PowerFlex 1769-SM2 Compact I/O DSI/Modbus Communications Module

Firmware Version 1.xxx User Manual

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell Automation sales office or online at http:// www.rockwellautomation.com/literature) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc. is prohibited. Throughout this manual, when necessary we use notes to make you aware of safety considerations. WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

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Important: Identifies information that is critical for successful application and understanding of the product. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequences. Shock Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that dangerous voltage may be present.

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Burn Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that surfaces may be at dangerous temperatures.
Allen-Bradley, PowerFlex, DriveExplorer, DriveExecutive, DriveTools SP, CompactLogix, MicroLogix, DSI, RSNetWorx for DeviceNet, and ControlFLASH are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.

Summary of Changes
The information below summarizes the changes made to this manual since version 1769-UM013B-EN-P (January 2006):
Description Changed Figures 1.3 and 1.4 to correctly show the wiring of the RJ45 daisy-chained connectors. In the Compatible Products section, added the PowerFlex 4M and PowerFlex 40P drives. Moved the Module Start-Up Status Indication table from Chapter 1 to Chapter 2 after the Applying Power section. Added the subsection Special CaseData Entry for 2 Stop Bits Communication. Page(s) 1-4 and 1-5 1-6 2-15 3-8

Changed module Parameters 15 - [RTU Parity 1], 30 - [RTU Parity 2], and 3-17, B-3, 45 - [RTU Parity 3] per 1769-SM2 firmware v2.001 update. The parameter B-5, and B-7 numbers remain the same but the parameter names changed from [RTU Parity x] to [RTU Format x]. Also, in addition to parity (None, Even or Odd), the parameter function changed to include choice of stop bits (1 or 2). In the Using Reference/Feedback section, revised table to include PowerFlex 4M and PowerFlex 40P drives. Added the new section Using RSLinx Classic to Chapter 8. Updated the Logic Command word and Logic Status word information to include data for all PowerFlex 4-Class drives. 4-4 8-2 D-1 and D-2

soc-ii

Table of Contents
Preface About This Manual
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1 Rockwell Automation Support. . . . . . . . . . . . . . . . . . . . . . . . P-2 Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . . P-3

Chapter 1

Getting Started
Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Single Mode vs. Multi-Drive Mode . . . . . . . . . . . . . . . . . . . . 1-3 Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Chapter 2

Installing the Module

Preparing for an Installation. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Removing Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Setting the Configuration Mode Switch. . . . . . . . . . . . . . . . . 2-3 Setting the Operating Mode Switch (Single/Multi-Drive). . . 2-4 Assembling the Module to the Controller . . . . . . . . . . . . . . . 2-5 Mounting the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6 Replacing the Module within a System . . . . . . . . . . . . . . . . . 2-9 Connecting Drive(s) to the Module . . . . . . . . . . . . . . . . . . . 2-10 Grounding the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12 Network Cable Strain Relief . . . . . . . . . . . . . . . . . . . . . . . . 2-14 Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14 Viewing Start-Up Status Indicators . . . . . . . . . . . . . . . . . . . 2-15

Chapter 3

Configuring the Module

Determining I/O Image Size . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 Configuration Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Configuration Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Controller Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Parameter Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 Using the Optional, External PowerFlex 4-Class HIM . . . . 3-13 Setting the I/O Configuration (Multi-Drive Mode Only). . . 3-14 Setting an Idle Action (Single and Multi-Drive Mode) . . . . 3-15 Setting Drive Node Addresses (Multi-Drive Mode Only) . . 3-16 Configuring the Modbus RTU Master Parameters. . . . . . . . 3-17 Resetting the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 Viewing the Module Status Using Parameters. . . . . . . . . . . 3-21 Flash Updating the Module . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

ii

Table of Contents

Chapter 4

Understanding the I/O Image

Module Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Module Status Word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4-3 4-4 4-4

Chapter 5

Understanding Explicit Messaging

Formatting Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . 5-2 Modbus RTU Master Operation Messages . . . . . . . . . . . . . . 5-9

Chapter 6

MicroLogix 1500 Example Ladder Programs

Single Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Multi-Drive Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

Chapter 7

CompactLogix Example Ladder Programs

Single Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 Multi-Drive Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

Chapter 8

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Single Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 Using RSLinx Classic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 Using RSNetWorx for DeviceNet . . . . . . . . . . . . . . . . . . . . . 8-3 Setting Up the 1769-ADN . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4 Registering the 1769-SM2 EDS File . . . . . . . . . . . . . . . . . . . 8-8 PowerFlex 40 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12 1769-SM2 Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12 ControlLogix w/1769-ADN Example Program. . . . . . . . . . 8-13 Example Program Data Table . . . . . . . . . . . . . . . . . . . . . . . 8-21

Chapter 9

Troubleshooting
Locating the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . MODULE Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . CH1CH3 Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . Viewing Module Diagnostic Items. . . . . . . . . . . . . . . . . . . . . Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . 9-1 9-2 9-3 9-4 9-6

Appendix A

Specifications
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Regulatory Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . DSI Cable Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 A-1 A-1 A-2 A-2 A-2

Table of Contents

iii

Appendix B

Module Parameters
About Parameter Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . B-1 Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Appendix C

CIP/DSI Objects
CIP Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3 CIP Parameter Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4 DSI Device Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7 DSI Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-10 DSI Fault Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14 DSI Diagnostic Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-16

Appendix D

PowerFlex 4-Class Drives Logic Command/Status Words

Logic Command Word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1 Logic Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2

Glossary Index

iv

Table of Contents

Preface

About This Manual

Topic Related Documentation Conventions Used in this Manual Rockwell Automation Support Page P-1 P-3 P-2

Related Documentation
Refer to: http://www.ab.com/drives/driveexplorer, and DriveExplorer online help (1) DriveTools SP http://www.ab.com/drives/drivetools, and (includes DriveExecutive) DriveExecutive online help (1) PowerFlex 4-Class HIM HIM Quick Reference (22-HIM-A3 / -C2S) PowerFlex 4 User Manual PowerFlex 4 Drive PowerFlex 4 Quick Start PowerFlex 4M Drive PowerFlex 4M User Manual PowerFlex 4M Quick Start PowerFlex 40 Drive PowerFlex 40 User Manual PowerFlex 40 Quick Start PowerFlex 40P Drive PowerFlex 40P User Manual PowerFlex 40P Quick Start PowerFlex 400 Drive PowerFlex 400 User Manual PowerFlex 400 Quick Start RSLinx Classic Getting Results with RSLinx Guide, and online help (1) RSLogix 500 RSLogix 500 Getting Results Guide, and online help (1) RSLogix 5000 Getting Results Guide, and online help (1) RSLogix 5000 RSNetWorx for RSNetWorx for DeviceNet Getting Results Guide, and DeviceNet online help (1) MicroLogix 1500 MicroLogix 1500 Programmable Controllers User Manual MicroLogix 1200 and MicroLogix 1500 Programmable Controllers Reference Manual CompactLogix CompactLogix System User Manual ControlLogix Gateway System User Manual ControlLogix Modbus RTU Modbus ida.org Specification PowerFlex 7-Class Drive 20-COMM-H RS-485 HVAC Adapter User Manual Connectivity
(1)

For: DriveExplorer

Publication 22HIM-QR001 22A-UM001 22A-QS-001 22F-UM001 22F-QS-001 22B-UM001 22B-QS-001 22D-UM001 22D-QS-001 22C-UM001 22C-QS-001 LINX-GR001 LG500-GR002 9399-RLD300GR DNET-GR001 1764-UM001 1762-RM001 1769-UM007 1756-6.5.13 20COMM-UM009

The online help is installed with the software.

P-2

About This Manual You can view or download publications at http:// literature.rockwellautomation.com. To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative. To find your local Rockwell Automation distributor or sales representative, visit www.rockwellautomation.com/locations. For information such as firmware updates or answers to drive-related questions, go to the Drives Service & Support web site at www.ab.com/ support/abdrives and click on the Downloads or Knowledgebase link.

Rockwell Automation Support

Rockwell Automation, Inc. offers support services worldwide, with over 75 sales/support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation, Inc. representatives are in every major country in the world.

Local Support
Contact your local Rockwell Automation, Inc. representative for: Sales and order support Product technical training Warranty support Support service agreements

Technical Assistance
For technical assistance, please review the information in Chapter 9, Troubleshooting, first. If you still have problems, then access the Allen-Bradley Technical Support web site at www.ab.com/support/ abdrives or contact Rockwell Automation, Inc.

About This Manual

P-3

Conventions Used in this Manual

The following conventions are used throughout this manual: Parameter names are shown in the format Parameter xx - [*]. The xx represents the parameter number. The * represents the parameter name. For example Parameter 01 - [Config Mode]. Menu commands are shown in bold type face and follow the format Menu > Command. For example, if you read Select File > Open, you should click the File menu and then click the Open command. RSNetWorx for DeviceNet (version 4.01) and RSLinx (version 2.41) were used for the screen shots in this manual. Different versions of the software may differ in appearance and procedures. The firmware release is displayed as FRN X.xxx. The FRN signifies Firmware Release Number. The X is the major release number. The xxx is the minor update number. This manual is for Firmware release 1.xxx.

P-4

About This Manual

Notes:

Chapter 1

Getting Started
The 1769-SM2 Compact I/O to DSI module provides a Compact I/O connection for PowerFlex 4-Class drives. It can be used with a MicroLogix 1500, CompactLogix, or a remote 1769-based adapter such as the 1769-ADN.
Topic Components Features Single Mode vs. Multi-Drive Mode Compatible Products Page 1-1 1-2 1-3 1-6 Topic Required Equipment Safety Precautions Quick Start Status Indicators Page 1-6 1-7 1-9 1-10

Components
Figure 1.1 Components of the Module

MODU LE
CH1 CH2 CH3

MODULE
CH1 CH2 CH3

DSI

C H 1

DSI

C H 1

C H 2

C H 2

C H 3

C H 3

Item Part

Item Part

11

Bus lever (with locking function) Upper DIN rail latch Lower DIN rail latch Upper panel mounting tab Lower panel mounting tab Module status indicators (see Chapter 9, Troubleshooting for details).

11

Movable bus connector with female pins Bus connector with male pins Nameplate label DSI connectors Terminal block for network communication shielding and earth ground wire.

1-2

Getting Started

Features
The 1769-SM2 Compact I/O to DSI module features include: Three Compact I/O connection channels for PowerFlex 4-Class drives. Up to 3 drives can be connected in Single mode (1 per channel) and up to 15 drives can be connected in Multi-Drive mode (5 per channel). Any channel in Multi-Drive mode can also be configured to operate as a Modbus RTU Master, allowing connectivity to a maximum of 31 other Modbus RTU Slave devices, such as PowerFlex 7-Class drives with 20-COMM-H RS485 HVAC adapters. Use as expansion I/O on MicroLogix 1500 and CompactLogix controllers or with a remote 1769-based adapter. It receives the required power from the Compact I/O backplane. Parameter-configurable I/O, including Logic Command/Reference and Logic Status/Feedback for each connected drive. Explicit messaging (parameter read/write, etc.) support for: MicroLogix 1500 LRP Series C systems when used with RSLogix 500 v6.30 (or higher) Enhanced CompactLogix processors, such as the -L31, -L32E, and -L35E

Explicit messaging is NOT available for CompactLogix -L20 and -L30 processors, or 1769-ADN DeviceNet adapters. User-defined fault actions to determine how the module and connected drives respond to controllers in idle mode (Idle Action). Bi-color (red/green) status indicators to report the status of the module and channel communications. Compatibility with various configuration tools to configure the module and connected drive(s). The tools include an optional, external PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S), and drive-configuration software such as DriveExplorer v3.01 (or higher) or DriveExecutive v4.01 (or higher).

Getting Started

1-3

Single Mode vs. Multi-Drive Mode

Single mode is a one-to-one connection, where a channel is connected to a single PowerFlex 4-Class drive (Figure 1.2).
Figure 1.2 Single Mode Wiring Example

Powerflex 4-Class Drives

1769-SM2 Module
MODULE
CH1 CH2 CH3

CH1 CH2 CH3

C H 1

AK-U0-RJ45-TB2P Terminal Block Connector

AK-U0-RJ45-TB2P Terminal Block Connector

AK-U0-RJ45-TB2P Terminal Block Connector

C H 2

C H 3

22-RJ45CBL-C20 Cable, or User-Supplied Wire (recommend Belden No. 3105A or equivalent) with AK-U0-RJ45-TB2P terminal block connectors Ground Wire Connection (for network communication shielding)

Earth Ground Connection

An additional DSI peripheral device, such as an external PowerFlex 4-Class HIM or Serial Converter module (22-SCM-232) with a software tool, can be used with each drive. An AK-U0-RJ45-SC1 DSI Splitter cable can be used to split the RJ45 connector on the drive into two RJ45 connectors.

1-4

Getting Started Multi-Drive mode enables increased connectivity, where one to five PowerFlex 4-Class drives can be connected per channel. All of the drives are daisy-chained to the 1769-SM2 module over RS-485 as shown in Figure 1.3.
Figure 1.3 Multi-Drive Mode Wiring Example

Up to 5 PowerFlex 4-Class drives

Wiring Tip: The 1769-SM2 has an integral terminating resistor for each channel. Thus, it is only necessary to connect a terminating resistor to the RJ45 terminal block at the last drive on each channel.

AK-U0-RJ45-TB2P Terminal Block Connectors User-Supplied Wire (recommend Belden No. 3105A or equivalent) 120 ohm, Watt Terminating Resistor

Up to 5 PowerFlex 4-Class drives

1769-SM2 Module
MODULE
CH1 CH2 CH3

CH1 CH2 CH3

C H 1

AK-U0-RJ45-TB2P Terminal Block Connectors User-Supplied Wire (recommend Belden No. 3105A or equivalent) 120 ohm, Watt Terminating Resistor

C H 2

C H 3

Up to 5 PowerFlex 4-Class drives

Earth Ground Connection

Ground Wire Connection (for network communication cable shielding)

AK-U0-RJ45-TB2P Terminal Block Connectors User-Supplied Wire (recommend Belden No. 3105A or equivalent) 120 ohm , Watt Terminating Resistor

Getting Started

1-5

In Multi-Drive mode, any channel can be configured for RTU Master operation (Figure 1.4). This enables connection of up to 31 RTU Slave devices, such as PowerFlex 7-Class drives with 20-COMM-H RS485 HVAC adapters.
Figure 1.4 Multi-Drive Mode and Modbus RTU Master Mode Wiring Example

CH1 - Multi-Drive Mode (up to 5 PowerFlex 4-Class Drives)

Wiring Tip: The 1769-SM2 has an integral terminating resistor for each channel. Thus, it is only necessary to connect a terminating resistor to the RJ45 terminal block at the last drive on each channel.

AK-U0-RJ45-TB2P Terminal Block Connectors User-Supplied Wire (recommend Belden No. 3105A or equivalent) 120 ohm, Watt Terminating Resistor

CH2 - Multi-Drive Mode (up to 5 PowerFlex 4-Class Drives)

1769-SM2 Module
MODULE
CH1 CH2 CH3

CH1 CH2 CH3

C H 1

AK-U0-RJ45-TB2P Terminal Block Connectors User-Supplied Wire (recommend Belden No. 3105A or equivalent) 120 ohm, Watt Terminating Resistor

C H 2

C H 3

Earth Ground Connection

CH3 - Modbus RTU Master Mode (up to 31 Devices)

PowerFlex 7-Class Drives with 20-COMM-H RS485 HVAC Communication Adapters

Ground Wire Connection (for network communication cable shielding)

Generic Modbus RTU Device

User-Supplied Wire (recommend Belden No. 3105A or equivalent)

...

120 ohm, Watt Terminating Resistor

1-6

Getting Started Benefits of Multi-Drive mode include: Lower hardware costs. Only one 1769-SM2 is needed for up to five PowerFlex 4-Class drives per channel (15 total). Controller can independently control, monitor, and read/write parameters for all five drives on each channel (same functionality as Single mode).

The trade-offs of Multi-Drive mode include: Since the RS-485 ports are used for daisy-chaining the drives, additional DSI peripheral devices cannot be used with the drives. This includes an optional, external PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S) or a 22-SCM-232 Serial Converter module with a software tool. The AK-U0-RJ45-SC1 DSI Splitter cable cannot be used to add a second connection for a DSI peripheral device.

Compatible Products
The 1769-SM2 module is compatible with Allen-Bradley PowerFlex 4-Class (Component class) drives and other products that support DSI. At the time of publication, compatible products include: PowerFlex 4 drives PowerFlex 4M drives PowerFlex 40 drives PowerFlex 40P drives PowerFlex 400 drives

When the 1769-SM2 is used in Multi-Drive as a Modbus RTU Master, other Modbus RTU Slave devices, such as PowerFlex 7-Class drives with 20-COMM-H RS485 HVAC adapters, can also be connected.

Required Equipment
Equipment Shipped with the Module
When you unpack the module, verify that the package includes: One 1769-SM2 module This manual

Getting Started

1-7

User-Supplied Equipment
To install and configure the 1769-SM2 module, you must supply: A small flathead screwdriver Communications cable 22-RJ45CBL-C20 - orAK-U0-RJ45-TB2P terminal block connectors (one for each channel connection and one for each drive connection) and twisted pair network wiring (Belden No. 3105A or equivalent) Configuration tool, such as: PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S) required to access module parameters if not using DriveExplorer software or DriveExecutive software DriveExplorer (version 3.01 or higher) DriveExecutive stand-alone software (version 4.01 or higher) or bundled with the DriveTools SP suite (version 4.01 or higher) RSNetWorx for DeviceNet Controller configuration software (such as RSLogix 500/5000)

Safety Precautions
Please read the following safety precautions carefully. ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove all power from the PowerFlex drive, and then verify power has been removed before installing or removing the module. ATTENTION: Risk of injury or equipment damage exists. Only personnel familiar with drive and power products and the associated machinery should plan or implement the installation, start-up, configuration, and subsequent maintenance of the product using the module. Failure to comply may result in injury and/or equipment damage. ATTENTION: Risk of injury or equipment damage exists. If the module is transmitting control I/O to the drive, the drive may fault when you reset the module. Determine how your drive will respond before resetting the module. ATTENTION: Risk of injury or equipment damage exists. When a system is configured for the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing.

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1-8

Getting Started

ATTENTION: Risk of injury or equipment damage exists. Parameters 04 - [Idle Action 1], 19 - [Idle Action 2], and 34 - [Idle Action 3] let you determine the action of the module and connected drives if communications are disrupted. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or a faulted controller). ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. ATTENTION: This equipment is intended for use in a Pollution Degree 2 industrial environment, in overvoltage Category II applications (as defined in IEC publication 60664-1), at altitudes up to 2000 meters without derating. This equipment is considered Group 1, Class A industrial equipment according to IEC/CISPR Publication 11. Without appropriate precautions, there may be potential difficulties ensuring electromagnetic compatibility in other environments due to conducted as well as radiated disturbance. This equipment is supplied as open type equipment. It must be mounted within an enclosure that is suitably designed for those specific environmental conditions that will be present and appropriately designed to prevent personal injury resulting from accessibility to live parts. The interior of the enclosure must be accessible only by the use of a tool. Subsequent sections of this publication may contain additional information regarding specific enclosure type ratings that are required to comply with certain product safety certifications. See NEMA Standards publication 250 and IEC publication 60529, as applicable, for explanations of the degrees of protection provided by different types of enclosure. Also, see the appropriate sections in this publication, as well as the Allen-Bradley publication 1770-4.1 (Industrial Automation Wiring and Grounding Guidelines), for additional installation requirements pertaining to this equipment.

Getting Started

1-9

Quick Start
This section is provided to help experienced users quickly start using the 1769-SM2 Compact I/O to DSI module. If you are unsure how to complete a step, refer to the referenced chapter.
Step 1 2 3 Action Review the safety precautions for the module. Verify that the drive is properly installed. Install the module. Verify that the controller is not powered. Connect the module to the controller backplane bus. Then connect the module to the drive(s) using communications cable 22-RJ45CBL-C20 or AK-U0-RJ45-TB2P terminal block connectors and communications network wiring. Apply power to the module. The module receives power from the controller. Apply power to the controller. The MODULE indicator should be green or flashing green. If it flashes red, there is a problem. Refer to Chapter 9, Troubleshooting. Configure the module for your application. Refer to Throughout This Manual Drive User Manual Chapter 2, Installing the Module

Chapter 3, Set the following parameters for the module as required Configuring the Module by your application:

6 7 8

I/O configuration. Fault actions. Apply power to the drive. Configure the controller to communicate with the module. Create a ladder logic program. Use a programming tool such as RSLogix to create a ladder logic program that enables you to: Control the module and connected drive. Monitor or configure the drive using Explicit Messages.

Drive User Manual Depending on the type of controller and 1769-SM2 operating mode: Chapter 6, MicroLogix 1500 Example Ladder Programs Chapter 7, CompactLogix Example Ladder Programs Chapter 8, ControlLogix w/ 1769-ADN DeviceNet Example Ladder Program

1-10

Getting Started

Status Indicators
The module uses four status indicators to report its operating status. They can be viewed on the front of the module (Figure 1.5).
Figure 1.5 Status Indicators

MODULE
MODULE
CH1 CH2 CH3

CH1

CH2

CH3

DSI

C H 1

C H 2

C H 3

Item

Name MODULE CH1 CH2 CH3

After installing the module and applying power to the drive(s), refer to Viewing Start-Up Status Indicators on page 2-15 for possible start-up status indications and their descriptions.

Chapter 2

Installing the Module

This chapter provides instructions for installing the 1769-SM2 as an expansion I/O module on MicroLogix 1500 and CompactLogix controllers, or with a remote 1769-based adapter.
Topic Preparing for an Installation Removing Power Setting the Configuration Mode Switch Setting the Operating Mode Switch (Single/Multi-Drive) Assembling the Module to the Controller Mounting the Module Replacing the Module within a System Connecting Drive(s) to the Module Grounding the Module Network Cable Strain Relief Applying Power Viewing Start-Up Status Indicators Page 2-1 2-2 2-3 2-4 2-5 2-6 2-9 2-10 2-12 2-14 2-14 2-15

Preparing for an Installation

Consider the following when installing the 1769-SM2 module: Verify that you have all required equipment. Refer to Required Equipment on page 1-6. A MicroLogix 1500 Base Unit or Compact I/O power supply has limits in the amount of +5V dc and +24V dc current it can supply to modules in its I/O bank. These limits depend on the catalog number (e.g. 1769-PA2) of the power supply. A bank of modules must not exceed the current limits of the MicroLogix 1500 Base Unit or I/O bank power supply. Refer to the MicroLogix 1500 User Manual (publication 1764-UM001) or the Compact 1769 Expansion I/O Power Supplies Installation Instructions (publication 1769-5.14). The module has a distance rating of four. Therefore, the module must be within four modules of the I/O banks power supply.

2-2

Installing the Module

ATTENTION: Risk of equipment damage exists. The 1769-SM2 module contains ESD (Electrostatic Discharge) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the module. If you are unfamiliar with static control procedures, refer to Guarding Against Electrostatic Damage (publication 8000-4.5.2).

Removing Power
ATTENTION: Risk of equipment damage exists. Remove power before installing or removing the 1769-SM2 module. When you install or remove the module with power applied, an electrical arc may occur. An electrical arc can cause personal injury or equipment damage by: Sending an erroneous signal to your systems field devices, causing unintended machine motion. Causing an explosion in a hazardous environment.

Electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance.

Installing the Module

2-3

Setting the Configuration Mode Switch

Before installing the module, make sure its Configuration Mode Switch is correctly set. See Configuration Methods on page 3-3 for details on the Controller and Parameter configuration modes. Then set the Configuration Mode Switch (SW1 in Figure 2.1) for your application.
Figure 2.1 Configuration Mode and Single/Multi-Drive Operation Switch Locations

Configuration Mode Switch (SW1)

(Controller Position)

(Parameter Position)

CONT 1X Operating Mode Switch (SW2) (Single Position)

PARAM 5X (Multi-Drive Position)

SW1 Setting CONT (Controller) back position

Description Default settingThe 1769-SM2 module uses the configuration data downloaded from the controller on power-up and when the controller is placed in run mode. PARAM (Parameter) The 1769-SM2 module uses its internal parameter settings to front position configure the module.

2-4

Installing the Module

Setting the Operating Mode Switch (Single/Multi-Drive)

Before installing the module, set its Operating Mode Switch (SW2 in Figure 2.1) for Single or Multi-Drive operation. All channels (CH1, CH2, and CH3) will operate in the selected mode.
SW2 Setting 1X (Single mode) back position Description Default setting sets the 1769-SM2 module for Single mode using a single drive connection (one drive per channel).

Important: In Single mode, only one drive can be connected per channel. Connections to multiple drives must be removed since all powered and connected hosts will respond to any message sent by the module. 5X (Multi-Drive mode) Sets the 1769-SM2 module for Multi-Drive mode using up to five front position PowerFlex 4-Class drives per channel. In Multi-Drive mode, DSI peripherals such as the 22-HIM-A3 / -C2S Human Interface Module, 22-SCM-232 serial converter, etc. CANNOT be used. They will not operate with the 1769-SM2 module or drives. The specific number of drives used in Multi-Drive mode for each channel and a unique address for each drive must be configured using 1769-SM2 module parameters. For instructions, see Setting the I/O Configuration (Multi-Drive Mode Only) on page 3-14 and Setting Drive Node Addresses (Multi-Drive Mode Only) on page 3-16. NOTE: In Multi-Drive mode, each channel can be independently configured for Modbus RTU Master operation by setting the respective channels [DSI I/O Cfg] parameter to 5 (RTU Master). This enables up to 31 RTU slave devices, such as PowerFlex 7-Class drives with 20-COMM-H RS485 HVAC adapters to be connected to that channel.

Important: A new switch setting is recognized only when power is applied to the module, or the module is reset. If you change a setting, cycle power or reset the module. The Configuration Mode Switch (SW1) and Operating Mode Switch (SW2) settings can be verified by respectively viewing module Parameters 01 - [Config Mode] and 02 - [DSI Mode] using an optional, external PowerFlex 4-Class HIM, DriveExplorer software or DriveExecutive software.

Installing the Module

2-5

Assembling the Module to the Controller

The 1769-SM2 module can be attached to adjacent controller modules before or after mounting. For mounting instructions, see Panel Mounting on page 2-6 or DIN Rail Mounting on page 2-8. To work with a system that is already mounted, see Replacing the Module within a System on page 2-9. Figure 2.2 and the following procedure describes how to assemble the Compact I/O system.
Figure 2.2 Assembling 1769-SM2 Module to Compact I/O System

A D E C B

B F
1. Disconnect power. 2. Check that the bus lever (A) of the 1769-SM2 module is in the unlocked (fully right) position.

3. Use the upper and lower tongue-and-groove slots (B) to secure the modules together. 4. Move the 1769-SM2 module back along the tongue-and-groove slots until the bus connectors (C) line up with each other. 5. Use your fingers or a small screwdriver to push the bus lever back slightly to clear the positioning tab (D). 6. Move the 1769-SM2 modules bus lever fully to the left (E) until it clicks. Ensure it is locked firmly in place. ATTENTION: Risk of equipment damage exists. When attaching the 1769-SM2 module to a Compact I/O system, it is very important that the bus connectors are securely locked together to ensure proper electrical connection. Failure to do this may cause an electrical arc, which can cause personal injury or equipment damage.

2-6

Installing the Module 7. Attach an end cap terminator (F) to the last module in the system by using the tongue-and-groove slots as before. 8. Lock the end cap bus terminator (G). Important: A 1769-ECR or 1769-ECL right or left end cap must be used to terminate the end of the serial communication bus.

Mounting the Module

ATTENTION: Risk of equipment damage exists. During panel or DIN rail mounting of all devices, be sure that all debris (metal chips, wire strands, etc.) is kept from falling into the 1769-SM2 module. Debris that falls into the module could cause damage on power up.

Minimum Spacing
Maintain spacing from enclosure walls, wireways, adjacent equipment, etc. Allow 50 mm (2 in.) of space on all sides for adequate ventilation as shown:

Top End Cap or Cable

Compact I/O

Compact I/O

Compact I/O

Compact I/O

Controller Side

Compact I/O

Side

Bottom

Allow at least 140 mm (5.5 in.) of enclosure depth to accommodate the 1769-SM2 module.

Panel Mounting
Mount the 1769-SM2 module to a panel using two screws per module. Use M4 or #8 panhead screws (not included). Mounting screws are required on every module.

Installing the Module Panel Mounting Using the Dimensional Drawing NOTE: All dimensions are in mm (inches). Hole spacing tolerance is 0.4 mm (0.016 in.).

2-7

Figure 2.3 1769-SM2 Module with MicroLogix 1500 Base Unit and Processor

Mounting Hole Dimension

168 mm (6.62 in) 147 mm (5.79 in)

35 mm (1.38 in) 35 mm (1.38 in)

28.5 mm (1.12 in)

DPI / SCANport

MODULE
CH1 CH2 CH3

59 mm (2.32 in)

122.6 mm (4.83 in)

C H 1

C H 2

59 mm (2.32 in)

C H 3

DIN Rail Center Line

13.5 mm (0.53 in)

14.7 mm (0.58 in)

Figure 2.4 1769-SM2 Module with CompactLogix Controller

Mounting Hole Dimension

50 mm (1.97 in) 40 mm (1.58 in)

35 mm (1.38 in) 35 mm (1.38 in)

70 mm (2.76 in) 35 mm 35 mm (1.38 in) (1.38 in)

35 mm (1.38 in) 35 mm (1.38 in)

28.5 mm (1.12 in)

DPI / SCANport

MODULE
CH1 CH2 CH3

59 mm (2.32 in)

122.6 mm (4.83 in)

C H 1

C H 2

59 mm (2.32 in)

C H 3

DIN Rail Center Line

14.7 mm (0.58 in)

147.4 mm (5.81 in)

132 mm (5.19 in)

118 mm (4.65 in)

147.4 mm (5.81 in)

118 mm (4.65 in)

132 mm (5.19 in)

2-8

Installing the Module

Figure 2.5 1769-SM2 Module with Remote 1769-Based Adapter

Mounting Hole Dimension

50 mm (1.97 in) 40 mm (1.58 in)

35 mm (1.38 in) 35 mm (1.38 in)

70 mm (2.76 in) 35 mm 35 mm (1.38 in) (1.38 in)

35 mm (1.38 in) 35 mm (1.38 in)

28.5 mm (1.12 in)

DPI / SCANport

MS

NS DIAG

MODULE
CH1 CH2 CH3

59 mm 59 mm (2.32 in) (2.32 in) 118 mm (4.65 in)

IO

122.6 mm (4.83 in)

C H 1

C H 2

C H 3

DIN Rail Center Line

14.7 mm (0.58 in)

Panel Mounting Procedure Using Module as a Template The following procedure enables you to use the assembled modules as a template for drilling holes in the panel. Due to module mounting hole tolerance, it is important to follow these steps: 1. On a clean work surface, assemble no more than three modules. 2. Using the assembled modules as a template, carefully mark the center of all module-mounting holes on the panel. 3. Return the assembled modules to the clean work surface, including any previously mounted modules. 4. Drill and tap the mounting holes for the recommended M4 or #8 screw (not included). 5. Place the modules back on the panel, and check for proper hole alignment. 6. Attach the modules to the panel using the mounting screws.

DIN Rail Mounting

The 1769-SM2 module can be mounted using these DIN rails: 35 x 7.5 mm (EN 50 022 - 35 x 7.5) 35 x 15 mm (EN 50 022 - 35 x 15) When mounting the module to a DIN rail, make sure that the latches are closed and properly securing the module.

147.4 mm (5.81 in)

132 mm (5.19 in)

Installing the Module

2-9

Replacing the Module within a System

The 1769-SM2 module can be replaced while the system is mounted to a panel (or DIN rail). ATTENTION: Risk of equipment damage exists. Remove power before installing or removing the 1769-SM2 module. When you install or remove the module with power applied, an electrical arc may occur. An electrical arc can cause personal injury or equipment damage by: Sending an erroneous signal to your systems field devices, causing unintended machine motion.

Causing an explosion in a hazardous environment. Electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance. 1. Remove power. 2. Unplug the communications cable from each port (CH1, CH2, CH3) on the 1769-SM2 module. Note each drive and the port to which it is connected. 3. Remove the upper and lower mounting screws from the module (or open the DIN latches using a flat-blade screwdriver). 4. On the right-side adjacent module, move its bus lever to the right (unlock) to disconnect it from the module being removed. 5. Gently slide the disconnected 1769-SM2 module forward. If you feel excessive resistance, make sure that you disconnected the module from the bus and that you removed both mounting screws (or opened the DIN latches). TIP: It may be necessary to rock the module slightly from front to back to remove it or, in a panel-mounted system, to loosen the screws of adjacent modules. 6. Before installing the replacement 1769-SM2 module, be sure that the bus lever on the right-side adjacent module is in the unlocked (fully right) position. 7. Slide the replacement 1769-SM2 module into the open slot.

2-10

Installing the Module 8. Connect the 1769-SM2 module and adjacent modules together by locking (fully left) the bus levers on the 1769-SM2 module and the right-side adjacent module. 9. Replace the mounting screws (or snap the module onto the DIN rail). 10. Plug the appropriate communications cable into its respective port on the 1769-SM2 module. 11. Restore 1769-SM2 module configuration using an appropriate configuration tool.

Connecting Drive(s) to the Module

NOTE: For Single or Multi-Drive mode, there is a maximum cable distance limit per channel. See DSI Cable Requirements on page A-2 for more information. For network wiring diagram examples, see the following figures:
1769-SM2 Operating Mode Single mode (Default) Multi-Drive mode Multi-Drive mode with Modbus RTU Master Network Wiring Diagram Example Figure 1.2 Figure 1.3 Figure 1.4

Single Mode
When the 1769-SM2 module is operated in Single drive mode, each drive is directly connected to a channel port (CH1, CH2 or CH3) on the module. Use either a 22-RJ45CBL-C20 communications cable for each channel or AK-U0-RJ45-TB2P terminal block connectors and twisted pair network wiring (Belden No. 3105A or equivalent). Important: When connecting a drive to the channel port using AK-U0-RJ45-TB2P terminal block connectors and twisted pair network wiring, the following drive parameters MUST be configured to the settings shown so that the 1769-SM2 module will communicate with the drive:
Drive Parameter A103 - [Comm Data Rate] A107 - [Comm Format] Setting 4 (19.2K) 0 (RTU 8-N-1)

Changes to these drive parameters require the drive to be reset for the new settings to take effect.

Installing the Module

2-11

When connecting a drive to the channel port using 22-RJ45CBL-C20 communications cable, the above drive parameters do not require configuration because the drive senses that a DSI peripheral is connected and it ignores these parameter settings.

Multi-Drive Mode
For Multi-Drive mode, each channel port MUST be connected to the drives via daisy-chaining using AK-U0-RJ45-TB2P terminal block connectors (one for the port connection and one for each drive connection) and twisted pair network wiring (Belden No. 3105A or equivalent). The 22-RJ45CBL-C20 communications cable and splitter cables cannot be used. Important: The following drive parameters MUST be configured to the settings shown so that the 1769-SM2 module will communicate with the drives:
Drive Parameter A103 - [Comm Data Rate] A104 - [Comm Node Addr] A107 - [Comm Format] Setting 4 (19.2K) Value of Drive Addr x parameter in the 1769-SM2 0 (RTU 8-N-1)

Changes to these drive parameters require the drive to be reset for the new settings to take effect.

2-12

Installing the Module

Grounding the Module

The 1769-SM2 module is intended to be mounted to a well-grounded mounting surface such as a metal panel. Additional grounding connections from the modules mounting tabs or DIN rail (if used) are not required unless the mounting surface cannot be grounded. Refer to Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1, for additional information.

Shielded Connector Grounding Requirements

When using the 22-RJ45CBL-20 cable, which has shielded connectors, the shields are all grounded to the chassis terminal block on the 1769-SM2 module (item 11 in Figure 1.1). However, the user must: Install a wire from the chassis terminal block on the 1769-SM2 module to a grounded, conductive surface (i.e. metal panel). See Figure 2.6. Remove the shield connection to chassis ground at the drive I/O block shield terminal.
Drive PowerFlex 4 PowerFlex 4M PowerFlex 40 PowerFlex 40P PowerFlex 400 Drive I/O Block Terminal 16 Terminal 16 Terminal 19 Terminal 19 Terminal 20

Figure 2.6 Shielded Connector Grounding Details

DSI / Modbus RTU

MODULE
CH1 CH2 CH3

C H 1

To Drive 1 To Drive 2 To Drive 3

C H 2

C H 3

Installing the Module

2-13

Unshielded Connector Grounding Requirements

When using twisted pair network wiring with unshielded AK-U0-RJ45-TB2P connectors, ground the RJ45 socket on the drive by connecting the drive chassis ground power terminal to the I/O block shield terminal.
Drive PowerFlex 4 PowerFlex 4M PowerFlex 40 PowerFlex 40P PowerFlex 400 Drive I/O Block Terminal 16 Terminal 16 Terminal 19 Terminal 19 Terminal 20

The 1769-SM2 modules RJ45 connectors (CH1, CH2, and CH3), which are electrically common, should be grounded by attaching a drain wire from the 1769-SM2 terminal block (item 11 in Figure 1.1) to a grounded, conductive surface (i.e. metal panel). If shielded cable (not required) is used, the cable shield should also be connected to the chassis by attaching the cable shield to the 1769-SM2 terminal block (Figure 2.7). Good wiring practice dictates that the cable shield be terminated to the chassis at only one point along the cable to prevent ground loops from occurring. The chassis terminal block on the 1769-SM2 module is provided as a convenient place for this termination.
Figure 2.7 Unshielded Connector Grounding Details

To Drive 1

To Drive 2

DSI / Modbus RTU

MODULE
CH1 CH2 CH3

...
To Drive 1 To Drive 2

C H 1

C H 2

...
To Drive 1 To Drive 2

C H 3

...

2-14

Installing the Module

Network Cable Strain Relief

Some type of strain relief should be provided for the communication cables within 12 inches (305 mm) of the 1769-SM2 module. This may include wireways, cable ties, panel mounted strain reliefs, or some other appropriate strain relief device.

Applying Power
ATTENTION: Risk of equipment damage, injury, or death exists. Unpredictable operation may occur if you fail to verify that parameter settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive. 1. Apply power to the controller. The status indicators can be viewed on the front of the 1769-SM2 module after power has been applied. 2. Apply power to the drive(s). When you apply power to the 1769-SM2 module, controller, and drives for the first time, the status indicators should be green after an initialization. If the status indicators go red, there is a problem. Refer to Chapter 9, Troubleshooting.

Installing the Module

2-15

Viewing Start-Up Status Indicators

Status indicators for the communication module can be viewed on the front of the module (Figure 2.8) after power has been applied. Possible start-up status indications are shown in Table 2.A.
Figure 2.8 Module Status Indictors

MODULE
MODULE
CH1 CH2 CH3

CH1

CH2

CH3

DSI

C H 1

C H 2

C H 3

Table 2.A Module Start-Up Status Indications Item Status Status(1) Description Indicator MODULE Green Normal Operation. The module has established communications with the controller. Flashing The module is establishing communications with the Green controller. CH1 Green Normal Operation. CH1 is operating and is transferring I/O data between the controller and the drive(s). Flashing Normal Operation. CH1 is operating but is not transferring Green I/O data between the controller and the drive(s). CH2 Green Normal Operation. CH2 is operating and is transferring I/O data between the controller and the drive(s). Flashing Normal Operation. CH2 is operating but is not transferring Green I/O data between the controller and the drive(s). CH3 Green Normal Operation. CH3 is operating and is transferring I/O data between the controller and the drive(s). Flashing Normal Operation. CH3 is operating but is not transferring Green I/O data between the controller and the drive(s).

(1)

If all status indicators are off, the module is not receiving power. Refer to Chapter 2, Installing the Module, for instructions on installing the module.

For more details on status indicator operation, see page 9-2 and page 9-3.

2-16

Installing the Module

Notes:

Chapter 3

Configuring the Module

This chapter provides instructions and information for setting the parameters in the 1769-SM2 module.
Topic Determining I/O Image Size Configuration Tools Configuration Methods Controller Mode Parameter Mode Using the Optional, External PowerFlex 4-Class HIM Setting the I/O Configuration (Multi-Drive Mode Only) Setting an Idle Action (Single and Multi-Drive Mode) Setting Drive Node Addresses (Multi-Drive Mode Only) Configuring the Modbus RTU Master Parameters Resetting the Module Viewing the Module Status Using Parameters Flash Updating the Module Page 3-1 3-2 3-3 3-3 3-12 3-13 3-14 3-15 3-16 3-17 3-20 3-21 3-22

For a list of parameters, refer to Appendix B, Module Parameters. For definitions of terms in this chapter, refer to the Glossary.

Determining I/O Image Size

Single Mode
When the module is in Single mode, the I/O image is comprised of a maximum of 7 words (Table 3.A).
Table 3.A I/O Image Table for Single Mode Output Image Module Control Word Logic Command Reference Input Image Module Status Word Logic Status Feedback CH1 1 2 Word CH2 0 3 4 CH3 5 6

TIP: When using Single mode, it is recommended to set the I/O size to 7 Input words and 7 Output words. This accommodates one drive per channel, even if a channel is left unused for future use.

3-2

Configuring the Module

Multi-Drive Mode
When the module is in Multi-Drive mode, the I/O image is comprised of a maximum of 31 words (Table 3.B).
Table 3.B I/O Image Table for Multi-Drive Mode Output Image Module Control Word Logic Command Reference Logic Command Reference Logic Command Reference Logic Command Reference Logic Command Reference Input Image Module Status Word Logic Status Feedback Logic Status Feedback Logic Status Feedback Logic Status Feedback Logic Status Feedback CH1 1 2 3 4 5 6 7 8 9 10 Word CH2 0 11 12 13 14 15 16 17 18 19 20 CH3 21 22 23 24 25 26 27 28 29 30

Drive 0 Drive 1 Drive 2 Drive 3 Drive 4

TIP: When using Multi-Drive mode, it is recommended to set the I/O size to 31 Input words and 31 Output words. This accommodates up to 5 drives per channel, even if a channel is left unused for future use. Configure a smaller I/O size only if there is a limited amount of I/O available on a controller. For additional information on configuring the I/O image size, refer to Chapter 4, Understanding the I/O Image.

Configuration Tools
The 1769-SM2 module stores parameters and other information in its own non-volatile memory. You must, therefore, access the module to view and edit its parameters. The following tools can be used to access the module parameters:
Tool PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S) DriveExplorer Software (version 3.01 or higher) DriveExecutive Software (version 4.01 or higher) RSLogix 500 RSLogix 5000 RSNetWorx for DeviceNet Refer to Page 3-13 http://www.ab.com/drives/driveexplorer, or DriveExplorer online help (installed with the software) http://www.ab.com/drives/drivetools, or DriveExecutive online help (installed with the software) LG500-GR001 9399-RLD300GR DNET-GR001

Configuring the Module

3-3

Configuration Methods
The 1769-SM2 module has two methods of configuration, which are determined by the Configuration Mode Switch (SW1 in Figure 2.1): Controller modeThe 1769-SM2 uses the configuration data downloaded from the controller on power-up and when the controller is placed in run mode. The data is configured using RSLogix 500, RSLogix 5000 or RSNetWorx for DeviceNet. Parameter modeThe 1769-SM2 uses its internal parameter settings to configure the module. The data is configured using an optional, external PowerFlex 4-Class HIM, DriveExplorer, or DriveExecutive. Only one method can be selected, and it is used for all three channels.

Controller Mode
When the Configuration Mode Switch (SW1 in Figure 2.1) is in the default CONT (Controller) position, the 1769-SM2 uses the configuration data downloaded from the controller on power-up and when the controller is placed in run mode. Depending on the controller, configuration data is allocated and entered using RSLogix500 or RSLogix 5000.

Configuration Data
The 1769-SM2 module contains a set of 42 words of configuration data that is used to configure the module's behavior (Table 3.C). A software tool, such as RSLogix 500, RSLogix 5000 or RSNetWorx for DeviceNet is used to read/write the configuration data.
Table 3.C 1769-SM2 Module Configuration Data Parameter Name Idle Action Flt Cfg Logic Flt Cfg Ref DSI I/O Cfg Drive 0 Addr Drive 1 Addr Drive 2 Addr Drive 3 Addr Drive 4 Addr RTU Baud Rate RTU Format RTU Rx Delay RTU Tx Delay RTU Msg Timeout CH1 Word 0 Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Word 7 Word 8 Word 9 Word 10 Word 11 Word 12 Word 13 CH2 Word 14 Word 15 Word 16 Word 17 Word 18 Word 19 Word 20 Word 21 Word 22 Word 23 Word 24 Word 25 Word 26 Word 27 CH3 Word 28 Word 29 Word 30 Word 31 Word 32 Word 33 Word 34 Word 35 Word 36 Word 37 Word 38 Word 39 Word 40 Word 41

3-4

Configuring the Module The configuration data directly correlates to the module parameters. Refer to Appendix B for more information.

Entering MicroLogix 1500 Configuration Data Using RSLogix 500 Before v6.30
Earlier versions of RSLogix 500 can be used, but the configuration data must be entered in raw form in a Data Config table following the format in Table 3.C. However, RSLogix 500 v6.30 (or higher) is highly recommended for use with the 1769-SM2 because it contains a dedicated I/O configuration window for the module to simplify the configuration process. Version 6.30 is also required to perform explicit messaging, such as parameter reads/writes.

Entering MicroLogix 1500 Configuration Data Using RSLogix 500 v6.30 (or higher)
Allocate and enter the configuration data by performing these steps: 1. In the RSLogix 500 treeview, double-click on I/O Configuration to open the I/O Configuration window. Double-click the 1769-SM2 in the Current Cards Available list to add the module to the controller system. Select the 1769-SM2 row and click the Adv Config command button. The 1769-SM2 I/O Configuration window (Figure 3.1) appears.
Figure 3.1 I/O Configuration Window and Expansion General Configuration Screen

Configuring the Module

3-5

2. Enter the Series letter of the 1769-SM2, which can be determined by checking the data nameplate label on the module (item 9 in Figure 1.1). The I/O image of the module can be up to 31 words of Input and 31 words of Output, depending on the mode selected (Single or Multi-Drive) and the number of drives connected. A Single mode system with one drive on each channel requires 7 Input words and 7 Output words. A Multi-Drive mode system with five drives on each channel requires 31 Input words and 31 Output words. See Table 3.A or Table 3.B to determine the number of Input Words and Output Words to enter for your system. The Extra Data Length field can only be set to a size of 0 or 42. If the controller will contain the configuration data for download to the 1769-SM2 module (Configuration Mode Switch SW1 set to CONT position), set this value to 42. If the configuration data will be contained in the 1769-SM2 parameters (Configuration Mode Switch SW1 set to PARAM position), this value should be set to 0. See Table 3.C for descriptions of these configuration words.
Figure 3.2 Expansion General Configuration Tab Screen

3-6

Configuring the Module 3. Click on the Chan. 1 tab (Figure 3.3) and set the I/O Config data area accordingly. In this example, the 1769-SM2 is configured to fault if the controller is switched to Program mode, and one drive is connected at node address 100.
Figure 3.3 Chan. 1 Tab Data Example Screen

Important: When using Multi-Drive mode, the node addresses entered in the Drive Addr x fields must match the corresponding drive Parameter 104 - [Comm Node Addr] value in the PowerFlex 4-Class drives so that the 1769-SM2 module will communicate with the drives. Note that the DSI Fault Config settings can only be accessed if the Idle Action is set to Send Flt Cfg (Figure 3.4).

Configuring the Module

Figure 3.4 Chan. 1 Tab Data Screen with Idle Action - Send Flt Cfg Enabled

3-7

4. For each additional channel being used, select its respective tab, set the desired I/O configuration, and enable the appropriate idle action. TIP: Alternatively, data can be entered on the Generic Extra Data Config tab (shown in Figure 3.5 for identification purposes only). However, with the easy-to-use Chan.1, Chan. 2, and Chan. 3 tabs, there is no need to enter data on the Generic Extra Data Config tab. But as a useful reference, this tab does show how the controller stores the data in the configuration words.
Figure 3.5 Generic Extra Data Config Tab Screen

3-8

Configuring the Module See Table 3.C for descriptions of these configuration words. 5. Click OK when finished. The MicroLogix 1500 will download the configuration data to the 1769-SM2 module when the controller is placed in run mode. Special Case Data Entry for 2 Stop Bits Communication The Chan.1, Chan. 2, and Chan 3 tabs do not allow settings that specify 2 stop bits communication in Modbus RTU operation. For this type of configuration, you must use the Generic Extra Data Config tab to enter the data by performing these steps: 1. To configure a specific 1769-SM2 module channel for 2 stop bits communication, click on the Generic Extra Data Config tab. 2. On the Generic Extra Data Config tab screen, enter the appropriate values from Table 3.D in the offset addresses highlighted in Figure 3.6.
Figure 3.6 Entering Data for 2 Stop Bits on Generic Extra Data Config Screen

Table 3.D Entry Data for 2 Stop Bits Communication 1769-SM2 CH 1 Offset Address 10 Value 3 4 5 3 4 5 3 4 5 Description Sets CH1 for 8-N-2 format Sets CH1 for 8-E-2 format Sets CH1 for 8-O-2 format Sets CH2 for 8-N-2 format Sets CH2 for 8-E-2 format Sets CH2 for 8-O-2 format Sets CH3 for 8-N-2 format Sets CH3 for 8-E-2 format Sets CH3 for 8-O-2 format

24

38

Configuring the Module

3-9

3. Click OK to apply the changes and close the screen. However, if you click Apply or leave this tab to go to another tab, you may see this message dialog box. If so, click Yes to apply the changes.

Entering CompactLogix Configuration Data Using RSLogix 5000 v10 (or higher)
Allocate and enter the configuration data by performing these steps: 1. In the RSLogix 5000 treeview, right-click on CompactBus Local and select New Module.
Figure 3.7 Treeview Window with New Module Inset Screen

2. After the Select Module Type screen (Figure 3.8) appears, select the 1769-MODULE and click OK.

3-10

Configuring the Module

Figure 3.8 Select Module Type Screen

3. After the Module Properties screen (Figure 3.9) appears, enter a name for the module, such as My_1769_SM2. Change the Comm Format to Data - INT, which will enable the entry of Output Connection parameters (no longer grayed out). Enter the Slot location of the 1769-SM2. Enter the desired Input and Output word length (see Table 3.A or Table 3.B) and Configuration data size (Table 3.C). Click Next >.
Figure 3.9 Module Properties Screen

4. On the Module Properties last screen (Figure 3.10), click Finish >>.

Configuring the Module

Figure 3.10 Module Properties Last Screen

3-11

5. The treeview (Figure 3.11) now shows the 1769-MODULE.

Figure 3.11 RSLogix 5000 Treeview with Listed 1769-MODULE

6. Double-clicking on the Controller Tags or Program Tags in the treeview will display the various tags, including the tags for the 1769-SM2 module (Figure 3.12). Click on the Monitor Tags tab at the bottom of the window to enter the configuration data.
Figure 3.12 Controller Tags Screen

NOTE: RSLogix 5000 may create a data array that is much larger than the 42 words previously specified when the module was configured. Use words 041 and ignore all other words (42+). Refer to Table 3.C for configuration data words and parameter descriptions. Also note that the data entry format in Figure 3.12 is hexadecimal (16#). To change the format, click on the appropriate field in the Style column. The CompactLogix will download the configuration data to the 1769-SM2 module on power-up.

3-12

Configuring the Module

Parameter Mode
When the Configuration Mode Switch (SW1 in Figure 2.1) is in the PARAM (Parameter) position, the 1769-SM2 uses its internal parameter settings to configure the module. If any configuration data is downloaded by the controller, it will be ignored. Important: When the Parameter mode is used, the configuration data size in the controller should be set to 0. See Controller Mode on page 3-3 for more information. Host PowerFlex 4-Class drives can use this feature since connected DSI peripheral devices (optional, external PowerFlex 4-Class HIMs, DriveExplorer with 22-SCM-232, etc.) can access the 1769-SM2 module directly. However, the 1769-SM2 module must be set to Single mode for these DSI peripherals to work with the module.
Figure 3.13 DriveExplorer Window with Mapped 1769-SM2 Compact I/O Module

Configuring the Module

3-13

Using the Optional, External PowerFlex 4-Class HIM

When using the 1769-SM2 module in Single mode, the optional, external PowerFlex 4-Class HIM (Human Interface Module) can be used to access its parameters. Basic steps to access module parameters using the HIM are shown in Table 3.E. For additional HIM information, refer to the PowerFlex 4-Class HIM Quick Reference (publication 22HIM-QR001).
Table 3.E Accessing Module Parameters Using the HIM (22-HIM-A3 or 22-HIM-C2S) Step Example Screens 1. Power up the drive. Then plug the Parameters external HIM into the bottom of the Groups drive. The Parameters menu for the Linear List drive will be displayed. Changed Params
DIAG PARAM DSEL MEM SEL

2.

Press Sel key once to display the Device Select menu.

Device Select DSI Devices

DIAG PARAM DSEL

MEM

SEL

3.

Press (Enter) key to display the DSI Devices menu. Press Arrow to scroll to 1769-SM2.

DSI Devices PowerFlex 40 1769-SM2

4.

Press (Enter) key to select the 1769-SM2. The Parameters menu for the module will be displayed.

Parameters Linear List Changed Params

DIAG PARAM DSEL

MEM

SEL

5.

Press (Enter) key to access the parameters. Edit the module parameters using the same techniques that you use to edit drive parameters.

Mode Parameter: 0 = Controller

VALUE LIMITS

RO # 001

SEL

3-14

Configuring the Module

Setting the I/O Configuration (Multi-Drive Mode Only)

The I/O configuration sets the number of drives that are connected to each channel. When the 1769-SM2 module is used in Single mode (Operating Mode Switch SW2 set to 1X), only one PowerFlex 4-Class drive can be connected to each channel and module Parameters 07 [DSI I/O Cfg 1], 22 - [DSI I/O Cfg 2], and 37 - [DSI I/O Cfg 3] have no effect. When the module is used in Multi-Drive mode (Operating Mode Switch set to 5X), up to five PowerFlex 4-Class drives can be connected to each channel. When a channel is selected for Modbus RTU Master operation, up to 31 devices can be connected. 1. Set the value in Parameters 07 - [DSI I/O Cfg 1], 22 - [DSI I/O Cfg 2], and 37 - [DSI I/O Cfg 3] to respectively configure each module channel for the number of drives being used in Multi-Drive mode.
Figure 3.14 Example I/O Cfg Screen for CH1 Drive(s) in Multi-Drive Mode DSI I/O Cfg 1 Parameter: Drives 04
VALUE LIMITS

# 4

007

SEL

Value 0 1 2 3 4 5

Mode Switch Position Description Single Multi-Drive Drive 0 (Default) Drives 01 Drives 02 Drives 03 Drives 04 RTU Master Not Applicable

Each drive (Drive 0, Drive 1, etc.) on the node must be assigned a node address [see Setting Drive Node Addresses (Multi-Drive Mode Only) on page 3-16]. For more information on Multi-Drive mode and RTU Master mode, refer to the Multi-Drive Mode section in the chapter corresponding to your controller type: Chapter 6, MicroLogix 1500 Example Ladder Programs Chapter 7, CompactLogix Example Ladder Programs Chapter 8, ControlLogix w/1769-ADN DeviceNet Example Ladder Program 2. Configure the parameters in each enabled drive to accept the Logic Command and Reference from the 1769-SM2 module. For example, set PowerFlex 4/40/400 drive Parameters 36 - [Start Source] and 38 [Speed Reference] to 5 (Comm Port) so that the drive uses the Reference from the 1769-SM2 module. 3. Reset the module (see Resetting the Module on page 3-20).

Configuring the Module

3-15

Setting an Idle Action (Single and Multi-Drive Mode)

By default, when the controller is idle, the drive responds by faulting when using I/O from the 1769-SM2 module. You can respectively configure a different response to an idle controller using Parameters 04 - [Idle Action 1], 19 - [Idle Action 2], and 34 - [Idle Action 3] for each channels connected drives. ATTENTION: Risk of injury or equipment damage exists. Parameters 04 - [Idle Action 1], 19 - [Idle Action 2], and 34 - [Idle Action 3] let you determine the action of each respective channels connected PowerFlex 4-Class drives when the controller is idle. By default, each parameter faults its respective channels drives. You can set each parameter so that the respective channels drives continue to run. Precautions should be taken to ensure that the settings of these parameters do not create a hazard of injury or equipment damage.

Changing the Idle Action

Set the values of Parameters 04 - [Idle Action 1], 19 - [Idle Action 2], and 34 - [Idle Action 3] to the desired responses:
Value 0 1 2 3 4 Action Fault (default) Stop Zero Data Description The drive(s) is faulted and stopped. (Default) The drive(s) is stopped, but not faulted. The drive(s) is sent 0 for Logic Command and Reference after a communications disruption. This does not command a stop. Hold Last The drive(s) continues in its present state after a communications disruption. Send Flt Cfg The drive(s) is sent the data that you set in the fault configuration parameters. For: CH1 drives, Parameters 05 - [Flt Cfg Logic 1] and 06 - [Flt Cfg Ref 1] CH2 drives, Parameters 20 - [Flt Cfg Logic 2] and 21 - [Flt Cfg Ref 2] CH3 drives, Parameters 35 - [Flt Cfg Logic 3] and 36 - [Flt Cfg Ref 3]

Figure 3.15 Example Idle Action HIM Screen for CH1 Drive(s) Idle Action 1 Parameter: Fault
VALUE LIMITS

# 0

004

SEL

Changes to these parameters take effect immediately. A reset is not required. Important: In Multi-Drive mode, the same fault action is used by all of that channels connected drives (Drive 0Drive 4).

3-16

Configuring the Module

ATTENTION: Idle Action is NOT available for RTU Master operation in Multi-Drive mode. The connected RTU Slave devices will take their respective internal fault actions in response to receiving no communications from the 1769-SM2 module.

Setting the Fault Configuration Parameters

If you set Parameter 04 - [Idle Action 1], 19 - [Idle Action 2], or 34 [Idle Action 3] to Send Flt Cfg, the values in the following 1769-SM2 module parameters are sent to the drive after an idle action occurs. You must set these parameters to values required by your application.
Parameter No. CH1 CH2 CH3 Name 05 20 35 Flt Cfg Logic 06 21 36 Flt Cfg Ref Description A 16-bit value sent to the drive for Logic Command. Refer to Appendix D for a description of the Logic Command bits. A 16-bit value sent to the drive as a Reference. Format is: xxx.x Hz. for PowerFlex 4/4M/40/40P drives xxx.xx Hz. for PowerFlex 400 drives

Changes to these parameters take effect immediately. A reset is not required.

Setting Drive Node Addresses (Multi-Drive Mode Only)

When using the 1769-SM2 module in Multi-Drive mode, a unique node address must be set for each drive. Use the following parameters to set the drive node addresses:
For CH1 Drives For CH2 Drives For CH3 Drives Parameters 09 - [Drv 0 Addr 1] through 13 - [Drv 4 Addr 1] Parameters 24 - [Drv 0 Addr 2] through 28 - [Drv 4 Addr 2] Parameters 39 - [Drv 0 Addr 3] through 43 - [Drv 4 Addr 3]

Important: The setting for each of these parameters must match the drive Parameter 104 - [Comm Node Addr] value for each respective drive. Each drive node address must be unique (no duplicate node addresses).
Figure 3.16 Example Node Address HIM Screen for CH1 Drive 0 Drv 0 Addr 1 Parameter: 100
VALUE LIMITS SEL

009

Default: 100 Minimum: 1 Maximum: 247

Configuring the Module

3-17

Configuring the Modbus RTU Master Parameters

In Multi-Drive mode, any module channel can be configured for RTU Master operation by setting Parameter 07 - [DSI I/O Cfg 1], 22 - [DSI I/O Cfg 2] or 37 - [DSI I/O Cfg 3] to 5 (RTU Master). When doing this, additional Modbus RTU Master parameters must be set to complete that channels configuration.

Setting the RTU Baud Rate

By default, each channel set for RTU Master operation uses a 38.4K baud rate. The values of Parameters 14 - [RTU Baud Rate 1], 29 [RTU Baud Rate 2], and 44 - [RTU Baud Rate 3] set the specific baud rate used by the respective channel to communicate. 1. Set the values of Parameters 14 - [RTU Baud Rate 1], 29 - [RTU Baud Rate 2], and 44 - [RTU Baud Rate 3] to the specific baud rate at which that channel communicates.
Figure 3.17 Example RTU Baud Rate HIM Screen for CH1 Drives RTU Baud Rate 1 Parameter: 0
VALUE LIMITS SEL

014

Value 0 1 2 3 4 5 6 7

Baud Rate 38.4K bits/sec (default) 19200 bits/sec 9600 bits/sec 4800 bits/sec 2400 bits/sec 1200 bits/sec 600 bits/sec 300 bits/sec

2. Reset the module (see Resetting the Module on page 3-20).

Selecting the RTU Format

By default, each channel set for RTU Master operation uses an RTU format of 8-N-1. The RTU format consists of data bits (8 data bits only), parity (None, Even or Odd), and stop bits (1 or 2). 1. Set the values of Parameters 15 - [RTU Format 1], 30- [RTU Format 2], and 45 - [RTU Format 3] to match the communication format required for the respective channel.

3-18

Configuring the Module

Figure 3.18 Example RTU Format HIM Screen for CH1 Drives RTU Format 1 Parameter: 0
VALUE LIMITS SEL

015

Value 0 1 2 3 4 5

Format 8-N-1 (default) 8-E-1 8-O-1 8-N-2 8-E-2 8-O-2

2. Reset the module (see Resetting the Module on page 3-20).

Setting the RTU Rx Delay Time

1. Set the values of Parameters 16 - [RTU Rx Delay 1], 31- [RTU Rx Delay 2], and 46 - [RTU Rx Delay 3] to establish the inter-character delay time that detects the end of a receive packet for the respective channel.
Figure 3.19 Example RTU Rx Delay HIM Screen for CH1 Drives RTU Rx Delay 1 Parameter: 0
VALUE LIMITS SEL

016

Default: 0 milliseconds Minimum: 0 milliseconds Maximum: 500 milliseconds

TIP: If the Modbus RTU slave is a PowerFlex 4-Class drive, set the value of [RTU Rx Delay x] to 2 milliseconds when the value of [RTU Baud Rate x] is 19200. 2. Reset the module (see Resetting the Module on page 3-20).

Setting the RTU Tx Delay Time

1. Set the values of Parameters 17 - [RTU Tx Delay 1], 32- [RTU Tx Delay 2], and 47 - [RTU Tx Delay 3] to establish the inter-frame delay time that delays the sending of a transmit packet for the respective channel.

Configuring the Module

Figure 3.20 Example RTU Tx Delay HIM Screen for CH1 Drives RTU Tx Delay 1 Parameter: 0
VALUE LIMITS SEL

3-19

017

Default: 0 milliseconds Minimum: 0 milliseconds Maximum: 500 milliseconds

TIP: If the Modbus RTU slave is a PowerFlex 4-Class drive, set the value of [RTU Tx Delay x] to 8 milliseconds when the value of [RTU Baud Rate x] is 19200. 2. Reset the module (see Resetting the Module on page 3-20).

Setting the RTU Message Timeout

1. Set the values of Parameters 18 - [RTU MsgTimeout 1], 33- [RTU MsgTimeout 2], and 48 - [RTU MsgTimeout 3] to establish the amount of time that the module will wait for a response from the respective channels drives.
Figure 3.21 Example RTU MsgTimeout HIM Screen for CH1 Drives RTU MsgTimeout 1 Parameter: 2
VALUE LIMITS SEL

018

Default: 2 seconds Minimum: 0 seconds Maximum: 60 seconds

Important: The RTU Message Timeout value must be considered when determining the timeout values in the slave nodes. For example, if five RTU messages are being sent to a slave node and the slave is powered down, the overall network cycle time can increase by as much as 10 seconds (5 messages x 2 seconds timeout for each slave node). 2. Reset the module (see Resetting the Module on page 3-20). TIP: When configured for RTU Master operation, the RTU Slave addresses do not get assigned with parameter values. The Slave address is contained in the message data as described in Chapter 5.

3-20

Configuring the Module

Resetting the Module

Changes to switch settings and some module parameters require that you reset the 1769-SM2 module before the new settings take effect. You can reset the module by cycling power to the module or by using Parameter 03 - [Reset Module]. ATTENTION: Risk of injury or equipment damage exists. If the module is transmitting control I/O to the drive, the drive may fault when you reset the module. Determine how your drive will respond before resetting a connected module. Set Parameter 03 - [Reset Module] to 1 (Reset Module):
Figure 3.22 Example Reset Module HIM Screen Reset Module Parameter: Ready
VALUE LIMITS

# 0

003

Value 0 1 2

Description Ready (Default) Reset Module Set Defaults

SEL

When you enter 1 (Reset Module), the module will be immediately reset. When you enter 2 (Set Defaults), the module will set all module parameters to their factory-default settings. After performing a Set Defaults, enter 1 (Reset Module) so that the new values take effect. The value of this parameter will be restored to 0 (Ready) after the module is reset.

Configuring the Module

3-21

Viewing the Module Status Using Parameters

The following parameters provide information about the status of the 1769-SM2 module. You can view these parameters at any time.
Parameter 01 - [Config Mode] 02 - [DSI Mode] 08 - [DSI I/O Act 1] Description The module configuration mode (Controller or Parameters). The module operating mode (Single or Multi-Drive). The CH1 drives that are active in Multi-Drive mode.
Bit Definition Default Bit Not Used Not Used Not Used Drive 4 Drive 3 Drive 2 Drive 1 Drive 0 x x x 0 0 0 0 1 7 6 5 4 3 2 1 0 0 = Drive Active 1 = Drive Inactive Not Used Not Used Not Used Drive 4 Drive 3 Drive 2 Drive 1 Drive 0 x x x 0 0 0 0 1 7 6 5 4 3 2 1 0 0 = Drive Active 1 = Drive Inactive Not Used Not Used Not Used Drive 4 Drive 3 Drive 2 Drive 1 Drive 0 x x x 0 0 0 0 1 7 6 5 4 3 2 1 0 0 = Drive Active 1 = Drive Inactive

09 - [Drv 0 Addr 1] 10 - [Drv 1 Addr 1] 11 - [Drv 2 Addr 1] 12 - [Drv 3 Addr 1] 13 - [Drv 4 Addr 1] 23 - [DSI I/O Act 2]

The node addresses of the daisy-chained CH1 drives (only when in Multi-Drive mode). Important: The setting for each of these parameters must match the drive Parameter 104 - [Comm Node Addr] value for each respective drive. Each drive node address must be unique (no duplicate node addresses). The CH2 drives that are active in Multi-Drive mode.
Bit Definition Default Bit

24 - [Drv 0 Addr 2] 25 - [Drv 1 Addr 2] 26 - [Drv 2 Addr 2] 27 - [Drv 3 Addr 2] 28 - [Drv 4 Addr 2] 38 [DSI I/O Act 3]

The node addresses of the daisy-chained CH2 drives (only when module is operated in Multi-Drive mode). Important: The setting for each of these parameters must match the drive Parameter 104 - [Comm Node Addr] value for each respective drive. Each drive node address must be unique (no duplicate node addresses). The CH3 drives that are active in Multi-Drive mode.
Bit Definition Default Bit

39 - [Drv 0 Addr 3] 40 - [Drv 1 Addr 3] 41 - [Drv 2 Addr 3] 42 - [Drv 3 Addr 3] 43 - [Drv 4 Addr 3]

The node addresses of the daisy-chained CH3 drives (only when module is operated in Multi-Drive mode). Important: The setting for each of these parameters must match the drive Parameter 104 - [Comm Node Addr] value for each respective drive. Each drive node address must be unique (no duplicate node addresses).

3-22

Configuring the Module

Flash Updating the Module

The adapter can be flash updated over the network (via EtherNet/IP using DriveExplorer Full only) or serially through a direct connection from a computer to the drive using a 1203-USB converter or 22-SCM-232 serial converter module (firmware v2.005 or higher). Not all flash methods (DriveExplorer Lite/Full, ControlFLASH or HyperTerminal) can be used successfully in all cases. Depending on the controller and the operating mode of the 1769-SM2 module, these flash methods can be used:
Controller MicroLogix 1500 1769-SM2 Operating Mode Single Flash Methods to Use DriveExplorer Lite/Full, ControlFLASH or HyperTerminal via a 1203-USB or 22-SCM-232 converter Must first change the 1769-SM2 operating mode from Multi-Drive to Single before flashing. Then flash using any of the methods listed in the row above. DriveExplorer Lite/Full, ControlFLASH or HyperTerminal via a 1203-USB or 22-SCM-232 converter ControlFLASH via the CompactLogix controller backplane ControlFLASH via the CompactLogix controller backplane

Multi-Drive

CompactLogix

Single

Multi-Drive

Important: In ALL cases, the controller must be set to Program modenot the Run modeto successfully flash the 1769-SM2 module. To obtain a flash update for this adapter, go to http://www.ab.com/ support/abdrives/webupdate. This site contains all firmware update files and associated Release Notes that describe firmware update enhancements/anomalies, how to determine the existing firmware version, and how to flash update using DriveExplorer Lite/Full, ControlFLASH or HyperTerminal.

Chapter 4

Understanding the I/O Image

This chapter provides information and examples of the 1769-SM2 module I/O image, including Module Control/Status, Logic Command/ Status, and Reference/Feedback.
Topic Module Control Word Module Status Word Using Logic Command/Status Using Reference/Feedback Page 4-2 4-3 4-4 4-4

The I/O image for the 1769-SM2 module varies based on its selected operating mode (Single or Multi-Drive), and the settings for Parameters 07 - [DSI I/O Cfg 1], 22 - [DSI I/O Cfg 2], and 37 - [DSI I/O Cfg 3].
Table 4.A 1769-SM2 Module I/O Image Table for Single Mode Output Image Module Control Word Logic Command Reference Input Image Module Status Word Logic Status Feedback CH1 1 2 Word CH2 0 3 4 CH3 5 6

Table 4.B 1769-SM2 Module I/O Image Table for Multi-Drive Mode Output Image Module Control Word Logic Command Reference Logic Command Reference Logic Command Reference Logic Command Reference Logic Command Reference Input Image Module Status Word Logic Status Feedback Logic Status Feedback Logic Status Feedback Logic Status Feedback Logic Status Feedback CH1 1 2 3 4 5 6 7 8 9 10 Word CH2 0 11 12 13 14 15 16 17 18 19 20 CH3 21 22 23 24 25 26 27 28 29 30

Drive 0 Drive 1 Drive 2 Drive 3 Drive 4

Note that the I/O words for each channel are contiguous, keeping the required I/O space to a minimum. For example, to connect one PowerFlex 40 drive in Single mode and perform control (Logic Command/Status and Reference/Feedback), only 3 words of I/O are

4-2

Understanding the I/O Image needed. Likewise, five PowerFlex drives on CH1 in Multi-Drive mode using control would require 11 words of I/O. TIP: To minimize the number of I/O words needed, connect the drive(s) starting with CH1, followed by CH2, and then CH3.
Table 4.C 1769-SM2 Module I/O Image Examples

CH1 Operating Parameter 07 Mode [DSI I/O Cfg 1] Single 0 (Drive 0) 0 (Drive 0) 4 (Drive 04) Multi-Drive 4 (Drive 04) 4 (Drive 04)
(1) (2)

CH2 Parameter 22 [DSI I/O Cfg 2] 0 (Drive 0) 0 (Drive 0) 0 (Drive 0) 4 (Drive 04) 4 (Drive 04)

CH3 Parameter 37 [DSI I/O Cfg 3] 0 (Drive 0) 0 (Drive 0) 0 (Drive 0) 0 (Drive 0) 4 (Drive 04)

Maximum I/O Words Used 7 23 23 (1) 23 (2) 31

Maximum Drives Connected 3 (1/channel) 3 (1/channel) 7 (5/CH1, 1/CH2, and 1/CH3) 11 (5/CH1, 5/CH2, and 1/CH3) 15 (5/each CH)

If CH2 and CH3 would not be used (only 5 drives connected to CH1), the I/O size in the RSLogix 500/5000 module configuration window could be set to 11 instead of 23 to save I/O space. If CH3 would not be used (only CH1 and CH2 have 5 drives each), the I/O size in the RSLogix 500/5000 module configuration window could be set to 21 instead of 23 to save I/O space.

Module Control Word

The Module Control Word (output word 0) is used for all channels, where:
Bit # 0 1 2 Name Channel 1 Enable Channel 2 Enable Channel 3 Enable Description 0 = Disables sending output data (Logic Command/ Reference) to the respective channels drive(s). All input (Logic Status/Feedback) data is zeroed (0) to indicate that the data is no longer being updated. 1 = Enables sending output data (Logic Command/ Reference) to the respective channels drive(s). All respective input data will also be updated. 315 Not used Reserved for future use.

The Module Control Word is a master enable/disable switch for communications on each channel when using the module in Single or Multi-Drive mode (only DSI operation). The actual output/input data being sent/received is determined by Parameter 07 - [DSI I/O Cfg 1], Parameter 22 - [DSI I/O Cfg 2], and Parameter 37 - [DSI I/O Cfg 3]. Important: If the Channel x Enable bit is transitioned from ON (1) to OFF (0), the connected PowerFlex 4-Class drives will fault. The Channel x Enable bits are not used when the module is configured for Modbus RTU Master operation in Multi-Drive mode.

Understanding the I/O Image

4-3

Module Status Word

The Module Status Word (input word 0) is used for all channels, where:
Bit # Bit Name 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 CH1 Logic Status 0 Valid CH1 Logic Status 1 Valid CH1 Logic Status 2 Valid CH1 Logic Status 3 Valid CH1 Logic Status 4 Valid CH2 Logic Status 0 Valid CH2 Logic Status 1 Valid CH2 Logic Status 2 Valid CH2 Logic Status 3 Valid CH2 Logic Status 4 Valid CH3 Logic Status 0 Valid CH3 Logic Status 1 Valid CH3 Logic Status 2 Valid CH3 Logic Status 3 Valid CH3 Logic Status 4 Valid Config Valid Description 0 = Logic Status/Feedback data for CH1 Drive 0 is not valid 1 = Logic Status/Feedback data for CH1 Drive 0 is valid 0 = Logic Status/Feedback data for CH1 Drive 1 is not valid 1 = Logic Status/Feedback data for CH1 Drive 1 is valid 0 = Logic Status/Feedback data for CH1 Drive 2 is not valid 1 = Logic Status/Feedback data for CH1 Drive 2 is valid 0 = Logic Status/Feedback data for CH1 Drive 3 is not valid 1 = Logic Status/Feedback data for CH1 Drive 3 is valid 0 = Logic Status/Feedback data for CH1 Drive 4 is not valid 1 = Logic Status/Feedback data for CH1 Drive 4 is valid 0 = Logic Status/Feedback data for CH2 Drive 0 is not valid 1 = Logic Status/Feedback data for CH2 Drive 0 is valid 0 = Logic Status/Feedback data for CH2 Drive 1 is not valid 1 = Logic Status/Feedback data for CH2 Drive 1 is valid 0 = Logic Status/Feedback data for CH2 Drive 2 is not valid 1 = Logic Status/Feedback data for CH2 Drive 2 is valid 0 = Logic Status/Feedback data for CH2 Drive 3 is not valid 1 = Logic Status/Feedback data for CH2 Drive 3 is valid 0 = Logic Status/Feedback data for CH2 Drive 4 is not valid 1 = Logic Status/Feedback data for CH2 Drive 4 is valid 0 = Logic Status/Feedback data for CH3 Drive 0 is not valid 1 = Logic Status/Feedback data for CH3 Drive 0 is valid 0 = Logic Status/Feedback data for CH3 Drive 1 is not valid 1 = Logic Status/Feedback data for CH3 Drive 1 is valid 0 = Logic Status/Feedback data for CH3 Drive 2 is not valid 1 = Logic Status/Feedback data for CH3 Drive 2 is valid 0 = Logic Status/Feedback data for CH3 Drive 3 is not valid 1 = Logic Status/Feedback data for CH3 Drive 3 is valid 0 = Logic Status/Feedback data for CH3 Drive 4 is not valid 1 = Logic Status/Feedback data for CH3 Drive 4 is valid 1 = The module has a valid configuration

The data valid bits (014) can be used in the ladder program to determine if the received data is valid and can be used. Bit 15 provides diagnostic feedback on the status of the 1769-SM2 module configuration. When the module is configured for RTU Master operation in Multi-Drive mode, bits 014 are not used and will be 0.

4-4

Understanding the I/O Image

Using Logic Command/Status

The Logic Command is a 16-bit word of control data produced by the controller and consumed by the 1769-SM2 module. The Logic Status is a 16-bit word of status data produced by the 1769-SM2 module and consumed by the controller. This manual contains the bit definitions for compatible products available at the time of publication in Appendix D. For other products, refer to their documentation.

Using Reference/Feedback
The Reference (16 bits) is produced by the controller and consumed by the 1769-SM2 module. The Feedback (16 bits) is produced by the 1769-SM2 module and consumed by the controller. Valid Reference/Feedback values for PowerFlex 4-Class drives are:
Size Drive PowerFlex 4 PowerFlex 4M PowerFlex 40 PowerFlex 40P PowerFlex 400 Valid Values (1) -240.0240.0 Hz -400.0400.0 Hz -320.00320.00 Hz

16-bit

(1)

The Reference/Feedback for a PowerFlex 4-Class drive is set in Hz and not in engineering units like PowerFlex 7-Class drives. For example, 300 equates to 30.0 Hz (the decimal point is always implied) for all PowerFlex 4-Class drivesexcept PowerFlex 400 for which 3000 equates to 30.00 Hz. In all cases, a minus value equates to reverse motor direction, and a plus value equates to forward motor direction.

Chapter 5

Understanding Explicit Messaging

This chapter provides information about explicit messaging.
Topic Formatting Explicit Messages Modbus RTU Master Operation Messages Page 5-2 5-9

Explicit messaging is used to read/write data that is not part of the modules I/O Image (Chapter 4), such as: Reading/writing drive parameters. Operating as a Modbus RTU Master and initiating Request/Response messages to Modbus RTU Slave devices, such as PowerFlex 7-Class drives with 20-COMM-H adapters.

The following table shows various products that can be used with the 1769-SM2 module and whether they support explicit messaging:
Products MicroLogix 1500 LRP Series A and B, and LSP processors MicroLogix 1500 LRP Series C (or newer) and RSLogix 500 v6.30 (or higher) Important: This LRP processor supports messaging only for the first two I/O modules capable of messaging. RSLogix 500 versions prior to v6.30 Enhanced CompactLogix processors such as the -L31, -L32E, and -L35E CompactLogix -L20 and -L30 processors 1769-ADN DeviceNet adapter (see documentation for possible future explicit messaging support) Supports Explicit Messaging Yes No

Contact your local Rockwell Automation, Inc. representative for inquiries about the explicit message capabilities of products not specified above. ATTENTION: Hazard of equipment damage exists. If Explicit Messages are programmed to write parameter data to Non-Volatile Storage (NVS) frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses Explicit Messages to write parameter data to NVS.

5-2

Understanding Explicit Messaging

Formatting Explicit Messages

For RSLogix 500, format each message as shown in Figure 5.1 and see Table 5.A for a description of the data required in each field. For RSLogix 5000, format each message as shown in Figure 5.2 and see Table 5.B.
Figure 5.1 RSLogix 500 Explicit Message Setup Screen

Table 5.A RSLogix 500 Explicit Message Configuration Data This Controller Section Channel Slot Port Communication Command Data Table Address (Receive) Size in Bytes (Receive) Data Table Address (Send) Size in Bytes (Send) Target Device Section Message Timeout Target Type Net Addr Description Always use Expansion Comms Port. The chassis slot occupied by the 1769-SM2 module. Always set to 2. Note: This field was not configurable in earlier versions of RSLogix 500. Always use CIP Generic. The file and element where response service data (if any) is stored. Number of bytes of response service data (if any). The file and element where request service data (if any) is stored. Number of bytes of request service data (if any). Description The timeout delay in seconds. Always use Network Device. The number of the channel (13) on the 1769-SM2 module where the message will be sent. Note: This field was called Channel in earlier versions of RSLogix 500. Code for the requested service. The Class ID. Instance number is the same as the parameter number. Attribute number.

Service (Text or hex) Class (hex or dec) Instance (hex or dec) Attribute (hex or dec)

Understanding Explicit Messaging

Figure 5.2 RSLogix 5000 Explicit Message Setup Screen

5-3

Table 5.B RSLogix 5000 Explicit Message Configuration Data Configuration Tab Message Type Service Type Service Code Class Instance Attribute Source Element Source Length Destination Communication Tab Path Tag Tab Name Description Always use CIP Generic. The service is used to read/write a parameter value. Code for the requested service. Class ID for the DSI Parameter Object. Instance number in the Class. Attribute number of the Instance. Source of the request service data. Length of the request service data. Location where the response service data (if any) is stored. Description Format is <Name of Module>,2,n where n equals the channel number (13) on the 1769-SM2. Description The name for the message instruction.

5-4

Understanding Explicit Messaging Table 5.C shows the instance numbers to be used for message configuration:
Table 5.C Instance Numbers for Message Configuration Instances (Dec.) 016383 1638417407 1740818431 1843219455 1945620479 2048021503 2150422527
(1)

Single Mode Instances 01023 in drive/module (1) Instances 01023 in module Instances 01023 in drive Not supported Not supported Not supported Not supported

Multi-Drive Mode Instances 01023 in module Instances 01023 in module Instances 01023 in Drive 0 Instances 01023 in Drive 1 Instances 01023 in Drive 2 Instances 01023 in Drive 3 Instances 01023 in Drive 4

The module parameters are appended to the drive parameters for this range of instances.

Instance 1 typically equates to parameter 1. For example, when using the 1769-SM2 module in Single mode, instance 17409 is for parameter 1 in the drive. NOTE: Instance Attribute 1 is used to access the parameter value. For additional information, refer to the CIP Parameter Object on page C-4.

Understanding Explicit Messaging

5-5

RSLogix 500 Parameter Read/Write Examples

In this example, a read and a write of PowerFlex 40 drive Parameter 78 - [Jog Frequency] is being done. The RSLogix 500 Message Configuration screen example to read a parameter is shown in Figure 5.3. It is assumed that the 1769-SM2 module occupies slot 1 and is operated in Single mode, and that the drive is connected to CH1. See Table 5.A for descriptions of the message configuration data.
Figure 5.3 RSLogix 500 Example Message Setup Screen to Read a Parameter

The response data for the message is stored at Data Table Address N7:3. The Size in Bytes of the response data is 2 bytes because the data size for PowerFlex 40 drive Parameter 78 - [Jog Frequency] is 2 bytes (1 word). No Data Table Address is specified for the request data, since the Read Parameter service has no request data.

5-6

Understanding Explicit Messaging The RSLogix 500 Message Configuration example screen to write to a parameter is shown in Figure 5.4. It is assumed that the 1769-SM2 module occupies slot 1 and is operated in Single mode, and that the drive is connected to CH1. See Table 5.A for descriptions of the message configuration data.
Figure 5.4 RSLogix 500 Example Message Setup Screen to Write to a Parameter

The request data for the message is stored at Data Table Address N7:2. The Size in Bytes of the request data is 2 bytes because the data size for PowerFlex 40 drive Parameter 78 - [Jog Frequency] is 2 bytes (1 word). No Data Table Address is specified for the response data, since the Write Parameter service has no response data.

Understanding Explicit Messaging

5-7

RSLogix 5000 Parameter Read/Write Examples

In this example, a read and a write of PowerFlex 40 drive Parameter 78 - [Jog Frequency] is being done. The RSLogix 5000 Message Configuration example screen to read a parameter is shown in Figure 5.5. It is assumed that the 1769-SM2 module occupies slot 1 and is operated in Single mode, and that the drive is connected to CH1. See Table 5.B for descriptions of the message configuration data.
Figure 5.5 RSLogix 5000 Example Message Setup Screen to Read a Parameter

The response data for the message is stored in CH1_Read_Value. The Get Attribute Single Service Type (Service Code e) is used to read a single parameter. Class f refers to the CIP Parameter Object on page C-4 and Instance 78 is drive Parameter 78 - [Jog Frequency]. Instance Attribute 1 is the parameter value.

5-8

Understanding Explicit Messaging The RSLogix 5000 Message Configuration example screen to write to a parameter is shown in Figure 5.6. It is assumed that the 1769-SM2 module occupies slot 1 and is operated in Single mode, and that the drive is connected to CH1. See Table 5.B for descriptions of the message configuration data.
Figure 5.6 RSLogix 5000 Example Message Setup Screen to Write to a Parameter

The request data for the message is stored in CH1_Write_Value. The Set Attribute Single Service Type (Service Code 10) is used to write a single parameter. Class f refers to the CIP Parameter Object on page C-4 and Instance 78 is drive Parameter 78 - [Jog Frequency]. Instance Attribute 1 is the parameter value.

Understanding Explicit Messaging

5-9

Modbus RTU Master Operation Messages

In Multi-Drive mode, any channel can be configured for Modbus RTU Master operation to communicate with a variety of Rockwell Automation or 3rd Party RTU Slave devices, such as PowerFlex 7-Class drives with 20-COMM-H adapters. In the Multi-Drive ladder examples provided in this manual, CH3 is used to communicate with a PowerFlex 70 drive. The following Modbus Function Codes are supported:
Function Name Code 01 02 03 04 Read Coils Read Discrete Inputs Read Input Registers Maximum Bits/Word 512 512 32 Function Name Code 05 06 15 16 Write Single Coil Write Single Register Write Multiple Coils Maximum Bits/Word n/a n/a 512

Read Holding Registers 32

Write Multiple Registers 512

The format of the Modbus command message data is:

Word 1 2 3 4 5+ Name RTU Slave Address Function Code Starting Address Number of bits/words Data Words Description The node address of the Modbus RTU Slave. The Modbus Function Code to perform. The starting coil/register address in the Slave device. The number of coils/registers to read/write. Only used for write messages and contains the data to be written.

The format of the Modbus response message data is:

Word 1+ Name Data Words Description Only used for read messages and contains the data that was read.

The format of the message instruction is different for Modbus RTU Master operation messaging. For RSLogix 500, format each message as shown in Figure 5.7 and see Table 5.D for a description of the data required in each field. For RSLogix 5000, format each message as shown in Figure 5.8 and see Table 5.E.

5-10

Understanding Explicit Messaging

Figure 5.7 RSLogix 500 Modbus RTU Master Message Setup Screen

Table 5.D RSLogix 500 Modbus RTU Master Message Configuration Data This Controller Section Channel Slot Port Communication Command Send (Data Table Address) Size in Bytes (Receive) Description Always use Expansion Comms Port. The chassis slot occupied by the 1769-SM2 module. Always set to 2. Note: This field was not configurable in earlier versions of RSLogix 500. Always use CIP Generic. Starting data table address of the Modbus command data. Number of bytes of receive data. It is set to 0 for a Modbus write message, and to the necessary length for a read message (greater than 0). Number of bytes of command data. Description Timeout delay in seconds. This value must be greater than the Message Timeout configured for the channel in the modules I/O configuration. Always use Network Device. The number of the channel (13) on the 1769-SM2 module where the message will be sent. Note: This field was called Channel in earlier versions of RSLogix 500. Always use Custom. Always use 4b. This is the Execute Modbus service. Always use 33F. This is the Class number for the Modbus RTU Master object. Not used. Leave at 0. Not used. Leave at 0.

Send (Size in Bytes) Target Device Section Message Timeout

Target Type Net Addr

Service Service Code (hex) Class (hex) Instance (hex or dec) Attribute (hex or dec)

Understanding Explicit Messaging

Figure 5.8 RSLogix 5000 Modbus RTU Master Message Setup Screen

5-11

Table 5.E RSLogix 5000 Modbus RTU Master Message Configuration Data Configuration Tab Message Type Service Type Service Code Class Instance Attribute Source Element Source Length Destination Communication Tab Path Tag Tab Name Description Always use CIP Generic. Type of Service to execute. Code of the respective Service Type. Class ID for the DSI Parameter Object. Instance number in the Class. Attribute number of the Instance. Source of the request service data. Length of the request service data. Location where the response service data is stored. Description Format is <Name of Module>,2,n where n equals the channel number (13) on the 1769-SM2. Description The name for the message instruction.

5-12

Understanding Explicit Messaging

RSLogix 500 Modbus RTU Master Write Message Example

Figure 5.9 shows an example Modbus RTU Master write message setup screen. See Table 5.D for descriptions of the message configuration data.
Figure 5.9 RSLogix 500 Example Modbus RTU Master Write Message Setup Screen

In this example, Logic Command and Reference are being written to a PowerFlex 70 drive. N7:100 through N7:106 (note the send length is 14 bytes or 7 words) contain the command data where:
Data Word N7:100 N7:101 N7:102 N7:103 N7:104 N7:105 N7:106 Example Value 15 16 0 3 18 0 8192 Description PowerFlex 70 node address Function Code Write Multiple Registers Starting Register Address (40001) Number of registers to write Value for 40001 Logic Command word Value for 40002 not used Value for 40003 Reference word

Note the Size in Bytes (Receive) is set to 0 because no data is returned for a write message. For additional information about Modbus RTU write messages for PowerFlex 7-Class drives, refer to the 20-COMM-H Adapter User Manual, publication 20COMM-UM009.

Understanding Explicit Messaging

5-13

RSLogix 500 Modbus RTU Master Read Message Example

Figure 5.10 shows an example Modbus RTU Master read message setup screen. See Table 5.D for descriptions of the message configuration data.
Figure 5.10 RSLogix 500 Example Modbus RTU Master Read Message Setup Screen

In this example, Logic Status and Feedback are being read from a PowerFlex 70 drive. N7:110 through N7:113 (note the send length is 8 bytes or 4 words) contain the command data where:
Data Word N7:110 N7:111 N7:112 N7:113 Example Value 15 4 0 3 Description PowerFlex 70 node address Function Code Read Input Registers Starting Register Address (30001) Number of registers to read

N7:114 through N7:116 (note the Receive length is 6 bytes or 3 words) contain the response data where:
Data Word N7:114 N7:115 N7:116 Example Value 3855 0 8192 Description Value for 30001 Logic Status word Value for 30002 not used Value for 30003 Feedback word

For additional information about Modbus RTU read messages for PowerFlex 7-Class drives, refer to the 20-COMM-H Adapter User Manual, publication 20COMM-UM009.

5-14

Understanding Explicit Messaging

RSLogix 5000 Modbus RTU Master Write Message Example

Figure 5.11 shows an example Modbus RTU Master write message setup screen. See Table 5.E for descriptions of the message configuration data.
Figure 5.11 RSLogix 5000 Example Modbus RTU Master Write Message Setup Screen

In this example, Logic Command and Reference are being written to a PowerFlex 70 drive. The CH3_MSG1_REQ array (14 bytes = 7 words) contains the command data where:
Data Word CH3_MSG1_REQ [0] CH3_MSG1_REQ [1] CH3_MSG1_REQ [2] CH3_MSG1_REQ [3] CH3_MSG1_REQ [4] CH3_MSG1_REQ [5] CH3_MSG1_REQ [6] Example Value 15 16 0 3 18 0 8192 Description PowerFlex 70 node address Function Code Write Multiple Registers Starting Register Address (40001) Number of registers to write Value for 40001 Logic Command word Value for 40002 not used Value for 40003 Reference word

A Destination element is not needed for a write message because no data is returned. For additional information about Modbus RTU write messages for PowerFlex 7-Class drives, refer to the 20-COMM-H Adapter User Manual, publication 20COMM-UM009.

Understanding Explicit Messaging

5-15

RSLogix 5000 Modbus RTU Master Read Message Example

Figure 5.12 shows an example Modbus RTU Master read message setup screen. See Table 5.E for descriptions of the message configuration data.
Figure 5.12 RSLogix 5000 Example Modbus RTU Master Read Message Setup Screen

In this example, Logic Status and Feedback are being read from a PowerFlex 70 drive. The CH3_MSG2_REQ array (8 bytes = 4 words) contains the command data where:
Data Word CH3_MSG2_REQ [0] CH3_MSG2_REQ [1] CH3_MSG2_REQ [2] CH3_MSG2_REQ [3] Example Value 15 4 0 3 Description PowerFlex 70 node address Function Code Read Input Registers Starting Register Address (30001) Number of registers to read

The CH3_MSG2_RESP array contains the response data where:

Data Word CH3_MSG2_RESP [0] CH3_MSG2_RESP [1] CH3_MSG2_RESP [2] Example Value 3855 0 8192 Description Value for 30001 Logic Status word Value for 30002 not used Value for 30003 Feedback word

For additional information about Modbus RTU read messages for PowerFlex 7-Class drives, refer to the 20-COMM-H Adapter User Manual, publication 20COMM-UM009.

5-16

Understanding Explicit Messaging

Notes:

Chapter 6

MicroLogix 1500 Example Ladder Programs

This chapter provides ladder examples for a MicroLogix 1500 controller used with a 1769-SM2 module in Single mode and Multi-Drive mode.
Topic Single Mode Multi-Drive Mode Page 6-1 6-8

Single Mode
The ladder example provided in this section is based on a 1769-SM2 module in slot 1 with one PowerFlex 4/40 drive connected to each channel (Figure 6.1). The ladder example demonstrates the following functionality for each channel: Send a Logic Command to control the drive (for example, start, stop). Send a Reference to the drive and receive Feedback from the drive. Receive Logic Status information from the drive. Write and read parameters.

Explicit messaging (parameter read/write) capability varies between the RSLogix software packages and controllers: Versions of RSLogix 500 before v6.30 do NOT support creating a Message instruction for the 1769-SM2 module. This limits the MicroLogix 1500 to performing I/O messaging (Logic Command/ Reference, and Logic Status/Feedback) only. RSLogix 500 v6.30 (or higher) must be used with a MicroLogix 1500 LRP Series C (or newer) controller to create Message instructions to send explicit messages to the 1769-SM2 module.

6-2

MicroLogix 1500 Example Ladder Programs

Figure 6.1 Example MicroLogix 1500 Single Mode System Arrangement
MicroLogix 1500 Controller PowerFlex 4/40 Drives

DSI

C H 1

C H 2

C H 3

CH1 CH2 CH3

PowerFlex 40 Drive Settings

The PowerFlex 40 drives used in the example program have the following parameter settings:
Parameter P036 - [Start Source] P038 - [Speed Reference] A103 - [Comm Data Rate] A104 - [Comm Node Addr] A107 - [Comm Format] Setting 5 (Comm Port) 5 (Comm Port) 4 (19.2K) 100 0 (RTU 8-N-1)

1769-SM2 Module Settings

The 1769-SM2 module used in the example program has the following switch settings:
Switch Configuration Mode Switch (SW1) Operating Mode Switch (SW2) Setting CONT position 1X (Single) position

MicroLogix 1500 Example Ladder Programs

6-3

The I/O configuration in RSLogix 500 v6.30 (or higher) for the Single mode example program is:

Refer to Table 3.C for configuration data words and parameter descriptions. Also, see Chapter 4 for information about the I/O image, Module Enable/Status, Logic Command/Status, and Reference/ Feedback.

6-4

MicroLogix 1500 Example Ladder Programs

MicroLogix 1500 Example Program

Figure 6.2 Example MicroLogix 1500 Single Mode Ladder Logic Main Routine

MicroLogix 1500 w/ 1769-SM2 in Single mode In this Single mode example program, the channels are utilized as follows: Channel 1 - Connected to 1 PowerFlex 4/40 drive (maximum allowed) Channel 2 - Connected to 1 PowerFlex 4/40 drive (maximum allowed) Channel 3 - Connected to 1 PowerFlex 4/40 drive (maximum allowed) This rung enables the 1769-SM2 to send the Channel 1 Logic Command and Reference words to the drive. Channel 1 Enable O:1 0 1769-SM2 Channel 1 Subroutine 0001 JSR Jump To Subroutine SBR File Number

0000

U:3

This rung enables the 1769-SM2 to send the Channel 2 Logic Command and Reference words to the drive. Channel 2 Enable O:1 1 1769-SM2 Channel 2 Subroutine 0003 JSR Jump To Subroutine SBR File Number

0002

U:4

This rung enables the 1769-SM2 to send the Channel 3 Logic Command and Reference words to the drive. Channel 3 Enable O:1 2 1769-SM2 Channel 3 Subroutine 0005 JSR Jump To Subroutine SBR File Number CH2 Drive 0 Logic Sts Valid I:1 5 1769-SM2 CH3 Drive 0 Logic Sts Valid I:1 10 1769-SM2

0004

U:5 1769-SM2 Input Data Valid B3:0 0 1769-SM2 Config Data Error B3:0 1

0006

CH1 Drive 0 Logic Sts Valid I:1 0 1769-SM2 1769-SM2 Config Data Valid I:1 15 1769-SM2

0007

0008

END

MicroLogix 1500 Example Ladder Programs

Figure 6.3 Example MicroLogix 1500 Single Mode Ladder Logic CH1 Subroutine

6-5

1769-SM2 Channel 1 Subroutine The following rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. CH1 Drv0 Logic Sts Bit 00 I:1 16 1769-SM2 CH1 Drv0 Logic Sts Bit 01 I:1 17 1769-SM2 CH1 Drv0 Logic Sts Bit 03 I:1 19 1769-SM2 CH1 Drv0 Logic Sts Bit 07 I:1 23 1769-SM2 CH1 Drv0 Logic Sts Bit 08 I:1 24 1769-SM2 CH1 Drive 0 Ready B3:1 0 CH1 Drive 0 Active B3:1 1 CH1 Drive 0 Running Fwd B3:1 3 CH1 Drive 0 Fault B3:1 7 CH1 Drive 0 At Speed B3:1 8

0000

0001

0002

0003

0004

This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. CH1 Drive 0 Feedback MOV Move Source Dest

0005

I:1.2 0< N7:1 0<

The following rungs display some of the Logic Command bits sent to the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Command word. CH1 Drive 0 Stop B3:2 0 CH1 Drv0 Logic Cmd Bit 00 O:1 16 1769-SM2

0006

6-6

MicroLogix 1500 Example Ladder Programs

Figure 6.3 Example MicroLogix 1500 Single Mode Ladder Logic CH1 Subroutine (Continued)
This rung unlatches the contact that turns on the Start command when the drive is not communicating with the 1769-SM2. This prevents the drive from immediately starting when communications is restored. If an immediate start is desired for the application, this rung could be deleted. CH1 CH1 Drive 0 Drive 0 Logic Sts Valid Start I:1 B3:2 U 0007 0 1 1769-SM2 CH1 Drive 0 Start B3:2 1 CH1 Drive 0 Jog B3:2 2 CH1 Drive 0 Clear Faults B3:2 3 CH1 Drive 0 Forward B3:2 4 CH1 Drive 0 Forward B3:2 4 CH1 Drv0 Logic Cmd Bit 01 O:1 17 1769-SM2 CH1 Drv0 Logic Cmd Bit 02 O:1 18 1769-SM2 CH1 Drv0 Logic Cmd Bit 03 O:1 19 1769-SM2 CH1 Drv0 Logic Cmd Bit 04 O:1 20 1769-SM2 CH1 Drv0 Logic Cmd Bit 05 O:1 21 1769-SM2

0008

0009

0010

0011

0012

This rung displays the Reference being sent to the drive. The data is used by the drive as xxx.x Hz format (decimal is implied), so entering a value of "300" equates to 30.0 Hz. CH1 Drv 0 Reference Word MOV Move Source Dest

0013

N7:0 200< O:1.2 200<

The following rungs are used to send explicit messages to the 1769-SM2 to read and write Parameter 78 [Jog Frequency] in PowerFlex 4/40 drives. N7:2 = Write value N7:3 = Read value In Single mode, the desired parameter number is the value entered for the Target Device Instance number. Read Parameter Request B3:1 MSG EN 0014 Read/Write Message DN 14 MSG File MG9:0 ER Setup Screen Write Parameter Request B3:1 15

0015

MSG Read/Write Message MSG File MG9:1 Setup Screen RET Return

EN DN ER

0016

0017

END

MicroLogix 1500 Example Ladder Programs The read and write message instructions for PowerFlex 40 drive Parameter 78 - [Jog Frequency] are configured as follows:

6-7

Single Mode Example Program Data Table

Integer File N7: is used to contain the input and output data to/from the three channels of the module:
N7: Word CH1 0 1 2 3 CH2 10 11 12 13 CH3 20 21 22 23 Description Reference Feedback Parameter 78 Write Value Parameter 78 Read Value

6-8

MicroLogix 1500 Example Ladder Programs An example of data table values are shown below:

A value of 200 for the Reference equates to 20.0 Hz. A value of 100 for drive Parameter 78 - [Jog Frequency] equates to 10.0 Hz. Since CH2 and CH3 ladder routines are similar to the CH1 routine, they are not provided.

Multi-Drive Mode
The ladder example provided in this section is based on a 1769-SM2 module in slot 1 with five PowerFlex 4/40 drives connected to CH1 and to CH2, and one PowerFlex 70 connected to CH3 (Figure 6.4). The ladder example demonstrates the following functionality for each channels drives: Send a Logic Command to control the drive (for example, start, stop). Send a Reference to the drive and receive Feedback from the drive. Receive Logic Status information from the drive. Write and read parameters.

Explicit messaging (parameter read/write) capability varies between the RSLogix software packages and controllers: Versions of RSLogix 500 before v6.30 do NOT support creating a Message instruction for the 1769-SM2 module. This limits the MicroLogix 1500 to performing I/O messaging (Logic Command/ Reference, and Logic Status/Feedback) only. RSLogix 500 v6.30 (or higher) must be used with a MicroLogix 1500 LRP Series C (or newer) controller to create Message instructions to send explicit messages to the 1769-SM2 module.

MicroLogix 1500 Example Ladder Programs

Figure 6.4 Example MicroLogix 1500 Multi-Drive Mode System Arrangement
MicroLogix 1500 Controller Up to 5 PowerFlex 4/40 Drives

6-9

DSI

C H 1

C H 2

C H 3

CH1 Up to 5 PowerFlex 4/40 Drives

CH2

PowerFlex 70 Drive with 20-COMM-H Adapter

CH3

PowerFlex 40 Settings
The PowerFlex 40 drives used in the example program have the following parameter settings:
Parameter P036 - [Start Source] P038 - [Speed Reference] A103 - [Comm Data Rate] A104 - [Comm Node Addr] A107 - [Comm Format] Setting 5 (Comm Port) 5 (Comm Port) 4 (19.2K) 100104 0 (RTU 8-N-1)

PowerFlex 70 Setting
The PowerFlex 70 drive used in the example program has the following parameter setting:
Parameter 90 - [Speed Ref A Sel] Setting 22 (DPI Port 5)

6-10

MicroLogix 1500 Example Ladder Programs

20-COMM-H Settings
The 20-COMM-H adapter used in the example program has the following parameter and switch settings: Parameter Settings
Parameter 5 - [Net Rate Cfg] 7 - [Net Parity Cfg] 16 - [DPI I/O Cfg] 30 - [Stop Bits Cfg] Setting 2 (19200 Baud) 1 (Odd) 00001 = Logic Command/Reference 0 (1 bit)

Switch Settings
Switch Node Address Switches Network Protocol Switch Setting 15 RTU position

1769-SM2 Settings
The 1769-SM2 module used in the example program has the following switch settings:
Switch Configuration Mode Switch (SW1) Operating Mode Switch (SW2) Setting CONT position 5X (Multi-Drive) position

MicroLogix 1500 Example Ladder Programs The I/O configuration in RSLogix 500 v6.30 (or higher) for the Multi-Drive mode example program is:

6-11

Refer to Chapter 4 for information about the I/O image, Module Enable/ Status, Logic Command/Status, and Reference/Feedback.

6-12

MicroLogix 1500 Example Ladder Programs

MicroLogix 1500 Multi-Drive Mode Example Program

Figure 6.5 Example MicroLogix 1500 Multi-Drive Ladder Logic Main Routine

MicroLogix 1500 w/ 1769-SM2 in Multi-Drive mode In this Multi-Drive example program, the channels are utilized as follows: Channel 1 - Connected to 5 PowerFlex 4/40 drives (maximum allowed) Channel 2 - Connected to 5 PowerFlex 4/40 drives (maximum allowed) Channel 3 - Configured for Modbus RTU Master mode and connected to 1 PowerFlex 70 drive (with 20-COMM-H adapter) This rung enables the 1769-SM2 to send the Channel 1 Logic Command and Reference words to the drives. Channel 1 Enable O:1 0 1769-SM2 Channel 1 Drive 0 Subroutine 0001 JSR Jump To Subroutine SBR File Number

0000

U:3

Channel 1 Drive 1 Subroutine 0002

JSR Jump To Subroutine SBR File Number

U:4

Channel 1 Drive 2 Subroutine 0003

JSR Jump To Subroutine SBR File Number

U:5

Channel 1 Drive 3 Subroutine 0004

JSR Jump To Subroutine SBR File Number

U:6

Channel 1 Drive 4 Subroutine 0005

JSR Jump To Subroutine SBR File Number

U:7

This rung enables the 1769-SM2 to send the Channel 2 Logic Command and Reference words to the drives. Channel 2 Enable O:1 1 1769-SM2 Channel 2 Drive 0 Subroutine 0007 JSR Jump To Subroutine SBR File Number

0006

U:8

Channel 2 Drive 1 Subroutine 0008

JSR Jump To Subroutine SBR File Number

U:9

MicroLogix 1500 Example Ladder Programs

Figure 6.5 Example MicroLogix 1500 Multi-Drive Ladder Logic Main Routine (Continued)

6-13

Channel 2 Drive 2 Subroutine 0009

JSR Jump To Subroutine SBR File Number

U:10

Channel 2 Drive 3 Subroutine 0010

JSR Jump To Subroutine SBR File Number

U:11

Channel 2 Drive 4 Subroutine 0011

JSR Jump To Subroutine SBR File Number

U:12

Channel 3 Modbus RTU Master Subroutine 0012

JSR Jump To Subroutine SBR File Number CH1 Drive 2 Logic Sts Valid I:1 2 1769-SM2 CH2 Drive 2 Logic Sts Valid I:1 7 1769-SM2 CH1 Drive 3 Logic Sts Valid I:1 3 1769-SM2 CH2 Drive 3 Logic Sts Valid I:1 8 1769-SM2 CH1 Drive 4 Logic Sts Valid I:1 4 1769-SM2 CH2 Drive 4 Logic Sts Valid I:1 9 1769-SM2

U:13

0013

CH1 Drive 0 Logic Sts Valid I:1 0 1769-SM2 CH2 Drive 0 Logic Sts Valid I:1 5 1769-SM2 1769-SM2 CH1 Input Data Valid B3:0 2 1769-SM2 Config Data Valid I:1 15 1769-SM2

CH1 Drive 1 Logic Sts Valid I:1 1 1769-SM2 CH2 Drive 1 Logic Sts Valid I:1 6 1769-SM2 1769-SM2 CH2 Input Data Valid B3:0 3

1769-SM2 CH1 Input Data Valid B3:0 2 1769-SM2 CH2 Input Data Valid B3:0 3 1769-SM2 All Input Data Valid B3:0 0 1769-SM2 Config Data Error B3:0 1

0014

0015

0016

0017

END

6-14

MicroLogix 1500 Example Ladder Programs

Figure 6.6 Example MicroLogix 1500 Multi-Drive Ladder Logic CH1 Drive 0 Subroutine

1769-SM2 Channel 1 Drive 0 Subroutine The following rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. CH1 Drv0 Logic Sts Bit 00 I:1 16 1769-SM2 CH1 Drv0 Logic Sts Bit 01 I:1 17 1769-SM2 CH1 Drv0 Logic Sts Bit 03 I:1 19 1769-SM2 CH1 Drv0 Logic Sts Bit 07 I:1 23 1769-SM2 CH1 Drv0 Logic Sts Bit 08 I:1 24 1769-SM2 CH1 Drive 0 Ready B3:10 0 CH1 Drive 0 Active B3:10 1 CH1 Drive 0 Running Fwd B3:10 3 CH1 Drive 0 Fault B3:10 7 CH1 Drive 0 At Speed B3:10 8

0000

0001

0002

0003

0004

This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. CH1 Drive 0 Feedback MOV Move Source Dest

0005

I:1.2 101< N7:1 101<

The following rungs display some of the Logic Command bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Command word. CH1 Drive 0 Stop B3:11 0 CH1 Drv0 Logic Cmd Bit 00 O:1 16 1769-SM2

0006

MicroLogix 1500 Example Ladder Programs

6-15

Figure 6.6 Example MicroLogix 1500 Multi-Drive Ladder Logic CH1 Drive 0 Subroutine (Continued)
This rung unlatches the contact that turns on the Start command when the drive is not communicating with the 1769-SM2. This prevents the drive from immediately starting when communications is restored. If an immediate start is desired for the application, this rung could be deleted. CH1 CH1 Drive 0 Drive 0 Start Logic Sts Valid B3:11 I:1 U 0007 1 0 1769-SM2 CH1 Drive 0 Start B3:11 1 CH1 Drive 0 Jog B3:11 2 CH1 Drive 0 Clear Faults B3:11 3 CH1 Drive 0 Forward B3:11 4 CH1 Drive 0 Forward B3:11 4 CH1 Drv0 Logic Cmd Bit 01 O:1 17 1769-SM2 CH1 Drv0 Logic Cmd Bit 02 O:1 18 1769-SM2 CH1 Drv0 Logic Cmd Bit 03 O:1 19 1769-SM2 CH1 Drv0 Logic Cmd Bit 04 O:1 20 1769-SM2 CH1 Drv0 Logic Cmd Bit 05 O:1 21 1769-SM2

0008

0009

0010

0011

0012

This rung displays the Reference being sent to the drive. The data is used by the drive as xxx.x Hz format (decimal is implied), so entering a value of "300" equates to 30.0 Hz. CH1 Drive 0 Reference MOV Move Source Dest

0013

N7:0 101< O:1.2 101<

The following rungs are used to send explicit messages to the 1769-SM2 to read and write Parameter 78 [Jog Frequency] in PowerFlex 4/40 drives. N7:2 = Write value N7:3 = Read value In Single mode, the desired parameter number is the value entered for the Target Device Instance number. Read Parameter Request B3:11 MSG EN 0014 Read/Write Message DN 14 MSG File MG9:0 ER Setup Screen Write Parameter Request B3:11 15

0015

MSG Read/Write Message MSG File MG9:1 Setup Screen RET Return

EN DN ER

0016

0017

END

6-16

MicroLogix 1500 Example Ladder Programs The read and write message instructions for PowerFlex 40 drive Parameter 78 - [Jog Frequency] are configured as follows:

For additional information about the message setup, refer to page 5-3.

Multi-Drive Example Program Data Tables

Integer File N7: is used to contain the input and output data to/from the three channels:
N7: Words for CH1 Drive 0 Drive 1 Drive 2 0 10 20 1 11 21 2 12 22 3 13 23 Drive 3 30 31 32 33 Drive 4 40 41 42 43 Description Reference Feedback Parameter 78 Write Value Parameter 78 Read Value

MicroLogix 1500 Example Ladder Programs

6-17

N7: Words for CH2 Drive 0 Drive 1 Drive 2 50 60 70 51 61 71 52 62 72 53 63 73

Drive 3 80 81 82 83

Drive 4 90 91 92 93

Description Reference Feedback Parameter 78 Write Value Parameter 78 Read Value

An example of data table values are shown below:

A value of 101 for the Reference equates to 10.1 Hz. A value of 100 for drive Parameter 78 - [Jog Frequency] equates to 10.0 Hz. Since the Drive 14 and CH2 ladder routines are similar to the CH1 Drive 0 routine, they are not provided.

6-18

MicroLogix 1500 Example Ladder Programs

CH3 Modbus RTU Master Subroutine Example

In Multi-Drive mode, any channel can be configured for Modbus RTU Master operation. In the MicroLogix 1500 Multi-Drive ladder logic example, CH3 is used to communicate with a PowerFlex 70 drive via Modbus RTU operation.
Figure 6.7 Example MicroLogix 1500 Modbus RTU Ladder Logic CH3 Subroutine

1769-SM2 Channel 3 Modbus RTU Master Subroutine Channel 3 consists of a single PowerFlex 70 drive with a 20-COMM-H adapter. Write Logic Command and Reference. N7:100 = Slave Address ("15" is the 20-COMM-H address) N7:101 = Function Code ("16" is Write Multiple Registers command) N7:102 = Starting Address ("0" = 4x0001) N7:103 = Length ("3") N7:104 = Logic Command word N7:105 = MSW of 32-bit Reference N7:106 = 16-bit Reference or LSW of 32-bit Reference CH3 Write Control B3:30 0

0000

MSG Read/Write Message MSG File MG9:20 Setup Screen

EN DN ER

0001

Execute the control message continuously if the CH3 Write Control bit (B3:30/0) is ON. Message Done MG9:20 DN Message Error MG9:20 ER Read Logic Status and Feedback. N7:110 = Slave Address ("15" is the 20-COMM-H address) N7:111 = Function Code ("4" is Read Input Registers command) N7:112 = Starting Address ("0" = 3x0001) N7:113 = Length ("3") The response data is stored in: N7:114 = Logic Status word N7:115 = MSW of 32-bit Feedback N7:116 = 16-bit Feedback or LSW of 32-bit Feedback CH3 Read Status B3:30 1

Message Enable MG9:20 U EN

0002

MSG Read/Write Message MSG File MG9:21 Setup Screen

EN DN ER

0003

Execute the status message continuously if the CH3 Read Status bit (B3:30/1) is ON. Message Done MG9:21 DN Message Error MG9:21 ER

Message Enable MG9:21 U EN

MicroLogix 1500 Example Ladder Programs

6-19

Figure 6.7 Example MicroLogix 1500 Modbus RTU Ladder Logic CH3 Subroutine (Continued)

0004

Write Parameter 100 [Jog Frequency] (written 1x per request). N7:120 = Slave Address ("15" is the 20-COMM-H address) N7:121 = Function Code ("6" is Write Single Register command) N7:122 = Starting Address ("1099" = 4x1100) N7:123 = Length ("1") N7:124 = Pr. 100 [Jog Frequency] Write Value CH3 Write Pr.100 B3:30 2

MSG Read/Write Message MSG File MG9:22 Setup Screen

EN DN ER

Read Parameter 100 [Jog Frequency] (read 1x per request). N7:130 = Slave Address ("15" is the 20-COMM-H address) N7:131 = Function Code ("3" is Read Holding Register command) N7:132 = Starting Address ("1099" = 4x1100) N7:133 = Length ("1") The response data is stored in: N7:134 = Pr. 100 [Jog Frequency] Read Value CH3 Read Pr.100 B3:30 3

0005

MSG Read/Write Message MSG File MG9:23 Setup Screen RET Return

EN DN ER

0006

0007

END

The Logic Command/Reference write message instruction on rung 0000 is configured as follows:

6-20

MicroLogix 1500 Example Ladder Programs The format of the command data is:
Data Word N7:100 N7:101 N7:102 N7:103 N7:104 N7:105 N7:106 Example Value 15 16 0 3 18 0 8192 Description PowerFlex 70 node address Function Code Write Multiple Registers Starting Register Address (40001) Number of registers to write Value for 40001 Logic Command word Value for 40002 not used Value for 40003 Reference word

The Logic Status/Feedback read message instruction on rung 0002 is configured as follows:

The format of the command data is:

Data Word N7:110 N7:111 N7:112 N7:113 Example Value 15 4 0 3 Description PowerFlex 70 node address Function Code Read Input Registers Starting Register Address (30001) Number of registers to read

The format of the response data is:

Data Word N7:114 N7:115 N7:116 Example Value 3855 0 8192 Description Value for 30001 Logic Status word Value for 30002 not used Value for 30003 Feedback word

MicroLogix 1500 Example Ladder Programs The write message instruction on rung 0004 for PowerFlex 70 drive Parameter 100 - [Jog Speed] is configured as follows:

6-21

The format of the command data is:

Data Word N7:120 N7:121 N7:122 N7:123 N7:124 Example Value 15 6 1099 1 111 Description PowerFlex 70 node address Function Code Write Single Registers Starting Register Address (41100) Number of registers to write Parameter 100 write data

6-22

MicroLogix 1500 Example Ladder Programs The read message instruction on rung 0005 for PowerFlex 70 drive Parameter 100 - [Jog Speed] is configured as follows:

The format of the command data is:

Data Word N7:130 N7:131 N7:132 N7:133 Example Value 15 3 1099 1 Description PowerFlex 70 node address Function Code Read Holding Registers Starting Register Address (41100) Number of registers to read

The format of the response data is:

Data Word N7:134 Example Value 111 Description Parameter 100 read data

For additional information about Modbus RTU Master messages for PowerFlex 7-Class drives, refer to the 20-COMM-H Adapter User Manual, publication 20COMM-UM009.

Chapter 7

CompactLogix Example Ladder Programs

This chapter provides ladder examples for a CompactLogix controller used with a 1769-SM2 module in Single mode and Multi-Drive mode.
Topic Single Mode Multi-Drive Mode Page 7-1 7-10

Single Mode
The ladder example provided in this section is based on a 1769-SM2 module in slot 1 with one PowerFlex 4/40 drive connected to each channel (Figure 7.1). The ladder example demonstrates the following functionality for each channel: Send a Logic Command to control the drive (for example, start, stop). Send a Reference to the drive and receive Feedback from the drive. Receive Logic Status information from the drive. Write and read parameters.

Explicit messaging (parameter read/write) capability varies between the RSLogix software packages and controllers: Explicit messaging can be used with enhanced CompactLogix processors, such as the -L31, -L32E, and -L35E. CompactLogix -L20 and -L30 processors do NOT have explicit messaging capability.

7-2

CompactLogix Example Ladder Programs

Figure 7.1 Example CompactLogix Single Mode System Arrangement

CompactLogix Controller
MODULE
CH1 CH2 CH3

PowerFlex 4/40 Drives

DSI

C H 1

C H 2

C H 3

CH1 CH2 CH3

PowerFlex 40 Settings
The PowerFlex 40 drives used in the example program have the following parameter settings:
Parameter P036 - [Start Source] P038 - [Speed Reference] A103 - [Comm Data Rate] A104 - [Comm Node Addr] A107 - [Comm Format] Setting 5 (Comm Port) 5 (Comm Port) 4 (19.2K) 100 0 (RTU 8-N-1)

1769-SM2 Settings
The 1769-SM2 module used in the example program has the following switch settings:
Switch Configuration Mode Switch (SW1) Operating Mode Switch (SW2) Setting CONT position 1X (Single) position

CompactLogix Example Ladder Programs The I/O configuration in RSLogix 5000 for the Single mode example program is:

7-3

Refer to Chapter 4 for information about the I/O image, Module Enable/ Status, Logic Command/Status, and Reference/Feedback.

7-4

CompactLogix Example Ladder Programs

CompactLogix Example Program

Figure 7.2 Example CompactLogix Ladder Logic Main Routine

CompactLogix -L35E w/ / 1769-SM2 in Single Mode In this Single mode example program, the channels are utilized as follows: s: Channel 1 - Connected to 1 PowerFlex 4/40 drive (maximum allowed) Channel 2 - Connected to 1 PowerFlex 4/40 drive (maximum allowed) Channel 3 - Connected to 1 PowerFlex 4/40 drive (maximum allowed) This rung enables the 1769-SM2 to send the Channel 1 Logix Command and Reference words to the drive. CH1_Enable <Local:1:O.Data[0].0> 0

Channel 1 Subroutine 1 CH1 control logic JSR Jump To Subroutine Routine Name Channel_1

This rung enables the 1769-SM2 to send the Channel 2 Logix Command and Reference words to the drive. CH2_Enable <Local:1:O.Data[0].1> 2

Channel 2 Subroutine 3 CH2 control logic JSR Jump To Subroutine Routine Name Channel_2

This rung enables the 1769-SM2 to send the Channel 3 Logix Command and Reference words to the drive. CH3_Enable <Local:1:O.Data[0].2> 4

Channel 3 Subroutine 5 CH3 control logic JSR Jump To Subroutine Routine Name Channel_3

CH1_Valid_Data CH2_Valid_Data CH3_Valid_Data <Local:1:I.Data[0].0> <Local:1:I.Data[0].5> <Local:1:I.Data[0].10> 6 SM2_Cfg_Data_Valid <Local:1:I.Data[0].15> /

SM2_Data_Valid

SM2_Cfg_Error

(End)

CompactLogix Example Ladder Programs

Figure 7.3 Example CompactLogix Single Mode Ladder Logic CH1 Subroutine

7-5

1769-SM2 Channel 1 Subroutine The following i rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. Channel 1 Logic Status Bit 00 Local:1:I.Data[1].0 0 Channel 1 Logic Status Bit 01 Local:1:I.Data[1].1 1 Channel 1 Logic Status Bit 03 Local:1:I.Data[1].3 2 Channel 1 Logic Status Bit 07 Local:1:I.Data[1].7 3 Channel 1 Logic Status Bit 08 Local:1:I.Data[1].8 4 This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. MOV Move Source Local:1:I.Data[2] 100 Dest CH1_Feedback 100

CH1_Ready

CH1_Active

CH1_Forward

CH1_Fault

CH1_At_Speed

The following i rungs display some of the Logic Command bits sent to the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Command word. Channel 1 Logic Command Bit 00 Local:1:O.Data[1].0

CH1_Stop 6

7-6

CompactLogix Example Ladder Programs

Figure 7.3 Example CompactLogix Single Mode Ladder Logic CH1 Subroutine (Continued)

This rung unlatches the contact that turns on the Start command when the drive is not communicating with i the 1769-SM2. This prevents the drive from immediately starting when communications are restored. If an immediate start is desired for an application, this rung could be deleted. CH1_Valid_Data <Local:1:I.Data[0].0> CH1_Start / U Channel 1 Logic Command Bit 01 Local:1:O.Data[1].1

CH1_Start 8

CH1_Jog 9

Channel 1 Logic Command Bit 02 Local:1:O.Data[1].2

CH1_Clear_Fault 10

Channel 1 Logic Command Bit 03 Local:1:O.Data[1].3

CH1_Forward_Cmd 11

Channel 1 Logic Command Bit 04 Local:1:O.Data[1].4

12

CH1_Forward_Cmd /

Channel 1 Logic Command Bit 05 Local:1:O.Data[1].5

13

This rung displays the Reference being sent to the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. Channel 1 Reference Word MOV Move Source CH1_Reference 100 Dest Local:1:O.Data[2] 100

These rungs send an explicit message to the 1769-SM2 to read/write Parameter 78 [Jog Frequency]. In Single mode, the desired parameter number is the value entered for the Instance number. CH1_Read_Param 14 Type - CIP Generic Message Control MSG CH1_Read_Msg ... EN DN ER

CompactLogix Example Ladder Programs

Figure 7.3 Example CompactLogix Single Mode Ladder Logic CH1 Subroutine (Continued)

7-7

15

Move Source

MOV

CH1_Read_Value 111 Dest CH1_Read_Jog_Frequency 111

16

MOV Move Source CH1_Write_Jog_Frequency 111 Dest CH1_Write_Value 111 CH1_Write_Param

17

Type - CIP Generic Message Control

MSG CH1_Write_Msg ...

EN DN ER

18

Return

RET

(End)

The read and write message instructions for PowerFlex 40 drive Parameter 78 - [Jog Frequency] are configured as follows: Read Message (Rung 14)

7-8

CompactLogix Example Ladder Programs Write Message (Rung 17)

Single Mode Example Program Tags

The following tags are used to contain the input and output data to/from the three channels of the module:

CompactLogix Example Ladder Programs

7-9

7-10

CompactLogix Example Ladder Programs

Since CH2 and CH3 ladder routines are similar to the CH1 routine, they are not provided.

Multi-Drive Mode
The ladder example provided in this section is based on a 1769-SM2 module in slot 1 with five PowerFlex 4/40 drives connected to CH1 and to CH2, and one PowerFlex 70 connected to CH3 (Figure 7.4). The ladder example demonstrates the following functionality for each channels drives: Send a Logic Command to control the drive (for example, start, stop). Send a Reference to the drive and receive Feedback from the drive. Receive Logic Status information from the drive. Write and read parameters.

Explicit messaging (parameter read/write) capability varies between the RSLogix software packages and controllers: Explicit messaging can be used with enhanced CompactLogix processors, such as the -L31, -L32E, and -L35E. CompactLogix -L20 and -L30 processors do NOT have explicit messaging capability.

CompactLogix Example Ladder Programs

Figure 7.4 Example CompactLogix Multi-Drive Mode System Arrangement
CompactLogix Controller
MODULE
CH1 CH2 CH3

7-11

Up to 5 PowerFlex 4/40 Drives

DSI

C H 1

C H 2

C H 3

CH1 Up to 5 PowerFlex 4/40 Drives

CH2

PowerFlex 70 Drive with 20-COMM-H Adapter

CH3

PowerFlex 40 Settings
The PowerFlex 40 drives used in the example program have the following parameter settings:
Parameter P036 - [Start Source] P038 - [Speed Reference] A103 - [Comm Data Rate] A104 - [Comm Node Addr] A107 - [Comm Format] Setting 5 (Comm Port) 5 (Comm Port) 4 (19.2K) 100104 0 (RTU 8-N-1)

PowerFlex 70 Setting
The PowerFlex 70 drive used in the example program has the following parameter setting:
Parameter 90 - [Speed Ref A Sel] Setting 22(DPI Port 5)

7-12

CompactLogix Example Ladder Programs

20-COMM-H Settings
The 20-COMM-H adapter used in the example program has the following parameter and switch settings: Parameter Settings
Parameter 5 - [Net Rate Cfg] 7 - [Net Parity Cfg] 16 - [DPI I/O Cfg] 30 - [Stop Bits Cfg] Setting 2 (19200 Baud) 1 (Odd) 00001 = Logic Command/Reference 0 (1 bit)

Switch Settings
Switch Node Address Switches Network Protocol Switch Setting 15 RTU position

1769-SM2 Settings
The 1769-SM2 module used in the example program has the following switch settings:
Switch Configuration Mode Switch (SW1) Operating Mode Switch (SW2) Setting CONT position 5X (Multi-Drive) position

The I/O configuration in RSLogix 5000 for the Multi-Drive mode example program is:

CompactLogix Example Ladder Programs

7-13

Refer to Chapter 4 for information about the I/O image, Module Enable/ Status, Logic Command/Status, and Reference/Feedback.

7-14

CompactLogix Example Ladder Programs

CompactLogix Multi-Drive Mode Example Program

Figure 7.5 Example CompactLogix Multi-Drive Ladder Logic Main Routine

CompactLogix -L35E w/ / 1769-SM2 in Multi-Drive Mode In this Multi-Drive mode example program, the channels are utilized as follows: s: Channel 1 - Connected to 5 PowerFlex e 4/40 drives (maximum allowed) Channel 2 - Connected to 5 PowerFlex 4/40 drives (maximum allowed) Channel 3 - Configured for Modbus RTU Master mode and connected to 1 PowerFlex 70 drive (with 20-COMM-H adapter) This rung enables the 1769-SM2 to send the Channel 1 Logix Command and Reference words to the drives. CH1_Enable <Local:1:O.Data[0].0> 0

Channel 1 Drive 0 Subroutine Channel 1 Drive 0 control logic JSR Jump To Subroutine Routine Name CH1_Drive0

Channel 1 Drive 1 Subroutine Channel 1 Drive 1 control logic JSR Jump To Subroutine Routine Name CH1_Drive1

Channel 1 Drive 2 Subroutine Channel 1 Drive 2 control logic JSR Jump To Subroutine Routine Name CH1_Drive2

Channel 1 Drive 3 Subroutine Channel 1 Drive 3 control logic JSR Jump To Subroutine Routine Name CH1_Drive3

Channel 1 Drive 4 Subroutine Channel 1 Drive 4 control logic JSR Jump To Subroutine Routine Name CH1_Drive4

This rung enables the 1769-SM2 to send the Channel 2 Logix Command and Reference words to the drive. CH2_Enable <Local:1:O.Data[0].1> 6

CompactLogix Example Ladder Programs

Figure 7.5 Example CompactLogix Multi-Drive Ladder Logic Main Routine (Continued)

7-15

Channel 2 Drive 0 Subroutine Channel 2 Drive 0 control logic JSR Jump To Subroutine Routine Name CH2_Drive0

Channel 2 Drive 1 Subroutine Channel 2 Drive 1 control logic JSR Jump To Subroutine Routine Name CH2_Drive1

Channel 2 Drive 2 Subroutine Channel 2 Drive 2 control logic JSR Jump To Subroutine Routine Name CH2_Drive2

Channel 2 Drive 3 Subroutine Channel 2 Drive 3 control logic JSR Jump To Subroutine Routine Name CH2_Drive3

10

Channel 2 Drive 4 Subroutine Channel 2 Drive 4 control logic JSR Jump To Subroutine Routine Name CH2_Drive4

11

Channel 3 Modbus RTU Master Subroutine Channel 3 Modbus RTU Master JSR Jump To Subroutine Routine Name CH3_Modbus

12

CH1_Drv0_Valid_Data <Local:1:I.Data[0].0> 13

CH1_Drv1_Valid_Data <Local:1:I.Data[0].1>

CH1_Drv2_Valid_Data <Local:1:I.Data[0].2>

CH1_Drv3_Valid_Data <Local:1:I.Data[0].3>

CH1_Drv4_Valid_Data <Local:1:I.Data[0].4>

SM2_CH1_Data_Valid

7-16

CompactLogix Example Ladder Programs

Figure 7.5 Example CompactLogix Multi-Drive Ladder Logic Main Routine (Continued)

CH2_Drv0_Valid_Data <Local:1:I.Data[0].5> 14

CH2_Drv1_Valid_Data <Local:1:I.Data[0].6>

CH2_Drv2_Valid_Data <Local:1:I.Data[0].7>

CH2_Drv3_Valid_Data <Local:1:I.Data[0].8>

CH2_Drv4_Valid_Data <Local:1:I.Data[0].9>

SM2_CH2_Data_Valid

SM2_CH1_Data_Valid 15 SM2_Cfg_Data_Valid <Local:1:I.Data[0].15> /

SM2_CH2_Data_Valid

SM2_Input_Data_Valid

SM2_Cfg_Error

16

(End)

CompactLogix Example Ladder Programs

Figure 7.6 Example CompactLogix Multi-Drive Ladder Logic CH1 Drive 0 Subroutine

7-17

1769-SM2 Channel 1 Drive 0 Subroutine The following i rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. CH1 Drv0 Logic Status Bit 00 Local:1:I.Data[1].0 0 CH1 Drv0 Logic Status Bit 01 Local:1:I.Data[1].1 1 CH1 Drv0 Logic Status Bit 03 Local:1:I.Data[1].3 2 CH1 Drv0 Logic Status Bit 07 Local:1:I.Data[1].7 3 CH1 Drv0 Logic Status Bit 08 Local:1:I.Data[1].8 4 This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. MOV Move Source Local:1:I.Data[2] 0 Dest CH1_Drv0_Feedback 0

CH1_Drv0_Ready

CH1_Drv0_Active

CH1_Drv0_Forward

CH1_Drv0_Fault

CH1_Drv0_At_Speed

The following rungs display some of the Logic Command bits sent to the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Command word. CH1 Drv0 Logic Command Bit 00 Local:1:O.Data[1].0

CH1_Drv0_Stop 6

7-18

CompactLogix Example Ladder Programs

Figure 7.6 Example CompactLogix Multi-Drive Ladder Logic CH1 Drive 0 Subroutine (Continued)

This rung unlatches the contact that turns on the Start command when the drive is not communicating with i the 1769-SM2. This prevents the drive from immediately starting when communications are restored. If an immediate start is desired for an application, this rung could be deleted. CH1_Drv0_Valid_Data <Local:1:I.Data[0].0> CH1_Drv0_Start / U CH1 Drv0 Logic Command Bit 01 Local:1:O.Data[1].1

CH1_Drv0_Start 8

CH1_Drv0_Jog 9

CH1 Drv0 Logic Command Bit 02 Local:1:O.Data[1].2

CH1_Drv0_Clear_Fault 10

CH1 Drv0 Logic Command Bit 03 Local:1:O.Data[1].3

CH1_Drv0_Forward_Cmd 11

CH1 Drv0 Logic Command Bit 04 Local:1:O.Data[1].4

12

CH1_Drv0_Forward_Cmd /

CH1 Drv0 Logic Command Bit 05 Local:1:O.Data[1].5

13

This rung displays the Reference being sent to the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. CH1 Drv0 Reference Word MOV Move Source CH1_Drv0_Reference 100 Dest Local:1:O.Data[2] 100

14

These rungs send an explicit message to the 1769-SM2 to read/write Parameter 78 [Jog Frequency]. CH1_Drv0_Read_Param MSG Type - CIP Generic Message Control CH1_Drv0_Read_Msg ...

EN DN ER

CompactLogix Example Ladder Programs

7-19

Figure 7.6 Example CompactLogix Multi-Drive Ladder Logic CH1 Drive 0 Subroutine (Continued)
15 Move Source MOV

CH1_Drv0_Read_Value 111 Dest CH1_Drv0_Read_Jog_Frequency 111

16

MOV Move Source CH1_Drv0_Write_Jog_Frequency 111 Dest CH1_Drv0_Write_Value 111 CH1_Drv0_Write_Param

17

Type - CIP Generic Message Control

MSG CH1_Drv0_Write_Msg ...

EN DN ER

18

Return

RET

(End)

The read and write message instructions for PowerFlex 40 drive Parameter 78 - [Jog Frequency] are configured as follows: Read Message (Rung 14)

7-20

CompactLogix Example Ladder Programs A 17486 equates to Parameter 78 (17486 - 17408 = 78), since 17408 is Instance 0 in the drive (17409 is Parameter 1). For additional information about the message setup, refer to page 5-3. Write Message (Rung 17)

A 17486 equates to Parameter 78 (17486 - 17408 = 78), since 17408 is Instance 0 in the drive (17409 is Parameter 1). For additional information about the message setup, refer to page 5-3.

CompactLogix Example Ladder Programs

7-21

Multi-Drive Example Program Tags

The following tags are used to contain the input and output data to/from CH1 Drive 0:

Since the Drive 14 and CH2 ladder routines are similar to the CH1 Drive 0 routine, they are not provided.

7-22

CompactLogix Example Ladder Programs

CH3 Modbus RTU Master Subroutine Example

In Multi-Drive mode, any channel can be configured for Modbus RTU Master operation. In the CompactLogix Multi-Drive ladder logic example, CH3 is used to communicate with a PowerFlex 70 drive via Modbus RTU operation.
Figure 7.7 Example CompactLogix Modbus RTU Ladder Logic CH3 Subroutine

1769-SM2 Channel 3 Modbus RTU Master Subroutine Channel 3 consists of a single PowerFlex 70 drive with i a 20-COMM-H adapter. Write Logic Command and Reference. CH3_MSG1_REQ[0] = Slave Address ("15" is the 20-COMM-H address) CH3_MSG1_REQ[1] = Function Code ("16" is Write Multiple Registers command) CH3_MSG1_REQ[2] = Starting Address ("0" = 4x0001) CH3_MSG1_REQ[3] = Length ("3") CH3_MSG1_REQ[4] = Logic Command word CH3_MSG1_REQ[5] = MSW of 32-bit Reference CH3_MSG1_REQ[6] = 16-bit Reference or LSW of 32-bit Reference MSG Type - CIP Generic Message Control

Channel 3 Write Control CH3_WR_Control 0

CH3_MSG1 ...

EN DN ER

Execute the control message continuously if the CH3_WR_Control bit is ON. CH3_MSG1.DN 1 CH3_MSG1.ER CH3_MSG1.EN U

Read Logic Status and Feedback. CH3_MSG2_REQ[0] = Slave Address ("15" is the 20-COMM-H address) CH3_MSG2_REQ[1] = Function Code ("4" is Read Input Registers command) CH3_MSG2_REQ[2] = Starting Address ("0" = 3x0001) CH3_MSG2_REQ[3] = Length ("3") The response data is stored in: CH3_MSG2_RESP[0] = Logic Status word CH3_MSG2_RESP[1] = MSW of 32-bit Feedback CH3_MSG2_RESP[2] = 16-bit Feedback or LSW of 32-bit Feedback MSG Type - CIP Generic Message Control

Channel 3 Read Status CH3_RD_Status 2

CH3_MSG2 ...

EN DN ER

Execute the status message continuously if the CH3_RD_Status bit is ON. CH3_MSG2.DN 3 CH3_MSG2.ER CH3_MSG2.EN U

CompactLogix Example Ladder Programs

7-23

Figure 7.7 Example CompactLogix Modbus RTU Ladder Logic CH3 Subroutine (Continued)

Write Parameter 100 [Jog Frequency] (written 1x per request) CH3_MSG3_REQ[0] = Slave Address ("15" is the 20-COMM-H address) CH3_MSG3_REQ[1] = Function Code ("6" is Write Single Register command) CH3_MSG3_REQ[2] = Starting Address ("1099" = 4x1101) CH3_MSG3_REQ[3] = Length ("1") CH3_MSG3_REQ[4] = Pr.100 Write Value Channel 3 Write Pr.100 CH3_WR_Pr100 4

MSG Type - CIP Generic Message Control

CH3_MSG3 ...

EN DN ER

Read Parameter 100 [Jog Frequency] (written 1x per request) CH3_MSG4_REQ[0] = Slave Address ("15" is the 20-COMM-H address) CH3_MSG4_REQ[1] = Function Code ("3" is Read Holding Register command) CH3_MSG4_REQ[2] = Starting Address ("1099" = 4x1101) CH3_MSG4_REQ[3] = Length ("1") The response data is stored in: CH3_MSG4_RESP[0] = Pr.100 Read Value MSG Type - CIP Generic Message Control

Channel 3 Read Pr.100 CH3_RD_Pr100 5

CH3_MSG4 ...

EN DN ER

Return

RET

(End)

7-24

CompactLogix Example Ladder Programs The Logic Command/Reference write message instruction on rung 0 is configured as follows:

The format of the command data is:

CompactLogix Example Ladder Programs The Logic Status/Feedback read message instruction on rung 2 is configured as follows:

7-25

The format of the command and response data is:

7-26

CompactLogix Example Ladder Programs The write message instruction on rung 4 for PowerFlex 70 drive Parameter 100 - [Jog Speed] is configured as follows:

The format of the command data is:

The read message instruction on rung 5 for PowerFlex 70 drive Parameter 100 - [Jog Speed] is configured as follows:

CompactLogix Example Ladder Programs

7-27

The format of the command and response data is:

For additional information about Modbus RTU Master messages for PowerFlex 7-Class drives, refer to the 20-COMM-H Adapter User Manual, publication 20COMM-UM009.

7-28

CompactLogix Example Ladder Programs

Notes:

Chapter 8

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

This chapter provides an example of a ControlLogix controller and 1769-ADN Remote DeviceNet adapter system used with a 1769-SM2 module in Single mode. Important: When the 1769-SM2 module is used with the 1769-ADN, the Configuration Mode switch (SW1) must be set to the Controller position (default). See Chapter 2 for information on Configuration Mode switch settings.
Topic Single Mode Using RSLinx Classic Using RSNetWorx for DeviceNet Setting Up the 1769-ADN Registering the 1769-SM2 EDS File PowerFlex 40 Settings 1769-SM2 Settings ControlLogix w/1769-ADN Example Program Example Program Data Table Page 8-1 8-2 8-3 8-4 8-8 8-12 8-12 8-13 8-21

The 1769-SM2 module can be operated in Multi-Drive mode when used in a 1769-ADN system (example not provided). However, explicit messaging and Modbus RTU Master operation CANNOT be used in Single or Multi-Drive mode because, at the time of publication, the ADN does NOT support messaging.

Single Mode
The ladder example provided in this section is based on a 1769-SM2 module in slot 1 with one PowerFlex 4/40 drive connected to each channel (Figure 8.1). The ladder example demonstrates the following functionality for each channel: Send a Logic Command to control the drive (for example, start, stop). Send a Reference to the drive and receive Feedback from the drive. Receive Logic Status information from the drive.

8-2

ControlLogix w/1769-ADN DeviceNet Example Ladder Program Explicit messaging (parameter read/write) capability varies between the RSLogix software packages and controllers: At the time of publication, the 1769-ADN does NOT have explicit messaging capability. Refer to ADN documentation for possible future explicit messaging support.

Figure 8.1 Example ControlLogix/1769-ADN DeviceNet Adapter in a Single Mode System Arrangement
DeviceNet

1769-ADN
MS IO NS DIAG
MODULE
CH1 CH2 CH3

PowerFlex 4/40 Drives

DSI

C H 1

C H 2

C H 3

CH1 CH2 CH3

Using RSLinx Classic

To use RSNetWorx for DeviceNet, you must first set up a driver in RSLinx. RSLinx Classic, in all its variations (Lite, Gateway, OEM, etc.), is used to provide a communication link between the computer, network, and controller. RSLinx Classic requires its network-specific driver to be configured before communications are established with network devices. To configure the RSLinx driver: 1. Start RSLinx and select Communications > Configure Drivers to display the Configure Drivers screen. 2. In the Available Drivers pull-down box, select DeviceNet Drivers (1784-PCD/PCIDS, drivers and then click Add New to display the DeviceNet Driver Selection screen. 3. Select the PC communication card (1770-KFD, 1771-SDNPT, etc.) for connection of your computer to the network and then click Select. 4. Configure the driver for your computer and network settings and click OK.

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

8-3

5. In the Add New RSLinx Driver screen, use the default name or type a new name and click OK. The Configure Drivers screen reappears with the new driver in the Configured Drivers list (Figure 8.2).
Figure 8.2 Configure Drivers Dialog Box with a Configured Driver

6. Click Close to close the Configure Drivers screen. Keep RSLinx running. 7. Verify that your computer recognizes the drive. Select Communications > RSWho and, in the treeview, click the + symbol next to the DeviceNet driver.

Using RSNetWorx for DeviceNet

RSNetWorx for DeviceNet is a Rockwell Software application that can be used to set up DeviceNet networks and configure connected devices. You can view the devices on a DeviceNet network by going online. A device may appear as an unrecognized device (node 63 in Figure 8.3) if RSNetWorx for DeviceNet does not have an EDS file for it.
Step 1. After setting up a driver in RSLinx (see Using RSLinx Classic on page 8-2), start RSNetWorx for DeviceNet. 2. Select Network > Online. If the Browse for Network dialog box appears, RSLinx has multiple drivers configured. Select your DeviceNet network, and click OK. A prompt appears. Click OK to go online. The devices on the network appear in the Configuration View. You can select Graph, Spreadsheet, or Master/ Slave views. Figure 8.3 shows an example network in a Graph view. Icon

Shortcut to RSNetWorx

3.

8-4

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.3 Example DeviceNet Network

Setting Up the 1769-ADN

To configure the 1769-ADN for use with the example program using RSNetWorx for DeviceNet v3.21 (or higher), perform these steps: 1. Double-click on the 1769-ADN adapter image in the graphic display window (Figure 8.4). In the ladder example system, the node address setting on the adapter is 2.
Figure 8.4 1769-ADN Adapter Image Screen

2. Select the Module Configuration tab and build the remote ADN system by dragging and dropping components (Figure 8.5). In the ladder example, the remote drop consists of an ADN, PA4 power supply, 1769-SM2 module, and ECR end cap terminator.

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.5 1769-ADN Adapter Module Configuration Tab Screen

8-5

The EDS file for the 1769-SM2 module is needed to configure the remote 1769-ADN DeviceNet system. If the 1769-SM2 is not listed as a selection (Figure 8.5), the EDS file will need to be downloaded from the Internet. For more information, refer to Registering the 1769-SM2 EDS File on page 8-8. 3. Select the 1769-SM2 and click on the Properties command button. A screen similar to Figure 8.6 will appear.
Figure 8.6 1769-SM2 Module Properties Screen

Enter a 1 in the Bank field, and click OK.

8-6

ControlLogix w/1769-ADN DeviceNet Example Ladder Program 4. Select the Advanced Parameters tab (Figure 8.7). Refer to Chapter 4, Understanding the I/O Image regarding the Input and Output Data Sizes. In the ladder example, the Input and Output Data Sizes are set for 7 words each to allow for Logic Command/Reference and Logic Status/Feedback for all 3 drives.
Figure 8.7 1769-SM2 Module Advanced Parameters Tab Screen

5. Select the Configuration Settings tab. The configuration data for each channel is contained in a folder. Click on the Channel 1 folder (Figure 8.8).
Figure 8.8 1769-SM2 Channel 1 Config Data Screen

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

8-7

Parameters can be adjusted by double-clicking on the desired parameter. Default settings are used for this ladder example. Click OK to complete the 1769-SM2 configuration. 6. Select the I/O Summary tab (Figure 8.9). The 1769-ADN uses 4 Input bytes and the 1769-SM2 module has been configured for 14 bytes (7 words) of Input and Output data. The I/O Summary below is required for the example ladder program.
Figure 8.9 1769-ADN Adapter I/O Summary Tab Screen

Click OK to complete the configuration.

8-8

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Registering the 1769-SM2 EDS File

The EDS file for the 1769-SM2 module is needed to configure the remote 1769-ADN DeviceNet system. If the 1769-SM2 is not listed as a selection in the Hardware list (Figure 8.10), the EDS file will need to be downloaded from the Internet and registered using the EDS Wizard.
Figure 8.10 1769-ADN Adapter Module Configuration Tab Screen

1. Download the EDS file for the 1769-SM2 module from www.ab.com/networks/eds. 2. Using RSNetWorx for DeviceNet, click on Tools > EDS Wizard to launch the EDS Wizard (Figure 8.11).
Figure 8.11 EDS Wizard Welcome Screen

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

8-9

3. Click Next > to display the EDS Wizard Task screen (Figure 8.12). Select Register an EDS file(s) and click Next >.
Figure 8.12 EDS Wizard Task Screen

4. The EDS Wizard Registration screen (Figure 8.13) will appear. Select Register a single file and use the Browse command button to browse to the EDS file on your hard drive. Click Next >.
Figure 8.13 EDS Wizard Registration Screen

5. The EDS file is installed and tested (Figure 8.14). Click Next >.

8-10

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.14 EDS Wizard Installation Test Screen

6. The EDS Wizard Change Graphic Image screen (Figure 8.15) appears, enabling the icon associated with the EDS file for the 1769-SM2 module to be changed if desired. Click Next >.
Figure 8.15 EDS Wizard Change Graphic Image Screen

7. The EDS Wizard Final Task Summary screen (Figure 8.16) will appear. Click Next > to register the 1769-SM2 module.

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.16 EDS Wizard Final Task Summary Screen

8-11

8. The EDS Wizard is now completed (Figure 8.17). Click Finish.

Figure 8.17 EDS Wizard Finish Screen

Earlier versions of RSNetWorx for DeviceNet require you to close and restart RSNetWorx for DeviceNet to enable the 1769-SM2 module to appear in the 1769-ADN Module Configuration tab (Figure 8.10). If you do not see the 1769-SM2 in the Hardware list, close and restart RSNetWorx for DeviceNet.

8-12

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

PowerFlex 40 Settings
The PowerFlex 40 drives used in the example program have the following parameter settings:
Parameter P036 - [Start Source] P038 - [Speed Reference] A103 - [Comm Data Rate] A104 - [Comm Node Addr] A107 - [Comm Format] Setting 5 (Comm Port) 5 (Comm Port) 4 (19.2K) 100 0 (RTU 8-N-1)

1769-SM2 Settings
The 1769-SM2 module used in the example program has the following switch settings:
Switch Configuration Mode Switch (SW1) Operating Mode Switch (SW2) Setting CONT position 1X (Single) position

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

8-13

ControlLogix w/1769-ADN Example Program

Figure 8.18 Example ControlLogix Ladder Logic Main Routine

ControlLogix DeviceNet system w/ / 1769-ADN using 1769-SM2 in Single Mode de In this Single mode example program, the channels are utilized as follows: s: Channel 1 - Connected to 1 PowerFlex erFle 4/40 drive (maximum allowed) Channel 2 - Connected to 1 PowerFlex erFle 4/40 drive (maximum allowed) Channel 3 - Connected to 1 PowerFlex e 4/40 drive (maximum allowed) Note: No parameter read/write messages are shown because explicit messaging can NOT be used with i the 1769-ADN. This rung commands the 1756-SDN to run. Local:6:O.CommandRegister.Run 0

Copy the DNB I/O (DINT format) over to an input data array in INT format for easier use by the program. SM2_Input_Data[0] = 1769-ADN overhead SM2_Input_Data[1] = 1769-ADN overhead SM2_Input_Data[2] = SM2 Status word SM2_Input_Data[3] = SM2 CH1 Logic Status SM2_Input_Data[4] = SM2 CH1 Feedback SM2_Input_Data[5] = SM2 CH2 Logic Status SM2_Input_Data[6] = SM2 CH2 Feedback SM2_Input_Data[7] = SM2 CH3 Logic Status SM2_Input_Data[8] = SM2 CH3 Feedback 1769-ADN Overhead COP Copy File Source Local:6:I.Data[0] Dest SM2_Input_Data[0] Length 9

This rung enables the 1769-SM2 to send the Channel 1 Logix Command and Reference words to the drive. o CH1_Enable <SM2_Output_Data[0].0> 2

Channel 1 Subroutine 3 CH1 control logic JSR Jump To Subroutine Routine Name Channel_1

This rung enables the 1769-SM2 to send the Channel 2 Logix Command and Reference words o to the drive. CH2_Enable <SM2_Output_Data[0].1> 4

Channel 2 Subroutine 5 CH2 control logic JSR Jump To Subroutine Routine Name Channel_2

8-14

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.18 Example ControlLogix Ladder Logic Main Routine (Continued)

This rung enables the 1769-SM2 to send the Channel 3 Logix Command and Reference words to the drive. CH3_Enable <SM2_Output_Data[0].2> 6

Channel 3 Subroutine 7 CH3 control logic JSR Jump To Subroutine Routine Name Channel_3

CH1_Valid_Data CH2_Valid_Data CH3_Valid_Data <SM2_Input_Data[2].0> <SM2_Input_Data[2].5> <SM2_Input_Data[2].10> 8 SM2_Cfg_Data_Valid <SM2_Input_Data[2].15> 9 / Copy the SM2 input data array (INT format) to the DNB Outputs (DINT format). SM2_Output_Data[0] = SM2 Status word SM2_Output_Data[1] = SM2 CH1 Logic Command SM2_Output_Data[2] = SM2 CH1 Reference SM2_Output_Data[3] = SM2 CH2 Logic Command SM2_Output_Data[4] = SM2 CH2 Reference SM2_Output_Data[5] = SM2 CH3 Logic Command SM2_Output_Data[6] = SM2 CH3 Reference 10

SM2_Data_Valid

SM2_Cfg_Error

COP Copy File Source SM2_Output_Data[0] Dest Local:6:O.Data[0] Length 4

(End)

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.19 Example ControlLogix Ladder Logic CH1 Subroutine

8-15

1769-SM2 Channel 1 Subroutine The following i rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. SM2_Input_Data[3].0 0 CH1_Ready

SM2_Input_Data[3].1 1 SM2_Input_Data[3].3 2 SM2_Input_Data[3].7 3 SM2_Input_Data[3].8 4

CH1_Active

CH1_Forward

CH1_Fault

CH1_At_Speed

This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. MOV Move Source SM2_Input_Data[4] 100 Dest CH1_Feedback 100

i rungs display some of the Logic Command bits sent to the drive. Refer to Appendix D in the 1769-SM2 user The following manual for additional information about the Logic Command word. CH1_Stop 6 This rung unlatches the contact that turns on the Start command when the drive is not communicating with the 1769-SM2. This prevents the drive from immediately starting when communications are restored. If an immediate start is desired for an application, this rung could be deleted. CH1_Valid_Data <SM2_Input_Data[2].0> CH1_Start 7 / U SM2_Output_Data[1].0

CH1_Start 8 CH1_Jog 9 CH1_Clear_Fault 10

SM2_Output_Data[1].1

SM2_Output_Data[1].2

SM2_Output_Data[1].3

8-16

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.19 Example ControlLogix Ladder Logic CH1 Subroutine (Continued)

CH1_Forward_Cmd 11 CH1_Forward_Cmd /

SM2_Output_Data[1].4

SM2_Output_Data[1].5

12

13

This rung displays the Reference being sent to the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. SM2 CH1 Reference MOV Move Source CH1_Reference 100 Dest SM2_Output_Data[2] 100

14

Return

RET

(End)

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.20 Example ControlLogix Ladder Logic CH2 Subroutine

8-17

1769-SM2 Channel 2 Subroutine The following rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. SM2_Input_Data[5].0 0 CH2_Ready

SM2_Input_Data[5].1 1 SM2_Input_Data[5].3 2 SM2_Input_Data[5].7 3 SM2_Input_Data[5].8 4

CH2_Active

CH2_Forward

CH2_Fault

CH2_At_Speed

This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. MOV Move Source SM2_Input_Data[6] 200 Dest CH2_Feedback 200

The following i rungs display some of the Logic Command bits sent to the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Command word. CH2_Stop 6 i the 1769-SM2. This rung unlatches the contact that turns on the Start command when the drive is not communicating with This prevents the drive from immediately starting when communications are restored. If an immediate start is desired for an application, this rung could be deleted. CH2_Valid_Data <SM2_Input_Data[2].5> CH2_Start 7 / U SM2_Output_Data[3].0

CH2_Start 8 CH2_Jog 9 CH2_Clear_Fault 10

SM2_Output_Data[3].1

SM2_Output_Data[3].2

SM2_Output_Data[3].3

8-18

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.20 Example ControlLogix Ladder Logic CH2 Subroutine (Continued)

CH2_Forward_Cmd 11 CH2_Forward_Cmd 12 /

SM2_Output_Data[3].4

SM2_Output_Data[3].5

13

This rung displays the Reference being sent to the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. SM2 CH2 Reference MOV Move Source CH2_Reference 200 Dest SM2_Output_Data[4] 2000

14

Return

RET

(End)

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.21 Example ControlLogix Ladder Logic CH3 Subroutine

8-19

1769-SM2 Channel 3 Subroutine The following i rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. SM2_Input_Data[7].0 0 CH3_Ready

SM2_Input_Data[7].1 1 SM2_Input_Data[7].3 2 SM2_Input_Data[7].7 3 SM2_Input_Data[7].8 4

CH3_Active

CH3_Forward

CH3_Fault

CH3_At_Speed

This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. MOV Move Source SM2_Input_Data[8] 300 Dest CH3_Feedback 300

i rungs display some of the Logic Command bits sent to the drive. Refer to Appendix D in the 1769-SM2 user The following manual for additional information about the Logic Command word. CH3_Stop 6 This rung unlatches the contact that turns on the Start command when the drive is not communicating with i the 1769-SM2. This prevents the drive from immediately starting when communications are restored. If an immediate start is desired for an application, this rung could be deleted. CH3_Valid_Data <SM2_Input_Data[2].10> CH3_Start 7 / U SM2_Output_Data[5].0

CH3_Start 8 CH3_Jog 9 CH3_Clear_Fault 10

SM2_Output_Data[5].1

SM2_Output_Data[5].2

SM2_Output_Data[5].3

8-20

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Figure 8.21 Example ControlLogix Ladder Logic CH3 Subroutine (Continued)

CH3_Forward_Cmd 11 CH3_Forward_Cmd /

SM2_Output_Data[5].4

SM2_Output_Data[5].5

12

13

This rung displays the Reference being sent to the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. SM2 CH3 Reference MOV Move Source CH3_Reference 300 Dest SM2_Output_Data[6] 3000

14

Return

RET

(End)

ControlLogix w/1769-ADN DeviceNet Example Ladder Program

8-21

Example Program Data Table

In this example program, the following controller tags are used:
Figure 8.22 Controller Tags

8-22

ControlLogix w/1769-ADN DeviceNet Example Ladder Program An example of Input/Output values are shown below:
Figure 8.23 1769-SM2 Input Data

Figure 8.24 1769-SM2 Output Data

Chapter 9

Troubleshooting
This chapter provides information for troubleshooting potential problems with 1769-SM2 module and network.
Topic Locating the Status Indicators MODULE Status Indicator CH1CH3 Status Indicators Viewing Module Diagnostic Items Viewing and Clearing Events Page 9-1 9-2 9-3 9-4 9-6

Locating the Status Indicators

The 1769-SM2 module has four status indicators. They can be viewed on the front of the module. See Figure 9.1.
Figure 9.1 Status Indicators

MODULE
MODULE
CH1 CH2 CH3

CH1

CH2

CH3

DSI

C H 1

C H 2

C H 3

Item Status Indicator

Description Module Status Channel 1 Status Channel 2 Status Channel 3 Status

Page 9-2 9-3 9-3 9-3

MODULE CH1 CH2 CH3

9-2

Troubleshooting

MODULE Status Indicator

The MODULE status indicator is a bicolor red and green LED.
Status Off Flashing Red Cause The module is not powered. Corrective Action Apply power to the module.

The modules configuration data Change the controller configuration is not valid. data to valid settings. Reset the module parameters to their default settings, and then reset the module.

Steady Red The module is unable to Cycle power to the controller. establish communication with the controller. Flashing Green Steady Green Flashing Red/Green The module is establishing communications with the controller. The module has established communications with the controller. The module is in boot mode. Normal behavior -- no action required.

Normal behavior -- no action required.

Flash download the application code to the module.

Troubleshooting

9-3

CH1CH3 Status Indicators

The CH1, CH2, and CH3 status indicators are bicolor red and green LEDs.
Status Off Cause The module is not powered. Corrective Action Apply power to the module.

The channel is not connected to Apply power to the PowerFlex 4-Class a PowerFlex 4-Class DSI drive. DSI drive. Connect the module channel to the The channel is set for Modbus RTU Master operation, but is not drive using a communications cable. transmitting. Flashing In Single mode, the channel is Red not receiving communication from the drive. Verify that the 22-RJ45CBL-C* communications cable is securely connected and not damaged. Replace cable if necessary. In Multi-Drive mode, the channel is not receiving communication Verify the setting for the [DSI I/O Cfg x] parameter. from one or more configured drives. Verify the settings for the [Drv x Addr x] parameters. Verify the settings for the node address and data rate parameters in the drive. Cycle power to the drive. Flashing The channel is properly Green connected to the drive and is communicating, but is not sending I/O to the drive. The channel is set for Modbus RTU Master operation, and is transmitting. Steady Green The channel is properly connected to the drive and is sending I/O to the drive. No action required. No action required.

9-4

Troubleshooting

Viewing Module Diagnostic Items

Diagnostic items are provided for each respective channel. The following diagnostic items can be accessed using DriveExplorer v3.01 (or higher). Table 9.A Diagnostic Items for Module in Single Mode
No. Name 1 2 3 4 5 6 Reserved Logic Cmd Reference Reserved Logic Sts Feedback Description Current value of the product-specific Logic Command being transmitted to the drive by this module. Current value of the product-specific Reference being transmitted to the drive by this module. Current value of the product-specific Logic Status being received from the drive by this module. Current value of the product-specific Feedback being received from the drive by this module. Number of DSI receive overrun errors. Number of DSI receive framing errors. Number of DSI receive CRC errors. Number of times the boot firmware in the module has been flash updated. Number of times the application firmware in the module has been flash updated.

7-22 Reserved 23 24 25 26 27 DSI Overrun Errs DSI Framing Errs DSI CRC Errs Boot Flash Count App Flash Count

Table 9.B Diagnostic Items for Module in Multi-Drive Mode

No. Name 1 2 3 4 5 6 7 8 Reserved Drv 0 Logic Cmd Drv 0 Reference Reserved Drv 0 Logic Sts Drv 0 Feedback Drv 1 Logic Cmd Drv 1 Reference Description Current value of the product-specific Logic Command being transmitted to Drive 0 by this module. Current value of the product-specific Reference being transmitted to Drive 0 by this module. Current value of the product-specific Logic Status being received from Drive 0 by this module. Current value of the product-specific Feedback being received from Drive 0 by this module. Current value of the product-specific Logic Command being transmitted to Drive 1 by this module. Current value of the product-specific Reference being transmitted to Drive 1 by this module.

Troubleshooting Table 9.B Diagnostic Items for Module in Multi-Drive Mode (Continued)
No. Name 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 Drv 1 Logic Sts Drv 1 Feedback Drv 2 Logic Cmd Drv 2 Reference Drv 2 Logic Sts Drv 2 Feedback Drv 3 Logic Cmd Drv 3 Reference Drv 3 Logic Sts Drv 3 Feedback Drv 4 Logic Cmd Drv 4 Reference Drv 4 Logic Sts Drv 4 Feedback DSI Overrun Errs DSI Framing Errs DSI CRC Errs Boot Flash Count App Flash Count Description Current value of the product-specific Logic Status being received from Drive 1 by this module. Current value of the product-specific Feedback being received from Drive 1 by this module.

9-5

Current value of the product-specific Logic Command being transmitted to Drive 2 by this module. Current value of the product-specific Reference being transmitted to Drive 2 by this module. Current value of the product-specific Logic Status being received from Drive 2 by this module. Current value of the product-specific Feedback being received from Drive 2 by this module. Current value of the product-specific Logic Command being transmitted to Drive 3 by this module. Current value of the product-specific Reference being transmitted to Drive 3 by this module. Current value of the product-specific Logic Status being received from Drive 3 by this module. Current value of the product-specific Feedback being received from Drive 3 by this module. Current value of the product-specific Logic Command being transmitted to Drive 4 by this module. Current value of the product-specific Reference being transmitted to Drive 4 by this module. Current value of the product-specific Logic Status being received from Drive 4 by this module. Current value of the product-specific Feedback being received from Drive 4 by this module. Number of DSI receive overrun errors. Number of DSI receive framing errors. Number of DSI receive CRC errors. Number of times the boot firmware in the module has been flash updated. Number of times the application firmware in the module has been flash updated.

9-6

Troubleshooting

Viewing and Clearing Events

The module has an event queue to record significant events that occur in the operation of the module. When such an event occurs, an entry is put into the event queue. You can view the event queue using DriveExplorer v3.01 (or higher) software.
Figure 9.2 DriveExplorer Event View/Clear Screen

The event queue can contain up to 32 entries. Eventually the event queue will become full, since its contents are retained through module resets. At that point, a new entry replaces the oldest entry. Only an event queue clear operation or module power cycle will clear the event queue contents. Resetting the module to defaults has no effect on the event queue. Many events in the event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Allen-Bradley personnel troubleshoot the problem. The following events may appear in the event queue: Table 9.C Module Events
Code Event Module Events 0 1 2 3 4 5 6 No Event Manual Reset Watchdog T/O Flt App Updated Boot Updated Empty event queue entry. The module performed a self-reset. The software watchdog detected a failure and reset the module. The application firmware has been flash updated. The boot firmware has been flash updated. Normal Startup The module successfully started up. Description

EEPROM Sum The EEPROM checksum/CRC is incorrect. The functionality of Flt the module will be limited. Default parameters must be loaded to clear this condition.

Troubleshooting Table 9.C Module Events (Continued)

Code Event 7-9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 40 41 42 Reserved DSI Events Slave Detected The module detected that the slave has been connected. Slave Removed The module detected that the slave has been disconnected. Slave Logon Slave Timeout Host 0 Logon Host 1 Logon Host 2 Logon Host 3 Logon Host 4 Logon The module has established communications with the slave. The module has lost communications with the slave. The module has established communications with host 0. The module has established communications with host 1. The module has established communications with host 2. The module has established communications with host 3. The module has established communications with host 4. Description

9-7

Slave Brand Flt The slave brand is different than the module.

Host 0 Timeout The module has lost communications with host 0. Host 1 Timeout The module has lost communications with host 1. Host 2 Timeout The module has lost communications with host 2. Host 3 Timeout The module has lost communications with host 3. Host 4 Timeout The module has lost communications with host 4. Host 0 Brand Flt The host 0 brand is different than the module. Host 1 Brand Flt The host 1 brand is different than the module. Host 2 Brand Flt The host 2 brand is different than the module. Host 3 Brand Flt The host 3 brand is different than the module. Host 4 Brand Flt The host 4 brand is different than the module. Net Link Up Net Link Down Dup Net Addr The network link is established. The network link is lost. The module has detected that another device is using its network address. In this case, the module will not participate in any network activity. An I/O connection from the network to the module was opened. An I/O connection from the network to the module was closed. An I/O connection from the network to the module has timed out. The module has performed the Comm Flt action specified by the user. The module has performed the Idle Flt action specified by the user.

Network Events

43 44 45 46 47 48 49 50 51

Net Open Net Close Net Timeout Net Comm Flt Net Idle Flt

PCCC IO Open The module has begun receiving PCCC Control messages (the PCCC Control Timeout was previously set to a non-zero value). PCCC IO Close The device sending PCCC Control messages to the module has set the PCCC Control Timeout to a value of zero. PCCC IO Time The module has not received a PCCC Control message for Flt longer than the PCCC Control Timeout. Net Sent Reset The module received a reset from the network.

9-8

Troubleshooting Table 9.C Module Events (Continued)

Code Event 52 Msg Ctrl Open Description The module has begun receiving Client-Server Control messages (the Client-Server Control Timeout was previously set to a non-zero value). The device sending Client-Server Control messages to the module has set the Client-Server Control Timeout to a value of zero. The module has not received a Client-Server Control message for longer than the established timeout period.

53

Msg Ctrl Close

54

Msg Ctrl Timeout

Appendix A

Specifications
Appendix A presents the specifications for the module.
Topic Communications Electrical Mechanical Environmental Regulatory Compliance DSI Cable Requirements Page A-1 A-1 A-1 A-2 A-2 A-2

Communications
Drive Protocols Data Rates DSI or Modbus RTU Master DSI Operation: 19200 bps Modbus RTU Master Operation: 300, 600, 1200, 2400, 4800, 9600, 19200, or 38400 bps

Electrical
Consumption Module data only (no Channel data) Power Supply Distance Rating 350 mA @ 5Vdc and 0 mA @ 24Vdc supplied by the Compact I/O Power Supply 4 (the 1769-SM2 module cannot be more than 4 modules away from the power supply)

Mechanical
Dimensions Height Depth Width Weight 118 mm (4.65 inches) 87 mm (3.43 inches) 35 mm (1.38 inches) 142g (5 oz.)

A-2

Specifications

Environmental
Temperature Operating Storage Relative Humidity Atmosphere -1050 C (14122 F) -4085 C (-40185 F) -595% non-condensing Important: The module must not be installed in an area where the ambient atmosphere contains volatile or corrosive gas, vapors, or dust. If the module is not going to be installed for a period of time, it must be stored in an area where it will not be exposed to a corrosive atmosphere. 30g, 11 ms 50g, 11 ms 5g, 10 to 500 Hz 5g, 5 to 2000 Hz

Shock Operational Non-Operational Vibration Operational Non-Operational

Regulatory Compliance
UL cUL CE CTick UL508C CAN/CSA C22.2 No. 14-M91 EN50081-2 and EN61000-6-2 AS/NZS 2064

NOTE: In a domestic environment this product may cause radio interference in which case supplementary mitigation measures may be required. NOTE: To meet CE and CTick certification, a ferrite core (Fair-Rite p/n 2643102002) must be added to DSI communication cables longer than 10 m (33 ft.), and the core must be attached within 305 mm (12 in.) of the 1769-SM2 module.

DSI Cable Requirements

The maximum cable distance between the 1769-SM2 module and connected PowerFlex 4-Class drives is 10 m (32.8 ft.) when 8-conductor cables are used in Single mode. The maximum cable distance when 2-conductor twisted-pair network wiring is used with RJ45 two-position terminal blocks (AK-U0-RJ45-TB2P) in Single or Multi-Drive mode is 1219 m / 4000 ft. (standard RS-485 specifications). The installer must follow common system wiring practices and route cables away from sources of EMI.

Appendix B

Module Parameters
Appendix B provides information about the 1769-SM2 module parameters.
Topic About Parameter Numbers Parameter List Page B-1 B-1

About Parameter Numbers

The parameters in the module are numbered consecutively.
Configuration Tool DriveExplorer DriveExecutive HIM Numbering Scheme The module parameters begin with parameter 01. For example, Parameter 01 - [Config Mode] is parameter 01 as indicated by this manual.

TIP: All module parametersexcept Parameters 01 - [Config Mode], 02 - [DSI Mode], and 03 - [Reset Module]are grouped by channel number. The respective channel number is shown at the end of the parameter name (for example, Parameter 04 - [Idle Action 1] for CH1).

Parameter List
Parameter No. Name and Description 01 [Config Mode] Displays the modules configuration mode (Controller or Parameter) set with the Configuration Mode Switch (SW1 in Figure 2.1). [DSI Mode] Displays the modules operating mode (Single or Multi-Drive) set with the Operating Mode Switch (SW2 in Figure 2.1).

Details Default: Values: Type: Default: Values: Type:

0 = Controller 0 = Controller 1 = Parameter Read Only 0 = Single 0 = Single 1 = Multi-Drive Read Only

02

B-2

Module Parameters

Parameter No. Name and Description 03 [Reset Module]

Details Default: No action if set to 0 (Ready). Resets the module Values if set to 1 (Reset Module). Restores the module to its factory default settings if set to 2 (Set Defaults). This parameter is a command. It will be Type: reset to 0 (Ready) after the command has been Reset Required: performed.

0 = Ready 0 = Ready 1 = Reset Module 2 = Set Defaults Read/Write No

!
04

ATTENTION: Risk of injury or equipment damage exists. If the module is transmitting I/O that controls the drive, the drive may fault when you reset the module. Determine how your drive will respond before resetting the module.

[Idle Action 1]

Default: Sets the action that the module and CH1 drive(s) Values: take if the module detects that the controller is in program mode or faulted. This setting is effective only if I/O that controls the drive is transmitted through the module. Type: Reset Required:

0 = Fault 0 = Fault 1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg Read/Write No

ATTENTION: Risk of injury or equipment damage exists. Parameter 04 - [Idle Action 1] lets you determine the action of the module and CH1 connected drive(s) when the controller is idle. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected drive). Default: Minimum: Maximum: Type: Reset Required: 0000 0000 0000 0000 0000 0000 0000 0000 1111 1111 1111 1111 Read/Write No 0 0 65535 Read/Write No 0 = Drive 0 0 = Drive 0 1 = Drives 01 2 = Drives 02 3 = Drives 03 4 = Drives 04 5 = RTU Master Read/Write Yes

05

[Flt Cfg Logic 1] Sets the Logic Command data that is sent to the CH1 drive(s) if Parameter 04 - [Idle Action 1] is set to 4 (Send Flt Cfg) and the controller is idle.

06

07

The bit definitions will depend on the drive(s) to which the module is connected. See Appendix D. [Flt Cfg Ref 1] Default: Minimum: Sets the Reference data that is sent to the CH1 drive(s) if Parameter 04 - [Idle Action 1] is set to Maximum: Type: 4 (Send Flt Cfg) and the controller is idle. Reset Required: [DSI I/O Cfg 1] Default: Values: Sets the number of CH1 drives that are used in Multi-Drive mode. Identifies the connections that would be attempted on a reset or power cycle.

Type: Reset Required:

Module Parameters
Parameter No. Name and Description 08 [DSI I/O Act 1] Displays the CH1 drives that are active in Multi-Drive mode.

B-3

Details Default: Bit Values: Type: Not Used Not Used Bit Definition Default Bit

xxx0 0000 0 = Drive Active 1 = Drive Inactive Read Only Not Used

Drive 4

Drive 3

Drive 2 0 2

Drive 1 0 1

x 7

x 6

x 5

0 4

0 3

09 10 11 12 13

[Drv 0 Addr 1] [Drv 1 Addr 1] [Drv 2 Addr 1] [Drv 3 Addr 1] [Drv 4 Addr 1] Sets the corresponding node addresses of the daisy-chained CH1 drives when the module is in Multi-Drive mode.

14

Important: The setting for each of these parameters must match the drive Parameter 104 [Comm Node Addr] value for each respective drive. Each drive node address must be unique (no duplicate node addresses). [RTU Baud Rate 1] Default: Sets the baud rate used by the CH1 drives when Values: the module is in Multi-Drive mode and Parameter 07 - [DSI I/O Cfg 1] is set to 5 (RTU Master).

Default: Default: Default: Default: Default: Minimum: Maximum: Type: Reset Required:

100 100 100 100 100 0 247 Read/Write Yes

15

[RTU Format 1] Selects the RTU format used by the CH1 drives when the module is in Multi-Drive mode and Parameter 07 - [DSI I/O Cfg 1] is set to 5 (RTU Master). The RTU format consists of three components: data bits (8 data bits only), parity (None, Even or Odd), and stop bits (1 or 2).

Type: Reset Required: Default: Value:

16

Type: Reset Required: Default: [RTU Rx Delay 1] Sets the CH1 inter-character delay used to detect Minimum: the end of a receive packet when the module is in Maximum: Type: Multi-Drive mode and Parameter 07 - [DSI I/O Reset Required: Cfg 1] is set to 5 (RTU Master). If this value is set to 0 (zero), the ModBus default delay of 1.5 character times is used.

0 = 38.4K bps 0 = 38.4K bps 1 = 19200 bps 2 = 9600 bps 3 = 4800 bps 4 = 2400 bps 5 = 1200 bps 6 = 600 bps 7 = 300 bps Read/Write Yes 0 = 8-N-1 0 = 8-N-1 1 = 8-E-1 2 = 8-O-1 3 = 8-N-2 4 = 8-E-2 5 = 8-O-2 Read/Write Yes 0 milliseconds 0 milliseconds 500 milliseconds Read/Write Yes

Drive 0 1 0

B-4

Module Parameters

Parameter No. Name and Description 17 [RTU Tx Delay 1]

18

Details Default: Sets the CH1 inter-frame delay used to delay the Minimum: sending of a transmit packet when the module is in Maximum: Type: Multi-Drive mode and Parameter 07 - [DSI I/O Reset Required: Cfg 1] is set to 5 (RTU Master). If this value is set to 0 (zero), the ModBus default delay of 3.5 character times is used. [RTU MsgTimeout 1] Default: Minimum: Sets the amount of time in seconds that the Maximum: module will wait for a response from a ModBus RTU CH1 slave when the module is in Multi-Drive Type: mode and Parameter 07 - [DSI I/O Cfg 1] is set to Reset Required: 5 (RTU Master). [Idle Action 2] Default: Sets the action that the module and CH2 drive(s) Values: take if the module detects that the controller is in program mode or faulted. This setting is effective only if I/O that controls the drive is transmitted through the module. Type: Reset Required:

0 milliseconds 0 milliseconds 500 milliseconds Read/Write Yes

2 seconds 0 seconds 60 seconds Read/Write Yes 0 = Fault 0 = Fault 1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg Read/Write No

19

!
20

ATTENTION: Risk of injury or equipment damage exists. Parameter 19 - [Idle Action 2] lets you determine the action of the module and CH2 connected drive(s) when the controller is idle. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected drive). Default: Minimum: Maximum: Type: Reset Required: 0000 0000 0000 0000 0000 0000 0000 0000 1111 1111 1111 1111 Read/Write No 0 0 65535 Read/Write No 0 = Drive 0 0 = Drive 0 1 = Drives 01 2 = Drives 02 3 = Drives 03 4 = Drives 04 5 = RTU Master Read/Write Yes

[Flt Cfg Logic 2] Sets the Logic Command data that is sent to the CH2 drive(s) if Parameter 19 - [Idle Action 2] is set to 4 (Send Flt Cfg) and the controller is idle.

21

22

The bit definitions will depend on the drive(s) to which the module is connected. See Appendix D. [Flt Cfg Ref 2] Default: Minimum: Sets the Reference data that is sent to the CH2 drive(s) if Parameter 19 - [Idle Action 2] is set to Maximum: Type: 4 (Send Flt Cfg) and the controller is idle. Reset Required: [DSI I/O Cfg 2] Default: Values: Sets the number of CH1 drives that are used in Multi-Drive mode. Identifies the connections that would be attempted on a reset or power cycle.

Type: Reset Required:

Module Parameters
Parameter No. Name and Description 23 [DSI I/O Act 2] Displays the CH2 drives that are active in Multi-Drive mode.

B-5

Details Default: Bit Values: Type: Not Used Not Used Bit Definition Default Bit

xxx0 0000 0 = Drive Active 1 = Drive Inactive Read Only Not Used

Drive 4

Drive 3

Drive 2 0 2

Drive 1 0 1

x 7

x 6

x 5

0 4

0 3

24 25 26 27 28

[Drv 0 Addr 2] [Drv 1 Addr 2] [Drv 2 Addr 2] [Drv 3 Addr 2] [Drv 4 Addr 2] Sets the corresponding node addresses of the daisy-chained CH2 drives when the module is in Multi-Drive mode.

29

Important: The setting for each of these parameters must match the drive Parameter 104 [Comm Node Addr] value for each respective drive. Each drive node address must be unique (no duplicate node addresses). [RTU Baud Rate 2] Default: Sets the baud rate used by the CH2 drives when Values: the module is in Multi-Drive mode and Parameter 22 - [DSI I/O Cfg 2] is set to 5 (RTU Master).

Default: Default: Default: Default: Default: Minimum: Maximum: Type: Reset Required:

100 100 100 100 100 0 247 Read/Write Yes

30

[RTU Format 2] Selects the RTU format used by the CH2 drives when the module is in Multi-Drive mode and Parameter 22 - [DSI I/O Cfg 2] is set to 5 (RTU Master). The RTU format consists of three components: data bits (8 data bits only), parity (None, Even or Odd), and stop bits (1 or 2).

Type: Reset Required: Default: Value:

31

Type: Reset Required: Default: [RTU Rx Delay 2] Sets the CH2 inter-character delay used to detect Minimum: the end of a receive packet when the module is in Maximum: Type: Multi-Drive mode and Parameter 22 - [DSI I/O Reset Required: Cfg 2] is set to 5 (RTU Master). If this value is set to 0 (zero), the ModBus default delay of 1.5 character times is used.

0 = 38.4K bps 0 = 38.4K bps 1 = 19200 bps 2 = 9600 bps 3 = 4800 bps 4 = 2400 bps 5 = 1200 bps 6 = 600 bps 7 = 300 bps Read/Write Yes 0 = 8-N-1 0 = 8-N-1 1 = 8-E-1 2 = 8-O-1 3 = 8-N-2 4 = 8-E-2 5 = 8-O-2 Read/Write Yes 0 milliseconds 0 milliseconds 500 milliseconds Read/Write Yes

Drive 0 1 0

B-6

Module Parameters

Parameter No. Name and Description 32 [RTU Tx Delay 2]

33

Details Default: Sets the CH2 inter-frame delay used to delay the Minimum: sending of a transmit packet when the module is in Maximum: Type: Multi-Drive mode and Parameter 22 - [DSI I/O Reset Required: Cfg 2] is set to 5 (RTU Master). If this value is set to 0 (zero), the ModBus default delay of 3.5 character times is used. [RTU MsgTimeout 2] Default: Minimum: Sets the amount of time in seconds that the Maximum: module will wait for a response from a ModBus RTU CH2 slave when the module is in Multi-Drive Type: mode and Parameter 22 - [DSI I/O Cfg 2] is set to Reset Required: 5 (RTU Master). [Idle Action 3] Default: Sets the action that the module and CH3 drive(s) Values: take if the module detects that the controller is in program mode or faulted. This setting is effective only if I/O that controls the drive is transmitted through the module. Type: Reset Required:

0 milliseconds 0 milliseconds 500 milliseconds Read/Write Yes

2 seconds 0 seconds 60 seconds Read/Write Yes 0 = Fault 0 = Fault 1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg Read/Write No

34

!
35

ATTENTION: Risk of injury or equipment damage exists. Parameter 34 - [Idle Action 3] lets you determine the action of the module and CH3 connected drive(s) when the controller is idle. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected drive). Default: Minimum: Maximum: Type: Reset Required: 0000 0000 0000 0000 0000 0000 0000 0000 1111 1111 1111 1111 Read/Write No

[Flt Cfg Logic 3] Sets the Logic Command data that is sent to the CH3 drive(s) if Parameter 34 - [Idle Action 3] is set to 4 (Send Flt Cfg) and the controller is idle.

36

37

The bit definitions will depend on the drive(s) to which the module is connected. See Appendix D. [Flt Cfg Ref 3] Default: Minimum: Sets the Reference data that is sent to the CH3 drive(s) if Parameter 34 - [Idle Action 3] is set to Maximum: Type: 4 (Send Flt Cfg) and the controller is idle. Reset Required: [DSI I/O Cfg 3] Default: Values: Sets the number of CH1 drives that are used in Multi-Drive mode. Identifies the connections that would be attempted on a reset or power cycle.

Type: Reset Required:

0 0 65535 Read/Write No 0 = Drive 0 0 = Drive 0 1 = Drives 01 2 = Drives 02 3 = Drives 03 4 = Drives 04 5 = RTU Master Read/Write Yes

Module Parameters
Parameter No. Name and Description 38 [DSI I/O Act 3] Displays the CH3 drives that are active in Multi-Drive mode.

B-7

Details Default: Bit Values: Type: Not Used Not Used Bit Definition Default Bit

xxx0 0000 0 = Drive Active 1 = Drive Inactive Read Only Not Used

Drive 4

Drive 3

Drive 2 0 2

Drive 1 0 1

x 7

x 6

x 5

0 4

0 3

39 40 41 42 43

[Drv 0 Addr 3] [Drv 1 Addr 3] [Drv 2 Addr 3] [Drv 3 Addr 3] [Drv 4 Addr 3] Sets the corresponding node addresses of the daisy-chained CH3 drives when the module is in Multi-Drive mode.

44

Important: The setting for each of these parameters must match the drive Parameter 104 [Comm Node Addr] value for each respective drive. Each drive node address must be unique (no duplicate node addresses). [RTU Baud Rate 3] Default: Sets the baud rate used by the CH3 drives when Values: the module is in Multi-Drive mode and Parameter 37 - [DSI I/O Cfg 3] is set to 5 (RTU Master).

Default: Default: Default: Default: Default: Minimum: Maximum: Type: Reset Required:

100 100 100 100 100 0 247 Read/Write Yes

45

[RTU Format 3] Selects the RTU format used by the CH3 drives when the module is in Multi-Drive mode and Parameter 37 - [DSI I/O Cfg 3] is set to 5 (RTU Master). The RTU format consists of three components: data bits (8 data bits only), parity (None, Even or Odd), and stop bits (1 or 2).

Type: Reset Required: Default: Value:

46

Type: Reset Required: Default: [RTU Rx Delay 3] Sets the CH3 inter-character delay used to detect Minimum: the end of a receive packet when the module is in Maximum: Type: Multi-Drive mode and Parameter 37 - [DSI I/O Reset Required: Cfg 3] is set to 5 (RTU Master). If this value is set to 0 (zero), the ModBus default delay of 1.5 character times is used.

0 = 38.4K bps 0 = 38.4K bps 1 = 19200 bps 2 = 9600 bps 3 = 4800 bps 4 = 2400 bps 5 = 1200 bps 6 = 600 bps 7 = 300 bps Read/Write Yes 0 = 8-N-1 0 = 8-N-1 1 = 8-E-1 2 = 8-O-1 3 = 8-N-2 4 = 8-E-2 5 = 8-O-2 Read/Write Yes 0 milliseconds 0 milliseconds 500 milliseconds Read/Write Yes

Drive 0 1 0

B-8

Module Parameters

Parameter No. Name and Description 47 [RTU Tx Delay 3]

48

Details Default: Sets the CH3 inter-frame delay used to delay the Minimum: sending of a transmit packet when the module is in Maximum: Type: Multi-Drive mode and Parameter 37 - [DSI I/O Reset Required: Cfg 3] is set to 5 (RTU Master). If this value is set to 0 (zero), the ModBus default delay of 3.5 character times is used. [RTU MsgTimeout 3] Default: Minimum: Sets the amount of time in seconds that the Maximum: module will wait for a response from a ModBus RTU CH3 slave when the module is in Multi-Drive Type: mode and Parameter 37 - [DSI I/O Cfg 3] is set to Reset Required: 5 (RTU Master).

0 milliseconds 0 milliseconds 500 milliseconds Read/Write Yes

2 seconds 0 seconds 60 seconds Read/Write Yes

Appendix C

CIP/DSI Objects
Appendix C presents information about the CIP and DSI objects that can be accessed using Explicit Messages. For information on formatting Explicit Messages and example ladder logic programs, refer to the corresponding chapter: Chapter 5, Understanding Explicit Messaging Chapter 6, MicroLogix 1500 Example Ladder Programs Chapter 7, CompactLogix Example Ladder Programs Chapter 8, ControlLogix w/1769-ADN DeviceNet Example Ladder Program

Object CIP Identity Object CIP Parameter Object DSI Device Object DSI Parameter Object DSI Fault Object DSI Diagnostic Object

Class Code Hex. 0x01 0x0F 0x92 0x93 0x97 0x99 Dec. 1 15 146 147 151 153

Page C-3 C-4 C-7 C-10 C-14 C-16

TIP: Refer to the CIP Common specification for more information about CIP objects. Information about the CIP Common specification is available on the ODVA web site (http://www.odva.org).

C-2

CIP/DSI Objects

Supported Data Types

Data Type BYTE WORD DWORD LWORD SINT USINT INT UINT DINT UDINT BOOL BOOL[n] STRING[n] SHORT_STRING STRUCT CONTAINER TCHAR REAL Description 8-bit unsigned integer 16-bit unsigned integer 32-bit unsigned integer 64-bit unsigned integer 8-bit signed integer 8-bit unsigned integer 16-bit signed integer 16-bit unsigned integer 32-bit signed integer 32-bit unsigned integer 8-bit value -- low bit is true or false Array of n bits Array of n characters 1-byte length indicator + that many characters Structure name only - no size in addition to elements 32-bit parameter value - sign extended if necessary 8 or 16-bit character 32-bit floating point

CIP/DSI Objects

C-3

CIP Identity Object

Class Code
Hexadecimal 0x01 Decimal 1

Services
Service Code 0x01 0x0E Implemented for: Class Instance Yes Yes Yes Yes Service Name Get_Attributes_All Get_Attribute_Single

Class Attributes
Attribute ID 1 2 6 7 Access Rule Get Get Get Get Name Revision Max Instance Max ID Number of Class Attributes Max ID Number of Instance Attributes Data Type UINT UINT UINT UINT Description 1 1 7 7

Instance Attributes
Attribute ID 1 2 3 4 Access Rule Get Get Get Get Name Vendor ID Device Type Product Code Revision: Major Minor Status Data Type UINT UINT UINT STRUCT of: USINT USINT WORD Description 1 = Allen-Bradley 132 Number identifying product name and rating Value varies Value varies Bit 0 = Owned Bit 2 = Configured Bit 10 = Recoverable fault Bit 11 = Unrecoverable fault Unique 32-bit number Product name and rating

Get

6 7

Get Get

Serial Number Product Name

UDINT SHORT_STRING

C-4

CIP/DSI Objects

CIP Parameter Object

Class Code
Hexadecimal 0x0F Decimal 15

Instances
The parameters for the DSI devices can be accessed using the instance-offset encoding shown in the table below:
Instances (Dec.) 016383 1638417407 1740818431 1843219455 1945620479 2048021503 2150422527
(1)

Single-Drive Mode Instances 01023 in drive/module (1) Instances 01023 in module Instances 01023 in drive Not supported Not supported Not supported Not supported

Multi-Drive Mode Instances 01023 in module Instances 01023 in module Instances 01023 in Drive 0 Instances 01023 in Drive 1 Instances 01023 in Drive 2 Instances 01023 in Drive 3 Instances 01023 in Drive 4

The module parameters are appended to the drive parameters for this range of instances.

Class Attributes
Attribute ID 1 2 8 Access Rule Get Get Get Name Revision Max Instance Parameter Class Descriptor Data Type Description UINT UINT WORD 1 Number of parameters 0 = False, 1 = True Bit 0 = Supports parameter instances Bit 1 = Supports full attributes Bit 2 = Must do NVS save command Bit 3 = Parameters are stored in NVS 0

Get

10

Get

Configuration Assembly Instance Native Language

UINT

USINT

0 = English 1 = French 2 = Spanish 3 = Italian 4 = German 5 = Japanese 6 = Portuguese 7 = Mandarin Chinese 8 = Russian 9 = Dutch

CIP/DSI Objects

C-5

CIP Parameter Object (Continued)

Instance Attributes
Attribute Access Name ID Rule (1) Parameter Value 1 2 Get Link Path Size 3 4 Get Get Link Path Descriptor Data Type Description
(2) (3)

USINT

0 = No link specified n = The size of Attribute 3 in bytes

(4)

WORD

Get

Data Type

USINT

0 = False, 1 = True Bit 1 = Supports ENUMs Bit 2 = Supports scaling Bit 3 = Supports scaling links Bit 4 = Read only Bit 5 = Monitor Bit 6 = Extended precision scaling 0xC2 = SINT (8-bits) 0xC3 = INT (16-bits) 0xC4 = DINT (32-bits) 0xC6 = USINT (8-bits) 0xC7 = UINT (16-bits) 0xCA = REAL (32-bits) 0xD2 = WORD (16-bits)
(3) (3) (3)

6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21
(1) (2)

Get Get Get Get Get Get Get Get Get Get Get Get Get Get Get Get

Data Size Parameter Name String Units String Help String Minimum Value Maximum Value Default Value Scaling Multiplier Scaling Divisor Scaling Base Scaling Offset Multiplier Link Divisor Link Base Link Offset Link Decimal Precision

USINT SHORT_ STRING SHORT_ STRING SHORT_ STRING

(1) (1) (1)

Null string
(3) (3) (3) (3) (3) (3) (3) (3) (3) (3) (3) (3)

UINT UINT UINT UINT UINT UINT UINT UINT USINT

Access rule is defined in bit 4 of instance attribute 4. 0 = Get/Set, 1 = Get. Specified in descriptor, data type, and data size. (3) Value varies based on parameter instance. (4) Refer to the CIP Common specification for a description of the link path.

C-6

CIP/DSI Objects

CIP Parameter Object (Continued)

Services
Service Code 0x01 0x05 0x0E 0x10 0x4B Implemented for: Class Instance Yes Yes Yes No Yes Yes No Yes No Yes Service Name Get_Attributes_All Reset Get_Attribute_Single Set_Attribute_Single Get_Enum_String

CIP/DSI Objects

C-7

DSI Device Object

Class Code
Hexadecimal 0x92 Decimal 146

Services
Service Code 0x0E 0x10 Implemented for: Class Instance Yes Yes Yes Yes Service Name Get_Attribute_Single Set_Attribute_Single

Instances
The number of instances depends on the number of components in the device. The total number of components can be read in Instance 0, Class Attribute 4.
Instances (Dec.) 016383 1638417407 1740818431 1843219455 1945620479 2048021503 2150422527 Single-Drive Mode Instances 016383 in drive Instances 01023 in module Instances 01023 in module Instances 01023 in slave Not supported Not supported Not supported Multi-Drive Mode Instances 016383 in Drive 0 Instances 01023 in module Instances 01023 in Drive 1 Instances 01023 in Drive 2 Instances 01023 in Drive 3 Instances 01023 in Drive 4 Instances 01023 in module

Class Attributes
Attribute ID 0 1 2 Access Rule Get Get Set Name Family Code Family Text Language Code Data Type BYTE STRING[16] BYTE Description Code identifying the device. Text identifying the device. 0 = English 1 = French 2 = Spanish 3 = Italian 4 = German 5 = Japanese 6 = Portuguese 7 = Mandarin Chinese 8 = Russian 9 = Dutch

C-8

CIP/DSI Objects

DSI Device Object (Continued)

Class Attributes (Continued)
Attribute Access Name ID Rule 3 Get Product Series 4 Get Number of Components User Definable Text Status Text Configuration Code Configuration Text Brand Code NVS Checksum Data Type BYTE BYTE Description 1=A 2 = B Number of components (for example, main control board, I/O boards) in the device. Text identifying the device with a user-supplied name Text describing the status of the device. Identification of variations. Text identifying a variation of a family device. 0x0001 = Allen-Bradley Checksum of the Non-Volatile Storage in a device. 2 = DSI 0 = SCANport HIM 1 = ISO 8859-1 (Latin 1) 2 = ISO 8859-2 (Latin 2) 3 = ISO 8859-3 (Latin 3) 4 = ISO 8859-4 (Latin 4) 5 = ISO 8859-5 (Cyrillic) 6 = ISO 8859-6 (Arabic) 7 = ISO 8859-7 (Greek) 8 = ISO 8859-8 (Hebrew) 9 = ISO 8859-9 (Turkish) 10 = ISO 8859-10 (Nordic) 255 = ISO 10646 (Unicode)

5 6 7 8 9 11 12 13

Set Get Get Get Get Get Get Get

STRING[16] STRING[12] BYTE STRING[16] WORD WORD

Class Revision WORD Character Set Code BYTE

14 15

Get Get

Product Option Support Bits Languages Supported

16

Get

17

Get

18

Get

STRUCT of: BYTE BYTE[n] Date of Manufacture STRUCT of: WORD BYTE BYTE Product Revision STRUCT of: BYTE BYTE Serial Number DWORD

Number of Languages Language Codes (See Class Attribute 2) Year Month Day Major Firmware Release Minor Firmware Release Value between 0x00 and 0xFFFFFFFF

CIP/DSI Objects

C-9

DSI Device Object (Continued)

Instance Attributes
Attribute ID 3 4 Access Name Rule Get Component Name Get Component Firmware Revision Get Component Hardware Change Number First Flash Object Instance Number of Flash Object Instances Component Serial Number Data Type STRING[32] STRUCT of: BYTE BYTE BYTE Description Name of the component Major Revision Minor Revision

6 7 8

Get Get Get

DWORD

Value between 0x00 and 0xFFFFFFFF

C-10

CIP/DSI Objects

DSI Parameter Object

Class Code
Hexadecimal 0x93 Decimal 147

Instances
The number of instances depends on the number of parameters in the device. The total number of parameters can be read in Instance 0, Attribute 0.
Instances (Dec.) 016383 1638417407 1740818431 1843219455 1945620479 2048021503 2150422527 Single-Drive Mode Instances 016383 in drive Instances 01023 in module Instances 01023 in module Instances 01023 in slave Not supported Not supported Not supported Multi-Drive Mode Instances 016383 in Drive 0 Instances 01023 in module Instances 01023 in Drive 1 Instances 01023 in Drive 2 Instances 01023 in Drive 3 Instances 01023 in Drive 4 Instances 01023 in module

Class Attributes
Attribute Access Name ID Rule 0 Get Number of Instances 1 Set Write Protect Password 2 Set NVS Command Write Data Type WORD WORD BYTE Description Number of parameters in the device 0 = Password disabled n = Password 0 = No Operation 1 = Store values in active memory to NVS 2 = Load values in NVS to active memory 3 = Load default values to active memory Checksum of all parameter values in a user set in NVS Checksum of parameter links in a user set in NVS First parameter available if parameters are protected by passwords. A 0 indicates all parameters are protected. 2 = DSI The first parameter that has been written with a value outside of its range. A 0 indicates no errors. 0 = No Operation 1 = Clear All Parameter Links (This does not clear links to function blocks.)

3 4 5

Get Get Get

NVS Parameter Value Checksum NVS Link Value Checksum First Accessible Parameter Class Revision First Parameter Processing Error Link Command

WORD WORD WORD

7 8

Get Get

WORD WORD

Set

BYTE

CIP/DSI Objects

C-11

DSI Parameter Object (Continued)

Instance Attributes
Attribute Access Name ID Rule 7 Get DSI Online Read Full Data Type STRUCT of: BOOL[32] CONTAINER(1) CONTAINER CONTAINER CONTAINER WORD WORD STRING[4] UINT UINT UINT INT BYTE[3] BYTE STRING[16] BOOL[32] Various Various BYTE[3] WORD STRUCT of: BOOL[32] CONTAINER CONTAINER CONTAINER CONTAINER STRING[16] STRING[4] STRING[16] STRING[16] Description

8 9 10 11 12 13

Get DSI Descriptor Get/Set DSI Parameter Value Get/Set DSI RAM Parameter Value Get/Set DSI Link Get Get Help Object Instance DSI Read Basic

Descriptor (see pages C-12 and C-13) Parameter value Minimum value Maximum value Default value Next parameter Previous parameter Units (e.g., Amp, Hz) Multiplier (2) Divisor (2) Base (2) Offset (2) Link (source of the value) (0 = no link) Always zero (0) Parameter name Descriptor (see pages C-12 and C-13) Parameter value in NVS. (3) Parameter value in temporary memory. Link (parameter or function block that is the source of the value) (0 = no link) ID for help text for this parameter

14 15

Get Get

DSI Parameter Name DSI Parameter Alias Parameter Processing Error

Descriptor (see pages C-12 and C-13) Parameter value Minimum value Maximum value Default value Parameter name Units (e.g., Amp, Hz) Parameter name Customer supplied parameter name. Only supported by PowerFlex 700S at time of publication. 0 = No error 1 = Value is less than the minimum 2 = Value is greater than the maximum

16

Get

BYTE

(1)

A CONTAINER is a 32-bit block of data that contains the data type used by a parameter value. If signed, the value is sign extended. Padding is used in the CONTAINER to ensure that it is always 32-bits. (2) This value is used in the formulas used to convert the parameter value between display units and internal units. Refer to Formulas for Converting on page C-13. (3) Do NOT continually write parameter data to NVS. Refer to the attention on page 5-1.

C-12

CIP/DSI Objects

DSI Parameter Object (Continued)

Descriptor Attributes
Bit 0 1 2 Name Data Type (Bit 1) Data Type (Bit 2) Data Type (Bit 3) Description Right bit is least significant bit (0). 000 = BYTE used as an array of Boolean 001 = WORD used as an array of Boolean 010 = BYTE (8-bit integer) 011 = WORD (16-bit integer) 100 = DWORD (32-bit integer) 101 = TCHAR (8-bit (not unicode) or 16-bits (unicode)) 110 = REAL (32-bit floating point value) 111 = Use bits 16, 17, 18 0 = unsigned 1 = signed 0 = visible 1 = hidden 0 = Parameter can sink a link 1 = Parameter cannot sink a link 0 = Recallable from NVS 1 = Not Recallable from NVS 0 = No ENUM text 1 = ENUM text 0 = Read only 1 = Read/write 0 = Writable when enabled (for example, drive running) 1 = Not writable when enabled 0 = Parameter value is not a Reference to another parameter 1 = Parameter value refers to another parameter Must be zero Number of digits to the right of the decimal point. 0000 = 0 1111 = 15 Right bit is least significant bit (16). 000 = Reserved 001 = DWORD used as an array of Boolean 010 = Reserved 011 = Reserved 100 = Reserved 101 = Reserved 110 = Reserved 111 = Reserved

3 4 5 6 7 8 9 10

Sign Type Hidden Not a Link Sink Not Recallable ENUM Writable Not Writable When Enabled Instance

11 12 13 14 15 16 17 18

Reserved Decimal Place (Bit 0) Decimal Place (Bit 1) Decimal Place (Bit 2) Decimal Place (Bit 3) Extended Data Type (Bit 1) Extended Data Type (Bit 2) Extended Data Type (Bit 2)

CIP/DSI Objects

C-13

DSI Parameter Object (Continued)

Descriptor Attributes (Continued)
Bit 19 20 21 22 23 24 25 26 27 28 29 30 31 Name Parameter Exists Not Used Formula Links Access Level (Bit 1) Access Level (Bit 2) Access Level (Bit 3) Writable ENUM Not a Link Source Enhanced Bit ENUM Enhanced ENUM Not Used Not Used Not Used Description Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 = Parameter can be a source for a link 1 = Parameter cannot be a source for a link Reserved Reserved Reserved Reserved Reserved

Formulas for Converting

Display Value = ((Internal Value + Offset) x Multiplier x Base) / (Divisor x 10 Decimal Places) Internal Value = ((Display Value x Divisor x 10 Decimal Places) / (Multiplier x Base)) - Offset

Common Services
Service Code 0x0E 0x10 Implemented for: Class Instance Yes Yes Yes Yes Service Name Get_Attribute_Single Set_Attribute_Single

Object Specific Services

Service Code 0x32 0x34
(1)

Service Name Get_Attributes_Scattered (1) Set_Attributes_Scattered (1)

The instance and attribute are ignored for these services.

The table below lists the parameters for the Get_Attributes_Scattered and Set_Attributes_Scattered object-specific service:
Name Scattered Parameters Parameter Number Parameter Value Data Type STRUCT of WORD WORD Description Parameter to read or write Parameter value to read or write (zero when reading)

Important: The STRUCT may repeat up to 55 times in a single message.

C-14

CIP/DSI Objects

DSI Fault Object

Class Code
Hexadecimal 0x97 Decimal 151

Products such as PowerFlex drives use this object for faults. Modules use this object for events.

Services
Service Code 0x0E 0x10 Implemented for: Class Instance Yes Yes Yes Yes Service Name Get_Attribute_Single Set_Attribute_Single

Instances
The number of instances depends on the maximum number of faults or events supported in the queue. The maximum number of faults/events can be read in Instance 0, Attribute 2.
Instances (Dec.) 016383 1638417407 1740818431 1843219455 1945620479 2048021503 2150422527 Single-Drive Mode Instances 016383 in drive Instances 01023 in module Instances 01023 in module Instances 01023 in slave Not supported Not supported Not supported Multi-Drive Mode Instances 016383 in Drive 0 Instances 01023 in module Instances 01023 in Drive 1 Instances 01023 in Drive 2 Instances 01023 in Drive 3 Instances 01023 in Drive 4 Instances 01023 in module

Class Attributes
Attribute ID 1 2 3 Access Name Rule Get Class Revision Get Number of Instances Set Fault Command Write Data Type WORD WORD BYTE Description Revision of object Maximum number of faults/events that the device can record in its queue 0 = No Operation 1 = Clear Fault/Event 2 = Clear Fault/Event Queue 3 = Reset Device Fault that tripped the device. For adapters, this value is always 1 when faulted.

Get

Fault Trip Instance Read

WORD

CIP/DSI Objects

C-15

DSI Fault Object (Continued)

Class Attributes (Continued)
Attribute Access Name ID Rule 5 Get Fault Data List Data Type STRUCT of: BYTE BYTE WORD[n] WORD WORD Description Reserved

6 7

Get Get

Number of Recorded Faults Fault Parameter Reference

Number of faults/events in the queue. A 0 indicates the fault queue is empty. Reserved

Instance Attributes
Attribute Access Name ID Rule 0 Get Full/All Information Data Type STRUCT of: WORD STRUCT of: BYTE BYTE STRING[16] STRUCT of: LWORD BOOL[16] WORD CONTAINER[n] STRUCT of: WORD STRUCT of: BYTE BYTE STRUCT of: LWORD BOOL[16] Description

Fault code Fault source DSI port DSI Device Object Fault text Fault time stamp Timer value (0 = Timer not supported) BOOL[0]: (0 = invalid data, 1 = valid data) BOOL[1]: (0 = elapsed time, 1 = real time) BOOL[215]: Not used Reserved Reserved Fault code Fault source DSI port DSI Device Object Fault time stamp Timer value (0 = Timer not supported) BOOL[0]: (0 = invalid data, 1 = valid data) BOOL[1]: (0 = elapsed time, 1 = real time) BOOL[215]: Not used

Get

Basic Information

C-16

CIP/DSI Objects

DSI Diagnostic Object

Class Code
Hexadecimal 0x99 Decimal 153

Services
Service Code 0x0E 0x10 Implemented for: Class Instance Yes Yes Yes Yes Service Name Get_Attribute_Single Set_Attribute_Single

Instances
The number of instances depends on the maximum number of diagnostic items in the device. The total number of diagnostic items can be read in Instance 0, Attribute 2.
Instances (Dec.) 016383 1638417407 1740818431 1843219455 1945620479 2048021503 2150422527 Single-Drive Mode Instances 016383 in drive Instances 01023 in module Instances 01023 in module Instances 01023 in slave Not supported Not supported Not supported Multi-Drive Mode Instances 016383 in Drive 0 Instances 01023 in module Instances 01023 in Drive 1 Instances 01023 in Drive 2 Instances 01023 in Drive 3 Instances 01023 in Drive 4 Instances 01023 in module

Class Attributes
Attribute ID 1 2 3 Access Name Rule Get Class Revision Get Number of Instances Get ENUM Offset Data Type WORD WORD WORD Description 1 Number of diagnostic items in the device DSI ENUM object instance offset

CIP/DSI Objects

C-17

DSI Diagnostic Object (Continued)

Instance Attributes
Attribute Access Name ID Rule 0 Get Full/All Info Data Type STRUCT of: BOOL[32] CONTAINER (1) CONTAINER CONTAINER CONTAINER WORD WORD STRING[4] UINT UINT UINT INT DWORD STRING[16] Various Description

1
(1)

Get/Set Value

Descriptor (see pages C-12 and C-13) Value Minimum value Maximum value Default value Pad Word Pad Word Units (e.g., Amp, Hz) Multiplier (2) Divisor (2) Base (2) Offset (2) Link (source of the value) (0 = no link) Always zero (0) Parameter name Diagnostic item value

A CONTAINER is a 32-bit block of data that contains the data type used by a value. If signed, the value is sign extended. Padding is used in the CONTAINER to ensure that it is always 32-bits. (2) This value is used in the formulas used to convert the value between display units and internal units. Refer to Formulas for Converting on page C-13.

C-18

CIP/DSI Objects

Notes:

Appendix D

PowerFlex 4-Class Drives Logic Command/Status Words

Appendix D provides the definitions of the Logic Command/Logic Status words that are used for some drives that can be connected to the 1769-SM2 module. If the Logic Command/Logic Status for the drive that you are using is not listed, refer to your drives documentation.

Logic Command Word

Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command x Stop Start (1) Jog Clear Faults Direction

Description
0 = Not Stop 1 = Stop 0 = Not Start 1 = Start 0 = Not Jog 1 = Jog 0 = Not Clear Faults 1 = Clear Faults 00 = No Command 01 = Forward Command 10 = Reverse Command 11 = No Command

x x x x x

x x x x

(2) (2)

Accel Rate(3) 00 = No Command 01 = Accel Rate 1 Command 10 = Accel Rate 2 Command 11 = Hold Accel Rate (3) Decel Rate 00 = No Command 01 = Decel Rate 1 Command 10 = Decel Rate 2 Command 11 = Hold Decel Rate 000 = No Command Reference 001 = Freq Source (Spd Ref. par.) Select(3) 010 = Freq Source (Int. Freq par.) 011 = Freq Source (Comm) 100 = Preset Freq 0 101 = Preset Freq 1 110 = Preset Freq 2 111 = Preset Freq 3
(2)

x
(1) (2) (3)

A 0 = Not Stop condition (logic 0) must first be present before a 1 = Start condition will start the drive. The Start command acts as a momentary Start command. A 1 will start the drive, but returning to 0 will not stop the drive. Depending on the PowerFlex 4-Class drive, the functions for bits 6, 7, and 15 change. Refer to Appendix C in the PowerFlex 4, PowerFlex 4M, PowerFlex 40 or PowerFlex 40P drive User Manual, or Appendix E for the PowerFlex 400 drive bit functions. The functions for these bits are the same for all PowerFlex 4-Class drivesincluding the PowerFlex 40P when it is used in the Velocity mode. When using the PowerFlex 40P in the Position mode, the bit functions are different. For details, refer to Appendix C in the PowerFlex 40P User Manual.

D-2

PowerFlex 4-Class Drives Logic Command/Status Words

Logic Status Word

Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status x Ready

Description

x x x x x x x x x x x x x x x
(1)

0 = Not Ready 1 = Ready Active 0 = Not Active 1 = Active Command 0 = Reverse Direction 1 = Forward Actual Direction 0 = Reverse 1 = Forward Accel 0 = Not Accelerating 1 = Accelerating Decel 0 = Not Decelerating 1 = Decelerating Alarm 0 = No Alarm 1 = Alarm Fault 0 = No Fault 1 = Fault At Speed 0 = Not At Reference 1 = At Reference 0 = Not Controlled By Comm Main Freq(1) 1 = Controlled By Comm Operation 0 = Not Controlled By Comm Command(1) 1 = Controlled By Comm (1) 0 = Not Locked Parameters 1 = Locked Digital Input 1 (1) Status Digital Input 2 Status(1) Digital Input 3 Status(1) (2) Digital Input 4 Status(2) (2)

(2)

The functions for these bits are the same for all PowerFlex 4-Class drivesincluding the PowerFlex 40P when it is used in the Velocity mode. When using the PowerFlex 40P in the position mode, the bit functions are different. For details, refer to Appendix C in the PowerFlex 40P User Manual. This status is available for only PowerFlex 40 drives with firmware version 2.xx (or higher). For PowerFlex 4 and PowerFlex 4M drives, these bits are not used.

Glossary
C
CIP (Common Industrial Protocol) CIP is the transport and application layer protocol used for messaging over EtherNet/IP, ControlNet, and DeviceNet networks. The protocol is used for implicit messaging (real time I/O) and explicit messaging (configuration, data collection, and diagnostics). Class A class is defined by the DeviceNet specification as a set of objects that all represent the same kind of system component. A class is a generalization of an object. All objects in a class are identical in form and behavior, but may contain different attribute values. ControlFLASH An Allen-Bradley software tool that lets users electronically update firmware on printed circuit boards. Controller A controller, also called programmable logic controller, is a solid-state control system that has a user-programmable memory for storage of instructions to implement specific functions such as I/O control, logic, timing, counting, report generation, communication, arithmetic, and data file manipulation. A controller consists of a central processor, input/ output interface, and memory. See also Scanner.

DeviceNet Network An open producer/consumer Controller Area Network (CAN) which connects devices (for example, controllers, drives, and motor starters). Both I/O and explicit messages can be transmitted over the network. A DeviceNet network can support a maximum of 64 devices. Each device is assigned a unique node address and transmits data on the network at the same data rate. A cable is used to connect devices on the network. It contains both the signal and power wires. Devices can be connected to the network with drop lines, in a daisy chain connection, or a combination of the two. General information about DeviceNet and the DeviceNet specification are maintained by the Open DeviceNet Vendors Association (ODVA). ODVA is online at http://www.odva.org. DSI (Drive Serial Interface) DSI is based on the Modbus RTU serial communication protocol and is used by various Allen-Bradley drives, such as PowerFlex 4-Class drives.

Glossary-2 DSI Peripheral A device that provides an interface between DSI and a network or user. Peripheral devices are also referred to as adapters or modules. The 1769-SM2 module, 1203-USB or 22-SMC-232 converter, and PowerFlex 4-Class HIMs (22-HIM-A3 or 22-HIM-C2S) are examples of DSI peripherals. DSI Product A device that uses the DSI communications interface to communicate with one or more peripheral devices. For example, a motor drive such as a PowerFlex 4-Class drive is a DSI product. In this manual, a DSI product is also referred to as drive or host. DriveExplorer Software A tool for monitoring and configuring Allen-Bradley products and modules. It can be run on computers running various Microsoft Windows operating systems. DriveExplorer version 2.xx (or higher) can be used to configure this module and connected PowerFlex drives. Information about DriveExplorer software and a free lite version can be accessed at http://www.ab.com/drives/driveexplorer. DriveTools SP Software A software suite designed for running on various Microsoft Windows operating systems. This software suite provides a family of tools, including DriveExecutive, that you can use to program, monitor, control, troubleshoot, and maintain Allen Bradley products. DriveTools SP can be used with Allen-Bradley drives. Information about DriveTools SP can be accessed at http://www.ab.com/drives/drivetools.

EDS (Electronic Data Sheet) Files Simple text files that are used by network configuration tools such as RSNetWorx for DeviceNet to describe products so that you can easily commission them on a network. EDS files describe a product device type and revision. EDS files for many Allen-Bradley products can be found at http://www.ab.com/networks/eds. Explicit Messaging Explicit Messages are used to transfer data that does not require continuous updates. They are typically used to configure, monitor, and diagnose devices over the network.

Flash Update The process of updating firmware in a device. The module can be flash updated using various Allen-Bradley software tools. Refer to Flash Updating the Module on page 3-22 for more information.

Glossary-3

HIM (Human Interface Module) A device that can be used to configure and control a drive. PowerFlex 4-Class HIMs (22-HIM-A3 or 22-HIM-C2S) can be used to configure PowerFlex 4-Class drives and their connected peripherals. Hold Last When communication is disrupted (for example, the controller is idle), the module and PowerFlex drive can respond by holding last. Hold last results in the drive receiving the last data received via the network connection before the disruption. If the drive was running and using the Reference from the module, it will continue to run at the same Reference.

Idle Action An idle action determines how the module and connected drive act when the controller is switched out of run mode. I/O Data I/O data, sometimes called implicit messages or input/output, is time-critical data such as a Logic Command and Reference. The terms input and output are defined from the controllers point of view. Output is produced by the controller and consumed by the module. Input is produced by the module and consumed by the controller.

Logic Command/Logic Status The Logic Command is used to control the PowerFlex 4-Class drive (for example, start, stop, direction). It consists of one 16-bit word of output to the module from the network. The definitions of the bits in this word depend on the drive, and are shown in Appendix D. The Logic Status is used to monitor the PowerFlex 4-Class drive (for example, operating state, motor direction). It consists of one 16-bit word of input from the module to the network. The definitions of the bits in this word depend on the drive, and are shown in Appendix D.

NVS (Non-Volatile Storage) NVS is the permanent memory of a device. Devices such as the module and drive store parameters and other information in NVS so that they are not lost when the device loses power. NVS is sometimes called EEPROM. Objects The CIP common specification defines an object as an abstract representation of a particular component within a product.

Glossary-4

PCCC (Programmable Controller Communications Command) PCCC is the protocol used by some controllers to communicate with devices on a network. Some software products (for example, DriveExplorer and DriveExecutive) also use PCCC to communicate. PowerFlex 4-Class (Component Class) Drives The Allen-Bradley PowerFlex 4-Class family of drives supports DSI and includes the PowerFlex 4, PowerFlex 4M, PowerFlex 40, PowerFlex 40P, and PowerFlex 400. These drives can be used for applications ranging from 0.2110 kW (0.25150 HP).

Reference/Feedback The Reference is used to send a setpoint (for example, speed, frequency, torque) to the drive. It consists of one 16-bit word of output to the module from the network. Feedback is used to monitor the speed of the drive. It consists of one 16-bit word of input from the module to the network. RSLogix 500/5000 RSLogix software is a tool for configuring and monitoring controllers to communicate with connected devices. It is a 32-bit application that runs on various Windows operating systems. Information about RSLogix software can be found at http://www.software.rockwell.com/rslogix. RSNetWorx for DeviceNet A software tool for configuring and monitoring DeviceNet networks and connected devices. It is a 32-bit application that runs on various Windows operating systems. Information about RSNetWorx for DeviceNet software can be found at http://www.software.rockwell.com/ rsnetworx. RTU Baud Rate The baud rate is the speed at which data is transferred when the 1769-SM2 module is operating in Multi-Drive mode and the DSI I/O Cfg parameter for a channel is set to 5 (RTU Master). The available baud rates are: 38.4K bps 19200 bps 9600 bps 4800 bps 2400 bps 1200 bps 600 bps 300 bps

Glossary-5

Scanner A scanner is a separate module (of a multi-module controller) or a built-in component (of a single-module controller) that provides communication with modules connected to a network. See also Controller. Status Indicators Status indicators are LEDs that are used to report the status of the module, network, and drive. They are on the front of the module.

Zero Data When communication is disrupted (for example, the controller is idle), the module and drive can respond with zero data. Zero data results in the drive receiving zero as values for Logic Command and Reference data. If the drive was running and using the Reference from the module, it will stay running but at zero Reference.

Glossary-6

Notes:

Index
A
adapter, see module applying power to the module, 2-14 assembling module to the controller, 2-5 attentions, 1-7 CompactLogix example ladder program Multi-Drive mode 1769-SM2 settings, 7-12 20-COMM-H settings, 7-12 CH3 Modbus RTU Master subroutine example, 7-22 to 7-27 main routine/subroutines, 7-14 to 7-19 PowerFlex 40 settings, 7-11 PowerFlex 70 settings, 7-11 programs tags, 7-21 system arrangement, 7-11 Single mode 1769-SM2 settings, 7-2 main routine/subroutines, 7-4 to 7-7 PowerFlex 40 settings, 7-2 programs tags, 7-8 system arrangement, 7-2 compatible products, 1-6 components of module, 1-1 Config Mode parameter, B-1 Configuration Mode switch, 2-3 configuration tools, 3-2 configuring the module, 3-1 ControlFLASH, G-1 controller definition, G-1 mode, 3-3

B
baud rate, see RTU baud rate bit definitions for Logic Command word, D-1 Logic Status word, D-2

C
CH1CH3 status indicators locating, 1-10 troubleshooting with, 9-3 CIP (Common Industrial Protocol), G-1 CIP/DSI objects list, C-1 class, G-1 communications cables, 1-6, 2-10

Index-2 ControlLogix w/1769-ADN example ladder program 1769-SM2 input/output data, 8-22 registering the EDS file, 8-8 settings, 8-12 controller tags, 8-21 main routine/subroutines, 8-13 to 8-20 Multi-Drive mode, 8-13 PowerFlex 40 settings, 8-12 setting up the 1769-ADN, 8-4 Single mode, 8-1 Single mode system arrangement, 8-2 DSI I/O Act 2 parameter, B-5 DSI I/O Act 3 parameter, B-7 DSI I/O Cfg 1 parameter, B-2 DSI I/O Cfg 2 parameter, B-4 DSI I/O Cfg 3 parameter, B-6 DSI Mode parameter, B-1 DSI Parameter object, C-10

E
EDS (Electronic Data Sheet) files definition, G-2 web site, G-2 EEPROM, see Non-Volatile Storage (NVS) equipment required, 1-6 events list of, 9-6 viewing/clearing, 9-6 Explicit Messaging definition, G-2 supported feature, 1-2

D
DeviceNet definition, G-1 specification, G-1 dimensions of module, A-1 DriveExecutive accessing parameters with, 3-2 supported feature, 1-2 DriveExplorer accessing parameters with, 3-2 definition, G-2 free lite version, G-2 supported feature, 1-2 drives, see DSI compatible products or PowerFlex drives DriveTools SP Software, G-2 Drv 04 Addr 1 parameters, B-3 Drv 04 Addr 2 parameters, B-5 Drv 04 Addr 3 parameters, B-7 DSI cable requirements, A-2 compatible products, 1-6 definition, G-1 peripheral definition, G-2 product definition, G-2 DSI Device object, C-7 DSI Diagnostic object, C-16 DSI Fault object, C-14 DSI I/O Act 1 parameter, B-3

F
faults, see events features, 1-2 firmware release, P-3 flash update definition, G-2 guidelines, 3-22 Flt Cfg Logic 1 parameter, B-2 Flt Cfg Logic 2 parameter, B-4 Flt Cfg Logic 3 parameter, B-6 Flt Cfg Ref 1 parameter, B-2 Flt Cfg Ref 2 parameter, B-4 Flt Cfg Ref 3 parameter, B-6

G
grounding the module, 2-12

Index-3

H
HIM (Human Interface Module) accessing parameters with, 3-13 definition, G-3 hold last configuring the module for, 3-15 definition, G-3

I
I/O configuring the module for, 3-14 definition, G-3 image examples, 3-2, 4-2 image table, 3-1, 4-1 module control word, 4-2 module status word, 4-3 understanding the I/O image, 4-1 using Reference/Feedback, 4-4 Identity object, C-3 idle action configuring the module for, 3-15 definition, G-3 Idle Action 1 parameter, B-2 Idle Action 2 parameter, B-4 Idle Action 3 parameter, B-6 installation applying power to module, 2-14 connecting drives to module, 2-10 preparing for, 2-1 removing power from module, 2-2

MicroLogix 1500 example ladder program Multi-Drive mode 1769-SM2 settings, 6-10 20-COMM-H settings, 6-10 CH3 Modbus RTU Master subroutine example, 6-18 to 6-22 main routine/subroutines, 6-12 to 6-15 PowerFlex 40 settings, 6-9 PowerFlex 70 setting, 6-9 program data tables, 6-16 system arrangement, 6-9 Single mode 1769-SM2 settings, 6-2 main routine/subroutines, 6-4 to 6-6 PowerFlex 40 settings, 6-2 program data table, 6-7 system arrangement, 6-2

L
LEDs, see status indicators Logic Command/Status word bit definitions, D-1, D-2 definition, G-3

M
manual conventions, P-3 related documentation, P-1 web site, P-1 messaging, see Explicit Messaging

Index-4 module applying power, 2-14 assembling to the controller, 2-5 compatible products, 1-6 components, 1-1 connecting drives to, 2-10 control word, 4-2 controller mode, 3-3 dimensions, A-1 features, 1-2 flash updating, 3-22 grounding, 2-12 illustration, 1-1 installing, 2-1 to 2-15 mounting, 2-6 operating status, 2-15 parameter mode, 3-12 parameters, B-1 to B-8 removing power, 2-2 replacing within a system, 2-9 resetting, 3-20 selecting configuration mode, 2-3 setting Configuration Mode Switch (SW1), 2-3 drive node addresses, 3-16 I/O, 3-14 Operating Mode Switch (SW2), 2-4 RTU Modbus Master operation, 3-17 Single/Multi-Drive mode of operation, 1-3 specifications, A-1 status word, 4-3 tools for configuring, 3-2 troubleshooting, 9-1 viewing status, 3-21 MODULE status indicator locating, 1-10 troubleshooting with, 9-2 mounting the module, 2-6 Multi-Drive mode versus Single mode, 1-3

O
objects definition, G-3 DSI list, C-1 ODVA (Open DeviceNet Vendors Association), G-1 Operating Mode switch (SW2), 2-4 operating status, 2-15

P
Parameter object, C-4 parameters accessing, 3-13 convention, P-3 list of, B-1 to B-8 numbers, B-1 to B-8 viewing module status, 3-21 PCCC (Programmable Controller Communications Command), G-4 power consumption, A-1 PowerFlex drives compatible with module, 1-6 definition, G-4 Logic Command/Status word, D-1 optional, external HIM, 3-13 preparing for an installation, 2-1 processor, see controller products, see DSI compatible products or PowerFlex drives programmable logic controller, see controller

Q
quick start guide, 1-9

R N
Non-Volatile Storage (NVS) definition, G-3 in module, 3-2 Reference/Feedback definition, G-4 using, 4-4 regulatory compliance, A-1

Index-5 related documentation, P-1 removing power from the module, 2-2 replacing module within a system, 2-9 Reset Module parameter, B-2 resetting the module, 3-20 RSLinx, P-3, 8-2 RSLogix 500/5000, G-4 RSNetWorx for DeviceNet definition, G-4 setting up RSLinx for, 8-2 using, 8-3 web site, G-4 RTU Baud Rate 1 parameter, B-3 RTU Baud Rate 2 parameter, B-5 RTU Baud Rate 3 parameter, B-7 RTU baud rate definition, G-4 RTU Format 1 parameter, B-3 RTU Format 2 parameter, B-5 RTU Format 3 parameter, B-7 RTU Master operation setting the baud rate, 3-17 setting the RTU format, 3-17 setting the Rx Delay Time, 3-18 setting the Tx Delay Time, 3-18 RTU MsgTimeout 1 parameter, B-4 RTU MsgTimeout 2 parameter, B-6 RTU MsgTimeout 3 parameter, B-8 RTU Rx Delay 1 parameter, B-3 RTU Rx Delay 2 parameter, B-5 RTU Rx Delay 3 parameter, B-7 RTU Tx Delay 1 parameter, B-4 RTU Tx Delay 2 parameter, B-6 RTU Tx Delay 3 parameter, B-8 Single mode versus Multi-Drive mode, 1-3 specifications DeviceNet, G-1 module, A-1 status indicators CH1CH3, 1-10, 9-3 definition, G-5 locating, 1-10 MODULE, 1-10, 9-2 normal operation, 2-15 troubleshooting with, 9-2 to 9-3 understanding, 9-1

T
technical support, P-2 tools required, 1-6 troubleshooting, 9-1

U
understanding the I/O image, 4-1 updating module, see flash update using RSNetWorx for DeviceNet, 8-3

W
web site DeviceNet, G-1 DriveExecutive software, G-2 DriveExplorer software, G-2 DriveTools SP software, G-2 EDS files, G-2 ODVA (Open DeviceNet Vendors Association), G-1 related documentation, P-1 RSLogix 500/5000, G-4 RSNetWorx for DeviceNet, G-4

S
safety precautions, 1-7 scanner, G-5 setting 1769-ADN, 8-4 Configuration Mode switch (SW1), 2-3 Operating Mode switch (SW2), 2-4

Z
zero data configuring the module for, 3-15 definition, G-5

Index-6

U.S. Allen-Bradley Drives Technical Support Tel: (1) 262.512.8176, Fax: (1) 262.512.2222, Email: support@drives.ra.rockwell.com, Online: www.ab.com/support/abdrives

www.rockwellautomation.com
Power, Control and Information Solutions Headquarters
Americas: Rockwell Automation, 1201 South Second Street, Milwaukee, WI 53204-2496 USA, Tel: (1) 414.382.2000, Fax: (1) 414.382.4444 Europe/Middle East/Africa: Rockwell Automation, Pegasus Park, De Kleetlaan 12a, 1831 Diegem, Belgium, Tel: (32) 2 663 0600, Fax: (32) 2 663 0640 Asia Pacific: Rockwell Automation, Level 14, Core F, Cyberport 3, 100 Cyberport Road, Hong Kong, Tel: (852) 2887 4788, Fax: (852) 2508 1846

Publication 1769-UM013C-EN-P June, 2010

Supersedes 1769-UM013B-EN-P January, 2006

PN-77639
Copyright 2010 Rockwell Automation, Inc. All rights reserved. Printed in USA.