Technical -DevicNet Information Bible

Technical -DevicNet Information Bible

ODVA KOREA Technical Resources Robert D. Law 1 ODVA KOREA Agenda , / Data Network Remote I/O Field Device Field Bus

Field Bus : / / Field Bus ( Field Bus ) Field Bus Demo Field Bus Field Bus : , Field Bus Field Bus

Field Bus Robert D. Law 2 I/O Control Element Im open & Im OK! Device Element Im open

I/O Robert D. Law 3 OA, (I)) A-computer B-computer C-computer A-Terminal Robert D. Law 6 B-Terminal C-Terminal OA, (I)I)) A-computer B-computer C-computer A-Terminal B-TerminalC-Terminal A-Terminal B-TerminalC-Terminal A-Terminal B-TerminalC-Terminal Robert D. Law 7 OA, (I)I)I)) A-computer B-computer C-computer

Terminal Robert D. Law 8 Terminal Terminal OA, A-computer B-computer C-computer Terminal Robert D. Law 9 Terminal Terminal FA, (I)) I)/O I)/O I)/O I)/O PLC Local Device Robert D. Law 10 Remote Device

FA, (I)I)) Remote I)/O Network I)/O I)/O I)/O I)/O N/W Adapter I)/O I)/O I)/O I)/O PLC Remote Device Local Device Robert D. Law 11 N/W Remote I)/O Network Output I)nput Output I)nput Remote Adapter

Run/Stop Run/Stop Feedback Trip Robert D. Law 12 M CAN(Controller Area Network) Robert D. Law 13 - . : . Robert D. Law 16 (Control)) (Configuration)

MMI, trending, (Col)l)ection of Data) Robert D. Law 17 ( ) - (the old way)) Data Acquisition HMI Controller PanelV iew 550 ALLEN-BRADLEY 7 8 9 4 5 6 1

2 . < F1 F2 F3 F4 F5 F9 F1 0 Analog I/O Sensor Drive1 Drive2 F7 F8

Drive3 - - RIO, Profibus, Interbus S Robert D. Law 18 - <-- - - - - - - - ---' ^ < F6 3 0 > v Data Acquisition HMI Controller Analog I/O PanelView 550

ALLEN-BRADLE Y 8 4 5 1 F2 F3 F4 F5 F6 F7 F8 F9 F1 0 Drive1 Drive2

Drive3 (Cyclic) - 50 ms 500ms (Multicast) - 3 - <-- ---- - - - - - - ' ^ < Sensor 6 0 < F1 9 2 .

(Change-of-State) - . Robert D. Law 19 7 > v - (the old way)) Programmable Device Support PanelView 550 ALLEN-BRADLE Y HMI Sensor MOV MOV Dest: M1 Size: 32 words | | 2

F1 F2 F3 F4 F5 F6 F7 F8 F9 F1 0 9 6 3 0 - <-- ---- - - - - - - '

^ Drive1 Drive2 > v Drive3 ( EN ) ( DN ) ( ERR ) . ( EN ) ( DN ) ( ERR ) .

( point-to-point) . N22:1/06 ( ) O.0.1/10 ( ) Robert D. Law 20 1 < Dest: M0 Size: 32 words I.0.2/04 5 < - Analog I/O |/| 8

4 . Controller N23:5/00 7 Programmable Device Support PanelView 550 ALLEN-BRADLE Y Controller HMI 7 8 4 5 1 2

. F2 F3 F4 F5 F6 F7 F8 F9 F1 0 Sensor MOV Dest: M0 Size: 32 words MOV Dest: M1 Size: 32 words N23:5/00

|/| I.0.2/04 | | Drive1 Drive2 PC ( EN ) ( DN ) ( ERR ) . ( EN ) ( DN ) ( ERR ) . N22:1/06

( ) O.0.1/10 ( ) Robert D. Law 21 Drive3 . 3 - <-- ---- - - - - - - ' ^ < Analog I/O 6 0 < F1 9

> v (Collect Data) - the old way) Data Acquisition PanelView 550 ALLEN-BRADLE Y HMI Sensor Dest: M0 Size: 32 words MOV Dest: M1 Size: 32 words | | ( EN ) ( DN ) ( ERR ) ( EN ) ( DN ) ( ERR ) N22:1/06

( ) Drive1 Drive2 F1 F2 F3 F4 F5 F6 F7 F8 F9 F1 0 Drive3 . .

O.0.1/10 ( ) Robert D. Law 22 1 2 Again, Extremely Inefficient Examples - DH+ & RIO, Profibus FMS & DP 9 6 3 0 - <-- ---- - - - - - - ' ^ < MOV

I.0.2/04 5 < - Analog I/O |/| 8 4 . Controller N23:5/00 7 > v Collect Data Example Data Acquisition PanelView 550 ALLEN-BRADLE Y

HMI 7 8 4 5 1 2 . Controller F2 F3 F4 F5 F6 F7 F8

F9 F1 0 Sensor Drive1 Drive2 3 - <-- ---- - - - - - - ' ^ < Analog I/O 6 0 < F1 9

> v Drive3 MOV Dest: M0 Size: 32 words MOV Dest: M1 Size: 32 words N23:5/00 |/| I.0.2/04 | | ( EN ) ( DN ) ( ERR ) ( EN ) ( DN ) ( ERR ) N22:1/06 ( )

O.0.1/10 . ( ) Robert D. Law 23 Very Efficient use of network and controller bandwidth Architecture Programmable Device Support PC Desktop PC Information Level Gateway or Linking Device Station MMI Servo Control Level Gateway or Linking Device Maintenance PC Controller Drive

Device Level 509 -BOD Micro PLC 24vdc Operator Interface Block I/O Robert D. Law 24 Modular I/O Micro Drive Motor Starter - Robert D. Law 25 Future Developments

ATM Fast Ethernet Universal Serial Bus FireWire Internet / Intranet Advanced Communication Services Deployed on Open Network Technologies ? (Examples)) Source/Destination - the classic model Profibus DP Interbus S Modbus MelsecNet Remote I/O - Profibus PA - AS-i - Modbus Plus - Seriplex - Data Highway Plus Producer/Consumer - the new model

Robert D. Law 26 Foundation Fieldbus ControlNet DeviceNet Controlbus (ControlLogix backplane) ? Change-of-State, Cyclic, Multicast Master/Slave ? ? ? ? point-to-point? ? ? Robert D. Law 27 I)ntegration Of Control & I)nformation Networked Business & Manufacturing Systems

Enterprise Networked Manufacturing Systems Embrace & Extend ERP Information MRP II Programmable Control MES/Batch Plant Fixed Floor Control MMI/SCADA MES 1960 1970 2005 . 1980 1990 Machine

Control Devices TIME ex: photoswitch to SAP Develop & Innovate Robert D. Law 28 Control System I)ntegration of Control & I)nformation Information Level of Data Integration Open Information Layer Modular Embedded Automation Layer Device Layer Control)

Machine Automation Scope Enterprise Robert D. Law 29 From the I)nternet to the DeviceNet) Programmable Device Support PC Desktop PC Information Level Gateway or Linking Device Station MMI Servo Control Level Gateway or Linking Device Maintenance PC Controller Drive

Device Level 509 -BOD Micro PLC 24vdc Operator Interface Block I/O Robert D. Law 30 Modular I/O Micro Drive Motor Starter Information Automation and Control Discrete Device Information Process Device Manufacturing Execution Systems (MES) ERP

Robert D. Law 31 Ethernet Robert D. Law 32 : Ethernet TCP/I)P 10 MB Web e-mail ATM Ethernet twisted pair, coax, fiber optics, RF, satellite, etc. Robert D. Law 33 Ethernet RSPortal Internet Software RSView

MMI Software RSLogix Programming Software SLC-5/05 RSLinx OPC Server 10 Mbit/sec ETHERNET TCP/IP ControlLogix Gateway PI Ethernet Gateway V A Robert D. Law 34 PLC-5 w/ Ethernet Sidecar Interface PLC-5

PLC-5 Powermonitor I 473 465 471 865 852 859 Power Monitor II ControlNet DH+ PLC-5 ALLEN-BRADLEY Flex I/O PLC-5Es Ethernet : Hubs -> Switches 10MB -> 100 Mb Ethernet -> (1Gb Ethernet) Half Duplex -> Full Duplex

Growth of Internet and Internet related software tools Robert D. Law 35 Ethernet ? Remote I/O, ControlNet, DeviceNet Ethernet ? I/O Ethernet ( : programming, data acquisition, etc.) Robert D. Law 36 Ethernet PC Open technology... Robert D. Law 37

Ethernet Switch technology active components introduce points of failure star topology (vs. more typical bus or multidrop) Media does not (generally) meet industrial specifications Physical protection needed Security issues Isolation and firewalls must be implemented to minimize accident or sabotage! Ethernet Ethernet . Application Layer . . Ethernet will NEVER be collision-free !!! Robert D. Law 38 DeviceNet Producer/Consumer technology I/O

Robert D. Law 39 DeviceNet Open Technology Managed by ODVA Power & Signal on same cable Robert D. Law 40 DeviceNet Sensors, actuators & switches Operator Interfaces Push buttons Drives Robots PanelView 550 ALLEN-BRAD LEY 7 8 4

5 1 2 . 0 < F1 F2 F3 F4 F5 Software Controllers DeviceNet I/O Devices Pneumatic Valves Bridges/Gateways etc. Robert D. Law 41

F7 F8 F9 F1 0 6 3 - <--- - - - - - - ---' ^ < F6 9 > v Information Automation and Control

Discrete Device Process Device Multi-vendor device Robert D. Law 42 Discrete Device Process Device Process Complex devices Discrete Simple devices Attributes Device Size Device Cost Installer Information Process applications Discrete

applications 100s in.3 $1,000-$10,000 Technician Multi-variable 10s in.3 $100-$1,000 Electrician On/Off, status .. Robert D. Law 43 oundation fieldbus - H Robert D. Law 44

What is the Fieldbus Foundation? 4-20 mA signal : Fieldbus Standard IEC / ISA : ABB, Bailey, Fisher-Rosemount, Foxboro, Fuji, Group Schneider, Honeywell, Rockwell Automation, Siemens, Yokogawa, plus many others (over 120 total) Robert D. Law 45 Foundation fieldbus) - H1 31.25 Kbps) Process Control Computers Network Controllers H1 Fieldbuses Junction Box H1 Fieldbuses Field Devices Robert D. Law 46

ControlNet and FF: A Powerful Combination Configuration Primary Secondary EOI Maintenance Quality Flex EX ControlNet Zone 1 Hazardous Environment Linking Devices Transmitter Display Power Monitor ALLEN-BRADLEY Drive Actuator Drive

Pushbuttons Powermonitor I Limit Switch V 473 465 471 A 865 852 859 Honeywell Magnew Drive H1 Discrete Mux Analog Mux Photoelectric Sensor DeviceNet Operator

Interface Scale H1 All Devices on ControlNet have direct access to all data on Fieldbus Robert D. Law 47 Robert D. Law 48 Network Specifications) Physical Media Network Power Maximum Devices 24vDC power to devices Thick & Flat trunk rated to 8 amps 64 Nodes per Network Thin wire rated at 3 amps (Shielded Twisted Pair) Communications and Power Thick - Trunk or drop Thin - Trunk or Drop Flat - Trunk only Trunkline Distances and Data rates

100m Max. with Thin cable 500m @ 125Kbaud (thick) 250m @ 250Kbaud (thick) 100m @ 500Kbaud (thick) (longer with Repeaters) PanelView 550 ALLEN-BR ADLEY 7 8 4 5 1 2 . 0 < F1 F2 F3

F4 F5 F6 F7 F8 F9 F1 0 9 6 3 - <-----------------' ^ < > v

Device Connections T-Taps Zero-drop (Maximum 6m each) Cumulative Drop-line Budget Terminating Resistors 120 Resistors at both network trunkline ends Robert D. Law 49 Messaging Services Producer/Consumer High-speed I/O Programming Configuration Diagnostics Drop-line wiring Single drop Daisy-chaining off drop Branching off drop 156m @ 125Kbaud 78m @ 250Kbaud 39m @ 500Kbaud (Maximum of 6m each)

Typical Sealed-Style Connections) Tee Taps Field Installable trunk line connectors -screw type -crimp type Trunk line segments -molded mini-connectors Drop lines - molded connectors - 0 to 20 ft. - mini or micro at device Robert D. Law 50 Multiport Taps IP65/67, NEMA 4/6P Typical Open-Style Connections) Trunk Trunk

Droplines (0-6 m) Droplines Our open style connectors supports temporary terminal connections Robert D. Law 51 Taps may be mounted in panels or in junction boxes with cord grips IP20 Robert D. Law 52 DeviceNet Controllers ControlLogix (1756-DNB) PLC-5 (1771-SDN) SLC-5/03, 5/04, 5/05 (1747SDN) MicroLogix I/F PC Scanners PCI (1784-PCIDS) Compact PCI (1784CPCIDS) I/O MaXumBlock I/O Flex I/O (1794-ADN) ArmorBlock I/O (1792) DeviceLink I/O (1485)

Robert D. Law 61 Software & PC Interfaces RSNetWorx for DeviceNet & RSLinx 2.0+ PCMCIA (1784-PCD) PCI bus (1784-PCID) Compact PCI (1784-CPCID) Serial I/F (1770-KFD) Operator Interface PanelView 550/600/900/1000 Sensors Photoelectric sensor (Series 9000) Proximity Switch (871TM) Limit Switch (802T) Exis)ting DeviceNet Products) Media Power & Drives AC drives (Bul. 160, 1305, 1336) DC drives (1397) Medium Voltage (1557) Motor Protector (SMP-3) Soft Starter (SMC Dialog) Motor Manager (SMM) Starter Auxiliary (Bul 100 DSA)

KwikLink flat media system Round Media Components (taps, cables, connectors, etc.) D-Net Power Supply Other Devices Power Monitor Pushbutton station (800T) RA has the largest DeviceNet offering in the industry, with over 100 products to choose from ! Robert D. Law 62 DeviceNet Solutions): Logic-Driven Configuration Recipe management 1747-SDN DeviceNet MOV Dest: M0 Size: 32 words MOV

Dest: M1 Size: 32 words N23:5/00 |/| I.0.2/04 | | ( EN ) ( DN ) ( ERR ) ( EN ) ( DN ) ( ERR ) N22:1/06 ( ) O.0.1/10 ( ) Robert D. Law 63 DeviceNet Solutions): Multimas)ter & SlaveMode)

slave Slave master 1771-SDN 1747-SDN DeviceNet Robert D. Law 64 DeviceNet Solutions): PLC & SLC Pas)s)-thru Configuratoin DeviceNet network Ethernet, DH+, DH485 ControlNet 1771-SDN DeviceNet Robert D. Law 65 Open DeviceNet Vendor

As)s)ociation (ODVA) Over 300 member companies worldwide ABB, AEG Schneider, ASCO/Joucomatic, Banner, Beldon, Cutler-Hammer, Festo, Fisher-Rosemount, Hitachi, Intellution, Mitsubishi, Nematron, Omron, Parker Hannifin, Pepperl+Fuchs, Rockwell Automation, SMC, Toshiba, Turck, Wonderware, etc. Over 100 SI/OEM members Alvey, Jervis B. Webb, KR Automation, Rapistan Demag, Conformance Test Labs Japan, U.S., Europe Internet Home Page www.odva.org www.odva.org Robert D. Law 67 RA RAleads leadsthe theway way with over 100 with over 100 products productstested testedand and certified

by ODVA certified by ODVA!! DeviceNet Adoption Rate 30%+ growth (quarterly) DeviceNet Nodes 500000 400000 300000 200000 Source: ODVA Robert D. Law 68 1Q99 4Q98 3Q98 2Q98 1Q98 4Q97 3Q97 2Q97

1Q97 4Q96 3Q96 2Q96 0 1Q96 100000 DeviceNet - Applications) Material Handling Packaging/Palletizing Transportation Paper machines Metals & Mining Food & Beverage Semiconductors Entertainment Government many others Robert D. Law 69 RA DeviceNet Cus)tomers) (partial lis)t)

Robert D. Law 70 ALCOA ALCOA Anheuser-Busch Anheuser-Busch Caterpillar Caterpillar Chrysler Chrysler Compaq Compaq DuPont DuPont Fiat Fiat Ford Ford General

General Motors Motors Gillette Gillette Goodyear Goodyear Over 10,000 s)atis)fied cus)tomers) Heineken Heineken Hershey Hershey Hewlett-Packard Hewlett-Packard Michelin Michelin Motorola Motorola Nestle Nestle

Pepsi Pepsi Philip Philip Morris Morris Procter Procter & & Gamble Gamble Quaker Quaker Oats Oats Toyota Toyota Rockwell Automation Architecture Capabilities) Information Automation and Control Discrete Device Robert D. Law 71 Process Device DH+ DH485 RIO

Example Automotive Body Shop Architecture Ethernet Conveyor / Zone Controller ControlLogix PV 1000C ControlNet ControlLogix w/ Motion DeviceNet 1203-GU6 Dnet Interface Flex I/O 509 -BOD 24vdc Bar Code Hardened Block I/O Robert D. Law 72 1305/1336+ Drive 1203-GU6

Dnet Interface PV 600C +/- 10 VDC Encoder F/B 1394 Servo (Analog) Multi-Layer Broadcas)t: Super Who Ethernet Conveyor / Zone Controller ControlLogix PV 1000C ControlNet ControlLogix w/ Motion DeviceNet 1203-GU6 Dnet Interface Flex I/O 509 -BOD 24vdc Adaptascan

Bar Code Hardened Block I/O Robert D. Law 73 1203-GU6 Dnet Interface PV 600C +/- 10 VDC Encoder F/B 1394 Servo (Analog) 1305/1336+ Drive Multi-Layer Device Configuration: MMI) Upload/Download Ethernet Conveyor / Zone Controller ControlLogix PV 1000C ControlNet ControlLogix w/ Motion DeviceNet

1203-GU6 Dnet Interface Flex I/O 509 -BOD 24vdc Adaptascan Bar Code Hardened Block I/O Robert D. Law 74 1305/1336+ Drive 1203-GU6 Dnet Interface PV 600C +/- 10 VDC Encoder F/B 1394 Servo (Analog) Multi-Layer Device Configuration: Motion Control Parameter Edit Ethernet

Conveyor / Zone Controller ControlLogix PV 1000C ControlNet ControlLogix w/ Motion DeviceNet 1203-GU6 Dnet Interface Flex I/O 509 -BOD 24vdc Adaptascan Bar Code Hardened Block I/O Robert D. Law 75 1305/1336+ Drive 1203-GU6 Dnet Interface PV 600C

+/- 10 VDC Encoder F/B 1394 Servo (Analog) Communications) Summary OPEN - Allows various IS, MES and data archiving systems access to plant floor data from all the control systems. Information OPEN - Often a single control Automation and Control Discrete Device Process Device vendor is held accountable for performance of the machinery and its safe operation within each control system. OPEN - Allows user to select the most appropriate vendor for the various sensors, actuators, and other devices connected to the control system.

Robert D. Law 76 Robert D. Law 77 64 . . : 125, 250, 500 K baud . - Allows zero node separation Robert D. Law 78 . ( 8A ) . NOTE:

. Robert D. Law 79 DeviceNet Red White Bare Blue Black +24VDC ( V+ ) CAN-H Shield CAN-L +0VDC ( V- ) 5 , 24 Volts DC , CAN , Robert D. Law 80 24 Volts DC 8 A NEC Class 2 4 A . ( ) 24 Volts DC 3 A

(Tap) Trunk Node Node Node Trunk Length Node Node (Branching Drop) Zero Drop Node Node P/S Node

Robert D. Law 81 max 20 feet Node (Daisy Chain) Node Node (Short Drops) 120 121 Ohms, 1/4 Watt . Robert D. Law 82 DeviceNet (Trunk) (Drop) 6m(20 feet)

. 3 : (Thick), (Flat), (Thin) 8 A 3 A Robert D. Law 83 (Thick Trunk) Kbaud 125 Kbaud 500m (1640 ft) 6m(20 ft) 153m(512 ft) Robert D. Law 84

64 250 Kbaud 250m (820ft) 6m( 20 ft) 100m (328 ft) 6m(20 ft) 77m(256 ft) 64 500 64 38m(128 ft) ( Thin Trunk) Kbaud 125 Kbaud 100m (328 ft)

6m(20 ft) 153m(512 ft) Robert D. Law 85 64 250 Kbaud 500 100m (328 ft) 100m (328 ft) 6m(20 ft) 6m(20 ft) 77m(256 ft) 64 64 38m(128 ft) ( Flat Trunk)

Kbaud 420m (1378 ft) 6m(20 ft) 153m(512 ft) Robert D. Law 86 125 Kbaud 64 250 Kbaud 200m (656 ft) 6m(20 ft) 75m (246 ft) 6m(20 ft) 77m(256 ft)

64 500 64 38m(128 ft) 18mm Robert D. Law 87 12mm T-Taps) Tee Tap

Robert D. Law 88 Keyed left & right / 6m / pigtail / KwikLinkFlat

Insulation Displacement Connector (IDC) NEMA 6P and 13, IP 67 enclosure rating Robert D. Law 89 DevicePort (to Trunk) DeviceBox cord grip 2, 4, 8 grips Trunk Trunk DeviceBox DevicePort Drop Drop

Robert D. Law 90 Drop Tee Taps Field Installable trunk line connectors -screw type -crimp type Trunk line segments -molded mini-connectors Drop lines - molded connectors - 0 to 6 m (20 ft.) - mini or micro at device Robert D. Law 91 Multiport Taps

Trunk Dropline Zero length drop using Plug10R with probe cable support Open Style Device Open Style Device Sealed Control Enclosure Robert D. Law 92 Open Style Device Open Style Device

(#18), / (#15), / / (#18) PVC/ : -40o C to +85oC : -20o C to +60o C @ 8A 80o C 0A , UL Oil Res. II 1.2cm(0.480 inch) Robert D. Law 93 DeviceNet Beldfoil Aluminum/Polyester Shield Vinyl Jacket .480?O.D. Blue & White Data Pair Datalene Insulation Polypropylene Fillers

18 AWG. Tinned and Stranded Copper Conductors 65% Coverage Stranded Drain Wire Tinned Copper Braid Shield Tinned Copper 18 AWG. Thick Cable Grey PVC Yellow CPE Robert D. Law 94 Belden 3082A 3083A AB number YR-29790 YR-39659 15 AWG. Tinned and Stranded Copper Conductors Red & Black DC Power Pair PVC/Nylon Insulation

(#24), / (#22), / / (#22) PVC/ : -40o C to +85oC : -20o C to +70o C @ 1.5A 80o C 0A , UL Oil Res. II 0.69cm(0.270 inch) Robert D. Law 95 DeviceNet Thin Cable Beldfoil Aluminum/Polyester Shield Vinyl or CPE Jacket .270?O.D. Polypropylene Fillers Blue & White Data Pair Datalene Insulation Overall Mylar Tape 24 AWG. Tinned and Stranded Copper Conductors 65% Coverage Tinned Copper Braid Shield

Thin Cable Grey PVC Yellow CPE Robert D. Law 96 Belden 3084A 3085A AB number YR-29832 YR-39660 Stranded Drain Wire Tinned Copper 22 AWG. 22 AWG. Tinned and Stranded Copper Conductors Red & Black DC Power Pair PVC/Nylon Insulation KwikLink 4-wire Flat Cable Robert D. Law 97

DeviceNet Flat Media DeviceNet CAN_H User User defined 1 defined 2 CAN_L 0 Vdc +24Vdc DeviceNet , 8 A +24Vdc 0 Vdc , 8 A Media Features 600V, 8A rating Physical key Fits in 1?conduit Robert D. Law 98

Works with existing devices TPE / Santoprene jacket flexible Highly . . 17 87-DNPS DeviceNet 4 A . DeviceNet Assistant DNETPWR.XLS DeviceNet . Robert D. Law 99 V- ( ) ( ) DeviceNet . Signal Signal Shield VV+ ..

. Power Tap VRobert D. Law 100 . . V+ 24 VDC Power Supply 500 m 500 m 500 m N32 N1 power supply . 8 A (NEC 4A ) Robert D. Law

101 N33 N64 ( Current Boos)t ) up to 500 m N1 Power Supply N32 N33 Power Supply N64 8 A ( NEC 4 A) (IR ) Robert D. Law 102

Bus) 24 V Power Supply Node 24 V Power Supply Node V+ Power Conductor V- Power Conductor CAN-H, CAN-L, Shield Robert D. Law 103 Node Node 11 VDC 25VDC .

. DeviceNet 24VDC 50 mA . , . . Series 9000 Photoeye, DeviceLink, input ArmorBlock . . DTAMPlus, FlexI/O,Bulletin 160 . AC DC . DeviceNet . 2 4 DC ArmorBlock . 3 pin mini connector 24 VDC . Robert D. Law 104 Power Supply

+24V 0V V+ Scanner Phoenix Connector CAN-H SHLD CAN-L VTerminal Strip KFD/PCD Phoenix Connector Robert D. Law 105 (0-63) . (125kb, 250kb, or 500kb) . NOTE: #63, 125 kbps . (dip switch, push wheel) , RediSTATION ( PC, HHT)

, DeviceLink, ArmorBlock I/O / , Series 9000 photoeye (Autobaud) , Flex I/O, ArmorBlock I/O, DeviceView Robert D. Law 106 DeviceNet , RediSTATION , Drive Tools, GML, Flex I/O, AdaptaScan Electronic Data Sheets (EDS) Robert D. Law 107 RSNetworx or DeviceNet Manager pre-installed 3.5 floppy disk w/device Internet/BBS

Factory-stored on product ( Autobaud) (electronic Key) . Manufacturer NEW! Auto Device-Replace ( ADR ) Robert D. Law 108 Automatic Device Replace ( ADR ) Robert D. Law 109 ( ADR ) RSNetworx for DeviceNet ADR (Node Recovery) (Configuration Recovery) Node

Recovery . 63 . Configuration Recovery . Configuration Recovery RSNetworx . Electronic key . 1747-SDN V4.015 or higher ALLEN-BRADLEY Original Device #55 Robert D. Law 110 Replacement Device #63 Bus level 0 = dominant Bus level 1 = recessive Bus idle = recessive The dominant level overrides the recessive level #1 #2 #3 resulting bus level

Bit coding is NRZ (Non-Return to Zero) w/bit stuffing 0 0 0 0 Example: 0 0 1 Robert D. Law 111 0 1 ... 1 1 0 0 0 1 1

DeviceNet Frame Format 11 bits 1 bit 6 bits 0 ... 8 bytes 15 bits 1 bit 1 bit 1 bit Interframe Space 6 bits

>=3 bits End of Frame { 1 bit Interframe Space ACK Delimiter ACK Slot CRC Delimiter ACK CRC Sequence Data Field Robert D. Law 112 Control (2 bits reserved for future, DLC0-3 is the data length code ) RTR = Remote Transmission Frame RTR Bit CRC = Cyclic Redundancy Check Identifier ACK = Acknowledge DLC = Data Length Code

Start of Frame 8 Media Acces)s) Logic . Y 3 bit . Node Network Latency Time Node X Transmission Interframe Space > 3 bit times Time Robert D. Law 113 Node Y Transmission Arbitration Example Node 1 Transmits: 0 10110110100

0 0 0 1 00000001 Ack field Node 2 Transmits: 0 E xxxx 11 O F Node 2 losing arbitration and stops transmitting! 10110111 01 Node 2 still ACKs message. As seen on the wire: 0 10110110100

Arbitration Field Robert D. Law 114 0 0 0 1 00000001 E xxxx 01 O F Acknowledgments) . ACK Slot ack . . Indicates to all nodes that at least one node did not receive the message correctly There is no separate acknowledge frame in CAN Robert D. Law 115

Data Fragmentation Any device that needs more than 8 bytes of data sent either direction will cause fragmentation to occur in that direction. Fragmented packets can only send a maximum of 7 bytes of data in each packet, because the first byte of the data is used as flag bits to help reassemble the fragments. A value of 00 hex in the flag byte tells you that this is the first fragment. A value of 40 to 7F hex says that the packet is an intermediate fragment. The lower 6 bits of the byte is the fragment number. The fragment numbering always starts at 0 for the first fragment. A value of 80 to FF hex says that this packet is the last packet and again the lower 6 bits is the fragment number. Data Packet Description Example: 00 01 02 03 04 05 06 07 First Fragment Number 0 41 08 09 11 22 33 44 55 Intermediate Fragment Number 1 55 Intermediate Fragment Number 2 83 66 77 88 99 Last Fragment Number 3 Robert D. Law 116 42 08 09 11 22 33 44 Logic s)cope view of CAN trans)mis)s)ion A

B C 0 VDC V- A = + 3.5 VDC to +4.0 VDC ( Dominant State ) B = +2.5 VDC to +3.0 VDC ( Recessive State ) C = +1.5 VDC to +2.0 VDC ( Dominant State ) Robert D. Law 117 Network Voltage/OHM Readings) It needs to be understood that DeviceNet is actually a three wire Differential Voltage network. Communication is accomplished by switching the CAN-H ( White wire ) and CAN-L ( Blue wire ) signals relative to the V- line ( Black Wire ). IMPORTANT NOTE: The CAN to V- voltages given in the rest of this slide assume NO common mode voltage effect is occuring anywhere on the V- wire of the network. On a network with Common Mode Voltage influence, the voltages will be higher depending on where you take the measurement. Nodes closest to the power supply will exhibit voltages higher due to the Common Mode Voltage, while nodes at the farthest end of the network away from the power supply will exhibit lower voltages. The CAN-H swings between 2.5 VDC (Recessive State) and 4.0 VDC (Dominant State) while the CAN-L swings between 1.5 VDC (Dominant State) and 2.5 VDC (Recessive State) Without a network master connected to the DeviceNet, the CAN-H and CAN-L lines should read between 2.5 VDC and 3.0 VDC relative to V- and the voltages should be identical. ( Recessive State ) I normally measure these voltages right at the SDN scanner connection which is normally also where the power supply is connected to thenetwork. I normally use a voltmeter in DC mode. With a network master connected to the DeviceNet and polling the network, the CAN-H to V- voltage will be around +3.2 VDC. The CAN-L to V- voltage will be around 2.4 VDC. The reason these values appear a little different than the ranges shown on the scope trace, is that the signals are switching, which slightly affects the DC value being read by the VOM.

With the 24VDC power supply not energized you can measure the resistance between the CAN-H and CANL signals. The ohm reading between the CAN-H and CAN-L lines should be 60 ohms (two 120 ohm resisters in parallel), however with a large amount of devices connected to the network the resistance could be as low as 50 Ohms. Robert D. Law 118 Robert D. Law 119 DeviceNet DeviceNet / , , Peer to Peer Communication . PLC-5 1771 1771-SDN Scanner SLC-500 1747-SDN ControlLogix 1756-DNB PC 1784-PCDS 1784-PCIDS. . PLC PC DeviceNet . Robert D. Law 120 / Producer/

Cons)umer . Source/Destination (No sense of mastership) Source/Destination : Master/Slave Peer-to-Peer : (Multicast) - 1 : , : 1 Change of State, event based; Cyclic, time based Examples - DeviceNet, ControlNet, FIP, Fieldbus Robert D. Law 121 - Mas)ter/Slave : Polling PLC scanner I/O . . (Single master) Network - Remote I/O, Profibus DP, Interbus-S, Seriplex, LON PLC 1,4,... Robert D. Law 122

3,6,.. I/O 1 2,5,.. I/O 2 I/O 3 Protocol DeviceNet Polled Strobed Strobe Command/Response -- Strobe Command - 8 byte I/O . 1 bit output data. Strobe Transmission format Node/Bit # 63 Byte 7 Robert D. Law 123 56 55 48 47 Byte 6 40 39

Byte 5 32 31 Byte 4 Byte 3 24 23 16 15 Byte 2 Byte 1 8 7 Byte 0 0 Protocol ( ) -- Strobe Response - Strobe . Poll Command/Response -- Poll Command - I/O point-to-point . Poll Command . -- Poll Response - . Robert D. Law 124

STROBE: POLL: . INTER SCAN DELAY: . . Strobe/responses New Cycle Polls/Responses P1 R1 P2 R2 ..... P R ..........packet processing time........ S ISD ... (up to 63) Robert D. Law 125 ...... (up to 63) ..... S (Change of State) (input or output) . .

(Change of State) . . . Background heartbeat Master/Slave, Peer-to-Peer Multimaster . #1 I/O 1 Robert D. Law 126 I/O 2 PLC #2 I/O 3 #3 (Cyclic Data Production) (input or output) Performance is repeatable Master/Slave, Peer-to-Peer Multimaster PLC every 500 ms

every 25 ms Robert D. Law 127 I/O 1 I/O 2 every 2000 ms I/O 3 DeviceNet COS/Cyclic Cy 2 Change COS / Cyclic Scan Model CPU Poll/Strobe . Note: (any mix of COS, Cyclic, Poll/Strobe) Co 6 Co 1 Cy 2 .......

COS / Cyclic Model S P 1 R P 1 2 R 2 P P R P 3 4 3 5 Poll / Strobe Model Robert D. Law 128 R 4 R 5 P 6 R 6

I S D S ....... (Multimas)ter) PLC 1 Drive 1, Drive 2, Drive 3 . PLC 2 I/O 1 MMI . . PLC1 I/O 1 Robert D. Law 129 PLC2 DRIVE 1 MMI DRIVE 2 DRIVE 3 DeviceNet

AI-5 6200 AI-500 APS DH485/DH+ DH+/ControlNet/Ethernet SLC-5/02, 5/03, 5/04 1747-SDN Scanner 1770-KFD RS-232 PC I/F PLC-5/xx DeviceNet RIO DeviceLink I/O w/standard sensor Third Party Third Party ThirdDevices Party Devices

Devices 1771-SDN Scanner Physical Media 1203 DeviceNet Interface Series 9000 Photoelectric 1794-ADN Adapter for Flex I/O A-B A-B DeviceNet Config s/w DeviceNet Manager V3.04 Robert D. Law 130 800T RediSTATION AdaptaScan Bar Code Reader SMP3

SMP-3 Smart 1305, 1336 Drives Motor Protector, SMC Dialog Plus DeviceNet Products) RS-Wires DeviceNet Library AutoCAD 1784-PCIDS Scanner Card SLC-5/02, 5/03, 5/04 871-TM Prox 18mm & 30mm 1761-NET-DNI PanelView 550, 900 DTAM Plus DTAM Micro PLC-5/xx PanelView 550 ALLEN-BRADLE Y 7

8 4 5 1 F2 F3 F4 F5 F6 F7 F8 F9 F1 0 1771-SDN/B Scanner SMC PLUS TM ENERGY SAVER

FAULT STO PPI)NG STALL STARTI)NG TEMP RUNN I)NG START LI)NE CONTRO L VOLTAGE RSNetworx for DeviceNet Robert D. Law 131 ArmorBlock I/O and Low Profile Armor Block I/O DeviceView

IMC S-Class 1394 GMC > v ALLEN-BRADLEY FR N RSServer WIN DNet16 - ^ physical media A-B 1784-PCD PCMCIA I/F 3 <-- - - - - - - - - ' < 1747-SDN/B Scanner

6 0 < F1 9 2 . 3D3 Smart Motor Controller Dodge EZlink sensorized bearing 160 Smart Speed Controller 825 Smart Motor Manager FlexPak 3000 & GV3000 Drives RSNetworx

. . EDS . . DeviceNet Robert D. Law 132 DeviceNet Parameter Object and Parameter Object Stub Configuration Assembly Electronic Data Sheet (EDS) PC photoswitche RAM/ROM Robert D. Law 133 Applications)

Bag/Wrap Carton/Case Components/Controls Fill/Feed/Close Form/Fill/Seal Inspect/Weigh Label/Code/Imprint Material/Package Package Handling Seal/Band Shrink/Stretch For Material Handling Automotive Semiconductor Food & Beverage Robert D. Law 134 Wet environments . Robert D. Law 135 /

(SEMI) Robert D. Law 136 1. 2. 3. Common mode voltage( ) 4. 5. 6. V Robert D. Law 137

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