ABB Drives

User’s Manual
DeviceNet Adapter Module
RDNA-01
 DeviceNet Adapter Module
RDNA-01

User’s Manual

3AFE 64504223 REV B

EN
EFFECTIVE: 1.5.2003

ã 2003 ABB Oy. All Rights Reserved.

 5

Safety instructions

Overview
This chapter states the general safety instructions that must be
followed when installing and operating the RDNA-01 DeviceNet
Adapter module.
The material in this chapter must be studied before attempting any
work on the unit.
In addition to the safety instructions given below, read the
complete safety instructions of the specific drive you are working
on.

General safety instructions

WARNING! All electrical installation and maintenance work on the
drive should be carried out by qualified electricians.
The drive and adjoining equipment must be properly earthed.
Do not attempt any work on a powered drive. After switching off
the mains, always allow the intermediate circuit capacitors 5
minutes to discharge before working on the frequency converter,
the motor or the motor cable. It is good practice to check (with a
voltage indicating instrument) that the drive is in fact discharged
before beginning work.
The motor cable terminals of the drive are at a dangerously high
voltage when mains power is applied, regardless of motor
operation.
There can be dangerous voltages inside the drive from external
control circuits even when the drive mains power is shut off.
Exercise appropriate care when working on the unit. Neglecting
these instructions can cause physical injury or death.

Safety instructions
6

Safety instructions
 7

Table of contents

Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Intended audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
What this manual contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Terms used in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
DeviceNet Bus topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
The RDNA-01 DeviceNet Adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Warranty and liability information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
DIP switch settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
DeviceNet connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Table of contents
8

Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Configuring the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
DeviceNet connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Introduction to DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Object modelling and functional profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Assembly object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Drive Parameter handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Class objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Identity Object, Class 0x01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
DeviceNet Object, Class 0x03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Configuration Object, Class 0x91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
DeviceNet Connection Object, Class 0x05 . . . . . . . . . . . . . . . . . . . . . . . . 43
Acknowledge Handler Object, Class 0x2B . . . . . . . . . . . . . . . . . . . . . . . . 48
Motor Data Object, Class 0x28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Control Supervisor Object, Class 0x29 . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
AC/DC-Drive Object, Class 0x2A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Fault tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
RDNA-01 status codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Installation problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Drive setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
PLC programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Scanner fault indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
RDNA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Fieldbus link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Table of contents
 9

Introduction

Overview
This chapter contains a description of the User’s manual for the
RDNA-01 DeviceNet Adapter module.

Intended audience
The manual is intended for people responsible for installing,
commissioning and using a DeviceNet Adapter module with an
ABB drive. The reader is expected to have a basic knowledge of
electrical fundamentals, electrical wiring practices, the drive, the
use of the drive control panel, and the DeviceNet protocol.

What this manual contains

The installation and start-up of the RDNA-01 DeviceNet Adapter
module are introduced in this manual.
It is assumed that the drive is installed and ready to operate before
starting the installation of the adapter module. For more
information on the installation and start-up procedures of the drive,
please refer to its user documentation.
Safety instructions are featured in the first few pages of this
manual.
Overview contains a short description of the DeviceNet protocol
and the RDNA-01 DeviceNet Adapter module, a delivery checklist,
and information on the manufacturer’s warranty.
Mechanical installation contains placing and mounting
instructions for the module.
Electrical installation contains wiring, bus termination and
earthing instructions.
Programming explains how to program the drive before the
communication through the adapter module can be started.

Introduction
10

Communication contains a description of the DeviceNet

functionality supported by the RDNA-01. This chapter also
explains how to configure the Scanner.
Fault tracing describes how to diagnose the DeviceNet
connection during installation, commissioning, and normal
operation.
Technical data contains information on physical dimensions,
configurable settings and connectors of the module and a
specification of the fieldbus link.

Terms used in this manual

Change of State/Cyclic Message
The Change of State/Cyclic Message is transmitted by either the
Master or the Slave. A Change of State/Cyclic Message is directed
towards a single specific node (point-to-point). An Acknowledge
Message may be returned in response to this message.
Communication Module
Communication Module is a name for a device (e.g. a fieldbus
adapter) through which the drive is connected to an external serial
communication network (e.g. a fieldbus). The communication with
the communication module is activated by a drive parameter.
Data Words
The Control Word (sometimes called the Command Word) and the
Status Word, References and Actual Values (see chapter
Communication) are types of data words; the contents of some
data words are user-definable. For information, see the drive
documentation.
EDS File
The Electronic Data Sheet (EDS) file identifies the properties of
the device to the DeviceNet Scanner. Each type of drive and
application program requires its own EDS file.

Introduction
 11

Input
In the ODVA DeviceNet specification the word ‘input’ is used to
describe data flow from a device (such as the RDNA-01) to the
network.
I/O Assembly selection
Smart networked devices (like the RDNA-01) can produce and/or
consume more than one I/O value. Typically, they will produce
and/or consume one or more I/O value, as well as status and
diagnostic information. Each piece of data communicated by a
device is represented by an attribute of one of the device’s internal
objects.
Communicating multiple pieces of data (attributes) across a single
I/O connection requires that the attributes be grouped or
assembled together into a single block.
MAC ID
Every node on DeviceNet network has to have a unique identifier.
This node number is called MAC ID (Media Access Control ID).
RDNA-01 DeviceNet Adapter module
The RDNA-01 Adapter module is one of the optional fieldbus
adapter modules available for ABB drives. The RDNA-01 is a
device through which an ABB drive is connected to a DeviceNet
serial communication bus.
ODVA
ODVA stands for Open DeviceNet Vendor Association. ODVA is
an independent organisation that promotes interoperativity
between different manufacturers DeviceNet products. ABB is an
Associate Member at the ODVA.
Output
In the ODVA DeviceNet specification the word ‘output’ is used to
describe data flow from the network into a device (such as the
RDNA-01).

Introduction
12

Parameter
A parameter is an operating instruction for the drive. Parameters
can be read and programmed using the drive control panel, or
through the RDNA-01 module.
Poll Message
Most DeviceNet Scanners as well as the RDNA-01 support two
different data services. These are Poll and Change of State/Cyclic
messages.
The Poll Command is an I/O Message that is transmitted by the
Master. A Poll Command is directed towards a single, specific
Slave (point-to-point, RDNA-01 always acts as a Slave). A Master
must transmit a separate Poll Command Message for each of its
Slaves that is to be polled. The Poll Response is an I/O Message
that a Slave transmits back to the Master when the Poll Command
is received.
Scanlist
The DeviceNet Scanner communicates with the DeviceNet Slaves
in a user-defined order. This order of communication is the
scanlist. The scanlist contains a complete list of the Slave nodes
and the order in which the Slaves are accessed.

Introduction
 13

Overview

Overview
This chapter contains a short description of DeviceNet bus
topology, the RDNA-01 Adapter module, a delivery checklist, and
warranty information.
Further information can be obtained from www.odva.org.

DeviceNet Bus topology

The DeviceNet network has a linear bus topology. Terminating
resistors are required on each end of the trunk line. Drop lines as
long as 6 metres (20 feet) each are permitted, allowing one or
more nodes to be attached. DeviceNet allows branching
structures only on drop lines. An example of an allowable topology
is shown in Figure 1.

Trunk line
Tap
Node
Node
Node Tap
Node
Node
Node
Terminating
Resistor
Tap Tap

Node Node
Node
Drop line
Node
Node

Figure 1. DeviceNet bus topology

Overview
14

The maximum length of trunk cable depends on the data rate and
on the type of the cable used (see chapter Technical data).
Terminating resistor
The DeviceNet network should be terminated at both ends of the
trunk cable with a 121 Ω, ¼ W, 1% Metal Film resistor. Connect
this resistor between the two signal wires (CAN_H, CAN_L) on the
DeviceNet cable.

The RDNA-01 DeviceNet Adapter module

The RDNA-01 DeviceNet Adapter module is an optional device for
ABB drives which enables the connection of the drive to a
DeviceNet system. The drive is considered as a slave in the
DeviceNet network. Through the RDNA-01 DeviceNet Adapter
module it is possible to:
• give control commands to the drive
(Start, Stop, Run enable, etc.)
• feed a motor speed or torque reference to the drive
• give a process actual value or a process reference to the PID
controller of the drive
• read status information and actual values from the drive
• read and write drive parameter values
• reset a drive fault.
The RDNA-01 acts as a Class 2 slave only with predefined
master-slave connection set services. These include the Explicit
Messaging, the Poll-Response service and the Change of State/
Cyclic service. The DeviceNet commands and services supported
by the RDNA-01 DeviceNet Adapter module are discussed in
chapter Communication. Please refer to the user documentation
of the drive as to which commands are supported by the drive.

Overview
 15

The adapter module is mounted into its option slot inside the drive.
See the Hardware Manual of the drive.

Terminal block for the bus cable

DeviceNet Slave connection (see chapter
master stations Electrical installation)
Fixing screw
(frame)
(GND)
8 DIP switches for selecting
X1 node address number and bus
speed
ABB Drive

Status LEDs
(See chapter Fault tracing)
ABB Drive

Figure 2. The construction of the DeviceNet link and the module

layout of the RDNA-01

Compatibility
The RDNA-01 is compatible with all scanners working according
to ODVA DeviceNet specifications.

Delivery check
The option package for the RDNA-01 DeviceNet Adapter module
contains:
• RDNA-01 module
• two screws (M3x10)
• this manual.

Overview
16

Warranty and liability information

The manufacturer warrants the equipment supplied against
defects in design, materials and workmanship for a period of
twelve (12) months after installation or twenty-four (24) months
from date of manufacturing, whichever first occurs. The local ABB
office or distributor may grant a warranty period different to the
above and refer to local terms of liability as defined in the supply
contract.
The manufacturer is not responsible for
• any costs resulting from a failure if the installation,
commissioning, repair, alternation, or ambient conditions of the
drive do not fulfil the requirements specified in the
documentation delivered with the unit and other relevant
documentation
• units subjected to misuse, negligence or accident
• units comprised of materials provided or designs stipulated by
the purchaser.
In no event shall the manufacturer, its suppliers or subcontractors
be liable for special, indirect, incidental or consequential damages,
losses or penalties.
If you have any questions concerning your ABB drive, please
contact the local distributor or ABB office. The technical data,
information and specifications are valid at the time of printing. The
manufacturer reserves the right to modifications without prior
notice.

Overview
 17

Mechanical installation

WARNING! Follow the safety instructions given in this manual and

in the Hardware Manual.

Mounting
The RDNA-01 is to be inserted into its option slot inside the drive.
The module is held in place with plastic retaining clips and two
screws. The screws also provide the earthing of the I/O cable
shield connected to the module, and interconnect the GND signals
of the module and the control board of the drive.
On installation of the module, the signal and power connection to
the drive is automatically made through a 34-pin connector.
Mounting procedure:
• Insert the module carefully into its position inside the drive until
the retaining clips lock the module into position.
• Fasten the two screws (included) to the stand-offs.
• Set the bus termination switch of the module to the required
position.

Note: Correct installation of the screws is essential for fulfilling the

EMC requirements and for proper operation of the module.

Mechanical installation
18

Mechanical installation
 19

Electrical installation

Overview
This chapter contains:
• general cabling instructions
• instructions for setting the module node address number and
communication speed (bit rate)
• instructions for connecting the module to the DeviceNet bus.

WARNING! Before installation, switch off the drive power supply.

Wait 5 minutes to ensure that the capacitor bank of the drive is
discharged. Switch off all dangerous voltages connected from
external control circuits to the inputs and outputs of the drive.

General cabling instructions

Arrange the bus cables as far away from the motor cables as
possible. Avoid parallel runs. Use bushings at cable entries.

DIP switch settings

DIP switches on the printed circuit board of the RDNA-01 are used
to select node address number and bus speed for the module.
Use the table below to set the values. Note that switch 3 is the
most significant bit of the node address number.

Electrical installation
20

Bit rate Binary DIP switch

125 kbit/s 00
DIP

ON 1 2 3 4 5 6 7 8

250 kbit/s 01
DIP

ON 1 2 3 4 5 6 7 8

500 kbit/s 10
DIP

ON 1 2 3 4 5 6 7 8

Node no. Binary

1 000001
DIP

ON 1 2 3 4 5 6 7 8

2 000010
DIP

ON 1 2 3 4 5 6 7 8

••• ••• •••

63 111111
DIP

ON 1 2 3 4 5 6 7 8

Electrical installation
 21

DeviceNet connection
The bus cable is connected to terminal block X1 on the RDNA-01.
The terminal block is described below.
X1 Description
1 V- Isolated ground
2 CAN_L CAN_L bus line
3 SHLD Network cable shield
4 CAN_H CAN_H bus line
5 V+ Isolated 24V DC voltage supply

DeviceNet bus termination

The DeviceNet bus line must be terminated with 121 ohm
resistors connected between the CAN_L and CAN_H wires at
each end as shown below.

Scanner Node 1 • • • Node n

CAN_H

121 Ω 121 Ω
1% CAN_L 1%
Metal Film Metal Film
1/4 W 1/4 W

Electrical installation
22

Connection examples
5-pin micro-style connector
Network 0V
power supply +24 V

Male micro-style
connector 2
1 V-

1 2 3 4 5
4 3 5 CAN_L RDNA
5 4 SHLD X1
3 CAN_H
1 2
V+

5-pin mini-style connector

Network 0V
power supply +24 V

Male mini-style
connector 2
1 V-
3

1 2 3 4 5
4 2 5 CAN_L RDNA
4 SHLD X1
5 1 CAN_H
3
V+

Standard open-style screw connector

Network +24 V
power supply 0 V

V-
1 2 3 4 5

1 2 3 4 5

CAN_L RDNA
SHLD X1
CAN_H
V+

Electrical installation
 23

Programming

Overview
This chapter gives information on configuring the RDNA-01
DeviceNet Adapter module.

Configuring the system

After the RDNA-01 DeviceNet Adapter module has been
mechanically and electrically installed according to the instructions
in chapters Mechanical installation and Electrical installation, the
drive must be prepared for communication with the module and
Scanner.
Please refer to the Scanner documentation for information on
configuring the system for communication with the RDNA-01.
Configuration (EDS) files for the RDNA-01 are available from your
local ABB representative.

DeviceNet connection configuration

The detailed procedure of activating the module for
communication with the drive is dependent on the drive type.
(Normally, a parameter must be adjusted to activate the
communication. See the drive documentation.)
As communication between the drive and the RDNA-01 is
established, several configuration parameters are copied to the
drive. These parameters (shown in Table 3.) must be checked first
and adjusted if necessary. The alternative selections for these
parameters are discussed in more detail below the table.

Note: The new settings take effect only when the module is
powered up the next time or when the module receives a ‘Fieldbus
Adapter parameter refresh’ command from the drive.

Programming
24

Control locations
ABB drives can receive control information from multiple sources
including digital inputs, analogue inputs, the drive control panel
and a communication module (e.g. RDNA-01). ABB drives allow
the user to separately determine the source for each type of
control information (Start, Stop, Direction, Reference, Fault Reset,
etc.). In order to give the fieldbus Scanner the most complete
control over the drive, the communication module must be
selected as source for this information. See the user
documentation of the drive for information on the selection
parameters.
Table 3. The RDNA-01 configuration parameters
Fieldbus Parameter name Alternative settings Default
par. no. setting
1 MODULE TYPE DEVICENET DEVICENET
2 Module MacID 0 … 63 63
3 Module Baud rate 0 = 125 kBit/s; 1 = 250 kBit/s; 0
2 = 500 kBit/s
4 HW/SW Option 0 = Hardware 1 = Software 0
5 Stop Function 0 = Ramp stop; 1 = Coast stop 0
6 Output Instance 20 ... 102 20
7 Input Instance 70 ... 103 70
8 Output I/O Par 1 0 ... 32767 0
9 Output I/O Par 2 0 ... 32767 0
10 Output I/O Par 3 0 ... 32767 0
11 Output I/O Par 4 0 ... 32767 0
12 Input I/O Par 1 0 ... 32767 0
13 Input I/O Par 2 0 ... 32767 0
14 Input I/O Par 3 0 ... 32767 0
15 Input I/O Par 4 0 ... 32767 0
16 Output I/O Par 5 0 ... 32767 0

Programming
 25

17 Output I/O Par 6 0 ... 32767 0

18 Output I/O Par 7 0 ... 32767 0
19 Output I/O Par 8 0 ... 32767 0
20 Output I/O Par 9 0 ... 32767 0
21 Input I/O Par 5 0 ... 32767 0
22 Input I/O Par 6 0 ... 32767 0
23 Input I/O Par 7 0 ... 32767 0
24 Input I/O Par 8 0 ... 32767 0
25 Input I/O Par 9 0 ... 32767 0
26 VSA I/O Size 1…9 4

Note: The Default values are used when the module is connected
to the drive for the first time. The parameters in the fieldbus group
must be set up for the current application.

01 MODULE TYPE
Shows the connected communication option module type.
02 Module MacID
Selects the MAC ID for the node.
0 … 63
On a DeviceNet network, each node is identified by a unique node
number. This node number is between 0 and 63, and it is called
MAC ID.

Note: When parameter 04 HW/SW Option is set to 0=HW this

parameter is read-only and its value is set by DIP switches. See
chapter Electrical installation.

Programming
26

03 Module Baud rate

Sets the baud rate for the DeviceNet interface. This is user
selectable, but must be the same on every node on the DeviceNet
network.
0 = 125 kBit/s; 1 = 250 kBit/s; 2 = 500 kBit/s

Note: When parameter 04 HW/SW Option is set to 0=HW this

parameter is read-only and its value is set by DIP switches. See
chapter Electrical installation.

04 HW/SW Option
Defines the selection source of module MacID and baud rate.
0 = selection of MAC ID and baud rate via the DIP switches
enabled.
1 = selection of MAC ID and baud rate via parameters 02 and 03
and via the DeviceNet Object enabled (see chapter
Communication sub-section DeviceNet Object, Class 0x03).
05 Stop Function
Defines the method for stopping the motor.
0 = Ramp stop: the motor decelerates along the active
deceleration ramp.
1 = Coast stop: the motor comes to a stop by coasting.

Programming
 27

06 Output Instance
07 Input Instance
These parameters define the preferred output and input
assemblies respectively.
The instances 20, 70, 21 and 70 are so-called Drive Profile
instances as defined in the ODVA DeviceNet specification (AC/DC
Drive profile). The instances 100, 101, 102 and 103 are so-called
vendor-specific instances as defined by ABB, i.e. the control word,
status word, speed reference and speed actual value are defined
by the ABB Drives communication profile.
The static/dynamic property indicates whether the data length of
the instance is fixed or adjustable.

Output instances
Instance Assembly Static/Dynamic
20 Basic speed control output Static
21 Extended speed control output Static
100 User transparent assembly Static
102 Vendor specific assembly Dynamic

Input instances
Instance Assembly Static/Dynamic
70 Basic speed control input Static
71 Extended speed control input Static
101 User transparent assembly Static
103 Vendor specific assembly Dynamic

Programming
28

The following table shows the possible combinations of output and

input instances.
Possible instance combinations
Communication
Output instance Input instance
profile to be used
70 Generic Drive profile
20 71 Generic Drive profile
103 Generic Drive profile
70 Generic Drive profile
21 71 Generic Drive profile
103 Generic Drive profile
101 ABB Drives profile
100
103 ABB Drives profile
101 ABB Drives profile
102
103 ABB Drives profile
Selecting an invalid combination will reset the module and
automatically configure the instances as follows:
1) If the output instance is invalid, instance 20 will be selected.
2) If the output instance is valid, but the input instance is invalid,
the default input instance will be selected as follows:
Default input
Output instance
instance
20 70
21 71
100 101
102 103

Programming
 29

08 Output I/O Par 1

Defines the data word or drive parameter that can be set with
Assembly object instance 102 (see chapter Communication sub-
section VENDOR SPECIFIC assembly).
The content is defined by a decimal number in the range of 0 to
32767 as follows:
0 not used
1 - 99 data set area of the drive
101 - 9999 parameter area of the drive
10000 - 32767 not supported by the drive

The data set area is allocated as follows:

1 data set 1 word 1
2 data set 1 word 2
3 data set 1 word 3
4 data set 2 word 1
5 data set 2 word 2
6 data set 2 word 3
7 data set 3 word 1
...
99 data set 33 word 3

The parameter area is allocated as follows:

Parameter number with format xxyy, where xx is the parameter
group number (1 to 99) and yy is the parameter number index
inside the group (01 to 99).
09 to 11 Output I/O Par 2 to Output I/O Par 4
See parameter 08 Output I/O Par 1.

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30

12 Input I/O Par 1

Defines a data word or drive parameter that can be read with
Assembly object instance 103 (see chapter Communication sub-
section VENDOR SPECIFIC assembly).
The content is defined by a decimal number in the range of 0 to
32767 as follows:
0 not used
1 - 99 data set area of the drive
101 - 9999 parameter area of the drive
10000 - 32767 not supported by the drive

The data set area is allocated as follows:

1 data set 1 word 1
2 data set 1 word 2
3 data set 1 word 3
4 data set 2 word 1
5 data set 2 word 2
6 data set 2 word 3
7 data set 3 word 1
...
99 data set 33 word 3

The parameter area is allocated as follows:

Parameter number with format xxyy, where xx is the parameter
group number (1 to 99) and yy is the parameter number index
inside the group (01 to 99).
13 to 15 Input I/O Par 2 to Input I/O Par 4
See parameter 12 Input I/O Par 1.

Programming
 31

16 to 20 Output I/O Par 5 to Output I/O Par 9

See parameter 08 Output I/O Par 1.
21 to 25 Input I/O Par 5 to Input I/O Par 9
See parameter 12 Input I/O Par 1.
26 VSA I/O Size
Defines the length of the Vendor Specific assembly in words.
1…9

Programming
32

Programming
 33

Communication

Overview
This chapter describes the DeviceNet communication protocol for
the RDNA-01 and the configuration of the scanner. For detailed
information on DeviceNet communication, refer to ODVA
DeviceNet Specifications Release 2.0.

Introduction to DeviceNet
DeviceNet is a protocol based on CAN technology. CAN specifies
the physical layer interface. DeviceNet specifies the wiring, and
the data transfer through CAN.
The RDNA-01 is a device acting as a Group 2 only Server
realising the Predefined Master Slave Connection Set
functionality. The Off-line Connection Set functionality and UCMM
are not supported.

Object modelling and functional profiles

One of the main features of DeviceNet is object modelling. A
group of objects can be described with a Functional Profile. The
RDNA-01 realises the ODVA AC/DC Drive Functional Profile with
additional features.

Assembly object
I/O Assembly Instances may also be referred to as Block Transfer
of data. Intelligent devices realising a Functional Profile, such as
the RDNA-01, have several objects. Since it is not possible to
transmit more than one object data through a single connection, it
is practical and more efficient to group attributes from different
objects into a single I/O connection (for example a Polled
Connection) using the Assembly object. The Assembly object acts
as a tool for grouping these attributes.

Communication
34

The Assembly selections described above are in fact Instances of

the Assembly object class. The RDNA-01 uses Static assemblies
(in other words, fixed groupings of different object data only),
except for the Vendor Specific Assembly. These are predefined
and cannot be changed.
The following tables describe the predefined assembly instances
supported by the RDNA-01.
BASIC SPEED CONTROL assembly
The BASIC SPEED CONTROL assembly is defined by ODVA
AC/DC Drive Profile. The format of the output assembly is:
Instance 20
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fault reset Run fwd
1
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)
The format of the input assembly is:
Instance 70
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Running 1 Faulted
1
2 Speed Actual Value (Low Byte)
3 Speed Actual Value (High Byte)
The unit of speed reference and actual is rpm.

Note: If the BASIC SPEED CONTROL or the EXTENDED SPEED

CONTROL assembly is used, it must be ensured that the fieldbus
is selected as the drive control source and fieldbus specific
(Generic Drive profile) Control/Status Word format is selected
instead of ABB Drives profile.

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 35

EXTENDED SPEED CONTROL assembly

The EXTENDED SPEED CONTROL assembly is defined by
ODVA AC/DC Drive Profile. The format of the output assembly is:
Instance 21
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 NetRef NetCtrl Fault Run Run
Reset Reverse Forward
1
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)
The format of the output assembly is:
Instance 71
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 At Ref Ctrl Ready Running Running Warn- Faulted
Refer- From From Reverse Forward ing
ence Net Net
1 Drive State
2 Speed Actual (Low Byte)
3 Speed Actual (High Byte)
USER TRANSPARENT assembly
USER TRANSPARENT assembly allows the use of the ABB
Drives communication profile. The format of the output assembly
is:
Instance 100
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Control Word (Low Byte)
1 Control Word (High Byte)
2 Set Speed (Low Byte), unscaled
3 Set Speed (High Byte), unscaled

Communication
36

The format of the input assembly is:

Instance 101
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Status Word (Low Byte)
1 Status Word (High Byte)
2 Actual Speed (Low Byte), unscaled
3 Actual Speed (High Byte), unscaled
VENDOR SPECIFIC assembly
VENDOR SPECIFIC assembly allows the use of the ABB Drives
communication profile. The format of the output assembly is:
Instance 102
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Output I/O 1 (Low Byte)
1 Output I/O 1 (High Byte)
2 Output I/O 2 (Low Byte)
3 Output I/O 2 (High Byte)
4 Output I/O 3 (Low Byte)
5 Output I/O 3 (High Byte)
6 Output I/O 4 (Low Byte)
7 Output I/O 4 (High Byte)
8 Output I/O 5 (Low Byte)
9 Output I/O 5 (High Byte)
10 Output I/O 6 (Low Byte)
11 Output I/O 6 (High Byte)
12 Output I/O 7 (Low Byte)
13 Output I/O 7 (High Byte)
14 Output I/O 8 (Low Byte)
15 Output I/O 8 (High Byte)
16 Output I/O 9 (Low Byte)
17 Output I/O 9 (High Byte)
The value of Output I/O 1 to 9 sets the data word or drive
parameter defined by Output I/O Par 1 to 9 respectively. See
chapter Programming.

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 37

The format of the input assembly is:

Instance 103
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Input I/O 1 (Low Byte)
1 Input I/O 1 (High Byte)
2 Input I/O 2 (Low Byte)
3 Input I/O 2 (High Byte)
4 Input I/O 3 (Low Byte)
5 Input I/O 3 (High Byte)
6 Input I/O 4 (Low Byte)
7 Input I/O 4 (High Byte)
8 Input I/O 5 (Low Byte)
9 Input I/O 5 (High Byte)
10 Input I/O 6 (Low Byte)
11 Input I/O 6 (High Byte)
12 Input I/O 7 (Low Byte)
13 Input I/O 7 (High Byte)
14 Input I/O 8 (Low Byte)
15 Input I/O 8 (High Byte)
16 Input I/O 9 (Low Byte)
17 Input I/O 9 (High Byte)
The value of Input I/O 1 to 9 is read from the data word or drive
parameter defined by Input I/O Par 1 to 9 respectively. See
chapter Programming.

Note: If the BASIC SPEED CONTROL or the EXTENDED SPEED

CONTROL assembly is used, it must be ensured that the fieldbus
is selected as the drive control source and fieldbus specific
(Generic Drive profile) Control/Status Word format is selected
instead of ABB Drives profile.

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38

Drive Parameter handling

With the RDNA-01, drive parameters can also be accessed.
(Access to the drive parameters requires the Full EDS file – see
further below). The function is implemented by employing the so-
called Explicit Messaging properties of the DeviceNet protocol.
Explicit Messaging makes use of objects consisting of three parts,
Class, Instance, and Attribute.
Class is always 144 (90h). Instance and Attribute correspond to
the drive parameter Group and Index in the following way:
• Instance = Parameter Group (0…99)
• Attribute = Parameter Index (01…99)
For example, Parameter 99.01 is accessed as follows:
• Class = 144 = 0x90
• Instance = 99 = 0x63
• Attribute = 1 = 0x01.

Class objects
Legend: Data type
UINT8 Unsigned Integer 8 bit
UINT16 Unsigned Integer 16 bit
SINT16 Signed Integer 16 bit
UINT32 Unsigned Integer 32 bit
BOOL Boolean value

Identity Object, Class 0x01

This object provides identification of and general information
about the device.

Communication
 39

Class Attributes
# Attribute Services Description Default, Data type
name Minimum,
Maximum
1 Revision Get Revision of the Identity Object 1,1,1 Array of
UINT8

Instance Attributes
# Attribute Services Description Default, Data type
name Minimum,
Maximum
1 Vendor ID Get Identification of the device 46 UINT16
vendor.
2 Device Get Identification of the general 2 UINT16
Type product type
3 Product Get Assigned vendor code to N/A,N/A, UINT16
Code describe the device N/A
4 Revision Get Revision of the item the Array[UINT
Identity Object represents 8 UINT8]
5 Status Get Summary Status of the 0,0,255 UINT16
Device
6 Serial Get Serial Number of the N/A,N/A, UINT32
Number DeviceNet module N/A
7 Product Get Product identification. Max 32 RDNA-01 Short
Name characters. and ACS String
xxx
9 Configure Get Contents identify the device N/A,N/A, UINT16
Consistent configuration N/A
Value

Attribute explanations
Vendor ID
Vendor IDs are managed by the Open DeviceNet Vendor
Association, Inc. (ODVA). The ABB Vendor ID is 46.
Device Type
The list of device types is managed by ODVA. It is used to identify

Communication
40

the device profile that a particular product is using.

E.g. 2 = AC drive, 13 = DC drive
Product Code
Every ABB drive type or application of the drive has a dedicated
product code.
Revision
Revision attribute, which consists of Major and Minor Revisions,
identifies the Revision of the item the Identity Object is
representing.
Status
This attribute represents the current status of the entire device. Its
value changes as the state of the device changes. The Status
attribute is a WORD, with the following bit definitions:
Bit(s) Type/Name Definition
0 Owned TRUE indicates the device (or an object within
the device) has an owner. Within the
Master/Slave paradigm the setting of this bit
means that the Predefined Master/Slave
Connection Set has been allocated to a
master. Outside the Master/Slave paradigm
the meaning of this bit is to be defined.
1 Reserved, set to 0.
2 Configured TRUE indicates the application of the device
has been configured to do something that
differs from the “out–of–box” default. This
does not include configuration of the
communications.
3 Reserved, set to 0.
4,5,6,7 Vendor–specific
8 Minor Recoverable TRUE indicates the device detected a
Fault recoverable problem. The problem does not
cause the device to go into a faulted state.
9 Minor TRUE indicates the device detected a
Unrecoverable Fault unrecoverable problem. The problem does not
cause the device to go into a faulted state.

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 41

Bit(s) Type/Name Definition

10 Major RecoverableTRUE indicates the device detected a problem
Fault which caused the device to go into the “Major
Recoverable Fault” state.
11 Major TRUE indicates the device detected a problem
Unrecoverable Fault which caused the device to go into the “Major
Unrecoverable Fault” state.
12,13,14,15 Reserved, set to 0.

Serial Number:
This attribute is a number used in conjunction with the Vendor ID
to form a unique identifier for each device on DeviceNet.
Product Name:
This text string should represent a short description of the
product/product family represented by the product code in
attribute 3.
Configuration Consistency Value:
A product may automatically modify the Configuration
Consistency Value whenever any non-volatile attribute is altered.

DeviceNet Object, Class 0x03

The DeviceNet Object provides the configuration and status of a
DeviceNet port. Each DeviceNet product must support one (and
only one) DeviceNet object per physical connection to the
DeviceNet communication link.
Class Attributes
# Attribute Services Description Data type
name
1 Revision Get_Attribute_Single Revision of the DeviceNet Array of
Object Class Definition upon UINT8
which the implementation is
based

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42

Instance Attributes
# Attribute Services Description Default, Data type
name Minimum,
Maximum
1 MAC ID Get_Attribute_Single Node address -,0,63 UINT8
2 Baud Rate Get_Attribute_Single The baud rate of the -,0,2 UINT8
device
5 Allocation Get_Attribute_Single Allocation Choice N/A,N/A, Struct
information Master’s Mac ID N/A UINT8
UINT8

The Allocation Information attribute consists of the following:

Allocation Choice Byte
The Allocation Choice byte indicates which of the Predefined
Master/Slave Connections are active (in the Configuring, or
Established state).
The Allocation Choice byte is initialized to 00 at device power–up
or reset.
Master’s MAC ID
The range of values is 0 to 63 and 255 decimal. A value in the
range of 0 ... 63 indicates that the Predefined Master/Slave
Connection Set is currently allocated, and denotes the MAC ID of
the device that performed the allocation. The value 255 means the
Predefined Master/Slave Connection set has not been allocated.
The Master’s MAC ID attribute is initialized to 255 (FF hex) at
device power–up/reset.

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 43

Configuration Object, Class 0x91

Class Attributes
# Attribute Services Description Data type
name
1 Revision Get Revision of the DeviceNet Object Class Array of
Definition upon which the implementation is UINT8
based

Instance Attributes
# Attribute name Services Description Default, Data
Minimum, type
Maximum
1 Vendor_MacID Get, Set The MacID set by software 63,0,63 UINT8
2 Vendor_Baudrate Get, Set The Baudrate set by software. 0,0,2 UINT8
0 = 125kbit/s
1 = 250 kbit/s
2 = 500 kbit/s
3 SW_HW Get, Set Software or hardware setting of -,0,1 UINT8
the MacID and Baudrate
0 = Hardware settings
1 = Software settings
4 Stop_Function Get, Set The mode of the stopping of the -,0,1 UINT8
drive
0 = Ramp stop
1 = Coast stop
5 Output_Assy_Inst Get, Set Output assembly instance - UINT8
6 Input_Assy_Inst Get, Set Input assembly instance - UINT8

DeviceNet Connection Object, Class 0x05

The Connection Class allocates and manages the internal
resources associated with both I/O and Explicit Messaging
Connections. The specific instance generated by the Connection
Class is referred to as Connection Instance or Connection Object.

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44

Class Attributes
# Attribute Services Description Data type
name
1 Revision Get Revision of the DeviceNet Object Array of
UINT8

Explicit Connection Instance

# Attribute Services Description Default, Data
name Minimum, type
Maximum
1 State Get State of the object 1,0,5 UINT8
2 Instance Type Get Indicates either I/O or 0,0,0 UINT8
messaging connection.
3 Transport Get Defines the behaviour of the 0x83, UINT8
Class Trigger connection. 0x83,
0x83
4 Produced Get Placed in CAN Identifier Field N/A,N/A, UINT16
Cnxn Id when the Connection Transmits N/A
5 Consumed Get CAN Identifier Field value that N/A,N/A, UINT16
Cnxn Id denotes message to be received N/A
6 Comm Get Defines the Message Group(s) N/A,N/A, UINT8
Characteristics across which productions and N/A
consumptions are associated in
this Connection.
7 Produced Get Maximum number of bytes 512,512, UINT16
Connection transmitted across this 512
Size Connection
8 Consumed Get Maximum number of bytes 512,512, UINT16
Connection received across this Connection 512
size
9 Expected Get,Set Defines timing associated with N/A,N/A, UINT16
Packet Rate this Connection. N/A
12 Watchdog Get,Set Defines how to handle N/A,N/A, UINT8
Timeout Action Inactivity/Watchdog timeouts. N/A

Communication
 45

# Attribute Services Description Default, Data

name Minimum, type
Maximum
13 Produced Get Number of bytes in the 256,256, UINT16
Connection produced_connection_path 256
Path Length length attribute
14 Produced Get Application Object producing NULL, Array of
Connection data on this Connection NULL, UINT8
Path NULL
15 Consumed Get Number of bytes in the 256,256, UINT16
Connection consumed_connection_path 256
Path Length length attribute
16 Consumed Get Specifies the Application NULL, Array of
Connection Object(s) that are to receive the NULL, UINT8
Path data consumed by this NULL
Connection Object.
17 Production Get Defines minimum time between 0,0,0 UINT16
Inhibit Time new data production.

Polled I/O Connection Instance

# Attribute Services Description Default, Data
name Minimum, type
Maximum
1 State Get State of the object 1,0,4 UINT8
2 Instance Type Get Indicates either IO or messaging 0,0,1 UINT8
connection.
3 Transport Get Defines the behaviour of the 0x83, UINT8
Class Trigger connection. 0x83,
0x83
4 Produced Get Placed in CAN Identifier Field N/A,N/A, UINT16
Cnxn Id when the Connection Transmits N/A
5 Consumed Get CAN Identifier Field value that N/A,N/A, UINT16
Cnxn Id denotes message to be received N/A

Communication
46

# Attribute Services Description Default, Data

name Minimum, type
Maximum
6 Comm Get Defines the Message Group(s) N/A,N/A, UINT8
Characteristics across which productions and N/A
consumptions are associated in
this Connection.
7 Produced Get Maximum number of bytes I/O in UINT16
Connection transmitted across this length,
Size Connection 0,
I/O in
length
8 Consumed Get Maximum number of bytes I/O out UINT16
Connection received across this Connection length,
size 0,
I/O out
length
9 Expected Get,Set Defines timing associated with N/A,N/A, UINT16
Packet Rate this Connection. N/A
12 Watchdog Get Defines how to handle N/A,N/A, UINT8
Timeout Action Inactivity/Watchdog timeouts. N/A
13 Produced Get Number of bytes in the 3,3,3 UINT16
Connection produced_connection_path
Path Length length attribute
14 Produced Get Application Object producing 0x62 Array of
Connection data on this Connection 0x39 UINT8
Path 0x37,
N/A,N/A
15 Consumed Get Number of bytes in the 3,3,3 UINT16
Connection consumed_connection_path
Path Length length attribute
16 Consumed Get Specifies the Application 0x62 Array of
Connection Object(s) that are to receive the 0x31 UINT8
Path data consumed by this 0x35,
Connection Object. N/A,N/A
17 Production Get Defines minimum time between 0,3FFF, UINT16
Inhibit Time new data production. N/A

Communication
 47

Change of state/Cyclic (Acknowledged)

# Attribute Services Description Default, Data
name Minimum, type
Maximum
1 State Get State of the object 1, UINT8
N/A,N/A
2 Instance Type Get Indicates either IO or messaging 1,0,1 UINT8
connection.
3 Transport Get Defines behaviour of the N/A,N/A, UINT8
Class Trigger connection. N/A
4 Produced Get Placed in CAN Identifier Field N/A,N/A, UINT16
Cnxn Id when the Connection Transmits N/A
5 Consumed Get CAN Identifier Field value that N/A,N/A, UINT16
Cnxn Id denotes message to be received N/A
6 Comm Get Defines the Message Group(s) N/A,N/A, UINT8
Characteristics across which productions and N/A
consumptions are associated in
this Connection.
7 Produced Get Maximum number of bytes 0,0,N/A UINT16
Connection transmitted across this
Size Connection
8 Consumed Get Maximum number of bytes 0,0,N/A UINT16
Connection received across this Connection
size
9 Expected Get,Set Defines timing associated with 0,0,0xffff UINT16
Packet Rate this Connection.
12 Watchdog Get Defines how to handle N/A,N/A, UINT8
Timeout Action Inactivity/Watchdog timeouts. N/A
13 Produced Get Number of bytes in the 3,0,3 UINT16
Connection produced_connection_path
Path Length length attribute
14 Produced Get Application Object producing 0x62 Array of
Connection data on this Connection 0x39 UINT8
Path 0x37,
0,N/A

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48

# Attribute Services Description Default, Data

name Minimum, type
Maximum
15 Consumed Get Number of bytes in the 5,0,5 UINT16
Connection consumed_connection_path
Path Length length attribute
16 Consumed Get Specifies the Application 0x62 Array of
Connection Object(s) that are to receive the 0x31 UINT8
Path data consumed by this 0x35,
Connection Object. N/A,N/A
17 Production Get,Set Defines minimum time between 0,3FFF, UINT16
Inhibit Time new data production. N/A

Acknowledge Handler Object, Class 0x2B

The Acknowledge Handler Object is used to manage the reception
of message acknowledgements. This object communicates with a
message producing Application Object within the device. The
Acknowledge Handler Object notifies the producing application of
acknowledge reception, acknowledge timeouts and production
retry limit.
Class Attributes
# Attribute Services Description Data type
name
1 Revision Get Revision of the DeviceNet Object Class Array of
Definition upon which the implementation is UINT8
based

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 49

Instance Attributes
# Attribute Services Description Default, Data
name Minimum, type
Maximum
1 Acknowledge Get, Set Time in milliseconds to wait for 16,1, UINT16
Timer acknowledge before resending 65535
2 Retry Limit Get, Set Number of Acknowledge 1,0,255 UINT8
Timeouts to wait before
informing the producing
application of a Retry-
Limit_Reached event
3 COS Get Connection Instance Id which N/A UINT16
Producing contains the path of the
Connection producing I/O application object
Instance which will be notified of
Acknowledge Handler events

Motor Data Object, Class 0x28

This object serves as a database for motor parameters. Different
motor types require different data to describe the motor. For
example, AC induction motors do not need field current data like a
DC motor to describe the motor.
Motor class Motor types in class
AC motors 3 - PM synchronous
6 - Wound rotor induction
7 - Squirrel cage induction motor
DC motors 1 - PM DC motor
2 - FC DC motor

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50

Class Attributes
# Attribute Services Description Data
name type
1 Revision Get Revision of the DeviceNet Object Class Defini- Array of
tion upon which the implementation is based UINT8

Instance Attributes
# Attribute Services Description Motor Data
name type type
6 Rated Current Get, Set Rated Stator Current from motor AC/DC UINT16
name plate
7 Rated Voltage Get, Set Rated Base Voltage from motor AC/DC UINT16
name plate
8 Rated Power Get, Set Rated Power at Rated AC/DC UINT32
Frequency
9 Rated Get, Set Rated Electrical Frequency AC UINT16
Frequency
12 Pole Count Get Number of poles in the motor AC UINT16
15 Base Speed Get Nominal speed at rated AC/DC UINT16
frequency from nameplate

Control Supervisor Object, Class 0x29

The object models all the management functions for devices
within the ‘Hierarchy of Motor Control Devices’. The behaviour of
motor control devices is described by the State transition diagram
and the Run/Stop event matrix. See Table 4 and Figure 5.
Class Attributes
# Attribute Services Description Data type
name
1 Revision Get Revision of the DeviceNet Object Class Array of
Definition upon which the implementation is UINT8
based

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 51

Instance Attributes
# Attribute Services Description Data
name type
3 Run 1 1) Get, Set 0 = Stop, 1 = Run BOOL
2)
4 Run 2 Get, Set 0 = Stop, 1 = Run BOOL
5 Net Control 2)
Get, Set 0 = Local Control, 1 = Network Control BOOL
6 State Get 1 = Start/up, 2 = Not_ready, 3 = Ready, UINT8
4 = Enabled, 5 = Stopping, 6 = FaultStop,
7 = Faulted
7 Running 1 3) Get 0 = Stopped, 1 = Running BOOL
4)
8 Running 2 Get 0 = Stopped, 1 = Running BOOL
9 Ready Get 1 = Ready, Enabled or Stopping; BOOL
0 = Other state
10 Faulted Get 0 = Not faulted, 1 = Fault occurred BOOL
11 Warning Get 0 = No Warnings present, 1 = Warning BOOL
12 FaultRst Get, Set 0 → 1 Fault Reset BOOL
13 Fault Code Get The fault that caused the last transition to UINT16
the Faulted state.
14 Warning Code Get Code word indicating warning present. If UINT16
multiple warnings are present, the lowest
code value is displayed.
15 CtlFromNet Get 0 = NetControl disabled BOOL
1 = NetControl enabled
16 DNFaultMode Get, Set 0 = Fault+Stop, 1 = Ignore, UINT8
2 = Vendor specified
17 Force Fault Get, Set 0 → 1 Force a fault BOOL
18 Force Status Get 0 = Not Forced BOOL
Non-zero = Forced
1)
Supported only with assembly instances 20 and 21
2) Supported only with assembly instance 21
3)
Supported only with assembly instances 70 and 71
4)
Supported only with assembly instance 71

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Table 4. Run/Stop event matrix

RunFwd RunRev Trigger event Run type
0 0 Stop N/A
0→1 0 Run RunFwd
0 0→1 Run RunRev
0→1 0→1 No Action N/A
1 1 No Action N/A
0→1 1 Run RunRev
1 1→0 Run RunFwd

Non Existent Power off

Power on

ALM=1
Startup Faulted

Power on

FaultRst
Not Ready DEC=0
ALM=1
Power-on AND Fault Stop
Power-on AND not RDY
RDY
Ready DEC=0

FWD OR REV FWD OR REV Stopping ALM=1

DEC=1
Enabled
ALM=1

Figure 5. State transition diagram

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 53

AC/DC-Drive Object, Class 0x2A

This object models the functions specific to an AC or DC Drive.
Class Attributes
# Attribute Services Description Data type
name
1 Revision Get Revision of the DeviceNet Object Class Defini- Array of
tion upon which the implementation is based UINT8

Instance Attributes
# Attribute Services Description Data
name type
3 At Reference Get Frequency arrival BOOL
4 NetRef 2) Get, Set Requests torque or speed reference to be BOOL
local or from the network.
0 = Set Reference not DN Control
1 = Set Reference at DN Control
Note that the actual status of torque or
speed reference is reflected in attribute 29,
RefFromNet.
6 Drive mode Get, Set 0 = Vendor specific, 1 = Open Loop Speed, UINT8
2 = Closed Loop Speed, 3 = Torque Control
7 Speed Actual Get Units RPM/2SpeedScale SINT16
8 SpeedRef Get, Set Units RPM/2SpeedScale SINT16
18 AccelTime Get, Set Units msec/2TimeScale UINT16
19 DecelTime Get, Set Units msec/2TimeScale UINT16
22 Speed Scale Get, Set Speed scaling factor UINT8
23 Current Scale Get, Set Current scaling factor UINT8
24 Torque Scale Get, Set Torque scaling factor UINT8
26 Power Scale Get, Set Power scaling factor UINT8
27 Voltage Scale Get, Set Voltage scaling factor UINT8
28 Time Scale Get, Set Time scaling factor UINT8
29 Ref From Net Get Reflecting attribute 4 BOOL
31 Field I or IV Get, Set Always to be set to 0 -
2) Supported only with assembly instance 21

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EDS files
Electronic Data Sheet (EDS) files specify the properties of the
device for the DeviceNet Scanner. The device is identified by the
Scanner by means of the Product Type and Product Code
definitions.
The allowable Product Types are defined by the ODVA DeviceNet
specification. In the EDS files for the RDNA-01, only one Product
Type is used:
• Product Type 2 = AC Drives
To enable the use of different ABB drive types on the same
DeviceNet network, a unique Product Code has been given to
each drive and/or application program.
The EDS files are available in Limited and Full formats. The
Limited EDS files include the I/O Assembly configuration
properties and the definition of the parameters in the fieldbus
parameter group (see chapter Programming) only. The Limited
EDS files can be used with the corresponding drive and/or
application program independent of the application program
revision.
The Full EDS files are intended for applications where access to
the drive parameters via the DeviceNet network is required. The
Full EDS files for ABB drives are specific to each drive type and
application program revision. The Full EDS files are available from
your ABB representative on request.

Communication
 55

Fault tracing

RDNA-01 status codes

The status of the DeviceNet module is indicated by a ‘fieldbus
status’ parameter in the drive application program (refer to the
drive documentation).
IDLE
The drive could not initiate communication with the DeviceNet
Module.
EXECUT. INIT
The module is initialising and performing self-test.
TIME-OUT
The DeviceNet Module has stopped communicating with the drive.
CONFIG ERROR
The DeviceNet Module has not accepted the configuration file
downloaded from the drive. Check compatibility of module and
drive file version number.
OFF-LINE
The module has completed its power-up sequence, and is waiting
for a DeviceNet Scanner or the Manager software to establish a
connection.
ON-LINE
The DeviceNet module is connected and communicating with a
DeviceNet Scanner or Manager software.
RESET
The drive has initiated a reset command to the module.

Fault tracing
56

LED indications
The RDNA-01 module is equipped with three diagnostic LEDs.
The description of the LEDs is below.

Not used Host Indication

Module status Network status

Name Colour Function

Green Steady - Device operational

Module status

Steady - Unrecoverable fault

Red
Flashing - Minor fault

Off No power

Steady - Module is on-line

Host indication Network status

Green
Flashing - Module is not on-line

Steady - Critical link failure

Red
Flashing - Connection timeout

Green Lit - Link functional

Lit - Link lost permanently

Red
Flashing - Link lost temporarily

Fault tracing
 57

Installation problems
Verify all the connections on the module:
• Check that the DeviceNet cables are connected to terminal
block X1 as described in chapter Electrical installation.
• Check that an external voltage of 24 V DC is applied to
terminals X1:1 and X1:5.
• Check that the RDNA-01 module is properly inserted into the
option slot.
• Check the fastening of the RDNA-01 module with the 2 screws.

Drive setup
The fieldbus parameter group is not shown on the panel:
• Enable the RDNA-01 by setting the appropriate drive
parameter.
The RDNA-01 is using default values:
• Verify that the fieldbus parameter group is set up correctly. If so,
turn off and on the power to the drive or issue a ‘Fieldbus
Adapter parameter refresh’ command. This will make the
module re-read its setup parameters.
Drive actual values can be read, but the control commands (start/
stop or reference) do not go through:
• Check that the control location parameters of the drive are set to
use the RDNA-01 as the source of the required command.
• Check that the drive is in REMOTE control.

PLC programming
The PLC program is beyond ABB Drives support. Contact the
manufacturer for assistance.

Scanner fault indications

Refer to scanner documentation.

Fault tracing
58

Fault tracing
 59

Technical data

RDNA-01
Enclosure:
34 mm

X1
95 mm

20 62 mm
mm

Mounting: Into an option slot inside the drive

Degree of protection: IP 20
Ambient conditions: The applicable ambient conditions specified
for the drive in its Hardware Manual are in effect.
Settings:
• Through drive parameters
• Eight DIP switches for selecting node address and baud rate
Connectors:
• 34-pin parallel bus connector
• 5-pole screw type connector for bus connection (max. 2.5 mm2
cross section), removable

Technical data
60

Current consumption:
• 250 mA max. (5 V), supplied by the RMIO board
• 15 mA max. (24 V) from the network supply.
General:
• Estimated min. lifetime: 100 000 h
• All materials are UL/CSA approved
• Complies with EMC Standards EN 50081-2 and EN 50082-2

Fieldbus link
Compatible Devices: Any ODVA-compliant DeviceNet scanner
supporting Poll - Response commands to Group 2 only Slaves
Medium:
• Termination: 121 Ω, 1%, Metal Film, 1/4 W
• DeviceNet Cables:
YR-29790 (Thick DeviceNet Cable)
YR-29832 (Thin DeviceNet Cable)
• Maximum Bus Length: 1200 m
Topology: Multi-drop
Serial Communication Type: Asynchronous, half Duplex
Transfer Rate: 125, 250 or 500 kBit/s
Protocol: DeviceNet

Technical data
 3AFE 64504223 REV B EN
EFFECTIVE: 1.5.2003

ABB Oy ABB Inc.

AC Drives Drives and Power Electronics
P.O. Box 184 16250 West Glendale Drive
FIN-00381 HELSINKI New Berlin, WI 53151
FINLAND USA
Telephone +358 10 22 11 Telephone 262 785-3200
Fax +358 10 22 22681 800 243-4384
Internet http://www.abb.com Fax 262 780-5135