automation devicenet guide - .error error checking enable ... reset the 6k controller to initialize

Download Automation DeviceNet Guide - .ERROR Error Checking Enable ... Reset the 6K controller to initialize

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  • Effective: August 1, 2002

    p/n 88-019049-01 B

    Automation DeviceNet Guidefor 6K and Gemini products

    6Kn-DNGV6-xxx-DNGT6-xxx-DN

  • Automation

    Parker Automation products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.

    Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice.

    In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.

    2002, Parker Hannifin CorporationAll Rights Reserved

    User Information

    WARNINGParker Automation products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel.

    ! !

    Technical Support Emailtech_help@cmotor.com

    North America and Asia:Compumotor Division of Parker Hannifin5500 Business Park DriveRohnert Park, CA 94928Telephone: (800) 358-9070 or (707) 584-7558Fax: (707) 584-3793e-mail: tech_help@cmotor.comWebsite: www.compumotor.com

    Europe:Parker Hannifin plcElectromechanical Division Digiplan21 Balena ClosePoole, DorsetEngland BH17 7DXTelephone: +44 (0)1202-699000Fax: +44 (0)1202-695750e-mail: sales.digiplan@parker.come-mail: support.digiplan@parker.comWebsite: www.parker-emd.com

    Germany:Parker Hannifin GmbHElectromechanical Division HauserP. O. Box: 77607-1720Robert-Bosch-Str. 22 D-77656 Offenburg, GermanyTelephone: +49 (0)781 509-0Fax: +49 (0)781 509-176e-mail: sales.hauser@parker.comWebsite: www.parker-emd.com

    Italy:Parker Hannifin SpADivisione SBC20092 Cinisello BalsamoMilan,Italy Via Gounod, 1Telephone: +39 02 6601 2478Fax: +39 02 6601 2808e-mail: sales.sbc@parker.comWebsite: www.parker-emd.com

    Technical Assistance Contact your local automation technology center (ATC) or distributor, or ...

  • Online Manuals This manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.com

    ABOUT THIS GUIDE

    Chapter 1. Implementing 6K DeviceNet....................... 1DeviceNet Overview ..................................................................2

    6Kn-DN................................................................................2Technical Assistance ...........................................................2Implementation Process.......................................................2EDS File ..............................................................................2

    Hardware Interface ....................................................................3LED Status Indicators ..........................................................3DeviceNet Connector Pin Out ..............................................4Termination..........................................................................4Node Address ......................................................................4Baud Rate............................................................................5

    Programming Notes ...................................................................6Data Format.........................................................................6Implementing Data Exchange ..............................................6Handling a DeviceNet Fault .................................................7Affected Commands and Features.......................................7

    DeviceNet Objects .....................................................................8Identity Object, Class 0x01...................................................8Message Router Object, Class 0x02 ....................................8DeviceNet Object, Class 0x03..............................................9Assembly Object, Class 0x04...............................................9Connection Object, Class 0x05 ..........................................10Acknowledge Handler Object, Class 0x2B .........................12

    Command Descriptions............................................................13ERROR Error Checking Enable ..............................13FBADDR Fieldbus Address ..................................14FBBAUD Fieldbus Baud Rate ..............................14[ FBS ] Fieldbus Status..............................................15FBSIZE Fieldbus Data Packet Size ........................16OPTEN Option Card Enable/Disable ......................16OUTFNC Output Function ....................................17TFBS Transfer Fieldbus Status................................17TFBSF Fieldbus Status Full Text ...............................18TOPSTS Option Card Status Full Text .....................18

    Programming Scenario ............................................................19

    Chapter 2. Implementing Gemini DeviceNet ............. 21DeviceNet Overview ................................................................22

    Gemini GT6-DN and GV6-DN............................................22Technical Assistance .........................................................22Implementation Process.....................................................22EDS File ............................................................................22Data Types ........................................................................23

    Hardware Interface ..................................................................24LED Status Indicators ........................................................24DeviceNet Connector Pin Out ............................................25Termination........................................................................25Node Address ....................................................................26Baud Rate..........................................................................26

    Configuration and Programming ..............................................27Basic Requirements...........................................................27Hardware Requirements ....................................................27Object Model......................................................................27

    Explicit Messaging ...................................................................28Position Controller Supervisor Object Class (#164)(A4hex)

    and Position Controller Object Class (#165)(A5hex).....28Explicit Message Command...............................................28

    Explicit Message Response ...............................................28Services.............................................................................29Identity Object, Class 0x01 ................................................30DeviceNet Object, Class 0x03............................................31Assembly Object, Class 0x04.............................................31Connection Object, Class 0x05 ..........................................32Acknowledge Handler Object, Class 0x2B .........................34Position Controller Object Class (0xA5) .............................37

    Polled I/O.................................................................................40Command Assemblies .......................................................40Response Assemblies .......................................................41Running a Stored Program through DeviceNet ..................42Stopping the Program through DeviceNet ..........................42

    Command Assembly Codes.....................................................43No Operation 0x00.............................................................43Target Position 0x01 ..........................................................43Target Velocity 0x02 ..........................................................43Acceleration 0x03 ..............................................................44Deceleration 0x04..............................................................44Variable Access 0x0C........................................................44Continuous Velocity 0x11...................................................44Homing 0x12......................................................................45Position Controller Supervisor Attribute 0x1A.....................45Position Controller Attribute 0x1B ......................................45Alarm Clear 0x1E...............................................................46

    Response Assembly Codes .....................................................47Actual Position 0x01 - Servo Only......................................47Commanded Position 0x02 ................................................47Actual Velocity 0x03 - Servo Only ......................................48Commanded Velocity 0x04 ................................................48Variable access 0x0C ........................................................48Command/Response Error 0x14........................................49Position Controller Supervisor Attribute 0x1A.....................50Position Controller Attribute 0x1B ......................................50Status Code 0x1E..............................................................51Alarm Code 0x1F...............................................................51

    Operating Modes .....................................................................52Positioning.........................................................................52Continuous Velocity ...........................................................54Homi

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