Emerson Control Techniques Epsilon Ei Reference Manual
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Emerson Control Techniques Epsilon Ei Reference Manual

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Epsilon Ei DeviceNet Drive
Reference Manual
P/N 400501-08
Revision A2
Date: March 20,2002
© 2001, 2002 Control Techniques Drives, Inc.
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  • Page 1 Epsilon Ei DeviceNet Drive Reference Manual P/N 400501-08 Revision A2 Date: March 20,2002 © 2001, 2002 Control Techniques Drives, Inc. Get other manuals https://www.bkmanuals.com...
  • Page 2 Get other manuals https://www.bkmanuals.com...
  • Page 3 Epsilon Ei DeviceNet Drive Reference Manual Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice.
  • Page 4 Control Techniques. The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control Techniques: EMERSON Motion Control, EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.”...
  • Page 5 Customer Support Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 397-3786 It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need.
  • Page 6 • Exact wording of any messages that appear on your screen • What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’...
  • Page 7 In addition, you will find the following typographic conventions throughout this manual. This Represents Characters that you must type exactly as they appear. For example, if you are directed to type bold a:setup, you should type all the bold characters exactly as they are printed. Placeholders for information you must provide.
  • Page 8 Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use.
  • Page 9 Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy, or are used to control mechanical equipment that can cause injury.
  • Page 10 Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety of Machinery. The product has been designed and tested to a high standard. However the level of integrity offered by the product’s control function – for example stop/start, forward/reverse and maximum speed –...

  • Page 11: Table Of Contents

    Table of Contents Safety Considerations Introduction Purpose ..............1 DeviceNet Overview .
  • Page 12 DN Master Send Bitmap ........... 27 DN Master Send FAB Type.

  • Page 13: Introduction

    Epsilon Ei DeviceNet Drive Reference Manual Introduction Purpose This manual describes the Epsilon Ei DeviceNet (Ei-DN) Servo Drive and gives examples for connecting DeviceNet® with Epsilon Indexing drives. The reader should have knowledge of basic DeviceNet concepts. In addition, the user should be familiar with the functionality of the Epsilon Ei drive.

  • Page 14: Devicenet Overview

    Epsilon Ei DeviceNet Drive Reference Manual The Epsilon Ei-DN configuration is easily set within PowerTools FM software. In PowerTools FM software, the user has the option to select between 8 predefined assembly blocks to be transferred using polled data (8 bytes input, 8 bytes output polled data length per drive).

  • Page 15: Devicenet Messaging And Communications

    Introduction Operation with off-the-shelf power supplies 10. Power taps that allow the connection of several power supplies from multiple vendors that comply with DeviceNet standards 11. Built-in overload protection 12. Power available along the bus: both signal and power lines contained in the trunk line DeviceNet Messaging and Communications Master/Slave Relationship ODVA defines a DeviceNet Master as:...
  • Page 16 Epsilon Ei DeviceNet Drive Reference Manual Configure Master RSNetworx RsLinx Configure PLC Configure Ei-DN Slaves (Nodes) Drop Line Trunk Line DeviceNet Master Scanner Card Explicit Message Setup RSLogix 24VDC RsLinx Power Supply Figure 2: Master/Slave Relationship Get other manuals https://www.bkmanuals.com...

  • Page 17: Installation

    Epsilon Ei DeviceNet Drive Reference Manual Installation Mechanical Installation Follow the instructions for mechanical installation of an Epsilon Ei Drive as outlined in the Epsilon Ei Installation Manual (P/N 400501-06). DeviceNet Hardware Components The following components are necessary to design a DeviceNet cable system: •...

  • Page 18: Electrical Installation

    Epsilon Ei DeviceNet Drive Reference Manual Connectors DeviceNet connectors can be either open-style (wires exposed) or sealed. These connectors can be obtained from the supplier of the DeviceNet Network Master. (For more details see the ODVA Specification Volumes I and II, Release 2.0.) Power Supply Requirements A separate 24 VDC power supply is needed for the DeviceNet network.
  • Page 19 Installation The connector provided for the DeviceNet connection is keyed: VT (pin 5) and should be wired to the keyed slot. Terminating Resistor Figure 3: DeviceNet Wiring Get other manuals https://www.bkmanuals.com...
  • Page 20 Epsilon Ei DeviceNet Drive Reference Manual Get other manuals https://www.bkmanuals.com...

  • Page 21: Configuring The Devicenet Network

    Epsilon Ei DeviceNet Drive Reference Manual Configuring the DeviceNet Network Connection Types The Epsilon Ei-DN DeviceNet interface was designed to communicate with a DeviceNet network in two ways. Polled I/O connections and Explicit Messaging connections can be used to access all read or read/write data from the Epsilon Ei-DN. Polled I/O Connections (Implicit Messaging) The Poll Command is an I/O Message that is transmitted by the Master.
  • Page 22 Epsilon Ei DeviceNet Drive Reference Manual Figure 4: The DeviceNet Setup Tab MacID The MacID is the number assigned to a particular node. Every node on a DeviceNet network must have a unique MacID. The range is 0-63. The MacID is also read/write accessible with the one-touch configuration described in “Setting the Baud Rate and MacID Externally (One Touch)”...
  • Page 23 Configuring the DeviceNet Network and has many parameters premapped for quick setup and replacement. Index Sel (Predef) was created to keep everything simple and standard for the user. Bits that are generally used have been included in the assembly block for “no-work” access to DeviceNet I/O. The Index Sel (Predef) is set as default so the user can set Baud Rate, MacID, drive type and then start communication.
  • Page 24 Epsilon Ei DeviceNet Drive Reference Manual Master Send Assembly Block - Index Sel (Userdef) Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0...
  • Page 25 Configuring the DeviceNet Network the position controller profile positions, velocities, accels, and decels can be written for a single index. The index can then be initiated. The Position Control object is used heavily when a central PLC is desired to control all of the Slaves. This type of configuration allows for quick parameter changes.
  • Page 26 Epsilon Ei DeviceNet Drive Reference Manual Input Word Select Data Pointer The Input Word Select Data Pointer may be used when a polled connection is established between the Ei-DN and the DeviceNet Master. Using the Input Data Pointer Bits, 32-bit parameters may be read from the Ei-DN by the PLC.
  • Page 27 Configuring the DeviceNet Network Output Word Select Data Pointer The Output Word Select Data Pointer may be used when a polled connection is established between the Ei-DN and the DeviceNet master. Using the Output Word Select Data Pointer bits, 32-bit parameters may be read from the Ei-DN by the PLC. Entering the code into the Output Select Data Pointer will place the corresponding parameter value within the two high words of the 4 word polled data.
  • Page 28 Epsilon Ei DeviceNet Drive Reference Manual Command Assembly Code The Command Assembly Code is used only when the position controller object is in use and the Ei-DN is online and connected. The Command Assembly Code gives the drive a 32-bit parameter based on the code it is set for.

  • Page 29: Data Processing/Order Of Operations For Fixed Assembly Blocks

    Configuring the DeviceNet Network Data Processing/Order of Operations for Fixed Assembly Blocks Since the transfer of parameters over the DeviceNet network has the potential to transfer on the same scan of the PLC, the user needs to take special consideration of the order of bits sent. When the Master sends two or more bits in the same DeviceNet message, the bits get implemented in the Ei-DN in the following order: •...
  • Page 30 Epsilon Ei DeviceNet Drive Reference Manual Host Mode Enable Host Mode Enable allows the user to decide where the control will occur from the DeviceNet network. Host Mode Enable allows the user to ignore hardwire inputs. Conversely, non-host mode logically OR’s the Inputs with the DeviceNet function. Enabling the “Host Mode”...

  • Page 31: Devicenet Online Tab

    Configuring the DeviceNet Network DeviceNet Online Tab The DeviceNet Online Tab is available to the user when PowerTools FM is online with the Ei-DN. This tab displays DeviceNet specific diagnostics and allows the user to view the status of the DeviceNet network. Figure 6: DeviceNet Online Tab Information...
  • Page 32 Epsilon Ei DeviceNet Drive Reference Manual Status Network Status LED Network Status vitual LED indicates whether the Ei-DN is communicating properly with the DeviceNet network. The table below will describe the current condition of this parameter. Virtual LED Drive State Indicates State Device is not online:...

  • Page 33: Input And Output Tab

    Configuring the DeviceNet Network Input and Output Tab DeviceNet Bits DeviceNet bits are user-defined bits that are assigned within the inputs and outputs tabs. These bits are used with specific assembly blocks to transfer data via the polled connection. DeviceNet bit numbering is the same for all assembly blocks selected; therefore, DN bit 0 MR (Master Receive) under “Index Sel (User Def)”...
  • Page 34 Epsilon Ei DeviceNet Drive Reference Manual Figure 8: Outputs Tab When an unsupported DN bit assignment is made, a warning message will pop up telling the user that the selected assembly block does not support that bit. When acknowledged, the assignment will be mapped to that bit anyway and will not be transferred via DeviceNet.

  • Page 35: Dn Allocation Choice (Connections Established)

    Configuring the DeviceNet Network Figure 9: Watch Window DN Allocation Choice (Connections Established) Ei-DN Modbus Address: 34003 Range Units Default Type DN Type Group Res. Access BM16 WORD This parameter monitors the status of the established connections and displays the corresponding bitmap.

  • Page 36: Dn Baud Rate

    Epsilon Ei DeviceNet Drive Reference Manual DN Baud Rate Ei-DN Modbus Address: 44002 Range Units Default Type DN Type Group Res. Access Baud WORD Three standard baud rates can be configured for the DeviceNet network: 125K, 250K, and 500K. The baud rate is also read/write accessible with the one touch configuration located directly on the drive.

  • Page 37: Dn Comm Time-Out Fault Count

    Configuring the DeviceNet Network DN Comm Time-out Fault Count Ei-DN Modbus Address: 40717 Range Units Default Type DN Type Group Res. Access Counts US16 UINT This parameter indicates the total # of Communication Time-out Faults that have occurred on the DeviceNet network.

  • Page 38: Dn Fab Master Send Block

    Epsilon Ei DeviceNet Drive Reference Manual DN FAB Master Send Block Ei-DN Modbus Address: 34007-34010 Range Units Default Type DN Type Group Res. Access US16 UINT The DN FAB Master Send Block displays the polled data being transferred from the master to the drive via the Master Send fixed assembly block (FAB).

  • Page 39: Dn Master Receive Bitmap

    Configuring the DeviceNet Network DN Master Receive Bitmap Ei-DN Modbus Address: 34006 Range Units Default Type DN Type Group Res. Access US16 UINT This parameter returns the values for the selected master receive bits. DN Master Receive FAB Type Ei-DN Modbus Address: 44005 Range Units...

  • Page 40: Dn Master Send Fab Type

    Epsilon Ei DeviceNet Drive Reference Manual DN Master Send FAB Type Ei-DN Modbus Address: 44004 Range Units Default Type DN Type Group Res. Access Word The DN Master Send FAB Type displays the chosen fixed assembly block configuration as shown. Value Master Receive FAB Type Index Select (Predef)

  • Page 41: Dn Network Status

    Configuring the DeviceNet Network DN Network Status Ei-DN Modbus Address: 34207 Range Units Default Type DN Type Group Res. Access 0-31 Word The DN Network status indicates the ODVA specific status of the DeviceNet network as follows: Value Network Status No Power Not Connected Connected...

  • Page 42: Dn Status Minor Recoverable Fault

    Epsilon Ei DeviceNet Drive Reference Manual DN Status Minor Recoverable Fault Ei-DN Modbus Address: 14001 Range Units Default Type DN Type Group Res. Access True/False BOOL A Minor Recoverable Fault occurs when the drive experiences a connection time-out. This fault will not disable the bridge and will clear after the fault clears. DN Status Minor Unrecoverable Fault Ei-DN Modbus Address: 14002...

  • Page 43: Accessing The Eds File

    Configuring the DeviceNet Network Accessing the EDS File The EDS file is used for configuration of the DeviceNet master. This file tells the Master software how much I/O data is supported for a particular DeviceNet device as well as Control Techniques’...

  • Page 44: Network Status Led

    Epsilon Ei DeviceNet Drive Reference Manual Network Status LED The Network Status LED located on the front of the drive provides network status according to the following table: LED State Drive State Indicates Device is not online: Not Powered/Not online The device has not completed the Dup MacID test yet.
  • Page 45 Configuring the DeviceNet Network the display shows the correct number for the low digit of the MacID. (The display will now flash between the letter “L” and the new ones digit for MacID.) Double-click the Reset Button to view the Baud Rate selected. The display will flash between the letter B and the number of the baud rate that is currently configured.
  • Page 46 Epsilon Ei DeviceNet Drive Reference Manual Double-click the “Reset” button to reveal a flashing “S” on the diagnostic display. If the parameters entered reflect the proper DeviceNet network settings, the configuration can be saved by holding the “Reset” button while the “S” is flashing. After the parameters are saved, the display will flash “O”...

  • Page 47: Network Configuration Quick Start

    Epsilon Ei DeviceNet Drive Reference Manual Network Configuration Quick Start This chapter presents sample startups with a Epsilon Ei-DN drive using a 1747-SDN scanner card as the DeviceNet master in a SLC 500 PLC™. The examples presented are intended as a tutorial.

  • Page 48: Polled I/O Setup

    Epsilon Ei DeviceNet Drive Reference Manual Install the .eds file in the Master Configuration software (RsNetworx, Wonderware, etc.). Download a configuration for 8 polled input bytes and 8 polled output bytes to be transferred to/from the Ei-DN. Use ladder logic commands to initiate explicit messaging commands over DeviceNet. Polled I/O Setup The following examples assume that the user is familiar with and can set up the Ei using the Epsilon Ei Reference Manual (P/N 400507-01).
  • Page 49 Network Configuration Quick Start Figure 10: DN Setup / Index Sel (Predef) Download this file to the Ei-DN. Proceed to “Master Configuration” on page 48 before going any farther with this example. After configuring the master return to this point and continue. The following will initiate motion.
  • Page 50 Epsilon Ei DeviceNet Drive Reference Manual 13. Using Output Word Select Data Pointer 0x0A to set Jog Velocity and Input Select Data Pointer 0x06 to read back the torque command, use the following table to construct the proper words for the read and write: Output Word Select Input Word Select Reserved...
  • Page 51 Network Configuration Quick Start Figure 11: DN Setup / Index Sel (Userdef) Click the Inputs tab to configure the DN bits that will be written from the PLC (Master Send). The following assignments will be used for this application example: DN Bit00 (MS) = Index Initiate DN Bit01 (MS) = Home Initiate DN Bit02 (MS) = Jog +...
  • Page 52 Epsilon Ei DeviceNet Drive Reference Manual Figure 12: Inputs Tab Click the Outputs tab to configure the DN bits that will be written to from the PLC (Master Receive). DN Bit00 (MR) = End of Index DN Bit01 (MR) = End of Home DN Bit02 (MR) = In + Motion DN Bit03 (MR) = In - Motion DN Bit04 (MR) = Fault...
  • Page 53 Network Configuration Quick Start Figure 13: Outputs Tab Note Index Sel (userdef) allows 16 DN bits to be configured. Although these bits are optional to assign, bandwidth used on the DeviceNet network remains the same. Once all parameters are configured, download this file to the Ei-DN. Proceed to “Master Configuration”...
  • Page 54 Epsilon Ei DeviceNet Drive Reference Manual 11. 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 Output Bits O:1.1/12 - O:1.1/15 to select the index to initiate or to select the index to read from or write to using the Input/Output Word Select Data Pointer.
  • Page 55 Network Configuration Quick Start Figure 14: DN Setup / Index Type Click the Inputs tab to configure the DN bits that will be written from the PLC (Master Send). The following assignments will be used for this application example: DN Bit00 (MS) = Reset DN Bit01 (MS) = Home Initiate DN Bit02 (MS) = Jog + Note...
  • Page 56 Epsilon Ei DeviceNet Drive Reference Manual Download this file to the Ei-DN. Proceed to “Master Configuration” on page 48 before going any farther with this example. After configuring the master return to this point and continue. While online with the Ei-DN via PowerTools FM and with the PLC via RSLogix 500: Set Output Bit O:1.1/7 high to software enable the drive.
  • Page 57 Network Configuration Quick Start 12. Using Output Word Select Data Pointer 0x04 to set the Index Deceleration Register and Input Select Data Pointer 0x0A to read back this same parameter in order to verify the transfer. Output Word Select Input Word Select Reserved Reserved Reserved...
  • Page 58 Epsilon Ei DeviceNet Drive Reference Manual Enter the DN setup and set the MacID to 1 and the Baud Rate to 125K. Select PositionControl for both Master Send Assembly Block and Master Receive Assembly Block setups. Figure 15: Dn Setup / Position Control Download this file to the Ei-DN.
  • Page 59 Network Configuration Quick Start Set the Receive Assembly code to read the Actual Position O:1.2 = 0x02 (parameter). This response will be read back from I:1.3 and I:1.4 (low/high word response). 10. Set O:1.1/7 = 1 to Enable the Drive. Set O:1.1./2 = 0 indicating an Absolute Move. Set O:1.1/0 = 1 indicating start of the Move.

  • Page 60: Master Configuration

    .eds wizard found under the Tools menu. The .eds file is located in the Emerson directory under Emerson\PtoolsFM\Ei.eds. An icon file can also be found in this directory under Emerson\PtoolsFM\Ei.ico. This icon file will display the Ei-DN graphically in RSnetworx.
  • Page 61 Network Configuration Quick Start Figure 17: Scanlist Tab Click the Input tab and map the 4 words of data from the Ei-DN to I:1.1 - I:1.4. These addresses are the addresses in the PLC where the Ei-DN data will be mapped. Get other manuals https://www.bkmanuals.com...
  • Page 62 Epsilon Ei DeviceNet Drive Reference Manual Figure 18: Input Tab Click the Output tab and map the 4 words of data from the Ei-DN to O:1.1 - O:1.4 as shown. These addresses are the addresses in the PLC where the Ei-DN will pull its data from. Get other manuals https://www.bkmanuals.com...
  • Page 63 Network Configuration Quick Start Figure 19: Output Tab After all of the data is mapped click OK, go online, and then download this RsNetworx file to the DeviceNet scanner. (Make sure processor is in program mode.) Note If, after a download, errors occur on the DeviceNet Master (scanner card), clear all mappings in the scanlist and download this “empty”...
  • Page 64 Epsilon Ei DeviceNet Drive Reference Manual Get other manuals https://www.bkmanuals.com...

  • Page 65: Explicit Messaging Quick Start

    Epsilon Ei DeviceNet Drive Reference Manual Explicit Messaging Quick Start To send explicit messages, the Epsilon Ei-DN drive should be configured and successfully connected to the DeviceNet system as a unique node. This chapter will present examples that should be used as a tutorial. Equipment Ei-DN DeviceNet Digital Drive NT 207 Motor...
  • Page 66 Epsilon Ei DeviceNet Drive Reference Manual COMMAND 0x01 EXECUTE 0x04 CLEAR RESPONSE BUFFER Size of field is the size of the message data section and does not contain the message header. For GET Service command, size should be 6 bytes; for SET Service command, size should be 10 [0x0A] bytes.

  • Page 67: Explicit Messaging Examples

    Explicit Messaging Quick Start Figure 20: Description of N10 Integer File Explicit Messaging Examples The following two examples of DeviceNet Explicit Messaging will be assuming a PLC configuration as follows: Figure 21: PLC Configuration for Explicit Messaging Get other manuals https://www.bkmanuals.com...
  • Page 68 Epsilon Ei DeviceNet Drive Reference Manual Explanation of PLC Program The copy command in Rung 0 will activate when B3:0/0 is turned on. This command will send out a request to the DeviceNet master by copying the N10 integer file into the M0: file. After this request gets sent out, the PLC indicates when it has all data returned by setting bit I:3/15 high.
  • Page 69 Explicit Messaging Quick Start Integer File N10 High Byte Low Byte N10:0 TXID= 0x01 COMMAND= 0x01 N10:1 PORT= 0x00 SIZE OF DATA FIELD= 0x06 N10:2 SERVICE= 0x0E (GET) MacID= 0x04 N10:3 CLASS= 0x68 N10:4 INSTANCE= 0x01 N10:5 ATTRIBUTE= 0x09 After the N10 file is set, B3:0/0 can be set high to send the explicit message to the scanner card.
  • Page 70 Epsilon Ei DeviceNet Drive Reference Manual Index 1 Velocity is mapped to class 0x68, instance 0x02, attribute 0x09, as shown in the table below. The following parameters will be used to set up this explicit message. Interger File N10 High Byte Low Byte N10:0 TXID=0x01...
  • Page 71 Explicit Messaging Quick Start Integer File N11 High Byte Low Byte N11:0 TXID=0x01 COMMAND=0x01 N11:1 PORT=0x00 SIZE OF DATA FIELD=0x04 N11:2 SERVICE=0x90 (Successful Transmit) MacID=0x04 N11:3 LOW DATA WORD = 0x7D0 N11:4 HIGH DATA WORD = 0x00 Get other manuals https://www.bkmanuals.com...
  • Page 72 Epsilon Ei DeviceNet Drive Reference Manual Get other manuals https://www.bkmanuals.com...

  • Page 73: Drive Parameters

    Epsilon Ei DeviceNet Drive Reference Manual Drive Parameters This section lists all parameters available for Epsilon Ei DeviceNet drive. The tables provide the following information about each parameter: Name The parameter’s name DeviceNet Data Type INT, UINT = 16 bit value DINT, UDINT = 32 bit value BOOL = Bit Word = Bitmap 16...
  • Page 74 Epsilon Ei DeviceNet Drive Reference Manual Name DN Data Type Class Instance Attribute Execute.ExecuteStopAllMotion BOOL 101 (0x65) 1 (0x01) 3 (0x03) Execute.ExecuteWriteBaseDriveRAMtoNVM BOOL 101 (0x65) 1 (0x01) 4 (0x04) Fault.FaultInstance#.Code WORD 102 (0x66) See Note 1 1 (0x01) Fault.FaultInstance#.PowerUpCount UINT 102 (0x66) See Note 1 2 (0x02)
  • Page 75 Drive Parameters Name DN Data Type Class Instance Attribute InputLine.DriveEnableInputDebouncedStatus BOOL 106 (0x6A) 1 (0x01) 9 (0x09) InputLine.DriveEnableInputRawStatus BOOL 106 (0x6A) 1 (0x01) 10 (0x0A) InputLine.DriveEnableInputStatus BOOL 106 (0x6A) 1 (0x01) 11 (0x0B) InputLine.EnableDebounceTime UINT 106 (0x6A) 1 (0x01) 8 (0x08) InputLine.InputLineInstance#.DebouncedStatusArray BOOL 106 (0x6A)
  • Page 76 Epsilon Ei DeviceNet Drive Reference Manual Name DN Data Type Class Instance Attribute ProductID.Option1IDFunctionModule UINT 111 (0x6F) 1 (0x01) 5 (0x05) ProductID.Option2IDAnybus1 UINT 111 (0x6F) 1 (0x01) 6 (0x06) ProductID.Option3IDAnybus2 UINT 111 (0x6F) 1 (0x01) 7 (0x07) ProductID.ProductGroup UINT 111 (0x6F) 1 (0x01) 8 (0x08) ProductID.ProductID...

  • Page 77: By Devicenet Class

    Drive Parameters Name DN Data Type Class Instance Attribute Tuning.EnableFeedforwards WORD 115 (0x73) 1 (0x01) 1 (0x01) Tuning.Friction UINT 115 (0x73) 1 (0x01) 2 (0x02) Tuning.LoadIntertia UINT 115 (0x73) 1 (0x01) 3 (0x03) Tuning.LowPassFilterEnable WORD 115 (0x73) 1 (0x01) 4 (0x04) Tuning.LowPassFilterFrequency UINT 115 (0x73)
  • Page 78 Epsilon Ei DeviceNet Drive Reference Manual Name DN Data Type Class Instance Attribute DeviceNet.DeviceNetIdentityObject.VendorID UINT 1 (0x01) 1 (0x01) 1 (0x01) DeviceNet.DeviceNetIdentityObject.DeviceType UINT 1 (0x01) 1 (0x01) 2 (0x02) ProductSubGroup UINT16 1 (0x01) 1 (0x01) 3 (0x03) ModuleFirmwareRevision String:4 1 (0x01) 1 (0x01) 4 (0x04) DeviceNet.DeviceNetIdentityObject.DeviceStatus...
  • Page 79 Drive Parameters Name DN Data Type Class Instance Attribute Index.IndexInstance#.Velocity UDINT 104 (0x68) See Note 1 9 (0x09) Index.Instance#.RegistrationOffset DINT 104 (0x68) See Note 1 10 (0x0A) Index.CurrentIndexCount UINT 104 (0x68) 1 (0x01) 21 (0x15) Index.CurrentIndexNumber UINT 104 (0x68) 1 (0x01) 22 (0x16) Index.ChainingCount UINT...
  • Page 80 Epsilon Ei DeviceNet Drive Reference Manual Name DN Data Type Class Instance Attribute OutputLine.OutputLinesStatusBitMap WORD 109 (0x6D) 1 (0x01) 4 (0x04) Position.FollowingError DINT 110 (0x6E) 1 (0x01) 1 (0x01) Position.FollowingErrorEnable WORD 110 (0x6E) 1 (0x01) 2 (0x02) Position.FollowingErrorLimit DINT 110 (0x6E) 1 (0x01) 3 (0x03) Position.RolloverPosition...
  • Page 81 Drive Parameters Name DN Data Type Class Instance Attribute Status.OptionSerialNumber String 113 (0x71) 1 (0x01) 13 (0x0D) Status.TorqueFeedback 113 (0x71) 1 (0x01) 14 (0x0D) Status.TotalCommandChangeOut DINT 113 (0x71) 1 (0x01) 15 (0x0E) Status.TotalPowerUpTime UDINT 113 (0x71) 1 (0x01) 16 (0x10) Status.VelocityCommand DINT 113 (0x71)
  • Page 82 Epsilon Ei DeviceNet Drive Reference Manual Get other manuals https://www.bkmanuals.com...

  • Page 83: Appendix

    Epsilon Ei DeviceNet Drive Reference Manual Appendix Get other manuals https://www.bkmanuals.com...
  • Page 84 Epsilon Ei DeviceNet Drive Reference Manual Get other manuals https://www.bkmanuals.com...
  • Page 85 Appendix Get other manuals https://www.bkmanuals.com...
  • Page 86 Epsilon Ei DeviceNet Drive Reference Manual Get other manuals https://www.bkmanuals.com...

  • Page 87: Glossary

    Epsilon Ei DeviceNet Drive Reference Manual Glossary Application Objects These implement the intended purpose of the product. Attribute A sub-classification for a parameter or bit. The attribute is grouped directly under the more broad category of class. Example: Class = Index, Attribute = Index Dwell. Each Attribute accessible to the user is assigned a number (See “Drive Parameters”...
  • Page 88 Epsilon Ei DeviceNet Drive Reference Manual Drop Line A DeviceNet cable that runs from the trunk of a system to a device. Electronic Data Sheet file is a formatted ASCII file that contains configuration information of the device. Epsilon Drive The Epsilon drive is a digital positioning drive.
  • Page 89 Glossary I/O Connections These provide dedicated, special-purpose communication paths between a producing application and one or more consuming applications. Application specific I/O data moves through these ports. Link Consumer Object This object is used by a Connection Object to receive data from DeviceNet. Link Producer Object This object is used by a Connection Object to transmit data onto DeviceNet.
  • Page 90 Epsilon Ei DeviceNet Drive Reference Manual UCMM The Unconnected Message Manager processes DeviceNet Unconnected Explicit messages. Get other manuals https://www.bkmanuals.com...

  • Page 91: Index

    Epsilon Ei DeviceNet Drive Reference Manual Index Dn Comm Timeout Fault Count, 25 DN Device Type, 25 DN Duplicate MacID Fault Count, 31 Accessing the EDS File, 31 DN FAB Master Receive Block, 25 DN FAB Master Send Block, 26 DN Host Mode, 26 DN MacID, 26 DN Master Receive Bitmap, 27...
  • Page 92 Epsilon Ei DeviceNet Drive Reference Manual Overview, 5 Output Word Select Data Pointer, 15 Host/Remote Mode, 18 How to Send Explicit Messages, 53 PLC Program, 56 Polled I/O Setup, 36 Polled/Explicit Messaging Virtual LED’s, 20 Position Control, 12, 45 Implicit Messaging, 9 Index, 79 Index Sel (Predef), 36 Index Sel (Userdef), 38...
  • Page 93 Index Write Index 1 Velocity, 57 Get other manuals https://www.bkmanuals.com...
  • Page 94 Epsilon Ei DeviceNet Drive Reference Manual Get other manuals https://www.bkmanuals.com...
  • Page 95 Get other manuals https://www.bkmanuals.com...
  • Page 96 For more information about Control Techniques “Motion Made Easy” products and services, call (800) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A. Customer Service...

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