13 5 Search for reference with automatic directional selection Auto The previous reference types can be combined with the automatic directional selection If the automatic directional selection 1s active there are 2 differences l The axis can use both reference directions As a result the zero point can always be moved to 2 At reference modes with reference sensor the search for reference is started in the opposite direction if the reference sensor 1s already active at the start of the search for reference see figure 3 After the reference sensor becomes free inactive the axis is stopped see figure 4 Subsequently the reference sensor is moved to n the specified reference direction and the search for reference 1s ended according to the reference mode Search for reference with automatic directional selection Sensor X10 8 Figure 3 Start of the search for reference with automatic directional selection Sensor X10 8
25. he output stage too high low Byte motor temperature too high resolver error internal used release X10 22 before ready Over current software interruption Watchdog reset high Byte 5 Internal stop Over current hardware interruption internal used internal used EEPROM check total not ok Ballast power exceeded Pt regulator Low Byte actual speed High Byte Product manual Type DeviceNet 07 05 08 02 E V0502 doc 23 8 Vendor class 101 Attr 0 255 read variable DeviceNet DATA CHANNEL Digital drive 635 637637 gt participant Get Attribut single class 101 attribute 0 255 By this telegram is is possible to read the 256 values of the variables of the drive attribut 0 variable 0 attribut 255 variable 255 0 l 2 3 Data byte high byte value of variable 9 Reserved 24 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 10 Example for operating the 635 637637 via the DeviceNet bus system 10 1 Positioning via DeviceNet 1 Step Host login v a the DeviceNet bus necessary once after power on or always after host logout respectively send control telegramm with 01h Host login in the control word byte 0 to the 635 637 637 0 L 2 3 4 5 6 7 Databyte 01 00 ax ax fax xx fox 2 Step check host login After host login in the response telegramm n the data byte 2 the bit 1 COM2 host login will be set EE 2 S 7 Data byte COM2
26. ion via DeviceNet 3 Step program selection with control word 9 set BIAS processing pointer Example start program at processing pointer 100 100d 0064h 0 Data byte l 2 3 A de 6 7 09 00 64 00 sx x oc fx o processing pointer control word 4 Step host logout via the DeviceNet bus send control telegram to the 635 637 637 with 02h host logout in the control word byte 0 0 Data byte l 2 3 4 de 6 7 Donne 30 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 11 Eurotherm servo controllers communicate with the Allen Bradley plc This chapter describes the connection between the Eurotherm servo controllers and the Allen Bradley plc In this chapter it isn t a goal to describe the connection in details It s only an introduction For more information see the documentation for the plc an the DeviceNet scanner from Allen Bradley 11 1 Network Configuration with RSNetWorx For communication by DeviceNet the scanner must be configured before This will be done with the configuration software RSNetWorx After starting RSNetWorx start with a new Project Select the wished slaves from the hardware catalogue and insert in the project If all slaves already connected to the DeviceNet the scanner can scan the configuration via the bus E Etl dnt RSNetWorx for DeviceNet Al E3 Eie Edit View Network Device Tools Help B S EM amp X ev amp
27. ne is 1s possible to switch on the terminal resistor with DIL switch 10 0 on Media Access Control Identifier Product manual Type DeviceNet 07 05 08 02 E V0502 doc 7 Basic features of the DeviceNet bus with 635 637 637 2 5 Baudrate adjustment The baudrate is selected with the DIL sitches 7 and 8 7 8 0 0 125 kBaud 0 1 250 kBaud l 0 500 kBaud l 125 kBaud OM 1 switch the treminal resistor 174 Ohm OFF 0 titt nda not used t 00000000 125 kBaud 01 p00001 01 M 250 kBaud Oz 00001010 02 500 kBaud 11 03 125 kBaud 63 11111 OL noasaaaress 00 63 nodeaddress IMAC ID 1 example as delivered default value p umm Baudrate 500 kBaucd na terminal resistor Baudrate 125 kBaud na terminal resistor Product manual Type DeviceNet 07 05 08 02 E V0502 doc Basic features of the DeviceNet bus with 635 637 637 2 6 Pin assignment for COM2 Connection plug SUB D 9 pin male The CAN interface is galvanically isolated which makes the physical transmission free of interference Provided module RP DEV AN L bus line dominant low ound r optional ground CAN H bus line dominant high C intern not connected optional CAN external positive supply 2 7 Cables and accessories Product manual Type DeviceNet 07 05 08 02 E V0502 doc 3 DeviceNet data transfer In the DeviceNet bus the controller works as a slave server of class 2 The initialization
28. nship between the electrical and the mechanical zero point of the axis e g with a rotary axis with a tool or a linear axis In order to be able to solve this task flexibly 24 standard reference modes are offered These are explained in the following text Product manual Type DeviceNet 07 05 08 02 E V0502 doc 35 Standard reference Homing modes 13 2 Search for reference to the resolver zero position ano The resolver located in the motor represents an absolute position registering system The zero position of this system can be used to create a zero point with high repeat accuracy Figure 1 shows a typical application The axis to be referenced is connected directly with the motor so that a clear coordination between the motor and output position results Process The axis executes a counter preset according to the resolver zero position and moves to the zero point in the specified direction Figure 1 Search for reference to the resolver zero position 36 Product manual Type DeviceNet 07 05 08 02 E V0502 doc 13 3 Search for reference to the reference sensor Ref Searches for reference to an external reference sensor are necessary wherever no exact assignment at the motor to output position can be made Typical application examples are systems with gearboxes as shown in figure 2 Process The axis starts the search for reference in the specified direction The actual position is zeroed upon
29. o7 speed position start absolute Product manual Type DeviceNet 07 05 08 02 E V0502 doc 27 Example for operating the 635 637637 via the DeviceNet bus system Positioning via DeviceNet 4 Step check position reached Request bit 7 position reached in data byte 6 in the response telegram and or compare the position value bytes 0 3 with the setpoint value Data byte 0 2 3 4 5 6 y Tee o Dem position reached position 0 5 Step host logout via the DeviceNet bus send control telegram to the 35 637 637 with 02h host logout in the control 0 Data byte l 2 3 4 5 6 7 nonne 28 Product manual Type DeviceNet 07 05 08 02 E V0502 doc Example for operating the 635 637637 via the DeviceNet bus system 10 2 BIAS programm selection via DeviceNet 1 Step Host login v a the DeviceNet bus necessary once after power on or every time after host logout send control telegram with 01h Host login in the control word byte 0 to the 635 637 637 Data byte 2 Step check host login request status with a remote frame In the response telegram bit 1 COM2 host login in data byte 2 is set after the host login 0 2 S 7 Data byte COM2 Host login Product manual Type DeviceNet 07 05 08 02 E V0502 doc 29 Example for operating the 635 637637 via the DeviceNet bus system BIAS programm select
30. of the product in connection with dangerous voltage can lead to injuries In addition damage can also occur to motors or other products Therefore please observe our safety precautions strictly Topic Safety precautions We assume that as an expert you are familiar with the relevant safety regulations especially in accordance with VDE 0100 VDE 0113 VDE 0160 EN 50178 the accident prevention regulations of the employers liability insurance company and the DIN regulations and that you can use and apply them Also the CE regulations are to be observed and guaranteed Depending on the kind of application additional norms e g UL DIN are to be observed If our products are employed in connection with components from other manufacturers their operating instructions are also to be observed strictly Product manual Type DeviceNet 07 05 08 02 E V0502 doc 5 1 User manual for the Digital drive 635 637 637 with the bus system DeviceNet A DeviceNet bus interface RP DEV can be integrated as an option into the 635 and 637 637 digital servo controller Consequently it 1s possible to network the 635 637 637 as participant in the DeviceNet bus system The functions described n this documentation refer to following software version Controller firmware Version gt 6 16 DeviceNet firmware Version 2 01 1 1 Layout a 635 top view Option RP_DEV front of controller COM 2 b 637 637 top view OL6O8Ll9U GVE
31. yth Park Drive Charlotte North Carolina 28273 http www eurothermdrives com Tel 1 704 588 3246 Fax 1 704 588 3249 russ fulle drives eurotherm com Eurotherm Antriebstechnik GmbH Im Sand 14 e D 76669 Bad Sch nborn e Telefon 07253 940 40 e Fax 07253 940 499 E Mail info eurotherm de e Internet http www eurotherm de
Download Pdf Manuals
Related Search