X5DNET01 DeviceNet Communication

Option Board for the X5 AC Drive

Installation Manual
DPD00110

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Installing the X5DNET01 DeviceNet

Communication Option Board
Introduction
The X5 frequency converters can be connected to DeviceNet using an option board, the X5DNET01. The converter
can then be controlled, monitored, and programmed from the host system.
DeviceNet is an open network bsed on Controller Area Network (CAN) standards that is designed to connect lowcost industrial control devices (such as limit switches, photoelectric sensors, motor starters, process sensors,
frequency converters, panel displays and operator interfaces) to a network and eliminate expensive hard wiring. The
direct connectivity provides improved communication between devices as well as important device-level diagnostics
not easily accessible or available through hard-wired I/O interfaces. The DeviceNet model is application
independent; it provides the communication services needed by various types of applications.
Many of todays lower-level industrial control devices must retain their low-cost / low resource characteristics even
when directly connected to a network. DeviceNet takes this into consideration by defining a specific instance of the
model for communications typically seen in a master / slave application. This is referred to as the Predefined
Master/Slave Connection Set.
DeviceNet allows the interchangeability of simple devices while making interconnectivity for more complex devices
possible. In addition to reading the state of discrete devices, DeviceNet provides the capability to report
temperatures, to read the load current in a motor starter, to change the deceleration rate of drives, or to count the
number of packages that have passed on a conveyor in the previous hour.
This option also provides two additional control relays, each rated for 115 VAC, 1 amp, or for 230 VAC, 0.5 amp.
NOTE: This network communication interface included with the X5 option is warranted
to meet the core specifications for DeviceNet. Many existing software applications are
custom-engineered and may contain brand-specific communication that will not be
supported by the X5 without modification. No guarantee of compatibility with any
specific system is made. The user is responsible for any interface software and
hardware needed to make an application function.

Applicable Documents
This manual is supplied as a supplement to the X5 AC Drive Users Manual (DPD 00089, previously Form 1434).

Option Kit Contents

The option kit includes the following materials:
Part Number

Description

25100064C

DeviceNet PC board assembly

32100391

Flexible cable assembly

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Installation Procedures
!

WARNING

SENSITIVE EQUIPMENT
This assembly contains static-sensitive components. It should be handled only by a static-safe installer,
using a grounded wrist strap.
Failure to observe this precaution may cause premature equipment failure.

DANGER

HAZARDOUS VOLTAGE
Disconnect all power before servicing a drive unit or its components. WAIT 5 MINUTES until the DC
bus capacitors discharge.
Ensure that any other power sources that may feed control logic have been disconnected.
DO NOT short across DC bus capacitors or touch unshielded components or terminal strip screw
connections with voltage present.
Install all covers before applying power or starting and stopping the drive.
The user is responsible for conforming to all applicable code requirements with respect to grounding
all equipment.
Many parts in a drive, including printed circuit boards, operate at line voltage. DO NOT TOUCH. Use
only electrically-insulated tools.
Before servicing any drive.
Disconnect all power.
Place a DO NOT TURN ON label on the drive disconnect.
Lock the disconnect in the open position.
Failure to observe these precautions will cause shock or burn, resulting in severe personal injury
or death.

Figure 1 shows the layout of the option board and the location of important components on it.

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Switch 7-6
Set Baud Rate

Encoder / 115 VAC

Interface Terminals

Switch 5-0
Set MAC / Node Address

Encoder Interface Power

Supply Selector

Module Status LED

Network Status LED

DeviceNet
Terminal Block

Figure 1: Option board layout

Before you can install the option board, you must first remove the drive cover.
Figure 2 shows the locations of the cover screws. The torque range for the X5 Size 1 cover is 18-26 in/lbs.

Cover screw locations

Figure 2: Cover assembly and screw locations

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Cover screw locations

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X5DNET01 DeviceNet Communication Option Board

The option board is installed just above the control board in all configurations (a Size 1 unit is shown in Figure 3 for
reference). The screws labeled A must be removed from the X5; those labeled B need only to be loosened to
accept the board slot.
.

Figure 3: Option board mounting locations

Once the board is in place, tighten the screws to a maximum of 26 in-lbs.

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Next, install the flexible circuit to finish the interface to the control board. (Refer to Figure 4.) To install the flexible
circuit, first remove the keypad frame (necessary in this size unit). The frame is attached with two screws in opposite
corners; the screws thread into fasteners in the plastic assembly. After the flexible circuit is installed, replace these
screws, limiting the installation torque to 12 in-lbs..

Figure 4: Flexible circuit interface to control board

115 VAC Interface / Relay / Encoder Interface Terminals

Figure 5: 115 VAC interface / encoder terminals

The option kit includes five 115 VAC inputs, two additional programmable relays, and an encoder interface. The
details of the terminals on the board related to the 115 VAC interface and the encoder are shown in Table 1 on
page 7:
Table 1: Encoder Interface Terminals

Terminal

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Table 1: Encoder Interface Terminals

DI-A
DI-B
DI-C
DI-D
DI-E

115 VAC logic input; connect input to 115 VAC to activate.

The programmable functionality of these inputs is controlled
by parameters 728, 729, 730, 731, and 732. Each of these
inputs can emulate the function of the FWD, REV, R/J, EN,
MOL, DI1, DI2, DI3, DI4, or DI5 input terminals on the X5
control board.
Refer to the X5 Users Manual for more information (DPD
00089).

ACn

The neutral connection for the 115 VAC control inputs

NO3
RC3
NC3

The third auxiliary relay.

The function of this relay is set by parameter 709.
Functionally, it is capable of each of the features outlined in
the X5 user manual under parameters 705-708.
Terminal NO3 is a normally-open contact; it closes when the
relay activates. NC3 is a normally-closed contact; it opens
when the relay activates. RC3 is the common terminal
associated with both contacts.
The ratings of these contacts are 115 VAC, 1 amp; and 230
VAC, 0.5 amp.

NO4
RC4
NC4

The fourth auxiliary relay.

The function of this relay is set by parameter 710.
Functionally, it is capable of each of the features outlined in
the X5 user manual under parameters 705-708.
Terminal NO4 is a normally-open contact; it closes when the
relay activates. NC4 is a normally-closed contact; it opens
when the relay activates. RC4 is the common terminal
associated with both contacts.
The ratings of these contacts are 115 VAC, 1 amp; and 230
VAC, 0.5 amp.

A+
A-

Channel A input from the encoder. Compatible with line

driver, open collector, or totem pole outputs from an
encoder. If it is an open collector or totem pole-type, encoder
outputs are used; connect the A- terminal to Ecom.

B+
B-

Channel B input from the encoder. Compatible with line

driver, open collector, or totem pole outputs from an
encoder. If it is an open collector or totem pole-type, encoder
outputs are used; connect the B- terminal to Ecom.

C+
C-

Channel C input from the encoder. Compatible with line

driver, open collector, or totem pole outputs from an
encoder. If it is an open collector or totem pole-type, encoder
outputs are used; connect the C- terminal to Ecom.

VDC

Ecom

Power supply terminal for use with a customer-supplied

encoder. It can be either +12 VDC or +5 VDC based on the
position of the encoder interface power supply selector
shown in Figure 1 on page 5. Voltage regulation: +/- 5%;
maximum current available is 100 mA.
Signal common for the encoder interface

Note that the connections described in Table 1 work only when the encoder has an internal pull-up resistor on the
open collector. Alternatively, it might be preferable to pull the + channel high, and attach the open collector to the channel. For example, if using Channel A, A+ on the option board would be tied to VDC, and A- would be connected
to the open collector coming from the encoder. The advantage in this method is that no pull-up/down resistors are
needed; if the encoder has an internal pull-up, this does not affect anything.

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Specifications for Encoder / 115 VAC Interface

Encoder Interface
Speed regulation

115 VAC Interface

< 0.1 Hz (1)

On state

Input frequency (max.)

100 kHz

Off state

< 10 VAC

Input voltage

10-24 VDC +/- 5%

Input frequency

58-62 Hz

Suggested pull-up
resistor
Terminal block wire
limitations

5 VDC

500 ohms

12 VDC

1k ohms

24 VDC

3.3k ohms
12-24 AWG

90-140 VAC

On/off delay

30 ms maximum

Terminal block wire

limitations

12-24 AWG

(1) PID feedback plus optimal motor turning in SLV mode employed

Setup and Use

The encoder interface is most effective if used in conjunction with the vector mode of operation. Refer to the X5
Users Manual (Chapter 6) for information about using the vector mode. Three additional parameters are provided
to calibrate the encoder:
Parameter #

Parameter Name

Range

Default Value

219

Encoder Pulses per Revolution

0-16383

1024

220

Encoder Filter Time

10-1000 ms

20 ms

221

Encoder Speed Protection

0-20.0%

0%

Parameter 219, Encoder Pulses per Revolution, can either be extracted from the encoder nameplate or the data
sheet supplied with it. Parameter 220, Encoder Filter Time, is used to filter the encoder signal in the event of noise.
Parameter 221 is for limiting the response of the drive, in the event of the loss of encoder signal.
Two other parameters are provided to allow more flexibility in encoder selection, and to improve PID application
usage:
Parameter #

Parameter Name

Range

Default Value

EncoderType

Quadrature
or Single
Channel

Quadrature

223
224

Encoder Range

0-24000 rpm

0 rpm

Parameter 223, Encoder Type, allows the use of either quadrature or single-channel types of encoders.
Parameter 224, Encoder Range, improves PID application flexibility. This parameter should be used in situations
where the encoder feedback signal is not always directly proportional to the motor speed, for example, a winder
using an encoder mounted on an idler pulley feeding a winding spool. The PID may be attempting to maintain a
constant linear speed on the wound media, but as the diameter of the media on the spool changes, the motor
turning the spool needs to vary its speed to maintain the linear speed at the idler pulley.
When parameter 224 is set to 0, it is ignored, and the PID calculates the feedback percentage based on parameter
301, Maximum Frequency. When this parameter is set to a non-zero value, the PID uses instead Parameter 224s
setting to calculate the feedback percentage.
Encoder feedback works similarly to an analog input as configured in parameters 850 (PID Configure), 851 (PID
Feedback), 852 (PID Prop Gain), 853 (PID Int Gain), and 859 (PID Derivative Gain). The feed forward options are
suggested for setting parameter 850. More specific details on each of the listed parameters can be found in the X5
Users Manual (DPD 00089).

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X5DNET01 DeviceNet Communication Option Board

The encoder interface can easily serve as one of the inputs to the X5s Keeper Function (data logging). See the X5
Users Manual for more information.
Both the Vmet and Imet output from the drive can be configured to indicate the status of the encoder. Parameters
700 (Vmet) and 702 (Imet) that relate to the setup and calibration of the Vmet and Imet outputs, both have selections
related to the status of the encoder input.
The Program Sequencer function can also key off the encoders home pulse. To make use of this function, the
encoders home pulse (1 pulse per revolution) must be connected to the C- input of the encoder board.

Encoder Interface Troubleshooting

Any problem with the encoder interface will result in an F37 fault. Four advanced fault codes are available to help
you determine whether you have an encoder calibration problem, or a defect. For more information on
troubleshooting, refer to the Troubleshooting chapter in the X5 Users Manual. For information on setting
parameters, see Chapter 7 in the X5 Users Manual.

Using DeviceNet Connections

Following are the specifications for DeviceNet connections:
Table 2: DeviceNet Connection Specifications

DeviceNet
Connections

Communications

Interface

Pluggable connector (5.08 mm)

Data transfer method

CAN

Transfer cable

Two-wire twisted shielded cable with two-wire bus power

cable and drain

Isolation

500 VDC

Baud rate

125, 250 and 500 kbaud

Product code

0x03 (X5)

Product type

0x02 (AC Drive)

Vendor ID

509

Device Net
Other

Network supply voltage: 11 - 25 Vdc

Network input current: 28 mA typ., 125 mA inrush (24 Vdc)

Table 3 describes the features and functions of DeviceNet.

Table 3: DeviceNet Features and Functionality

Network size
Network length

Up to 64 nodes
Selectable end-to-end network distance varies with speed
Baud rate

Distance

125 Kbps

500 m

250 Kbps

250 m

500 Kbps

100 m

Data packets

0-8 bytes

Bus topology

Linear (trunkline / dropline); power and signal on the same network cable

Bus addressing

Peer-to-peer with Multi-Cast (one to many); Multi-Master and Master / Slave

Special case; polled or change of state (exception-based)

System features

Removal and replacement of devices from the network under power

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Physical Layer and Media

The basic trunkline-dropline topology provides separate twisted pair busses for both signal and power distribution.
Thick or thin cable can be used for either trunklines or droplines. End-to-end network distance varies with data rate
and cable size.
Devices can be powered directly from the bus and communicate with each other using the same cable. Nodes can
be removed from or inserted in the network without powering down the network.
Power taps can be added at any point in the network, which makes redundant power supplies possible. The
trunkline current rating is 8 amps. An opto-isolated design option allows externally-powered devices (for example,
AC drives, starters, and solenoid valves) to share the same bus cable.

Figure 6: Thick or thin cable can be used for either trunklines or droplines

The X5DNET01 DeviceNet board is connected to the fieldbus through a 5-pin pluggable bus connector. (See Figure
1 on page 5 for the location of the bus connector.) Communication with the control board of the frequency converter
takes place through the flexible circuit applied last during the installation process.

DeviceNet Terminals
Table 4 describes the DeviceNet terminal assignments:
Table 4: DeviceNet Terminals

Terminal

Description

Signal Reference

Communication power supply, ground

V-

Communication signal, low

CAN_L

Cable shield (bare)

Drain

Communication signal, high

CAN_H

Communication power supply, +24V

V+

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X5DNET01 DeviceNet Communication Option Board

LED Indications
The DeviceNet Option Board includes two LED status indicators: Network Status and Module Status. See Figure 1
on page 5 for the location of these LEDs on the board. Network status provides information on the network
connection status and module status provides information on the DeviceNet module itself. The following tables
explain the meaning of the status LEDs:
Table 5: Network Status LED

Network Status
LED

If the LED is...

This means...

OFF

The DeviceNet option is not online.

- The device has not completed the Dup_MAC_ID test
- If the module status LED is off, the device is not receiving power.

Green

The DeviceNet option is online, and is allocated to a master.

The DeviceNet option has passed the Dup_MAC-ID test, is online,
but is not allocated to a master.

Green (flashing)
Red (flashing)

One or more I/O connections are in the timed-out state.

Red

The DeviceNet option cannot communicate on the network.

Table 6: Module Status LED

If the LED is...

This means...

OFF

There is no power applied to the DeviceNet option board.

Green
Module Status
LED

The option board is operating normally.

The option board is in Standby state or the device needs
commissioning because of a missing, incomplete, or incorrect
configuration.

Green (flashing)
Red (flashing)

The option board has detected a recoverable fault.

Red

The option board has detected an unrecoverable fault.

Getting Started Using the DeviceNet Option Board

Before using the DeviceNet option board, you must configure the device baud rate and node or MAC address to the
desired values, using the DIP switches on the option board. See Figure 1 on page 5 for the location of the two DIP
switches; they are spaced somewhat apart from each other. The leftmost switch is called switch 7 and the rightmost
switch is called switch 0. Switches 7 and 6 set the baud rate, and switches 5 to 0 set the node address (MAC ID).
By default, the baud rate is set to 125K and the node address is zero (0). Since all new devices are factory-set to node
address 0, it is recommended that the address be changed. Table 7 shows the resulting baud rate for all possible
combinations of switches 7 and 6:
Table 7: Setting Baud Rates

Baud Rate

Switch 7

Switch 6

125K

250K

500K

500K

The MAC ID is a 6-bit digital value (ranges from 0-63) controlled by switches 0-5. Switch 5 is the most significant;
switch 0 is the least significant.
Note: If power is applied to the option board before the value of the baud rate or MAC ID is changed, power must be
cycled before the new settings take effect.

Communicating with DeviceNet

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DeviceNet provides two different types of messaging. They are:

I/O Messaging

Explicit Messaging

I/O Messaging
Input / Output (I/O) polling messages are for time-critical, control-oriented data. The messages are transferred
between the devices all the time and are used for continuous control of the frequency converter. They provide a
dedicated, special-purpose communication path between a producing application (master) and one or more
consuming applications (slaves). They are exchanged across single- or multi-cast connections and typically use
high-priority identifiers. I/O polling messages contain no protocol in the 8-byte data field. The meaning of the
message is implied by the connection ID (CAN identifier). Before messages are sent using these IDs, both the device
sending and receiving them must be configured. The configuration contains the source and destination object
attribute addresses for the master and the slave.
The polling message flow is shown in Figure 7.
Data (Output Assembly)

Slave
X5

Master

Data (Input Assembly)

Figure 7: Polling Message Diagram for I/O Messaging

Input and Output Assembly Instances

The following tables outline the supported input and output instances available under the DeviceNet communication
link to the X5 unit.
Table 8: Input Instances (Page 1 of 2)
Instance

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

70

Speed Actual (low byte)

Speed Actual (high byte)

At Ref

Ref from
Net

Ctrl from
Net

Ready

Running
2 (Rev)

Drive State

Speed Actual (low byte)

3
0

Bit 0
Faulted

Running
1 (Fwd)

Warning

Faulted

Running
1 (Fwd)

Warning

Faulted

Speed Actual (high byte)

At Ref

Ref from
Net

171

Bit 1

0
71
(Default)

Bit 2
Running
1 (Fwd)

Ctrl from
Net

Ready

Running
2 (Rev)

Drive State

Speed Actual (low byte)

Speed Actual (high byte)

FBus Read1 (low byte)

FBus Read1 (high byte)

FBus Read2 (low byte)

FBus Read2 (high byte)

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X5DNET01 DeviceNet Communication Option Board

Table 8: Input Instances (Page 2 of 2)

Instance

172

Byte

Bit 7

Bit 6

Bit 5

FBus Read1 (high byte)

FBus Read2 (low byte)

0
1

182

Bit 3

FBus Read1 (low byte)

181

Bit 4

Bit 2

Bit 1

Bit 0

FBus Read2 (high byte)

At Ref

Ref from
Net

Ctrl from
Net

Ready

Running
2 (Rev)

Running
1 (Fwd)

Warning

Faulted

Drive State

Speed Actual (low byte)

Speed Actual (high byte)

FBus Read1 (low byte)

FBus Read1 (high byte)

FBus Read2 (low byte)

FBus Read2 (high byte)

FBus Read3 (low byte)

FBus Read3 (high byte)

10

FBus Read4 (low byte)

11

FBus Read4 (high byte)

12

FBus Read5 (low byte)

13

FBus Read5 (high byte)

FBus Read1 (low byte)

FBus Read1 (high byte)

FBus Read2 (low byte)

FBus Read2 (high byte)

FBus Read3 (low byte)

FBus Read3 (high byte)

FBus Read4 (low byte)

FBus Read4 (high byte)

FBus Read5 (low byte)

FBus Read5 (high byte)

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Table 9: Output Instances

Instance

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

0
20

Bit 1

Fault Reset

Bit 0
Run Fwd

1
2

Speed Reference (low byte)

Speed Reference (high byte)

0
21
(Default)

Bit 2

NetRef

NetCtrl

Fault Reset

Run Rev

Run Fwd

Fault

Warning

Faulted

Fault Reset

Run Rev

Run Fwd

1
2

Speed Reference (low byte)

Speed Reference (high byte)

NetRef

NetCtrl

121

122

Speed Reference (low byte)

Speed Reference (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

FBus Write2 (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

FBus Write2 (high byte)

NetRef

NetCtrl

131

132

Speed Reference (low byte)

Speed Reference (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

FBus Write2 (high byte)

FBus Write3 (low byte)

FBus Write3 (high byte)

10

FBus Write4 (low byte)

11

FBus Write4 (high byte)

12

FBus Write5 (low byte)

13

FBus Write5 (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

FBus Write2 (high byte)

FBus Write3 (low byte)

FBus Write3 (high byte)

FBus Write4 (low byte)

FBus Write4 (high byte)

FBus Write5 (low byte)

FBus Write5 (high byte)

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X5DNET01 DeviceNet Communication Option Board

The default active output assembly is 21 and the default input assembly is 71. The active assemblies are configured
using class 0x80.
I/O messages 20, 21, 70, and 71 are standard Common Industrial Protocol (CIP) assemblies.
I/O messages 121, 122, 131, 132, 171, 172, 181, and 182 are vendor-specific messages that allow for customized
assemblies.
The values of the following parameters indicate which drive parameters are read or written to by the I/O assembly:
Table 10: Parameter Assignments (Parameters 880-894)

Parameter #

Parameter Name

880

FBus Read 1

Range
103 (Output Voltage)

881

FBus Read 2

104 (Output Current)

882

FBus Read 3

0-65535

Default

105 (Drive Load)

883

FBus Read 4

107 (Drive Temp)

884

FBus Read 5

909 (DI Status)

890

FBus Write 1

907 (Cntl Word 2)

891

FBus Write 2

402 (Accl Ramp 1)

892

FBus Write 3

893

FBus Write 4

920 (SIO Vmet Level)

894

FBus Write 5

921 (SIO Imet Level)

0-65535

403 (Decel Ramp 1)

Examples
Examples 1 and 2 on the following pages show how using the FBus Write 2 = Parameter 402 would allow the I/O
assembly to set the drives acceleration rate.
Example 1: Input Assemblies

Instance

Byte

Bit 7

Bit 6

Bit 5

Bit 4

(Page 1 of 2)

Bit 3

0
70

Running 1 (Fwd)

Speed Actual (low byte)

Speed Actual (high byte)

At Ref

Ref from Net

Ctrl from Net

Ready

Running 2 (Rev)

Drive State

Speed Actual (low byte)

Speed Actual (high byte)

0
1

171

Bit 1

Bit 0
Faulted

0
71

Bit 2

At Ref

Ref from Net

Ctrl from Net

Ready

Running 2 (Rev)

Running 1 (Fwd)

Warning

Faulted

Running 1 (Fwd)

Warning

Faulted

Drive State

Speed Actual (low byte)

Speed Actual (high byte)

FBus Read1 (low byte)

FBus Read1 (high byte)

FBus Read2 (low byte)

FBus Read2 (high byte)

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Example 1: Input Assemblies

Instance

172

Byte

Bit 7

Bit 6

Bit 5

Bit 3

FBus Read1 (low byte)

FBus Read1 (high byte)

FBus Read2 (low byte)

182

(Page 2 of 2)

181

Bit 4

17

Bit 2

Bit 1

Bit 0

Running 1 (Fwd)

Warning

Faulted

FBus Read2 (high byte)

At Ref

Ref from Net

Ctrl from Net

Ready

Running 2 (Rev)

Drive State

Speed Actual (low byte)

Speed Actual (high byte)

FBus Read1 (low byte)

FBus Read1 (high byte)

FBus Read2 (low byte)

FBus Read2 (high byte)

FBus Read3 (low byte)

FBus Read3 (high byte)

10

FBus Read4 (low byte)

11

FBus Read4 (high byte)

12

FBus Read5 (low byte)

13

FBus Read5 (high byte)

FBus Read1 (low byte)

FBus Read1 (high byte)

FBus Read2 (low byte)

FBus Read2 (high byte)

FBus Read3 (low byte)

FBus Read3 (high byte)

FBus Read4 (low byte)

FBus Read4 (high byte)

FBus Read5 (low byte)

FBus Read5 (high byte)

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X5DNET01 DeviceNet Communication Option Board

Example 2: Output Assemblies

Instance

Byte

Bit 7

Bit 6

Bit 5

0
20

Bit 3

Bit 2

Bit 1

Fault Reset

Bit 0
Run Fwd

1
2

Speed Reference (low byte)

3
0
21

Bit 4

Speed Reference (high byte)

NetRef

NetCtrl

Fault Reset

Run Rev

Run Fwd

Run Rev

Run Fwd

Run Rev

Run Fwd

1
2

Speed Reference (low byte)

Speed Reference (high byte)

NetRef

NetCtrl

Fault Reset

121

122

Speed Reference (low byte)

Speed Reference (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

FBus Write2 (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

3
0

FBus Write2 (high byte)

NetRef

NetCtrl

Fault Reset

131

132

Speed Reference (low byte)

Speed Reference (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

FBus Write2 (high byte)

FBus Write3 (low byte)

FBus Write3 (high byte)

10

FBus Write4 (low byte)

11

FBus Write4 (high byte)

12

FBus Write5 (low byte)

13

FBus Write5 (high byte)

FBus Write1 (low byte)

FBus Write1 (high byte)

FBus Write2 (low byte)

FBus Write2 (high byte)

FBus Write3 (low byte)

FBus Write3 (high byte)

FBus Write4 (low byte)

FBus Write4 (high byte)

FBus Write5 (low byte)

FBus Write5 (high byte)

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X5DNET01 DeviceNet Communication Option Board

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19

Control Supervisor Behavior

The State Transition diagram in Figure 8 provides a graphical description of the states and corresponding state
transitions for the control supervisor.

Figure 8: Control Supervisor State Transition Diagram

Table 11 on page 20 explains the state transitions pictured in the flow diagram in Figure 8.
Start Forward, Start Reverse, Change to Forward, Change to Reverse, and Stop (Not Faulted Stop) are static outputs
of the control supervisor state machine. They are commands to the drive when CtrlFromNet = 1. When CtrlFromNet
= 0, control commands are from another source.
When performing changes to achieve programmed Safe State:

Run / Stop / Direction can be changed because CtrlFromNet must equal 1 when in the Enabled state.

Reference in the drive can be changed to Preset Speed only if RefFromNet = 1.

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X5DNET01 DeviceNet Communication Option Board

Table 11: Explanation of State Transitions (Page 1 of 2)

Fwd Mode

Rev Mode

Idle Mode

Run 2 (Rev)

Old State

Results

Run1 (Fwd)

Input Conditions
CtrlFromNet

20

Event

New State

Power_Off

NonExist

Action

Faulted = 0
Ready = 0
x
(except
NonExist)

Reset

Startup

FwdMode = 0
RevMode = 0
Run1 Var = 0
Run2 Var = 0
Faulted = 0
Ready = 0

NonExist

Power_On

Startup

FwdMode = 0
RevMode = 0
Run1 Var = 0
Run2 Var = 0

Startup

Ready

Drive Fault

Faulted

Faulted = 1
FaultCode = x
Ready = 0

Ready

Run (Fwd)

Enabled

FwdMode = 1
(Start Forward)

Ready

Run (Rev)

Enabled

RevMode = 1
(Start Reverse)

Enabled

Drive Fault
Initialization
Complete

Drive Fault

Faulted

Faulted = 1
FaultCode = x

Startup

Ready

Fault_Stop

Ready = 1

Faulted = 1
FaultCode = x
(Initiate Faulted
Stop)
FwdMode = 0
RevMode = 0
Ready = 0

Enabled

Stop

Stopping

(Initiate Stop)

Enabled

ChangeDir (Fwd)

Enabled

FwdMode = 1
RevMode = 0
(Change to Forward)

Enabled

ChangeDir (Rev)

Enabled

FwdMode = 0
RevMode = 1
(Change to Reverse)

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X5DNET01 DeviceNet Communication Option Board

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21

Table 11: Explanation of State Transitions (Page 2 of 2)

Results
Rev Mode

Fwd Mode

Idle Mode

Run 2 (Rev)

Old State

Run1 (Fwd)

CtrlFromNet

Input Conditions

Event

New State

Action

Faulted = 1
FaultCode = x
(Initiate Faulted
Stop)
Enabled

SafeFault

Fault_Stop

FwdMode = 0
RevMode = 0
Ready = 0
Run1 Var = 0
Run2 Var = 0
FwdMode =
Run1 Var =
NOT PresetDir

Enabled

SafeChange

Enabled

RevMode = 0
Run2 Var =
PresetDir
SpeedRef =
Preset Speed
TorqueRef =
Preset Torque

Stopping

Drive Fault

Fault_Stop

Faulted = 1
FaultCode = x
(Initiate Faulted
Stop)
Ready = 0

Stopping

Run (Fwd)

Enabled

FwdMode = 1
(Start Forward)

Stopping

Run (Rev)

Enabled

RevMode = 1
(Start Reverse)

Stopping

Stop_Complete

Ready

Fault_Stopped

Fault_Stop_ Complete

Faulted

Faulted

Fault_Reset

Ready

Faulted = 0
Ready = 1

Explicit Messaging
Explicit Messaging is used in commissioning and configuring the drive via the DeviceNet board. Explicit messages
provide multipurpose, point-to-point communication paths between two devices. They provide the typical request /
response-oriented network communication used to perform node configuration and problem diagnosis. Explicit
messages typically use low-priority identifiers and contain the specific meaning of the message right in the data
field. This includes the service to be performed and the specific object attribute address.

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X5DNET01 DeviceNet Communication Option Board

List of Object Classes

The Communication Interface supports the following object classes:
Table 12: Object Classes

Class

Object

0x01

Identity

0x03

DeviceNet

0x05

DeviceNet Connection

0x28

Motor Data

0x29

Control Supervisor

0x2A

AC/DC Drive

0x65

Parameter

0x80

I/O Configuration

List of Data Types

The attribute list in Table 13 includes information on the data type of each attribute. .
Table 13: Data Types

Data Type Name

Data Type Code

Data Type Description

WORD

16-bit word

UINT

16-bit unsigned integer

INT

16-bitsigned integer

BOOL

Boolean

SINT

Short integer

DINT

Double integer

LINT

Long integer

USINT

Unsigned short integer

UDINT

Unsigned double integer

ULINT

10

Unsigned long integer

REAL

11

Single floating-point format (IEEE 754)

LREAL

12

Double floating-point format (IEEE 754)

ITIME

13

Duration (short)

TIME

14

Duration

FTIME

15

Duration (high resolution)

LTIME

16

Duration (long)

DATE

17

Date (see DeviceNet spec)

TIME_OF_DAY

18

Time of day

DATE_AND_TIME

19

Date and time

STRING

20

8-bit-per-character string

STRING2

21

16-bit-per-character string

STRINGN

22

N-bytes-per-character string

SHORT_STRING

23

Short N-byte character string

BYTE

24

8-bit string

DWORD

25

32-bit string

LWORD

26

64-bit string
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X5DNET01 DeviceNet Communication Option Board

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23

Reset Service
The X5 units identity object (class 0x01) supports only the type 0 reset service. The reset emulates power being
cycled to the DeviceNet interface.

Fault Tracking
Following is a cross-reference listing of X5 AC drive faults and broadcast DeviceNet faults.
Table 14: Cross-Reference List of X5 and DeviceNet Fault Codes

DeviceNet
Fault

X5 Drive
Fault

DeviceNet
Fault

X5 Drive
Fault

DeviceNet
Fault

X5 Drive
Fault

1000

3300

17

6310

2110

4210

6320

30

2120

11

4300

19 / 21

7100

33

2200

5112

7110

15

2220

18

5120

7120

16

2221

20

5200

10

7200

34

2222

28

5210

23

7310

22

2300

5300

24 / 29

7500

25

3110

13

5400

27

61441

26

3130

12

5430

31

3120

14 / 32

6100

Table xx below lists the advanced fault codes for the drive fault (F38) related to the option board. Faults not listed in
the table use the drive fault code rather than the DeviceNet defined fault code. For more information on drive faults,
see the X5 Users Manual.
The option board status LEDs are described on page 12 of this manual.
Table 15: Advanced Fault Codes

Advanced
Fault Code

Fault

Possible Cause

Corrective Measures
Check option board status LEDs,
ribbon cable connection, and
cycle power. Replace option
board if necessary.

Option board loss

Option board is disconnected or

damaged

Unstable ID during power-up

Option board hardware issues

Cycle power. If problem persists,

contact Vacon technical support.

Option board changed

Option board was changed during

last power-down

If the change was intentional,

cycle power.

Invalid ID

Option board hardware issues

Cycle power. If problem persists,

contact Vacon technical support.

Wrong or no daughter card

installed

Option DIMM module issues

Cycle power. If problem persists,

contact Vacon technical support.

Option board software error

Option board software issues

Cycle power. If problem persists,

contact Vacon technical support.

Option board removed

Option board was removed during

last power-down sequence

If the change was intentional,

cycle power. Otherwise, follow
corrective measures for fault
code 1.

Email: [email protected] Fax 717-264-3115

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X5DNET01 DeviceNet Communication Option Board

Appendix: X5 Communication Interface Object Profiles

In the following tables, attributes shown in bold face are stored in the non-volatile part of the drive and maintain
their values after a power loss. All other settable attributes will power up at their default values.
Table 16: Identity Object
Class Code 0x01 - Instance Attributes (1)

Attr.
No.

Attribute Name

Services

Default,
Minimum,
Maximum

Data
Type

Description

Vendor ID

Get_Attribute_Single

509
509
509

Identification of each vendor by

number

Indication of the general type of

products

Device Type

Get_Attribute_Single

2
2
2

Product Code

Get_Attribute_Single

3
3
3

This is a code assigned by the

vendor to describe the device

Revision

Get_Attribute_Single

0x1301
N/A
N/A

Revision of the item the Identity

Object represents

Status

Get_Attribute_Single

N/A
0
255

Summary status of the device

Defined in ODVA DeviceNet
specifications

Serial number of the device

25

Human-readable identification

Serial Number

Get_Attribute_Single

0
N/A
0xFFFFFFFF

Product Name

Get_Attribute_Single

X5
X5
X5

State

Get_Attribute_Single

N/A
0
5

Summary Status of the Device

Defined in ODVA DeviceNet
specifications:
0 = Nonexistent
1 = Device Self-testing
2 = Standby
3 = Operational
4 = Major Recoverable Fault
5 = Major Unrecoverable Fault

Table 17: DeviceNet Object

Class Code 0x03 - Class Attributes (0)

Attr.
No.

Attribute Name

Services

Default,
Minimum,
Maximum

Data
Type

Description

1
0x01

Revision

Get_Attribute_Single

2
2
2

Revision of this object

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X5DNET01 DeviceNet Communication Option Board

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Table 18: Instance Attributes (1)

Attr.
No.

Attribute Name

Services

Default,
Minimum,
Maximum

Data
Type

Description

1
0x01

MAC ID

Get_Attribute_Single
Set_Attribute_Single

0
0
63

Node address

The baud rate of the device:

00 = 125K
01 = 250K
02 = 500K

2
0x02

Baud Rate

Get_Attribute_Single
Set_Attribute_Single

0
0
2

3
0x03

BOI

Get_Attribute_Single
Set_Attribute_Single

0
0
1

Bus-Off Interrupt

4
0x04

Bus-Off Counter

Get_Attribute_Single
Set_Attribute_Single

0
0
255

Number of times CAN went to

the bus-off state

Get_Attribute_Single

N/A
N/A
N/A

Allocation Choice Masters

MAC ID Structure of:
Byte: Allocation Choice byte
Bit 0 = Explicit messaging
Bit 1 = Polled I/O
USINT Masters MAC ID:
0 - 63 = valid
255 = unallocated

MAC ID Switch
Changed

Get_Attribute_Single

0
0
1

MAC ID switch setting was

changed since power-up

7
0x07

Baud Rate Switch

Changed

Get_Attribute_Single

0
0
1

Baud rate switch setting was

changed since power-up

8
0x08

MAC ID Switch
Value

Get_Attribute_Single

0
0
63

Actual value of the MAC ID

switches (DIP switches 0-5)

9
0x09

Baud Rate Switch

Value

Get_Attribute_Single

0
0
3

Actual value of the baud rate

switches (DIP switches 6-7)

5
0x05

Allocation
Information

6
0x06

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X5DNET01 DeviceNet Communication Option Board

Table 19: Motor Data Object

Class Code 0x28 - Instance Attributes (1)

Attribute Name

Services

Default,
Minimum,
Maximum
(1)

Data
Type

Description

6
0x06

RatedCurrent[100mA]

Get_Attribute_Single
Set_Attribute_Single

360
0
65535

Rated Stator Current

Units: [100mA]

7
0x07

RatedVoltage[V]

Get_Attribute_Single
Set_Attribute_Single

230
100
690

Rated Base Voltage

Units: [V]

9
0x09

RatedFrequency[Hz]

Get_Attribute_Single
Set_Attribute_Single

60
0
400

Rated Electrical Frequency

Units: [Hz}

12
0x0C

PoleCount

Get_Attribute_Single

2
2
16

Number of poles in the motor

15
0x0F

BaseSpeed[RPM]

Get_Attribute_Single
Set_Attribute_Single

1760
1
24000

Nominal speed at rated

frequency from nameplate
Units: [RPM]

Table 20: Control Supervisor Object

Class Code 0x29 - Instance Attributes (1) (Page 1 of 2)

Attr.
No.

Attribute Name

Services

Default,
Minimum,
Maximum

Data
Type

Description

3
0x03

Run1

Get_Attribute_Single
Set_Attribute_Single

0
0
1

Run Forward Request

4
0x04

Run2

Get_Attribute_Single
Set_Attribute_Single

0
0
1

Run Reverse Request

5
0x05

NetCtrl

Get_Attribute_Single
Set_Attribute_Single

0
0
1

Requests Run/Stop control

to be local or from network

6
0x06

State

7
0x07

Running1

Get_Attribute_Single

N/A
0
7

State of Control Supervisor

Instance:
1 = Startup
2 = Not Ready
3 = Ready
4 = Enabled
5 = Stopping
6 = Fault Stop
7 = Faulted

Get_Attribute_Single

N/A
0
1

Running Forward Status:

0 = Other state
1 = Running forward

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X5DNET01 DeviceNet Communication Option Board

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Table 20: Control Supervisor Object

Class Code 0x29 - Instance Attributes (1) (Page 2 of 2)

8
0x08

Running2

Get_Attribute_Single

N/A
0
1

Running Reverse Status:

0 = Other state
1 = Running reverse

9
0x09

Ready

Get_Attribute_Single

N/A
0
1

Ready to Accept a Run Event:

0 = Other state
1 = Ready

10
0x0A

Faulted

Get_Attribute_Single

N/A
0
1

Fault Occurred:
0 = No faults present
1 = Fault occurred (latched)

Get_Attribute_Single
Set_Attribute_Single

0
0
1

Fault Reset Request:

0 = No action
0 ->1 = Fault reset request
1 = No action

Get_Attribute_Single

N/A
0
65535

If in a faulted state, FaultCode

indicates the fault that caused
the transition to the faulted
state. See Table 14 on page 23.

Get_Attribute_Single

N/A
0
1

Status of Run/Stop control

source:
0 = Control is local
1 = Control is from networks

12
0x0C

13
0x0D

15
0x0F

FaultRat

FaultCode

CtrlFromNet

Table 21: AC/DC Drive Object

Class Code 0x2A - Instance Attributes (1) (Page 1 of 2)

Attr.
No.

Attribute Name

Services

Default,
Minimum,
Maximum

Data
Type

3
0x03

AtReference

Get_Attribute_Single

N/A
0
1

Description

1 = Drive actual at speed

reference
Requests speed reference to
be local or from the network:

4
0x04

NetRef

Get_Attribute_Single
Set_Attribute_Single

0
0
1

0 = Set reference to local

control
1 = Set reference to DN control
Note that the actual status of
torque or speed reference is
reflected in Attribute 29,
RefFromNet.

6
0x06

DriveMode

Get_Attribute_Single

1
1
1

7
0x07

SpeedActual(RPM)

Get_Attribute_Single

N/A
0
10000

Actual drive speed (best

approximation)
Units: RPM

8
0x08

SpeedRef(RPM)

Get_Attribute_Single
Set_Attribute_Single

1800
0
12000

Speed reference
Units: RPM

Email: [email protected] Fax 717-264-3115

1 = Open loop speed (Frequency)

27

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X5DNET01 DeviceNet Communication Option Board

Table 21: AC/DC Drive Object

Class Code 0x2A - Instance Attributes (1) (Page 2 of 2)

Services

Default,
Minimum,
Maximum

Data
Type

Description

CurrentActual(100m
A)

Get_Attribute_Single

N/A
0
1000

Actual motor phase current

Units: 100 mA

17
0x11

OutputVoltage(V)

Get_Attribute_Single

N/A
0
690

Output voltage
Units: Volts

18
0x12

AccelTime(100ms)

Get_Attribute_Single
Set_Attribute_Single

30
1
32000

Acceleration time
Time from HighSpdLimit
Units: 100ms

19
0x13

DecelTime(100ms)

Get_Attribute_Single
Set_Attribute_Single

30
1
32000

Deceleration time
Time from HighSpdLimit to 0
Units: 100ms

20
0x14

LowSpdLimit(RPM)

Get_Attribute_Single
Set_Attribute_Single

0
0
12000

Minimum speed limit

Units: RPM

21
0x15

HighSpdLimit(RPM)

Get_Attribute_Single
Set_Attribute_Single

1800
0
12000

Minimum speed limit

Units: RPM

29
0x1D

RefFromNet

Get_Attribute_Single

N/A
0
1

Status of speed reference:

0 = Local speed reference
1 = DeviceNet speed reference

Attr.
No.

Attribute Name

9
0x09

Table 22: Parameter Object

Class Code 0x65 - Instance Attributes (1-999)

Attr.
#

1
0x01

Attribute Name

N/A

Services

Get_Attribute_Single
Set_Attribute_Single

Default,
Minimum,
Maximum
(1)

Data
Type

Description

These instances give direct

access to all drive parameters
where the instance number
corresponds to the parameter
number. See the X5 Users
Manual (Ch. 7) for detailed
information about all drive
parameters.

N/A
N/A
N/A

This class is a vendor-specific object that provides direct DeviceNet access to all X5 parameters, including those not
defined by DeviceNet. The instance corresponds to the parameter number. For example, if the user wants to set
Preset Frequency 1 to 8.2 Hz, the user would issue a SET_ATTRIBUTE_SINGLE request for Class 101 (0x65), instance
303, attribute 1, with a value of 82.
For the full list of drive parameters, see the X5 Users Manual, Chapter 7.

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X5DNET01 DeviceNet Communication Option Board

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Table 23: I/O Configuration Object

Class Code 0x80 - Instance Attributes (1)

Attr.
No.

Attribute Name

Services

Default,
Minimum,
Maximum

Data
Type

Description

1
0x01

Input Assembly

Get_Attribute_Single
Set_Attribute_Single

71
70
182

Sets the input assembly for the I/O

connection using the actual
assembly number.

2
0x02

Output Assembly

Get_Attribute_Single
Set_Attribute_Single

21
20
132

Sets the output assembly for the I/O

connection using the actual
assembly number.

Sets the input assembly for the I/O

connection using the assembly
offset:
0 = assy 70
1 = assy 71
2 = assy 171
3 = assy 172
4 = assy 181
5 = assy 182

Sets the output assembly for the I/O

connection using the assembly
offset:
0 = assy 20
1 = assy 21
2 = assy 121
3 = assy 122
4 = assy 131
5 = assy 132

3
0x03

4
0x04

Input Assembly

Output Assembly

Get_Attribute_Single
Set_Attribute_Single

Get_Attribute_Single
Set_Attribute_Single

Email: [email protected] Fax 717-264-3115

1
0
5

1
0
5

29

head office and production:

Vaasa
Vacon Plc
Runsorintie 7
65380 Vaasa
[email protected]
telephone: +358 (0)201 2121
fax: +358 (0)201 212 205

production:
Suzhou, China
Vacon Suzhou Drives Co. Ltd.
Building 11A
428# Xinglong Street, SIP
Suchun Industrial Square
Suzhou 215126
telephone: + 86 512 62836630
fax: + 86 512 62836618
Naturno, Italy
Vacon S.R.I
Via Zone Industriale, 11
39025 Naturno

production:
Chambersburg, USA
3181 Black Gap Road
Chambersburg, PA 17202
TB Wood's (India) Pvt. Ltd.
#27, 'E' Electronics City
Hosur Road
Bangalore - 560 100
India
Tel. +91-80-30280123
Fax. +91-80-30280124

sales companies and representative offices:

finland
Helsinki
Vacon Plc
yritie 8
01510 Vantaa
telephone: +358 (0)201 212 600
fax: +358 (0)201 212 699
Tampere
Vacon Plc
Vehnmyllynkatu 18
33580 Tampere
telephone: +358 (0)201 2121
fax: +358 (0)201 212 750
australia
Vacon Pacific Pty Ltd
5/66-74, Micro Circuit
Dandenong South, VIC 3175
telephone: +61 (0)3 9238 9300
fax: +61 (0)3 92389310
austria
Vacon AT Antriebssysteme GmbH
Aumhlweg 21
2544 Leobersdorf
telephone: +43 2256 651 66
fax: +43 2256 651 66 66
belgium
Vacon Benelux NV/SA
Interleuvenlaan 62
3001 Heverlee (Leuven)
telephone: +32 (0)16 394 825
fax: +32 (0)16 394 827
brazil
Vacon Brazil
Alameda Mamor, 535
Alphaville - Barueri -SP
Tel. +55 11 4166-5707
Fax. +55 11 4166-5567
canada
Vacon Canada
221 Griffith Road
Stratford, Ontario N5A 6T3
telephone: +1 (519) 508-2323
fax: +1 (519) 508-2324
china
Vacon Suzhou Drives Co. Ltd.
Beijing Branch
A528, Grand Pacific Garden Mansion
8A Guanghua Road
Beijing 100026
telephone: + 86 10 51280006
fax: +86 10 65813733
czech republic
Vacon s.r.o.
Kodanska 1441/46
110 00 Prague 10
telephone: +420 234 063 250
fax: +420 234 063 251
france
Vacon France
ZAC du Fresne
1 Rue Jacquard - BP72
91280 Saint Pierre du Perray CDIS
telephone: +33 (0)1 69 89 60 30
fax: +33 (0)1 69 89 60 40

germany
Vacon GmbH
Gladbecker Strasse 425
45329 Essen
telephone: +49 (0)201 806 700
fax: +49 (0)201 806 7099

slovakia
Vacon s.r.o. (Branch)
Seberiniho 1
821 03 Bratislava
Tel. +421 243 330 202
Fax. +421 243 634 389

Vacon OEM Business Center GmbH

Industriestr. 13
51709 - Marienheide
Germany
Tel. +49 02264 17-17
Fax. +49 02264 17-126

spain
Vacon Drives Ibrica S.A.
Miquel Servet, 2. P.I. Bufalvent
08243 Manresa
telephone: +34 93 877 45 06
fax: +34 93 877 00 09

india
Vacon Drives & Control Plc
Plot No 352
Kapaleeshwar Nagar
East Coast Road
Neelangarai
Chennai-600041
Tel. +91 44 244 900 24/25

sweden
Vacon AB
Anderstorpsvgen 16
171 54 Solna
telephone: +46 (0)8 293 055
fax: +46 (0)8 290 755

italy
Vacon S.p.A.
Via F.lli Guerra, 35
42100 Reggio Emilia
telephone: +39 0522 276811
fax: +39 0522 276890
the netherlands
Vacon Benelux BV
Weide 40
4206 CJ Gorinchem
telephone: +31 (0)183 642 970
fax: +31 (0)183 642 971
norway
Vacon AS
Bentsrudveien 17
3080 Holmestrand
telephone: +47 330 96120
fax: +47 330 96130
romania
Vacon Romania - Reprezentanta
Cuza Voda 1
400107 Cluj Napoca
Tel. +40 364 118 981
Fax. +40 364 118 981
russia
ZAO Vacon Drives
Ul. Letchika Babushkina 1,
Stroenie 3
129344 Moscow
telephone: +7 (495) 363 19 85
fax: +7 (495) 363 19 86
ZAO Vacon Drives
2ya Sovetskaya 7, office 210A
191036 St. Petersburg
telephone: +7 (812) 332 1114
fax: +7 (812) 279 9053

thailand
Vacon South East Asia
335/32 5th-6th floor
Srinakarin Road, Prawet
Bangkok 10250
Tel. +66 (0)2366 0768
ukraine
Vacon Drives Ukraine (Branch)
42-44 Shovkovychna Str.
Regus City Horizon Tower
Kiev 01601, Ukraine
Tel. +380 44 459 0579
Fax +380 44 490 1200
united arab emirates
Vacon Middle East and Africa
Block A, Office 4A 226
P.O.Box 54763
Dubai Airport Free Zone
Dubai
Tel. +971 (0)4 204 5200
Fax: +971 (0)4 204 5203
united kingdom
Vacon Drives (UK) Ltd.
18, Maizefield
Hinckley Fields Industrial Estate
Hinckley
LE10 1YF Leicestershire
telephone: +44 (0)1455 611 515
fax: +44 (0)1455 611 517
united states
Vacon, Inc.
3181, Black Gap Road
Chambersburg, PA 17202
telephone: +1 (877) 822-6606
fax: +1 (717) 267-0140