AC Tech Lenze MotionView OnBoard Manuel utilisateur

PositionServo DeviceNet Communications Module

Communications Interface Reference Guide

permission from AC Technology Corporation. The information and technical data in this manual are subject to

change without notice. AC Tech makes no warranty of any kind with respect to this material, including, but not

limited to, the implied warranties of its merchantability and ﬁtness for a given purpose. AC Tech assumes no

responsibility for any errors that may appear in this manual and makes no commitment to update or to keep

current the information in this manual.

MotionView®, PositionServo®, and all related indicia are either registered trademarks or trademarks of Lenze

AG in the United States and other countries.

DeviceNet™ , EtherNet/IP™, CIP™ and all related indicia are either registered trademarks or trademarks of

the ODVA (Open DeviceNet Vendors Association).

About These Instructions

This documentation applies to DeviceNet communications for the PositionServo drive and should be used

in conjunction with the PositionServo User Manual (S94PM01) and the PositionServo Programming Manual

(PM94M01). These documents should be read in their entirety as they contain important technical data and

describe the installation and operation of the drive.

iP94DVN01A

Contents

1. Safety Information...................................................................................................1

1.1 Warnings, Cautions & Notes.............................................................................................1

1.1.1 General ............................................................................................................... 1

1.1.2 Application .......................................................................................................... 1

1.1.3 Installation .......................................................................................................... 1

1.1.4 Electrical Connection........................................................................................... 2

1.1.5 Operation ............................................................................................................ 2

2. Introduction.............................................................................................................3

2.1 Fieldbus Overview ........................................................................................................... 3

2.2 Module Speciﬁcation ....................................................................................................... 3

2.3 Module Identiﬁcation Label ..............................................................................................3

3. Installation ..............................................................................................................4

3.1 Mechanical Installation .................................................................................................... 4

3.2 DeviceNet Terminal Block................................................................................................ 4

3.3 Electrical Installation........................................................................................................ 5

3.3.1 Cable Types ........................................................................................................ 5

3.3.2 Network Limitations ............................................................................................ 5

3.3.3 Connections and Shielding .................................................................................. 6

3.3.4 Network Termination........................................................................................... 6

4. Conﬁguring Drive for DeviceNet Communication .....................................................8

4.1 Connect to the Drive with MotionView OnBoard................................................................ 8

4.2 Set up the CAN network................................................................................................... 9

4.2.1 Enable DeviceNet Communication ...................................................................... 10

4.2.2 Set CAN Parameters...........................................................................................10

4.2.3 Set CANOpen Parameters................................................................................... 11

4.2.4 Set DeviceNet Parameters.................................................................................. 12

4.3 Conﬁguration Parameters ............................................................................................... 12

4.4 Drive-Speciﬁc Error Codes.............................................................................................. 13

5. Polled I/O ...............................................................................................................14

5.1 Command Output Assembly............................................................................................ 14

5.1.1 Byte 0 – Control Word ........................................................................................ 15

5.1.2 Byte 2 - Command Type.....................................................................................15

5.1.3 Byte 3 - Response Type ..................................................................................... 16

5.1.4 Bytes 4 through 7 - Data ....................................................................................16

P94DVN01A

Contents

5.2 Response Input Assembly ............................................................................................... 16

5.2.1 Byte 0 - Status Byte 1 ........................................................................................ 17

5.2.2 Byte 1 - Data Scale Factor..................................................................................17

5.2.3 Byte 2 - Status Byte 2 ........................................................................................ 17

5.2.4 Byte 3 - Response Type ..................................................................................... 18

5.2.5 Bytes 4 through 7 - Data ....................................................................................18

6 Explicit Messaging .................................................................................................19

6.1 Objects 64h and 65h ......................................................................................................19

6.2 Example Explicit Message...............................................................................................19

7. Reference ..............................................................................................................20

7.1 Reference Documents..................................................................................................... 20

7.2 Common Terms .............................................................................................................. 20

7.3 Parameter Quick Reference ............................................................................................ 21

1P94DVN01A

Safety Information

1. Safety Information

1.1 Warnings, Cautions & Notes

1.1.1 General

Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, with the

potential to cause attached motors to move or rotate. Some surfaces can be hot.

Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation creates

the risk of severe injury to personnel or damage to equipment.

All operations concerning transport, installation, and commissioning as well as maintenance must be carried

out by qualiﬁed, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN

VDE0110 and national regulations for the prevention of accidents must be observed).

According to this basic safety information, qualiﬁed skilled personnel are persons who are familiar with the

installation, assembly, commissioning, and operation of the product and who have the qualiﬁcations necessary

for their occupation.

1.1.2 Application

Drive controllers are components that are designed for installation in electrical systems or machinery. They

are not to be used as appliances. They are intended exclusively for professional and commercial purposes

according to EN 61000-3-2. The documentation includes information on compliance with the EN 61000-3-2.

When installing the drive controllers in machines, commissioning (i.e. the starting of operation as directed)

is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98/37/EC

(Machinery Directive); EN 60204 must be observed.

Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance with the EMC

Directive (89/336/EEC).

The drive controllers meet the requirements of the Low Voltage Directive 73/23/EEC. The harmonised standards

of the series EN 50178/DIN VDE 0160 apply to the controllers.

The availability of controllers is restricted according to EN 61800-3. These products can cause radio

interference in residential areas.

1.1.3 Installation

Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not

change any insulation distances during transport or handling. Do not touch any electronic components and

contacts.

Controllers contain electrostatically sensitive components, that can easily be damaged by inappropriate

handling. Do not damage or destroy any electrical components since this might endanger your health!

When installing the drive ensure optimal airﬂow by observing all clearance distances in the drive's user manual.

Do not expose the drive to excessive: vibration, temperature, humidity, sunlight, dust, pollutants, corrosive

chemicals or other hazardous environments.

P94DVN01A

Safety Information

1.1.4 Electrical Connection

When working on live drive controllers, applicable national regulations for the prevention of accidents (e.g. VBG

4) must be observed. The electrical installation must be carried out according to the appropriate regulations

(e.g. cable cross-sections, fuses, PE connection).

Additional information can be obtained from the national regulatory documentation. In the United States,

electrical installation is regulated by the National Electric Code (nec) and NFPA 70 along with state and local

regulations.

The documentation contains information about installation in compliance with EMC (shielding, grounding, ﬁlters

and cables). These notes must also be observed for CE-marked controllers. The manufacturer of the system or

machine is responsible for compliance with the required limit values demanded by EMC legislation.

1.1.5 Operation

Systems including controllers must be equipped with additional monitoring and protection devices according to

the corresponding standards (e.g. technical equipment, regulations for prevention of accidents, etc.). The user

is allowed to adapt the controller to his application as described in the documentation.

DANGER!

After the controller has been disconnected from the supply voltage, do not touch the

live components and power connection, since capacitors could still be charged. Wait

at least 60 seconds before servicing the drive Please observe the corresponding

notes on the controller.

Do not continuously cycle input power to the controller more than once every three

minutes.

Please close all protective covers and doors during operation.

WARNING!

Network control permits automatic operation of the drive. The system design must

incorporate adequate protection to prevent personnel from accessing moving

equipment while power is applied to the drive system.

Table 1: Pictographs used in these instructions:

Pictograph Signal Word Meaning Consequence if Ignored

DANGER! Warning of Hazardous Electrical

Voltage.

Reference to an imminent danger that

may result in death or serious personal

injury if the corresponding measures

are not taken.

WARNING! Impending or possible danger to

personnel

Death or injury

STOP! Possible damage to equipment Damage to drive system or its

surroundings

NOTE Useful tip: If note is observed, it will

make using the drive easier

NOTE:

The complete list of variables can be found in the PositionServo Programming Manual

(PM94M01).

3P94DVN01A

Introduction

2. Introduction

The following information is provided to explain how the PositionServo drive operates on a DeviceNet network;

it is not intended to explain how DeviceNet itself works. Therefore, a working knowledge of DeviceNet is

assumed, as well as familiarity with the operation of the PositionServo drive.

2.1 Fieldbus Overview

The DeviceNet Fieldbus is an internationally accepted communications protocol designed for commercial and

industrial installations of factory automation and motion control applications. High data transfer rates combined

with it’s efﬁcient data formatting, permit the coordination and control of multi-node applications.

2.2 Module Speciﬁcation

Group 2 Server Device

Supported baudrates: 125kbps, 250kbps, 500kbps

Supported input/output polled data words: Polled, Bit Strobe, COS, Cyclic

Explicit communication for parameter access

2.3 Module Identiﬁcation Label

Figure 1 illustrates the labelson the DeviceNet communications module. The PositionServo DeviceNet module

is identiﬁable by:

One label afﬁxed to the side of the module.

The TYPE identiﬁer in the center of the label: E94ZADVN1.

P23 Connector Designation

TYPE: E94ZADVN1

ID-NO: 13127865

SN: 13127865012345678

E94ZADVN1000XX1B11

Made in USA

940/941 DeviceNet

Communication

Option

P23

Figure 1: PositionServo DeviceNet Module Label

•

P94DVN01A

Installation

3. Installation

3.1 Mechanical Installation

1. Ensure that for reasons of safety, the AC supply and +24V DC backup supply have been disconnected

before opening the bay cover plate.

2. Remove the two COMM module screws that secure Option Bay 1 and with the aid of a ﬂat head screw

driver, gently pry up the Option Bay 1 cover plate and remove.

3. Install the DeviceNet Module and replace screws as illustrated in Figure 2.

S921a

Figure 2: Installation of DeviceNet Communications Module

3.2 DeviceNet Terminal Block

Table 2 and Figure 3 illustrate the pinout of the PositionServo DeviceNet Module connector. This connector

provides 5-wire connection to the network.

Table 2: DeviceNet Interface Pin Assignments

Terminal Name Wire Color Description

1 V- Black 0V

2 CAN L Blue CAN Bus Low (Negative data line)

3 Shield Bare

4 CAN H White CAN Bus High (Positive data line)

5 V+ Red 11-25VDC power supply; current consumption 100mA @ 11VDC max

12345

Figure 3: DeviceNet Interface Pinout

5P94DVN01A

Installation

3.3 Electrical Installation

3.3.1 Cable Types

Due to the high data rates used on DeviceNet networks, it is paramount that correctly speciﬁed cable is used.

The use of low quality cable will result in excess signal attenuation and data loss. Several types of cable are

available for DeviceNet networks: ﬂat cable, thicknet, mid cable and thinnet. Installation is typically done

with thicknet for trunk cable and thinnet for drop cable. Thicknet has a 3” minimum bend radius. Thinnet is

more ﬂexible, with a 2” minimum bend radius, and as such is easier to install. Thinnet can be used for the

entire installation. The type of cable used, the lengths of the overall network and the drop cables all affect the

maximum baud rate.

Cable speciﬁcations and approved manufacturers are available from the ofﬁcial DeviceNet website at: http://

www.ovda.org.

3.3.2 Network Limitations

There are several factors that must be taken into consideration when designing a DeviceNet network. For full

details refer to the ofﬁcial “DeviceNet Planning and Installation Manual” available on the http://www.ovda.org

website. However, here is an abbreviated checklist:

DeviceNet networks are limited to a maximum of 64 nodes. Devices default to node 63 so leave node 63

open to avoid duplicate node addresses when adding devices.

Maximum total network length is governed by the data rate and cable type used. Refer to Table 3.

Table 3: Network Length, Drop Cable Length and Baud Rate

Data Rate MAXIMUM Network Length Sum of all Drop Cable Lengths

Flat Cable Thicknet Mid Cable Thinnet

125 kbps 420m 500m 300m 100m 156m

250 kbps 200m 250m 250m 100m 78m

500 kbps 75m 100m 100m 100m 39m

Cumulative drop line does not exceed the network speciﬁed limit.

Network drops/spurs must not exceed 6 meters (19’ 8.2”).

Use ﬁber optic segments to:

Extend networks beyond normal cable limitations

Overcome different ground potential problems

Overcome very high electromagnetic interference

Ground at only one location, prferably in the center of the network.

•

P94DVN01A

Installation

3.3.3 Connections and Shielding

ODVA speciﬁes to ground the DeviceNet network at one location only.

The ground location should be done on the node that is closest to the physical center of the network to

maximize the performance and minimize the effect of outside noise.

The grounding connection method with regards to the network “V-” connections depends upon the cable

type used (see cable data sheet or OVDA “DeviceNet Planning and Installation Manual” for further details.

123 4 5

Connect to

cubical panel/earth

as close to the drive

as possible

Figure 4a: Network Daisy Chain Connection Figure 4b: Ground Connection of Network Center Node

3.3.4 Network Termination

In high speed ﬁeldbus networks such as DeviceNet it is essential to install the speciﬁed termination resistors,

i.e. one at both ends of a network segment. Failure to do so will result in signals being reﬂected back along

the cable which will cause data corruption. The method of termination varies with the type of network cable

available. If terminating using an open-style resistor on the drive connection, use a 120W1/4W 1% resistor

and ﬁt as illustrated in Figure 5.

123 4 5

Figure 5: Network Termination on Drive Connector

•

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