Eurotherm SSD Drives 635 User manual

Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
DeviceNet
Bus interface DeviceNet for
Digital servo controller 635/637/ 637+
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2Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
Further documentations, related to this document.
UL:
DeviceNet Specification
UL: 07-01-05-06
635 - Product-manual
UL: 07-02-08-03
637 - Product-manual
UL: 07-02-09-01
637+ - Product-manual
UL: 10-06-05
BIAS - Command Description
UL: 10-06-03
Serial transfer protocol
EASY-serial - Product Description
EUROTHERM Drives Limited.
All rights reserved. No portion of this description may be produced or processed in any form without the
consent of the company.
Changes are subject to change without notice.
EUROTHERM has registered in part trademark protection and legal protection of designs.
The handing over of the descriptions may not be construed as the transfer of any rights.
Made in Germany, 2002
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 3
CONTENTS
page
The most important thing first........................................................................................ 5
1 User manual for the Digital drive 635/637/637+ with the
bus system DeviceNet ........................................................................................... 6
1.1 Layout ................................................................................................................................6
2 Basic features of the DeviceNet bus with 635/637/637+..................................... 7
2.1 Communication ..................................................................................................................7
2.2 Vendor ID........................................................................................................................... 7
2.3 Nodeaddress, MAC ID.......................................................................................................7
2.4 Bus termination ..................................................................................................................7
2.5 Baudrate adjustment...........................................................................................................8
2.6 Pin assignment for COM2..................................................................................................9
2.7 Cables and accessories .......................................................................................................9
3 DeviceNet data transfer ...................................................................................... 10
4 Configuration....................................................................................................... 11
4.1 Short list of instructions for initialization 635/637/637+ for DeviceNet bus connection 11
5 Definitions of the data fields............................................................................... 12
5.1 Numbers representation in the serial commands .............................................................13
5.1.1 2 byte hexadecimal values (WORD)................................................................................13
5.1.2 4 byte hexadecimal values (LWORD) .............................................................................13
5.2 Parameter scaling ............................................................................................................. 13
6 Vendor class 100: Receive control block........................................................... 14
6.2 Host login / logout (1/2)...................................................................................................15
6.3 Control word „start absolute“(3) and „start incremental“(4)...........................................15
6.4 Control word „start search for reference“(5) ................................................................... 16
6.5 Control word „stop“(6) ....................................................................................................16
6.6 Control word “stop with braking ramp“(7)......................................................................16
6.7 Control word „preset counter“(8) ....................................................................................17
6.8 Control word „set BIAS processing pointer“(9) ..............................................................17
6.9 Control word „move +“(10) and „move -„(11)................................................................ 18
6.10 Control word „move synchronous“(12)...........................................................................18
6.11 Control word „synchron setting“(13)...............................................................................19
6.12 Control word „load ramp“(19) ......................................................................................... 19
6.13 Control words 635/637/637+: „disable/enable“(20/21)...................................................19
6.14 Control word 635/637/637+: „RESET“(22) ....................................................................20
6.15 Control words 635/637/637+: „save data“(23) ................................................................20
6.16 Control word „operating mode speed loop“(24)..............................................................21
6.17 Control word „write variable / flags“(25) ........................................................................21
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4Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
CONTENTS
page
7 Vendor class 100 .................................................................................................. 22
7.1 Vendor class 100: Attr. 100 „read status”........................................................................ 22
7.2 Vendor class 100: Attr. 101 „ext. read status”.................................................................23
8 Vendor class 101: Attr. 0 -255 „read variable“ ............................................... 24
9 Reserved ............................................................................................................... 24
10 Example for operating the 635/637637+ via the DeviceNet bus system......... 25
10.1 Positioning via DeviceNet................................................................................................25
10.2 BIAS programm-selection via DeviceNet .......................................................................29
11 Eurotherm servo controller communicate with the Allen-Bradley plc.......... 31
11.1 Network Configuration with RSNetWorx .......................................................................31
11.2 PLC programing with RSLogix 500 (Allen-Bradley)......................................................32
11.2.1 Transmitting data between the processor files and the M0- / M1-files ...........................33
11.2.2 Programming control for Explicit Messaging Service.....................................................34
12 Reserved ............................................................................................................... 34
13 Standard reference (Homing) modes overview ................................................ 35
13.1 Search for reference and modes .......................................................................................35
13.2 Search for reference to the resolver zero position............................................................36
13.3 Search for reference to the reference sensor ....................................................................37
13.4 Search for reference to the reference sensor and the resolver zero position....................38
13.5 Search for reference with automatic directional selection...............................................38
13.6 Search for reference with reference point shifting...........................................................39
14 Index ..................................................................................................................... 40
15 Modification Record ........................................................................................... 42
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 5
The most important thing first
We thank you for the trust that you have shown in our product.
The operating instructions presented thamseves as an overview of the technical data and features.
Please read the operating instructions before putting the product to use.
If you have any questions, please contact your nearest Eurotherm representative.
Improper application of the product in connection with dangerous voltage, can lead to injuries.
In addition, damage can also occur to motors or other products.
Therefore please observe our safety precautions strictly.
Topic: Safety precautions
We assume that, as an expert, you are familiar with the relevant safety regulations, especially
in accordance with VDE 0100, VDE 0113,VDE 0160, EN 50178, the accident prevention
regulations of the employers liability insurance company and the DIN regulations and that you
can use and apply them. Also the CE - regulations are to be observed and guaranteed.
Depending on the kind of application, additional norms e.g. UL, DIN are to be observed.
If our products are employed in connection with components from other manufacturers, their
operating instructions are also to be observed strictly.
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6Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
1 User manual for the Digital drive 635/637/637+ with the
bus system DeviceNet
A DeviceNet bus interface (RP_DEV) can be integrated as an option into the 635 and 637/637+
digital servo controller. Consequently it is possible to network the 635/637/637+ as participant in
the DeviceNet bus system..
The functions described in this documentation refer to following software version:
Controller firmware: Version >= 6.16
DeviceNet-firmware: Version 2.01
1.1 Layout
a) 635 - top view
b) 637/637+ - top view
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 7
2 Basic features of the DeviceNet bus with 635/637/637+
2.1 Communication
A shielded twisted pair cable is to be used as the bus cable.
(for pin assignment see chapter 2.2)
The DeviceNet interface is galvanically isolated.A CAN-transceiver on the 635/637/637+
can be used for coupling onto the bus in accordance with ISO/DIS 11898..
The maximum cable length depends on the selected transmission rate:
125 kBit/s: approx. 500 m cable length
250 kBit/s: approx. 300 m cable length
500 kBit/s: approx. 100 m cable length
The Digital drive 635/637/637+ supports all data rates listed above.
2.2 Vendor ID
All vendors that produce DeviceNet nodes will be assigned an unique Vendor Identification Code
(Vendor ID) by the ODVA.
The ODVA (Open DeviceNet Vendor Association) is an independent supplier organisation which
manages the DeviceNet Specification and supports the world-wide growth of DeviceNet.
DeviceNet Vendor ID: 609
2.3 Nodeaddress, MAC ID 1
The nodeaddress 0-63 (MAC ID)is selected with the DIL sitches 1-6.
( DIL 1 = 25, DIL 6 = 20!!)
Note: The nodeaddress may only once be assigned in the DeviceNet bus.
2.4 Bus termination
A defined quiescence level on the bus must be guaranteed for communication. It is necessary to
use terminal resistors on both ends of the line.
Is the drive the end of the line is is possible to switch on the terminal resistor with
DIL switch 10 0 "on".
1Media Access Control Identifier
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8Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
Basic features of the DeviceNet bus with 635/637/637+
2.5 Baudrate adjustment
The baudrate is selected with the DIL sitches 7 and 8.
7 8
0 0 = 125 kBaud
0 1 = 250 kBaud
1 0 = 500 kBaud
1 1 = 125 kBaud
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 9
Basic features of the DeviceNet bus with 635/637/637+
2.6 Pin assignment for COM2
Connection plug: SUB D 9-pin-male
The CAN interface is galvanically isolated which makes the physical transmission free
of interference.
Provided module: RP_DEV
Pin Description Designation
1
2 CAN_L bus line (dominant low) CAN_L
3 Ground GND
4
5
6 optional ground (GND)
7 CAN_H bus line (dominant high) CAN_H
8
9 intern not connected;
optional CAN external positive supply.
(CAN_V+)
2.7 Cables and accessories
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10 Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
3 DeviceNet data transfer
In the DeviceNet bus the controller works as a "slave server of class 2".
The initialization and bus configuration is defined in the
"Pre-defined master slave CONNECTION Set".
Data exchange between masterand slave works with „Explicit message“.
Supplementary the controller adds to the objects necessary for connection setup (services),
the services
Get_Attribut_Single 0x0E; read attribut
Set_Attribut_Single 0x10; write attribut
With the the vendor-specific objects
class id 100, instance 1 attribut 100, 101
and
class id 101, instance 1, attribute 0 –255.
is hereby data exchange possible to and from the controller.
The contents of the services are described in chapters 5, 6 and 7 more closely.
function service class instance attribut data
send controlword Set_Attribut_Single 0x10 100 1 100 8 byte
read status Get_Attribut_Single 0x0E 100 1 100 8 byte
read ext.status Get_Attribut_Single 0x0E 100 1 101 8 byte
read variablen Get_Attribut_Single 0x0E 101 1 0 –255 4 byte
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 11
4 Configuration
4.1 Short list of instructions for initialization 635/637/637+ for DeviceNet bus connection
Selection of the baudrate and nodeaddress with the DIL switches.(see chapter 1 and 2)
If the drive is the end of the line switch the bus termination resistor on. (see chapter 2.4)
Note: The nodeaddress may be only once available in the net.
The baudrate must be identical at all devices in the net.
Connect the Digital drive 635/637/637+ with the bus cable to the master.
Switch on the controlvoltage of the drive
Initializing the DeviceNet bus connection on the 635/637/637+ is done automatically with
the plug and play code
After controlvoltage on the drive automatically sends the message:
"Duplicate MAC ID check"
Now communication is possible with the 635/637/637+ via the DeviceNet bus by
using the defined messages..
With the menu item „diagnosis/field bus diagnosis“, the communication state of the
DeviceNet-Bus of the drive can be diagnosed in EASYRIDER software.
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12 Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
5 Definitions of the data fields
With DeviceNet for 635/637/637+ drives, a telegram can contain up to 8 bytes of useful data,
With the 635/637/637+ the the vendor-specific object class id 100, instance 1 attribut 100,101
is a telegram always assembled from 8 bytes of useful data.
The control telegrams consist of a control Word and the subsequent parameter.
The first two bytes form the control word defines the meaning of the telegram. In the remaining
useful data (bytes 2 to 7) are the parameters corresponding to the selected control word.
0. 1. 2. 3. 4. 5. 6. 7. data byte
1 1 1 1 1 1 1 1 number of bytes
| |
control word parameter
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 13
Definitions of the data fields
5.1 Numbers representation in the serial commands
5.1.1 2 byte hexadecimal values (WORD)
Number range ±215 (signed integer)
Example: The hexadecimal value 0123h represents itself as follows:
01 = High-Byte (Byte 1)
23 = Low-Byte (Byte 2)
Precedence within the serial command:
5.1.2 4 byte hexadecimal values (LWORD)
Zahlenbereich ±231 (signed long) A negative speed is created through the 2 complement.
Example: The hexadecimal value 01234567h represents itself as follows:
01 = High-Byte (Byte 1)
23 = Low-Byte (Byte 2)
45 = High-Byte (Byte 3)
67 = Low-Byte (Byte 4)
Precedence within the serial command:
5.2 Parameter scaling
number scaling
speed value = v [rpm]
acceleration, deceleration: value = a [rpm/s] 5
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14 Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
6 Vendor class 100: Receive control block
DeviceNet DATA CHANNEL
(participant →Digital drive 635/637/637+)
6.1 Contents of the control word byte 0
command-
number
dec hex command description notes
0 00
read status
1 01
Host login attention! 2. interface login
2 02
Host logout yes
3 03
start absolute position yes yes
4 04
start incremental position yes yes
5 05
start reference run yes yes reference mode see chapter 9
6 06
stop yes
7 07
stop (with braking ramp) yes
8 08
preset counter yes yes
9 09
set BIAS-processing pointer yes yes only in operating-mode 5 with BIAS
10 0A
move + yes yes
11 0B
move - yes yes
12 0C
move synchron yes yes
13 0D
synchron adjustment yes yes
14 0E
not used
15 0F
not used
16 10
not used
17 11
not used
18 12
not used
19 13
load ramps yes
20 14
deactivate Digital drive yes
21 15
activate Digital drive no
22 16
reset Digital drive yes no
23 17
store data in drive yes no
24 18
operating mode speed (serial) yes
25 19
write variable/ flag
HOST-login necessary
activated drive necessary
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 15
Vendor class 100: Receive control block
6.2 Host login /logout (1/2)
The most applications telegrams to the digital drive only accept after HOST login. The HOST
login is only necessary once a time after power on.
For host login / logout only the control word
of the 635/637/637+ is used. The contents of the data bytes 2 - 7 should be 0.
They are not analyzed.
Note !!: Only one interface will be have a login (COM 1 or COM 2).
0. 1. 2. 3. 4. 5. 6. 7.
1/2 xx xx xx xx xx xx xx (Byte)
|
|
control word (Byte 0 =1 Login , Byte 0 = 2 = Logout)
6.3 Control word „start absolute“(3) and „start incremental“(4)
0. 1. 2. 3. 4. 5. 6. 7.
3/4 xx low-word high- word low high (Byte)
| | |
| | speed
| position
control word (Byte 0 =3 move absolute , Byte 0 = 4 = move incremental)
In the operating mode position control only positive speed values are permitted.
A negative position is created through their 2 complement.
Example:
+ 100.000 ≡0x000186A0
- 100.000 ≡0xFFFE795F
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16 Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
Vendor class 100: Receive control block
6.4 Control word „start search for reference“(5)
0. 1. 2. 3. 4. 5. 6. 7.
5 xx low-word high- word (Byte)
| | | |
| | | not analyzed
| | byte 6: reference mode 0 - 23; see chapter 13
| position
control word
The search for reference is only started, if the Bit “position reached“ is set (= 1).
(See also chapter: -Data contents of the status buffers-)
The speed for the search for reference can be changed with the telegram ‚
move incremental (position = 0 !!)
6.5 Control word „stop“(6)
0. 1. 2. 3. 4. 5. 6. 7.
6 xx xx xx xx xx (Byte)
| | | | | |
| | | | not analyzed
| | | offpos window(0-32768 Incr.)
| not analyzed
control word
6.6 Control word “stop with braking ramp“(7)
0. 1. 2. 3. 4. 5. 6. 7.
7 xx xx xx (Byte)
| | | | |
| | | not analyzed
| | offpos window(0-32768 Incr.)
| deceleration ramp Wert x 5 min
sec
−1]
control word
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 17
Vendor class 100: Receive control block
6.7 Control word „preset counter“(8)
0. 1. 2. 3. 4. 5. 6. 7.
8 xx low-word high- word xx (Byte)
| | | |
| | | not analyzed
| | Byte 6: 1 ≡actual position 1
| | 2
≡actual position 2
| position
control word
6.8 Control word „set BIAS processing pointer“(9)
With this telegram the processing pointer in a BIAS program can be Set to a new line.
In order to be able to use this function the operating mode position control with BIAS processing
must be set in the digital drive.
During the processing of the BIAS program telegrams be still be sent to the digital drive.
In this regard please observe that move commands via the CAN bus and commands of the BIAS
processing have equal status and are processed in the respective task of the digital drive.
0. 1. 2. 3. 4. 5. 6. 7.
9 xx low high xx xx xx xx (Byte)
| | | | | |
| | not analyzed
| |
| BIAS pointer(0-1499)
|
control word
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18 Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
Vendor class 100: Receive control block
6.9 Control word „move +“(10) and „move -„(11)
In position control the axis moves infinitely in
a positive or negative direction.
0. 1. 2. 3. 4. 5. 6. 7.
10/11d
0A/0Bh xx xx xx (Byte)
| | | | |
| | | not analyzed
| |
acceleration ramp
| speed
control word
The move command can be finished with the command „stop 06“ or „stop with ramp 07“.
6.10 Control word „move synchronous“(12)
Starts the position synchronous positioning of the axis according to an external master encoder.
0. 1. 2. 3. 4. 5. 6. 7.
12d
0Ch xx low-word high- word (Byte)
| | | |
| | |
Byte 7:0 = take over
|||immediately
| | | 1 = take over after format
| | |
length (master)
| | |
| | Byte 6:synchronous program no. (1-16)
| | 0 = no profile
| |
| format length (master)
control word
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Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc 19
Vendor class 100: Receive control block
6.11 Control word „synchron setting“(13)
0. 1. 2. 3. 4. 5. 6. 7.
13d
0Dh xx low-word high- word xx xx (Byte)
| | | |
| | not analyzed
| gearfactor (master)
control word
6.12 Control word „load ramp“(19)
0. 1. 2. 3. 4. 5. 6. 7.
19d
13h xx (Byte)
| | | |
| | | offpos window0-32768 Incr.
| |
decelaration ramp [value x 5 min
sec
−1]
| acceleration ramp [value x 5 min
sec
−1]
control word
6.13 Control words 635/637/637+: „disable/enable“(20/21)
0. 1. 2. 3. 4. 5. 6. 7.
20/21d
14h/15h xx xx xx xx xx xx xx (Byte)
| | | | | | |
| not analyzed
control word
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20 Product-manual Type: DeviceNet 07-05-08-02-E-V0502.doc
Vendor class 100: Receive control block
6.14 Control word 635/637/637+: „RESET“(22)
0. 1. 2. 3. 4. 5. 6. 7.
22d
16h xx xx xx xx xx xx xx (Byte)
| | | | | | |
| not analyzed see Product manual
control word kap. Reset of a regulator trouble
6.15 Control words 635/637/637+: „save data“(23)
0. 1. 2. 3. 4. 5. 6. 7.
23d
17h xx xx xx xx xx xx xx (Byte)
| | | | | | |
| not analyzed
control word
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