MOVIDRIVE® MDX61B DFD11B Fieldbus Interface … Technical Data ... 4 Manual – MOVIDRIVE ... Manual – MOVIDRIVE® MDX61B DFD11B Fieldbus Interface DeviceNet 9 3 Connection and

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MOVIDRIVE® MDX61BDFD11B Fieldbus InterfaceDeviceNet

Manual

FA361530

Edition 11/200411284412 / EN

SEW-EURODRIVE – Driving the world

Manual – MOVIDRIVE® MDX61B DFD11B Fieldbus Interface DeviceNet 3

1 Important Notes...................................................................................................... 4

2 Introduction ............................................................................................................ 5

3 Assembly / Installation Instructions..................................................................... 73.1 Installing the DFD11B option card ................................................................. 73.2 Connection and terminal assignment............................................................. 93.3 Setting the DIP switches .............................................................................. 113.4 Display of operating status DFD11B option card ......................................... 12

4 Project Planning and Startup.............................................................................. 144.1 Startup of the drive inverter.......................................................................... 144.2 Building the DeviceNet network with the RSNetWorx software ................... 174.3 Process data exchange ............................................................................... 184.4 Parameter data exchange............................................................................ 224.5 Return codes for parameter setting.............................................................. 28

5 Sample Application with PLC Type SLC500...................................................... 295.1 Exchange of polled I/O (process data)......................................................... 315.2 Exchange of bit-strobe I/O ........................................................................... 345.3 Exchanging explicit messages (parameter data) ......................................... 35

6 Technical Data...................................................................................................... 406.1 DFD11B option ............................................................................................ 40

7 Appendix............................................................................................................... 417.1 General error codes (error messages)......................................................... 417.2 Statement of Conformance .......................................................................... 427.3 Definitions of terminology............................................................................. 51

8 Index...................................................................................................................... 52

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1 mportant Notes

Handbuch1 Important Notes

Documentation • Read through this manual carefully before you start installation and startup ofMOVIDRIVE® drive inverters with the DeviceNet DFD11B option card.

• This manual assumes that the user has access to and is familiar with theMOVIDRIVE® documentation, in particular the MOVIDRIVE® MDX60B/61B systemmanual.

• In this manual, cross references are marked with "→". For example, (→ Sec. X.X)means: Further information can be found in section X.X of this manual.

• A requirement of fault-free operation and fulfillment of any rights to claim underguarantee is that you observe the information in the documentation.

Bus systems General safety notes on bus systems:

This communication system allows you to adjust the MOVIDRIVE® drive inverter to yourspecific application very accurately. As with all bus systems, there is a danger of invisi-ble, external (as far as the inverter is concerned) modifications to the parameters whichgive rise to changes in the inverter behavior. This may result in unexpected (not uncon-trolled) system behavior.

Safety and warning notes

Always observe the safety and warning instructions contained in this publication!

• This manual does not replace the detailed operating instructions!

• Only specialists are allowed to perform installation and startup observingrelevant accident prevention regulations and the MOVIDRIVE® MDX60B/61Boperating instructions!

Electrical hazardPossible consequences: Severe or fatal injuries.

Hazard Possible consequences: Severe or fatal injuries.

Hazardous situationPossible consequences: Slight or minor injuries.

Harmful situationPossible consequences: Damage to the unit and the environ-ment.

Tips and useful information.

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Manual – MOVIDRIVE® MDX61B DFD11B Fieldbus Interface DeviceNet

2Introduction

2 IntroductionContents of this manual

This user manual describes how to install the DeviceNet DFD11B option card in theMOVIDRIVE® MDX61B drive inverter and how to start up MOVIDRIVE® with theDeviceNet fieldbus system.

Besides explaining all settings on the fieldbus option card, this document also coversthe various DeviceNet connection variants in the form of brief startup examples.

Additional documentation

For a simple and effective connection of MOVIDRIVE® to the DeviceNet fieldbussystem, you should request the following publications from SEW-EURODRIVE aboutthe fieldbus technology in addition to this manual:

• MOVIDRIVE® Fieldbus Unit Profile manual

• MOVIDRIVE® MDX60/61B system manual

The manual for the MOVIDRIVE® fieldbus unit profile describes the fieldbus parametersand their coding, as well as explaining the whole range of control concepts and applica-tion options in the form of brief examples.

The parameter list is a list of all drive inverter parameters that can be read and writtenvia various communication interfaces such as RS-485, SBus and even the fieldbusinterface.

MOVIDRIVE® and DeviceNet

The MOVIDRIVE® MDX61B drive inverter together with the DFD11B option and its high-performance universal fieldbus interface enable the connection to higher-level automa-tion systems via the open and standardized DeviceNet fieldbus system.

Unit profile The performance of the inverter, referred to as the unit profile, that forms the basis forthe DeviceNet operation, is fieldbus-independent and, therefore, uniform. This allowsthe user to develop fieldbus-independent drive applications. This makes it much easierto change to other bus systems, such as PROFIBUS (DFP 21B option) or INTERBUS(DFI11B option).

Drive parameters MOVIDRIVE® offers you direct access to all drive parameters and functions via theDeviceNet interface. The drive inverter is controlled via the fast, cyclical process data.Via this process data channel, you have the opportunity of entering setpoints such asthe setpoint speed, ramp generator time for acceleration/deceleration, etc. as well astriggering various drive functions such as enable, control inhibit, standard stop, rapidstop, etc.

At the same time you can also use this channel to read back actual values from the driveinverter, such as actual speed, current, unit status, error number or reference signals.

Polled I/O and Bit Strobe I/O

The parameters of the inverter are set exclusively using Explicit Messages, whereas theprocess data exchange is replicated on the DeviceNet services Polled I/O andBit-Strobe I/O. This parameter data exchange enables you to implement applications inwhich all the important drive parameters are stored in the master programmable control-ler, so that there is no need to make manual parameter settings on the drive inverter it-self.

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2 ntroduction

Startup Every DFD11B DeviceNet option card is designed so that the fieldbus-specific MAC-IDand baud rate settings are made using hardware switches on the option card. This man-ual setting means the drive inverter can be integrated into the DeviceNet system andswitched on quickly.

The parameter setting process can be performed in a completely automated process bythe DeviceNet master (parameter download). This forward-looking variant shortens thesystem startup time and simplifies the documentation of your application programbecause all the important drive parameters can now be stored directly in your controlprogram.

Monitoring functions

The use of a fieldbus system requires additional drive system monitoring such as timemonitoring of the fieldbus (fieldbus timeout) or even special emergency stop concepts.The MOVIDRIVE® MDX61B monitoring functions can be customized to your applica-tion. You can determine, for instance, which of the drive inverter error responses shouldbe 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 continuesoperating with the most recently valid setpoints (for example, conveyor belt). As thefunctions of the control terminals are still active in fieldbus operation, you can still imple-ment fieldbus-independent emergency stop concepts via the terminals of the driveinverter.

Diagnostics The MOVIDRIVE® MDX61B drive inverter offers numerous diagnostic options for start-up and service.

For example, you can use the integrated fieldbus monitor to check both the setpointssent by the master control and the actual values. The MOVITOOLS® software packageoffers a convenient diagnostic option that allows for a detailed display of fieldbus anddevice state information in addition to the settings of all drive parameters (including field-bus parameters).

55215AXXFigure 1: DeviceNet with MOVIDRIVE® MDX61B and PLC

SPS

4

1 2 3

5 6

7 8 9

+/- 0 .

MOVIDRIVE® MDX61B

MOVIDRIVE®

Communication Interface

Node_4

[4]

4

1 2 3

5 6

7 8 9

+/- 0 .

4

1 2 3

5 6

7 8 9

+/- 0 .

MOVIDRIVE® MDX61B MOVIDRIVE® MDX61B

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3Installing the DFD11B option cardAssembly / Installation Instructions

3 Assembly / Installation Instructions3.1 Installing the DFD11B option card

The DFD11B option card must be plugged into the fieldbus slot [1].

Before you begin Observe the following notes before installing or removing an option card:

• Disconnect the inverter from power. Switch off the 24 VDC and the supply voltage.

• Take appropriate measures to protect the option card from electrostatic charge (usedischarge strap, conductive shoes, etc.) before touching it.

• Before installing the option card, remove the keypad and the front cover.

• After installing the option card, replace the front cover and the keypad.

• Keep the option card in its original packaging until immediately before you are readyto install it.

• Hold the option card by its edges only. Do not touch any components.

• MOVIDRIVE® MDX61B must have firmware status 824 854 0.11 or above. You candisplay the firmware status using parameter P076.

• Only SEW-EURODRIVE engineers can install or remove option cards forMOVIDRIVE® MDX61B size 0.

• Option cards can only be installed and removed for MOVIDRIVE® MDX61Bsizes 1 to 6.

54703AXX

[1]

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3 nstalling the DFD11B option cardssembly / Installation Instructions

Basic procedure for installation/removing an option card

1. Remove the retaining screws holding the card retaining bracket. Pull the cardretaining bracket out evenly from the slot (do not twist!).

2. Remove the retaining screws of the black cover plate on the card retaining bracket.Remove the black cover plate.

3. Position the option card onto the retaining bracket so that the retaining screws fit intothe corresponding bores on the card retaining bracket.

4. Insert the retaining bracket with installed option card into the slot, pressing slightly soit is seated properly. Secure the card retaining bracket with the retaining screws.

5. To remove the option card, follow the instructions in reverse order.

53001AXXFigure 2: Installing an option card in MOVIDRIVE® MDX61B sizes 1 to 6 (schematic diagram)

1.

3.

4.

2.

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3Connection and terminal assignmentAssembly / Installation Instructions

3.2 Connection and terminal assignment

Part number DeviceNet fieldbus interface type DFD11B: 824 972 5

The "DeviceNet interface type DFD11B" option is only possible in conjunction withMOVIDRIVE® MDX61B, not with MDX60B.

The DFD11B option must be plugged into the fieldbus slot.

Front view of DFD11B

DescriptionDIP switchTerminal

Function

54193AXX

Mod/Net = Module/network statusPIO - Polled I/OBIO - Bit-Strobe I/OBUSOFF

The two-color LEDs display the current status of the fieldbus interface and the DeviceNet system:

Six DIP switches for setting of the MAC-ID

Five DIP switches for setting the process data length

Two DIP switches for setting the baud rate

F1 ... F3: No Function

NA(5) ... NA(0)

PD(4) ... PD(0)

DR(1) ... DR(0)

Setting the MAC-ID (Media Access Control Identi-fier)

Setting the process data length (1 ... 10 words)

Setting the baud rate:00 = 125 kBaud01 = 250 kBaud10 = 500 kBaud11 = Invalid

X30: DeviceNet connection X30:1X30:2X30:3X30:4X30:5

V–CAN_LDRAINCAN_HV+

DFD 11B

MOD/Net

BUS-OFF

0 1

PIO

NA(5)NA(4)NA(3)NA(2)NA(1)

DR(1)DR(0)PD(4)PD(3)PD(2)PD(1)PD(0)F3F2F1

1

2

3

4

5

NA(0)

S1

S2

X30

BIO

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3 onnection and terminal assignmentssembly / Installation Instructions

Pin assignment The assignment of connecting terminals is described in the DeviceNet specification(Volume I, Appendix A).

The DFD11B option card is opto-decoupled on the driver side in accordance with theDeviceNet specification (Volume I, Chapter 9). This means the CAN bus driver must bepowered with 24 V voltage via the bus cable. The cable to be used is also described inthe DeviceNet specification (Volume I, Appendix B). The connection must be madeaccording to the color code specified in the following table.

Shielding and routing of bus cables

The DeviceNet interface supports RS-485 communications protocol and requires cabletype A specified for DeviceNet in accordance with EN 50170 as shielded, twisted-paircable for the physical connection.

Correct shielding of the bus cable attenuates electrical interference that may occur inindustrial environments. The following measures ensure the best possible shielding:

• Tighten the mounting screws on the connectors, modules and equipotential bondingconductors by hand.

• Attach the shielding of the bus line over a large surface on both sides.

• Do not route signal and bus cables parallel to power cables (motor leads). They mustbe routed in separate cable ducts.

• Use metallic, grounded cable racks in industrial environments.

• Route the signal cable and the corresponding equipotential bonding in close proxim-ity using the shortest way possible.

• Avoid using plug connectors to extend bus cables.

• Route the bus cables closely along existing grounding surfaces.

Bus termination In order to avoid disruptions in the bus system due to reflections, each DeviceNet seg-ment must be terminated with 120 Ω bus terminating resistors at the first and last phys-ical station. Connect the bus terminating resistor between connections 2 and 4 of thebus plug.

54075AXX

Pin no. Signal Meaning Color coding

1 V– 0V24 BK

2 CAN_L CAN_L BU

3 DRAIN DRAIN Bright

4 CAN_H CAN_H WH

5 V+ 24 V RD

DFD11B

1

2

3

4

5

DFD11B

X30

In case of fluctuations in the earth potential, a compensating current may flow via thebilaterally connected shield that is also connected to the protective earth (PE). Makesure you supply adequate equipotential bonding according to relevant VDE regulationsin such a case.

CA


3Setting the DIP switchesAssembly / Installation Instructions

3.3 Setting the DIP switches

Setting the MAC-ID

The MAC-ID (Media Access Control Identifier) is set on the DFD11B option card withDIP switches S1-NA0...S1-NA5. The MAC-ID represents the node address of theDFD11B. MOVIDRIVE® supports the address range 0 ... 63.

Setting the baud rate

The baud rate is set with DIP switches S2-DR0 and S2-DR1.

Setting the pro-cess data length

Up to ten DeviceNet data words can be exchanged between the DeviceNet interfacemodule and the DFD11B; these data words can be distributed to the process data chan-nel with DIP switches S2-PD0 to S2-PD4.

Before changing a DIP switch setting, disconnect the drive inverter from power (supplyvoltage and 24 V backup operation). The DIP switch settings are adopted during initial-ization of the driver inverter only.

DIP switch S2Baud rate

DR1 DR0

0 0 125 kBaud

0 1 250 kBaud

1 0 500 kBaud

1 1 Obsolete

[1] Setting the MAC-ID

[2] Setting the baud rate

[3] Setting the process data length

[4] No Function

The figure depicts the following settings:

MAC-ID: 4

Baud rate: 125 kBaud

Process data length: 8 PD

54078AXX

0 1NA5NA4NA3NA2NA1NA0

S1

DR1DR0PD4PD3PD2PD1

S2

PD0

[1]

[2]

[3]

F3F2F1

[4]

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3 isplay of operating status DFD11B option cardssembly / Installation Instructions

3.4 Display of operating status DFD11B option card

The DFD11B option card is equipped with four two-color LEDs for diagnostics of theDeviceNet system; these indicate the current status of the DFD11B and the DeviceNetsystem.

LED Mod/Net The function of the LED Mod/Net described in the following table is contained in theDeviceNet specification.

PIO LED The PIO LED checks the polled I/O connection.

LED abbreviation Complete LED designation

Mod/Net Module/Network Status

PIO Polled I/O

BIO Bit-Strobe IO

BUS-OFF BusOff

State Status Meaning

Off Not switched on / OffLine • Unit is offline• Unit is performing DUP-MAC check• Unit is switched off

Flashes green(1 s cycle)

Online and in operational mode

• The unit is online and no connection has been established

• DUP-MAC check was performed successfully• A connection has not yet been established with a

master• Missing, incorrect or incomplete configuration

Green light Online, operational mode and connected

• Online• Connection has been established with a master• Connection is active (established state)

Flashes red(1 s cycle)

Minor fault or connection timeout

• A correctable error has occurred• Polled I/O or/and bit-strobe I/O connections are in

timeout state• DUP-MAC check has detected an fault

Red light Critical fault or critical link failure

• A correctable error has occurred• BusOff• DUP-MAC check has detected an fault


Flashes green(125 ms cycle)

DUP-MAC check Unit is performing DUP-MAC check

Off Not switched on / offline but not DUP-MAC check

• Unit is offline• Unit is switched off



• Unit is online• DUP-MAC check was performed successfully• A PIO connection is being established with a master

(configuring state)• Missing, incorrect or incomplete configuration


• Online• A PIO connection has been established (established

state)



• A correctable error has occurred• Polled I/O connection is in timeout state


• A non-correctable fault has occurred• BusOff• DUP-MAC check has detected an fault

DA


3Display of operating status DFD11B option cardAssembly / Installation Instructions

LED BIO The BIO LED checks the bit-strobe I/O connection.

BUS-OFF LED The BUS-OFF LED displays the physical status of the bus node.


Flashes green(125 ms cycle)

DUP-MAC check Unit is performing DUP-MAC check

Off Not switched on / offline but not DUP-MAC check

• Unit is offline• Unit is switched off



• Unit is online• DUP-MAC check was performed successfully• A BIO connection is being established with a master

(configuring status)• Missing, incorrect or incomplete configuration


• Online• A BIO connection has been established (established

state)



• A correctable error has occurred• Bit-strobe I/O connection is in timeout state


• A non-correctable fault has occurred• BusOff• DUP-MAC check has detected an fault


Off NO ERROR The number of bus errors is in the normal range (error active status).

Flashes red(125 ms cycle)

BUS WARNING

The unit is performing a DUP-MAC check and cannot send any messages because no other stations are connected to the bus (error passive state).


The number of physical bus errors is too high. No more error telegrams are actively written to the bus (error pas-sive state).

Red light BUS ERROR • BusOff status• The number of physical bus errors has increased

despite a switch to the error-passive state. Access to the bus is deactivated.

Yellow light POWER OFF External voltage supply has been turned off or is not con-nected.

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4 tartup of the drive inverterroject Planning and Startup

4 Project Planning and StartupThis section describes how to configure and start up the MOVIDRIVE® MDX61B driveinverter with the DFD11B option.

4.1 Startup of the drive inverter

You can immediately configure the MOVIDRIVE® drive inverter after installation of theDFD11B option and setting of the baud rate and MAC-ID via the fieldbus system withoutadditional manual settings. In this way, you can download all drive parameters from themaster programmable controller directly via DeviceNet after the power is switched on.

However, to control the drive inverter via the DeviceNet system, you must first switchthe drive inverter to the control signal source and setpoint source = FIELDBUS. TheFIELDBUS setting means the inverter parameters are set for control and setpoint trans-fer from the fieldbus. The drive inverter then responds to the process output data sentby the master programmable controller.

Activation of the control signal source/setpoint source FIELDBUS is signaled to thehigher-level controller using the "Fieldbus mode active" bit in the status word. For safetyreasons, the drive inverter must also be enabled at the terminals for control via the field-bus system. Consequently, the terminals must be wired or programmed in such a waythat the inverter is enabled via the input terminals.

The simplest way of enabling the drive inverter at the terminals is to connect the DIØØ(function /CONTROLLER INHIBIT) input terminal to a +24 V signal and to program inputterminals DIØ1 ... DIØ5 to NO FUNCTION. The following illustration shows by way ofexample how to startup the MOVIDRIVE® drive inverter with fieldbus interface.

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4Startup of the drive inverterProject Planning and Startup

Procedure for startup of the MOVIDRIVE® MDX61B

1. Enable the power output stage at the terminals.

Connect the input terminal DIØØ / X13.1 (function /CONTROLLER INHIBIT) to a+24 V signal (for example, using a device jumper).

2. Turn on the external 24 V voltage supply (not mains voltage supply!).

You can now configure the drive inverter.

3. Setpoint source = FIELDBUS / control signal source = FIELDBUS.

Set the setpoint source and control signal source parameters to FIELDBUS to controlthe drive inverter via a fieldbus.

4. Input terminals DIØ1 ... DIØ5 = NO FUNCTION.

Set the function of the input terminals to NO FUNCTION.

For more information on startup and control of the MOVIDRIVE® drive inverter, refer tothe "MOVIDRIVE® Fieldbus Unit Profile" manual.

DI00 = Controller inhibit

DI01 = no function

DI02 = no function

DI03 = no function

DI04 = no function

DI05 = no function

DCOM = Reference X13:DI00 ... DI05

VO24 = + 24 V

DGND = Reference pot. for binary signals

ST11 = RS-485 +

ST12 = RS-485 -

TF1 = TF input


DB00 = Brake

DO01-C = Relay contact

DO01-NO = Normally open contact relay

DO01-NC = Normally closed contact relay

DO02 = /Malfunction

VO24 = + 24 V

VI24 = + 24 V (external supply)


Enabling the power output stage via unit jumper [1]54095AXX

P100 Setpoint source = FIELDBUS

P101 Control signal source = FIELDBUS

P600 Terminal programming DIØ1 = NO FUNCTION





+

-

X13:

DI00DI01DI02DI03DI04DI05DCOMVO24DGNDST11ST12

24 V ext.

---

TF1DGNDDB00DO01-CDO01-NODO01-NCDO02VO24VI24DGND

X10:

[1]

1234567891011

12345678910


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4 tartup of the drive inverterroject Planning and Startup

Power-UP test A power-up test of all LEDs takes place once the drive inverter has been switched on.The LEDs are switched on in the following sequence as part of the test:

Time in [ms] LED Mod/Net PIO LED LED BIO BUS-OFF LED

0 Green Off Off Off

250 red Off Off Off

500 Off Green Off Off

750 Off red Off Off

1000 Off Off Green Off

1250 Off Off red Off

1500 Off Off Off Green

1750 Off Off Off red

2000 Off Off Off Off

If there is no 24 V supply voltage at the fieldbus (X30:1, X30:5), the LED BUS-OFF willbe yellow (→ Operating displays of DFD11B option).

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4Building the DeviceNet network with the RSNetWorx softwareProject Planning and Startup

4.2 Building the DeviceNet network with the RSNetWorx software

Installing the EDS file

Install the following files with the RSNetWorx software to build the DeviceNet networkwith the DFD11B option:

• EDS file: DFD11B.eds

• Icon file: DFD11B.ico

Proceed as follows:

• Select the menu item <Tools/EDS-Wizard> in RSNetWorx. You will be prompted toenter the names of the EDS and Icon file.

• The files will be installed. More details on the installation of the EDS file can be foundin the Allen Bradley documentation for RSNetWorx.

• After installation, the device is available in the device list under the entry SEW DeviceProfile/SEW-EURODRIVE DFD11B.

Connecting the device to an existing network

All EDS files are automatically read in after the RSNetWorx software is started. Thedevice list contains all devices which have been defined by an EDS file.

54173AXXFigure 3: EDS file list

Additional information on current EDS files as well as information on DeviceNet areavailable at the following Internet addresses:

• SEW-EURODRIVE: www.sew-eurodrive.com

• Allen Bradley: www.ab.com

• Open Device Net Vendor Association: www.odva.org


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4 rocess data exchangeroject Planning and Startup

4.3 Process data exchange

Polled I/O The polled I/O messages correspond to the process data telegrams of the SEW fieldbusprofile. Up to ten process data words can be exchanged between the control and theinverter in this case. The process data length is set via DIP switches S2-PD0 ... S2-PD4.

Configuration for 1 ... 10 process data words

The process data length for the process data configuration is set to 3 at the factory. Thevalue can be set via DIP switches S2-PD0 ... S2-PD4.

This setting is displayed via the parameters DeviceNet PD configuration = 3PD or 3PD+ Param in MOVITOOLS® or via the DBG60B keypad. This means three process datawords (6 bytes) are processed in the inverter and three process input data words aresent to the control.

No process data are processed or sent back if the control transmits more than ten pro-cess output data words.

Three process data words are processed and three process input data words are sentfrom the inverter to the control if the control transmits three process output data words.

The set process data length influences the process data lengths of both the polled I/Oand the bit-strobe I/O messages.

The process data length of the bit-strobe I/O messages can include up to four processdata words. If the value for the process data length set via DIP switches is less than four,it will be accepted. If the value set via DIP switches is greater than four, the process datalength will be automatically limited to four.

54191AENFigure 4: Three process data words in the PLC memory

4

1 2 3

5 6

7 8 9

+/- 0 .

MOVIDRIVE® MDX61B

...

...

PLC

address range

Output file

Input file

O:3.10 PD 1

PD 2

PD 3

PD 1

PD 2

PD 3

O:3.11

O:3.12

I:3.10

I:3.11

I:3.12

PD 1 PD 2 PD 3 PD 10

PD 1 PD 2 PD 3 PD 10

PP

00

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4Process data exchangeProject Planning and Startup

The process output data are stored in the output file of the PLC and the process inputdata of the PLC are stored in the input file. In the example above, the output data wordsO:3.10, O:3.11 and O:3.12 are copied to process output data words 1, 2 and 3 and pro-cessed by the inverter. The inverter sends back three process input data words that arecopied into input data words I:3.10, I:3.11 and I:3.12 of the PLC.

Timeout response with polled I/O

The timeout is triggered by the DFD11B option. The timeout time must be set by themaster after the connection has been established. The DeviceNet specification refers toan "expected packet rate" rather than a timeout time in this case. The expected packetrate is calculated on the basis of the timeout interval using the following formula:

tTimeout_inverter = tTimeout interval_PolledIO = 4 x tExpected_Packet_Rate_PolledIO

The expected packet rate can be 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 timeoutinterval and displayed in the device and the timeout interval in parameter P819.

This timeout interval is retained in the device whenever the polled I/O connection isdropped, and the device switches to timeout status after the timeout interval haselapsed.

The timeout interval must not be altered in the inverter using MOVITOOLS® or theDBG60B keypad, because it can only be activated via the bus.

If a timeout occurs for the polled I/O messages, this connection type enters timeoutstatus. Incoming polled I/O messages are no longer accepted.

The timeout causes the timeout reaction set in the inverter to be carried out.

The timeout can be reset with DeviceNet by means of the reset service of the connectionobject (class 0x05, instance 0x02, undetermined attribute), by disconnecting theconnection, by means of the reset service of the identity object (class 0x01, instance0x01, undetermined attribute) or with the reset bit in the control word.

Bit-strobe I/O Bit-strobe I/O messages are not contained in the SEW fieldbus profile. The messagesrepresent a DeviceNet-specific process data exchange. The master sends a broadcastmessage that is 8 bytes (= 64 bits) long. One bit in this message is assigned to eachstation in accordance with its station address. The value of this bit may be 0 or 1, andthereby trigger two different reactions in the recipient.

If you select a different process data length, you will have the expand the memory to bemanaged in the PLC as well. If the process data length is set to 10, you will have toconfigure 10 process output data words and 10 process input data words.

Bit value

Meaning LED BIO

0 Send back the process input data only Green light

1 Trigger fieldbus timeout reaction and send back process input data Green light


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4 rocess data exchangeroject Planning and Startup

The following table shows the data area of the bit-strobe request telegram which repre-sents the allocation of stations (= station address) to data bits.

Example: For example, the station with station address (MAC-ID) 16 only processes bit0 in data byte 2.

In the example above, the bit-strobe I/O message is stored in memory words O:3.10 toO:3.13. The inverter sends three process input data words to the PLC; these are storedin the input file in input data words I:3.10 to I:3.12.

Important:

The BIO LED on the front of the DFD11B option can be used for distinguishing betweenthe timeout triggered by the bit-strobe telegram and a real timeout in the connection. Itremains continuously green if the timeout is triggered by the bit-strobe telegram.

If the BIO LED flashes red, this means there is a timeout in the bit-strobe connection andno more bit-strobe telegrams are accepted. Each station that has received this bit-strobeI/O message responds with its current process input data. The length of the process in-put data corresponds to the process data length for the polled I/O connection. The pro-cess input data length can be up to four process data.

Byte off-set

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








54192AENFigure 5: Bit-strobe I/O messages

1

1

PLC

address range

Output file

Input file

O:3.10

Bit 16O:3.11

O:3.12

O:3.13

I:3.10I:3.11

I:3.12

PD 1 PD 2

PD 3

PD 1 PD 2 PD 3

Stationaddress

(MAC-ID) = 16

4

1 2 3

5 6

7 8 9

+/- 0 .

Important:

The process data length set via DIP switches influences the process data lengths of boththe polled I/O and the bit-strobe I/O messages. The process data length of the bit-strobeI/O messages can include up to four process data words.

PP

00

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4Process data exchangeProject Planning and Startup

Timeout response with bit-strobe I/O

The timeout is triggered by the DFD11B option. The timeout time must be set by themaster after the connection has been established. The DeviceNet specification refers toan "expected packet rate" rather than a timeout time in this case. The expected packetrate is calculated on the basis of the timeout interval using the following formula:

tTimeout_BitStrobeIO = 4 x tExpected_Packet_Rate_BitStrobeIO

It can be set using connection object class 5, instance 3, attribute 9. The range of valuesruns 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 timeoutstatus. Incoming bit-strobe I/O messages are no longer accepted. The timeout is notpassed on to the inverter.

The timeout reset takes place as follows:

• via DeviceNet with the reset service of the connection object (class 0x05, instance0x03, undetermined attribute)

• by interrupting the connection

• via reset service of the identity object (class 0x01, instance 0x01, undeterminedattribute)


00

I

21

22

4 arameter data exchangeroject Planning and Startup

4.4 Parameter data exchange

The SEW parame-ter data channel

The SEW parameter data channel represents a connection you can use to change orread parameters in the inverter. It is represented on the DFD11B option in form ofExplicit Messages.

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)

You address the SEW parameter data channel with the Get_Attribute_Single andSet_Attribute_Single services. The following possibilities for addressing the parameterdata channel derive from the way the register object is specified by DeviceNet so thatINPUT objects can only be read and OUTPUT objects can be read and written.

Instance INPUT / OUTPUTResulting MOVILINK® service with

Get_Attribut_Single Set_Attribut_Single

1 INPUT READ Invalid

2 OUTPUT READ WRITE

3 OUTPUT READ WRITE VOLATILE

4 INPUT READ MINIMUM Invalid

5 INPUT READ MAXIMUM Invalid

6 INPUT READ DEFAULT Invalid

7 INPUT READ SCALING Invalid

8 INPUT READ ATTRIBUTE Invalid

9 INPUT READ EEPROM Invalid

PP

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4Parameter data exchangeProject Planning and Startup

54185AENFigure 6: Description of the parameter channel

READ EEPROM

Get_Attribut_Single READ

READ MINIMUM

READ MAXIMUM

READ DEFAULT

READ SCALING

READ ATTRIBUTE

WRITE

WRITE VOLATILE

Get_Attribut_Single

Get_Attribut_Single

Set_Attribut_Single

Set_Attribut_Single

Get_Attribut_Single

Get_Attribut_Single

Get_Attribut_Single

Get_Attribut_Single

Get_Attribut_Single

Input

(Instance 1)

Input

(Instance 4)

Input

(Instance 5)

Input

(Instance 6)

Input

(Instance 7)

Input

(Instance 8)

Get_Attribut_Single Input

(Instance 9)

Output

(Instance 2)

Output

(Instance 3)

DeviceNet SEW fieldbus profile

DPRAM


00

I

23

24


The following table shows the attributes (column "Attribute") of the eight instances (col-umn "Instance") of the register object.

Class Instance Attribute Get Set Type Type/Value Meaning

0x07 0x01(Read)

1 X BOOL 0/1 Bad Flag

2 X BOOL 0 (Input) Direction

3 X UINT 16 bit Size

4 X X ARRAYBITS

2 byte index4 byte data

Data

0x02(Read /Write)


2 X BOOL 1 (Output) Direction


4 X X ARRAYBITS


Data

0x03(Read/Write-Volatile)




4 X X ARRAYBITS


Data

0x04(Read Minimum)




4 X X ARRAYBITS


Data

0x05(Read Maximum)




4 X X ARRAYBITS


Data

0x06(Read Default)




4 X X ARRAYBITS


Data

0x07(Read Scaling)




4 X X ARRAYBITS


Data

0x08(Read Attribute)




4 X X ARRAYBITS


Data

0x09(Read EEPROM)




4 X X ARRAYBITS


Data

PP

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Explanation of attributes

• Attribute 1 Bad flag signals whether an error occurred in the previous service.

• Attribute 2 represents the direction of the instance

• Attribute 3 indicates the data length in bits

• Attribute 4 represents the parameter data. They are made up of the index (2 bytes)and the data (4 bytes).

You transmit the values with the Get_Attribute_Single and Set_Attribute_Single servic-es.

Example Parameter Setpoint description PO1 (index 8304 = 2070hex) is to receive the valueCONTROL WORD1 (9). The following table shows the file format for the parameter re-quest telegram.

The following table shows the file format for the parameter response telegram.

Service Coding Meaning

Get_Attribut_Single 0x0E Read attribute

Set_Attribut_Single 0x10 Write attribute

Byte offset

0 1 2 3 4 5 6 7 8 9 10

Function MAC-ID Service Class Instance Attributes

Index Data

Signifi-cance

Low High LSB MSB

Exam-ple

01hex 10hex 07hex 02hex 04hex 70hex 20hex 09hex 00hex 00hex 00hex

Byte offset

0 1 2 3 4 5 6 7

Function MAC-ID Service Index Data

Significance Low High LSB MSB

Example 01hex 90hex 70hex 20hex 09hex 00hex 00hex 00hex

54183AENFigure 7: Parameter data exchange

Input data

4

1 2 3

5 6

7 8 9

+/- 0 .

Header(Service, Class...)

Index = 2070h

Data Low-word=0009h

Data High-word=0000h

Index

Index

Data Low-Word

Data

Data High-Word

Header(Service, Class...)

Index = 2070h

Data Low-word=0009h

Data High-word=0000h

PLCaddress range

Output data

Header

Index

Data Low-Word

Data High-Word

Header

Header

Index DataHeader


00

I

25

26


Parameter object class (class 15)

The fieldbus parameters of the inverter can be addressed directly via the instance withthe parameter object. The data format for these instances deviates from the SEW field-bus profile to meet the DeviceNet specification. It is possible to address all parametersof the inverter via the parameter object. Instances 1 to 9 have been reserved for thispurpose.

General SEW parameter data channel

You can use the RSNetWorx software to set the inverter parameters via the parameterobject. Because not all parameters are listed in the EDS file, instances have beendefined in the parameter object 2 that emulate the SEW parameter data channel with itsMOVILINK® services.

You will first have to write the desired index to the SEW-Param.-Index before you canread or write a parameter. You can then read or write the SEW parameter data viainstance 2. That means you have to perform two services to read or write a parameter.

The file format of the SEW-Read/Write, SEW-Read/WriteVo, SEW-Minimum,SEW-Maximum, SEW-Default, SEW-Scaling and SEW-Attribute services correspondsto the SEW communication profile MOVILINK®.

Writing or read-ing the fieldbus parameters

The parameters required for operating the fieldbus have been directly incorporated intothe parameter object. They can be addressed directly via the instance.

R = Read only

No.

Group Name Comment

1 SEW Parameter Channel SEW param. index Index of the parameter

2 SEW Parameter Channel SEW-Read/Write Read or write the value of the parameter

No. Group Name Meaning

3R

Device parameter

Device Identification Part number device

4 Control source Control signal source

5 Setpoint source Setpoint source

6R PD configuration Process data configuration

7 Setp.descr.PO1 Process output data assignment for PD1



10 Act.v.descr. PI1 Process input data assignment for PD1



13 PO Data Enable Enable process data

14 Timeout response Timeout response

15R Fieldbus type Fieldbus type

16R Baud rate Baud rate via DIP switches

17R Station address MAC-ID via DIP switches

PP

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Process output data monitor (PO monitor)

Use these parameters to monitor the process output data sent by the control.

R = Read only

Process input data monitor (PI monitor)

Use these parameters to monitor the process input data sent to the control.

R = Read only

Scaling and representation within the telegram correspond to the DeviceNet specifica-tion and are identical to the SEW communication profile.


18R

PO monitor

PO1 setpoint Monitor of process output data word 1

19R PO2 setpoint Monitor of process output data word 2










28R

PI monitor

PI1 actual value Monitor of process input data word 1

29R PI2 actual value Monitor of process input data word 2










00

I

27

28

4 eturn codes for parameter settingroject Planning and Startup

4.5 Return codes for parameter setting

SEW-specific return codes

The return codes which the inverter sends back in the event of incorrect parameter set-ting are described in the manual for the "SEW Fieldbus Device Profile" and do not formpart of this documentation. However, the return codes are sent back in a different formatin conjunction with DeviceNet. The following table shows the data format for a parameterresponse telegram.

• The Service code of an error telegram is always 94hhex

• The General Error Code of an inverter-specific return code is always 1Fhex = propri-etary error

• The additional code is identical to the additional code described in the SEW fieldbusdevice profile manual.

• The table shows the proprietary error10hex = Illegal parameter index.

Return codes from DeviceNet

DeviceNet-specific return codes are sent in the error telegram if the data format is notmaintained during the transfer or if a service is performed which has not been imple-mented. The coding of these return codes is described in the DeviceNet specification(→ section " Appendix").

Timeout of explicit mes-sages

The timeout is triggered by the DFD11B option. The timeout time must be set by themaster after the connection has been established. The DeviceNet specification refers toan expected packet rate" rather than a timeout time in this case. The expected packetrate is calculated on the basis of the timeout interval using the following formula:

tTimeout_ExplicitMessages = 4 x tExpected_Packet_Rate_ExplicitMessages

It can be set using connection object class 5, instance 1, attribute 9. The range of valuesruns from 0 ms to 65535 ms in 5 ms steps.

If a timeout is triggered for the explicit messages, the connection for the explicit messag-es is automatically dropped providing the polled I/O or bit-strobe I/O connections are notin the ESTABLISHED state. This is the default setting for DeviceNet. The connection forexplicit messages must be re-established to communicate with these messages again.The timeout is not forwarded to the inverter.

Byte offset

0 1 2 3

Function MAC-ID Service code [=94hex] General Error Code Additional code

Example 01hex 94hex 1Fhex 10hex

RP

00

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5Return codes for parameter settingSample Application with PLC Type SLC500

5 Sample Application with PLC Type SLC500

The following devices are employed:

54179AENFigure 8: PLC equipment configuration

MAC-ID1

MAC-ID11

1

MAC-ID10

4

1 2 3

5 6

7 8 9

+/- 0 .

4

1 2 3

5 6

7 8 9

+/- 0 .

4

1 2 3

5 6

7 8 9

+/- 0 .

RSLogic500 for SLC9324-RL0300END

PC PCRS232C

1747-CP3RS232C

1747-CP3

16outputs

16inputs Adapter

16inputs Adapter

16inputs

DeviceNetScannerSLC500Power section

1746-P2

1485A-C2

Terminatingresistor

1485A-C2

Terminatingresistor

1747-SDN 1746-IB16 1794-ADN 1794-IB16 1794-ADN 1794-OV161746-OB161747-L542

DeviceNet (remote line 1485C-P1-A50)

Cha

ssis

174

6-A

7

Power section

System configurationDeviceNet

Terminal m

odule1794-T

B2

Terminal m

odule1794-T

B2

MAC-ID0

MAC-ID8

MAC-ID4

Device MAC-ID

SLC5/04 -

DeviceNet scanner 1747-SDN 1

INPUT module with 32 inputs -

OUTPUT module with 32 outputs -

DeviceNet adapter with input module with 16 inputs 11

DeviceNet with output module 16 outputs 10

MOVIDRIVE® MDX61B with DFD11B 8



29

30

5 eturn codes for parameter settingample Application with PLC Type SLC500

The following memory areas have been specified with the DeviceNet manager software:

The Bit-Strobe data are contrasted to the Polled I/O data in bold.

*******************************************************************

1747-SDN Scanlist Map

******************************************************************

Discrete Input Map:

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

I:3,000 R R R R R R R R R R R R R R R R Status word of the scanner

I:3,001 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 Process data from device 11




I:3,005 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 PID1 device 8 Polled IO



I:3,008 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 PID1 device 8 Bit-Strobe I/O















Discrete Output Map:

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

O:3,000 R R R R R R R R R R R R R R R R Status word of the scanner

O:3,001 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 Process data to device 11

O:3,002 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 Process data to device 10

O:3,003 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 08 POD1 device 8 Polled IO









O:3,012 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. Bit-Strobe for device 8

RS


5Exchange of polled I/O (process data)Sample Application with PLC Type SLC500

5.1 Exchange of polled I/O (process data)

Objective In the following program, process data are to be sent to a MOVIDRIVE® MDX61B andthe motor should run at a different speed. The program sequence is shown in the follow-ing figure.

The parameters listed in the following table must be set in the MOVIDRIVE® MDX61Bdrive inverter for exchange of the process data.

MOVIDRIVE® MDX61B now works in fieldbus mode and can receive process data. Theprogram can now be written for the SLC500.

54178AENFigure 9: Program sequence

Menu no. Index Parameter Value

100 8461 Setpoint source Fieldbus

101 8462 Control signal source Fieldbus

870 8304 Process output data description 1 Control word 1

871 8305 Process output data description 2 Speed

872 8306 Process output data description 3 No function

873 8307 Process output data description 1 Status word 1



876 8622 PO data enable YES

START

Cycle 0

Cycle 1

Cycle 2

Cycle 3

Speed = 1000 rpm,Enable

Speed = 0 rpm,Rapid stop

Speed = 0 rpm,Rapid stop

Speed = -400 rpm,Enable

31

32

5 xchange of polled I/O (process data)ample Application with PLC Type SLC500

Output bit O:3.0/0 is set in rung 0 (program line 0), thereby starting DeviceNet commu-nication (→ description of the DeviceNet scanner).

Rungs 1 and 3 implement the status engine with which states 0... 3 are implemented.The current status is written to the outputs O:1.0 of the output module of the SLC500 inrung 2.

The process data values are output to the scanner memory area in the following figure.

01912AEN

Status engine for control of sense of rotation

Output of the status engine

If status > 3, change to status 0

Start DeviceNet communication

01913AEN

If status > 3, change to status 0

Status 0: Start motor, speed = 1000 rpm

Status 1: Stop motor

ES


5Exchange of polled I/O (process data)Sample Application with PLC Type SLC500

Status 0 is created in rung 4. In this status, a 6 (ENABLE) is written to memory areaO:3.3 which represents process output data word 1. A 5000 is written to memory areaO:3.4 (process output data word 2), which represents 1000 min–1. This means the motorruns at 1000 revolutions.

Status 1 is created in rung 5. In this status, a 0 (RAPID STOP) is written to memory areaO:3.3 which represents process output data word 1. A 0 is written to memory area O:3.4(process output data word 2), which represents the value 0 min–1. This means the motoris stopped with the rapid stop. States 2 and 3 are treated similarly to states 0 and 1, andare thus not explained any further.

In the figure above, the current actual value of the device with address 8, which is locat-ed in memory area I:3.6 (process input data word 2), is multiplied by a constant factor(in this case, by 1) and written to output memory area O:3.7 (process output data word2 of the device with address 0).

In addition, the value 6 (ENABLE) is written to the process output data word 1 of thedevice with address 0 (O:3.6). Thus, the device with address 0 follows the actual speedwith enable signal from the device with address 8.

01914AEN

Transmit actual position from motor 1 to motor 2

33

34

5 xchange of bit-strobe I/Oample Application with PLC Type SLC500

5.2 Exchange of bit-strobe I/O

Objective In the following program the process input data are to be requested from theMOVIDRIVE® drive inverter. Set the parameters listed in the following table in the invert-er for process data exchange.

MOVIDRIVE® now works in fieldbus mode and can receive process data. The programcan now be written for the PLC of the SLC500.

DeviceNet communication is enabled again in rung 0.

In rung 1, the strobe-bit of device 8 is set in relationship to the input bit I:3.2/0 (from theDeviceNet input module).

In rung 2, process input data word 1 (I:3.8) is copied to the DeviceNet output module viamemory word O:3.12 and process input data word 2 (I:3.9) is copied to the SLC500 out-put module via memory word O:1.0.

Menu no. Index Parameter Value

100 8461 Setpoint source Fieldbus

101 8462 Control signal source Fieldbus

870 8304 Process output data description 1 Control word 1



873 8307 Process output data description 1 Status word 1



876 8622 PO data enable YES

831 8610 Response FIELDBUS TIMEOUT Rapid st. / Warn.

01915AEN

Start DeviceNet communication

Set / reset Strobe bit

Transmit actual values from the device to the output module

Send Bit-Strobe message

ES


5Exchanging explicit messages (parameter data)Sample Application with PLC Type SLC500

5.3 Exchanging explicit messages (parameter data)

Objective In this program, parameter data are exchanged between the control and the inverter.

Exchange of parameter data between inverter and SLC500 takes place via M-Files (→Installations instructions on DeviceNet scanner module).

A memory area from word 224 to 255 in these M-files is reserved for explicit messages.The structure of this memory area is shown in the following figure.

This memory area is split up into two areas:

• Transmission header (three words)

• Explicit message body

The memory areas in the M-Files are described in more detail in the following overview.

54172AEN

Memory area Function Length Value Description

Transmission header cmd/status

1/2 word each

→ follow-ing table

cmd: Entry of command codestatus: Entry of transmission status

TXID 1 ... 255 During creation or downloading of a request to the scanner, the contact plan program of the SLC5 processor assigns a TXID to the transfer.

Size 3 ... 29 Size of the explicit message body (in bytes!)

Connec-tion

0 DeviceNet connection (= 0)

Service 0Ehex10hex05hexetc.

Get_Attribute_Single (Read)Set_Attribute_Single (Write)Resetsee DeviceNet specification for more services

Explicit message body Class

1 word each 0 ... 255

DeviceNet class

Instance DeviceNet instance

Attributes DeviceNet attribute

Data 0 ... 26 words 0 ... 65535 Data content

Class

Instance

Attribute

Tran

smis

sion

head

erE

xplic

it M

essa

ge B

ody

Word 224TXID cmd/status

Connection Size

Service MAC-ID

Data

Word 225

Word 226

Word 227

Word 228

Word 229

Word 230

...

Word 255

35

36

5 xchanging explicit messages (parameter data)ample Application with PLC Type SLC500

The following overviews offer a description of the command and status codes.

Command codes:

Status codes:

Command code (cmd)

Description

0 Ignore transmission block

1 Execute transmission block

2 Receive transmission status

3 Reset all client/server transmissions

4 Delete transmission from queue

5 ... 255 Reserved

Network node status (sta-tus)

Description

0 Ignore transmission block

1 Transmission completed successfully

2 Transmission in progress

3 Error – Slave device not in the scan list

4 Error – Slave is offline

5 Error – DeviceNet network connection deactivated (offline)

6 Error – Unknown transmission TXID

7 Not used

8 Error – Invalid command code

9 Error – Scanner buffer full

10 Error – Other client/server transmission in progress

11 Error – No connection to slave device

12 Error – Response data are too long for the block

13 Error – Invalid connection

14 Error – Invalid size specified

15 Error – Busy

16 ... 255 Reserved

ES



The M-files are divided into a request file (M0-file) and a response file (M1-file). Datatransmission takes place as shown in the following figure.

Register object class (7hex) must be used in order to read (instance 1 to 9) or write (in-stance 2 and 3) parameters from the inverter via the SEW parameter data channel. Thedata range is divided into the index (1 word) and the parameter data (2 words).

54175AENFigure 10: Transmission of an explicit message

4

1 2 3

5 6

7 8 9

+/- 0 .

MOVIDRIVE® MDX61B

PLC

SLC500 Scanner 1747-SDN

Request of atransmission

block

Contact plan scanning

Response of atransmission

block

1.M0-File

4.M1-File

Scannerrequest

waiting loop

Scannerresponse

waiting loop

Process requests and responses

Exec

ute

Rea

dyor

Err

or

2. DeviceNet Explicit Message Request

3. DeviceNet Explicit Message Response

54177AEN

Class

Instance

Attribute

Tran

sim

issi

onhe

ader

Exp

licit

Mes

sage

Bod

y

Word 224TXID cmd/status

Connection Size

Service MAC-ID

Index

Data word Low (HEX)

Data word High (HEX)

Word 225

Word 226

Word 227

Word 228

Word 229

Word 230

Word 231

Word 232

37

38

5 xchanging explicit messages (parameter data)ample Application with PLC Type SLC500

In the sample program, a data area is reserved in the integer file (N-file, following figure),into which the data of the M0/M1 files are written.

The data telegram to be used is written in N7:0 to N7:8. N7:10 to N7:15 hold the datathat are to be received.

02149AXX

Word length Request

Function Value

1TXID 1

cmd: 1 = Start

2Connection 0

Size 8

3Service Ehex = Read Request

MAC_ID 8

4 Class 7

5 Instance 1

6 Attributes 4

7 Data 1 2070hex

8 Data 2 0hex

9 Data 3 0

Word length Response

Function Value

1TXID 1

status 1 = successful

2Connection 0

Size 6

3Service 8hex = Read Response

MACID 8

4 Data 1 2070hex

5 Data 2 9hex

6 Data 3 0

ES



The SEW parameter data channel can be addressed via Class 7, Instance 1 ... 9 andAttribute 4 (→ Statement of Conformance).

In rung 5, the 9 bytes starting from N7:0 are copied into the M0-file with a rising edge ofbit B3:0/1. This starts the reading of parameter 8304 (2070hex). In rung 6, the systemwaits for the rising edge of scanner bit I:3.0/15. I:3.0/15 shows that the data are present.Request profile B3:0/1 can then be reset.

At this point, the received data still have to be written into the N-file. To this end, ninewords of the M1-files N7:10...19 are written.

01921AEN

Write transmit data

Read receive data

39

40

6 FD11B optionechnical Data

6 Technical Data6.1 DFD11B option

DFD11B option

Part number 824 972 5

Power consumption P = 3 W

Communication protocol Master/slave connection set acc. to DeviceNet specification version 2.0

Number of process data words

Adjustable via DIP switches:• 1 ... 10 process data words• 1 ... 4 process data words with Bit-Strobe I/O

Baud rate 125, 250 or 500 kBaud, to be set via DIP switches

Bus cable length For thick cable according to DeviceNet specification 2.0 Appendix B• 500 m at 125 kbaud• 250 m at 250 kbaud• 100 m at 500 kbaud

Transmission level ISO 11 98 - 24 V

Connection technology • 2-wire bus and 2-wire supply voltage 24 VDC with 5-pole Phoenix terminal

• Pin assignment acc. to DeviceNet specification

MAC-ID 0 ... 63, can be set using DIP switchMax. 64 stations

Supported services • Polled I/O: 1 ... 10 words• Bit-Strobe I/O: 1 ... 4 words• Explicit messages:

– Get_Attribute_Single– Set_Attribute_Single– Reset– Allocate_MS_Connection_Set– Release_MS_Connection_Set

Tools for startup • MOVITOOLS® software package from version 4.20• DBG60B keypad

Firmware status of MOVIDRIVE® MDX61B

Firmware status 824 854 0.11 or above (→ display with P076)

DT

Pi

fkVA

Hz

n


7General error codes (error messages)Appendix

7 Appendix7.1 General error codes (error messages)

General error code (hex)

Error name Description

00 - 01 Reserved for DeviceNet

02 Resource unavailable The source required for performing the service is unavailable

03 - 07 Reserved for DeviceNet

08 Service not supported The service is not supported for the selected class/instance

09 Invalid attribute value Invalid attribute data have been sent

0A Reserved for DeviceNet

0B Already in requested mode/state

The selected object is already in the requested mode/state

0C Object state conflict The selected object cannot perform the service in its current status

0D Reserved for DeviceNet

0E Attribute not settable It is not possible to access the selected object for writing.

0F Pivilege violation Violation of access entitlement

10 Device state conflict The current status of the device makes it impossible to perform the required service

11 Reply data too large The length of the transmitted data is longer than the size of the receive buffer

12 Reserved for DeviceNet

13 Not enough data The length of the transferred data is too short for the service to be performed

14 Attribute not supported The selected attribute is not supported

15 Too much data The length of the transferred data is too long for the service to be performed

16 Object does not exist The selected object is not implemented in the device

17 Reserved for DeviceNet

18 No stored attribute data The requested data have not been stored previously

19 Store operation failure The data could not be stored because an error occurred while saving them

1A - 1E Reserved for DeviceNet

1F Vendor specific error Vendor specific error (→Manual"SEW Fieldbus Device Profile")

20 invalid parameter Invalid parameterThis error message is used when a parameter does not satisfy the requirements of the specification and/or the requirements of the application.

21 - CF Future extensions Reserved by DeviceNet for additional definitions

D0 - DF Reserved for Object Class and service errors

Use this area if an occurring error cannot be entered in one of the error groups listed above.

41

42

7 tatement of Conformanceppendix

7.2 Statement of Conformance

54129AXX

Device Net Statement of Conformance

SOC data as of 6 - 3 - 2004

Fill in the blank or X the appropriate box

General Conforms to DeviceNet Specification Volume I - Release 2.0 Volume II - Release 2.0 Device Errata Data Vendor Name SEW Eurodrive GmbH

Device Profile Vendor SpecificProduct Name SEW-MOVIDRIVE-DFD11BProduct Code 10Product Revision 1.01

DeviceNet Physical Network Power Consumption (Max) 0,4 A @ 11V dc (worst case)Conformance Data

Connector Style Open-Hardwired Sealed-Mini

Open-Pluggable X Sealed-Micro

Isolated Physical Layer YesNo

LEDs Supported Module Combo Mod/Net X None Network I/O

MAC ID Setting DIP Switch X Software SettableOther

Default MAC ID 63

Communication Rate Setting DIP Switch X Software SettableOther

Communication Rates Supported 125k bit/s X 500k bit/s X250k bit/s X

DeviceNet Device Network Behavior Group 2 Client Group 2 Only Client

Communication Check All That Apply Group 2 Server Group 2 Only Server X

Data Peer-To-Peer Tool (not a Device)

UCMM Explicit Message Groups Supported Group 1 Group 2 Group 3

Dynamic I/O Message Groups (Peer to Peer) Group 1 Group 2 Group 3

Default I/O Data Address Path Input: Class 4 Inst. 64 Attr. 3

Output: Class 4 Inst. 64 Attr. 3

Fragmented Explicit Messaging Supported Yes No

If yes, Acknowledge TimeOut 1000 ms

Typical Target AddressesConsumption Service 16 Class 1 Inst. 1 Attr. 7Production Service 14 Class 1 Inst. 1 Attr. 7

1 of 9

SA


7Statement of ConformanceAppendix

54130AXX


DeviceNet Identity Object 0x01Required Object Class ID Description Get Set Value Limits

Object Attributes Open 1 RevisionImplementation 2 Max instance

X None Supported 3 Number of Instances4 Optional attributes list

5 Optional services list

6 Max Id of class attributes7 Max Id of instance attributes

DeviceNet Services Parameter OptionsServices Get_Attributes_All

Reset

X None Supported Get_Attribute_SingleFind_Next_Object_instance

Object Instance ID Description Get Set Value LimitsAttributes Open 1 Vendor X =(315)

2 Device type X =(100)3 Product code X =(10)4 Revision X =(1.01)5 Status (bits supported) X6 Serial number X7 Product name X SEW-MOVIDRIVE-DFD11B

8 State9 Config. Consistency Value

10 Heartbeat Interval


X Reset 0

X Get_Attribute_SingleSet_Attribute_Single

Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 2 of 9

43

44


54132AXX


DeviceNet Message Router Object 0x02Required Object Class ID Description Get Set Value Limits


X None Supported 3 Number of Instances4 Optional attribute list5 Optional service list

6 Max ID of class attributes

7 Max ID of instance attributes


Get_Attribute_Single

X None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 Object list

2 Maximum connections supported

X None Supported 3 Number of active connections

4 Active connections list


Get_Attribute_Single

X None Supported Set_Attribute_Single


SA



54133AXX


DeviceNet DeviceNet Object 0x03Required Object Class ID Description Get Set Value Limits

Object Attributes Open 1 Revision X =(2)Implementation 2 Max instance

None Supported 3 Number of Instances

4 Optional attribute list5 Optional service list


7 Max ID of instance attributes

DeviceNet Services Parameter OptionsServices Get_Attribute_Single

X None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 MAC ID X =(0..63)

2 Baud rate X =(0..2) None Supported 3 BOI X =(0)

4 Bus-off counter X X =(0..255)

5 Allocation information X6 MAC ID switch changed X =(0)7 Baud rate switch changed X =(0)8 MAC ID switch value X =(0..63)9 Baud rate switch value X =(0..2)

DeviceNet Services Parameter OptionsServices X Get_Attribute_Single

X Set_Attribute_Single None Supported X Allocate M/S connection set

X Release M/S connection set


45

46


54134AXX


DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported 2 Max instance

3 Number of InstancesComplete this sheet for 4 Optional attribute listeach connection supported. 5 Optional service list

6 Max ID of class attributes7 Max ID of instance attributes

DeviceNet Services Parameter OptionsX None Supported Reset

CreateDeleteGet_Attribute_SingleFind_Next_Object_Instance

Object Instance Connection Type Max Connection InstancesM/S Explicit Message 1 Server Client 1 Total

Complete this section for Production trigger(s) Cyclic COS App. trig.Dynamic I/O connections Transport type(s) Server X Client

Transport class(es) 2 X 3

ID Description Get Set Value LimitsAttributes Open 1 State X

2 Instance type X3 Transport Class trigger X4 Produced connection ID X5 Consumed connection ID X6 Initial comm. characteristics X7 Produced connection size X8 Consumed connection size X9 Expected packet rate X X =(0..65530)

12 Watchdog time-out action X13 Produced connection path len X14 Produced connection path X15 Consumed connection path len X16 Consumed connection path X17 Production inhibit time X =(0)

DeviceNet Services Parameter OptionsServices X Reset

DeleteApply_Attributes

X Get_Attribute_Single

X Set_Attribute_Single


SA



54135AXX







Object Instance Connection Type Max Connection InstancesM/S Poll 1 Server Client 1 Total











47

48


54136AXX







Object Instance Connection Type Max Connection InstancesM/S Bit Strobe 1 Server Client 1 Total











SA



54137AXX


DeviceNet Register Object 0x07Required Object Class ID Description Get Set Value Limits


X None Supported 3 Number of Instances

4 Optional attribute list

5 Optional service list6 Max ID of class attributes7 Max ID of instance attributes

DeviceNet Services Parameter Options

Services Get_Attribute_Single

X None Supported

Object Instance ID Description Get Set Value Limits

Attributes Open 1 Bad Flag X2 Direction X

None Supported 3 Size X4 Data X X

DeviceNet Services Parameter OptionsServices X Get_Attribute_Single 84520000000000

None Supported X Set_Attribute_Single


49

50


54138AXX


DeviceNet Parameter Object 0x0FRequired Object Class ID Description Get Set Value Limits

Object Attributes Open 1 RevisionImplementation 2 Max instance X

None Supported 3 Number of Instances4 Optional attribute list5 Optional service list


7 Max ID of instance attributes8 Parameter class descriptor X9 Configuration assembly instanceX10 Native language


Reset

None Supported X Get_Attribute_SingleSet_Attribute_SingleRestore Save

Object Instance ID Description Get Set Value LimitsAttributes Open 1 Parameter value X X =(0..4294967294)

2 Link Path size X None Supported 3 Link path X

4 Descriptor X5 Data type X6 Data size X =(4)7 Parameter name string8 Units string9 Help string

10 Minimum value11 Maximum value12 Default value13 Scaling multiplier14 Scaling divisor15 Scaling base16 Scaling offset17 Multiplier link

18 Divisor link

19 Base link20 Offset link21 Decimal precision

DeviceNet Services

Services Get_Attribute_All

None Supported X Get_Attribute_Single X Set_Attribute_Single

Vendor Specific Additions Yes If yes, fill out the Vendor Specific Additions form. No X

X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 9 of 9

SA


7Definitions of terminologyAppendix

7.3 Definitions of terminology

Term Description

Allocate Provides a service for setting up a connection.

Attributes Attribute of an object class or instance. Describes the characteristics of the object class or instance in more detail.

BIO - Bit-Strobe I/O All stations can be addressed with a broadcast telegram. The addressed stations respond with the process input data.

Class DeviceNet object class

Device-Net scanner Plug-in module for the Allen Bradley PLC which connects the PLC fieldbus to the peripheral devices.

DUP-MAC check Duplicate MAC-ID test

Explicit message body Includes the class no., instance no., attribute no. and the data.

Explicit message Parameter data message; assists in addressing the DeviceNet objects.

Get_Attribute_Single Read service for a parameter.

Instance Instance of an object class. Divides the object classes into additional sub-groups.

MAC-ID Media Access Control identifier: node address of the device.

M-file Provides the data range between the PLC and the scanner module.

Mod/Net Module/Network

Node ID Node address = MAC-ID

PIO - Polled I/O Process data channel of DeviceNet; allows process output data to be sent and process input data to be received.

Release Provides a service for setting up a connection.

Reset Provides a service for resetting an error.

Rung SLC500 program line

Service Service performed via bus, e.g. read service, write service, etc.

Set_Attribute_Single Write service for a parameter.

SLC500 Allen Bradley PLC

51

8

52 Manual – MOVIDRIVE® MDX61B DFD11B Fieldbus Interface DeviceNet

Index

8 IndexAAdditional documentation ......................................5

BBaud rate ..................................................... 11, 40Building the DeviceNet network with RSNetWorx ...17Bus terminating resistor ......................................10BUS-OFF LED ....................................................13

CConnection and terminal assignment DFD11B .....9

DDefinitions of Terminology ..................................51Display of operating status DFD11B option card 12

EError messages ...................................................41

IImportant Notes ....................................................4Installing the DFD11B option card ........................7Installing the DFE11B option card

Basic procedure ..............................................8

LLED BIO ..............................................................13LED Mod/Net ......................................................12

NNotes on routing of bus cables ...........................10

OOperating displays of DFD11B option card

LED BIO .......................................................13LED Mod/Net ................................................12PIO LED .......................................................12

PParameter data exchange ...................................22PCP length ..........................................................11Pin assignment ...................................................10PIO LED ..............................................................12Process data exchange ......................................18

Bit-strobe I/O ................................................19Polled I/O ......................................................18Timeout response with bit-strobe I/O ............21Timeout response with polled I/O .................19

Process data length ............................................11

RReturn codes for parameter setting ....................28

SSafety Notes .........................................................4Safety notes on bus systems ................................4Sample Application with PLC Type SLC500 .......29

Setting the DIP switches .................................... 11Setting the baud rate ................................... 11Setting the MAC-ID ...................................... 11Setting the process data length ................... 11

SEW parameter data channel ............................ 22Startup of the drive inverter ................................ 14

Power-UP test .............................................. 16Statement of Conformance ................................ 42

TTechnical data DFD11B ..................................... 40

Address List

Address ListGermany

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Documents

MOVIDRIVE® MDX61B DFD11B Fieldbus Interface … Technical Data ... 4 Manual – MOVIDRIVE ... Manual – MOVIDRIVE® MDX61B DFD11B Fieldbus Interface DeviceNet 9 3 Connection and