Emerson Epsilon EiDeviceNet Drive Manual do Utilizador

Reference ManualP/N 400501-08Revision A2Date: March 20,2002© 2001, 2002 Control Techniques Drives, Inc.Epsilon Ei DeviceNet Drive

viiiSafety of MachineryWithin the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety of Machiner

ixSafety Considerations viiIntroduction 1Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xDN Master Send Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27DN Master Send FAB Type

1IntroductionPurposeThis manual describes the Epsilon Ei DeviceNet (Ei-DN) Servo Drive and gives examples for connecting DeviceNet® with Epsilon Index

2Epsilon Ei DeviceNet Drive Reference ManualThe Epsilon Ei-DN configuration is easily set within PowerTools FM software. In PowerTools FM software, th

3Introduction9. Operation with off-the-shelf power supplies10. Power taps that allow the connection of several power supplies from multiple vendors th

4Epsilon Ei DeviceNet Drive Reference Manual Figure 2: Master/Slave RelationshipTrunk LineDrop LineConfigure PLCDeviceNetDeviceNet MasterScanner CardE

5InstallationMechanical InstallationFollow the instructions for mechanical installation of an Epsilon Ei Drive as outlined in the Epsilon Ei Installat

6Epsilon Ei DeviceNet Drive Reference ManualConnectorsDeviceNet connectors can be either open-style (wires exposed) or sealed. These connectors can be

7InstallationThe connector provided for the DeviceNet connection is keyed: VT (pin 5) and should be wired to the keyed slot. Figure 3: DeviceNet Wirin

8Epsilon Ei DeviceNet Drive Reference Manual

9Configuring the DeviceNet NetworkConnection TypesThe Epsilon Ei-DN DeviceNet interface was designed to communicate with a DeviceNet network in two wa

10Epsilon Ei DeviceNet Drive Reference Manual Figure 4: The DeviceNet Setup TabMacIDThe MacID is the number assigned to a particular node. Every node

11Configuring the DeviceNet Networkand has many parameters premapped for quick setup and replacement. Index Sel (Predef) was created to keep everythin

12Epsilon Ei DeviceNet Drive Reference ManualMaster Send Assembly Block - Index Sel (Userdef)Index TypeIndex Type is the fixed assembly block used for

13Configuring the DeviceNet Networkthe position controller profile positions, velocities, accels, and decels can be written for a single index. The in

14Epsilon Ei DeviceNet Drive Reference ManualInput Word Select Data PointerThe Input Word Select Data Pointer may be used when a polled connection is

15Configuring the DeviceNet NetworkOutput Word Select Data PointerThe Output Word Select Data Pointer may be used when a polled connection is establis

16Epsilon Ei DeviceNet Drive Reference ManualCommand Assembly CodeThe Command Assembly Code is used only when the position controller object is in use

17Configuring the DeviceNet NetworkData Processing/Order of Operations for Fixed Assembly BlocksSince the transfer of parameters over the DeviceNet ne

Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is as

18Epsilon Ei DeviceNet Drive Reference ManualHost Mode EnableHost Mode Enable allows the user to decide where the control will occur from the DeviceNe

19Configuring the DeviceNet NetworkDeviceNet Online TabThe DeviceNet Online Tab is available to the user when PowerTools FM is online with the Ei-DN.

20Epsilon Ei DeviceNet Drive Reference ManualStatusNetwork Status LEDNetwork Status vitual LED indicates whether the Ei-DN is communicating properly w

21Configuring the DeviceNet NetworkInput and Output TabDeviceNet BitsDeviceNet bits are user-defined bits that are assigned within the inputs and outp

22Epsilon Ei DeviceNet Drive Reference Manual Figure 8: Outputs TabWhen an unsupported DN bit assignment is made, a warning message will pop up tellin

23Configuring the DeviceNet Network Figure 9: Watch WindowDN Allocation Choice (Connections Established)Ei-DN Modbus Address: 34003This parameter moni

24Epsilon Ei DeviceNet Drive Reference ManualDN Baud RateEi-DN Modbus Address: 44002Three standard baud rates can be configured for the DeviceNet netw

25Configuring the DeviceNet NetworkDN Comm Time-out Fault CountEi-DN Modbus Address: 40717This parameter indicates the total # of Communication Time-o

26Epsilon Ei DeviceNet Drive Reference ManualDN FAB Master Send BlockEi-DN Modbus Address: 34007-34010The DN FAB Master Send Block displays the polled

27Configuring the DeviceNet NetworkDN Master Receive BitmapEi-DN Modbus Address: 34006This parameter returns the values for the selected master receiv

ii© 2001, 2002 Control Techniques Drives, Inc. Part Number: 400501-08Revision A2Date: March 2002Printed in United States of AmericaInformation in this

28Epsilon Ei DeviceNet Drive Reference ManualDN Master Send FAB TypeEi-DN Modbus Address: 44004The DN Master Send FAB Type displays the chosen fixed a

29Configuring the DeviceNet NetworkDN Network StatusEi-DN Modbus Address: 34207The DN Network status indicates the ODVA specific status of the DeviceN

30Epsilon Ei DeviceNet Drive Reference ManualDN Status Minor Recoverable FaultEi-DN Modbus Address: 14001A Minor Recoverable Fault occurs when the dri

31Configuring the DeviceNet NetworkAccessing the EDS FileThe EDS file is used for configuration of the DeviceNet master. This file tells the Master so

32Epsilon Ei DeviceNet Drive Reference ManualNetwork Status LEDThe Network Status LED located on the front of the drive provides network status accord

33Configuring the DeviceNet Networkthe display shows the correct number for the low digit of the MacID. (The display will now flash between the letter

34Epsilon Ei DeviceNet Drive Reference Manual4. Double-click the “Reset” button to reveal a flashing “S” on the diagnostic display. If the parameters

35Network ConfigurationQuick StartThis chapter presents sample startups with a Epsilon Ei-DN drive using a 1747-SDN scanner card as the DeviceNet mast

36Epsilon Ei DeviceNet Drive Reference Manual5. Install the .eds file in the Master Configuration software (RsNetworx, Wonderware, etc.).6. Download a

37Network Configuration Quick Start Figure 10: DN Setup / Index Sel (Predef)4. Download this file to the Ei-DN.5. Proceed to “Master Configuration” on

iiiCustomer SupportControl Techniques12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A.Telephone: (952) 995-8000 or (800) 397-3786It is Co

38Epsilon Ei DeviceNet Drive Reference Manual13. Using Output Word Select Data Pointer 0x0A to set Jog Velocity and Input Select Data Pointer 0x06 to

39Network Configuration Quick Start Figure 11: DN Setup / Index Sel (Userdef)3. Click the Inputs tab to configure the DN bits that will be written fro

40Epsilon Ei DeviceNet Drive Reference Manual Figure 12: Inputs Tab4. Click the Outputs tab to configure the DN bits that will be written to from the

41Network Configuration Quick Start Figure 13: Outputs TabNoteIndex Sel (userdef) allows 16 DN bits to be configured. Although these bits are optional

42Epsilon Ei DeviceNet Drive Reference Manual11. Set Output Bit O:1.1/3 high to Jog -.12. Set Output Bit O:1.1/4 high to enable Jog Fast.13. Set Outpu

43Network Configuration Quick Start Figure 14: DN Setup / Index Type3. Click the Inputs tab to configure the DN bits that will be written from the PLC

44Epsilon Ei DeviceNet Drive Reference Manual5. Download this file to the Ei-DN.6. Proceed to “Master Configuration” on page 48 before going any farth

45Network Configuration Quick Start12. Using Output Word Select Data Pointer 0x04 to set the Index Deceleration Register and Input Select Data Pointer

46Epsilon Ei DeviceNet Drive Reference Manual2. Enter the DN setup and set the MacID to 1 and the Baud Rate to 125K. Select PositionControl for both

47Network Configuration Quick Start9. Set the Receive Assembly code to read the Actual Position O:1.2 = 0x02 (parameter). This response will be read b

iv• Exact wording of any messages that appear on your screen• What you were doing when the problem occurred• How you tried to solve the problemNeed on

48Epsilon Ei DeviceNet Drive Reference ManualMaster ConfigurationRS Networx™ will be used to install the Ei-DN onto the DeviceNet network as a slave.

49Network Configuration Quick Start Figure 17: Scanlist TabClick the Input tab and map the 4 words of data from the Ei-DN to I:1.1 - I:1.4. These addr

50Epsilon Ei DeviceNet Drive Reference Manual Figure 18: Input TabClick the Output tab and map the 4 words of data from the Ei-DN to O:1.1 - O:1.4 as

51Network Configuration Quick Start Figure 19: Output TabAfter all of the data is mapped click OK, go online, and then download this RsNetworx file to

52Epsilon Ei DeviceNet Drive Reference Manual

53Explicit Messaging Quick StartTo send explicit messages, the Epsilon Ei-DN drive should be configured and successfully connected to the DeviceNet sy

54Epsilon Ei DeviceNet Drive Reference ManualSize of field is the size of the message data section and does not contain the message header. For GET Se

55Explicit Messaging Quick Start Figure 20: Description of N10 Integer FileExplicit Messaging ExamplesThe following two examples of DeviceNet Explicit

56Epsilon Ei DeviceNet Drive Reference ManualExplanation of PLC ProgramThe copy command in Rung 0 will activate when B3:0/0 is turned on. This command

57Explicit Messaging Quick StartAfter the N10 file is set, B3:0/0 can be set high to send the explicit message to the scanner card. After bit I:3/15 i

vIn addition, you will find the following typographic conventions throughout this manual. NoteFor the purpose of this manual and product, “Note” indic

58Epsilon Ei DeviceNet Drive Reference ManualIndex 1 Velocity is mapped to class 0x68, instance 0x02, attribute 0x09, as shown in the table below.The

59Explicit Messaging Quick StartInteger File N11 High Byte Low ByteN11:0 TXID=0x01 COMMAND=0x01N11:1 PORT=0x00 SIZE OF DATA FIELD=0x04N11:2 SERVICE=0x

60Epsilon Ei DeviceNet Drive Reference Manual

61Drive ParametersThis section lists all parameters available for Epsilon Ei DeviceNet drive. The tables provide the following information about each

62Epsilon Ei DeviceNet Drive Reference ManualExecute.ExecuteStopAllMotion BOOL 101 (0x65) 1 (0x01) 3 (0x03)Execute.ExecuteWriteBaseDriveRAMtoNVM BOOL

63Drive ParametersInputLine.DriveEnableInputDebouncedStatus BOOL 106 (0x6A) 1 (0x01) 9 (0x09)InputLine.DriveEnableInputRawStatus BOOL 106 (0x6A) 1 (0x

64Epsilon Ei DeviceNet Drive Reference ManualProductID.Option1IDFunctionModule UINT 111 (0x6F) 1 (0x01) 5 (0x05)ProductID.Option2IDAnybus1 UINT 111 (0

65Drive ParametersBy DeviceNet Class*NOTE 1*The instance number will be one more than the number of the index, jog, pls, program, input or output. For

66Epsilon Ei DeviceNet Drive Reference ManualName DN Data Type Class Instance AttributeDeviceNet.DeviceNetIdentityObject.VendorID UINT 1 (0x01) 1 (0x0

67Drive ParametersIndex.IndexInstance#.Velocity UDINT 104 (0x68) See Note 1 9 (0x09)Index.Instance#.RegistrationOffset DINT 104 (0x68) See Note 1 10 (

viSafety InstructionsGeneral WarningFailure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product

68Epsilon Ei DeviceNet Drive Reference ManualOutputLine.OutputLinesStatusBitMap WORD 109 (0x6D) 1 (0x01) 4 (0x04)Position.FollowingError DINT 110 (0x6

69Drive ParametersStatus.OptionSerialNumber String 113 (0x71) 1 (0x01) 13 (0x0D)Status.TorqueFeedback INT 113 (0x71) 1 (0x01) 14 (0x0D)Status.TotalCom

70Epsilon Ei DeviceNet Drive Reference Manual

71AppendixAppendixIndex Select PredefinedMaster Receive Assembly Block - Index Sel (Predef)Master Send Assembly Block - Index Sel (Predef)Word Bit 15

72Epsilon Ei DeviceNet Drive Reference ManualIndex Select (User Defined)Master Receive Assembly Block - Index Sel (User Def)Master Send Assembly Block

73AppendixIndex TypeMaster Receive Assembly Block - Index TypeMaster Send Assembly Block - Index Type Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10

74Epsilon Ei DeviceNet Drive Reference ManualPosition ControlMaster Receive Assembly Block - Position ControlMaster Send Assembly Block -Position Cont

75GlossaryApplication ObjectsThese implement the intended purpose of the product.AttributeA sub-classification for a parameter or bit. The attribute

76Epsilon Ei DeviceNet Drive Reference ManualDrop Line A DeviceNet cable that runs from the trunk of a system to a device.EDSElectronic Data Sheet fil

77GlossaryI/O ConnectionsThese provide dedicated, special-purpose communication paths between a producing application and one or more consuming applic

viiSafety ConsiderationsSafety PrecautionsThis product is intended for professional incorporation into a complete system. If you install the product i

78Epsilon Ei DeviceNet Drive Reference ManualUCMMThe Unconnected Message Manager processes DeviceNet Unconnected Explicit messages.

79IndexAAccessing the EDS File, 31BBaud Rate, 10Bus-Off Counter, 19By DeviceNet Class, 65By Name, 61CCommand Assembly Code, 16Connection Types, 9Custo

80Epsilon Ei DeviceNet Drive Reference ManualOverview, 5HHost/Remote Mode, 18How to Send Explicit Messages, 53IImplicit Messaging, 9Index, 79Index Sel

81IndexWWrite Index 1 Velocity, 57

82Epsilon Ei DeviceNet Drive Reference Manual

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