Emerson 400501-08 manual Index Type, Position Control

Page 24

Epsilon Ei DeviceNet Drive Reference Manual

Master Send Assembly Block - Index Sel (Userdef)

Word

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Bit 7

 

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

 

Bit 0

 

Index

Index

Index

Index

 

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

 

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

 

DN Bit

0

Select

Select

Select

Select

 

 

 

 

11 MS

10 MS

9 MS

8 MS

7 MS

 

6 MS

5 MS

4 MS

3 MS

2 MS

1 MS

 

0 MS

 

Bit 3

Bit 2

Bit 1

Bit 0

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1

Reserved

Reserved

Reserved

 

Output Word Select Data Pointer (See page 15)

Reserved

 

Reserved

Enable

 

Input Word Select Data Pointer (See page 14)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2

 

 

 

 

 

 

 

 

Data Low Word

 

 

 

 

 

 

 

LS Bit

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

3

MS Bit

 

 

 

 

 

 

 

 

Data High Word

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Index Type

Index Type is the fixed assembly block used for reading and writing parameters when one index is running different index types (incremental, absolute, etc.). The Index Type Assembly Block is used to set up and initiate one index as a position controller but also provides the user with the additional functionality of the Epsilon Ei drive (i.e. home, jog, or most other I/O parameters). The Index Type Assembly Block gives the user the flexibility of being able to control the drive position by position but also gives Home and Jog functionality right within the DeviceNet I/O. See “Appendix” on page 71for expanded versions of these tables

Master Receive Assembly Block - Index Type

Word

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Bit 7

 

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

 

 

 

 

 

 

 

 

 

 

 

Absolute

Home

Reg

 

 

 

Drive

 

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

Enable

 

Limit

Limit

End of

Torque

Fault

0

 

Position

7 MR

6 MR

5 MR

4 MR

3 MR

2 MR

1 MR

0 MR

State

 

Distance

Distance

Home

Limit

OK

 

 

Valid

 

 

 

 

 

 

 

 

 

 

 

 

Hit

Hit

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Travel

Travel

Motion

Motion

Motion

1

Reserved

Reserved

Reserved

 

Input Word Select Data Pointer (See page 14)

Reserved

 

Reserved

Reserved

State Bit

State Bit

State Bit

 

 

Limit -

Limit +

 

 

 

 

 

 

 

 

 

 

 

 

 

2

1

0

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2

 

 

 

 

 

 

 

Data Low Word

 

 

 

 

 

 

LS Bit

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

3

MS Bit

 

 

 

 

 

 

 

Data High Word

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Master Send Assembly Block - Index Type

 

 

 

 

 

 

 

 

 

Word

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Bit 7

 

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

 

Bit 0

 

 

 

 

 

 

 

 

 

 

 

 

 

Home

Index

Index

Index

 

Start

0

DN Bit 7

DN Bit 6

DN Bit 5

DN Bit 4

DN Bit 3

DN Bit 2

DN Bit 1

DN Bit 0

Enable

 

Reset

Stop

Type Bit

Type Bit

Type Bit

 

 

Initiate

 

Index

 

 

 

 

 

 

 

 

 

 

 

 

 

2

1

0

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1

Reserved

Reserved

Reserved

 

Output Word Select Data Pointer (See page 15)

Jog Fast

 

Jog -

Jog +

 

Input Word Select Data Pointer (See page 14)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2

 

 

 

 

 

 

 

Data Low Word

 

 

 

 

 

 

 

LS Bit

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

3

MS Bit

 

 

 

 

 

 

 

Data High Word

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Note

“Index Type” bit 1, 2, and 3 in Master Send Block determine the functionality if the specified index. As noted in the Drives Parameters Reference Manual (400504-01) the value of these bits reflect the following data: 000 Incremental Index, 001 Absolute Index, 010 Registration Index, 011 Rotary Plus, and 100 Rotary Minus.

Position Control

Position Control is the fixed assembly block designed using the “Position Controller” profile for DeviceNet as a guide. Parameters are transferred over the polled I/O connection. Using

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Contents Reference Manual Page Epsilon Ei DeviceNet Drive Reference Manual Page Customer Support 952Website and Email Technical Support 952 995-8033 or 800Training Services 952 995-8000 or 800 Customer Service Sales 952 995-8000 or 800Document Conventions Application Engineering 952 995-8000 or 800This Represents Safety Instructions Reference MaterialsGeneral Warning Qualified PersonSafety Considerations Safety PrecautionsSetup, Commissioning and Maintenance EnclosureSafety of Machinery General warningTable of Contents Network Configuration Quick Start Explicit Messaging Quick StartDrive Parameters Appendix Glossary IndexIntroduction PurposeDeviceNet Overview DeviceNet Communications LinkDeviceNet Messaging and Communications Master/Slave RelationshipMaster/Slave Relationship Installation Mechanical InstallationDeviceNet Hardware Components CablesElectrical Installation ConnectorsPower Supply Requirements Physical Connections to the DeviceNet NetworkInstallation Epsilon Ei DeviceNet Drive Reference Manual Connection Types Software InterfaceDeviceNet Tab Polled I/O Connections Implicit MessagingMaster Receive and Master Send Assembly Block Selections MacIDBaud Rate Index Select Predefined Index Sel PredefConfiguring the DeviceNet Network Index Select User Defined Index Sel UserDefIndex Type Position ControlNo Operation CCWInput Word Select Data Pointer Code DescriptionOutput Word Select Data Pointer Command Assembly Code Response Assembly CodesConfiguring the DeviceNet Network Host Mode Enable Ei-DN Input Processing LogicDeviceNet Online Tab InformationCounters Status Established ConnectionsNetwork Status LED Module Status LEDInput and Output Tab DeviceNet BitsFaults and Diagnostic Display DN Allocation Choice Connections Established DN Allocation Master MacIDEi-DN Modbus Address DN Bus Off Fault Count DN Baud RateDN Bus Off Counter DN Bus Off InterruptDN Comm Time-out Fault Count DN Duplicate MacID Fault CountDN Device Type DN FAB Master Receive BlockDN Host Mode DN FAB Master Send BlockDN MacID DN Master Receive Bitmap DN Master Receive FAB TypeDN Master Send Bitmap DN Master Send FAB Type DN Module StatusDN Status Major Recoverable Fault DN Status Major Unrecoverable FaultDN Network Status DN Receive CounterDN Status Minor Recoverable Fault DN Status Minor Unrecoverable FaultDN Transmit Counter DN Vendor IDAccessing the EDS File Hardware InterfaceModule Status LED Setting the Baud Rate and MacID Externally One Touch Network Status LEDViewing and Changing the Baud Rate and MacID Display Value Baud Epsilon Ei DeviceNet Drive Reference Manual Network Configuration Quick Start EquipmentPolled I/O Setup Example #1 Index SelPredefNetwork Configuration Quick Start Example #2 Index Sel Userdef DN Setup / Index Sel Userdef Inputs Tab Outputs Tab Example #3 Index Type DN Setup / Index Type Output Word Select Input Word Select Example #4 Position Control Dn Setup / Position Control Network Configuration Quick Start Master Configuration RS Networx ConfigurationScanlist Tab Input Tab Output Tab Epsilon Ei DeviceNet Drive Reference Manual How to Send Explicit Messages Explicit Messaging Quick StartExecute Explicit Messaging Examples Description of N10 Integer FileExplanation of PLC Program ExamplesExample 1 Read Index 0 Velocity Example 2 Write Index 1 Velocity Integer File N11 High Byte Low ByteInterger File N10 High Byte Low Byte Explicit Messaging Quick Start Epsilon Ei DeviceNet Drive Reference Manual Drive Parameters By NameName DeviceNet Data TypeUdint Drive Parameters ProductID.Option1IDFunctionModule By DeviceNet Class 0x01 DeviceNet.DeviceNetIdentityObject.DeviceType 104 0x68 See Note 0x09 Index.Instance#.RegistrationOffset 109 0x6D 0x01 0x04 Position.FollowingError 0x01 0x0D Status.TorqueFeedback Epsilon Ei DeviceNet Drive Reference Manual Appendix Index Select PredefinedMaster Receive Assembly Block Index Sel User Def Index Select User DefinedIndex Type Position Control CCWGlossary Drop Line Epsilon DriveExplicit Message Explicit Messaging ConnectionsOne touch Configuration ConnectionsLink Consumer Object Link Producer ObjectUcmm Index Epsilon Ei DeviceNet Drive Reference Manual Index Epsilon Ei DeviceNet Drive Reference Manual
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