Allen-Bradley ULTRA 100 Series Manual
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Allen-Bradley ULTRA 100 Series Manual

Allen-Bradley ULTRA 100 Series Manual

Digital servo drives
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ULTRA 100 Series
Digital Servo Drives
with DeviceNet
7KLV PDQXDO ZDV FUHDWHG IRU
'HYLFH1HW )LUPZDUH 

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Summary of Contents for Allen-Bradley ULTRA 100 Series

  • Page 1 ULTRA 100 Series Digital Servo Drives with DeviceNet 7KLV PDQXDO ZDV FUHDWHG IRU 'HYLFH1HW )LUPZDUH ...
  • Page 2 Reproduction of the contents of this copyrighted publication, in whole or in part, without written permission of Allen-Bradley Company, Inc., is prohibited. Throughout this manual we use notes to make you aware of safety considerations.

  • Page 3: Table Of Contents

    Safety Using the ULTRA 100 Series, Digital Servo Drive with DeviceNet . . 1-1 Your Responsibilities ........1-1 Installation .
  • Page 4 Table of Contents - 2 Appendix: B Polled I/O Examples Example 1: RAM Index Setup and Move ........B-2 Select Command and Response Assembly Object Data .
  • Page 5 Table of Contents - 3 Remove COMMAND Offset ......D-15 Start Homing ........D-16 Fault Reset .

  • Page 6: Table Of

    Table of Contents - 4 Publication 1398-5.4 - December 1999...

  • Page 7: Using The Ultra 100 Series, Digital Servo Drive With Devicenet

    Chapter Safety ,W LV UHFRPPHQGHG WKDW \RX DOVR UHDG WKH 8/75$  6HULHV ,QVWDOODWLRQ 0DQXDO Using the ULTRA 100 Series, SXEOLFDWLRQ  LQ DGGLWLRQ WR WKLV PDQXDO EHIRUH DWWHPSWLQJ WR LQVWDOO RU Digital Servo Drive with RSHUDWH WKH 8/75$  'ULYH ZLWK 'HYLFH1HW %\ UHDGLQJ WKH PDQXDOV \RX...

  • Page 8: Installation

    Safety $ VDIH DWWLWXGH LV HVVHQWLDO WR ´ZRUNLQJ VDIHµ LQ DQ ,QGXVWULDO (QYLURQPHQW Installation %HLQJ VDIH LV LPSRUWDQW WR \RX DQG WKRVH ZRUNLQJ DURXQG \RX 6DIHW\ ODEHOLQJ RQ HTXLSPHQW GRHV QRW UHSUHVHQW DQ DOO LQFOXVLYH VHW RI LQVWUXFWLRQ WR HQVXUH VDIH RSHUDWLRQ RI HTXLSPHQW 6DIHW\ ODEHOLQJ LV RQO\ PHDQW WR EH D JXLGH DQG UHPLQGHU RI VDIHW\ KD]DUGV <RX VKRXOG NQRZ ZKDW KD]DUGV DUH DVVRFLDWHG ZLWK HTXLSPHQW LQ \RXU DUHD EHIRUH DWWHPSWLQJ DQ\ ZRUN RQ DQ\ HTXLSPHQW ,I \RX...

  • Page 9: Voltage Potentials

    Safety 6WDWLF GLVFKDUJH RFFXUULQJ DW WKH 'HYLFH1HW FRQQHFWRU RQ ATTENTION WKH 8/75$  ZLWK 'HYLFH1HW PD\ FDXVH D PDOIXQFWLRQ 6WDWLF FRQWURO SUHFDXWLRQV DUH UHTXLUHG ZLWK ZLUH FRQQHFWLRQV WR WKH 8/75$  'ULYH ZLWK 'HYLFH1HW 5HIHU WR *XDUGLQJ $JDLQVW (OHFWURVWDWLF 'DPDJH SXEOLFDWLRQ  RU RWKHU DSSOLFDEOH (6' SURWHFWLRQ KDQGERRN )DLOXUH WR REVHUYH WKLV VDIHW\ SURFHGXUH FRXOG UHVXOW LQ SHUVRQDO LQMXU\ DQGRU GDPDJH WR HTXLSPHQW...

  • Page 10: Shield Termination

    Safety Terminal block for DC bus and motor connections Position Identifier Description DC BUS+ DC Bus+ voltage DC BUS- DC Bus- voltage L1 (Line 1) 100-240 VAC input power L2/N (Line 2) 100-240 VAC input power Ground Symbol Safety (earth) ground R phase power to motor S phase power to motor T phase power to motor...
  • Page 11 Safety 'R QRW FRQQHFW WR WKH LQWHUQDO FLUFXLWU\ RI WKH 8/75$  ATTENTION 'ULYH ZLWK 'HYLFH1HW 7HUPLQDO DQG SOXJ FRQQHFWLRQV RQ WKH IURQW SDQHO DUH WKH RQO\ SRLQWV ZKHUH FRQQHFWLRQV VKRXOG EH PDGH )DLOXUH WR REVHUYH WKLV VDIHW\ SURFHGXUH FRXOG UHVXOW LQ SHUVRQDO LQMXU\ DQGRU GDPDJH WR HTXLSPHQW 7KH '& WHUPLQDO FRQQHFWRU VKRXOG QHYHU EH FRQQHFWHG WR ATTENTION...

  • Page 12: Mechanical Hazards

    Safety 0HFKDQLFDO KD]DUGV DUH W\SLFDOO\ DVVRFLDWHG ZLWK WKH DXWRPDWLF PRYHPHQW RI Mechanical Hazards PDFKLQH FRQWUROOHG URWDWLQJ DQG UHFLSURFDWLQJ HTXLSPHQW $SSURSULDWH SUHFDXWLRQV PXVW EH WDNHQ WR HQVXUH SRZHU WR WKH GHYLFH LV GLVFRQQHFWHG EHIRUH SHUVRQQHO KDYH DFFHVV WR WKH PRYLQJ SDUWV RI D V\VWHP 6HFXUH PRXQWLQJ RI DOO PRYLQJ FRPSRQHQWV EHIRUH ATTENTION SRZHULQJ D V\VWHP...

  • Page 13: Stored Energy Hazards

    Safety 6WRUHG HQHUJ\ KD]DUGV DUH ERWK HOHFWULFDO DQG PHFKDQLFDO Stored Energy Hazards (OHFWULFDO KD]DUGV FDQ EH DYRLGHG E\ GLVFRQQHFWLQJ WKH 8/75$  'ULYH ZLWK 'HYLFH1HW IURP LWV SRZHU VRXUFH DQG PHDVXULQJ WKH '& EXV YROWDJH WR YHULI\ LW LV DW D VDIH OHYHO :DLW IRU WKH WLPH LQGLFDWHG LQ WKH ZDUQLQJ RQ WKH IURQW RI WKH DPSOLILHU SULRU WR UHPRYLQJ WKH SURWHFWLYH FRYHU RU WRXFKLQJ DQ\ FRQQHFWLRQV +LJK YROWDJH LV SUHVHQW RQ WKH '&...

  • Page 14: Safety Guidelines

    Safety 7KH IROORZLQJ SRLQWV VKRXOG EH REVHUYHG IRU WKH VDIHW\ RI SHUVRQQHO DQG Safety Guidelines HTXLSPHQW • 6\VWHP DQG VDIHW\ GRFXPHQWDWLRQ PXVW EH PDGH DYDLODEOH DQG REVHUYHG DW DOO WLPHV • 2QO\ TXDOLILHG SHUVRQQHO IDPLOLDU ZLWK WKH HTXLSPHQW DUH SHUPLWWHG WR LQVWDOO RSHUDWH DQG PDLQWDLQ LW •...

  • Page 15: Introduction

    Chapter Introduction 7KLV PDQXDO LV LQWHQGHG WR EH XVHG E\ SHUVRQV XVLQJ WKH 8/75$  'ULYH Purpose of this manual ZLWK 'HYLFH1HW 7KLV LQFOXGHV 8/75$  'ULYH ZLWK 'HYLFH1HW'1 ;'1 '1 ;'1 '1 RU ;'1 7KH 'HYLFH1HW QHWZRUN LV DQ RSHQ JOREDO LQGXVWU\VWDQGDUG FRPPXQLFDWLRQ QHWZRUN GHVLJQHG WR SURYLGH DQ LQWHUIDFH WKURXJK D VLQJOH FDEOH IURP D SURJUDPPDEOH FRQWUROOHU GLUHFWO\ WR ´VPDUWµ...

  • Page 16: Predefined Master/Slave Connection Set

    Introduction Predefined Master/Slave Connection Set $ VHW RI PHVVDJLQJ FRQQHFWLRQV WKDW IDFLOLWDWH FRPPXQLFDWLRQV DQG LV W\SLFDOO\ VHHQ LQ D PDVWHUVODYH UHODWLRQVKLS LV NQRZQ DV WKH 3UHGHILQHG 0DVWHU6ODYH &RQQHFWLRQ VHW 7KH PDVWHU LV WKH GHYLFH WKDW JDWKHUV DQG GLVWULEXWHV ,2 GDWD IRU WKH SURFHVV FRQWUROOHU $ 'HYLFH1HW PDVWHU VFDQV LWV VODYH GHYLFHV EDVHG RQ D VFDQ OLVW LW FRQWDLQV $ VODYH GHYLFH UHWXUQV ,2 GDWD WR LWV PDVWHU GHYLFH 7KH ,2 GDWD H[FKDQJHG RYHU WKLV FRQQHFWLRQ LV SUHGHILQHG...

  • Page 17: Change-Of-State/Cyclic Messages

    Introduction Change-of-State/Cyclic Messages $ &KDQJH RI 6WDWH&\FOLF PHVVDJH LV GLUHFWHG WRZDUGV D VLQJOH VSHFLILF QRGH PDVWHU RU VODYH  $Q $FNQRZOHGJH UHVSRQVH PD\ RU PD\ QRW EH UHWXUQHG WR WKLV PHVVDJH ,Q WKH PDVWHU RU VODYH GHYLFH WKH SURGXFLQJ &KDQJH RI 6WDWH PHVVDJH DQG WKH FRQVXPLQJ $FNQRZOHGJH PHVVDJH DUH UHFHLYHGWUDQVPLWWHG E\ RQH FRQQHFWLRQ REMHFW 7KH FRQVXPLQJ &KDQJH RI 6WDWH PHVVDJH DQG SURGXFLQJ $FNQRZOHGJH...
  • Page 18 Introduction Publication 1398-5.4 - December 1999...

  • Page 19: Connect To The Devicenet Network

    Chapter Connect to the DeviceNet network $ 'HYLFH1HW QHWZRUN LV D DUUDQJHPHQW RI HOHFWULFDO SRZHU DQG GHYLFH GLVWULEXWLRQ $ 'HYLFH1HW QHWZRUN LV SODQQHG DQG DGMXVWHG IRU RSWLPDO FRPPXQLFDWLRQV %HIRUH SURFHHGLQJ WR DGG GHYLFHV \RX QHHG WR UHFRUG WKH IROORZLQJ • QHWZRUN GDWD UDWH •...

  • Page 20: Wiring The Open-Style Connector

    Connect to the DeviceNet network 7R DWWDFK D SOXJDEOH RSHQ VW\OH VFUHZFRQQHFWRU WR WKH 'HYLFH1HW FDEOH Wiring the open-style connector  6WULS PP LQ WR PP LQ RI WKH RXWHU MDFNHW IURP WKH HQG RI WKH OLQH OHDYLQJ QR PRUH WKDQ PP LQ RI WKH EUDLGHG VKLHOG H[SRVHG  :UDS WKH HQG RI WKH OLQH ZLWK PP LQ RI VKULQN ZUDS FRYHULQJ SDUW RI WKH H[SRVHG ZLUHV DQG SDUW RI WKH WUXQN OLQH LQVXODWLRQ  6WULS PP LQ RI WKH LQVXODWLRQ IURP WKH HQG RI HDFK RI WKH LQVXODWHG...
  • Page 21 Connect to the DeviceNet network  8VH D  LQFK IODW EODGHG VFUHZGULYHU WR ILUPO\ DWWDFK ZLUHV LQ WKH FRQQHFWRU plug connector White Can_H bare Shield blue Can_L black Device Connector Cable Color Designation white Can_H bare Shield blue Can_L black  $WWDFK WKH 8/75$  'ULYH ZLWK 'HYLFH1HW WR WKH 'HYLFH1HW QHWZRUN 6WDWLF GLVFKDUJH RFFXUULQJ DW WKH 'HYLFH1HW FRQQHFWRU RQ...
  • Page 22 Connect to the DeviceNet network Publication 1398-5.4 - December 1999...

  • Page 23: Network Configuration Of Ultra 100 Drive With Devicenet

    Chapter Network configuration of ULTRA 100 Drive with DeviceNet 3& LQWHUIDFH FDUGV DQG 56 GHYLFH PRGXOHV DUH DYDLODEOH WKDW DOORZ \RX WR FRQQHFW D FRPSXWHU GLUHFWO\ WR D 'HYLFH1HW QHWZRUN WR FRPPXQLFDWH ZLWK GHYLFHV RQ WKH QHWZRUN 7KLV DOORZV \RX WR XVH 'HYLFH1HW PDQDJHPHQW VRIWZDUH WR KHOS LQ FRQILJXULQJ WKH 'HYLFH1HW QHWZRUN 7KUHH URWDU\ ',3 VZLWFKHV DUH XVHG WR FRQILJXUH QRGH DGGUHVV DQG GDWD UDWH Setting rotary DIP switches...

  • Page 24: Configuring The Network Using Software

    Network configuration of ULTRA 100 Drive with DeviceNet Configuring the Network using Software &RPPLVVLRQLQJ WKH 8/75$  'ULYH ZLWK 'HYLFH1HW FDQ ATTENTION GLVUXSW QHWZRUN FRPPXQLFDWLRQV (QVXUH \RXU GHYLFH LV QRW FRQQHFWHG WR D OLYH 'HYLFH1HW QHWZRUN 6HW WKH QRGH DGGUHVV DQG GDWD UDWH YLD WKH URWDU\ VZLWFKHV ZLWK WKH 'HYLFH1HW FDEOH GLVFRQQHFWHG IURP WKH 8/75$  'ULYH ZLWK 'HYLFH1HW RU WKH SRZHU WR WKH GHYLFH WXUQHG RII DW LWV VXSSO\...

  • Page 25: Creating The Eds File

    Network configuration of ULTRA 100 Drive with DeviceNet Creating the EDS File ('6 ILOHV DUH DOVR DYDLODEOH WR EH GRZQ ORDGHG IURP WKH ZRUOG ZLGH ZHE DW ZZZDEFRPQHWZRUNVHGV 'R QRW JHQHUDWH DQ ('6 ILOH IURP WKH 8/75$  'ULYH ZLWK 'HYLFH1HW XQOHVV DQ ('6 ILOH LV QRW DYDLODEOH $WWHPSWLQJ WR FUHDWH RU HGLW DQ ('6 ZLOO GHVWUR\ WKH FXUUHQW ('6 LQIRUPDWLRQ 5RFNZHOO 6RIWZDUH·V 561HW:RU[ IRU 'HYLFH1HW DOORZV D XVHU WR FUHDWH D...
  • Page 26 Network configuration of ULTRA 100 Drive with DeviceNet 6HOHFW 8SORDG ('6 (QVXUH WKH YHQGRU DQG SURGXFW LQIRUPDWLRQ LV FRUUHFW DQG FOLFN WKH 1H[W EXWWRQ Publication 1398-5.4 - December 1999...
  • Page 27 Network configuration of ULTRA 100 Drive with DeviceNet (QDEOH WKH 3ROOHG FRQQHFWLRQ DQG VHOHFW WKH GHIDXOW LQSXW VL]H RI  E\WHV DQG WKH GHIDXOW RXWSXW VL]H RI  E\WHV (QDEOH WKH &26&\FOLF FRQQHFWLRQ DQG VHOHFW WKH GHIDXOW LQSXW VL]H RI  E\WHV DQG WKH GHIDXOW RXWSXW VL]H RI  E\WHV $OVR HQVXUH WKDW WKH &26 ER[ LV FKHFNHG DQG FOLFN WKH 1H[W EXWWRQ Publication 1398-5.4 - December 1999...
  • Page 28 Network configuration of ULTRA 100 Drive with DeviceNet $IWHU UHDGLQJ DOO WKH GDWD IURP WKH GULYH DQG YHULI\LQJ WKH RSHUDWLRQ ZDV D VXFFHVV FOLFN WKH 1H[W EXWWRQ 6HOHFW WKH QHZ GHYLFH DQG FOLFN WKH &KDQJH ,FRQ EXWWRQ LI DQ LFRQ RWKHU WKDQ GHIDXOW QHHGV WR EH VHOHFWHG $IWHU VHOHFWLQJ WKH QHZ LFRQ FOLFN WKH 1H[W EXWWRQ &OLFN WKH 1H[W EXWWRQ DQG \RX FDQ VHH WKH 8/75$  'ULYH ZLWK...

  • Page 29: Modifying Ultra 100 Drive With Devicenet Configuration Data

    Network configuration of ULTRA 100 Drive with DeviceNet Now, the 8/75$  'ULYH ZLWK 'HYLFH1HW device configuration data can Modifying ULTRA 100 Drive be accessed with Rockwell Software’s RSNetWorx for DeviceNet or any with DeviceNet other configuration tool that supports EDS files. Invoke the tool Configuration Data configuration by double-clicking the 8/75$  'ULYH ZLWK 'HYLFH1HW node in the Network Configuration screen or by selecting its icon and...
  • Page 30 Network configuration of ULTRA 100 Drive with DeviceNet Publication 1398-5.4 - December 1999...

  • Page 31: Using Messaging With A 1747-Sdn Devicenet Scanner

    Appendix Using Messaging with a 1747-SDN DeviceNet Scanner 7KLV DSSHQGL[ SURYLGHV LQIRUPDWLRQ XVLQJ D 6'1 'HYLFH1HW VFDQQHU Getting Started 0RGXOH WR SURYLGH GHYLFH1HW FRPPXQLFDWLRQV EHWZHHQ D 6/&  SURFHVVRU DQG RWKHU 'HYLFH1HW GHYLFHV 5HIHU WR WKH IROORZLQJ PDQXDOV IRU PRUH GHWDLOHG SURGXFW LQIRUPDWLRQ •...

  • Page 32: Communicating With Your Device's Input/Output Data

    Using Messaging with a 1747-SDN DeviceNet Scanner 'LVFUHWH LQSXW DQG RXWSXW ',2 LV WKH WUDQVIHU RI RQH WR IMPORTANT  ZRUGV EHWZHHQ D 6/& SURFHVVRU DQG LWV 6FDQQHU 0RGXOH $OO  ZRUGV RI LQSXW GDWD DQG DOO  ZRUGV RI RXWSXW GDWD DUH XSGDWHG RQ HDFK 6/&...

  • Page 33: Communicating With The Slc 500 Processor

    Using Messaging with a 1747-SDN DeviceNet Scanner $OO GDWD VHQW DQG UHFHLYHG RQ D 'HYLFH1HW QHWZRUN LV LQ IMPORTANT E\WH OHQJWKV $ GHYLFH PD\ IRU H[DPSOH SURGXFH RQO\ WZR ELWV RI LQSXW LQIRUPDWLRQ 1HYHUWKHOHVV VLQFH WKH PLQLPXP GDWD VL]H RQ D 'HYLFH1HW QHWZRUN LV RQH E\WH WZR ELWV RI LQIRUPDWLRQ DUH LQFOXGHG LQ WKH E\WH RI GDWD SURGXFHG E\ WKH GHYLFH ,Q WKLV FDVH RQO\ WZR ELWV RI LQSXW LQIRUPDWLRQ  WKH XSSHU VL[ ELWV DUH LQVLJQLILFDQW...
  • Page 34 Using Messaging with a 1747-SDN DeviceNet Scanner ZKLFK LQ WXUQ SDVVHV WKH GDWD RQ WR \RXU GHYLFHV YLD 6WUREH 3ROO &KDQJHRI6WDWH RU &\FOLF PHVVDJHV 7KH 0 ILOH WUDQVIHU LV WKH WUDQVIHU RI GDWD IURP WKH IMPORTANT 6FDQQHU 0RGXOH WR WKH 6/& SURFHVVRU 7KH 6FDQQHU 0RGXOH PDNHV GDWD FROOHFWHG IURP WKH QHWZRUN V GHYLFHV DYDLODEOH IRU WKH SURFHVVRU WR UHDG  $Q 0 ILOH WUDQVIHU LV WKH WUDQVIHU RI GDWD IURP WKH 6/&...

  • Page 35: Scanner Module Tables

    Using Messaging with a 1747-SDN DeviceNet Scanner 7R PDQDJH WKH IORZ RI GDWD EHWZHHQ WKH SURFHVVRU DQG D QHWZRUN·V GHYLFHV WKH Scanner Module Tables 6FDQQHU 0RGXOH XVHV WKH IROORZLQJ GDWD WDEOHV • 6FDQQHU 0RGXOH &RQILJXUDWLRQ 7DEOH • 6FDQ /LVW 7DEOH •...

  • Page 36: Rsnetworx For Devicenet Software

    Using Messaging with a 1747-SDN DeviceNet Scanner 5RFNZHOO 6RIWZDUH·V 561HW:RU[ IRU 'HYLFH1HW VRIWZDUH FRQILJXUHV WKH RSNetworx for DeviceNet 6FDQQHU 0RGXOH·V GDWD WDEOHV 7KLV VRIWZDUH WRRO FRQQHFWV WR WKH 6FDQQHU Software 0RGXOH YLD WKH 'HYLFH1HW QHWZRUN DQG DQ 56 FDEOH LQWHUIDFH RU 3& LQWHUIDFH FDUG 5HIHU WR WKH PDQXDO IRU 561HW:RU[ IRU 'HYLFH1HW IRU LQIRUPDWLRQ RQ KRZ WR FRQILJXUH WKH VFDQQHU PRGXOH ([SOLFLW 0HVVDJLQJ LV D ZD\ RI DOORZLQJ WKH XVHU WR FRQILJXUH DQG PRQLWRU D...

  • Page 37: How To Format The Explicit Message Transaction Block

    Using Messaging with a 1747-SDN DeviceNet Scanner How to Format the Explicit Message Transaction block 7KHUH DUH WHQ ZRUG WUDQVDFWLRQ EORFNV ZLWKLQ WKH VFDQQHU PRGXOH UHVHUYHG IRU ([SOLFLW 0HVVDJH 3URJUDP &RQWURO 7KHVH WUDQVDFWLRQ EORFNV DFFRPPRGDWH ERWK GRZQORDGLQJ RI ([SOLFLW 0HVVDJH 5HTXHVWV DQG WKH XSORDGLQJ RI ([SOLFLW 0HVVDJH 5HVSRQVHV 7KH VFDQQHU PRGXOH FDQ DFFRPPRGDWH RQH UHTXHVW RU UHVSRQVH IRU HDFK WUDQVDFWLRQ EORFN 7KH IROORZLQJ ILJXUH GHVFULEHV WKH IRUPDW DQG PDSSLQJ RI WUDQVDFWLRQ EORFNV IRU...
  • Page 38 Using Messaging with a 1747-SDN DeviceNet Scanner (DFK RI WKH GDWD ILHOGV LQ WKH WUDQVDFWLRQ KHDGHU DUH RQH E\WH LQ OHQJWK Transaction header data fields Data Field Description TXID Transaction ID — when the processor creates and downloads a request to the scanner, the processors ladder logic program can assign a TXID to the transaction.

  • Page 39: Polled I/O Examples

    Appendix Polled I/O Examples 7KHVH H[DPSOH·V XVH D 6/&  6'1 DQG DQ 8/75$  'ULYH ZLWK 'HYLFH1HW ,QGH[LQJ YHUVLRQ  ,Q DGGLWLRQ WKHVH H[DPSOHV DVVXPH • 7KH 'HYLFH1HW 6FDQQHU·V PRGXOH LV LQ 6ORW  RI WKH 6/& FKDVVLV • /DGGHU SURJUDPPLQJ LV GRQH XVLQJ 5RFNZHOO 6RIWZDUH 56/RJL[  Y   •...

  • Page 40: Ram Index Setup And Move

    Polled I/O Examples 7KLV H[DPSOH ZLOO H[SODLQ WKH VWHSV UHTXLUHG WR VHWXS DQG H[HFXWH D 5$0 LQGH[ Example 1: PRYH XVLQJ SROOHG ,2 PHVVDJHV ZLWK WKH 8/75$  'ULYH ZLWK 'HYLFH1HW RAM Index Setup and Move ,QGH[LQJ 9HUVLRQ  'DWD LV VHQW DQG UHFHLYHG YLD LQVWDQFHV RI WKH $VVHPEO\ 2EMHFW 5HIHU WR SDJH ' IRU D GHVFULSWLRQ RI WKH $VVHPEO\ 2EMHFW LQVWDQFHV LPSOHPHQWHG LQ WKH 8/75$  'ULYH ZLWK 'HYLFH1HW )RU SXUSRVHV RI WKLV H[DPSOH ZH ZLOO DVVXPH WKDW WKH V\VWHP KDV DOUHDG\ FRPSOHWHG D KRPLQJ...
  • Page 41 Polled I/O Examples 'HYLFH1HW ,I WKH '1HW ,2 )RUPDW SDUDPHWHU LV PRGLILHG WKHQ WKH 8/75$  'ULYH ZLWK 'HYLFH1HW KDV WR EH HLWKHU • UHVHW • SRZHUF\FOHG RU • WKH 'HYLFH1HW FDEOH GLVFRQQHFWHG DQG UHFRQQHFWHG EHIRUH WKH QHZ ,2 IRUPDW W\SH LV XVHG Figure B.2 Select parameter and I/O format Publication 1398-5.4 - December 1999...
  • Page 42 Polled I/O Examples :LWK 7\SH  VHOHFWHG IRU WKH '1HW ,2 IRUPDW WKH 8/75$  'ULYH ZLWK 'HYLFH1HW DFFHSWV WKH IROORZLQJ GDWD  %\WHV IRU D 3ROOHG ,2 FRPPDQG Assembly Object, Output (command) Assembly for Instance ID = 6 Byte Bit 7 Bit 6 Bit 5...
  • Page 43 Polled I/O Examples QHHGV WR EH HQWHUHG LQWR WKH ,2 SDUDPHWHUV RI WKH VFDQQHU 5HIHU WR WKH IROORZLQJ ,QSXW DQG 2XWSXW VFUHHQV IURP 5RFNZHOO 6RIWZDUH·V 561HW:RU[ IRU 'HYLFH1HW IRU WKH 6'1 6FDQQHU 0RGXOH Figure B.3 Edit I/O Parameters Figure B.4 Input screen of the 1747-SDN Scanner Module Publication 1398-5.4 - December 1999...

  • Page 44: Set The Logic Command Mask (Parameter 287

    Polled I/O Examples Figure B.5 Output screen of the 1747-SDN Scanner Module Set the Logic Command Mask (Parameter 287) 2QFH WKH ,2 IRUPDW LV VHOHFWHG DQG WKH FRUUHFW DPRXQW RI 5HFHLYH DQG 7UDQVPLW GDWD KDYH EHHQ HQWHUHG WKH /RJLF &RPPDQG 0DVN QHHGV WR EH VHWXS 7KH /RJLF &RPPDQG 0DVN LV 3DUDPHWHU  DQG HDFK FRQWURO SRLQW WKDW LV WR EH FRQWUROOHG WKURXJK 'HYLFH1HW QHHGV WR EH VHOHFWHG Publication 1398-5.4 - December 1999...
  • Page 45 Polled I/O Examples Figure B.6 Select Logic Command Mask Figure B.7 Select control points 'HIDXOW IRU WKH /RJLF &RQWURO 0DVN 3DUDPHWHU  LV  IMPORTANT 7KDW LV QR FRQWURO SRLQWV ZLOO EH XVHG E\ WKH 'ULYH ZKHQ D 3ROOHG 0HVVDJH LV UHFHLYHG E\ WKH 8/75$  'ULYH ZLWK 'HYLFH1HW Publication 1398-5.4 - December 1999...

  • Page 46: Enable The 1747-Sdn Scanner

    Polled I/O Examples Enable the 1747-SDN Scanner 7KH VFDQQHU PRGXOH KDV D PRGXOH FRPPDQG UHJLVWHU ORFDWHG DW :RUG  LQ WKH RXWSXW LPDJH DUHD IRU WKH VORW %LW  RI :RUG  VHWV VFDQQHU PRGXOH LQWR HLWKHU 581 RU ,'/( PRGH IMPORTANT 7KH VFDQQHU PRGXOH PDSV RXWSXW GDWD IURP LWV VFDQQHU RXWSXW WDEOH 02 DQG GLVFUHWH RXWSXWV WR HDFK GHYLFH RQ...
  • Page 47 Polled I/O Examples &RPPDQG GDWD ELW 7KH GDWD LV EHLQJ ZULWWHQ WR WKH ,2 LPDJH WDEOH IRU VORW  EDVHG RQ WKH SK\VLFDO ORFDWLRQ RI WKH VFDQQHU PRGXOH Figure B.9 Setting the Command Data Pointer, Command Data Value, and Write Command Data bit Assembly Object Store Data Pointer...
  • Page 48 B-10 Polled I/O Examples Figure B.9 (continued) Setting the Command Data Pointer, Command Data Value, and Write Command Data bit Setting the Write Command Data bit and then Setting the Compare after the Drive Sends the Acknowledge Assembly Object ULTRA 100 Write ULTRA 100 Write Store Data Value Command Data Busy/Ack...

  • Page 49: Set The Ram Index Type For Absolute Move

    Polled I/O Examples B-11 Set the RAM Index type for Absolute Move 7KH QH[W 3ROOHG ,2 PHVVDJH ZLOO VHW WKH 5$0 ,QGH[ W\SH WR EH DQ $EVROXWH PRYH )LJXUH % GHWDLOV VHWWLQJ WKH &RPPDQG 'DWD 3RLQWHU &RPPDQG 'DWD YDOXH DQG :ULWH &RPPDQG 'DWD ELW 7KH GDWD LV EHLQJ ZULWWHQ WR WKH ,2 LPDJH WDEOH IRU VORW  EDVHG RQ WKH SK\VLFDO ORFDWLRQ RI WKH VFDQQHU PRGXOH Figure B.11 Setting the Command Data Pointer (7) and Write Command Data bit...
  • Page 50 B-12 Polled I/O Examples Figure B.11 (continued) Setting the Command Data Pointer (7) and Write Command Data bit Setting the Write Command Data bit and then Setting the Compare after the Drive Sends the Acknowledge Assembly Object ULTRA 100 Write ULTRA 100 Write Store Data Value Command Data Busy/Ack...

  • Page 51: Set The Ram Index Position Using User Defined Scaling

    Polled I/O Examples B-13 Set the RAM Index Position Using User Defined Scaling 7KH QH[W 3ROOHG ,2 PHVVDJH ZLOO VHW WKH DEVROXWH SRVLWLRQ IRU WKH 5$0 ,QGH[ LQ FRXQWV IURP D XVHU VFDOHG YDOXH )LJXUH % GHWDLOV VHWWLQJ WKH &RPPDQG 'DWD 3RLQWHU &RPPDQG 'DWD 9DOXH DQG :ULWH &RPPDQG 'DWD ELW 7KH GDWD LV EHLQJ ZULWWHQ WR WKH ,2 LPDJH WDEOH IRU VORW  EDVHG RQ WKH SK\VLFDO ORFDWLRQ RI WKH VFDQQHU PRGXOH...
  • Page 52 B-14 Polled I/O Examples Figure B.13 (continued) Convert user units, set Command Data Value, and send the Command parameters Ensures the 32 bit Math Register is selected Math Overflow Selected First Pass 0002 Converting user units to counts Multiply 0003 Source A N9:10 5<...
  • Page 53 Polled I/O Examples B-15 7KHVH UXQJV FRQYHUW D ELW ':RUG RU  %\WH SRVLWLRQ YDOXH KDYLQJ XVHU GHILQHG VFDOLQJ LQWR D YDOXH LQ FRXQWV WKDW WKH GULYH ZLOO UHFRJQL]H 7KH XVHU YDOXH LQ WKLV FDVH  LV PXOWLSOLHG ZLWK WKH VFDOH IDFWRU LQ WKLV FDVH  IRU D UHVXOW RI  )RU WKLV WKH  ELW PDWK UHJLVWHU LV XVHG DQG KDV WR EH HQDEOHG WKLV LV WKH SXUSRVH RI UXQJ   7KH  ELW UHVXOW ZLOO EH PRYHG LQWR WKH 3ROOHG ,2 PHVVDJH DQG WKH 0DWK 2YHUIORZ ELW UHVHW VR WKH 6/&...

  • Page 54: Start Index Command

    B-16 Polled I/O Examples Figure B.16 Multiply output value Compute Dest N9:13 0< Expression (N9:10*N9:11) * N9:12 2QFH WKH UHVSRQVH :ULWH 'DWD %XV\$FN LV VHW ORZ , ELW  E\WH  RI WKH 5HVSRQVH $VVHPEO\ ZLOO EH FOHDU ]HUR  7KH :ULWH &RPPDQG 'DWD ELW KDV WR EH FOHDUHG EHIRUH WKH :ULWH 'DWD %XV\$FN ELW ZLOO EH FOHDUHG E\ WKH 'ULYH :KHQ WKH 8/75$  'ULYH ZLWK 'HYLFH1HW VHWV WKH :ULWH 'DWD %XV\$FN ELW ORZ LW LV UHDG\ WR UHFHLYH WKH 6WDUW ,QGH[ &RPPDQG 7KH +RVW ,QGH[...

  • Page 55: Example 2

    Polled I/O Examples B-17 7KLV H[DPSOH ZLOO H[SODLQ WKH VWHSV UHTXLUHG WR UHDG DQG FRQYHUW WKH FXUUHQW Example 2: PRWRU SRVLWLRQ XVLQJ D XVHU GHILQHG VFDOH ZLWK 3ROOHG ,2 PHVVDJLQJ RQ WKH Display the Current 8/75$  'ULYH ZLWK 'HYLFH1HW LQGH[LQJ YHUVLRQ  'DWD LV VHQW DQG Position in User Units UHFHLYHG YLD LQVWDQFHV RI WKH $VVHPEO\ 2EMHFW 5HIHU WR SDJH ' IRU D GHVFULSWLRQ RI WKH $VVHPEO\ 2EMHFW LQVWDQFHV LPSOHPHQWHG LQ WKH 8/75$ ...
  • Page 56 B-18 Polled I/O Examples Figure B.18 Select device parameter and I/O format Publication 1398-5.4 - December 1999...
  • Page 57 Polled I/O Examples B-19 :LWK 7\SH  VHOHFWHG IRU WKH '1HW ,2 IRUPDW WKH 8/75$  'ULYH ZLWK 'HYLFH1HW DFFHSWV WKH IROORZLQJ GDWD IRU D 3ROOHG ,2 FRPPDQG Assembly Object, Output (command) Assembly for Instance ID = 6 Byte Bit 7 Bit 6 Bit 5 Bit 4...
  • Page 58 B-20 Polled I/O Examples SDUDPHWHUV RI WKH VFDQQHU 5HIHU WR WKH IROORZLQJ ,QSXW DQG 2XWSXW VFUHHQV IURP 5RFNZHOO 6RIWZDUH·V 561HW:RU[ IRU 'HYLFH1HW IRU WKH 6'1 6FDQQHU 0RGXOH Figure B.19 Edit I/O Parameter Publication 1398-5.4 - December 1999...
  • Page 59 Polled I/O Examples B-21 Figure B.20 1747-SDN Scanner Module Input Publication 1398-5.4 - December 1999...
  • Page 60 B-22 Polled I/O Examples Figure B.21 1747-SDN Scanner Module Output Publication 1398-5.4 - December 1999...

  • Page 61: Read Current Motor Position

    Polled I/O Examples B-23 Enable the 1747-SDN Scanner 7KH VFDQQHU PRGXOH KDV D PRGXOH FRPPDQG UHJLVWHU ORFDWHG DW :RUG  LQ WKH RXWSXW LPDJH DUHD IRU WKH VORW %LW  RI :RUG  VHWV VFDQQHU PRGXOH LQWR HLWKHU 581 RU ,'/( PRGH IMPORTANT 7KH VFDQQHU PRGXOH PDSV RXWSXW GDWD IURP LWV VFDQQHU RXWSXW WDEOH 02 DQG GLVFUHWH RXWSXWV WR HDFK GHYLFH RQ...
  • Page 62 B-24 Polled I/O Examples ELW LV UHVHW VR WKH 6/& ZLOO QRW JHQHUDWH D IDXOW )LJXUH % VKRZV WKH UDZ GDWD IURP , DQG , EHLQJ UHDVVHPEOHG LQ WKH  ELW 0DWK 5HJLVWHU Figure B.23 Set the feedback index and convert values Ensures that the 32-bit Math Register is selected Math Overflow Selected...
  • Page 63 Polled I/O Examples B-25 Figure B.24 Math Status Figure B.25 Data file input ,I D VFDOLQJ YDOXH WKDW LV KLJKHU WKDQ  LV QHHGHG WKHQ 0XOWLSOH 'RXEOH 'LYLGHV DUH UHTXLUHG ZLWK E\WH VZDSSLQJ EHWZHHQ WKH 'RXEOH 'LYLGHV $WWHQWLRQ QHHGV WR EH WDNHQ DV D  ELW UHVXOW IURP D 'RXEOH 'LYLGH LV E\WH VZDSSHG DQG QHHGV WR EH VZDSSHG EDFN LQ RUGHU WR GHWHUPLQH WKH DQVZHU LQ XVHU XQLWV )LJXUH % OLNH )LJXUH % ZLOO XVH WKH  ELW 0DWK UHJLVWHU IRU WKH ILUVW...
  • Page 64 B-26 Polled I/O Examples 0DWK UHJLVWHU DQG SHUIRUP D 'RXEOH 'LYLGH 7KH PDWK RYHUIORZ ELW LV UHVHW VR WKH 6/& ZLOO QRW JHQHUDWH D IDXOW Figure B.26 Multiple double divides with Byte swapping Ensures that the 32-bit Math Register is selected Math Overflow First Pass Selected...
  • Page 65 Polled I/O Examples B-27 Figure B.26 (continued) Multiple double divides with Byte swapping Byte swapping needs to be done as the Double Divide Byte Swaps the answer Move 0002 Source S:13 20000< Dest N9:20 0< Move Source S:14 < Dest N9:21 20000<...
  • Page 66 B-28 Polled I/O Examples Publication 1398-5.4 - December 1999...

  • Page 67: Explicit Message Examples

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  • Page 68: Example 1

    Explicit Message Examples 7KLV H[DPSOH ZLOO H[SODLQ WKH VWHSV UHTXLUHG WR VHWXS DQG H[HFXWH D 5$0 LQGH[ Example 1: PRYH XVLQJ ([SOLFLW PHVVDJHV ZLWK WKH 8/75$  'ULYH ZLWK 'HYLFH1HW RAM Index Setup and Move ,QGH[LQJ 9HUVLRQ  'DWD LV VHQW DQG UHFHLYHG YLD LQVWDQFHV RI WKH 3DUDPHWHU 2EMHFW 5HIHU WR SDJH ' IRU D GHVFULSWLRQ RI WKH 3DUDPHWHU 2EMHFW LQVWDQFHV LPSOHPHQWHG LQ WKH 8/75$  'ULYH ZLWK 'HYLFH1HW )RU SXUSRVHV RI WKLV H[DPSOH ZH ZLOO DVVXPH WKDW WKH V\VWHP KDV DOUHDG\ FRPSOHWHG D KRPLQJ...
  • Page 69 Explicit Message Examples Data Address Description (Continued) N10:3 Class ID = F (parameter object) N10:4 Instance = AB (host index control) N10:5 Attribute = 1 (parameter attribute value) N10:6 Value = 1 (set flag = 1) $OO H[DPSOHV XVH WKH YDOXH  IRU WKH 7UDQVPLVVLRQ IMPORTANT ,GHQWLILFDWLRQ 7;,' WKH YDOLG UDQJH LV IURP  )LJXUH & ZLOO VHQG WKH GDWD IURP WKH ,QWHJHU 'DWD 7DEOH 1 LQ WKH 6/&...
  • Page 70 Explicit Message Examples Figure C.5 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1 , Status = 01 (successful transaction) N11:1 Port = 0 , Size of Data Field = 0 (No data sent by the ULTRA 100) N11:2 Service = 90 (Successful response to a set),...
  • Page 71 Explicit Message Examples Figure C.6 Clear buffer response from scanner Data Address Description N7:0 TXID = 1 , Command = 04 (clear response buffer) )LJXUH & ZLOO VHQG WKH GDWD IURP WKH ,QWHJHU 'DWD 7DEOH 1 LQ WKH 6/& PHPRU\ WR WKH VFDQQHU PRGXOH 7KLV ZLOO FOHDU WKH VFDQQHU·V UHVSRQVH EXIIHU DQG DOORZ WKH VFDQQHU WR UHFHLYH DQRWKHU H[SOLFLW PHVVDJH Figure C.7 Clear the DeviceNet Scanner’s Response Buffer...

  • Page 72: Set The Ram Index Type For Absolute Move

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  • Page 73 Explicit Message Examples Figure C.9 Copy data from SLC Processor to DeviceNet Scanner Module To Ensure Explicit Send Explicit Message data is only Message sent once B3:0 B3:1 Copy File Source #N10:0 Dest #M0:1.224 Length 2QFH WKH 8/75$  'ULYH ZLWK 'HYLFH1HW UHVSRQGV WR WKH H[SOLFLW PHVVDJH WKH VFDQQHU SODFHV WKH PHVVDJH LQ D EXIIHU 0 2QFH WKH VFDQQHU KDV D UHVSRQVH WKH H[SOLFLW PHVVDJH UHVSRQVH UHDG\ ELW , LV VHW KLJK )LJXUH & ZLOO FRS\ WKH UHVSRQVH IURP WKH VFDQQHU V PHPRU\ LQWR WKH 6/&...
  • Page 74 Explicit Message Examples 7DEOH 1 LQ WKLV H[DPSOH  $ VXFFHVVIXO WUDQVDFWLRQ LV LQGLFDWHG E\ D VWDWXV FRGH RI RQH $ VXFFHVVIXO VHW GDWD UHVSRQVH ZLOO KDYH D  LQ WKH XSSHU E\WH RI :RUG  7KH 8/75$  'ULYH ZLWK 'HYLFH1HW LQGLFDWHV D VXFFHVVIXO UHVSRQVH E\ UHWXUQLQJ WKH 6HUYLFH E\WH ZLWK WKH XSSHU ELW VHW WR RQH 7KH 6HUYLFH E\WH ZLOO EH   LI DQ HUURU UHVSRQVH LV UHWXUQHG...

  • Page 75: Set The Ram Index Position Using User Defined Scaling

    Explicit Message Examples Set the RAM Index Position Using User Defined Scaling 7KH QH[W H[SOLFLW PHVVDJH ZLOO VHW WKH 5$0 ,QGH[ SRVLWLRQ 3DUDPHWHU  LQ FRXQWV IRU WKH 5$0 LQGH[ EDVHG RQ D XVHU VFDOHG YDOXH 7KH PHVVDJH WR EH VHQW LV FRQWDLQHG LQ WKH ,QWHJHU 'DWD 7DEOH 1 IURP WKH 6/&...
  • Page 76 C-10 Explicit Message Examples GDWD 1 WR 1  LW LV FRPPRQ SUDFWLFH WR FRS\  ZRUGV RI GDWD WR WKH VFDQQHU DV GLIIHUHQW W\SHV RI H[SOLFLW PHVVDJHV FDQ FRQWDLQ ODUJHU GDWD VL]HV 7KH VFDQQHU ZLOO UHDG WKH GDWD VHQW E\ WKH 6/& WR 0 DQG FUHDWH DQ H[SOLFLW PHVVDJH 7KH H[SOLFLW PHVVDJH ZLOO EH SODFHG LQ D TXHXH DQG VHQW YLD 'HYLFH1HW WR WKH 8/75$  'ULYH ZLWK 'HYLFH1HW ZKHQ 1HWZRUN WUDIILF SHUPLWV...
  • Page 77 Explicit Message Examples C-11 Figure C.16 Math Status ,I D VFDOLQJ YDOXH WKDW LV KLJKHU WKDQ  LV QHHGHG WKH IMPORTANT 0XOWLSO\ 08/ LQ UXQJ  FDQ EH UHSODFHG ZLWK D &RPSXWHU &37 LQVWUXFWLRQ XVLQJ PXOWLSOH PXOWLSOLHV DV VKRZQ LQ )LJXUH & Figure C.17 Computing multiple multiplys command Compute...
  • Page 78 C-12 Explicit Message Examples Figure C.19 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1 , Status = 01 (successful transaction) N11:1 Port = 0 , Size of Data Field = 0 (No data sent by the ULTRA 100) N11:2 Service = 90 (Successful response to a set),...

  • Page 79: Start Index Command

    Explicit Message Examples C-13 Figure C.20 Clear buffer response from scanner Data Address Description N7:0 TXID = 1 , Command = 01 (successful transaction) )LJXUH & ZLOO VHQG WKH GDWD IURP WKH ,QWHJHU 'DWD 7DEOH 1 LQ WKH 6/& PHPRU\ WR WKH VFDQQHU PRGXOH 7KLV ZLOO FOHDU WKH VFDQQHUV·V UHVSRQVH EXIIHU DQG DOORZ WKH VFDQQHU WR UHFHLYH DQRWKHU H[SOLFLW PHVVDJH Start Index Command Figure C.21...
  • Page 80 C-14 Explicit Message Examples KH[DGHFLPDO DQG WKH WDEOH IROORZLQJ WKH ILJXUH GHVFULEHV WKH RULJLQV RI WKH YDOXH RI HDFK ZRUG LQ WKH ,QWHJHU 'DWD 7DEOH 1 Figure C.22 Explicit Message to send the Start Index Command Data Address Description N10:0 TXID = 1 , Command = 01 (execute)
  • Page 81 Explicit Message Examples C-15 Figure C.23 Copy data from SLC Processor to DeviceNet Scanner Module To Ensure Explicit Send Explicit Message data is only Message sent once B3:0 B3:1 Copy File Source #N10:0 Dest #M0:1.224 Length 2QFH WKH 8/75$  'ULYH ZLWK 'HYLFH1HW UHVSRQGV WR WKH H[SOLFLW PHVVDJH WKH VFDQQHU SODFHV WKH PHVVDJH LQ D EXIIHU 0 2QFH WKH VFDQQHU KDV D UHVSRQVH WKH H[SOLFLW PHVVDJH UHVSRQVH UHDG\ ELW , LV VHW KLJK )LJXUH & ZLOO FRS\ WKH UHVSRQVH IURP WKH VFDQQHU V PHPRU\ LQWR WKH 6/&...
  • Page 82 C-16 Explicit Message Examples $ VXFFHVVIXO VHW GDWD UHVSRQVH ZLOO KDYH D  LQ WKH XSSHU E\WH RI :RUG  7KH 8/75$  'ULYH ZLWK 'HYLFH1HW LQGLFDWHV D VXFFHVVIXO UHVSRQVH E\ UHWXUQLQJ WKH 6HUYLFH E\WH ZLWK WKH XSSHU ELW VHW WR RQH 7KH 6HUYLFH E\WH ZLOO EH   LI DQ HUURU UHVSRQVH LV UHWXUQHG 2QFH GHWHUPLQHG WKDW WKH PHVVDJH ZDV VXFFHVVIXO D FOHDU EXIIHU FRPPDQG...

  • Page 83: Example 2

    Explicit Message Examples C-17 7KLV H[DPSOH ZLOO H[SODLQ WKH VWHSV UHTXLUHG WR UHDG DQG FRQYHUW WKH FXUUHQW Example 2: PRWRU SRVLWLRQ XVLQJ D XVHU GHILQHG VFDOH ZLWK WKH 8/75$  'ULYH ZLWK Display the Current 'HYLFH1HW ,QGH[LQJ 9HUVLRQ  'DWD LV VHQW DQG UHFHLYHG YLD LQVWDQFHV RI WKH Position in User Units 3DUDPHWHU 2EMHFW 5HIHU WR 3DUDPHWHU 2EMHFW ,QVWDQFHV ,'  RQ SDJH ' IRU D GHVFULSWLRQ RI WKH 3DUDPHWHU 2EMHFW LQVWDQFHV LPSOHPHQWHG LQ...
  • Page 84 C-18 Explicit Message Examples VFDQQHU DV GLIIHUHQW W\SHV RI H[SOLFLW PHVVDJHV FDQ FRQWDLQ ODUJHU GDWD VL]HV 7KH VFDQQHU ZLOO UHDG WKH GDWD VHQW E\ WKH 6/& WR 0 DQG FUHDWH DQ H[SOLFLW PHVVDJH 7KH H[SOLFLW PHVVDJH ZLOO EH SODFHG LQ D TXHXH DQG VHQW YLD 'HYLFH1HW WR WKH 8/75$  'ULYH ZLWK 'HYLFH1HW ZKHQ 1HWZRUN WUDIILF SHUPLWV Figure C.29...
  • Page 85 Explicit Message Examples C-19 Figure C.30 Read data from DeviceNet Scanner Module to SLC Processor Current Motor Math Overflow Selected First Pass To ensure Explicit Explicit Message Get Explicit Message Data is only Response ready Message Response read once B3:0 B3:1 Copy File Source...
  • Page 86 C-20 Explicit Message Examples Figure C.32 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1 , Status = 01 (successful transaction) N11:1 Port = 0 , Size of Data Field = 4 (4 bytes of data sent by the ULTRA 100) N11:2 Service = 8E...
  • Page 87 Explicit Message Examples C-21 Ensures that the 32 bit Math Register is selected Math Overflow First Pass Selected 0000 To ensure Explicit Explicit Message Get Explicit Message Data is only Response ready Message Response read once B3:0 B3:1 Copy File 0001 Source #M1:1.224...
  • Page 88 C-22 Explicit Message Examples Figure C.33 (continued) Multiple double divides with Byte swapping Byte swapping needs to be done as the Double Divide Byte Swaps the answer Move 0002 Source S:13 20000< Dest N9:20 0< Move Source S:14 < Dest N9:21 20000<...
  • Page 89 Explicit Message Examples C-23 Figure C.34 Clear buffer response from scanner Data Address Description N7:0 TXID = 1 , Command = 04 (clear response buffer) )LJXUH & ZLOO VHQG WKH GDWD IURP WKH ,QWHJHU 'DWD 7DEOH 1 LQ WKH 6/& PHPRU\ WR WKH VFDQQHU PRGXOH 7KLV ZLOO FOHDU WKH VFDQQHU·V UHVSRQVH EXIIHU DQG DOORZ WKH VFDQQHU WR UHFHLYH DQRWKHU H[SOLFLW PHVVDJH Figure C.35...
  • Page 90 C-24 Explicit Message Examples Publication 1398-5.4 - December 1999...

  • Page 91: Programming Reference

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  • Page 92: Object Model

    Programming Reference 7KH 2EMHFW 0RGHO UHSUHVHQWV WKH REMHFWV VXSSRUWHG LQ WKH 8/75$  'ULYH Object Model ZLWK 'HYLFH1HW 7KH IROORZLQJ WDEOH LQGLFDWHV • 7KH REMHFW FODVVHV SUHVHQW LQ WKLV GHYLFH DQG • 7KH QXPEHU RI LQVWDQFHV SUHVHQW LQ HDFK FODVV Object Class Number of Instances Identity...

  • Page 93: How Objects Affect Behavior

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  • Page 94: Object Addressing

    Programming Reference Object Addressing 7KH 0HGLD $FFHVV &RQWURO ,GHQWLILHU 0$& ,' LV WKH FRPPRQ EDVLV IRU ORJLFDOO\ DGGUHVVLQJ VHSDUDWH SK\VLFDO FRPSRQHQWV DFURVV 'HYLFH1HW 7KH 0$& ,' LV D XQLTXH LQWHJHU DVVLJQHG WR HDFK 'HYLFH1HW QRGH WKDW GLVWLQJXLVKHV LW VSHFLILFDOO\ IURP DPRQJ RWKHU QRGHV RQ WKH VDPH QHWZRUN DQG DOVR LV UHIHUUHG WR DV WKH QRGH DGGUHVV Component Description...

  • Page 95: Data Type Definitions

    Programming Reference Data Type Definitions Mnemonic Description WORD 16-bit word, (2 bytes) UINT Unsigned integer (2 bytes) Signed integer (2 bytes) BOOL Boolean (1 byte) SINT Signed Short integer (1 byte) DINT Signed Double integer (4 bytes) USINT Unsigned Short integer (1 byte) UDINT Unsigned Double integer (4 bytes) SHORT_STRING...

  • Page 96: Identity Object

    Semantics Rule Name of Values Vendor ID UINT Identification of 01 = Rockwell each vendor by Automation/ number Allen-Bradley Device Type Indication of Instance 1: 115 = general type of Rockwell product. Automation Miscellaneous 105 = Returned by Instance #2-5...
  • Page 97 Programming Reference Identity Object, Status Description of Attribute ID #5 (Continued) Bit (s) Description Semantics of Values Minor recoverable Always = 0 fault Minor unrecoverable Always = 0 fault Major recoverable TRUE if self diagnosis detects a major fault fault Major unrecoverable Always = 0 fault...

  • Page 98: Message Router Object

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  • Page 99 Programming Reference DeviceNet Object, Attributes of Instance ID = 1 Attr. Access Attribute Type Description Semantics Rule Name of Values MAC ID USINT Node Address Range 0-63 Baud Rate Data Rate 0 = 125K, 1 = 250K, 2 = 500K “Set”...

  • Page 100: Assembly Object

    D-10 Programming Reference DeviceNet Object, Common Services Service Service Service Code Name Description Get_Attribute_Single Returns the contents of the specified attribute. Set_Attribute_Single Modifies the specified attribute. DeviceNet Object, Class Specific Services Service Service Service Code Name Description Allocate_Master/ Requests the use of the Predefined Slave_Connection_Set Master/Slave Connection Set.

  • Page 101: Logic Command

    Programming Reference D-11 Assembly Object, Attributes of Instance ID = 0 (Class Attributes) Attr. ID Access Attribute Type Description Semantics Rule Name of Values Revision UINT Revision of this The current value object. assigned to this attribute is two (02). Maximum instance The largest instance Instance...
  • Page 102 D-12 Programming Reference 3DUDPHWHU '1HW ,2 )RUPDW 3DUDPHWHU   ,QGH[ 'ULYH 3DUDPHWHU   1RQLQGH[LQJ 'ULYH PXVW EH SURJUDPPHG WR VHOHFW WKH DSSURSULDWH DVVHPEOLHV WR EH VHQW RYHU DQ ,2 FRQQHFWLRQ 7KH FKRLFH RI ZKLFK ,QSXW DQG 2XWSXW $VVHPEO\ WR XVH VKRXOG EH EDVHG RQ ZKDW VRUW RI LQIRUPDWLRQ LV DSSURSULDWH LQ D SDUWLFXODU V\VWHP 7KH $VVHPEO\ 2EMHFW ,2 )RUPDW 7\SH 6HOHFWLRQ 7DEOH OLVWV WKH LQSXW DQG RXWSXW DVVHPEOLHV H[FKDQJHG RYHU DQ ,2 PHVVDJLQJ FRQQHFWLRQ...
  • Page 103 Programming Reference D-13 Assembly Object, Output (command) Assembly for Instance ID = 5 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Preset Preset Operation Mode Reserved Follower Integrator Torque Select B Select A Override Enable...

  • Page 104: Torque Override

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  • Page 105: Selection Table Of Presets

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  • Page 106: Start Homing

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  • Page 107: Command Data

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  • Page 108 D-18 Programming Reference Assembly Object, Command Data (Continued) Command Data Command Data Description Data Type Parameter Pointer Number 0x08 RAM Index Distance/Position DINT Indexing Drive only 0x09 RAM Index Registration Distance UDINT Indexing Drive only 0x0A RAM Index Velocity Indexing Drive only 0x0B RAM Index Acceleration Indexing Drive only...

  • Page 109: Logic Status Definitions

    Programming Reference D-19 Assembly Object, Input (response) Assembly for Instance ID = 4 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Drive At Speed Negative Positive Ilimit Within Zero Within In Position Enabled ILimit Velocity...

  • Page 110: Operation Mode Override

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  • Page 111: Fault Reset

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  • Page 112: Using Explicit Messaging To Control The Ultra 100

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  • Page 113: Devicenet Connection Object

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  • Page 114: Parameter Object (Class Id 0F

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  • Page 115 Programming Reference D-25 Parameter Object, Instances ID 1-289 Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description DN-SW USINT DeviceNet Node Address (Mac_ID) switch setting. Node Address DN-SW DeviceNet Baud Rate (Data Rate) switch setting. Baud Rate 0 - 125 kbps 1 - 250 kbps...
  • Page 116 D-26 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Motor ID UINT Sets or gets the motor in the drive’s motor parameter table currently being used. The setting 0 (0000) indicates that no •...
  • Page 117 Programming Reference D-27 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Pos Error UDINT Cnts Sets or returns the maximum position error which allows the Limit Excess Position Error flag to remain clear.
  • Page 118 D-28 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Buf Gr Cnts Parameter 25 (motor counts) and Parameter 26 - "Buffered Ratio-Mtr Gear Ratio - Master" (master counts) define the buffered ratio between motor and master counts used for the master (follower input) mode.
  • Page 119 Programming Reference D-29 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Zero Vel UDINT rpm/ Sets or returns the maximum motor velocity which allows the Window 65536 Zero Velocity flag to remain set.
  • Page 120 D-30 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Dynamic USINT Sets or returns the flag which indicates if the PWM frequency PWM Freq changes with the speed and current demands of the motor.
  • Page 121 Programming Reference D-31 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set* Thermostat USINT Sets or returns the flag which indicates if the motor contains (Set not an overtemperature protection thermostat.
  • Page 122 D-32 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set* Thermal UINT Secs Sets or returns the thermal time constant for protecting the (Set not Constant motor.
  • Page 123 Programming Reference D-33 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Dig Input 1 DWORD 4 Sets or returns which flag is (or flags are) controlled by digital Cnfg input one.
  • Page 124 D-34 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Flt Reset WORD Sets or returns the flags which are controlled by the Fault Config Reset digital input.
  • Page 125 Programming Reference D-35 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Dig Outpt 1 DWORD 4 Sets or returns which flag is (or flags are) monitored on digital Cnfg output.
  • Page 126 D-36 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Brake On Sets or returns the time delay between enabling the drive, and Delay activating the BRAKE output. Negative values indicate the time that the BRAKE is active before enabling the drive.
  • Page 127 Programming Reference D-37 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description MaxVel UINT rpm/V Returns maximum scale for the Velocity COMMAND Input. CMD Scale Range: 1 to 32767 Get/Set Tor CMD In Sets or returns the offset applied to the COMMAND analog...
  • Page 128 D-38 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Reserved USINT Get/Set Analog Out Sets or returns the analog output override control flag to allow Mode the user to write the outputs directly.
  • Page 129 Programming Reference D-39 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Torque Amps/ Sets or returns the command torque level used when the drive Preset 0 is configured with Presets as the Command Source, and Torque as the Drive Mode.
  • Page 130 D-40 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Overide Drv USINT Sets or returns the flag which indicates if the velocity control Mode loop is active when the Override Drive Mode Select digital input is set active.
  • Page 131 Programming Reference D-41 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Tuning WORD Returns the status bits for the various operating modes. Status Bit 0 - AutoTune Complete Bit 1 - Encoder Alignment Complete Bit 2 - Motor Index Detected Bit 3 - Master Index Detected...
  • Page 132 D-42 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Drive DWORD 4 Returns the status of various flags in the drive. Status Bit 0 - In-Position Bit 1 - Within Position Window Bit 2 - Zero Speed Bit 3 - Within Velocity Window...
  • Page 133 Programming Reference D-43 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Fault DWORD 4 Returns the present state of the possible fault conditions. Status Bit 0 - +24V fuse blown Bit 1 - +5V fuse blown Bit 2 - Encoder fuse blown Bit 3 - Motor Overtemperature, Thermostat...
  • Page 134 D-44 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Output DWORD 4 Returns the expanded output status. Status Bit 0 - At Home (Indexing Drives only) Bit 1 - Sequence Complete (Indexing Drives only) Bit 2 - In Motion (Indexing Drives only) Bit 3 - In Dwell (Indexing Drives only)
  • Page 135 Programming Reference D-45 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Motor DINT Cnts Returns the value of the motor encoder register. Position Master Returns the value of the master input register. Position Position Returns the position command input to the position loop,...
  • Page 136 D-46 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Motor Returns the output of the motor thermal protection filter. If Thermal Parameter 56 - Thermal Protect is enabled, the drive will fault Filter when the filter output reaches 12800 (100%).
  • Page 137 Programming Reference D-47 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Fault USINT 3C (60) Uninitialized Service EEPROM Error continued History 10 3D (61) Service EEPROM Read Error 3E (62) Service EEPROM Data Corruption Error 3F (63)
  • Page 138 D-48 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Host Setpnt USINT Sets or returns the setpoint control enable flag. If Host Ctrl Setpoint Control is enabled, then command input specified by Command Source (or Override Command Source) is overridden.
  • Page 139 Programming Reference D-49 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Additional parameters for Non-indexing and Indexing Drives are listed in the “New Parameter” table. Refer to New Parameters on page D-58.
  • Page 140 D-50 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Homing USINT Sets or returns the homing type. Type 00 - Home to sensor / then forward to marker 01 - Home to marker 02 - Home to sensor 03 - Home to sensor / then backward to marker...
  • Page 141 Programming Reference D-51 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Auto-Start USINT Sets or returns the Auto-start indexing flag. When the flag is Index active, the drive will begin executing the selected index on the activation of the Enable input.
  • Page 142 D-52 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Index 0 DINT Cnts Sets or returns the distance or position the motor will travel Dist/Pos (to) for an index.
  • Page 143 Programming Reference D-53 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Index 0 UDINT rpm/ Sets or returns the velocity used for an index. Velocity 65536 Parameter 220 - Index 0 Velocity Parameter 221 - Index 1 Velocity Index 1...
  • Page 144 D-54 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Index 0 UDINT rpm/ Sets or returns the deceleration used for an index. Decel Parameter 238 - Index 0 Deceleration Parameter 239 - Index 1 Deceleration Index 1 Parameter 240 - Index 2 Deceleration...
  • Page 145 Programming Reference D-55 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Index 0 UINT Sets or returns the batch count used for the index. Count Parameter 256 - Index 0 Count Parameter 257 - Index 1 Count Index 1 Parameter 258 - Index 2 Count...
  • Page 146 D-56 Programming Reference Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Index 0 USINT Sets or returns the termination instruction for an index. Terminat Parameter 265 - Index 0 Termination Parameter 266 - Index 1 Termination Index 1 Parameter 267 - Index 2 Termination...
  • Page 147 Programming Reference D-57 Parameter Object, Instances ID 1-289 (Continued) Parameter Access Parameter Data Data Size Units/ Command Instance Rule Name Type (Bytes) Scale Description Get/Set Comm Flt USINT Action Fault Cfg WORD Logic Logic Cmd Mask I/O Logic Enable USINT behavior * Set_Attribute service not supported if Parameter Instance 11 - Motor ID is not equal to 65535 Publication 1398-5.4 - December 1999...

  • Page 148: New Parameters

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  • Page 149 Programming Reference D-59 # Index Access Parameter Data Data Size Units/ Command (#)non- Rule Name Type (bytes) Scale Description Index ,I \RX FKDQJH WKLV SDUDPHWHU·V YDOXH WKH XVHU DSSOLFDWLRQ PD\ QRW EH DEOH WR ATTENTION FRQWURO WKH SURGXFW DIWHU D IDXOW 5LVN RI VHYHUH ERGLO\ LQMXU\ RU HTXLSPHQW GDPDJH H[LVWV 7KH ´&RPP )OW $FWLRQµ...
  • Page 150 D-60 Programming Reference # Index Access Parameter Data Data Size Units/ Command (#)non- Rule Name Type (bytes) Scale Description Index Logic Cmd Mask WORD Used to mask off certain logic command bits (183) from DeviceNet polled, cyclic, and change of state I/O messages.

  • Page 151: Using The Fault Configured Input

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  • Page 152 D-62 Programming Reference Parameter Object Attributes for Instance ID = 1 - 289 (Continued) Attr ID Access Stub/ Name Data Type Description Rule Full Full Parameter SHORT_ STRING A human readable string representing the Name parameter name. For example, “Vel Loop P-Gain”...
  • Page 153 Programming Reference D-63 Parameter Object Bit Definitions for Instance Attribute 4 Bit Definition Value Supports settable 0 = Link path can not be set. path 1 = Link path can be set. Supports 0 = Enumerated strings are not supported. enumerated strings 1 = Enumerated strings are supported and may be read with the Get_Enum_String service.

  • Page 154: Get_Attribute_All Response

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  • Page 155 Programming Reference D-65 Parameter Object Specific Services Service Service Service Code Name Description Get_Enum_String Use this service to read enumerated strings from the Parameter Instance. See DeviceNet Specification Vol 2: Object Library, Parameter Object. (QXPHUDWHG VWULQJV DUH KXPDQUHDGDEOH VWULQJV WKDW GHVFULEH HLWKHU D ELW RU D YDOXH GHSHQGLQJ RQ WKH GDWD W\SH RI LQVWDQFH DWWULEXWH  WKH 3DUDPHWHU 9DOXH ,I WKH GDWD W\SH LV D %<7( :25' RU ':25' WKH HQXPHUDWHG VWULQJ LV D ELW HQXPHUDWHG VWULQJ ,I WKH GDWD W\SH LV ,17 86,17 RU 8,17 WKH HQXPHUDWHG...

  • Page 156: Parameter Group Object

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  • Page 157 Programming Reference D-67 Parameter Group Object Group Instance ID 1- 25 Parameter Parameter Group Name Parameter Parameter Name Group Number Instance DeviceNet DN-SW Node Address DN-SW Baud Rate DN-NV Node Addr DN-NV Baud Rate Chg of State Mask DNet I/O Status Non-Index Drive 283 (179) DNet I/O Format...
  • Page 158 D-68 Programming Reference Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Velocity Loop Vel Loop P_Gain Vel Loop I_Gain Reserved Zero Vel Window Velocity Window Vel Overspd Lim At Speed Value Reserved Vel Error Limit Vel Error Time...
  • Page 159 Programming Reference D-69 Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Digital I/O Dig Input 1 Cnfg Dig Input 2 Cnfg Dig Input 3 Cnfg Reserved Flt Reset Config Dig Outpt 1 Cnfg Dig Outpt 2 Cnfg Reserved...
  • Page 160 D-70 Programming Reference Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Presets Limit Preset Acc Preset Acc Limit Preset Dec Limit Vel Preset 0 Vel Preset 1 Vel Preset 2 Vel Preset 3 Vel Preset 4 Vel Preset 5...
  • Page 161 Programming Reference D-71 Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Runtime Status Drive Status Fault Status Output Status Dig Input States Dig Outpt States Runtime Data Analog CMD Input +ILimit Inpt Val -ILimit Inpt Val Analog Output 1...
  • Page 162 D-72 Programming Reference Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Fault History Fault History #1 Fault History #2 Fault History #3 Fault History #4 Fault History #5 Fault History #6 Fault History #7 Fault History #8 Fault History #9...
  • Page 163 Programming Reference D-73 Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Indexing Selected Index Index Count Auto-Start Index Index 0 Index 0 Type Index 0 Dist/Pos Index 0 Reg Dist Index 0 Velocity Index 0 Accel Index 0 Decel...
  • Page 164 D-74 Programming Reference Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Index 3 Index 3 Type Index 3 Dist/Pos Index 3 Reg Dist Index 3 Velocity Index 3 Accel Index 3 Decel Index 3 Dwell Index 3 Count...
  • Page 165 Programming Reference D-75 Parameter Group Object Group Instance ID 1- 25 (Continued) Parameter Parameter Group Name Parameter Parameter Name Group Number Instance Index 6 Index 6 Type Index 6 Dist/Pos Index 6 Reg Dist Index 6 Velocity Index 6 Accel Index 6 Decel Index 6 Dwell Index 6 Count...

  • Page 166: Acknowledge Handler Object (Class Id 2B

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  • Page 167: Problem Solving

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  • Page 168 Problem Solving Module Status LED Viewed: If LED: State: Indicates: Action: Not powered No power There is no power going to the device Steady-green Operational Normal operation Normal operation - no action needed Flashing-green Device is in Processing or waiting Normal operation - no action needed stand-by for input...

  • Page 169: Node Problems

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  • Page 170: Wiring Problems

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  • Page 171: Cable Installation And Design Problems

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  • Page 172 Problem Solving Publication 1398-5.4 - December 1999...

  • Page 173: Specifications

    Appendix Specifications 7KH 8/75$  'ULYH ZLWK 'HYLFH1HW KDV D SULQWHG FLUFXLW DVVHPEO\ LQVLGH WKDW XVHV D VWDQGDUG 'HYLFH1HW SLQ GHYLFH FRQQHFWRU WR DFFHSW DQ RSHQ FRQQHFWRU RII D 'HYLFH1HW FDEOH IURP D 'HYLFH1HW QHWZRUN 7KH 8/75$  'ULYH ZLWK 'HYLFH1HW KDV LWV RZQ PLFURSURFHVVRU ,W DOVR DeviceNet Features KDV D ZDWFKGRJ WLPHU WKDW LV HQDEOHG ZKHQ SRZHU LV WXUQHG RQ 7KH PLFURSURFHVVRU PXVW EH DEOH WR UHVHW WKH WLPHU ZLWKLQ D VSHFLILHG SHULRG RU LW...
  • Page 174 Specifications Figure F.1 ULTRA 100 Drive with DeviceNet DDM-005-DN (front) Publication 1398-5.4 - December 1999...
  • Page 175 Specifications Figure F.2 ULTRA 100 Drive with DeviceNet DDM-005-DN (side and bottom) Publication 1398-5.4 - December 1999...
  • Page 176 Specifications Figure F.3 ULTRA 100 Drive with DeviceNet DDM-009(X)-DN and DDM-019(X)-DN (front) Publication 1398-5.4 - December 1999...
  • Page 177 Specifications Figure F.4 ULTRA 100 Drive with DeviceNet DDM-009(X)-DN and DDM-019(X)-DN (side and bottom) Publication 1398-5.4 - December 1999...
  • Page 178 Specifications Publication 1398-5.4 - December 1999...
  • Page 179 Index BYTE DINT Acknowledge Handler Object D-76 DWORD Analog I/O Parameter Group D-69 SHORT_STRING Attribute SINT Definition UDINT UINT USINT WORD Bi-colored LEDs DC Bus BOOL Floating requirement Device Data type Bus-off Active Table Current draw LED Red Failure Table BYTE I/O data Data type...
  • Page 180 Index-2 Explicit Installation Messaging Safety Explicit Message Program Control Data type Explicit Messaging Intermittent power Extreme temperature Faulty Bi-colored Status check Scanner Logically assigned addresses Fire hazards Floating DC bus M0/M1 Transfer File M1/M0 file Grounding MAC ID Problems Manuals Using Master Hazards...
  • Page 181 Index-3 Power problems Supply Network traffic Supply problems C-10 C-14 C-18 Power-up No power Status Node Problems Numbers Node Non-volatile memory Qualified user Open-style DeviceNet connector Definition Operating Mode Parameter Group D-70 RAM Index Parameter Group D-75 Parameter Recycle Power Index 6 D-75 Scanner...
  • Page 182 Index-4 Voltage potential Data type SINT Data type Slave Wiring Protocols Status DeviceNet Connectors Problems Indicators WORD Status code Data type Stored energy hazards Strobe Messaging System Cable planning Tee tap Problems Temperature Affecting cables Termination Problems Terminology Attribute Service Torque Current Parameter Group D-68...
  • Page 183 For more information refer to our web site: www.ab.com/motion Publication 1398-5.4 - December 1999 Part Number 0013-1067-003 Rev B Supersedes Publication 1398-5.4 — May 1999 © 1999 Allen-Bradley Company, Inc. Printed in the USA...

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