DeviceNet Programmers Guide - Copley Controls

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Explicit Messages and the DeviceNet ObjectsCopley DeviceNet Programmer’s GuideA.1: Explicit MessagesOne of the explicit message objects is allocated as part of the predefined master/slaveconnection set as defined in the DeviceNet specification.The other may be allocated using the Unconnected Message Manager (UCMM) protocol.These objects can be used to access any amplifier parameter.A.2: The Copley DeviceNet ObjectsThrough the use of the explicit message protocol, the following standard DeviceNetobjects can be accessed.Object Name ID DescriptionIdentity 1 Identifies the amplifier as a Copley Controls servo amplifier.DeviceNet 3 The DeviceNet object allows the baud rate and MAC ID of the amplifier to beread but not written. The baud rate and MAC ID can be changed throughCopley’s CME 2 software, or by accessing the appropriate amplifier parametersusing the parameter object. After changing these parameters, reset or powercyclethe amplifier.Assembly 4 The Copley Controls DeviceNet firmware currently supports one Assemblyobject, which the amplifier employs to support the use of I/O messages.Connection 5 The Copley Controls DeviceNet firmware supports two connection objects. Onewhich is used for explicit messaging and the second is used for I/O messaging.Parameter 15 The Copley Controls DeviceNet firmware allows all amplifier parameters to beaccessed through the DeviceNet standard parameter object class. There is oneParameter object instance for each amplifier variable.For the complete list of amplifier parameters, see the Copley Controls AmplifierParameter Dictionary.When parameters are set through the DeviceNet parameter objects, their valuesare only set in RAM. To store all parameter settings in non-volatile flash memory,send the SAVE service code (0x16) to the class instance of the Parameterobject. (Note that I/O messages only write to RAM.)Error Log 100 This object class is used to read from the amplifier's error log.See The Error Log Object (p. 31).File System 101 This object class allows access to the file system present in the amplifier. Thisfile system is the location where CVM programs and cam tables are stored.See The File System Object (p. 32).CVM Control 102 This object class allows various aspects of the Copley Virtual Machine (CVM) tobe controlled. See The CVM Control Object (p. 33).Data Trace 103 This object class allows access to the internal data tracing feature of theamplifier. The trace may be used to capture internal amplifier parameters in realtime and download the captured data. See The Data Trace Object (p. 34).30 Copley Controls Corp.
Copley DeviceNet Programmer’s GuideExplicit Messages and the DeviceNet ObjectsA.3: The Error Log ObjectThe Error Log object class (class ID 100) may be used to read from the amplifier’s internalerror log. It can also be used to clear the error log.Class Instance AttributesAttribute Description1 Object revision. This always reads the value 1.2 Read-only value giving the maximum number of instances of this object. Always reads thevalue 1.Object Instance AttributesAttribute Description1 Error counter totals. This read-only attribute returns an array of 32- byte values. Each valuegives the number of errors (up to 255) of the given error type since the drive wasmanufactured.2 Error counter totals. This read-only attribute returns an array of 32-byte values. Each valuegives the number of errors (up to 255) of the given error type since the last time the error logwas cleared.3 Total number of system resets. This read-only 16-bit attribute gives the number of power/resetcycles since drive was manufactured.4 Clear error log. Writing any value to this attribute causes the error log to be cleared.Note that the totals accessed by attributes 1 [Errors since amplifier manufacture date] and 3[Resets since amplifier manufacture date] are not cleared.5 Error log index. This 16-bit read/write attribute is used to access an index value used to readthe log (see attribute 6).6 Error log entry. This read-only attribute is used to read a single entry in the error log. The entryread is identified by a zero-based index which may be set using attribute 5. The index isautomatically incremented each time attribute 6 is read. The data returned is an 8-byte errorlog entry.Copley Controls Corp. 31
Page 1 and 2: Copley DeviceNet Programmer’s Gui
Page 3 and 4: TABLE OF CONTENTSAbout This Manual
Page 5: ABOUT THIS MANUALOverview and Scope
Page 11 and 12: CHAPTER2: AMPLIFIER CONFIGURATION U
Page 17 and 18: CHAPTER3: I/O MESSAGINGThis chapter
Page 25 and 26: CHAPTER4: I/O MESSAGES AND BASIC MO
Page 35: CHAPTERA: EXPLICIT MESSAGES AND THE
Page 43 and 44: APPENDIXB: HOMING VARIABLES AND MET
Page 59 and 60: CHAPTERC: I/O MESSAGE AMPLIFIER PAR

DeviceNet Programmers Guide - Copley Controls

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