Control Techniques UD77 DeviceNet User manual

User Guide
UD77
DeviceNet
Option Module
For Unidrive
Part Number: 0460-0077
Issue Number: 2

!SAFETY INFORMATION
Persons supervising and performing the electrical installation or maintenance of a
Drive and/or an external Option Unit must be suitably qualified and competent in
these duties. They should be given the opportunity to study and if necessary to
discuss this User Guide before work is started.
The voltages present in the Drive and external Option Units are capable of inflicting
a severe electric shock and may be lethal. The Stop function of the Drive does not
remove dangerous voltages from the terminals of the Drive and external Option
Unit. Mains supplies should be removed before any servicing work is performed.
The installation instructions should be adhered to. Any questions or doubt should
be referred to the supplier of the equipment. It is the responsibility of the owner or
user to ensure that the installation of the Drive and external Option Unit, and the
way in which they are operated and maintained complies with the requirements of
the Health and Safety at Work Act in the United Kingdom and applicable legislation
and regulations and codes of practice in the UK or elsewhere.
The Drive software may incorporate an optional Auto-start facility. In order to
prevent the risk of injury to personnel working on or near the motor or its driven
equipment and to prevent potential damage to equipment, users and operators, all
necessary precautions must be taken if operating the Drive in this mode.
The Stop and Start inputs of the Drive should not be relied upon to ensure safety of
personnel. If a safety hazard could exist from unexpected starting of the Drive, an
interlock should be installed to prevent the motor being inadvertently started.
GENERAL INFORMATION
The manufacturer accepts no liability for any consequences resulting from
inappropriate, negligent or incorrect installation or adjustment of the optional
operating parameters of the equipment or from mismatching the Drive with the
motor.
The contents of this User Guide are believed to be correct at the time of printing. In
the interests of a commitment to a policy of continuous development and
improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the User Guide, without notice.
All rights reserved. No part of this User Guide may be reproduced or transmitted in
any form or by any means, electrical or mechanical including photocopying,
recording or by any information storage or retrieval system, without permission in
writing from the publisher.
Copyright © January 2001 Control Techniques SSPD
Author Paul Bennett
Issue Code Issue 2
System File V2.07.03 or later
Hardware (UD77) UD77A Issue 2, UD77B Issue 4, UD77TB Issue 01.00
Firmware (UD77) V2.00.00

Contents
1Introduction 7
1.1 DeviceNet Interface for Unidrive 7
1.2 Product Conformance Certification 7
1.3 Overview Specification 7
2Mechanical Installation 8
2.1 Unidrive 8
3Electrical Installation 9
3.1 DeviceNet Connectors 9
3.2 DeviceNet Connections 10
3.3 DeviceNet Cable 10
3.4 DeviceNet Cable Screen Connections 10
3.5 DeviceNet Network Termination 11
3.6 Maximum Network Length 12
3.7 External Power Supply 12
4Getting Started 13
4.1 Basic Communications Quick Start 13
4.2 DeviceNet Node Address 13
4.3 DeviceNet Data Rate 14
4.4 Product Code Elaboration 14
4.5 Data Format 14
4.6 Node Status 15
4.7 Network Status 15
4.8 Network Loss Trip 16
4.9 Initialising Set-up Changes 16
5Polled Data 17
5.1 What is Polled Data?? 17
5.2 DeviceNet Data Format 17
5.3 Mapping Parameters on Unidrive 18
5.4 Internal 32-Bit Parameters on UD70 18
5.5 Storing Parameters 19
5.5.1 Saving Unidrive Parameters (Menu 1 to 19) 19
5.5.2 Saving UD70 Parameters (Menu 20 and Internal) 19
5.6 Mapping Conflicts 20
5.6.1 Control Word Mapping Conflicts 20
5.7 Fieldbus Control Word for Unidrive 21
5.8 Fieldbus Status Word for Unidrive 23
5.9 Disabling Cyclic Data Channels 23
6Explicit Data 24
6.1 Explicit Parameter Access 24

7Support Files 25
7.1 What are EDS Files? 25
7.2 Generic EDS Files 25
7.3 EDS File Revisions 26
7.4 Advanced EDS Files 26
8Diagnostics 27
8.1 Fieldbus Code 27
8.2 Firmware Version 27
8.3 System File Version 28
8.4 Node Address 28
8.5 Network Data Rate 28
8.6 Number of Network Messages 28
8.7 Node Status 29
8.8 Network Status 29
8.9 No Data Transfer 29
8.10 Unidrive Trip Codes 30
9Advanced Features 31
9.1 Network Loss Trip 31
9.2 Unidrive Sequencing Mode 3 32
9.3 Drive Reset Using The DeviceNet Network 33
9.3.1 Reset Without DPL Code 33
9.3.2 Reset Using Explicit Communications 33
9.3.3 Reset Using DPL Code 34
9.4 Non-Cyclic Parameter Store 34
9.5 EVENT Task Trigger on UD70 35
9.6 Multi-Master Networks 35
9.7 Supported Drive Profiles 35
9.7.1 Basic Speed Control 36
9.7.2 Extended Speed Control 37
9.7.3 Basic Speed and Torque Control 37
9.7.4 Extended Speed and Torque Control 38
9.7.5 Basic Speed Control 38
9.7.6 Basic Speed and Torque Control 39
9.8 Object Model 39
9.9 Identity Object 40
9.9.1 Vendor ID 40
9.9.2 DeviceType 40
9.9.3 Product Code 40
9.9.4 Revision 41
9.9.5 Status 41
9.9.6 Serial Number 41
9.9.7 Product Name 41
9.10 DeviceNet Object 42
9.10.1 MAC-ID 42
9.10.2 Data Rate 42
9.10.3 Bus Off Interrupt 43
9.10.4 Bus Off Counter 43

9.10.5 Allocation Byte 43
9.11 Control Supervisor Object 44
9.11.1 RunFwd 44
9.11.2 RunRev 45
9.11.3 NetCtrl 45
9.11.4 RunningFwd 45
9.11.5 RunningRev 45
9.11.6 Ready 46
9.11.7 Faulted 46
9.11.8 FaultRst 46
9.11.9 FaultCode 46
9.11.10 OutputAssembly 47
9.11.11 InputAssembly 47
9.11.12 DriveEnable 48
9.11.13 ZeroParam 48
9.12 AC/DC Drive Object 48
9.12.1 AtReference 49
9.12.2 NetRef 49
9.12.3 DriveMode 49
9.12.4 SpeedActual 49
9.12.5 SpeedRef 50
9.12.6 TorqueActual 50
9.12.7 TorqueRef 50
9.13 Motor Data Object 50
9.13.1 MotorType 51
9.13.2 RatedCurrent 51
9.13.3 RatedVoltage 51
9.14 Control Techniques Object 51
10 Quick Reference 53
10.1 Complete Parameter Reference 53
10.2 DeviceNet Data Format 53
10.3 Fieldbus Control Word 54
10.4 Fieldbus Status Word 55
10.5 Unidrive Trip Codes 56

Issue Number: 2 7
1 Introduction
NOTE Unidrive parameters are denoted in this manual by “#MM.PP”, where
MM refers to the menu number, and PP refers to the parameter
number within that menu. Please refer to the Unidrive Advanced User
Guide for a full list of parameter definitions.
1.1 DeviceNet Interface for Unidrive
The Unidrive DeviceNet interface is supplied as an option module, with
the DeviceNet using a UD70 as the host. The UD70 does not lose any
functionality when the DeviceNet interface is fitted. The fastest data
rate currently supported is 500 Kbits/sec.
The Unidrive supplies all power requirements for the Unidrive
DeviceNet interface. A DeviceNet network power supply must also be
connected, but this power supply does NOT keep the UD70 powered up
when the Unidrive is switched off.
1.2 Product Conformance Certification
The Unidrive DeviceNet interface was submitted to the Open DeviceNet
Vendors Association for conformance testing. All tests were successful,
and the Unidrive DeviceNet interface was awarded full DeviceNet
Conformance Certification. Refer to the ODVA Web Site at
“www.odva.org“for further details.
1.3 Overview Specification
• Supported data rates (bits/sec): 500k, 250k, 125k
• Three polled 16 bit input/output words, all can be mapped to and
from Unidrive parameters
• Explicit data allows access to all Unidrive parameters
• 6 DeviceNet Drive Profiles supported

8Issue Number: 2
2 Mechanical Installation
Warning
The Unidrive must be disconnected from the mains supply
before installing or removing an option module.
2.1 Unidrive
1. Slide the option module into the Unidrive.
2. Push the option module into the Unidrive until it clicks into place.

Issue Number: 2 9
3 Electrical Installation
3.1 DeviceNet Connectors
The Unidrive DeviceNet Interface provides a standard 5-way screw
terminal socket (A) to connect to the DeviceNet network. A small
converter board in provided to convert from the 9-way D-type connector
Connectors C and D on the Unidrive DeviceNet interface are the RS232
(C) and RS485 (D) ports of the UD70.
AB
CD
12345
The pin connections for the DeviceNet connector are given in the table
below. (Pins are numbered 1 to 5 from left to right on the above
diagrams.)
Terminal Signal Function
1 0v 0V Isolated
2 CAN_L Negative data line
3 SHIELD Cable braided shield connection
4 CAN_H Positive data line
5 VDC +24V DeviceNet power supply

10 Issue Number: 2
3.2 DeviceNet Connections
To connect the Commander SE to the DeviceNet network, make the
connections as shown in the diagram below. The length of the "pigtail"
shield connection should be kept as short as possible.
CAN-L CAN-H
0V +24VShield
12345
0V
+24V
CAN-L
CAN-H
3.3 DeviceNet Cable
DeviceNet networks (like most fieldbus systems) run at high data rates,
and consequently require cable specifically designed to carry high
frequency signals. Low quality cable may attenuate the signals, and
thus render the signal unreadable for the other nodes on the network.
Details of approved cables types and their manufacturers can be found
on the Open DeviceNet Vendors Association web site at
“www.odva.org”.
NOTE The Open DeviceNet Vendors Association and Control Techniques
can only guarantee correct and reliable operation of a DeviceNet
network if all components (including the network cable) installed have
full Product Conformance Certification from the ODVA.
3.4 DeviceNet Cable Screen Connections
The Unidrive DeviceNet interface should be wired with the cable shields
isolated from earth at each Drive. The cable shields should be linked
together at the point where they emerge from the cable, and formed into
a short pigtail to be connected to pin 3 on the DeviceNet connector.
(See section 3.2)

Issue Number: 2 11
3.5 DeviceNet Network Termination
There is no termination resistor supplied on the Unidrive DeviceNet
interface. It is the user’s responsibility to ensure that both ends of each
section of network cable are correctly terminated.
A 120Ω0.25W resistor should be connected between the CAN_H and
CAN_L lines at each end of the main trunk cable, as shown in the
diagram below.
CAN-L CAN-H
0V +24VShield
1 2 3 4 5
Fit 120W 0.25W network
termination resistor between
CAN-Land CAN-H
0V
+24V
CAN-L
CAN-H
NOTE The above method of connecting the termination resistor ensures that
the network remains terminated when the DeviceNet connector is
disconnected from the node.
It is very important in high-speed communications networks that the
network communications cable is correctly terminated. Failure to
terminate the network properly may mean that the network operates
with substantially reduced noise immunity, or in the worst case, the
network doesn’t work at all.

12 Issue Number: 2
3.6 Maximum Network Length
The data rate that can be used depends mainly on the length of cable
that is being used in the network, so the physical layout of the network
must be considered during the network design stage of a project.
Data Rate (bits/sec) 125K 250K 500K
Max Trunk Distance 500m 250m 100m
Max Drop Length 6m 6m 6m
Cumulative Drop Length 156m 78m 39m
Number of Nodes 64 64 64
DeviceNet networks usually consist of a main terminated trunk cable
length, with a series of drop cable lengths (without termination) running
off the main trunk cable.
For a detailed description about the limitations and requirements for
installing a DeviceNet network, refer to Allen Bradley Publication
Number DN-6.7.2. (This document is available from the Allen Bradley
web site at “www.ab.com”.)
3.7 External Power Supply
An external isolated +24V power supply is required to power the
transceiver circuits in the DeviceNet nodes. The physical location of the
external +24V power supply can be very important, particularly if the
network has several nodes that draw significant power from the supply.
The Unidrive DeviceNet interface is powered by the Unidrive internal
power supply. However, the external +24V power supply must be
connected to meet ODVA specifications. Each Unidrive DeviceNet
interface draws 5mA max from the external supply.
For detailed instructions on designing the layout of the network and
determining power supply requirements, Allen Bradley Publication
Number DN-6.7.2. (This document is available from the Allen Bradley
web site at “www.ab.com”.)

Issue Number: 2 13
4 Getting Started
The Quick Start section shows the basic parameter configurations
required for the DeviceNet interfaces to establish communications.
Polled and Explicit data explanations are given in chapters 5 and 6.
NOTE Parameters #20.01 to #20.20 and #20.50 are reserved for configuring
the DeviceNet interface, and should not be used in DPL programs.
4.1 Basic Communications Quick Start
DeviceNet communications can be established with the Unidrive
DeviceNet interface simply by configuring the node address and data
rate.
• Plug the DeviceNet module into the Unidrive.
• Power up the Unidrive.
• Set the MAC-ID (node address) in #20.05 as required.
• Set the Data Rate in #20.08as required.
• Ensure Product Code Elaboration (#20.12) is set to 0.
• Set #17.19 to 1 to store and reset the UD70.
The DeviceNet interface will re-initialise, and configure itself with the
new node address and data rate.
Function Unidrive Recommended
Setting
Node Address #20.05 1 to 62
Data Rate #20.08 0 to 2
Network Loss Trip #20.11 48
Product Code
Elaboration #20.12 0
4.2 DeviceNet Node Address
Unidrive: #20.05
Every node must be given a unique network address. If a node is
assigned an address, and that address already exists on the DeviceNet
network, the node will not join the network. The valid range of
addresses is from 1 and 255.

14 Issue Number: 2
4.3 DeviceNet Data Rate
Unidrive: #20.08
All nodes on DeviceNet must be configured to run at the same data
rate. The range of data rates available is shown in the table below.
#20.08 Data Rate
(bits/sec)
0 125K
1 250K
2 500K
4.4 Product Code Elaboration
Unidrive: #20.12
Ensure that this parameter is set to 0. For details on using this
parameter, refer to section 7.4.
4.5 Data Format
The Unidrive DeviceNet interface has a data format of 3 Polled Words,
as used on Mentor II and Commander SE. Each polled data word is
mapped to a Unidrive parameter with default mappingsas shown in the
table below.
Cyclic
Channel Default Mapping Status
IN Word 0 Status word
IN Word 1 Post-ramp speed reference
IN Word 2 Motor active current
OUT Word 0 Control word
OUT Word 1 Digital speed reference 1
OUT Word 2 Torque reference

Issue Number: 2 15
4.6 Node Status
Unidrive: #20.09
When the Unidrive is powered up, the DeviceNet interface will initialise
the internal hardware, and go into the standby mode. The node will
switch to “Operational” mode when the master controller starts
communicating with the node.
#20.09 Status Description
1 Operational The node is configured, and is
communicating with a master
controller
2 Standby mode The node is configured and on-line,
but has not been initialised by a
master controller
5 No=+24V external
power supply The external +24V power supply is not connected. This power supply
MUST be connected for the Unidrive
DeviceNet interface to operate
10 Hardware fault Internal hardware error, the DeviceNet
interface could not be initialised
4.7 Network Status
Unidrive: #20.10
When the Unidrive is powered up, and the DeviceNet interface has
initialised, the node will attempt to join the network. If another node is
detected with the same MAC-ID, it will not join the network.
#20.10 Status Description
1 Offline The node is offline. Check the wiring,
and that there is no node with the
same MAC-ID
2 Online, not connected The node is on-line, but has not been
initialised by a master controller
3 Online, connected The node is on-line and connected to
a master controller
4 Online, connection
time-out The polled connection is in the timed- out state, or a Bus Off error has
occurred, The node should have
tripped either tr62 )if enabled) of tr60
10 Critical link failure Internal hardware failure

16 Issue Number: 2
4.8 Network Loss Trip
Unidrive: #17.14
If the DeviceNet network stops operating, the interface will trip the
Unidrive on "tr60". The default time delay between network loss and
Unidrive trip is 48ms, so the actual delay to trip will be between 48ms
and 96ms. (See section 9.1 for more details.) The master controller
will automatically detect that the slave node has gone missing from the
network, and will update relevant status registers.
NOTE Changes to #17.PP parameters in the Unidrive do not take effect until
the UD70 has been reset. See section 4.9.
4.9 Initialising Set-up Changes
UD70 (#17.PP) and DeviceNet (#20.PP) configuration parameters are
only read during the initialisation sequence of the UD70. This prevents
corruption of the configuration while parameters are being edited.
When parameters have been configured, the UD70 must be reset to
implement any changes made to the configuration parameters.
To reset from the UD70, set #MM.00 to 1070, and press the red RESET
button on the Unidrive. Any changes made to the DeviceNet
configuration will now take effect.
NOTE Resetting the UD70 does not store the #20.PP configuration
parameters, so these changes will be lost when the Unidrive is
powered down. See section 5.5.2 for details on how to store UD70
parameters.

Issue Number: 2 17
5 Polled Data
The default DeviceNet configuration contains three 16-bit IN data words
and three 16-bit OUT data words. These data words are classed as
“polled data channels”.
NOTE “OUT data” and “IN data” describe the direction of data transfer as
seen by the PLC scanner.
5.1 What is Polled Data??
Polled data is a method data transfer that must be set-up during
network configuration, but is transmitted automatically once
configuration is complete. The high-speed data transfer is achieved by
transmitting only a 16-bit data value for each polled channel over the
DeviceNet network, and relying on local mapping information within the
Unidrive to ensure the correct data is sent to the correct locations. This
method relies on the PLC program writing and reading data values to
and from the registers allocated to the node during network
configuration, and the source and destination of IN and OUT data being
set-up correctly in the Unidrive itself.
The flexibility of the Unidrive DeviceNet interface means that each
polled data OUT channel can be directed to any read-write Unidrive
parameter. Similarly, each polled data IN channel can use any Unidrive
parameter as asource of data.
NOTE The mapping configuration cannot be changed dynamically, as the
UD70 must be reset before changes to the mapping become active.
5.2 DeviceNet Data Format
The Unidrive DeviceNet interface has a data format of 3 polled data
words. Explicit data must be used for non-cyclic communications.
Non-cyclic
mode Polled words Comments
Explicit 3 This is the same data format as Mentor II,
and Format 0.03 on Commander SE

18 Issue Number: 2
5.3 Mapping Parameters on Unidrive
The mapping for the cyclic data channels on the Unidrive DeviceNet
interface can be set from the Unidrive keypad using #20.PP
parameters.
The mapping method is similar to the method used for mapping
analogue inputs and outputs. The value entered in the mapping
parameter takes the form MMPP, where MM = menu number of the
target parameter and PP = parameter number of the target parameter.
NOTE #20.01 to #20.20, and #20.50 are all reserved for DeviceNet set-up and
configuration, and should not be used in DPL programs.
The default mapping values are shown in the table below.
Cyclic
Channel Mapping Parameter Default Mapping Status
IN Word 1 #20.07 #90.11, fieldbus status word
IN Word 2 #20.03 #2.01, post-ramp speed reference
IN Word 3 #20.04 #4.02, torque-producing current
OUT Word 1 #20.06 #90.11, fieldbus control word
OUT Word 2 #20.01 #1.21, digital speed reference 1
OUT Word 3 #20.02 #4.08, torque reference
NOTE If a mapping parameter is set to an invalid value, e.g. destination
parameter is read only, or parameter does not exist, the Unidrive will
reset the mapping parameter (#20.PP) to its default value.
If a cyclic channel is not required, setting the mapping value to -1 will
disable it. The data word will still be transmitted over the network, but
the data value will not be written to any Unidrive parameter.
NOTE The cyclic data channels do not use decimal points. For example, the
digital speed reference 1 (#1.21) has units of Hertz, accurate to 1
decimal place. To write a value of 24.6Hz to #1.21, the value must be
transmitted as 246.
5.4 Internal 32-Bit Parameters on UD70
The Unidrive DeviceNet Interface has a set of internal 32-bit registers in
the UD70. These are addressed as _Pxx%, _Qxx%, _Rxx% or _Sxx%
from the DPL program, and the _Qxx% registers are used with the
internal position controller in the UD70.
A 32-bit cyclic channel can be created forIN data, OUT data or both, by
combining polled channels 1 and 2,or channels 2 and 3. This allows full
32-bit values to be directly transferred between the UD70 and the
controlling PC or PLC. (See the “User’s Guide” for the UD70 for more
information.)

Issue Number: 2 19
The 32-bit cyclic channel is configured by mapping IN or OUT polled
data channel 1 (#20.06 or #20.07) to a 32 bit register. Channel 2 will
contain the data high word (upper 16 bits of the 32-bit register),
irrespective of the mapping value set for channel 2. If channel 2 is
mapped to a 32-bit register, channel 2 will contain the data low word
(lower 16 bits of the 32-bit register) and channel 3 will automatically
contain the data high word.
The 32-bit registers are addressed as parameters in menu 70 to menu
73. (See table below.) To map a cyclic channel to one of these
registers, the parameter reference must be entered in the appropriate
mapping parameter.
Registers Parameter
Reference
_P00% - _P99% #70.00 to #70.99
_Q00% - _Q99% #71.00 to #71.99
_R00% - _R99% #72.00 to #72.99
_S00% - _S99% #73.00 to #73.99
NOTE If all polled channels are mapped to 32 bit registers, polled channels 1
and 2 will be combined to a 32-bit channel and written to or read from
the mapped parameter for channel 1. (The mapping for channel 2 will
be ignored.) Channel 3 will be read from or written to the low 16-bits
of the mapped parameter.
5.5 Storing Parameters
Although any changes to the mapping will take effect after a UD70 reset
sequence, the new values must be stored in non -volatile memory if they
are to be restored automatically when the Interface is next powered up.
5.5.1 Saving Unidrive Parameters (Menu 1 to 19)
To initiate the Unidrive parameter save sequence, set #MM.00 to 1000
and press the red RESET button on the keypad.
All parameters in these menus are saved in the EEPROM in the
Unidrive. If the Unidrive DeviceNet interface is replaced, the Unidrive
will retain all values in menu 1 through menu 19 when the Unidrive is
next powered up.
5.5.2 Saving UD70 Parameters (Menu 20 and Internal)
To initiate the non-volatile save sequence for these parameters, set
#17.19 to 1. The UD70 will then store menu 20 and the internal 32-bit
parameters, clear #17.19 back to zero and completely reset itself.
All menu 20 parameters and internal 32-bit parameters (_Pxx% and
_Qxx%) are stored in the FLASH memory of the UD70. If the Unidrive
DeviceNet interface is replaced, the menu 20 parameters may need to
be re-configured. If the replacement module has been used before, the
stored values may be different from the normal default settings.
The UD70 can also be configured to store these parameters
automatically when the Unidrive powers down. The store routine is

20 Issue Number: 2
triggered when an under-voltage (UU) trip occurs. Set #17.20 to 1,
store the Unidrive parameters and reset the UD70 to enable this
feature.
5.6 Mapping Conflicts
When the mapping parameters for the DeviceNet cyclic channels are
set, care must be taken to ensure that there are no clashes with the
mapping of the analogue and digital inputs within the Unidrive. The
Unidrive DeviceNet interface will not indicate any conflict of mapping
parameters. This only applies to analogue and digital inputs, and OUT
data on the DeviceNet network.
If a numerical parameter is written to from two different sources, the
value of this parameter will depend entirely upon the scan times for the
analogue or digital input and the DeviceNet network. Further confusion
may be caused due to the update rate of the display. A parameter may
appear to be steady at a particular value, but occasionally glitch in the
value will be seen. In reality, this value may be changing continuously,
leading to erratic behaviour.
Function Mapping
Parameter Function Mapping
Parameter
Analogue I/P 1 #7.10 Logic O/P 2 #9.20
Analogue I/P 2 #7.14 Motorised Pot O/P #9.25
Analogue I/P 3 #7.18 Binary Summer #9.33
Digital I/P 1 #8.10 Comparator 1 O/P #12.07
Digital I/P 2 #8.13 Comparator 2 O/P #12.17
Digital I/P 3 #8.16 Reference Input #13.06
Digital I/P 4 #8.19 PID O/P #14.16
Digital I/P 5 #8.21 Cyclic OUT Word 1 #20.06
Digital I/P 6 #8.23 Cyclic OUT Word 2 #20.01
Logic O/P 1 #9.10 Cyclic OUT Word 3 #20.02
Ensure that each Unidrive parameter in the table above has a different
value programmed. A value of 0 will disable analogue and digital
inputs, and -1 will disable the cyclic data channels.
5.6.1 Control Word Mapping Conflicts
The control word provides a method of writing to multiple bit parameters
using one data word. If one of the cyclic data channels is writing to the
control word, the following bit parameters for each Unidrive must not be
controlled by any digital inputs.
Function Param
Function Param
Enable #6.15 Preset ref select bit 1 #1.46
Run Forwards #6.30 Application bit #18.31
Jog #6.31 Application bit #18.32
Run Reverse #6.32 Application bit #18.33
Preset ref select bit 0 #1.45