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