User Guide

SI-DeviceNet

Part Number: 0478-0032-02

Issue Number: 2
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or
incorrect installation or adjustment of the optional parameters of the equipment or from mismatching
the variable speed drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of
commitment to a policy of continuous development and improvement, the manufacturer reserves the
right to change the specification of the product or its performance, or the content of the guide without
notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any
means, electrical or mechanical including, photocopying, recording or by an information storage or
retrieval system, without permission in writing from the publisher.
Environmental Statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing
operations and of its products throughout their life cycle. To this end, we operate an Environmental
Management System (EMS) which is certified to the International Standard ISO 14001. Further
information on the EMS, our Environment Policy and other relevant information is available on
request, or can be found at www.greendrives.com.
The electronic variable speed drives manufactured by Control Techniques have the potential to save
energy and (through increased machine/process efficiency) reduce raw material consumption and
scrap throughout their long working lifetime. In typical applications, these positive environmental
effects far outweigh the negative impacts of product manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be
discarded but should instead be recycled by a specialist recycler of electronic equipment. Recyclers
will find the products easy to dismantle into their major component parts for efficient recycling. Many
parts snap together and can be separated without the use of tools, while other parts are secured with
conventional fasteners. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden
crates, while smaller products come in strong cardboard cartons which themselves have a high-
recycled fibre content. If not re-used, these containers can be recycled. Polythene, used on the
protective film and bags from wrapping product, can be recycled in the same way. Control
Techniques' packaging strategy prefers easily recyclable materials of low environmental impact, and
regular reviews identify opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation
and best practice.
Software Statement
This Option module is supplied with the latest software version. When retro-fitting to an existing
system, all software versions should be verified to confirm the same functionality as Option modules
of the same type already present. This also applies to products returned from a Control Techniques
Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product.
The software version of the Option module can be identified by looking at Pr MM.002 where MM is
the relevant menu number for the Option module slot being used. See Pr MM.002 description later in
this manual for more information. The software version takes the form of ww.xx.yy.zz seen in
MM.002.
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals
(REACH) requires the supplier of an article to inform the recipient if it contains more than a specified
proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a
Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for
compulsory authorisation.
For current information on how this requirement applies in relation to specific Control Techniques
products, please approach your usual contact in the first instance. Control Techniques position
statement can be viewed at:
http://www.controltechniques.com/REACH

Copyright : © January 2013 Control Techniques Ltd.

Issue Number : 1

For patent and intellectual property related information please go to www.ctpatents.info

 Contents
1 Safety information ..........................................................5
1.1 Warnings, Cautions and Notes ................................................................5
1.2 Electrical safety - general warning ..........................................................5
1.3 System design and safety of personnel ..................................................5
1.4 Environmental limits ................................................................................6
1.5 Compliance with regulations ...................................................................6
1.6 Adjusting parameters ..............................................................................6

2 Introduction ....................................................................7
2.1 What Is DeviceNet? .................................................................................7
2.2 What is SI-DeviceNet? ............................................................................9
2.3 General specification ...............................................................................9
2.4 Back-up power supply .............................................................................9
2.5 Option Module identification ..................................................................10
2.6 Product Conformance Certificate ..........................................................10
2.7 Conventions used in this guide .............................................................10

3 Mechanical installation ................................................11

3.1 General installation ................................................................................11

4 Electrical installation ...................................................12

4.1 SI-DeviceNet terminal descriptions .......................................................12
4.2 SI-DeviceNet connections .....................................................................13
4.3 DeviceNet cable ....................................................................................13
4.4 DeviceNet network termination .............................................................14
4.5 SI-DeviceNet cable shield connections .................................................14
4.6 DeviceNet ground point .........................................................................15
4.7 Maximum network length ......................................................................15
4.8 Spurs .....................................................................................................15
4.9 Minimum node to node cable length .....................................................15

5 Getting started ..............................................................16

5.1 Quick start chart SI-DeviceNet ..............................................................17
5.2 Parameter save and restore ..................................................................18
5.3 Module reset ..........................................................................................18
5.4 Restoring module parameter default values ..........................................18
5.5 Single Line Parameters .........................................................................18

6 Parameters ....................................................................25
6.1 Menus ....................................................................................................25
6.2 Module menu 0 - Module Information ....................................................25
6.3 Module menu 1 - DeviceNet Setup .......................................................28
6.4 Module menu 2 - Input Mappings ..........................................................40
6.5 Module menu 3 - Output Mappings .......................................................41
6.6 Module menu 4 - Fault Values ..............................................................42

7 Non cyclic data .............................................................44

7.1 Introduction ............................................................................................44
7.2 Explicit parameter access .....................................................................44

SI-DeviceNet User Guide 3

Issue Number: 2
 8 Control / status word ...................................................45
8.1 What are control and status words? ......................................................45
8.2 Control word ..........................................................................................45
8.3 Status word ...........................................................................................47

9 EDS Files .......................................................................49

9.1 What are EDS files? ..............................................................................49
9.2 Generic EDS files ..................................................................................49

10 Advanced Features ......................................................50

10.1 Supported Drive assembly objects ........................................................50

11 DeviceNet Objects ........................................................54

11.1 Identity Object .......................................................................................54
11.2 SI-DeviceNet Object ..............................................................................57
11.3 Motor Data Object .................................................................................59
11.4 Control Supervisor .................................................................................62
11.5 AC/DC Drive Object ..............................................................................65
11.6 Control Techniques Object ....................................................................68

12 Diagnostics ...................................................................69
12.1 Overview ...............................................................................................69

13 Glossary Of Terms .......................................................73

4 SI-DeviceNet User Guide

Issue Number: 2
 information
1 Safety information

Safety
1.1 Warnings, Cautions and Notes

Introduction
A Warning contains information, which is essential for avoiding a safety hazard.

Mechanical
installation
WARNING

A Caution contains information, which is necessary for avoiding a risk of damage to the

installation
Electrical
product or other equipment.
CAUTION

NOTE A Note contains information which helps to ensure correct operation of the product.

Getting
started
1.2 Electrical safety - general warning

Parameters
The voltages used in the drive can cause severe electrical shock and/or burns, and
could be lethal. Extreme care is necessary at all times when working with or adjacent to
the drive.
Specific warnings are given at the relevant places in this User Guide.

Non cyclic
data
1.3 System design and safety of personnel
The drive is intended as a component for professional incorporation into complete
equipment or a system. If installed incorrectly, the drive may present a safety hazard.

status word
Control /
The drive uses high voltages and currents, carries a high level of stored electrical
energy, and is used to control equipment which can cause injury. Close attention is
required to the electrical installation and the system design to avoid hazards either in

EDS Files
normal operation or in the event of equipment malfunction. System design, installation,
Commissioning/start-up and maintenance must be carried out by personnel who have
the necessary training and experience. They must read this safety information and this
User Guide carefully. Advanced
Features

The STOP and SAFE TORQUE Off functions of the drive do not isolate dangerous
voltages from the output of the drive or from any external option unit. The supply must
be disconnected by an approved electrical isolation device before gaining access to the
DeviceNet

electrical connections.
Objects

With the sole exception of the SAFE TORQUE Off function, none of the drive
functions must be used to ensure safety of personnel, i.e. they must not be used
for safety-related functions.
Diagnostics

Careful consideration must be given to the functions of the drive which might result in a
hazard, either through their intended behavior or through incorrect operation due to a
fault. In any application where a malfunction of the drive or its control system could lead
Glossary Of

to or allow damage, loss or injury, a risk analysis must be carried out, and where
Terms

necessary, further measures taken to reduce the risk - for example, an over-speed
protection device in case of failure of the speed control, or a fail-safe mechanical brake
in case of loss of motor braking.
Index

The system designer is responsible for ensuring that the complete system is safe
and designed correctly according to the relevant safety standards.

SI-DeviceNet User Guide 5

Issue Number: 2
1.4 Environmental limits
Instructions in the Unidrive M User Guide regarding transport, storage, installation and
use of the drive must be complied with, including the specified environmental limits.
Drives must not be subjected to excessive physical force.

1.5 Access
Drive access must be restricted to authorized personnel only. Safety regulations which
apply at the place of use must be complied with.

1.6 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective earth (ground)
connections.
The Unidrive M User Guide contains instructions for achieving compliance with specific
EMC standards.
Within the European Union, all machinery in which this product is used must comply
with the following directives:
• 2006/42/EC: Safety of machinery.
• 2004/108/EC: Electromagnetic Compatibility.

1.7 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not
be altered without careful consideration of the impact on the controlled system.
Measures must be taken to prevent unwanted changes due to error or tampering.
1.7.1 Stored charge
The drive contains capacitors that remain charged to a potentially lethal voltage after the
AC supply has been disconnected. If the drive has been energized, the AC supply must
be isolated at least ten minutes before work may continue.

6 SI-DeviceNet User Guide

Issue Number: 2
 information
2 Introduction

Safety
2.1 What Is DeviceNet?

Introduction
DeviceNet is a networking system that falls into the generic category of Fieldbus.
Fieldbuses are generally defined as industrial networking systems that are intended to
replace traditional wiring systems. Figure 2-1 shows the traditional cabling requirements

Mechanical
installation
to transfer signals between a controller and two nodes.
Figure 2-1 SI-DeviceNet Traditional cable layout

Hardwired controller

installation
Electrical
Analog 1 Analog 2
Digital 1A Digital 1B Digital 2A Digital 2B

Getting
started
Parameters
Non cyclic
data
Digital 2A
Digital 1A

status word
Control /
Analog 1 Analog 2 2
1

Digital 2B

EDS Files
Digital 1B

Advanced
Features

Table 2.1 details how the wiring is used to communicate data between the controller and
the nodes. Each signal that is communicated requires one signal wire giving a total of 66
signal wires plus a 0V return.
DeviceNet
Objects

Table 2.1 Traditional wiring details

Number of Type Source / Destination Description
signals
Diagnostics

digital inputs node 1 to master status signals

16
digital outputs controller to slave 1 control signals
1 analog output controller to slave 1 control signal
Glossary Of

digital inputs node 2 to master status signals

Terms

16
digital outputs controller to slave 2 control signals
1 analog output controller to slave 2 control signal
Index

SI-DeviceNet User Guide 7

Issue Number: 2
 A fieldbus topology such as DeviceNet allows the same configuration to be realised
using only 2 signal wires plus a shield and power. This method of communication saves
significantly on the amount of cabling required and can improve overall system
reliability, as the number of inter-connections is greatly reduced.
Figure 2-2 shows a typical DeviceNet system transferring the same signals as given in
the traditionally wired example. The signals are now transmitted by converting them into
a serial data stream which is received by the master as if they were connected using
traditional wiring. The data stream on DeviceNet allows up to 56 (28 input and 28
output) independent values to be sent or received by the master, there are also methods
available (non-cyclic data) to allow random access to drive parameters.
Figure 2-2 DeviceNet overview

DeviceNet master
Analog 1 Analog 2
Digital 1A Digital 1B Digital 2A Digital 2B

Digital 2A
Digital 1A
Node 1

Node 2

Analog 1 Analog 2
Digital 2B
Digital 1B

Table 2.2 Data mappings for SI-DeviceNet

Number of
Type Source / Destination Description
network words
digital inputs slave 1 to master status signals
digital outputs master to slave 1 control signals
analog output master to slave 1 control signal
1
digital inputs slave 2 to master status signals
digital outputs master to slave 2 control signals
analog output master to slave 2 control signal

8 SI-DeviceNet User Guide

Issue Number: 2
 Table 2.2 details the number of data words used to communicate the signals using the

information
DeviceNet network. It can be seen that the resulting reduction in cabling is significant.

Safety
DeviceNet can transfer data using two distinct modes. The first of these modes is cyclic
where signals are sent in predefined blocks at regular intervals. This is the equivalent of
the hard-wired example above in Figure 2-1.

Introduction
The second method of transfer is called non-cyclic data and is used for sending values
that only need to be changed occasionally or where the source or destination of the
signal changes; this is the equivalent of a temporary patch lead that is removed after

Mechanical
installation
use.

2.2 What is SI-DeviceNet?

SI-DeviceNet is a fieldbus Option Module which can be installed to the expansion slot(s)

installation
Electrical
in Unidrive M to provide DeviceNet slave connectivity.
It is possible to use more than one SI-DeviceNet or a combination of SI-DeviceNet and
other Option Modules to provide additional functionality such as extended I/O, gateway
functionality, or additional PLC features.

Getting
started
Figure 2-3 SI-DeviceNet Option Module

Parameters
Non cyclic
data
status word
Control /
2.3 General specification
• Supported data rates (bits per s): 500 k, 250 k, 125 k.

EDS Files
• 1 to 28 input/output polled data words supported.
• Explicit communications (non-cyclic) provides access to all drive parameters.
• 8 pre-defined DeviceNet profiles supported. Advanced
Features

2.4 Back-up power supply

The required drive can be connected to a back-up power supply. This keeps the control
DeviceNet
Objects

electronics and Option Module powered up, allowing the SI-DeviceNet to continue
communicating with the DeviceNet master controller when the line power to the drive is
switched off.
Diagnostics

NOTE The back-up supply is provided through the drive and not the connections on SI-
DeviceNet, which have an alternative use.
Glossary Of
Terms
Index

SI-DeviceNet User Guide 9

Issue Number: 2
2.5 Option Module identification
SI-DeviceNet can be identified by:
1. The label located on the top of the Option Module.
2. The color coding across the front of the SI-DeviceNet (dark grey).
Figure 2-4 SI-DeviceNet labels

SI-DeviceNet
1

1 Topside module label

2 Underside module label
2.5.1 Date code format
The date code is split into two sections: a letter followed by a number. The letter
indicates the year, and the number indicates the week number (within the year) in which
the Option Module was built.The letters go in alphabetical order, starting with A in 1990
(B in 1991, C in 1992 etc).
Example:
A date code of V35 would correspond to week 35 of year 2012.

2.6 Product Conformance Certificate

SI-DeviceNet has been awarded full DeviceNet Conformance Certification by the Open
DeviceNet Vendors Association (ODVA). A copy of the certificate is available on request
from your supplier or local Control Techniques Drive Centre.

2.7 Conventions used in this guide

The configuration of the host drive and Option Module is done using menus and
parameters. A menu is a logical collection of parameters that have similar functionality.
In the case of an Options Module, the parameters will appear in menu 15, 16 or 17
depending on which slot the module is installed to. The menu is determined by the
number before the decimal point.
The method used to determine the menu or parameter is as follows:
• Pr S.mm.ppp - Where S signifies the Option module slot number and mm.ppp
signifies the menu and parameter number of the Option module's internal menus
and parameters.
• Pr MM.ppp - Where MM signifies the menu allocated to the Option module set-up
menu and ppp signifies the parameter number.
• Pr mm.000 - Signifies parameter number 000 in any drive menu.

10 SI-DeviceNet User Guide

Issue Number: 2
 information
3 Mechanical installation

Safety
Before installing or removing an Option module from any drive, ensure the

Introduction
AC supply has been disconnected for at least 10 minutes and refer to
section 1 Safety information on page 5. If using a DC bus supply ensure
WARNING
this is fully discharged before working on any drive or Option module.

Mechanical
installation
3.1 General installation
The installation of an Option module is illustrated in Figure 3-1.

installation
Electrical
Figure 3-1 Installing an Option module

Getting
started
Parameters
Non cyclic
data
status word
Control /
1 2

EDS Files
3.1.1 Installing the first Option module
• Option module slots must be used in the following order: slot 3, slot 2 and slot 1.
Orientate the Option module above the drive as shown in (1). Advanced
• Align and insert the Option module tab into the slot (2). Press down on the Option
Features

module until it clicks into place.

DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 11

Issue Number: 2
4 Electrical installation
4.1 SI-DeviceNet terminal descriptions
SI-DeviceNet has a standard 5-way screw terminal block connector (shown on the right)
for the DeviceNet network.
Figure 4-1 SI-DeviceNet - connector view

1 5

Table 4.1 SI-DeviceNet terminal descriptions

5-way
Function Description
terminal
1 0V 0 V DeviceNet external supply
2 CAN-L Negative data line
3 Shield Cable braided shield connection
4 CAN-H Positive data line
5 +24 V +24 V DeviceNet external supply

NOTE The external supply terminals provide power for the DeviceNet transceiver circuitry, but
do NOT provide power to keep the SI-DeviceNet operating in the event of the mains pow-
er supply loss to the drive. An external supply will keep the DeviceNet transceivers pow-
ered up and the network load characteristics constant in the event of loss of power to the
drive.
Any external supply must be suitably installed to prevent noise on the network.
Connecting pins 1 and 5 to an external supply allows the line driver circuitry to remain
powered when the drive and the SI-DeviceNet module are turned off. This 24 V input
CAUTION does not allow SI-DeviceNet to continue communicating.

12 SI-DeviceNet User Guide

Issue Number: 2
4.2 SI-DeviceNet connections

information
Safety
To connect SI-DeviceNet to the DeviceNet network, make the connections as shown in
the diagram below. The length of the "pigtail" shield connection must be kept as short as
possible.

Introduction
Figure 4-2 SI-DeviceNet connections

Mechanical
installation
installation
Electrical
Cable

SI-DeviceNet
2125576532

1 2 3 4 5

Getting
started
Parameters
Non cyclic
data
4.3 DeviceNet cable

status word
Control /
DeviceNet cable has 2 twisted pairs plus an overall shielding. DeviceNet has a specified
color code, and it is important that this code is maintained. The data wires are white and
blue, and the network power supply wires are red and black.

EDS Files
Table 4.2 DeviceNet cable color codes
Terminal Cable Data signal Description
1 Black 0V 0 V external power supply Advanced
Features

2 Blue CAN-L Negative data line

3 Braided Shield Shield Cable shield
4 White CAN-H Positive data line
DeviceNet
Objects

5 Red +24 V +24 V external power supply

DeviceNet networks run at high data rates and require cable specifically designed to
carry high frequency signals. Low quality cable will attenuate the signals and may
Diagnostics

render the signal unreadable for the other nodes on the network. Cable specifications
and a list of approved manufacturers of cable for use on DeviceNet networks is
available on the Open DeviceNet Vendors Association web site at www.odva.org.
Glossary Of

NOTE Control Techniques can only guarantee correct and reliable operation of SI-DeviceNet if
Terms

all other equipment installed on the DeviceNet network (including the network cable) has
been approved by the ODVA.
Index

SI-DeviceNet User Guide 13

Issue Number: 2
4.4 DeviceNet network termination
It is very important in high-speed communications networks that the network
communications cable is installed with the specified termination resistor network at each
end of the cable segment. This prevents signals from being reflected back down the
cable and causing interference.
During installation of a DeviceNet network, 120 Ω 0.25 W termination resistors should
be installed across the CAN-H and CAN-L lines at both ends of the network segment, as
shown in Figure 4-3 below.
Figure 4-3 DeviceNet network termination

Cable

SI-DeviceNet
2125576532

1 2 3 4 5

120 Ω
0.25 W

NOTE Failure to terminate a network correctly can seriously affect the operation of the network.
If the correct termination resistors are not installed, the noise immunity of the network is
greatly reduced.

If too many termination resistors are installed on a DeviceNet network, the network will
be over-loaded, resulting in reduced signal levels. This may cause nodes to miss some
bits of information, resulting in potential transmission errors.

4.5 SI-DeviceNet cable shield connections

The SI-DeviceNet should be wired with the cable shields isolated from ground at each
drive. The cable shields should be linked together at the point where they emerge from
the cable, and formed into a short pigtail to be connected to pin 3 on the DeviceNet
connector.

NOTE The DeviceNet cable can be tie-wrapped to the grounding bar or local convenient mount-
ing that is not live to provide strain relief, but the DeviceNet cable shield must be kept
isolated from ground at each node. The only exception to this is the DeviceNet ground
point. Refer to section 4.6 DeviceNet ground point on page 15.

14 SI-DeviceNet User Guide

Issue Number: 2
4.6 DeviceNet ground point

information
Safety
The DeviceNet cable shield must be grounded AT ONE POINT only, usually near the
centre point of the cable run. This is to prevent the cable shield from becoming live in
the event of catastrophic failure of another device on the DeviceNet network.

Introduction
4.7 Maximum network length
The maximum number of nodes that can be connected to a single DeviceNet network

Mechanical
installation
segment is 64. The maximum length of network cable for a DeviceNet network is
specified by the Open DeviceNet Vendors Association and depends on the data rate to
be used.
Table 4.3 DeviceNet maximum segment lengths

installation
Electrical
Data rate (bits/sec) Maximum network length (m)
1M 30
800 k 50

Getting
started
500 k 100
250 k 250
125 k 500

Parameters
100 k 700
50 k 1000
20 k 2500

Non cyclic
10 k 5000

data
status word
Control /
4.8 Spurs
Control Techniques do not recommend the use of spurs on a DeviceNet network.

EDS Files
4.9 Minimum node to node cable length
The DeviceNet specification does not specify a minimum node to node distance,
however, Control Techniques advises a minimum distance of 1 m between nodes to
Advanced
Features

prevent excessive bend radii and to reduce network reflections.

DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 15

Issue Number: 2
5 Getting started
This section is intended to provide a generic guide for setting up SI-DeviceNet and a
master controller/PLC. Figure 5.1 Quick start chart SI-DeviceNet on page 17 is intended
as the starting point for a new installation. The following pages detail the various
methods available to configure SI-DeviceNet. It is recommended that all of this section
is read, before attempting to configure a system.

NOTE It is recommended that the latest firmware is used where possible to ensure all features
are supported.
NOTE Due to the large number of different PLCs/masters that support DeviceNet, details
cannot be provided for any specific master or PLC. Generic support is available through
your supplier or local drive centre. Before contacting your supplier or local drive centre
for support ensure you have read Chapter 12 Diagnostics on page 69 of this manual and
check you have configured all parameters correctly.
Ensure the following information is available before calling:
• A list of all parameters in SI-DeviceNet
• The drive firmware version (see the drive documentation)
• The SI-DeviceNet firmware version

16 SI-DeviceNet User Guide

Issue Number: 2
5.1 Quick start chart SI-DeviceNet

information
Safety
Start

Introduction
Set node address
(Pr S.01.004) to a
unique address
(not 63)

Mechanical
installation
Set DeviceNet
data rate
(Pr S.01.005)

installation
Electrical
Configure mappings
(Pr S.02.001-
Pr S.02.028
and Pr S.03.001
- S.03.028)

Getting
started
Perform a drive
save (Pr mm.000
= save parameters For drives on 24 V only use 1001
or 1000) and
press reset

Parameters
Reset Option
module
(Pr MM.007=On)

Non cyclic
data
Configure PLC to
expect drive at Ensure PLC
address set in correctly
(Pr S.01.004) configured

status word
Control /
Configure PLC
network data rate
to match drive

EDS Files
no

Map the data from

yes Remove power
the network into Is Pr S.01.006
then re-install
the PLC program =“Init Failed”?
Advanced
Features

Option module

Place the PLC in

“Run Mode”
DeviceNet
Objects

no

Check the
Diagnostics

no Is a SlotX Error yes sub-string

Is Pr S.01.007 >0 ?
present? then find error
code in manual
Glossary Of
Terms

Communications
functional, write
PLC code

END
Index

SI-DeviceNet User Guide 17

Issue Number: 2
5.2 Parameter save and restore
Parameters in the module are saved when a normal drive parameter save is initiated by
selecting "Save Parameters" or setting a value of 1000 in Pr mm.000 and performing a
drive reset. (If the drive is in the under voltage state or is supplied from a low voltage
power supply then a value of 1001 must be set in Pr mm.000 and a drive reset
performed).
Any user-saved parameters in the option module's internal menus are stored in non-
volatile memory on the module and not in the drive. Therefore, if the module is moved to
a different slot or to a different drive, then any saved parameter values will follow the
module. If a module is to be replaced, ensure that the parameter values for the module
have been backed up before replacing it.

5.3 Module reset

A reset of the SI-DeviceNet module can be performed by the methods detailed below.
• Set Pr S.00.007 (or Pr MM.007) to On (1). This will only reset the module in slot S.
• Select "Reset modules" or set a value of 1070 in Pr mm.000, and performing a drive
reset. This will perform a reset of all option modules installed in the drive.

5.4 Restoring module parameter default values

Setting Pr S.00.008 (or Pr MM.008) to On (1) and performing a module reset will return
all parameters in the SI-DeviceNet module to their default values.
Parameters in the SI-DeviceNet module will also be set to their default values when
drive parameters are returned to their default values.

5.5 Single Line Parameters

Table 5.1 Menu 0 Setup
Parameter Range(Ú) Default(Ö) Type
MM.001 Module ID 0 to 999 447 RO Num ND NC PT
00.00.00.00
MM.002 Software Version to RO Num ND NC PT
99.99.99.99
MM.003 Hardware Version 00.00 to 99.99 RO Num ND NC PT
MM.004 Serial Number LS 0 to 99999999 RO Num ND NC PT
MM.005 Serial Number MS 0 to 99999999 RO Num ND NC PT
Initialising (0), OK (1),
MM.006 Module status RO Num ND NC PT
Config (2), Error (3)
MM.007 Module reset Off (0) or On (1) Off (0) RW Bit NC
MM.008 Module default Off (0) or On (1) Off (0) RW Bit NC

18 SI-DeviceNet User Guide

Issue Number: 2
 Table 5.2 Menu 1 DeviceNet setup

information
Safety
Parameter Range(Ú) Default(Ö) Type
Enable DeviceNet
S.01.001 Off (0) or On (1) On (1) RO Bit NC
Interface

Introduction
Reset DeviceNet
S.01.002 Off (0) or On (1) Off (0) RW Bit NC
Interface
Default DeviceNet
S.01.003 Off (0) or On (1) Off (0) RW Bit NC
Interface

Mechanical
installation
DeviceNet node
S.01.004 0 to 63 63 RW Num US
address
Auto Detect (-1), 125 kbps (0), 250 125 kbps
S.01.005 Baud rate RW Txt US
kbps (1), 500 kbps (2) (0)

installation
Network OK (0), Init OK (1), No

Electrical
DeviceNet Network Cyclic (2), Init Failed (3), Comm
S.01.006 RO Txt ND NC PT
Diagnostic Fault (4), No 24 V (5), Baud
detecting (6), Initialising (7)
Cyclic data trans-
S.01.007 0 to 9999 messages/s RO Num ND NC PT

Getting
started
fers per second
S.01.010 Timeout delay 0 to 9999 ms 200 ms RW Num US
Trip (0), Send flt values (1), Clear

Parameters
S.01.011 Timeout action output (2), Hold last (3), No action Trip (0) RW Txt US
(4)
Timeout event desti- This slot (0), Slot 1 (1), Slot 2 (2), This slot
S.01.012 RW Txt US
nation Slot 3 (3), Slot 4 (4) (0)
No event (0), Event 0 (1), Event 1

Non cyclic
No event
S.01.013 Timeout event (2), Event 2 (3), Event 3 (4), Event RW Txt US

data
(0)
4 (5)
S.01.014 Data alignment 32 (0) or 16 (1) bits 32 (0) bits RW Txt US

status word
Input Cyclic Assem-

Control /
S.01.018 70-73, 106-160 (even) 112 RW Num US
bly Object ID
Output Cyclic
S.01.019 20-23, 107-161 (odd) 113 RW Num US
Assembly Object ID

EDS Files
Input cyclic map-
S.01.020 1 to 28 4 RO Num
ping length
Output cyclic map-
S.01.021 1 to 28 4 RO Num
ping length Advanced
No error (0), Par Impossible (1),
Features

Hole in mapping (2), Dup mapping

Input mapping sta- (3), Length exceed (4), Obj not No error
S.01.022 RO Txt NC PT
tus support (5), Pre & uncompress (6), (0)
Type Unmatched (7), Memory fault
DeviceNet
Objects

(8), No mapping (9)

No error (0), Par Impossible (1),
Hole in mapping (2), Dup mapping
Output mapping (3), Length exceed (4), Obj not No error
S.01.023 RO Txt NC PT
Diagnostics

status support (5), Pre & uncompress (6), (0)

Type Unmatched (7), Memory fault
(8), No mapping (9)
Input processing
S.01.024 0 to 65535 ms RO Num ND
Glossary Of

time
Terms

Output processing
S.01.025 0 to 65535 ms RO Num ND
time
Input consistency
S.01.026 Disable (0) or Enable (1) Disable (0) RW Bit US
enable
Index

Input consistency
S.01.027 0 to 4.99.999 0.00.000 RW DE PT US
trigger parameter

SI-DeviceNet User Guide 19

Issue Number: 2
 Output consistency
S.01.028 Disable (0) or Enable (1) Disable (0) RW Bit US
enable
Output consistency
S.01.029 0 to 4.99.999 0.00.000 RW DE PT US
trigger parameter
Custom product Unidrive M
S.01.031 Unidrive M (0) or Unidrive SP (1) RW Txt US
type (0)
Custom product
S.01.032 0 to 9999 0 RW Num US
version
S.01.034 Bus Off trip Enable (0) or Disable (1) Enable (0) RW Txt US
FC DC Motor (2), WRI motor (6),
SCI motor
S.01.040 Motor 1 Type SCI motor (7), Sin PM BL motor (9), RO Txt PT US
(7)
Trap PM BL motor (10)
FC DC Motor (2), WRI motor (6),
SCI motor
S.01.041 Motor 2 Type SCI motor (7), Sin PM BL motor (9), RO Txt PT US
(7)
Trap PM BL motor (10)

20 SI-DeviceNet User Guide

Issue Number: 2
 Table 5.3 Menu 2 Input mapping

information
Safety
Parameter Range(Ú) Default(Ö) Type

S.02.001 Input mapping parameter 1 0 to 499999 10040 RW Num DE PT US

Introduction
S.02.002 Input mapping parameter 2 0 to 499999 2001 RW Num DE PT US

S.02.003 Input mapping parameter 3 0 to 499999 0 RW Num DE PT US

S.02.004 Input mapping parameter 4 0 to 499999 0 RW Num DE PT US

Mechanical
installation
S.02.005 Input mapping parameter 5 0 to 499999 0 RW Num DE PT US

S.02.006 Input mapping parameter 6 0 to 499999 0 RW Num DE PT US

S.02.007 Input mapping parameter 7 0 to 499999 0 RW Num DE PT US

installation
Electrical
S.02.008 Input mapping parameter 8 0 to 499999 0 RW Num DE PT US

S.02.009 Input mapping parameter 9 0 to 499999 0 RW Num DE PT US

Getting
S.02.010 Input mapping parameter 10 0 to 499999 0 RW Num DE PT US

started
S.02.011 Input mapping parameter 11 0 to 499999 0 RW Num DE PT US

S.02.012 Input mapping parameter 12 0 to 499999 0 RW Num DE PT US

Parameters
S.02.013 Input mapping parameter 13 0 to 499999 0 RW Num DE PT US

S.02.014 Input mapping parameter 14 0 to 499999 0 RW Num DE PT US

Non cyclic
S.02.015 Input mapping parameter 15 0 to 499999 0 RW Num DE PT US

data
S.02.016 Input mapping parameter 16 0 to 499999 0 RW Num DE PT US

S.02.017 Input mapping parameter 17 0 to 499999 0 RW Num DE PT US

status word
Control /
S.02.018 Input mapping parameter 18 0 to 499999 0 RW Num DE PT US

S.02.019 Input mapping parameter 19 0 to 499999 0 RW Num DE PT US

S.02.020 Input mapping parameter 20 0 to 499999 0 RW Num DE PT US

EDS Files
S.02.021 Input mapping parameter 21 0 to 499999 0 RW Num DE PT US

S.02.022 Input mapping parameter 22 0 to 499999 0 RW Num DE PT US

Advanced
Features

S.02.023 Input mapping parameter 23 0 to 499999 0 RW Num DE PT US

S.02.024 Input mapping parameter 24 0 to 499999 0 RW Num DE PT US

S.02.025 Input mapping parameter 25 0 to 499999 0 RW Num DE PT US

DeviceNet
Objects

S.02.026 Input mapping parameter 26 0 to 499999 0 RW Num DE PT US

S.02.027 Input mapping parameter 27 0 to 499999 0 RW Num DE PT US

Diagnostics

S.02.028 Input mapping parameter 28 0 to 499999 0 RW Num DE PT US

Glossary Of
Terms
Index

SI-DeviceNet User Guide 21

Issue Number: 2
 Table 5.4 Menu 3 Output mapping
Parameter Range(Ú) Default(Ö) Type

S.03.001 Output mapping parameter 1 0 to 499999 6042 RW Num DE PT US

S.03.002 Output mapping parameter 2 0 to 499999 1021 RW Num DE PT US

S.03.003 Output mapping parameter 3 0 to 499999 0 RW Num DE PT US

S.03.004 Output mapping parameter 4 0 to 499999 0 RW Num DE PT US

S.03.005 Output mapping parameter 5 0 to 499999 0 RW Num DE PT US

S.03.006 Output mapping parameter 6 0 to 499999 0 RW Num DE PT US

S.03.007 Output mapping parameter 7 0 to 499999 0 RW Num DE PT US

S.03.008 Output mapping parameter 8 0 to 499999 0 RW Num DE PT US

S.03.009 Output mapping parameter 9 0 to 499999 0 RW Num DE PT US

S.03.010 Output mapping parameter 10 0 to 499999 0 RW Num DE PT US

S.03.011 Output mapping parameter 11 0 to 499999 0 RW Num DE PT US

S.03.012 Output mapping parameter 12 0 to 499999 0 RW Num DE PT US

S.03.013 Output mapping parameter 13 0 to 499999 0 RW Num DE PT US

S.03.014 Output mapping parameter 14 0 to 499999 0 RW Num DE PT US

S.03.015 Output mapping parameter 15 0 to 499999 0 RW Num DE PT US

S.03.016 Output mapping parameter 16 0 to 499999 0 RW Num DE PT US

S.03.017 Output mapping parameter 17 0 to 499999 0 RW Num DE PT US

S.03.018 Output mapping parameter 18 0 to 499999 0 RW Num DE PT US

S.03.019 Output mapping parameter 19 0 to 499999 0 RW Num DE PT US

S.03.020 Output mapping parameter 20 0 to 499999 0 RW Num DE PT US

S.03.021 Output mapping parameter 21 0 to 499999 0 RW Num DE PT US

S.03.022 Output mapping parameter 22 0 to 499999 0 RW Num DE PT US

S.03.023 Output mapping parameter 23 0 to 499999 0 RW Num DE PT US

S.03.024 Output mapping parameter 24 0 to 499999 0 RW Num DE PT US

S.03.025 Output mapping parameter 25 0 to 499999 0 RW Num DE PT US

S.03.026 Output mapping parameter 26 0 to 499999 0 RW Num DE PT US

S.03.027 Output mapping parameter 27 0 to 499999 0 RW Num DE PT US

S.03.028 Output mapping parameter 28 0 to 499999 0 RW Num DE PT US

22 SI-DeviceNet User Guide

Issue Number: 2
 Table 5.5 Menu 4 Fault values

information
Safety
Parameter Range(Ú) Default(Ö) Type

S.04.001 Output Fault value 1 31 31 0 RW Num US

-2 to 2 -1

Introduction
S.04.002 Output Fault value 2 -231 to 231-1 0 RW Num US

S.04.003 Output Fault value 3 -231 to 231-1 0 RW Num US

Mechanical
S.04.004 Output Fault value 4 31 31 0 RW Num US

installation
-2 to 2 -1

S.04.005 Output Fault value 5 -231 to 231-1 0 RW Num US

S.04.006 Output Fault value 6 -231 to 231-1 0 RW Num US

installation
Electrical
S.04.007 Output Fault value 7 -231 to 231-1 0 RW Num US

S.04.008 Output Fault value 8 -231 to 231-1 0 RW Num US

Getting
started
S.04.009 Output Fault value 9 -231 to 231-1 0 RW Num US

S.04.010 Output Fault value 10 -231 to 231-1 0 RW Num US

Parameters
S.04.011 Output Fault value 11 31 31 0 RW Num US
-2 to 2 -1

S.04.012 Output Fault value 12 31 31 0 RW Num US

-2 to 2 -1

S.04.013 Output Fault value 13 -231 to 231-1 0 RW Num US

Non cyclic
data
S.04.014 Output Fault value 14 -231 to 231-1 0 RW Num US

S.04.015 Output Fault value 15 -231 to 231-1 0 RW Num US

status word
Control /
S.04.016 Output Fault value 16 -231 to 231-1 0 RW Num US

S.04.017 Output Fault value 17 -231 to 231-1 0 RW Num US

EDS Files
S.04.018 Output Fault value 18 -231 to 231-1 0 RW Num US

S.04.019 Output Fault value 19 -231 to 231-1 0 RW Num US

-231 231-1
Advanced
S.04.020 Output Fault value 20 to 0 RW Num US
Features

S.04.021 Output Fault value 21 31 31 0 RW Num US

-2 to 2 -1

S.04.022 Output Fault value 22 31 31 0 RW Num US

-2 to 2 -1
DeviceNet
Objects

S.04.023 Output Fault value 23 -231 to 231-1 0 RW Num US

S.04.024 Output Fault value 24 -231 to 231-1 0 RW Num US

Diagnostics

S.04.025 Output Fault value 25 -231 to 231-1 0 RW Num US

S.04.026 Output Fault value 26 -231 to 231-1 0 RW Num US

Glossary Of

S.04.027 Output Fault value 27 -231 to 231-1 0 RW Num US

Terms

S.04.028 Output Fault value 28 -231 to 231-1 0 RW Num US

Index

SI-DeviceNet User Guide 23

Issue Number: 2
 Table 5.6 Menu 9 Resources
Parameter Range(Ú) Default(Ö) Type

S.09.030 PCB temperature -128 to 127 0C RO Num ND NC PT

24 SI-DeviceNet User Guide

Issue Number: 2
 Parameters
6 Parameters
6.1 Menus

Introduction
Table 6.1 below details each of the module's internal menus.
Table 6.1 SI-DeviceNet Internal Menu descriptions
Menu Description

Mechanical
installation
S.0 Module information
S.1 DeviceNet setup
S.2 Input mapping

installation
Electrical
S.3 Output mappings
S.4 Fault values
S.9 Resources

Getting
started
S is the slot number where the module is installed.
The module's menu 0 is also displayed in menu 15, 16 or 17 on the drive depending on
which slot the module is installed in. Table 6.2 below shows the location of module's

Parameters
menu 0 on the drive.
Table 6.2 SI-DeviceNet menu 0 locations on the drive
Slot number Menu 0 location

Non cyclic
1 15

data
2 16
3 17

status word
Control /
6.2 Module menu 0 - Module Information
All parameters in S.00.ppp (i.e. menu 0 within the Option module menus) are also

EDS Files
present in menus 15, 16 or 17 depending on the slot that the module is installed to e.g.
Pr 3.00.007 is also present as 17.007.
The functionality and properties of the parameters are identical between the two menus. Advanced
Features

Module ID code
Default 447
S.00.001 Range 0 to 999
DeviceNet

Access RO
Objects

Pr S.00.001 displays the ID number for the Option Module. For SI-DeviceNet, this is
447.
Diagnostics

SI-DeviceNet firmware version

Default N/A
S.00.002 Range 00.00.00.00 to 99.99.99.99
Glossary Of
Terms

Access RO

The firmware version of the Option module is in the format of ww.xx.yy.zz

Index

SI-DeviceNet User Guide 25

Issue Number: 2
 SI-DeviceNet hardware version
Default N/A
S.00.003 Range 00.00 to 99.99
Access RO

The hardware version of the Option module is in the format of yy.zz

Serial Number LS
Default N/A
S.00.004 Range 0 to 99999999
Access RO

Serial Number MS
Default N/A
S.00.005 Range 0 to 99999999
Access RO
The module serial number is available as a pair of 32-bit values where Serial Number
LS (Pr S.00.004) provide the least significant 8 decimal digits, and Serial Number MS
(Pr S.00.005) provides the most significant 8 decimal digits. The reconstructed serial
number is ((S.00.005 x 100000000) + S.00.004). For example serial number
“0001234567898765” would be stored as S.00.005 = 12345 and S.00.004 = 67898765.

Module Status
Default N/A
S.00.006 Range Initializing (0) to Error (3)
Access RO

This parameter displays the current status of the module. All possible values are shown
in the table below.
Value Text Description
0 Initializing Module is currently initializing.
1 Ok Module has initialized and has found no errors.
A configuration error has been detected in one of the
2 Config
communications protocols or user program.
An error has occurred preventing the firmware or user
3 Error
program from running correctly.

26 SI-DeviceNet User Guide

Issue Number: 2
 Reset module

Parameters
Default Off (0)
S.00.007 Range Off (0) or On (1)
Access RW

Introduction
Changes to the SI-DeviceNet configuration will not take effect until the SI-DeviceNet
has been reset.
To reset the SI-DeviceNet:

Mechanical
installation
• Set Pr S.00.007 to On (1).
• When the sequence has been completed, Pr S.00.007 will be reset to Off (0).
• The SI-DeviceNet will reset using the updated configuration.

installation
Electrical
NOTE This sequence does NOT store the SI-DeviceNet configuration parameters in the drive
or the SI-DeviceNet flash memory. This parameter will change back to Off immediately,
and as such the change may not be visible on the display.

Getting
started
Default DeviceNet Interface
Default Off (0)

Parameters
S.00.008 Range Off (0) or On (1)
Access RW
If the host drive is defaulted (see the drive user guide for details), it will also clear the
current configuration for the slot SI-DeviceNet is installed to.

Non cyclic
data
This can be performed as follows:
• Set Pr S.00.008 to On (1).

status word
• Reset the module by setting Pr S.00.007 to On (1).

Control /
• SI-DeviceNet communications will be stopped.
• Default parameter values for the SI-DeviceNet will be loaded.
• The SI-DeviceNet will reset using the default values.

EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 27

Issue Number: 2
6.3 Module menu 1 - DeviceNet Setup
Menu 1 contains all the parameters relating to the setup of the DeviceNet interface on
the SI-DeviceNet module.
Enable DeviceNet Interface
Default On (1)
S.01.001 Range Off (0) or On (1)
Access RO

This parameter displays a value of On (1) to indicate that the DeviceNet Interface has
been enabled.
Reset DeviceNet Interface
Default Off (0)
S.01.002 Range Off (0) or On (1)
Access RW

Changes to the SI-DeviceNet configuration will not take effect until the SI-DeviceNet
has been reset.
To reset the SI-DeviceNet:
• Set Pr S.01.002 to On (1).
• When the sequence has been completed, Pr S.01.002 will be reset to Off (0).
• The SI-DeviceNet will reset using the updated configuration.
NOTE This sequence does NOT store the SI-DeviceNet configuration parameters in the drive
or the SI-DeviceNet flash memory. This parameter will change back to Off immediately,
and as such the change may not be visible in the display.

Default DeviceNet Interface

Default Off (0)
S.01.003 Range Off (0) or On (1)
Access RW
If the host drive is defaulted (see the drive user guide for details), it will also clear the
current configuration for the slot SI-DeviceNet is installed to.
This can be performed as follows:
• Set Pr S.01.003 to On (1).
• Reset the DeviceNet interface by setting Pr S.01.002 to On (1).
• SI-DeviceNet communications will be stopped.
• Default parameter values for the DeviceNet interface will be loaded.
• The SI-DeviceNet will reset using the default values.

DeviceNet node address

Default 63
S.01.004 Range 0 to 63
Access RW

Every node on a DeviceNet network must be given a unique network node address. To
activate a change in the node address value, the SI-DeviceNet must be reset
(Pr S.01.002 or MM.007 = On (1). Address number 63 is reserved for system use.

28 SI-DeviceNet User Guide

Issue Number: 2
 Baud rate

Parameters
Default 125 kbps (0)
S.01.005 Range Auto Detect (-1) to 500 kbps (2)
Access RW

Introduction
The SI-DeviceNet will automatically detect the DeviceNet network data rate and
synchronize to it. Pr S.01.005 will indicate the data rate that has been detected by the
SI-DeviceNet.

Mechanical
installation
A value of -1 indicates that the SI-DeviceNet has not detected any activity on the
DeviceNet network, and is waiting for the master controller to start communicating.

The DeviceNet cyclic data rate parameter can be changed, but this will not affect the

installation
NOTE

Electrical
data rate at which the SI-DeviceNet communicates. The data rate display will be
updated when the SI-DeviceNet is reset.

Pr S.01.005 Bits/s

Getting
started
-1 Auto-detecting
0 125 k
1 250 k

Parameters
2 500 k

DeviceNet network diagnostic

Non cyclic
data
Default N/A
S.01.006 Range 0 to 7
Access RO

status word
Control /
DeviceNet cyclic data rate
Default N/A

EDS Files
S.01.007 Range 0 to 9999 Messages/s
Access RO

The DeviceNet network activity can be monitored in the SI-DeviceNet operating status
Advanced
Features

parameter, Pr S.01.006. When the SI-DeviceNet is in data exchange with the DeviceNet
master controller, Pr S.01.007 will give an indication of the number of cyclic data
messages that are being processed per second.
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 29

Issue Number: 2
 All possible values of S.01.006 are given in the table below.
Value Text Description
0 Network OK Network ok/healthy
The SI-DeviceNet has initialized correctly and is waiting
1 Init OK
for the DeviceNet master to initialize communications.
No cyclic data has been recognized. This could be due to
2 No Cyclic the length of the mapping data is not equal to the master
setup.
A part of the SI-DeviceNet initialization sequence was not
3 Init Failed successful. If this fault persists after a power-cycle,
replace the SI-DeviceNet.
Fault found in the communications of the module. This
4 Comm Fault could be due to different devices configured to use
different baud rates.
5 No 24 V No 24 V external PSU has been detected.
6 Baud detecting Automatic baud rate detection is in progress.
7 Initializing The module is currently initializing.

Network loss selection

Default 200 ms
S.01.010 Range 0 to 3000 ms
Access RO
The network loss detection feature provides a method which ensures that
communication with the master is still present. The SI-DeviceNet resets an internal
timer when a valid message is received from the DeviceNet network, if a message is not
received within the specified period, network loss is detected.
NOTE
Network loss detection is not enabled internally until cyclic data has been detected. This
prevents spurious network loss timeouts while the DeviceNet master controller is
initializing the DeviceNet network.

Timeout action
Default Trip (0)
S.01.011 Range Trip (0) to No action (4)
Access RW

Pr S.01.011 determines the action to take when a timeout specified by Pr S.01.010

occurs. All possible actions and descriptions are listed below.
Value Text Description
0 Trip Trip the drive
1 Send flt values Send fault values to output parameters
2 Clear output PLC output parameters will have values set to zero
3 Hold last Hold the last value in the PLC output parameters
4 No action No action with output parameters

30 SI-DeviceNet User Guide

Issue Number: 2
 When a value of "Trip" is selected in Pr S.01.011 and no cyclic communications have

Parameters
been detected in a time period defined by Pr S.01.010 then the drive will trip displaying
"SlotX Error" with a sub-trip string of "Link loss".
If the network loss timeout time (Pr S.01.010) is reduced too far, spurious network

Introduction
losses may occur due to a time-out occurring before the time period under normal
operating conditions.

Network loss detection can be disabled by setting Pr S.01.010 to 0. It is the user's

Mechanical
installation
responsibility to ensure that adequate safety precautions are taken to prevent damage
or injury by disabling the drive in the event of a loss of communications.
WARNING

If Pr S.01.011 is set to "Send flt values", the fault values entered in Pr S.04.001 to

installation
Electrical
Pr S.04.028 are sent to the mapped output parameters when a network timeout error
occurs.
e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, the
value in Pr S.04.001 will be sent to Pr 20.021 and the value in Pr S.04.002 will be sent

Getting
started
to Pr 20.022 as defined in the out mapping parameters.
If Pr S.01.011 is set to "Clear output", all PLC output parameter values are set to zero.

Parameters
e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs,
Pr 20.021 and Pr 20.022 will be set to 0.
If Pr S.01.011 is set to "Hold last", the last values sent by the PLC master are held in the
mapped output parameters.

Non cyclic
data
e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs,
Pr 20.021 and Pr 20.022 will equal the last values sent by the PLC master.

status word
If Pr S.01.011 is set to "No action", then the module will not write any value to any

Control /
mapped output parameters.

Timeout Event Destination

EDS Files
Default This Slot (0)
S.01.012 Range This Slot (0) to Slot 4 (4)
Access RW
Advanced
Features

Timeout Event Type

DeviceNet

Default No Event (0)

Objects

S.01.013 Range No Event (0) to Event4 (4)

Access RW
Diagnostics

When a timeout occurs, the SI-DeviceNet module can trigger an event defined by
Pr S.01.013 to a destination, such as an Option Module installed to a different slot on
the drive, defined by Pr S.01.012.
Glossary Of
Terms

NOTE
If triggering an event to a different Option Module, Pr S.01.012 must point to a slot
where a compatible Option Module is installed to.
Index

SI-DeviceNet User Guide 31

Issue Number: 2
 Cyclic data alignment
Default 32 (0)
S.01.014 Range 32 (0) or 16 (1) bits
Access RW

By default, the SI-DeviceNet uses 32 bits for each data channel, even if the target
parameter in the drive is a 16-bit parameter. This strategy (known as casting), ensures
that the cyclic data transmitted over the DeviceNet network remains aligned with the
memory locations in 32-bit PLC's. When cyclic data alignment (Pr S.01.014) is set to "16
bits", a data channel will only use 32 bits if the target drive parameter is a 32-bit
parameter. If the target drive parameter is only 1, 8 or 16 bits wide, 16 bits will be used
for that particular data channel as shown in the following table.
Parameter Actual data size (bits) Actual data size (bits)
size Alignment = 16 bits Alignment = 32 bits
(bits)
1
8 16
32
16
32 32

The following examples demonstrate setting up a network using five cyclic channels for
both IN and OUT data with the cyclic data alignment first set to 32 bits and then set to
16 bits.
Table 6.3 shows the mapping parameters where five IN and five OUT cyclic data
channels are required. With data alignment set to 32 bits, each data channel uses 32
bits (two data words, so a total of ten words are required).
Table 6.3 Mapping parameters
Data
Data words Mapping
Data channel Setting width Mapping status
used for slot 3
(bits)
IN channel 1 IN word 0, 1 Pr 3.02.001 0.10.040 16 Pr 10.040, status word
Pr 02.001, post-ramp speed
IN channel 2 IN word 2, 3 Pr 3.02.002 0.02.001 32
reference
Pr 04.020, Motor load as % of
IN channel 3 IN word 4, 5 Pr 3.02.003 0.04.020 16
rated motor load
IN channel 4 IN word 6, 7 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback
IN channel 5 IN word 8, 9 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output
OUT channel 1 OUT word 0, 1 Pr 3.03.001 0.06.042 16 Pr 06.042, control word
OUT channel 2 OUT word 2, 3 Pr 3.03.002 0.01.021 32 Pr 01.021, preset reference 1
OUT channel 3 OUT word 4, 5 Pr 3.03.003 0.02.011 32 Pr 02.011, acceleration rate 1
OUT channel 4 OUT word 6, 7 Pr 3.03.004 0.02.021 32 Pr 02.021, deceleration rate 1
OUT channel 5 OUT word 8, 9 Pr 3.03.005 0.14.020 16 Pr 14.020, PID1 reference

32 SI-DeviceNet User Guide

Issue Number: 2
 It is advisable to keep 16-bit parameters paired together. This prevents mis-alignment of

Parameters
cyclic data with 32-bit PLC registers when using auto-mapping facilities to configure the
DeviceNet network. By swapping the mappings for input channel 2 with input channel 3
and moving output channel 5 to output channel 2, the data channel structure will appear
as shown in the following table.

Introduction
Data
Data Data words Mapping
Setting width Mapping status
channel used for slot 3
(bits)

Mechanical
installation
IN channel 1 IN word 0 Pr 3.02.001 0.10.040 16 Pr 10.040, status word
Pr 04.020, Motor load as % of
IN channel 2 IN word 1 Pr 3.02.002 0.04.020 16
rated motor load
Pr 02.001, post-ramp speed

installation
IN channel 3 IN word 2, 3 Pr 3.02.003 0.02.001 32

Electrical
reference
IN channel 4 IN word 4 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback
IN channel 5 IN word 5 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output
OUT channel 1 OUT word 0 Pr 3.03.001 0.06.042 16 Pr 06.042, control word

Getting
started
OUT channel 2 OUT word 1 Pr 3.03.002 0.14.020 16 Pr 14.020, PID1 reference
OUT channel 3 OUT word 2, 3 Pr 3.03.003 0.01.021 32 Pr 01.021, preset reference 1
OUT channel 4 OUT word 4, 5 Pr 3.03.004 0.02.011 32 Pr 02.011, acceleration rate

Parameters
OUT channel 5 OUT word 6, 7 Pr 3.03.005 0.02.021 32 1Pr 02.021, deceleration rate 1

Input cyclic assembly object ID

Non cyclic
data
Default 112
S.01.018 Range 70-73, 106-160 (even)
Access RW

status word
Control /
Output cyclic assembly object ID

EDS Files
Default 113
S.01.019 Range 20-23, 107-161 (odd)
Access RW Advanced
Features

Pr S.01.018 and S.01.019 control the input and output DeviceNet objects and also the
number of polled words that are to be sent and received.
Table 6.4 on page 34 shows the number of the polled words corresponding to
DeviceNet

Pr S.01.018 and Pr S.01.019.

Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 33

Issue Number: 2
 Table 6.4 Polled words
Input assembly object Output assembly object
Polled words
(Pr S.01.018) (Pr S.01.019)
1 106 107
2 108 109
3 110 111
4 112 113
5 114 115
6 116 117
7 118 119
8 120 121
9 122 123
10 124 125
11 126 127
12 128 129
13 130 131
14 132 133
15 134 135
16 136 137
17 138 139
18 140 141
19 142 143
20 144 145
21 146 147
22 148 149
23 150 151
24 152 153
25 154 155
26 156 157
27 158 159
28 160 161

There are several assembly objects that are covered in the DeviceNet specification that
are available for use. See the DeviceNet objects chapter.

34 SI-DeviceNet User Guide

Issue Number: 2
 Input cyclic mapping length

Parameters
Default 4
S.01.020 Range 0 to 28
Access RO

Introduction
Output cyclic mapping length
Default 4

Mechanical
installation
S.01.021 Range 0 to 28
Access RO

Pr S.01.020 and Pr S.01.021 indicate the current mapping length used for sending and

installation
Electrical
receiving data.
To set a different value for the mapping lengths, refer to Pr S.01.018 and Pr S.01.019.

Getting
started
Input mapping status
Default N/A
S.01.022 Range No error (0) to Reserved (10)

Parameters
Access RO

Non cyclic
Output mapping status

data
Default N/A
S.01.023 Range No error (0) to Reserved (10)

status word
Access RO

Control /
If the DeviceNet Network Diagnostic parameter (Pr S.01.006) indicates “Init Failed”, a
mapping configuration error has been could have been detected. The reason for the
error is indicated by the SI-DeviceNet input mapping status parameter (Pr S.01.022)

EDS Files
and the SI-DeviceNet output mapping status parameter (Pr S.01.023).
When a mapping error has been corrected, reset the SI-DeviceNet module by setting
Pr S.01.002 or MM.007 to On (1). Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 35

Issue Number: 2
 The mapping error codes are described in the table below:
Value Text Description
No error has been detected during mapping
0 No error
initialization.
1 Par impossible The parameter may not exist or may not be readable.
2 Hole in mapping Cyclic data mapping parameters are not contiguous.
Two or more cyclic data mapping configuration
3 Dup mapping parameters have been configured with the same
destination parameter reference.
The length of the mapped parameters exceeds the
4 Length exceed
length of the selected assembly object.
5 Obj not support The selected assembly object is not supported.
If the predefined object is selected, the data alignment
6 Pre & uncompress
must be set to 16 bits.
The IN and OUT objects both must be predefined
7 Type unmatched
objects, or neither.
8 Memory fault Failed to allocate memory for mapping.
9 No mapping No parameter is assigned to the mapping.
10 Reserved Reserved

Input processing time

Default N/A
S.01.024 Range 0 to 65535 ms
Access RO

Output processing time

Default N/A
S.01.025 Range 0 to 65535 ms
Access RO

Pr S.01.024 and Pr S.01.025 display the input and output processing times respectively.
The input processing time (Pr S.01.024) shows the time taken from the value being sent
from the drive to the value being written to the master in milliseconds. The output
processing time (Pr S.01.025) shows the time taken from the value being sent from the
master to the value being successfully written to the drive in milliseconds.

36 SI-DeviceNet User Guide

Issue Number: 2
 Input consistency enable

Parameters
Default Off (0)
S.01.026 Range Off (0) or On (1)
Access RW

Introduction
Input consistency trigger parameter
Default N/A

Mechanical
installation
S.01.027 Range 0.00.000 to 4.99.999
Access RW

installation
Electrical
Output consistency enable
Default Off (0)
S.01.028 Range Off (0) or On (1)

Getting
started
Access RW

Parameters
Output consistency trigger parameter
Default N/A
S.01.029 Range 0.00.000 to 4.99.999

Non cyclic
Access RW

data
The SI-DeviceNet module provides an input/output consistency feature which ensures
that the data in the input or output mappings is only transferred between the

status word
SI-DeviceNet module and the master when the mapped parameters are ready. This

Control /
prevents data skew between parameters in the input/output mappings.
If Input consistency action (Pr S.01.026) and Output consistency action (Pr S.01.028)
are set to 0 (i.e. default settings), then the input/output consistency features are

EDS Files
disabled so that input and output data is always read from or written to the master/
module.
If Input Consistency Action (Pr S.01.026) is set to On (1), the SI-DeviceNet module will Advanced
Features

check the value of the parameter specified by the Input Consistency Trigger Source
Parameter (Pr S.01.027). If the input trigger source parameter defined by Pr S.01.027 is
set to a non-zero value (for example by a user program in an applications module), this
indicates to the SI-DeviceNet module that all the mapped parameters are ready to be
DeviceNet
Objects

read. The module will then read the mapped parameters, transfer them to the master
and will then clear the input trigger source parameter to zero. When the input trigger
source parameter is set to zero, the SI-DeviceNet module will continue to transfer the
Diagnostics

previously read data to the master.

If Output Consistency Action (Pr S.01.028) is set to On (1), the SI-DeviceNet module will
check the value of the parameter specified by the Output Consistency Trigger Source
Parameter (Pr S.01.029). The output trigger source parameter defined by Pr S.01.029
Glossary Of
Terms

will initially be set to 1.

Index

SI-DeviceNet User Guide 37

Issue Number: 2
 If the output trigger source parameter is set to zero (for example by a user program in an
applications module), this indicates to the SI-DeviceNet module that all the mapped
parameters are ready to be written to. The module will then write the data from the
master into the mapped parameters, and will then set the output trigger source
parameter to 1. When the output trigger source parameter is set to 1, it indicates to the
SI-DeviceNet module that the mapped parameters are not ready to be written to, and
therefore any new data from the master will not be written to the mapped parameters in
the drive until the output trigger source parameter is again set to zero.

Custom product type

Default Unidrive M (0)
S.01.031 Range Unidrive M (0) or Unidrive SP (1)
Access RW

A backwards compatibility mode is present in SI-DeviceNet. Pr S.01.031 can be used to

allow the SI-DeviceNet module to appear as an SM-DeviceNet module, this only applies
to the network and not the control/status words and parameter sizes. The module must
be configured to match the existing network settings of the drive it is replacing (including
any parameter mappings).
Using the compatibility mode allows the replacement of drives on a DeviceNet network,
without having to make any changes to the master network configuration, it changes the
identity code of the module so that the master believes that a similar type drive is
present for a particular node.
Custom product version
Default 0
S.01.032 Range 0 to 9999
Access RW

When compatibility mode has been enabled, Pr S.01.032 should contain the correct
product code to respond to the DeviceNet master. This product code should match the
product code that is being used in the appropriate EDS files.

NOTE When using compatibility mode, ensure that the correct EDS file for the simulated drive
is being used and not the actual drive.

This mode only changes the network to emulate the Unidrive SP on the network.
Changes to the control method and data size differences must still be considered. This
WARNING mode does NOT allow direct replacement.

Bus Off trip

Default Enable (0)
S.01.034 Range Enable (0) or Disable (1)
Access RW
The CAN hardware layer used by DeviceNet has a built-in safety mechanism where
nodes experiencing regular problem with receiving or transmitting CAN frames will go
off line. In this case, the SI-DeviceNet will trip the drive and it will not be possible to
communicate with the drive via DeviceNet until the SI-DeviceNet has been reset.

38 SI-DeviceNet User Guide

Issue Number: 2
 Bus Off errors will generally only occur if the DeviceNet network is broken, the wiring

Parameters
becomes faulty or there is noise on the network. However, in some applications, such as
a continuous casting process, there is a requirement for the drive to continue to run in
the event of a major network failure.

Introduction
When Pr S.01.034 is set to Disable (1), the BUS Off condition may still be entered, but
the SI-DeviceNet does not trip the drive. Some external provision must be made to
disable the drive when the process has reached a point at which it is safe to stop.

Mechanical
installation
Motor 1 type
Default FC DC Motor (2)
FC DC Motor (2) to Trapezoidal PM BL
S.01.040 Range
Motor (10)

installation
Electrical
Access RO

Motor 2 type

Getting
started
Default FC DC Motor (2)
FC DC Motor (2) to Trapezoidal PM BL
S.01.041 Range
Motor (10)

Parameters
Access RO

There are 2 instances of the Motor Data object. Instance 1 will represent the Menu 5
motor information (Motor Map 1) and instance 2 will represent the menu 21 motor map.

Non cyclic
data
(Motor Map 2) The instance being used by the other dependant DeviceNet objects will
be determined by Pr 21.015. Pr 21.015 is polled in the background task, so the user
should be aware that during motor map changeover, the rpm speed reference might not

status word
be accurate.

Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 39

Issue Number: 2
6.4 Module menu 2 - Input Mappings
Menu 2 contains all the mapping parameters relating to the IN channels of the module.
The values set in each parameter are in the format of S.mm.ppp where:
S = slot number of the target/source parameter
mm = menu number of the target /source parameter
ppp = parameter number of the target/source parameter
IN channel Mapping parameter Default value
1 Pr S.02.001 0.10.040
2 Pr S.02.002 0.02.001
3 Pr S.02.003 0.00.000
4 Pr S.02.004 0.00.000
5 Pr S.02.005 0.00.000
6 Pr S.02.006 0.00.000
7 Pr S.02.007 0.00.000
8 Pr S.02.008 0.00.000
9 Pr S.02.009 0.00.000
10 Pr S.02.010 0.00.000
11 Pr S.02.011 0.00.000
12 Pr S.02.012 0.00.000
13 Pr S.02.013 0.00.000
14 Pr S.02.014 0.00.000
15 Pr S.02.015 0.00.000
16 Pr S.02.016 0.00.000
17 Pr S.02.017 0.00.000
18 Pr S.02.018 0.00.000
19 Pr S.02.019 0.00.000
20 Pr S.02.020 0.00.000
21 Pr S.02.021 0.00.000
22 Pr S.02.022 0.00.000
23 Pr S.02.023 0.00.000
24 Pr S.02.024 0.00.000
25 Pr S.02.025 0.00.000
26 Pr S.02.026 0.00.000
27 Pr S.02.027 0.00.000
28 Pr S.02.028 0.00.000

40 SI-DeviceNet User Guide

Issue Number: 2
6.5 Module menu 3 - Output Mappings

Parameters
Menu 3 contains all the mapping parameters relating to the OUT channels of the
module.
The values set in each parameter are in the format of S.mm.ppp where:

Introduction
S = slot number of the target/source parameter
mm = menu number of the target /source parameter
ppp = parameter number of the target/source parameter

Mechanical
installation
OUT channel Mapping Default value
parameter
1 Pr S.03.001 0.06.042

installation
Electrical
2 Pr S.03.002 0.01.021
3 Pr S.03.003 0.00.000
4 Pr S.03.004 0.00.000

Getting
started
5 Pr S.03.005 0.00.000
6 Pr S.03.006 0.00.000
7 Pr S.03.007 0.00.000

Parameters
8 Pr S.03.008 0.00.000
9 Pr S.03.009 0.00.000
10 Pr S.03.010 0.00.000

Non cyclic
11 Pr S.03.011 0.00.000

data
12 Pr S.03.012 0.00.000
13 Pr S.03.013 0.00.000

status word
14 Pr S.03.014 0.00.000

Control /
15 Pr S.03.015 0.00.000
16 Pr S.03.016 0.00.000
17 Pr S.03.017 0.00.000

EDS Files
18 Pr S.03.018 0.00.000
19 Pr S.03.019 0.00.000
20 Pr S.03.020 0.00.000
Advanced
Features

21 Pr S.03.021 0.00.000
22 Pr S.03.022 0.00.000
23 Pr S.03.023 0.00.000
DeviceNet
Objects

24 Pr S.03.024 0.00.000
25 Pr S.03.025 0.00.000
26 Pr S.03.026 0.00.000
Diagnostics

27 Pr S.03.027 0.00.000
28 Pr S.03.028 0.00.000
Glossary Of
Terms
Index

SI-DeviceNet User Guide 41

Issue Number: 2
6.6 Module menu 4 - Fault Values
Menu 4 contains all the fault values that are sent to the mapped output destination
parameters when fault values have been configured to be sent using an action
parameter.
OUT channel Parameter
1 Pr S.04.001
2 Pr S.04.002
3 Pr S.04.003
4 Pr S.04.004
5 Pr S.04.005
6 Pr S.04.006
7 Pr S.04.007
8 Pr S.04.008
9 Pr S.04.009
10 Pr S.04.010
11 Pr S.04.011
12 Pr S.04.012
13 Pr S.04.013
14 Pr S.04.014
15 Pr S.04.015
16 Pr S.04.016
17 Pr S.04.017
18 Pr S.04.018
19 Pr S.04.019
20 Pr S.04.020
21 Pr S.04.021
22 Pr S.04.022
23 Pr S.04.023
24 Pr S.04.024
25 Pr S.04.025
26 Pr S.04.026
27 Pr S.04.027
28 Pr S.04.028

42 SI-DeviceNet User Guide

Issue Number: 2
 Module menu 9 - Resources

Parameters
PCB temperature 1
Default N/A
S.09.030 Range -128 to 127°C

Introduction
Access RO

Mechanical
installation
PCB temperature 2
Default N/A
S.09.031 Range -128 to 127°C
Access RO

installation
Electrical
Parameters S.09.030 and S.09.031 display the current temperature of the 2 internal
thermistors within the option module.

Getting
started
Parameters
Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 43

Issue Number: 2
7 Non cyclic data
7.1 Introduction
“Explicit data” is the non cyclic data channel on DeviceNet that provides access to any
parameter and DeviceNet object within SI-DeviceNet. As such, it is always enabled and
active on SI-DeviceNet. Object access using explicit data is controlled entirely by the
master controller program, and is not usually configured in any way when the DeviceNet
network mapping is defined.

NOTE As non-cyclic data control is implemented entirely in the DeviceNet master controller, the
method used will depend entirely on the type of master controller used.

7.2 Explicit parameter access

The Control Techniques object (Class 100 or 0x64) provides access to all drive
parameters, using the parameters as shown:
Class code: 100 (0x64)
Instance: Menu
Attribute: Parameter
Read Code: 14 (0x0E) Get_Attribute_Single
Write Code: 16 (0x10) Set_Attribute_Single
All supported pre-defined DeviceNet objects can also be accessed using explicit
messaging. Refer to the master controller documentation for full details about explicit
messaging, and how to implement explicit messaging within the particular master
controller.

NOTE Menu 0 parameters in the drive can be access using instance 200 (0xC8).

When accessing drive parameters using the Control Techniques object, all parameters
must be treated as signed 32-bit parameters.

NOTE Multiple parameter access (using the Get_Atttribute_All service) is not supported by SI-
DeviceNet.

44 SI-DeviceNet User Guide

Issue Number: 2
 information
8 Control / status word

Safety
8.1 What are control and status words?

Introduction
The control and status words allow the digital control and monitoring of the drive to be
implemented using a single data word for each function. Each bit in the control word has
a particular function and provides a method of controlling the output functions of the
drive, such as run and direction. These words can be accessed using either cyclic or

Mechanical
installation
non-cyclic data.
Each bit in the status word provides feedback about the drives state of health and
operational condition, such as drive OK, drive at speed, etc.

installation
Electrical
8.2 Control word
The SI-DeviceNet control word consists of 16 control bits some of which are reserved.
See Table 8.1 for the individual bit function descriptions.

Getting
started
Table 8.1 Control word bit definitions
b15 b14 b13 b12 b11 b10 b9 b8

Parameters
KEYPAD JOG
RESET TRIP REMOTE
WDOG REV

b7 b6 b5 b4 b3 b2 b1 b0

Non cyclic
NOT FWD RUN JOG RUN
AUTO RUN ENABLE

data
STOP REV REV FWD FWD

To enable fieldbus control the fieldbus enable signal (Pr 06.043) and the auto bit (bit7)

status word
must both be set to ‘1’. When the AUTO bit is reset to 0 the drive will revert to terminal

Control /
control.
For safety reasons, the external HARDWARE ENABLE signal must be present before
the fieldbus control word can be used to start the drive. This terminal is normally

EDS Files
controlled by an external “Emergency Stop” circuit to ensure that the drive is disabled in
an emergency situation.
The control word REMOTE bit directly controls the drive parameter Pr 01.042, the Advanced
function of which is to select the digital speed reference as the source of the drives
Features

speed reference. When the REMOTE bit is reset to 0 the drive will revert to using the
external analog speed reference.
The actual digital speed reference selected when REMOTE is set to 1 will be Pr 01.021,
DeviceNet
Objects

which is also the default mapping for the fieldbus speed reference. However Pr 01.015
can be used to change which of the digital references is selected. For further details on
the drive digital speed references, please refer to the appropriate drive User Guide.
Diagnostics

Table 8.2 lists in detail the function of each control word bit. For further in-depth details
about drive control words and sequencing bits please refer to the appropriate drive User
Guides.
Glossary Of
Terms

NOTE When a trip occurs, the drive control word MUST be set to a safe, disabled state. This
ensures that the drive does not re-start unexpectedly when it is reset. This can be
achieved by continuously monitoring the drive status word and interlocking it with the
control word.
Index

SI-DeviceNet User Guide 45

Issue Number: 2
NOTE By default data compression is off and therefore the control word will be cast as 32 bit
with bits 16-31 reserved.

Table 8.2 Control word bit functions

Bit Function Description
Set to 1 to enable the drive. Resetting to 0 will immediately disable the drive,
0 ENABLE and the motor will coast to a stop. The external HARDWARE ENABLE signal
must also be present before the drive can be enabled.
Set to 1 (with ENABLE set to 1) to run the motor in the forward direction. When
1 RUN FWD
reset to 0, the drive will decelerate the motor to a controlled stop.
Set to 1 to jog the motor forward. This signal needs to be used in conjunction
2 JOG FWD with the ENABLE bit. This signal is overridden by a RUN, RUN REV or RUN
FWD signal.
Set to 1 (with ENABLE set to 1) to run the motor in the reverse direction. When
3 RUN REV
reset to 0, the drive will decelerate the motor to a controlled stop.
Set to 1 to select the reverse direction. Set to 0 to run in the forward direction.
4 FWD REV
The RUN signal is used to start and stop the motor.
Set to 1 to run the motor. FWD REV is used to select the direction of motor
5 RUN rotation. When reset to 0, the drive will decelerate the motor to a controlled
stop.
Set to 1 to allow the sequencing bit in the drive to be latched. Refer to the drive
NOT
6 Advanced User Guide for more details. If NOT STOP is zero, all latches are
STOP
cleared and held at 0. Pr 06.004 must be correctly set for this to function.
Set to 1 to enable fieldbus control of the drive Control Word. The Control Word
7 AUTO Enable (Pr 06.043) must also be set to 1. When reset to 0, the drive will oper-
ate under terminal control.
Set to 1 to select digital speed reference 1 (Pr 01.021), and to 0 to select ana-
log reference 1 (Pr 01.036). REMOTE directly controls Pr 01.042, so reference
8 REMOTE
selector (Pr 01.014) and preset selector (Pr 01.015) must both be set to 0
(default) for the REMOTE bit to work properly.
Set to 1 to jog the motor in reverse. This signal needs to be used in conjunction
9 JOG REV with the ENABLE bit. This signal is overridden by a RUN/RUN REV/RUN FWD
command.
10 Reserved
11 Reserved
Set to 1 to trip the drive at any time. The trip display on the drive will be “Con-
12 TRIP trol Word” and the trip code will be 35. AUTO (b7) has no effect on this func-
tion. The trip cannot be cleared until TRIP is reset to 0.
A 0-1 transition of the RESET bit will reset the drive from a trip condition. If the
reason for the trip is still present, or another fault condition has been detected,
13 RESET the drive will immediately trip again. When resetting the drive, it is recom-
mended to check the status word to ensure that the reset was successful,
before attempting to re-start the drive.
This watchdog is provided for an external keypad or other devices where a
break in the communication link must be detected. The watchdog system can
KEYPAD be enabled and/or serviced if this bit is changed from zero to one while the
14
WDOG control word enabled.
Once the watchdog is enabled it must be serviced at least once every second
or an “Watchdog” trip will occur. The watchdog is disabled when a “Watchdog”
trip occurs, and so it must be re-enabled when the trip is reset.
15 Reserved

46 SI-DeviceNet User Guide

Issue Number: 2
8.3 Status word

information
Safety
The SI-DeviceNet status word consists of 16 control bits some of which are reserved.
See the table below for the individual bit function descriptions.
b15 b14 b13 b12 b11 b10 b9 b8

Introduction
Reverse Reverse Brake Braking Current
Not Supply
Direction Direction Resistor IGBT Regenerating Limit
Used Loss
Running Commanded Alarm Active Active

Mechanical
installation
b7 b6 b5 b4 b3 b2 b1 b0
Running
Rated At or Drive
Above Set At Set Below Set Zero Drive
Load Below OK/
Speed Speed Speed Speed Active
Reached Minimum Healthy

installation
Electrical
Speed

The fieldbus status word is mapped directly from the drive status word, Pr 10.040.
Pr 10.040, is generated by the values of several individual drive status bits. Table

Getting
started
7.3 Mapping for 2 polled channels on page 40 shows the function indicated by each bit
in the status word when set to 1.
Table 8.3 Drive status word bit functions

Parameters
Bit Parameter Description
bit 0 = 0:
Drive not ok (tripped).

Non cyclic
0 Pr 10.001
bit 0 = 1:

data
Drive ok.
Drive active

status word
1 Pr 10.002

Control /
When bit 1 = 1, the drive is in run mode.
Zero speed
In Open Loop mode, zero speed indicates that the absolute value
of the post-ramp speed reference is at or below the zero speed

EDS Files
2 Pr 10.003 threshold.
In RFC-A and RFC-5 modes, zero speed indicates that the
absolute value of speed feedback is at or below the zero speed
threshold.
Advanced
Features

Running at or below minimum speed

In bipolar mode (Pr 01.010 = 1) Pr 10.004 is the same as zero
speed, Pr 10.003 (See above).
DeviceNet

In unipolar mode, Pr 10.004 is set if the absolute value of the post-

Objects

3 Pr 10.004
ramp speed reference (Pr 02.001) or speed feedback (Pr 03.002) is
at or below minimum speed + 0.5Hz or 5 rpm (Minimum speed is
defined by Pr 01.007). This parameter is only set if the drive is
Diagnostics

running.
Below set speed
Only set if the drive is running at below set speed. Refer to Pr
4 Pr 10.005
Glossary Of

03.006, Pr 03.007 and Pr 03.009 in the drive documentation for

Terms

more details.
At speed
Only set if the drive is running at set speed.
5 Pr 10.006
Refer to Pr 03.006, Pr 03.007 and Pr 03.009 in the drive
Index

documentation.

SI-DeviceNet User Guide 47

Issue Number: 2
 Bit Parameter Description
Above set speed
Only set if the drive is running at above set speed. Refer to
6 Pr 10.007
Pr 03.006, Pr 03.007 and Pr 03.009 in the drive documentation for
more details.
Load reached
Indicates that the modulus of the active current is greater or equal
7 Pr 10.008
to the rated active current, as defined in menu 4. Refer to the drive
documentation for more details.
In current limit
8 Pr 10.009
Indicates that the current limits are active.
Regenerating
Indicates that power is being transferred from the motor to the
9 Pr 10.010 drive.
Regen mode: Indicates that power is being transferred from the
drive to the supply.
Dynamic brake active
10 Pr 10.011 Indicates that the braking IGBT is active. If the IGBT becomes
active, this parameter will remain on for at least one second.
Dynamic brake alarm
11 Pr 10.012 Dynamic brake alarm is set when the braking IGBT is active, and
the braking energy accumulator is greater than 75 %.
Reverse direction commanded
Direction commanded is set to 1 if the Pre-ramp speed reference
12 Pr 10.013
(Pr 01.003) is negative and reset to 0 if the Pre-ramp speed
reference is zero or positive.
Reverse direction running
A 0 indicates forward direction and a 1 indicates reverse direction.
13 Pr 10.014
The source of this bit is Pr 02.001 for open loop mode and
Pr 03.002 for RFC-A and RFC-S modes.
Supply loss
Supply loss indicates that the drive has detected a supply loss from
the level of the DC bus voltage. This parameter can only become
14 Pr 10.015
active if supply loss ride through or supply loss stop modes are
selected.
In regen mode, supply loss is the inverse of Pr 03.007.
15 (Not Used) Reserved

48 SI-DeviceNet User Guide

Issue Number: 2
 information
9 EDS Files

Safety
9.1 What are EDS files?

Introduction
EDS (Electronic Data Sheets) files are text files that are used by SI-DeviceNet network
configuration software tools. They contain information about the device, such as
manufacturer, product type, product code, etc., and they also provide information on the
default settings and functions supported by the device. Mapping information is also

Mechanical
installation
included that allows access to device parameters over the SI-DeviceNet network.
EDS files are not downloaded to the PLC or scanner, and are only used during network
configuration. It is actually possible to configure a network without the EDS files.

installation
Electrical
9.2 Generic EDS files
Generic EDS files are available for all supported drives. These files are available from
your local Control Techniques Drive Centre or supplier.

Getting
started
Drive icon files are also supplied for use with the SI-DeviceNet configuration software
being used. EDS files must usually be installed into the software package being used to
configure a SI-DeviceNet network. Refer to the software documentation supplied with

Parameters
the master for instructions on how to install EDS files. Control Techniques cannot
provide specific technical support for any of these software packages.

Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 49

Issue Number: 2
10 Advanced Features
10.1 Supported Drive assembly objects
The DeviceNet specification includes a series of pre-defined assembly objects for
different devices, including Drives, and the SI-DeviceNet supports several of these pre-
defined assembly objects. The format of the DeviceNet pre-defined assembly objects is
fixed.
Table 10.1 Pre-defined SI-DeviceNet assembly objects
Object Type Object name
20 (0x14) Output Basic speed control output
21 (0x15) Output Extended speed control output
22 (0x16) Output Speed and torque control output
23 (0x17) Output Extended speed and torque control output
70 (0x46) Input Basic speed feedback
71 (0x47) Input Extended speed feedback
72 (0x48) Input Basic speed and torque feedback
73 (0x49) Input Extended speed and torque feedback
To select a pre-defined input or output assembly object:
1. Specify the input assembly object required in Pr S.01.018.
2. Specify the output assembly object required in Pr S.01.019.
3. Set Pr MM.007 to On to reset the SI-DeviceNet, and make the changes take effect.

NOTE
The parameter mapping of the pre-defined DeviceNet objects CANNOT be changed.

10.1.1 Basic speed control

Output assembly object 20
The scanner must be configured for 4 Tx bytes (or 2 Tx words) if this output assembly
object is selected.
Table 10.2 Basic speed control
Data word Function
Word 0 Basic control word (See below)
Word 1 SpeedRef (See status word)
The basic control word uses a full 16-bit word, with the bits having functions as shown
below.
b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0
FaultRst RunFwd

50 SI-DeviceNet User Guide

Issue Number: 2
 10.1.2 Extended speed control

information
Safety
Output assembly object 21
The scanner must be configured for 4 Tx bytes (or 2 Tx words) if this output assembly
object is selected.

Introduction
Table 10.3 Extended speed control
Data word Function
Word 0 Extended control word (see below).

Mechanical
installation
Word 1 SpeedRef (see status word).
The extended control word uses a full 16-bit word, with the bits having functions as
shown below.

installation
Electrical
b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0

Getting
started
NetRef NetCtrl FaultRst RunRev RunFwd

10.1.3 Basic speed and torque control

Parameters
Output assembly object 22
The scanner must be configured for 6 Tx bytes (or 3 Tx words) if this output assembly
object is selected.

Non cyclic
Table 10.4 Basic speed and torque control

data
Data Word Function
Word 0 Basic control word (See below)

status word
Word 1 SpeedRef (See status word)

Control /
Word 2 TorqueRef (See status word)
The basic control word uses a full 16-bit word, with the bits having functions as shown
below.

EDS Files
b15 b14 b13 b12 b11 b10 b9 b8

Advanced
Features

b7 b6 b5 b4 b3 b2 b1 b0
FaultRst RunFwd

10.1.4 Extended speed and torque control

DeviceNet
Objects

Output assembly object 23

The scanner must be configured for 6 Tx bytes (or 3 Tx words) if this output assembly
object is selected.
Diagnostics

Table 10.5 Extended speed and torque control

Data word Function
Glossary Of

Word 0 Extended control word (See below)

Terms

Word 1 SpeedRef (See status word)

Word 2 TorqueRef (See status word)
Index

SI-DeviceNet User Guide 51

Issue Number: 2
 The extended control word uses a full 16-bit word, with the bits having functions as
shown below.
b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0
NetRef NetCtrl FaultRst RunRev RunFwd

10.1.5 Basic speed feedback

Input assembly object 70
The scanner must be configured for 4 Rx bytes (or 2 Rx words) if this input assembly
object is selected.
Table 10.6 Basic speed feedback
Data word Function
Word 0 Basic status word (See below)
Word 1 SpeedActual (See status word)
The basic status word uses a full 16-bit word, with the bits having functions as shown
below.
b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0
Running1 Faulted

10.1.6 Extended speed feedback

Input assembly object 71
The scanner must be configured for 4 Rx bytes (or 2 Rx words) if this input assembly
object is selected.
Table 10.7 Extended speed feedback
Data word Function
Word 0 Basic status word (see below)
Word 1 SpeedActual (see status word)
The basic status word uses a full 16-bit word, with the bits having functions as shown
below.
b15 b14 b13 b12 b11 b10 b9 b8
DriveState

b7 b6 b5 b4 b3 b2 b1 b0
At RefFrom CtrlFrom
Ready Running2 Running1 Warning Faulted
Reference Net Net

52 SI-DeviceNet User Guide

Issue Number: 2
 10.1.7 Basic speed and torque feedback

information
Safety
Input assembly object 72
The scanner must be configured for 6 Rx bytes (or 3 Rx words) if this input assembly
object is selected’.

Introduction
Table 10.8 Basic speed and torque feedback
Data word Function
Word 0 Basic status word (see below)

Mechanical
installation
Word 1 SpeedActual (see status word)
Word 2 TorqueActual (see status word)
The extended status word uses a full 16-bit word, with the bits having functions as

installation
shown below.

Electrical
b15 b14 b13 b12 b11 b10 b9 b8

Getting
started
b7 b6 b5 b4 b3 b2 b1 b0
Running1 Faulted

Parameters
10.1.8 Extended speed and torque feedback
Input assembly object 73
The scanner must be configured for 6 Rx bytes (or 3 Rx words) if this input assembly
object is selected.

Non cyclic
data
Table 10.9 Extended speed and torque feedback
Data word Function

status word
Word 0 Basic status word (See below)

Control /
Word 1 SpeedActual (See status word)
Word 2 TorqueActual (See status word)
The extended status word uses a full 16-bit word, with the bits having functions as

EDS Files
shown below.
b15 b14 b13 b12 b11 b10 b9 b8
DriveState
Advanced
Features

b7 b6 b5 b4 b3 b2 b1 b0
At RefFrom CtrlFrom
Ready Running2 Running1 Warning Faulted
Reference Net Net
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 53

Issue Number: 2
11 DeviceNet Objects
The Object Model has the following object classes present.
Table 11.1 Supported Objects
Class
Object Class No. of instances Effect on behaviour
Code
Identity 1 (0x01) Supports the device reset service
Message Router 2 (0x02) 1 Internally routes messages
DeviceNet 3 (0x03) Configures device attributes
Assembly 4 (0x04) 64 Defines I/O data format, i.e parameter mapping
Connection 5 (0x05) 2 Logic ports into or out of the drive
Motor Data 40 (0x28) 2 Defines the motor data
Control Supervisor 41 (0x29) Manages drive functions, operational states and control
1
AC/DC Drive 42 (0x2A) Provides drive configuration
Provides an interface to all drive parameters
CT Group 100 (0x64) Be aware that menu 200 is used to access menu 0(Setup
menu)
Provides a shortcut to access the local slot parameters
CT Local slot 101 (0x65) <No. of menus> Be aware that menu 200 is used to access menu 0(Setup
menu)
102 (0x66) Provides an interface to option slot 1-4 parameters
CT Slot 1-4 - Be aware that menu 200 is used to access menu 0(Setup
105 (0x69) menu)

11.1 Identity Object

Class: 0x01 (1)
This object provides identification of and general information about the device.
11.1.1 VendorID
Name: VendorID
Class 0x01 Default 257
Instance 0x01 Data Type UINT
Attribute 0x01 Access Get
Returns the Vendor ID code, which is 0x101 (257) for Control Techniques.
11.1.2 DeviceType
Name: DeviceType
Class 0x01 Default 2
Instance 0x01 Data Type UINT
Attribute 0x02 Access Get
Returns the Device Type code.

54 SI-DeviceNet User Guide

Issue Number: 2
 11.1.3 ProductCode

information
Safety
Name: ProductCode
Class 0x01 Default See below
Instance 0x01 Data Type UINT

Introduction
Attribute 0x03 Access Get
Identifies the current drive configuration, and is used to link a node to the installed EDS
files. ProductCode is calculated as shown below.

Mechanical
installation
Table 11.2 Generic ProductCode
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Variant Drive Mode
0 Drive Type 0

installation
Pr 11.028 (Pr 11.084) - 1

Electrical
Drive Type returns the code for the product (i.e. the drive). This is 2 for Unidrive M600 to
M810, and 3 for Unidrive M100 to 400.
Pr 11.028 returns the drive derivative number.

Getting
started
Pr 11.084 returns the drive operating mode, e.g. Open-loop = 1, RFC-A = 2, RFC-S = 3,
Regen = 4, etc.
In advanced mode, ProductCode is calculated as shown below.

Parameters
Table 11.3 Advanced ProductCode
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
((Pr 11.029/100) * 3) +
Product Pr 11.084 Slot X Slot Y

Non cyclic
Local Slot

data
Pr 11.029 returns the major software revision number.
Local Slot indicates the slot in which the SI-DeviceNet is installed: 0 = slot 1, 1 = slot 2,

status word
2 = slot 3.

Control /
Pr 11.084 returns the drive operating mode, e.g. open loop, closed loop, servo, etc.
Slot X indicates the family of installed in the lowest numbered slot, excluding the slot
where this SI-DeviceNet is installed. Slot X = Pr MM.001/100.

EDS Files
Slot Y indicates the family of installed in the highest numbered slot, excluding the slot
where this SI-DeviceNet is installed. Slot Y = Pr MM.001/100.
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 55

Issue Number: 2
 11.1.4 Revision
Name: Revision
Class 0x01 Default N/A
ARRAY of
Instance 0x01 Data Type
USINT
Attribute 0x04 Access Get

Identifies the revision of the drive. Revision is calculated as shown below.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
((Pr 11.029 mod 1000000) / 10000 +1) 0 127

11.1.5 SerialNumber
Name: SerialNumber
Class 0x01 Default N/A
Instance 0x01 Data Type UDINT
Attribute 0x06 Access Get
Returns a serial number of the SI-DeviceNet. This value is entered during production,
and cannot be edited. The serial number of the SI-DeviceNet can also be read from
Pr MM.004 and Pr MM.005.
11.1.6 ProductName
Name: ProductName
Class 0x01 Default SM DeviceNet
SHORT_STRIN
Instance 0x01 Data Type
G
Attribute 0x07 Access Get
Returns a short string to indicate the Product Name. The SI-DeviceNet returns the string
“SI DeviceNet”.

56 SI-DeviceNet User Guide

Issue Number: 2
11.2 SI-DeviceNet Object

information
Safety
Class: 0x03 (3)
The DeviceNet Object provides the configuration and status of the SI-DeviceNet port.
11.2.1 MAC-ID

Introduction
Name: MAC-ID
Class 0x03 Default 63
Instance 0x01 Data Type USINT

Mechanical
installation
Attribute 0x01 Access Get/Set
The MAC-ID is read from Pr S.01.004 at power up and reset. When this attribute is
written to, the SI-DeviceNet will update the MAC-ID in Pr S.01.004 and reset, causing

installation
the new value to take effect immediately.

Electrical
11.2.2 DataRate
Name: DataRate
Class 0x03 Default 0

Getting
started
Instance 0x01 Data Type USINT
Attribute 0x02 Access Get/Set

Parameters
The Data Rate is read from Pr S.01.007 at power up and reset. When this attribute is
written to, the SI-DeviceNet will update the Data Rate in Pr S.01.007. The new value is
not stored automatically, and the SI-DeviceNet is not reset.
Table 11.4 shows the attribute values for each data rate.

Non cyclic
data
Table 11.4 DeviceNet data rate
Setting bits/sec
0 125K

status word
Control /
1 250K
2 500K

EDS Files
11.2.3 AllocationByte
Name: AllocationByte
Class 0x03 Default 0
Advanced
Features

Instance 0x01 Data Type USINT

Attribute 0x05 Access Get
Returns 2 bytes of information. The low byte contains the Allocation Byte, with each bit
DeviceNet
Objects

assigned as shown in the table below.

The high byte indicates the MAC-ID of the master device which allocated the Master/
Slave pre-defined connection set. A value of 255 means the pre-defined Master/Slave
Diagnostics

connection set has not yet been allocated.

Glossary Of
Terms
Index

SI-DeviceNet User Guide 57

Issue Number: 2
 Table 11.5 Allocation byte
Bit Action
0 Explicit Message
1 Polled
2 Strobed (Not supported)
3 Reserved
Change of State (Not
4
supported)
5 Cyclic (Not supported)
6 Acknowledge Suppression
7 Reserved

58 SI-DeviceNet User Guide

Issue Number: 2
11.3 Motor Data Object

information
Safety
Class: 0x28 (40)
11.3.1 MotorType
Name: MotorType1

Introduction
Class 0x28 Default 7
Instance 0x01 Data Type USINT
Attribute 0x03 Access Get/Set

Mechanical
installation
Name: MotorType2
Class 0x28 Default 7
Instance 0x02 Data Type USINT

installation
Electrical
Attribute 0x03 Access Get/Set

There are 2 instances of the Motor Data object. Instance 1 will represent the Menu 5
motor information (Motor Map 1) and instance 2 will represent the menu 21 motor map

Getting
started
(Motor Map 2). The instance being used by the other dependant DeviceNet objects will
be determined by Pr 21.015. Pr 21.015 is polled in the background task, so the user
should be aware that during motor map changeover, the rpm speed reference might not
be accurate.

Parameters
MotorType1 is linked directly to Pr S.01.040, and MotorType2 is linked directly to
Pr S.01.041.
Table 11.6 Supported motor types

Non cyclic
data
Pr S.01.040,
Motor Type
Pr S.01.041
2 Field Controlled DC Motor

status word
6 Wound Rotor Induction motor

Control /
7 Squirrel Cage Induction Motor (default)
9 Sinusoidal PM BL motor
10 Trapezoidal PM BL motor

EDS Files
11.3.2 RatedCurrent
Name: RatedCurrent1
Class 0x28 Default Pr 05.007
Advanced
Features

Instance 0x01 Data Type USINT

Attribute 0x06 Access Get/Set
DeviceNet

Name: RatedCurrent2
Objects

Class 0x28 Default Pr 21.007

Instance 0x02 Data Type USINT
Diagnostics

Attribute 0x06 Access Get/Set

Specifies the rated current of the motor in Amps. Instance 1 is mapped to Pr 05.007 in
the drive, while instance 2 is mapped to Pr 21.007.
Set Pr 05.007 = RatedCurrent1 * 10
Glossary Of
Terms

Get RatedCurrent1 = Pr 0.507 / 10

Set Pr 21.007 = RatedCurrent2 * 10
Get RatedCurrent2 = Pr 21.007 / 10
Index

SI-DeviceNet User Guide 59

Issue Number: 2
 11.3.3 RatedVoltage
Name: RatedVoltage1
Class 0x28 Default Pr 05.009
Instance 0x01 Data Type USINT
Attribute 0x07 Access Get/Set
Name: RatedVoltage2
Class 0x28 Default Pr 21.009
Instance 0x02 Data Type USINT
Attribute 0x07 Access Get/Set
Specifies the rated motor voltage in Volts. Instance 1 is mapped directly to Pr 05.009 in
the drive, and instance 2 is mapped directly to Pr 21.009.
11.3.4 RatedFreq
Name: RatedFreq1
Class 0x28 Default
Instance 0x01 Data Type USINT
Attribute 0x09 Access Get/Set
Name: RatedFreq2
Class 0x28 Default
Instance 0x02 Data Type USINT
Attribute 0x09 Access Get/Set
Specifies the rated motor frequency in Hertz. Instance 1 is linked to Pr 05.006 in the
Unidrive M and instance 2 is linked to Pr 21.006.
Set Pr 05.006 = RatedFreq1 * 10
Get RatedFreq1 = Pr 05.006 / 10
Set Pr 21.006 = RatedFreq2 * 10
Get RatedFreq2 = Pr 21.006 / 10
11.3.5 BaseSpeed
Name: BaseSpeed1
Class 0x28 Default Pr 05.008
Instance 0x01 Data Type USINT
Attribute 0x0F Access Get/Set
Name: BaseSpeed2
Class 0x28 Default Pr 21.008
Instance 0x02 Data Type USINT
Attribute 0x0F Access Get/Set
Specifies the base speed of the motor in rpm. Instance 1 is mapped directly to Pr 05.008
in the drive, and instance 2 is mapped directly to Pr 21.008.

60 SI-DeviceNet User Guide

Issue Number: 2
 11.3.6 Motor2Select

information
Safety
Name: Motor2Select
Class 0x28 Default
Instance 0x01 Data Type USINT

Introduction
Attribute 0x64 Access Get/Set
Selects between Motor Map 1 and Motor Map 2 in the drive.
Set Pr 11.045

Mechanical
installation
Get Pr 21.015

installation
Electrical
Getting
started
Parameters
Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 61

Issue Number: 2
11.4 Control Supervisor
Class: 0x29 (41)
11.4.1 RunFwd
Name: RunFwd
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x03 Access Get/Set
Set to 1 to run the drive in the forward direction.
Get/Set Pr 06.042 bit 1
11.4.2 RunRev
Name: RunRev
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x04 Access Get/Set
Set to 1 to run the drive in the reverse direction.
Get/Set Pr 06.042 bit 3
11.4.3 NetCtrl
Name: NetCtrl
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x05 Access Get/Set
Switches the drive between terminal and fieldbus control.
Get/Set Pr 06.042 bit 7
Set False terminal control
Set True fieldbus control
11.4.4 State
Name: State
Class 0x29 Default N/A
Instance 0x01 Data Type USINT
Attribute 0x05 Access Get
This returns a code to indicate the current operating state of the drive.

62 SI-DeviceNet User Guide

Issue Number: 2
 Table 11.7 Device state

information
Safety
State DeviceNet state Drive state
1 Startup This state is skipped on
2 Not_Ready Inhibit

Introduction
3 Ready Ready
Run or Stop (stop is only enabled by default in Servo
4 Enabled
mode)

Mechanical
installation
5 Stopping Deceleration or Injection
6 Fault_Stop AC_UU (this will only occur if Mains Loss is enabled)
7 Faulted Tripped
All other drive states, e.g. Scan, Orienting, Regen

installation
Electrical
0 Vendor Specific
Active, etc.

11.4.5 RunningFwd

Getting
started
Name: RunningFwd
Class 0x29 Default
Instance 0x01 Data Type USINT

Parameters
Attribute 0x07 Access Get
Indicates that the drive is running in the forward direction.
Get True (Pr 10.040 & 0x2002) == 0x0002

Non cyclic
data
Get False (Pr 10.040 & 0x2002) != 0x0002
11.4.6 RunningRev
RunningRev

status word
Name:

Control /
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x08 Access Get

EDS Files
Indicates that the drive is running in the reverse direction.
Get True (Pr 10.040 & 0x2002) == 0x2002
Get False (Pr 10.040 & 0x2002) != 0x2002
Advanced
Features

11.4.7 Faulted
Name: Faulted
Class 0x29 Default
DeviceNet
Objects

Instance 0x01 Data Type USINT

Attribute 0x0A Access Get
Diagnostics

Indicates that the drive is tripped, i.e. not OK

Get Pr 10.001
Glossary Of
Terms
Index

SI-DeviceNet User Guide 63

Issue Number: 2
 11.4.8 FaultRst
Name: FaultRst
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x0C Access Set
Resets the drive from a tripped condition.
Set True Pr 10.038 = 100
Set False No action
11.4.9 FaultCode
Name: FaultRst
Class 0x29 Default N/A
Instance 0x01 Data Type USINT
Attribute 0x0D Access Set
If the drive is tripped, the fault code is obtained from parameter Pr 10.020 in the drive. If
the fault code in Pr 10.020 is one of the following, the table gives the appropriate ODVA
code, otherwise the error code will be returned as 0x1000 + Pr 10.020.
Fault codes
Drive fault code ODVA fault code
2 0x3210
3 0x2300
4 0x7112
6 0x9000
20 0x2310
21 0x4300
26 0x5112
32 0x3130
11.4.10CtrlFromNet
Name: CtrlFromNet
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x0F Access Get
Indicates that the drive is operating under fieldbus control.
Get Pr 06.042 bit 7 & Pr 06.043

64 SI-DeviceNet User Guide

Issue Number: 2
 11.4.11 DriveEnable

information
Safety
Name: DriveEnable
Class 0x29 Default
Instance 0x01 Data Type USINT

Introduction
Attribute 0x0F Access Get/Set
Enables the drive. This puts the Drive into the “Ready” state, allowing the RunFwd and
RunRev attributes to control the drive. RunFwd and RunRev will have no effect if

Mechanical
installation
DriveEnable is not set to 1.
Get/Set Pr 06.042 bit 0

NOTE The external hardware enable signal must also be present before the drive will go to the

installation
Electrical
Ready state.

Getting
started
11.5 AC/DC Drive Object
Class: 0x2A (42)
11.5.1 AtReference

Parameters
Name: AtReference
Class 0x2A Default
Instance 0x01 Data Type USINT

Non cyclic
0x03 Get

data
Attribute Access

Indicates that the drive is running at the requested speed.

Get Pr 10.006

status word
Control /
11.5.2 NetRef
Name: NetRef
Class 0x2A Default

EDS Files
Instance 0x01 Data Type USINT
Attribute 0x04 Access Get/Set
Selects the source of the speed reference. Analog input 1 is used as the speed
Advanced
Features

reference when running under local control, with Digital Speed Reference 1 being used
as the speed reference for network control.
Get/Set Pr 06.042 bit 8
DeviceNet
Objects

Set False analog speed reference

Set True digital speed reference
The reference can only be changed between local and remote when the drive is
Diagnostics

configured in speed control mode. If a change is requested when in torque mode then a
‘Device state conflict’ error code 10h will be returned.
Glossary Of
Terms
Index

SI-DeviceNet User Guide 65

Issue Number: 2
 11.5.3 DriveMode
Name: DriveMode
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x06 Access Get/Set
DriveMode does not allow the operating mode of the drive to be changed. Pr 04.011 will
be written to as shown in Table 11.9, provided that the drive is already in the correct
operating mode.
Table 11.8 Get DriveMode
DriveMode Drive Mode Pr 11.031 Pr 04.011
1 Open Loop Speed 0, 1 0
2 Closed Loop Speed 2, 3 0
3 Torque Control N/A 1
0 User Defined 4 0

Table 11.9 Set DriveMode

DriveMode Drive Mode Pr 11.031 Pr 04.011 Comment
0 Vendor Specific 4 N/A Pr 11.031 will never be changed
1 Open Loop Speed 0, 1 0 by setting the DriveMode
2 Closed Loop Speed 2, 3 0 attribute. An error (0x10) will be
3 Torque Control 0, 1, 2, 3 1 generated if the requested
4 Process Control N/A DriveMode value corresponds to
5 Position Control N/A the current drive operating mode.

11.5.4 SpeedActual
Name: SpeedActual
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x07 Access Get
Returns the actual speed of the motor in RPM. The source of the motor speed depends
on the operating mode of the drive.
Get Pr 05.004 (Open Loop)
Get Pr 03.002 (Closed Loop, Servo)
11.5.5 SpeedRef
Name: SpeedRef
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x08 Access Get/Set
Sets the speed reference in RPM. As the drive uses units of Hz for speed, these values
are converted when reading from or writing to this attribute.
Set Pr 01.021 = (RPM * Pole Pairs) / 6 (Open Loop)
Get RPM = (Pr 02.001 * 6) / Pole Pairs (Open Loop)
Get/Set Pr 01.021 * 10 (Closed Loop, Servo)

66 SI-DeviceNet User Guide

Issue Number: 2
 11.5.6 TorqueActual

information
Safety
Name: TorqueActual
Class 0x2A Default
Instance 0x01 Data Type USINT

Introduction
Attribute 0x0B Access Get
Returns the actual load on the motor as a percentage of the rated motor load. This
attribute has 1 decimal place fixed precision, so a value of 1000 represents 100.0 %

Mechanical
installation
load.
Get Pr 04.020

11.5.7 TorqueRef

installation
Electrical
Name: TorqueRef
Class 0x2A Default
Instance 0x01 Data Type USINT

Getting
started
Attribute 0x0C Access Get/Set
Sets the load (torque) reference as % of rated motor load (torque). This attribute has 1
decimal place fixed precision, so a value of 1000 represents 100.0 % load.

Parameters
Set Pr 04.008 = TorqueRef / 10
Get Torque Ref = Pr 04.008 * 10

11.5.8 RefFromNet

Non cyclic
data
Name: RefFromNet
Class 0x2A Default
Instance 0x01 Data Type USINT

status word
Control /
Attribute 0x0C Access Get
Indicates the source of the speed reference.
TRUE if Pr 01.049 = 3 and Pr 01.050 = 1

EDS Files
FALSE otherwise.

Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 67

Issue Number: 2
11.6 Control Techniques Object
Class code: 0x64 (100)
The Control Techniques object provides access to all drive parameters. For example,
parameter Pr 04.020 would be accessed as Class 100, Instance 4, Attribute 20.
Table 11.10 Supported objects
Instance Menu Name
1 (0x01) 1 Speed reference.
2 (0x02) 2 Ramp control.
3 (0x03) 3 Speed control.
4 (0x04) 4 Current control.
5 (0x05) 5 Motor control.
6 (0x06) 6 Sequencing.
7 (0x07) 7 Analog I/O.
8 (0x08) 8 Digital I/O.
9 (0x09) 9 Logic.
10 (0x0A) 10 Drive status.
11 (0x0B) 11 Drive set-up.
12 (0x0C) 12 Programmable thresholds.
13 (0x0D) 13 Position control.
14 (0x0E) 14 Process PID loop.
15 (0x0F) 15 Slot 1 configuration.
16 (0x10) 16 Slot 2 configuration.
17 (0x11) 17 Slot 3 configuration.
18 (0x12) 18 User application menu 1.
19 (0x13) 19 User application menu 2 (not on M100-M400).
20 (0x14) 20 User application menu 3 (not on M100-M400).
21 (0x15) 21 Second motor map.
200 0 Menu 0.

68 SI-DeviceNet User Guide

Issue Number: 2
 information
12 Diagnostics

Safety
12.1 Overview

Introduction
This section provides basic diagnostic information intended to resolve the most
common problems encountered when setting up an SI-DeviceNet module on a
DeviceNet network.

Mechanical
installation
A high percentage of problems reported are basic set-up problems which can usually be
solved by reading the information in this chapter. If after reading this chapter you are still
experiencing problems, please contact your supplier for support.
12.1.1 Drive trip display codes

installation
Electrical
If the option module detects an error during operation, it will force a trip on the drive.
However, the trip string displayed on the drive will only indicate which slot initiated the
trip. The exact reason for the trip will be indicated in the drive trip code parameters
(Pr 10.020 and Pr 10.070).

Getting
started
Table 12.1 shows the possible trips that will be displayed on the drive when a problem is
detected with the option module or when the option module initiates a trip.

Parameters
Table 12.1 Drive trip display codes

Trip Description
The drive has detected that an option module is present but is unable
SlotX HF

Non cyclic
to communicate with it due to a hardware fault.

data
SlotX Error User trip generated by the option module
SlotX Not This trip will occur if a drive slot was previously configured with an
Fitted option module but on power up, no option module was detected.

status word
Control /
This trip will occur if a drive slot was previously configured with an
option module but on power up, a different option module was
detected. Replacing the option module with another one of the same
SlotX Different

EDS Files
ID number will not initiate this trip.
The trip will also occur if an option module is installed to a previously
unused slot.
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 69

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 12.1.2 Module error codes
If the option module detects an internal error during operation, it will force a trip on the
drive and provide a sub-trip string for a clearer definition of the trip. The table below
shows the possible module error codes.
Table 12.2 Module error codes
Value Text Description
200 SW fault Software fault
201 BG Orun Background task overrun
202 FW invalid Invalid firmware for hardware version
203 Drv unknown Unknown drive type
204 Drv unsupported Unsupported drive type
205 Mode unknown Unknown mode
206 Mode unsupported Unsupported mode
207 FLASH corrupt Corrupted Non-volatile Flash
208 Dbase init Database initialization error
209 FS init File system initialization error
210 Memory alloc Memory allocation error
211 Filesystem File system error
212 Configuration Configuration file error
213 OHt Overheated
214 TO drv The drive has not responded with the watchdog period
215 eCMP eCMP comms failure
216 TO eCMP slot 1 Slot 1 eCMP timeout
217 TO eCMP slot 2 Slot 2 eCMP timeout
218 TO eCMP slot 3 Slot 3 eCMP timeout
219 TO eCMP slot 4 Slot 4 eCMP timeout
220 Fact Setting Missing factory setting
221 Config Load Error loading saved configuration file
Failed to update parameter after drive mode being
222 RT Config
changed
223 Read Par Failed to read parameter during cyclic communication
224 Write Par Failed to write parameter during cyclic communication

12.1.3 DeviceNet error codes

If the SI-DeviceNet module detects a DeviceNet error during operation, it will force a trip
on the drive and provide a sub-trip string for a clearer definition of the trip. The table
below shows all possible SI-DeviceNet error codes.
Table 12.3 DeviceNet network error codes

Value Text Description

0 No trip No trip
100 Link Loss The link to the network has been lost
101 Bus Off The CAN layer of the module has entered the Bus Off state

70 SI-DeviceNet User Guide

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 12.1.4 SI-DeviceNet network diagnostic

information
Safety
The operating status of the SI-DeviceNet module can be viewed in the network
diagnostic parameter (Pr S.01.006). All possible values of this parameter are described
in Table 12.4.

Introduction
Table 12.4 SI-DeviceNet network operating status

Value Text Description

0 Network OK Network ok/healthy

Mechanical
installation
The SI-DeviceNet has initialized correctly and is waiting
1 Init OK
for the DeviceNet master to initialize communications.
No cyclic data has been recognized. This could be due to
2 No Cyclic the length of the mapping data is not equal to the master

installation
Electrical
setup.
A part of the SI-DeviceNet initialization sequence was not
3 Init Failed successful. If this fault persists after a power-cycle,
replace the SI-DeviceNet.

Getting
started
Fault found in the communications of the module. This
4 Comm Fault could be due to different devices being configured to use
different baud rates.

Parameters
5 No 24 V No 24 V external PSU has been detected.
6 Baud detecting Automatic baud rate detection is in progress.
7 Initializing The module is currently initializing.

Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 71

Issue Number: 2
 12.1.5 Mapping Status
If the DeviceNet Network Diagnostic parameter (Pr S.01.006) indicates "Init Failed", a
mapping configuration error has been could have been detected. The reason for the
error is indicated by the SI-DeviceNet input mapping status parameter (Pr S.01.022)
and the SI-DeviceNet output mapping status parameter (Pr S.01.023).
When a mapping error has been corrected, reset the SI-DeviceNet module by setting
PrS.01.002 or MM.007 to On (1).
The mapping error codes are described in Table 12.5.
Table 12.5 Mapping error codes

Value Text Description

0 No error No error has been detected during mapping initialisation
1 Par impossible The parameter may not exist or may not be readable
2 Hole in mapping Cyclic data mapping parameters are not contiguous
Two or more cyclic data mapping configuration
3 Dup mapping parameters have been configured with the same
destination parameter reference
The length of the mapped parameters exceeds the length
4 Length exceed
of the selected assembly object
5 Obj not support The selected assembly object is not supported
Pre & If the predefined object is selected, the data alignment
6
uncompress must be set to 16 bits
The IN and OUT objects both must be predefined objects,
7 Type unmatched
or neither
8 Memory fault Failed to allocate memory for mapping
9 No mapping No parameter is assigned to the mapping
10 Reserved Reserved

12.1.6 Alarms
If the SI-DeviceNet detects an alarm during operation, it will cause the drive to display
the appropriate alarm on the drive keypad. If more than one alarm is present, it will be
shown as “first-in-first-out” (FIFO) order.
Value Text Description
0 No alarm No alarm.
1 User Prog A user program alarm has been generated.
2 eCMP An eCMP alarm has been generated.
3 FS Usage A file system alarm has been generated.
4 Too Hot Module temperature is too high.
5 In Mapping Error with Input mapping setup.
6 Out Mapping Error with Output mapping setup.
Fieldbus Initialization failed, possibly due to external 24 V
7 Fbus Init
missing or baud rate detection failed.
8 Read Err Error during reading from a mapped parameter.
9 Write Err Error during writing to a mapped parameter.

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 information
13 Glossary Of Terms

Safety
Address: This is the unique network identification given to a networked device to allow

Introduction
communication on a network. When a device sends or receives data the address is
used to determine the source and the destination of the message.

Alignment: By default SI-DeviceNet transmits values as 32 bits on the network. It is

Mechanical
installation
possible by using alignment to reduce the number of bits transmitted when sending 16-
bit (or smaller) values on the network to 16-bit (32-bit values will still be transmitted as
32-bit values). This has the advantage of reducing the volume of traffic on the network
and allowing more parameters to be mapped within SI-DeviceNet.

installation
Electrical
Bit: A binary digit, this may have the value of 1 or 0.

Byte: A collection of 8 binary digits that collectively store a value. This may be signed or

Getting
started
unsigned.

CAN: The base network used for DeviceNet. The DeviceNet module does not support

Parameters
CAN commands.

DeviceNet: Builds on the basic CAN protocol by offering higher level functionality.

Non cyclic
Casting: The process of changing between data sizes without changing the value

data
represented, e.g. changing from 16-bit to 32-bit.

status word
Consistency: Describes how data is transmitted between nodes on the network. If data

Control /
is consistent it is transmitted from node to node as a single entity. Thus preventing data
corruption where multiple bytes are transmitted or received individually.

EDS Files
Control word: A collection of binary digits that are used to control the drive. Features
typically include directional controls, run controls and other similar functions.

Cyclic data: This consists of values that are sent at regular or cyclic intervals across the Advanced
Features

network. A typical use of cyclic data would be the transmission of a speed reference or a
control word.

Data format: Determines the quantity and function of the data sent and received across
DeviceNet
Objects

the network.

Data rate: Determines the communication speed of the network, the higher the value
Diagnostics

the more data can be sent across the network in the same time period.

Device: A piece of equipment connected to a network, this may be any type of

equipment including repeaters, hubs, masters or slaves.
Glossary Of
Terms

Double word: A 32-bit word, this may be signed or unsigned.

Earthing/Grounding: Describes the electrical safety or shielding connections for the

module.
Index

SI-DeviceNet User Guide 73

Issue Number: 2
 Event task: A special way to use a message or change of state to trigger a software
routine.

IN data: Data that is returned from a slave device to the DeviceNet master.

Long word: A 32-bit data word that may be signed or unsigned.

Mapping: The process of linking DeviceNet values to parameters within the drive.

Master: The controlling device on the network, generally this will include programming
features.

Network Loss Trip: A method to determine when a node has lost contact with the
master.

Node: A device on the network. This may be either a device such as a drive or part of
the network such as a repeater.

Non-Cyclic Data: Data that is requested or sent by the master as required. This is not
sent on a regular basis and generally allows access to any parameter. This is useful for
occasional changes or configuration purposes.

Object Dictionary: A collection of the objects that are supported by the product.

Poll rate: The rate at which cyclic data is sent and received on the network.

Response ID: The response code of the message received when using PPO4 word
non-cyclic communication.

Scan rate: See Poll rate in this section.

Shielding: A connection to provide additional immunity to noise used on a network

cable.

Segment: An electrically separate part of the network. Each segment requires correct
termination to ensure reliable operation. Due to electrical limitations the maximum
number of devices on a segment is limited to 32.

Slave: A device on the DeviceNet network such as a drive or sensor. A slave device will
only respond to messages from a master.

Status word: A value that denotes the status of the drive. Each bit within the word will
have a specific meaning.

Task ID: The code used to describe the purpose of a message using PPO 4 word non-
cyclic communication.

Termination: This is used at both ends of a network segment to prevent reflections and
reduce noise.

74 SI-DeviceNet User Guide

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 Watchdog: A method used to determine if a communication system is ok/healthy. A

information
typical watchdog scheme uses a handshaking system to check both the master and

Safety
slave are participating in communications.

Word: A collection of 16 binary digits.

Introduction
Mechanical
installation
installation
Electrical
Getting
started
Parameters
Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 75

Issue Number: 2
 Index
A
Above set speed .........................................................................................48
At speed .....................................................................................................47
B
Back-up power supply ..................................................................................9
Below set speed .........................................................................................47
C
Cable ..........................................................................................................13
Cautions .......................................................................................................5
Compliance with regulations ........................................................................6
Conformance certificate .............................................................................10
Control and status words ............................................................................45
Control Techniques Object .........................................................................68
Control word ...............................................................................................45
Control word bit functions ...........................................................................46
Current limit ................................................................................................48
Cyclic data ..................................................................................................44
D
Date code ...................................................................................................10
DeviceNet cable .........................................................................................13
DeviceNet ground point ..............................................................................15
DeviceNet network termination ..................................................................14
Drive active .................................................................................................47
Dynamic brake active .................................................................................48
E
Electrical installation ...................................................................................12
Electrical safety ............................................................................................5
Environmental limits .....................................................................................6
Explicit parameter access ..........................................................................44
External power supply ................................................................................13
External supply ...........................................................................................12
G
General installation .....................................................................................11
General specification ....................................................................................9
Generic EDS files .......................................................................................49
Getting started ............................................................................................16
Glossary of terms .......................................................................................73
H
Hardware enable ........................................................................................45
M
Maximum network length ...........................................................................15
Minimum node to node cable length ..........................................................15
Module menu 0 - Module Information .........................................................25
Module menu 1 - DeviceNet Setup ............................................................28

76 SI-DeviceNet User Guide

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 Module menu 2 ...........................................................................................40

information
Module menu 3 ...........................................................................................41

Safety
Module menu 4 ...........................................................................................42
O

Introduction
Option Module identification .......................................................................10
P
Parameters - adjusting .................................................................................6

Mechanical
installation
Polled words ...............................................................................................34
Q
Quick start chart SI-DeviceNet ...................................................................17

installation
Electrical
R
Regenerating ..............................................................................................48
Running at or below minimum speed .........................................................47
S

Getting
started
SI-DeviceNet cable shield connections ......................................................14
SI-DeviceNet connections ..........................................................................13
SI-DeviceNet network loss trip ...................................................................50

Parameters
SI-DeviceNet terminal descriptions ............................................................12
Spurs ..........................................................................................................15
Status word ................................................................................................47
Stored charge ...............................................................................................6

Non cyclic
data
System design and safety of personnel .......................................................5
T
Termination ................................................................................................14

status word
Control /
W
Warnings ......................................................................................................5
Z

EDS Files
Zero speed .................................................................................................47

Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 77

Issue Number: 2
0478-0032-02