Indradrive Fieldbus Setup with RSLogix 5000

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IndraDrive Fieldbus Setup with RSLogix 5000 
including Add-On Instructions for Indradrive control via AB PLCs 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
April 2009 
 2
 
 
This document explains the setup for an Indradrive with a fieldbus communication 
master. Setup for DeviceNet and Ethernet/IP are described, for both the Indradrive and the 
Rockwell software. The actual hardware, software and firmware versions used for this document 
are listed in the appendix. 
 
There are many fieldbus capabilities and functions available in the Indradrive, but this 
document seeks to provide a simple explanation to program simple motion or data transfer. This 
document is not a complete description of the Indradrive fieldbus capabilities. The Indradrive 
drive help files and manuals should be consulted for other functions not described here. 
 
This document explains two methods of fieldbus communications: direct drive control and 
data transfer only. With direct drive control, the controller, an AB PLC in this case, issues 
commands for motion directly to the drive via control and status registers. In data transfer only, 
the controller merely sends and receives data to and from the drive and the actual motion is 
handled by the drive itself, (such as with an MLD system). 
 
The second half of the manual describes the setup and programming for Add-On 
Instructions developed to interface to the Indradrive via a fieldbus connection: Ethernet/IP or 
DeviceNet. These function block closely resemble the motion commands of the Logix system in 
form and function. For simple, point-to-point motion, these AOIs allow the customer to 
significantly reduce their control system cost by using a lower cost fieldbus master PLC and the 
Indradrive. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 3
Table of Contents 
1 IndraDrive Fieldbus Setup and Diagnostics 4 
1.1 IndraDrive DeviceNet Communication Setup 4 
1.2 Allen-Bradley DeviceNet Communication Setup 6 
1.3 Indradrive Ethernet/IP Communication Setup 7 
1.4 Allen-Bradley Ethernet/IP Communication Setup 9 
1.5 Indradrive Setup for Direct Drive Control 10 
1.6 Allen-Bradley Setup for Direct Drive control 11 
1.7 Indradrive/Allen-Bradley Setup for Data Transfer Only 12 
1.8 Explicit Messaging 13 
1.9 Diagnostic and Troubleshooting 15 
1.10 Appendix 16 
2 RSLogix 5000 Function Blocks for use with BRC Fieldbus Drives 17 
2.1 Introduction 17 
2.2 BRCFieldbusDriveComms_In, BRCFieldbusDriveComms_Out 19 
2.3 MSOBRC – Motion Servo On 21 
2.4 MSFBRC – Motion Servo Off 21 
2.5 MAFRBRC – Motion Axis Fault Reset 22 
2.6 MAHBRC – Motion Axis Home 22 
2.7 MAJBRC – Motion Axis Jog 23 
2.8 MASBRC – Motion Axis Stop 24 
2.9 MAMBRC – Motion Axis Move 25 
2.10 MAWBRC – Motion Arm Watch 26 
2.11 MDWBRC – Motion Disable Watch 26 
2.12 BRC_Probe 27 
2.13 BRC_Probe_Disable 28 
2.14 BRC_DistanceAccum 28 
2.15 Error Codes 29 
3 Step-by-Step Setup Instructions for Single Axis Communications 30 
4 Step-by-Step Setup Instructions for CCD Communications 34 
 
 
 
 
 
 4
1 IndraDrive Fieldbus Setup and Diagnostics 
 
1.1 IndraDrive DeviceNet Communication Setup 
 
The setup screen for DeviceNet communications is displayed below. It is accessed on the 
Settings dialog under the Master communication folder. The parameters must be set while the 
controller is in Parameter Mode. The slave address of the drive (Master communications 
address) is set here and, by default, corresponds to the address set on the front of the drive. The 
address can also be set on the front of the drive. The baudrate for this device is also set here 
and should be set to correspond to the baudrate of the overall DeviceNet network. The other 
settings can remain as default. Also on this dialog, displayed as read only values, are the Length 
of Cyclic Real-Time Channel and Length of Cyclic Command Channel. These values represent 
the size of the Real-time input (AT) data and Real-time output (MDT) data for communication on 
the network. These values determine what will be entered in the DeviceNet master for the 
communication data block size for this Indradrive slave. 
 
The Real-time input (AT) list holds data sent from the drive to be read by the Master 
controller as inputs. These are feedback values from the drive such as current drive position, 
current velocity, etc. The parameters in this list can be customized to the specific application. 
The parameters displayed here are to be used in the example of direct drive control. The profile 
type should be selected as “Freely configurable mode.” In Freely configurable mode the first 
parameter must always be P-0-4078: Field bus: status word. 
 5
The Real-time output (MDT) list holds data sent to the drive from the Master controller 
where they are configured as outputs. These are command values to the drive such as 
Positioning command, Positioning Velocity, etc. The profile type should also be “Freely 
configurable mode”. In this mode, the first parameter must be P-0-4077: Field bus: control word. 
 
 
 
 
 
 
 
The diagrams to the 
right illustrate the hardware 
setup and connections. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 6
1.2 Allen-Bradley DeviceNet Communication Setup 
 
RSNetWorx for DeviceNet is used to configure the DeviceNet network for the AB master 
DeviceNet scanner. The .eds file for the Indradrive must be registered with RSNetWorx in order 
to configure the scanner’s scan list. This is done using the EDS Wizard in RSNetWorx. The .eds 
file for the Indradrive is installed with Indraworks and is located under this directory: 
 
 C:\ProgramFiles\Rexroth\Indraworks\DeviceDataSheets\Indradrive\DeviceNet\Indradrive_DVN.eds 
 
Once the Indradrive is registered, it can be recognized by RSNetWorx and configured. 
After going online and discovering all the devices on the network, the Indradrive data structure 
can be configured in the master scanner, in this example, a 1756-DNB scanner. Under the 
Properties of the scanner, select the Scanlist tab. Move the Indradrive from the Available 
Devices list to the Scanlist list. Click on “Edit I/O Parameters…”. Check the Polled check box. 
The Input Size corresponds to the Length of Cyclic Real-Time Channel on the Settings tab of the 
DeviceNet communication setup in IndraWorks. (See the IndraWorks setup above.) The Output 
Size corresponds to the size of the Length of Cycle Command Channel. The Poll rate should be 
set to “Every Scan”. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Once these changes are 
accepted, the following warning, 
as displayed, may occur. This 
is due to the fact that the .eds 
has a generic size set for the 
input and output size. This 
warning states that the 
customer size created is 
different from the default size. This is normal. Select Yes to close. 
The scanlist can now be downloaded to the master scanner and setup for the scanner is 
complete. 
Once the communications have been established between the Master and Slave, control and 
status bits are available for the master scanner. One is the Local:2:O.CommandRegister.Run bit 
which must be set high to communicate on the network. If the bit is not set high E4005 will flash 
on the drive indicating that there are no communications on the master. Once the 
CommandRegister.Run bit is set high, the E4005 warning will clear, assuming there are no other 
faults. (E4005 will also appear due to mismatched data sizes between the master and slave.) 
 7
1.3 Indradrive Ethernet/IP Communication Setup 
 
To start the Ethernet/IP communications setup, right click on HCS02.1…. in Indraworks and 
select IP Settings. In the following dialog, set the IP addresses and select the check box for 
“Ethernet/IP as master communication”. A warning is displayed to explain that the drive power 
must be cycled for the changes to take effect. Cycle power in the drive before continuing. 
 
 
Now, thesetting screen for Ethernet/IP is available under the Master communication 
folder, under the Axis setup in Indraworks. The communication parameters must be set while the 
controller is in Parameter Mode. All settings on the Settings tab can remain as default. On the 
Settings tab, displayed as read only values, are the Length of Cyclic Real-Time Channel and 
Length of Cyclic Command Channel. These values represent the size of the Real-time input (AT) 
data and Real-time output (MDT) data for communication on the network. These values 
determine what will be entered in the Ethernet/IP master for the communication data block size 
for this Indradrive slave. The Configuration connection point, Assembly connection point (AT) 
and Assembly connection point (MDT) should be left as default. These values will be entered in 
the Master controller setup. 
The Real-time input (AT) list holds data sent from the drive to be read by the Master 
controller as inputs. These are feedback values from the drive such as current drive position, 
current velocity, etc. The parameters in this list can be customized to the specific application. 
The parameters displayed here are to be used in the example of direct drive control. The profile 
 8
type should be selected as “Freely configurable mode.” In Freely configurable mode the first 
parameter must always be P-0-4078: Field bus: status word. 
 
 
The Real-time output (MDT) list holds data sent to the drive from the Master controller 
where they are configured as outputs. These are command values to the drive such as 
Positioning command, Positioning Velocity, etc. The profile type should also be “Freely 
configurable mode”. In this mode, the first parameter must be P-0-4077: Field bus: control word. 
 
 
 
Note: In order to use Ethernet/IP communications on the Indradrive, there are two hardware 
requirements: 
1. The CCD option is necessary to include the Ethernet port for Ethernet/IP 
communications. (A basic Ethernet/IP control section, without the CCD option is 
planned for the future.) 
2. There must not be any other field bus communication cards on the control section, 
including DeviceNet and Profibus. 
 
 
 
 9
1.4 Allen-Bradley Ethernet/IP Communication Setup 
 
The Indradrive settings can be set directly in RSLogix 5000, no external software is needed 
to configure the network. To configure the drive, right click on the Ethernet network under 1756-
ENBT/A in the I/O Configuration. The following selection window appears. Select ETHERNET-
MODULE – Generic Ethernet Module under the Communications tree. 
 
Once the module is 
selected, you must 
configure the slave. Enter 
a unique name and IP 
Address. The Comm 
Format can remain at the 
DINT default value. 
The Assembly Instance 
values should match the 
values in the Indraworks 
Ethernet/IP Settings tab 
on the setup screen. The 
size corresponds to the 
data size on the same 
screen. The difference on 
the AB setup is that it is 
defined in sets of 32 bits. 
Simply divide the number 
of bytes in the Indraworks setup by four and enter that number here. 
 
Note: You may have to adjust the Indraworks data size to be a multiple of four in order to have 
the data sizes match up. You can do this in the Indraworks setup by adding S-0-0000, a dummy 
parameter, to take up space in the data structure, increasing it to a multiple of four. 
 
 
 
 
 
 
 10
1.5 Indradrive Setup for Direct Drive Control 
Data Structure 
The data communicated between the Master and Slave is scaled and must be adjusted 
on the Master side. Since the Comm. Format data type in the Master setup is DINT and the data 
to be transferred is a REAL data type, the data must be modified for communication. 
 An example would be writing a position command from the AB PLC to the drive, to 
parameter S-0-0282: Positioning command value. The scaling for this parameter can be 
determined by looking up the attributes of the parameter in the drive help files. In this example, 
S-0-0282 is a 4 byte, DEC_MV 
(decimal) type. The units are 
determined by the Parameter S-
0-0076, inches for this example. 
To understand how the data is 
scaled, view parameters S-0-
0077 and S-0-0078. In this 
case the data is scaled by 
10000 such that if 12345 is sent 
from the AB PLC, it is 
interpreted as 1.2345 in S-0-
0282 in the Indradrive. 
 The data conversion 
occurs both ways, as inputs and 
outputs. The data will need to 
be scaled in both directions. 
 
Operating Mode 
 For most applications that need simple positioning and jogging capabilities, Drive 
Controlled Positioning, Lagless is used. Other modes are possible, including Velocity, Torque 
and others. Reference the Drive Help files for more information on Operating Modes. The 
operating mode can be selected via the Control Word, P-0-4077, that is configured in the fieldbus 
communications, but since the drive defaults to the Primary mode of operation, select “Drive-
controlled positioning, lagless, encoder 1” as displayed below. 
 
For this mode of operation, the following parameters were chosen for communication 
over the fieldbus: 
 11
The command values are processed in the following manner for drive-controlled 
positioning: (This diagram and an explanation of this operating mode can be found in the
help files under Functional Description > Operating Modes > Drive-Controlled
 Drive 
 Positioning > 
ommand Value Adjustment with Drive-Controlled Positioning) 
 
 as 
he 
ters. For simplicity, only the 
arameters necessary for simple motion are shown here. 
e 
e 
caling and data conversion, necessary for 
the 
 
the 
lp files: P-0-
078 for the Field Bus Status Word and P-0-4077 for the Field Bus Control Word. 
C
 
Additional parameters can be added to the Input (AT) and Output (MDT) parameter lists
necessary to perform other drive functions or to write to other drive variables outside of t
operating mode, such as homing velocity or tuning parame
p
 
.6 Allen-Bradley Setup for Direct Drive control 1
 
Since the drive is controlled via control and status words, there is no setup necessary in th
PLC outside of the communications setup. The drive is controlled directly by PLC code. For 
ease of readability in the PLC code, it is useful to handle the communication and scaling in on
program and the actual command code in another. In this manner, user friendly tags can be 
created and used for motion programming while the s
control and status format, is handled elsewhere. 
The control code is similar to other Fieldbus drive devices in that command values are set in 
the configured registers (such as a position, velocity and acceleration command) and then a bit in
the control word is toggled to initiate the command. A status bit is read back acknowledging 
command and another status bit is toggled to indicate that the command is complete. For a 
description of the functionality of the control and status words, refer to the Drive He
4
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 12
1.7 Indradrive/Allen-Bradley Setup for Data Transfer Only 
If the Indradrive PLC is going to control the drive, the DeviceNet communications channel 
can be used for straight data transfer to and from the AB ControlLogix. In this case the two 
controllers are sharing data between data registers, but that data is used in PLC logic on both 
sides. (This differs from the drive control setup where the AB PLC is writing directly to the drive 
motion parameters to control m
The p
otion.) 
rofile type for data 
tran de 
s 
l-
. 
 used in the program 
to h
 there. 
sfer only is Operating mo
neutral. In this mode, P-0-4078 i
not required to be the first element 
of the Real-time input (AT) as it is 
in the Drive control setup. P-0-
4077 is still required for the Rea
time output (MDT) in both modes
In this example, Global 
Registers are
old data. These data 
containers are referenced in the 
Indralogic program for use
In this example, the fullpath can 
be seen. The Value 54321, in 
Indralogic variable outDeviceNet_0 is 
written to the drive parameter P-0-
1370 (left). P-0-1370 is included as 
the first element in the Real-time 
Input (AT) list (above). In the scan 
list of the DeviceNet Scanner, the AT 
data block has been configured for 
the first 48 bytes of the input data 
starting with 2:I.Data[0] (below). This 
corresponds to Local:2:I.Data[0] in 
the ControlLogix controller tag list 
(below, left). Finally, the tag 
Local:2:I.Data[0] is moved into the 
ControlLogix variable inDeviceNet_0 
(below, middle). 
 
 
 
 
 
 13
1.8 Explicit Messaging 
xplicit messaging is available to read and write to drive parameters outside of the polled I/O 
 cyclic basis but is useful for reading or setting non-time-
criti
Con sed to execute an 
e 
 here). 
 the 
g 
e 
 in
Element blank and the Source Length as zero. 
se… 
tton and select the DeviceNet communication module. In the Path entry, type a comma after 
 
ix, 
ress for the 
eNet 
E
data list. This data is not updated on a
cal data. The setup is the same for both Drive control as well as Data Only mode. 
DeviceNet: 
 The MSG instruction in the 
trolLogix is u
explicit message read or write. The 
message type is CIP Generic. The 
Service Type is Get Attribute Single 
for a read command and Set Attribut
Single for a write command. The 
Class is always 64. The Instance is 
the SERCOS address. For S 
parameters, enter the address 
directly, (S-0-0051 is displayed
For P parameters, add 32678 to
parameter number. For example, if 
you wish to access parameter P-0-
1370, enter 34138 for the Instance 
field. The Source Element is the ta
address for a write command and th
Source Length is the length of the tag
Destination field and leave the Source 
 
 For the Communications tab, only the path needs to be entered. Click the Brow
 bytes. For a read command, enter a tag in the 
bu
the DeviceNet module name, add
the slot address that the DeviceNet 
module occupies in the ControlLog
type another comma and then type 
the DeviceNet node add
Indradrive. In the example below, 
the DeviceNet Module sits in slot 2 
of the ControlLogix rack and the 
Indradrive address on the Devic
network is 5. 
 
 
 
 
 
 
 
 
 
 
 
 
 14
Ethernet IP: 
The Ethernet/IP setup is the 
same fo ation tab of the 
essag
nication tab is 
ifferent for the Ethernet/IP 
ommun 
rowse… 
 
r the Configur
M e instruction configuration. 
Below, a write to P-0-1370 is 
demonstrated here. 
 
 The Commu
d
c ications as compared to the
DeviceNet setup. Click the B
button and select the drive directly 
from the list. There is no other 
configuration necessary. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 15
1.9 Diagnostic and Troubleshooting 
 
Indradrive DeviceNet LED meaning: 
 
There are two LEDs at the front of the optional module "CO"; with master communication 
eviceNet" their displays have the significances described below. 
 displays the status of the "DeviceNet Identity Object". 
"D
 
LED Display "Module Status" (H4) 
 
The LED display "module status" (H4)
 
Behavior of LED "H4" Significance/status
LED off no control voltage available 
e 
es gre n 
 
overable Fault" 
verable Fault" 
isplays the network status of the DeviceNet master 
ommunication. 
"H5"
LED flashes green/red device self test activ
LED flash e device "Standby" 
LED permanently lit green device "Operational" 
LED flashes red device "Major Rec
LED permanently lit red device "Major Unreco
 
LED Display "Network Status" (H5) 
 
The LED display "network status" (H5) d
c
 
Behavior of LED Significance/status
LED off device "Offline" 
nection to master 
 to master 
e para s: diagnostic message, for the current 
tatus of the DeviceNet master communication. 
* In some cases, depending on the Ethernet network and configuration, it may be necessary to 
et the gateway address in the Indradrive. In these cases, the ControlLogix will generate a 
LED flashes green "Online" but no con
LED permanently lit green "Online" and connection
LED flashes red Polled I/O connection "Timed Out" 
LED permanently lit red critical connection error 
 
For further diagnostics, se meter P-0-4073, Field bu
s
 
 
**
s
communication fault ((Code 16#fd02) Error: unknown type.) This fault may be generated by other 
network problems as well. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 16
1.10 Appendix 
aworks 07V14.0166 
0 (CPR 7) 
instructions) 
tions) 
ardwa
adrive Control Section (DeviceNet): CSH01.1C-DN-ENS-EN1-NNN-NN-S-NN-FW 
B DeviceNet Scanner – Revision 4.005. 
20(config instructions 
 
ftware: So
 Indr
RSNetWorx for DeviceNet 7.00.0
 EDS file: Indradrive Revision 1.001 
 RSLogix5000 V16.03.00 (CPR 9) (for configuration 
 RSLogix5000 V17.00.00 (CPR 9 SR 1) (for function block instruc
 
re: H
 Indr
 Indradrive Control Section (Ethernet/IP): CSH01.2C-NN-ENS-EN2-CCD-NN-S-NN-FW 
 Firmware – FWA-INDRV*-MPH05V16-D5-1-NNN-NN 
-S-NN-FW Indradrive Control Section (CCD Slave): CSB01.2C-S3-ENS-NNN-NN
 Firmware – FWA-INDRV*-MPB05V16-D5-1-NNN-NN 
 
 1756-DN
 1756-L61 ControlLogix5561 Controller – Revision 16.
1756-L61 ControlLogix5561 Controller – Revision 17.2 (AOIs) 
 1756-ENBT/A 10/100 Mbps Ethernet Bridge – Revision 4.1 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 17
2 RSLogix 5000 Function Blocks for use with BRC Fieldbus 
Drives 
 
.1 Introduction 
se function blocks is to give the user a friendly way to program simple 
ingle-a
n. 
ossible, the 
 
 
 
 
 
 
 
nication manager 
nction block to handle the control and status data 
rocessing between the drive and the PLC. There is an input 
ommunication function block and a separate output 
ommunication function block. These communication 
nction blocks read and write from/to a drive data structure 
ithin the AB PLC. This User-Defined structure is named 
RC_Axis_Fieldbus. It resembles the Axis_Servo data 
tructure used by the AB PLC for AB SERCOS or analog 
ervo drives. The individual motion control blocks that 
comma
e in the 
S
xecuted, the logic in the block checks 
C_Axis_Fieldbus assigned to that drive. 
OBRC function block sets true the bit 
usDriveComms_Out function block, 
 in the CmdDriveOn bit and in turn, 
ield bus: control word in the 
 hese function blocks are for use in an IndraDrive that has been setup as direct drive 
controll
2
 The purpose of the
s xis motion with an Allen-Bradley PLC that resembles the commands of the AB PLC 
motion control structure. As is the case with most fieldbus control devices, a control word 
consisting of individual bits is used to command the device as well as control data words 
consisting of real data type commands such as a commanded position, velocity or acceleratio
Similarly, a control status word consisting of individual status bits from the drive as well as status 
words, indicate the current position, velocity or torque of the drive. Rather than leaving this data 
to the programmer to interpret and program, these function blocks handle the drive 
communications internally. The function blocks are written to emulate, as much as p
motion commands used in the RSLogix 5000 programming software. Certain functionality must 
be different due to the control structure and the blocks are not exact replicas due to the Add-On 
Instruction structure in RSLogix 5000 and other drive firmware differences. As an example, here
are the corresponding commands for the Motion Servo On function block, one the left, the Allen-
Bradley software command and on the right, the equivalent block for BRC fieldbus drives. 
 
 
 
The function blocks use a commu
fu
p
c
c
fu
w
B
s
s
nd the drive write to the Axis data structure and then 
the communication function block react to the chang
Axis data structure by turning on/off the appropriate bits in 
the drive. 
 
As an example of the control process, consider the M
power on the drive. When the MSOBRC function block ise
the current status of the drive from the instance of the BR
If the correct conditions are met to enable the drive, the MS
CmdDriveOn in the axis data structure. The BRCFieldB
which is monitoring this axis data structure, reads the change
turns on bit 15 in the drive control word which is tied to P-0-4077: F
Indradrive. 
 
OBRC command: a command to 
T
ed. (See Part I: Chapter 5) In addition, the communication data and operating modes 
must be configured in a certain manner for the blocks to operate correctly. This information is 
detailed below. 
 18
The function blocks are open to modification by the user and could be modified by the 
user to control the drive in other operating modes. The user is responsible for the use of thes
function blocks and the application in the user’s application. Bosch Rexroth Corporation makes 
no guarantee for their operation. While the function blocks closely resemble the motion of their 
respective A
e 
B function blocks, complete uniformity is not guaranteed. Care should be taken 
hen executing motion blocks and calling blocks before others are completed. The behavior of 
s 
se 
cks or when developing new programs. 
 
w
the MxxBRC blocks does not necessary match the Mxx blocks from Allen-Bradley in these case
due to the different control methods of the drives and the limited communication abilities of 
fieldbus drives. Adequate testing should be performed when translating existing programs to u
these function blo
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 19
2.2 BRCFieldbusDriveComms_In, BRCFieldbusDriveComms_Out 
 
These two function blocks are the communication 
andlers between the drive and PLC. They translate the 
RC_Axis_Fieldbus data on the AB PLC side and the 
rive data parameters on the Indradrive side. 
RCFieldbusDriveComms_In handles the inputs to the 
LC from the drive. BRCFieldbusDriveComms_Out 
andles the outputs from the PLC to the drive. 
onsequently, to achieve the best scan performance, 
ie
PLC scan before the motion commands are issued and 
BRCFie
 
n 
 the output 
or the next named declarations, it is 
importa e 
h 
 
order, to the AB PLC and appear, as 
this cas nd S-0-0084 (Torque Feedback) are combined in 
0] and Indradrive1:1.Data[0] is used as the 
mmunications function block. 
 in turn, takes that data and populates the axis 
 
It is important that the correct data is 
put in the correct location in the function block 
or data will not be transferred to the correct axis 
coming from and sent to the AB PLC. Since 
the data for these parameters are REAL data 
types, but are transmitted as DINT type, a 
scaling ratio is needed to interpret the data on 
both ends. These parameters will match the 
h
B
d
B
P
h
C
BRCF ldbusDriveComms_In should be called first in the 
ldbusDriveComms_Out should be called after all 
motion function blocks. This will allow for the PLC to read
the input data from the drive, process the motion functio
blocks (MSOBRC, MAMBRC, etc.) and update
image back to the drive all in one scan of the AB PLC. 
 
The top declaration for each function 
block is the instance for that function block. One 
set of these input and output communications 
blocks are needed for each IndraDrive. The 
next declaration, AxisStructure, points to the 
Axis data structure for that drive. Each unique 
Indradrive in the system will have one unique 
Axis data structure, here named BRCAxis1. 
 
F
nt to align the correct data from the driv
to the correct position in the function block. The 
mapping of data in the drive becomes important 
here. Below, seven 32 bit words in the Real-
time input (AT) configured in the drive are 
boxed. Notice that P-0-4078 and S-0-0084, bot
16 bit words, combine into one 32 bit word. 
These seven double words are transmitted, in
configured in the data points Indradrive1:I.Data[0…6]. In 
e, the data in P-0-4078 (Status Word) a
one 32 bit word, transmitted to Indradrive1:I.Data[
input variable for the StatusWords_Torq input of the drive input co
The BRCFieldbusDriveComms_In function block,
structure accordingly. 
structure variable. 
 
 
The position, velocity and acceleration 
scaling parameters are used to scale the data 
 20
drive scaling parameters listed below. The values to enter into the BRCFieldbusDriveComms 
inverse of th
parameter. For instance, if the linear scaling expo 
for the positioning scaling to enter is 1/10-4 or 100
 Position Scaling – S-0-0078 
 Velocity Scaling – S-0-0046 
 Acceleration Scaling – S-0-0162 
 
 
 
 
 
 
 
 
 
function blocks for the scaling represents the e exponent represented in the drive 
nent in the drive, S-0-0078 equals -4, the value
00. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 21
2.3 SOBRC – Motion Servo On 
 
he MSOBRC function block enables the 
servo dr e. A rising edge trigger on the function block 
input will send the enable signal to the drive if the drive 
is in the proper mode to be enabled. As soon as the 
function block is executed, the EN enable bit is set. 
Once the function block has set the appropriate bits to 
enable the drive, it will wait for a status update that the drive has indeed been enabled. At that 
point, the DN done bit will be set high. Once the Done bit has been set, it will remained set until 
the next execution of the function block. If the drive is not ready to be enabled the ER error bit will 
be set. The error codes are listed in section 2.15 below. Here are the actions on the Axis 
Structur status bits: 
M
T
iv
e
 
Axis Status Bits Motion Status Bits 
 None 
DriveEnableStatus TRUE 
 that the drive has indeed been disabled. At that point, the DN done 
bit will be set riate status bits in the Axis Struct updated. Once the 
Done bi l rem ined set until the next execution of the function block. If the 
drive do r bit will be set. The error codes are listed in 
section he Axis Structure status bits: 
xis Status Bits 
ServoActionStatus TRUE 
 
 
2.4 MSFBRC – Motion Servo Off 
 
The MSFBRC function block disables the 
servo drive. A rising edge trigger on the function 
block input will remove the enable signal to the 
drive. As soon as the function block is executed, the 
EN enable bit is set. Once the function block has 
set/reset the appropriate bits to disable the drive, it 
will wait for a status update
high and the approp ure will be
t has been set, it wil a
es not complete the command the ER erro
2.15 below. Here are the actions on t
 
A Motion Status Bits 
E MoveStatus FALSE 
DriveEnableStatus FALSE JogStatus FALSE 
HomingStatus FALSE 
StoppingStatus FALSE 
 
 
 
 
 
 
 
ServoActionStatus FALS
 
 
 
 
 
 
 
 
 
 
 
 
 22
2.5 AFRBRC – Motion Axis Fault Reset 
 
The MAFRBRC function block sends a reset 
ommand to the servo drive. A rising edge trigger on the 
nction block input will execute the C500 Reset 
ommand. As soon as the function block is executed, the 
N enable bit is set. Once the function block has set the 
ppropriate bits to reset any existing faults, it will wait for a 
tatus update that no Class 1 or Class 2 errors exist. If all errors are cleared, the DN done bit will 
e set. Once the Done bit has been set, it will remained set until the next execution of the 
nction block. If the drive does not complete the command and errors are not reset, the ER error 
it will be set. The error codes are listed in section 2.15 below. Here are the actions on the Axis 
tructure status bits: 
 
Axis Status Bits 
M
c
fu
C
E
a
s
b
fu
b
S
 Motion Status Bits 
PhysicalAxisFault FALSE None 
2.6 
 will assume at the homing event. As 
soon as the function block is executed, the EN enable bit 
and IP i e home statu
received ess complete bit and the 
N done bit areset. The PC process complete bit remains set until the enable input of the 
nction block is cleared, at which time the PC bit will be cleared as well. The DN bit remains set 
n error occurs during the command, the ER error 
it is set. The error codes are listed in section 2.15 below. Here 
Structur
 
 
MAHBRC – Motion Axis Home 
 
The MAHBRC function block sends a home 
command to the servo drive. The type of home move and 
similar parameters are set up directly in the IndraDrive. A 
rising edge trigger on the function block input will execute 
the C600 – Drive-controlled homing procedure command if 
the Homing Mode is set to 0 – Active or the function block 
will execute a C300 – Command Set absolute measuring if 
the Homing Mode is set to 1. The Home Position is the 
position that the drive
n process bit are set. Once the Home com is completed and th s is mand
 from the drive, the IP in process bit is cleared and the PC proc
D
fu
until the next execution of the function block. If a
b are the actions on the Axis 
e status bits: 
 
Axis Status Bits Motion Status Bits 
omingStatus TRUE 
Status FALSE 
oveStatus FALSE 
ppingStatus FALSE 
ming. 
at the homing event. The units are 
 
 
None H
 Jog
 M
 Sto
 
HomingMode: BOOL: 0 – Active Homing, 1 – Absolute Ho
HomePosition: REAL: The position assigned to the drive 
defined in the drive setup. 
 
NOTE: If Active Homing is used, the axis must be enabled or a fault will be generated. If 
Absolute Homing is used, the axis must be disabled or a fault will be generated. 
 
 
 
 23
2.7 C – M tion xis J g 
process bit is egins and 
rror occurs during the command, the ER error bit is 
et. The error codes are listed in section 2.15 below. 
ere are the actions on the Axis Structure status bits: 
 
 
 
MAJBR o A o
 
The MAJBRC function block sends a jog 
command to the servo drive. As soon as the function 
block is executed, the EN enable bit is set and remains 
set until the rung is false. If the Jog move is 
successfully initiated the DN done bit is set. The IP in 
set once the jog command b
remains set until the command is reset by another 
motion command, a MASBRC axis stop command, a 
shutdown command or a drive fault condition. If an 
e
s
H
Axis Status Bits Motion Status Bits 
JogStatus TRUE 
omingStatus FALSE 
 
None 
 H
MoveStatus FALSE 
 StoppingStatus FALSE 
ve setup. 
nits defined by drive setup. 
d in units defined by drive setup. 
 in units defined by drive setup. 
ts defined by drive setup. 
on in combination with the set Direction. If 
d by the IndraDrive parameter settings 
specifyi clockwise or counter-clock wise as positive. If the Direction is set to Positive but a 
Speed l an zero is commanded, negative velocity will occur. If the Direction is set to 
Negativ ed, negative velocity will occur. If the 
Directio Negat e and Speed ss tha zero is tive v 
 
 
 
Direction: DINT: 0 – Positive, 1 – Negative, as defined in the dri
Speed: REAL: Velocity of the jog command in u
Accel_Rate: REAL: Acceleration of the jog comman
Decel_Rate: REAL: Deceleration of the jog command
Jerk: REAL: Jerk of the jog command in uni
 
 The sign of the Speed will determine the directi
both are positive, the direction will be positive as define
ng
ess th
e and Speed greater than zero is command
n is set to iv a le n commanded, posi elocity will
occur. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 24
2.8 MASBRC – Motion Axis Stop 
The MASBRC function block sends a stop 
ommand to the servo drive. As soon as the function 
lock is executed, the EN enable bit is set and remains 
et until the rung is false. If the Jog move is 
uccessfully initiated the DN done bit is set. The IP in 
rocess bit is set once the stop command begins and 
mains set until the command completes or is reset 
y another MASBRC command, a shutdown command 
r a drive fault condition. Once the stop command is 
ompleted the IP in process bit is cleared and the PC process complete bit is set. The PC 
rocess complete bit remains set until the next false-to-true transition of the motion block at which 
me the PC bit will be cleared. If an error occurs during the command, the ER error bit is set. 
erro . Here are the actions on the Axis Structure 
 
 
c
b
s
s
p
re
b
o
c
p
ti
The r codes are listed in section 2.15 below
status bits: 
Axis Status Bits Motion Status Bits 
JogStatus FALSE 
 HomingStatus FALSE 
MoveStatus FALSE 
StoppingStatus TRUE 
d in units defined by drive setup. 
 in units defined by drive setup. 
 
None 
 
 
 
 
Decel_Rate: REAL: Deceleration of the jog comman
Jerk: REAL: Jerk of the jog command
 
 The Decel Rate determines the deceleration rate for the stop move. This value replaces
any previously commanded Decel Rate for any move. 
 
I 
It is important to set the Standstill Window (S-0-0124) to an acceptable value. If the 
value is too high, the drive may not use the correct deceleration. If the window is set too high, the 
drive sta l be e last 
decelera mmanded. Depe ding o der of co ot b
 
tus will be that the drive is in Standstill and the deceleration used wil th
tion co n n the or mmands, this may n e the 
deceleration programmed by this block. Set the Standstill window to a value that reflects the true 
status of the drive. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 25
2.9 MAMBRC – Motion Axis Move 
The MAMBRC function block sends a move 
ommand to the servo drive. As soon as the 
nction block is executed, the EN enable bit is set 
nd remains set until the rung is false. If the move is 
uccessfully initiated the DN done bit is set. The IP 
 process bit is set once the move command begins 
nd remains set until the command completes or is 
set by another motion command, a shutdown 
ommand or a drive fault condition. Once the move 
ommand is completed the IP in process bit is 
leared and the PC process complete bit is set. The 
C process complete bit remains set until the next 
-to-tru ch 
 
uring the command, the ER error bit is set. The 
error co
s: 
 
c
fu
a
s
in
a
re
c
c
c
P
false e transition of the motion block at whi
time the PC bit will be cleared. If an error occurs
d
des are listed in section 2.15 below. Here 
are the actions on the Axis Structure status bit
 
Axis Status Bits Motion Status Bits 
JogStatus FALSE 
HomingStatus FALSE 
 MoveStatus TRUE 
StoppingStatus FALSE 
l execute: 
e, or distance of the position move for an 
d: REAL: Velocity of the position command in units defined by drive setup. 
Accel_Rate: REAL: Acceleration of the position command in units defined by drive setup. 
Decel_R omma
Jerk: of the osition and in un setup
e move type. Motion blocks that are stacked, (one MAMBRC block is called before a previous 
plete the first block before 
xecuting the e he .CmdImmed bit of the BRC_Axis_Fieldbus axis data structure 
etermines th b mdImmed bit is set high, the position commands will be added. 
or example, a ecuted to 30 degrees and a relative move of 60 
egrees is exe lute command completes, the axis will begin a move to 90 
egrees as so n command is executed. If the .CmdImmed bit is set low, the 
mm n 
this case the a s and then move to 90 degrees. 
are efore 
m xx 
None 
 
 
 
 
Move Type: DINT: The type of move the block wil
 0 – Absolute 
 1 – Incremental 
 2 – Rotary Shortest Path 
 3 – Rotary Positive 
 4 – Rotary Negative 
Position: REAL: End point of the position mov
Incremental Move Type. 
Spee
ate: REAL: Deceleration of the position c nd in units defined by drive setup.REAL: Jerk p comm its defined by drive . 
 
 The Move Type determines the type of motion move that will be executed on the false-to-
true transition of the motion block. The block requires another false-to-true transition to change 
th
MAMBRC block is complete) will either combine moves or com
e s cond block. T
d e ehavior. If the .C
F if n absolute command is ex
d cuted before the abso
d o as the relative move
relative co and will execute after the absolute command has completed, in this example. I
xis would move to 30 degree
 C should be taken when mixing MAMBRC motion blocks and calling blocks b
others are co pleted. The behavior of the MxxBRC blocks does not necessary match the M
blocks from Allen-Bradley in these cases due to the different control methods of the drives. 
 
 
 26
2 MAWBRC – Motion Arm Watch 
 
The MAWBRC function block creates a watch on 
the designated axis to detect the axis crossing a specified 
position in a specified direction. As soon as the function 
block is executed, the EN enable bit is set and remains set 
until the rung is false. If the watch is successfully initiated 
the DN done bit is set. The IP in process bit is set once 
the watch is armed and remains set until the position is 
reached in the correct direction or is reset by another 
MAWBRC command or a MDWBRC command. Once the 
.10 
osition
n 
ommand, the ER error bit is set. The error codes are listed in section 2.15 below. Here are the 
ctions on the Axis Structure status bits: 
Axis Status Bits 
p is reached in the correct direction the IP in process bit is cleared and the PC process 
complete bit is set. The PC process complete bit remains set until the next false-to-true transitio
of the motion block at which time the PC bit will be cleared. If an error occurs during the 
c
a
 
 Motion Status Bits 
one 
n to the specified position 
 less than the watch position before 
ch position. 
 be more than the watch position before 
atch position. 
ition. 
the desi
execute re il the 
rung is false. y
below. Here are the actions on 
 
Axis Status Bits 
WatchEventArmedStatus TRUE N
WatchEventStatus FALSE 
 
TriggerCondition: BOOL: Determines the approach conditio
0 = forward – The position must be
the axis crosses the wat
1 = reverse – The position must
the axis crosses the w
Position: REAL: The value for the watch trigger pos
 
 
 
2.11 MDWBRC – Motion Disable Watch 
 
The MDWBRC function block disables a watch on 
e fungnated axis. As soon as th ction block is 
d, the EN enable bit is set and mains set unt
 If the watch is successfull disabled the DN 
done bit is set. If an error occurs during the command, the 
ER error bit is set. The error codes are listed in section 2.15 
the Axis Structure status bits: 
 Motion Status Bits 
WatchEventStatus FALSE 
 
 
WatchEventArmedStatus FALSE None 
 
 
 
 
 
 
 
 
 27
2.12 BRC_Probe 
 
to the In
s same type of functionality as the Allen-Bradley 
AR – Motion Arm Registration function block. Because of 
ifferences in hardware and access to variables over the 
eldbus link, only some functions are available. As soon as 
e function block is executed, the EN enable bit is set and 
mains set until the rung is false. If the probe event is successfully initiated the DN done bit is 
et. The IP in process bit is set once the probe is armed and remains set until probe is triggered 
 the drive, is reset by another BRC_Probe command on the same probe number or is reset by a 
RC_Probe_Disable command on the same probe number. Once the probe is triggered the IP in 
rocess bit is cleared and the PC process complete bit is set. The PC process complete bit 
mains set until the next false-to-true transition of the function block at which time the PC bit will 
rs during the command, the ER error bit
. Here are the actions on the Axis Structure status bits: 
 
The BRC_Probe function block provides an interface 
dradrive probe functionality. This function block 
provide
M
 the 
d
fi
th
re
s
in
B
p
re
be cleared. If an error occu
listed in section 2.15 below
 is set. The error codes are 
Axis Status Bits Motion Status Bits 
None 
e trigger position. 
f. 
 
 
RegEventArmedStatus TRUE 
RegEventStatus FALSE 
 
Position: REAL: The returned value for the signal prob
 
This function block requires the drive probe to be setup in IndraWorks, both in the Signal probe 
setup dialogs and in the data structure for the fieldbus data transfer. Continuous measurement 
must be unchecked for this function block. (If the Continuous measurement function is needed, 
the function block could be modified to accommodate the change.) Depending on the selection of 
edge the values in the Real-time Input (AT) list will differ. In the example below, the positive edge 
is selected for use. As a result, S-0-0130: Probe value 1 positive is placed in the AT List in 
places 7. If the negative edge for Signal Probe 1 was used, S-0-0130 would be replaced with S-
0-0131: Probe value 1 negative edge. No modifications are necessary to the function block itsel
 
 
 
 
 28
2.13 BRC_Probe_Disable 
ti block 
disables the probe function for the specified 
probe number on the designated axis. As soon 
as the function block is executed, the EN enable 
bit is set and remains set until the rung i
If the probe is successfully disabled the 
done bit is set. If an error occurs during the comma rro
are listed in section 2.15 below. Here a the actions on the Axis Structure status bits: 
 
Axis Status Bits 
 
The BRC_Probe_Disable func on
s false. 
DN 
nd, the ER e r bit is set. The error codes 
re
 Motion Status Bits 
RegEventArmedStatus 
RegEventStatus 
 
 
 
2.14 BRC_DistanceAccum 
 
distance
amount
soon as
nable b
 false. If the distance accumulator is 
uccessfully armed, the DN done and IP in 
rocess bits are set. There are no error 
l has 
lete bit is
vel to accumulate before setting the process 
nitored axis. This is the value of S-0-0103 in the 
anually, it is not read directly from the drive. 
d distance as an output, relative to the position at 
 20 inches and the BRC_DistanceAccum function 
ches, as the axis travels forward to 25 inches, the 
s 
Dist 
s 20 
 
FALSE None 
FALSE 
The BRC_DistanceAccum block 
monitors travel on a given axis for a specified 
. It is used to indicate that a set 
 of travel has occurred on the axis. As 
 the function block is executed, the EN 
it is set and remains set until the rung e
is
s
p
conditions for this block. Once the trave
been completed, the PC process comp set and the IP in process bit is cleared. 
 
Distance: REAL: Specifies the amount of tra
complete bit. 
Modulo: REAL: The modulo value of the mo
specified axis. It must be entered m
AccumDist: REAL: The value of the accumulate
which the function was enabled. 
 
As an example, if the axis position is
block is enabled with a Distance value of 10 in
IP bit would be on, the PC bit off and the AccumDist value would be 5 inches. As the axi
traveled to 30 inches, the IP bit would be cleared, the PC bit would be set and the Accum
value would be 10 inches. If the axis travels on to 40 inches and the function block remains 
enabled, the IP bit remains cleared, the PC bit remains set and the AccumDist value become
inches. 
 
 
 
 
 
 
 
 29
2.15 Error Codes 
 
The MxxBRC function blocks share a common error code structure similar to the motion 
lock error codes of the AB motion function blocks. Each block has a main error code (ERR) and 
n extended error code (EXERR). Here is a list of the possible errors that a function block might 
enerate: 
 
4: Servo On State Error - the drive state is AF or AH, the drive needs to be disabled to 
execute thecommand. 
5: Servo Off State Error - the drive state is bb or Ab, the drive needs to be enabled to 
execute the command. 
 Failed - the drive is not in the correct state to execute the block 
xtended Error Codes 
phase 4, bb. 
 
9: Axi continue this command. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
b
a
g
12: Servo Message
 EXERR: - E
03: Invalid Probe number input (must be 1 or 2). 
15: Enable input switch error – the drive has not completed the command within 
the time out period. 
16: Device state not correct for action – the drive is not in operation mode, 
13: Parameter Out of Range – Invalid parameter value, check Extended Error Code 
 EXERR: - Extended Error Codes 
0 - … - Number indicates which parameter is invalid with 0 being the upper most 
 Parameter in the block. 
16: Homing In Process Error - the drive is executing a Homing process. 
 fatal error active, clear error to continue. 20: Axis In Faulted State – the axis has a
7 s must be Homed – the axis must be referenced to
 
 
 
 
 
 
 
 
 
 
 30
3 Step-by-Step Setup Instructions for Single Axis 
ommunications 
 
These instructions describe the steps to setting up the Ethernet/IP 
commun cations to and from an Allen-Bradley PLC and a single 
Indradrive. If multiple drives exist in the system and are set up as 
separat bjects in the AB PLC program, this set of instructions 
would be followed once for each drive in the system. For the system 
pictured on the right, the setup procedure would be followed three 
times, once for each drive. 
 
e 
 
lave axes from the CCD master. For 
the system pictured on the right, the setup procedure would be 
preformed once. The CCD, multi-drive setup is described in Part IV 
below. 
 Press the up arrow once to “2.Comand”, press Enter. 
. Press the up arrow twice to “2.3 Kom.”, press Enter. 
. At 2.3.1, press enter and set the IP address. 
. At 2.3.1, press the up button to 2.3.2, then enter, then 
 At 2.3.2, press the up button to 2.3.3, then enter, then enter the gateway. 
. Press ESC until the drive returns to the original display. 
. Cycle power on the control section for the address to be applied. 
2. Start a new project in Indraworks, scan for the drive and add it to the project. 
3. 
EIP
setu l
the t
the e
com
the c
 
 
C
i
e o
 
 
 
 
 
 
 
It is possible to use a multiple drive setup which would us
the CCD functionality of the Indradrive system. In this case, the 
Master Indradrive would be setup as one object in the AB PLC and
the data would travel to the s
 
 
 
 
 
 
 
 
1. Setup the Ethernet address on the drive, via the operator 
panel on the front of the drive. 
a. Press Esc and Enter for approx. 10 seconds 
b.
c
d
e enter the subnet. 
f.
g
h
 
 
Import the .par file 
_SingleAxis.par from the 
p fi es. This file includes all 
set ing necessary to setup 
Eth rnet I/P network 
munications to operate with 
fun tion blocks. 
 31
 
and the drive 
to operational mode (OM or bb) if it is not already. If the AB PLC has yet to be configured, 
the drive will flash E4005 indica
ue limit is zero. This occurs because the torque limit is 
t I/P communication parameters. Since communications 
value is zero. 
 
5. to the 
on device in 
RSLogix5000. Add one Generic 
Ethernet Module for each Indradrive 
used. 
6. 
 
 
7. 
 
 
8. nications should be 
coming from the AB PLC is zero. Otherwise,
the Ethernet Module and the Indradrive will be in 
state is accomplished, it is now possible to implement
blocks. 
 User-Defined and select 
r-defined data type file 
0. Right click on Add-On Instructions and import the desired motion 
fu
 
 
4. Cycle power on the control section. When the drive is finished booting, comm
ting that there is no Ethernet I/P link or the drive will flash 
E2056 indicating that the torq
configured as part of the Etherne
have not been established, the 
Add a Generic Ethernet Module
Ethernet communicati
 
In the next dialog, enter a name for 
that drive, the IP address for that drive 
and the Assembly Instance data as 
displayed here: 
 
 
In the Module Properties, enter desired 
cyclic update of the Ethernet communications 
to the Indradrive, called the RPI: 
Download the RSLogix5000 project. At this time, Ethernet commu
established with the Indradrive. The error E2056 might flash if the value for the Torque limit 
 the AB PLC will have no errors or warnings on 
operational mode with no errors. Once this 
 the programming to use the function 
 
9. In the RSLogix5000 project, right click on
Import Data Type… Select and import the use
BRC_Axis_Fieldbus.L5X. 
 
1
nctions blocks. For all systems, there are two required blocks: 
BRCFieldbusDriveComms_In.L5X and 
BRCFieldbusDriveComms_Out.L5X. 
 32
 
11. n axis data structure for the Indradrive to the Controller Tags of the AB PLC. In the 
screen capture displayed below, notice the Input tags which correspond
by ouble 
 
12. 
Ethernet communications for that drive. 
T 
e 
ction blocks for the Indradrive. 
his would be the code that contains the 
ll 
 
Fieldbus 
ata structure and the 10 double words 
 
e 
 
 
Add a
s to the 28 input 
tes (7 double words) that were configured in step 6 above. The 40 bytes (10 d
words) of Output data are also visible. 
The programming of the ladder logic can 
now begin. In order to maximize the 
communication speed it is necessary to 
organize the ladder logic in the following 
manner. 
 
 Call the BRCFieldbusDriveComms_In 
function block first. The Axis structure 
variable should be the variable of the data 
type BRC_Axis_Fieldbus, as declared in 
Step 11 above. In this case, Indradrive1. 
For the next 7 function block entries, enter 
the input double words assigned to the 
he order is important to the function of
the rest of the motion blocks. 
 
Next, call the logic for the motion using th
motion fun
T
jog, move and home type commands. If a
the logic is called in between the In and
Out function blocks, the data flow between 
devices will be optimized 
 
 Call the BRCFieldbusDriveComms_Out 
function block after the motion logic for 
this Indradrive. As was declared in the 
Input Comms function block above, add 
the instance of the BRC_Axis_
d
assigned to this drive. Dummy double 
integers can be added to fill in the 
remaining data slots. These slots are for
optional communication expansion to th
drives. 
 33
 
13. The drive is now ready to operate with the function blocks. Depending on which function 
o 
he 
ne in Indraworks as part of the permanent 
drive setup. Similarly, other drive constants must be set such as the gear ratio, tuning 
parameters, I/O configuration and velocity/position limits must be setup in Indraworks. The 
function blocks are set to handle cyclic control data that can be manipulated during operation 
of ot 
to 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
blocks and the mechanic of your system, further setup in Indraworks may be required t
complete the drive configuration. The MAHBRC function block issues a home command to 
the drive, but the speed and type of homing move must be configured in Indraworks for t
drive. The BRC_Probe function block will monitor and operate the probe function of the 
Indradrive, but the probe configuration must be do
 the drive. Many of these other settings must be edited in parameter mode and thus are n
included in the cyclic data available for communications over Ethernet I/P. If it is desired 
program this over the Ethernet I/P link, explicit messaging could be used to change these 
parameters. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 34
4 Step-by-Step Setup Instructions for CCD Communications 
 
hese instructions describe the steps to setting up the Ethernet/IP communications to 
and from an Allen-Bradley PLC to a CCD Master Indradrive which in turn communicates to up to 
9 more slave Indradrives. In this case, the AB PLC communicates solely to the Master 
Indradrive and the Master Indradrive, inturn, communicates the data over the CCD link to the 
slave drives. 
a. Press Esc and Enter for approx. 10 seconds 
t 2.3.2, press the up button to 2.3.3, then enter, then enter the gateway. 
. Press ESC until the drive returns to the original display. 
e app
2. ster drive and add it to the project. 
3. (CCD system mode). Assign 
the 
 
 
 
 
 
 
 
. 
EIP_CCDMa
each of the CCD 
include all the
5. he
b) if it is not already. If the AB PLC has yet to be 
ting that there is no Ethernet I/P link or the drive 
it is zero. This occurs because the torque limit is 
nication parameters. Since communications 
e is zero. 
T
CCD 
 
1. Setup the Ethernet address on the drive, via the operator 
panel on the front of the drive. 
b. Press the up arrow once to “2.Comand”, press Enter. 
c. Press the up arrow twice to “2.3 Kom.”, press Enter. 
d. At 2.3.1, press enter and set the IP address. 
e. At 2.3.1, press the up button to 2.3.2, then enter, then enter the subnet. 
f. A
g
h. Cycle power on the control section for the address to b
 
lied. 
Start a new project in Indraworks, scan for the ma
Activate the CCD system in the drive using the Exteral PLC
slave drives in the Projecting of Sercos slaves list. 
 
 
 
 
 
 
 
 
 
4 For the Master drive, import the .par file 
ster.par from the setup files. 
Import the .par file EIP_CCDSlave.par for 
slave drives. These files 
 settings necessary to setup 
the Ethernet I/P network communications to 
operate with the function blocks. 
 
 
 
Cycle power on the control sections. W
master drive to operational mode (OM or b
configured, the drive will flash E4005 indica
will flash E2056 indicating that the torque lim
configured as part of the Ethernet I/P commu
have not been established, the valu
n the drives are finished booting, command the 
 35
6. Add a Generic Ethernet Module to 
the Ethernet communication device in 
RSL
 
7. 
add 
 has one CCD Master 
and one CCD slave for a total of 14 
dou
s. 
 
8. 
9. 
 
 
 
 
 
 
 
 
ogix5000. Add only one Generic 
Ethernet Module for each Master CCD 
Indradrive used. 
In the next dialog, enter a name for 
the Master CCD Indradrive, the IP 
ress for that drive and the Assembly
Instance data. For the Input instance 
there will be 7 double words for each 
drive on the system. In the display 
below, the system
ble words. For the output instance, 
each drive will have 10 double word
 
 
 
 
 
 
 
 
 
 
 
In the Module Properties, enter desired 
cyclic update of the Ethernet communications 
to the Indradrive, called the RPI: 
For the remaining steps, refer to steps 9 – 
13 in the Single drive setup as described 
above. 
 
 
 
 
 
 
 
 
 
 
 36
Drive setup Parameters: 
 
This is a list of the parameters contained in the setup .par files used for the Ethernet I/P 
function blocks. The file EIP_Indradrive.par contains all the parameters below. The file 
ve.par only contains the parameters in bold text. 
-0-0026 – Configuration List Signal Status Word 
-0-0027 – Configuration List Signal Control Word 
peration 
-0-0033 – Secondary Operation Mode 1 
-0-0285 – Secondary Operation Mode 5 
rd (bits) 
d (bits) 
n list command value 1 
n list command value 2 
n list command value 3 
n list command value 4 
n list command value 5 
n list command value 6 
mmand value 7 
value 8 
-0-1612 – CCD: configuration list signal control word 
ignal status word 
d values 
master communication actual values 
EIP_CCDSla
 
S
S
S-0-0032 – Primary mode of O
S
S-0-0034 – Secondary Operation Mode 2 
S-0-0035 – Secondary Operation Mode 3 
S-0-0284 – Secondary Operation Mode 4 
S
S-0-0286 – Secondary Operation Mode 6 
S-0-0287 – Secondary Operation Mode 7 
S-0-0328 – Assign List Signal Status wo
S-0-0329 – Assign List Signal Control wor
S-0-0370 – Data container A: configuratio
S-0-0490 – Data container A: configuratio
S-0-0491 – Data container A: configuratio
S-0-0492 – Data container A: configuratio
S-0-0493 – Data container A: configuratio
S-0-0494 – Data container A: configuratio
S-0-0495 – Data container A: configuration list co
S-0-0496 – Data container A: configuration list command 
 
P-0-4074 – Field bus: data format 
P-0-4080 – Field bus: config. list of cyclic actual value data ch. 
P-0-4081 – Field bus: config. list of cyclic command data ch. 
P-0-4084 – Field bus: profile type 
P-0-4088 – Master communication, configuration 
 
P-0-1611 – CCD: configuration list signal status word 
P
P-0-1613 – CCD: assignment list s
P-0-1614 – CCD: assignment list signal control word 
P-0-1621 – CCD: configuration list master communication cm
P-0-1622 – CCD: configuration list