DeviceNet™ for SERVOSTAR®

S300/S600/S700

and DeviceNet HMS Simulator

Paul Coughlin
 DeviceNet

 DeviceNet is an 8-Byte Field Bus System for medium range

industrial I/O control

 Originally created in 1996 for operation of sensors, switches, bar-

code scanners, AC/DC drives.

 Currently maintained by independent organization ODVS

(Open DeviceNet Vendor’s Association)

 Bus connection Controller Area Network (CAN-standard ISO

11898) as base

 Features implemented for Servo Amplifiers

 Setup and General Functions – homing, jogging, speed/torque control
 Positioning Functions – execute motion tasks, absolute trajectory
 Data Transfer Functions – read actual values, errors, inputs, set outputs

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 DeviceNet

 Controls up to Up to 64 Nodes

 24 Volts DC input through shielded 4 wire cable

 V+, CAN-hi, CAN-lo, V-

 Terminating resistor 120 ohms at each end of cable

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 DeviceNet

 3 Baud rates available

 125k bps
 250k bps
 500k bps

 Distances
 Up to 500 meters @ Baud rate of 125k
 Up to 250 meters @ Baud rate of 250k
 Up to 100 meters @ Baud rate of 500k

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 DeviceNet

 Network Status LED

 Device not powered, Allocated to Master, Recoverable / Non-recoverable faults

 2 Rotary Switches for 0 – 63 Amplifier Address

Address 10 - MSD switch = 1, LSD switch = 0

 Single Rotary Switch for Baud Rate

Switch 0 = 125k bps, 1 = 250k bps, 2 = 500k bps

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 DeviceNet

2 Communication Methods

 Explicit Messaging (Slower) – Used to Configure Drive

Communications: <50 mSec (Parameter Object <500 mSec)
 OOT (Object Oriented Technique)
 Parameters selected through:
Class Object Number, Instance ID, Attribute ID, Explicit Message
 Read or Write single parameter at a time
 Homing can only be done via Explicit Messaging

 Polled I/O (Fast) – Used to Control Movement Real-time

Communications: <10 mSec
 8 Byte – Control bits & Status bits
 Command Assembly (write)
 Response Assembly (read)
 Limited Parameters (cannot Home via Polled I/O)

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 DeviceNet

Example of Object Oriented Technique:

 Set Jog Velocity to 500 rpm (01F4 hex)

 Position Controller Object (class = 0x25)

 Instance ID = 1
 Attribute ID = 0x16 (dec 22)
 Explicit Message = 1F4 (dec 500)
 Data Type = Double Integer

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 DeviceNet

 Polled I/O

 Real-time response communications

 Used to control motion
 Combines Control & Status bits into 8-byte message
 Command Assembly (send)
 Response Assembly (read)
 Only certain parameters assessable
 Less versatile than Explicit Messaging

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 DeviceNet

 Command Assembly Structure

 8 Bytes with 8 status bits
 Byte 0 dedicated commands
 Byte 1 identifies Block number (Motion Task number)
 Byte 2 Command Axis / Command Assembly Type (send data)
 Byte 3 Response Axis / Response Assembly Type (read data)
 Bytes 4 – 7 Data Fields for data to be transmitted, such as velocity, position

(bit 5 is always 1 for Command & Response Axis – it is not Amp address)

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 DeviceNet

Example of Polled I/O: (need to be in Velocity Opmode)

 Set Jog Velocity to 20,000 counts per second

 Byte 0 - bit 7 Enables drive, bit 0 Starts motion
 Byte 1 – not use
 Byte 2 – selects Command Axis (writes) & Command Assembly 0x02 Velocity
 Byte 3 – selects Response Axis (reads) & Response Assembly 0x01 Actual Position
 Bytes 4 & 5 loads data 0x00004E20 in hex (dec 20,000)

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 DeviceNet Simulator

 Polled I/O Screen

 Output Data
 (Command Assembly)

 Input Data
 (Response Assembly)

 Dongle Port
 Baud Rate
 Slave Address

 Additional information
 Vendor ID
 Serial Number
 Product Name

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 Polled I/O – Enabling Drive

 Enable Drive = Byte 0, Bit 7 to 1

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 Changing Velocity (Digital Velocity)

Change Velocity and/or Direction on the fly using Polled I/O

Opmode 0 (Digital Velocity)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 1 0 0 0 1 0 0 1
1 0 0 0 0 0 0 0 0
2 0 0 1 0 0 0 1 0
3 0 0 1 0 0 0 0 0
4 1 1 1 1 0 1 0 0
5 0 0 0 0 0 0 0 1
6 0 0 0 0 0 0 0 0
7 0 0 0 0 0 0 0 0

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 Monitoring Actual Position

 Polled I/O
Actual Position
Read from GUI = 4998

Actual Position
Read from DeviceNet
00001387 hex
Input Data Bytes 4 & 5

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 Write Explicit Messaging

 Set Jog Velocity to 500 RPM

Class 0x25
Instance ID 1
Attribute ID 0x16
Explicit Message 0x01F4
(Send Value)

Data Type Double Integer

 Write Attribute Screen

 Then set Attribute 0x0B to initiate

the move.
 Data field Boolean
 Send Value 01.

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 Read Explicit Messaging

 Read Jog Velocity

Class 0x25
Instance ID 1
Attribute ID 0x16
Explicit Message 0x01F4
(Result Value)

Data Type Double Integer

 Read Attribute Screen

 Result Value should be 1F4 hex

 (Value of Attribute 0x16)

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 Explicit Messaging

 Position Controller Object: Class 0x25

 Most commonly used for Operation Modes (Torque, Velocity & Position)
and configuring Motion

 Parameter Object: Class 0x0F

 Vendor defined object for amplifier configuration. Uses DPR (dual port
RAM) number from ASCII reference guide

 Additional Objects
 Command Block : Class 027– creating and storing Motion Tasks
 Block Sequencer: Class 0x26 – executing Motion Tasks
 Position Object: Class 0x24 – handles errors of amplifiers

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 DeviceNet Simulator

 Start DeviceNet Master

Simulator

 Click on Address
Search for slaves

Note:
CommPort
Baud Rate
Node Address

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 DeviceNet Simulator

 Address 10 is identified
(no parenthesis)

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 DeviceNet Simulator

 Establish Communications

 Click on Communications

 Start
 Stop
 Read Attribute
 Write Attribute

 Polled I/O screen shown

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 DeviceNet Simulator

 Read Attribute screen shown

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 DeviceNet Simulator

 Write Attribute screen shown

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 Position Controller Object: Class – 0x25

 Changing Opmodes
 Class 0x25
 Instance 0x01
 Attribute 0x03
 Explicit Message 0x00
(Send Value)

 Data Type Short Integer

Position Mode = 0x00

Velocity Mode = 0x01
Torque Mode = 0x02

Read only = 0x03

View S300 GUI as you enter Send

Values

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 Position Controller Object: Class – 0x25

 Reading Actual Position

 Class 0x25
 Instance 0x01
 Attribute 0x0D
 Explicit Message
(Result Value)

 Data Type Double Integer

Return Result is 0x135C

= 4956 counts (verify with GUI)

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 Parameter Object: Class – 0x0F

 Most drive parameters can be read or written using 0x0F

 Instance ID = DPR from GUI
 Attribute ID = 0x01

Note: Most Objects use Instance 0x01 and special Attribute number. Parameter
Object uses Attribute 0x01 and Instance corresponding to DPR from GUI

 Only DPR 1 – 254 can be used in Instance, since Instance is 1 byte

 For DPR numbers greater than 254 we use Instance 255, Attribute 0x64
(Instance 255 to be discussed later)

 Response time<500 mSec

(all other objects <50mSec)

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 Parameter Object: Class – 0x0F

 Example:
 Move Home (MH)
DPR = 141 (dec)

 Class ID = 0x0F
 Instance ID = 0x8D
 Attribute ID = 0x01
 Explicit Message = 0x01
(Send Value)

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 Parameter Object: Class – 0x0F

 Reading Velocity Gain GV

 Class 0x0F
 Instance 0x48 (DPR value 72 dec)
 Attribute 0x1
 Explicit Message
(Result Value)

 Data Type Double Integer

Return Result is 0x22

= 34 dec

Note: Divide Device Net result by

1000 to obtain GUI result
34 / 1000 = 0.034
(GUI has Weighting listed)

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 Reading GV Proportional Gain

 ASCII object
reference

 GV Proportional gain
Velocity Control Loop

 DPR 72 (dec) 0x48 hex

 Weighting = 1000

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 Reading GV Proportional Gain

Note
Displays:

GUI = 0.034

DeviceNet
= 0x22
(34 dec)

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 Parameter Object: Instance 255

 Reading or Writing for DPR greater than 254 can be

accomplished through Attribute 0x64: Parameter Number

 Load the desired DPR number into the Parameter Number

Attribute, then use the Parameter Object Instance 255 (0xFF)
to access the Parameter.

 Note since this is a Class Attribute (0x0F) use Instance 0 when

setting the Parameter Number.

It really is easy. Just an extra step.

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 Attribute 0x64: Parameter Number

 Example to Read VLIMP:

 VLIM DPR = 122 (290 DEC)

Set up to read value first

 Class ID = 0x0F

 Instance ID = 0x00

 Attribute ID = 0x64

 Explicit Message = 0x122

(Send Value)

 The Explicit Message tells the

device that DPR 0x122 is the
parameter of the drive we are
interested in reading or writing.

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 Setting Parameter Number VLIMP

 Using Attribute 0x64 to set

Parameter we are interested in
viewing:
 Class 0x0F
 Instance 0x00
 Attribute 0x64
 Explicit Message 0x122
 DPR 290 = VLIMP
(Send Value)

 Data Type Integer

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 Reading Parameter Number to VLIMP

 Using Instance 255 (0xFF)

read Parameter we are
interested in viewing:
 Class 0x0F
 Instance 0xFF
 Attribute 0x01
 Explicit Message 0x2DC6C0
Dec = 3,000,000
(Result Value)

 Data Type Double Integer

Remember value is weighted by 1000,

so VLIMP GUI READS 3000

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 Reading Parameter Number to VLIMP

 Note that DeviceNet Simulator allows to change from hex to dec

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 Running Motion Tasks (Class 0x26)

 Block Sequencer Object

 Class 0x26
 Instance 0x01
 Attribute 0x01
 Explicit Message 0x05
(Send Value)

This determines the Block Number

(Motion Task) to Execute

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 Running Motion Tasks (Class 0x26)

 Block Sequencer Object

 Class 0x26
 Instance 0x01
 Attribute 0x02
 Explicit Message 0x01
(Send Value)

This Executes the Block Number

(Motion Task) identified from
Attribute 0x01

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 Creating Motion Tasks (Class 0x27)

 Command Block Object

 Class 0x27
 Command 0x08 Motion Task

REMEMBER TO DISABLE
DRIVE!!

 Class 0x27
 Instance 0x05
 Attribute 0x01
 Explicit Message 0x08
(Send Value)

Instance = Block No. (Motion Task)

0x08 is Command Block – Motion
Task

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 Creating Motion Tasks (Class 0x27)

 Command Block Object

Class 0x27

 Keep Class 0x27

 Instance = Block Number
 Attributes for Profile
 Explicit Message = Values for
Task

 Class 0x27
 Instance 0x05
 Attribute 0x03 (Target Position)
 Explicit Message
(Send Value)

REMEMBER TO DISABLE DRIVE!!

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 Creating Motion Tasks (Class 0x27)

 Command Block Object

Class 0x27

 Attributes
0x03 = Target Position
0x04 = Target Velocity
0x05 = Incremental Move
0x65 = Acceleration
0x66 = Deceleration

Note: 0x65 & 0x66 not supported in

S600. Use Class 0x25 Attributes
0x08 & 0x09
REMEMBER TO DISABLE DRIVE!!

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 Creating Motion Tasks (Class 0x27)

 Take a look at the Motion Task Screen as you enter Values

 Now take a look at Terminal Screen

 Enter Order # (Motion Task number)

What is the response?

 Now go back to Motion Task Table

What values appear in the Table?

 Now try initiating the Motion Task with Block Sequencer

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 DeviceNet PLC Screen

 Set up Scan List

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 DeviceNet PLC Screen

 On Line

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 DeviceNet PLC Screen

 Node Active

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 DeviceNet PLC Screen

 Polled I/O
 Node address (MAC Id)

 Output to drive
 Byte 0 – 7
 Bits 0 - 7

 Reply from drive

 Byte 0 – 7
 Bits 0 - 7

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 DeviceNet PLC Screen

 Explicit Message Screen

 Set GV to 5000 dec (1388 hex)

 Node address (MAC Id)

 Service Code
 Class ID
 Data Size
 Instance ID
 Attribute
 Explicit Message
(LSD to MSD)
13 88 = 5000 dec (weight 1000)

 Transmit = 1
 Address = 10
 [Service, Class, Instance]
 Attribute, Explicit Message

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