Emerson Unidrive M700 User Manual
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Emerson Unidrive M700 User Manual

Si-ethernet and unidrive m - onboard ethernet
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See also: Installation Manual
User Guide
SI-Ethernet and
Unidrive M -
Onboard Ethernet
Part Number: 0478-0137-01
Issue: 1
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Summary of Contents for Emerson Unidrive M700

  • Page 1 User Guide SI-Ethernet and Unidrive M - Onboard Ethernet Part Number: 0478-0137-01 Issue: 1 www.controltechniques.com...
  • Page 2 General Information The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor. The contents of this guide are believed to be correct at the time of printing. In the interests of commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the content of the guide without notice.

  • Page 3: Table Of Contents

    Contents Safety information ............5 Warnings, cautions and notes ..............5 Electrical safety - general warning ............5 System design and safety of personnel ..........5 Environmental limits ................5 Compliance with regulations ..............6 Motor .......................6 Adjusting parameters ................6 General safety considerations for remote operation .......6 Introduction ..............7 Products covered by this User Guide ............7 Features ....................7...
  • Page 4 PC Tools Applications ..........179 Unidrive M Connect ................179 Machine Control Studio ...............179 CTScope .....................180 SyPTPro ....................180 CT OPC server ..................181 Security ...............182 Introduction ..................182 General site security issues ..............182 Default restrictions ................182 Diagnostics ..............183 10.1 LED diagnostics ..................183 10.2 Drive trip display codes ...............183 10.3 Ethernet sub trip codes ...............184 10.4...

  • Page 5: Safety Information

    Safety information Warnings, cautions and notes A Warning contains information, which is essential for avoiding a safety hazard. WARNING A Caution contains information, which is necessary for avoiding a risk of damage to the product or other equipment. CAUTION A Note contains information, which helps to ensure correct operation of the product. NOTE Electrical safety - general warning The voltages used in the drive can cause severe electrical shock and/or burns, and...

  • Page 6: Compliance With Regulations

    Compliance with regulations The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses or other protection, and protective earth (ground) connections.

  • Page 7: Introduction

    Unidrive M400 (sizes 2 to 8) • Unidrive M600 (sizes 3 to 8) • Unidrive M700 / M701 / M702 (sizes 3 to 10) • Unidrive M800 / M810 (sizes 3 to 8) Features The following list gives an overview of the functionality available: •...

  • Page 8: Option Module Identification

    Option module identification Figure 2-1 SI-Ethernet Link LEDs Earth connection The SI-Ethernet can be identified by: 1. The label located on the topside of the option module. 2. The color coding across the front of the option module. SI-Ethernet being beige. Figure 2-2 SI-Ethernet label 1.

  • Page 9: Conventions Used In This Guide

    Conventions used in this guide The configuration of the host drive and option module is done using menus and parameters. A menu is a logical collection of parameters that have similar functionality. In the case of an option module, the option module set-up parameters in menu 0 will appear in drive menu 15, 16 or 17 depending on which slot the module is installed in.

  • Page 10: Mechanical Installation

    Mechanical installation CAUTION: power down the drive before installing / removing option modules. Failure to do so may result in damage to the product. Refer to the relevant Safety Information section in the appropriate drive manual. CAUTION Figure 3-1 Installation of an SI option module on Unidrive M200 to M400 (sizes 2 to 4) •...
  • Page 11 Figure 3-2 Installation of an SI option module on Unidrive M200 to M400 (sizes 5 to 8) • Place the option module onto the drive as shown in (2) until the module clicks into place. The terminal cover on the drive holds the option module in place, so this must be put back on. Figure 3-3 Installation of an SI option module on Unidrive M600 to M810 •...

  • Page 12: Electrical Installation

    Electrical installation SI-Ethernet module information SI-Ethernet provides two standard RJ45 UTP/STP (Un-shielded/Shielded Twisted Pair) connections to a 100 Mbs Ethernet system. In addition to the RJ45 connectors, a grounding tag is supplied for supplementary bonding. SI-Ethernet provides 2 diagnostic LEDs for status and information purposes located on the module topside. Figure 4-1 SI-Ethernet Link LEDs...

  • Page 13: Cable Shield Connections

    Cable shield connections Standard Ethernet UTP or STP cables do not require supplementary grounding. Cable It is recommended that a minimum specification of CAT5e is installed on new installations, as this gives a good cost/performance ratio. If you are using existing cabling, this may limit the maximum data rate depending on the cable ratings.
  • Page 14 Figure 4-3 Typical network topologies SI-Ethernet User Guide Issue: 1...

  • Page 15: Getting Started

    Getting started Network design considerations Ethernet is an open system allowing many different vendors to design and supply equipment. When designing an industrial network you must carefully consider the topology and data traffic on the network to avoid potential problems. To avoid bandwidth issues it is recommended that the control network is logically separate from any other network.

  • Page 16: Class Types

    Class types IP addresses are grouped into ranges called classes, each class has a specific set of addresses and has a typical situation where it is used. When selecting the class of IP address required, consideration must be given to how many subnets you need, how many hosts are required and if you will need a public (worldwide) or a private (local) addressing scheme.

  • Page 17: Generating The Complete Address

    Generating the complete address A complete IP address consists of an IP address and a subnet mask, these two numbers are required to allow communication on Ethernet using TCP/IP. 5.6.1 The IP address The IP address is made up from four 8 bit decimal numbers (octets) and is written as follows: w.x.y.z for example192.168.0.1 (class c)

  • Page 18: Dhcp Considerations

    DHCP considerations 5.7.1 Using fixed IP addressing Using fixed IP addresses (manually configured) means that if a module fails, the IP address can be restored to a replacement module without the need to reconfigure the DHCP server. Using fixed addresses also prevents the DHCP server from changing the address.

  • Page 19: Set-Up Flow Chart

    Set-up flow chart Start Connect all drives PING all drives together using from a command See Chapter 4 See Chapter 5 approved cable / prompt to test connectors / connections switches Ensure each drive Save module See Chapter 4 See Chapter 5 Is correctly settings on drive.

  • Page 20: Single Line Parameter Descriptions

    5.10 Single line parameter descriptions Table 5.3 lists the coding used for the parameter type in the subsequent parameter description tables. Table 5.3 Parameter type coding Read / Date Time RO Read-only Bit Txt Text string Date Time Write parameter parameter parameter Character...
  • Page 21 Drive model Module Slot number Drive menu (MM) SI-Ethernet M200 / M201 / M300 / M400 Onboard Ethernet SI-Ethernet M600 Onboard Ethernet SI-Ethernet M700 / M702 Onboard Ethernet SI-Ethernet M701 Onboard Ethernet SI-Ethernet M800 / M810 Onboard Ethernet SI-Ethernet User Guide Issue: 1...
  • Page 22 5.10.2 Menu 2 - Ethernet Configuration Table 5.6 Menu 2 parameters Parameter Range Default Type Initializing (0), Links Down (1), DHCP In Progress (2), 02.003 Network Status ND NC PT No Address (3), Ready (4), Active (5) Network Message 02.004 0 to 65535 Messages/s Num ND NC PT Count...
  • Page 23 5.10.3 Menu 9 - Ethernet Resources Table 5.7 Menu 9 parameters Parameter Range Default Type 09.001 Cyclic Tx Links Free 0 to 255 RO Num ND NC 09.002 Cyclic Rx Links Free 0 to 255 RO Num ND NC 09.003 Fieldbus Links Free 0 to 255 RO Num ND NC...
  • Page 24 Parameter Range Default Type VLAN disabled (-30), Reserved 29 (-29), Reserved 28 (-28), Reserved 27 (-27), Reserved 26 (-26), Reserved 25 (-25), Reserved 24 (-24), Reserved 23 (-23), Reserved 22 (-22), SYNC unsupported (-21), MEC offset (-20), Invalid tx rate (-19), Too many mapping (-18), Link busy (-17), Invalid profile (-16),...
  • Page 25 Parameter Range Default Type VLAN disabled (-30), Reserved 29 (-29), Reserved 28 (-28), Reserved 27 (-27), Reserved 26 (-26), Reserved 25 (-25), Reserved 24 (-24), Reserved 23 (-23), Reserved 22 (-22), SYNC unsupported (-21), MEC offset (-20), Invalid tx rate (-19), Too many mapping (-18), Link busy (-17), Invalid profile (-16),...
  • Page 26 Parameter Range Default Type VLAN disabled (-30), Reserved 29 (-29), Reserved 28 (-28), Reserved 27 (-27), Reserved 26 (-26), Reserved 25 (-25), Reserved 24 (-24), Reserved 23 (-23), Reserved 22 (-22), SYNC unsupported (-21), MEC offset (-20), Invalid tx rate (-19), Too many mapping (-18), Link busy (-17), Invalid profile (-16),...
  • Page 27 Parameter Range Default Type No Event (0), Event (1), Rx1 Timeout Event No Event 10.048 Event1 (2), Type Event2 (3), Event3 (4) VLAN disabled (-30), Reserved 29 (-29), Reserved 28 (-28), Reserved 27 (-27), Reserved 26 (-26), Reserved 25 (-25), Reserved 24 (-24), Reserved 23 (-23), Reserved 22 (-22),...
  • Page 28 Parameter Range Default Type This slot (0), Slot 1 (1), Rx2 Timeout Event 10.057 Slot 2 (2), This slot (0) Destination Slot 3 (3), Slot 4 (4) No Event (0), Event (1), Rx2 Timeout Event 10.058 Event1 (2), No Event (0) RW Type Event2 (3), Event3 (4)
  • Page 29 Parameter Range Default Type Trip (0), 10.066 Rx3 Timeout Action Clear output (1), Trip (0) Hold last (2) This slot (0), Slot 1 (1), Rx3 Timeout Event 10.067 Slot 2 (2), This slot (0) Destination Slot 3 (3), Slot 4 (4) No Event (0), Event (1), Rx3 Timeout Event...
  • Page 30 5.10.5 Menu 11 - Synchronization Table 5.9 Menu 11 parameters Parameter Range Default Type Preferred Sync 11.001 0 to 4 Master Master Clock 11.002 0 to 3 Domain Grandmaster MAC 00:00:00:00:00:00 to 11.005 Address FF:FF:FF:FF:FF:FF Synchronization -2147483648 to 11.006 Jitter From 2147483647 ns Grandmaster Synchronization...
  • Page 31 Parameter Range Default Type No Event (0), Rx2 Late Event (1), No Event 11.052 Synchronization Event 1 (2), Frame Event Event 2 (3), Event 3 (4) Rx3 Late Trip (1), 11.060 Synchronization Do not use (2), Trip (1) Frame Action Use (3) This slot (0), Rx3 Late...
  • Page 32 Parameter Range Default Type This slot (0), Slot 1 (1), Modbus Timeout This slot 15.011 Slot 2 (2), Event Destination Slot 3 (3), Slot 4 (4) No event (0), Trigger Event (1), Modbus Timeout Trigger Event 1 (2), No event 15.012 Event Type Trigger Event 2 (3),...
  • Page 33 Parameter Range Default Type No event (0), Trigger Event (1), RPI timeout event Trigger Event 1 (2), 20.013 No event (0) type Trigger Event 2 (3), Trigger Event 3 (4), Trigger Event 4 (5) Trip (0), Send flt values (1), 20.015 PLC idle action Clear output (2),...
  • Page 34 Parameter Range Default Type Custom product 20.032 0 to 65535 RW Num revision code 20.033 Actual product code 0 to 65535 RO Num NC PT Actual product 20.034 0 to 65535 RO Num NC PT revision 2-FC DC (0), 6-WRI (1), 20.040 Type of Motor 1 7-SCI (2),...
  • Page 35 5.10.8 Menu 21 - EtherNet/IP In Mappings Table 5.12 Menu 21 parameters Parameter Range Default Type Input mapping 21.001 0.00.000 to 4.99.999 0.10.040 parameter 1 Input mapping 21.002 0.00.000 to 4.99.999 0.02.001 parameter 2 Input mapping 21.003 0.00.000 to 4.99.999 0.00.000 parameter 3 Input mapping...
  • Page 36 5.10.9 Menu 22 - EtherNet/IP Out Mappings Table 5.13 Menu 22 parameters Parameter Range Default Type Output mapping 22.001 0.00.000 to 4.99.999 0.06.042 parameter 1 Output mapping 22.002 0.00.000 to 4.99.999 0.01.021 parameter 2 Output mapping 22.003 0.00.000 to 4.99.999 0.00.000 parameter 3 Output mapping...
  • Page 37 5.10.10 Menu 23 - EtherNet/IP Fault Values Table 5.14 Menu 23 parameters Parameter Range Default Type Output fault -2147483648 to 23.001 value 1 2147483647 Output fault -2147483648 to 23.002 value 2 2147483647 Output fault -2147483648 to 23.003 value 3 2147483647 Output fault -2147483648 to 23.004...

  • Page 38: Parameters

    Parameters The Ethernet interface holds two parameter databases; the Ethernet interface internal parameter database and the host drive's parameter database. The Ethernet interface internal parameters can be accessed from the drive's keypad, a user program in a MCi200/MCi210 option module, PC Tools applications software or a module in another slot of the drive.
  • Page 39 6.1.1 Menu 0 - Ethernet setup S.00.001 Module ID Minimum Maximum 65535 Default Units Type 16 Bit Volatile Update Rate Power-up write Display Format None Decimal Places Coding RO, ND, NC, PT, BU The Module ID: • Onboard Ethernet = 430 •...
  • Page 40 S.00.005 Serial Number MS Minimum Maximum 99999999 Default Units Type 32 Bit Volatile Update Rate Power-up write Display Format None Decimal Places Coding RO, ND, NC, PT See Serial Number LS (S.00.004) S.00.006 Status Minimum Maximum Default Units Type 8 Bit Volatile Update Rate Background Display Format...
  • Page 41 S.00.008 Default Minimum Maximum Default Units Read every 200 ms, Type 1 Bit Volatile Update Rate Written to 0 on module initialization. Display Format None Decimal Places Coding RW, NC If set to “ON” when the module is reset, this parameter will cause the option module to return to it’s “Out of box configuration”...
  • Page 42 S.00.010 Active IP Address -2147483648 2147483647 Minimum Maximum (Display:128.0.0.0) (Display:127.255.255.255) Default Units (Display: 0.0.0.0) Type 32 Bit Volatile Update Rate Background Display Format IP Address Decimal Places 0 Coding RO, NC, PT The module’s active IP address. 6.1.2 Menu 2 - Ethernet configuration S.02.003 Network Status Minimum...
  • Page 43 S.02.005 DHCP Enable Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background read Display Format None Decimal Places Coding RW, BU Controls whether or not the module will attempt to use a Dynamic Host Configuration Protocol (DHCP) server to obtain the IP address, subnet mask, default gateway and DNS servers.
  • Page 44 S.02.007 Subnet Mask 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display:255.255.255.255) 4294967040 Default Units (Display:255.255.255.0) DHCP enabled: write on event; Type 32 Bit User Save Update Rate DHCP disabled: read on reset Display Format IP Address Decimal Places 0 Coding RW, BU Controls and displays the subnet mask of the module.
  • Page 45 S.02.009 Primary DNS 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display:255.255.255.255) Default Units (Display: 0.0.0.0) DHCP enabled: write on event; Type 32 Bit User Save Update Rate DHCP disabled: read on reset Display Format IP Address Decimal Places 0 Coding RW, BU The module can use this IP address when it wishes to resolve the IP address for a domain name.
  • Page 46 S.02.011 MAC Address 281474976710655 Minimum Maximum (Display:00.00.00.00.00.00) (Display:FF:FF:FF:FF:FF:FF) Default Units Type 64 bit volatile Update Rate Power-up write Display Format MAC Address Decimal Places 0 Coding RO, ND, NC, PT, BU The 48-bit MAC address of the module. S.02.020 Priority Protocol Minimum Maximum Default...
  • Page 47 S.02.022 Web Server Port Minimum Maximum 65535 Default Units Read on module reset Type 1 Bit User Save Update Rate and HTTP_ENABLE Display Format None Decimal Places Coding RW, BU The web server port. This may be changed for added security. The web server functionality is not currently implemented.
  • Page 48 S.02.030 VLAN Enable Minimum Maximum Default Units Type 1 Bit User Save Update Rate Read on module reset Display Format None Decimal Places Coding Controls whether the module will use VLAN tagging. When used in conjunction with Drive VLAN ID (S.02.031) network traffic from the interface will be tagged with the chosen VLAN identifier.
  • Page 49 The following table illustrates the function of each of these parameters with the base parameter (MM.PPP) identified as S.MM.PPP. Parameter Description S.MM.PPP Base parameter - status (bits b15 to b8) and command (bits b7 to b0) information S.MM.PPP + 1 2 parameter in sequence - Destination IP address (wwwxxx) S.MM.PPP + 2 3 parameter in sequence - Destination IP address (yyyzzz)
  • Page 50 S.MM.PPP + 3 : Target / source parameter address (SMM) This parameter specifies the slot number (S) and menu number (MM) of the target or source parameter. S.MM.PPP + 4 : Target / source parameter address (PPP) This parameter specifies the parameter number (PPP) of the target or source parameter.
  • Page 51 S.MM.PPP 6 : Parameter value (MSW) This parameter: • Stores the most significant word of the value to be written to the destination parameter if the command is Write (3) or • Stores the most significant word of the value read from the destination parameter if the command is Read (2) and the status is OK (3) 6.1.3 Menu 9 –...
  • Page 52 S.09.008 Background cycles per second Minimum Maximum 65535 Default Units Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places Coding RO, ND, NC, BU, PT The background task cycles per second represents the number of times per second the background task is currently executing.
  • Page 53 6.1.4 Menu 10 – Easy Mode Cyclic Data The menus specified here allow up to 3 transmit and 3 receive cyclic links to be configured. Each receive link can have its own timeout configured with an additional custom action. For greater control advanced cyclic links can be configured using the cyclic link editor within Machine Control Studio.
  • Page 54 S.10.003 Default Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Read on reset Display Format None Decimal Places Coding RW, NC This parameter allows the protocol to be defaulted to factory settings. This includes all of the protocol features, configuration, mappings and stored objects. S.10.010 Tx1 Link Profile Minimum...
  • Page 55 S.10.013 Tx1 Parameter Count Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU This parameter is used to set the number of contiguous parameters for the Tx1 link. S.10.014 Tx1 Link Transmission Type Minimum...
  • Page 56 S.10.016 Tx1 Message Rate Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU Defines, in milliseconds, the rate at which Tx1 Link will be transmitted. A value of zero disables the transmission of data.
  • Page 57 Value Text Description Attrib RO Attribute is read only Attrib missing Attribute is missing Timeout Timeout In error The specified link is in error state Link num in use The link number specified is already in use Not editable The link specified is not editable Invalid link num An invalid link number was specified Invalid args...
  • Page 58 S.10.022 Tx2 Source Parameter 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Type 32 Bit User Save Update Rate Read on reset Display Format Slot Menu Param Decimal Places Coding RW, PT, BU This parameter sets the source parameter for the Tx2 link. S.10.023 Tx2 Parameter Count Minimum...
  • Page 59 S.10.025 Tx2 Destination Address 4294967295 Minimum Maximum (Display:0.0.0.0) (Display: 255.255.255.255) Default Units (Display:0.0.0.0) Type 32 Bit User Save Update Rate Read on reset Display Format IP Address Decimal Places Coding RW, BU This parameter specifies the IP address of the destination device for the Tx2 link. If Tx2 Link Transmission Type (S.10.024) is set to either broadcast or one of the multicast settings this parameter will display the appropriate address.
  • Page 60 Value Text Description VLAN is required in order to guarantee timing in VLAN disabled synchronous mode but it is disabled Reserved 29 Reserved for future use Reserved 28 Reserved for future use Reserved 27 Reserved for future use Reserved 26 Reserved for future use Reserved 25 Reserved for future use...
  • Page 61 This parameter reports the link’s status if it has been loaded. A Reset (S.10.002) is required to load any changes. S.10.030 Tx3 Link Profile Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding...
  • Page 62 S.10.034 Tx3 Link Transmission Type Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, TE, BU Value Text Description Unicast Link is unicast to the IP address specified Broadcast Link is broadcast (255.255.255.255) Multicast1...
  • Page 63 S.10.039 Tx3 Link Status Minimum Maximum Default Units Type 8 Bit Volatile Update Rate Write on reset Display Format None Decimal Places Coding RO, TE Value Text Description VLAN is required in order to guarantee timing in VLAN disabled synchronous mode but it is disabled Reserved 29 Reserved for future use Reserved 28...
  • Page 64 Value Text Description Invalid args Link number / argument zero or invalid Too many links Maximum number of links has been reached Out of memory Failed to allocate memory Configuration of link successful Not running Ok, not running OK sync Configuration of synchronous link successful This parameter reports the link’s status if it has been loaded.
  • Page 65 S.10.043 Rx1 Parameter Count Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU This parameter is used to set the number of contiguous parameters for the Rx1 link. S.10.044 Rx1 Source Type Minimum...
  • Page 66 S.10.046 Rx1 Timeout Action Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, TE, BU Value Text Description Trip Trip drive with Slx.Er and sub-trip code 106 (Cyclic Timeout) Clear output PLC output parameters will have their values set to zero Hold last Hold the last value in output parameters...
  • Page 67 Value Text Description No Event No event Event Trigger module event Event 1 Trigger module event 1 Event 2 Trigger module event 2 Event 3 Trigger module event 3 Defines the event to trigger in the given destination, as specified in Rx1 Timeout Event Destination (S.10.047), if a cyclic data timeout occurs on the Rx1 link.
  • Page 68 Value Text Description Msg mismatch Link number and direction do not match Msg too long Resulting message is too long Attrib NA Attribute not available Attrib RO Attribute is read only Attrib missing Attribute is missing Timeout Timeout In error The specified link is in error state Link num in use The link number specified is already in use...
  • Page 69 S.10.051 Rx2 Link Number Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU This parameter is used to set the link number (1 to 255) for the Rx2 link. S.10.052 Rx2 Destination Parameter 499999...
  • Page 70 S.10.055 Rx2 Timeout Minimum Maximum 65535 Default Units Type 16 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU This parameter specifies the watchdog timer for the Rx2 link. If no cyclic data is received on the Rx2 link the action taken will be determined by the setting in Rx2 Timeout Action (S.10.056).
  • Page 71 This feature is not yet implemented. NOTE S.10.058 Rx2 Timeout Event Type Minimum Maximum Default Units Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places Coding RW, TE, BU Value Text Description No Event No event Event Trigger module event...
  • Page 72 Value Text Description VLAN is required in order to guarantee timing in VLAN disabled synchronous mode but it is disabled Reserved 29 Reserved for future use Reserved 28 Reserved for future use Reserved 27 Reserved for future use Reserved 26 Reserved for future use Reserved 25 Reserved for future use...
  • Page 73 This parameter reports the link’s status if it has been loaded. A Reset (S.10.002) is required to load any changes. S.10.060 Rx3 Link Profile Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding...
  • Page 74 S.10.064 Rx3 Source Type Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, TE, BU Value Text Description Direct Link is unicast or broadcast Multicast1 Link is multicast to the IP address Multicast2 Link is multicast to the IP address Multicast3...
  • Page 75 S.10.067 Rx3 Timeout Event Destination Minimum Maximum Default Units Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places Coding RW, TE, BU Value Text Description This slot Trigger module event in this slot Slot 1 Trigger module event in slot 1 Slot 2 Trigger module event in slot 2...
  • Page 76 S.10.069 Rx3 Link Status Minimum Maximum Default Units Type 8 Bit Volatile Update Rate Write on reset Display Format None Decimal Places Coding RO, TE Value Text Description VLAN is required in order to guarantee timing in VLAN disabled synchronous mode but it is disabled Reserved 29 Reserved for future use Reserved 28...
  • Page 77 Value Text Description Invalid args Link number / argument zero or invalid Too many links Maximum number of links has been reached Out of memory Failed to allocate memory Configuration of link successful Not running Ok, not running OK sync Configuration of synchronous link successful This parameter reports the link’s status if it has been loaded.
  • Page 78 synchronization grandmaster (if there is a grandmaster). S.11.006 Synchronisation Jitter From Grandmaster Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate Written every 500ms Display Format None Decimal Places Coding RO, ND, NC, PT This parameter displays the synchronization jitter in nanoseconds. The value is filtered to be human readable.
  • Page 79 S.11.010 PTP Date 311299 Minimum Maximum (Display: 00-00-00) (Display: 31-12-99) Default Units Type 32 Bit Volatile Update Rate Written every 500 ms Display Format Date Decimal Places Coding RO, ND, NC, PT, BU This parameter displays the current date. If the module has no time source it will display the date based on its power-up date of 1st January 1970.
  • Page 80 S.11.020 Network Error Count Minimum Maximum 4294967295 Default Units Type 32 Bit Volatile Update Rate Written every 500 ms Display Format None Decimal Places Coding RO, ND, NC, PT, BU The parameter displays a count of network errors since startup. It can be used as an indication of a problem.
  • Page 81 Value Text Description Trip Trip drive with Slx.Er and sub-trip code Do not use The data is ignored The data is used immediately This parameter defines the action to be taken when a late synchronized frame is received on the Rx1 link. S.11.041 Rx1 Late Synchronisation Frame Destination Minimum...
  • Page 82 Defines the event number to trigger in the given destination (slot) when a late synchronized frame is received on the Rx1 link. This feature is not yet implemented. NOTE S.11.050 Rx2 Late Synchronisation Frame Action Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset...
  • Page 83 S.11.052 Rx2 Late Synchronisation Frame Event Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, TE, BU Value Text Description No Event No event Event Trigger module event Event 1 Trigger module event 1 Event 2...
  • Page 84 S.11.061 Rx3 Late Synchronisation Frame Destination Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, TE, BU Value Text Description This slot Trigger module event in this slot Slot 1 Trigger module event in slot 1 Slot 2...
  • Page 85 6.1.6 Menu 15 – Modbus S.15.001 Enable Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background read Display Format None Decimal Places Coding RW, BU This parameter is used to enable or disable Modbus master and slave functionality. S.15.002 Reset Minimum...
  • Page 86 Value Text Description No error No error Port in use Specified port is currently in use by another protocol Timeout event Timeout trigger event location is not valid The Max priority connection is greater than the max Num Connections connections This parameter will indicate any Modbus configuration errors.
  • Page 87 The priority connections are permanent and, once made will only be deleted at the request of the client or due to a communications error. Any connections not in the priority connections pool are kept in the non-priority connections pool. If a client attempts to establish a priority connection and all available non-priority connections are in use, the non-priority connection that has not been used for the longest will be closed to make way for the new priority connection.
  • Page 88 Value Text Description Trip Trip drive and raise error No action No action Defines the action when no message is received within the time period specified in Modbus Timeout (S.15.009). S.15.011 Modbus Timeout Event Destination Minimum Maximum Default Units Module reset, Modbus Type 8 Bit User Save Update Rate...
  • Page 89 Value Text Description No event No event Trigger Event Trigger module Event Trigger Event 1 Trigger module Event 1 Trigger Event 2 Trigger module Event 2 Trigger Event 3 Trigger module Event 3 Trigger Event 4 Trigger module Event 4 Defines the event to trigger when a timeout occurs.
  • Page 90 S.15.021 Priority Connection 2 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display: 255.255.255.255) Default Units (Display: 0.0.0.0) Module reset, Modbus Type 32 Bit User Save Update Rate interface reset or Modbus interface enable Display Format IP Address Decimal Places Coding RW, BU This parameter specifies an IP address for a priority connection.
  • Page 91 • Variable length output assembly object (instance 101) with consistency for up to 20 parameters • User selectable RPI timeout action • Identity object (class 0x01) • Motor data object (class 0x28) • Control supervisor object (class 0x29) • AC/DC Drive object (class 0x2A) •...
  • Page 92 S.20.001 Enable EtherNet/IP Minimum Maximum Default Units Type 1 Bit User Save Update Rate Background read Display Format None Decimal Places Coding RW, BU This parameter is used to enable or disable EtherNet/IP slave functionality. If either Input Assembly Object Size (S.20.020) or Output Assembly Object Size NOTE (S.20.021) is a non zero value then the available mappings will still be consumed even if the Ethernet/IP functionality is disabled.
  • Page 93 Value Text Description No error No error RPI event dst RPI timeout event destination not valid RPI event type RPI timeout event type not valid IDLE event dst PLC IDLE event destination not valid IDLE event type PLC IDLE event type not valid Input mapping Input mapping parameter not valid Output mapping...
  • Page 94 that the cyclic data communication has been interrupted. Trip On an RPI timeout the interface will cause a slot trip with sub trip value 101 (EtherNet/IP RPI Timeout). Send Fault Values On an RPI timeout the interface will not trip the drive. It will write the values specified in Fault Values menu (23) to the PLC output mappings for the assembly object 101 if active.
  • Page 95 S.20.013 RPI timeout event type Minimum Maximum Default Units Module reset, EtherNet/IP Type 8 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, TE, BU Value Text Description No event No event Trigger Event Trigger module Event...
  • Page 96 S.20.016 PLC idle event destination Minimum Maximum Default Units Module reset, EtherNet/IP Type 8 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, TE, BU Value Text Description This slot Trigger event in this slot Slot 1 Trigger event in slot 1...
  • Page 97 S.20.018 Active input assembly object Minimum Maximum Default Units Module reset, EtherNet/IP Type 8 Bit Volatile Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RO, TE, NC, PT, BU Value Text Description 100-PrimaryI Primary input (100) 70-BscSpdCtrlI Basic speed control input (70)
  • Page 98 S.20.020 Input assembly object size Minimum Maximum Default Units Bytes Module reset, EtherNet/IP Type 8 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, BU This parameter defines the size of the input assembly object (100). S.20.021 Output assembly object size Minimum...
  • Page 99 S.20.026 Input assembly object consistency enable Minimum Maximum Default Units Module reset, EtherNet/IP Type 1 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding This parameter allows for enabling and disabling input assembly object consistency. Under normal conditions, cyclic data is sampled and transmitted at the Requested Packet Interval (RPI).
  • Page 100 S.20.028 Output assembly object consistency enable Minimum Maximum Default Units Module reset, EtherNet/IP Type 1 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding This parameter allows for enabling and disabling output assembly object consistency. Writing of data can be controlled using consistency by enabling this parameter and setting a trigger parameter (Output assembly object consistency trigger parameter (S.20.029)).
  • Page 101 S.20.030 Custom Vendor ID Minimum Maximum Default Units Module reset, EtherNet/IP Type 8 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, TE, BU Value Text Description 257 - CT EtherNet/IP interface 553 - CT AMERICA EtherNet/IP America interface...
  • Page 102 S.20.033 Actual product code Minimum Maximum 65535 Default Units Module reset, EtherNet/IP Type 16 Bit Volatile Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RO, NC, PT, BU This parameter defines the actual product code. S.20.034 Actual product revision Minimum...
  • Page 103 S.20.041 Type of motor 2 Minimum Maximum Default Units Type 8 Bit User Save Update Rate Reset Display Format None Decimal Places Coding RO, TE, PT, BU Value Text Description 2-FC DC FC DC Motor 6-WRI Wound Rotor Induction Motor 7-SCI Squirrel Cage Induction Motor 9-Sin PM BL...
  • Page 104 S.21.003 Input mapping parameter 3 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.21.004...
  • Page 105 S.21.007 Input mapping parameter 7 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.21.008...
  • Page 106 S.21.011 Input mapping parameter 11 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.21.012...
  • Page 107 S.21.015 Input mapping parameter 15 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.21.016...
  • Page 108 S.21.019 Input mapping parameter 19 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.21.020...
  • Page 109 S.22.002 Output mapping parameter 2 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) 1021 Default Units (Display: 0.01.021) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.22.003...
  • Page 110 S.22.006 Output mapping parameter 6 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.22.007...
  • Page 111 S.22.010 Output mapping parameter 10 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.22.011...
  • Page 112 S.22.014 Output mapping parameter 14 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.22.015...
  • Page 113 S.22.018 Output mapping parameter 18 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units (Display: 0.00.000) Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format Slot Menu Param Decimal Places Coding RW, DE, PT, BU S.22.019...
  • Page 114 6.1.10 Menu 23– EtherNet/IP Fault Values This menu contains the parameters used to define the values to be sent to the mapped output destinations when fault values have been configured to be sent after either a RPI timeout event (see RPI timeout action (S.20.011), RPI timeout event destination (S.20.012) and RPI timeout event type (S.20.013)) or a PLC idle event (see PLC idle action (S.20.015), PLC idle event destination (S.20.016) and PLC idle event type (S.20.017)) has occurred.
  • Page 115 S.23.005 Output Fault value 5 Minimum -2147483648 Maximum 2147483647 Default Units Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, PT S.23.006 Output Fault value 6 Minimum -2147483648 Maximum...
  • Page 116 S.23.009 Output Fault value 9 Minimum -2147483648 Maximum 2147483647 Default Units Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, PT S.23.010 Output Fault value 10 Minimum -2147483648 Maximum...
  • Page 117 S.23.013 Output Fault value 13 Minimum -2147483648 Maximum 2147483647 Default Units Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, PT S.23.014 Output Fault value 14 Minimum -2147483648 Maximum...
  • Page 118 S.23.017 Output Fault value 17 Minimum -2147483648 Maximum 2147483647 Default Units Module reset, EtherNet/IP Type 32 Bit User Save Update Rate interface reset or EtherNet/ IP interface enable Display Format None Decimal Places Coding RW, PT S.23.018 Output Fault value 18 Minimum -2147483648 Maximum...

  • Page 119: Key Features And Protocols

    Key features and Protocols This section details the key features and protocols supported by the onboard Ethernet interface and the SI-Ethernet option module. PC/PLC considerations If the subnet of the host PC/PLC is different to the subnet of the Ethernet interface, then both the Ethernet interface and the PC/PLC, must be configured with the address of a gateway that allows communication between the two devices.
  • Page 120 7.2.2 Data structure Communication between devices is based upon Modbus Application Data Units (ADUs), the ADU consists of 2 parts, the Modbus Application Protocol (MBAP) header and the Modbus Protocol Data Unit (PDU). Figure 7-1 Modbus Data Structure Modbus ADU MBAP Header Function Code Data...
  • Page 121 7.2.3 Data access Data access using Modbus TCP/IP takes the form of a request for data by the master, followed by a response from the slave indicating success or failure. If no response is received this indicates that the message has not been received or the message is invalid or the node is unable to reply.
  • Page 122 7.2.6 Register addressing The Modbus register address is 16 bits in size, of which the upper two bits are used for data type selection leaving 14 bits to represent the parameter address, taking into account the slave increments the address value by 1, this results in a theoretical maximum parameter address of 163.84 (limited to 162.99 in software) when the default standard addressing mode (see Modbus Register Addressing Mode (S.15.013)) is used.
  • Page 123 7.2.7 FC03 – Read multiple registers This function code allows a contiguous array of registers to be read. The maximum number of registers that can be read is 120, this allows up to 120 16-bit parameters or 60 32-bit parameters to be read in a single transaction. If this is exceeded the server will issue an exception response code 2.

  • Page 124: Function Code 0X03

    7.2.8 FC06 – Write single register This function code writes a single 16-bit value to a register. The normal response is an echo of the request (unless an exception occurs) returned after the parameter has been written. The register address can be a 32-bit parameter address but only the lower 16 bits of the value will be written.

  • Page 125: Number Of 16-Bit Registers (Msb)

    7.2.9 FC16 – Write multiple registers This function code allows a contiguous series of registers to be written. The maximum number of registers that can be written is 120, this allows up to 120 16-bit parameters or 60 32-bit parameters to be read in a single transaction. If this is exceeded the server will issue an exception response code 2.

  • Page 126: Transaction Id

    Example To write the value 12345 to drive parameters 0.20.021 through 0.20.023 (Transaction ID=42) using standard addressing: Master request data Slave response data Byte Description Byte Description value value Transaction ID Transaction ID 00 2A 00 2A (42) (42) Protocol ID Protocol ID 00 00 00 00...
  • Page 127 7.2.10 FC23 – Read/Write multiple registers This function code allows a contiguous series of registers to be written and another contiguous series of registers to be read. The maximum number of registers that can be read is 120 and similarly the maximum number of registers that can be written is 120, this allows up to 120 16-bit parameters or 60 32-bit parameters to be read and / or written in a single transaction.
  • Page 128 Example To write the value 12345 to drive parameters 0.20.021 through 0.20.023 and read the values of parameters 0.20.024 through 0.20.026 (Transaction ID=42) using standard addressing: Master request data Slave response data Description Byte Description Byte value value Transaction ID Transaction ID 00 2A 00 2A...

  • Page 129: Rtmoe (Real Time Motion Over Ethernet)

    7.2.11 Modbus Exception Response Message If the master request is rejected then an exception response message will be returned. Exception Response Message Byte Hex value Description ?? ?? Transaction ID (defined by Modbus Master) 00 00 Protocol ID 00 03 Number of data bytes to follow Unit identifier Function code (request FC with bit b7 set to 1)

  • Page 130: Si-Ethernet User Guide Issue

    Table 7.6 RTMoE Support levels Support Level Capability Easy Mode Machine Control Studio M200-M400 M600-M800 M200-M400 M600-M800 Non-cyclic communication Total number of transmit cyclic links Total number of receive cyclic links Max transmit synchronous links Max receive synchronous links Max length of non- 10 x 32-bit 10 x 32-bit 10 x 32-bit...
  • Page 131 When designing a network, the message loading for each device should be checked to ensure the number of messages do not exceed the maximum recommended value. Consider the following example where a Unidrive M700 is communicating with three other devices over Ethernet using Modbus TCP/IP (10 parameters read every 100ms), EtherNet/IP (5 parameters read every 10ms and 5 parameters written every 10ms) and RTMoE (2 parameters written every 500µs).
  • Page 132 By choosing the most appropriate transmission type an efficient and reliable network can be designed. For example: • Three drives must use an ELS (Electronic Line Shaft) to follow a Smart Drive. In this case a multicast message should be used to transmit the reference position from the Smart Drive.
  • Page 133 7.3.3 Checking for bottlenecks There are three main reasons why a bottleneck occurs: 1. A drive is receiving more Ethernet messages than it can handle. (8000 frames per second) 2. A drive is being asked to access more parameters than it can handle. (6000 parameters per second for M600, M700 and M800, 500 parameters per second for M200, M300 and M400) 3.
  • Page 134 • Length of daisy chain - A daisy chain with Ethernet is really a chain of three port switches. This can be controlled through physical network design e.g. using a tree structure to limit the length of daisy chains. The above delays (Latency) are managed in software, in conjunction with PTP, to ensure that all device use synchronous data at the same time, but the length of the daisy chain must be controlled by careful network design.
  • Page 135 Figure 7-3 Typical separately synchronized segregated network Configuring a single drive to act as both gateway and synchronization master will NOTE increase the message loading on that drive, in some situations this may result in a reduction of the network performance. In these situations, separate drives should be used for the gateway and synchronization master.
  • Page 136 7.3.8 Parameter Mapping Configuration Each cyclic link (transmit and receive) must have a unique link number (from 1 to 255) to identify it, this link number must be specified in both the transmitting device and receiving device. For each cyclic link a start parameter and number of consecutive parameters must be defined along with the message type, for a transmit link the destination address (if not a broadcast) and message rate must also be configured.
  • Page 137 7.3.9 VLANs To guarantee the timing of synchronous links VLANs must be enabled using VLAN Enable (S.02.030). VLANs include a priority field that is applied to all messages. This field is used to apply a higher priority to synchronous cyclic data than other non- deterministic traffic.

  • Page 138: Non-Cyclic Data Access

    Non-cyclic data access Unidrive M supports the use of non-cyclic data access by user programs. By simply enabling non-cyclic data (Non-cyclic mode enabled (S.02.035)) and specifying a base parameter (Non-cyclic base parameter (S.02.036)), a user program can be used to read or write a parameter either locally in the host drive or option module, or in another drive or option module on the network.
  • Page 139 Figure 7-4 Non-cyclic parameter access state machine SI-Ethernet User Guide Issue: 1...
  • Page 140 7.4.1 Setting the destination node IP address When setting the destination node IP address parameters, each parameter contains two octets of the IP address. i.e. the most significant two octets (www.xxx) of the IP address is written to the base address + 1 parameter and the least significant two octets (yyy.zzz) of the IP address is written to the base address + 2 parameter.
  • Page 141 7.4.2 Setting the destination slot and menu (Base address + 3) The destination slot and menu address is sent in the format SMM, where S is the slot number and MM is the two digit menu number. Examples • For the drive application menu 3, the value sent would be “20”. •...
  • Page 142 As an example, the following code may be used in the user program: // Writing // Calculate the value to write LSW LSW% = Value% & 0x00007FFF Handle the casting from 32bit variable to 16bit parameter Value%.15 = True% THEN // Subtract 32768 LSW% = LSW% - 32768 ENDIF...
  • Page 143 As an example, the following code may be used in the user program: // Read complete // Get the LSW value Address% = BaseAddress% + 5 LSW% = #Address% // Get the MSW value Address% = BaseAddress% + 6 MSW% = #Address% Value% = (LSW% &...

  • Page 144: Ethernet/Ip

    EtherNet/IP The Ethernet interface supports the EtherNet/IP protocol and conforms to the EtherNet/ IP adaptation of the Common Industrial Protocol (CIP) Specification. This is the same upper-layer protocol and object model as used in DeviceNet. The Ethernet interface module will operate as a slave device and the following functionality is supported: •...
  • Page 145 7.5.3 Write consistency Under normal conditions, cyclic data is sampled and written at the Requested Packet Interval (RPI). However, if an option module was in the process of reading the mapped parameters while these parameters were being written, then the data obtained may not be consistent across the entire assembly object.
  • Page 146 The user program in the SI-Applications Plus module may be written as follows (some changes may be necessary to account for bus cycle times and parameter update rates): Initial{ // Initialise variables NewValue% = 0 #86.03 = 0 // Set digital output0 off #86.04 = 0 // Set digital output1 off #20.011 = 0...
  • Page 147 ELSE // ERROR - set DOP0 ON #86.03 = 1 ENDIF ENDIF goto top: // main background loop } //Background 7.5.4 Non-cyclic (explicit) data transfer Non-cyclic or explicit messaging is used to read and write parameters non-cyclically by means of assembly objects. All of the AC Drives profile attributes can be accessed using explicit messaging.
  • Page 148 7.5.7 Configuring the PLC Due to the many different makes of PLCs available, the information in this section may not be relevant to all types of PLCs. The information supplied in this section relates to the “ControlLogix” family of controllers supplied by “Allen Bradley”. Although the Allen Bradley PLCs are mentioned in this document, this does not repre- NOTE sent an endorsement of any particular PLC type or PLC manufacturer.
  • Page 149 Table 7.8 Supported drive assembly objects Assembly Class Default Mappings Length Type object name (Bytes) Decimal Hex (0x) Bytes 0 to 3 Bytes 4 to 7 PrimaryI 4 to 80 Input 0.10.040 0.02.001 BscSpdCtrlI Input ExtSpdCtrlI Input SpdTrqCtrlI Input ExtSpdTrqCtrlI Input PrimaryO 4 to 80...
  • Page 150 The individual bit functions are described as follows: Name Control Word Description Set this bit to command the drive to run in the RunFwd forward direction. A 0 to 1 transition will reset the drive if the drive was FaultRst in a trip state.
  • Page 151 7.5.10 Extended speed control Output assembly object 0x15 (21 The PLC or scanner must be configured for 4 output bytes (or 2 output words) if this assembly object is to be used. Table 7.11 Extended speed control Data word Function Word 0 Extended control word.
  • Page 152 For more information on the setting of the speed reference see section 7.31 AC/DC Drive object attributes on page 174. 7.5.11 Basic speed and torque control Output assembly object 0x16 (22 The PLC or scanner must be configured for 6 output bytes (or 3 output words) if this assembly object is to be used.
  • Page 153 Torque reference (TorqueRef) The torque reference word utilises 2 bytes (16 bits) as shown below. TorqueRef (high byte) TorqueRef (low byte) For more information on the setting of the torque reference see section 7.31 AC/DC Drive object attributes on page 174. 7.5.12 Extended speed and torque control Output assembly object 0x17 (23 The PLC or scanner must be configured for 6 output bytes (or 3 output words) if this...
  • Page 154 For information on the drive control word see Table 7.10 Drive control word bit NOTE functions on page 150. Speed reference (SpeedRef) The speed reference word utilises 2 bytes (16 bits) as shown below. SpeedRef (high byte) SpeedRef (low byte) For more information on the setting of the speed reference see section 7.31 AC/DC Drive object attributes on page 174.
  • Page 155 The individual bit functions are described as follows: Name Description Indicates whether the drive is OK or tripped Faulted (0=OK, 1=Tripped). Running1 Indicates if the drive is running in the forward direction (Fwd) (0=False, 1=True). Speed feedback (SpeedActual) The speed feedback word utilises 2 bytes (16 bits) as shown below. SpeedActual (high byte) SpeedActual (low byte) For more information on the speed feedback see section 7.31 AC/DC Drive object...
  • Page 156 Table 7.16 DriveState codes Code b15 - b8 State Description 00000001 Startup This state is skipped over on CT drives. 00000010 Not_Ready Inhibit. 00000011 Ready Ready. 00000100 Enabled Run or Stop. 00000101 Stopping Deceleration or Injection. AC_UU (this will only occur if Mains Loss is 00000110 Fault_Stop enabled).
  • Page 157 Speed feedback (SpeedActual) The speed feedback word utilises 2 bytes (16 bits) as shown below. SpeedActual (high byte) SpeedActual (low byte) For more information on the speed feedback see section 7.31 AC/DC Drive object attributes on page 174. 7.5.15 Basic speed and torque feedback Input assembly object 0x48 (72 The PLC or scanner must be configured for 6 input bytes (or 3 input words) if this assembly object is to be used.
  • Page 158 Speed feedback (SpeedActual) The speed feedback word utilises 2 bytes (16 bits) as shown below. SpeedActual (high byte) SpeedActual (low byte) For more information on the speed feedback see section 7.31 AC/DC Drive object attributes on page 174. Torque feedback (TorqueActual) The torque feedback word utilises 2 bytes (16 bits) as shown below.
  • Page 159 Table 7.19 DriveState codes Code b15 - b8 State Description 00000001 Startup This state is skipped over on CT drives. 00000010 Not_Ready Inhibit. 00000011 Ready Ready. 00000100 Enabled Run or Stop. 00000101 Stopping Deceleration or Injection. AC_UU (this will only occur if Mains Loss is 00000110 Fault_Stop enabled).
  • Page 160 Speed feedback (SpeedActual) The speed feedback word utilises 2 bytes (16 bits) as shown below. SpeedActuall(high byte) SpeedActual (low byte) For more information on the speed feedback see section 7.31 AC/DC Drive object attributes on page 174. Torque feedback (TorqueActual) The torque feedback word utilises 2 bytes (16 bits) as shown below.
  • Page 161 7.5.17 Object Model The Object Model has the following object classes present. Table 7.21 Supported Objects Class Code Object Number of Effect Class Instances Decimal Hex (0x) Identity Provides device specific information. Defines the I/O data format (parameter Assembly mapping). Motor Data Defines the motor data.
  • Page 162 Vendor ID Name: VendorID 0x101 (257 Class 0x01 Default Instance 0x01 Data Type UINT Attribute 0x01 Access Returns the vendor ID code 0x101 (257 ) for Control Techniques. Device type Name: DeviceType Class 0x01 Default 0x02 Instance 0x01 Data Type UINT Attribute 0x02 Access...
  • Page 163 Operating Mode Open-loop RFC-A RFC-S Regen CIP code (b2 to b0) The CIP (Common Industrial Protocol) interface code is defined as follows: Value Interface ID Description Unidrive M700/800 onboard Ethernet SI-DeviceNet MCi210 SI-Ethernet Revision Name: Revision Class 0x01 Default Instance...
  • Page 164 Major revision Major revision = 12 (0x0C) Minor revision Minor revision = 34 (0x22) Serial Number Name: SerialNumber Class 0x01 Default Instance 0x01 Data Type UDINT Attribute 0x06 Access Returns the lower 4 bytes (32 bits) of the Ethernet interface serial number. The Ethernet interface serial number is contained within two adjacent parameters, Pr MM.004 Serial Number LS displays the least 8 significant decimal digits and Pr MM.005 Serial Number MS displays the most 8 significant decimal digits.
  • Page 165 7.5.19 Motor data object Class: 0x28 (40 There are 2 instances of the Motor data object. Instance 1 will represent menu 5 motor information (motor 1) and instance 2 will represent menu 21 motor information (motor 2). The instance being used by the other dependant objects will be determined by Pr 0.11.045, to use the second motor map objects (instance 2), Pr 0.11.045 should be set to Motor 2.
  • Page 166 Motor type Name: MotorType1 Class 0x28 Default Instance 0x01 Data Type USINT Attribute 0x03 Access Get/Set Returns or sets the motor type to be used by the drive for instance 1. Name: MotorType2 Class 0x28 Default Instance 0x02 Data Type USINT Attribute 0x03...
  • Page 167 Rated voltage Name: RatedVoltage1 Class 0x28 Default Pr 0.05.009 Instance 0x01 Data Type USINT Attribute 0x07 Access Get/Set Returns or sets the rated motor voltage in Volts for instance 1. This attribute is linked to Pr 0.05.009. Name: RatedVoltage2 Class 0x28 Default Pr 0.21.009...
  • Page 168 Base speed Name: BaseSpeed1 Class 0x28 Default Pr 0.05.008 Instance 0x01 Data Type USINT Attribute 0x0F Access Get/Set Returns or sets the base speed of the motor in RPM for instance 1. This attribute is linked to Pr 0.05.008. Name: BaseSpeed2 Class 0x28...
  • Page 169 7.5.20 Control Supervisor object Class: 0x29 (41 The Control Supervisor object provides access to various attributes which control or monitor the drive running state. The available attributes and their associated functions are shown in Table 7.27 following. Table 7.27 Control Supervisor object attribute Attribute ID Access Name...
  • Page 170 RunFwd Name: RunFwd Class 0x29 Default Instance 0x01 Data Type USINT Attribute 0x03 Access Get/Set Set to 1 to run the drive in the forward direction. Get/Set Pr 0.06.042 (bit 1). RunRev Name: RunRev Class 0x29 Default Instance 0x01 Data Type USINT Attribute 0x04...
  • Page 171 Table 7.28 Control Supervisor state attributes Code State Parameter Dependence Description Startup This state is skipped over Not_Ready 0.10.101 = 0 Inhibit Ready 0.10.101 = 1 Ready Enabled 0.10.101 = 2 OR 0.10.101 = 4 Stop or Run Stopping 0.10.101 = 6 OR 0.10.101 = 7 Decelerating or DC injection braking Fault_Stop 0.10.101 = 5...
  • Page 172 Ready Name: Ready Class 0x29 Default Instance 0x01 Data Type USINT Attribute 0x09 Access The Ready attribute will be set in accordance with the state as shown in Table 7.29 below. Table 7.29 Control Supervisor Ready attributes Code State Ready state Ready True Enabled...
  • Page 173 FaultCode Name: FaultCode Class 0x29 Default Instance 0x01 Data Type USINT Attribute 0x0D Access The fault code attribute will return the ODVA fault code as follows: If the drive is not OK, the drive fault code is obtained from Pr 0.10.020, if the drive fault code is listed in Table 7.30, then the ODVA fault code as shown in Table 7.30 below will be returned.
  • Page 174 7.5.21 AC/DC Drive object Class: 0x2A (42 The AC/DC Drive object provides information on the drive running state and supports the following attributes: Table 7.31 AC/DC Drive object attributes Attribute Name Access Parameter dependence 0x03 (3 Pr 0.10.006 AtReference 0x04 (4 Pr 0.06.042 (bit 8) NetRef Get/Set...
  • Page 175 NetRef Name: NetRef Class 0x2A Default Instance 0x01 Data Type USINT Attribute 0x04 Access Get/Set Selects the source of the speed reference. Get/SetPr 0.06.042 bit 8 0 = analog speed reference. 1 = digital speed reference. The NetRef can only be changed between local and remote when the drive is configured NOTE in speed control mode.
  • Page 176 Table 7.33 AC/DC Drive object DriveMode attribute (Set) DriveMode Actual Access Drive Action Value Mode Mode User Defined Don’t care Return Invalid Attribute Value’ (0x09) Open-loop Pr 0.04.011 = Speed control mode (0) RFC-A Open Loop Speed RFC-S Return ‘Drive state conflict’ error (0x10) Regen RFC-A Pr 0.04.011 = Speed control mode (0)
  • Page 177 SpeedRef Name: SpeedRef Class 0x2A Default Instance 0x01 Data Type USINT Attribute 0x08 Access Get/Set Sets or returns the speed reference in RPM. Closed loop Get/Set SpeedRef = Pr 0.01.021 (Scaled to 0 decimal places). Open loop SpeedRef = (Pr 0.01.021 * 60) / Pole Pairs (Scaled to 0 decimal places). Pr 0.01.021 = (SpeedRef * Pole Pairs) / 60 (Scaled to 0 decimal places).
  • Page 178 7.5.22 Control Techniques objects The Control Techniques objects (classes 0x64 to 0x69) allow access to all drive and option module parameters. The class instance number is used to reference the drive or option module menu number (except menu 0) and the class attribute number references the parameter within that menu.

  • Page 179: Pc Tools Applications

    PC Tools Applications The Ethernet interface supports the following commissioning and programming software applications: • Unidrive M Connect • Machine Control Studio • CTScope • SyPTPro • CT OPC server Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system.

  • Page 180: Ctscope

    CTScope CTScope is a software application which provides commonly used oscilloscope features to monitor drive parameters. Features include: • Four channels • Triggers • Start/Stop at absolute time • Start/Stop on value (rising/falling edge) • Channels can capture parameter values from different nodes •...

  • Page 181: Ct Opc Server

    CT OPC server OPC is a set of standards written to facilitate connection of a software application such as SCADA and HMI to industrial equipment such as drives and PLCs. Provided such devices have an associated OPC server (inbuilt or external), the standard removes the need for such applications to have any knowledge of how to obtain data from the device.

  • Page 182: Security

    Security Introduction On open networked systems it is important that security is considered. Security covers aspects such as access to devices using passwords, network infrastructure, company procedures and backup procedures. The physical system security should be enforced with acceptable user policies and appropriate employee guidelines.

  • Page 183: Diagnostics

    Diagnostics This section of the manual provides basic diagnostic information intended to enable resolution of the most common problems encountered when setting up the Ethernet interface on an Ethernet network. A high percentage of problems reported are basic setup problems that can be avoided by using the following pages.

  • Page 184: Ethernet Sub Trip Codes

    Table 10.2 Drive trip indications Trip Description The drive has detected that an Ethernet interface is present but is unable to SlotX HF communicate with it due to a hardware fault. SlotX Error User trip generated by the Ethernet interface This trip will occur if a drive slot was previously configured with an option SlotX Not Fitted module but on power up, no option module was detected.
  • Page 185 Value Sub trip string Description Pr 0.10.070 INIT Param Chann Parameter channel Initialization error Link Overload Too many links to be handled in the same cycle Mcast Over Limit Too many multicast addresses being used Software Fault Software Fault BG Overrun Background task overrun Firmware Invalid Invalid firmware for hardware version...

  • Page 186: Ethernet Sub Trip Codes

    10.4 Ethernet sub trip codes If the Ethernet interface detects an alarm condition during operation, it will set the appropriate bit in Active Alarm Bits MM.009. Table 10.4 Ethernet alarm bits on page 186 shows the possible conditions. Table 10.4 Ethernet alarm bits Alarm Description (Pr MM.009)
  • Page 187 Recommended actions: • Ensure the option module is installed correctly. • Replace the option module. • Replace the drive. SI-Ethernet User Guide Issue: 1...

  • Page 188: Diagnostic Flow Chart

    10.6 Diagnostic flow chart Is PrS.02.004 Ethernet interface was is PrS.02.004 Is Pr S.02.004 (S.02.003) Ethernet interface is Default Ethernet interface (MM.008) and retry SI-Ethernet User Guide Issue: 1...

  • Page 189: Glossary Of Terms

    Glossary of terms Address: This is the unique network identification given to a networked device to allow communication on a network. When a device sends or receives data the address is used to determine the source and the destination of the message. ADU: Application Data Unit.
  • Page 190 Cyclic (implicit or polled) data: Data that is transmitted at regular intervals over the network. Sometimes referred to as “Implicit data” or “Polled data”. Data rate: Determines the communication speed of the network, the higher the value the more data can be sent across the network in the same time period. Device: A piece of equipment connected to a network, this may be any type of equipment including repeaters, hubs, masters or slaves.
  • Page 191 Hub: A method of connecting computers together on Ethernet. An un-switched hub will repeat any data received on one port to all ports. HTTP: Hypertext transfer protocol. This is a document specification protocol. Commonly used in web pages. Implicit data: See Cyclic data. Instance: A collection of properties (Attributes) that are contained within a Class.
  • Page 192 Non-crossover lead: See Patch lead. Non-cyclic (explicit) data: Data that is requested or sent as required and not on a regular basis. Sometimes referred to as “Explicit data”. Octet: A collection of 8 binary digits which form a byte. Patch lead: A network cable where the terminal connections at one end of the cable are connected straight through to the other end on a pin to pin basis.
  • Page 193 Status word: A value that denotes the status of the drive. Each bit within the word will have a specific meaning. Subnet: A part of a network that has IP addresses in the same range. Devices on the same subnet may communicate directly with other devices on the same subnet without the use of a gateway.

  • Page 194: Issue Number

    Index AC/DC Drive object ..................174 Addressing ....................15 Addressing etiquette ...................15 Advanced EDS File ..................144 Alternative notation ..................17 Assembly object ................148, 189 Attribute ....................189 Basic speed and torque control ..............152 Basic speed and torque feedback ............157 Basic speed control ..................149 Basic speed feedback ................154 Cable shield connections ................13 Cabling .......................13 Cabling considerations ................12...
  • Page 195 Extended speed and torque feedback ............158 Extended speed control ................151 Extended speed feedback ................155 Firewall issues ..................182 Fixed IP addressing ..................18 General safety considerations for remote operation ........6 Getting started ....................15 Glossary of terms ..................189 Grounding ....................12 Hubs ......................13 Installing SyPTPro ..................180 Instance ....................191 Introduction ....................7 IP address ....................17...
  • Page 196 Registers ....................119 Requested Packet Interval (RPI) Timeout Trip .........144 Routing .......................18 Safety information ..................5 Safety of personnel ..................5 Security ....................179, 182 Security levels ..................182 Set-Up Flow Chart ..................19 Shield ......................13 Site security ....................182 SM-LON module - front view ..............10 SNTP ......................144 Subnet mask ....................17 Supported drive assembly objects ............148 Virus considerations .................182...
  • Page 198 0478-0137-01...

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