Chapter 7

Using Multi-Drive Mode

Chapter 7 provides information and a ControlLogix ladder example to

explain how to use Multi-Drive mode.

Topic Page Topic Page

Single Mode vs. Multi-Drive Mode 7-1 Multi-Drive Ladder Logic Program 7-6
Example
System Wiring 7-3 ControlLogix Example 7-7
Understanding the I/O Image 7-4 Multi-Drive Mode Explicit Messaging 7-20
Configuring the RS-485 Network 7-5 Additional Information 7-22

ATTENTION: Risk of injury or equipment damage exists. The

examples in this publication are intended solely for purposes of
! example. There are many variables and requirements with any
application. Rockwell Automation, Inc. does not assume responsibility
or liability (to include intellectual property liability) for actual use of
the examples shown in this publication.

Single Mode vs. Multi-Drive Mode

Single mode is a typical network installation, where a single EtherNet/IP
node consists of a single drive with a 22-COMM-E adapter (Figure 7.1).

Figure 7.1 Single Mode Example for Network

1 drive per node

EtherNet/IP

PowerFlex 40 PowerFlex 40 PowerFlex 40

with 22-COMM-E with 22-COMM-E with 22-COMM-E

Multi-Drive mode is an alternative to the typical network installation,

where a single EtherNet/IP node can consist of one to five drives
(Figure 7.2). The first drive must be a PowerFlex 40 with a 22-COMM-E
adapter. The remaining drives can be PowerFlex 4 or PowerFlex 40
drives that are daisy-chained over RS-485 with the first drive.
7-2 Using Multi-Drive Mode

Figure 7.2 Multi-Drive Mode Example for Network

up to 5 drives per node

EtherNet/IP

Up to 4 PowerFlex 4's or 40's

PowerFlex 40

22-COMM-E
AK-U0-RJ45-TB2P
Connector with
Terminating Resistor
RS-485 AK-U0-RJ45-TB2P AK-U0-RJ45-TB2P
Connector with
Terminating Resistor

Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one 22-COMM-E adapter is needed for

up to five drives. PowerFlex 4’s can also be used for the daisy-chained
drives instead of PowerFlex 40’s.
• Reduces the network node count. For example, in Single mode 30
drives would consume 30 nodes. In Multi-Drive mode, 30 drives can be
connected in 6 nodes.
• Provides a means to put PowerFlex 4’s on EtherNet/IP (PowerFlex 4’s
do not have an internal communications adapter slot).
• Controller can control, monitor, and read/write parameters for all five
drives.

The trade-offs of Multi-Drive mode include:

• If the PowerFlex 40 with the 22-COMM-E adapter is powered down,

then communications with the daisy-chained drives is disrupted and
the drives will take the appropriate communications loss action set in
each drive.
• Communications throughput to the daisy-chained drives will be
slower than if each drive was a separate node on EtherNet/IP (Single
mode). This is because the 22-COMM-E adapter must take the
EtherNet/IP data for the other drives and sequentially send the
respective data to each drive over RS-485. The approximate
additional throughput time for Logic Command/Reference to be
transmitted and received by each drive is:
Drive Additional Throughput Time
versus Single Mode
PowerFlex 40 with 22-COMM-E 0 ms
PowerFlex 40 with 22-COMM-E plus 1 drive +24 ms
PowerFlex 40 with 22-COMM-E plus 2 drives +48 ms
PowerFlex 40 with 22-COMM-E plus 3 drives +72 ms
PowerFlex 40 with 22-COMM-E plus 4 drives +96 ms
 Using Multi-Drive Mode 7-3

• Since the RS-485 ports are used for daisy-chaining the drives, there is
no connection for a peripheral device such as a HIM. The
AK-U0-RJ45-SC1 DSI Splitter cable cannot be used to add a second
connection for a peripheral device.

System Wiring
To daisy-chain the drives off the PowerFlex 40 with the 22-COMM-E
adapter (Drive 0), the AK-U0-RJ45-TB2P terminal block connector
(Figure 7.3) can be used for easy installation.

Figure 7.3 AK-U0-RJ45-TB2P Terminal Block Connector

The wiring diagram for using AK-U0-RJ45-TB2P terminal block

connectors is shown in Figure 7.4.

Figure 7.4 AK-U0-RJ45-TB2P Connector Wiring Diagram

To
PowerFlex 40
with 22-COMM-D

To To To To
Drive #2 Drive #3 Drive #4 Drive #5
120 Ω
¼ Watt
Resistor

120 Ω
¼ Watt
Resistor

The AK-U0-RJ45-TB2P comes with (5) terminal block connectors and

(2) terminating resistors.
7-4 Using Multi-Drive Mode

Understanding the I/O Image

The terms input and output are defined from the scanner’s point of view.
Therefore, Output I/O is data that is output from the scanner and
consumed by the EtherNet/IP adapter. Input I/O is status data that is
produced by the adapter and consumed as input by the scanner. The I/O
image table will vary based on the:

• Configuration of the Operating Mode Switch (SW1) on the adapter

and Parameter 22 - [DSI I/O Cfg]. The image table always uses
consecutive words starting at word 0.

Figure 7.5 illustrates the Multi-Drive I/O image with 16-bit words.

Figure 7.5 Multi-Drive Example of I/O Image

EtherNet/IP DSI
Controller Scanner Adapter
Word and I/O

0 Logic Command
PowerFlex Drive 0
1 Reference
2 Logic Command
PowerFlex Drive 1
3 Reference
Output
Image 4 Logic Command
5 Reference PowerFlex Drive 2
(Write)
6 Logic Command
7 Reference PowerFlex Drive 3
8 Logic Command
9 Reference PowerFlex Drive 4

0 Logic Status PowerFlex Drive 0

1 Feedback
2 Logic Status
3 Feedback PowerFlex Drive 1
Input 4 Logic Status
Image 5 Feedback PowerFlex Drive 2
(Read)
6 Logic Status
7 Feedback PowerFlex Drive 3
8 Logic Status PowerFlex Drive 4
9 Feedback

Message Message
Handler Buffer

Note: If a daisy-chained drive is disconnected from the RS-485 (DSI)

network or powered down, the Logic Status and Feedback words for the
affected drive will be set to 0.
 Using Multi-Drive Mode 7-5

Configuring the RS-485 Network

The following parameters must be set in the daisy-chained drives:

Parameter Value
P36 - [Start Source] 5 (Comm Port)
P38 - [Speed Reference] 5 (Comm Port)
A103 - [Comm Data Rate] 4 (“19.2K”)
A104 - [Comm Node Addr] 1-247 (must be unique)
A107 - [Comm Format] 0 (“RTU 8-N-1”)

Note that the RS-485 network is fixed at 19.2K baud, 8 data bits, no
parity, and 1 stop bit.

Important: Parameters A105 - [Comm Loss Action] and A106 -

[Comm Loss Time] in the daisy-chained drives are still
used in Multi-Drive mode. If the RS-485 cable is
disconnected or broken, the disconnected drive(s) will take
the corresponding Comm Loss Action(s). On the EtherNet/
IP side, Parameters 18 - [Comm Flt Action] and 19 -
[Idle Flt Action] in the 22-COMM-E determine the action
taken for ALL of the drives on the Multi-Drive node.

The following Multi-Drive parameters must be set in the 22-COMM-E:

Parameter Value
22 - [DSI I/O Cfg] 0 = Drive 0 connected
1 = Drives 0-1 connected
2 = Drives 0-2 connected
3 = Drives 0-3 connected
4 = Drives 0-4 connected
24 - [Drv 0 Addr] = Parameter A104 - [Comm Node Address] in Drive 0
25 - [Drv 1 Addr] = Parameter A104 - [Comm Node Address] in Drive 1
26 - [Drv 2 Addr] = Parameter A104 - [Comm Node Address] in Drive 2
27 - [Drv 3 Addr] = Parameter A104 - [Comm Node Address] in Drive 3
28 - [Drv 4 Addr] = Parameter A104 - [Comm Node Address] in Drive 4

After setting the 22-COMM-E parameters, set the Operating Mode

Switch (SW1) from Single drive operation to Multi-Drive operation (set
to ON position), and reset the adapter or cycle power. Refer to Chapter 2,
Setting Operating Mode and Web Pages Switches.

Important: 22-COMM-E parameters can be set using a DSI peripheral

(HIM, DriveExplorer with 22-SCM-232, etc.) ONLY when
the Operating Mode Switch is in the Single mode position
(SW1 = OFF).
7-6 Using Multi-Drive Mode

Multi-Drive Ladder Logic Program Example

The example ladder logic program demonstrates using Multi-Drive
mode with five drives. See Figure 7.2 for a system layout diagram.

Function of the Example Program

The example program provided is for the ControlLogix, but other

controllers can also be used. This example program enables you to:

• View status information from the drives such as Ready, Fault, At

Speed, and Feedback.
• Control the drives using various Logic Command bits (Stop, Start,
etc.) and Reference.
• Perform a single parameter read and write for each drive. The
example uses drive Parameter 39 - [Accel Time] for both so you can
see (read) the change after a write is performed.

Adapter Settings for the Example Program

• The Operating Mode Switch (SW1) on the adapter is set to the

Multi-Drive operation position. See Chapter 2, Setting Operating
Mode and Web Pages Switches.
• The following adapter parameters are set:
Parameter Value Description
22 - [DSI I/O Cfg] 4 “Drives 0-4” — 5 drives on 1 node
24 - [Drv 0 Addr] (1) 1 Modbus address of Drive 0
25 - [Drv 1 Addr] (1) 2 Modbus address of Drive 1
26 - [Drv 2 Addr] (1) 3 Modbus address of Drive 2
27 - [Drv 3 Addr] (1) 4 Modbus address of Drive 3
28 - [Drv 4 Addr] (1) 5 Modbus address of Drive 4
(1)
The settings for these parameters must match the Parameter A104 -
[Comm Node Addr] settings in the respective drives.
 Using Multi-Drive Mode 7-7

Drive Settings for the Example Program

Value
Parameter
Drive 0 Drive 1 Drive 2 Drive 3 Drive 4
P36 - [Start Source] 5 5 5 5 5
P38 - [Speed Reference] 5 5 5 5 5
A103 - [Comm Data Rate] 4 4 4 4 4
A104 - [Comm Node Addr](1) 1 2 3 4 5
A105 - [Comm Loss Action] 0 0 0 0 0
A106 - [Comm Loss Time] 5 5 5 5 5
A107 - [Comm Format] 0 0 0 0 0
(1)
The settings for these parameters must match the respective parameter
settings in the adapter (Parameter 17 - [Drv 0 Addr] through Parameter 21
- [Drv 4 Addr]).

ControlLogix Example
The following common Tags are used:

Tag Name Type Description

MultiDrive_Demo : I AB: 1756_E...
MultiDrive_Demo : O AB: 1756_E... 1756-ENBT I/O
MultiDrive_Demo : C AB: 1756_E...
Drive Input Image INT [10] Input Image Table
Drive Output Image INT [10] Output Image Table

The following Tags are used for Drive 0:

Tag Name Type Description

Drive 0 Command Stop BOOL Logic Command bit 0 (STOP)
Drive 0 Command Start BOOL Logic Command bit 1 (START)
Drive 0 Command Jog BOOL Logic Command bit 2 (JOG)
Drive 0 Command Clear Faults BOOL Logic Command bit 3 (CLEAR FAULTS)
Drive 0 Command Forward BOOL Logic Command bit 4 (FORWARD)
Drive 0 Reference INT Speed Reference
Drive 0 Status Ready BOOL Logic Status bit 0 (READY)
Drive 0 Status Active BOOL Logic Status bit 1 (ACTIVE)
Drive 0 Status Forward BOOL Logic Status bit 3 (FORWARD)
Drive 0 Status Faulted BOOL Logic Status bit 7 (FAULT)
Drive 0 Status At Reference BOOL Logic Status bit 8 (AT SPEED)
Drive 0 Feedback INT Speed Feedback
Perform Parameter Read 0 BOOL Initiates the parameter read
Parameter RD Value 0 INT Read value of the parameter
Parameter RD Message 0 MESSAGE Get_Attribute_Single (Read)
7-8 Using Multi-Drive Mode

Tag Name Type Description

Perform Parameter Write 0 BOOL Initiates the parameter value
Parameter WR Value 0 INT Write value to the parameter
Parameter WR Message 0 MESSAGE Set_Attribute_Single (Write)

The same type of Tags are also used for Drive 1 through Drive 4.

Main Routine

The Main Routine reads the network Input Image from the scanner, calls
the various drive control subroutines, and writes the network Output
Image to the scanner. See Figure 7.6.
 Using Multi-Drive Mode 7-9

Figure 7.6 Main Routine

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Drive 0 - Drive 4 Control Routines

The following Drive Control routines provide status information (Logic

Status and Feedback), control (Logic Command and Reference), and
parameter read/write for each of the respective drives:

Control Routine Refer to . . .

Drive 0 Figure 7.7
Drive 1 Figure 7.8
Drive 2 Figure 7.9
Drive 3 Figure 7.10
Drive 4 Figure 7.11
 Using Multi-Drive Mode 7-11

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7-12 Using Multi-Drive Mode

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 Using Multi-Drive Mode 7-13

Figure 7.8 Drive 1 Control Routine

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7-14 Using Multi-Drive Mode

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 Using Multi-Drive Mode 7-15

Figure 7.9 Drive 2 Control Routine

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 Using Multi-Drive Mode 7-17

Figure 7.10 Drive 3 Control Routine

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7-18 Using Multi-Drive Mode

Figure 7.10 Drive 3 Control Routine (Continued)

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 Using Multi-Drive Mode 7-19

Figure 7.11 Drive 4 Control Routine

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7-20 Using Multi-Drive Mode

Figure 7.11 Drive 4 Control Routine (Continued)

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Multi-Drive Mode Explicit Messaging

Parameter addressing for Explicit messaging is different in Multi-Drive
than with Single mode. In Single mode, the Instance value in the
message equals the desired parameter number in the drive. In
Multi-Drive mode, an Instance table is used to account for the
parameters in the adapter and up to 5 drives. The parameters in the
adapter and each of the drives are offset by 400 hex (1024 decimal):

Instance (Hex.) (Dec.) Device Parameter

4000 - 43FF 16384 - 17407 22-COMM-E 0 - 1023
4400 - 47FF 17408 - 18431 Drive 0 0 - 1023
4800 - 4BFF 18432 - 19455 Drive 1 0 - 1023
4C00 - 4FFF 19456 - 20479 Drive 2 0 - 1023
5000 - 53FF 20480 - 21503 Drive 3 0 - 1023
5400 - 57FF 21504 - 22527 Drive 4 0 - 1023

For example, to access Parameter P39 - [Accel Time 1] in each of the

drives, the following Instances would be used:
Drive 0 Instance = 17447 (17408 + 39)
Drive 1 Instance = 18471 (18432 + 39)
Drive 2 Instance = 19495 (19456 + 39)
Drive 3 Instance = 20519 (20480 + 39)
Drive 4 Instance = 21543 (21504 + 39)
 Using Multi-Drive Mode 7-21

Drive 0 Explicit Message Example

The Explicit message examples in the ControlLogix example program

perform a read (Get_Attribute_Single) and a write (Set_Attribute_Single)
to Parameter 39 - [Accel Time 1]. The configuration for the read is
shown in Figure 7.12 and the write is shown in Figure 7.13.

Figure 7.12 Parameter Read Message Configuration

Figure 7.13 Parameter Write Message Configuration

7-22 Using Multi-Drive Mode

The Class Code is “ f ” for the Parameter Object and the Instance
Attribute is “1” to select retrieving the parameter value. See Appendix C,
Parameter Object for more information. The Instance value is “17447” to
access Parameter 39 - [Accel Time 1].

The Explicit messages for Drive 1 to Drive 4 are identical except for the
Instance values:

Drive 1 Instance = 18471 (18432 + 39)

Drive 2 Instance = 19495 (19456 + 39)
Drive 3 Instance = 20519 (20480 + 39)
Drive 4 Instance = 21543 (21504 + 39)

Additional Information
• When the PowerFlex 40 with the 22-COMM-E (Drive 0) is powered
up, all configured daisy-chained drives must be present before an I/O
connection is allowed on EtherNet/IP (i.e. before the drives can be
controlled).

• If the PowerFlex 40 with the 22-COMM-E adapter (Drive 0) is

powered down, communications with the four daisy-chained drives
(Drive 1 to Drive 4) are disrupted and the drives will take their
corresponding Comm Loss Actions.

• If any of the daisy-chained drives (Drive1 to Drive 4) are powered

down, the respective Input Image (Logic Status and Feedback) sent to
the scanner will be zeros, and the NET A and PORT LEDs on the
22-COMM-E adapter will flash red. Status information from the
scanner will not indicate there is a fault at the node, and the I/O
connection will not be dropped.