Application Note

Migrating 1305/1336 Drives on DeviceNet to PowerFlex Drives.

Overall Description
The application note details how to reconfigure a DeviceNet network containing 1305/1336 SCANport drives, to the PowerFlex range
of drives.
The SCANport range of drives detailed in this application note covers the 1305, 1336Plus and 1336PlusII drives, utilising the 1203-
GK5, 1203-GU6 communication adapters. The 1336-GM5 1336-GM6 communication adapters used on the 1336 drives are
functionally the same as the 1203-GK5 / GU6, but are mounted internally within the drive.
The PowerFlex range of drives detailed in this application note covers the PowerFlex70, PowerFlex70EC, PowerFlex700,
PowerFlex700VC used with the 20-COMM-D communication adapter, and PowerFlex753, and PowerFlex755 used with the 20-
COMM-D and the 20-750-DNET communication adapters. Although other SCANport and PowerFlex drives exist, the reconfiguration
is generally similar.

The control equipment and software used for this application note comprises a ControLogix DeviceNet scanner 1756-DNB,
RSNetworx for DeviceNet v9.00, DriveExecutive v5.02 and DriveExplorer v6.02, and the appropriate drives.

Background and Limitations

As setting up and configuring DeviceNet can be a lengthy and involved process, this application note assumes some familiarity with
DeviceNet, and only covers the main steps for reconfiguring the network for different drives. Additionally when changes are made to
the network, this often this requires changes to the PLC program. Therefore any work should be scheduled when there is sufficient
downtime for the network / PLC programming, and should be carried out by competent persons. If you don’t feel comfortable with
this programming, then you should organise your local Rockwell Automation field service for assistance.
It is intended that the reader selects only the items of interest in this lengthy document, not go through every step.

The heart of the DeviceNet control system is the DeviceNet scanner, and so migration depends on the type of scanner used, and the
available free space on that scanner. As drives have been developed, their communication sizes have changed to match that of the
newer types of controllers. Therefore to replace an older SCANport drive with a newer PowerFlex drive you need to ascertain
whether there is sufficient free space on the DeviceNet scanner.

The drive connection sizes detailed below are defined by the type of drive, and the type of the adapter:
Drive Type Logic / Status Reference / Each Datalink Available Max Size
Feedback Datalinks
1305 / 1336 / 16 bit (2 bytes) 16 bit (2 bytes) 16 bit (2 bytes + 2 bytes) 4 Max 20 bytes in
1336PlusII 20 bytes out
PowerFlex 70 / 16 bit (2 bytes) 16 bit (2 bytes) 16 bit (2 bytes + 2 bytes) 4 Max 20 bytes in
700std 20 bytes out
PowerFlex PF70EC 16 bit (2 bytes) 16 bit (2 bytes) 16 bit (2 bytes + 2 bytes) 4 Max 20 bytes in
(some paras are 32 bit) 20 bytes out
PowerFlex 700VC 16 bit (2 bytes) 16 bit (2 bytes) 32 bit (4 bytes + 4 bytes) 4 Max 36 bytes in
36 bytes out
PowerFlex 700S 32 bit (4 bytes) 32 bit (4 bytes) 32 bit (4 bytes + 4 bytes) 4 Max 40 bytes in
upper bits not used 40 bytes out
PowerFlex 753 / 755 32 bit (4 bytes) 32 bit (4 bytes) 32 bit (4 bytes + 4 bytes) 4 Max 40 bytes in
with 20-COMM-D upper bits not used 40 bytes out
PowerFlex 753 / 755 32 bit (4 bytes) 32 bit (4 bytes) 32 bit (4 bytes) 16 Max 72 bytes in
with 20-750-DNET 72 bytes out

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All the above drives with the 1203-GK5 / GU6 / 20-COMM-D adapters, default to Logic Control, Reference, Logic Status, Feedback.
By configuration of the switches / internal parameters on the adapter, then datalinks can be enabled to further increase the number
of parameters being communicated. A datalink when used with 1203-GK5 / GU6 / 20-COMM-D can communicate 1 parameter in
each half of a datalink (E.g. A1 & A2, B1 & B2, C1 & C2, or D1 & D2, so 4 datalinks equates to 8 parameters max)
The above table shows the varied capability of communication sizes. Therefore it is important to understand what information is
being communicated, as this affects the size of data transmission and how it is mapped in DeviceNet. For example if a 1305 drive
with say 2 datalinks enabled (12 bytes of data in each direction), was to be replaced by a PF70 with say 2 datalinks (12 bytes of data
in each direction), then the data size would be the same. This means that the new PF70 drive would fit in the same DeviceNet
scanner space, and would probably mean minimal changes to the PLC program.

However the PF70 is not a stock item now, having been superseded by the PF70EC. This drive has some parameters that are now
32 bit, so if you were replacing a 1305 drive you need to check what parameters are being communicated, as the same parameter in
the PF70EC maybe a larger size. E.g. if the 1305 with 2 datalinks were replaced with a PF70EC, it may need 3 datalinks to carry
the same parameters. This means that the PF70EC would not fit into the same DeviceNet scanner space, and so the PLC program
will need changing.

Additionally the PowerFlex70EC can be setup to operate in standard or high resolution mode. In both modes, it is mapped exactly
the same as the standard PowerFlex70. However in high resolution mode, a datalink input is used to pass the value of the high
resolution reference. This means that a datalink has been consumed, and will be unavailable for other parameters.
When migrating drives on DeviceNet it is inevitable some compromises will be needed. Consider the following steps.

Select different parameters that are communicated on datalinks – prioritise the important ones

Reduce the number of parameters, so that the data size remains the same

Get data from drive parameters using explicit messaging rather than datalinks

Create further DeviceNet scanner capability by adding an additional scanner card.

Datalinks are collected / sent data every cycle of the scanlist, which depends on the network size and data rate. Slow changing data
can be collected / sent via a slower explicit message, or data which changes only occasionally, could be triggered by an event.
Often when migrating drives, the same level of communication (or more) is required, so you need to look closely at the free space of
your DeviceNet scanner. The newer drives PF753 / 755 now offer safety related functions which may need some extra
communication capability with the PLC. Therefore the replacement drive may require moving to a new address area of the
DeviceNet scanner, or if not sufficient space, another DeviceNet scanner may be required.

Compatibility Issues
The PowerFlex drives listed below use an upgraded version of SCANport called Drive Peripheral Interface (DPI), which delivers
enhanced speed and pass through. In the earlier PF70 Std and PF700 Std PowerFlex drives, DPI was backward compatible with
SCANPORT, meaning the peripherals and interfaces from the later 1305 / 1336 drives would work (with limited functionality) with
PowerFlex.

However the newer PowerFlex drives (PF700VC, PF700H, PF700S, PF753, PF755) don’t contain the SCANport core code, so only
DPI is available. Therefore you should generally assume that it is not possible to re-use old adapters or peripherals, but new
adapters / peripherals will be required. Note that passive components such as SCANport cables and splitters are still useable.

If Automatic Device Replacement (ADR) is enabled on your DeviceNet scanner, it can automatically download the node address, and
the commissioned device parameters into your replacement device. However this feature consumes memory space on the
DeviceNet scanner dependant on the number and type of drives. Migrating drives may have an impact whether ADR can be enabled
for your new drive if insufficient memory. Perhaps it is necessary to re-evaluate which drives have priority and so needs ADR
enabled. The list below provides some idea of drive sizes for ADR:

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Drive Size in Bytes

PowerFlex 70 v2.xxx 3162
PowerFlex 70 EC v2.xx 3832
PowerFlex 700 Standard v2.xxx 3370
PowerFlex 700 Vector Control v2.xxx 5566
PowerFlex 700 Vector Control v4.xxx 9580
PowerFlex 700 H 3616
PowerFlex 700S Ph1 v1.xxx 10182
PowerFlex 700S Ph2 v3.xxx 12252
PowerFlex 40 v3.xxx (single drive mode) 2176
All Rockwell scanners except the 1769-SDN contains at least 65 Kbytes worth of ADR configuration recovery, storage area. The
1769-SDN only contains 48 Kbytes of ADR configuration recovery, storage area. The 1756-DNB Series C and D contains 1 Mbyte of
ADR configuration recovery, storage area.

N.B. The PowerFlex 753 / 755 are configurable with multiple cards (I/O, Safety, Encoders etc), and these drives have many
parameters (in the thousands), and so don’t readily lend themselves to ADR. As a result you cannot configure the parameters of
these drives in the RSNetworx for DeviceNet, and so they don’t have any ADR capability.

Control differences between SCANport and PowerFlex drives

The Logic Command and Status words that provide control and feedback for the PowerFlex drives are generally backwards
compatible with the SCANport Logic Command and Status words. However the PF700S / PF753 / PF755 are 32bit drives, and so
have an additional 16 bits of command and status words for additional functions.

The DeviceNet adapter used on 1305 SCANport drives are 1203-GK5 or 1203-GU6 mounted externally and usually plugged into
Adapter 2 port . Sometimes a SCANport splitter is used, which means that the DeviceNet adapter is plugged into Adapters 2 / 3 / 4/
5. This Adapter port number is used to define in the drive setup where the control information comes from (i.e. normally Adapter 2).

The DeviceNet adapter used on 1336 SCANport drives can still use the 1203-GK5 or 1203-GU6 mounted externally, but also can
accommodate a 1336-GM5 or 1336-GM6 mounted internally. If this is the case, the control comes from Adapter 1.

The DeviceNet adapter used on PowerFlex 7 class drives is the 20-COMM-D, which is normally mounted internally and plugged into
DPI Adapter 5 port .Sometimes an external power base is used, which means that the DeviceNet adapter is mounted in the power
base which is plugged into Adapter 2. This Adapter designation is used in the drive setup to define where the control information
comes from (i.e. normally Adapter 5).

The PowerFlex 753 / 755 uses a flexible slot configuration, whereby the 20-COMM-D is mounted on a communications card carrier
(20-750-20COMM), which can then be located in slots 1-6. This means that control information comes from Adapters / Ports 1 to 6.
Alternatively these drives have a dedicated DeviceNet adapter 20-750-DNET, which can also be located slots 4-6, and means the
control information comes from Adapter / Ports 4 to 6.

1336 Plus and PlusII drives could be configured as 2 wire Run/Stop using digital inputs and 3 wire Start/Stop control over
communications. This means that in 2 wire control, just toggling the start input could start and stop the drive. The original versions of
PowerFlex 70 / 700 drives doesn’t allow this mixture of 2 wire and 3 wire control. However from PF70EC rev 2.x and PF700VC rev
4.x onward, the parameters were modified to allow you change the appropriate digital input ( par 361 – 366) to option 46 = Run
w/comm.. Note that if Run w/comm is set, then the start bit in the comms word behaves as a 2 wire Run bit.

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Comparing the Speed Reference Scaling:

Another difference between a 1305 / 1336 drive with a 1203-Gx5 1203-Gx6 and a PowerFlex 70 / 700 drive is the scaling for the
speed reference.
1305 / 1336 SCANport drive with 1203-Gx5 / 1206-Gx6
With the SCANport system, the speed reference is scaled so that the [Maximum Freq] parameter = 32767. To send out a speed
reference to the drive from a controller over DeviceNet, you can perform the following calculation:

CommandFreq
SpeedRef = _____________ *32767
[MaximumFreq]

For example, to send out a command frequency of 50 Hz on a SCANport drive with a [Maximum Freq] = 50Hz we would calculate
the following:

25Hz
SpeedRef = _____________ *32767 = 16384
50Hz

PowerFlex 70 / 70EC / 700 / 700VC / 700H with 20-COMM-D

In these drives the speed reference can be scaled in 2 different ways:
a) Based on the P82[Max Speed] parameter when P298[DPI Ref Select] = Max Speed (not available in PF70 & 700 std). This is
used when there is no possibility of overspeed occurring. Therefore Max Speed = 32767 and the calculations below don’t apply.
b) Based on an overspeed occurring and is scaled so that P55 [Maximum Freq] = 32767.
P55 [Maximum Freq] is the largest output frequency that the drive will deliver to the motor.
Additionally, the PowerFlex 70/700 drive has a parameter called P82 [Maximum Speed]. P82 [Maximum Speed] limits the drive
speed reference, such as from a communication network or analog input.
The PowerFlex contains the following necessary rule:

P82 [Maximum Speed] + P83 [Overspeed Limit] = P55 [Maximum Freq]

P83 [Overspeed Limit] allows the drive to operate above P82 [Maximum Speed] for certain functions such as bus regulation, current
limit (during regeneration), PI control, and slip compensation. It is important that P83 [Overspeed Limit] is set to allow enough
headroom for the application. For example, let’s assume we have an application where P80 [Speed Mode] = “Slip Comp”. Slip
compensation adds some frequency to the commanded speed in order to compensate for slip in a loaded motor.
In this case, P83 [Overspeed Limit] should not be set to 0. Otherwise, if the drive is running with a commanded freq of 50 Hz and the
motor is loaded at all, slip compensation will add some frequency and we would get a nuisance “Overspeed” fault.

The European defaults are as follows:

P82 [Maximum Speed] = 50 Hz
P83[Overspeed Limit] = 10 Hz
P55 [Maximum Freq] = 130 Hz (this is default so that users who want to go twice base speed don't have to change it)
To send out a speed reference to the drive from a controller over DeviceNet, you can perform the following calculation:

CommandFreq
SpeedRef = _____________ *32767
P55[MaximumFreq]

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For example, to send out a command frequency of 50 Hz on a PowerFlex 70 or 700 with default settings we would calculate the
following:
50Hz
SpeedRef = _____________ *32767 = 12602
130Hz

As we can see, when going from a SCANport drive to the PowerFlex 70 with, the speed reference scaling changes. So in a retrofit, if
you intend to keep the PLC program the same, you need to change the drive parameters for the same speed control range.

Example of Speed Reference Scaling to achieve the same speed control range

The following example illustrates how to change the parameters in the

PowerFlex 70, so that the PLC prgogram commands the same speed control range.

The PLC program used on a 1305/1336 drive creates a number of 32767 = [Maximum Speed].
Let’s use assume that the 1305/1336 drive was controlled at 50Hz = 32767.
Assume that we will need to allow some overspeed capability, which will need to estimate when the application runs.
Leave P83 [Overspeed Limit] = 10 Hz (this is factory default, but adjust by experiment)..
Set P82 [Maximum Speed] = 50 Hz (this is European factory default).
Set P55 [Maximum Freq] = P82 [Maximum Speed] + P83 [Overspeed Limit]
P55 [Maximum Freq] = 50 Hz + 10 Hz = 60 Hz.

Now, we can control the drive from 0 to 50Hz, but the reference stops increasing the speed of the drive after 50Hz. So the max
controlling reference in this example is:

50Hz
SpeedRef = _____________ *32767 = 27306
60Hz

Of course if this shortened control speed range is not suitable for your PLC control program, then you need to change your program,
to output a suitable number using the calculations above.
N.B. The PowerFlex700VC and PowerFlex 753 / 755 can be set to RPM rather than Hz, so that real values can be used to control
the drive e.g. 1200.0 rpm

PowerFlex 753 and 755 and 20-COMM-D / 20-750-DNET

The PowerFlex 753 / 755 scaling works as above (part B only), but the parameter numbers are different

P37 [Maximum Freq]

P530 [Max Forward Speed].
P521 [Max Reverse Speed].
P524 [Overspeed Limit]

General Preparation to Migration

It is good practice to setup the drives in the workshop prior to migrating the drives on the actual plant / process. This can be done
with just RSNetworx for DeviceNet on a minimal DeviceNet network. I.e. a 24v dc power supply on the DeviceNet plug to the drive
(no scanner required). Additionally DriveExplorer or DriveExecutive can be used with a serial interface to setup the drive. The
procedure below details RSNetworx and DriveExplorer, so you can choose which method to use.

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Upload DeviceNet Scanner and DriveExplorer / DriveExecutive Files

If you don’t already have up to date copies, then it is a good idea to upload fresh copies of your DeviceNet project and drive files.
Now you can see the scanlist mapping and the drive communication sizes, so that you can review how your replacement drive will fit.

Install EDS Files on the programming PC

What gives DeviceNet its flexibility, is it’s ability to accept devices from widely differing sources, and integrate them all on one
network. DeviceNet achieves this using Electronic Data Sheet files, which describes all the parameters of a device, so it can be
integrated within RSNetWorx for DeviceNet. The EDS files reside on your PC within RSNetworx so that RSNetworx recognises a
device. If a device is recognised then the correct graphic is displayed, but if the device is not recognised then a yellow ? mark is
displayed. This usually because your PC doesn’t have the EDS file.

EDS files are updated with each version of RSNetworx, but usually don’t contain every variation of device. Therefore in preparation
to integrating a new device, we will need the EDS file. The EDS file can be downloaded over the internet, or with RA drives it will be
embedded within the device. So it’s a good idea to power up the drive on the workbench with the DeviceNet adapter attached, and
create the actual EDS file from the drive.

Creating an EDS file from the Drive (a PF70EC in this case)

This can be performed on a minimal network in the workshop, in advance of the production scanlist change.
Go online with RSNetworx for DeviceNet and create a new project, and then browse to your PF70EC which is now unrecognized. So
right click the unrecognized device and select Register Device.

This launches the EDS Wizard, so click Next for the following screen. We intend to Create an EDS file from the drive, so click that
option. N.B. If we downloaded a file from the web, then we would use the first option to Register an EDS file.
Click Next. This will retrieve the product details from the drive.

Click Next. Put in the drive default I/O sizes. Click Next and uploading will start.

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This takes about 5 minutes to complete. Click Next .

Now select the drive graphic represented by a box , and click Change icon

A library of graphics will be displayed. Select PF70 and click OK.

Click Next, and Next then Finish. RSNetworx for DeviceNet will now take a
few minutes to update, and then will respond with the correct graphic for
PF70EC.

When a new EDS file is created, sometimes RSNetworx for DeviceNet or RSLinx doesn’t recognize the new EDS correctly. The
solution is to restart RSNetworx and RSLinx for the device change to be visible.

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How to enable drive and datalinks with RSNetworx for DeviceNet.

This method of configuring the drive details the use of RSNetworx using a minimal network as described previously.
The 1203-GK5 and 20-COMM-D adapters have switches on the box that allow you to setup the DeviceNet node address. The 1203-
GU6 has internal parameters that sets the node address. However the 20-COMM-D also has internal parameters to enable the
datalinks.
N.B. Although the setup below shows a PF700, all the drives that use the 20-COMM-D adapter, work in the same way.
N.B. It is NOT possible to use this method for the 20-750-DNET card used with the PF753 / 755, as the parameters are not visible
within RSNetworx.

Browse the DeviceNet network with RSNetworx in a minimal configuration to locate the PF700. Once the drive has been discovered
you will see the PF700 graphic. N.B. If you see the yellow ? mark, then you need to upload the EDS file. Double click on the drive to
open the properties screen. Now click on the Parameters tab, and you will get the Upload / Download dialogue. As we wish to see
the parameters we need to click Upload.

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The upload can take a minute or so to complete and you will then see
the parameter list. To simplify finding parameters we will view the
parameters in their groups, so click the Groups checkbox. Now scroll
down to locate the DeviceNet Module, and double click it to expand
the parameters list.

Scroll down to select DPI I/O Config

and click the ellipse button so you can
change the value. In this example we
will select all datalinks, so check the
checkbox for DataLink A & B & C & D
and click OK.

The 20-COMM-D can also be used for

peer to peer communication, but as we
will assume that this is not used in our
examples below, then we also need to
setup paras #902 M-S Input and
para#903 M-S Output for the 4
datalinks.

Now scroll down to M-S Input and

enable DataLink A & B & C & D.

Do the same for M-S Output

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Now we need to specify what data is sent on the Datalinks, so scroll up to

find the DataLinks group and double click to expand, and now double click
on each Datalink to change the parameters numbers we wish to
communicate as in Table B below.

Once all the changes have been made click on the Apply button to
download all the changes to the drive.

Now your drive is ready to be put onto the plant / process DeviceNet
network.

How to enable drive and datalinks with DriveExplorer and 1203-USB / 1203-SSS Serial Interface.
The 1203-GK5 and 20-COMM-D adapters have switches on the box that allow you to setup the DeviceNet node address. The 1203-
GU6 has internal parameters that sets the node address. However the 20-COMM-D also has internal parameters to enable the
datalinks. To setup the new drive for migration we will use DriveExplorer with a serial interface 1203-USB.
N.B. Although the setup below shows a PF70EC, all the drives that use the 20-COMM-D adapter, work in the same way.

Make sure you PF70EC have the 20-

COMM-D card mounted inside the drive,
and replace the front cover.

Power up your PF70EC on the

workbench and connect your serial
interface to the port on the bottom of the
front cover. Open DriveExplorer and
from the Explore menu select Connect
…. Serial point to point.. Now select
the Device Parameters under the 20-
COMM-D DeviceNet

The above shows that parameter 4 is the DeviceNet address which comes from the switch on the front of the adapter. To set how
much data we will communicate we adjust para#13 DPI I/O Config. So double click on para#13.

DPI I/O Config is checked with Cmd/Ref which is the default setting for
this adapter, and shows that the Logic Control / Ref / Status / Feedback
is enabled.

As we are using 4 datalinks in the example below, enable the check

boxes for DataLink A & B & C & D.

Now click Apply button

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The 20-COMM-D can also be used for peer to peer communication, but as we will assume that this is not used in our examples
below, then we also need to setup paras #24 M-S Input and para#25 M-S Output for the 4 datalinks.

The example above shows we have enabled all 4 datalinks for M-S Input, but M-S Output still remains to be done. However note the
value in para #14, as it still shows the DPI I/O Actual still has no datalinks enable. This is because this parameters do not get
updated until the unit is reset. So power cycle the drive, and reconnect to verify that this has updated.

Now we need to configure

what data we would like in
our datalinks. Select the
PF70EC Communication
folder and select DataLinks

The values shown in the

DataLinks are the parameter
numbers we wish to
communicate. This should
exactly match that of the
PF70EC Table B below.

Now your drive is ready to be put onto the plant / process DeviceNet network.

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Migration Examples: 1305 to PF70EC

Existing 1305 Drive Setup and Datalinks

The table below shows a typical setup of datalinks to use as an example of how information can be communicated with different
drives. Of course your drive may have a different number and content of datalinks. The drive has been setup to use Logic Control,
Reference, Status, Feedback and 4 datalinks.

Data from the 1305 Drive to the PLC Data to the 1305 Drive from the PLC
DataLink Para # Description DataLink Para # Description
Drive Status Data Logic Control Data
Feedback Reference
DataLink Out A1 (P119) 54 Output Current DataLink In A1 (P111) 7 Accel Time 1
DataLink Out A2 (P120) 1 Output Voltage DataLink In A2 (P112) 8 Decel Time 1
DataLink Out B1 (P121) 23 Output Power DataLink In B1 (P113) 0
DataLink Out B2 (P122) 53 DC Bus Voltage DataLink In B2 (P114) 0
DataLink Out C1 (P123) 70 Drive Temperature DataLink In C1 (P115) 0
DataLink Out C2 (P124) 4 Last Fault DataLink In C2 (P116) 0
DataLink Out D1 (P125) 60 Drive Alarm DataLink In D1 (P117) 0
DataLink Out D2(P126) 0 DataLink In D2 (P118) 0
Table A – 1305 Communication Setup – 20 bytes in and 20 bytes out

Again it’s a good idea to setup the drive and DeviceNet adapter datalinks on the workbench prior to installation.
Inhibit the old drive in the Scanlist
Now we can go to the actual installation and change the configuration to support the new drive type. In this application note, we will
replace the standard 1305 at Node 1, with a new drive a PF70EC.
N.B. It is important to make sure that the new drive (PF70EC) contains all the correct parameters for operation. This example
assumes that the drive data sizes are the same for 1305 and PF70EC with 20 bytes of data in and 20 bytes of data out..

Start up RSNetworx for DeviceNet and select your previously stored project, and go online.

If the old 1305 drive is unpowered or dead with the browsed stored project, then a flag will appear on the 1305 drive, which when you
mouse over it will show that, “it is in the configuration, but not on the network”.
N.B. The example above is healthy and so no flag.
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In order to explain the scanlist mapping we need to examine the

scanlist in the scanner. So as a result of double clicking on the scanner
1756-DNB, uploading and selecting the Input tab, we can see how the
1305 is mapped. The scanlist shows that we start mapping the 1305
from Data(0), and from Table A our drive uses Integers for each of the
Logic / Ref / Datalinks, so we are mapped 10 Integers Input (20bytes or
5 DINTs) and 10 Integers output (20bytes or 5 DINTs). The Output tab
shows the outputs mapped identically to the Input tab.

Note that the 1336 drive is mapped immediately after the 1305, so there
is no free space here. If we had to insert a larger drive communication
size, we would have to split the drive across different memory areas, or
relocate to a new area.

As we intend to map the new drive in the existing space as the old drive (assume data size the same or smaller), then we need to
maintain the existing entry in the scanlist. To do this we need to inhibit the old 1305 drive in the scanlist.
If the data size is different or you want to change the position in the scanlist, then just delete the 1305 from the project, and jump to
the browse operation further on.

Now we need to change the Node Active (inhibit) for the 1305, double click the scanner, and upload the scanlist.
Now we can select the Scanlist tab and
uncheck the Node Active checkbox.

Now click the Download to Scanner

button, and click Selected Scanlist
Records and turn the plc programming
key switch to PROG mode.

Note that this will stop your PLC and

associated process, and so only
undertake this action when safe to do so.

Select ok to close the scanner dialogue

box.

The PowerFlex 70EC which was prepared earlier on the workbench, has been setup the same as the 1305 drive, with Logic, Ref,
Status, Feedback and 4 datalinks. However although the communication size is the same, the table below shows that the datalinks
need to change if we want to see the same parameters communicated, and to allow 32 bit parameters. This also means changes in
the user plc program to handle 32 bit real values.

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Data from the PF70EC Drive to the PLC Data to the PF70EC Drive from the PLC
DataLink Para # Description DataLink Para # Description
Drive Status Data Logic Control Data
Feedback Reference
DataLink Out A1 (P310) 3 Output Current DataLink In A1 (P300) 140 Accel Time 1
DataLink Out A2 (P311) 3 Output Current DataLink In A2 (P301) 142 Decel Time 1
DataLink Out B1 (P312) 7 Output Power DataLink In B1 (P302) 0
DataLink Out B2 (P313) 7 Output Power DataLink In B2 (P303) 0
DataLink Out C1 (P314) 218 Drive Temperature DataLink In C1 (P304) 0
DataLink Out C2 (P315) 243 Last Fault DataLink In C2 (P305) 0
DataLink Out D1 (P316) 211 Drive Alarm 1 DataLink In D1 (P306) 0
DataLink Out D2(P317) 212 Drive Alarm 2 DataLink In D2 (P307) 0
Table B – PF70EC Communication Setup – 20 bytes in and 20 bytes out

If the PF70EC table is compared with the 1305 table, the parameters Output Voltage and DC Bus Voltage are not being
communicated on the PF70EC due to lack of communication space. Therefore if these parameters are still needed, then explicit
messaging is required in the plc program.

Modify Scanlist with replacement drive

Now we can power down the old 1305, and connect the cables to the new PF70EC with the 20-COMM-D, and power up.
Now we can do an online browse to see the new drive. The graphic of the 1305 shows a blue not equal flag, showing a device
mismatch. Right click the drive and select Resolve Device Mismatch.

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The Device Mismatch informs you of the Offline identity (1305

drive), and the drive it actually now sees which is the Online
identity (new PF70EC).

Click OK to accept the change.

N.B. If the name of the node is not as you want it, now is a good time to change it, as the properties screen pops up providing access
to the Name. The name given will appear in the scanlist and above the graphic of the node (see screenshot below).

The graphic should now change to

show the PF70 graphic.

Double click on the scanner

And click on Upload when requested

The Electronic Key Mismatch dialogue

appears to inform you that the 1305 in the
scanlist is not the same as the PF70EC
which is now on your project screen.
(see Device Mismatch screen before)

So to accept this change click the Update

Key button

Now we need to make the node active and

download the changes to the scanner

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 Application Note

With the PF70EC Pump 101 selected in the right

hand screen, select the checkbox to Node
Active, and select the Download to Scanner
button. Check that the plc programming key
switch is still in PROG mode

Now click the Selected Scanlist records and

click Download

Now you need to modify the drive control and

scaling parameters in the drive. Typically the main reference in the PowerFlex 70 parameter 90 [Speed Ref A Select] will need
changing to adapter 5, and parameters 55, 81, 82, 83 adjusted for the speed scaling.
Of course your setup maybe different, so you may need to review your settings. Further changes may be required in your Logic
program, dependant on how you mapped the drive in the scanlist, and whether the datalinks changed.

If no further changes are required, the plc program key can now goto RUN mode , and the scanner display checked for errors. The
scanner display will alternate with the Node address and the error number, with the most common error being 77 which is Data Size
Mismatch, so you need to look how many datalinks are setup in the adapter.
With the drive accepted in the scanlist with no errors, the LEDs (Port, Mod, NetA) on the 20-COMM-D DeviceNet adapter will now
show steady green.

Migration Examples: 1336 Plus & PlusII to PF700VC

Existing 1336 PlusII Drive Setup and Datalinks

The existing drive has been setup to use Logic Control, Reference, Status, Feedback and 4 datalinks. (identical to the 1305)

Data from the 1336PlusII Drive to the PLC Data to the 1336 PlusII Drive from the PLC
DataLink Para # Description DataLink Para # Description
Drive Status Data Logic Control Data
Feedback Reference
DataLink Out A1 (P119) 54 Output Current DataLink In A1 (P111) 7 Accel Time 1
DataLink Out A2 (P120) 1 Output Voltage DataLink In A2 (P112) 8 Decel Time 1
DataLink Out B1 (P121) 23 Output Power DataLink In B1 (P113) 0
DataLink Out B2 (P122) 53 DC Bus Voltage DataLink In B2 (P114) 0
DataLink Out C1 (P123) 70 Drive Temperature DataLink In C1 (P115) 0
DataLink Out C2 (P124) 4 Last Fault DataLink In C2 (P116) 0
DataLink Out D1 (P125) 60 Drive Alarm DataLink In D1 (P117) 0
DataLink Out D2(P126) 0 DataLink In D2 (P118) 0
Table C – 1336 PlusII Communication Setup – 20 bytes in and 20 bytes out
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 Application Note

Again it’s a good idea to setup the new PowerFlex700VC drive and DeviceNet adapter datalinks on the workbench prior to
installation. The 20-COMM-D has been enabled with 4 DataLinks as shown in the general setup, and the table below shows
parameter setup. Note that this time we have chosen to take advantage of some extra parameters in the PF700VC, to provide
enhanced diagnostics. However as these are 32 bit DataLinks, this results in a size of 36 bytes in and 36 bytes out.

N.B. If we needed to stay within the same scanner space as the 1336 PlusII, then we would need to restrict the size to 20 bytes, and
so would need to turn off 2 DataLinks (say C1 and C2 and D1 and D2)

Data from the PF700VC Drive to the PLC Data to the PF700VC Drive from the PLC
DataLink Para # Description DataLink Para # Description
Drive Status Data Logic Control Data
Feedback Reference
DataLink Out A1 (P310) 3 Output Current DataLink In A1 (P300) 140 Accel Time 1
DataLink Out A2 (P311) 7 Output Power DataLink In A2 (P301) 142 Decel Time 1
DataLink Out B1 (P312) 218 Drive Temperature DataLink In B1 (P302) 0
DataLink Out B2 (P313) 243 Last Fault DataLink In B2 (P303) 0
DataLink Out C1 (P314) 210 Drive Status 2 DataLink In C1 (P304) 0
DataLink Out C2 (P315) 211 Drive Alarm 1 DataLink In C2 (P305) 0
DataLink Out D1 (P316) 212 Drive Alarm 2 DataLink In D1 (P306) 0
DataLink Out D2(P317) 214 Start Inhibits DataLink In D2 (P307) 0
Table D – PF70VC Communication Setup – 36 bytes in and 36 bytes out

Therefore the parameters are setup in the PF700VC on the workbench using DriveExplorer as shown below:

Delete the old drive in the Scanlist

Now we can go to the actual installation and change the configuration to support the new drive type. In this migration example, we
will replace the 1336 PlusII at Node 2, with a new drive a PF700VC. As the communication size is larger than the existing 1336
mapping, so we need map the drive into a new location with sufficient space. Therefore in this case we will delete the existing drive
in the scanlist, and then map the new PF700VC in its place.
N.B. In this scanlist no further mapping occurs after the 1336, so we will not overwrite any other mapping
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 Application Note

Start up RSNetworx for DeviceNet and select your previously stored project, and go online.

If the old 1336 drive is unpowered or dead with the browsed stored project, then a flag will appear on the 1336 drive which when you
mouse over it will show that, “it is in the configuration, but not on the network”.
N.B. The example above is healthy and so no flag.

As a result of double clicking on the 1756-DNB scanner, uploading and

selecting the Input tab, we can see how the 1336 is mapped. The
scanlist shows that we start mapping the 1336 from Data(5), and from
Table C our drive uses Integers for each of the Logic / Ref / Datalinks, so
we are mapped 10 Integers Input (20bytes or 5 DINTs) and 10 Integers
output (20bytes or 5 DINTs). The Output tab shows the outputs mapped
identically to the Input tab.

Note that the there are no devices mapped immediately after the 1336,
so there is effectively free space here. If your replacement drive data
size will overlap an existing drive mapping, then you should either
relocate this drive to another free area, or split the mapping as shown in
the next example.

To delete the 1336 drive goto the Scanlist tab and select the 02, 1336
PLUSII Pump 1 in the Scanlist screen, and use the left arrow < to move
the drive to the Available Devices screen.

Click ok and you will be asked to download the changed scanlist to the
DeviceNet scanner. Check that the plc programming key switch is still in
PROG mode, and click Yes.

Remove the 1336 drive form the network, and attach and powerup the
PF700VC, with the node address set to 2.

Re browse the network by clicking the browse button

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 Application Note

The 1336 drive now has a blue flag on the drive, indicating that the drive
is different. Right click the drive and select Resolve Device Mismatch.

Now click OK , and the 1336 graphic is replaced by the PF700VC

graphic.

Although the graphic changed, the 1336 name remains, so right click the drive and select Properties

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 Application Note

Change the name from 1336 PlusII to PF700VC, and of course, it remains
Pump 1.

Modify Scanlist with new drive

So now we need to add the drive back into the scanner, so double click the
scanner, and upload the scanlist.

Our scanner shows that just the 1305 is in the scanlist, but the new
PF700VC is now available to add to the scanlist. Select the PF700VC and
click the right arrow > to add it into the scanlist.

As the Automap on Add is checked, it will automatically add it into the

scanlist where it thinks it will fit, and with the default size of 4 bytes.
Obviously we need to fix this.

With the PF700VC selected in the scanlist, click

on the Edit I/O Parameters button. The screen
shows the default of 4 bytes.

Now change the Input Size to 36 bytes, and the

Output Size to 36 bytes, and click OK.

It will then issue a warning notice, so click Yes,

and then Yes and then Yes.

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 Application Note

Click ok and you are prompted to download the changes. Put the key
switch in PROG and then click Yes.

Now you need to modify the drive control and scaling parameters in the drive. Typically the main reference in the PowerFlex 700
parameter 90 [Speed Ref A Select] will need changing to adapter 5, and parameters 55, 81, 82, 83 adjusted for the speed scaling. Of
course your existing setup maybe different, so you will need to review your settings.
Further changes may be required in your Logic program, dependant on how you mapped the drive in the scanlist, and whether the
datalinks changed.
If no further changes are required, the plc program key can now goto RUN mode , and the scanner display checked for errors. The
scanner display will alternate with the Node address and the error number, with the most common error being 77 which is Data Size
Mismatch, so you need to look how many datalinks are setup in the adapter.
With the drive accepted in the scanlist with no errors, the LEDs (Port, Mod, NetA) on the 20-COMM-D DeviceNet adapter will now
show steady green.

Migration Examples: 1305 / 1336 PlusII to PF753 / 755 with 20-COMM-D

The PF753 / PF755 drive in the following

screenshot shows the setup with 4 datalinks.
Notice that parameters 7 and 8 both show
that this drive is 32 bit. This means that with 4
datalinks enabled, we have 10 Double
Integers Input (40bytes or 10 DINTs) and 10
Double Integers output (40bytes or 10
DINTs).

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 Application Note

Obviously the communication size is twice as large as the existing 1305 / 1336 drive, so will not fit in the existing space (without
reducing the number of datalinks active). Therefore we will map this into free scanlist space after the 1336 drive. and so we will map
this will a new node number 8.
As the datalinks are all 32 bit DINT, so the
parameters are all floating point real
values. When using a 16 bit PLC such as
SLC500, you will need to convert the
DINTs to Integers (see Knowledge Base
for suitable examples)

Note that with the PF753 / 755 we can now

pass data to / from the DeviceLogix
program (see Data In B1)

Re browse the network by clicking on the

Browse icon

The PowerFlex753 appears at node 8.

Double click the PF753 drive to open the Properties window, and
change the name. Click Apply and OK.

Now we need to modify the scanlist, so double click on the scanner

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 Application Note

The drive appears in the Available Devices, so remove the Automap on Add checkbox and then select the PF753 and click the >
button to add into the scanlist. Click the Edit I/O Parameters button and change the polled default Input Size to 40 bytes and
Output Size to 40 bytes.

When you click OK the software asks whether you want

to change, so answer Yes, and then do you want to
Automap, in this case we will say No.

In this example we will demonstrate mapping the data to a specific location rather than using Automap. Obviously you can choose
any location in free space, but we will map to location Data[12]. On the Input tab below we can see that the PF753 is not yet
mapped. Make sure that the PF753 is selected and click the Advanced button. We will map 40 bytes (320 bits) to Data[12] and click
Apply Mapping

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 Application Note

The scanlist Input tab now shows the PF753 mapped at Data[12], with a gap at Data[10] and Data[11]. Obviously you will need to
repeat the above steps to map the PF753 Outputs to a specific location (at Data[12] in our example).

N.B. In the above example all 40 bytes (320 bits) were mapped
contiguously as we had the necessary free space. If your scanner
requires you to split the drive into different areas, then the Advanced tab
allows up to 4 areas to be mapped.
It is important when splitting a drive memory map, that the split occurs on
the DINT boundaries (datalink boundaries)

Now we would download the changes to the scanner as before. Click

Apply and ok and you are prompted to download the changes. Put the
key switch in PROG and then click Yes.

Now you need to modify the drive control and scaling parameters in the drive. The main reference in the PowerFlex 753 / 755
parameter 545 [Speed Ref A Sel] will need changing to select where the 20-COMM-D and carrier card is located.

On a PF753 / 755 this card can be

placed in slots 4 to 6, and in the case
shown Port 6 is selected.
Parameters 520 to 524 will need to
be adjusted for the speed scaling.
Further changes may be required in
your Logic program, dependant on
how you mapped the drive in the
scanlist, and whether the datalinks
changed.

If no further changes are required, the plc program key can now goto RUN mode , and the scanner display checked for errors. The
scanner display will alternate with the Node address and the error number, with the most common error being 77 which is Data Size
Mismatch, so you need to look how many datalinks are setup in the adapter.
With the drive accepted in the scanlist with no errors, the LEDs (Port, Mod, NetA) on the 20-COMM-D DeviceNet adapter will now
show steady green.

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 Application Note

Migration Examples: 1305 / 1336 PlusII to PF753 / 755 with 20-750-DNET

Existing 1336 PlusII Drive Setup and Datalinks

The existing drive has been setup to use Logic Control, Reference, Status, Feedback and 4 datalinks. (identical to the 1305)

Data from the 1336PlusII Drive to the PLC Data to the 1336 PlusII Drive from the PLC
DataLink Para # Description DataLink Para # Description
Drive Status Data Logic Control Data
Feedback Reference
DataLink Out A1 (P119) 54 Output Current DataLink In A1 (P111) 7 Accel Time 1
DataLink Out A2 (P120) 1 Output Voltage DataLink In A2 (P112) 8 Decel Time 1
DataLink Out B1 (P121) 23 Output Power DataLink In B1 (P113) 0
DataLink Out B2 (P122) 53 DC Bus Voltage DataLink In B2 (P114) 0
DataLink Out C1 (P123) 70 Drive Temperature DataLink In C1 (P115) 0
DataLink Out C2 (P124) 4 Last Fault DataLink In C2 (P116) 0
DataLink Out D1 (P125) 60 Drive Alarm DataLink In D1 (P117) 0
DataLink Out D2(P126) 0 DataLink In D2 (P118) 0
Table D – 1336 PlusII Communication Setup – 20 bytes in and 20 bytes out

The 20-750-DNET card configuration within RSNetworx is different to the 20-COMM-D, as the drive configuration is based upon
which slot different cards are installed, resulting in many parameters. Hence RSNetworx only provides access to the number of
datalinks enabled on the adapter, not the actual parameters within the drive, which means you cannot setup the drive within
RSNetworx. Additionally ADR is not available on this drive and adapter combination. Therefore we need to use DriveExplorer or
DriveExecutive with a serial interface to setup the drive, or browse with DriveExecutive over RSLinx to the DeviceNet network.

Again it’s a good idea to setup the new PowerFlex 753 / 755 drive and DeviceNet adapter datalinks on the workbench prior to
installation. The 20-750-DNET card can be put into slots 4 to 6 of the drive, and provides up to 16 datalinks. Although we don’t have
to use all the datalinks, we have chosen to take advantage of some extra parameters in the PF753 / 755, to provide DeviceLogix
and enhanced diagnostics. However as these are 32 bit DataLinks, this results in a size of 72 bytes in and 72 bytes out.

The screenshot shows the DeviceNet

parameters with 16 datalinks enabled

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 Application Note

The actual values of each of the

datalinks is setup in the DeviceNet
Host Parameters.

DL From Net = control data from the

plc to the drive

DL To Net = status information from the

drive to the plc.

Notice that we are able to get / set data

from the plc and use it within
DeviceLogix

As the steps for putting the drive on DeviceNet are identical to the steps
taken in the previous example, the screenshot below details the
mapping in the scanner.
Obviously this would be repeated for the Output tab.

Again you need to modify the drive control and scaling parameters in the drive. The main reference in the PowerFlex 753 / 755
parameter 545 [Speed Ref A Sel] will need changing to select where the 20-750-DNET card is located. On a PF753 / 755 this card
can be placed in slots 4 to 6, and in the case shown below is selected Port 6.
Parameters 520 to 524 will need to be adjusted for the speed scaling.
Further changes may be required in your Logic program, dependant on how you mapped the drive in the scanlist, and whether the
datalinks changed.

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 Application Note

Notes
Please note the following:

This application note assumes the user knows how to configure DeviceNet using RSNetworx for DeviceNet, and
is familiar with other DeviceNet scanners (1747-SDN SLC scanners), and methods of going on-line to DeviceNet.
The examples are based on the ControlLogix DeviceNet (1756-DNB) platform to reduce the complexity of this
document. The 1747-SDN SLC and PLC5 DeviceNet scanners are different in terms of memory, so you need to
consult the various configuration manuals. However the ideas and methods within this document, are very similar
across all platforms.

There is no discussion within this document about the setup of the Electronic Keys within the scanlist or ADR. The
examples above have assumed that the keys will be left at default, and ADR not used. However there are good
reasons why the keys should be changed or ADR turned on, which is discussed in KnowledgeBase document
#39183. Note that PF753 / 755 are not capable of ADR.

Further related literature is available

1203-GK5 and 1203-GM5

http://literature.rockwellautomation.com/idc/groups/literature/documents/um/1203-um010_-en-p.pdf

1203-GU6 and 1336-GM6

http://literature.rockwellautomation.com/idc/groups/literature/documents/um/1203-um014_-en-p.pdf

20-COMM-D User Manual

http://literature.rockwellautomation.com/idc/groups/literature/documents/um/20comm-um002_-en-p.pdf

20-750-DNET
http://literature.rockwellautomation.com/idc/groups/literature/documents/um/750com-um002_-en-p.pdf

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 Application Note

Appendix Comms Words – 1305, 1336Plus, 1336PlusII with 1203-GK5 / GU6 / GM5 / GM6

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 Application Note

Appendix Comms Words – PowerFlex70 / 70EC / 700 / 700VC / 700H / 753 / 755 & 20-COMM-D
Logic Command Word

Logic Status Word

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 Application Note

Appendix Comms Words – PowerFlex753 / 755 & 20-750-DNET

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 Application Note

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