2098 Hv150 Ultra 3000 Digital Servo Drive Allen Bradley Manual

Ultra3000
Digital Servo Drive

with DeviceNet
DeviceNet Firmware Version 2.xx
(Catalog Numbers
2098-DSD-005-DN, -005X-DN,
2098-DSD-010-DN, -010X-DN,
2098-DSD-020-DN, -020X-DN,
2098-DSD-030-DN, -030X-DN,
2098-DSD-075-DN, -075X-DN,
2098-DSD-150-DN, -150X-DN
2098-DSD-HV030-DN, -HV030X-DN
2098-DSD-HV220-DN, -HV220X-DN)
Reference Manual
Important User Information Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this
control equipment must satisfy themselves that all necessary steps
have been taken to assure that each application and use meets all
performance and safety requirements, including any applicable laws,
regulations, codes and standards.
The illustrations, charts, sample programs and layout examples shown

in this guide are intended solely for purposes of example. Since there
are many variables and requirements associated with any particular
installation, Allen-Bradley® does not assume responsibility or liability
(to include intellectual property liability) for actual use based upon
the examples shown in this publication.
Allen-Bradley publication SGI–1.1, Safety Guidelines for the

Application, Installation and Maintenance of Solid-State Control
(available from your local Allen-Bradley office), describes some
important differences between solid-state equipment and
electromechanical devices that should be taken into consideration
when applying products such as those described in this publication.
Reproduction of the contents of this copyrighted publication, in whole

or part, without written permission of Rockwell Automation, is
prohibited.
Throughout this manual we use notes to make you aware of safety

considerations:
Identifies information about practices or

ATTENTION
circumstances that can lead to personal injury or
death, property damage or economic loss
!
Attention statements help you to:
• identify a hazard
• avoid a hazard
• recognize the consequences
IMPORTANT Identifies information that is critical for successful

application and understanding of the product.
Allen-Bradley and PLC are registered trademarks of Rockwell Automation, Inc.

DeviceNet is a trademark of the Open DeviceNet Vendor Association.
RSNetWorx, Ultra3000, Ultra5000 and Ultraware are trademarks of Rockwell Automation, Inc.
Table of Contents
Preface Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-3
Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-4
Chapter 1
Overview Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Installing, Connecting, & Commissioning Ultra3000 Drives with
DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Parameters and Electronic Data Sheet . . . . . . . . . . . . . . . . . 1-2
DeviceNet Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Predefined Master/Slave Connection Set . . . . . . . . . . . . 1-3
Explicit Response/Request Messages . . . . . . . . . . . . . . . 1-3
Polled I/O Command/Response Messages . . . . . . . . . . . 1-3
Change-of-State/Cyclic Messages . . . . . . . . . . . . . . . . . . 1-3
I/O Messaging and Explicit Messaging with DeviceNet . . . . 1-4
Selecting Input and Output Assemblies for I/O Messages . . 1-5
Chapter 2
Programming Reference Object Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . 2-2
How Objects Affect Behavior . . . . . . . . . . . . . . . . .. . . 2-3
The Defined Object Interface . . . . . . . . . . . . . . . . .. . . 2-3
Object Addressing . . . . . . . . . . . . . . . . . . . . . . . . .. . . 2-4
Data Type Definitions . . . . . . . . . . . . . . . . . . . . . . . . .. . . 2-5
Identity Object (Class ID 01H) . . . . . . . . . . . . . . . . . . . .. . . 2-5
Reset Service . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . 2-7
Message Router Object (Class ID 02H) . . . . . . . . . . . . . .. . . 2-8
DeviceNet Object (Class ID 03H) . . . . . . . . . . . . . . . . . .. . . 2-9
Assembly Object (Class ID 04H) . . . . . . . . . . . . . . . . . .. . 2-11
Output Assemblies . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-14
Logic Commands . . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-18
Disable Serial Communications . . . . . . . . . . . . .. . 2-19
Pause Index . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-19
Abort Index . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-19
Pause Homing. . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-20
Abort Homing . . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-20
Preset Select 0 to 5 . . . . . . . . . . . . . . . . . . . . . .. . 2-20
Define Position . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-21
Integrator Inhibit . . . . . . . . . . . . . . . . . . . . . . . .. . 2-21
Follower Enable . . . . . . . . . . . . . . . . . . . . . . . .. . 2-21
Position Strobe . . . . . . . . . . . . . . . . . . . . . . . . .. . 2-21
i Publication 2098-RM004A-EN-P – August 2002

ii Table of Contents
Operation Mode Override . . . . . . . . . . . . . . . . . . . 2-21

Reset Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Start Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Define Home. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Remove Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Start Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Reset Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Enable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Handshake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Feedback Data Pointer . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Parameter Data Value and Command Data Value Fields 2-24
Command Data Table . . . . . . . . . . . . . . . . . . . . . . 2-26
Input Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
Logic Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
At Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
End of Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
In Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
In Dwell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Registered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Axis Homed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
Startup Commutation Done . . . . . . . . . . . . . . . . . . 2-39
Positive Hardware Overtravel . . . . . . . . . . . . . . . . . 2-39
Negative Hardware Overtravel . . . . . . . . . . . . . . . . 2-39
Positive Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . 2-39
Negative Overtravel . . . . . . . . . . . . . . . . . . . . . . . . 2-39
At Index 0 Position . . . . . . . . . . . . . . . . . . . . . . . . 2-39
At Index 1 Position . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Position Limit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Position Limit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
In Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Within Position Window . . . . . . . . . . . . . . . . . . . . 2-40
Zero Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Within Speed Window . . . . . . . . . . . . . . . . . . . . . . 2-41
Positive Current Limit. . . . . . . . . . . . . . . . . . . . . . . 2-41
Negative Current Limit . . . . . . . . . . . . . . . . . . . . . . 2-41
Up To Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Drive Enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
DC Bus Charged . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Fault Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Brake Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Handshake Echo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
DeviceNet Communication Fault Action . . . . . . . . . . . . 2-42
Using the Fault Configured Input. . . . . . . . . . . . . . . . . 2-43
Using Explicit Messaging to Control the Ultra3000 . . . . 2-44
Connection Object (Class ID 05H) . . . . . . . . . . . . . . . . . . . 2-45
Publication 2098-RM004A-EN-P – August 2002

Table of Contents iii
Parameter Object (Class ID 0FH) . . . . . . . . . . . . . . . . . . . . 2-46

Get_Attribute_All Response . . . . . . . . . . . . . . . . . . . . 2-100
Acknowledge Handler Object (Class ID 2BH) . . . . . . . . . 2-102

iv Table of Contents

Preface
Introduction Read this preface to become familiar with the organization of the
manual. In this preface, you will read about the following:
• Who Should Use this Manual

• Purpose of this Manual
• Contents of this Manual
• Related Documentation
• Conventions Used in this Manual
• Allen-Bradley Support
Who Should Use this This manual is intended for qualified service personnel responsible for
setting up and servicing the Ultra3000™ with DeviceNet™. You must
Manual have previous experience with and a basic understanding of electrical
terminology, programming procedures, networking, required
equipment and software, and safety precautions.
Purpose of this Manual This manual is a reference guide for using DeviceNet to configure,
monitor, or control Ultra3000 drives with DeviceNet operating with
DeviceNet firmware version 2.xx.
Non-Indexing Ultra3000 Drives Indexing Ultra3000 Drives

2098-DSD-005-DN 2098-DSD-005X-DN
2098-DSD-010-DN 2098-DSD-010X-DN
2098-DSD-020-DN 2098-DSD-020X-DN
2098-DSD-030-DN 2098-DSD-030X-DN
2098-DSD-075-DN 2098-DSD-075X-DN
2098-DSD-150-DN 2098-DSD-150X-DN
2098-DSD-HV030-DN 2098-DSD-HV030X-DN
1 Publication 2098-RM004A-EN-P – August 2002

P-2 Preface
Note: The reference guide to Ultra3000 drives with DeviceNet

operating with firmware version 1.xx is listed in the section
below entitled Related Documentation.
Contents of this Manual This manual contains the following sections:
Chapter Title Contents

Preface An overview of this manual.
1 Overview Describes network activity and drive configuration
capabilities.
2 Programming Configuration data and behaviors implemented in
Reference the Ultra3000 Drive with DeviceNet are defined
using object modeling
Related Documentation These publications provide additional information specific to the

Ultra3000 Drive with DeviceNet or DeviceNet in general. To obtain a
copy, contact your local Rockwell Automation office or distributor, or
access the documents on-line at www.theautomationbookstore.com
or www.ab.com/manuals/gmc.
For information about: Read this document: Publication Number

A description of the Ultra Family Brochure 2098-BR001x-EN-P
Ultra3000 and Ultra5000™
drives
How to install Ultraware™ Ultraware CD Installation 2098-IN002x-EN-P
Instructions
How to install and Ultra3000 Digital Servo 2098-IN003x-EN-P
troubleshoot the Ultra3000 Drive Installation Manual
drive
Configure, monitor, or Ultra3000 Series 2098-RM001x-EN-P
control Ultra3000 drives Digital Servo Drive with
with DeviceNet operating DeviceNet
with firmware version 1.xx Firmware Version 1.xx
Reference Manual
Configuring the Ultra3000 Ultraware User Manual 2098-UM001x-EN-P
DSD and Ultra5000 IPD
using Ultraware
How to use RSNetWorx RSNetWorx for DeviceNet 9399-DNETGR
Getting Results Manual

Preface P-3
For information about: Read this document: Publication Number

A glossary of industrial Allen-Bradley Industrial AG-7.1
automation terms and Automation Glossary
abbreviations
How to commission a DeviceNet Cable System DN-6.7.2
DeviceNet system. Planning and Installation
Manual
An overview of Motion Control Selection GMC-SG001x-EN-P
Allen-Bradley motion Guide
controls and systems
A copy of the DeviceNet Specification, Volumes I and II, Release 2.0

may be ordered from the web site http://www.odva.org of the
Open Device Vendor Association.
Conventions Used in this The following conventions are used throughout this manual:
Manual • Bulleted lists such as this one provide information, not procedural
steps
• Numbered lists provide sequential steps or hierarchical information
• Words you type or select appear in bold.
• When we refer you to another location, the section or chapter
name appears in italics
• Software commands and parameters are listed with initial capitals
and hardware signals are listed in all capitals (e.g., Enable Behavior
parameter, and ENABLE signal).

P-4 Preface
Allen-Bradley Support Allen-Bradley offers support services worldwide, with over 75

sales/support offices, 512 authorized distributors and 260 authorized
systems integrators located throughout the United States alone, plus
Allen-Bradley representatives in every major country in the world.
Local Product Support
Contact your local Allen-Bradley representative for:
• Sales and order support

• Product technical training
• Warranty support
• Support service agreements
Technical Product Assistance
If you need to contact Allen-Bradley for technical assistance, please

review the information in this manual or that listed in Related
Documentation on page P-2 first. Then call your local Allen-Bradley
representative. For the quickest possible response, we recommend
that you have the catalog numbers of your products available when
you call.

Chapter 1
Overview
Introduction DeviceNet is an open, global industry-standard communication

network. It is designed to provide an interface from a programmable
controller through a single cable directly to smart devices such as
sensors, push buttons, motor starters, simple operator interfaces and
drives.
Features The Ultra3000 Drive with DeviceNet Interface provides the following
features:
• Ultra3000 Drive with DeviceNet implements the Unconnected

Message Manager (UCMM) which is used to establish a Group 3
Explicit Message connection. Up to five Group 3 Explicit Messaging
connections can be established.
• Faulted-node Recovery, allows the node address of a device to be
changed even when it is faulted on the network. This feature
requires the support of proper PC software tools and the Node
Address (0-63, PGM) switches be set to the PGM (program)
position.
• User-configurable fault response provides the ability to customize
the drive’s actions to communication errors.
• Software configuration lets you configure the Ultra3000 Drive with
DeviceNet using RSNetWorx™ for DeviceNet (Version 3.00.00
Service Pack 1, or later).
• Customize network activity by configuring the drive to:
– report only new data using Change-of-State (COS) capability.
– report data at specific intervals using cyclic operation.
• Autobaud allows the drive to determine the network data rate.
• Supports Automatic Device Replacement (ADR).

1-2 Overview
Installing, Connecting, & This manual serves as a reference for configuring, monitoring, and
controlling Ultra3000 Drives with DeviceNet. Refer to the Ultra3000
Commissioning Ultra3000 Digital Servo Drive Installation Manual (2098-IN003x-EN-P) for
Drives with DeviceNet information regarding:
• configuring the rotary switches on the front panel of the drive

• wiring the DeviceNet connector
• understanding the DeviceNet LED indicators
• troubleshooting
Parameters and Electronic The Ultra3000 Drive with DeviceNet contains a set of parameters that
are used to configure and monitor the drive. You can perform
Data Sheet configuration by changing the values associated with individual
parameters. Parameter values may be written and read via DeviceNet.
Writing a value to a parameter may configure drive operations such as
the acceleration or deceleration rates. Writing a value to a parameter
may also configure DeviceNet operations such as which input and
output assemblies are to be used for I/O communications with a
master (scanner). The parameter set is documented in Programming
Reference on page 2-1.
Electronic Data Sheet (EDS) files are specially formatted ASCII files
that provide all of the information necessary for a configuration tool
such as RSNetworx for DeviceNet to access and alter the parameters
of a device. The EDS file contains information on the number of
parameters in a device and how those parameters are grouped
together. Information about each parameter is contained in the file
such as parameter min, max, and default values, parameter data
format and scaling, and the parameter name and units. You can create
or access an EDS file stored in the Ultra3000 Drive with DeviceNet via
RSNetworx for DeviceNet (Version 3.00.00 Service Pack 1 or later) or
download an EDS file for the Ultra3000 Drive with DeviceNet from
Rockwell Automation - Allen-Bradley web-site www.ab.com/
networks/eds.
DeviceNet Messaging The Ultra3000 Drive with DeviceNet operates as a slave device on a
DeviceNet network. The drive supports Explicit Messages and Polled
or Change-of-State/Cyclic I/O Messages of the predefined master/
slave connection set. The drive also supports the Unconnected
Message Manager (UCMM) so that up to five Group 3 Explicit Message
connections may be established with the drive.

Overview 1-3
Predefined Master/Slave Connection Set
A set of messaging connections that facilitate communications and is

typically seen in a master/slave relationship is known as the
Predefined Master/Slave Connection set. The master is the device that
gathers and distributes I/O data for the process controller. A
DeviceNet master scans its slave devices based on a scan list it
contains. Each slave device returns I/O data to its master device.
The I/O data exchanged over this connection is pre-defined.
Explicit Response/Request Messages
Explicit Request messages are used to perform operations such as

reading and writing parameter values. Explicit Response messages
indicate the results of the attempt to service an Explicit Request
message.
Polled I/O Command/Response Messages
The Poll Command is an I/O message transmitted by the master

device. A Poll Command is directed toward a specific slave device. A
separate Poll Command must be sent to each slave device that is to be
polled. The Poll Response is the I/O message that the slave device
transmits back to the master device.
Change-of-State/Cyclic Messages
A Change-of-State/Cyclic message is directed towards a single specific

node (master or slave). An Acknowledge response may or may not be
returned to this message. A Change-of-State message is sent at a
user-configurable heart rate or whenever a data change occurs. A
Cyclic message is sent only at a user-configurable rate.

1-4 Overview
I/O Messaging and Explicit You can configure and monitor the drive with either I/O Messaging or
Explicit Messaging. I/O messages are for time-critical, control-oriented
Messaging with DeviceNet data. I/O messages typically are used for moving predefined data
repeatedly with minimum protocol overhead. Explicit Messages
provide multi-purpose, point-to-point communication paths between
two devices. Explicit Messaging typically would not be used to
exchange data periodically since I/O Messages have a higher priority
and lower protocol overhead than Explicit Messages. However,
Explicit Messages have more flexibility by specifying a service to be
performed and a specific address.
Although, you can control the drive by writing to various parameters

using Explicit Messages, you should consider writing to the Assembly
Objects, which buffer the I/O data. Then the drive can be configured
to fault if a network communication fault or idle condition occurs.
However, you will have to periodically update the Assembly Object to
prevent the Explicit Messaging connection from closing. Refer to
Using Explicit Messaging to Control the Ultra3000 on page 2-44.
If you write to a parameter using an Explicit Message, the parameter

value will be saved as a working value and in nonvolatile memory.
However, if you write to a parameter using an I/O message, you can
specify whether the parameter value should be saved in nonvolatile
memory or not. Therefore, if a parameter value has to be modified
repeatedly, then you should use I/O messaging and not save the
parameter value to nonvolatile memory because the nonvolatile
memory has a limited number of writes.
The nonvolatile memory has a limited number of

ATTENTION
write cycles. Do not save parameter values to
nonvolatile memory (NVMEM) unless absolutely
necessary. In other words, minimize the number of
! times parameter values are saved to nonvolatile
memory (NVMEM).

Overview 1-5
Selecting Input and Output The Ultra3000 Drive with DeviceNet allows you to choose between
various Input and Output Assemblies, thereby choosing the data
Assemblies for I/O format of the messages that are passed back and forth between the
Messages drive and the master (scanner) on an I/O connection. The choice of
which Input and Output Assembly to use should be based on what
sort of information is appropriate in a particular system. You should
keep in mind that larger assemblies utilize more network bandwidth.
Information on the data format of all the Assemblies is given in
Assembly Object (Class ID 04H) on page 2-11, and more specifically
the following DeviceNet parameters that select input and output
assemblies:
• Parameter 7 - I/O Receive Select

• Parameter 8 - Poll Transmit (Xmit) Select
• Parameter 9 - COS/Cyclic Transmit (Xmit) Select
IMPORTANT If you want to control the drive with I/O messages,

Parameter 10 - Logic Command Mask must be
changed from its default value. Otherwise, if a Logic
Command is sent to the drive, the command will be
cleared.

1-6 Overview

Chapter 2
Programming Reference
The Ultra3000 Drive with DeviceNet implements a vendor specific

device profile - Rockwell Automation Miscellaneous (Device Type:
73hex).
The configuration data and behaviors implemented in the Ultra3000

Drive with DeviceNet are defined using object modeling. The
Ultra3000 Drive with DeviceNet is modeled as a collection of objects.
An Object is a collection of related attributes and services. An attribute
is an externally visible characteristic or feature of an object, while a
service is a procedure an object can perform.
The following general definitions also may be useful in understanding

DeviceNet object modeling:
• Object - A representation of a particular type of data component

within the DeviceNet node.
• Instance - A specific occurrence of an Object.
• Attribute - A description of a characteristic or feature of an Object.
Attributes provide status information or govern the operation of an
Object.
• Service - A function performed by an Object.
This manual documents the DeviceNet object models implemented in

DeviceNet firmware versions 2.xx for the Ultra3000 drives.

2-2 Programming Reference
Object Model The Object Model diagram on Page 2-2 depicts the objects supported
in the Ultra3000 Drive with DeviceNet. The following table indicates
the object classes present in this device, and the number of instances
present in each class.
Object Class Number of Instances

Identity 2
Message Router 1
DeviceNet 1
Assembly 18
Connection 2 - I/O
6 - Explicit
Parameter 1059 - Indexing Drive
298 - Non-indexing Drive
Parameter Group 16 - Indexing Drive
14 - Non-indexing Drive
Acknowledge Handler 1
Figure 2.1
Object Model
DeviceNet Network
DeviceNet
Node

Programming Reference 2-3
How Objects Affect Behavior
The objects in the Ultra3000 Drive with DeviceNet affect it’s behavior
as shown in the table below.
Object Effect on Behavior

Message Router No effect
DeviceNet Configures port attributes (node address, data rate, and BOI)
Assembly Defines I/O data format
Connection Contains the number of logical ports into or out of the device
Parameter Provides a public interface to the device configuration data
Parameter Group Provides an aid to device configuration
Acknowledge Handler Manages the reception of message acknowledgments
The Defined Object Interface
The objects in the Ultra3000 Drive with DeviceNet have the interface
listed in the following table.
Object Interface
Message Router Explicit Messaging Connection Instance
DeviceNet Message Router
Assembly I/O Connection or Message Router
Connection Message Router
Parameter Message Router
Parameter Group Message Router
Acknowledge Handler I/O Connection or Message Router

Object Addressing
The Media Access Control Identifier (MAC ID) is the common basis for
logically addressing separate physical components across DeviceNet.
The MAC ID is a unique integer assigned to each DeviceNet node that
distinguishes it specifically from among other nodes on the same
network. The MAC ID often is referred to as the node address. Each
MAC ID is further identified with the following address components:
Component Description
Class ID The Class ID is a unique integer value assigned to each Object Class
accessible from the network. The Ultra3000 supports an 8-bit Class ID.
Instance ID The Instance ID is a unique identification assigned to an Object Instance
that identifies it among all Instances of the same Class.
It is also possible to address the Class itself by utilizing the Instance ID
value zero (0). The Ultra3000 supports an 16-bit Instance ID.
Attribute ID The Attribute ID is a unique identification assigned to a Class Attribute
and/or Instance Attribute.
Figure 2.2
Node Objects
DeviceNet Node 1 DeviceNet Node 2

MAC ID #4:
MAC ID #1 MAC ID #2 Object Class #5
Instance #2
DeviceNet Network Attribute #1
DeviceNet Node 3 DeviceNet Node 4
Object Object
Class #5 Class #3
Attribute #1
Instance Attribute #2 Instance
#1 Instance #1
#2
MAC ID #3 Instance
#1
Object
Class #5
MAC ID #4

Data Type Definitions The following mnemonics define the Ultra3000 with DeviceNet data
types.
Mnemonic Description
ARRAY Sequence of Data
BOOL Boolean (1 byte)
BYTE Bit String, (1 byte)
DINT Signed Double Integer (4 bytes)
DWORD Bit String, (4 bytes)
EPATH DeviceNet Path Segments
INT Signed Integer (2 bytes)
SHORT_STRING Character String
(1 byte length indicator, 1 byte per character)
SINT Signed Short Integer (1 byte)
UDINT Unsigned Double Integer (4 bytes)
UINT Unsigned Integer (2 bytes)
USINT Unsigned Short Integer (1 byte)
WORD 16-bit Word, (2 bytes)
Identity Object This object provides identification and general information about the
device.
(Class ID 01 )
H
Identity Object,
Attribute for Instance ID = 0 (Class Attributes)
Attr Access Attribute Type Description Semantics
ID Rule Name of Values
2 Get Max Instance UINT Maximum instance The largest instance
number of an object number of a created
currently created in object at this class
this class level of the hierarchy level.
device.
Identity Object,
Instance ID = 1 - 2
Instance ID Description
1 Ultra3000
2 Ultra3000 Main Firmware

Identity Object,
Attributes of Instance ID = 1 - 2
Attr. Access Attribute Data Description Semantics
ID Rule Name Type of Values
1 Get Vendor ID UINT Identification 01 = Rockwell Automation/
of each vendor Allen-Bradley
by number
2 Device Type Indication of Instance 1:
general type 115 = Rockwell Automation
of product. Miscellaneous
Instance 2:
105 = Subcomponent
3 Product Code Identification Instance 1:
of a particular 12 = 2098-DSD-005-DN
product of an 13 = 2098-DSD-010-DN
individual 14 = 2098-DSD-020-DN
vendor 15 = 2098-DSD-030-DN
16 = 2098-DSD-075-DN
17 = 2098-DSD-150-DN
18 = 2098-DSD-005X-DN
19 = 2098-DSD-010X-DN
20 = 2098-DSD-020X-DN
21 = 2098-DSD-030X-DN
62 = 2098-DSD-075X-DN
63 = 2098-DSD-150X-DN
81 = 2098-DSD-HV030-DN
82 = 2098-DSD-HV050-DN
83 = 2098-DSD-HV100-DN
84 = 2098-DSD-HV150-DN
85 = 2098-DSD-HV220-DN
86 = 2098-DSD-HV030X-DN
87 = 2098-DSD-HV050X-DN
88 = 2098-DSD-HV100X-DN
89 = 2098-DSD-HV150X-DN
90 = 2098-DSD-HV220X-DN
Instance 2:
01 = Firmware
4 Revision STRUCT Revision of
of: the item the
Major USINT Identity Object Major Revision
Minor USINT represents. Minor Revision
5 Status WORD This attribute See table: Identity Object,
represents the Status Description of
current status Attribute ID = 5
of the entire
device. Its
value changes
as the state of
the device
changes.
6 Serial Number UDINT Serial number Unique identifier for each
of device device.
7 Product Name SHORT_ Readable Unique identifier for each
STRING identification product.

Identity Object,
Status Description of Attribute ID = 5
Bit (s) Description Semantics of Values
0 Owned TRUE = device has an owner
1 Reserved, set to 0
2 Configured Always = 0
3 Reserved, set to 0
4, 5, 6, 7 Vendor specific
8 Minor recoverable Always = 0
fault
9 Minor unrecoverable Always = 0
fault
10 Major recoverable TRUE if self diagnosis detects a major fault
fault
11 Major unrecoverable Always = 0
fault
12, 13 Reserved, set to 0
14, 15
Identity Object,
Common Services
Service Implemented for Service Service
Code Name Description
Class Instance
0EH Yes Yes Get_Attribute_Single Returns the contents of the
specified attribute.
05H No Reset Invokes the Reset service for
the device.
11H Yes n/a Find_Next_Object_ Causes the specified class to
Instance search and return a list of
instance IDs of existing
instances of the Identity
Object.
Reset Service
When the Identity Object receives a Reset request, it:
• determines if it can provide the type of reset requested

• responds to the request
• attempts to perform the type of reset requested

The Reset common service has the following object-specific

parameter:
Identity Object,
Reset Service
Name Data Description Semantics
Type of Values
Type USINT Type of Reset 0 = Emulate as closely as possible cycling power of
the item the Identity Object represents. (default)
1 = Return as closely as possible to the out-of-box
configuration, then emulate cycling power as closely
as possible.
Message Router Object The Message Router Object provides a messaging connection point
through which a Client may address a service to any object class or
(Class ID 02 ) H instance residing in the physical device.
Message Router Object,

Attributes of Instance ID = 1
Attr. Access Attribute Data Description Semantics
2 Get Number Available UINT Maximum number Count of the max
of connections number of
supported connections
supported
3 Number active Number of Current count of
connections the number of
currently used by connections
system allocated to
components system
communication
4 Active connections Array of A list of the Array of system
UINT connection IDs of connection IDs
the currently active
connections
Message Router Object,

Common Services
Service Service Service
0EH Get_Attribute_Single Returns the contents of the specified attribute

DeviceNet Object The DeviceNet Object provides configuration and status attributes of a
DeviceNet port.
(Class ID 03 )
H
DeviceNet Object,
Attribute of Instance ID = 0 (Class Attribute)
Attr. ID Access Attribute Data Description Semantics
Rule Name Type of Values
1 Get Revision UINT Revision of the DeviceNet Object =2
Class definition upon which the
implementation is based.
DeviceNet Object,
Attributes of Instance ID = 1
Attr. Access Attribute Data Type Description Semantics
1 Set MAC ID USINT Node Address Range 0-63
Set is only supported if the MAC ID is programmable.
Refer to Ultra3000 Digital Servo Drive Installation Manual listed on page P-2 for
Rotary DIP switch data setting.
2 Set Baud Rate Data Rate 0 = 125K,
1 = 250K,
2 = 500K
Set is only supported if the data rate is programmable.
Refer to Ultra3000 Digital Servo Drive Installation Manual listed on page P-2 for
Rotary DIP switch data setting.
3 Set Bus OFF BOOL Bus-OFF Interrupt Default = 0
Interrupt
(BOI)
4 Bus OFF USINT Number of times Range 0-255
Counter Controller Area
Network (CAN)
went to the
bus-OFF state

DeviceNet Object,
Attributes of Instance ID = 1 (Continued)
Attr. Access Attribute Data Type Description Semantics
5 Get Allocation STRUCT of:
information BYTE Allocation choice Refer to the
(1 byte) DeviceNet Object
definition in the
USINT + Master MAC DeviceNet
ID (1 byte) Specification
Range 0-63, 255

Modified via
Allocate only.
6 MAC ID BOOL The Node 0 = No change
Switch Address 1 = Change since
Changed switch(es) have last reset or
changed since power-up
last
power-up/reset.
7 Baud Rate The Baud Rate 0 = No change
Switch switch(es) have 1 = Change since
Changed changed since last reset or
last power-up
power-up/reset.
8 MAC ID USINT Actual value of Range 0-63
Switch Node Address
Value switch(es) or
EEPROM value if
programmable.
9 Baud Rate Actual value of Range 0-2
Switch Baud Rate
Value switch(es),
EEPROM value if
programmable, or
operating value
after an autobaud
was completed.
DeviceNet Object,
Common Services
0EH Get_Attribute_Single Returns the contents of the
10H Set_Attribute_Single Modifies the specified attribute.

DeviceNet Object,
Class Specific Services
4BH Allocate_Master/Slave_ Requests the use of the Predefined
Connection_Set Master/Slave Connection Set.
4CH Release_Group_2_ Indicates that the specified
Identifier_Set Connections within the Predefined
Master/Slave Connection Set are
no longer desired. These
connections are to be released
(deleted).
Assembly Object Assembly Objects are objects that bind attributes of multiple objects to
allow data to or from each object to be sent over a single connection.
(Class ID 04 )
H The Ultra3000 with DeviceNet uses Assembly Objects to send data to
and from a Master (scanner) device over an I/O connection. The
terms Input and Output are defined from the scanner's point of view:
• Output Assemblies are defined as the information that is output by

the scanner and consumed by the Ultra3000.
• Input Assemblies are consumed by the scanner or are the scanner's
input.
The Ultra3000 with DeviceNet allows you to choose between various

Input and Output Assemblies, thereby choosing the data format of the
messages that are passed back and forth between the Ultra3000 with
DeviceNet and the scanner over the I/O connection. The following
parameters select the Assembly Object instances that are exchanged
over an I/O messaging connection.
Parameter Parameter Name Description

Instance 1
7 I/O Receive Select Selects the Assembly Object instance that is
updated when a Poll/Change-of-State/Cyclic I/O
message is received by the drive. See page 2-48
for more information.
8 Poll Transmit (Xmit) Selects the Assembly Object instance that is
Select transmitted by the drive over a Polled I/O
connection. See page 2-48 for more information.
9 COS/Cyclic Transmit Selects the Assembly Object instance that is
(Xmit) Select transmitted by the drive over a
Change-of-State/Cyclic I/O connection. See
page 2-49 for more information.
1
Refer to the section on the Parameter Object for more information about parameter instances.

IMPORTANT If the above parameters are modified, you must

perform one of the following before the modified
value(s) are active:
•Close any existing I/O messaging connection(s)
•Power cycle the drive
•Reset the drive
•Remove and reapply DeviceNet power to the drive.
In addition, you can send Explicit Messages to the Input and Output
Assemblies. Explicit Message writes to an Output Assembly can
perform control functions. Therefore, Explicit Message writes are only
allowed when the Master (scanner) is not actively controlling the drive
via I/O Messaging and the message write is done through a
connection with a time-out value not equal to zero. After a write, any
time-out or closure of the connection may cause the drive to fault.
Refer to Using Explicit Messaging to Control the Ultra3000. This
document may refer to Input and Output Assemblies as response and
command Assemblies respectively.
Assembly Object,
Attributes of Instance ID = 0 (Class Attributes)
Attr. ID Access Attribute Data Description Semantics
Rule Name Type of Values
1 Get Revision UINT Revision of this The current value
object. assigned to this attribute
is two (02).
2 Max Maximum instance The largest instance
Instance number of an number of a created
object currently object at this class
created in this hierarchy level.
class level of the
device.

The following Assembly Objects are implemented in the drive and

buffer I/O in the following fashion:
• RO = Read Only
• R/W = Read/Write
• R/PW = Read/Write Protected.
Refer to the sections Output Assemblies on page 2-14 and Input

Assemblies on page 2-33 for detailed information about the various
instances of the Assembly Objects.
Assembly Object,
Instance ID = 1 - 18
ID Data Type Access Size Description
(Bytes)
1 Static Output R/W 1 Handshake Bit, Feedback Data Pointer
2 Static Output R/W 7 Handshake Bit, Feedback Data Pointer,
and Parameter Data Value
3 Static Output R/PW 2 16 Bit Logic Command
4 Static Output R/PW 3 16 Bit Logic Command, Handshake Bit,
and Feedback Data Pointer
Feedback Data Pointer, and Command
Data Value
Feedback Data Pointer, and Parameter
Data Value
7 Static Output R/PW 4 32 Bit Logic Command
and Feedback Data Pointer
9 Static Output R/PW 11 32 Bit Logic Command, Startup
Commutation Done Bit, Feedback Data
Pointer, and Parameter Data Value
10 Static Input RO 4 32 Bit Logic Status
11 Static Input RO 8 32 Bit Logic Status, and Feedback Data
Value
12 Static Input RO 9 32 Bit Logic Status, Extra Status Byte
(with Write Data Status Bits,
Handshake Echo Bit, Feedback Data
Pointer and Feedback Data Value
13 Static Input RO 5 32 Bit Logic Status, Extra Status Byte
(with Write Data Status Bits, and
Handshake Echo Bit)
14 Static Input RO 8 Alternate 32 Bit Logic Status with
Write Data Status Bits (replacing
Position Limits Bits), and Feedback
Data Value

Assembly Object,
ID Data Type Access Size Description
(Bytes)
15 Static Input RO 4 Alternate 32 Bit Logic Status with
Write Data Status Bits (replacing
Position Limit Bits)
16 Static Input RO 4 Feedback Data Value
17 Static Input RO 5 Extra Status Byte (with Write Data
Status bits, Handshake Echo Bit, and
Feedback Data Pointer and Feedback
Data Value
18 Static Input RO 1 Extra Status Byte with Write Data
Status Bits, and Handshake Echo Bit
Assembly Object,
Attribute of Instances ID = 1 - 18
Attr ID Access Attribute Data Type
Rule Name
3 Set Data ARRAY
Assembly Object,
Common Services
Service Implemented for Service Service
Class Instance
0EH Yes Yes Get_Attribute_Single Returns the contents of the
10EH No Set_Attribute_Single Modifies an attribute value.
Output Assemblies
There are nine output assemblies. An Output Assembly can consist of

a 16 or 32 bit Logic Command, a Handshake bit, Feedback Data
Pointer, and/or a Data Value.
Assembly Object,
Instance 1 - Output Assembly
Handshake Bit, Feedback Data Pointer
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Handshake Feedback Data Pointer

Assembly Object,
Instance ID = 2 - Output Assembly
Handshake Bit, Feedback Data Pointer, and Parameter Data Value
0 Write Save to Handshake Feedback Data Pointer

Data NVMEM
1 Parameter Instance - Low Byte
2 Parameter Instance - High Byte
3 Data Value - Low Byte
4 Data Value - Low Middle Byte

5 Data Value - High Middle Byte
6 Data Value - High Byte
Assembly Object,
16 Bit Logic Command
0 Preset Select Preset Select Preset Select Preset Select Preset Select Preset Select Follower Integrator
5 4 3 2 1 0 Enable Inhibit
1 Enable Reset Faults Start Homing Remove Disable Serial Define Home Start Index Operation
Offset Communicati Mode
ons Override
Assembly Object,
16 Bit Logic Command, Handshake Bit, and Feedback Data Pointer
ons Override
2 Reserved Reserved Handshake Reserved Feedback Data Pointer

Assembly Object,
16 Bit Logic Command, Handshake Bit, Feedback Data Pointer, and Command Data Value
ons Override
2 Write Data Save to Handshake Reserved Feedback Data Pointer
NVMEM
3 Command Data Pointer
Assembly Object,
16 Bit Logic Command, Handshake Bit, Feedback Data Pointer, and Parameter Data Value
ons Override
NVMEM

Assembly Object,
32 Bit Logic Command
0 Reserved Reserved Reserved Abort Homing Pause Abort Index Pause Index Disable Serial
Homing Communicati
ons
1 Reserved Reserved Preset Select Preset Select Preset Select Preset Select Preset Select Preset Select
5 4 3 2 1 0
2 Reserved Position Operation Reserved Reserved Follower Integrator Define
Strobe Mode Enable Inhibit Position
Override
3 Enable Reset Faults Start Homing Remove Reserved Define Home Start Index Reset Drive
Offset
Assembly Object,
32 Bit Logic Command, Handshake Bit, and Feedback Data Pointer
Homing Communicati
ons
5 4 3 2 1 0
Override
Offset
4 Reserved Reserved Handshake Reserved Feedback Data Pointer

Assembly Object,
32 Bit Logic Command, Startup Commutation Done Bit, Feedback Data Pointer, and Parameter Data Value
Homing Communicati
ons
5 4 3 2 1 0
Override
Offset
NVMEM
Logic Commands
The first two or four bytes in several Output Assemblies are referred
to as the Logic Command. The logic command bits correspond to
functions available via the hardware digital inputs on the Ultra3000
Drive with DeviceNet. Parameter 10 - Logic Command Mask allows
you to mask off (zero) selected Logic Command bits to prevent the
bits activating any functions.
Note: The Logic Command Mask has a default value of zero.

Therefore, the Logic Command has no affect unless you modify
the Logic Command Mask.

The Enable bit in the logic command is OR'ed or AND'ed with a

hardware ENABLE as specified by Parameter 11 - Enable Behavior.
• If the ENABLE function has not been assigned to a hardware input,

then the hardware ENABLE is always active.
• If any of the other functions have not been assigned to a hardware
input, then the corresponding logic command bit controls the
function.
• If a function has been assigned to a hardware input, then the
corresponding logic command bit is OR'ed with the hardware
input.
IMPORTANT A transition (0 -> 1) on a logic command bit is not

recognized if the corresponding hardware input is
active.
IMPORTANT Toggling more than one bit at one time may produce
indeterminate behavior.
For example, changing a Preset Select and
transitioning the Start Index from 0 to 1 may cause
the previously selected Index to be executed.
Disable Serial Communications
This bit inhibits the drive's Serial Communications port operation.
• 1 = Serial Communications disabled

• 0 = Serial Communications enabled
Pause Index
This bit temporarily pauses an indexing sequence by decelerating to a

stop. The state of the input is continuously monitored to determine if
the motion should be stopped or if it may continue.
• 0 = Continue Indexing (Inactive)

• 1 = Pause Index
Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).
Abort Index
A transition from zero to one (0 -> 1) terminates an indexing move.

Pause Homing
This bit temporarily pauses a homing sequence by decelerating to a

stop. The state of the input is continuously monitored to determine if
the motion should be stopped or if it may continue.
• 0 = Continue Homing (Inactive)

• 1 = Pause Homing
Abort Homing
A transition from zero to one (0 -> 1) terminates a homing sequence.
Preset Select 0 to 5
Preset Select 0 to 2 are used in combination to select a Preset Current,

Preset Velocity, Preset Position, or Preset Follower Gearing Ratio.
Preset Select 0 to 5 are used in combination to select an Index. The 64
possible binary combinations of the Preset Selects are shown in the
following table.
Preset Preset Preset Preset Preset Preset Preset

Select 5 Select 4 Select 3 Select 2 Select 1 Select 0
0 0 0 0 0 0 0
1 0 0 0 0 0 1
2 0 0 0 0 1 0
3 0 0 0 0 1 1
4 0 0 0 1 0 0
5 0 0 0 1 0 1
6 0 0 0 1 1 0
7 0 0 0 1 1 1
. . . . . . .
. . . . . . .
. . . . . . .
61 1 1 1 1 0 1
62 1 1 1 1 1 0
63 1 1 1 1 1 1

Define Position
When this input becomes active, it sets the Preset Position (parameter
304, 308, 312, 316, 320, 324, 328 or 332) selected by Preset Select 0 to
2, equal to the current drive position.
• 0 = Inactive
• 1 = Active
Integrator Inhibit
This bit is used to zero the velocity loop integrator.
• 0 = No action
• 1 = Inhibit Integrator
Follower Enable
This bit allows the position loop to track the position command when
the drive is in the Follower Mode.
• 0 = Inactive
• 1 = Active
Position Strobe
An inactive state freezes the state of the motor encoder outputs. A

transition to an active state causes the drive to output a continuous
sequence of encoder counts until the absolute position is reached on
an external counter. This input is used in conjunction with the
Tracking output function.
• 0 = Inactive
• 1 = Active
Operation Mode Override
This bit selects whether drive uses Parameter 33 - Operation Mode or

Parameter 34 - Override Mode (Operation Mode Override) to
determine the command source.
• 0 = Parameter 33 - Operation Mode selects the command source

• 1 = Parameter 34 - Override Mode (Operation Mode Override)
selects the command source

Reset Drive
The drive resets anytime it receives a logic command with the Reset
Drive bit set high (except if the drive is enabled).
• 0 = Reset, or reboot, the hardware and firmware in the drive.

• 1 = Inactive
Start Index
A transition from zero to one (0 -> 1) of the Start Index bit begins an
index move if the drive's current Operation Mode is Indexing. A
transition is not recognized if a hardware input assigned as Start Index
is active.
Note: This output requires an Indexing drive (e.g.,2098-DSD-xxxX).
Define Home
A transition from zero to one (0 -> 1) causes the present motor

position to be selected as Home position. This means that the position
command is set to Parameter 344 - Home Position, and the position
feedback is simultaneously set to its appropriate value, according to
the position error.
Remove Offset
A transition from zero to one (0 -> 1) causes the offset of the analog
command input to be measured (after averaging), and sets Parameter
254 - Analog Velocity Offset and Parameter 256 - Analog Current
Offset to the negative of this value.
Start Homing
A transition from zero to one (0 -> 1) initiates the homing routine.

Reset Faults
A transition from zero to one (0 -> 1) resets any detected drive faults.
If an Enable input is active, the drive may be enabled

ATTENTION
and unexpected motion may occur.
!
Enable
This bit enables the drive (1 =enable, 0 = disable) depending on the

hardware ENABLE and Parameter 11 - Enable Behavior. You can
specify this bit to be OR'ed or AND'ed with the hardware ENABLE by
setting the Enable Behavior parameter.
• If Enable Behavior is set to 'Hardware OR DNet Input', then either a

hardware ENABLE or this bit can enable the drive.
• If Enable Behavior is set to 'Hardware AND DNet Input', both the
hardware ENABLE and this bit must be active to enable the drive.
IMPORTANT Parameter 27 - Host Enable can temporarily disable

the drive regardless of the hardware ENABLE and
Logic Command Enable bit.
Handshake
A Handshake bit is included in some of the Output Assemblies and

the bit is echoed in some of the Input Assemblies. An application can
toggle the Handshake bit and confirm if the drive received the Output
Assembly by monitoring the Handshake Echo bit in the Input
Assembly. The drive does not use the Handshake bit for any other
purpose.
Feedback Data Pointer
The Feedback Data Pointer, contained in some of the Output Assemblies,

selects the Feedback Data Value that the Input Assembly should
return. The following table lists the available Feedback Data Values.

Refer to the Parameter Object instances to obtain scaling and units

information.
Feedback Name Parameter Data Type

Data Pointer Object
Instance
0 Position Command 132 DINT
1 Motor Position 134 DINT
2 Motor Velocity 140 DINT
(not filtered)
3 Average Current 142 INT
4 Fault Status 123 DWORD
5 Extended Fault Status 124 WORD
6 Input Status 122 DWORD
7 Output Status 121 DWORD
8 Current Command 143 INT
9 Auxiliary Encoder Position 135 DINT
10 Position Error 133 DINT
11 Velocity Error 139 DINT
12 DC Bus Voltage 131 UINT
13 Velocity Command 138 DINT
Parameter Data Value and Command Data Value Fields
The Parameter and Command Data Value fields contained in some of

the Output Assemblies allow you to write a parameter value to the
drive via I/O messaging. You can use Assemblies 2, 6, and 9 to write a
Data Value to the parameter object specified by Parameter Instance -
Low Byte and Parameter Instance - High Byte. See Parameter Object,
Instances ID = 1- 1059 on page 47. Assembly 5 also allows you to
write a Data Value to a parameter. However, Assembly 5 uses a
Command Data Pointer to select one of the parameters listed in the
Command Data table. Assembly 5 was implemented because it can be
sent in a non-fragmented I/O message. If Assembly 6 is sent via an
I/O message, the message is fragmented.
The Write Data bit is used to latch the Data Value that is located in the
last four bytes of the Output Assembly. A new data value will be
accepted by the drive on a zero to one transition (0 -> 1) of the Write
Data bit only if the Write Data Busy/Ack bit (located in the Input
Assembly) is low: 0 = idle, 1 = busy. The Write Data Busy/Ack bit is
cleared when the Write Data bit is set to zero and the drive is not busy
saving the data value. The Write Data and Write Data Busy/Ack bits
are ignored if the command assembly is updated via an explicit
message. By default, the value is only written to the drive as a

working value and is NOT saved in nonvolatile memory unless the

Save To NVMEM bit is set. The working value is lost if the drive is
reset or power cycled.
IMPORTANT The nonvolatile memory has a limited number of

write cycles. Do not save parameter values to
nonvolatile memory (NVMEM) unless absolutely
necessary. In other words, minimize the number of
times parameter values are saved to nonvolatile
memory (NVMEM).
IMPORTANT The drive acts on the Logic Command before reading

the Data Value. Therefore, the drive will accept the
Logic Command even though the Data Value may be
invalid. If an I/O message writes an invalid Data
Value, the drive sets the Write Data Error bit in the
Input Assembly. If the Data Value is updated via an
explicit message, the drive will return an error
response if the Data Value is invalid.

Command Data Table
The following table references the Command Data Pointer and

Parameter Object Instances for each Ultra3000 with DeviceNet
command.
Command Name Parameter Object

Data Instance
Pointer
0 NULL
1 Reset Faults 22
2 Reset Drive 23
3 Reset Personality 24
4 Reset I Peaks 25
5 Define Home Command 26
6 Host Enable 27
7 Host Control Mode 28
8 Velocity Setpoint 29
9 Current Setpoint 30
10 Setpoint Accel 31
11 Positive I Limit 37
12 Negative I Limit 38
1
13 Soft Overtravel 39
1
14 Positive Soft Position Limit 40
15 Negative Soft Position Limit, or 41 1
Acceleration Feedforward Gain - Kaff 111 2
16 Positive Decel Distance, or 42 1
Position Compare 1 Max 112 2
17 Negative Decel Distance, or 43 1
Position Compare 2 Max 113 2
18 Zero Speed Limit 44
19 Speed Window 45
20 Up to Speed 46
21 Position Window Size 47
22 Position Window Time 48
23 Position Compare 1 Type 49
24 Position Compare 1 Min 50
25 Position Compare 2 Type 51
26 Position Compare 2 Min 52
1
These commands are available only to indexing drives.
2
These commands are available only to non-indexing drives.


Data Instance
Pointer
27 Velocity Loop P_Gain 53
28 Velocity Loop I_Gain 54
29 Velocity Loop D_Gain 55
30 Position Loop Kp Gain 56
31 Position Loop Ki Gain 57
32 Position Loop Kd Gain 58
33 Position Loop Kff Gain 59
34 Position Loop Ki Zone 60
35 Low Pass Filter 61
36 Low Pass Bandwidth 62
37 Digital Output Override 95
38 Override Analog Output 101
39 Analog Output Override 102
40 User Current Fault 103
41 User Velocity Limit 104
42 User Velocity Fault 105
43 Velocity Error Limit 106
44 Velocity Error Time 107
45 Position Error Limit 108
46 Position Error Time 109
47 Slew Enable 262
48 Slew Limit 263
49 Master Gear Count 0 264
50 Motor Gear Count 0 265


Data Instance
Pointer
65 Velocity Preset 0 280
73 Limit Preset Accel 288
74 Preset Accel Limit 289
75 Preset Decel Limit 290
76 Current Preset 0 291
84 3 Preset Position 0 304
3
85 Preset Position 0 Velocity 305
86 3 Preset Position 0 Accel 306
87 3 Preset Position 0 Decel 307
3
88 Preset Position 1 308
3
3
90 Preset Position 1 Accel 310
3
3
3
3
3
3


Data Instance
Pointer
3
3
3
3
3
3
110 3 Preset Position 6 Accel 330
3
3
3
116 3 Homing Type 336
117 3 Home Sensor Backoff 338
3
118 Homing Velocity 339
119 3 Homing Accel/ Decel 340
120 3 Home Offset Move 341
3
121 Homing Stop Decel 342
122 3 Home Sensor Polarity 343
123 3 Home Position 344
3
124 Homing Creep Velocity 345
3
125 Home Sensor Current 346
3
126 Start Homing Command 347
127 3 Abort Homing Command 348
3
128 Pause Homing Command 349
3
129 Host Index Number 350
3
130 Start Index Command 351
131 3 Abort Index Decel 356
3
132 Index 0 Type 357
3
133 Index 0 Distance/ Position 358
3
134 Index 0 Count 359


Data Instance
Pointer
135 3 Index 0 Dwell 360
136 3 Index 0 Registration Distance 361
3
137 Index 0 Velocity 362
3
138 Index 0 Accel 363
139 3 Index 0 Decel 364
140 3 Index 0 Pointer 365
3
141 Index 0 Terminate 366
3
143 3 Index 1 Distance/ Position 368
3
3
145 Index 1 Dwell 370
147 3 Index 1 Velocity 372
3
3
149 Index 1 Decel 374
3
150 Index 1 Pointer 375
151 3 Index 1 Terminate 376
152 3 Index 2 Type 377
3
3
158 3 Index 2 Accel 383
3
3
3
3
3
3
166 Index 3 Registration Distance 391
3
3
3


Data Instance
Pointer
3
3
3
3
3
3
3
3
3
3
3
194 3 Index 6 Count 419
3
3
3
3
3
3
3
3
3


Data Instance
Pointer
3
3
3
3
3
3
3
3
3
224 3 Index 9 Count 449
3
3
230 3 Index 9 Pointer 455
3
232 Index 0 Absolute Direction 997
3
3
235 3 Index 3 Absolute Direction 1000
3
3
3
239 3 Index 7 Absolute Direction 1004
3
3
3
242 Acceleration Feedforward Gain - Kaff 111


Data Instance
Pointer
243 3 Position Compare 1 Max 112
244 3 Position Compare 2 Max 113
3
These commands are available only to indexing drives.
Input Assemblies
There are nine input assemblies. An input assembly can consist of a

32 bit Logic Status, an Extra Status Byte, and/or a Feedback Data
Value.
Assembly Object,
Instance ID = 10 - Input Assembly
32 Bit Logic Status
0 Startup Tracking Axis Homed Registered In Dwell In Motion End of At Home
Commutatio Sequence
n Done
1 Position Position At Index 1 At Index 0 Negative Positive Negative Positive
Compare 2 Compare 1 Position Position Overtravel Overtravel Hardware Hardware
Overtravel Overtravel
2 Drive Up To Speed Negative Positive Within Zero Speed Within In Position
Enabled Current Limit Current Limit Speed Position
Window Window
3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus
Charged
Assembly Object,
32 Bit Logic Status, and Feedback Data Value
Commutation Sequence
Done
2 Drive Enabled Up To Speed Negative Positive Within Speed Zero Speed Within In Position
Current Limit Current Limit Window Position
Window
Charged
4 Feedback Data Value - Low Byte

Assembly Object,
32 Bit Logic Status, and Feedback Data Value
5 Feedback Data Value - Low Middle Byte
6 Feedback Data Value - High Middle Byte
7 Feedback Data Value - High Byte
Assembly Object,
32 Bit Logic Status, Extra Status Byte (with Write Data Status Bits, Handshake Echo Bit, Feedback Data Pointer and
Feedback Data Value
Done
Window
Charged
4 Write Data Write Data Handshake Reserved Feedback Data Pointer
Busy/Ack Error Echo

Assembly Object,
32 Bit Logic Status, Extra Status Byte (with Write Data Status Bits, and Handshake Echo Bit)
Done
Window
Charged
4 Write Data Write Data Handshake Reserved Reserved Reserved Reserved Reserved
Busy/Ack Error Echo
Assembly Object,
Alternate 32 Bit Logic Status with Write Data Status Bits (replacing Position Limits Bits), and Feedback Data Value
Done
1 Write Data Write Data At Index 1 At Index 0 Negative Positive Negative Positive
Busy/Ack Error Position Position Overtravel Overtravel Hardware Hardware
Window
Charged

Assembly Object,
Alternate 32 Bit Logic Status with Write Data Status Bits (replacing Position Limit Bits)
Done
1 Write Data Write Data At Index 1 At Index 0 Negative Positive Negative Positive
Busy/Ack Error Position Position Overtravel Overtravel Hardware Hardware
Window
Charged

Assembly Object,
Feedback Data Value
Assembly Object,
Extra Status Byte (with Write Data Status bits, Handshake Echo Bit, and Feedback Data Pointer and Feedback Data Value
0 Write Data Write Data Handshake Reserved Feedback Data Pointer
Busy/Ack Error Echo
Assembly Object,
Extra Status Byte with Write Data Status Bits, and Handshake Echo Bit
0 Write Data Write Data Handshake Reserved Reserved Reserved Reserved Reserved
Busy/Ack Error Echo

Logic Status
The first four bytes in some of the Input Assemblies are referred to as
the Logic Status. The Logic Status consists of 32 bits.
At Home
This bit indicates that the position command is equal to the Parameter
344 - Home Position.
End of Sequence
This bit indicates all iterations of the index move have been
completed.
In Motion
This bit indicates an index move is active and the motor is moving.
In Dwell
Indicates the motor is holding position in an index move and waiting

for the commanded dwell time.
Registered
This bit indicates the Registration Sensor has been detected and the
move has been adjusted, for this iteration of the index.
Note: The Registration Distance must be larger than the distance

required to stop or the move is not adjusted.
Axis Homed
This bit indicates that the homing routine has completed.

Tracking
This bit indicates that the motor position has been output and the
encoder outputs are now tracking the motor encoder inputs. This
output is used in conjunction with the Position Strobe input function.
Startup Commutation Done
This bit indicates that the drive has completed its commutation
initialization algorithm.
Positive Hardware Overtravel
This bit indicates a motor integral limit switch has been encountered
in the positive travel direction.
Note: This overtravel is not the Positive Hardware Overtravel initiated

by a digital input to the drive.
Negative Hardware Overtravel
This bit indicates a motor integral limit switch has been encountered
in the negative travel direction.
Note: This overtravel is not the Negative Hardware Overtravel initiated

by a digital input to the drive.
Positive Overtravel
This bit indicates that the positive soft position limit, Parameter 40, has
been exceeded, or the positive overtravel hardware input has become
active, or the motor’s positive integral limit (if this signal exists) has
been reached.
Negative Overtravel
This bit indicates that the negative soft position limit, Parameter 41,
has been exceeded, or the negative overtravel hardware input has
become active, or the motor’s negative integral limit (if this signal
exists) has been reached.
At Index 0 Position
An active state indicates the commanded motor position is equal to

the position defined by Index 0. This output functions only after the
axis has been homed.

At Index 1 Position
An active state indicates the commanded motor position is equal to

the position defined by Index 1. This output functions only after the
axis has been homed.
Position Limit 1
An active state indicates the condition defined by Parameter 49

(Position Compare 1 Type), Parameter 50 (Position Compare 1 Min),
and Parameter 112 (Position Compare 1 Max), for Position Compare 1
is true. If the drive has not been homed, the Position Limit 1 bit is
inactive.
Position Limit 2
An active state indicates the condition defined by Parameter 51

(Position Compare 2 Type), Parameter 52 (Position Compare 2 Min),
and Parameter 113 (Position Compare 2 Max) for Position Compare 2
is true. If the drive has not been homed, the Position Limit 2 bit is
inactive.
In Position
This bit indicates that the position error has been less than the
Parameter 47 - Position Window Size value for longer than the
Parameter 48 - Position Window Time value, and the speed is less
than the Parameter 44 - Zero Speed Limit setting.
Within Position Window
This bit indicates that the position error has been less than the
Parameter 47 - Position Window Size value for longer than the
Parameter 48 - Position Window Time value.
Zero Speed
This bit indicates that the speed is less than the Parameter 44 - Zero
Speed Limit setting.

Within Speed Window
This bit indicates that the velocity error is less than the Parameter 45 -
Speed Window value.
Positive Current Limit
Indicates that the drive current is being limited in the positive

direction.
Negative Current Limit
Indicates that the drive current is being limited in the negative

direction.
Up To Speed
This bit indicates the motor velocity feedback is greater than the
Parameter 46 - Up to Speed value.
Drive Enabled
This bit indicates if the power stage of the drive is enabled. For the
power stage to be enabled, the software and/or hardware ENABLE
inputs must be active, Parameter 27 - Host Enable must be enabled,
and the drive cannot have any 'disabling' faults.
DC Bus Charged
This bit indicates if the DC bus is energized.
Fault Disable
This bit indicates that a fault has occurred that caused the drive to
disable.
Brake Active
This bit indicates whether any digital output assigned as a BRAKE

output is active. If this bit is zero, then any BRAKE output is inactive
and the motor brake is applied. If this bit is one, then any BRAKE
output is active, and the motor brake is released so the motor can
move.
Drive Ready
Indicates that the drive is operational and does not have a 'disabling'
fault.

Handshake Echo
The Handshake Echo bit is included in some of the Input Assemblies.

The Handshake Echo bit is zero if the selected Output Assembly does
not contain a Handshake bit. An application can toggle the
Handshake bit in the Output Assembly and confirm if the drive
received the Output Assembly by monitoring the Handshake Echo bit
in an Input Assembly. The drive does not use the Handshake bit for
any other purpose.
DeviceNet Communication Fault Action
You can configure the Ultra3000 Drive with DeviceNet to perform a

specific action if the Output (command) Assembly is not periodically
updated after the I/O (or explicit) messaging connection has been
established and Parameter 7 - I/O Receive Select is set to a non-zero
value. The Output Assembly may not get updated for a several
reasons:
• the messaging connection is closed

• the scanner (Master) is placed into program mode
• the DeviceNet cable is unplugged
By default, the Ultra3000 Drive with DeviceNet will fault and clear the
logic command. You can configure the drive to take a different action
by configuring the following parameters:
• Idle Fault Action — Parameter 13

• Comm Fault Action — Parameter 14
• Faulted Logic Command — Parameter 15
The Ultra3000 Drive with DeviceNet will execute the Idle Fault Action
if the Master (scanner) sends I/O idle messages (zero-length
messages). The Comm Fault Action will be invoked if a
communication fault occurs such as the DeviceNet cable being
unplugged. The Idle Fault Action and Comm Fault Action parameters
allow you to configure the Ultra3000 Drive with DeviceNet to take
one of the following actions if a communication problem occurs that

prevents the Output (command) Assembly Object from being

updated:
• Fault/ Zero Data — The Ultra3000 Drive with DeviceNet faults and
the logic command is cleared
• Fault/ Hold Last — The Ultra3000 Drive with DeviceNet faults and
the last logic command received is latched
• Zero Data — The logic command is cleared
• Hold Last — The last logic command received is latched
• Fault Configure — The Faulted Logic Command parameter specifies
the logic command value. The Ultra3000 Drive with DeviceNet does
not fault. Refer to Using the Fault Configured Input on page 2-43.
Using the Fault Configured Input
You can select a constant value for the logic command in the event of
a controller (scanner) mode change or error. This constant value is
referred to as the Faulted Logic Command. When the controller is
placed in program mode or a DeviceNet network fault occurs, the
logic command to the drive can be set to automatically switch to the
value specified by the Faulted Logic Command — Parameter 15.
If you intend to use the Fault Configure Input, you must do the
following:
1. Set the desired value for the Faulted Logic Command.
2. Set the Idle Fault Action parameter and/or the Comm Fault Action
parameter to Fault Config.

Using Explicit Messaging to Control the Ultra3000
Explicit messages provide multi-purpose, point-to-point

communication paths between two devices. It is possible to control
the drive through explicit messaging on DeviceNet by following
particular guidelines and by writing to various Assembly Objects that
are buffering the I/O data. Although it is possible to control the drive
by writing to various parameter objects, you should consider using the
Assembly Objects for controlling the drive. The guidelines are as
follows:
• Write to the various Assembly Objects that are buffering the I/O
data.
• Write access to any Assembly Object is not allowed if the message
is passed through a connection whose expected packet rate (EPR)
is zero or if I/O data is being sent over an I/O messaging
connection.
• The drive marks any explicit connection after allowing a write to an
Assembly Object through the connection.
• If a marked explicit connection times out based on the EPR, then
the fault action will be that configured for Communication Loss
over the I/O connection, Comm Fault Action — Parameter 14.
• If a marked explicit connection is deleted, then the fault action will
be that configured for Idle over the I/O connection, Faulted Logic
Command — Parameter 15.
• Multiple explicit connections can write/overwrite the control I/O if
they meet the guidelines specified. Each connection will be
marked individually within the drive.
• If the drive gets allocated/re-allocated by a controller such that
valid I/O data is being sent to the drive, or if an Idle condition
from the allocating controller is transitioned back to valid data,
then all marked explicit connections will be reset to unmarked and
future writes blocked.
• If a marked connection has its Expected Packet Rate (EPR) value
reset to zero (0) after being marked, then the connection will
become unmarked.
IMPORTANT Do not use Explicit Messaging to set parameter

objects that are changed frequently. An Explicit Set
causes an NVMEM write. The nonvolatile memory
has a limited number of write cycles.
Note: Explicit Get commands have no effect on
NVMEM.

Connection Object The Connection Object manages the internal resources associated
with both I/O and Explicit Messaging Connections. The specific
(Class ID 05 ) H instance generated by the Connection Class is referred to as a
Connection Instance or a Connection Object. A Connection Object
within a particular module actually represents one of the end-points of
a connection.
DeviceNet Connection Object,

Instance Instances
ID
1 Group 2 Explicit Message Connection
2 Poll I/O Connection
4 Change-of-State or Cyclic I/O Connection
6-10 Group 3 Explicit Message Connections

Attributes of Instances ID = 1 - 10 /
Attr ID Access Attribute Data Type Description
Rule Name
1 Get State USINT State of the Connection
2 Instance Type I/O or Message Connection
3 Transport_class_trigger BYTE Defines the behavior of the Connection
4 Produced_connection_id UINT CAN identifier to transmit on
5 Consumed_connection_id CAN identifier to receive on
6 Initial_comm_characteristics BYTE Defines the Message Group(s) associated with this
Connection
7 Produced_connection_size UINT Maximum number of bytes transmitted across this
Connection
8 Consumed_connection_size Maximum number of bytes received across this
Connection
9 Set Expected_packet_rate Defines timing associated with this Connection
12 Watchdog_timeout_action USINT Defines how to handle Inactivity/Watchdog timeouts
13 Get Produced_connection_path_ UINT Number of bytes in the produced_connection_path
length attribute
14 Produced_connection_path EPATH Specifies the Application Object whose data is to be
produced by this Connection object
15 Consumed_connection_path_len UINT Number of bytes in the Consumed_connection_path
gth attribute
16 Consumed_connection_path EPATH Specifies the Application Object(s) that are to receive
the data consumed by this Connection
17 Set Production_inhibit_time UINT Defines minimum time between new data production
for COS connections.


Common Services
Service Code Service Name Service Description
0EH Get_Attribute_Single Returns the contents of the specified attribute.
10H Set_Attribute_Single Modifies the specified attribute.
05H Reset Used to reset the Inactivity/Watchdog Timer associated with a Connection Object
Parameter Object The DeviceNet Parameter Object provides the interface to the
Ultra3000 Drive with DeviceNet configuration data. It supplies a full
(Class ID 0F ) H description of the parameter, including its minimum and maximum
values and a readable text string describing the parameter. The
instances start at one and increment with no gaps.
Parameter Object,
Attributes for Instance ID = 0 (Class Attributes)
Attr ID Access Name Data Description Semantics of Values
Rule Type
1 Get Revision UINT Revision of this object Current value = 01
2 Max Instances Maximum instance number of an The largest instance number of a created
object currently created in this class object at this class hierarchy level
level of the device
8 Parameter Class WORD Bit field that describe parameters Bit 0 = supports parameter instances
Descriptor Bit 1 = full attributes
Bit 2 = nonvolatile storage save command
Bit 3 = params are stored in nonvolatile
storage
9 Configuration UINT Instance number of the configuration 0 = configuration assembly not supported
Assembly assembly
Instance
The table Parameter Instance on page 2-47 lists the parameter

instances implemented in the Ultra3000 Drive with DeviceNet. The
table Parameter Object Instance Attributes on page 2-97 lists the
instance attributes of the parameter object. A parameter value is
accessed via Attribute 1 of a parameter instance. Additional
information about the parameter object is located beginning on
Page 2-99.
IMPORTANT Some parameters cannot be modified while the

Ultra3000 Drive with DeviceNet is enabled. The drive
returns the error code, 10h - Device State Conflict, if
you attempt to modify one of these parameters while
the drive is enabled.

IMPORTANT If Explicit Messages are to be used frequently to

change the value of parameter objects, refer to
Parameter 114 - Parameter Object Write Behavior. By
default, an Explicit Message Set_Attribute_Single
service causes a nonvolatile memory (NVMEM)
write. However, the nonvolatile memory has a
limited number of write cycles. Change Parameter
114 - Parameter Object Write Behavior to 1 - No
NVMEM Writes to prevent writing the nonvolatile
memory. Parameter values will continue to be
written to volatile memory (RAM).
•Parameters 22–26, 63, 347–349, and 351 (which
have a No Action (0) selection) are not saved in
volatile or non-volatile memory.
•Parameters 27–30, 95, 101–102, and 350 are not
saved in non-volatile memory, but are saved in
volatile memory.
Note: Explicit Get commands have no effect on
NVMEM.
Parameter Object,
Instances ID = 1- 1059
Parameter Access Parameter Data Data Size Units / Description
Instance Rule Name Type (Bytes) Scale
1 Set Drive Name SHORT_ 1 byte The name of the drive, up to 32 characters long.
STRING length
indicator, 1
byte per
character
2 Get Main Firmware SHORT_ 1 byte The version of drive firmware, in the format
Version STRING length XX.YY.ZZ, where:
indicator, 1 • XX = major revision
byte per
• YY = minor revision
character
• ZZ = maintenance revision (not displayed if zero).
3 Get DN-SW Node USINT 1 DeviceNet Node Address (Mac_ID) switch setting.
Address
4 Get DN-SW Data USINT 1 DeviceNet Data Rate switch setting.
Rate 0 - 125 kps
1 - 250 kps
2 - 500 kps
3 - Autobaud
4 - Programmable
5 - Programmable
6 - Programmable
7 - Programmable
8 - Programmable
9 - Programmable

Parameter Object,
5 Set DN-NV Node USINT 1 The programmed nonvolatile DeviceNet Node
Address Address (Mac_ID).
Range: 0 to 63
Default: 63
6 Set DN-NV Data Rate USINT 1 The programmed nonvolatile DeviceNet Data Rate.
0 - 125 kps (default)
1 - 250 kps
2 - 500 kps
3 - Autobaud
7 Set I/O Receive USINT 1 Selects the output (consumed) assembly that is
Select updated when a Polled, Change-of-State, or Cyclic
I/O Message is received by the drive. If the value is
modified, you have to either close any existing I/O
Messaging connection(s), power cycle the drive,
reset the drive, or remove and reapply DeviceNet
power for the drive to use the modified value. Refer
to the Assembly Object for information on the data
format.
0 - No Data Consumed (default)
1 - Assembly Instance 1
8 Set Poll Transmit USINT 1 Selects the input (produced) assembly that is
(Xmit) Select transmitted by the drive over a Polled I/O Messaging
connection. If the value is modified, you have to
either close any existing I/O Messaging
connection(s), power cycle the drive, reset the drive,
or remove and reapply DeviceNet power for the drive
to use the modified value. Refer to the Assembly
Object for information on the data format.
0 - Assembly Instance 10 (default)

Parameter Object,
9 Set COS/Cyclic USINT 1 Selects the response (produced) assembly that is
Transmit (Xmit) transmitted by the drive over a Change-of-State, or
Select Cyclic I/O Messaging connection. If the value is
modified, you have to either close any existing I/O
Messaging connection(s), power cycle the drive,
reset the drive, or remove and reapply DeviceNet
power for the drive to use the modified value. Refer
to the Assembly Object for information on the data
format.
0 - Assembly Instance 10 (default)
10 Set Logic Command DWORD 4 Masks bits of the logic command sent via Polled,
Mask Cyclic, and Change-of-State I/O messages. If a bit is
clear (zero) in the Logic Command Mask, then the
corresponding bit in the logic command will be
cleared. The Logic Command Mask can not be
modified while the drive is enabled.
Bit 0 = Disable Serial
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 3 = Pause Homing
Bit 4 = Abort Homing
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 8 = Preset Select 0
Bit 14 = Reserved
Bit 15 = Reserved
Bit 16 = Define Position
Bit 17 = Integrator Inhibit
Bit 18 = Follower Enable
Bit 19 = Reserved
Bit 20 = Reserved
Bit 21 = Operation Mode Override
Bit 22 = Position Strobe
Bit 23 = Reserved
Bit 24 = Reset Drive
Bit 25 = Start Index
Bit 26 = Define Home
Bit 27 = Reserved
Bit 28 = Remove CMD Offset
Bit 29 = Start Homing
Bit 30 = Fault Reset
Bit 31 = Enable Drive
Default: 0x00000000

Parameter Object,
11 Set Enable Behavior USINT 1 Used to determine if the drive can be enabled with
either the DeviceNet Enable or hardware ENABLE; or
if both enables have to be active.
0 - Hardware OR DNet Input (default)
1 - Hardware Enable AND DNet Input
12 Set Change-of-State DWORD 4 The Change-of-State mask is used with
Mask Change-of-State I/O messaging. If a particular bit is
set (one) in 'Change-of-State Mask', then a
Change-of-State I/O message will be produced
whenever the corresponding bit in Parameter 16 -
DNet I/O Status changes value. Otherwise, a
Change-of-State I/O message will not be produced.
Bit 0 = At Home
Bit 1 = End of Sequence
Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 7 = Startup Commutation Done
Bit 8 = Positive Hardware Overtravel
(Motor Integral Limit)
Bit 9 = Negative Hardware Overtravel
Bit 10 = Positive Overtravel
Bit 11 = Negative Overtravel
Bit 12 = At Index 0 Position
Bit 14 = Position Compare 1/Write Data Error
Bit 15 = Position Compare 2/Write Data Busy
Bit 16 = In Position
Bit 17 = Within Position Window
Bit 18 = Zero Speed
Bit 19 = Within Speed Window
Bit 20 = Positive Current Limit
Bit 21 = Negative Current Limit
Bit 22 = Up to Speed
Bit 23 = Drive Enabled
Bit 24 = DC Bus Charged
Bit 25 = Fault Disable
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready
Default: 0x0ffffffff

Parameter Object,
13 Set Idle Fault Action USINT 1 Determines the action the drive should take if the
master sends a zero length I/O message to the drive,
which may occur if a PLC™ (master) is set to program
mode. No action is taken if the Parameter 7 - I/O
Receive Select specifies an I/O command message
that does not have a logic command.
0 - Fault / Zero Data (default)
1 - Fault / Hold Last Data
2 - Zero Data
3 - Hold Last Data
4 - Fault Configuration (Use data specified by
Parameter 15 - Faulted Logic Command).
If you change the Idle Fault Action parameter's value, the user application may not be able to control the
ATTENTION product after a fault.
Risk of severe bodily injury or equivalent damage exists. The Idle Fault Action parameter allows you to
change the default configuration that would allow the module and associated drive to continue to
! operate if communication is lost.

Precautions should be taken to assure that your settings for these parameters and your application do not
create bodily injury or equipment damage.
Refer to the sections DeviceNet Communication Fault Action on page 2-42 and Using the Fault Configured
Input on page 2-43.
14 Set Comm Fault USINT 1 Determines the action the drive should take if the
Action drive detects a network failure while an I/O
messaging connection is active. No action is taken if
the Parameter 7 - I/O Receive Select specifies an I/O
command message that does not have a logic
command.
0 - Fault / Zero Data (default)
1 - Fault / Hold Last Data
2 - Zero Data
3 - Hold Last Data
4 - Fault Configuration (Use data specified by
Parameter 15 - Faulted Logic Command).
If you change the Comm Fault Action parameter's value, the user application may not be able to control
ATTENTION the product after a fault.
Risk of severe bodily injury or equivalent damage exists. The Comm Fault Action parameter allows you to
change the default configuration that would allow the module and associated drive to continue to
! operate if communication is lost.

Precautions should be taken to assure that your settings for these parameters and your application do not
create bodily injury or equipment damage.
Refer to the sections DeviceNet Communication Fault Action on page 2-42 and Using the Fault Configured
Input on page 2-43.

Parameter Object,
15 Set Faulted Logic DWORD 4 Provides the logic command data to the drive when
Command the drive receives an invalid I/O message or detects
a network failure while an I/O messaging connection
is active.
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 14 = Reserved
Bit 15 = Reserved
Bit 19 = Reserved
Bit 20 = Reserved
Bit 23 = Reserved
Bit 27 = Reserved
Default: 0x00000000
The Faulted Logic Command does not affect those bits that have been masked off by Parameter 10 - Logic
IMPORTANT Command Mask. Otherwise, the unmasked Faulted Logic Command bits are OR'ed with the corresponding
hardware inputs. The Enable bit may be configured to be OR'ed and AND’ed with the hardware Enable
input, refer to Parameter 11 - Enable Behavior.

Parameter Object,
16 Get DNet I/O Status DWORD 4 'DNet I/O Status' is the Logic Status field that can be
sent via Polled, Change-of-State, and Cyclic I/O
messages. The Logic Status is part of several
different input (response) assemblies. Refer to the
Assembly Object.
Bit 0 = At Home
Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 14 = Position Compare 1/Write Data Error
Bit 15 = Position Compare 2/Write Data Busy
Bit 18 = Zero Speed
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready

Parameter Object,
17 Get Logic Command DWORD 4 The logic command being used by the drive. Any bits
masked by the Logic Command Mask will be clear
(0). Refer to the Logic Command field in the output
(command) assemblies for the bit definition.
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 14 = Reserved
Bit 15 = Reserved
Bit 19 = Reserved
Bit 20 = Reserved
Bit 23 = Reserved
Bit 27 = Reserved
18 Set Serial Address USINT 1 The drive's serial communications port address. If
the Serial Address is modified, then the drive must
be reset for the drive to use the new address.
Range: 0 to 253
Default: 0

Parameter Object,
19 Set Broadcast USINT 1 The address used by a host PC to issue a single
Address broadcast command to all connected Ultra3000
drives. The drive does not send a response to
commands received with the broadcast address. If
the Broadcast Address is modified, then the drive
must be reset for the drive to use the new address.
Note: If a drive's Broadcast Address and Serial

Address are set to the same value, the drive will
treat all serial commands as normal, point-to-point
commands, and will send a response to all
commands it processes.
Range: 0 to 255
Default: 255
20 Set Serial Baud Rate USINT 1 The baud rate for the drive's serial communications
port. If the baud rate is modified, then the drive must
be reset for the drive to use the new baud rate.
0 - 1200
1 - 2400
2 - 4800
3 - 9600
4 - 19200
5 - 38400 (default)
21 Set Frame Format USINT 1 The packet frame format for the drive's serial
communications port. If the frame format is
modified, then the drive must be reset for the drive
to use the new frame format.
0 - 7 Data Bits, Even Parity, 1 Stop Bit
1 - 7 Data Bits, Odd Parity, 1 Stop Bit
2 - 8 Data Bits, No Parity, 1 Stop Bit (default)
3 - 8 Data Bits, Even Parity, 1 Stop Bit
4 - 8 Data Bits, Odd Parity, 1 Stop Bit
22 Set Reset Faults USINT 1 Resets any drive faults. Motion may occur after
clearing drive faults if the drive is enabled.
0 - No Action (default)
1 - Reset
23 Set Reset Drive USINT 1 Resets, or reboots, the hardware and firmware in the
drive.
1 - Reset
Note: Set is not allowed if the drive is enabled.

24 Set Reset Personality USINT 1 Resets the drive's parameters by reinitializing them
to factory default settings. Stored faults in the fault
history remain unchanged.
1 - Reset
Note: The drive is reset after the parameters are

reinitialized.

Parameter Object,
25 Set Reset I Peaks USINT 1 Resets the peak value parameters to zero: Peak
Positive Position Error (Peak +Posn Error), Peak
Negative Position Error (Peak -Posn Error), Positive
Peak Current, and Negative Peak current.
1 - Reset
26 Set Define Home USINT 1 Causes the present motor position to be selected as
Command Home position. The position command is set to the
Home Position value, and the position feedback is
simultaneously set to its appropriate value,
according to the position error.
1 - Execute Command
27 Set Host Enable USINT 1 Sets or returns the drive’s Host Enable flag. If set to
'Enable' and the ENABLE input is active, the drive is
enabled. If set to 'Disable' or the ENABLE input is not
active, the drive is disabled. By default, Host Enable
is enabled. If the drive is reset or power cycled, the
'Host Enable' is automatically set to 'ENABLE'. The
Host Enable setting is not saved in nonvolatile
memory.
0 - Disable
1 - Enable (default)
The Host Enable parameter allows you to temporarily disable the drive. Do not assume that the drive is
ATTENTION permanently disabled via the Host Enable parameter. Failure to comply may result in personal injury
and/or equipment damage.
!
28 Set Host Control USINT 1 Temporarily puts the drive into various tuning and
Mode special operating modes. The Host Control Mode
setting is not saved in nonvolatile memory.
0 - Normal Mode (default)
1 - Setpoint Velocity
2 - Setpoint Current
3 - Host Index Mode (Indexing Only)
4 - Autotuning
5 - Step Velocity
6 - Step Position
29 Set Velocity Setpoint DINT 4 Cnts / The velocity command value used when the Host
Sec Contrl Mode is 'Setpoint Velocity'. The drive will
ramp up, or ramp down, to the Velocity Setpoint at
the rate of acceleration set by Parameter 31 -
Setpoint Accel. The Velocity Setpoint is not saved in
nonvolatile memory.
Range: -0x7fffffff to 0x7fffffff
Default: 0

Parameter Object,
30 Set Current Setpoint INT 2 Amps / The current command value used when Parameter
128 28 - Host Control Mode is set to 2 - Setpoint Current.
The Current Setpoint setting is not saved in
nonvolatile memory.
Range: -32767 to 32767
Default: 0
31 Set Setpoint Accel UDINT 4 Cnts / The maximum rate of acceleration (or deceleration)
Sec2 the drive will use to ramp up (or down) when the
drive is in Setpoint Velocity mode and the Velocity
Setpoint is changed.
Range: 0 to 0x7fffffff
Default: 100000
32 Set Motor Forward USINT 1 Determines the positive motor direction.
Direction 0 - Normal (default) - A positive direction move
increases the encoder count.
1 - Reverse - A positive direction move decreases
the encoder count.

33 Set Operation Mode USINT 1 The drive's command source and operating mode.
0 - Analog Velocity Input (default)
1 - Analog Current Input
2 - Preset Velocity
3 - Preset Current
4 - Follower: Auxiliary Encoder
5 - Follower: Step / Direction
6 - Follower: Step Up / Step Down
7 - Indexing (Indexing Drive only)
8 - Analog Position (Indexing Drive only)
9 - Preset Position (Indexing Drive only)

34 Set Override Mode USINT 1 The drive's command source and operating mode
used when the Operation Mode Override input is
active.
0 - Analog Velocity Input (default)
1 - Analog Current Input
2 - Preset Velocity
3 - Preset Current
4 - Follower: Auxiliary Encoder
5 - Follower: Step / Direction
6 - Follower: Step Up / Step Down
7 - Indexing (Indexing Drive only)
8 - Analog Position (Indexing Drive only)
9 - Preset Position (Indexing Drive only)

Parameter Object,
35 Set (Machine Cycle) USINT 1 Enables or disables the machine cycle position
Position Rollover rollover function. If enabled the position feedback
will rollover when it’s value reaches the Machine
Cycle Size.
0 - Disable (default)
1 - Enable
Note: This parameter is automatically set to Enable

(1) and cannot be changed when Single-Turn
Absolute mode is active (refer to Parameter 231 -
Single-Turn Absolute).

36 Set Machine Cycle UDINT 4 Cnts The position feedback will rollover at the Machine
Size Cycle Size if Parameter 35, Position Rollover
parameter is set to 1 - Enable. For example, if
Machine Cycle Size is set to 1000, then the position
feedback will range between 0 to 999.
Default: 0x7fffffff
Note: This parameter is automatically set to One

Revolution (in counts) and cannot be changed when
Single-Turn Absolute mode is active (refer to
Parameter 231 - Single-Turn Absolute).

37 Set Positive I Limit USINT 1 % The positive current limit value. The value is a
percentage of the lesser of the intermittent (peak)
drive current rating and intermittent (peak) motor
current rating. During runtime, the drive limits
positive current to the lesser of the:
• Positive Current Limit,
• Analog Current Limit input,
• Intermittent Current rating of the drive, or
• Intermittent Current rating of the motor.
Range: 0 to 100
Default: 100

Parameter Object,
38 Set Negative I Limit USINT 1 % The negative current limit value. The value is a
percentage of the lesser of the intermittent (peak)
drive current rating and intermittent (peak) motor
current rating. During runtime, the drive limits
positive current to the lesser of the:
• Negative Current Limit,
• Analog Current Limit input,
• Intermittent Current rating of the drive, or
• Intermittent Current rating of the motor.
Range: 0 to 100
Default: 100
39 Set Soft Overtravel USINT 1 Enables or disables the software overtravel limit
checking.
1 - Enable
Note: This parameter instance is not available to

non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.
Note: The Soft Overtravel does not operate unless

the drive was previously homed.
40 Set Positive Soft DINT 4 Cnts The absolute position that will cause a deceleration
Position Limit to zero velocity when exceeded in the positive
direction.
Default: 0x7fffffff

Note: The Positive Soft Position Limit does not

operate unless the drive was previously homed.
41 Set Negative Soft DINT 4 Cnts The absolute positive that will cause a deceleration
Position Limit to zero velocity when exceeded in the negative
direction.
Default: -0x7fffffff (0x80000001)

Note: The Negative Soft Position Limit does not

operate unless the drive was previously homed.

Parameter Object,
42 Set Positive Decel DINT 4 Cnts The distance that an axis will travel when an
Distance overtravel limit has been reached in the positive
direction.
Default: 0

43 Set Negative Decel DINT 4 Cnts The distance that an axis will travel when an
Distance overtravel limit has been reached in the negative
direction.
Default: 0

44 Set Zero Speed Limit UDINT 4 Cnts / A +/- range, or window, around zero velocity. If the
Sec motor feedback velocity falls within this range, the
Zero Speed flag will be (or remain) set.
Default: 500
45 Set Speed Window UDINT 4 Cnts / A +/- range, or window, around the velocity
Secs command. If the motor feedback velocity falls within
this range, the Speed Window flag will be (or
remain) set.
Default: 1000
46 Set Up to Speed UDINT 4 Cnts / If the motor feedback velocity is greater than or
Secs equal to this value, the Up to Speed flag will be (or
remain) set.
Default: 100000
47 Set Position Window UDINT 4 Cnts The maximum amount of position error which will
Size permit the In Position and the In Position Window
flags to be (or remain) set.
Default: 20
48 Set Position Window USINT 1 mSec The minimum length of time the position error must
Time be less than the Position Window Size value, for the
In Position and the In Position Window flags to be (or
remain) set.
Range: 1 to 255
Default: 20

Parameter Object,
49 Set Position Compare USINT 1 Selects the type of comparison that will determine if
1 Type the Position Compare 1 flag should be set.
0 - Greater Than (default) - The flag will be set if the
motor feedback position is greater than the
Position Compare 1 Min value.
1 - Less Than - The flag will be set if the motor
feedback position is less than the
2 - Within Window - The flag will be set if the motor
feedback position is greater than
Position Compare 1 Min and less than Parameter
112 - Position Compare 1 Max.
3 - Outside Window - The flag will be set if the
motor feedback position is less than
Position Compare 1 Min or more than Position
Compare 1 Max.
Note: The Position Compare 1 Type does not operate

unless the drive was previously homed.
50 Set Position Compare DINT 4 Cnts The position that will be compared to the motor
1 Min (auxiliary) feedback position to determine if the
Position Compare 1 flag should be set.
Default: 0
51 Set Position Compare USINT 1 Selects the type of comparison that will determine if
2 Type the Position Compare 2 flag should be set.
0 - Greater Than (default) - The flag will be set if the
motor feedback position is greater than the
1 - Less Than - The flag will be set if the motor
feedback position is less than the
2 - Within Window - The flag will be set if the motor
feedback position is greater than
Position Compare 2 Min and Less than Parameter
113 - Position Compare 2 Max.
3 - Outside Window - The flag will be set if the
motor feedback position is less than
Position Compare 2 Min or more than Position
Compare 2 Max.
Note: The Position Compare 2 Type does not operate

unless the drive was previously homed.
2 Min (auxiliary) feedback position to determine if the
Default: 0

Parameter Object,
53 Set Velocity Loop UINT 2 The proportional gain for the velocity loop. The P
P_Gain gain generates a control signal proportional to the
velocity error. Increasing the P gain improves
response time and increases the stiffness of the
system. Too high a P gain value causes instability;
too low a P gain value results in loose or sloppy
system dynamics.
Range: 0 to 4000
Default: 200
54 Set Velocity Loop UINT 2 Integral gain for the velocity loop. The I gain
I_Gain generates a control signal proportional to the
integral of the velocity error. I gain improves the
steady-state velocity performance of the system.
Increasing the integral gain generally increases the
ultimate positioning accuracy of the system.
However excessive integral gain results in system
instability.
Range: 0 to 4000
Default: 66
55 Set Velocity Loop INT 2 Derivative gain value for the velocity loop. The D
D_Gain gain generates a control signal proportional to
measured acceleration. Positive D gain reduces
velocity overshoot, and negative D gain should be
used only in systems that exhibit mechanical
resonance.
Range: -1000 to 1000
Default: 0
56 Set Position Loop Kp UINT 2 1/128 Proportional gain for the position loop. The Kp gain
Gain generates a control signal proportional to the
position error. Kp gain changes the position loop
bandwidth and the settling time of the position loop.
Range: 0 to 4095
Default: 512
57 Set Position Loop Ki UINT 2 1/128 Integral gain for the position loop. Ki gain generates
Gain a control signal proportional to the integral of the
velocity error.
Range: 0 to 4095
Default: 0
58 Set Position Loop Kd UINT 2 1/128 Derivative gain for the position loop. The Kd gain
Gain generates a control signal proportional to measured
velocity. Kd provides damping to the position loop,
which can reduce overshoot.
Range: 0 to 4095
Default: 0
59 Set Position Loop Kff UINT 2 Feedforward gain for the position loop. The Kff gain
Gain generates a feed forward signal proportional to the
commanded speed. Kff gain reduces position
following error. However high values can cause
position overshoot.
Range: 0 to 200
Default: 100

Parameter Object,
60 Set Position Loop Ki UDINT 4 Cnts The region around the commanded position where
Zone integral gain is active. If the position error is greater
than Ki Zone, the integrator is not active.
Default: 1000
61 Set Low Pass Filter USINT 1 Selects whether to enable or disable the drive's low
pass filter.
0 - Disable
62 Set Low Pass UINT 2 Hz The bandwidth of the low pass filter. This value
Bandwidth indicates the cutoff frequency of the low pass filter.
The filter reduces noise generated by encoder
resolution or mechanical resonance in the system.
Range: 1 to 992
Default: 150
63 Set Start Autotune USINT 1 Starts autotuning if the drive is enabled and
Command Parameter 28, Host Control Mode is set to 4 -
Autotuning.
1 - Execute Command
64 Set Tuning Direction USINT 1 Select the direction in which the motor rotates
during autotuning.
0 - Bi-Directional (default)
1 - Forward Only
2 - Reverse Only
65 Set Autotune UDINT 4 Cnts The maximum distance the motor will turn when
Maximum performing autotuning. The autotune distance
Distance should be set as large as the application permits, so
that the autotune algorithm is able to collect
sufficient data to compute new tuning gains.
Default: 1000000
66 Set Autotune Step USINT 1 % The current the drive will command when performing
Current autotuning. The value is a percentage of the lesser
of the intermittent (peak) drive current rating and
intermittent (peak) motor current rating. The
autotune current is normally set to 10%, but may
need to be increased in the presence of large
inertias or high friction. In these systems, higher
settings ensure that the autotune algorithm is able
to collect sufficient data to compute new tuning
gains.
Range: 1 to 100
Default: 10
67 Set Tune Position UINT 2 Cnts The amplitude of the drive's commanded position
Step step (square wave) during manual position tuning.
Range: 1 to 32767
Default: 500

Parameter Object,
68 Set Tune Position UINT 2 mSec The period of the drive's commanded position step
Period (square wave) during manual position tuning.
Range: 1 to 32767
Default: 500
69 Set Tune Velocity UDINT 4 Cnts / The amplitude of the drive's commanded velocity
Step Sec step (square wave) during manual velocity tuning.
Default: 10000
70 Set Tune Velocity UINT 2 mSec The period of the drive's command velocity step
Period (square wave) during manual velocity tuning.
Range: 1 to 32767
Default: 500
71 Set Motor Encoder USINT 1 The amount of interpolation to be used with
Interpolation sine/cosine encoders. For example, if the
interpolation is set to x256, the drive interpolates
256 counts for every 1/4 line of the input sinusoid.
0 - x4
1 - x8
2 - x16
3 - x32
4 - x64
5 - x128
6 - x256 (default)
7 - x512
8 - x1024

72 Set Position USINT 1 The source for position loop feedback.
Feedback Source 0 - Motor Encoder (default)
1 - Auxiliary Encoder

73 Set Encoder Output USINT 1 Specifies the type of encoder output from the drive.
Signal 0 - Buffered (default) - The encoder input is passed
through the drive directly, without interpolation or
division.
1 - Divided - The encoder input is divided and then
output.
2 - Interpolated - The interpolated encoder counts
are output.
74 Set Motor Encoder UINT 2 The amount of division used for generating the
Divider encoder output signal. For example, if the Divider is
set to 4, the encoder output frequency will be 1/4th
the encoder input frequency. This parameter is only
active if Divided is selected as the Encoder Output
Signal.
Range: 1 to 1000
Default: 4

Parameter Object,
75 Set Maximum USINT 1 The encoder output frequency limit. This parameter
Encoder Output is active only if Divided or Interpolated is selected as
Frequency the Encoder Output Signal.
0 - 500 kHz (default)
1 - 1 MHz
2 - 4 MHz
3 - 8 MHz
76 Set Marker Output USINT 1 Allows the drive to produce and use a more precise
Gating marker signal.
0 - Not Gated - The drives uses and outputs the
normal marker input as received from the encoder.
(default)
1 - Gated with A and B - The marker output of the
drive is the logical AND of the marker input from the
encoder and the A and B inputs. This produces a
more precise marker signal for homing.
77 Set Auxiliary Encoder UINT 2 Cnts The Auxiliary Encoder Motor Count and Auxiliary
Load Count Encoder Load Count parameters specify the ratio of
encoder counts between the motor encoder and the
load encoder. The parameters are active only if the
The Position Feedback Source is selected to be
Auxiliary Encoder.
Range: 1 to 32767
Default: 1
78 Set Auxiliary Encoder INT 2 Cnts The Auxiliary Encoder Motor Count and Auxiliary
Motor Count Encoder Load Count parameters specify the ratio of
encoder counts between the motor encoder and the
load encoder. The parameters are active only if the
Position Feedback Source is selected to be Auxiliary
Encoder.
Range: -32767 to 32767
Default: 1
79 Set Auxiliary Encoder USINT 1 The type of auxiliary encoder.
Type 0 - Rotary Encoder (default)
1 - Linear Encoder
80 Set Auxiliary Encoder UINT 2 Auxiliary encoder lines per revolution. This
Lines/Rev parameter is used only if the auxiliary encoder is a
rotary encoder.
Range: 100 to 64000
Default: 2000
81 Set Auxiliary Encoder UDINT 4 Auxiliary encoder lines per meter of travel. This
Lines/ Meter parameter is used only if the auxiliary encoder is a
linear encoder.
Range: 4000 to 10000000
Default: 10000

Parameter Object,
82 Set Digital Input 1 DWORD 4 Each digital input configuration parameter assigns
Configuration one or more functions to the corresponding Digital
Input. Selecting a function will cause that function to
83 Set Digital Input 2 DWORD 4 become active when the associated Digital Input
Configuration
becomes active. If no functions are selected by a
84 Set Digital Input 3 DWORD 4 digital input configuration parameter, then the
Configuration corresponding Digital Input is unassigned.
85 Set Digital Input 4 DWORD 4 Bit 0 = Disable Serial Input
Configuration Bit 1 = Pause Index
86 Set Digital Input 5 DWORD 4 Bit 2 = Abort Index
Configuration Bit 3 = Pause Homing
87 Set Digital Input 6 DWORD 4 Bit 6 = Positive Hardware Overtravel
Configuration Bit 7 = Negative Hardware Overtravel
88 Set Digital Input 7 DWORD 4 Bit 8 = Preset Select 0
Configuration Bit 9 = Preset Select 1
89 Set Digital Input 8 DWORD 4 Bit 11 = Preset Select 3
Configuration Bit 12 = Preset Select 4
Bit 19 = Forward Enable
Bit 20 = Reverse Enable
Bit 23 = Home Sensor
Bit 26 = Define Home Position
Bit 27 = Registration
Bit 28 = Remove Command Offset
Defaults:
Parameter 82 = 0x80000000
Parameters 83-89 = 0x00000000

Parameter Object,
90 Set Digital Output 1 DWORD 4 Each digital output configuration parameter assigns
Configuration one or more functions to the corresponding Digital
Output (or Relay Output). Selecting a function will
91 Set Digital Output 2 DWORD 4 cause the Digital Output to become active when the
Configuration
associated function becomes active. If no functions
92 Set Digital Output 3 DWORD 4 are selected by a digital output configuration
Configuration parameter, then the corresponding Digital Output (or
Relay Output) is unassigned.
93 Set Digital Output 4 DWORD 4
Configuration Bit 0 = At Home
94 Set Relay Output DWORD 4 Bit 1 = End of Sequence
Configuration Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 14 = Position Compare 1
Bit 18 = Zero Speed
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready
Default = 0x00000000

Parameter Object,
95 Set Digital Output WORD 2 Allows you to write (override) selected digital
Override output(s). If one or more of the Override bits are set
to a one, then the Output and Relay State bits will
determine whether the overridden digital outputs
are active or inactive. For example, if the Digital
Output Override parameter is set to 0x0044, then
Digital Output 3 will be active. The Digital Output
Override setting is not saved in nonvolatile memory.
Bit 0 = Output 1 Override

Bit 4 = Relay Override
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 8 = Output 1 State
Bit 12 = Relay State
Range: 0 to 0x1fff
Default: 0
96 Set Brake On Delay INT 2 mSec The time delay between enabling the drive and
activating a Brake output which releases the motor
brake. Negative values indicate the time that the
function is activated before enabling the drive.
Range: -32767 to 32767
Default: 0
97 Set Brake Off Delay INT 2 mSec The time delay between disabling the drive and
deactivating a Brake output to apply the motor
brake. If a drive fault occurs when a negative is
assigned to the Brake Off Delay, the drive is disabled
and the Brake is deactivated simultaneously.
Range: -32767 to 32767
Default: 0
98 Set Analog Output USINT 1 Selects a drive signal to be assigned to the analog
Configuration output.
0 - Unassigned (default)
1 - Position Command
2 - Position Error
7 - Position Feedback
16 - Current Command
17 - Average Current
22 - Velocity Feedback
23 - Velocity Command
24 - Velocity Error
36 - Current Feedback

Parameter Object,
99 Set Analog Output INT 2 The analog output scale in units per volt. The units is
Scale dependent on the signal selected by the Parameter
98 - Analog Output Configuration. Parameter 110 -
Analog Output Position Scale is used to scale the
analog output if a position signal is selected and the
Analog Output Scale is zero.
Range: -32767 to 32767
Default: 0
100 Set Analog Output INT 2 mV The offset applied to the analog output.
Offset Range: -10000 to 10000
Default: 0
101 Set Override Analog USINT 1 The analog output override control flag determines if
Output you can write to the analog output directly. The
Override Analog Output setting is not saved in
nonvolatile memory.
0 - Normal (default)
1 - Override
102 Set Analog Output INT 2 mV Sets the analog output value when Parameter 101,
Override Override Analog Output is set to 1 - Override. The
Analog Output Override setting is not saved in
nonvolatile memory.
Range: -10000 to 10000
Default: 0
103 Set User Current UINT 2 Amps / The current level that will generate a fault when
Fault 128 exceeded by the average current. The drive
automatically protects itself and the motor when the
average current exceeds the drive or motor current
ratings, and this protection cannot be disabled.
However, you can specify a lower current fault level
with this parameter.
Range: 0 to 32767
Default: 32640
104 Set User Velocity UDINT 4 Cnts / The minimum velocity that will generate a User
Limit Sec Velocity fault. The drive automatically protects the
motor from exceeding its ratings, and this protection
cannot be disabled. However, you can specify a
lower velocity fault level with this parameter.
Default: 100000
105 Set User Velocity USINT 1 Determines if the User Velocity fault detection is
Fault enabled (turned on) or disabled.
1 - Enable
106 Set Velocity Error USINT 1 % of The minimum velocity error which triggers the
Limit max Velocity Error fault.
motor Range: 1 to 100
speed Default: 25

Parameter Object,
107 Set Velocity Error UINT 2 mSec The minimum time which the velocity error must be
Time greater than the Velocity Error Limit to cause a
Velocity Error Fault.
Range: 0 to 65535
Default: 1000
108 Set Position Error UDINT 4 Cnts The minimum position error which triggers the
Limit Following Error fault.
Default: 8000
109 Set Position Error UINT 2 mSec The minimum time during which the position error
Time must be greater than the Position Error Limit to
cause a Following Error fault.
Range: 0 to 65535
Default: 100
110 Set Analog Output DINT 4 Cnts/V This parameter is used to scale the analog output
Position Scale when Parameter 98 - Analog Output Configuration
selects a position signal and Parameter 99 - Analog
Output Scale is equal to zero.
Default: 0
111 Set Acceleration UINT 2 % Acceleration feedforward gain for the position loop.
Feedforward The Kaff gain generates a feed forward signal
Gain - Kaff proportional to the commanded acceleration.
Kaff gain reduces position following error. However,
high values can cause position overshoot.
Range: 0 to 200
Default: 0
1 Max (auxiliary) feedback position to determine if the
Default: 0
2 Max (auxiliary) feedback position to determine if the
Default: 0

Parameter Object,
114 Set Parameter Object USINT 1 Determines whether the Set_Attribute_Single
Write Behavior (write) service to a parameter object will cause the
parameter value to be saved to both nonvolatile
(NVMEM) and volatile (RAM) memory or just to
volatile memory. By default, most parameter values
are written to both volatile and nonvolatile memory.
However, if the Parameter Object Write Behavior is
set to 1 - No NVMEM Writes, then parameter values
are only written to volatile memory.
0 - Writes to NVMEM (default)
1 - No NVMEM Writes
Note: This parameter (114) does not affect how

parameter values are saved when an I/O or explicit
message writes a parameter value via an Assembly
Object.
Note: This parameter (114) is always written to both

volatile and nonvolatile memory. Setting this
parameter to 1 - No NVMEM Writes allows a user to
frequently change parameter values without
exceeding the nonvolatile memory's limited number
of write cycles. Typically, a user will not modify this
parameter.
Note: Some parameter values are not saved to

nonvolatile memory. Example: Parameter 22 - Reset
Faults, Parameter 27 - Host Enable, Parameter 29 -
Velocity Setpoint.
115-119 Get Reserved USINT 1 Default: 0

Parameter Object,
120 Get Operating Mode USINT 1 The operating mode that the drive is currently in.
0 = Analog Velocity Input
1 = Analog Current Input
2 = Preset Velocity
3 = Preset Current
4 = Follower - Auxiliary Encoder
5 = Follower - Step / Direction
6 = Follower - Step Up / Step Down
7 = Indexing
8 = Analog Position
9 = Preset Position
10 - 15 = Reserved
16 = Setpoint Velocity
17 = Setpoint Current
18 = Host Index Mode
19 = Autotuning
20 = Step Velocity
21 = Step Position
22 = Encoder Index Alignment
23 = Commutation Diagnostics
24 = Motor Feedback Diagnostics
25 = Motor Marker Diagnostics
26 = Auxiliary Feedback Diagnostics
27 = Auxiliary Marker Diagnostics
28 - 31 = Reserved
32 = Disabled
33 = Fault Decel
34 = Homing
35 = Reserved
36 = Commutation Startup
37 = Start/Stop

Parameter Object,
121 Get Output Status DWORD 4 Various output status flags in the drive.
Bit 0 = At Home
Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 18 = Zero Speed
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready

Parameter Object,
122 Get Input Status DWORD 4 The present state of the digital inputs.
Bit 0 = Disable Serial Input
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 19 = Forward Enable
Bit 20 = Reverse Enable
Bit 23 = Home Sensor
Bit 26 = Define Home Position
Bit 27 = Registration
Bit 28 = Remove Command Offset

Parameter Object,
123 Get Fault Status DWORD 4 The Fault Status and Extended Fault Status
parameters provide the present state of the possible
fault conditions.
Bit 0 = Absolute Feedback Memory
(Nonvolatile Memory Endurance Exceeded)
Bit 1 = Absolute Feedback Overspeed
(Position Change Exceeds Position Rollover / 2)
Bit 2 = Absolute Feedback Range Exceeded
Bit 3 = Motor Overtemp
Bit 4 = IPM Fault
Bit 6 = Encoder Channel B Line Break
Bit 7 = Encoder Channel A Line Break
Bit 8 = Bus Undervoltage
Bit 9 = Bus Overvoltage
Bit 10 = Bad Hall State
Bit 11 = Home Search Failed
Bit 12 = Home Position Outside Limits
Bit 13 = Network Communication
Bit 14 = Electrical Cycle
Bit 16 = User Current Fault
Bit 17 = Motor Overspeed
Bit 18 = Following Error
Bit 19 = Motor Encoder
Bit 20 = Auxiliary Encoder
Bit 21 = Motor Thermal Protection
Bit 22 = IPM Thermal Protection
Bit 23 = Excessive Velocity Error
Bit 24 = Sensor Unassigned
Bit 25 = Motor Speed Limit
Bit 26 = Axis Not Homed
Bit 27 = Motor Parameter Error
Bit 28 = Excessive Encoder Output Frequency
Bit 29 = Encoder Communication
Bit 30 = Encoder Data Error
Bit 31 = Sincos Encoder Frequency Too High
124 Get Extended Fault WORD 2 The Fault Status and Extended Fault Status
Status parameters provide the present state of the possible
fault conditions.
Bit 0 = Position Outside Modulus
(Absolute Position Exceeds Position Rollover
Bit 1 = Ground Short Circuit
Bit 2 = Soft-Starting Fault
Bit 3 = Internal Overtemperature
Bit 4 = AC Input Phase Loss
Bit 5 = Reserved
Bit 6 = Self-sensing Error

Parameter Object,
125 Get Tuning Status BYTE 1 Status bits for the autotune procedure.
Bit 0 = Autotune Done
Bit 1 = Reserved
Bit 2 = Reserved
Bit 3 = Autotune Speed Too Low
Bit 4 = Autotune Timeout
Bit 5 = Distance Limit Reached
Bit 6 = Autotune Failed
126 Get Digital Input WORD 2 The present state of the digital hardware inputs.
States Bit 0 = Input 1 State
Bit 1 = Input 2 State
127 Get Digital Output WORD 2 The present state of the digital hardware outputs.
States Bit 0 = Output 1 State
Bit 4 = Relay State
128 Get Encoder Signals WORD 2 The preset state of the encoder signals.
Bit 0 = Auxiliary Encoder Z
Bit 1 = Auxiliary Encoder B
Bit 2 = Auxiliary Encoder A
Bit 3 = Motor Encoder S3
Bit 6 = Motor Encoder Z
Bit 7 = Motor Encoder B
Bit 8 = Motor Encoder A
Bit 9 = Motor Thermostat
129 Get Analog Command INT 2 mV The Analog Command Input value before any the
Input Value scale and offset are applied.
130 Get Analog Output INT 2 mV The Analog Output value.
Value
131 Get DC Bus Voltage UINT 2 Volts The measured voltage of the DC bus.
132 Get Position DINT 4 Cnts The commanded motor position which is input to the
Command position loop.
133 Get Position Error DINT 4 Cnts The difference between commanded motor position
(Position Command) and actual motor position
(Motor Position).
134 Get Motor Position DINT 4 Cnts Actual motor position.
135 Get Auxiliary Encoder DINT 4 Cnts Auxiliary encoder position.
Position

Parameter Object,
136 Get Peak -Position DINT 4 Cnts The negative peak Position Error.
Error
137 Get Peak +Position DINT 4 Cnts The positive peak Position Error.
Error
138 Get Velocity DINT 4 Cnts / The commanded motor velocity which is input to the
Command Sec velocity loop.
139 Get Velocity Error DINT 4 Cnts / The difference between command motor velocity
Sec (Motor Velocity) and actual velocity (Motor Velocity).
140 Get Motor Velocity DINT 4 Cnts / Actual motor velocity (filtered value).
Sec
141 Get Analog Current INT 2 Amps / The current limit specified by the analog current limit
Limit 128 input.
142 Get Average Current INT 2 Amps / The average value of the Current Command.
128
143 Get Current INT 2 Amps / The commanded current.
Command 128
144 Get Current Feedback INT 2 Amps / The actual current in the motor producing torque in a
128 rotary motor or force in a linear motor.
145 Get Negative Peak INT 2 Amps / The negative peak, as recorded by the peak
Current 128 detection algorithm.
146 Get Positive Peak INT 2 Amps / The positive peak, as recorded by the peak detection
Current 128 algorithm.
147 Get Drive Temp UINT 2 % The drive temperature as a percentage of the trip
point.
148 Get Motor Temp UINT 2 %/ The motor temperature as a percentage of the trip
128 point.
149 Get Encoder Temp USINT 1 Deg C The encoder temperature if Parameter 191, Auto
Motor Identification is set to Enable and a smart
encoder is detected.

Parameter Object,
150 Get Fault History 1 USINT 1 Returns the most recent faults detected in the drive.
152 Fault History 0 is the most recent, 19 is the oldest.
154 through 0 - No Fault
156 1 - Absolute Feedback Memory
158 Fault History 20 2 - Absolute Feedback Overspeed
160 3 - Absolute Feedback Range Exceeded
162 4 - Motor Overtemp
164 5 - IPM Fault
166 7 - Channel B Line Break
8 - Channel A Line Break
168
9 - Bus Undervoltage
170 10 - Bus Overvoltage
172 11 - Bad Hall State
174 12 - Home Search Failed
176 13 - Home Position Outside Limits
178 14 - Network communication
180 15 - Electrical Cycle
182 17 - User Current Fault
184 18 - Motor Overspeed
186 19 - Following Error
188 20 - Motor Encoder
21 - Auxiliary Encoder
22 - Motor Thermal Protection
23 - IPM Thermal Protection
24 - Excessive Velocity Error
25 - Sensor Unassigned
26 - Motor Speed Limit
27 - Axis Not Homed
28 - Motor Parameter Error
29 - Excessive Encoder Output Frequency
30 - Encoder Communication
31 - Encoder Data Error
32 - Sincos Encoder Frequency Too High
33 - Position Outside Modulus
34 - Ground Short Circuit
35 - Soft-Starting Fault
36 - Internal Overtemperature
37 - AC Input Phase Loss
39 - Self-sensing Error
51 - Boot FW Checksum
52 - Main FW Checksum
53 - User NV Uninitialized
54 - NVMEM Read Error
55 - User NV Checksum
56 - Watchdog Timeout
57 - Gate Array Watchdog
60 - Manufacture NV Uninitialized
62 - Manufacture NV Checksum
74 - NVMEM Write Error
82 - Bus Error
87 - Illegal Event
88 - Breakpoint Interrupt
89 - DeviceNet Board Checksum
93 - Serial Number
95 - Dual Port Error
96 - Unused Interrupt
97 - Spurious Interrupt
98 - Divide by Zero
99 - Illegal Instruction

Parameter Object,
151 Get Fault Time 1 UDINT 4 10 * The time when the corresponding Fault History value
153 Min occurred. The time is based on an internal service
155 through clock that runs only when the drive is powered.
157
159 Fault Time 20
161
163
165
167
169
171
173
175
177
179
181
183
185
187
189
190 Get Motor Parameter BYTE 1 Indicates where the drive retrieves the motor
Source parameter values.
Bit 0 = Nonvolatile Memory
Bit 1 = Smart Encoder
Bit 2 = Motor File
191 Set Auto Motor USINT 1 Specifies if the drive should read the motor
Identification parameters from an intelligent motor encoder or
from NVRAM.
0 - Enable - read parameters from encoder (default)
1 - Disable - read parameters from NVRAM

192 Set Motor Model SHORT_ 1 byte The model name of the motor, up to 32 characters
STRING length long. The drive does not use the name Motor Model,
indicator, 1 other than as a user interface display.
byte per
character Note: Set is not allowed if the drive is enabled.
193 Set Self-Sensing USINT 1 % The current the drive will command when performing
Current self-sensing startup. The value is a percentage of
the lesser of the intermittent (peak) drive current
rating and the intermittent (peak) motor current
rating. The self-sensing current is normally set to 16,
but may need to be increased in the presence of
large inertias or high friction. In these systems,
higher settings will ensure that the self-sensing
startup algorithm will be able to complete.
Range: 1 to 100
Default: 16

Parameter Object,
194 Set Motor Flag USINT 1 Indicates if the drive is configured for a standard or
custom motor. The pre-configured motor database in
Ultraware supplies parameters for standard motors.
The drive does not use this parameter for
configuration via Parameter Object Set.
0 - Custom Motor (default)
1 - Standard Motor

195 Set Motor Type USINT 1 The type of motor connected to the drive.
0 - Rotary Motor (default)
1 - Linear Motor

196 Set Torque Constant UINT 2 N-m/A The torque constant for a rotary motor
Kt / 4096 (Active if Parameter Instance 195 = 0).
Range: 1 to 65535
Default: 2458

197 Set Force Constant Kf UINT 2 N/A / The force constant for a linear motor
16 (Active if Parameter Instance 195 = 1).
Range: 1 to 65535
Default: 16

2
198 Set Rotary Inertia UDINT 4 kg-cm The rotor inertia for a rotary motor
Jm / 65536 (Active if Parameter Instance 195 = 0).
Range: 1 to 0x0ffffffff
Default: 49807

199 Set Linear Motor UDINT 4 kg / Mass of the moving part (rotor) of a linear motor
Mass 65536 (Active if Parameter Instance 195 = 1).
Default: 65536

200 Set Total Mass UDINT 4 kg / The mass of the load and moving part of a linear
65536 motor
(Active if Parameter Instance 195 = 1).
Default: 0

201 Set Poles/ Revolution USINT 1 The number of motor poles per revolution
Range: 2 to 100 (even numbers only)
Default: 8

Parameter Object,
202 Set Electrical Cycle UINT 2 meter / Length of an electrical cycle for a linear motor
Length 10000 (Active if Parameter Instance 195 = 1).
Range: 100 to 10000
Default: 300

203 Set Integral Limits USINT 1 Indicates whether the motor provides built in
feedback for travel limits.
0 - No (default)
1 - Yes

204 Set Rated Motor UINT 2 Volts The rated voltage of the motor, in units of AC RMS
Voltage Volts.
Range: 100 to 1000
Default: 230

205 Set Motor Resistance UINT 2 Ohms / The phase to phase resistance of the motor stator.
256 Range: 1 to 65535
Default: 998

206 Set Motor Inductance UINT 2 mH / The phase-phase inductance of the motor stator.
256 Range: 1 to 65535
Default: 6144

207 Set Flux Saturation 0 USINT 1 The motor flux saturation value at 12.5% of motor
peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

208 Set Flux Saturation 1 USINT 1 The motor flux saturation value at 25% of motor
saturation.
Range: 1 to 255
Default: 255

Parameter Object,
saturation.
Range: 1 to 255
Default: 255

saturation.
Range: 1 to 255
Default: 255

saturation.
Range: 1 to 255
Default: 255

saturation.
Range: 1 to 255
Default: 255

saturation.
Range: 1 to 255
Default: 255

saturation.
Range: 1 to 255
Default: 255

Parameter Object,
215 Set Maximum Rotary UINT 2 RPM The maximum speed of a rotary motor
Speed (Active if Parameter Instance 195 = 0).
Range: 300 to 32767
Default: 3500

216 Set Maximum Linear UINT 2 m/s / The maximum speed of a linear motor
Speed 256 (Active if Parameter Instance 195 = 1).
Range: 32 to 32767
Default: 256

217 Set Motor Peak UINT 2 Amps / The peak (intermittent) current rating of the motor.
Current 128 Range: 1 to 32767
Default: 2560

218 Set Motor UINT 2 Amps / The continuous current rating of the motor.
Continuous 128 Range: 1 to 32767
Current Default: 640

219 Set Motor Encoder USINT 1 Type of motor encoder.
Type 0 - None (not supported)
1 - Incremental (default)
2 - Sine/Cosine
3 - SRS/SRM

220 Set Commutation USINT 1 The type of motor commutation. The drive only
Type supports sinusoidal commutation.
0 - Brush
1 - Trapezoidal
2 - Sinusoidal (default)

221 Set Motor Startup USINT 1 Type of motor startup for sinusoidal commutation.
Type 0 - Self-Sensing
1 - Hall Inputs (default)
2 - Serial

222 Set Hall Offset UINT 2 Degs Hall offset, in units of electrical degrees.
Range: 0 to 359
Default: 0

Parameter Object,
223 Set Encoder Lines Per UINT 2 The number of encoder lines per revolution on a
Rev rotary motor encoder
Range: 100 to 64000
Default: 2000

224 Set Encoder Lines Per UDINT 4 The number of encoder lines per meter of travel on a
Meter linear motor encoder
Range: 4000 to 10000000
Default: 100000

225 Set Thermostat USINT 1 Indicates whether the motor has a built-in
thermostat.
0 - Not Present (default)
1 - Present

226 Set Thermal USINT 1 Determines if the motor thermal protection
Protection algorithm is enabled or disabled.
0 - Disable

227 Set Motor Rth(w-e) UDINT 4 C/W/ Thermal resistance of the motor from winding to
65536 encoder.
Default: 0x7fffffff

228 Set Motor Cth(w-e) UDINT 4 W-s/C Thermal capacitance of the motor from winding to
/ 256 encoder.
Default: 1

229 Set Motor Rth(w-a) UDINT 4 C/W / Thermal resistance of the motor from winding to
65536 ambient.
Default: 57672

230 Set Motor Cth(w-a) UDINT 4 W-s/C Thermal capacitance of the motor from winding to
/ 256 ambient.
Default: 0x4cb00

Parameter Object,
231 Set Single-Turn USINT 1 Enables absolute position functionality when a
Absolute single-turn absolute (SRS) encoder is used as a
feedback device.
1 - Enable
Note: Enabling this parameter automatically

overrides the following when the motor has a
single-turn absolute feedback device:
• Parameter 35 - Position Rollover
• Parameter 36 - Machine Cycle Size

253 Set Analog Velocity INT 2 % Analog velocity scale applied to the analog input
Scale when used for the velocity command. The scale is in
units of percentage of maximum motor speed per 10
Volts.
Range: -200 to 200
Default: 100
254 Set Analog Velocity INT 2 mV Analog velocity offset applied to the analog input
Offset when used for the velocity command.
Range: -10000 to 10000
Default: 0
255 Set Analog Current INT 2 % Analog current scale applied to the analog input
Scale when used for the current command. The scale is in
units of percentage of the minimum of the motor
intermittent current rating and drive intermittent
current rating, per 10 Volts.
Range: -400 to 400
Default: 100
256 Set Analog Current INT 2 mV Analog current offset applied to the analog input
Offset when used for the current command.
Range: -10000 to 10000
Default: 0
257 Set Analog Position INT 2 Cnts / Analog position scale applied to the analog input
Scale V when used for the position command. The scale is in
units of counts/Volt.
Range: -32767 to 32767
Default: 1000
258 Set Analog Position INT 2 mV Analog position offset applied to the analog input
Offset when used for the position command.
Range: -10000 to 10000
Default: 0
259 Set Limit Analog USINT 1 Indicates if the analog acceleration limits are
Accel enabled or disabled when the drive is in Analog
Velocity Input mode
1 - Enable

Parameter Object,
260 Set Analog Accel UDINT 4 Cnts / The acceleration limit used when the drive is in
Limit Sec2 Analog Velocity Input mode and Parameter 259,
Limit Analog Accel is set to 1 - Enable.
Default: 100000
261 Set Analog Decel UDINT 4 Cnts / The deceleration limit used when the drive is in
Limit Sec2 Analog Velocity Input mode and Parameter 259,
Limit Analog Accel is set to 1 - Enable.
Default: 100000
262 Set Slew Enable USINT 1 Used to enable or disable the Gear Slew Rate.
1 - Enable
263 Set Slew Limit UDINT 4 Cnts / Slew rate (acceleration/deceleration limit) used for
Sec2 gearing.
Default: 100000
264 Set Master Gear UINT 2 Cnts Master encoder counts for preset gear ratio 0. The
Count 0 preset gear ratio is defined by the ratio of the
Master Gear Count and the Motor Gear Count.
Range: 1 to 32767
Default: 1
265 Set Motor Gear INT 2 Cnts Motor encoder counts for preset gear ratio 0. The
Master Gear Count and the Motor Gear Count. This
value should be nonzero.
Range: -32767 to 32767
Default: 1
Range: 1 to 32767
Default: 1
Range: -32767 to 32767
Default: 1
Range: 1 to 32767
Default: 1
Range: -32767 to 32767
Default: 1

Parameter Object,
Range: 1 to 32767
Default: 1
Range: -32767 to 32767
Default: 1
Range: 1 to 32767
Default: 1
Range: -32767 to 32767
Default: 1
Range: 1 to 32767
Default: 1
Range: -32767 to 32767
Default: 1
Range: 1 to 32767
Default: 1
Range: -32767 to 32767
Default: 1
Range: 1 to 32767
Default: 1

Parameter Object,
Range: -32767 to 32767
Default: 1
280 Set Velocity Preset 0 DINT 4 Cnts / If the drive is in Velocity Preset mode, then Preset
Sec Select Lines 0, 1, and 2 will select the Preset
281 Velocity Preset 1 Velocity parameter used for the velocity command.
282 Velocity Preset 2 Default: 0
283 Velocity Preset 3

288 Set Limit Preset USINT 1 Indicates if the analog acceleration limits are
Accel enabled or disabled when the drive is in Preset
Velocity Input mode
0 - Disable
289 Set Preset Accel UDINT 4 Cnts / The acceleration limit used when the drive is in
Limit Sec2 Preset Velocity Input mode and Parameter 288, Limit
Preset Accel is set to 1 - Enable (default).
Default: 100000
290 Set Preset Decel UDINT 4 Cnts / The deceleration limit used when the drive is in
Limit Sec2 Preset Velocity Input mode and Parameter 288, Limit
Preset Accel is set to 1 - Enable (default).
Default: 100000

Parameter Object,
291 Set Current Preset 0 INT 2 Amps / If the drive is in Current Preset mode, then Preset
128 Select Lines 0, 1, and 2 will select the Preset Current
parameter used for the current command.
292 Current Preset 1 Range: -32767 to 32767
Default: 0
293 Current Preset 2

304 Set Preset Position 0 DINT 4 Cnts If the drive is in Position Preset mode, then Preset
Select Lines 0, 1, and 2 select the Preset Position,
Preset Position Velocity, Preset Position Accel, and
Preset Position Decel parameters used during the
position move.
Default: 0
305 Set Preset Position 0 UDINT 4 Cnts / The velocity used during a Preset Position 0 move.
Velocity Sec Range: 0 to 0x7fffffff
Default: 100000
306 Set Preset Position 0 UDINT 4 Cnts / The acceleration rate used to change to a higher
Accel Sec2 velocity during a Preset Position 0 move.
Default: 100000
307 Set Preset Position 0 UDINT 4 Cnts / The deceleration rate used to change to a lower
Decel Sec2 velocity during a Preset Position 0 move.
Default: 100000
position move.
Default: 0
Default: 100000

Parameter Object,
Default: 100000
Default: 100000
position move.
Default: 0
Default: 100000
Default: 100000
Default: 100000
position move.
Default: 0
Default: 100000
Default: 100000
Default: 100000

Parameter Object,
position move.
Default: 0
Default: 100000
Default: 100000
Default: 100000
position move.
Default: 0
Default: 100000
Default: 100000
Default: 100000
position move.
Default: 0
Default: 100000

Parameter Object,
Default: 100000
Default: 100000
position move.
Default: 0
Default: 100000
Default: 100000
Default: 100000
336 Set Homing Type USINT 1 Selects the type of homing operation the drive will
perform when the homing procedure is started.
0 - Home to Sensor, Forward to Marker (default)
1 - Home to Marker
2 - Home to Sensor
3 - Home to Sensor, Backward to Marker
4 - Home to Current Setting
5 - Home to Current Setting, Backward to Marker
337 Set Auto-Start Home USINT 1 Determines if the drive will begin the homing
procedure automatically when the drive is enabled.
0 - Auto-start homing inactive (default)
1 - Auto-start homing active only if not homed
2 - Auto-start homing always active

Parameter Object,
338 Set Home Sensor USINT 1 Causes the drive to move in the direction opposite
Backoff the direction specified by the Homing Velocity
setting, when the homing procedure is started with
the Sensor input active. Motion will continue in the
reverse direction (moving at the Homing Accel,
Homing Decel, and Homing Velocity settings), until
the Sensor input is detected inactive, at which point
the normal homing procedure will take over.
Controls whether the drive backs off the sensor if
the sensor is active at the start of the homing
operation.
Note: This parameter does not apply if 'Home to

Marker' is selected as the Homing Type.
1 - Enable
339 Set Homing Velocity DINT 4 Cnts / The commanded velocity used during homing. The
Sec sign of the parameter value specifies the direction of
motion during homing.
Default: 100000
340 Set Homing Accel/ UDINT 4 Cnts / The acceleration and deceleration rate used during
Decel Sec2 homing.
Default: 100000
341 Set Home Offset DINT 4 Cnts The distance the motor position will be from the
Move home position after the homing procedure is
complete.
Default: 0
342 Set Homing Stop UDINT 4 Cnts / The deceleration rate used to bring the motor to a
Decel Sec2 stop when a homing procedure is terminated with
the Stop Homing input or the Stop Homing
command.
Default: 100000
343 Set Home Sensor USINT 1 Specifies the digital input state that the drive uses
Polarity to determine if the Home Sensor input is active.
0 - Inactive to active transition (default)
1 - Active to inactive transition
344 Set Home Position DINT 4 Cnts This value is used as the home position when the
Define Home input is activated, or at the completion
of a homing procedure.
Default: 0
345 Set Homing Creep UDINT 4 Cnts / For the Homing Type selection 3 - Home to Sensor,
Velocity Sec Backward to Marker - this velocity is used to travel
back to the marker after the drive finds the sensor
edge.
Default: 10000

Parameter Object,
346 Set Home Sensor UINT 2 Amps / Current value used when homing to a current
Current 128 setting. If the commanded current is equal to or
greater than this value, the homing sequence is
terminated or changed to searching for a marker.
Range: 1 to 32767
Default: 128
347 Set Start Homing USINT 1 Initiates the homing procedure.
Command 0 - No Action (default)
1 - Execute Command
348 Set Abort Homing USINT 1 Stops execution of the homing procedure.
1 - Execute Command
349 Set Pause Homing USINT 1 Pauses execution of the homing procedure.
1 - Continue Homing
2 - Pause Homing
350 Set Host Index USINT 1 The index that the drive will execute if you initiate a
Number Start Index while Parameter 28, Host Control Mode
is set to 3 - Host Index Mode (Indexing Only). The
Host Index Number setting is not saved in
nonvolatile memory.
Range: 0 to 63
Default: 0
351 Set Start Index USINT 1 Starts executing an index if the drive is enabled and
Command in an index control mode. An error may be returned if
the drive can not execute an index move or if an
index is already executing.
1 - Execute Command
352 Get Index Status WORD 2 Returns the status of an index move.
Bit 0 = Start Index Execution
Bit 1 = Start New Index Execution
Bit 2 = Index Run - In Accel or Constant Velocity
Bit 3 = In Decel
Bit 4 = In Dwell
Bit 5 = Move Adjusted by Registration
Bit 6 = End of Batch Count
Bit 7 = Negative Distance Index
Bit 8 = Registration Input Seen
Bit 9 = Not Homed - Absolute index started before
homing
Bit 10 = Aborting Index - Index is being aborted,
initiated from a digital input
Bit 11 = Blended to Index - Previous index ended
with a nonzero velocity
Bit 12 = Reversing Direction
Bit 13 = Sensor Unassigned - Registration index with
no sensor assigned
Bit 14 = Overtravel Limit - Index is being aborted,
initiated from an overtravel limit

Parameter Object,
353 Get Selected Index USINT 1 The selected index.
Range: 0 to 63
354 Get Index Count UINT The number of iterations remaining in the execution
of the index.
Range: 0 to 65535
355 Set Auto-Start Index USINT 1 Determines if the drive will begin executing the
selected index whenever the drive is enabled.
1 - Enable
356 Set Abort Index UDINT 4 Cnts / The deceleration rate used to stop motion when the
Decel Sec2 Abort (Stop) input terminates an index move.
Default: 100000
357 Set Index 0 Type USINT 1 Selects the type of index move.
and 0 - Incremental (default)
367, 377, …, and 1 - Absolute
967, 977, 987 Index n Type 2 - Registration
where n = 1-63 3 - Jog
358 Set Index 0 Distance/ DINT 4 Cnts For Incremental and Registration index moves,
and Position specifies the relative distance of travel. For Absolute
368, 378, …, moves, specifies the final position of the index
968, 978, 988 and move. For a Jog index move, specifies the maximum
Index n distance of travel.
Distance/Position Range: -0x7fffffff to 0x7fffffff
where n = 1-63 Default: 1000
359 Set Index 0 Count UINT 2 The number of times the index move will execute. If
and it is set to zero (0), the index move will be executed
369, 379, …, and continuously.
969, 979, 989 Index n Count Range: 0 to 65535
where n = 1-63 Default: 1
360 Set Index 0 Dwell UINT 2 mSec The amount of time the drive holds position before
continuing to the next index.
and and Range: 0 to 65535
370, 380, …, Index n Dwell Default: 0
970, 980, 990 where n = 1-63
361 Set Index 0 UDINT 4 Cnts For Registration index moves, specifies the relative
Registration distance of travel after a registration digital input is
and Distance detected.
371, 381, …, Range: 0 to 0x7fffffff
971, 981, 991 and Default: 1000
Index n
Registration
Distance
where n = 1-63
362 Set Index 0 Velocity UDINT 4 Cnts / The commanded velocity used when executing the
Sec index.
and and Range: 0 to 0x7fffffff
372, 382, …, Index n Velocity Default: 100000
972, 982, where n = 1-63
992

Parameter Object,
363 Set Index 0 Accel UDINT 4 Cnts / The acceleration rate used to change to higher
Sec2 velocity during the index move.
373, 383, …, Index n Accel Default: 100000
973, 983, where n = 1-63
993
364 Set Index 0 Decel UDINT 4 Cnts / The deceleration rate used to change to a lower
Sec2 velocity during the index move.
374, 384, …, Index n Decel Default: 100000
974, 984, where n = 1-63
994
365 Set Index 0 Pointer USINT 1 Specifies the next index move to execute if the Index
0 Terminate parameter is not set to 'Stop'.
and and Range: 0 to 63
375, 385, …, Index n Pointer Default: 0
975, 976, where n = 1-63
995
366 Set Index 0 Terminate USINT 1 The drive's action when the index move has
completed.
and and 0 - Stop
376, 386, …, Index n Terminate 1 - Start Next Index immediately
976, 986, where n = 1-63 2 - Wait for Start - 'Start Index' active transition
996 required to start next index.
3 - Index Without Stop - execute the next index
without stopping. The dwell time is ignored and a
'Start Index' is not required.
997 Set Index 0 Absolute USINT 1 For absolute index moves, the direction of the travel
Direction when:
through • Parameter 35 - Position Rollover = 1 - Enable, or
and
1059 Index n Absolute • Single-turn Absolute mode is active (refer to
Parameter 231 - Single-Turn Absolute).
Direction
where n = 1-63 0 - Bi-directional (default) - moves to the desired
position using the shortest path.
1 - Forward Uni-directional - moves to the desired
position going forward.
2 - Reverse Uni-directional - moves to the desired
position going reverse.

Parameter Object
Instance Attributes
Attr ID Access Stub/ Name Data Type Description
Rule Full
1 1
Stub Parameter Data type specified in Descriptor, Data Actual value of parameter. It can be read
Value Type and Data Size from or written to. This attribute is
read-only if bit 4 of Attribute 4 is TRUE.
2 Get Link Path Size USINT Size of Link Path attribute. If this attribute
is 0, then no link is specified. Number of
BYTEs in attribute 3.
3 Link Path ARRAY of DeviceNet path Path to the object from where this
parameter value is retrieved.
The link path is limited to 255 BYTEs.
Segment BYTE Refer to the DeviceNet Specification listed
Type/Port in Related Documentation on page P-2 for
a description of the data type: Segment
Type/Port.
Segment EPATH Path (format depends on data contained in
Address segment type/port)
4 Descriptor WORD Descriptor of parameter. Bit Definitions for
Instance Attribute 4 on page 2-99
5 Data Type USINT Data type code. Data Types for Instance
Attribute 5 on page 2-99
6 Data Size USINT Number of BYTEs in Attribute 1, Parameter
Value

Parameter Object
Instance Attributes (Continued)
Attr ID Access Stub/ Name Data Type Description
Rule Full
7 Get Full Parameter SHORT_ STRING 2 A human readable string representing the
Name parameter name. For example, “Vel Loop
P-Gain” The maximum number of
characters is 16. (The first byte is a length
code.)
8 Units String Engineering unit string. The maximum
number of characters is 4. (The first byte is
a length code.)
9 Help String The maximum number of characters is 64.
(The first byte is a length code.)
10 Minimum Data type specified in Descriptor, Data type The minimum valid actual value to which
Value and Data Size 1 attribute 1, Parameter Value can be set.
11 Maximum The maximum valid actual value to which
Value attribute 1, Parameter Value can be set
12 Default Value The actual value attribute 1, Parameter
Value should be set to when you want the
default for the parameter.
13 Scaling UINT 2 Multiplier for scaling formula
Multiplier
14 Scaling Divisor for scaling formula
Divisor
15 Scaling Base Base for scaling formula
16 Scaling Offset Offset for scaling formula
17 Multiplier Parameter object instance number of
Link multiplier source.
18 Divisor Link Parameter object instance number of
divisor source.
19 Base Link Parameter object instance number of base
source.
20 Offset Link Parameter object instance number of offset
source.
21 Decimal USINT 2 Specifies number of decimal places to use
Precision when displaying the scaled engineering
value. Also used to determine actual
increment value so that incrementing a
value causes a change in scaled
engineering value to this precision.
1 The access rule is defined in Bit Definitions for Instance Attribute 4 on page 2-99:
If bit 4 is 0 the access rule is Set and the Parameter Value can be read and written.
If bit 4 is 1, the access rule is Get and the Parameter Value can only be read.
2 Data type specified in Data Type Definitions on page 2-5.

Parameter Object
Bit Definitions for Instance Attribute 4
Bit Definition Value
0 Supports settable 0 = Link path can not be set.
path 1 = Link path can be set.
1 Supports 0 = Enumerated strings are not supported.
enumerated strings 1 = Enumerated strings are supported and may be read with
the Get_Enum_String service.
2 Supports scaling 0 = Scaling not supported.
1 = Scaling is supported. The scaling attributes are
implemented and the value presented is in engineering
units.
3 Supports scaling 0 = Scaling links not supported.
links 1 = The values for the scaling attributes may be retrieved
from other parameter object instances.
4 Read only parameter 0 = Parameter value attribute can be written (set) and read
(get). Access rule is set.
1 = Parameter value attribute can only be read. Access rule is
get.
5 Monitor parameter 0 = Parameter value attribute is not updated in real time by
the device.
1 = Parameter value attribute is updated in real time by the
device.
6 Supports extended 0 = Extended precision scaling is not supported.
precision scaling 1 = Extended precision scaling should be implemented and
the value is presented in engineering units.
Parameter Object
Data Types for Instance Attribute 5
Data Type Name Data Type Code Data Type
(in Hex) Description
SINT C2 Signed 8-bit integer value
INT C3 Signed 16-bit integer value
DINT C4 Signed 32-bit integer value
USINT C6 Unsigned 8-bit integer value
UINT C7 Unsigned 16-bit integer value
UDINT C8 Unsigned 32-bit integer value
BYTE D1 bit string, 8-bit
WORD D2 bit string, 16-bit
DWORD D3 bit string, 32-bit
SHORT_STRING DA Character string
(1 byte per character, 1 byte length indicator)

Parameter Object
Common Services
Service Code Implemented for: Service Name
Class Instance
0x01 No Yes Get_Attribute_All
0x0E Yes Yes Get_Attribute_Single
0x10 No Yes Set_Attribute_Single
Get_Attribute_All Response
At the instance level, the order of attributes returned in the

Get_Attributes_All response is as follows:
Class Attribute ID Attribute Name and Default Value

1 Parameter Value
2 Link Path Size
3 Link Path
4 Descriptor
5 Data Type
6 Data Size
7 Parameter Name String, default character count = 0
8 Units String, default character count = 0
9 Help String, default character count = 0
10 Minimum Value default = 0
11 Maximum Value default = 0
12 Default Value default = 0
13 Scaling Multiplier Default = 1
14 Scaling Divisor Default = 1
15 Scaling Base Default = 1
16 Scaling Offset Default = 0
17 Multiplier Link Default = 0
18 Divisor Link Default = 0
19 Base Link Default = 0
20 Offset Link Default = 0
21 Decimal Precision Default = 0

Parameter Object Specific Services

4BH Get_Enum_String Use this service to read enumerated strings from
the Parameter Instance. See DeviceNet
Specification Vol 2: Object Library, Parameter
Object.
Enumerated strings are human-readable strings that describe either a

bit or a value depending on the data type of instance attribute 1, the
Parameter Value. If the data type is a BYTE, WORD, or DWORD the
enumerated string is a bit enumerated string. If the data type is INT,
USINT, or UINT the enumerated string is a value enumerated string.
Any other data type does not have enumerated strings.
The table below describes the Get_Enum_String request service

attribute.
Name Data Type Description of Attribute

Enumerated String Number USINT Number of enumerated string to retrieve
(MAX value is 255).
• If the string to be returned is a bit enumerated string, then the

enumerated string number represents a bit position and the
Get_Enum_String service returns a string describing that bit.
• If the string to be returned is a value enumerated string, then the
enumerated string number represents a value and the
Get_Enum_String service returns a string for that value.
The enumerated string is returned in the form of a SHORT_STRING

with a maximum number of characters of 16.

Acknowledge Handler The Acknowledge Handler Object is used to manage the reception of
message acknowledgments. This object communicates with a message
Object (Class ID 2B ) H producing Application Object within a device. The Acknowledge
Handler Object notifies the producing application of acknowledge
reception, acknowledge time-outs, and production retry limit.
Acknowledge Handler Object

Instance Attributes
Attr Access Attribute Data Description Semantics
1 Set Acknowledge Timer UINT Time to wait for acknowledge before resending Range 1-65,535
ms
(0 invalid)
Default = 16
2 Get/Set Retry Limit USINT Number of Ack Time-outs to wait before informing the Range 0-255
producing application of a RetryLimit_Reached event. Default = 1
3 Set (Inactive) Get COS Producing UINT Connection Instance that contains the path of the Connection
(Active) connection Instance producing I/O application object that is notified of Ack Instance ID
Handler events.
Acknowledge Handler Object

Common Services
0EH Get_Attribute_Single Returns the contents of the specified attribute.
10H Set_Attribute_Single Used to modify an Acknowledge Handler object attribute value.

Index
A parameter object
acknowledge handler object 2-2, 2-102 instance attribute 4 2-99
addressing instance attribute 5 2-99
attributes 2-4 instance attributes 2-97
instances 2-4 instance ID = 0 2-46
media access control (MAC) 2-4 instance ID = 1 - 996 2-47
object classes 2-4
ARRAY 2-5 B
assembly object 2-2, 2-11 binding multiple objects 2-11
attribute BOOL 2-5
addressing 2-4 BYTE 2-5
definition 2-1
attributes
acknowledge handler object C
instance attributes 2-102 class attributes
assembly object assembly object 2-12
attribute of instances 1-18 2-14 DeviceNet object 2-9
input assembly instance ID = 10 2-33 identity object 2-5
input assembly instance ID = 11 2-33 parameter object 2-46
input assembly instance ID = 12 2-34 class ID
input assembly instance ID = 13 2-35 01 - identity object 2-5
input assembly instance ID = 14 2-35 02 - message router object 2-8
input assembly instance ID = 15 2-36 03 - DeviceNet object 2-9
input assembly instance ID = 16 2-37 04 - assembly object 2-11
input assembly instance ID = 17 2-37 05 - connection object 2-45
input assembly instance ID = 18 2-37 0F - parameter object 2-46
instance ID = 0 2-12 2B - acknowledge handler object 2-102
instance ID = 1-18 2-13 command data pointer 2-26
output assembly instance ID = 1 2-14 command data value 2-24
output assembly instance ID = 2 2-15 Write Data 2-24
output assembly instance ID = 3 2-15 Write Data Busy/Ack 2-24
output assembly instance ID = 4 2-15 common services
output assembly instance ID = 5 2-16 acknowledge handler object 2-102
output assembly instance ID = 6 2-16 assembly object 2-14
output assembly instance ID = 7 2-17 DeviceNet connection object 2-46
output assembly instance ID = 8 2-17 DeviceNet object 2-10
output assembly instance ID = 9 2-18 identity object 2-7
connection object message router 2-8
instance ID = 1 - 10 2-45 parameter object 2-100
DeviceNet object reset identity object 2-8
class specific services 2-11 communication fault action 2-42
instance ID = 0 2-9 connection object 2-2, 2-45
instance ID = 1 2-9 controller mode error 2-43
identity object conventions used in this manual 2-3
instance ID = 0 2-5
instance ID = 1 2-6
instance ID = 5 2-7
status description 2-7
message router
instance ID = 1 2-8

2 Index
D I
data type I/O messaging 2-11
ARRAY 2-5 identity object 2-2, 2-5
BOOL 2-5 instance
BYTE 2-5 addressing 2-4
DINT 2-5 definition 2-1
DWORD 2-5 INT 2-5
EPATH 2-5
INT 2-5
SHORT_STRING 2-5
L
SINT 2-5 logic commands
UDINT 2-5 abort homing 2-20
UINT 2-5 abort index 2-19
USINT 2-5 define home 2-22
WORD 2-5 define position 2-21
definitions disable serial communications 2-19
attribute 2-1 enable 2-23
instance 2-1 follower enable 2-21
object 2-1 integrator inhibit 2-21
service 2-1 operation mode override 2-21
DeviceNet pause homing 2-20
node objects 2-4 pause index 2-19
object 2-9 position strobe 2-21
parameter object 2-46 preset select 2-20
DeviceNet object 2-2 remove offset 2-22
DeviceNet object class reset drive 2-22
instance ID = 0 2-9 reset faults 2-23
DINT 2-5 start homing 2-22
drive configuration 2-46 start index 2-22
DWORD 2-5 logic status
at home 2-38
at index 0 position 2-39
E at index 1 position 2-40
electronic data sheet (EDS) 2-2 axis homed 2-38
end of sequence 2-38 brake active 2-41
EPATH 2-5 dc bus charged 2-41
explicit messaging 2-44 drive enabled 2-41
nonvolatile memory restrictions 2-44, 2-47 drive ready 2-41
end of sequence 2-38
fault disable 2-41
F in dwell 2-38
fault in motion 2-38
device state conflict 2-46 in position 2-40
update failure 2-42 negative current limit 2-41
fault configured input 2-43 negative hardware overtravel 2-39
feedback data pointer 2-23 negative software overtravel 2-39
position limit 1 2-40
H position limit 2 2-40
handshake bit 2-23 positive current limit 2-41
handshake echo bit 2-42 positive hardware overtravel 2-39
help, see technical assistance positive software overtravel 2-39

Index 3
registered 2-38 object model

startup commutation done 2-39 description 2-2
tracking 2-39 illustration 2-2
up to speed 2-41 output assemblies 2-14
within position window 2-40
within speed window 2-41
P
zero speed 2-40
parameter data value 2-24
Write Data 2-24
M Write Data Busy/Ack 2-24
MAC addressing 2-4 parameter group object 2-2
MAC ID parameter object 2-2, 2-46
defined 2-4 get attribute all response 2-100
message router object 2-2 specific services 2-101
messaging parameter object instance
explicit 2-44 referenced to command data pointer 2-26
I/O 2-11 parameter objects 2-46
router object 2-8
multiple objects 2-11
R
related documentation 2-2
N reset services
node address 2-4 identity object 2-8
nonvolatile memory
restrictions on use 2-25, 2-44, 2-47
write protection 2-47
S
scanner mode error 2-43
service
O definition 2-1
object service code
definition 2-1 acknowledge handler object 2-102
object class assembly object 2-14
acknowledge handler 2-2 DeviceNet connection object 2-46
addressing 2-4 DeviceNet object 2-10
assembly 2-2 identity object 2-7
connection 2-2 message router object 2-8
DeviceNet 2-2 parameter object 2-100
effect on drive operation 2-3 SHORT_STRING 2-5
identity 2-2 SINT 2-5
message router 2-2
number of instances 2-2
T
parameter 2-2
parameter group 2-2 technical assistance 2-4
object description terminology
acknowledge handler (2B) 2-102 attribute 2-1
assembly (04) 2-11 instance 2-1
connection (05) 2-45 object 2-1
DeviceNet object (03) 2-9 service 2-1
identity object (01) 2-5
message router (02) 2-8
parameter (0F) 2-46

4 Index
U
UDINT 2-5
UINT 2-5
USINT 2-5
W
WORD 2-5
write protection of nonvolatile memory 2-47

‘
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Ultra3000

Digital Servo Drive

The illustrations, charts, sample programs and layout examples shown

Allen-Bradley publication SGI–1.1, Safety Guidelines for the

Reproduction of the contents of this copyrighted publication, in whole

Throughout this manual we use notes to make you aware of safety

Identifies information about practices or

IMPORTANT Identifies information that is critical for successful

Allen-Bradley and PLC are registered trademarks of Rockwell Automation, Inc.

i Publication 2098-RM004A-EN-P – August 2002

Operation Mode Override . . . . . . . . . . . . . . . . . . . 2-21

Publication 2098-RM004A-EN-P – August 2002

Parameter Object (Class ID 0FH) . . . . . . . . . . . . . . . . . . . . 2-46

Publication 2098-RM004A-EN-P – August 2002

Publication 2098-RM004A-EN-P – August 2002

• Who Should Use this Manual

Non-Indexing Ultra3000 Drives Indexing Ultra3000 Drives

1 Publication 2098-RM004A-EN-P – August 2002

Note: The reference guide to Ultra3000 drives with DeviceNet

Contents of this Manual This manual contains the following sections:

Chapter Title Contents

Related Documentation These publications provide additional information specific to the

For information about: Read this document: Publication Number

Publication 2098-RM004A-EN-P – August 2002

For information about: Read this document: Publication Number

A copy of the DeviceNet Specification, Volumes I and II, Release 2.0

Publication 2098-RM004A-EN-P – August 2002

Allen-Bradley Support Allen-Bradley offers support services worldwide, with over 75

Local Product Support

Contact your local Allen-Bradley representative for:

• Sales and order support

Technical Product Assistance

If you need to contact Allen-Bradley for technical assistance, please

Publication 2098-RM004A-EN-P – August 2002

Introduction DeviceNet is an open, global industry-standard communication

• Ultra3000 Drive with DeviceNet implements the Unconnected

1 Publication 2098-RM004A-EN-P – August 2002

• configuring the rotary switches on the front panel of the drive

Publication 2098-RM004A-EN-P – August 2002

Predefined Master/Slave Connection Set

A set of messaging connections that facilitate communications and is

Explicit Response/Request Messages

Explicit Request messages are used to perform operations such as

Polled I/O Command/Response Messages

The Poll Command is an I/O message transmitted by the master

A Change-of-State/Cyclic message is directed towards a single specific

Publication 2098-RM004A-EN-P – August 2002

Although, you can control the drive by writing to various parameters

If you write to a parameter using an Explicit Message, the parameter

The nonvolatile memory has a limited number of

Publication 2098-RM004A-EN-P – August 2002

• Parameter 7 - I/O Receive Select

IMPORTANT If you want to control the drive with I/O messages,

Publication 2098-RM004A-EN-P – August 2002

Publication 2098-RM004A-EN-P – August 2002

The Ultra3000 Drive with DeviceNet implements a vendor specific

The configuration data and behaviors implemented in the Ultra3000

The following general definitions also may be useful in understanding

• Object - A representation of a particular type of data component