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Reference ManualP/N 400518-05

Revision A2Date: December 29, 2017

Epsilon EP-P Drive Connectivity

Information furnished by Control Techniques Americas is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques Americas. Control Techniques Americas reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques Americas also assumes no responsibility for any errors that may appear in this document. Information in this document is subject to change without notice.

P/N 400518-05Revision A2

Date: December 29, 2017

Epsilon EP-P DriveConnectivity Reference

Manual

© 2017 Control Techniques Americas a business unit of Nidec Motor Corporation.

Part Number: 400518-05

Revision A2

Date: December 2017

Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques Americas.

Control Techniques Americas is part of the Control Techniques global organization, a Nidec Corporation business.

The following are trademarks of Control Techniques Americas and may not be reproduced in any fashion without written approval of Control Techniques Americas: PowerTools, AXIMA, “Motion Made Easy”®.

Control Techniques Americas is not affiliated with Microsoft Corporation, owner of the Microsoft, Windows, and Windows NT trademarks.

Control Techniques Americas. is not affiliated with Rockwell Automation, the owner of the Allen Bradley, RS networks, SLC 500 PLC trademarks.

DeviceNet is a trademark of Open DeviceNet Vendor Association.

This document has been prepared to conform to the current released version of the product. Because of our extensive development efforts and our desire to further improve and enhance the product, inconsistencies may exist between the product and documentation in some instances. Call your customer support representative if you encounter an inconsistency.

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Customer SupportControl Techniques Americas7078 Shady Oak Rd.Eden Prairie, Minnesota 55344U.S.A.

Telephone: (952) 995-8000 or (800) 893-2321

It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need. Whether it’s by phone, fax or email found on our website, you can access Control Techniques support information 24 hours a day, seven days a week.

FAX (952) 995-8129

You can FAX questions and comments to Control Techniques. Just send a FAX to the number listed above.

Website and Email www.controltechniques.com

Website: www.controltechniques.com

If you have Internet capabilities, you also have access to technical support using our website. The website includes technical notes, frequently asked questions, release notes and other technical documentation. This direct technical support connection lets you request assistance and exchange software files electronically.

Document ConventionsManual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft® Windows® compatible software documentation.

Menu names and options are printed in bold type: the File menu.

Dialog box names begin with uppercase letters: the Axis Limits dialog box.

Dialog box field names are in quotes: “Field Name.”

Button names are in italic: OK button.

Source code is printed in Courier font: Case ERMS.

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In addition, you will find the following typographic conventions throughout this manual.

“Warning” indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury.

“Caution” indicates a potentially hazardous situation that, if not avoided, may result in minor or moderate injury.

“Caution” used without the safety alert symbol indicates a potentially hazardous situation that, if not avoided, may result in property damage.

NoteFor 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 EP drive.

Safety Instructions

General WarningFailure 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 product. The installation must comply with all relevant safety legislation in the country of use.

This Represents

boldCharacters that you must type exactly as they appear. For example, if you are directed to type a:setup, you should type all the bold characters exactly as they are printed.

italicPlaceholders for information you must provide. For example, if you are directed to type filename, you should type the actual name for a file instead of the word shown in italic type.

ALL CAPITALS Directory names, file names, key names, and acronyms.

SMALL CAPS Non-printable ASCII control characters.

KEY1+KEY2example: (Alt+F)

A plus sign (+) between key names means to press and hold down the first key while you press the second key.

KEY1,KEY2 example: (Alt,F)

A comma (,) between key names means to press and release the keys one after the other.

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Qualified PersonFor the purpose of this manual and product, a “qualified person” is one who is familiar with the installation, construction and operation of the equipment and the hazards involved. In addition, this individual has the following qualifications:

• Is trained and authorized to energize, de-energize, clear and ground and tag circuits and equipment in accordance with established safety practices.

• Is trained in the proper care and use of protective equipment in accordance with established safety practices.

• Is trained in rendering first aid.

Reference MaterialsThe following related reference and installation manuals may be useful with your particular system.

• Epsilon EP Drives Installation Manual (P/N 400518-01)

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Epsilon EP-P Connectivity Reference Manual

Safety ConsiderationsSafety 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, carries a high level of stored electrical energy, or is used to control mechanical equipment which can cause injury.

You should give close attention to the electrical installation and system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, commissioning and maintenance must be carried out by personnel who have the necessary training and experience. Read and follow this safety information and the instruction manual carefully.

EnclosureThis product is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel, and which prevents the ingress of contamination. This product is designed for use in an environment classified as pollution degree 2 in accordance with IEC664-1. This means that only dry, non-conducting contamination is acceptable.

Setup, Commissioning and MaintenanceIt is essential that you give careful consideration to changes to drive settings. Depending on the application, a change could have an impact on safety. You must take appropriate precautions against inadvertent changes or tampering. Restoring default parameters in certain applications may cause unpredictable or hazardous operation.

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Safety of MachineryWithin 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 example stop/start, forward/reverse and maximum speed – is not sufficient for use in safety-critical applications without additional independent channels of protection. All applications where malfunction could cause injury or loss of life must be subject to a risk assessment, and further protection provided where needed.

General warningFailure to follow safe installation guidelines can cause death or serious injury. The voltages used in this unit 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 this equipment. The installation must comply with all relevant safety legislation in the country of use.

AC supply isolation deviceThe AC supply must be removed from the drive using an approved isolation device or disconnect before any servicing work is performed, other than adjustments to the settings or parameters specified in the manual. The drive contains capacitors which remain charged to a potentially lethal voltage after the supply has been removed. Allow at least 6 minutes for the Epsilon 205, 3 minutes for Epsilon 202/203 and 30 seconds for E Series drives after removing the supply before carrying out any work which may involve contact with electrical connections to the drive.

Products connected by plug and socketA special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by a plug and socket. When unplugged, the pins of the plug may be connected to the drive input, which is only separated from the charge stored in the bus capacitor by semiconductor devices. To avoid any possibility of electric shock from the pins, if they are accessible, a means must be provided for automatically disconnecting the plug from the drive (e.g., a latching contactor).

Grounding (Earthing, equipotential bonding)The drive must be grounded by a conductor sufficient to carry all possible fault current in the event of a fault. The ground connections shown in the manual must be followed.

FusesFuses or over-current protection must be provided at the input in accordance with the instructions in the manual.

Isolation of control circuitsThe installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage.

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EtherNet/IP Declaration of Conformity

PUB 00014R0f Page 1 of 2

Declaration of Conformity

ODVA has found the product(s) as described below to be in compliance with the EtherNet/IP™ Specification, having passed ODVA’s conformance testing at one of its authorized conformance test service providers at the Composite Test Level specified. Product(s) that have been issued an official Declaration of Conformity from ODVA have the right to display the ODVA certification marks for EtherNet/IP conformant products. If a product family approval has been granted in accordance with the ODVA Conformance Policy, tested family members are listed on the first page of this Declaration of Conformity with qualifying untested products listed on the attachment.

The vendor referenced below has signed ODVA’s EtherNet/IP Terms of Usage Agreement (see attached). Therefore agreeing that it is the vendor’s ultimate responsibility to assure that its EtherNet/IP products conform to the Specification, and that the Specifications are provided by ODVA to the vendor on an AS IS basis without warranty. NO WARRANTIES, EXPRESSED OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE BEING PROVIDED BY ODVA.

Test Date: 22 March 2004 Composite Test Revision: 3

ODVA File Number: 10132Vendor ID: 553

Vendor Name: Control Techniques PLC-NAVendor Address: 12005 Technology Dr.

Eden Pairie, MN 55344 USA

Product Name(s) (Device actually tested)

FM-E

Product Code(s) 4

Product Revision 1.1Device Type Code 0Device Profile Name Generic Device Electronic Data Sheet Revision 1.1Comments: Passed composite test revision level 3

Approved by:

William B. Henry Katherine Voss EtherNet/IP™ is a trademark used under license by Open DeviceNet Vendor Association, Inc.

ix


x

Table of Contents


Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

EtherNet/IP Declaration of Conformity . . . . . . . . . . . . . . . . . ix

Ethernet Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Industrial Ethernet Overview . . . . . . . . . . . . . . . . . . . . . . . . . . 3Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Device Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Epsilon EP-P Drive Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Setup View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Ethernet View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Produced Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Consumed Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Explicit Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Explicit Sources and Destinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Email View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Email Sources and Destinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Http View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Ethernet Quickstart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Ethernet/IP Implicit Message Quickstart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Epsilon EP-P Drive Configuration Example:. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Add the Epsilon EP-P to an Ethernet Configuration: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24EtherNet/IP Explicit Message Quickstart: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35By Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35By Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

xi


Profibus Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57Profibus Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Profibus Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Profibus Messaging and Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Profibus Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Electrical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Configuring the Profibus Network . . . . . . . . . . . . . . . . . . . . .65Connection Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Profibus View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Online Status Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Online Data Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Accessing the .GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Profibus Network Configuration Quick Start . . . . . . . . . . . . .75Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Epsilon EP-PPB Quick Startup Process. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Profibus Specific Parameter Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81

xii


Ethernet IntroductionThis section of the Connectivity manual describes the EP-P drive and gives examples for implementing Ethernet protocols with Control Techniques drives.

The Epsilon EP-P drive is capable of all the functions described in the Epsilon EP-P Drive and FM-3/4 Modules Reference Manual (P/N 400518-04).

Figure 1: EP-P Drive

This portion of the connectivity manual is broken up into three sections and includes topics ranging from physical connections to network layers descriptions to PLC connections. These sections guide the first time user in creating an application quickly and successfully.

The Industrial Ethernet Overview chapter highlights the make-up of an Ethernet network from the hardware layer down to the application layer and details functions pertinent to the Epsilon EP-P drive.

The Epsilon EP-P drive Setup chapter details the hardware and software features of the module and attempts to answer many configuration questions.

AC Power ConnectionsMotor Connections24 Vdc Logic Power Supply Connections

Digital I/O Connctor (J3)

DeviceNet Connector (J9) (EP-IDN or EP-PDN only)

Serial Connectors (J2)

Ethernet Connector (J11)(EP-Pxx only)

Diagnostic Display

Shunt Connector (J8)

Reset Button

Encoder Feedback Connector (J6)

Sync Input Connector (J10)

Analog/Sync OutputConnector (J5)

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The Quick Start chapters offer specific examples of various Ethernet protocols to aid in setup of the Ethernet Network. Finally the Troubleshooting Guide and the Glossary chapters are located at the end of this manual.

Industrial Ethernet Protocols Supported:

Protocol Supporting Organization Major Contributions

EtherNet/IP ODVA A/B Rockwell

Modbus TCP/IP Modbus Organization Modicon

2


Industrial Ethernet OverviewHardware

This section describes the hardware required/suggested for setting up an industrial ethernet network

Device DefinitionsHub

A Hub is a device that is used to connect multiple Ethernet capable products together. A hub does little for bandwidth conservation on the network as it simply takes incoming ethernet packets and sends them to all other devices connected to the hub. Because of its limited logic functionality, standard ethernet hubs are inexpensive and compatible with most ethernet devices.

Switch (Switching Hub)

Like a hub, a switching hub is used to connect multiple Ethernet devices onto one network. Unlike a standard hub, most industrial ethernet switches use internal tables to map IP addresses to the port that they are attached to. Using these tables, the industrial switch is capable of reading incoming data packets and sending the data to corresponding port without sending the data to the other ports.

NoteNot all Industrial Switches are compliant with the ODVA multicasting functionality to support EtherNet/IP.

Connections and the Epsilon EP-P drive

The Epsilon EP-P drive contains up to six connections that it allocates on a first come first serve basis. A connection consists of a link between the Epsilon EP-P drive and a object in the application layer. The Epsilon EP-P drive may run on an EtherNet/IP, Modbus TCP/IP, and have its web server being accessed simultaneously. In this example the Epsilon EP-P drive would have 3 connections used. When the web server isn’t polled for the timeout period of (0.5 secs), this connection is canceled and added back to the available connections list.

Application Objects that use a connection include:

Implicit Messaging on EtherNet/IP

Explicit Messaging on EtherNet/IP

Modbus TCP/IP

3


SMTP (Email) messaging

HTTP (web server)

Ethernet/IP

EtherNet/IP is the name for a CIP layer on Ethernet hardware. This data is transferred using TCP/IP and UDP/IP protocol. CIP stands for Control and Information Protocol and is used in DeviceNet, ControlNet, and EtherNet/IP. This protocol includes objects for transferring data for realtime control (implicit messaging) as well as for passing large amounts of information in the background of the realtime data (explicit messaging).

Modbus TCP/IP

Modbus TCP/IP embeds Modbus protocol into a TCP frame. The protocol works in a request/response format (each request connection waits for a response) much like explicit messaging.

Because it is based on commonly used Modbus protocol, Modbus TCP/IP makes use of the same commands available in Modbus RTU. The commands supported by the Epsilon EP-P drive include:

Supported Function Codes:

NoteThe Maple Systems OITware 200 configuration software and other HMI and PLC softwares use a 6 digit addressing base. The first digit is an indication of register or bit type. Thus 400001 in OITware is equal to 40001 in Control Techniques Modbus RTU.

FunctionCode

DescriptionRegisters

(5-Bit Addressing)Registers

(6-Bit Addressing)Usage

1 Read Coil Status 1-9999 1-99999 Read a Read/Write bit

2 Read Input Status 10001-19999 100001-199999 Read a Read Only bit

3 Read Holding Registers 40001-49999 400001-499999 Read a Read/Write Register

4 Read Input Registers 30001-39999 300001-399999 Read a Read Only Register

5 Force Single Coil 1-9999 1-99999 Write one Read/Write bit

6 Preset Single Register 40001-49999 400001-499999 Write one Read/Write Register

15 Force Multiple Coils 1-9999 1-99999 Write multiple Read/Write bits

16 Preset Multiple Registers 40001-49999 400001-499999 Write multiple Read/Write Registers

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Epsilon EP-P Drive SetupSoftware Interface

This section discusses how to configure PowerTools Pro software to implement a Epsilon EP-P drive onto an Ethernet network. The section includes a breakdown of all Ethernet related parameters in PowerTools Pro and defines additions to the programming language set in the programs view. Other views within PowerTools Pro software are described in the Epsilon EP-P Drive and FM-3/4 Module Reference Manual (P/N 400518-04).

Setup ViewThe EP-P drive should have a minimum of an IP address and Subnet Mask configured before attaching it to a Ethernet hardware setup.

IP Address

This 32 bit parameter indicates the IP address of the EP-P drive.

Subnet Mask

This 32 bit parameter indicates the subnet mask used for this node. The subnet mask is used to group devices that are connected on the same physical connection. For a detailed description of Subnet mask refer to the Industrial Ethernet Overview section.

Gateway Address

This 32 bit parameter indicates the default Gateway address for the drive. When attempting to communicate with a device on a different Subnet, the message must go through this gateway to reach its destination. For a detailed description of the Gateway address refer to the Industrial Ethernet Overview section.

Configuring IP settings:

The IP address, Subnet Mask and Gateway address are user configured. If the industrial network is to be attached to a company computer network it is highly recommended that the network be configured with the assistance of qualified IT professionals.

5


Figure 2: Mask

Ethernet ViewThe Ethernet View is found under the Network Group on the hierarchy tree. This view is used to navigate through the Ethernet related setup for the EP-P drive.

IP Address:192.168.001.005

Subnet Mask:

255.255.255.192

Binary:Decimal:

For the above example:The following IP addresses may communicate with the Target without the use of a gateway:

192.168 . 001 . 000 to 192 . 168. 001. 063

6

Epsilon EP-P Drive Setup

Figure 3: Ethernet View

Word Swap

Word Swap is used in the drive to change the order that the user will see the 32 bit parameters sent to and received from the network. Because many PLC’s transfer data in different formats, the word swap feature is used to make the conversion to the PLC’s format easier. LSW-MSW is the default for Ethernet and transfers 32 bit data with the Least Significant (LSW) word in the first register, then the Most Significant Word (MSW) in the second. MSW-LSW transfers MSW first and LSW second.

For example: Index 0 Distance = 100.0000 revs

NoteThe Ethernet network does not transfer decimal points. The user must remove the decimal point and multiply to transform the number on the PLC side of the network, 100.0000 to 1000000.

7


Binary equivalent for 1000000 is 0000000000001111 0100001001000000b

MSW-LSW Displays:

LSW-MSW Displays:

EtherNet/IP Performance

By design, the time to update parameters passed over the TCP/IP connection is allocated out of the user program time slice of the Trajectory Update Rate. When a program is initiated, the user programs will split their update time with that of the TCP/IP update time. In demanding program applications, more program time may be needed to realize the full performance out of the drive programming environment, the Ethernet Performance parameter has been added. This parameter allows the user to allocate a different percentage of the program time slice to the Program and TCP/IP update.

The default value for the Ethernet Performance parameter is 50%. This means that the time allocated to Ethernet performance will never reach below 50% of the total programming update time (see figure 4). When programs are not running, or when programs are well written and not processor hungry, the TCP/IP connection will maximize its update time to fill in the remaining programming time slice.

Register #1 MSW 0000000000001111b

Register #2 LSW 0100001001000000b

Register #1 LSW 0100001001000000b

Register #2 MSW 0000000000001111b

8


Figure 4: Ethernet Performance Examples

Ethernet Performance Example:

Performance of a Well Written Program

Main:If DriveInput.1 = on then var.var18 = var.var18 + 1 goto main:endif

Processor Hungry FM-3/4 Program:

Trajectory Update Time (800usec, 1200usec, or 1600usec)

Programs use the processor time that they needwithin the update, the rest of the allocated Program time is used to update Ethernet data.

Dedicated Program Time Slice

Performance of a Processor Hungry Program

This program would normally use up 100% of thededicated program time slice, but since Ethernetis running, the maximum time given to the programupdate is set by the Ethernet Performance Parameter.

ProgramUsage

EthernetUsage


EthernetPerformance = 50%


Ethernet Performance = 10%

Msg

.

Well Written FM-3/4 Program:

Main:Wait for DriveInput.1 = onvar.var18 = var.var18 + 1goto main:

The following program demonstrates a processor hungryprogram in the FM-3/4. Because this loop is continuouswithout a "Wait For" command, the processor continues toupdate and loop for the full program time slice.

The following program demonstrates a well writtenprogram in PowerTools Pro. If DriveInput.1is not on, the processor will stop running programs and allow Ethernet to update for the remaining dedicated program time.

The following graphic gives a basic usage example of the Ethernet Performance Parameter. Times in thisexample are relative to the trajectory update rate of the FM-3/4 as selected in the initial setup screen of PowerTools Pro.

ControlLoop M

sg.

Pro

gControlLoop M

sg.

Pro

g

Pro

gControlLoop

9


Produced TabThe Produced Tab is used to configure the specific blocks and data that will be sent from the EtherNet/IP server (EP-P drive) to the EtherNet/IP client (PLC or HMI). Within the Produced Tab there are two configuration areas, Block Config, and Data Config.

Figure 5: Produced Tab View

Consumed TabThe Consumed Tab is used to configure the specific blocks and data that will be sent from the EtherNet/IP client (PLC or HMI) to the EtherNet/IP server (EP-P drive). Within the consumed Tab there are two configuration areas, Block Config, and Data Config.

DataConfig

BlockConfig

AvailableBlocks

10


Figure 6: Consumed Tab View

The Block Config area is used to set up the number of EtherNet words that will be transferred on the network. To add a block, highlight a word block from the "Available Blocks" area and click on the "add" button. This will transfer the data block to the right side as well as the Data Config area below. When the block is opened using the "+" sign, data can be mapped to the block by simply dragging and dropping from the variables list onto the block.

Since all data blocks are combined to be sent on one TCP/IP connection, if more than one data block is configured in the drive, the EtherNet/IP connection setup needs to reflect the sum of all blocks Consumed.

Data allowed to be mapped to blocks in the consumed tab include all destinations in the drive as well as all read/write user parameters, booleans, and bits.

11


The Block Config area is used to set up the number of EtherNet words that will be transferred on the network. To add a block, highlight a word block from the "Available Blocks" area and click on the "add" button. This will transfer the data block to the right side as well as the Data Config area below. When the block is opened using the "+" sign, data can be mapped to the block by simply dragging and dropping from the variables list onto the block.

Since all data blocks are combined to be sent on one TCP/IP connection, if more than one data block is configured in the drive, the EtherNet/IP connection setup needs to reflect the sum of all blocks Produced.

Data allowed to be mapped to blocks in the produced tab include all sources in the EP-P drive, all read only user parameters as well as all read/write user parameters, booleans, and bits.

Explicit TabThe Epsilon EP-P drive supports an explicit messaging object which allows a network master or a Explicit producer to read/readwrite many parameters using a class, instance, and attribute ID as detailed in “Drive Parameters” on page 35.

The Explicit tab is used to set up an initial configuration for explicit messages that the user wishes to PRODUCE on the network. These messages will be generated by the drive and sent to another Ethernet/IP compatible device. To produce an explicit message on the network the following parameters must be configured: Target IP, Operation, Class #, Instance #, and Attribute #.

NoteThe Explicit Message tab is used to generate explicit messages only. Explicit messages RECEIVED by the drive are handled completely by the firmware and require no special setup on the Epsilon EP-P drive.

Figure 7: Explicit Tab

12


Explicit #

The explicit number parameter displays which explicit setup the user is editing and allows them to scroll through multiple explicit setups using the up and down arrows.

Name

Allows the user to assign a descriptive name to the Explicit sequence up to 10 characters in length.

Target IP

The Target IP address is the IP address of the module that the explicit message will be sent to.

Class

The EtherNet/IP Class is a top level DeviceNet classification for all parameters and bits. Each class is given a unique number ID found in the drive parameters chart found in the “Drive Parameters” on page 35 of this manual.

Instance

The EtherNet/IP Instance is a sub-classification for a parameter or bit. The instance is grouped directly under the more broad category of attribute and allows for multiple occurrences of a parameter.

For example: Class = Index, Attribute = Index Dwell, Instance1 = Index 0, Instance2 - Index.1.

Each Instance is assigned a unique number under its respective attribute.

Attribute

The EtherNet/IP Attribute is a sub-classification for a parameter or bit. The attribute is grouped directly under the more broad category of class.

For example: Class = Index, Attribute = Index Dwell.

Each Attribute accessible to the user is assigned a number as detailed in the “Drive Parameters” on page 35 of this manual.

Size

The Ethernet Explicit size parameter is the number of bytes of data that will be sent/received using the explicit message. If the explicit message target is another drive, then this parameter will default to the correct value based on the class, instance, and attribute. If this is not the case then this parameter may be accessed and changed in a user program before the explicit message is sent.

Parameter Display Window

When a class, Instance, and Attribute ID is entered into the explicit tab, the Parameter display window gives the associated parameter in the EP-P drive.

13


Operation List Box

The operation can be one of two values, “GET” or “SET”. The “GET” command defines an explicit message that will be querying another device for data. The “SET” command defines an explicit message that will be sending data to another device.

As with all destinations in the Epsilon EP-P drive, Explicit.Instance.Initiate may be initiated via a program, assignment, or a network connection. When this parameter is changed from within a program or over a network connection, the following values correspond to the terms GET and SET.

GET = 0SET = 1

Value

This parameter gives an initial value to “SET” data that will be sent from the drive out onto the network. This parameter is also used to store the data coming in from an explicit message from a “GET” command.

Decimal

Because the Epsilon EP-P drive does not support floating point data format, all parameters are sent as integers.

For example: 100.1 is sent as 1001 or 1111101001b.

The Decimal parameter sets the number of decimal places for the Explicit.instance.data.

Signed Data

The Signed Data check box is used for explicit message read commands. When data for the read command comes in, it is stored in the parameter Ethernet.EthernetExplciit.0.Value. The signed data check boxes determines whether this data is consumed as a 32 bit signed, or 32 bit unsigned value.

Explicit Sources and Destinations

Sources

Ethernet.EthernetExplicit.#.CommandComplete

This source becomes active when the explicit message process is complete. An Explicit message is complete when it is sent to another EtherNet/IP device, and the device responds.

NoteThis parameter does not indicate a successful explicit message. The Ethernet.EthernetExplicit.#.CommandComplete bit turns "off" when the corresponding Ethernet.EthernetExplicit.#.Initiate is activated and then turns "on" when the command is complete.

14


Ethernet.EthernetExplicit.#.MessageFailed

This source becomes active when the explicit message fails to either send a valid command to another IP address, or when the explicit message is not accepted from another address. The Ethernet.EthernetExplicit.#.MessageFailed source is cleared when the corresponding Ethernet.EthernetExplicit.#.Initiate is activated.

Ethernet.EthernetExplicit.#.CommandInProgress

This source activates when the corresponding Ethernet.EthernetExplicit.#.Initiate becomes active and deactivates when the corresponding Ethernet.EthernetExplicit.#.CommandComplete becomes active.

Destinations

Ethernet.EthernetExplicit.#.Initiate

This destination starts the explicit messaging process using the data in the corresponding explicit message.

Email ViewThe email function allows a user to send a SMTP (email) message to one or more email addresses when initiated by a source or through a program. The Email view in the Network group on the hierarchy tree allows the user to set up the Relay Host, Addresses, Subject, and text for the email Message.

15


Figure 8: Email Setup View

In order to avoid a situation of accidentally sending repeated emails which overwhelm the network, a clear command is needed to re-arm the email message after the last message is sent.

Email #

The email number parameter displays which email setup the user is editing and allows them to scroll through multiple email setups using the up and down arrows.

Relay Host

Instead of a direct delivery method of sending a SMTP message which wouldn’t be practical for an industrial device implementing many other critical functions simultaneously, the Epsilon EP drive makes use of a relay host. Relay Hosts are used in many networks to connect a local network to the “outside world”.

To specify a relay host, simply enter the IP address of the host you wish to use.

For example: 192.168.100.100

16


Address

The Address indicates the email address of the email’s destination. Use a semicolon (;) to separate multiple Email addresses.

For example: [email protected]; [email protected]

From

The From address gives the SMTP message an address to return any undeliverable mail. This From address will receive updates on any messages that were not completed successfully.

Subject

The Subject indicates the subject of the email. This is a text string and follows the SMTP rules for Subject lines.

Text

The user has the ability to edit the text message sent by each email that is configured. Length of the message is limited to the amount of memory that the drive has available, but users should take caution not to overload the module with long messages as performance may be affected.

Email Sources and Destinations

Sources

Ethernet.EthernetEmail.#.RelayHostFailure

This source becomes active when an SMTP (email) message is not accepted, or cannot find the corresponding Mail.#.RelayHost.

Destinations

Ethernet.EthernetEmail.#.Initiate

This destination attempts to send an email message via a SMTP connection over the Ethernet port of the Epsilon EP-P drive.

Ethernet.EthernetEmail.#.MailReset

This destination re-arms the email message so that it may be re-initiated. When this event becomes active, the mail.#.mailtriggered becomes false.

NoteThe Epsilon EP-P drive is limited to sending 75 emails per hour. This acts to lessen the affect of a user mistakenly programming a run-away email loop.

17


Http ViewThe Http view is used to enable the access to and set a password for password protected web page in the Epsilon EP-P drive. If the enable check box is not checked, or no password has been entered into the string box, these pages will not be available to the user.

Figure 9: Http View

18


Ethernet QuickstartEthernet/IP Implicit Message Quickstart

This section presents an implicit message example startup with a Epsilon EP-P drive over an EtherNet/IP network. The client will be a 1756 ENBT/A -- EtherNet/IP bridge with an Allen Bradley™ 1756-L1 ControlLogix™ controller.

Equipment:

Epsilon EP-P drive

NT-316 Motor

Allen Bradley™ ControlLogix™ PLC; 1756-A7/B (7slot chassis); 1756-PA72/B (Power Supply); 1756-L1 (Controller, slot 0); 1756 ENBT/A (EtherNet/IP bridge module, slot 1)

Category 5 Industrial Ethernet Patch cable

5-Port Industrial Ethernet Switch, ETH-405TX

PowerTools Pro configuration software for the Epsilon EP-P drive (version 4.0 or higher)

RS Logix 5000 ™ Programming Software for PLC

CIP parameter tables from the “Drive Parameters” chapter of this manual.

Epsilon EP-P Drive Configuration Example:This application example focuses on Ethernet and its associated devices and software; for questions on configuring other parameters in the drive refer to the Epsilon EP-P Drive and FM-3/4 Module Reference Manual (P/N 400518-04).

19


Figure 10: Ethernet View

Configure the Epsilon EP-P Drive:

1. Configure PowerTools Pro software for the drive and motor type that is being used. In this application a EP-P and a NT-316 will be used.

2. In the IP configuration area on the Setup view, see Figure 11, set the IP parameters to the following:

a. IP address: 192.168.001.005

b. Subnet Mask: 255.255.255.0

c. Gateway Address: 0.0.0.0

3. From the hierarchy tree open the Network tree and select Ethernet view see Figure 10. Configure the following parameters.

a. Word Swap: LSW-MSW

b. Performance: 50%

20

Ethernet Quickstart

Figure 11: Ethernet View IP Configuration Area

4. Click on the Produced Tab in the connection setup area. This area will configure data that will be sent FROM the EP-P TO the PLC.

a. Add Blocks to the Block configuration list as shown in Figure 12. For this application example the following Blocks will be added:

i. Block #0: 1 Word

ii. Block #1: 2 Words

iii. Block #2: 16 Words

Figure 12: Block Configuration - Adding Blocks

b. Make the assignments as shown below by dragging and dropping variables from the variables list to the Data configuration area.

Assignments

Block #0

Word 0

Bit 0 DriveOK

Bit 1 DriveEnableStatus

Bit 2 FaultFaulted

Bit 3 Index.0.CommandComplete

Bit 4-15 Not Assigned

Block #1

Word 0-1 Position Feedback

Block #2

Word 0-1 Velocity Feedback

Word 2-15 Not Assigned

21


Figure 13: Ethernet View with Assignments made on the Produced Tab

5. Click on the Consumed Tab in the connection setup area. This area will configure data that will be sent FROM the PLC TO the EP-P.

a. Add Blocks to the Block configuration list as shown in Figure 14. For this application example the following Blocks will be added:

i. Block #0: 1 Word

ii. Block #1: 16 Words

22

Ethernet Quickstart

Figure 14: Block Configuration - Adding Blocks

b. Add the assignments shown below by dragging and dropping variables from the variables list on the left to the Data configuration area.

Assignments

Block #0

Word 0

Bit 0 Index.0.Initiate

Bit 1 Program.0.Initiate

Bit 2 Jog.0.PlusActivate

Bit 3 Gear.Activate

Bit 4 Bit.B0

Bit 5-15 Not Assigned

Block #1

Word 0-1 Index.0.Dist

Word 2-3 Index.0.Vel

Word 4-5 Index.0.Accel

Word 6-7 Index.0.Decel

Word 8-9 Gear.Ratio

Word 10-15 Not Assigned

23


Figure 15: Ethernet View with Variables Assigned on the Consumed Tab

6. Download the configuration to the drive. From the menu bar select Device then Download.

Add the Epsilon EP-P to an Ethernet Configuration:

7. Run RSLogix 5000™ software and configure the PLC for the correct processor, rack and slot configurations.

8. Right click on the I/O configuration folder located on the bottom of the hierarchy tree and left click to add a new device to this folder.

24

Ethernet Quickstart

9. Choose the 1756-ENBT/A. After selecting a name for the device, specify the IP address as 192.168.001.007 and then select “Finish”. This will be the IP address of the scanner module.

25


10. Right click on the 1759-ENBT/A and left click on “New Module” to add a device under the Ethernet Bridge.

11. Choose the selection labeled, “Ethernet-Module -- Generic Ethernet Module” and click “OK”. Set the module name, IP address, Assembly Instances, and Size according to Figure 16. Then click “Next”.

26

Ethernet Quickstart

Figure 16: PLC Configuration

12. Enter the Request Packet Interval. This number represents the interval that data will be transferred to and from the PLC. Then click “Next” or “Finish”.

EtherNet/IP Explicit Message Quickstart:This section presents an explicit message example startup with a Epsilon EP-P drive over an EtherNet/IP network. The client will be a 1756 ENBT/A -- EtherNet/IP bridge with an Allen Bradley™ 1756-L1 ControlLogix™ controller.

Equipment:

Epsilon EP-P Drive

NT-316 Motor

Allen Bradley™ ControlLogix™ PLC; 1756-A7/B (7slot chassis); 1756-PA72/B (Power Supply); 1756-L1 (Controller, slot 0); 1756 ENBT/A (EtherNet/IP bridge module, slot 1)

Category 5 Industrial Ethernet Patch cable.

5-Port Industrial Ethernet Switch, ETH-405TX

PowerTools Pro configuration software for the Epsilon EP-P drive (version 4.0 or higher)

RS Logix 5000 ™ Programming Software for PLC

27


CIP parameter tables from the “Drive Parameters” chapter of this manual.

EP-P Drive Configuration Example:

This application example focuses on Ethernet and its associated devices and software; for questions on configuring other parameters in the drive refer to the Epsilon EP-P Drive and FM-3/4 Module Reference Manual (P/N 400518-04).

Configure the Epsilon EP-P Drive:

1. Configure PowerTools Pro software for the drive and motor type that is being used. In this application a EP-P and a NT-316 will be used.

2. In the IP configuration area (see Figure 17) set the IP parameters to the following;

a. IP address: 192.168.001.005

b. Subnet Mask: 255.255.255.0

c. Gateway Address: 0.0.0.0

d. Word Swap: MSW-LSW

e. EtherNet/IP Performance: 50%

3. From the hierarchy tree open the Network tree and select Ethernet View.

28

Ethernet Quickstart

Figure 17: IP Configuration Area in the Ethernet View

4. Download the configuration to the drive. To do so, from the toolbar select Device and then Download.

NoteFor Explicit Message communications data may be, but does not need to be mapped under the produced and consumed tabs. Each parameter in the drive is given a class, instance, and attribute ID which is accessed in the explicit messaging setup.

Add the EP-P to an Ethernet Configuration:

5. Run RSLogix 5000™ software and configure the PLC for the correct processor, rack and slot configurations.

6. Right click on the I/O configuration folder located on the bottom of the hierarchy tree and left click to add a new device to this folder.

29


Figure 18: Adding a New Module using the PLCs software

7. Choose the 1756-ENBT/A. After selecting a name for the device, specify the IP address that this device as 192.168.001.007 and then select “Finish”.

Explicit Message READ

The following ladder diagram demonstrates the ladder instructions needed to send explicit message requests from the Contrologix Ethernet gateway 1756-ENBT/A to any other device that is Ethernet/IP compatible.

30

Ethernet Quickstart

Figure 19: Ladder Diagram

Explicit Message setup contains several elements including Message Type, Service Type, Class, Instance, and Attribute.

The Message Type drop down should be set for CIP Generic when attempting to explicit message over either Ethernet or DeviceNet.

The Service Type describes the function that the explicit message will be initiating.

Get Attribute Single Read Parameter

Set Attribute Single Write Parameter

For this example the Get Attribute Single service will be selected.

Figure 20: Message Configuration - PLC software

Class, Instance, and Attribute ID’s for EP-P parameters and bits may be found in “Drive Parameters” on page 35 of this manual. The above example is configured to read position feedback from the drive. Class (0x66), Instance (0x01), Attribute (0x0B).

31


Explicit Message Write

Using the same setup and ladder diagram that was used for reading parameters, the MSG Service Type will be set to Set Attribute Single. In this example Index.0.dist will be written to via EtherNet/IP explicit messaging. Class (0x7B), Instance (0x01), Attribute (0x0A).

Figure 21: Message Configuration - PLC software

8. In the Message Configuration section for Message_1 click on the Communications Tab. This tab will allow the setting of the target device to receive the explicit message.

32

Ethernet Quickstart

Figure 22: Communication Tab - PLC software

Control Techniques offers no technical assistance on competitors products including PLC products such as the ControLogix or SLC500.

ScannerName

Port onScanner(2)

IP addressof the Epsilon EP-P drive

33


34


Drive ParametersThis section lists all parameters available for Epsilon EP-P drive. The tables provide the following information about each parameter:

Name

The parameter’s name.

Data Type

INT8, UINT8 = 8 bit valueINT16, UINT16 = 16 bit valueINT32, UINT32 = 32 bit value

BOOL = 16 bit boolean valueDESTINATION = 16 bit boolean valueSOURCE = 16 bit boolean value

String: XXX = ASCII characters of XXX length, padded with white space

Class, Instance, Attribute

The path necessary to access the parameter.

By Name*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 (01H) and Index 24 will have an instance of 25 (19H). If the parameter is unnumbered, the instance will be one (see the tables in this chapter).

Name Data Type Class Instance Attribute

Accelerating SOURCE 104 (68H) 1 (01H) 5 (05H)

AccelType UINT16 104 (68H) 1 (01H) 6 (06H)

AccelUnits.Decimal UINT16 104 (68H) 1 (01H) 1 (01H)

AccelUnits.InvertAccel BOOL 104 (68H) 1 (01H) 2 (02H)

AccelUnits.Name String:12 104 (68H) 1 (01H) 3 (03H)

AccelUnits.TimeScale UINT16 104 (68H) 1 (01H) 4 (04H)

AnalogInput.MaxUserValue INT32 128 (80H) 1 (01H) 2 (02H)

AtVel SOURCE 103 (67H) 1 (01H) 1 (01H)

AutoCalcRampsEnable BOOL 104 (68H) 1 (01H) 14 (0EH)

Bit.#.BitValue BOOL 136 (88H) See Note 1 1 (01H)

35


BitRegister.#.Value UINT32 135 (87H) See Note 1 1 (01H)

BitRegister.#.ValueMask UINT32 135 (87H) See Note 1 2 (02H)

Brake.Activate DESTINATION 122 (7AH) 1 (01H) 12 (0CH)

Brake.Disengaged SOURCE 122 (7AH) 1 (01H) 11 (0BH)

Brake.Release DESTINATION 122 (7AH) 1 (01H) 13 (0DH)

Capture.#.CaptureActivate DESTINATION 131 (83H) See Note 1 1 (01H)

Capture.#.CaptureClear NONE 131 (83H) See Note 1 2 (02H)

Capture.#.CapturedMasterPosHomed INT32 131 (83H) See Note 1 10 (0AH)

Capture.#.CapturedMasterPosition INT32 131 (83H) See Note 1 3 (03H)

Capture.#.CapturedPositionCommand INT32 131 (83H) See Note 1 4 (04H)

Capture.#.CapturedPositionFeedback INT32 131 (83H) See Note 1 5 (05H)

Capture.#.CapturedTime INT32 131 (83H) See Note 1 6 (06H)

Capture.#.CaptureEnable DESTINATION 131 (83H) See Note 1 7 (07H)

Capture.#.CaptureReset DESTINATION 131 (83H) See Note 1 8 (08H)

Capture.#.CaptureTriggered SOURCE 131 (83H) See Note 1 9 (09H)

Capture.#.MasaterPosnHomed INT32 131 (83H) See Note 1 10 (0AH)

ClearFollowingError DESTINATION 102 (66H) 1 (01H) 25 (19H)

CommandingMotion SOURCE 103 (67H) 1 (01H) 2 (02H)

CommutationAngleCorrection INT16 106 (6AH) 1 (01H) 12 (0CH)

CommutationTrackAngle UINT16 106 (6AH) 1 (01H) 13 (0DH)

CommutationVoltage INT16 106 (6AH) 1 (01H) 14 (0EH)

Decelerating SOURCE 104 (68H) 1 (01H) 7 (07H)

DefineHome DESTINATION 102 (66H) 1 (01H) 1 (01H)

DefineHomePosn INT32 102 (66H) 1 (01H) 2 (02H)

DeviceNet.DeviceNetIdentityObject.DeviceStatus UINT16 1 (01H) 1 (01H) 5 (05H)

DeviceNet.DeviceNetIdentityObject.DeviceType UINT16 1 (01H) 1 (01H) 2 (02H)

DeviceNet.DeviceNetIdentityObject.HeartbeatInterval UINT16 1 (01H) 1 (01H) 10 (0AH)

DeviceNet.DeviceNetIdentityObject.VendorID UINT16 1 (01H) 1 (01H) 1 (01H)

DeviceNet.DeviceNetObject.BaudRate UINT16 3 (03H) 1 (01H) 2 (02H)

DeviceNet.DeviceNetObject.BusOffCounter UINT8 3 (03H) 1 (01H) 4 (04H)

DeviceNet.DeviceNetObject.BusOffInterrupt BOOL 3 (03H) 1 (01H) 3 (03H)

DeviceNet.DeviceNetObject.MacID UINT16 3 (03H) 1 (01H) 1 (01H)

DistUnits.CharacteristicDistance UINT32 102 (66H) 1 (01H) 28 (1CH)

DistUnits.CharacteristicLength UINT16 102 (66H) 1 (01H) 22 (16H)

DistUnits.Decimal UINT16 102 (66H) 1 (01H) 23 (17H)

DistUnits.Name String:12 102 (66H) 1 (01H) 24 (18H)

DriveAmbientTemp UINT16 100 (64H) 1 (01H) 1 (01H)


36

Drive Parameters

DriveAnalogInput.ChannelEnable BOOL 128 (80H) 1 (01H) 11 (0BH)

DriveAnalogInput.Decimal UINT16 128 (80H) 1 (01H) 1 (01H)

DriveAnalogInput.LowPassFilterFrequency UINT16 128 (80H) 1 (01H) 10 (0AH)

DriveAnalogInput.MaxVoltageValue INT32 128 (80H) 1 (01H) 3 (03H)

DriveAnalogInput.MinUserValue INT32 128 (80H) 1 (01H) 4 (04H)

DriveAnalogInput.MinVoltageValue INT32 128 (80H) 1 (01H) 5 (05H)

DriveAnalogInput.RawValue INT16 128 (80H) 1 (01H) 6 (06H)

DriveAnalogInput.SetMax DESTINATION 128 (80H) 1 (01H) 7 (07H)

DriveAnalogInput.SetMin DESTINATION 128 (80H) 1 (01H) 8 (08H)

DriveAnalogInput.ValueIn INT32 128 (80H) 1 (01H) 9 (09H)

DriveAnalogOutput.#.ChannelEnable BOOL 129 (81H) See Note 1 6 (06H)

DriveAnalogOutput.#.Feedback INT16 129 (81H) See Note 1 4 (04H)

DriveAnalogOutput.#.MaxOutputValue INT32 129 (81H) See Note 1 8 (08H)

DriveAnalogOutput.#.MaxUserValue INT32 129 (81H) See Note 1 7 (07H)

DriveAnalogOutput.#.MinOutputValue INT32 129 (81H) See Note 1 10 (0AH)

DriveAnalogOutput.#.MinUserValue INT32 129 (81H) See Note 1 9 (09H)

DriveAnalogOutput.#.Source UINT16 129 (81H) See Note 1 3 (03H)

Drive Enable SOURCE 122 (7AH) 1 (01H) 1 (01H)

DriveInput.#.Debounced BOOL 113 (71H) See Note 1 1 (01H)

DriveInput.#.DebounceTime UINT16 113 (71H) See Note 1 2 (02H)

DriveInput.#.Force BOOL 113 (71H) See Note 1 3 (03H)

DriveInput.#.ForceEnable BOOL 113 (71H) See Note 1 4 (04H)

DriveInput.#.Raw BOOL 113 (71H) See Note 1 5 (05H)

DriveInput.#.Status SOURCE 113 (71H) See Note 1 6 (06H)

DriveInput.InputBitMap UINT32 114 (72H) 1 (01H) 7 (07H)

DriveOK SOURCE 122 (7AH) 1 (01H) 14 (0EH)

DriveOutput.#.Force BOOL 115 (74H) See Note 1 2 (02H)

DriveOutput.#.ForceEnable BOOL 115 (74H) See Note 1 3 (03H)

DriveOutput.#.State DESTINATION 115 (74H) See Note 1 1 (01H)

DriveOuput.OutputsBitMap UINT32 115 (74H) 1 (01H) 4 (04H)

DriveOutputEncoder.Scaling UINT16 100 (64H) 1 (01H) 8 (08H)

DriveOutputEncoder.ScalingEnable BOOL 100 (64H) 1 (01H) 7 (07H)

Ethernet.EthernetConfiguration.DataRate UINT16 137 (89H) 1 (01H) 1 (01H)

Ethernet.EthernetConfiguration.Gateway UINT32 137 (89H) 1 (01H) 3 (03H)

Ethernet.EthernetConfiguration.IpAddress UINT32 137 (89H) 1 (01H) 4 (04H)

Ethernet.EthernetConfiguration.IpPerformance UINT16 137 (89H) 1 (01H) 5 (05H)

Ethernet.EthernetConfiguration.ModbusGatewayEnable BOOL 137 (89H) 1 (01H) 2 (02H)


37


Ethernet.EthernetConfiguration.ModbusPortNumber UINT16 137 (89H) 1 (01H) 6 (06H)

Ethernet.EthernetConfiguration.SubnetMask UINT32 137 (89H) 1 (01H) 7 (07H)

Ethernet.EthernetConfiguration.WordSwap UINT16 137 (89H) 1 (01H) 8 (08H)

Ethernet.EthernetEmail.#.Initiate DESTINATION 138 (8AH) 1 (01H) 8 (08H)

Ethernet.EthernetEmail.#.MailReset DESTINATION 138 (8AH) 1 (01H) 5 (05H)

Ethernet.EthernetEmail.#.RelayHost UINT32 138 (8AH) 1 (01H) 6 (06H)

Ethernet.EthernetEmail.#.RelayHostFailure SOURCE 138 (8AH) 1 (01H) 7 (07H)

Ethernet.EthernetEmail.TermCounter UINT32 139 (8BH) 1 (01H) 2 (02H)

Ethernet.EthernetExplicit.#.Attribute UINT16 140 (8CH) 1 (01H) 1 (01H)

Ethernet.EthernetExplicit.#.Class UINT16 140 (8CH) 1 (01H) 2 (02H)

Ethernet.EthernetExplicit.#.CommandComplete SOURCE 140 (8CH) 1 (01H) 3 (03H)

Ethernet.EthernetExplicit.#.CommandInProgress SOURCE 140 (8CH) 1 (01H) 4 (04H)

Ethernet.EthernetExplicit.#.Decimal UINT16 140 (8CH) 1 (01H) 5 (05H)

Ethernet.EthernetExplicit.#.ExplicitMessageSize UINT16 140 (8CH) 1 (01H) 14 (0EH)

Ethernet.EthernetExplicit.#.Initiate DESTINATION 140 (8CH) 1 (01H) 6 (06H)

Ethernet.EthernetExplicit.#.Instance UINT16 140 (8CH) 1 (01H) 7 (07H)

Ethernet.EthernetExplicit.#.MessageFailed SOURCE 140 (8CH) 1 (01H) 8 (08H)

Ethernet.EthernetExplicit.#.Name NAME 140 (8CH) 1 (01H) 9 (09H)

Ethernet.EthernetExplicit.#.Operation UINT16 140 (8CH) 1 (01H) 10 (0AH)

Ethernet.EthernetExplicit.#.SignedData BOOL 140 (8CH) 1 (01H) 13 (0DH)

Ethernet.EthernetExplicit.#.TargetIP UINT32 140 (8CH) 1 (01H) 11 (0BH)

Ethernet.EthernetExplicit.#.Value UINT32 140 (8CH) 1 (01H) 12 (0CH)

Ethernet.EthernetHTTP.EnablePassword BOOL 141 (8DH) 1 (01H) 1 (01H)

Ethernet.EthernetHTTP.Password STRING:12 141 (8DH) 1 (01H) 2 (02H)

Ethernet.EthernetModules.NrModuleInstances UINT16 143 (8FH) 1 (01H) 2 (02H)

Ethernet.EthernetStatus.EthernetMacIdWord1 UINT16 144 (90H) 1 (01H) 1 (01H)



Ethernet.EthernetStatus.EthernetModuleStatus UINT16 144 (90H) 1 (01H) 6 (06H)

Ethernet.EthernetStatus.EthernetNetworkStatus UINT16 144 (90H) 1 (01H) 7 (07H)

Ethernet.EthernetStatus.EthernetOK SOURCE 144 (90H) 1 (01H) 4 (04H)

Ethernet.EthernetStatus.LinkState UINT16 144 (90H) 1 (01H) 5 (05H)

Ethernet.EthernetStatus.ProcessedMessageCounter UINT32 144 (90H) 1 (01H) 8 (08H)

Ethernet.EthernetStatus.RcvCounter UINT32 144 (90H) 1 (01H) 9 (09H)

Ethernet.EthernetStatus.XmitCounter UINT32 144 (90H) 1 (01H) 10 (0AH)

Fault.ClearNonCriticalFaultCounts BOOL 107 (6BH) 1 (01H) 7 (07H)

Fault.FaultInstance.Active SOURCE 108 (6CH) 1 (01H) 1 (01H)


38

Drive Parameters

Fault.FaultInstance.Counts UINT16 108 (6CH) 1 (01H) 2 (02H)

Fault.FaultInstance.SubFault UINT16 108 (6CH) 1 (01H) 3 (03H)

Fault.FaultBitmap1 UINT32 107 (6BH) 1 (01H) 1 (01H)

Fault.EncoderStateFaultEnable BOOL 107 (6BH) 1 (01H) 2 (02H)

Fault.Faulted SOURCE 107 (6BH) 1 (01H) 3 (03H)

Fault.LowDCBusFaultEnable BOOL 107 (6BH) 1 (01H) 6 (06H)


Fault.Reset DESTINATION 107 (6BH) 1 (01H) 5 (05H)

FaultLog.#.SubFault UINT16 108 (6CH) 1 (01H) 7 (07H)

FaultLog.#.ValidEntry BOOL 108 (6CH) 1 (01H) 8 (08H)

FaultLog.ClearLog BOOL 107 (6BH) 1 (01H) 8 (08H)

FaultLog.FaultLogInstance.FaultType UINT16 108 (6CH) 1 (01H) 4 (04H)

FaultLog.FaultLogInstance.PowerUpCount UINT16 108 (6CH) 1 (01H) 5 (05H)

FaultLog.FaultLogInstance.PowerUpTime UINT16 108 (6CH) 1 (01H) 6 (06H)

FeedforwardsEnable BOOL 106 (6AH) 1 (01H) 1 (01H)

Feedhold DESTINATION 104 (68H) 1 (01H) 8 (08H)

FeedholdDecelTime UINT16 104 (68H) 1 (01H) 9 (09H)

FeedRateDeactivate DESTINATION 103 (67H) 1 (01H) 16 (10H)

FeedRateDecelerationTime UINT16 103 (67H) 1 (01H) 17 (11H)

FeedRateOverride UINT16 103 (67H) 1 (01H) 3 (03H)

Foldback RMS UINT16 105 (69H) 1 (01H) 2 (02H)

FoldbackActive SOURCE 105 (69H) 1 (01H) 1 (01H)

FollowingError INT32 102 (66H) 1 (01H) 5 (05H)

FollowingErrorEnable BOOL 102 (66H) 1 (01H) 3 (03H)

FollowingErrorLimit UINT32 102 (66H) 1 (01H) 6 (06H)

Friction UINT16 106 (6AH) 1 (01H) 4 (04H)

Gear.Accel UINT32 133 (85H) 1 (01H) 9 (09H)

Gear.AccelEnable BOOL 133 (85H) 1 (01H) 7 (07H)

Gear.Accelerating SOURCE 133 (85H) 1 (01H) 8 (08H)

Gear.Activate DESTINATION 133 (85H) 1 (01H) 2 (02H)

Gear.AtVel SOURCE 133 (85H) 1 (01H) 4 (04H)

Gear.CommandComplete SOURCE 133 (85H) 1 (01H) 5 (05H)

Gear.CommandInProgress SOURCE 133 (85H) 1 (01H) 6 (06H)

Gear.Decel UINT32 133 (85H) 1 (01H) 13 (0DH)

Gear.DecelEnable BOOL 133 (85H) 1 (01H) 11 (0BH)

Gear.Decelerating SOURCE 133 (85H) 1 (01H) 12 (0CH)

Gear.Ratio INT32 133 (85H) 1 (01H) 3 (03H)


39


Gear.RecoveryDist INT32 133 (85H) 1 (01H) 15 (01H)

Home.0.Accel UINT32 118 (76H) 1 (01H) 2 (02H)

Home.0.Accelerating SOURCE 118 (76H) 1 (01H) 1 (01H)

Home.0.AtVel SOURCE 118 (76H) 1 (01H) 3 (03H)

Home.0.CalculatedOffset INT32 118 (76H) 1 (01H) 5 (05H)

Home.0.CommandComplete SOURCE 118 (76H) 1 (01H) 6 (06H)

Home.0.CommandInProgress SOURCE 118 (76H) 1 (01H) 7 (07H)

Home.0.Decel UINT32 118 (76H) 1 (01H) 9 (09H)

Home.0.Decelerating SOURCE 118 (76H) 1 (01H) 8 (08H)

Home.0.EndPosn INT32 118 (76H) 1 (01H) 15 (0FH)

Home.0.Initiate DESTINATION 118 (76H) 1 (01H) 10 (0AH)

Home.0.LimitDist UINT32 118 (76H) 1 (01H) 11 (0BH)

Home.0.LimitDistEnable BOOL 118 (76H) 1 (01H) 12 (0CH)

Home.0.LimitDistHit SOURCE 118 (76H) 1 (01H) 13 (ODH)

Home.0.OffsetType UINT16 118 (76H) 1 (01H) 14 (0EH)

Home.0.OnSensorAction UINT16 118 (76H) 1 (01H) 4 (04H)

Home.0.Reference UINT16 118 (76H) 1 (01H) 16 (10H)

Home.0.SensorTrigger DESTINATION 118 (76H) 1 (01H) 17 (11H)

Home.0.SpecifiedOffset INT32 118 (76H) 1 (01H) 18 (12H)

Home.0.TimeBase UINT16 118 (76H) 1 (01H) 19 (13H)

Home.0.Vel INT32 118 (76H) 1 (01H) 20 (14H)

Home.AnyCommandComplete SOURCE 117 (75H) 1 (01H) 1 (01H)

Index.#.AnalogLimitType UINT16 123 (7BH) See Note 1 3 (03H)

Index.#.AnalogOperator UINT16 123 (7BH) See Note 1 30 (1EH)

Index.#.AtVel SOURCE 123 (7BH) See Note 1 5 (05H)

Index.#.CommandComplete SOURCE 123 (7BH) See Note 1 6 (06H)

Index.#.CommandInProgress SOURCE 123 (7BH) See Note 1 7 (07H)

Index.#.Decel UINT32 123 (7BH) See Note 1 9 (09H)

Index.#.Decelerating SOURCE 123 (7BH) See Note 1 8 (08H)

Index.#.IndexTime INT32 123 (7BH) See Note 1 28 (1CH)

Index.#.RegistrationType UINT16 123 (7BH) See Note 1 31 (1FH)

Index.#.TimedIndexEnable BOOL 123 (7BH) See Note 1 32 (20H)

Index.#AnalogLimitValue INT32 123 (7BH) See Note 1 4 (04H)

Index.AnyCommandComplete SOURCE 122 (7AH) 1 (01H) 18 (12H)

Index.#.Accel UINT32 123 (7BH) See Note 1 2 (02H)

Index.#.Accelerating SOURCE 123 (7BH) See Note 1 1 (01H)

Index.#.Dist INT32 123 (7BH) See Note 1 10 (0AH)


40

Drive Parameters

Index.#.Initiate DESTINATION 123 (7BH) See Note 1 13 (ODH)

Index.#.LimitDistHit SOURCE 123 (7BH) See Note 1 14 (0EH)

Index.#.PLSEnable BOOL 123 (7BH) See Note 1 15 (0FH)

Index.#.PLSOffDist UINT32 123 (7BH) See Note 1 16 (10H)

Index.#.PLSStatus SOURCE 123 (7BH) See Note 1 23 (17H)

Index.#.RegistrationOffset INT32 123 (7BH) See Note 1 18 (12H)

Index.#.RegistrationWindowEnable BOOL 123 (7BH) See Note 1 11 (0BH)

Index.#.RegistrationWindowEnd UINT32 123 (7BH) See Note 1 19 (13H)

Index.#.RegistrationWindowStart UINT32 123 (7BH) See Note 1 20 (14H)

Index.#.SensorTrigger DESTINATION 123 (7BH) See Note 1 21 (15H)

Index.#.TimeBase UINT16 123 (7BH) See Note 1 22 (16H)

Index.#.Type UINT16 123 (7BH) See Note 1 24 (18H)

Index.#.Vel UINT32 123 (7BH) See Note 1 25 (19H)

Index.#.PLSOnDist UINT32 123 (7BH) See Note 1 17 (11H)

Index.ProfileLimited SOURCE 123 (7BH) 1 (01H) 27 (1BH)

Index.ResetProfileLimited DESTINATION 123 (7BH) 1 (01H) 29 (1DH)

Inertia UINT16 106 (6AH) 1 (01H) 5 (05H)

InPosn SOURCE 102 (66H) 1 (01H) 7 (07H)

InPosnTime UINT16 102 (66H) 1 (01H) 8 (08H)

InPosnWindow UINT32 102 (66H) 1 (01H) 9 (09H)

Jog.#.Accel UINT32 120 (78H) See Note 1 2 (02H)

Jog.#.Accelerating SOURCE 120 (78H) See Note 1 1 (01H)

Jog.#.AtVel SOURCE 120 (78H) See Note 1 3 (03H)

Jog.#.CommandComplete SOURCE 120 (78H) See Note 1 4 (04H)

Jog.#.CommandInProgress SOURCE 120 (78H) See Note 1 5 (05H)

Jog.#.Decel UINT32 120 (78H) See Note 1 7 (07H)

Jog.#.Decelerating SOURCE 120 (78H) See Note 1 6 (06H)

Jog.#.SerialMinus BOOL 120 (78H) See Note 1 8 (08H)

Jog.#.SerialPlus BOOL 120 (78H) See Note 1 9 (09H)

Jog.#.TimeBase UIN16 120 (78H) See Note 1 11 (0BH)

Jog.#.Vel UINT32 120 (78H) See Note 1 10 (0AH)

Jog.AnyCommandComplete SOURCE 119 (77H) 1 (01H) 1 (01H)

Jog.MinusActivate DESTINATION 119 (77H) 1 (01H) 2 (02H)

Jog.PlusActivate DESTINATION 119 (77H) 1 (01H) 3 (03H)

Jog.Select DESTINATION 121 (79H) 1 (01H) 1 (01H)

LowPassFilterEnable BOOL 106 (6AH) 1 (01H) 6 (06H)

LowPassFilterFrequency UINT16 106 (6AH) 1 (01H) 7 (07H)


41


Master AccelUnits.Name String:12 101 (65H) 1 (01H) 3 (03H)

MasterAccelUnits.Decimal UINT16 101 (65H) 1 (01H) 2 (02H)

MasterAxis.AbsolutePosnValid SOURCE 101 (65H) 1 (01H) 36 (24H)

MasterAxis.DefineHome DESTINATION 101 (65H) 1 (01H) 12 (OCH)

MasterAxis.DefineHomePosn INT32 101 (65H) 1 (01H) 13 (0DH)

MasterAxis.EnableFilter BOOL 101 (65H) 1 (01H) 32 (20H)

MasterAxis.EncoderMarker SOURCE 101 (65H) 1 (01H) 29 (1DH)

MasterAxis.FeedforwardsEnable BOOL 101 (65H) 1 (01H) 35 (23H)

MasterAxis.FilterSamples UINT16 101 (65H) 1 (01H) 33 (21H)

MasterAxis.Interpretation UINT16 101 (65H) 1 (01H) 37 (25H)

MasterAxis.Polarity UINT16 101 (65H) 1 (01H) 17 (11H)

MasterAxis.PosnFeedback INT32 101 (65H) 1 (01H) 18 (12H)

MasterAxis.PosnFeedbackInCounts INT32 101 (65H) 1 (01H) 15 (0FH)

MasterAxis.RotaryRolloverEnable BOOL 101 (65H) 1 (01H) 21 (15H)

MasterAxis.RotaryRolloverPosn BOOL 101 (65H) 1 (01H) 22 (16H)

MasterAxis.Source UINT16 101 (65H) 1 (01H) 23 (17H)

MasterAxis.UndefineHome DESTINATION 101 (65H) 1 (01H) 31 (1FH)

MasterAxis.VelFeedback UINT16 101 (65H) 1 (01H) 25 (19H)

MasterDistUnit.CharacteristicDistance UINT32 101 (65H) 1 (01H) 4 (04H)

MasterDistUnit.Counts UINT16 101 (65H) 1 (01H) 5 (05H)

MasterDistUnit.Decimal UINT16 101 (65H) 1 (01H) 6 (06H)

MasterDistUnit.Name String:12 101 (65H) 1 (01H) 7 (07H)

MasterVelUnits.Decimal UINT16 101 (65H) 1 (01H) 27 (1BH)

MasterVelUnits.Name String:12 101 (65H) 1 (01H) 28 (1CH)

Modbus.BaudRate UINT16 100 (64H) 1 (01H) 11 (0BH)

Motion State UINT16 122 (7AH) 1 (01H) 2 (02H)

Motor Type UINT16 100 (64H) 1 (01H) 4 (04H)

MotorAxis.AbsolutePosnValid SOURCE 102 (66H) 1 (01H) 32 (20H)

MotorAxis.BusVoltage UINT16 105 (69H) 1 (01H) 16 (10H)

MotorAxis.DriveInputSignal UINT16 101 (65H) 1 (01H) 38 (26H)

MotorAxis.EncoderMarker SOURCE 102 (66H) 1 (01H) 31 (1FH)

MotorAxis.FreeRunTime UINT32 122 (7AH) 1 (01H) 20 (14H)

MotorAxis.HeatSinkTemperature UINT16 105 (69H) 1 (01H) 17 (11H)

MotorAxis.MotionStop DESTINATION 104 (68H) 1 (01H) 13 (0DH)

MotorAxis.SoftDriveDisable DESTINATION 122 (7AH) 1 (01H) 19 (13H)

MotorAxis.TempCurrentLimitActive SOURCE 122 (7AH) 1 (01H) 17 (11H)

MotorAxis.TorqueFeedback INT32 105 (69H) 1 (01H) 6 (06H)


42

Drive Parameters

MotorAxis.UndefineHome DESTINATION 102 (66H) 1 (01H) 30 (1EH)

Name String:12 100 (64H) 1 (01H) 5 (05H)

ObserverEnable BOOL 106 (6AH) 1 (01H) 2 (02H)

Overspeed Fault Count UINT16 122 (7AH) 1 (01H) 3 (03H)

OverspeedVel UINT16 103 (67H) 1 (01H) 7 (07H)

PeakTorque UINT16 105 (69H) 1 (01H) 3 (03H)

PLS.PLS#.Direction UINT16 109 (6DH) See Note 1 1 (01H)

PLS.PLS#.OffPosn INT32 109 (6DH) See Note 1 2 (02H)

PLS.PLS#.OnPosn INT32 109 (6DH) See Note 1 4 (04H)

PLS.PLS#.PLSEnable DESTINATION 109 (6DH) See Note 1 6 (06H)

PLS.PLS#.RotaryRolloverEnable BOOL 109 (6DH) See Note 1 7 (07H)

PLS.PLS#.RotaryRolloverPosn UINT32 109 (6DH) See Note 1 8 (08H)

PLS.PLS#.Source UINT16 109 (6DH) See Note 1 10 (OAH)

PLS.PLS#.Status SOURCE 109 (6DH) See Note 1 11 (OBH)

PositionIntegralEnable BOOL 106 (6AH) 1 (01H) 3 (03H)

Positive Direction UINT16 100 (64H) 1 (01H) 6 (06H)

PosnCommand INT32 102 (66H) 1 (01H) 10 (0AH)

PosnErrorIntegralTimeConstant UINT16 106 (6AH) 1 (01H) 10 (0AH)

PosnFeedback INT32 102 (66H) 1 (01H) 11 (0BH)

PosnFeedbackInCounts INT32 102 (66H) 1 (01H) 4 (04H)

PowerStageEnabled SOURCE 122 (7AH) 1 (01H) 4 (04H)

PowerUpCount UINT16 122 (7AH) 1 (01H) 5 (05H)

PowerUpTime UINT32 122 (7AH) 1 (01H) 6 (06H)

ProductSubGroup UINT16 1 (01H) 1 (01H) 3 (03H)

Profile.#.Accelerating SOURCE 134 (86H) See Note 1 4 (01H)

Profile.#.AtVel SOURCE 134 (86H) See Note 1 5 (05H)

Profile.#.CommandComplete SOURCE 134 (86H) See Note 1 8 (08H)

Profile.#.CommandInProgress SOURCE 134 (86H) See Note 1 7 (07H)

Profile.#.Decelerating SOURCE 134 (86H) See Note 1 6 (06H)

Profile.#.Feedhold DESTINATION 134 (86H) See Note 1 9 (09H)

Profile.#.MotionStop DESTINATION 134 (86H) See Note 1 1 (01H)

Profile.#.PosnCommand INT32 134 (86H) See Note 1 2 (02H)

Profile.#.VelCommand INT32 134 (86H) See Note 1 3 (03H)

Program.#.ProgramRunning SOURCE 126 (7EH) See Note 1 4 (04H)

Program.#.RunAnytimeEnable BOOL 126 (7EH) See Note 1 5 (05H)

Program.#.Stop DESTINATION 126 (7EH) See Note 1 3 (03H)

Program.AnyActive BOOL 125 (7DH) 1 (01H) 1 (01H)


43


Program.AnyComplete SOURCE 125 (7DH) 1 (01H) 2 (02H)

Program.ProgramInstance#.Initiate DESTINATION 126 (7EH) See Note 1 1 (01H)

Program.ProgramInstance#.ProgramComplete SOURCE 126 (7EH) See Note 1 2 (02H)

Queue.#.DataIn INT32 130 (82H) See Note 1 1 (01H)

Queue.#.DataOut INT32 130 (82H) See Note 1 2 (02H)

Queue.#.ExitPosition INT32 130 (82H) 1 (01H) 6 (06H)

Queue.#.FullLevel UINT16 130 (82H) 1 (01H) 7 (07H)

Queue.#.QueueClear DESTINATION 130 (82H) 1 (01H) 8 (08H)

Queue.#.QueueCompareEnable DESTINATION 130 (82H) 1 (01H) 9 (09H)

Queue.#.QueueEmpty SOURCE 130 (82H) See Note 1 3 (03H)

Queue.#.QueueExit SOURCE 130 (82H) 1 (01H) 10 (0AH)

Queue.#.QueueFull SOURCE 130 (82H) See Note 1 4 (04H)

Queue.#.QueueOffset INT32 130 (82H) See Note 1 13 (0DH)

Queue.#.QueueOverflow SOURCE 130 (82H) 1 (01H) 5 (05H)

Queue.#.QueueSize UINT16 130 (82H) 1 (01H) 11 (0BH)

Queue.#.Source UINT16 130 (82H) 1 (01H) 12 (0CH)

Queue.#.QueueOverflow SOURCE 130 (82H) See Note 1 5 (05H)

Response UINT16 106 (6AH) 1 (01H) 11 (0BH)

RotaryRolloverEnable BOOL 102 (66H) 1 (01H) 12 (0CH)

RotaryRolloverPosn UINT32 102 (66H) 1 (01H) 13 (0DH)

SegmentDisplay UINT16 122 (7AH) 1 (01H) 7 (07H)

Selector.Select DESTINATION 111 (6FH) 1 (01H) 1 (01H)

Selector.Selection SOURCE 112 (70H) 1 (01H) 1 (01H)

Selector.SelectorInitiate DESTINATION 110 (6EH) 1 (01H) 1 (01H)

ShuntActive SOURCE 122 (7AH) 1 (01H) 8 (08H)

ShuntPowerRMS UINT16 122 (7AH) 1 (01H) 9 (09H)

SoftwareTravelLimitEnable BOOL 102 (66H) 1 (01H) 15 (OFH)

SoftwareTravelLimitMinusActive SOURCE 102 (66H) 1 (01H) 16 (10H)

SoftwareTravelLimitMinusPosn INT32 102 (66H) 1 (01H) 17 (11H)

SoftwareTravelLimitPlusActive SOURCE 102 (66H) 1 (01H) 18 (12H)

SoftwareTravelLimitPlusPosn INT32 102 (66H) 1 (01H) 19 (13H)

Stop DESTINATION 104 (68H) 1 (01H) 10 (0AH)

StopDecel UINT32 104 (68H) 1 (01H) 11 (0BH)

SwitchingFrequency UINT16 100 (64H) 1 (01H) 12 (0CH)

TorqueCommand INT32 105 (69H) 1 (01H) 4 (04H)

TorqueCommandLimited INT32 105 (69H) 1 (01H) 5 (05H)

TorqueLevel UINT32 105 (69H) 1 (01H) 7 (07H)


44

Drive Parameters

By Class*NOTE 1*


TorqueLevelActive SOURCE 105 (69H) 1 (01H) 8 (08H)

TorqueLimit UINT32 105 (69H) 1 (01H) 9 (09H)

TorqueLimitActive SOURCE 105 (69H) 1 (01H) 10 (0AH)

TorqueLimitEnable DESTINATION 105 (69H) 1 (01H) 11 (0BH)

TorqueUnits.Decimal UINT16 105 (69H) 1 (01H) 12 (0CH)

TorqueUnits.Name String:12 105 (69H) 1 (01H) 13 (0DH)

TorqueUnits.PercentContinuousCurrent UINT16 105 (69H) 1 (01H) 14 (0EH)

TorqueUnits.Torque UINT32 105 (69H) 1 (01H) 15 (0FH)

TotalPowerUpTime UINT32 122 (7AH) 1 (01H) 10 (0AH)

TravelLimitDecel UINT32 104 (68H) 1 (01H) 12 (0CH)

TravelLimitDisable DESTINATION 102 (66H) 1 (01H) 29 (1DH)

TravelLimitMinusActivate DESTINATION 102 (66H) 1 (01H) 26 (1AH)

TravelLimitMinusActive SOURCE 102 (66H) 1 (01H) 20 (14H)

TravelLimitPlusActivate DESTINATION 102 (66H) 1 (01H) 27 (1BH)

TravelLimitPlusActive SOURCE 102 (66H) 1 (01H) 21 (15H)

Var.#.Decimal UINT16 132 (84H) 1 (01H) 1 (01H)

Var.#.Value INT32 132 (84H) 1 (01H) 2 (02H)

VelCommand INT32 103 (67H) 1 (01H) 8 (08H)

VelFeedback INT32 103 (67H) 1 (01H) 9 (09H)

VelLimitActive SOURCE 103 (67H) 1 (01H) 10 (0AH)

VelocityUnits.Decimal UINT16 103 (67H) 1 (01H) 11 (0BH)

VelocityUnits.DistVelScale UINT32 103 (67H) 1 (01H) 12 (0CH)

VelocityUnits.Name String:12 103 (67H) 1 (01H) 14 (0EH)

VelocityUnits.ScalingEnable BOOL 103 (67H) 1 (01H) 13 (0DH)

VelocityUnits.TimeScale UINT16 103 (67H) 1 (01H) 15 (0FH)


DeviceNet.DeviceNetIdentityObject.DeviceStatus UINT16 1 (01H) 1 (01H) 5 (05H)

DeviceNet.DeviceNetIdentityObject.DeviceType UINT16 1 (01H) 1 (01H) 2 (02H)

DeviceNet.DeviceNetIdentityObject.HeartbeatInterval UINT16 1 (01H) 1 (01H) 10 (0AH)


45


DeviceNet.DeviceNetIdentityObject.VendorID UINT16 1 (01H) 1 (01H) 1 (01H)

ProductSubGroup UINT16 1 (01H) 1 (01H) 3 (03H)

DriveAmbientTemp UINT16 100 (64H) 1 (01H) 1 (01H)

DriveOutputEncoder.Scaling UINT16 100 (64H) 1 (01H) 8 (08H)

DriveOutputEncoder.ScalingEnable BOOL 100 (64H) 1 (01H) 7 (07H)

Modbus.BaudRate UINT16 100 (64H) 1 (01H) 11 (0BH)

Motor Type UINT16 100 (64H) 1 (01H) 4 (04H)

Name String:12 100 (64H) 1 (01H) 5 (05H)

Positive Direction UINT16 100 (64H) 1 (01H) 6 (06H)

SwitchingFrequency UINT16 100 (64H) 1 (01H) 12 (0CH)

Master AccelUnits.Name String:12 101 (65H) 1 (01H) 3 (03H)

MasterAccelUnits.Decimal UINT16 101 (65H) 1 (01H) 2 (02H)

MasterAxis.AbsolutePosnValid SOURCE 101 (65H) 1 (01H) 36 (24H)

MasterAxis.DefineHome DESTINATION 101 (65H) 1 (01H) 12 (OCH)

MasterAxis.DefineHomePosn INT32 101 (65H) 1 (01H) 13 (0DH)

MasterAxis.EnableFilter BOOL 101 (65H) 1 (01H) 32 (20H)

MasterAxis.EncoderMarker SOURCE 101 (65H) 1 (01H) 29 (1DH)

MasterAxis.FeedforwardsEnable BOOL 101 (65H) 1 (01H) 35 (23H)

MasterAxis.FilterSamples UINT16 101 (65H) 1 (01H) 33 (21H)

MasterAxis.Interpretation UINT16 101 (65H) 1 (01H) 37 (25H)

MasterAxis.Polarity UINT16 101 (65H) 1 (01H) 17 (11H)

MasterAxis.PosnFeedback INT32 101 (65H) 1 (01H) 18 (12H)

MasterAxis.PosnFeedbackInCounts INT32 101 (65H) 1 (01H) 15 (0FH)

MasterAxis.RotaryRolloverEnable BOOL 101 (65H) 1 (01H) 21 (15H)

MasterAxis.RotaryRolloverPosn BOOL 101 (65H) 1 (01H) 22 (16H)

MasterAxis.Source UINT16 101 (65H) 1 (01H) 23 (17H)

MasterAxis.UndefineHome DESTINATION 101 (65H) 1 (01H) 31 (1FH)

MasterAxis.VelFeedback UINT16 101 (65H) 1 (01H) 25 (19H)

MasterDistUnit.CharacteristicDistance UINT32 101 (65H) 1 (01H) 4 (04H)

MasterDistUnit.Counts UINT16 101 (65H) 1 (01H) 5 (05H)

MasterDistUnit.Decimal UINT16 101 (65H) 1 (01H) 6 (06H)

MasterDistUnit.Name String:12 101 (65H) 1 (01H) 7 (07H)

MasterVelUnits.Decimal UINT16 101 (65H) 1 (01H) 27 (1BH)

MasterVelUnits.Name String:12 101 (65H) 1 (01H) 28 (1CH)

MotorAxis.DriveInputSignal UINT16 101 (65H) 1 (01H) 38 (26H)

ClearFollowingError DESTINATION 102 (66H) 1 (01H) 25 (19H)

DefineHome DESTINATION 102 (66H) 1 (01H) 1 (01H)


46

Drive Parameters

DefineHomePosn INT32 102 (66H) 1 (01H) 2 (02H)

DistUnits.CharacteristicDistance UINT32 102 (66H) 1 (01H) 28 (1CH)

DistUnits.CharacteristicLength UINT16 102 (66H) 1 (01H) 22 (16H)

DistUnits.Decimal UINT16 102 (66H) 1 (01H) 23 (17H)

DistUnits.Name String:12 102 (66H) 1 (01H) 24 (18H)

FollowingError INT32 102 (66H) 1 (01H) 5 (05H)

FollowingErrorEnable BOOL 102 (66H) 1 (01H) 3 (03H)

FollowingErrorLimit UINT32 102 (66H) 1 (01H) 6 (06H)

InPosn SOURCE 102 (66H) 1 (01H) 7 (07H)

InPosnTime UINT16 102 (66H) 1 (01H) 8 (08H)

InPosnWindow UINT32 102 (66H) 1 (01H) 9 (09H)

MotorAxis.AbsolutePosnValid SOURCE 102 (66H) 1 (01H) 32 (20H)

MotorAxis.EncoderMarker SOURCE 102 (66H) 1 (01H) 31 (1FH)

MotorAxis.UndefineHome DESTINATION 102 (66H) 1 (01H) 30 (1EH)

PosnCommand INT32 102 (66H) 1 (01H) 10 (0AH)

PosnFeedback INT32 102 (66H) 1 (01H) 11 (0BH)

PosnFeedbackInCounts INT32 102 (66H) 1 (01H) 4 (04H)

RotaryRolloverEnable BOOL 102 (66H) 1 (01H) 12 (0CH)

RotaryRolloverPosn UINT32 102 (66H) 1 (01H) 13 (0DH)

SoftwareTravelLimitEnable BOOL 102 (66H) 1 (01H) 15 (OFH)

SoftwareTravelLimitMinusActive SOURCE 102 (66H) 1 (01H) 16 (10H)

SoftwareTravelLimitMinusPosn INT32 102 (66H) 1 (01H) 17 (11H)

SoftwareTravelLimitPlusActive SOURCE 102 (66H) 1 (01H) 18 (12H)

SoftwareTravelLimitPlusPosn INT32 102 (66H) 1 (01H) 19 (13H)

TravelLimitDisable DESTINATION 102 (66H) 1 (01H) 29 (1DH)

TravelLimitMinusActivate DESTINATION 102 (66H) 1 (01H) 26 (1AH)

TravelLimitMinusActive SOURCE 102 (66H) 1 (01H) 20 (14H)

TravelLimitPlusActivate DESTINATION 102 (66H) 1 (01H) 27 (1BH)

TravelLimitPlusActive SOURCE 102 (66H) 1 (01H) 21 (15H)

AtVel SOURCE 103 (67H) 1 (01H) 1 (01H)

CommandingMotion SOURCE 103 (67H) 1 (01H) 2 (02H)

FeedRateDeactivate DESTINATION 103 (67H) 1 (01H) 16 (10H)

FeedRateDecelerationTime UINT16 103 (67H) 1 (01H) 17 (11H)

FeedRateOverride UINT16 103 (67H) 1 (01H) 3 (03H)

OverspeedVel UINT16 103 (67H) 1 (01H) 7 (07H)

VelCommand INT32 103 (67H) 1 (01H) 8 (08H)

VelFeedback INT32 103 (67H) 1 (01H) 9 (09H)


47


VelLimitActive SOURCE 103 (67H) 1 (01H) 10 (0AH)

VelocityUnits.Decimal UINT16 103 (67H) 1 (01H) 11 (0BH)

VelocityUnits.DistVelScale UINT32 103 (67H) 1 (01H) 12 (0CH)

VelocityUnits.Name String:12 103 (67H) 1 (01H) 14 (0EH)

VelocityUnits.ScalingEnable BOOL 103 (67H) 1 (01H) 13 (0DH)

VelocityUnits.TimeScale UINT16 103 (67H) 1 (01H) 15 (0FH)

Accelerating SOURCE 104 (68H) 1 (01H) 5 (05H)

AccelType UINT16 104 (68H) 1 (01H) 6 (06H)

AccelUnits.Decimal UINT16 104 (68H) 1 (01H) 1 (01H)

AccelUnits.InvertAccel BOOL 104 (68H) 1 (01H) 2 (02H)

AccelUnits.Name String:12 104 (68H) 1 (01H) 3 (03H)

AccelUnits.TimeScale UINT16 104 (68H) 1 (01H) 4 (04H)

AutoCalcRampsEnable BOOL 104 (68H) 1 (01H) 14 (0EH)

Decelerating SOURCE 104 (68H) 1 (01H) 7 (07H)

Feedhold DESTINATION 104 (68H) 1 (01H) 8 (08H)

FeedholdDecelTime UINT16 104 (68H) 1 (01H) 9 (09H)

MotorAxis.MotionStop DESTINATION 104 (68H) 1 (01H) 13 (0DH)

Stop DESTINATION 104 (68H) 1 (01H) 10 (0AH)

StopDecel UINT32 104 (68H) 1 (01H) 11 (0BH)

TravelLimitDecel UINT32 104 (68H) 1 (01H) 12 (0CH)

Foldback RMS UINT16 105 (69H) 1 (01H) 2 (02H)

FoldbackActive SOURCE 105 (69H) 1 (01H) 1 (01H)

MotorAxis.BusVoltage UINT16 105 (69H) 1 (01H) 16 (10H)

MotorAxis.HeatSinkTemperature UINT16 105 (69H) 1 (01H) 17 (11H)

MotorAxis.TorqueFeedback INT32 105 (69H) 1 (01H) 6 (06H)

PeakTorque UINT16 105 (69H) 1 (01H) 3 (03H)

TorqueCommand INT32 105 (69H) 1 (01H) 4 (04H)

TorqueCommandLimited INT32 105 (69H) 1 (01H) 5 (05H)

TorqueLevel UINT32 105 (69H) 1 (01H) 7 (07H)

TorqueLevelActive SOURCE 105 (69H) 1 (01H) 8 (08H)

TorqueLimit UINT32 105 (69H) 1 (01H) 9 (09H)

TorqueLimitActive SOURCE 105 (69H) 1 (01H) 10 (0AH)

TorqueLimitEnable DESTINATION 105 (69H) 1 (01H) 11 (0BH)

TorqueUnits.Decimal UINT16 105 (69H) 1 (01H) 12 (0CH)

TorqueUnits.Name String:12 105 (69H) 1 (01H) 13 (0DH)

TorqueUnits.PercentContinuousCurrent UINT16 105 (69H) 1 (01H) 14 (0EH)

TorqueUnits.Torque UINT32 105 (69H) 1 (01H) 15 (0FH)


48

Drive Parameters

CommutationAngleCorrection INT16 106 (6AH) 1 (01H) 12 (0CH)

CommutationTrackAngle UINT16 106 (6AH) 1 (01H) 13 (0DH)

CommutationVoltage INT16 106 (6AH) 1 (01H) 14 (0EH)

FeedforwardsEnable BOOL 106 (6AH) 1 (01H) 1 (01H)

Friction UINT16 106 (6AH) 1 (01H) 4 (04H)

Inertia UINT16 106 (6AH) 1 (01H) 5 (05H)

LowPassFilterEnable BOOL 106 (6AH) 1 (01H) 6 (06H)

LowPassFilterFrequency UINT16 106 (6AH) 1 (01H) 7 (07H)

ObserverEnable BOOL 106 (6AH) 1 (01H) 2 (02H)

PositionIntegralEnable BOOL 106 (6AH) 1 (01H) 3 (03H)

PosnErrorIntegralTimeConstant UINT16 106 (6AH) 1 (01H) 10 (0AH)

Response UINT16 106 (6AH) 1 (01H) 11 (0BH)

Fault.ClearNonCriticalFaultCounts BOOL 107 (6BH) 1 (01H) 7 (07H)


Fault.EncoderStateFaultEnable BOOL 107 (6BH) 1 (01H) 2 (02H)

Fault.Faulted SOURCE 107 (6BH) 1 (01H) 3 (03H)

Fault.LowDCBusFaultEnable BOOL 107 (6BH) 1 (01H) 6 (06H)


Fault.Reset DESTINATION 107 (6BH) 1 (01H) 5 (05H)

FaultLog.ClearLog BOOL 107 (6BH) 1 (01H) 8 (08H)

Fault.FaultInstance.Active SOURCE 108 (6CH) 1 (01H) 1 (01H)

Fault.FaultInstance.Counts UINT16 108 (6CH) 1 (01H) 2 (02H)

Fault.FaultInstance.SubFault UINT16 108 (6CH) 1 (01H) 3 (03H)

FaultLog.#.SubFault UINT16 108 (6CH) 1 (01H) 7 (07H)

FaultLog.#.ValidEntry BOOL 108 (6CH) 1 (01H) 8 (08H)

FaultLog.FaultLogInstance.FaultType UINT16 108 (6CH) 1 (01H) 4 (04H)

FaultLog.FaultLogInstance.PowerUpCount UINT16 108 (6CH) 1 (01H) 5 (05H)

FaultLog.FaultLogInstance.PowerUpTime UINT16 108 (6CH) 1 (01H) 6 (06H)

PLS.PLS#.Direction UINT16 109 (6DH) See Note 1 1 (01H)

PLS.PLS#.OffPosn INT32 109 (6DH) See Note 1 2 (02H)

PLS.PLS#.OnPosn INT32 109 (6DH) See Note 1 4 (04H)

PLS.PLS#.PLSEnable DESTINATION 109 (6DH) See Note 1 6 (06H)

PLS.PLS#.RotaryRolloverEnable BOOL 109 (6DH) See Note 1 7 (07H)

PLS.PLS#.RotaryRolloverPosn UINT32 109 (6DH) See Note 1 8 (08H)

PLS.PLS#.Source UINT16 109 (6DH) See Note 1 10 (OAH)

PLS.PLS#.Status SOURCE 109 (6DH) See Note 1 11 (OBH)

Selector.SelectorInitiate DESTINATION 110 (6EH) 1 (01H) 1 (01H)


49


Selector.Select DESTINATION 111 (6FH) 1 (01H) 1 (01H)

Selector.Selection SOURCE 112 (70H) 1 (01H) 1 (01H)

DriveInput.#.Debounced BOOL 113 (71H) See Note 1 1 (01H)

DriveInput.#.DebounceTime UINT16 113 (71H) See Note 1 2 (02H)

DriveInput.#.Force BOOL 113 (71H) See Note 1 3 (03H)

DriveInput.#.ForceEnable BOOL 113 (71H) See Note 1 4 (04H)

DriveInput.#.Raw BOOL 113 (71H) See Note 1 5 (05H)

DriveInput.#.Status SOURCE 113 (71H) See Note 1 6 (06H)

DriveInput.InputBitMap UINT32 114 (72H) 1 (01H) 7 (07H)

DriveOutput.#.Force BOOL 115 (74H) See Note 1 2 (02H)

DriveOutput.#.ForceEnable BOOL 115 (74H) See Note 1 3 (03H)

DriveOutput.#.State DESTINATION 115 (74H) See Note 1 1 (01H)

DriveOuput.OutputsBitMap UINT32 115 (74H) 1 (01H) 4 (04H)

Home.AnyCommandComplete SOURCE 117 (75H) 1 (01H) 1 (01H)

Home.0.Accel UINT32 118 (76H) 1 (01H) 2 (02H)

Home.0.Accelerating SOURCE 118 (76H) 1 (01H) 1 (01H)

Home.0.AtVel SOURCE 118 (76H) 1 (01H) 3 (03H)

Home.0.CalculatedOffset INT32 118 (76H) 1 (01H) 5 (05H)

Home.0.CommandComplete SOURCE 118 (76H) 1 (01H) 6 (06H)

Home.0.CommandInProgress SOURCE 118 (76H) 1 (01H) 7 (07H)

Home.0.Decel UINT32 118 (76H) 1 (01H) 9 (09H)

Home.0.Decelerating SOURCE 118 (76H) 1 (01H) 8 (08H)

Home.0.EndPosn INT32 118 (76H) 1 (01H) 15 (0FH)

Home.0.Initiate DESTINATION 118 (76H) 1 (01H) 10 (0AH)

Home.0.LimitDist UINT32 118 (76H) 1 (01H) 11 (0BH)

Home.0.LimitDistEnable BOOL 118 (76H) 1 (01H) 12 (0CH)

Home.0.LimitDistHit SOURCE 118 (76H) 1 (01H) 13 (ODH)

Home.0.OffsetType UINT16 118 (76H) 1 (01H) 14 (0EH)

Home.0.OnSensorAction UINT16 118 (76H) 1 (01H) 4 (04H)

Home.0.Reference UINT16 118 (76H) 1 (01H) 16 (10H)

Home.0.SensorTrigger DESTINATION 118 (76H) 1 (01H) 17 (11H)

Home.0.SpecifiedOffset INT32 118 (76H) 1 (01H) 18 (12H)

Home.0.TimeBase UINT16 118 (76H) 1 (01H) 19 (13H)

Home.0.Vel INT32 118 (76H) 1 (01H) 20 (14H)

Jog.AnyCommandComplete SOURCE 119 (77H) 1 (01H) 1 (01H)

Jog.MinusActivate DESTINATION 119 (77H) 1 (01H) 2 (02H)

Jog.PlusActivate DESTINATION 119 (77H) 1 (01H) 3 (03H)


50

Drive Parameters

Jog.#.Accel UINT32 120 (78H) See Note 1 2 (02H)

Jog.#.Accelerating SOURCE 120 (78H) See Note 1 1 (01H)

Jog.#.AtVel SOURCE 120 (78H) See Note 1 3 (03H)

Jog.#.CommandComplete SOURCE 120 (78H) See Note 1 4 (04H)

Jog.#.CommandInProgress SOURCE 120 (78H) See Note 1 5 (05H)

Jog.#.Decel UINT32 120 (78H) See Note 1 7 (07H)

Jog.#.Decelerating SOURCE 120 (78H) See Note 1 6 (06H)

Jog.#.SerialMinus BOOL 120 (78H) See Note 1 8 (08H)

Jog.#.SerialPlus BOOL 120 (78H) See Note 1 9 (09H)

Jog.#.TimeBase UIN16 120 (78H) See Note 1 11 (0BH)

Jog.#.Vel UINT32 120 (78H) See Note 1 10 (0AH)

Jog.Select DESTINATION 121 (79H) 1 (01H) 1 (01H)

Brake.Activate DESTINATION 122 (7AH) 1 (01H) 12 (0CH)

Brake.Disengaged SOURCE 122 (7AH) 1 (01H) 11 (0BH)

Brake.Release DESTINATION 122 (7AH) 1 (01H) 13 (0DH)

Drive Enable SOURCE 122 (7AH) 1 (01H) 1 (01H)

DriveOK SOURCE 122 (7AH) 1 (01H) 14 (0EH)

Index.AnyCommandComplete SOURCE 122 (7AH) 1 (01H) 18 (12H)

Motion State UINT16 122 (7AH) 1 (01H) 2 (02H)

MotorAxis.FreeRunTime UINT32 122 (7AH) 1 (01H) 20 (14H)

MotorAxis.SoftDriveDisable DESTINATION 122 (7AH) 1 (01H) 19 (13H)

MotorAxis.TempCurrentLimitActive SOURCE 122 (7AH) 1 (01H) 17 (11H)

Overspeed Fault Count UINT16 122 (7AH) 1 (01H) 3 (03H)

PowerStageEnabled SOURCE 122 (7AH) 1 (01H) 4 (04H)

PowerUpCount UINT16 122 (7AH) 1 (01H) 5 (05H)

PowerUpTime UINT32 122 (7AH) 1 (01H) 6 (06H)

SegmentDisplay UINT16 122 (7AH) 1 (01H) 7 (07H)

ShuntActive SOURCE 122 (7AH) 1 (01H) 8 (08H)

ShuntPowerRMS UINT16 122 (7AH) 1 (01H) 9 (09H)

TotalPowerUpTime UINT32 122 (7AH) 1 (01H) 10 (0AH)

Index.#.AnalogLimitType UINT16 123 (7BH) See Note 1 3 (03H)

Index.#.AnalogOperator UINT16 123 (7BH) See Note 1 30 (1EH)

Index.#.AtVel SOURCE 123 (7BH) See Note 1 5 (05H)

Index.#.CommandComplete SOURCE 123 (7BH) See Note 1 6 (06H)

Index.#.CommandInProgress SOURCE 123 (7BH) See Note 1 7 (07H)

Index.#.Decel UINT32 123 (7BH) See Note 1 9 (09H)

Index.#.Decelerating SOURCE 123 (7BH) See Note 1 8 (08H)


51


Index.#.IndexTime INT32 123 (7BH) See Note 1 28 (1CH)

Index.#.RegistrationType UINT16 123 (7BH) See Note 1 31 (1FH)

Index.#.TimedIndexEnable BOOL 123 (7BH) See Note 1 32 (20H)

Index.#AnalogLimitValue INT32 123 (7BH) See Note 1 4 (04H)

Index.#.Accel UINT32 123 (7BH) See Note 1 2 (02H)

Index.#.Accelerating SOURCE 123 (7BH) See Note 1 1 (01H)

Index.#.Dist INT32 123 (7BH) See Note 1 10 (0AH)

Index.#.Initiate DESTINATION 123 (7BH) See Note 1 13 (ODH)

Index.#.LimitDistHit SOURCE 123 (7BH) See Note 1 14 (0EH)

Index.#.PLSEnable BOOL 123 (7BH) See Note 1 15 (0FH)

Index.#.PLSOffDist UINT32 123 (7BH) See Note 1 16 (10H)

Index.#.PLSStatus SOURCE 123 (7BH) See Note 1 23 (17H)

Index.#.RegistrationOffset INT32 123 (7BH) See Note 1 18 (12H)

Index.#.RegistrationWindowEnable BOOL 123 (7BH) See Note 1 11 (0BH)

Index.#.RegistrationWindowEnd UINT32 123 (7BH) See Note 1 19 (13H)

Index.#.RegistrationWindowStart UINT32 123 (7BH) See Note 1 20 (14H)

Index.#.SensorTrigger DESTINATION 123 (7BH) See Note 1 21 (15H)

Index.#.TimeBase UINT16 123 (7BH) See Note 1 22 (16H)

Index.#.Type UINT16 123 (7BH) See Note 1 24 (18H)

Index.#.Vel UINT32 123 (7BH) See Note 1 25 (19H)

Index.#.PLSOnDist UINT32 123 (7BH) See Note 1 17 (11H)

Index.ProfileLimited SOURCE 123 (7BH) 1 (01H) 27 (1BH)

Index.ResetProfileLimited DESTINATION 123 (7BH) 1 (01H) 29 (1DH)

Program.AnyActive BOOL 125 (7DH) 1 (01H) 1 (01H)

Program.AnyComplete SOURCE 125 (7DH) 1 (01H) 2 (02H)

Program.#.ProgramRunning SOURCE 126 (7EH) See Note 1 4 (04H)

Program.#.RunAnytimeEnable BOOL 126 (7EH) See Note 1 5 (05H)

Program.#.Stop DESTINATION 126 (7EH) See Note 1 3 (03H)

Program.ProgramInstance#.Initiate DESTINATION 126 (7EH) See Note 1 1 (01H)

Program.ProgramInstance#.ProgramComplete SOURCE 126 (7EH) See Note 1 2 (02H)

AnalogInput.MaxUserValue INT32 128 (80H) 1 (01H) 2 (02H)

DriveAnalogInput.ChannelEnable BOOL 128 (80H) 1 (01H) 11 (0BH)

DriveAnalogInput.Decimal UINT16 128 (80H) 1 (01H) 1 (01H)

DriveAnalogInput.LowPassFilterFrequency UINT16 128 (80H) 1 (01H) 10 (0AH)

DriveAnalogInput.MaxVoltageValue INT32 128 (80H) 1 (01H) 3 (03H)

DriveAnalogInput.MinUserValue INT32 128 (80H) 1 (01H) 4 (04H)

DriveAnalogInput.MinVoltageValue INT32 128 (80H) 1 (01H) 5 (05H)


52

Drive Parameters

DriveAnalogInput.RawValue INT16 128 (80H) 1 (01H) 6 (06H)

DriveAnalogInput.SetMax DESTINATION 128 (80H) 1 (01H) 7 (07H)

DriveAnalogInput.SetMin DESTINATION 128 (80H) 1 (01H) 8 (08H)

DriveAnalogInput.ValueIn INT32 128 (80H) 1 (01H) 9 (09H)

DriveAnalogOutput.#.ChannelEnable BOOL 129 (81H) See Note 1 6 (06H)

DriveAnalogOutput.#.Feedback INT16 129 (81H) See Note 1 4 (04H)

DriveAnalogOutput.#.MaxOutputValue INT32 129 (81H) See Note 1 8 (08H)

DriveAnalogOutput.#.MaxUserValue INT32 129 (81H) See Note 1 7 (07H)

DriveAnalogOutput.#.MinOutputValue INT32 129 (81H) See Note 1 10 (0AH)

DriveAnalogOutput.#.MinUserValue INT32 129 (81H) See Note 1 9 (09H)

DriveAnalogOutput.#.Source UINT16 129 (81H) See Note 1 3 (03H)

Queue.#.DataIn INT32 130 (82H) See Note 1 1 (01H)

Queue.#.DataOut INT32 130 (82H) See Note 1 2 (02H)

Queue.#.ExitPosition INT32 130 (82H) 1 (01H) 6 (06H)

Queue.#.FullLevel UINT16 130 (82H) 1 (01H) 7 (07H)

Queue.#.QueueClear DESTINATION 130 (82H) 1 (01H) 8 (08H)

Queue.#.QueueCompareEnable DESTINATION 130 (82H) 1 (01H) 9 (09H)

Queue.#.QueueEmpty SOURCE 130 (82H) See Note 1 3 (03H)

Queue.#.QueueExit SOURCE 130 (82H) 1 (01H) 10 (0AH)

Queue.#.QueueFull SOURCE 130 (82H) See Note 1 4 (04H)

Queue.#.QueueOffset INT32 130 (82H) See Note 1 13 (0DH)

Queue.#.QueueOverflow SOURCE 130 (82H) 1 (01H) 5 (05H)

Queue.#.QueueSize UINT16 130 (82H) 1 (01H) 11 (0BH)

Queue.#.Source UINT16 130 (82H) 1 (01H) 12 (0CH)

Queue.#.QueueOverflow SOURCE 130 (82H) See Note 1 5 (05H)

Capture.#.CaptureActivate DESTINATION 131 (83H) See Note 1 1 (01H)

Capture.#.CaptureClear NONE 131 (83H) See Note 1 2 (02H)

Capture.#.CapturedMasterPosHomed INT32 131 (83H) See Note 1 10 (0AH)

Capture.#.CapturedMasterPosition INT32 131 (83H) See Note 1 3 (03H)

Capture.#.CapturedPositionCommand INT32 131 (83H) See Note 1 4 (04H)

Capture.#.CapturedPositionFeedback INT32 131 (83H) See Note 1 5 (05H)

Capture.#.CapturedTime INT32 131 (83H) See Note 1 6 (06H)

Capture.#.CaptureEnable DESTINATION 131 (83H) See Note 1 7 (07H)

Capture.#.CaptureReset DESTINATION 131 (83H) See Note 1 8 (08H)

Capture.#.CaptureTriggered SOURCE 131 (83H) See Note 1 9 (09H)

Capture.#.MasaterPosnHomed INT32 131 (83H) See Note 1 10 (0AH)

Var.#.Decimal UINT16 132 (84H) 1 (01H) 1 (01H)


53


Var.#.Value INT32 132 (84H) 1 (01H) 2 (02H)

Gear.Accel UINT32 133 (85H) 1 (01H) 9 (09H)

Gear.AccelEnable BOOL 133 (85H) 1 (01H) 7 (07H)

Gear.Accelerating SOURCE 133 (85H) 1 (01H) 8 (08H)

Gear.Activate DESTINATION 133 (85H) 1 (01H) 2 (02H)

Gear.AtVel SOURCE 133 (85H) 1 (01H) 4 (04H)

Gear.CommandComplete SOURCE 133 (85H) 1 (01H) 5 (05H)

Gear.CommandInProgress SOURCE 133 (85H) 1 (01H) 6 (06H)

Gear.Decel UINT32 133 (85H) 1 (01H) 13 (0DH)

Gear.DecelEnable BOOL 133 (85H) 1 (01H) 11 (0BH)

Gear.Decelerating SOURCE 133 (85H) 1 (01H) 12 (0CH)

Gear.Ratio INT32 133 (85H) 1 (01H) 3 (03H)

Gear.RecoveryDist INT32 133 (85H) 1 (01H) 15 (01H)

Profile.#.Accelerating SOURCE 134 (86H) See Note 1 4 (01H)

Profile.#.AtVel SOURCE 134 (86H) See Note 1 5 (05H)

Profile.#.CommandComplete SOURCE 134 (86H) See Note 1 8 (08H)

Profile.#.CommandInProgress SOURCE 134 (86H) See Note 1 7 (07H)

Profile.#.Decelerating SOURCE 134 (86H) See Note 1 6 (06H)

Profile.#.Feedhold DESTINATION 134 (86H) See Note 1 9 (09H)

Profile.#.MotionStop DESTINATION 134 (86H) See Note 1 1 (01H)

Profile.#.PosnCommand INT32 134 (86H) See Note 1 2 (02H)

Profile.#.VelCommand INT32 134 (86H) See Note 1 3 (03H)

BitRegister.#.Value UINT32 135 (87H) See Note 1 1 (01H)

BitRegister.#.ValueMask UINT32 135 (87H) See Note 1 2 (02H)

Bit.#.BitValue BOOL 136 (88H) See Note 1 1 (01H)

Ethernet.EthernetConfiguration.DataRate UINT16 137 (89H) 1 (01H) 1 (01H)

Ethernet.EthernetConfiguration.Gateway UINT32 137 (89H) 1 (01H) 3 (03H)

Ethernet.EthernetConfiguration.IpAddress UINT32 137 (89H) 1 (01H) 4 (04H)

Ethernet.EthernetConfiguration.IpPerformance UINT16 137 (89H) 1 (01H) 5 (05H)

Ethernet.EthernetConfiguration.ModbusGatewayEnable BOOL 137 (89H) 1 (01H) 2 (02H)

Ethernet.EthernetConfiguration.ModbusPortNumber UINT16 137 (89H) 1 (01H) 6 (06H)

Ethernet.EthernetConfiguration.SubnetMask UINT32 137 (89H) 1 (01H) 7 (07H)

Ethernet.EthernetConfiguration.WordSwap UINT16 137 (89H) 1 (01H) 8 (08H)

Ethernet.EthernetEmail.#.Initiate DESTINATION 138 (8AH) 1 (01H) 8 (08H)

Ethernet.EthernetEmail.#.MailReset DESTINATION 138 (8AH) 1 (01H) 5 (05H)

Ethernet.EthernetEmail.#.RelayHost UINT32 138 (8AH) 1 (01H) 6 (06H)

Ethernet.EthernetEmail.#.RelayHostFailure SOURCE 138 (8AH) 1 (01H) 7 (07H)


54

Drive Parameters

*NOTE 1*


Ethernet.EthernetEmail.TermCounter UINT32 139 (8BH) 1 (01H) 2 (02H)

Ethernet.EthernetExplicit.#.Attribute UINT16 140 (8CH) 1 (01H) 1 (01H)

Ethernet.EthernetExplicit.#.Class UINT16 140 (8CH) 1 (01H) 2 (02H)

Ethernet.EthernetExplicit.#.CommandComplete SOURCE 140 (8CH) 1 (01H) 3 (03H)

Ethernet.EthernetExplicit.#.CommandInProgress SOURCE 140 (8CH) 1 (01H) 4 (04H)

Ethernet.EthernetExplicit.#.Decimal UINT16 140 (8CH) 1 (01H) 5 (05H)

Ethernet.EthernetExplicit.#.ExplicitMessageSize UINT16 140 (8CH) 1 (01H) 14 (0EH)

Ethernet.EthernetExplicit.#.Initiate DESTINATION 140 (8CH) 1 (01H) 6 (06H)

Ethernet.EthernetExplicit.#.Instance UINT16 140 (8CH) 1 (01H) 7 (07H)

Ethernet.EthernetExplicit.#.MessageFailed SOURCE 140 (8CH) 1 (01H) 8 (08H)

Ethernet.EthernetExplicit.#.Name NAME 140 (8CH) 1 (01H) 9 (09H)

Ethernet.EthernetExplicit.#.Operation UINT16 140 (8CH) 1 (01H) 10 (0AH)

Ethernet.EthernetExplicit.#.SignedData BOOL 140 (8CH) 1 (01H) 13 (0DH)

Ethernet.EthernetExplicit.#.TargetIP UINT32 140 (8CH) 1 (01H) 11 (0BH)

Ethernet.EthernetExplicit.#.Value UINT32 140 (8CH) 1 (01H) 12 (0CH)

Ethernet.EthernetHTTP.EnablePassword BOOL 141 (8DH) 1 (01H) 1 (01H)

Ethernet.EthernetHTTP.Password STRING:12 141 (8DH) 1 (01H) 2 (02H)

Ethernet.EthernetModules.NrModuleInstances UINT16 143 (8FH) 1 (01H) 2 (02H)




Ethernet.EthernetStatus.EthernetModuleStatus UINT16 144 (90H) 1 (01H) 6 (06H)

Ethernet.EthernetStatus.EthernetNetworkStatus UINT16 144 (90H) 1 (01H) 7 (07H)

Ethernet.EthernetStatus.EthernetOK SOURCE 144 (90H) 1 (01H) 4 (04H)

Ethernet.EthernetStatus.LinkState UINT16 144 (90H) 1 (01H) 5 (05H)

Ethernet.EthernetStatus.ProcessedMessageCounter UINT32 144 (90H) 1 (01H) 8 (08H)

Ethernet.EthernetStatus.RcvCounter UINT32 144 (90H) 1 (01H) 9 (09H)

Ethernet.EthernetStatus.XmitCounter UINT32 144 (90H) 1 (01H) 10 (0AH)

DeviceNet.DeviceNetObject.BaudRate UINT16 3 (03H) 1 (01H) 2 (02H)

DeviceNet.DeviceNetObject.BusOffCounter UINT8 3 (03H) 1 (01H) 4 (04H)

DeviceNet.DeviceNetObject.BusOffInterrupt BOOL 3 (03H) 1 (01H) 3 (03H)

DeviceNet.DeviceNetObject.MacID UINT16 3 (03H) 1 (01H) 1 (01H)


55


56


Profibus IntroductionThis section of the manual describes the Epsilon EP-PPB drive and gives examples for connecting Profibus protocol with Control Techniques drives. The user should have knowledge of basic Profibus concepts as described in the Profibus "Specification for PROFIBUS Device Description and Device Integration Volume 3". In addition, the user should be familiar with the functionality of the Epsilon EP drive. The Quick Start chapters offer specific examples of various messaging types, as well as a programming reference that lists functional requirements for the Epsilon EP-P.

Figure 23: Epsilon EP20xPPB-EN00 Drive Connector

The Epsilon EP drive configuration is easily set within PowerTools Pro software. In PowerTools Pro, the user has the option to select the number and size of data MODULES to be sent to and from the Profibus master. PowerTools Pro also allows the user to place any parameter into these MODULES to be transferred.

AC Power ConnectionsMotor Connections24 Vdc Logic Power Supply Connections

Digital I/O Connector (J3)

DeviceNet Connector (J9) (EP-IDN or EP-PDN only)

Serial Connectors (J2)

Ethernet Connector (J11)(EP-Pxx only)

Status/Diagnostic Display

Shunt Connector (J8)

Reset Button

Model Number, Part Number,Revision and Serial Number Label

Encoder Feedback Connector (J6)

Sync InputConnector (J10)

Profibus InputConnector (J13)

Analog/Sync OutputConnector (J5)

57


Profibus OverviewProfibus is made up of three busses classified under the general heading. Profibus FMS (Fieldbus Message Specification) is a high level network designed for communication between PLC's and PC's or higher level monitoring nodes. Profibus DP (Decentral Periphery) are mainly used to connect automation systems (such as programmable controllers) via a fast serial link to input/output devices, sensors, actuators and to smart devices. Profibus PA (Process Automation) is as a lower-speed intrinsically safe counterpart to Profibus DP for applications in process environments. All three busses have specifications managed by Profibus International (PI) which is an independent supplier organization that manages the Profibus specification and supports the worldwide growth of Profibus.

The Epsilon EP-PPB drive is capable of communicating via Profibus DP with any Profibus DP compliant Master.

Profibus CommunicationsProfibus has two primary purposes:

1. Transport of control-oriented information associated with low-level devices.

2. Transport of other information that is indirectly related to the system being controlled, such as configuration parameters.

The list below presents a summary of the Physical/Media specific characteristics of Profibus:

1. Support for up to 126 nodes

2. 2 wire RS-485 twisted pair with a shield cable

3. Straight bus without repeaters, much branching can be accomplished with repeaters.

4. Nodes must be self powered and provide the power for active termination. No "on-bus" power.

5. External Node address setting.

6. Protection from wiring errors.

7. Standard DB9 configuration for connection to the network

Profibus Messaging and Communications

Master/Slave Relationship

The Profibus Specification Normative Parts -2 from 1997 defines the current master as "the Master station that now holds the token (the token holder), the initiator of all transmissions. The slave is a node that receives transmissions from the master. The main purpose of Profibus

58

Profibus Introduction

DP is the fast cyclic exchange of data between a powerful Master and several simple Slaves (peripheral devices). Thus, this system uses mainly the Master-Slave-type of communication services.

59


60

EP-PConnectivity Reference Manual

Profibus InstallationMechanical Installation

Follow the instructions for mechanical installation of an Epsilon EP drive as detailed in the Epsilon EP Installation Manual (P/N 400518-01)

Profibus Hardware Components

The following components are necessary to design a Profibus communications system: cables, Nodes/devices, Connectors, Power Supplies, Terminating resistors.

• Cables: Profibus cabling consists of a 2 wire twisted pair with a braided shield. Control Techniques offers this cable as model number PBC CABLE-xxx.

Figure 24: Cross-sectional view of the PBC Cable-XXX

• Nodes/Devices: A Profibus node is any device that is addressable through Profibus Media and contains Profibus communications circuitry. Profibus Slaves must comply with the following: Slaves must be Profibus-compatible devices. 126 Slaves can be supported on one network. Each Slave must be assigned a unique Profibus node address.

• Connectors: Due to the high speed nature of the Profibus network, the recommended connector is a 35 degree Siemens Profibus Connector. Control Techniques offers this connector as model number PBCONN.

61


Figure 25: Recommended Connector for Profibus Communications

• Terminating Resistors: Terminating resistors are used to reduce the reflection of signals over the network. Due to the high bit rates of Profibus, terminating resistors must be used at both ends of the network in order to guarantee communications stability. When using the Profibus connector offered by Control Techniques, the terminating resistor is built into the connector and is turned on when the red switch on the back of the connector is turned to the "on" position. When not using this connector (not recommended) terminating resistors of 220 ohms must be installed between A and B.

Electrical InstallationPhysical Connections to the Profibus Network: A two wire configuration is used to connect the Epsilon EP-PPB to the Profibus network. When multiple Epsilon EP-PPB nodes are connected to the network, connectors will be daisy chained by making use of the incoming and outgoing lines.

Pin Number Name Insulation Color Direction

8 A1 Green Incoming

3 B1 Red Incoming

8 A2 Green Outgoing

3 B2 Red Outgoing

PBCONN

35 Cable outleto

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Profibus Installation

Figure 26: Connector Wiring

The connector provided for Profibus is a standard DB9 female connector.

A1 B1 A2 B2

Cable shield must makegood contact with the metalpart.

Switch = “OFF”(terminating resistordeactivated)

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64

Epsilon EP Connectivity Reference Manual

Configuring the Profibus NetworkConnection Types

Profibus DP communicates with the Epsilon EP-PPB drive in two ways, cyclic, and acyclic messages. A cyclic connection is set up to transfer a specified amount of data at a set time in the Profibus scan cycle.

Cyclic connections transfer a block of Inputs and a block of Outputs between the Profibus Master and the Epsilon EP-PPB. These message transfers occur at a highly repeatable rate on the Profibus network. Once the master has parameterized and configured all of the slaves on the network, the poll rate will remain a constant.

Figure 27: Example of Cyclic Messaging

PLC with Profibus Communications

Example:Once the Master has gone into Data Exchange with all of the slaves, the network displays arepeatable cycle time between Master and Slaves.

Drive #15 Words Input5 Words Output



Prof

ibus

Time Base Varies Depending on Baud Rate of the Profibus Network

Typical Profibus Network Traffic

MasterSend5 WordsDrive#1

MasterReceive5WordsDrive#1





Network Cycle Time (Set by Master)

MasterSendMessage

MasterReceiveMessage

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Software InterfaceThis section discusses how to configure PowerTools Pro software to create a Epsilon EP-PPB Profibus slave and discusses the parameters that appear on the tabs related to the Profibus configuration. Other tabs within PowerTools Pro software are described in the Epsilon EP-P and FM-4 Programming Module Reference Manual (400509-01).

Profibus ViewThe Profibus View is in the Network group on the hierarchy tree used to navigate the configuration views in PowerTools Pro software, see Figure 28. The Profibus View is used to set the node address for Epsilon EP-PPB drive. The node address is necessary to attach the Epsilon EP-PPB drive to the Profibus network. In addition, the node address is used to map the individual Epsilon EP-PPB drive parameters to the Profibus MODULES to be transferred.

Figure 28: Profibus View in PowerTools Pro

Node Address

The node address is the number assigned to a particular node on the Profibus network. Every node on a Profibus network must have a unique node address with a range between 0-124.

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Configuring the Profibus Network

Baud Rate

The Epsilon EP-PPB drive is pre-configured to an autobaud setting. Accepted Profibus baud rates for the Epsilon EP-PPB drive include: (9.6k, 19.2k, 31.25k, 45.45k, 93.75k, 187.5k, 500k, 1.5M, 3M, 6M, 12M).

Word Swap

Word Swap is used in the Epsilon EP-PPB drive to change the order that the user will see the 32 bit parameters sent to the network. Because many PLCs transfer data in different formats, the MSW-LSW feature is used to make the conversion to the PLC’s format easier. MSW-LSW is the default and transfers 32 bit data with the Most Significant Word (MSW) first, then the Least Significant Word (LSW) second. LSW-MSW transfers LSW first and MSW second.

Example:

Index 0 Distance = 100.0000 revs

NoteThe Profibus network doesn’t take decimal places into consideration. The user will the must remove the decimal point and transform the number, 100.0000 to 1000000.

Binary equivalent for 1000000 is 0000000000001111 0100001001000000b

MSW-LSW Displays:

LSW-MSW Displays:

Register #1 MSW 0000000000001111b

Register #2 LSW 0100001001000000b

Register #1 LSW 0100001001000000b

Register #2 MSW 0000000000001111b

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Profibus Performance

By design, the time to update Profibus parameters is allocated out of the user program time slice of the Trajectory update. When a program is initiated, the user programs will split their update time with that of the Profibus update time. Because in demanding program applications, more program time may be needed to realize the full performance out of the Epsilon EP-PPB drive programming environment, the Profibus Performance parameter has been added. This parameter allows the user to allocate a different percentage of the program time slice to the Program and Profibus update.

The default value for the Profibus Performance parameter is 50%. This means that the time allocated to Profibus performance will never reach below 50% of the total programming update time (see graphic below). When Programs are not running, or when Programs are well written and not processor hungry, Profibus will maximize its update time to fill in the remaining programming time slice.

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Figure 29: Profibus Performance Examples

Profibus Performance Example:

Performance of a Well Written Program

Main:If DriveInput.1 = on then var.var18 = var.var18 + 1 goto main:endif

Processor Hungry Epsilon EP Program:

Trajectory Update Time (800usec, 1200usec, or 1600usec)

Programs use the processor time that they needwithin the update, the rest of the allocated Program time is used to update Profibus data.


Performance of a Processor Hungry Program

This program would normally use up 100% of thededicated program time slice, but since Profibusis running, the maximum time given to the programupdate is set by the Profibus Performance Parameter.

ProgramUsage

ProfibusUsage


ProfibusPerformance = 50%


Profibus Performance = 10%

Msg

.

Well Written Epsilon EP Program:

Main:Wait for DriveInput.1 = onvar.var18 = var.var18 + 1goto main:

The following program demonstrates a processor hungryprogram in the Epsilon EP. Because this loop is continuouswithout a "Wait For" command, the processor continues toupdate and loop for the full program time slice.

The following program demonstrates a well writtenprogram in PowerTools Pro. If DriveInput.1is not on, the processor will stop running programs and allow Profibus to update for the remaining dedicated program time.

The following graphic gives a basic usage example of the Profibus Performance Parameter. Times in thisexample are relative to the trajectory update rate of the Epsilon EP as selected in the initial setup screen of PowerTools Pro.

ControlLoop M

sg.

Pro

gControlLoop M

sg.

Pro

g

Pro

gControlLoop

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Master Send and Master Receive Tabs

The Master Send tab is used to configure the modules and data that will be sent from the Profibus Master(PLC) to the Profibus Slave (Epsilon EP-PPB drive) while the Master Receive tab configures the MODULES and data from the Drive to the PLC. Within the Master Send and Master Receive tabs there are two configuration areas, MODULE Configuration, and Data Configuration.

Figure 30: MODULE Configuration

The MODULE Configuration area is used to set up the number of Profibus MODULES that will be sent between the Master and the Slave on every data cycle. MODULES have preconfigured data lengths of 1, 2, 4, 8, 16 and 32 words of data. A MODULE may be added to the MODULE Configuration list by highlighting the desired MODULE and pressing the “add” button. When a MODULE is added, it will show up in the right hand screen of the MODULE configuration as well as the tree portion of the Data Configuration. MODULES may be added so long as the number of data words from all of the combined MODULES does not exceed 122 words of data. When 122 words of data is reached the MODULE will not be added to the display. MODULES may not be added when PowerTools is on-line with the drive.

The Data Configuration area is used to map parameters from the Variables list, into the MODULES that have been added to the Data Configuration area. Individual parameters are

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mapped by dragging and dropping the parameter from the Variables list (see Figure30) to the desired bit or word in the Data Configuration area. 32 bit parameters may be assigned to any MODULE that is larger than 1 word, but parameters may not be assigned between MODULES (example: low word assigned to the last 16 bits of MODULE #3 and the high word assigned to the first 16 bits of module #4 will not work). Bits may be assigned to any of the MODULES. To rearrange or delete parts of the mapping, click on the assigned bit or word in the Data Configuration area, then drag the assigned bit to a different bit or word (rearranging) or to the right side of the mapping box (deleting). A deletion confirmation box will appear when the assigned bit or word has been fully dragged to the right.

Figure 31: Assigning MODULES in PowerTools Pro software.

Online Status TabThe Online Status tab displays the status of all connections only when the software is online with the Epsilon EP-PPB drive. The Online tab is comprised of three groups: Information, Counters, and Status.

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Figure 32: Online Status Tab View

Information Group

The Master Node is the node address of the Profibus Master to the Epsilon EP-PPB drive. The Baudrate displays the current Baud Rate that the Master is using to communicate to the Slaves.

Counters Group

The counter group includes the Processed Message Counter parameter which keeps a running total of the number of messages that the Epsilon EP-PPB drive has processed from the Profibus network. A packet consists of the transfer of all MODULES, Master Send and Master Receive. The numbers of packets processed in the Epsilon EP-PPB drive does not necessarily reflect the number of packets transmitted and received from the Profibus network.

Status Group

The Status group displays the current MODULE Status and Network Status for the Epsilon EP-PPB drive.

Module Status

Module status is displayed as one of the following: Parameterizing, Configuration, Data Exchange, Invalid Setup.

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Network Status

Network Status is displayed as one of the following: Network OK, or Size Mismatch (Cyclic data size configured does not match network configuration)

Online Data TabThe Online Data tab is an extremely useful tab that becomes available when online with the Epsilon EP-PPB drive. This tab lists each Profibus MODULE that the Epsilon EP-PPB drive has been configured for, and then displays the raw data that is being transferred in that word through the Profibus network. This Online view is useful for validating proper communications setup, or confirming data placement to and from the PLC.

Figure 33: Online Data View

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Accessing the .GSD fileThe .GSD file is for Master Configuration software use. The ECTP0677.GSD files for the Epsilon EP-PPB drive is stored in the PowerTools Pro software folder. It is also available on the Motion Made Easy web site at www.controltechniques.com.

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Profibus Network ConfigurationQuick Start

This chapter presents an example startup with an Epsilon EP-PPB drive using a Siemens S7 processor as the Profibus Master.

The examples presented are intended as an abridged tutorial. For greater information about the steps in setting up a Profibus Network, refer to your Profibus Master Technical Manual.

Equipment(1) Epsilon EP-PPB Digital Drive

(1) NT-207 Motor

(1) CMDS-XXX Motor Power Cable

(1) CFCS-XXX Motor Feedback Cable

(1) TIA-XXX Serial Communications Cable

(1) Siemens S7 PLC

(1) Siemens I/O Module

(2) PBC CABLE-XXX

(2) PBCONN

(1) PowerTools Pro Software

(1) Siemens Simatic Manager (Siemens P/N 6ES7810-4CC05-0YX0)

Epsilon EP-PPB Quick Startup Process1. In PowerTools Pro, configure the software for the particular drive (Epsilon EP-PPB) and

motor (NT-207).

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Figure 34: PowerTools Pro Setup View - Drive/Motor Configuration

2. In PowerTools Pro, configure the node address (Address) of the Epsilon EP-PPB drive (slave).

Figure 35: PowerTools Pro Profibus View - Node Address Configuration

3. Add MODULES for both Master Send and Master Receive data.

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Profibus Network Configuration Quick Start

Figure 36: Master Send View

Figure 37: Master Receive View

4. Download the PowerTools Pro configuration to the Epsilon EP-PPB drive.

5. Open the PLC Master configuration software and install the .gsd file for the Epsilon EP-PPB drive.

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6. Add the Epsilon EP-PPB to the scanlist and configure it for the proper node address.

7. Configure the Epsilon EP-PPB for the number of MODULES that were originally set in PowerTools Pro. (Make sure that the MODULES are mapped in the same order with the Output (Master Send) MODULES mapped before the Input (Master Receive) MODULES.

Figure 38: Mapping the MODULES.

Profibus Specific Parameter DefinitionsProfibus.Configuration.Address:

This parameter represents the Profibus node address of the Epsilon EP-PPB drive. This parameter is configured via PowerTools Pro.

Profibus.PbPercent

This parameter displays the minimum percentage of time that the processor is given to process Profibus messages. When other threads (programs) are running, the percentage of processor time given to updating profibus parameters will not fall below this minimum percent.

Profibus.PBStatus.BaudRate

This parameter displays the Baud rate of the network as defined by the Profibus Master.

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Profibus Network Configuration Quick Start

Profibus.PBStatus.DataExchnageEvent

This source is activated when the Profibus network enters data exchange. The bit becomes inactive during a communications break or if the network status falls into configuration or parameterization.

Profibus.PBStatus.GroupIdent

Up to 8 groups of slave devices may be defined by the master. The PBStatus.GroupIdent parameter displays the current group/groups that the Epsilon EP-PPB drive is associated with. Each group may receive multi-cast commands from the master. One slave can be a member of more than one group. The Epsilon EP-PPB supports only the clear command in group assignments.

Profibus.PBStatus.IdentNumber

The Epsilon EP-PPB drive Identification Number is defined in the GSD file. using parameterization, the master sends the Identification Number. The Identification number for the Epsilon EP-PPB drive is (0x677)

Profibus.PBStatus.MasterNode Address

Master Node address parameter displays the address of whichever Master parameterized the Epsilon EP-PPB drive.

Profibus.PBStatus.PBModuleStatus

Module Status displays the current status of the Profibus related portion of the module. This status indicates when the master is parameterizing, configuring and when it enters data exchange.

Profibus.PBStatus.PBNetworkStatus

Network Status displays the feedback of the network from the modules perspective. This status indicates Network OK, Size mismatch, or no modules configured.

Profibus.PBStatus.ProcessedMessageCounter

The Processed Message Counter is a 32 bit register that stores the number of messages that have been successfully processed from the Profibus network in the Epsilon EP-PPB drive.

Profibus.PBStatus.V1CfgMode

Reserved for future use.

Profibus.PBStatus.V1Enabled

The V1 enable bit allows a V1 Parameterization message to be transmitted and received but with all V1 extensions disabled.

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Profibus.PBStatus.V1Wd1ms

Reserved for future use.

Profibus.PBStatus.WatchdogFault

This source is activated when the Profibus network exits data exchange for a certain time configured by the Profibus Master. A Watchdog fault will create a "Y" fault on the status/diagnostic display of the drive.

Profibus.PBStatus.WDValue

WDValue is a parameter that displays the current value of the Watchdog timer as set by the Profibus Master.

Profibus.PBStatus.WDEnabled

The bit indicates whether or not the watch dog timer is enabled. 1 = Enabled, 0 = Disabled

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Glossary.GSD File

Text based configuration file used to configure a DP Master for the slaves it will receive cyclic data from.

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 is assigned a number (See “Drive Parameters” on page 35.)

Baud Rate

The number of times the communication signal changes per second. In the case of a digital communication signal, it is equal to the number of bits per second.

Class

A top level DeviceNet classification for all parameters and bits. Each class is given a unique number ID found in the chart #.

Consumer

A device that acts as a data destination over Ethernet Hardware.

CIP

Control and Information Protocol, the EtherNet/IP application layer. In this model one producer broadcasts (multicast) the data once to all the consumers. All consumers see the data simultaneously, and may choose whether to consume (receive) the data or not.

Daisy Chain

A slang term for a wiring process that goes from one device to the next connecting wire A to A, B to B, etc.

Drop Line

A cable that runs from the trunk of a network to a device.

EDS

Electronic Data Sheet file is a formatted ASCII file that contains configuration information of the device.

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Ethernet/IP

An industrial Ethernet protocol managed by ODVA that uses the CIP application layer common to DeviceNet and ControlNet.

Explicit Message

A DeviceNet or EtherNet/IP message constructed within the master to poll a device for a single parameter. Explicit Messages occur in the background of implicit messaging.

Explicit Messages

Non-time critical messaging used for device configuration and data collection.

Explicit Messaging Connections

Provide generic, multi-purpose communication paths between two devices. Explicit Messages provide the typical request/response oriented network communications.

Gateway

A module or set of modules that allows communications between nodes on dissimilar networks.

Hub

A central connecting device that joins devices together in a star configuration. A hub takes network requests and transmits them to every device connected to the hub.

I/O Connections

These provide dedicated, special-purpose communication paths between a producing application and one or more consuming applications. Application specific I/O data moves through these ports.

Implicit Message

A message sent from the master to the slave as a way of passing data. Implicit messages transfer a predefined amount of data to and from the Master at a constant rate.

Implicit Messages

Real time messaging of I/O data over Ethernet/IP.

Index

An index is a set of parameters that defines position based motion including target position and velocity, and other parameters. The different types of indexes specify basic operation. Indexes are associated with digital input and outputs for the purposes of providing control and indication of the Index status.

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Glossary

Instance

A sub-classification for a parameter or bit. The instance is grouped directly under the more broad category of attribute and allows for multiple occurrences of a parameter. Example: Class = Index, Attribute = Index Dwell, Instance1 = Index 0, Instance2 = Index 1. Each instance is assigned a unique number under its respective attribute.

IP address

32-bit identification number for each node on an Internet Protocol network. These addresses are represented as four 8-bit numbers (0 to 255), with periods between them. Each node on an Ethernet network must have a unique IP address.

Link Consumer Object

This DeviceNet object is used by a Connection Object to receive data from DeviceNet.

Link Producer Object

This DeviceNet object is used by a Connection Object to transmit data onto DeviceNet.

MacID (DeviceNet)

DeviceNet specific term for a node address.

MacID (Ethernet)

Media Access Identifier. In Ethernet applications the MacID is a unique number 48 bits long given to Ethernet hardware. This number is burned in at the manufacturing facility and is not changeable by the customer. In DeviceNet applications a MacID is the number assigned by the user to each individual node on the DeviceNet network.

Master

A master is a device on an industrial network that sets up data connections with other industrial devices. The Master is responsible for initiating commands and requests for data.

Master Address

Master Address is the node number of the master on the network.

Master Receive

Master Receive data is information that is transferred from the drive (slave) to the PLC (master).

Master Send

Master Send data is information that is transferred from the PLC (master) to the drive (slave).

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Message Router

This DeviceNet object distributes Explicit Request Messages to the appropriate handler object.

Nodes

Each Device on a DeviceNet or Profibus network is called a node

ODVA

The Open DeviceNet Vendor Association is an organization that manages the DeviceNet specification and supports the worldwide growth of DeviceNet.

PLC

Programmable Logic Controller. An Industrial device used to control Inputs and Outputs in a systematic fashion on a device.

Producer

A device that acts as a data source over Ethernet Hardware.

Serial Port

Digital data communications port configured with a minimum number of signal lines. This is achieved by passing binary information signals as a time series of 1’s and 0’s on a single line.

Slave

A slave is a node on an industrial network that accepts a poll for data from a master. This node generally responds with data sent back to the master.

Subnet Mask

An extension of the IP address that allows a site to use a single net ID for multiple networks.

Switch

A network device that cross connects devices or network segments. A switch or switching hub learns where devices are connected and transmits packets directly and only to the proper branch of the switch. This “smart switching” saves bandwidth and allows for more reliable Ethernet communications.

TCP/IP

Transmission Control Protocol/Internet Protocol. A transport-layer protocol (TCP) and a network-layer protocol (IP) commonly used for communication within networks and across inter-networks.

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Glossary

Terminating Resistors

Resistors used to decrease reflection and noise in a serial communications network. Generally terminating resistors are placed at the ends of the network on the lines that transmit messages.

Trunk Line

The main branch of a network. This branch generally attaches to the main power supply and is capable of carrying more current than the drop lines hanging off of it.

UCMM

The Unconnected Message Manager processes DeviceNet Unconnected Explicit messages.

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Since 1979, the “Motion Made Easy”® products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance.

For more information about Control Techniques “Motion Made Easy” products and services, call (800) 893-2321 or contact our website at www.controltechniques.com.

Control Techniques Americas7078 Shady Oak Rd.Eden Prairie, Minnesota 55344U.S.A.

Phone: (952) 995-8000 or (800) 893-2321Fax: (952) 995-8129

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