Page 3 - Epsilon Ei
Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and...
Page 5 - Customer Support
iii Customer Support Control Techniques 12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A. Telephone: (952) 995-8000 or (800) 397-3786 It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, frie...
Page 6 - Document Conventions
iv • Exact wording of any messages that appear on your screen • What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical support center when on-site ...
Page 7 - Note
v In addition, you will find the following typographic conventions throughout this manual. Note For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual. Throughout this manual, the word “drive” refers to an Epsilon dri...
Page 8 - Safety Instructions; General Warning; Reference Materials
vi Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the prod...
Page 9 - Safety Considerations; Safety Precautions; Setup, Commissioning and Maintenance
vii Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical ener...
Page 10 - Safety of Machinery
viii Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety of Machinery. The product has been designed and tested to a high standard. However the level of integrity offered by the product’s control function – for examp...
Page 11 - Table of Contents
ix Safety Considerations vii Introduction 1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1DeviceNet Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Page 13 - Introduction; Purpose; Epsilon Ei DeviceNet Drive Reference Manual
1 Introduction Purpose This manual describes the Epsilon Ei DeviceNet (Ei-DN) Servo Drive and gives examples for connecting DeviceNet® with Epsilon Indexing drives. The reader should have knowledge of basic DeviceNet concepts. In addition, the user should be familiar with the functionality of the Ep...
Page 14 - DeviceNet Overview; DeviceNet Communications Link
2 Epsilon Ei DeviceNet Drive Reference Manual The Epsilon Ei-DN configuration is easily set within PowerTools FM software. In PowerTools FM software, the user has the option to select between 8 predefined assembly blocks to be transferred using polled data (8 bytes input, 8 bytes output polled data ...
Page 15 - DeviceNet Messaging and Communications; Master/Slave Relationship
3 Introduction 9. Operation with off-the-shelf power supplies 10. Power taps that allow the connection of several power supplies from multiple vendors that comply with DeviceNet standards 11. Built-in overload protection 12. Power available along the bus: both signal and power lines contained in the...
Page 17 - Installation; Mechanical Installation; DeviceNet Hardware Components; Cables
5 Installation Mechanical Installation Follow the instructions for mechanical installation of an Epsilon Ei Drive as outlined in the Epsilon Ei Installation Manual (P/N 400501-06). DeviceNet Hardware Components The following components are necessary to design a DeviceNet cable system: • Cables • Nod...
Page 18 - Connectors; Terminating Resistors; Electrical Installation; Physical Connections to the DeviceNet Network
6 Epsilon Ei DeviceNet Drive Reference Manual Connectors DeviceNet connectors can be either open-style (wires exposed) or sealed. These connectors can be obtained from the supplier of the DeviceNet Network Master. (For more details see the ODVA Specification Volumes I and II, Release 2.0.) Power Sup...
Page 21 - Configuring the DeviceNet Network; Connection Types; Explicit Messaging; Software Interface; DeviceNet Tab
9 Configuring the DeviceNet Network Connection Types The Epsilon Ei-DN DeviceNet interface was designed to communicate with a DeviceNet network in two ways. Polled I/O connections and Explicit Messaging connections can be used to access all read or read/write data from the Epsilon Ei-DN. Polled I/O ...
Page 22 - MacID
10 Epsilon Ei DeviceNet Drive Reference Manual Figure 4: The DeviceNet Setup Tab MacID The MacID is the number assigned to a particular node. Every node on a DeviceNet network must have a unique MacID. The range is 0-63. The MacID is also read/write accessible with the one-touch configuration descri...
Page 26 - Input Word Select Data Pointer
14 Epsilon Ei DeviceNet Drive Reference Manual Input Word Select Data Pointer The Input Word Select Data Pointer may be used when a polled connection is established between the Ei-DN and the DeviceNet Master. Using the Input Data Pointer Bits, 32-bit parameters may be read from the Ei-DN by the PLC....
Page 27 - Output Word Select Data Pointer
15 Configuring the DeviceNet Network Output Word Select Data Pointer The Output Word Select Data Pointer may be used when a polled connection is established between the Ei-DN and the DeviceNet master. Using the Output Word Select Data Pointer bits, 32-bit parameters may be read from the Ei-DN by the...
Page 28 - Command Assembly Code
16 Epsilon Ei DeviceNet Drive Reference Manual Command Assembly Code The Command Assembly Code is used only when the position controller object is in use and the Ei-DN is online and connected. The Command Assembly Code gives the drive a 32-bit parameter based on the code it is set for. The parameter...
Page 29 - Data Processing/Order of Operations for Fixed Assembly Blocks
17 Configuring the DeviceNet Network Data Processing/Order of Operations for Fixed Assembly Blocks Since the transfer of parameters over the DeviceNet network has the potential to transfer on the same scan of the PLC, the user needs to take special consideration of the order of bits sent. When the M...
Page 30 - Host Mode Enable; Ei-DN Input Processing Logic
18 Epsilon Ei DeviceNet Drive Reference Manual Host Mode Enable Host Mode Enable allows the user to decide where the control will occur from the DeviceNet network. Host Mode Enable allows the user to ignore hardwire inputs. Conversely, non-host mode logically OR’s the Inputs with the DeviceNet funct...
Page 31 - Information; Counters
19 Configuring the DeviceNet Network DeviceNet Online Tab The DeviceNet Online Tab is available to the user when PowerTools FM is online with the Ei-DN. This tab displays DeviceNet specific diagnostics and allows the user to view the status of the DeviceNet network. Figure 6: DeviceNet Online Tab In...
Page 32 - Status; Established Connections
20 Epsilon Ei DeviceNet Drive Reference Manual Status Network Status LED Network Status vitual LED indicates whether the Ei-DN is communicating properly with the DeviceNet network. The table below will describe the current condition of this parameter. Module Status LED Module Status virtual LED indi...
Page 33 - Input and Output Tab; DeviceNet Bits
21 Configuring the DeviceNet Network Input and Output Tab DeviceNet Bits DeviceNet bits are user-defined bits that are assigned within the inputs and outputs tabs. These bits are used with specific assembly blocks to transfer data via the polled connection. DeviceNet bit numbering is the same for al...
Page 34 - Faults and Diagnostic Display
22 Epsilon Ei DeviceNet Drive Reference Manual Figure 8: Outputs Tab When an unsupported DN bit assignment is made, a warning message will pop up telling the user that the selected assembly block does not support that bit. When acknowledged, the assignment will be mapped to that bit anyway and will ...
Page 35 - DN Allocation Choice (Connections Established)
23 Configuring the DeviceNet Network Figure 9: Watch Window DN Allocation Choice (Connections Established) Ei-DN Modbus Address: 34003 This parameter monitors the status of the established connections and displays the corresponding bitmap. Bit 0 Explicit Message, Bit1 Polled. DN Allocation Master Ma...
Page 36 - DN Baud Rate; DN Bus Off Fault Count
24 Epsilon Ei DeviceNet Drive Reference Manual DN Baud Rate Ei-DN Modbus Address: 44002 Three standard baud rates can be configured for the DeviceNet network: 125K, 250K, and 500K. The baud rate is also read/write accessible with the one touch configuration located directly on the drive. DN Bus Off ...
Page 37 - DN Comm Time-out Fault Count
25 Configuring the DeviceNet Network DN Comm Time-out Fault Count Ei-DN Modbus Address: 40717 This parameter indicates the total # of Communication Time-out Faults that have occurred on the DeviceNet network. DN Device Type Ei-DN Modbus Address: 34002 DN Device Type indicates the ODVA (Open DeviceNe...
Page 38 - DN FAB Master Send Block; DN MacID
26 Epsilon Ei DeviceNet Drive Reference Manual DN FAB Master Send Block Ei-DN Modbus Address: 34007-34010 The DN FAB Master Send Block displays the polled data being transferred from the master to the drive via the Master Send fixed assembly block (FAB). DN Host Mode Ei-DN Modbus Address: 44003 Enab...
Page 39 - DN Master Receive Bitmap
27 Configuring the DeviceNet Network DN Master Receive Bitmap Ei-DN Modbus Address: 34006 This parameter returns the values for the selected master receive bits. DN Master Receive FAB Type Ei-DN Modbus Address: 44005 The DN Master Receive FAB Type displays the chosen fixed assembly block configurati...
Page 40 - DN Master Send FAB Type
28 Epsilon Ei DeviceNet Drive Reference Manual DN Master Send FAB Type Ei-DN Modbus Address: 44004 The DN Master Send FAB Type displays the chosen fixed assembly block configuration as shown. DN Module Status Ei-DN Modbus Address: 34208 The DN Module status indicates the ODVA specific status of the ...
Page 41 - DN Network Status
29 Configuring the DeviceNet Network DN Network Status Ei-DN Modbus Address: 34207 The DN Network status indicates the ODVA specific status of the DeviceNet network as follows: DN Receive Counter Ei-DN Modbus Address: 34203-34204 The DN Receive Counter keeps a running total of all DeviceNet packets ...
Page 42 - DN Status Minor Recoverable Fault; DN Vendor ID
30 Epsilon Ei DeviceNet Drive Reference Manual DN Status Minor Recoverable Fault Ei-DN Modbus Address: 14001 A Minor Recoverable Fault occurs when the drive experiences a connection time-out. This fault will not disable the bridge and will clear after the fault clears. DN Status Minor Unrecoverable ...
Page 43 - Accessing the EDS File; Module Status LED
31 Configuring the DeviceNet Network Accessing the EDS File The EDS file is used for configuration of the DeviceNet master. This file tells the Master software how much I/O data is supported for a particular DeviceNet device as well as Control Techniques’ vendor code, module revision, etc. The EDS f...
Page 44 - Viewing and Changing the Baud Rate and MacID
32 Epsilon Ei DeviceNet Drive Reference Manual Network Status LED The Network Status LED located on the front of the drive provides network status according to the following table: Setting the Baud Rate and MacID Externally (One Touch) The Baud Rate and MacID of the Ei-DN may easily be changed using...
Page 47 - Equipment
35 Network Configuration Quick Start This chapter presents sample startups with a Epsilon Ei-DN drive using a 1747-SDN scanner card as the DeviceNet master in a SLC 500 PLC™. The examples presented are intended as a tutorial. For greater information about the steps in this chapter, please refer to t...
Page 60 - Master Configuration
48 Epsilon Ei DeviceNet Drive Reference Manual Master Configuration RS Networx™ will be used to install the Ei-DN onto the DeviceNet network as a slave. In order to have RS Networx recognize the Ei-DN as a node on the network, an .eds file must be installed using the .eds wizard found under the Tool...
Page 65 - Explicit Messaging Quick Start
53 Explicit Messaging Quick Start To send explicit messages, the Epsilon Ei-DN drive should be configured and successfully connected to the DeviceNet system as a unique node. This chapter will present examples that should be used as a tutorial. Equipment Ei-DN DeviceNet Digital Drive NT 207 Motor Al...
Page 67 - Explicit Messaging Examples
55 Explicit Messaging Quick Start Figure 20: Description of N10 Integer File Explicit Messaging Examples The following two examples of DeviceNet Explicit Messaging will be assuming a PLC configuration as follows: Figure 21: PLC Configuration for Explicit Messaging
Page 68 - Explanation of PLC Program
56 Epsilon Ei DeviceNet Drive Reference Manual Explanation of PLC Program The copy command in Rung 0 will activate when B3:0/0 is turned on. This command will send out a request to the DeviceNet master by copying the N10 integer file into the M0: file. After this request gets sent out, the PLC indic...
Page 73 - Drive Parameters; DeviceNet Data Type; By Name
61 Drive Parameters This section lists all parameters available for Epsilon Ei DeviceNet drive. The tables provide the following information about each parameter: Name The parameter’s name DeviceNet Data Type INT, UINT = 16 bit valueDINT, UDINT = 32 bit value BOOL = Bit Word = Bitmap 16DWord = Bitma...
Page 77 - By DeviceNet Class
65 Drive Parameters By DeviceNet Class *NOTE 1* The instance number will be one more than the number of the index, jog, pls, program, input or output. For example, Index0 will have an instance of 1 (0x01) and Index 14 will have an instance of 15 (0x0F). If the parameter is unnumbered, the instance w...
Page 83 - Appendix
71 Appendix Appendix In de x S el ect P re def in ed Master Rec eiv e Asse mb ly Blo ck - In de x Sel (Pred ef) M ast er S end Assemb ly B lock - I ndex S el ( P re def ) Wo rd Bi t 1 5 Bi t 1 4 Bi t 1 3 Bit 1 2 Bit 1 1 Bit 1 0 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 E nd of In...
Page 84 - Index
72 Epsilon Ei DeviceNet Drive Reference Manual Index Se lec t ( U se r Define d) Mas ter R eceive As se mbly B lock - In dex S el ( U se r D ef ) Master S en d As semb ly B lo ck - Ind ex S el (Us er Def) Wo rd Bit 1 5 Bit 1 4 Bit 1 3 Bit 1 2 Bit 1 1 Bit 1 0 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3...
Page 86 - Posi
74 Epsilon Ei DeviceNet Drive Reference Manual Posi tion C ontrol Mas ter R eceive As se mbly B lock - Pos it io n C ontro l M as te r S end A ss em bl y Bl oc k -P os it io n C ont ro l Wo rd Bit 1 5 Bit 1 4 Bit 1 3 Bi t 1 2 Bit 1 1 Bi t 1 0 Bi t 9 Bi t 8 Bi t 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 ...
Page 87 - Glossary
75 Glossary Application Objects These implement the intended purpose of the product. Attribute A sub-classification for a parameter or bit. The attribute is grouped directly under the more broad category of class. Example: Class = Index, Attribute = Index Dwell. Each Attribute accessible to the user...
Page 90 - UCMM
78 Epsilon Ei DeviceNet Drive Reference Manual UCMM The Unconnected Message Manager processes DeviceNet Unconnected Explicit messages.
