DeviceNet ™

Communication User
Module
Manual
Catalog Number
0160-DN2
Firmware 3.xxx

TM
CONFORMANCE TESTED

READY
FAULT
COMM
Important User Information Because of the variety of uses for the products described in this publi-
cation, those responsible for the application and use of this control
equipment must satisfy themselves that all necessary steps have been
taken to assure that each application and use meets all performance
and safety requirements, including any applicable laws, regulations,
codes and standards.

The illustrations, charts, sample programs and layout examples

shown in this guide are intended solely for purposes of example.
Since there are many variables and requirements associated with any
particular installation, Rockwell Automation does not assume respon-
sibility or liability (to include intellectual property liability) for actual
use based upon the examples shown in this publication.

Rockwell Automation publication SGI-1.1, Safety Guidelines for the

Application, Installation, and Maintenance of Solid-State Control
(available from your local Rockwell Automation office), describes
some important differences between solid-state equipment and elec-
tromechanical devices that should be taken into consideration when
applying products such as those described in this publication.

Reproduction of the contents of this copyrighted publication, in

whole or in part, without written permission of Rockwell Automa-
tion, is prohibited.

Throughout this manual we use notes to make you aware of safety

considerations:

ATTENTION: Identifies information about practices

or circumstances that can lead to personal injury or
! death, property damage or economic loss.

Attention statements help you to:

• Identify a hazard.
• Avoid the hazard.
• Recognize the consequences.
Important: Identifies information that is critical for successful appli-
cation and understanding of the product.
 Summary of Changes

Summary of Changes

This release of the Bulletin 160-DN2 DeviceNet Communication

Module User Manual covers the software enhancements of Firmware
Version 3.xxx and contains new and updated information.

Bulletin 160-DN2 version 3.xxx Features and enhancements in the 160-DN2 module that are different
Software Enhancements than those in the 160-DN1 module include:

Compatibility with Bulletin 160 drives Bulletin 160 (Series A, B, and C) drives can be connected to a
(Series A, B, and C) DeviceNet network.

Ability to Create Electronic Data Sheets Configuration tools, such as DeviceNet Manager, can create an
Electronic Data Sheet (EDS file) for the 160 SSC drive and 160-DN2
module.

Added Parameter Object This object describes the parameters in the 160 SSC drive and
160-DN2 module.

Added Parameter Group Object This object describes the parameter groups associated with the
160 SSC drive and 160-DN2 module.

New and Revised Chapters to The bulletin 160-DN2 DeviceNet Communication Module User
this Manual Manual, Publication 0160-5.18, is a new manual. It is, however,
similar to the 160 DeviceNet Communication Module User Manual,
Publication 0160-5.5. The main differences can be found in the
following chapters:

Using This Manual Preface

Quick Start for Experienced Users Chapter 2
DeviceNet Parameter Descriptions Chapter 5
Using the 160-DN2 with DeviceNet Scanner Chapter 6
Troubleshooting Chapter 7
DeviceNet Information Appendix B

Publication 0160-5.18 - March 1999

 Summary of Changes

Summary of Enhancements to Refer to the following references in this manual:

User Manual
Reference Manuals Section P-2
Manual Organization P-3
DeviceNet Compatibility P-4
Replacing a 160-DN1 with a 160-DN2 P-4
Required Tools and Equipment 3-1
DeviceNet Parameter Descriptions Chapter 5
Creating EDS Files replaces Installing EDS Files 6-3
Troubleshooting Updated Chapter 7
Parameter Object B-9
Parameter Group Object B-11
Acknowledge Handler Object B-17

Publication 0160-5.18 - March 1999

 Table of Contents

Using This Manual Preface

Manual Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Who Should Use This Manual?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Vocabulary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Reference Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
DeviceNet Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Replacing a 160-DN1 with a 160-DN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-4

Product Overview Chapter 1

Module Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
LEDs and DeviceNet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
DIP Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Quick Start for Chapter 2

Experienced Users Objective of This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Required Tools and Equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Installation and Wiring Chapter 3

Required Tools and Equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
EMC Directive 89/336/EEC Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Low Voltage Directive 73/23/EEC Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Removing Program Keypad Module or Ready/Fault Panel . . . . . . . . . . . . . . . . 3-3
Understanding Module Configuration Switches . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Setting the DeviceNet Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Setting the Baud Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Cable Lengths and Baud Rates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Installing the Communication Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Wiring the DeviceNet Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Connecting the DeviceNet Drop Line to the Module . . . . . . . . . . . . . . . . . . . . . . 3-8
Removing Communication Module From a Drive . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Modes of Operation Chapter 4

Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Modes of Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Power-up Reset Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Error Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

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ii Table of Contents

DeviceNet Parameter Chapter 5

Descriptions DeviceNet Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Electronic Data Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Parameters and EDS File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Bulletin 160 SSC Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Product Codes and EDS Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Bulletin 160 SSC Interface Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
DeviceNet Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Drive Display Parameters (Read Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Drive Program Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

Using 160-DN2 with Chapter 6

DeviceNet Scanner Needed Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Example Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Set Device MAC ID’s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Invoke Manager Software and “Go Online” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Create the EDS File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Perform Network Who . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Invoke 160 Configuration Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Pick Input and Output Assemblies for the Bulletin 160 . . . . . . . . . . . . . . . . . . . . 6-6
Enable Network Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Configure the 160 to Accept Speed Commands From the Network . . . . . . . . . . 6-9
Invoke Scanner Configuration Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Set Up the Scan List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Map Each Device in the Scan List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
Program the Ladder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
Explicit Messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
How it Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
How to Format the Explicit Message Transaction Block . . . . . . . . . . . . . . . . . . 6-18
Program the SLC to Run Explicit Messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
1. Entering Data into the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
2. Running the Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
3. Receiving Data From the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
Data Format for a Read and Write of a Parameter . . . . . . . . . . . . . . . . . . . . 6-20

Troubleshooting Chapter 7
Understanding the COMM LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Understanding the FAULT LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Specifications Appendix A
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Mechanical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

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 Table of Contents iii

DeviceNet Information Appendix B

DeviceNet Message Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Object Classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2
Class Code 0x01 — Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Class Code 0x03 — DeviceNet Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5
Class Code 0x05 — Connection Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
Class Code 0x0F — Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9
Class Code 0x10 — Parameter Group Object . . . . . . . . . . . . . . . . . . . . . . . . . B-11
Class Code 0x28 — Motor Data Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-12
Class Code 0x29 — Control Supervisor Object . . . . . . . . . . . . . . . . . . . . . . . . B-13
State Transition Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-14
Run/Stop Event Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-15
Class Code 0x2A — AC Drive Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-16
Class Code 0x2B — Acknowledge Handler Object . . . . . . . . . . . . . . . . . . . . . B-17
Class Code 0xB3 — 160 Parameter Table Object . . . . . . . . . . . . . . . . . . . . . . B-18
Class Code 0xB4 — DN Interface Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-22
Class Code 0x04 — Assembly Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-23
Instance Data Format: Output Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . B-24
Instance Data Format: Input Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . B-26
Configuration Assembly Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-29

Index

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iv Table of Contents

Notes:

Publication 0160-5.18 - March 1999

 Preface

Using This Manual

Manual Objectives The purpose of this manual is to provide you with the necessary infor-
mation to apply the Bulletin 160 SSC DeviceNet Communication
Module. Described in this manual are methods for installing, config-
uring, and troubleshooting the Bulletin 160 SSC DeviceNet Commu-
nication Module.

For information on specific features of the Bulletin 160 SSC drive,

refer to the Bulletin 160 SSC User Manual.

Important: Read this manual in its entirety before installing, operat-

ing, servicing, or initializing the Bulletin 160 DeviceNet Communi-
cation Module.

Who Should Use This Manual? This manual is intended for qualified personnel. To make efficient use
of the Communication Module, you must be able to program and
operate serial communications devices, as well as have an under-
standing of the parameter settings and functions of the Bulletin 160
SSC drive.

You should understand DeviceNet network operations, including how

slave devices operate on the network and communicate with a
DeviceNet master.

Vocabulary In this manual we refer to the:

• Bulletin 160-DN2 DeviceNet Communication Module as Com-

munication Module and Module.
• Bulletin 160 SSC Variable Frequency AC Drive as the Drive.

Conventions Parameter numbers and names are shown in bold typeface and follow
the format PXX - [*] where P denotes parameter, XX denotes the
parameter number, and * represents the parameter name. For exam-
ple, P01 - [Output Frequency].

Firmware Version The convention for identifying firmware releases is as follows:

FRN = Firmware Release Number

3 = Firmware (whole) Number
(.) = Decimal point separator
xxx = Place holders representing minor updates

Places to the right of the decimal do not affect content of this manual.

Publication 0160-5.18 - March 1999

P-2 Using This Manual

Reference Manuals For Bulletin 160 SSC Information:

• Bulletin 160 SSC User Manual Series A, Publication 0160-5.0
• Bulletin 160 SSC User Manual Series B, Publication 0160-5.9
• Bulletin 160 SSC User Manual Series C, Publication 0160-5.15
For the DeviceNet Manager Software:
• DeviceNet Manager Software User Manual, Publication
1787-6.5.3
For SLC 500 and 1747-SDN information:
• DeviceNet Scanner Module Installation Instructions, Publication
1747-5.8
• DeviceNet Scanner Module Configuration Manual, Publication
1747-6.5.2
For PLC5 and 1771-SDN information:
• DeviceNet Scanner Module Installation Instructions, Publication
1771-5.14
• DeviceNet Scanner Module Configuration Manual, Publication
1771-6.5.118
For DeviceNet cables and components:
• DeviceNet Product Overview, Publication DN-2.5
To install and implement a DeviceNet network:
• DeviceNet Cable System Planning and Installation Manual,
Publication 1485-6.7.2

Important: Read the DeviceNet Cable System Planning and Installa-

tion Manual, Publication 1485-6.7.1, in its entirety before planning
and installing a DeviceNet system. If the network is not installed
according to this document, unexpected operation and intermittent
failures can occur.
If this manual is not available, please contact either the local
Allen-Bradley Distributor or Sales Office and request a copy. Copies
may also be ordered from the Automation Bookstore. The Automa-
tion Bookstore can be contacted, via the Internet, from the Allen-Brad-
ley Home Page at “www.ab.com.”

Publication 0160-5.18 - March 1999

 Using This Manual P-3

Manual Organization
Chapter Title Contents
Manual objectives, audience, vocabulary,
Preface Using This Manual manual conventions and organization, safety
precautions, and DeviceNet compatibility.
Module description, LEDs, DIP switches, and
1 Product Overview
DeviceNet compatibility.
Quick Start for Experienced Communication Module features, configura-
2
Users tion, and diagnostics.
Installation, switch configuration, cabling, and
3 Installation and Wiring
removal.
4 Modes of Operation Power-up and modes of operation.
DeviceNet Parameter EDS file parameters, Bulletin 160 SSC inter-
5
Descriptions face, product codes.
Mac IDs, Manager software, configuration,
Using 160-DN2 with
6 input/output assemblies, network control,
DeviceNet Scanner
scan list, ladder program, explicit messaging.
7 Troubleshooting LED indications and fault descriptions.
Environmental, electrical, and communica-
Appendix A Specifications
tion specifications.
Appendix B DeviceNet Information DeviceNet message types and object classes.

Safety Precautions

ATTENTION: Only personnel familiar with

DeviceNet devices, Bulletin 160 SSC drives, and
! associated machinery should plan or implement the
installation, start-up, configuration and subsequent
maintenance of the Communication Module. Failure to
comply may result in personal injury and/or equipment
damage.

ATTENTION: This module contains ESD

(Electrostatic Discharge) sensitive parts and assemblies.
! Static control precautions are required when installing,
testing, servicing, or repairing this assembly.
Component damage may result if ESD control
procedures are not followed. If you are not familiar with
static control procedures, reference Allen-Bradley
Publication 8000-4.5.2, Guarding Against Electrostatic
Damage or any other applicable ESD protection
handbook.

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P-4 Using This Manual

Safety Precautions (Continued)

ATTENTION: The drive contains high voltage
capacitors which take time to discharge after removal
! of mains supply. Before installing or removing the
DeviceNet Communication Module, ensure isolation of
mains supply from line inputs [L1, L2, L3 (R, S, T)].
Wait three minutes for capacitors to discharge to safe
voltage levels. Failure to do so may result in personal
injury or death.

ATTENTION: When a system is configured for the

first time, the motor must be disconnected from the
! machine or process during initial system testing. Hazard
of injury or equipment damage may occur due to
unintended or incorrect machine motion.

ATTENTION: Hazard of equipment damage exists. If

explicit messages are programmed to frequently change
! parameter data in the drive, the EEPROM may exceed
its life cycle and cause the drive to malfunction. Do not
create a program that frequently uses explicit messages
to change a parameter in the drive.

DeviceNet Compatibility The 160-DN2 Communication Module is intended for use only with
Bulletin 160 SSC Series A, Bulletin 160 SSC Series B, and Bulletin
160 SSC Series C (FRN 7.03 and later) devices. Bulletin 160 SSC
(Series C) devices must use a 160-DN2 Communication Module to
connect to a DeviceNet network. Bulletin 160 SSC (Series A and B)
devices can use either a 160-DN2 or 160-DN1 Communication Mod-
ule to connect to a DeviceNet network.

When properly connected, the Communication Module communi-

cates via the DeviceNet Protocol. The Communication Module/Bulle-
tin 160 SSC combination comprise a Group 2 Slave Only device. This
device supports DeviceNet slave Polled, Change of State/Cyclic mes-
saging, and DeviceNet slave Explicit messaging. It does not support
the Explicit Unconnected Message Manager (UCMM).

Replacing a 160-DN1 with a You can replace a 160-DN1 Communication Module with a 160-DN2
160-DN2 Communication Module on any 160 SSC (Series A and Series B)
drive. To do so, you will need to create an EDS file for the new 160-
DN2 Communication Module and map the module to the network.
Chapter 6, Using 160-DN2 with DeviceNet Scanner, provides detailed
instructions on how to perform these tasks.

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 Chapter 1
Product Overview
This chapter contains the following information:

• The physical layout of the module.

• Location of configuration switches.
• DeviceNet overview and components.

Module Description The Bulletin 160 SSC DeviceNet Communication Module is an

optional interface device designed to provide a direct, digital link
between DeviceNet devices and the Bulletin 160 SSC drive. The
module connects to the Bulletin 160 SSC through the expansion/key-
pad port on the front of the drive.

LEDs and DeviceNet Connection Figure 1.1

Module Front View

Module Installation Latch

CONFORMANCE TESTED
TM Ready LED - GREEN when drive is powered up ➀

Fault LED - RED when drive is faulted

OFF when drive not faulted ➀

COMM - This bi-colored LED (red/green) provides status informa-

tion on DeviceNet communications ➀

DeviceNet Terminal Block Plug - The Communication Module

receives power and communications through this connector.

➀ See Chapter 4, Modes of Operation, and Chapter 7, Troubleshooting, for detailed operation.

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1-2 Product Overview

DIP Switches Figure 1.2

Module Rear View

The Communication Module has one eight position DIP switch for setting the
DeviceNet Node Address and Baud Rate. DIP switches are located on the
rear of the module and are only accessible when the module is removed
from the Bulletin 160 SSC drive.

Expansion/Keypad Port Connector

SW.1 - SW.6 = Node Address Selection

SW.7 - SW.8 = Baud Rate Selection
(see page 3-4)
(see page 3-5)

Label with DeviceNet Serial Number

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 Chapter 2
Quick Start for Experienced Users
Objective of This Chapter This chapter can help you start using the Bulletin 160 DeviceNet
Communication module. If you have installed or configured a
DeviceNet network previously and are familiar with Rockwell Auto-
mation DeviceNet modules and drives, this information can help
reduce the time of installation. If you are uncertain, use the full instal-
lation/configuring information beginning in Chapter 3.

We base the procedures here on the assumption that you understand

DeviceNet concepts and know how to program the Bulletin 160 SSC
drive. In addition, you should understand electronic process control
and be able to interpret the ladder logic instructions required to gener-
ate the electronic signals that control your application.

Because it is a start-up guide for experienced users, this chapter does

not contain detailed explanations about the procedures listed. It does,
however, reference other chapters in this book where you can get
more information.

If you have any questions or are unfamiliar with the terms used or
concepts presented in the procedural steps, always read the refer-
enced chapters and other recommended documentation before trying
to apply the information.

This chapter contains the following information:

• What tools and equipment you need.

• When to address, configure and program the module.
• How to install and wire the Communication Module.
• System power-up procedures.

Required Tools and Equipment Have the following tools and equipment ready:

• Small blade screwdriver.

• DeviceNet configuration software or hardware device.

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2-2 Quick Start for Experienced Users

Procedures
# Steps Reference
1. Review Attention statements in the Preface.
2. Check the contents of shipping box.
Unpack the shipping box making sure that the contents include:
• Bulletin 160 DeviceNet module (Catalog Number 160-DN2).
• 10-pin linear plug with probe holes and jack screws.
• Bulletin 160 DeviceNet Communication Module User Manual.
If the contents are incomplete, call your local Allen-Bradley representative for assistance.
Ensure that the drive is correctly installed and wired. Publication
3. (Stop Input (TB3-7, TB3-8) must be jumpered together 160-SSC
to start drive.) User Manual
DeviceNet
Ensure that the DeviceNet master and network are
Cable System Planning
4. installed and functioning in accordance with
and Installation Manual
DeviceNet standards.
(Pub. 1485-6.7.1)
Remove Program Keypad Module or Ready/Fault Indi- Chapter 3
5.
cating Panel from the drive. (Installation)
Set the DeviceNet Module’s node address and baud Chapter 3
6.
rate. (Installation)
Set the DIP Switches at the back of the module. Switches 1
through 6 control node address and switches 7 and 8 control baud
rate.
Chapter 3
7. Install the DeviceNet module on the drive.
(Installation)
Wire the DeviceNet connector and plug it into the Chapter 3
8.
drive. (Installation)
Chapter 3
9. Power up the drive and the network.
(Installation)
Important: When power-up occurs, the COMM (communication Chapter 4
status) LED flashes green for 1/4 second, red for 1/4 second, and (Modes of Operation)
then goes blank while the Communication Module finishes its ini- Chapter 7
tialization. If the COMM LED goes red, there is a problem. (Troubleshooting)
Chapter 6
(Using 160-DN2 with
10. Create the Electronic Data Sheet (EDS) file.
DeviceNet Scanner, page
6-3)
Create the EDS file in accordance with the DeviceNet software or DeviceNet Software
hardware configurator that you are using to configure the Commu- or Hardware
nication Module (see Chapter 5 for EDS file descriptions). Configurator Manual
Chapter 6
Configure the Bulletin 160 SSC drive for DeviceNet so
(Using 160-DN2 with
11. the drive can accept speed reference and control logic
DeviceNet Scanner, page
via the network.
6-3 to 6-9)
Use configuration software such as DeviceNet Manager or hard-
ware such as DeviceView Hand Held DeviceNet Configurator.
Chapter 6
Configure the DeviceNet Scanner to recognize the (Using 160-DN2 with
12.
Bulletin 160 SSC drive. DeviceNet Scanner, page
6-10 to 6-16)
Use DeviceNet Manager to configure the DeviceNet Scanner’s
“Scan List” to recognize the Bulletin 160 SSC drive.

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 Chapter 3
Installation and Wiring
This chapter contains information necessary to:

• Meet the requirements of the EMC and Low Voltage directives

for CE compliance.
• Remove a preinstalled Program Keypad Module or Ready/Fault
Indicating Panel.
• Configure the Communication Module.
• Install the Communication Module.
• Wire the DeviceNet communication cables.
• Remove the Communication Module from the drive.
Read this chapter completely before you attempt to install or config-
ure the Communication Module. Before you apply power, review the
Attention statements on page P-3 and P-4 in the Preface and ensure
that all connections are secure and that all selections are correct.

ATTENTION: When you make changes to the switch

settings, use a blunt pointed instrument. Do not use a
! pencil or pen because damage may occur.

ATTENTION: Unpredictable operation may occur if

you fail to check connections and DIP switch settings
! for compatibility with your application. Unpredictable
operation may result in personal injury, death, and
equipment damage.

Required Tools and Equipment Before installing and configuring the 160-DN2 Communication Mod-
ule, ensure that the contents of the shipping box include:
• Bulletin 160-DN2 module (Catalog Number 160-DN2).
• 10 pin linear Plug (Part Number 1787-PLUG10R).
• Bulletin 160-DN2 DeviceNet Communication Module User Man-
ual (Part Number 193557).
In addition, you will need to supply the following:
• A small blade screwdriver.
• DeviceNet configuration software or hardware device.
• DeviceNet thick cable or thin cable. Refer to the DeviceNet Prod-
uct Overview, Publication DN-2.5, for details and part numbers.

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3-2 Installation and Wiring

EMC Directive 89/336/EEC This product complies with Electromagnetic Compatibility (EMC)
Compliance Directive 89/336/EEC when conforming with the following installa-
tion requirements:

• The essential requirements for a conforming EMC installation for

the Bulletin 160 SSC are employed. Refer to the Bulletin 160 SSC
User Manual.
• The DeviceNet cable shield shall be connected to the SSC’s pro-
tective earth terminal, PE, with a low impedance connection.
• A clamp-on ferrite cable clamp (see Figure 3.6) shall be installed
on the DeviceNet communication cable within 10 cm (4 in.) of
the SSC. When multiple SSC’s are contained in one control cabi-
net, it is sufficient to install one clamp-on ferrite cable clamp
where the DeviceNet communication cable enters the control
cabinet.

Low Voltage Directive 73/23/EEC This product complies with Low Voltage Directive 73/23/EEC when
Compliance conforming with the following installation requirements:

• The essential requirements for a conforming Low Voltage Direc-

tive installation for the Bulletin 160 SSC are employed. Refer to
the Bulletin 160 SSC User Manual.
• Review “Safety Precautions” on page P-3 and P-4 in the Preface,
and other ATTENTION statements throughout this manual prior
to installation of the module.

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 Installation and Wiring 3-3

Removing Program Keypad Module Before installing the Communication Module, it may be necessary to
or Ready/Fault Panel remove a previously installed module such as a Program Keypad
Module or Ready/Fault panel.

ATTENTION: The drive contains high voltage

capacitors which take time to discharge after removal
! of mains supply. Before installing or removing the
DeviceNet Communication Module, ensure isolation of
mains supply from line inputs [L1, L2, L3 (R, S, T)].
Wait three minutes for capacitors to discharge to safe
voltage levels. Failure to do so may result in personal
injury or death.

Figure 3.1
Removing Program Keypad Module
Insert a small screw driver into slot, pry Program Keypad Module
back, and pivot module out. Avoid bending
or twisting the contact pins located
underneath the center portion of the

Understanding Module The DeviceNet Communication module’s DIP switch settings deter-
Configuration Switches mine:

• DeviceNet node address.

• DeviceNet baud rate.
The location of the DIP switch and the factory defaults are shown
below.

Figure 3.2
DIP Switches on Rear of Module
DIP Switch ON = 1
Factory Settings OFF = 0
1 2 3 4 5 6 7 8

NO

Important: When setting the Communication Module’s addressing

DIP Switches, you must ensure that each serial device on the network
has a unique address. Also, all devices connected to the network must
be set at the same baud rate.

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3-4 Installation and Wiring

Setting the DeviceNet Node DIP switches 6 through 1 set the module’s node address using binary
Address addressing. The factory default setting is DeviceNet address 63.

Figure 3.3
Setting the Node Address

DeviceNet Address
8 7 6 4 5 3 2 1 000000 - 111111 (0 to 63)

ON = 1
OFF = 0
N O

Follow these steps to set the DeviceNet node address:

1. Refer to the table below for the switch settings of a specific

address.
2. Using a pointed object, slide switches 6 through 1 to the appropri-
ate ON/OFF positions.
Important: When switches 7 and 8 are ON, the DeviceNet address is
set to the value in parameter P103 - [NV MAC ID].

Table 1: Switch Settings for DeviceNet Node Addressing

DeviceNet Switch Settings DeviceNet Switch Settings DeviceNet Switch Settings DeviceNet Switch Settings
Address➀ 6 <---- 1 Address 6 <---- 1 Address 6 <---- 1 Address 6 <---- 1

0 000000 16 010000 32 100000 48 110000

1 000001 17 010001 33 100001 49 110001
2 000010 18 010010 34 100010 50 110010
3 000011 19 010011 35 100011 51 110011
4 000100 20 010100 36 100100 52 110100
5 000101 21 010101 37 100101 53 110101
6 000110 22 010110 38 100110 54 110110
7 000111 23 010111 39 100111 55 110111
8 001000 24 011000 40 101000 56 111000
9 001001 25 011001 41 101001 57 111001
10 001010 26 011010 42 101010 58 111010
11 001011 27 011011 43 101011 59 111011
12 001100 28 011100 44 101100 60 111100
13 001101 29 011101 45 101101 61 111101
14 001110 30 011110 46 101110 62 111110
15 001111 31 011111 47 101111 63 111111

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 Installation and Wiring 3-5

Setting the Baud Rate Dip switches 7 and 8 set the baud rate at which the Communication
Module communicates on the network. The factory default setting for
baud rate is 125K BPS.

Figure 3.4
Setting the Baud Rate

Use DIP Switch 8 and 7 for

setting the DeviceNet Baud
8 7 6 4 5 3 2 1 Rate.

ON = 1
OFF = 0
N O

Follow these steps to set the DeviceNet Baud Rate:

1. Refer to Table 2 for the switch setting of a specific Baud Rate.

2. Slide switches 7 and 8 to the appropriate positions using a
pointed object.
Important: When switches 7 and 8 are ON, the DeviceNet Baud
Rate is set to the value in parameter P104 - [NV Baud Rate].

Table 2: Switch Settings for DeviceNet Module Baud Rate

Switch Setting Switch Setting

Baud Rate
8 7

125 kBPS 0 0
250 kBPS 0 1
500 kBPS 1 0
Set by DeviceNet 1 1
Parameter 104

Cable Lengths and Baud Rates

The baud rate determines the maximum length of the DeviceNet
cable. Refer to Table 3 to determine cable lengths and baud rates.

Table 3: Baud Rate vs. Cable Length

Maximum Cable Length

Baud Rate
(Trunk Line)

125 kBPS 500 meters (1640 feet)

250 kBPS 250 meters (820 feet)
500 kBPS 100 meters (328 feet)

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3-6 Installation and Wiring

Installing the Communication After setting the DIP switches, secure the Communication Module to
Module the drive by following these steps:

1. Insert the module, ensuring that the pins on the back of the mod-
ule line up with the drive’s expansion port.
2. Press down on the module until it is fully seated. The module is
fully seated when its sides are resting on the drive’s face.
3. Press down on the latch until it snaps into place.
Figure 3.5
Installing the Communication Module

Expansion Port
Drive’s
Face

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 Installation and Wiring 3-7

Wiring the DeviceNet Connector Follow these recommendations for communications wiring:

• See DeviceNet Cable System Planning and Installation Manual,

Publication 1485-6.7.2, for planning and installation of
DeviceNet networks.
• Keep communication wiring away from high noise sources such
as motor cables.
• To increase noise immunity:
– Use trunk line in place of drop line.
– Use a ferrite cable clamp around the communication line. See
Figure 3.6.
– Ground the cable shield as shown in Figure 3.6.
Figure 3.6
Wiring the DeviceNet 10-Pin Linear Plug

The Communication Module receives power and communications through the DeviceNet connector.
DeviceNet cable wires connect to the DeviceNet plug as shown in the following table.

Color Terminal Signal Function

Black 1 COMM Common

Blue 2 CAN_L Signal Low
Bare 3 SHIELD Shield
White 4 CAN_H Signal High
Red 5 VDC+ Power Supply

Red
5

White
4

Bare
3

Blue
2

Black
1

DeviceNet Trunk Line or Drop Line

Trunk line is recommended for greatest
noise immunity.

Grounding Recommendations Optional Clamp-On Ferrite Cable Clamp

Attach bare wire to earth GND as close to drive as Install core within 10 cm (4") of Communication
possible. For greatest noise immunity, drive should be Module. Use Ferrishield (part #HI28B2039) or
single point ground. Fair-Rite (part #0443164151 – quantity of 2 required).
Important: For each DeviceNet Network with multiple
devices, only one device must be grounded.

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3-8 Installation and Wiring

Connecting the DeviceNet Drop Follow these steps to connect your module DeviceNet drop line:
Line to the Module
1. Turn off the network power supply.

ATTENTION: Do not wire the Communication

Module with the network power supply on. Wiring the
! module with the network power supply on may short
your network or disrupt communication.

2. Ensure that the DeviceNet 10-pin Linear Plug is correctly wired.

(See Figure 3-6 in previous section).
3. Locate the DeviceNet connector on the bottom of the module.
4. Insert the plug into the DeviceNet connector.
Figure 3.7
Installing the Drop Line

Removing Communication Module If you need to reconfigure the Communication Module DIP switches,
From a Drive you must remove the Communication Module from the drive.

1. Remove the DeviceNet plug from the Communication

Module.
2. Press in on the module’s latch and then push away and up.
3. Grasp the module and pull straight up. Avoid bending or twisting
the contact pins located underneath the center portion of the
module.
Figure 3.8
Removing the Communication Module

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 Chapter 4
Modes of Operation
This chapter contains the following information:

• Powering up the drive with the DeviceNet module installed.

• The module’s modes of operation.
Refer to the Attention statements on page P-3 and P-4 in the Preface.

Powering Up the Drive After you have installed the Communication Module, apply power to
the drive and to the Network. The COMM LED should flash green or
turn solid green. If it does not, refer to Chapter 7, Troubleshooting.

Modes of Operation The Communication Module has three modes of operation:

• Power-up reset mode.

• Run mode.
• Error mode.

Power-up Reset Mode

During power-up or reset, the COMM LED is off.

The Communication Module follows this sequence of operation:

1. When power-up occurs, the COMM LED flashes green for 1/4
second, red for 1/4 second, and then goes blank while the Com-
munication Module finishes its initialization.
2. Performs power-up initialization.
3. Reads and stores the DIP switch settings.
4. Performs a duplicate node address check to verify that another
node is not assigned the same DeviceNet address as the Commu-
nication Module.
If the power-up or reset is successful, the Communication Module
enters the run mode and the LED flashes green or turns solid green.

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4-2 Modes of Operation

Modes of Operation (Continued) Power-up Reset Mode (Continued)

If the power up or reset sequence fails, the COMM LED will go to
solid red and the module will enter the Error Mode. See the Error
Mode description in this section.

Table 4: COMM LED State During Power-up Reset Mode

COMM LED State Description

Flashes Green 1/4 sec- Occurs when power is applied to module.

ond, Red 1/4 second,
then goes blank
Blank Power-up initialization is taking place.
Solid Red Indicates failed initialization or duplicate node address.
Solid Green DeviceNet module is in the Run mode.

Run Mode
After a successful power-up or reset, the Communication Module
enters the run mode and operates as a slave device to a master device.
In run mode, the Communication Module:

• Accepts messages from the master on the DeviceNet network.

• Monitors DeviceNet incoming power.
If an error is detected, the module enters error mode. See the Error
Mode description below.

Error Mode
If the Communication Module detects an error, the COMM LED is
affected. Errors are critical or noncritical, and are summarized below

Table 5: COMM LED State During Error Mode

Error Type Description COMM LED State

Critical Power-up initialization failure.

(Not Recoverable)
Duplicate node address detected. Solid Red
Incorrect baud rate.
Non-Critical
I/O connection timed out. Flashing Red
(Recoverable)
Non-Critical
DeviceNet power lost. Off
(Recoverable)

See the troubleshooting chart in Chapter 7 for details on how to

recover from an error.

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 Chapter 5
DeviceNet Parameter Descriptions
This chapter contains the following information:

• Description of DeviceNet Parameters.

• Definition of EDS files.
• Bulletin 160 SSC Interface.
• Brief description of Bulletin 160 parameters.
Important: This chapter describes the parameter set for a Series C
Bulletin 160. If you are using a Series A or Series B Bulletin 160,
then not all the parameters listed in this manual may apply to that
device. When you are using a Series A Bulletin 160, please refer to
the Bulletin 160 SSC User Manual, Publication 0160-5.0. When you
are using a Series B Bulletin 160, please refer to the Bulletin 160 SSC
User Manual, Publication 0160-5.9.

DeviceNet Parameters The communication module contains a set of parameters that are used
to define how the module will interact with the Bulletin 160 SSC and
with the DeviceNet network. These parameters may be used to set the
module’s address, baud rate, or I/O data format. Parameters may also
be read to attain status from the module.

Electronic Data Sheet Electronic Data Sheet (EDS) files are specially formatted ASCII files
that provide all of the information necessary for a configuration tool
such as the DeviceNet Manager (Cat. No. 1787-MGR), to access and
alter the parameters of a device. The EDS file contains information on
the number of parameters in a device and how those parameters are
grouped together. Information about each parameter is contained in
this file such as parameter min, max, and default values, parameter
data format and scaling, and the parameter name and units.

Parameters and EDS File Users create EDS files for the Bulletin 160 using software applica-
tions such as DeviceNet Manager. (See Chapter 6, Using 160-DN2
with DeviceNet Scanner, for instructons on creating an EDS file.) An
EDS file is used to define all the parameters in the Bulletin 160 and in
the Communication Module. This EDS file is used to create a public
interface to the drive via DeviceNet. Configuration tools such as
DeviceNet Manager use EDS files to present parameters to the user.
Through DeviceNet Manager, operators can perform configuration
functions on the 160 SSC drive via DeviceNet by changing the values
associated with individual parameters.

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5-2 DeviceNet Parameter Descriptions

Parameters and EDS File Parameter values may be read or written via DeviceNet. Writing a
(Continued) value to a parameter may configure drive operations such as the accel-
eration or deceleration rates. Writing a value to a parameter may also
configure DeviceNet operations such as which input or output assem-
blies are to be used for polled I/O communications with a master.
Reading a parameter value gives you status information.

Bulletin 160 SSC Interface This parameter set contains all of the parameters described in the Bul-
letin 160 SSC User Manual, plus a few extra parameters to configure
the operation of the Communication Module on the DeviceNet net-
work.

Product Codes and EDS Files Bulletin 160 SSC drives are available in Analog Signal Follower and
Preset Speed models. Each model supports a slightly different set of
parameters (in general the Preset Speed model contains extra parame-
ters for setting up preset speeds). Therefore each drive model uses an
EDS file specific to that model. Configuration tools such as
DeviceNet Manager use “product codes” to identify which EDS file
to use for a given drive model. Table 6 summarizes the various prod-
uct codes. Note that each product code is based on the model, horse-
power, voltage, and the firmware version of the drive.

Table 6: EDS Files for Bulletin 160 using a 160-DN2 version 3.000 or later

Drive Rating
Product Code Drive Model Voltage EDS File Name
kW (HP)

6 Analog Signal Follower 0.37 (0.5) 230 V 2.typ/6.cod/XX.eds

7 Analog Signal Follower 0.55 (0.75) 230 V 2.typ/7.cod/XX.eds
8 Analog Signal Follower 0.75 (1) 230 V 2.typ/8.cod/XX.eds
9 Analog Signal Follower 1.5 (2) 230 V 2.typ/9.cod/XX.eds
10 Analog Signal Follower 2.2 (3) 230 V 2.typ/10.cod/XX.eds
11 Analog Signal Follower 4.0 (5) 230 V 2.typ/11.cod/XX.eds
14 Analog Signal Follower 0.37 (0.5) 480 V 2.typ/14.cod/XX.eds
15 Analog Signal Follower 0.55 (0.75) 480 V 2.typ/15.cod/XX.eds
16 Analog Signal Follower 0.75 (1) 480 V 2.typ/16.cod/XX.eds
17 Analog Signal Follower 1.5 (2) 480 V 2.typ/17.cod/XX.eds
18 Analog Signal Follower 2.2 (3) 480 V 2.typ/18.cod/XX.eds
19 Analog Signal Follower 4.0 (5) 480 V 2.typ/19.cod/XX.eds

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 DeviceNet Parameter Descriptions 5-3

Product Codes and EDS Files

(Continued)
Table 6: EDS Files for Bulletin 160 using a 160-DN2 version 3.000 or later (Continued)

Drive Rating
Product Code Drive Model Voltage EDS File Name
kW (HP)

22 Preset Speed 0.37 (0.5) 230 V 2.typ/22.cod/XX.eds

23 Preset Speed 0.55 (0.75) 230 V 2.typ/23.cod/XX.eds
24 Preset Speed 0.75 (1) 230 V 2.typ/24.cod/XX.eds
25 Preset Speed 1.5 (2) 230 V 2.typ/25.cod/XX.eds
26 Preset Speed 2.2 (3) 230 V 2.typ/26.cod/XX.eds
27 Preset Speed 4.0 (5) 230 V 2.typ/27.cod/XX.eds
30 Preset Speed 0.37 (0.5) 480 V 2.typ/30.cod/XX.eds
31 Preset Speed 0.55 (0.75) 480 V 2.typ/31.cod/XX.eds
32 Preset Speed 0.75 (1) 480 V 2.typ/32.cod/XX.eds
33 Preset Speed 1.5 (2) 480 V 2.typ/33.cod/XX.eds
34 Preset Speed 2.2 (3) 480 V 2.typ/34.cod/XX.eds
35 Preset Speed 4.0 (5) 480 V 2.typ/35.cod/XX.eds

Important: XX.eds = the major firmware revision number of the

Bulletin 160.

Examples:
4.eds refers to Bulletin 160 with firmware version 4.04 or 4.07
5.eds refers to Bulletin 160 with firmware version 5.00 to 5.99
6.eds refers to Bulletin 160 with firmware version 6.00 to 6.99
7.eds refers to Bulletin 160 with firmware version 7.00 or later

It is important that the correct EDS file for the drive model, horse-
power, and voltage be used. If an incorrect one is used, the configura-
tion tool may be unable to set up the drive.

Bulletin 160 SSC Interface The Bulletin 160 SSC Interface parameters are grouped together logi-
Parameters cally. The following sections provide information about the Bulletin
160 SSC Interface parameter groups:

• DeviceNet Parameters.
• Drive Display Parameters.
• Drive Program Parameters.
The following tables summarize the Bulletin 160 SSC Interface. For
more detailed information on the Display Group and Program Group
parameters, refer to the Bulletin 160 SSC User Manual.

Important: The following sections contain references to object map-

ping. This information is needed when using Explicit Messaging.
Refer to Chapter 6, page 18, for more information.

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5-4 DeviceNet Parameter Descriptions

DeviceNet Parameters Use the following parameters to configure and monitor the DeviceNet
Network Interface. These parameters are unique to drives equipped
with the DeviceNet Communication Module.

Object Mapping
Parameter Min./Max. Factory
Name and Description (Class-Instance-
Number Range Default
Attribute)

101 [Switches MAC ID] 0xB4-1-3 0 to 63 63

This read only parameter reflects the state of the Node Address DIP switches.
This address may not be the current address of the module if the Baud Rate DIP
switches are set to 3. In this case P103 - [NV MAC ID] is used.
102 [Switches Baud] 0xB4-1-4 0 to 3 0
This read only parameter reflects the state of the Baud Rate DIP switches. A
value of 3 means that the actual baud rate used by this module is given in the
value of P104 - [NV Baud Rate].
0 = 125K BPS
1 = 250K BPS
2 = 500K BPS
3 = Use nonvolatile parameters for Address and Baud.
103 [NV MAC ID] 0xB4-1-5 0 to 63 63
This read/write parameter allows you to program the Node Address of the mod-
ule independent of the DIP switch settings. To use this feature, set the baud rate
DIP switches (7 and 8) to ON before power-up. Changing this parameter does
not change the actual node address until power is cycled.
104 [NV Baud Rate] 0xB4-1-6 0 to 2 0
This read/write parameter allows you to set the baud rate of the module without
having to set DIP switches. To use this feature, set the baud rate switches (7 and
8) to ON before power up. Changing this parameter does not change the actual
data rate until power is cycled.
0 = 125k BPS
1 = 250k BPS
2 = 500k BPS
105 [Bus Off Error] 0x03-1-3 0 to 1 0
This read/write parameter determines how the Communication Module pro-
cesses a CAN Bus Off condition.
0 = Hold CAN chip in its bus off (reset) state when bus off is
detected.
1 = If possible, fully reset the CAN chip and continue
communicating when a bus off condition is detected.
106 [Bus Off Count] 0x03-1-4 0 to 255 0
This read/write parameter counts the number of times the CAN chip went to the
bus off state. This counter stops counting when the count reaches 255. Any write
to this parameter will reset the counter to 0.

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 DeviceNet Parameter Descriptions 5-5

DeviceNet Parameters (Continued)

Object Mapping
Parameter Min./Max. Factory
Name and Description (Class-Instance-
Number Range Default
Attribute)

107 [Output Assembly] 0x29-1-100 0 to 103 20

This read/write parameter sets the output assembly instance that is to be used
for polled messaging with the master. The output assembly defines the data for-
mat that the drive receives from the master. The name (output assembly) is
somewhat misleading in that this parameter determines the format of data being
sent to the drive by the master. It is named output assembly because the
DeviceNet specification refers to all assemblies as they relate to the master. The
following assembly instances are valid for this parameter:
0 = No Data
1 = Basic Contactor Output
2 = Two Command Contactor Output
3 = Basic Overload Output
4 = Basic Motor Control Output
5 = 2 Command Motor Control
20 = Basic Speed Control
21 = Extended Speed Control
100 = Speed Control in Hz
101 = Preset Control (for Preset Speed units only)
103 = Allen-Bradley Drive Assembly
Important: See Appendix B, pages B-24 to B-25 for the formats of the output
assembly.
108 [Input Assembly] 0x29-1-101 0 to 105 70
This read/write parameter sets the input assembly instance that is to be used for
polled messaging with the master. The input assembly defines the data format
that the drive sends to the master in response to a polled message from the mas-
ter. The name (input assembly) is somewhat misleading in that this parameter
determines the format of data being sent to the master. It is named input assem-
bly because the DeviceNet specification refers to all assemblies as they relate to
the master. The following assembly instances are valid for this parameter:
0 = No Data
50 = Basic Overload Input
51 = Extended Overload Input
52 = Basic Motor Control Input
53 = Extended Motor Control Input
54 = Extended Motor Control 2
70 = Basic Speed Control Input
71 = Extended Speed Control Input
102 = Custom Parameter Based Assembly
104 = Allen-Bradley Drive Assembly
105 = Allen-Bradley Drive Assembly with Parameters
Important: See Appendix B, pages B-26 to B-28 for the formats of the input
assembly.
109 [Assembly Word 0] 0xB4-1-7 0 to 88 9
This read/write parameter is used when P108 - [Input Assembly] is set to 102
Custom Parameter Based Assembly. It defines the first word in an assembly built
from Bulletin 160 parameters. A 0 value defines the end of the assembly. For
more information, see Appendix B, page B-27.
110 [Assembly Word 1] 0xB4-1-8 0 to 88 0
This read/write parameter is used when P108 - [Input Assembly] is set to 102
Custom Parameter Based Assembly. It defines the second word in an assembly
built from Bulletin 160 parameters. A 0 value defines the end of the assembly. For
more information, see Appendix B, page B-27.

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5-6 DeviceNet Parameter Descriptions

DeviceNet Parameters (Continued)

Object Mapping
Parameter Min./Max. Factory
Name and Description (Class-Instance-
Number Range Default
Attribute)

111 [Assembly Word 2] 0xB4-1-9 0 to 88 0

This read/write parameter is used when P108 - [Input Assembly] is set to 102,
Custom Parameter Based Assembly or 105, Allen-Bradley Drive Assembly with
Parameters. It defines the third word in an assembly built from Bulletin 160
parameters. A 0 value defines the end of the assembly. For more information,
see Appendix B, pages B-27 and B-28.
112 [Assembly Word 3] 0xB4-1-10 0 to 88 0
This read/write parameter is used when P108 - [Input Assembly] is set to 102,
Custom Parameter Based Assembly or 105, Allen-Bradley Drive Assembly with
Parameters. It defines the fourth word in an assembly built from Bulletin 160
parameters. A 0 value defines the end of the assembly. For more information,
see Appendix B, pages B-27 and B-28.
113 [DN Fault Mode] 0x29-1-16 0 to 1 0
This read/write parameter is used to determine the drive’s behavior when a com-
munication fault such as loss of DeviceNet power occurs. The following behavior
choices are used:
0 = Fault the drive and issue a stop command
1 = Ignore the communication fault

ATTENTION: Ignoring communication faults may result in

equipment damage, personal injury, or death. Ensure that you
! understand how ignoring a communication fault affects the
operation of your system.

114 [Motor Base RPM] 0x28-1-15 200 to 32000 1800 RPM

This read/write parameter is set to the motor’s rated nameplate speed in RPM.
115 [DNet Idle Mode] 0xB4-1-11 0 to 1 0
This Parameter controls the action of the drive when the SDN Scanner is in Idle
Mode.
0 = Stop if Idle Mode (default)
1 = Hold last state if Idle Mode
116 [DNet SW Version] 0xB4-1-12 0.00 to 10.00 3.01
This parameter indicates the software version of the DeviceNet option. The num-
ber is in the form of xx.yy where xx indicates the major revision level and yy indi-
cates the minor revision level. This parameter is read only.
117 [COS Mask] 0xB4-1-13 0 to 0xFFFF 0xFFFF
This parameter is a 16 bit mask used to enable automatic change of state mes-
sages. A 0 disables the indicated status from causing an automatic message. A 1
enables the status. The mask is applied to the defined input status assembly. The
default value is 0xFFFF.
118 [Local Return Md] 0xB4-1-14 0 to 9 0
This parameter sets the input mode the drive will use when transitioning from
network to local control. This is only used with input mode 2. Available values are
0, 1, 3, 4, and 5.

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 DeviceNet Parameter Descriptions 5-7

Drive Display Parameters Below is a brief description of the Bulletin 160 SSC Interface Display
(Read Only) Group parameters. Refer to the Bulletin 160 SSC User Manual for
more detailed information on these parameters.

Object Mapping
Parameter
Parameter Name (Class-Instance- Description Units
Number
Attribute)
01 [Output Frequency] 0xB3-1-1 Frequency at TB2 terminals T1, T2, T3. 0.1 Hz
02 [Output Voltage] 0xB3-1-2 Voltage at TB2 terminals T1, T2, T3. 1 Volt
03 [Output Current] 0xB3-1-3 Current at TB2 terminals T1, T2, T3. 0.01 Amperes
04 [Output Power] 0xB3-1-4 Power at TB2 terminals T1, T2, T3. 0.01 kW
05 [Bus Voltage] 0xB3-1-5 DC Bus voltage level. 1 Volt
06 [Cmd Frequency] 0xB3-1-6 Commanded Frequency. 0.1 Hz
07 [Present Fault] 0xB3-1-7 Coded last fault number. Numeric Value
08 [Heatsink Temp] 0xB3-1-8 Temperature of the drive heatsink. 1 degree C
09 [Drive Status] 0xB3-1-9 Status of drive in binary coded format. Important: Parameter 9 Binary Number
shown below does not match what is published in the Bulletin 160
SSC User Manual. The DeviceNet binary code for Parameter 9 is:
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Running
Forward
Accel
Decel
Drive
Faulted
Reverse
Latched
A-B Internal
Use Only
At
Frequency
Reference

10 [Drive Type] 0xB3-1-10 Used by Allen-Bradley field service personnel. Numeric Value
11 [Firmware Version] 0xB3-1-11 Version of drive firmware used. Numeric Value
12 [Input Status] ➀ 0xB3-1-12 Open (0) Closed (1) state of Drive’s discrete inputs. Binary Number
Important: Parameter 12 shown below does not match what is pub-
lished in the Bulletin 160 SSC User Manual. The DeviceNet binary
code for Parameter 12 is:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Preset 1
Input
Preset 2
Input
Preset 3
Input
Unused
Reverse
Stop
Start
Not Used

13 [Power Factor Ang] 0xB3-1-13 Angle (electrical degrees) between V and I. 0.1 degree C
14 [Memory Probe] 0xB3-1-14 Used by Allen-Bradley service personnel. Numeric Value
➀ For preset speed model, this parameter contains the data from parameter 15 in the SSC drive due to conflicting parameter numbers with DeviceNet
specific parameters.

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5-8 DeviceNet Parameter Descriptions

Drive Display Parameters

(Read Only) (Continued)
15 [Preset Status] 0xB3-1-15 Open (0) and closed (1) state of TB3 inputs SW1, SW2, and SW3. Binary Number
Bit 3 Bit 2 Bit 1 Bit 0
SW1

SW2

SW3

Unused

16 [Analog Input] 0xB3-1-16 The analog input as a percent of full scale. 0.1%
17 [Fault Buffer 0] 0xB3-1-17 Most recent fault. Numeric Value
18 [Fault Buffer 1] 0xB3-1-18 Second most recent fault. Numeric Value
19 [Fault Buffer 2] 0xB3-1-19 Third most recent fault. Numeric Value

This parameter applies only to the Analog Signal Follower model.

This parameter applies only to the Preset Speed model.

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 DeviceNet Parameter Descriptions 5-9

Drive Program Parameters Below is a brief description of the Bulletin 160 SSC Interface Pro-
gram Group parameters. Refer to the Bulletin 160 SSC User Manual
for more detailed information on these parameters.

Object Mapping
Parameter
Parameter Name (Class-Instance- Description Units
Number
Attribute)

30 [Accel Time 1] 0xB3-1-30 Time to ramp from 0 Hz to maximum frequency. 0.1 Seconds
31 [Decel Time 1] 0xB3-1-31 Time to ramp from maximum frequency to 0 Hz. 0.1 Seconds
32 [Minimum Frequency] 0xB3-1-32 Lowest continuous output frequency. 1 Hz
33 [Maximum Frequency] 0xB3-1-33 Highest continuous output frequency. 1 Hz
34 [Stop Mode Select] 0xB3-1-34 Determines stop mode used. Numeric Value

ATTENTION: Changing this parameter

value may cause unpredictable network
! conditions, resulting in equipment damage,
personal injury, or death. Ensure that you
understand how changing this parameter
affects your application.

35 [Base Frequency] 0xB3-1-35 Set to motor’s nameplate frequency. 1 Hz

36 [Base Voltage] 0xB3-1-36 Set to motor’s nameplate voltage. 1 Volt
37 [Maximum Voltage] 0xB3-1-37 Highest voltage the drive will output. 1 Volt
38 [Boost Select] 0xB3-1-38 Sets the volts/Hz relationship. Numeric Value
39 [Skip Frequency] 0xB3-1-39 Frequency at which drive will not run continuously. 1 Hz
40 [Skip Freq Band] 0xB3-1-40 Used with P39 - [Skip Frequency] to create skip band. 1 Hz
41 [Overload Select] 0xB3-1-41 Selects derating factor for motor overload. Numeric Value
42 [Motor Overload] 0xB3-1-42 Set to motor nameplate full load amperes. 0.01 Amperes
43 [Current Limit] 0xB3-1-43 Max output current allowed before limiting. % I rating
44 [DC Hold Time] 0xB3-1-44 DC Injection Braking duration. 0.1 Seconds
45 [DC Hold Voltage] 0xB3-1-45 Voltage level for DC Injection Braking. 1 Volt
46 [Input Mode] 0xB3-1-46 Type of START, STOP, REV, commands. Numeric Value

ATTENTION: Changing this parameter

value may cause unpredictable network
! conditions, resulting in equipment damage,
personal injury, or death. Ensure that you
understand how changing this parameter
affects your application.

47 [Output Configure] 0xB3-1-47 Configures TB3 output relay functionality. Numeric Value
48 [Output Threshold] 0xB3-1-48 Used in conjunction with P47 - [Output Configure]. Numeric Value
49 [PWM Frequency] 0xB3-1-49 Carrier frequency for PWM output waveform. 0.1 kHz
50 [Restart Tries] 0xB3-1-50 Times drive will attempt to reset a fault. Numeric Value
51 [Restart Time] 0xB3-1-51 Time between restart attempts. 0.1 Seconds
52 [DB Enable] 0xB3-1-52 Enables/disables dynamic braking. Numeric Value
53 [S-Curve] 0xB3-1-53 Enables a fixed shape S-curve. Numeric Value

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5-10 DeviceNet Parameter Descriptions

Drive Program Parameters

(Continued)
Object Mapping
Parameter
Parameter Name (Class-Instance- Description Units
Number
Attribute)

54 [Clear Fault] 0xB3-1-54 Setting to 1 performs a fault reset. Numeric Value

55 [Probe Address] 0xB3-1-55 Used by Allen-Bradley service personnel. Numeric Value
56 [Reset Functions] 0xB3-1-56 Sets all parameters to their factory default. Numeric Value
57 [Program Lock] 0xB3-1-57 Locks all program group parameters. Numeric Value
58 [Internal Freq] 0xB3-1-58 Digital frequency setpoint. 0.1 Hz
59 [Freq Select] 0xB3-1-59 Selects source of Frequency command. Numeric Value
60 [Zero Offset] 0xB3-1-60 Add or subtracts an offset to the analog input. Numeric Value
60 [DN Preset Cmd] 0xB3-1-92 Network preset command. Numeric Value
61 [Preset Freq 0] 0xB3-1-61 Sets command frequency when selected. 0.1 Hz
62 [Preset Freq 1] 0xB3-1-62 Sets command frequency when selected. 0.1 Hz
63 [Preset Freq 2] 0xB3-1-63 Sets command frequency when selected. 0.1 Hz
64 [Preset Freq 3] 0xB3-1-64 Sets command frequency when selected. 0.1 Hz
65 [Preset Freq 4] 0xB3-1-65 Sets command frequency when selected. 0.1 Hz
66 [Preset Freq 5] 0xB3-1-66 Sets command frequency when selected. 0.1 Hz
67 [Preset Freq 6] 0xB3-1-67 Sets command frequency when selected. 0.1 Hz
68 [Preset Freq 7] 0xB3-1-68 Sets command frequency when selected. 0.1 Hz
69 [Accel Time 2] 0xB3-1-69 Sets second acceleration rate. 0.1 Seconds
70 [Decel Time 2] 0xB3-1-70 Sets second deceleration rate. 0.1 Seconds
71 [IR Compensation] 0xB3-1-71 Adds a voltage to the output based on the torque current. 1%
72 [Slip Comp] 0xB3-1-72 Compensates for the inherent slip of the motor. 0.1 Hz
73 [Reverse Disable] 0xB3-1-73 Setting to 1 disables the reverse. Numeric Value
74 [Analog Select] 0xB3-1-74 Selects between unipolar and bipolar analog input. Numeric Value
75 [Analog Minimum] 0xB3-1-75 Sets the percent of the analog input used to represent 0.1%
P32 - [Minimum Frequency].
76 [Analog Maximum] 0xB3-1-76 Sets the percent of the analog input used to represent 0.1%
P33 - [Maximum Frequency].
78 [Compensation] 0xB3-1-78 Some drive/motor combinations have inherent instabilities Numeric Value
which are exhibited as non-sinusoidal motor currents. A set-
ting of 1 will enable the compensation to correct this condi-
tion. A setting of 0 disables this function.
79 [Curent Trip] 0xB3-1-79 Percent above P43 - [Current Limit] at which the drive trips 1%
immediately.

This parameter applies only to the Analog Signal Follower model.

This parameter applies only to the Preset Speed model.

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 DeviceNet Parameter Descriptions 5-11

Drive Program Parameters

(Continued)
Object Mapping
Parameter
Parameter Name (Class-Instance- Description Units
Number
Attribute)

80 [Stall Disable] 0xB3-1-80 Amount of time that the drive must be in a stall condition Numeric Value
before it causes a stall fault.

ATTENTION: Continuous operation at

high currents caused by a stall can cause
! motor damage.

81 [Proc Kp Gain] 0xB3-1-81 Proportional gain used by the PI regulator. This parameter is Numeric Value
active when P46 - [Input Mode] setting 9 is used.
82 [Proc Ki Gain] 0xB3-1-82 Integral gain used by the PI regulator. This parameter is Numeric Value
active when P46 - [Input Mode] setting 9 is used.
83 [Proc Reference] 0xB3-1-83 Set point value to which PI control will regulate. This parame- Numeric Value
ter is active when P46 - [Input Mode] setting 9 is used.
84 [PI Dead Band] 0xB3-1-84 The PI control will ignore errors less than this value. This Numeric Value
parameter is active when P46 - [Input Mode] setting 9 is
used.

This parameter applies only to the Analog Signal Follower model.

This parameter applies only to the Preset Speed model.

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5-12 DeviceNet Parameter Descriptions

Notes:

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 Chapter 6
Using 160-DN2 with DeviceNet Scanner
The purpose of this chapter is to provide an overview of the steps nec-
essary to use the Bulletin 160-DN2 with a DeviceNet Scanner. Scan-
ners act as “Masters” on a DeviceNet Network for the IO
communication with a Bulletin 160-DN2. Scanners send “IO” mes-
sages periodically to a Bulletin 160-DN2 at a set frequency, and the
Bulletin 160-DN2 responds to these IO messages by sending status
messages back to the Scanner. The scanner also allows a ladder logic
program to configure and read parameters from the Bulletin 160 SSC
through special encoded instructions called Explicit Messages.

This chapter contains the following information:

• How to create an EDS file for the 160-DN2.

• How to setup the 160-DN2 on DeviceNet.
• How to setup the 1747-SDN to work with the 160-DN2.
• A sample ladder logic program to control the Bulletin 160 SSC
using polled messaging.
• A description of Explicit Messaging.
• A sample ladder logic program to execute Explicit Messaging.
Before continuing this chapter, the user should have read the
DeviceNet Manager Software User Manual and the 1747-SDN
DeviceNet Scanner Module Installation Instructions Manual. Under-
standing the concepts in these manuals will be important to complet-
ing this chapter.

The 1747-SDN Scanner for the SLC 500 is used in the examples in
this manual, but the concepts demonstrated in the examples apply to
the 1771-SDN Scanner for the PLC 5 as well.

Important: The examples in this chapter reflect the following config-

uration: a Bulletin 160 SSC, Series C, preset speed model, DeviceNet
Manager software version 3.005, and a 1770-KFD module.

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6-2 Using 160-DN2 with DeviceNet Scanner

Needed Tools The following tools are needed to complete this chapter:

• Bulletin 160 SSC, Series C equipped with a 160-DN2 DeviceNet

Communication Module.
• SLC 500 processor with a 1747-SDN scanner.
• The DeviceNet Manager Software for Windows
(Catalog 1787-MGR).

Example Network This chapter will illustrate the steps needed to configure the following
simple DeviceNet network.

SLC-500 Drive & 1747-SDN

MAC ID 0

Bulletin 160-SSC DeviceNet Manager Software

and 160-DN2 MAC ID 62
MAC ID 1

Set Device MAC ID’s Every device on a DeviceNet network must have a unique MAC ID
between 0 and 63. Setting the MAC ID on the 1747-SDN is done via
the network using the DeviceNet Manager Software. Setting the
MAC ID for the 160-DN2 may be done via DIP switches or via the
network using the DeviceNet Manager Software. For directions on
setting the 160-DN2 MAC ID, refer to Chapter 3.

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 Using 160-DN2 with DeviceNet Scanner 6-3

Invoke Manager Software and “Go Choose “Set Up Online Connection” from the “Utilities” menu. The
Online” following screen appears:

Click the “OK” button to establish a connection to the network for the
DeviceNet Manager software.

Create the EDS File After invoking the DeviceNet Manager Software, choose “Create
EDS Stub” from the “Utilities” menu. The following screen appears:

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6-4 Using 160-DN2 with DeviceNet Scanner

Create the EDS File (Continued) Click the “Load from Device” button. The following screen appears:

Type the node address of the 160-DN2, and then click the “OK” but-
ton. DeviceNet Manager creates the EDS file. When it finishes the
EDS file, the “Create EDS Stub” screen reappears.

Select the “Enabled” check box in the “Polled Connection” box. An

“X” appears in it. Then, type 4 into the “Input Size” and “Output
Size” fields to set up the polling allocation size. Click the “Browse”
button in the “Select Bitmap for this Device” box. The following
screen appears:

Select “160CTRL.BMP” and then click the “OK” button. The “Cre-
ate EDS Stub” screen reappears. Click the “OK” button to save the
EDS file, and then click the “OK” button in the DeviceNet Manager
prompt that appears to ask if you want to write the EDS file to the
EDS library. The following screen then appears:

If desired, enter a description for the EDS file. Click the “OK” button
to save the description and the new EDS file.

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 Using 160-DN2 with DeviceNet Scanner 6-5

Perform Network Who Choose “Network Who” from the “Who” menu. The following screen
appears:

Invoke 160 Configuration Screen Choose the Bulletin 160 by double clicking on the Bulletin 160
Image. This invokes the 160 configuration screen and allows you to
change setup parameters in the drive. The following screen appears:

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6-6 Using 160-DN2 with DeviceNet Scanner

Pick Input and Output Assemblies The DeviceNet Specification defines Assembly Objects as objects
for the Bulletin 160 that “bind attributes of multiple objects to allow data to or from each
object to be sent over a single connection.” The Bulletin 160 uses
Assembly Objects to send data to and from a Scanner over an IO con-
nection. The terms “Input” and “Output” are defined from the scan-
ner’s point of view. Bulletin 160 Output Assemblies are defined as the
information that is “output” by the scanner and consumed by the Bul-
letin 160. Input Assemblies are the status information that is con-
sumed by the scanner or are the scanner’s “input.”
The Bulletin 160 allows the user to choose between various Input and
Output Assemblies, thereby choosing the data format of the messages
that are passed back and forth between the 160 and the scanner on the
IO connection. The Assemblies that are supported are numbered and
are part of a DeviceNet defined “Motor Control Hierarchy.” This
allows drives to directly replace motor starters or contactors on a net-
work without the need to reprogram the scanner. Information on the
data format of all Bulletin 160 Assemblies is given in Appendix B,
page B-23 to B-28.
DeviceNet parameters P107 - [Output Assembly] and P108 - [Input
Assembly] must be programmed with the proper output or input
assembly. Refer to page 5-5 for possible selections.
The choice of which Input and Output Assembly to use should be
based on what sort of information is appropriate in a particular sys-
tem. See Appendix B for a description of the various Input and Output
assemblies. In the example system, we use Output Assembly 21 and
Input Assembly 71. The data formats for these Assemblies are given
below:
Table 1: Assembly 21 Data Format
(Reversing Speed Control Output Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 NetRef Net Fault RunRev RunFwd

Control Reset
1
2 Speed Reference RPM (Low Byte)
3 Speed Reference RPM (High Byte)

Table 2: Assembly 71 Data Format

(Extended Speed Control Input Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 At Ref- Ctrl- Ready Running Running Faulted

Speed From From Reverse Forward
Net Net
1
2 Speed Actual RPM (Low Byte)
3 Speed Actual RPM (High Byte)

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 Using 160-DN2 with DeviceNet Scanner 6-7

Pick Input and Output Assemblies To choose these Assemblies, first select the “DNet Config” parameter
for the Bulletin 160 (Continued) group as shown below:

To change the Output Assembly, double click on P107 - [Output

Assembly]. The following screen appears:

➊ ➋

Enter Assembly Number “21” and click the “Save to Device” button.

Repeat the above steps for the P108 - [Input Assembly] except set
the value to “71.”

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6-8 Using 160-DN2 with DeviceNet Scanner

Enable Network Control The Bulletin 160 must be configured to accept commands from the
network. This is done by configuring the “Input Mode” parameter. To
do this, select the “Program” parameter group as shown below:

Double click on the P46 - [Input Mode]. The following screen

appears:

➊
➋

Select “Network Control” and click the “Save to Device” button.

When the save is done, close the window by clicking the “OK” but-
ton.

ATTENTION: Changing this parameter value may

cause unpredictable network conditions, resulting in
! equipment damage, personal injury, or death. Ensure
that you understand how changing this parameter
affects your application.

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 Using 160-DN2 with DeviceNet Scanner 6-9

Enable Network Control For the new input mode to take effect, P56 - [Reset Functions] must
(Continued) be modified. Double click on P56 - [Reset Functions]. The following
screen appears:

➊
➋

Select “Reset Input Mode” and click the “Save to Device” button.
When the save is done, close the window by clicking the “OK” but-
ton.

Configure the 160 to Accept Speed The Bulletin 160 must be configured to accept its speed commands
Commands From the Network from the network. This is done by changing P59 - [Frequency
Select]. Double click on the P59 - [Frequency Select] parameter.
The following screen appears:

➋
➊

Select “Internal Freq” and click the “Save to Device” button. When
the save is done, close the window by clicking the “OK” button.

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6-10 Using 160-DN2 with DeviceNet Scanner

Invoke Scanner Configuration Double Click on the 1747-SDN Scanner in the “Network Who”
Screens screen to configure the SDN Scanner. The following Scanner configu-
ration screen appears:

Set Up the Scan List Click the “Edit Scan List...” button. The following screen appears:

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 Using 160-DN2 with DeviceNet Scanner 6-11

Set Up the Scan List (Continued) To add the Bulletin 160 onto the 1747-SDN scan list, click the “Who”
button in the “Add Devices From” box. The following screen appears:

➌
In this screen, click the Bulletin 160 and drag it onto the 1747-SDN
image. Click the “OK” button and the Bulletin 160 appears in the
1747-SDN scan list:

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6-12 Using 160-DN2 with DeviceNet Scanner

Set Up the Scan List (Continued) Edit the I/O data by either clicking Bulletin 160 in the scan list and
clicking the “Edit I/O Parameters” button or by double clicking on the
Bulletin 160 in the scan list. The following screen appears:

➋ ➌
➊

To set up a polled IO connection, choose the following, then click the

“OK” button.

Polled: Enabled
Poll Rx Size: “4 Byte”
Poll Tx Size: “4 Byte”
Poll Rate: “Every Scan”

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 Using 160-DN2 with DeviceNet Scanner 6-13

Set Up the Scan List (Continued) Now the scan list window should appear as follows:

Map Each Device in the Scan List Data from IO messages may be mapped to the SLC’s discrete I/O area
or to an I/O area located in the “M0” and “M1” files. This mapping
determines where a ladder program can find the data that is passed
over the network. We use the discrete area in our example.

To map the data, click the “Datatable Map...” button under the Scan
List Tools window. The following Datatable Map screen appears:

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6-14 Using 160-DN2 with DeviceNet Scanner

Map Each Device in the Scan List Select “Data Entry” for the display mode. Since we are mapping to
(Continued) the discrete area, choose “Discrete” from the “Map Data To:” list box
as shown below:

➍
➐
➌

➎ ➏
➋

The Bulletin 160 is mapped as a polled device to the discrete area.

From the “Map Data From” box select the “Poll Message” choice. To
map the input data, choose the “Input” button. For this example, map
all 32 bits of the Bulletin 160 Input message to the first 32 bits in dis-
crete input word I:1.1. In the “Map Data To:” section of the window
choose I:1.1, Bit 0, 32 bits of data, then click the “Apply Segment”
button. The Datatable map should appear as follows:

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 Using 160-DN2 with DeviceNet Scanner 6-15

Map Each Device in the Scan List Next map 32 bits of the Bulletin 160 output message to O:1.1. First
(Continued) click the “Output” radio button in the Data Map section of the win-
dow. Then choose “Discrete” from the “Map Data From:” list. From
the “Map Data To:” list choose “Poll message”. In the “Map Data
To:” section of the window, choose O:1.1, Bit 0, 32 bits of data, then
click the “Apply Segment” button. The Datatable map should appear
as follows:

➊ ➏

➌
➋
➐ ➍ ➎

The datatable mapping is now complete. Click the “Close” button to

return to the scan list window. It should appear as follows:

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6-16 Using 160-DN2 with DeviceNet Scanner

Map Each Device in the Scan List Finally, we must save the scan list and datatable map to the scanner.
(Continued) This is done by clicking the “Save To SDN...” button. The following
screen appears:

Choose the “All Records” button, and click “OK”. When the scan list
and datatable map have been loaded, you are informed that the scan-
ner will be unavailable for a brief period of time following the down-
load as follows:

Program the Ladder The example ladder program in Figure 6.1 on page 6-17 accomplishes
Run Forward/Run Reverse control and speed command of the Bulle-
tin 160.

This example SLC program will control the Bulletin 160 to run for-
ward to 60Hz, once it reaches 60 Hz, the SLC will reverse the Bulle-
tin 160 to 60Hz, once running in reverse at 60Hz the SLC will start
this sequence over.

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 Using 160-DN2 with DeviceNet Scanner 6-17

Program the Ladder (Continued) Figure 6.1

Polled I/O Messaging

Enable the 1747-SDN Scanner.

1747-SDN Run Bit
O:2
0000
0
This rung clears a fault if the drive is faulted. 1747-SDN
Bul 160 Reset fault
Bul 160 Faulted Bit Bit
I:2 O:2
0001
16 18
1747-SDN 1747-SDN
This rung starts the drive running forward when either the drive is not running or if the drive is at speed and running in reverse.

Bul 160 Running Bul 160 Running Bul 160 Run

Bul 160 Faulted Bit Reverse Forward Bit Forward Bit
I:2 I:2 I:2 O:2
0002 L
16 19 18 16
1747-SDN 1747-SDN 1747-SDN 1747-SDN
Bul 160 Running Bul 160 Run Reverse
Bul 160 At Reference Reverse Bit
I:2 I:2 O:2
U
23 19 17
1747-SDN 1747-SDN 1747-SDN

This rung sends a run reverse command to the drive when the drive is running forward and is at speed.

Bul 160 Running Bul 160 Run Reverse

Bul 160 Faulted Bit Bul 160 At Reference Forward Bit Bit
I:2 I:2 I:2 O:2
0003 L
16 23 18 17
1747-SDN 1747-SDN 1747-SDN 1747-SDN

Bul 160 Run Forward

Bit O:2
U
16
1747-SDN
This rung sets the net reference and net control bits and sends a speed command of 1800 RPM.
Bul 160 Net Control
O:2
0004 L
21
1747-SDN
Bul 160 Net Ref
O:2
L
22
Bul 160 Speed 1747-SDN
Command
Mov
Move
Source 1800
1800<
Dest O:2.2
1800<

0005 END

Important: The 1747-SDN scanner card is located in slot 2 of the SLC rack for this example.
Important: The Bulletin 160SSC drive Stop Input (TB3-7, TB3-8) must be jumpered together to start
the drive.

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6-18 Using 160-DN2 with DeviceNet Scanner

Explicit Messaging Explicit Messaging is a way of allowing the user to configure and
monitor a slave device’s parameters on the DeviceNet network. This
form of messaging is performed by copying data to and from the SLC
processor M0 and M1 file. Explicit Messaging can only be done by
the SLC processor to slave devices that are mapped in the scanner
module’s scan list.

How it Works
There are five steps to the Explicit Messaging process. The following
is a brief description of what happens during this process.

1. Format an M0 file transfer in the processor to send an Explicit

Message Request to the scanner module (download).
2. The scanner module transmits the Explicit Message Request to
the slave device over the DeviceNet network.
3. The slave device transmits the Explicit Message Response back
to the scanner and is queued into a file transfer buffer.
4. The processor uses an M1 file transfer to retrieve the Explicit
Message Response from the scanner’s buffer (upload).
5. Format an M0 file transfer with a Delete Response Command and
use the current transaction ID read in step 4. The transaction IDs
are deleted and can be reused.
It is important to note that there is a request message and a response
message whether you are reading or writing a parameter.

How to Format the Explicit There are ten 32-word transaction blocks within the scanner module
Message Transaction Block reserved for Explicit Message Program Control. These transaction
blocks accommodate both downloading of Explicit Message
Requests and the uploading of Explicit Message Responses. The
scanner module can accommodate one request or response for each
transaction block. Each transaction block must be formatted as shown
below.
Request Response
15 0 15 0
TXID command TXID status
port size port size
service MAC ID service MAC ID
class
instance service response
attribute data

service data

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 Using 160-DN2 with DeviceNet Scanner 6-19

Program the SLC to Run Explicit The example ladder program (Figure 6.2, page 6-21) can be used to
Messaging do explicit programing from the SLC 500. This ladder program will
allow the SLC 500 to use Explicit Messaging to read and write
parameters to a Bulletin 160 drive. There are three steps to executing
this program:

1. Entering Data into the Program

The request information will be placed in the N10 file (refer to the
table on page 6-20 for format). The first word in N10 will be the
TXID and command information, which will both receive a value of
one. The second word will be the port and size information. The port
value will be zero when using an SLC and the size will be the number
of bytes for the class, instance, attribute, and service data. The third
word will contain the service and MAC ID information. The service
can be either a set (write) or a get (read) attribute, the value for a “set”
is 0x10 and the value for a “get” is 0x0E. The MAC ID will be the
node address that was given to the slave device. Next the class,
instance, and attribute for the parameter have to be entered. These
values can be found in Chapter 5, Appendix B and Appendix C.

2. Running the Program

After formatting the request into the N10 file, the program needs to be
triggered to run. Triggering the program is done by changing the
address N7:0/0 from a zero to a one. The program will change this
address back to zero when the Explicit Message is complete. After
the program has been run, the results can be seen in the N11 address
(refer to the table on page 6-20 for format). It is important to note that
the command byte in node N10:0/0 is changed when the program
executes and must be changed back to a one before the program can
be run again.

3. Receiving Data From the Program

The response data will be automatically put in the N11 file when the
program has completed the explicit request. The SLC program should
read/copy the data before performing another Explicit Message
Request.

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6-20 Using 160-DN2 with DeviceNet Scanner

Program the SLC to Run Explicit Data Format for a Read and Write of a Parameter
Messaging (Continued)
Request Data for Read of Parameter 30 (Accel Time)
N10 address
address 0 1 2 3 4 5 6 7 8 9
N10:0 0101 0006 0E01 00B3 0001 001E 0000 0000 0000 0000
N10:10 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N10:20 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N10:30 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
Response Data for Read of Parameter 30
N11 address
address 0 1 2 3 4 5 6 7 8 9
N11:0 0101 0002 8E01 00B3 0000 0000 0000 0000 0000 0000
N11:10 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N11:20 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N11:30 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
Request Data for Write to Parameter 30
N10 address
address 0 1 2 3 4 5 6 7 8 9
N10:0 0101 0008 1001 00B3 0001 001E 0001 0000 0000 0000
N10:10 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N10:20 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N10:30 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
Response Data for Write to Parameter 30
N11 address
address 0 1 2 3 4 5 6 7 8 9
N11:0 0101 0000 9001 0000 0000 0000 0000 0000 0000 0000
N11:10 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N11:20 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
N11:30 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

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 Using 160-DN2 with DeviceNet Scanner 6-21

Program the SLC to Run Explicit Figure 6.2

Messaging (Continued) Explicit Messaging

This rung moves the Explicit Message Request data from the SLC500 processor to the 1747-SDN.
Copy Request data from
Explicit Msg Request Generate Explicit the SLC to the SDN Scanner
enable bit Request Only Once. COP
N7:0 B3:0
Copy File
0000 OSR
0 0 Source #N10:0
Dest #M0:2.224
Length 32

This rung moves the response data from the 1747-SDN to the SLC500 processor when it is available.
Then a delete transaction from response queue is sent.
Copy Response data from
SDN Scanner to SLC
Explicit Msg Request Status Word - Explicit
enable bit Msg Available COP
N7:0 I:2
Copy File
0001 Source
0 15 #M1:2.224
Dest #N11:0
1747-SDN Length 32

Request Command data

this deletes the request
from the response queue
Mov
Move
Source 260
260<
Dest #N10:0
0<

Copy Request data from

the SLC to the SDN Scanner
COP
Copy File
Source #N10:0
Dest #M0:2.224
Length 32

Explicit Msg Request

enable bit
N7:0
U
0
0002 END

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6-22 Using 160-DN2 with DeviceNet Scanner

Notes:

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 Chapter 7
Troubleshooting
The purpose of this chapter is to help you troubleshoot your
DeviceNet Communication Module using the LEDs on the front of
the device.

Figure 7.1
Module Front View

READY LED - Green when drive is powered up.

TM
CONFORMANCE TESTED

FAULT LED - Red when drive is faulted

Off when drive not faulted.

COMM LED - Bi-colored LED (red/green) provides status information on

DeviceNet communications. The table below summarizes the operation of the
LED.

Important: When power-up occurs, the communication status LED

(COMM), flashes green for 1/4 second, red for 1/4 second, and then goes
blank while the Communication Module finishes its initialization.

COMM LED
Description
Color State
None No DeviceNet power or initializing.
Red Solid Unrecoverable fault.
Red Flashing I/O connection has timed out.
Green Solid Normal operating state.
Device is allocated to a master.
Green Flashing Device is on-line but not allocated to a
master.

ATTENTION: Servicing energized industrial control

equipment can be hazardous. Electrical shock, burns, or
! unintentional actuation of controlled industrial
equipment may cause death or serious injury. Follow
the safety-related practices of NPFA 70E, Electrical
Safety for Employee Workplaces, when working on or
near energized equipment. Do not work alone on
energized equipment.

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7-2 Troubleshooting

ATTENTION: Do not attempt to defeat or override

fault circuits. The cause of a fault indication must be
! determined and corrected before attempting operation.
Failure to correct a drive or system malfunction may
result in personal injury and/or equipment damage due
to uncontrolled machine system operation.

Understanding the COMM LED The COMM LED provides status information on Communication
Module operations. The table below shows how to use the LED to
detect and correct common operation problems.

Important: When power up occurs, the COMM LED flashes green

for 1/4 second, red for 1/4 second and then goes blank while the
Communication Module finishes its initialization.

Table 1: Understanding the COMM LED

Color State What It Means: What To Do:

None The Communication module is not receiving power from the Check DeviceNet power and cable connections and the
network. power connection on the DeviceNet terminal block.
Red Solid Diagnostics test failed on power-up/reset. Internal fault Cycle power to the drive and network. If the fault still exists,
exists. return the Communication Module for repair.
Red Solid Duplicate DeviceNet node address. Two nodes cannot have Reset DIP switches 1 through 6 using a valid address and
the same address. reset device.

OR

If DIP switches 7 and 8 are both set to ON, change the

value of P103 - [Nonvolatile MAC] to a valid address and
reset device.
Red Solid Invalid data rate. Reset DIP switches 7 and 8 to a valid data rate and reset
device.

OR

If DIP switches 7 and 8 are both set to ON, change value of

P104 - [Nonvolatile Baud] to a valid baud rate and reset
device.
Red Flashing I/O connection timed out. Reset DeviceNet master device.
Green Solid Normal operating state and device is allocated to a master. No action required.
Green Flashing Device is on-line but not allocated to a master. Check DeviceNet master for correct Communication Module
configuration information (node address, input assembly,
and output assembly).

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 Troubleshooting 7-3

Understanding the FAULT LED When the FAULT LED is Red, a drive fault is present. To view the
fault code, you must either view P7 - [Present Fault] or read the
value of Class 0x29 (Control Supervisor Object) Instance 1 Attribute
13 (Fault Code).

If you view P7 - [Present Fault], refer to Table 2 for an explanation

of each fault code. If you read the value of Attribute 13 (Fault Code),
refer to Table 3.

Table 2: Bulletin 160 SSC Interface Fault Codes

Fault
Fault Code Description Corrective Action
Indication

0 No Fault The drive is currently not faulted. No action required.

3 Power Loss DC Bus voltage remains below 85% nominal on power up Monitor incoming AC line for low voltage or line power
for longer than 5 seconds. interruption.
4 Under Voltage DC Bus voltage fell below the minimum value while the Monitor incoming AC line for low voltage or line power
motor was running. interruption.
5 Over Voltage DC Bus maximum voltage exceeded. Bus overvoltage caused by motor regeneration. Extend
the decel time, or install dynamic brake option or external
capacitor module. Check for high line voltage.
6 Motor Stalled Motor has stalled. Motor load is excessive. Longer accel time or reduced load required.
7 Motor Overload Internal electronic overload trip. Excessive motor load Reduce motor load.
exists.
8 Over Temperature Excessive heat detected. Clear blocked or dirty heat sink fins. Check ambient tem-
perature. Check for blocked or non-operating fan.
12 Over Current Overcurrent detected in hardware trip circuit. Check short circuit at the drive output or excessive load
conditions at the motor.
22 Drive Reset Stop input not present. Check stop input at TB3 terminal 8.
32 EEPROM Fault EEPROM has invalid data. Reset EEPROM using P56 - [Reset Functions].
33 Max Retries Fault Drive did not reset fault within the max retries specified. Repair system fault.
38 Phase U Phase to ground fault detected between drive and motor Check wiring between drive and motor. Check motor for
phase U. grounded phase.
39 Phase V Phase to ground fault detected between drive and motor Check wiring between drive and motor. Check motor for
phase V. grounded phase.
40 Phase W Phase to ground fault detected between drive and motor Check wiring between drive and motor. Check motor for
phase W. grounded phase.
41 UV Short Excessive current has been detected between these two Check the motor and external wiring to the drive output
drive output terminals. terminals for a shorted condition.
42 UW Short Excessive current has been detected between these two Check the motor and external wiring to the drive output
drive output terminals. terminals for a shorted condition.
43 VW Short Excessive current has been detected between these two Check the motor and external wiring to the drive output
drive output terminals. terminals for a shorted condition.
48 Reprogramming Occurs when reset defaults is performed. Clear fault.
Fault

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7-4 Troubleshooting

Understanding the FAULT LED

(Continued)
Table 2: Bulletin 160 SSC Interface Fault Codes (Continued)

Fault
Fault Code Description Corrective Action
Indication

50 No DeviceNet 24 volt network power is not detected. Check DeviceNet connector at Communication Module.
Power Also, check network’s power supply.
51 DeviceNet Module DeviceNet Module EEPROM has invalid data. Reset to factory defaults P56 - [Reset Functions].
EEPROM Fault
52 DeviceNet Lost Polled I/O connection timed out. Check DeviceNet Master for correct operation (i.e., pow-
I/O Connection ered up, scanner online, etc.).
53 DeviceNet Unre- No communication is occurring. Fault occurs when dupli- Check DIP switch settings for proper baud rate and node
coverable Fault cate node address exists or wrong baud rate is set. address.
54 DeviceNet Trans- A transmit timeout occurred. Power drive off and then cycle power on.
mit Fault
55 Forced Fault Control Supervisor Object (Class Code 0x29) attribute 17 Clear fault.
was set to 1.
56 Drive The 160-DN2 is not compatible with the 160 SSC firm- Replace the drive.
Incompatibility ware version (e.g., Series C FRN 7.02)
Fault

Table 3: DeviceNet Fault Codes (Class 0x29, Instance 1, Attribute 13)

Fault Code Fault

Description Corrective Action
(hex) Indication

1100 Max Retries Fault Drive failed to reset fault within the max retries specified. Repair system fault.
2213 Power Test Fault detected during initial start sequence. Check drive wiring. Check motor wiring. Reset drive to
factory defaults.
2220 Over Current Overcurrent detected in hardware trip circuit. Check short circuit at the drive output or excessive load
conditions at the motor.
2331 Phase U Phase to ground fault detected between drive and motor Check wiring between drive and motor. Check motor for
phase U. grounded phase.
2332 Phase V Phase to ground fault detected between drive and motor Check wiring between drive and motor. Check motor for
phase V. grounded phase.
2333 Phase W Phase to ground fault detected between drive and motor Check wiring between drive and motor. Check motor for
phase W. grounded phase.
2341 UV Short Excessive current has been detected between these two Check the motor and external wiring to the drive output
drive output terminals. terminals for a shorted condition.
2342 UW Short Excessive current has been detected between these two Check the motor and external wiring to the drive output
drive output terminals. terminals for a shorted condition.
2343 VW Short Excessive current has been detected between these two Check the motor and external wiring to the drive output
drive output terminals. terminals for a shorted condition.
3120 Power Loss DC Bus voltage remains below 85% nominal on power up Monitor incoming AC line for low voltage or line power
for longer than 5 seconds. interruption.

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 Troubleshooting 7-5

Understanding the FAULT LED

(Continued)
Table 3: DeviceNet Fault Codes (Class 0x29, Instance 1, Attribute 13) (Continued)

Fault
Fault Code Description Corrective Action
Indication

3210 Over Voltage DC Bus maximum voltage exceeded. Bus overvoltage caused by motor regeneration. Extend
the decel time, or install dynamic brake option or external
capacitor module. Check for high line voltage.
3220 Under Voltage DC Bus voltage fell below the minimum value while the Monitor incoming AC line for low voltage or line power
motor was running. interruption.
4310 Over Temperature Excessive heat detected. Clear blocked or dirty heat sink fins. Check ambient tem-
perature. Check for blocked or non-operating fan.
5300 Drive Reset Stop input not present. Check stop input at TB3 terminal 8.
6310 EEPROM Fault EEPROM has invalid data. Reset EEPROM.
6311 DeviceNet DevicNet Module EEPROM has invalid data. Reset to factory defaults using P56 - [Reset Defaults].
Module EEPROM
Fault
7121 Motor Stalled Motor has stalled. Motor load is excessive. Longer accel time or reduced load required.
7122 Motor Overload Internal electronic overload trip. Excessive motor load Reduce motor load.
exists.
7421 Reprogramming Occurs when drive parameters are reset to defaults. Clear fault.
Fault
7500 No DeviceNet 24 volt network power is not detected. Check DeviceNet connector at Communication Module.
Power Also, check network’s power supply.
7501 DeviceNet Lost Polled I/O connection timed out. Check DeviceNet Master for correct operation (i.e., pow-
I/O Connection ered up, scanner online, etc.).
7502 DeviceNet Unre- No communication is occurring. Fault occurs when dupli- Check DIP switch settings for proper baud rate and node
coverable Fault cate node address exists or wrong baud rate is set. address.
7503 DeviceNet Trans- A transmit timeout occurred. Power drive off, and then cycle power on.
mit Fault
7504 DN Forced Fault DeviceNet module forced a fault. Clear fault.

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7-6 Troubleshooting

Notes:

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 Appendix A
Specifications
Electrical
Network Supply Voltage 11 to 25 VDC
Node Current Consumption 40 mA maximum➀
Power Consumption 1 Watt maximum

Environmental
Ambient Temperature
Operating 0 to 50° C (32 to 122° F)
Storage -40 to 85° C (-40 to 185° F)
Relative Humidity 0 to 95% non-condensing
1.0 G Operational
Vibration
2.5 G Non-operational
15.0 G Operational
Shock
30.0 G Non-operational
Altitude 1,000 m (3,300 ft.) without derating

Communications
DeviceNet
Baud Rates 125, 250, 500 k BPS
Distance maximum 500 m (1640 ft.) @ 125 k BPS
200 m (820 ft.) @ 250 k BPS
100 m (328 ft.) @ 500 k BPS

Mechanical
Dimensions in Millimeters (inches)
Height 67.54 (2.68)
Width 70.0 (2.76)
Depth➁ 45.36 (1.79)

➀ Use this value to size the network current draw from the power supply.
➁ When installed on the 160 SSC drive, the communication module adds
approximately 21.40 mm (0.85 in.) to the overall depth.

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A-2 Specifications

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 Appendix B
DeviceNet Information
The DeviceNet Communication Module allows a Bulletin 160 SSC
drive to operate as a slave device on a DeviceNet network. The Com-
munication Module supports Explicit Messages and Polled or Change
of State/Cyclic I/O Messages of the predefined master/slave connec-
tion set. It does not support the Explicit Unconnected Message Man-
ager (UCMM).

This appendix defines the DeviceNet Message Types, object classes,

class services, and attributes that are supported by the Communica-
tion Module.

DeviceNet Message Types As a group 2 slave device, the Communication Module supports the
following message types.

CAN Identifier Field Group 2 Message Type

10xxxxxx111 Duplicate MAC ID Check Messages
10xxxxxx110 Unconnected Explicit Request Messages
10xxxxxx101 Master I/O Poll Command Messages
10xxxxxx100 Master Explicit Request Messages
10xxxxxx011 Slave Explicit Response Messages
01101xxxxxx Slave’s I/O Change of State or Cyclic Message
10xxxxxx010 Master’s Change of State or Cyclic Acknowledge Message
01111xxxxxx Slave Poll Response Messages

xxxxxx = Communication Module Node Address

CAN Identifier Field Group 4 Message Types➀

11111101100 Communication Faulted Response Message
11111101101 Communication Faulted Request Message

➀ Dip switches 7 and 8 must be set to “ON” position to enable Group 4 messaging (see pages
3-4 and 3-5).

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B-2 DeviceNet Information

Object Classes The Communication Module supports the following object classes.

Class Object Class Object

0x01 Identity 0x28 Motor Data
0x03 DeviceNet 0x29 Control Supervisor
0x04 Assembly 0x2A AC Drive
0x05 Connection 0x2B Acknowledge Handler
0x0F Parameter 0xB3 160 Parameter Table
0x10 Parameter Group 0xB4 DeviceNet Interface

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 DeviceNet Information B-3

Class Code 0x01 — Class Attributes

Identity Object

Attribute ID Access Rule Name Data Type Value

1 Get Revision UINT 1

2 Get Max Instances UINT 2
6 Get Max ID Class UINT 7
7 Get Max ID Instance UINT 7

Number of Instances: 2

Instance 1 Attributes: Drive Instance

Attribute ID Access Rule Name Data Type Value

1 Get Vendor UINT 1

2 Get Product Type UINT 2

3 Get Product Code UINT (Refer to tables on page 5-2 for product
codes.)
Revision Structure of: xxxxxxxxxx
4 Get Major Revision USINT X➀
Minor Revision USINT X➀
0 = Not owned
5 Get Status WORD
1 = Owned by master
6 Get Serial Number UDINT unique number
Product Name Structure of:
7 Get String Length USINT 32
ASCII String STRING “Bulletin 160 Preset 0.37kW 230V”
9 Get Configuration Consistency UINT Checksum

➀ E.g., firmware revision 5.01 would have a major revision of “5” and a minor revision of “1”.

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B-4 DeviceNet Information

Class Code 0x01—

Identity Object (Continued)
Instance 2 Attributes: DeviceNet Instance

Attribute ID Access ID Name Data Type Value

1 Get Vendor UINT 1

2 Get Product Type UINT 105 = Subassembly
3 Get Product Code UINT 1
Revision Structure of
4 Get Major USINT 3
Minor USINT 1
0 = Not Owned
5 Get Status WORD
1 = Owned by Master
6 Get Serial Number UDINT Unique 32 bit number
Product Name Structure of
7 Get String Length USINT 16
ASCII String STRING “Bulletin 160 DN2”

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E Yes Yes Get_Attribute_Single

0x05 No Yes Reset

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 DeviceNet Information B-5

Class Code 0x03 —

DeviceNet Object Class Attributes: None Supported Number of Instances: 1

Instance 1 Attributes:

Attribute ID Access Rule Name Data Type Value

1 Get/Set Node Address USINT 0 to 63

2 Get/Set Data Rate USINT 0 to 2
0 = Hold in error state on BOI error
3 Get/Set BOI BOOL
1 = Reset CAN chip on BOI error
4 Get/Set Bus-off Counter USINT 0 to 255

Allocation Info Structure of:

5 Get Allocation Choice BYTE Allocation_byte➀
Master Node Addr USINT 0 to 63 = Address
255 = Unallocated
8 Get MAC ID switch value USINT 0 to 63
9 Get Baud Rate switch val USINT 0 to 3

➀ Allocation_byte
Bit 0 Explicit Messaging
Bit 1 Polled I/O
Bit 4 Change of state
Bit 5 Cyclic

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E Yes Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single
0x4B No Yes Allocate_Master/Slave_Connection_Set
0x4C No Yes Release_Master/Slave_Connection_Set

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B-6 DeviceNet Information

Class Code 0x05 —

Connection Object Class Attributes: None Supported Number of Instances: 3

Instance 1 Attributes: Explicit Message Instance

Attribute ID Access Rule Name Data Type Value

0 = Nonexistant
1 = Configuring
1 Get State USINT 3 = Established
4 = Timed out
5 = Deferred delete
2 Get Instance Type USINT 0 = Explicit Message
3 Get Transport Class Trigger USINT 0x83
4 Get Produced Connection ID UINT 10xxxxxx100 xxxxxx = Node address
5 Get Consumed Connection ID UINT 10xxxxxx100 xxxxxx = Node address
6 Get Initial Comm. Characteristics USINT 0x22
7 Get Produced Connection Size UINT 7
8 Get Consumed Connection Size UINT 7
9 Get/Set Expected Packet Rate UINT Timer resolution of 10 msec.
1 = Auto delete
12 Get/Set Watchdog Action USINT
3 = Deferred delete
13 Get Produced Connection Path Length UINT 0
14 Get Produced Connection Path Null (no data)
15 Get Consumed Connection Path Length UINT 0
16 Get Consumed Connection Path Null (no data)

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 DeviceNet Information B-7

Class Code 0x05 —

Connection Object (Continued)
Instance 2: Attributes (Polled I/O Message Connection)

Attribute ID Access Rule Name Data Type Value

0 = Nonexistant
1 = Configuring
1 Get State USINT
3 = Established
4 = Timed out
2 Get Instance Type USINT 1 = I/O Message
3 Get Transport Class Trigger USINT 0x82
4 Get Produced Connection ID UINT 10xxxxxx100 xxxxxx = Node address
5 Get Consumed Connection ID UINT 10xxxxxx101 xxxxxx = Node address
6 Get Initial Comm Characteristics USINT 0x21
7 Get Produced Connection Size UINT 0 to 8
8 Get Consumed Connection Size UINT 0 to 4
9 Get/Set Expected Packet Rate UINT Timer resolution of 10 msec.
0 = Transition to timed out
12 Get/Set Watchdog Action USINT 1 = Auto delete
2 = Auto reset
13 Get Produced Connection Path Length UINT 3
[63hex][hex string] where [hex string] is the
14 Get/Set Produced Connection Path
input assembly number in hex
15 Get Consumed Connection Path Length UINT 3
[63hex][hex string] where [hex string] is the
16 Get/Set Consumed Connection Path
output assembly number in hex

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B-8 DeviceNet Information

Class Code 0x05 —

Connection Object (Continued)
Instance 4 Attributes: Change of State/Cyclic Instance

Attribute ID Access Rule Name Data Type Value

0 = Nonexistant
1 = Configuring
1 Get State USINT
3 = Established
4 = Timed out
2 Get Instance Type USINT 1 = I/O Message
3 Get Transport Class Trigger USINT 0x82
4 Get Produced Connection ID UINT 10xxxxxx100 xxxxxx = Node address
5 Get Consumed Connection ID UINT 10xxxxxx101 xxxxxx = Node address
6 Get Initial Comm Characteristics USINT 0x21
7 Get Produced Connection Size UINT 0 to 8
8 Get Consumed Connection Size UINT 0 to 4
9 Get/Set Expected Packet Rate UINT timer resolution of 10 msec.
0 = transition to timed out
12 Get/Set Watchdog Action USINT 1 = auto delete
2 = auto reset
13 Get Produced Connection Path Length UINT 3
[63hex][hex string] where [hex string] is the
14 Get/Set Produced Connection Path
input assembly number in hex
15 Get Consumed Connection Path Length UINT 3
[63hex][hex string] where [hex string] is the
16 Get/Set Consumed Connection Path
output assembly number in hex
17 Get/Set Production Inhibit Time UINT 0

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x05 No Yes Reset

0x0E Yes Yes Get_Attribute_Single
0x10 No Yes Set_Attribute_Single

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 DeviceNet Information B-9

Class Code 0x0F — Class Attributes

Parameter Object

Attribute ID Access Rule Name Data Type Value

1 Get Revision UINT 1

2 Get Max Instance UINT 118
8 Get Parameter Class Descriptor WORD 0x0B
9 Get Configuration Assembly Instance UINT 190
10 Get Native Language USINT 0 = English

Number of Instances: 118

Instance 1 through 118 Attributes

Attribute ID Access Rule Name Data Type Value

data type specified in

1 Set Parameter Value Descriptor, Data Type ➀
and Data Size
2 Get Link Path Size USINT ➀

ARRAY of DeviceNet
Link Path
path
3 Get Segment type/port 6
Byte
Segment Address “20 B3 24 01 30 01”➀
path
4 Get Descriptor WORD ➀

5 Get Data Type USINT ➀

6 Get Data Size USINT ➀

7 Get Parameter Name String SHORT_STRING ➀

8 Get Units String SHORT_STRING ➀

9 Get Help String SHORT_STRING ➀

10 Get Minimum Value data type ➀

11 Get Maximum Value data type ➀

12 Get Default Value data type ➀

13 Get Scaling Multiplier UINT ➀

14 Get Scaling Divisor UINT ➀

15 Get Scaling Base UINT ➀

16 Get Scaling Offset INT ➀

17 Get Multiplier Link UINT ➀

➀ Value varies based on parameter instance.

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B-10 DeviceNet Information

Class Code 0x0F —

Parameter Object (Continued)
Attribute ID Access Rule Name Data Type Value

18 Get Divisor Link UINT ➀

19 Get Base Link UINT ➀

20 Get Offset Link UINT ➀

21 Get Decimal Precision USINT ➀

➀ Value varies based on parameter instance.

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E Yes Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single
0x01 Yes Yes Get_Attributes_All
0x4B No Yes Get_Enum_String

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 DeviceNet Information B-11

Class Code 0x10 — Class Attributes

Parameter Group Object

Attribute ID Access Rule Name Data Type Value

1 Get Revision UINT 1

2 Get Max Instance UINT 3
8 Get Native Language USINT 0 = English

Number of Instances: 3

Instance 1 through 3 Attributes

Attribute ID Access Rule Name Data Type Value

1 Get Group Name String SHORT_STRING ➀

2 Get Number of members in group UINT ➀

3 Get 1st Parameter Number in Group UINT ➀

4 Get 2nd Parameter Number in Group UINT ➀

n Get (n-2)th Parameter Number in Group UINT ➀

➀ Value varies based on parameter group instance.

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E Yes Yes Get_Attribute_Single

0x01 Yes Yes Get_Attributes_All

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B-12 DeviceNet Information

Class Code 0x28 —

Motor Data Object Class Attributes: None Supported Number of Instances: 1

Instance 1 Attributes

Access
Attribute ID Name Data Type Min/Max Units Default Description
Rule

115% of Rated Stator Current

6 Get/Set Rated Current UINT 0 to 100.00 0.01 Amps
Drive Rating (from motor nameplate).
Rated Base Voltage
7 Get/Set Rated Voltage UINT 110 to 460 1 Volt Drive Rating
(from motor nameplate).
Rated Electrical Frequency
9 Get/Set RatedFreq UINT 10 to 240 1 Hz 60 Hz
(from motor nameplate).
1800 Nominal Speed at Rated
15 Get/Set BaseSpeed UINT 200 to 32000 1 RPM
RPM Frequency (from motor nameplate).

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

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 DeviceNet Information B-13

Class Code 0x29 —

Control Supervisor Object Class Attributes: None Supported Number of Instances: 1

Instance 1 Attributes:

Access
Attribute ID Name Data Type Min/Max Default Description
Rule

3 Get/Set RunFwd BOOL 0 to 1 0 See page B-15.

4 Get/Set RunRev BOOL 0 to 1 0 See page B-15.
5 Get/Set NetCtrl BOOL 0 to 1 0 See page B-15.
3 = Ready.
4 = Enabled.
6 Get State USINT 0 to 7
7 = Faulted.
(See Figure B.6 on page B-14.)
1 = (Enabled and RunFwd).
7 Get RunningFwd BOOL 0 to 1 0
0 = Other State.
1 = (Enabled and RunRev).
8 Get RunningRev BOOL 0 to 1 0
0 = Other State.
1 = Ready or Enabled.
9 Get Ready BOOL 0 to 1
0 = Other State.
1 = Fault Latched.
10 Get Faulted BOOL 0 to 1
0 = No faults present.
0 -> 1 = Fault Reset.
12 Get/Set FaultRst BOOL 0 to 1 0
0 = No Action.
In Faulted state, FaultCode indicates the fault that caused
the transition to Faulted. If not in Faulted state, FaultCode
13 Get FaultCode UINT 0 to 7504hex 0 indicates the fault that caused the last transition to the
Faulted state.
Fault codes are listed in Chapter 7.
Status of Run/Stop control source
15 Get CtrlFromNet USINT 0 to 1 0 0 = Control is Local.
1 = Control is from the network.
Mode that determines the drive’s behavior when a communi-
cation fault such as loss of DeviceNet power occurs.
16 Get/Set DNFaultMode USINT 0 to 1 0
0 = Fault the drive and issue a stop command
1 = Ignore the communication fault
17 Get/Set Force Fault/Trip Boolean 0 to 1 0 0 to 1 transition forces fault.
100 ➀➁ Get/Set OutputAssembly USINT 0 to 103 20 Output Assembly instance that is currently active.
101 ➀➁ Get/Set InputAssembly USINT 0 to 105 70 Input Assembly instance that is currently active.
102 ➀ Get/Set DNPresetCmd USINT 0 to 7 0 DeviceNet Preset command. (Preset Speed Units Only).
➀ Bulletin 160 specific instance attributes.
➁ Setting Attribute ID 100 to 0 will cause the slave to expect no control information from the master. Likewise, setting Attribute ID 101 to 0 will cause the
master to expect no status information from the slave.

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B-14 DeviceNet Information

Class Code 0x29 — Common Services

Control Supervisor Object
(Continued) Implemented for:
Service Service
Code Name
Class Instance

0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

State Transition Diagram

The following State Transition Diagram provides a graphical descrip-
tion of the states and state transitions that are reflected in attribute #6.

Figure B.6
State Transition Diagram

Non-Existent Switch Power Off

Switch Power On Faulted

Fault Reset
Fault Detected
Ready

Run Stop Complete

Enabled Fault Detected

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 DeviceNet Information B-15

Class Code 0x29 — Run/Stop Event Matrix

Control Supervisor Object Attribute 5, NetCtrl is used to request that Run/Stop events be con-
(Continued) trolled from the network. The following must occur before Run/Stop
control is accomplished from the network:

• Attribute 15, CtrlFromNet is set to 1 by the device in response to

a NetCtrl request.
• Power is cycled.
If attribute 15, CtrlFromNet is set to 1, the events Run and Stop are
triggered by a combination of the RunFwd and RunRev attributes as
shown in the following table.

RunFwd RunRev Trigger Event Run Type

0 0 Stop NA
0 -> 1 0 Run RunFwd
0 0 -> 1 Run RunRev
0 -> 1 0 -> 1 No Action NA
1 1 No Action NA
1->0 1 Run RunRev
1 1->0 Run RunFwd

Important: Local Stop commands from the TB3 terminal block on

the drive override Run/Stop control through DeviceNet.

Important: When attempting to use attribute 3 or 4 to start the drive,

the Explicit Message connection (Class 5, instance 1) attribute 9,
Expected Packet Rate must be set to greater than zero.

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B-16 DeviceNet Information

Class Code 0x2A —

AC Drive Object Class Attributes: None Supported Number of Instances: 1

Instance 1 Attributes:

Attribute Access Data

Name Min/Max Units Default Description
ID Rule Type

3 Get AtReference BOOL 0 to 1 0 Set to 1 when SpeedActual is equal to SpeedRef.

1 = Drive uses SpeedRef (attribute 8) as its speed reference.
4 Get/Set NetRef BOOL 0 to 1 0
0 = Drive gets its speed reference from local terminal block 3.
6 Get Drive Mode USINT 1 1 1 = Open Loop Frequency control.
7 Get SpeedActual INT 0 to 32000 1 RPM 0 Actual speed command in RPM.
8 Get/Set SpeedRef INT 0 to 32000 1 RPM 1800 RPM Speed reference in RPM.
9 Get CurrentActual INT 0 to 32000 0.01 Amp Actual motor phase current in amperes.
10 Get/Set CurrentLimit INT 0 to 32000 0.01 Amp 180% of rating Motor phase current limit in amperes.
15 Get PowerActual INT 0 to 32000 1 Watt Actual drive output power in Watts.
16 Get InputVoltage INT 0 to 460 1 Volt 230V or 460V Input voltage rating.
17 Get OutputVoltage INT 0 to 460 1 Volt Output voltage to the motor.
18 Get/Set AccelTime UINT 100 to 65500 1 mSec 10000 Time to accelerate from 0 to HighSpeed Limit.
19 Get/Set DecelTime UINT 100 to 65500 1 mSec 10000 Time to decelerate from HighSpeed Limit to 0.
20 Get/Set LowSpeed Limit UINT 0 to 32000 1 RPM 0 RPM Minimum Speed Limit in RPM.
21 Get/Set HighSpeed Limit UINT 0 to 32000 1 RPM 1800 RPM Maximum Speed Limit in RPM.
Status of Network Speed Reference.
29 Get RefFromNet BOOL 0 to 1 0 1 = Drive uses SpeedRef.
0 = Drive uses local ref.
Bulletin The AC Drive Object includes in its implementation a variable number of 160 SSC specific instance attributes. By adding the number 100 to
160 SSC any parameter number in the Bulletin 160 parameter table, the resulting number will be a 160 SSC specific instance attribute in the AC Drive
Specific Object. For example, in the 160 SSC drive, parameter 5 displays Bus Voltage. Therefore, attribute # 105 of the AC Drive Object returns Bus
Extensions Voltage. This method of extending the AC Drive Object allows for an ODVA compliant implementation of the Drive Profile, and accommo-
dates all Bulletin 160 SSC models (both analog and preset speed models). Refer to the Bulletin 160 SSC User Manual, Chapter 5.

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

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 DeviceNet Information B-17

Class Code 0x2B —

Acknowledge Handler Object Class Attributes: None Supported Number of Instances: 1

Instance 1 Attributes:

Attribute ID Access Rule Name Data Type Min/Max Default

1 Get/Set Acknowledge Timer UINT 1 to 65,535 16 ms

2 Get/Set Retry Limit USINT 0 to 255 1
3 Get/Set COS Producing Connection Instance UINT 4

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

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B-18 DeviceNet Information

Class Code 0xB3 —

160 Parameter Table Object Class Attributes: None Supported Number of Instances: 1

Instance 1 Attributes:

Access Data
Attribute ID Parameter Name Units Description
Rule Type

This Bulletin 160 SSC specific object implements all of the parameters in the 160 SSC parameter table as instance attributes of the object. For example,
attribute #1 corresponds to P01 - [Output Frequency]. This give you the ability to configure a drive via DeviceNet using attribute numbers that are pub-
lished as parameter numbers in the Bulletin 160 SSC User Manual. Important: Attributes 9 and 12 shown below do not match what is published in the
Bulletin 160 SSC User Manual.
01 Get [Output Frequency] UINT 0.1 Hz Frequency at TB2 terminals T1, T2, T3.
02 Get [Output Voltage] UINT 1 Volt Voltage at TB2 terminals T1, T2, T3.
03 Get [Output Current] UINT 0.01 Amperes Current at TB2 terminals T1, T2, T3.
04 Get [Output Power] UINT 0.01 kW Power at TB2 terminals T1, T2, T3.
05 Get [Bus Voltage] UINT 1 Volt DC Bus voltage level.
06 Get [Cmd Frequency] UINT 0.1 Hz Commanded frequency.
07 Get [Present Fault] USINT Numeric Value Coded last fault number.
08 Get [Heatsink Temp] USINT 1C Temperature of the drive heatsink.
09 Get [Drive Status] USINT Binary Number Status of drive in binary coded format.
10 Get [Drive Type] UINT Numeric Value Used by Allen-Bradley field service personnel.
11 Get [Control Version] UINT Numeric Value version of drive firmware used.
12 Get [Input Status] USINT Binary Number Open (0) Closed (1) state of drive’s discrete inputs.
13 Get [Power Factor Ang] UINT 0.1 Angle (electrical degrees) between V and I.
14 Get [Memory Probe] UINT Numeric Value Used by Allen-Bradley service personnel.
15 Get [Preset Status] USINT Binary Number Displays state of TB3 inputs.
16 Get [Analog Input] INT 0.1% The analog input as a percent of full scale.
17 Get [Fault Buffer 0] USINT Numeric Value Stores the most recent fault.
18 Get [Fault Buffer 1] USINT Numeric Value Stores the second most recent fault.
19 Get [Fault Buffer 2] USINT Numeric Value Stores the third most recent fault.
30 Get/Set [Accel Time 1] UINT 0.1 Seconds Time to ramp from 0 Hz to maximum frequency.
31 Get/Set [Decel Time 1] UINT 0.1 Seconds Time to ramp from maximum frequency to 0 Hz.
32 Get/Set [Minimum Freq] USINT 1 Hz Lowest continuous output frequency.
33 Get/Set [Maximum Freq] USINT 1 Hz Highest continuous output frequency.
34 Get/Set [Stop Mode Select] USINT Numeric Value Determines stop mode used.

ATTENTION: Changing this parameter

value may cause unpredictable network
! conditions, resulting in equipment damage,
personal injury, or death. Ensure that you
understand how changing this parameter
affects your application.

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 DeviceNet Information B-19

Class Code 0xB3 —

160 Parameter Table Object
(Continued)
Access Data
Attribute ID Parameter Name Units Description
Rule Type

35 Get/Set [Base Frequency] USINT 1 Hz Set to motor’s nameplate frequency.

36 Get/Set [Base Voltage] UINT 1 Volt Set to motor’s nameplate voltage.
37 Get/Set [Maximum Voltage] UINT 1 Volt Highest voltage the drive will output.
38 Get/Set [Boost Select] USINT Numeric Value Sets the volts/Hz relationship.
39 Get/Set [Skip Frequency] USINT 1 Hz Frequency at which drive will not run continuously.
40 Get/Set [Skip Freq Band] USINT 1 Hz Used with P39 - [Skip Frequency] to create skip band.
41 Get/Set [Overload Select] USINT Numeric Value Selects derating factor for motor overload.
42 Get/Set [Motor Overload] UINT 0.01 Amperes Set to nameplate full load Amperes.
43 Get/Set [Current Limit] USINT % I rating Max output current allowed before limiting.
44 Get/Set [DC Hold Time] USINT 0.1 Seconds DC Injection Braking duration.
45 Get/Set [DC Hold Voltage] USINT 1 Volt Voltage level for DC Injection Braking.
46 Get/Set [Input Mode] USINT Numeric Value Type of START, STOP and REV commands.

ATTENTION: Changing this parameter

value may cause unpredictable network
! conditions, resulting in equipment damage,
personal injury, or death. Ensure that you
understand how changing this parameter
affects your application.

47 Get/Set [Output Configure] USINT Numeric Value Configures TB3 output relay functionality.
48 Get/Set [Output Threshold] UINT Numeric Value Used in conjunction with P47 - [Output Configure].
49 Get/Set [PWM Frequency] USINT 0.1 kHz Carrier Frequency for PWM output waveform.
50 Get/Set [Restart Tries] USINT Numeric Value Times drive will attempt to reset a fault.
51 Get/Set [Restart Time] UINT 0.1 Seconds Time between restart attempts.
52 Get/Set [DB Enable] USINT Numeric Value Enables/Disables dynamic braking.
53 Get/Set [S-Curve] USINT Numeric Value Enables a fixed shape S-curve.
54 Get/Set [Clear Fault] BOOL Numeric Value Setting to 1 performs a fault reset.
55 Get/Set [Probe Address] UINT Numeric Value Used by Allen-Bradley service personnel.
56 Get/Set [Reset Functions] USINT Numeric Value Sets all parameters to their factory default.
57 Get/Set [Program Lock] BOOL Numeric Value Locks all program group parameters.
58 Get/Set [Internal Freq] UINT 0.1 Hz Digital Frequency setpoint.
59 Get/Set [Freq Select] BOOL Numeric Value Selects source of frequency command.

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B-20 DeviceNet Information

Class Code 0xB3 —

160 Parameter Table Object
(Continued)
Access Data
Attribute ID Parameter Name Units Description
Rule Type

60 Get/Set [Zero Offset] INT Numeric Value Add or subtracts an offset to the analog input.
60 Get/Set [DN Preset Cmd] USINT Numeric Value Network preset command.
61 Get/Set [Preset Freq 0] UINT 0.1 Hz Sets command frequency when selected.
62 Get/Set [Preset Freq1] UINT 0.1 Hz Sets command frequency when selected.
63 Get/Set [Preset Freq 2] UINT 0.1 Hz Sets command frequency when selected.
64 Get/Set [Preset Freq 3] UINT 0.1 Hz Sets command frequency when selected.
65 Get/Set [Preset Freq 4] UINT 0.1 Hz Sets command frequency when selected.
66 Get/Set [Preset Freq 5] UINT 0.1 Hz Sets command frequency when selected.
67 Get/Set [Preset Freq 6] UINT 0.1 Hz Sets command frequency when selected.
68 Get/Set [Preset Freq 7] UINT 0.1 Hz Sets command frequency when selected.
69 Get/Set [Accel Time 2] UINT 0.1 Seconds Sets acceleration rate for presets 4 to 7.
70 Get/Set [Decel Time 2] UINT 0.1 Seconds Sets deceleration rate for presets 4 to 7.
71 Get/Set [IR Compensation] USINT 1% Adds a voltage to the output based on the torque current.
72 Get/Set [Slip Comp] USINT 0.1 Hz Compensates for the inherent slip of the motor.
73 Get/Set [Reverse Disable] BOOL Numeric Value Setting to 1 disables the reverse.
74 Get/Set [Analog Select] BOOL Numeric Value Selects between unipolar and bipolar analog input.
75 Get/Set [Analog Minimum] INT 0.1% Sets the percent of the analog input used to represent
P32 - [Minimum Freq].
76 Get/Set [Analog Maximum] INT 0.1% Sets the percent of the analog input used to represent
P33 - [Maximum Freq].
78 Get/Set [Compensation] BOOL Numeric Value Setting to 1 enables the compensation.
79 Get/Set [Current Trip] USINT 1% Percent above P43 - [Current Limit] at which the drive trips
immediately.
80 Get/Set [Stall Disable] USINT Numeric Value Time drive is in stall condition before causing a stall fault.
81 Get/Set [Proc Kp Gain] UINT Numeric Value Proportional gain used by the PI regulator.
82 Get/Set [Proc Ki Gain] UINT Numeric Value Integral gain used by the PI regulator.
83 Get/Set [Proc Reference] UINT Numeric Value Set point value to which PI control will regulate.
84 Get/Set [Proc Invert] USINT Numeric Value The PI control will ignore errors less than this value.

This parameter applies only to the Analog Signal Follower model.

This parameter applies only to the Preset Speed model.

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 DeviceNet Information B-21

Class Code 0xB3 — Common Services

160 Parameter Table Object
(Continued) Implemented for:
Service Service
Code Name
Class Instance

0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

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B-22 DeviceNet Information

Class Code 0xB4 —

DN Interface Object Class Attributes: None Supported Number of Instances: 1

Instance 1 Attributes:

Access Data
Attribute ID Name Min/Max Default Description
Rule Type

1 Get Zero USINT 0 0 Returns zero.

2 Get Interface Select USINT 0 0 0 = Bulletin 160 SSC Interface.
MAC ID
3 Get USINT 0 to 63 Reflects the state of the MAC ID switches.
Switches
4 Get Baud Switches USINT 0 to 3 Reflects the state of the Baud Rate switches.
Nonvolatile MAC Stored value of the MAC ID. This value is used when Baud
5 Get/Set USINT 0 to 63 63
ID Switches = 3.
Stored value of Baud Rate. This value is used when Baud
6 Get/Set Nonvolatile Baud USINT 0 to 2 0
Switches = 3.
Assembly Bulletin 160 SSC Interface parameter number whose value is
7➀ Get/Set USINT 0 to 88 9
Word 0 Param used as the first word in Input Assembly 102.
Assembly Bulletin 160 SSC Interface parameter number whose value is
8➀ Get/Set USINT 0 to 88 0
Word 1 Param used as the second word in Input Assembly 102.
Assembly Bulletin 160 SSC Interface parameter number whose value is
9➀ Get/Set USINT 0 to 88 0
Word 2 Param used as the third word in Input Assembly 102.
Assembly Bulletin 160 SSC Interface parameter number whose value is
10➀ Get/Set USINT 0 to 88 0
Word 3 Param used as the fourth word in Input Assembly 102.
11 Get/Set DN Idle Mode Boolean 0 to 1 0 0 = Stop, 1 = Hold Last State.
DN Software
12 Get Word 0.00 to 10.00 2.00 Indicates the software version of the DeviceNet option.
Version
DN Change of A 16 bit mask used to enable automatic change of state mes-
13 Get/Set Word 0 to 0xFFFF 0xFFFF
State Mask sages.
Local Return Sets the input mode the drive will use when transitioning from
14 Get/Set Byte 0 to 5 0
Mode network to local control.
DeviceNet DIP
15 Get Byte 0 to 255 Current DIP switch settings on the DeviceNet Module.
Switches

➀ If set to a “9” P9 - [Drive Status] (of the SSC Interface Profile) goes in the low byte of the assembly field and P12 - [Input Status] (of the SSC Interface
Profile) goes in the high byte of assembly field.

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

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 DeviceNet Information B-23

Class Code 0x04 —

Assembly Objects Class Attributes: None Supported Number of Instances: 19

Instance 1 to 105 Attributes: I/O Instances

Access
Attribute ID Name Data Type Min/Max Default Description
Rule

3 Get Data See instance data format for individual I/O assemblies on page B-24 through page B-28.

Instance 190 to 193 Attributes: Configuration Instances

Access
Attribute ID Name Data Type Min/Max Default Description
Rule

See configuration assembly data formats for individual configuration assemblies on page B-29 through
3 Get/Set Data
page B-36.

Common Services

Implemented for:
Service Service
Code Name
Class Instance

0x0E No Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

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B-24 DeviceNet Information

Class Code 0x04 — Instance Data Format: Output Assemblies

Assembly Objects (Continued)
Instance 1 Data Format (Basic Contactor Output Assembly)
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Run

Instance 2 Data Format (Basic Overload Output Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fault Reset

Instance 3 Data Format (Basic Motor Starter Output Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fault Reset Run

Instance 4 Data Format (Extended Contactor Output Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 RunRev RunFwd

Instance 5 Data Format (Extended Motor Starter Output Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fault Reset RunRev RunFwd

Instance 20 Data Format (Basic Speed Control Output Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fault Reset RunFwd
1
2➀ Speed Reference RPM (Low Byte)➁
3➀ Speed Reference RPM (High Byte)➁

Instance 21 Data Format (Reversing Speed Control Output Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 NetRef Net Control Fault Reset RunRev RunFwd
1
2➀ Speed Reference RPM (Low Byte)➁
3➀ Speed Reference RPM (High Byte)➁

Instance 100 Data Format (Reversing Speed Control Output Assembly (Hz)
This output assembly type is only available for use when Parameter #15 (Interface Select) is set to “0=Bulletin 160 SSC Interface.”
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fault Reset RunRev RunFwd
1
2➀ Internal Frequency (0.1 Hz) (Low Byte)➂
3➀ Internal Frequency (0.1 Hz) (High Byte)➂

➀ If speed references are outside of their min/max limits, the the drive ignores them and previous speed reference will be maintained.
➁ 0 – 32000 RPM. RPM value is limited by the value programmed into P33 - [Maximum Frequency].
➂ 0 = 0 Hz, 2400 = 240.0 Hz. Frequency value is limited by the value programmed into P33 - [Maximum Frequency].

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 DeviceNet Information B-25

Class Code 0x04 — Instance Data Format: Output Assemblies (Continued)

Assembly Objects (Continued)
Instance 101 Data Format (Preset Control) (Preset Speed Units Only)➀
This output assembly type is only available for use with Preset Speed Units.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Fault Reset RunRev RunFwd
1 DN Preset Cmd
(DN Preset Cmd contains these three bits) Preset 2➁ Preset 1➁ Preset 0➁

Instance 103 Allen-Bradley Drive Output Assembly

This output assembly mirrors the 1305/1336 IO format.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 N/A N/A Direction➂ Direction➂ Clear Faults N/A Start Stop
Reference Reference Reference
1 N/A N/A N/A N/A N/A
Select➃ Select➃ Select➃
2 Scale Speed Reference (Low Byte)➄
3 Scale Speed Reference (High Byte)➄

➀ Net Ref has higher priority than Net Control. Therefore, if Net Ref is set, presets are ignored.
➁ For Preset Speed Units: Net Ref determines if speed reference comes from the network or preset speeds.

➂ Direction ➃ Reference Select

Bit 5 Bit 4 Bit 14 Bit 13 Bit 12

0 0 No Command 0 0 0 No Command Select
0 1 Forward Command 0 0 1 TB3 Control
1 0 Reverse Command 0 1 0 Network Control
1 1 Hold Direction Cmd 0 1 1 Preset 3
1 0 0 Preset 4
1 0 1 Preset 5
1 1 0 Preset 6
1 1 1 Preset 7

➄ 0 = 0 Hz, 32767 = Maximum Frequency (Hz)

The following table indicates the I/O Assembly Data Attribute map-
ping for Output Assemblies.

Class Instance Attribute

Data Component Name
Name Number Number Name Number
RunFwd Supervisor 29hex 1 RunFwd 3
RunRev Supervisor 29hex 1 RunRev 4
Fault Reset Supervisor 29hex 1 FaultRst 11
NetCtrl Supervisor 29hex 1 NetCtrl 5
DN Preset Cmd Supervisor 29hex 1 DNPresetCmd 102
NetRef AC Drive 2Ahex 1 NetRef 4
Speed Reference AC Drive 2Ahex 1 SpeedRef 8
Internal Frequency 160 Param B3 1 Internal Freq 58

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B-26 DeviceNet Information

Class Code 0x04 — Instance Data Format: Input Assemblies

Assembly Objects (Continued)
Instance 50 Data Format (Basic Overload/Contactor Input Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Faulted

Instance 51 Data Format (Extended Overload/Contactor Input Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 CtrlFrom Net Faulted

Instance 52 Basic Motor Control

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Running1 Faulted/Trip

Instance 53 Extended Motor Control 1 (see table for functional assignments)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 CtrlFrom Net Ready Running1 Faulted/Trip

Instance 54 Extended Motor Control 2 (see table for functional assignments)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 CtrlFrom Net Ready Running2 Running1 Faulted/Trip

Instance 70 Data Format (Basic Speed Control Input Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Running1 Faulted
1
2 Speed Actual RPM (Low Byte)
3 Speed Actual RPM (High Byte)

Instance 71 Data Format (Extended Speed Control Input Assembly)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

At RefFrom CtrlFrom Running Running
0 Ready Faulted
Reference Net Net Reverse Forward
1
2 Speed Actual RPM (Low Byte)
3 Speed Actual RPM (High Byte)

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 DeviceNet Information B-27

Class Code 0x04 — Instance Data Format: Input Assemblies (Continued)

Assembly Objects (Continued)
Instance 102 Attributes (Custom Parameter Based Input Assembly)
160 SSC Display parameter values are used to form the Output_Data structure for this assembly. Parameters 109, 110, 111, or 112 contain numbers of
the parameter values that form this assembly. A value of 0 in any of parameters 109 through 112 means end of assembly. For example, a value of 0 in
parameter 110 means that the assembly will only be two bytes long, with parameter 1 0 9 containing the parameter number of the parameter whose value
is placed in word 0 of the assembly.
Important: Setting Parameters 109, 110, 111, or 112 to a “9” causes the drive status to be mapped to the low byte and input status to be mapped to the
high byte.

Word Byte
0 Value of parameter pointed to by Parameter Number 109 (Low Byte)
0
1 Value of parameter pointed to by Parameter Number 109 (High Byte)
2 Value of parameter pointed to by Parameter Number 110 (Low Byte)
1
3 Value of parameter pointed to by Parameter Number 110 (High Byte)
4 Value of parameter pointed to by Parameter Number 111 (Low Byte)
2
5 Value of parameter pointed to by Parameter Number 111 (High Byte)
6 Value of parameter pointed to by Parameter Number 112 (Low Byte)
3
7 Value of parameter pointed to by Parameter Number 112 (High Byte)

Instance 104: Allen-Bradley Input Assembly

This input assembly mirrors the Bulletin 1305 I/O Format.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Fault N/A Decel Accel Rot Dir➀ Cmd Dir➀ Running Enabled
1 Freq Source➂ Freq Source➂ Freq Source➂ Freq Source➂ Local➁ Local➁ Local➁ At Speed
2 Actual Speed Scale 0-32767➃
3 Actual Speed Scale 0-32767➃

➀ 1 = forward, 0 = reverse

➁ Local ➂ Frequency Source

Bit Bit Bit Bit Bit Bit Bit

Definition Definition
11 10 9 15 14 13 12
0 0 0 TB3 Control 0 0 0 0 Preset 0
0 0 1 Network Control 0 0 0 1 Preset 1
0 0 1 0 Preset 2
0 0 1 1 Preset 3
0 1 0 0 Preset 4
0 1 0 1 Preset 5
0 1 1 0 Preset 6
0 1 1 1 Preset 7
1 0 0 0 TB3
1 0 0 1 Network
1 0 1 0 Not defined
1 1 1 1 Not defined

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B-28 DeviceNet Information

Class Code 0x04 — Instance Data Format: Input Assemblies (Continued)

Assembly Objects (Continued)
Instance 105: Allen-Bradley Drive Input Assembly with Parameters
160 SSC parameter values are used to form the Output_Data structure for this assembly. Parameter 111 and 112 contain numbers of the display parame-
ter values that form this assembly. A value of 0 in either parameter 111 or 112 means end of assembly. For example, a value of 0 in parameter 112 means
that the assembly will only be six bytes long, with parameter 111 containing the parameter number of the parameter whose value is placed in word 3 of the
assembly.

Word Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 0 Fault N/A Decel Accel Rot Dir➀ Cmd Dir➀ Running Enabled
1 Freq Source➂ Freq Source➂ Freq Source➂ Freq Source➂ Local➁ Local➁ Local➁ At Speed
2 2 Actual Speed Scale 0-32767➃
3 Actual Speed Scale 0-32767➃
3 4 Value of parameter pointed to by Parameter Number 111 (Low Byte)
5 Value of parameter pointed to by Parameter Number 111 (High Byte)
4 6 Value of parameter pointed to by Parameter Number 112 (Low Byte)
7 Value of parameter pointed to by Parameter Number 112 (High Byte)

➀ 1 = forward, 0 = reverse

➁ Local ➂ Frequency Source

Bit Bit Bit Bit Bit Bit Bit

Definition Definition
11 10 9 15 14 13 12
0 0 0 TB3 Control 0 0 0 0 Preset 0
0 0 1 Network Control 0 0 0 1 Preset 1
0 0 1 0 Preset 2
0 0 1 1 Preset 3
0 1 0 0 Preset 4
0 1 0 1 Preset 5
0 1 1 0 Preset 6
0 1 1 1 Preset 7
1 0 0 0 TB3
1 0 0 1 Network
1 0 1 0 Not defined
1 1 1 1 Not defined

➃ 0 = 0 Hz, 32767 = Maximum Frequency

The following table indicates the I/O Assembly Data Attribute map-
ping for Input Assemblies.

Class Instance Attribute

Data Component Name
Name Number Number Name Number
Faulted Supervisor 29hex 1 Faulted 9
Running 1 (Fwd) Supervisor 29hex 1 RunningFwd 7
Running 2 (Rev) Supervisor 29hex 1 RunningRev 8
Ready Supervisor 29hex 1 Ready 9
CtrlFromNet Supervisor 29hex 1 CtrlFromNet 15
CtrlFromNet AC Drive 2Ahex 1 RefFromNet 29
At Reference AC Drive 2Ahex 1 AtReference 3
Speed Actual AC Drive B3hex 1 SpeedActual 7

Publication 0160-5.18 - March 1999

 DeviceNet Information B-29

Class Code 0x04 — Configuration Assembly Data Formats

Assembly Objects (Continued)
Instance 190 Data Format (Full Configuration Assembly – Series A – Signal Follower Model)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number

1 30 Accel Time 1 2 23 52 DB enable 1

2 31 Decel Time 1 2 24 53 S-Curve 1
3 32 Minimum Freq 1 25 55 Probe Address 2
4 33 Maximum Freq 2 26 57 Program Lock 1
5 34 Stop Mode Select !
1 27 58 Internal Freq 2

6 35 Base Frequency 1 28 59 Freq Select 1

7 36 Base Voltage 2 29 60 Analog Scale Teach 1
8 37 Maximum Voltage 2 30 114 Motor Base RPM 2
113 DN Fault Mode !
1
9 38 Boost Select 1 31

10 39 Skip Frequency 2 32 107 Output Assembly 1

11 40 Skip Frequency Band 1 33 108 Input Assembly 1
12 41 Overload Select 1 34 103 NV MAC ID 1
13 42 Motor Overload 2 35 104 NV Baud Rate 1
14 43 Current Limit 1 36 109 Assembly Word 0 1
15 44 DC Hold Time 1 37 110 Assembly Word 1 1
16 45 DC Hold Voltage 1 38 111 Assembly Word 2 1
17 46 Input Mode !
1 39
112 Assembly Word 3 1

18 47 Output Configuration 1 40 115 DN Idle Mode 1

19 48 Output Threshold 2 41 117 COS Mask 2
20 49 PWM Frequency 1 42 118 Local Return Md 1
21 50 Restart Tries 1 43 105 Bus Off Error 1
22 51 Restart Time 2 44

! ATTENTION: Changing this parameter value may cause unpredictable network conditions, resulting in equipment damage, personal injury, or death.
Ensure that you understand how changing this parameter affects your application.

Publication 0160-5.18 - March 1999

B-30 DeviceNet Information

Class Code 0x04 — Configuration Assembly Data Formats (Continued)

Assembly Objects (Continued)
Instance 190 Data Format (Full Configuration Assembly – Series A – Preset Speed Model)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number

1 30 Accel Time 1 2 27 61 Preset Freq 0 2

2 31 Decel Time 1 2 28 62 Preset Freq 1 2
3 32 Minimum Freq 1 29 63 Preset Freq 2 2
4 33 Maximum Freq 2 30 64 Preset Freq 3 2
5 34 Stop Mode Select !
1 31 65 Preset Freq 4 2

6 35 Base Frequency 1 32 66 Preset Freq 5 2

7 36 Base Voltage 2 33 67 Preset Freq 6 2
8 37 Maximum Voltage 2 34 68 Preset Freq 7 2
9 38 Boost Select 1 35 69 Accel Time 2 2
10 39 Skip Frequency 2 36 70 Decel Time 2 2
11 40 Skip Freq Band 1 37 114 Motor Base RPM 2
113 DN Fault Mode !
1
12 41 Overload Select 1 38

13 42 Motor Overload 2 39 107 Output Assembly 1

14 43 Current Limit 1 40 108 Input Assembly 1
15 44 DC Hold Time 1 41 103 NV MAC ID 1
16 45 DC Hold Voltage 1 42 104 NV Baud 1
17 46 Input Mode !
1 43
109 Assembly Word 0 1

18 47 Output Configuration 1 44 110 Assembly Word 1 1

19 48 Output Threshold 2 45 111 Assembly Word 2 1
20 49 PWM Frequency 1 46 112 Assembly Word 3 1
21 50 Restart Tries 1 47 115 DN Idle Mode 1
22 51 Restart Time 2 48 117 COS Mask 2
23 52 DB enable 1 50 118 Local Return Md 1
24 53 S-Curve 1 51 105 Bus Off Error 1
25 55 Probe Address 2 52
26 57 Program Lock 1

! ATTENTION: Changing this parameter value may cause unpredictable network conditions, resulting in equipment damage, personal injury, or death.
Ensure that you understand how changing this parameter affects your application.

Publication 0160-5.18 - March 1999

 DeviceNet Information B-31

Class Code 0x04 — Configuration Assembly Data Formats (Continued)

Assembly Objects (Continued)
Instance 190 Data Format (Full Configuration Assembly – Series B - Signal Follower Model)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number

1 30 Accel Time 1 2 27 58 Internal Freq 2

2 31 Decel Time 1 2 28 59 Freq Select 1
3 32 Minimum Freq 1 29 60 Zero Offset 2
4 33 Maximum Freq 2 30 69 Accel Time 2 2
5 34 Stop Mode Select !
1 31 70 Decel Time 2 2

6 35 Base Frequency 1 32 71 IR Compensation 1

7 36 Base Voltage 2 33 72 Slip Comp 1
8 37 Maximum Voltage 2 34 73 Reverse Disable 1
9 38 Boost Select 1 35 74 Analog Select 1
10 39 Skip Frequency 2 36 75 Analog Minimum 2
11 40 Skip Freq Band 1 37 76 Analog Maximum 2
12 41 Overload Select 1 38 114 Motor Base RPM 2
113 DN Fault Mode !
1
13 42 Motor Overload 2 39

14 43 Current Limit 1 40 107 Output Assembly 1

15 44 DC Hold Time 1 41 108 Input Assembly 1
16 45 DC Hold Voltage 1 42 103 NV MAC ID 1
17 46 Input Mode !
1 43 104 NV Baud 1

18 47 Output Configuration 1 44 109 Assembly Word 0 1

19 48 Output Threshold 2 45 110 Assembly Word 1 1
20 49 PWM frequency 1 46 111 Assembly Word 2 1
21 50 Restart Tries 1 47 112 Assembly Word 3 1
22 51 Restart Time 2 48 115 DN Idle Mode 1
23 52 DB enable 1 49 117 COS Mask 2
24 53 S-Curve 1 50 118 Local Return Md 1
25 55 Probe Address 2 51 105 Bus Off Error 1
26 57 Program Lock 1 52

! ATTENTION: Changing this parameter value may cause unpredictable network conditions, resulting in equipment damage, personal injury, or death.
Ensure that you understand how changing this parameter affects your application.

Publication 0160-5.18 - March 1999

B-32 DeviceNet Information

Class Code 0x04 — Configuration Assembly Data Formats (Continued)

Assembly Objects (Continued)
Instance 190 Data Format (Full Configuration Assembly – Series B Preset Model)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number

1 30 Accel Time 1 2 29 61 Preset Frequency 0 2

2 31 Decel Time 1 2 30 62 Preset Frequency 1 2
3 32 Minimum Freq 1 31 63 Preset Frequency 2 2
4 33 Maximum Freq 2 32 64 Preset Frequency 3 2
5 34 Stop Mode Select !
1 33 65 Preset Frequency 4 2

6 35 Base Frequency 1 34 66 Preset Frequency 5 2

7 36 Base Voltage 2 35 67 Preset Frequency 6 2
8 37 Maximum Voltage 2 36 68 Preset Frequency 7 2
9 38 Boost Select 1 37 69 Accel Time 2 2
10 39 Skip Frequency 2 38 70 Decel Time 2 2
11 40 Skip Freq Band 1 39 71 IR Compensation 1
12 41 Overload Select 1 40 72 Slip Compensation 1
13 42 Motor Overload 2 41 73 Reverse Disable 1
14 43 Current Limit 1 42 114 Motor Base RPM 2
113 DN Fault Mode !
1
15 44 DC Hold Time 1 43

16 45 DC Hold Voltage 1 44 107 Output Assembly 1

17 46 Input Mode !
1 45
108 Input Assembly 1

18 47 Output Configuration 1 46 103 Nonvolatile MAC ID 1

19 48 Output Threshold 2 47 104 Nonvolatile Baud 1
20 49 PWM frequency 1 48 109 Assembly Word 0 1
21 50 Restart Tries 1 50 110 Assembly Word 1 1
22 51 Restart Time 2 51 111 Assembly Word 2 1
23 52 DB enable 1 52 112 Assembly Word 3 1
24 53 S-Curve 1 53 115 DNet Idle Mode 1
25 55 Probe Address 2 54 117 COS Mask 2
26 57 Program Lock 1 55 118 Local Return Md 1
27 58 Internal Freq 2 56 105 Bus Off Error 1
28 59 Freq Select 1 57

! ATTENTION: Changing this parameter value may cause unpredictable network conditions, resulting in equipment damage, personal injury, or death.
Ensure that you understand how changing this parameter affects your application.

Publication 0160-5.18 - March 1999

 DeviceNet Information B-33

Class Code 0x04 — Configuration Assembly Data Formats (Continued)

Assembly Objects (Continued)
Instance 190 Data Format (Full Configuration Assembly – Series C - Signal Follower Model)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number

1 30 Accel Time 1 2 30 69 Accel Time 2 2

2 31 Decel Time 1 2 31 70 Decel Time 2 2
3 32 Minimum Freq 1 32 71 IR Compensation 1
4 33 Maximum Freq 2 33 72 Slip Comp 1
5 34 Stop Mode Select !
1
34 73 Reverse Disable 1

6 35 Base Frequency 1 35 74 Analog Select 1

7 36 Base Voltage 2 36 75 Analog Minimum 2
8 37 Maximum Voltage 2 37 76 Analog Maximum 2
9 38 Boost Select 1 38 78 Compensation 1
10 39 Skip Frequency 2 39 79 Current Trip 1
11 40 Skip Freq Band 1 40 80 Stall Disable 1
12 41 Overload Select 1 41 81 Proc Kp Gain 2
13 42 Motor Overload 2 42 82 Pric Ki Gain 2
14 43 Current Limit 1 43 83 Proc Reference 2
15 44 DC Hold Time 1 44 84 Proc Invert 1
16 45 DC Hold Voltage 1 45 114 Motor Base RPM 2
17 46 Input Mode !
1 113 DN Fault Mode !
1
46

18 47 Output Configuration 1 47 107 Output Assembly 1

19 48 Output Threshold 2 48 108 Input Assembly 1
20 49 PWM frequency 1 49 103 NV MAC ID 1
21 50 Restart Tries 1 50 104 NV Baud 1
22 51 Restart Time 2 51 109 Assembly Word 0 1
23 52 DB enable 1 52 110 Assembly Word 1 1
24 53 S-Curve 1 53 111 Assembly Word 2 1
25 55 Probe Address 2 54 112 Assembly Word 3 1
26 57 Program Lock 1 55 115 DN Idle Mode 1
27 58 Internal Freq 2 56 117 COS Mask 2
28 59 Freq Select 1 57 118 Local Return Md 1
29 60 Zero Offset 2 58 105 Bus Off Error 1

! ATTENTION: Changing this parameter value may cause unpredictable network conditions, resulting in equipment damage, personal injury, or death.
Ensure that you understand how changing this parameter affects your application.

Publication 0160-5.18 - March 1999

B-34 DeviceNet Information

Class Code 0x04 — Configuration Assembly Data Formats (Continued)

Assembly Objects (Continued)
Instance 190 Data Format (Full Configuration Assembly – Series C Preset Model)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number

1 30 Accel Time 1 2 30 62 Preset Freq 1 2

2 31 Decel Time 1 2 31 63 Preset Freq 2 2
3 32 Minimum Freq 1 32 64 Preset Freq 3 2
4 33 Maximum Freq 2 33 65 Preset Freq 4 2
5 34 Stop Mode Select !
1
34 66 Preset Freq 5 2

6 35 Base Frequency 1 35 67 Preset Freq 6 2

7 36 Base Voltage 2 36 68 Preset Freq 7 2
8 37 Maximum Voltage 2 37 69 Accel Time 2 2
9 38 Boost Select 1 38 70 Decel Time 2 2
10 39 Skip Frequency 2 39 71 IR Compensation 1
11 40 Skip Freq Band 1 40 72 Slip Comp 1
12 41 Overload Select 1 41 73 Reverse Disable 1
13 42 Motor Overload 2 42 78 Compensation 1
14 43 Current Limit 1 43 79 Current Trip 1
15 44 DC Hold Time 1 44 80 Stall Disable 1
16 45 DC Hold Voltage 1 45 114 Motor Base RPM 2
17 46 Input Mode !
1 113 DN Fault Mode !
1
46

18 47 Output Configuration 1 47 107 Output Assembly 1

19 48 Output Threshold 2 48 108 Input Assembly 1
20 49 PWM frequency 1 50 103 NV MAC ID 1
21 50 Restart Tries 1 51 104 NV Baud 1
22 51 Restart Time 2 52 109 Assembly Word 0 1
23 52 DB enable 1 53 110 Assembly Word 1 1
24 53 S-Curve 1 54 111 Assembly Word 2 1
25 55 Probe Address 2 55 112 Assembly Word 3 1
26 57 Program Lock 1 56 115 DN Idle Mode 1
27 58 Internal Freq 2 57 117 COS Mask 2
28 59 Freq Select 1 58 118 Local Return Md 1
29 61 Preset Freq 0 2 59 105 Bus Off Error 1

! ATTENTION: Changing this parameter value may cause unpredictable network conditions, resulting in equipment damage, personal injury, or death.
Ensure that you understand how changing this parameter affects your application.

Publication 0160-5.18 - March 1999

 DeviceNet Information B-35

Class Code 0x04 — Configuration Assembly Data Formats (Continued)

Assembly Objects (Continued)
Instance 191 Data Format (Fixed Configuration Assembly – All Preset Speed Models)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number
1 30 Accel Time 1 2 18 47 Output Configuration 1
2 31 Decel Time 1 2 19 48 Output Threshold 2
3 32 Minimum Freq 1 20 49 PWM Frequency 1
4 33 Maximum Freq 2 21 50 Restart Tries 1
5 34 Stop Mode Select !
1 22 51 Restart Time 2

6 35 Base Frequency 2 23 61 Preset Freqy 0 2

7 36 Base Voltage 2 24 62 Preset Freq 1 2
8 37 Maximum Voltage 2 25 63 Preset Freq 2 2
9 38 Boost Select 1 26 64 Preset Freq 3 2
10 39 Skip Frequency 2 27 65 Preset Freq 4 2
11 40 Skip Freq Band 1 28 66 Preset Freq 5 2
12 41 Overload Select 1 29 67 Preset Freq 6 2
13 42 Motor Overload 2 30 68 Preset Freq 7 2
14 43 Current Limit 1 31 69 Accel Time 2 2
15 44 DC Hold Time 1 32 70 Decel Time 2 2
16 45 DC Hold Voltage 1
17 46 Input Mode !
1

Instance 192 Data Format (Fixed Configuration Assembly – All Signal Follower Models)

Parameter Parameter
Config Num. Description Size Config Num. Description Size
Number Number
1 30 Accel Time 1 2 13 42 Motor Overload 2
2 31 Decel Time 1 2 14 43 Current Limit 1
3 32 Minimum Frequency 1 15 44 DC Hold Time 1
4 33 Maximum Frequency 2 16 45 DC Hold Voltage 1
5 34 Stop Mode Select !
1 17 46 Input Mode !
1

6 35 Base Frequency 2 18 47 Output Configuration 1

7 36 Base Voltage 2 19 48 Output Threshold 2
8 37 Maximum Voltage 2 20 49 PWM frequency 1
9 38 Boost Select 1 21 50 Restart Tries 1
10 39 Skip Frequency 2 22 51 Restart Time 2
11 40 Skip Freq Band 1 23 53 S-Curve 1
12 41 Overload Select 1

! ATTENTION: Changing this parameter value may cause unpredictable network conditions, resulting in equipment damage, personal injury, or death.
Ensure that you understand how changing this parameter affects your application.

Publication 0160-5.18 - March 1999

B-36 DeviceNet Information

Class Code 0x04 — Configuration Assembly Data Formats (Continued)

Assembly Objects (Continued) Instance 193 Data Format (Fixed Configuration Assembly – DeviceNet Module)

Config Num. Parameter Number Description Size

1 None Reserved 1
2 114 Motor Base RPM 2
3 113 DN Fault Mode 1
4 107 Output Assembly 1
5 108 Input Assembly 1
6 103 NV MAC ID 1
7 104 NV Baud 1
8 109 Assembly Word 0 1
9 110 Assembly Word 1 1
10 111 Assembly Word 2 1
11 112 Assembly Word 3 1
12 115 DN Idle Mode 1
13 117 COS 2
14 118 Local Return Md 1
15 105 Bus Off Error 1

Publication 0160-5.18 - March 1999

 Index

C E
COMM LED EDS files
color 7-2 creating 6-3
description 7-2 description 5-1
state 7-2 Electronic Data Sheets, see EDS files
troubleshooting 7-2
equipment 3-1
communication module
error
installing 3-6, 3-8
description 4-2
powerup 4-1
LED state 4-2
removing 3-8
mode 4-2
wiring 1-1, 3-7
type 4-2
configuration
explicit messaging 6-18
switches 3-3

F
D
factory default
data rate
baud rate 3-5
factory default 3-5
data rate 3-5
settings 3-5
fault
DeviceNet wiring 1-1, 3-7
codes 7-4
DIP switches corrective action 7-4
1 through 6 3-4 description 7-4
7 and 8 3-4 LED 7-4
baud rate 3-5
data rate 3-5
DeviceNet address 3-4 G
node address 3-4 getting started 2-1
procedures 2-2

Publication 0160-5.18 - March 1999

I-2 Index

I Q
input assemblies 6-7, B-26 quick start
installation for experienced users 2-1
getting started 2-1
installing R
communication module 3-6, 3-8 removal
installing module 3-1 communication module 3-8
removing keypad 3-1
L removing Read/Fault panel 3-1
LED required equipment 3-1
COMM 1-1
description 1-1, 3-7
S
FAULT 1-1
READY 1-1 specifications
status 1-1, 3-7 communications A-1
electrical A-1
environmental A-1
M mechanical A-1
modes of operation startup 2-1
error mode 4-2
start-up instructions 2-1
Powerup Reset 4-1
run mode 4-2 status LED 1-1, 3-7
module switches
installation 3-1 configuration 3-3
setting 3-3

O
T
output assemblies 6-7, B-24–B-25
tools 3-1
troubleshooting 7-1
P
LEDs 7-1
parameters 5-3–5-11
powerup 4-1
W
powerup mode 4-1
wiring
procedures DeviceNet connection 1-1, 3-7
quick start 2-1

Publication 0160-5.18 - March 1999

 Notes

Publication 160-5.18 - March 1999

Notes

Publication 160-5.18 - March 1999

 Notes

Publication 160-5.18 - March 1999

Notes

Publication 160-5.18 - March 1999

 Notes

Publication 160-5.18 - March 1999

Notes

Publication 160-5.18 - March 1999

 Notes

Publication 160-5.18 - March 1999

Notes

Publication 160-5.18 - March 1999

DeviceNet is a trademark of the Open DeviceNet Vendor Association.
SSC is a trademark of Rockwell Automation.
Reach us now at www.rockwellautomation.com
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Publication 0160-5.18 – March, 1999 P/N 193557 (01)

Copyright 1999 Rockwell International Corporation. All rights reserved. Printed in USA