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Summary of Contents for AC Tech Lenze MotionView OnBoard
- Page 1 PositionServo DeviceNet Communications Module Communications Interface Reference Guide...
- Page 2 AC Technology Corporation. The information and technical data in this manual are subject to change without notice. AC Tech makes no warranty of any kind with respect to this material, including, but not limited to, the implied warranties of its merchantability and fitness for a given purpose. AC Tech assumes no responsibility for any errors that may appear in this manual and makes no commitment to update or to keep current the information in this manual.
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Page 3: Table Of Contents
Contents Safety Information ....................1 Warnings, Cautions & Notes ..................... 1 1.1.1 General ....................... 1 1.1.2 Application ......................1 1.1.3 Installation ......................1 1.1.4 Electrical Connection ................... 2 1.1.5 Operation ......................2 Introduction ......................3 Fieldbus Overview ......................3 Module Specification ....................... 3 Module Identification Label .................... - Page 4 Contents Response Input Assembly ....................16 5.2.1 Byte 0 - Status Byte 1 ..................17 5.2.2 Byte 1 - Data Scale Factor .................. 17 5.2.3 Byte 2 - Status Byte 2 ..................17 5.2.4 Byte 3 - Response Type ..................18 5.2.5 Bytes 4 through 7 - Data ..................
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Page 5: Safety Information
Safety Information Safety Information 1.1 Warnings, Cautions & Notes 1.1.1 General Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, with the potential to cause attached motors to move or rotate. Some surfaces can be hot. Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation creates the risk of severe injury to personnel or damage to equipment. -
Page 6: Electrical Connection
Safety Information 1.1.4 Electrical Connection When working on live drive controllers, applicable national regulations for the prevention of accidents (e.g. VBG 4) must be observed. The electrical installation must be carried out according to the appropriate regulations (e.g. cable cross-sections, fuses, PE connection). Additional information can be obtained from the national regulatory documentation. -
Page 7: Introduction
Introduction Introduction The following information is provided to explain how the PositionServo drive operates on a DeviceNet network; it is not intended to explain how DeviceNet itself works. Therefore, a working knowledge of DeviceNet is assumed, as well as familiarity with the operation of the PositionServo drive. 2.1 Fieldbus Overview The DeviceNet Fieldbus is an internationally accepted communications protocol designed for commercial and... -
Page 8: Installation
Installation Installation 3.1 Mechanical Installation Ensure that for reasons of safety, the AC supply and +24V DC backup supply have been disconnected before opening the bay cover plate. Remove the two COMM module screws that secure Option Bay 1 and with the aid of a flat head screw driver, gently pry up the Option Bay 1 cover plate and remove. -
Page 9: Electrical Installation
Installation 3.3 Electrical Installation 3.3.1 Cable Types Due to the high data rates used on DeviceNet networks, it is paramount that correctly specified cable is used. The use of low quality cable will result in excess signal attenuation and data loss. Several types of cable are available for DeviceNet networks: flat cable, thicknet, mid cable and thinnet. -
Page 10: Connections And Shielding
Installation 3.3.3 Connections and Shielding • ODVA specifies to ground the DeviceNet network at one location only. • The ground location should be done on the node that is closest to the physical center of the network to maximize the performance and minimize the effect of outside noise. •... - Page 11 Installation DeviceNet PositionServo PositionServo Master DeviceNet DeviceNet Slave Slave DeviceNet DeviceNet Network Network 120Ω 120Ω Power Supply Figure 6: DeviceNet Network Wiring P94DVN01A...
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Page 12: Configuring Drive For Devicenet Communication
Commissioning Configuring Drive for DeviceNet Communication 4.1 Connect to the Drive with MotionView OnBoard With the drive power disconnected, install the DeviceNet module and connect the network cable as instructed in the preceeding sections. Ensure the drive Run/Enable terminal is disabled then apply the correct voltage to the drive (refer to drive's user manual for voltage supply details). Refer to the PositionServo User Manual, section 6.2 for full detail on configuring &... -
Page 13: Set Up The Can Network
Commissioning Figure 8: Successfully Connected 4.2 Set up the CAN network To configure the PositionServo drive for DeviceNet communication, the drive must first be configured for a CAN network. Several parameters need to be set to enable the PositionServo to operate on a CAN network. These parameters are listed under the [Communication], [CAN] and [DeviceNet] folders in the MotionView OnBoard software. -
Page 14: Enable Devicenet Communication
Commissioning 4.2.1 Enable DeviceNet Communication Click on the [Communications] folder in the Node Tree and click on the down arrow next [q] to [Fieldbus Selection]. Select [DeviceNet] from the pull down menu. Figure 9: Enable DeviceNet Fieldbus Protocol To activate any changes made the drive has to be reinitialized. Hence the warning within MotionView Figure 10: REBOOT Message This can be done by cycling the power to the drive. -
Page 15: Set Canopen Parameters
Commissioning Figure 11: Set CAN Baud Rate & Address 4.2.3 Set CANOpen Parameters The [CANOpen] folder contains the configuration parameters for the CANOpen Industrial Protocol. To change a CANOpen parameter, use the pull-down menu to select a pre-defined value or click in the box adjacent to the parameter and enter a numeric value that is within the parameter’s specified range. -
Page 16: Set Devicenet Parameters
Commissioning 4.2.4 Set DeviceNet Parameters The [DeviceNet (CIP)] folder contains the configuration parameters for the DeviceNet Industrial Protocol. To change a DeviceNet parameter, use the pull-down menu to select a pre-defined value or click in the box adjacent to the parameter and enter a numeric value that is within the parameter’s specified range. Table 6 lists the range and default value for each DeviceNet parameter. -
Page 17: Drive-Specific Error Codes
Commissioning 4.4 Drive-Specific Error Codes The description of the standard PositionServo Fault Codes can be found in the drive’s user manual (S94PM01). The DFAULT parameter (PID 9) indicates the last drive fault. In addition, a new error code (43) is introduced to indicate a problem in the DeviceNet Polled I/O message format. -
Page 18: Polled I/O
Cyclic Data Access Polled I/O “OUT data and “IN data” describe the direction of data transfer as seen by the DeviceNet master controller. For polled I/O messaging, there are two assemblies: the Command (Output) Assembly - Instance 1, and the Response (Input) Assembly - Instance 2. The poll operation works as follows: The DeviceNet Master (PLC) sends an I/O Command Poll Assembly initialized with the desired command and the desired response types. -
Page 19: Byte 0 - Control Word
Cyclic Data Access 5.1.1 Byte 0 – Control Word Table 8: Ouput Assembly - Control Word Name Description Note Enable 0 – disable drive This bit controls PID 52 1 – enable drive The Enable bit takes precedence over the rest of the command bits and the command type. -
Page 20: Byte 3 - Response Type
Cyclic Data Access 5.1.3 Byte 3 - Response Type Response Axis (bits 7 to 5) The values of these bits should always be 001 since the PositionServo has only 1 axis per drive. Response Assembly Type (bits 4 to 0) This field specifies the type of the response assembly that this command requests. For list of all available response assembly types refer to section 5.2. -
Page 21: Byte 0 - Status Byte 1
Cyclic Data Access 5.2.1 Byte 0 - Status Byte 1 Table 11: Status Word 1 Name Description Note Enable State 0 – drive disabled Bit 0 of the drive status PID 54 1 – drive enabled Reg Level 1 – registration event has occurred Bit 19 of the drive status PID 54 Home Level 1 –... -
Page 22: Byte 3 - Response Type
Cyclic Data Access 5.2.4 Byte 3 - Response Type Response Axis (bits 7 to 5) The values of these bits should be always 001 since the PositionServo has only 1 axis per drive. Response Assembly Type (bits 4 to 0) The Response Assembly Type ranges from 0x0 to 0x14 as listed in Table 12. Table 12: Response Assembly Type Type Response... -
Page 23: Explicit Messaging
Explicit Messaging Explicit Messaging 6.1 Objects 64h and 65h The PositionServo system objects 64h and 65h encapsulate all valid PositionServo variables (Property IDs or PIDs). Object 64h covers PIDs in range 1-255. Object 65h covers PIDs in range 256 and up. Each PositionServo PID is represented by an instance of a System940 object. For object 64h the instance number matches the PID’s index. -
Page 24: Reference
Reference Reference 7.1 Reference Documents • DeviceNet Information: http://www.odva.org • PositionServo Programming Manual (PM94M01): http://www.lenze-actech.com • PositionServo User Manual (S94PM01): http://www.lenze-actech.com • PositionServo CANOpen Communications Reference (P94CAN01): http://www.lenze-actech.com NOTE: The complete list of variables can be found in the PositionServo Programming Manual (PM94P01). -
Page 25: Parameter Quick Reference
Reference 7.3 Parameter Quick Reference Table 14 lists each parameter number and provides its function, default value and access rights. Table 14: Parameter Quick Reference Parameter Function Default Value Access Rights Cross Reference PIDxxx Network Protocol Ethernet 4.2.1 Enable DeviceNet Communication PID234 CAN Baud Rate 125k 4.2.2 Set CAN Parameters PID235... - Page 26 AC Technology Corporation 630 Douglas Street Uxbridge, MA 01569 Telephone: (508) 278-9100 Facsimile: (508) 278-7873 www.lenze-actech.com P94DVN01A...
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