SEW-Eurodrive MOVIDYN DeviceNet AFD11A User manual

16/042/95
TMOVIDYN®
Servo Controllers
DeviceNet AFD11A Fieldbus Interface
Manual
Edition 05/99
0919 6811 / 0599
'HYLFHý1HW

2 MOVIDYN
®
DeviceNet AFD11A
Im portant Notes
Im portant Notes
•Read this m anual carefully before you start the installation and startup of MOVIDYN®
servo controllers with the AFD11A DeviceNet option.
This manual assumes that the user has access to and is familiar with the documentation on
the M OVIDYN®system, in particular the M OVIDYN®operating instructions.
•Safety notes:
Always follow the safety and warning instructions contained in this manual!
Safety notes are marked as follows:
Electrical hazard, e.g. when working on live wires.
Mechanical hazard, e.g. when working on hoists.
Im portant instructions for safe and fault-freeoperation of the drivenmachine/
system, e.g. pre-setting before startup.
•General safety notes on bus system s:
This communication system allows you to match the M OVIDYN®servo inverter to the spe-
cifics of your application to a very high degree. As with all bus systems, there is a danger of
invisible, external (as far as the inverter is concerned) modifications to the parameters which
give rise to changes in the inverter's behavior. 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.
A requirement offault-freeoperation and fulfillment of any rights to claim under guarantee is
that this information is observed.

MOVIDYN
®
DeviceNet AFD11A 3
Contents
Contents
1 Introduction......................................................................................4
2 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
2.7.3 PIO LED.......................................................................................................9
2.7.4 BIO LED.....................................................................................................10
2.7.5 BUSOFF LED..............................................................................................10
3 Project Planning and Startup ............................................................... 11
3.1 Controller control mode fieldbus .........................................................................11
3.2 Setting up the DeviceNet network using the DeviceNet M anager software..........12
3.2.1 Installing the EDS file ................................................................................12
3.2.2 Connecting the device to an existing network............................................13
3.3 Process data exchange........................................................................................13
3.3.1 Polled I/O...................................................................................................13
3.3.2 Bit-strobe I/O.............................................................................................17
3.4 Parameter data exchange.....................................................................................19
3.4.1 The SEW parameter data channel..............................................................19
3.4.2 Return codes for parameter setting...........................................................22
3.4.3 Timeout of explicit messages....................................................................23
4 Sam ple Application with PLC Type SLC500 .............................................. 24
4.1 Exchange of polled I/O (process data).................................................................26
4.2 Exchange of bit strobe I/O ...................................................................................28
4.3 Exchange of explicit messages (parameter data).................................................29
5 Technical Data ................................................................................ 33
6 Appendix ....................................................................................... 34
6.1 General error codes.............................................................................................34
6.2 Statement of conformance...................................................................................35
6.3 Definitions of terminology ...................................................................................44
7 Index............................................................................................ 45

4 MOVIDYN
®
DeviceNet AFD11A
1 Introduction
1 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.
As wellas this manual on the DeviceNetoption, you should requestthe followingpublications deal-
ing with the topic of fieldbuses in more detail, so as to permit M OVIDYN®to be connected to the
DeviceNet fieldbus system in a straightforward and effective fashion:
• “M OVIDYN®Fieldbus Unit Profile” manual
• “M OVIDYN®Communication Interfaces” manual
• “M OVIDYN®Parameter List” manual
The manual for the M OVIDYN® fieldbus unit profile describes the fieldbus parameters and their
coding, as well as explaining the whole range of various control concepts and application options
in the form of brief examples.
The “M OVIDYN®Parameter List” manual contains a listing of all parameters of the servo controller
which can be read and/or written via the various communications interfaces such as RS-485 and
also via the fieldbus interface.
The M OVIDYN® servo controller in conjunction with the AFD11A option enables you to make the
connection to master automation systems via DeviceNet, thanks to the high-performance, univer-
sal fieldbus interface of the AFD11A option.
MOVIDYN®and DeviceNet
The device behavior of the controller which forms the basis of DeviceNet operation is referred to as
the device profile. It is independent of any particular fieldbus and is therefore a uniform feature.
This provides you, the user, with the opportunity of developing applications irrespective of the
fieldbus. As a result, it isvery easyto change over to other bus systemssuch as INTERBUS (AFI11A
option) or PROFIBUS (AFP11A option).
M OVIDYN®offers you direct access to all drive parameters and functions via the DeviceNet inter-
face. The servo controller is controlled via the high-speed, cyclical process data. Via this process
data channel, you can enter setpoints such as the setpoint speed, ramp generator time for acceler-
ation/deceleration, etc. as well as triggering various drive functions such as enable, control inhibit,
normal stop, rapid stop, etc. However, at the same time you can also use this channel to read back
actual values from the servo controller, such as the actual speed, current, device status, fault num-
ber and also reference signals.
The parameters of the controller are set exclusively using Explicit M essages, whereas the process
data exchange is replicated on the DeviceNet services of Polled I/O or Bit-Strobe I/O. This parame-
ter data exchange enables you to implement applications in which all the important drive parame-
ters are stored in the master programmable controller, so that there is no need for manual
parameter settings on the servo controller itself.

MOVIDYN
®
DeviceNet AFD11A 5
Introduction 1
Every DeviceNetoption 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. The parameter setting process can be performed in a completely automated fashion by the
DeviceNet master (parameter download). This future-oriented variant offers the advantages of
shortening the system startup time and simplifying the documentation of your application pro-
gram, because all the important drive parameters can now be stored directly in your control pro-
gram.
01922AEN
Fig. 1: DeviceNet with M OVITRAC
®
31C, M OVIDRIVE
®
, M OVIDYN
®
and PLC
Using a fieldbussystem requires additional monitoring functions in the drive engineering, e.g. time
monitoring of the fieldbus (fieldbus timeout) as well as rapid stop concepts. For example, you can
specifically adapt the monitoring functions of M OVIDYN®to your application. You can determine,
for instance, which fault reaction of the servo controller should be triggered in the event of a bus
error. A rapid stop is a good idea for many applications, although this can also be achieved by
“freezing” the last setpoints so the drive continues operating with the most recently valid setpoints
(e.g. conveyor belt). The range of control terminal functions is also ensured in fieldbus mode, so
you can continue to implement rapid stop concepts independent of the fieldbus by means of the
servo controller terminals.
The M OVIDYN® servo controller offers you numerous diagnostic options for startup and service
purposes. For example, you can use the integrated fieldbus monitor to check both the setpoints
sent by the master control and the actual values.
Furthermore, you are supplied with numerous additional items of information about the status of
the fieldbus option card. The fieldbus monitor function in conjunction with the M D_SHELL PC soft-
ware offers you an easy-to-use diagnostic facility permitting all drive parameters to be set (includ-
ing the fieldbus parameters) as well as displaying the fieldbus and device status information in
detail.
M OVITRAC 31C
®M OVIDRIVE®
M OVIDYN®
SPS
Communication Interface

6 MOVIDYN
®
DeviceNet AFD11A
2 Installation
2 Installation
2.1 Supported unit types
The AFD11A option for the DeviceNet connection can be operated with all servo controllers in the
M OVIDYN®series.
2.2 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.).
• Keep the option card in its original packaging and do not remove it until it is to be installed.
• Do not touch the option card more than necessary, and only hold it by the edge of the circuit
board. Do not touch any components.
Installing the option card:
1. De-energize the servo controller. Switch off the m ains and the 24 V supply, if used.
2. Remove the black front cover plate on the left-hand side: unscrew the Phillips screws (2
screws).
Im portant: The index of protection for the open unit is IP00. There m ay still be dangerous
voltages for up to 10 m inutes after the unit has been switched off!
3. Insert the option cardinto the guide rails ofthe optionslot with the backplane connector at the
back. M ake sure that the card is also held in the guide rails at the back.
4. Push the backplane connector on the option card into the socket in the housing. The sockets
on the option card must be flush with the axis module cover/compact servo controller.
5. M ount the supplied cover plate over the option slot on the card (2 screws).
6. The AFD11 option card is now fully installed.
2.3 Pin assignm ent
The assignment of connecting terminals is described in the DeviceNet
specification Volume I, Appendix A.
02109AEN
Fig. 2: Pin assignment
Pin no. Abbrev. Meaning Color
1V- 0V24Black
2 CAN_L CAN_L Blue
3 DRAIN DRAIN Bright
4 CAN_H CAN_H White
5V+ 24V Red
Table 1: Connection terminal CAN bus
1
2
3
4
5
AFD11A
option card

MOVIDYN
®
DeviceNet AFD11A 7
Installation 2
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.
2.4 Shielding and routing of the bus cables
Having the bus cable correctly shielded cuts out electrical interference which can occur in an
industrial environment. The following measures ensure the best possible shielding:
• Fasten the retaining screws of plugs, modules and potential compensating cables until finger-
tight.
• Apply the bus cable shielding on both ends.
• Do not route the signal and bus cables in parallel to the power cables (motor leads); use sepa-
rate cable ducts if at all possible.
• Only use metal, grounded cable racks in industrial environments.
• Route the signal cables and the associated potential compensation closely to each other at the
shortest distance.
• Avoid using plug connections to extend bus cables.
• Route the bus cables in close proximity to available grounding surfaces.
• Use bus connectors with a metal-plated or metal housing.
IMPORTANT!
In the event of fluctuations in the ground potential, a compensating current may flow along the
shield which is connected at both ends and to the ground potential (PE). In this case, make ade-
quate provision for potential compensation in accordance with the relevant VDE regulations.
2.5 Bus term ination
In order to avoid disruptions in the bus system due to reflections etc., each DeviceNet segment
must be terminated with 120 Ωbus terminating resistors at the first and last physical participant.
The bus terminating resistor must be wired between terminals 2 and 4 of the bus connector.

8 MOVIDYN
®
DeviceNet AFD11A
2 Installation
2.6 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). The M AC-ID represents the node address of the AFD11A.
2.7 Display elem ents
The display elements comprise 4 bicolor LEDs.
2.7.1 Power-up sequence
All LEDs are tested after the unit is switched on. The LEDs are switched on in the following
sequence as part of the test:
The power-up test is always performed unless the fieldbus is powered with 24 V!
Function Abbrev. Num ber of bits Representation Labeling Meaning
M AC-ID NA 6 bits
e.g. M AC-ID = 2
NA5..0 0..63
Baud rate DR 2 bits
e.g. 10: 500 kbaud
DR1..0 00: 125 kbaud
01: 250 kbaud
10: 500 kbaud
11: Invalid
Table 2: M AC-ID and baud rate setting
Function Abbreviation
M odule/network status LED M odNet
Polled I/O PIO
Bit-strobe I/O BIO
Bus off BUSOFF
Table 3: Display elements
Tim e ModNet LED PIO LED BIO LED BUSOFF LED
0 ms Green Off Off Off
250 ms Red Off Off Off
500 ms Off Green Off Off
750 ms Off Red Off Off
1000 ms Off Off Green Off
1250 ms Off Off Red Off
1500 ms Off Off Off Green
1750 ms Off Off Off Red
2000 ms Off Off Off Off
Table 4: Power-up LED test
S1
S2
NA5
NA4
NA3
NA2
NA1
NA0
01
S1
S2 DR1
DR0
01

MOVIDYN
®
DeviceNet AFD11A 9
Installation 2
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.
2.7.3 PIO LED
The PIO LED checks the polled I/O connection (process data channel). Its range of functions is
described in Table 6.
Status LED Message
Not switched on/
off-line Off • Unit is in off-line status • Unit is performing DUP-M AC check
• Unit is switched off
On-line and in
operational mode Flashes green (1 s cycle) • The unit is on-line and no connection has been set up • DUP-M AC check was performed successfully
• No connection has yetbeen established with a master
• No configuration, wrong configuration or configuration not complete
On-line, operational
mode and connected Green • On-line • Connection has been established with a master
• Connection is active (established state)
M inor fault or
connection timeout Flashes red (1 s cycle) • A correctable error has occurred • Polled I/O or/and bit-strobe I/O connections are in timeout status
• A correctable error has occurred in the unit
Critical fault oder
critical link failure Red • A non-correctable error has occurred •BusOff
• DUP-M AC check has detected an error
Table 5: M odNet LED status
Status LED Message
DUP-M AC check Flashes green
(125 ms cycle) • Unit is performing the DUP-M AC check
Not switched on/
off-line but not DUP-
M AC check
Off • Unit is in off-line status
• Unit is switched off
On-line and in
operational mode Flashes green (1 s cycle) • The unit is on-line • DUP-M AC check was performed successfully
• A PIO connection is being established with a master (configuring status)
• No configuration, wrong configuration or configuration not complete
On-line, operational
mode and connected Green • On-line • A PIO connection has been established (established status)
M inor fault or
connection timeout Flashes red (1 s cycle) • A correctable error has occurred • Polled I/O connection is in timeout status
Critical fault or
critical link failure Red • A non-correctable error has occurred •BusOff
• DUP-M AC check has detected an error
Table 6: PIO LED status

10 MOVIDYN
®
DeviceNet AFD11A
2 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.
2.7.5 BUSOFF LED
The BUSOFF LED displays the physical status of the bus node. Its range of functions is described in
Table 8.
Status LED Message
DUP-M AC check Flashes green
(125 ms cycle) • Unit is performing the DUP-M AC check
Not switched on/
off-line but not DUP-
M AC check
Off • Unit is in off-line status
• Unit is switched off
On-line and in opera-
tional mode Flashes green (1 s cycle) • The unit is on-line • DUP-M AC check was performed successfully
• A BIO connection is being established with a master (configuring status)
• No configuration, wrong configuration or configuration not complete
On-line, operational
mode and connected Green • On-line • A BIO connection has been established (established status)
M inor fault or connec-
tion timeout Flashes red (1 s cycle) • A correctable error has occurred • Bit-strobe I/O connection is in timeout status
Critical fault or critical
link failure Red • A non-correctable error has occurred • BusOff
• DUP-M AC check has detected an error
Table 7: BIO LED status
Status LED Message
NO ERROR Off • The number of bus errors is in the normal range (error active
state).
BUS WARNING
Flashes red
(125 ms
cycle)
• The unit is performing a DUP-M AC check and cannot send
any messages becauseno other participants are connected to
the bus (error passive state).
Flashes red
(1 s cycle) •The number of physicalbus errors is too high. No more error
telegrams are actively written to the bus (error passive state).
BUS ERROR
Red • BusOff status
• The number of physical bus errors has continued to grow
despite the switch to the error passive state. Access to the
bus is deactivated.
Table 8: BUSOFF LED status

MOVIDYN
®
DeviceNet AFD11A 11
Project Planning and
Startup 3
3 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).
3.1 Controller control m ode fieldbus
After the DeviceNet option card has been installed and the baud rate and M AC-ID have been set
(using the DIP switches), the parameters for the M OVIDYN®controller can be set immediately via
the fieldbus system without further manual adjustment. All drive parameters can thus be down-
loaded from the master programmable controller directly via DeviceNet after the power is switched
on.
The M OVIDYN®controller has to be switched to the appropriate
control mode
prior to control via
DeviceNet. This can be done with parameter P110
Setpoint source
. The factory setting for this
parameter is the
analog input
value (control and setpoint processing via input terminals). The set-
ting P110 setpoint source =
FIELDBUS
causes the controller to take setpoints from the fieldbus.
M OVIDYN®will now respond to the process output data transmitted from the master programma-
ble controller.
Activation of the
fieldbus
control mode is signalled to the master control by the
fieldbus mode
bit
in the status word.
For safety reasons, the M OVIDYN®controller must also be enabled on the terminal side for control
via the fieldbus system. Accordingly, the terminals must be wired up or programmed in such a way
that the controller is enabled via the input terminals. The easiest way of enabling the controller on
the terminal sideis to wire input terminal X21:5 (CONTROLLER INHIBIT function) to the +24 V sig-
nal and program input terminals X21:6, X21:7 and X21:8 to NO FUNCTION.
Procedure for startup of the MOVIDYN®controller with fieldbus interface:
1. Switch the servo controller to ENABLE on the term inal side
Wire input terminal X21:5 (CONTROLLER INHIBIT function) to the +24 V signal (e.g. with a
jumper).
00085AEN
1
2
3
4
5
6
7
8
9
10
11
12
X21:
MAS51..
MKS51..
0V24
+ 24 V
Use this jumper to
enable the output
stage via the
terminal
/Controller inhibit
no function
no function
no function

12 MOVIDYN
®
DeviceNet AFD11A
3Project Planning and
Startup
2. Control m ode = FIELDBUS
Use parameter P110 to switch control and setpoint processing of the servo controller to
FIELDBUS.
3. 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 inputterminals X21:6, X21:7 and X21:8 to NO FUNCTION with param-
eters P300 to P302.
3.2 Setting up the DeviceNet network using the DeviceNet Manager software
3.2.1 Installing the EDS file
01908AXX
Fig. 3: EDS file list
There is an EDS file MD.eds and a bitmap file MD.bm p for the AFD11A option card. These files
must be installed using the DeviceNet M anager software.
To do this, select
Utilities/Install EDS File
from the menu. The program then prompts you for the
EDS file name and the bitmap file. The EDS file is then installed. M ore details on the installation of
the EDS file can be found in the Allen Bradley documentation for the DeviceNet M anager.
After installation, the device is available in the device list under the entry
SEW Geräteprofil/SEW-
Eurodrive GmbH/SEW-M OVIDYN-AFD11A
.
3443###6HWSRLQW#VRXUFH########),(/'%86
3633###7HUPLQDO#;54=9########12#)81&7,21
3634###7HUPLQDO#;54=:########12#)81&7,21
3635###7HUPLQDO#;54=;########12#)81&7,21

MOVIDYN
®
DeviceNet AFD11A 13
Project Planning and
Startup 3
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
All EDS files are automatically read in after the DeviceNet M anager software is called up. The device
list contains all devices which have been defined by an EDS file.
3.3 Process data exchange
3.3.1 Polled I/O
The polled I/O messages correspond to the process data messages of the SEW fieldbus profile. Up
to three process data words can be exchanged between the control and the servo controller.
The process data length can be set with M D_SHELL (version 1.82 or later). The controller must be
switched off and on again after this parameter has been changed, in order to activate the set pro-
cess data length.
The process data length can also be set using the parameter data channel of DeviceNet. The pro-
cess data configuration takes effect immediately, if the process data length is set using the param-
eter data channel.
Changing the
DeviceNet PD Configuration
parameter causes the
Enable Fieldbus Setpoints
parame-
ter to be set to
NO
and no process data are processed. As a result, process data processing must
be activated using parameter P790
“Enable Fieldbus Setpoints = YES”
.
IMPORTANT:
The set process data length influences the process data lengths of both the polled I/O and the bit-
strobe I/O messages, i.e. the settings for the process data lengths of both the polled I/O and the
bit-strobe I/O always have to be identical in the control.

14 MOVIDYN
®
DeviceNet AFD11A
3Project Planning and
Startup
Project planning for three process data words
The factory setting of the process data configuration is process datalength = 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
. As a result, three process data words (6 bytes) are processed in the servo control-
ler and three process input data words are sent to the control.
No process data are processed or sent back, if the control transmits more than three process out-
put data words.
Three process output data words are processed, and three process input data words are sent from
the servo controller to the control, if the control transmits three process output data words.
02112AEN
Fig. 4: Representation of three process data words in the PLC memory area
The process output data are stored in the PLC output file and the process input data of the PLC are
stored in the input file. In the example above, the output data words O:3.10, O:3.11 and O:3.12 are
copied to process output data words 1, 2 and 3 and processed by the servo controller. The control-
ler sends back three process input data words which are copied into input data words I:3.10, I:3.11
and I:3.12 of the PLC.
PD 1
PD 1
PD 1
PD 1
PD 2
PD 2
PD 2
O:3.10
O:3.11
O:3.12
I:3.10
I:3.11
I:3.12
PD 2
PD 3
PD 3
PD 3
PD 3 S E W
EU R ODRIVE SEW
EURODRIVE
PLC
Address range
Output file
Input file

MOVIDYN
®
DeviceNet AFD11A 15
Project Planning and
Startup 3
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.
No process data are processed or sent back, if the control transmits more than two process output
data words.
Two processoutput datawords are processed, and two processinput data words are sent from the
servo controller to the control, if the control transmits two process output data words.
02114AEN
Fig. 5: Representation of two process data words in the PLC memory area
The process output data are stored in the PLC output file and the process input data of the PLC are
stored in the input file. In the example above, the output data words O:3.10 and O:3.11 are copied
to process output data words 1 and 2 and processed by the servo controller. The controller sends
back two process input data words which are copied into input data words I:3.10 and I:3.11 of the
PLC.
PD 1
PD 1
PD 1
PD 1
PD 2
PD 2
PD 2
O:3.10
O:3.11
I:3.10
I:3.11
PD 2
S E W
EU R ODRIVE SEW
EURODRIVE
PLC
Address range
Output file
Input file

16 MOVIDYN
®
DeviceNet AFD11A
3Project 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. The control is only permitted to send one process output data word. No process data
are processed or sent back, if more than one process output data word is sent by the control.
02115AEN
Fig. 6: Representation of one process data word in the PLC memory area
The process output data are stored in the PLC output file and the process input data of the PLC are
stored in the input file. In the example above, output data word O:3.10 is copied to process output
data word 1 and processed by the servo controller. The controller sends back one process input
data word which is copied to input data word I:3.10 of the PLC.
Tim eout response with polled I/O
The timeout response is triggered by the DeviceNet option card. The timeout interval must be set
by the master after the connection has been established. The DeviceNet specification refers to an
“expected packet rate” rather than a timeout interval. The expected packet rate is calculated on the
basis of the timeout interval using the following formula:
The expected packetrate canbe set using the connection object class 5, instance 2, attribute 9. The
range of values runs from 0 ms to 65535 ms in 5 ms steps.
The expected packet rate for the polled I/O connection is converted into the timeout interval and
displayed in the device and the timeout interval in parameter
P791
.
This timeout interval is retained in the device whenever the polled I/O connection is dropped, and
the device switches to timeout status after the timeout interval has elapsed.
The timeout interval must not be altered in the controller using M D_SHELL, because it can only be
activated via the bus.
O:3.10
I:3.10
PD 1
PD 1
PD 1
PD 1
S E W
EU R ODRIVE SEW
EURODRIVE
PLC
Address range
Output file
Input file
tTimeout_Inverter tTimeout_Interval_PolledIO 4t
Expected_Packet_Rate_PolledIO
⋅==

MOVIDYN
®
DeviceNet AFD11A 17
Project Planning and
Startup 3
If a timeout occursfor 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).
3.3.2 Bit-strobe I/O
Bit-strobe I/O messages are not contained in the SEW fieldbus profile. They represent a process
data exchange which is specific to DeviceNet.
The master sends out a broadcast message that is 8 bytes = 64 bits long. One bit in this message
is assigned to each participant in accordance with its station address. The value of this bit may be
0 or 1, triggering two different reactions in the recipient.
Table 9: Bit strobe signal messages
IMPORTANT:
The BIO LED can be consulted to distinguish between the timeout triggered by the bit-strobe mes-
sage and a real timeout in the connection. It remains continuously green if the timeout is triggered
by the bit-strobe message.
If the BIO LED flashes red, there is a timeout in the bit-strobe connection and no additional bit-
strobe messages are accepted.
Table 10 shows the data area of the bit-strobe request message which represents the allocation of
participants (= station address) to data bits.
For example, the participant with station address (M AC-ID) 16 only processes bit 0 in data byte 2.
Table 10: M AC-ID assignment in the bit-strobe I/O message request
Bit value Message BIO LED
0 Only send back the process input data Continuously green
1 Trigger fieldbus timeout reaction and send back process input data Continuously green
Byte offset 7 6 5 4 3 2 1 0
0 ID 7 ID 6 ID 5 ID 4 ID 3 ID 2 ID 1 ID 0
1 ID 15 ID 14 ID 13 ID 12 ID 11 ID 10 ID 9 ID 8
2 ID 23 ID 22 ID 21 ID 20 ID 19 ID 18 ID 17 ID 16
3 ID 31 ID 30 ID 29 ID 28 ID 27 ID 26 ID 25 ID 24
4 ID 39 ID 38 ID 37 ID 36 ID 35 ID 34 ID 33 ID 32
5 ID 47 ID 46 ID 45 ID 44 ID 43 ID 42 ID 41 ID 40
6 ID 55 ID 54 ID 53 ID 52 ID 51 ID 50 ID 49 ID 48
7 ID 63 ID 62 ID 61 ID 60 ID 59 ID 58 ID 57 ID 56

18 MOVIDYN
®
DeviceNet AFD11A
3Project 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.
02116AEN
Fig. 7: Bit-strobe I/O messages
In the example above, the bit-strobe I/O message is stored in memory words O:3.10 to O:3.13. Bit
16 is assigned to the device with station address 16. This bit corresponds to bit 0 of output data
word O:3.11 in the PLC. Since this bit was set to the value 1, a fieldbus timeout is triggered in the
servo controller with station address 16. However, the BIO LED remains continuously green to
indicate that the bit-strobe connection is not in timeout status.
The controller sends three process input data words to the PLC; these are stored in input data
words I:3.10 to I:3.12 in the input file.
IMPORTANT:
The set process data length influences the process data lengths of both the bit-strobe I/O and the
polledI/O messages, i.e. the settings forthe process data lengths of both the polled I/O and the bit-
strobe I/O always have to be identical in the control.
Tim eout response with bit-strobe I/O
The timeout response is triggered by the DeviceNet option card. The timeout interval must be set
by the master after the connection has been established. The DeviceNet specification refers to an
“expected packet rate” rather than a timeout interval. The expected packet rate is calculated on the
basis of the timeout interval using the following formula:
It can be set using connection object class 5, instance 3, attribute9. The range of values runs from
0 ms to 65535 ms in 5 ms steps.
If a timeout occurs for the bit-strobe I/O messages, this connection type enters timeout status.
Incoming bit-strobe I/O messages are no longer accepted.
The timeout is not transmitted to the servo controller.
PD 1
PD 1
PD 2
PD 2
O:3.10
O:3.11
O:3.12
I:3.10
I:3.11
I:3.12
Bit 16
PD 3
PD 3
O:3.13 1
1
S E W
EUR ODRIVE SEW
EURODRIVE
PLC
Address range
Output file
Input file
Station
Address
(M AC-ID) = 16
tTimeout_Interval_BitStrobeIO 4t
Expected_Packet_Rate_BitStrobeIO
⋅=

MOVIDYN
®
DeviceNet AFD11A 19
Project Planning and
Startup 3
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).
3.4 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-
troller can be changed or read. This channel is represented by explicit messages on the AFD11A
DeviceNet option card.
Access to the SEW parameter data channel is by means of the register object (class 7) and the
parameter object (class 15).
Register object class (class 7)
The SEW parameter data channel can be addressed using the services
Get_Attribute_Single
and
Set_Attribute_Single
. The following possibilities for addressing the parameter data channel derive
from the way the register object is specified by DeviceNet so INPUT objects can only be read and
OUTPUT objects can be read and written:
READ parameter: ÖGet_Attribute_Single via instance 1
ªGet_Attribute_Single via instance 2
WRITE parameter: ÖSet_Attribute_Single via instance 2
02032AEN
Fig. 8: Description of the parameter channel
Get_Attribut_Single
Get_Attribut_Single
Set_Attribut_Single
READ PARAM ETER
WRITE PARAM ETER
DPRAM
INPUT
(Instance 1)
OUTPUT
(Instance 2)
SEW Field Bus Unit Profile
DeviceNet

20 MOVIDYN
®
DeviceNet AFD11A
3Project Planning and
Startup
The following table shows the attributes of the two register object instances.
Table 11: Register object class
Attribute 1
Bad flag
signals whether an error occurred in the previous service.
Attribute 2 represents the direction of the instance and attribute 3 states the data length in bits.
The actual parameter data are represented in attribute 4. They are made up of the index (2 bytes)
and the data (4 bytes).
The services
Get_Attribute_Single
and
Set_Attribute_Single
are available for transmission.
Table 12: Register class services
Example:
Parameter
Setpoint description PO1
(index 601) is to be written with the value
CONTROL WORD1
.
1000 must be added to the index which is sent via the fieldbus in order to calculate the fieldbus
index. This means the index 1601 =
641h
has the value
9.00
(= CONTROL WORD1) written to it.
Table 13: Data format for the parameter request message
Table 14: Data format for the parameter response message
Class Instance Attribute Get Set Type/Value Meaning
0x07 0x01
(Read)1 X 0/1 Bad flag
2 X 0 (input) Direction
3X48bit Size
4 X 2 byte index
4 byte data Data
0x02
(Read/
Write)
1 X 0/1 Bad flag
2 X 1 (output) Direction
3X48bit Size
4 X X 2 byte index
4 byte data Data
Service Coding Com m ent
Get_Attribute_Single 0x0E Read attribute
Set_Attribute_Single 0x10 Write attribute
Byte offset 012345678910
Function M AC-ID Service Class Instance Attribute Index Data
Signific. Low High LSB MSB
Example 01h 10h 07h 02h 04h 41h 06h 00h 09h 00h 00h
Byte offset 01234567
Function M AC-ID Service Index Data
Signific. Low High LSB MSB
Example 01h 90h 41h 06h 00h 09h 00h 00h