Rockwell Automation 2098-DSD-xxx Ultra3000 Digital Servo Drives with DeviceNet - Manual (Page 57)

Publication 2098-RM001C-EN-P – August 2002
Programming Reference 2-41
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