SEW-Eurodrive MOVIDYN DeviceNet AFD11A Manual
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SEW-Eurodrive MOVIDYN DeviceNet AFD11A Manual

Fieldbus interface for movidyn servo controllers
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MOVIDYN
Servo Controllers
DeviceNet AFD11A Fieldbus Interface
Manual
Edition 05/99
16/042/95
'HYLFH
1HW
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Summary of Contents for SEW-Eurodrive MOVIDYN DeviceNet AFD11A

  • Page 1 ® MOVIDYN Servo Controllers DeviceNet AFD11A Fieldbus Interface Manual Edition 05/99 16/042/95 'HYLFH ý...
  • Page 2 This may result in unexpected (not uncon- trolled, though!) system behavior. • Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and specifications. The manufacturer reserves the right to make changes to the technical data and designs as well as the user interface herein described, which are in the interest of technical progress.

  • Page 3: Table Of Contents

    Contents Contents Introduction ..................4 Installation..................6 2.1 Supported unit types .....................6 2.2 Installation of the option card ................6 2.3 Pin assignment ......................6 2.4 Shielding and routing of the bus cables..............7 2.5 Bus termination .....................7 2.6 Setting the DIP switches..................8 2.7 Display elements....................8 2.7.1 Power-up sequence..................8 2.7.2 M odNet LED ....................9...

  • Page 4: Introduction

    Introduction Introduction This user manual for the DeviceNet (AFD11A) option describes how to install the AFD11A ® DeviceNet option card in the servo controller and how to start up the M OVIDYN on the DeviceNet fieldbus system. As well as explaining all settings on the fieldbus interface, this document also deals with the vari- ous DeviceNet connection variants in the form of brief startup examples.
  • Page 5 Introduction Every DeviceNet option card is designed so the fieldbus-specific M AC-ID and baud rate settings are made using hardware switches on the option card. This manual setting means the servo controller can be integrated into the DeviceNet environment and switched on within a very short period of time.

  • Page 6: Installation

    Installation Installation Supported unit types The AFD11A option for the DeviceNet connection can be operated with all servo controllers in the ® M OVIDYN series. Installation of the option card Before you begin: • Take suitable measures to dissipate any electrical charge in your body before you touch the option card (discharge strap, conductive shoes, etc.).

  • Page 7: Shielding And Routing Of The Bus Cables

    Installation The DeviceNet option card is opto-decoupled on the driver side in accordance with the DeviceNet specification (Volume I, Chapter 9). This means the CAN bus driver must be powered with 24 V via the bus cable. The required cable is also described in the DeviceNet specification (Volume I, Appendix B). The connection must be made according to the color code specified in Table 1.

  • Page 8: Setting The Dip Switches

    Installation Setting the DIP switches There are two DIP switch blocks of 4 DIP switches each on the AFD11A DeviceNet card. Two DIP switches are used for setting the baud rate and six for setting the M AC-ID ( M edia Access Control Identifier).

  • Page 9: Modnet Led

    Installation 2.7.2 ModNet LED The range of functions of the M odNet LED (module/network status LED) is defined in the DeviceNet specification. Its range of functions is described in Table 5. Status Message Not switched on/ • Unit is in off-line status off-line •...

  • Page 10: Bio Led

    Installation 2.7.4 BIO LED The BIO LED checks the bit-strobe I/O connection. Its range of functions is described in Table 7. Status Message DUP- M AC check Flashes green • Unit is performing the DUP- M AC check (125 ms cycle) Not switched on/ •...

  • Page 11: Project Planning And Startup

    Project Planning and Startup Project Planning and Startup ® This chapter describes how to start up the M OVIDYN controller with the AFD11A option, using M D_SHELL (from version 1.82). Controller control m ode fieldbus After the DeviceNet option card has been installed and the baud rate and M AC-ID have been set ®...

  • Page 12: Setting Up The Devicenet Network Using The Devicenet Manager Software

    Project Planning and Startup Control m ode = FIELDBUS Use parameter P110 to switch control and setpoint processing of the servo controller to FIELDBUS. 3443###6HWSRLQW#VRXUFH########),(/'%86 Input term inal X21:6 = NO FUNCTION Input term inal X21:7 = NO FUNCTION Input term inal X21:8 = NO FUNCTION Program the function of input terminals X21:6, X21:7 and X21:8 to NO FUNCTION with param- eters P300 to P302.

  • Page 13: Connecting The Device To An Existing Network

    Project Planning and Startup You can use the following Internet addresses for obtaining current EDS files and for further infor- mation about DeviceNet. • SEW-EURODRIVE: www.sew-eurodrive.de • Allen Bradley: www.ab.com • Rockwell: www.rockwell.com • Open Device Net Vendor Association: www.odva.org 3.2.2 Connecting the device to an existing network...
  • Page 14 Project Planning and Startup Project planning for three process data words The factory setting of the process data configuration is process data length = 3. This can be altered using the DeviceNet PD Configuration parameter. In M D_SHELL, this setting is displayed via the parameter DeviceNet PD configuration = 3 PD or 3PD + Param .
  • Page 15 Project Planning and Startup Project planning for two process data words Process data length = 2 can be set using the DeviceNet PD Configuration parameter. In this case, the setting 2 PD or 2PD + Param must be selected in M D_SHELL. As a result, two process data words (4 bytes) are processed in the servo controller and 2 process input data words are sent to the control.
  • Page 16 Project Planning and Startup Project planning for one process data word Process data length = 1 can be set using the DeviceNet PD Configuration parameter. In this case, the setting 1 PD or 1PD + Param must be selected in M D_SHELL. As a result, one process output data word (1 byte) is processed in the servo controller and one process input data word is sent to the control.

  • Page 17: Bit-Strobe I/O

    Project Planning and Startup If a timeout occurs for the polled I/O messages, this connection type enters timeout status. Incom- ing polled I/O messages are no longer accepted. The timeout response triggers the timeout reaction set in the servo controller. The timeout response can be reset with DeviceNet by using the reset service of the connection object (class 0x05, instance 0x02, undetermined attribute), by dropping the connection or by using the reset service of the identity object (class 0x01, instance 0x01, undetermined attribute).
  • Page 18 Project Planning and Startup Each participant which has received this bit-strobe I/O message responds with its current process input data. The length of the process input data corresponds to the process data length for the polled I/O connection. It can also be set using the DeviceNet PD Configuration parameter. Address range Output file Station...

  • Page 19: Parameter Data Exchange

    Project Planning and Startup The timeout response can be reset with DeviceNet using the reset service of the connection object (class 0x05, instance 0x03, undetermined attribute), by dropping the connection or by using the reset service of the identity object (class 0x01, instance 0x01, undetermined attribute). Param eter data exchange 3.4.1 The SEW param eter data channel The SEW parameter data channel represents a connection via which parameters in the servo con-...
  • Page 20 Project Planning and Startup The following table shows the attributes of the two register object instances. Class Instance Attribute Type/Value Meaning 0x07 0x01 Bad flag (Read) 0 (input) Direction 48 bit Size 2 byte index Data 4 byte data 0x02 Bad flag (Read/ 1 (output)
  • Page 21 Project Planning and Startup Address range Output data Header Header (Service, Class ...) Index Index = 641h Data low word Data low word = 0900h Data high word Data high word = 0000h S E W EURODR IVE EURO D RIVE Header Index Data...

  • Page 22: Return Codes For Parameter Setting

    Project Planning and Startup Writing/reading the fieldbus param eters The parameters required for operating the fieldbus have been directly incorporated into the param- eter object. They can be addressed directly via the instance. Instance no. Group Nam e Com m ent Communication Control mode Setpoint source...

  • Page 23: Timeout Of Explicit Messages

    Project Planning and Startup Return codes from DeviceNet DeviceNet-specific return codes are sent in the error message, if the data format is not maintained during the transmission or if a service is performed which has not been implemented. The coding of these return codes is described in the DeviceNet specification (see appendix).

  • Page 24: Sam Ple Application With Plc Type Slc500

    Sam ple Application with PLC Type SLC500 Sam ple Application with PLC Type SLC500 The sample applications are based on a system configuration as shown in Fig. 10. RSLogic500 for SLC500 DeviceNet M anager System Configuration 9324-RL0300END 1787-M GR DeviceNet RS232C RS232C M AC-ID...
  • Page 25 Sam ple Application with PLC Type SLC500 The following memory areas have been specified with the help of the DeviceNet manager software: *************************************************************************** 1747-SDN Scanlist Map *************************************************************************** Discrete Input Map: 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 ------ I:3.000 Status word of the scanner...

  • Page 26: Exchange Of Polled I/O (Process Data)

    Sam ple Application with PLC Type SLC500 Exchange of polled I/O (process data) Cycle 0 Objective START Speed = 1000 rpm, In the following program, process data are Enable ® to be sent to M OVIDYN and the motor should run at different speeds. Cycle 1 The program sequence is shown in Fig.
  • Page 27 Sam ple Application with PLC Type SLC500 Start DeviceNet communication Status engine for control of sense of rotation Output of the status engine If status > 3, change to status 0 01912AEN Output bit O:3.0/0 is set in rung 0 (program line 0), thereby starting DeviceNet communication (see the description of the DeviceNet scanner).

  • Page 28: Exchange Of Bit Strobe I/O

    Sam ple Application with PLC Type SLC500 Status 0 is created in rung 4. In this status, a 6 (ENABLE) is written to memory area O:3.3 which represents process output data word 1. A 5000 is written to memory area O:3.4 (process output data word 2), which represents 1000 rpm.

  • Page 29: Exchange Of Explicit Messages (Parameter Data)

    Sam ple Application with PLC Type SLC500 The program can now be written for the SLC500. Send Bit-Strobe message Start DeviceNet communication Set / reset Strobe bit Transmit actual values from the device to the output module 01915AEN In rung 0, DeviceNet communication is once again enabled. In rung 1, the strobe-bit of device 4 is set in relationship to the input bit I:3.2/0 (from the DeviceNet input module).
  • Page 30 Sam ple Application with PLC Type SLC500 These memory areas are described in more detail in Table 21. Mem ory area Function Length Value Description Transmission header cmd/status ½ word See Table 22 cmd: Entry of a command code status: Entry of the transmission status TXID ½...
  • Page 31 Sam ple Application with PLC Type SLC500 The M -files are divided into a request file (M 0-file) and a response file (M 1-file). The data transmis- sion is shown in Fig. 13: SLC500 Scanner 1747-SDN Request Scanner request transmission 1.
  • Page 32 Sam ple Application with PLC Type SLC500 Request Response Function Value Function Value TXID TXID 1 = Start Status 1 = Successful Connection Connection Size Size Service Eh = Read request Service 8Eh = Read response M AC_ID M ACID Class Data 1 641h...

  • Page 33: Technical Data

    Technical Data Technical Data Part no. 822 908 2 Num ber of process data words • One, two or three process data words can be selected using parameter P794 DeviceNet PD Configuration Baud rate • 125, 250 or 500 kbaud can be selected via DIP switch Transm ission level •...

  • Page 34: Appendix

    Appendix Appendix General error codes General error Error nam e Description code (hex) 00 - 01 Reserved for DeviceNet Resource unavailable The source required for performing the service is unavailable 03 - 07 Reserved for DeviceNet Service not supported The service is not supported for the selected class/instance Invalid attribute value Invalid attribute data have been sent Reserved for DeviceNet...

  • Page 35: Statement Of Conformance

    Appendix Statem ent of conform ance                                                                !          " #$%&'% (     !"       # $ %       $     ...
  • Page 36 Appendix                      !  +    $        !           $      $      !    !       " # "  $       1 ;+   ;+       1 ;+   ;  6 ; ! ;$<  ;         ! .#*/( +    $    .#!!(   #...
  • Page 37 Appendix            '()   *         !  +    $        $          $      !     !        " # "  $       1 ;+   ;+ 1 ;+   ;            ! +    $  $<    !              +     " # " ...
  • Page 38 Appendix            " # +         !  .#( +    $           " # "  $       1 ;+   ;            ! .#!00)*( +    $  + .#!00( 0 .#!(    .#!00//( 0  +    .#!( +  &&  .#!( 0  && ...
  • Page 39 Appendix              ,         !  +    $            " # "  $                1 ;+   ;  6 ; ! ;$<  ;     $  '-   $ $    '  23 & &4 5 &%&' % &  )!    )!    2   '4%&' &6 %& 0        ...
  • Page 40 Appendix              ,         !  +    $            " # "  $                1 ;+   ;  6 ; ! ;$<  ;     $  '-   $ $    '  23 & &4 5 &%&' % &  )!    )!    2    '4%&' &6 %& 0       '& 7 & & 88 ...
  • Page 41 Appendix              ,         !  +    $            " # "  $                1 ;+   ;  6 ; ! ;$<  ;     $  '-   $ $    '  23 & &4 5 &%&' % &  )!    )!    2   '4%&' &6 %& 0        ...
  • Page 42 Appendix            )(  .         !  +    $            " # "  $       1 ;+   ;            ! +    $  06    .#) +1(     ? ;#)//*)(   " # "  $   1*!!     1 ;+   ; ...
  • Page 43 Appendix            $            !  +    $        !           >    #     " # "  $       1 ;+   ;+      1 ;+   ;   ;+   ;            ! .#!00+-+-),-+( +    $     .#!( '  & ?   ...

  • Page 44: Definitions Of Terminology

    Appendix Definitions of term inology Term Description Allocate Provides a service for setting up a connection Attribute Attribute of an object class or instance. Describes the characteristics of the object class or instance more fully. BIO - Bit-strobe I/O All participants can be addressed with a broadcast message. The addressed participants respond with the process input data.

  • Page 45: Index

    Index Index Bit-strobe I/O 17 Bus termination 7 Definitions of terminology 44 DeviceNet network, setting up 12 DIP switches Setting 8 Display elements 8 BIO LED 10 BUSOFF LED 10 M odNet LED 9 PIO LED 9 Power-up 8 EDS file 12 Example 24 Bit-strobe I/O 28 Explicit messages (parameter data) 29...
  • Page 48 SEW-EURODRIVE GmbH & Co · P.O.Box 30 23 · D-76642 Bruchsal/Germany Tel. +49-7251-75-0 · Fax +49-7251-75-19 70 · Telex 7 822 391 http://www.SEW-EURODRIVE.com · sew...

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