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Nidec Unidrive M700 User Manual

Si-ethernet and unidrive m - onboard ethernet
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User Guide
SI-Ethernet and
Unidrive M -
Onboard Ethernet
Part Number: 0478-0137-03
Issue: 3

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Summary of Contents for Nidec Unidrive M700

  • Page 1 User Guide SI-Ethernet and Unidrive M - Onboard Ethernet Part Number: 0478-0137-03 Issue: 3...
  • Page 2 European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation. Further information on our compliance with REACH can be found at: http://www.drive-setup.com/reach Registered Office Nidec Control Techniques Ltd The Gro Newtown Powys SY16 3BE Registered in England and Wales.
  • Page 3 All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher. Copyright © January 2018 Nidec Control Techniques Ltd...

  • Page 4: Table Of Contents

    Contents Safety information ............6 Warnings, cautions and notes ..............6 Important safety information. Hazards. Competence of designers and installers ..........6 Responsibility ..................6 Compliance with regulations ..............6 Electrical hazards ..................7 Stored electrical charge ................7 Mechanical hazards ................7 Access to equipment ................7 Environmental limits ................7 1.10 Hazardous environments ................8 1.11...
  • Page 5 Parameters ..............36 Full parameter descriptions ..............36 Key features and Protocols ........135 PC/PLC considerations ...............135 Modbus TCP/IP ...................135 RTMoE (Real Time Motion over Ethernet) ..........144 Non-cyclic data access ................153 EtherNet/IP ..................158 Web page basics .................191 PC Tools Applications ..........198 Unidrive M Connect ................198 Machine Control Studio ...............198 CTScope .....................199 SyPTPro ....................199...

  • Page 6: 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 Important safety information.

  • Page 7: Electrical Hazards

    Electrical hazards The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive. Hazardous voltage may be present in any of the following locations: •...

  • Page 8: Hazardous Environments

    1.10 Hazardous environments The equipment must not be installed in a hazardous environment (i.e. a potentially explosive environment). 1.11 Motor The safety of the motor under variable speed conditions must be ensured. To avoid the risk of physical injury, do not exceed the maximum specified speed of the motor. Low speeds may cause the motor to overheat because the cooling fan becomes less effective, causing a fire hazard.

  • Page 9: Introduction

    Unidrive M400 (sizes 2 to 9) • Unidrive M600 (sizes 3 to 11) • Unidrive M700 / M701 / M702 (sizes 3 to 11) Features The following list gives an overview of the functionality available: • Single RJ45 connectivity with support for shielded twisted pair.

  • Page 10: 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 SI-Ethernet 82400000017900...

  • Page 11: Factory Fit Ethernet Interface Identification

    Factory fit Ethernet interface identification As standard, the Unidrive M700 and Unidrive M702 variants are fitted with an Ethernet interface and the Unidrive M701 is fitted with the EIA-485 serial communications interface. Care must be taken to ensure the correct interface is fitted before a connection is made to the drive, failure to ensure this may result in damage to the interface and/or communication device.

  • Page 12: Mechanical Installation

    Mechanical installation Before installing or removing an option module from any drive, ensure the AC supply has been disconnected for at least 10 minutes and refer to Chapter 1 Safety information on page 6. If using a DC bus supply ensure this is fully discharged before working on any drive or option module.
  • Page 13 Figure 3-2 Installation of an SI option module on Unidrive M200 to M400 (sizes 5 to 9) • 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 M702 •...

  • Page 14: 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.

  • Page 15: 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 16 Figure 4-3 Typical network topologies SI-Ethernet User Guide Issue: 3...

  • Page 17: 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 18: 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 19: Dhcp Considerations

    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) 5.6.2 The subnet mask The subnet mask defines what part of the address constitutes the subnet within the IP address and what part of the address constitutes the host address.

  • Page 20: Basic Principles Of Routing

    5.7.2 Using DHCP If DHCP is used, it is recommended that the allocated IP address is bound to the MAC address of the Ethernet interface, this strategy prevents the IP address changing on the Ethernet interface. Any leased addresses should be leased permanently to prevent IP address changes. If the SI-Ethernet module is configured to use DHCP and the module requires NOTE exchanging, the new SI-Ethernet module will have a different MAC address and hence...

  • Page 21: 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 22: 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 23 5.10.2 Menu 0 - Ethernet set-up (MM.ppp) Table 5-5 Menu 0 parameters Size Parameter Range Default Access (Bits) S.00.000 Parameter mm.000 0 to 65535 S.00.001 Module ID 0 to 65535 00.00.00.00 to S.00.002 Software Version 99.99.99.99 S.00.003 Hardware Version 0.00 to 99.99 S.00.004 Serial Number LS 0 to 99999999...
  • Page 24 5.10.3 Menu 2 - Ethernet Configuration Table 5-7 Menu 2 parameters Size Parameter Range Default Access (Bits) S.02.000 Parameter mm.000 0 to 65535 S.02.003 Network Status 0 to 5 S.02.004 Network Message Count 0 to 65535 msg/s S.02.005 DHCP Enable 0 (Off) to 1 (On) 1 (On) 0.0.0.0 to...
  • Page 25 5.10.5 Menu 10 - Easy Mode Cyclic Data Table 5-9 Menu 10 parameters Size Parameter Range Default Access (Bits) S.10.000 Parameter mm.000 0 to 65535 S.10.001 Easy Mode Enable 0 (Off) to 1 (On) 1 (On) S.10.002 Easy Mode Reset 0 (Off) to 1 (On) 0 (Off) S.10.003 Easy Mode Default...
  • Page 26 Size Parameter Range Default Access (Bits) S.10.040 Rx1 Link Profile 0 (Std) to 1 (Sync) 0 (Std) S.10.041 Rx1 Link Number 0 to 255 0 (0.00.000) to S.10.042 Rx1 Destination Parameter 0 (0.00.000) 499999 (4.99.999) S.10.043 Rx1 Parameter Count 0 to 10 0 (Direct) to S.10.044 Rx1 Source Type 0 (Direct)
  • Page 27 5.10.6 Menu 11 - Synchronization Table 5-10 Menu 11 parameters Size Parameter Range Default Access (Bits) S.11.000 Parameter mm.000 0 to 65535 S.11.001 Preferred Sync Master 0 to 4 S.11.002 Master Clock Domain 0 to 3 0000000000000000 to S.11.005 Grandmaster MAC Address FFFFFFFFFFFFFFFF -2147483648 ns to S.11.006...
  • Page 28 5.10.7 Menu 15 - Modbus Table 5-11 Menu 15 parameters Size Parameter Range Default Access (Bits) S.15.000 Parameter mm.000 0 to 65535 S.15.001 Enable 0 (Off) to 1 (On) 1 (On) S.15.002 Reset 0 (Off) to 1 (On) 0 (Off) S.15.003 Default 0 (Off) to 1 (On)
  • Page 29 5.10.8 Menu 20 - EtherNet/IP Setup Table 5-12 Menu 20 parameters Size Parameter Range Default Access (Bits) S.20.000 Parameter mm.000 0 to 65535 S.20.001 Enable EtherNet/IP 0 (Off) to 1 (On) 1 (On) S.20.002 Reset 0 (Off) to 1 (On) 0 (Off) S.20.003 Default...
  • Page 30 5.10.9 Menu 21 - EtherNet/IP In Mappings Table 5-13 Menu 21 parameters Size Parameter Range Default Access (Bits) S.21.000 Parameter mm.000 0 to 65535 0 (0.00.000) to S.21.001 Input mapping parameter 1 10040 (0.10.040) 499999 (4.99.999) 0 (0.00.000) to S.21.002 Input mapping parameter 2 2001 (0.02.001) 499999 (4.99.999)
  • Page 31 Size Parameter Range Default Access (Bits) 0 (0.00.000) to S.21.025 Input mapping parameter 25 0 (0.00.000) 499999 (4.99.999) 0 (0.00.000) to S.21.026 Input mapping parameter 26 0 (0.00.000) 499999 (4.99.999) 0 (0.00.000) to S.21.027 Input mapping parameter 27 0 (0.00.000) 499999 (4.99.999) 0 (0.00.000) to S.21.028...
  • Page 32 5.10.10 Menu 22 - EtherNet/IP Out Mappings Table 5-14 Menu 22 parameters Size Parameter Range Default Access (Bits) S.22.000 Parameter mm.000 0 to 65535 0 (0.00.000) to S.22.001 Output mapping parameter 1 6042 (0.06.042) 499999 (4.99.999) 0 (0.00.000) to S.22.002 Output mapping parameter 2 1021 (0.01.021) 499999 (4.99.999)
  • Page 33 Size Parameter Range Default Access (Bits) 0 (0.00.000) to S.22.025 Output mapping parameter 25 0 (0.00.000) 499999 (4.99.999) 0 (0.00.000) to S.22.026 Output mapping parameter 26 0 (0.00.000) 499999 (4.99.999) 0 (0.00.000) to S.22.027 Output mapping parameter 27 0 (0.00.000) 499999 (4.99.999) 0 (0.00.000) to S.22.028...
  • Page 34 5.10.11 Menu 23 - EtherNet/IP Fault Values Table 5-15 Menu 23 parameters Size Parameter Range Default Access (Bits) S.23.000 Parameter mm.000 0 to 65535 -2147483648 to S.23.001 Output fault value 1 2147483647 -2147483648 to S.23.002 Output fault value 2 2147483647 -2147483648 to S.23.003 Output fault value 3...
  • Page 35 Size Parameter Range Default Access (Bits) -2147483648 to S.23.025 Output fault value 25 2147483647 -2147483648 to S.23.026 Output fault value 26 2147483647 -2147483648 to S.23.027 Output fault value 27 2147483647 -2147483648 to S.23.028 Output fault value 28 2147483647 -2147483648 to S.23.029 Output fault value 29 2147483647...

  • Page 36: 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 37 S.00.003 Hardware Version Minimum 00.00 Maximum 99.99 Default None Units None Type 16 Bit Volatile Update Rate Written on module initialization Display Format None Decimal Places Coding RO, ND, NC, PT The hardware version of the option module is in the format of xx.yy. S.00.004 Serial Number LS Minimum...
  • Page 38 Value Text Description Bootldr - Update The bootloader is performing a flash update. Bootldr - Idle The bootloader is idle. Initializing Module is currently initializing. Module has initialized and has found no errors. Config A configuration error has been detected. An error has occurred preventing the module from running Error correctly.
  • Page 39 S.00.009 Active Alarm Bits 65535 Minimum Maximum (Display:0000000000000000) (Display:1111111111111111) Default Units None (Display:0000000000000000) Type 16 Bit Volatile Update Rate Background Display Decimal Binary Format Places Coding RO, NC, BU Alarm User Program eCMP Modbus Ethernet/IP Reserved Filesystem Too Hot S.00.010 Active IP Address -2147483648 2147483647...
  • Page 40 6.1.2 Menu 2 - Ethernet configuration S.02.003 Network Status Minimum Maximum (Display: Initializing) (Display: Active) Default None Units None Type 8 Bit Volatile Update Rate Written every second Display Format None Decimal Places Coding RO, Txt, ND, NC, PT, BU Value Text Description...
  • Page 41 When DHCP is enabled, the following parameters will become read-only immediately (no reset required): • IP Address (S.02.006) • Subnet Mask (S.02.007) • Default Gateway (S.02.008) • Primary DNS (S.02.009) • Secondary DNS (S.02.010) S.02.006 IP Address 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display:255.255.255.255) 3232235876...
  • Page 42 S.02.008 Default Gateway 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display:255.255.255.255) 3232236030 Default Units None (Display:192.168.1.254) DHCP enabled: write on event; Type 32 Bit User Save Update Rate DHCP disabled: read on reset Display Format IP Address Decimal Places Coding RW, BU Controls and displays the default gateway of the module.
  • Page 43 S.02.010 Secondary DNS 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display:255.255.255.255) Default Units None (Display: 0.0.0.0) DHCP enabled: Type 32 Bit User Save Update Rate write on event; DHCP disabled: read on reset Display Format IP Address Decimal Places Coding RW, BU The module can use this IP address when it wishes to resolve the IP address for a domain name.
  • Page 44 S.02.021 Web Server Enable Minimum Maximum (Display: Off) (Display: On) Default Units None (Display: On) Type 1 Bit User Save Update Rate Background read Display Format None Decimal Places Coding RW, BU Controls the running of the web server on the module. The web server functionality is available in firmware version V01.06.00.22 and onwards.
  • Page 45 S.02.025 Gateway Mode Minimum Maximum (Display: Switch) (Display: Strict Gateway) Default Units None (Display: Switch) Type 8 Bit User Save Update Rate Read on module reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Switch Gateway Strict Gateway Specifies the operation mode of the gateway.
  • Page 46 S.02.030 VLAN Enable Minimum Maximum (Display: Off) (Display: On) Default Units (Display: Off) 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 47 the parameter scaling within the PLC or controller due to differences in the number of decimal places of parameters between the Unidrive SP and Unidrive M range of drives. S.02.035 Non cyclic enable Minimum Maximum (Display: Off) (Display: On) Default Units None (Display: Off)
  • Page 48 S.MM.PPP : Status and Command This parameter contains the command code (bits b7 to b0) and status (bits b15 to b8) information. Possible values for Status are: Value Meaning Description IDLE Idle. READY The parameter channel is ready to take command. PROCESSING Processing the command.
  • Page 49 The following table list the possible error codes: Value Meaning Description Address Type The addressing type is not supported. Timeout A timeout occurred trying to access the specified item. Access Denied The requesting device does not have sufficient access rights. Does not exist The specified item does not exist.
  • Page 50 S.09.002 Cyclic Rx Links Free Minimum Maximum Default None Units None Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places Coding RO, ND, NC, PT, BU The number of available receive cyclic links. S.09.003 Fieldbus Links Free Minimum Maximum Default...
  • Page 51 S.09.020 Sync Task Worst % Free Minimum Maximum Default None Units Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places Coding RO, ND, NC, PT, BU Worst case free resource of the synchronous task. S.09.030 PCB Temperature Minimum -128 Maximum...
  • Page 52 S.10.001 Easy Mode Enable Minimum Maximum (Display: Off) (Display: On) Default Units None (Display: On) 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 the Easy Mode protocol interface. S.10.002 Easy Mode Reset Minimum...
  • Page 53 S.10.005 Configuration Valid Minimum Maximum (Display: Off) (Display: On) Default None Units None Type 1 Bit Volatile Update Rate Read on reset Display Format None Decimal Places Coding RO, PT, NC, ND If the active configuration identified by Active Configuration (S.10.007) has no configuration errors then the configuration is valid and this parameter will be set to 1 (On).
  • Page 54 A receive link timeout will cause this parameter to become cleared (Off) until a new message is received. A single data late event will cause this parameter to be Off until the next cyclic message is received on time. If low latency reactions to timeout and data late events are required then appropriate actions should be configured for the relevant links, see Rx1 Timeout Action (S.10.046), Rx2 Timeout Action (S.10.056) or Rx3 Timeout Action (S.10.066) for further details.
  • Page 55 S.10.009 Data Late Count Minimum Maximum 65535 Default None Units None Type 16 Bit Volatile Update Rate 1 ms Display Format None Decimal Places Coding RO, PT, NC, ND, BU This parameter displays the total number of receive data late events; each data late event will increment the count by 1.
  • Page 56 S.10.012 Tx1 Source Parameter 499999 Minimum Maximum (Display:0.00.000) (Display: 4.99.999) Default Units None (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 Tx1 link. S.10.013 Tx1 Parameter Count Minimum...
  • Page 57 S.10.014 Tx1 Transmission Type Minimum Maximum (Display: Unicast (Display: Multicast10) Default Units None (Display: Unicast Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description Unicast Link is unicast to the IP address specified Broadcast Link is broadcast (255.255.255.255) Multicast1...
  • Page 58 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 59 Value Text Description Read only param The mapped parameter is read only 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...
  • Page 60 S.10.021 Tx2 Link Number Minimum Maximum Default Units None 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 Tx2 link. S.10.022 Tx2 Source Parameter 499999...
  • Page 61 S.10.024 Tx2 Transmission Type Minimum Maximum (Display: Unicast) (Display: Multicast10) Default Units None (Display: Unicast) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description Unicast Link is unicast to the IP address specified Broadcast Link is broadcast (255.255.255.255) Multicast1...
  • Page 62 S.10.026 Tx2 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 Tx2 Link will be transmitted. A value of zero disables the transmission of data.
  • Page 63 Value Text Description Read only param The mapped parameter is read only 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...
  • Page 64 S.10.031 Tx3 Link Number Minimum Maximum Default Units None 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 Tx3 link. S.10.032 Tx3 Source Parameter 499999...
  • Page 65 S.10.034 Tx3 Transmission Type Minimum Maximum (Display: Unicast) (Display: Multicast10) Default Units None (Display: Unicast) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description Unicast Link is unicast to the IP address specified Broadcast Link is broadcast (255.255.255.255) Multicast1...
  • Page 66 S.10.036 Tx3 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 Tx3 Link will be transmitted. A value of zero disables the transmission of data.
  • Page 67 Value Text Description Invalid mapping The mapped parameter does not exist Read only param The mapped parameter is read only 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...
  • Page 68 S.10.041 Rx1 Link Number Minimum Maximum Default Units None 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 Rx1 link. S.10.042 Rx1 Destination Parameter 499999...
  • Page 69 S.10.044 Rx1 Source Type Minimum Maximum (Display: Unicast) (Display: Multicast10) Default Units None (Display: Unicast) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description Unicast Link is unicast to the IP address specified Broadcast Link is broadcast (255.255.255.255) Multicast1...
  • Page 70 S.10.046 Rx1 Timeout Action Minimum Maximum (Display: Trip) (Display: Hold last) Default Units None (Display: Trip) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, 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...
  • Page 71 S.10.048 Rx1 Timeout Event Type Minimum Maximum (Display: No Event) (Display: Event3) Default Units None (Display: No Event) Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description No Event No event Event...
  • Page 72 Value Text Description Invalid DST IP Destination IP address is invalid Sync link does not support mappings to other option SYNC unsupported parameters MEC offset Incorrect MEC offset Invalid tx rate Tx rate must be a factor of 1 second The number of mapping items exceeds the range Too many mapping supported...
  • Page 73 S.10.050 Rx2 Link Profile Minimum Maximum (Display: Sync) (Display: Std) Default Units None (Display: Std) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt Value Text Description Standard link Sync Synchronized link Used to select Rx2 as a standard or synchronous cyclic link.
  • Page 74 S.10.054 Rx2 Source Type Minimum Maximum (Display: Unicast) (Display: Multicast10) Default Units None (Display: Unicast) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description Unicast Link is unicast to the IP address specified Broadcast Link is broadcast (255.255.255.255) Multicast1...
  • Page 75 S.10.056 Rx2 Timeout Action Minimum Maximum (Display: Trip) (Display: Hold last) Default Units None (Display: Trip) Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, 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...
  • Page 76 S.10.058 Rx2 Timeout Event Type Minimum Maximum (Display: No Event) (Display: Event3) Default Units None (Display: No Event) Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description No Event No event Event...
  • Page 77 Value Text Description Invalid DST IP Destination IP address is invalid Sync link does not support mappings to other option SYNC unsupported parameters MEC offset Incorrect MEC offset Invalid tx rate Tx rate must be a factor of 1 second The number of mapping items exceeds the range Too many mapping supported...
  • Page 78 S.10.060 Rx3 Link Profile Minimum Maximum (Display: Std) (Display: Sync) Default Units None (Display: Std) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt Value Text Description Standard link Sync Synchronized link Used to select Rx3 as a standard or synchronous cyclic link.
  • Page 79 S.10.064 Rx3 Source Type Minimum Maximum (Display: Unicast) (Display: Multicast10) Default Units None (Display: Unicast) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description Unicast Link is unicast to the IP address specified Broadcast Link is broadcast (255.255.255.255) Multicast1...
  • Page 80 S.10.066 Rx3 Timeout Action Minimum Maximum (Display: Trip) (Display: Hold last) Default Units None (Display: Trip) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, 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...
  • Page 81 S.10.068 Rx3 Timeout Event Type Minimum Maximum (Display: No Event) (Display: Event3) Default Units None (Display: No Event) Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description No Event No event Event...
  • Page 82 Value Text Description Sync link does not support mappings to other option SYNC unsupported parameters MEC offset Incorrect MEC offset Invalid tx rate Tx rate must be a factor of 1 second The number of mapping items exceeds the range Too many mapping supported Link busy...
  • Page 83 6.1.5 Menu 11 – Synchronization S.11.001 Preferred Sync Master Minimum Maximum Default Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU This Ethernet interface will be preferred as the grandmaster over others with higher preferred values or none specified.
  • Page 84 S.11.007 Sync Jitter Threshold Minimum Maximum 1000000 Default 1000 Units Type 32 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU Sets the application tolerable clock jitter in ns from the grandmaster. If Sync Jitter From Grandmaster (S.11.006) is within the tolerance the local clock is used and Module Synchronised Flag (S.11.008) is set to 1 and synchronized cyclic data links will be processed.
  • Page 85 S.11.011 PTP Time 235959 Minimum Maximum (Display: 00:00:00) (Display: 23:59:59) Default None Units None Type 32 Bit Volatile Update Rate Written every 500 ms Display Format Time Decimal Places Coding RO, ND, NC, PT, BU This parameter displays the current time. If the module has no time source it will display the time based on its power-up time.
  • Page 86 S.11.017 In sync window length Minimum Maximum Default Units Seconds Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU Duration that the jitter (Synchronisation Jitter From Grandmaster (S.11.006)) must be below the jitter threshold for before the in sync flag (Module Synchronised Flag (S.11.008)) is set.
  • Page 87 S.11.030 Easy Mode Maximum Network Delay Minimum Maximum Default Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, BU This parameter defines the allowable network delay (in milliseconds) for the Easy Mode synchronous transmit cyclic links to arrive at their destination.
  • Page 88 Rx1 link. This feature is not yet implemented. NOTE S.11.042 Rx1 Late Sync Frame Event Minimum Maximum (Display: No Event) (Display: Event3) Default Units None (Display: No Event) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding...
  • Page 89 S.11.051 Rx2 Late Sync Frame Dest Minimum Maximum (Display: This slot) (Display: Slot 4) Default Units None (Display: This slot) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description This slot...
  • Page 90 S.11.060 Rx3 Late Sync Frame Action Minimum Maximum (Display: Trip) (Display: Use) Default Units None (Display: Trip) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description Trip Trip drive with Slx.Er and sub-trip code 107 Do not use The data is ignored...
  • Page 91 S.11.062 Rx3 Late Sync Frame Event Minimum Maximum (Display: No Event) (Display: Event3) Default Units None (Display: No Event) Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places Coding RW, Txt, BU Value Text Description No Event No event...
  • Page 92 S.15.003 Default Minimum Maximum (Display: Off) (Display: On) Default Units None (Display: Off) On module reset, protocol Type 1 Bit Volatile Update Rate interface reset or protocol enable Display Format None Decimal Places Coding RW, NC This parameter allows the Modbus protocol to be defaulted to factory settings. This includes all of the protocol features, configuration, mappings and stored objects.
  • Page 93 S.15.006 Maximum Connections Minimum Maximum Default Units None Module reset, Modbus Type 8 Bit User Save Update Rate interface reset or Modbus interface enable Display Format None Decimal Places Coding RW, BU This parameter permits the user to specify the total number of connections that one or more clients can open with the module at any one time.
  • Page 94 S.15.009 Modbus Timeout Minimum Maximum 10000 Default Units Module reset, Modbus Type 16 Bit User Save Update Rate interface reset or Modbus interface enable Display Format None Decimal Places Coding RW, BU This parameter defines the time period in which the Modbus server must receive a message before any specified action (as defined in Modbus Timeout Action (S.15.010)) is performed.
  • Page 95 S.15.011 Modbus Timeout Event Dest Minimum Maximum (Display: This slot) (Display: Slot 4) Default Units None (Display: This slot) Module reset, Modbus Type 8 Bit User Save Update Rate interface reset or Modbus interface enable Display Format None Decimal Places Coding RW, Txt, BU Value...
  • Page 96 must specify an appropriate consumer (slot option) of the event. This feature is not yet implemented. NOTE S.15.013 Modbus Register Addressing Mode Minimum Maximum (Display: Standard) (Display: Modified) Default Units None (Display: Standard) Module reset, Modbus Type 8 Bit User Save Update Rate interface reset or Modbus interface enable...
  • Page 97 S.15.021 Priority Connection 2 4294967295 Minimum Maximum (Display: 0.0.0.0) (Display: 255.255.255.255) Default Units None (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 priority connection 2.
  • Page 98 6.1.7 Menu 20 – EtherNet/IP Set-up 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 will operate as a slave device and the following functionality is supported. •...
  • Page 99 S.20.001 Enable EtherNet/IP Minimum Maximum (Display: Off) (Display: On) Default Units None (Display: On) 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...
  • Page 100 S.20.004 Configuration error Minimum Maximum (Display: No error) (Display: Out cons trig pr) Default None Units None Type 8 Bit Volatile Update Rate Background Display Format None Decimal Places Coding RO, Txt, ND, NC, PT, BU Value Text Description No error No error RPI event dst RPI timeout event destination not valid...
  • Page 101 S.20.011 RPI timeout action Minimum Maximum (Display: Trip) (Display: No Action) Default Units None (Display: Hold last) 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, Txt, BU Value Text Description...
  • Page 102 S.20.012 RPI Timeout Event Dest Minimum Maximum (Display: This slot) (Display: Slot 4) Default Units None (Display: This slot) 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, Txt, BU Value...
  • Page 103 This feature is not yet implemented. NOTE S.20.015 PLC idle action Minimum Maximum (Display: Trip) (Display: No Action) Default Units None (Display: No Action) Module reset, EtherNet/IP Type 8 Bit User Save Update Rate interface reset or EtherNet/IP interface enable Display Format None Decimal Places...
  • Page 104 S.20.017 PLC idle event type Minimum Maximum (Display: No event) (Display: Trigger Event 4) Default Units None (Display: No event) 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, Txt, BU Value...
  • Page 105 S.20.019 Active output assembly object Minimum Maximum (Display: 101-PrimaryO) (Display: 23-ExtSpdTqCtrlO) Default Units None (Display: 101-PrimaryO) Module reset, EtherNet/IP Type 8 Bit Volatile Update Rate interface reset or EtherNet/IP interface enable Display Format None Decimal Places Coding RO, Txt, NC, ND, PT, BU Value Text Description...
  • Page 106 S.20.024 Input Assembly Object Process Time Minimum Maximum 65535 Default None Units Type 16 Bit Volatile Update Rate Background Display Format None Decimal Places Coding RO, ND, NC, PT, BU This is the time between getting the input value from the master and it being sent successfully to the drive.
  • Page 107 S.20.027 In Consistency Trigger Param 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, BU This parameter specifies the parameter to use for triggering input assembly object consistency.
  • Page 108 S.20.029 Out Consistency Trigger Param 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, BU This parameter specifies the parameter to use for triggering output assembly object consistency.
  • Page 109 S.20.032 Custom product revision code Minimum Maximum 65535 Default Units None Module reset, EtherNet/IP Type 16 Bit User Save Update Rate interface reset or EtherNet/IP interface enable Display Format None Decimal Places Coding RW, BU This parameter defines a custom product revision value which is used to identify the product on the network.
  • Page 110 S.20.040 Type of Motor 1 Minimum Maximum (Display: 2-FC DC) (Display: 10-Trap PM BL) Default Units None (Display: 7-SCI) Type 8 Bit User Save Update Rate Reset Display Format None Decimal Places Coding RO, Txt, PT, BU Value Text Description 2-FC DC FC DC Motor 6-WRI...
  • Page 111 6.1.8 Menu 21 – EtherNet/IP In Mappings This menu contains the parameters used to define the source parameters for data that will be transmitted to the PLC. S.21.001 Input mapping parameter 1 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) 10040 Default Units None...
  • Page 112 S.21.004 Input mapping parameter 4 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.21.005...
  • Page 113 S.21.008 Input mapping parameter 8 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.21.009...
  • Page 114 S.21.012 Input mapping parameter 12 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.21.013...
  • Page 115 S.21.016 Input mapping parameter 16 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.21.017...
  • Page 116 S.21.020 Input mapping parameter 20 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.21.021...
  • Page 117 S.21.024 Input mapping parameter 24 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.21.025...
  • Page 118 S.21.028 Input mapping parameter 28 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.21.029...
  • Page 119 S.21.032 Input mapping parameter 32 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU 6.1.9...
  • Page 120 S.22.003 Output mapping parameter 3 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.004...
  • Page 121 S.22.007 Output mapping parameter 7 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.008...
  • Page 122 S.22.011 Output mapping parameter 11 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.012...
  • Page 123 S.22.015 Output mapping parameter 15 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.016...
  • Page 124 S.22.019 Output mapping parameter 19 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.020...
  • Page 125 S.22.023 Output mapping parameter 23 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.024...
  • Page 126 S.22.027 Output mapping parameter 27 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.028...
  • Page 127 S.22.031 Output mapping parameter 31 499999 Minimum Maximum (Display: 0.00.000) (Display: 4.99.999) Default Units None (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, PT, BU S.22.032...
  • Page 128 S.23.002 Output fault value 2 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.23.003 Output fault value 3 Minimum -2147483648 Maximum...
  • Page 129 S.23.007 Output fault value 7 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.23.008 Output fault value 8 Minimum -2147483648 Maximum...
  • Page 130 S.23.011 Output fault value 11 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.23.012 Output fault value 12 Minimum -2147483648 Maximum...
  • Page 131 S.23.016 Output fault value 16 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.23.017 Output fault value 17 Minimum -2147483648 Maximum...
  • Page 132 S.23.021 Output fault value 21 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.23.022 Output fault value 22 Minimum -2147483648 Maximum...
  • Page 133 S.23.025 Output fault value 25 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.23.026 Output fault value 26 Minimum -2147483648 Maximum...
  • Page 134 S.23.029 Output fault value 29 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.23.030 Output fault value 30 Minimum -2147483648 Maximum...

  • Page 135: 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 136 Table 7-2 MBAP Header Length Field Description (Bytes) Transaction Identifier Uniquely identifies the transaction (0 to 65535) Protocol Identifier Identifies the protocol (0 = Modbus) Length Number of following bytes in the message Unit Identifier Uniquely identifies the destination node (0 to 255) The unit identifier within the MBAP header is used to identify whether the destination node is the host drive or an option module (not available on the onboard Ethernet interface with firmware versions prior to V01.02.01.10).
  • Page 137 Figure 7-2 Data type selection If 32-bit data type is selected then this effectively adds 16384 (0x4000) to the start register address. e.g. For drive parameter Pr 01.021 in standard addressing mode, the start register value is 16384 + 120 = 16504 (0x4078) 7.2.5 Supported Modbus function codes The following table details the supported Modbus function codes.
  • Page 138 Table 7-5 Start register addressing CT Parameter Addressing mode Protocol register Standard mm * 100 + ppp - 1 s.mm.ppp Modified mm * 256 + ppp - 1 Examples 16-bit 32-bit Decimal Hex (0x) Decimal Hex (0x) Standard 00 78 16504 40 78 0.01.021...
  • Page 139 Master request data Slave response data Byte Description Byte Description value value 00 2A Transaction ID (42) 00 2A Transaction ID (42) 00 00 Protocol ID (0=TCP/IP) 00 00 Protocol ID (0=TCP/IP) 00 06 Length (Bytes=6) 00 0F Length (Bytes=15) Unit identifier (FF= Drive) Unit identifier (FF= Drive) Function code (3)
  • Page 140 Master request data Slave response data Byte Hex value Description Byte Hex value Description Transaction ID Transaction ID 00 2A 00 2A (42) (42) Protocol ID Protocol ID 00 00 00 00 (0=TCP/IP) (0=TCP/IP) Length Length 00 06 00 06 (Bytes=6) (Bytes=6) Unit identifier...
  • Page 141 Example To write the value 12345 to drive parameters 0.20.021 through 0.20.023 (Transaction ID=42) using standard 32-bit 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...
  • Page 142 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 143 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 144: 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 145 Table 7-6 RTMoE Support levels Support Level Capability Easy Mode Machine Control Studio M200-M400 M600-M70x M200-M400 M600-M70x 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 146 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 100 ms), EtherNet/IP (5 parameters read every 10 ms and 5 parameters written every 10 ms) and RTMoE (2 parameters written every 500 µs).
  • Page 147 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 148 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 and M700, 500 parameters per second for M200, M300 and M400).
  • Page 149 7.3.5 General guidelines for synchronous cyclic data The following guidelines provide a simple way of specifying a network supporting synchronous cyclic data that offers accurate synchronization and guaranteed determinism, whilst maintaining compatibility with standard Ethernet traffic. • Limit daisy chains to 10 drives •...
  • Page 150 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 151 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 152 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. 7.3.10 Virtual Master It is possible to send cyclic data to devices on the network and use the same data on the...

  • Page 153: 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 154 Figure 7-4 Non-cyclic parameter access state machine 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 155 As an example, the following code may be used in the user program: // Set the IP address WWWXXX% = ((www% << 8) & 0x0000FF00) | (xxx% & 0x000000FF) YYYZZZ% = ((yyy% << 8) & 0x0000FF00) | (zzz% & 0x000000FF) // Handle the casting from 32bit variable to 16bit parameter WWWXXX% >...
  • Page 156 Base address + 6 (MSW) The most significant word of the parameter value is converted to a signed 16-bit value stored in a 32-bit variable by bitwise shifting it 16 places right and bitwise ANDing the result with the hexadecimal value 0x00007FFF, then subtracting the decimal value 32768 if the most significant bit is set to 1.
  • Page 157 7.4.5 Reading the parameter value The required parameter value is read from two signed 16-bit values, these two values must then be correctly merged to form the correct 32-bit value. Base address + 5 (LSW) The least significant word of the parameter value is read and converted from a signed 16-bit value and stored in a 32-bit variable, this value is then bitwise ANDed with the hexadecimal value 0x0000FFFF.

  • Page 158: 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 159 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 160 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 161 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.
  • Page 162 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 163 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 164 The individual bit functions are described as follows: Name Control Word Description Set this bit to command the drive to run in the forward RunFwd direction. A 0 to 1 transition will reset the drive if the drive was in a trip FaultRst state.
  • Page 165 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 166 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 187. 7.5.11 Basic speed and torque control Output assembly object 0x16 (22...
  • Page 167 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 187. Torque reference (TorqueRef) The torque reference word utilises 2 bytes (16 bits) as shown below.
  • Page 168 The individual bit functions are described as follows: Name Control Description Word RunFwd Set this bit to command the drive to run in the forward direction. RunRev Set this bit to command the drive to run in the reverse direction. FaultRst A 0 to 1 transition will reset the drive if the drive was in a trip state.
  • Page 169 7.5.13 Basic speed feedback Input assembly object 0x46 (70 The PLC or scanner must be configured for 4 input bytes (or 2 input words) if this assembly object is to be used. Table 7-14 Basic speed feedback Data word Function Word 0 Basic status word.
  • Page 170 7.5.14 Extended speed feedback Input assembly object 0x47 (71 The PLC or scanner must be configured for 4 input bytes (or 2 input words) if this assembly object is to be used. Table 7-15 Extended speed feedback Data word Function Word 0 Extended status word.
  • Page 171 The individual bits of the low byte of the extended status word are described below. Extended status word (low byte) Name Description Indicates whether the drive is OK or tripped. Faulted 0=OK (Pr 0.10.001=1). 1=Tripped (Pr 0.10.001=0). Warning Indicates if one of the drive alarms is active. Running1 Indicates if the drive is running in the forward direction.
  • Page 172 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 187. 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 173 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 187. Torque feedback (TorqueActual) The torque feedback word utilises 2 bytes (16 bits) as shown below.
  • Page 174 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. 00000110 Fault_Stop AC_UU (this will only occur if Mains Loss is enabled). 00000111 Faulted Tripped.
  • Page 175 For more information on the speed feedback see section 7-31 AC/DC Drive object attributes on page 187. Torque feedback (TorqueActual) The torque feedback word utilises 2 bytes (16 bits) as shown below. TorqueActual (high byte) TorqueActual (low byte) For more information on the torque feedback see section 7-31 AC/DC Drive object attributes on page 187.
  • Page 176 7.5.18 Identity object Class: 0x01 (1 The identity object provides identification of and general information about the device. Table 7-22 Identity object Attribute Access Name Data Type VendorID UINT DeviceType UINT ProductCode UINT Revision USINT SerialNumber UDINT ProductName SHORT_STRING Vendor ID Name: VendorID 0x101 (257...
  • Page 177 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 onboard Ethernet SI-DeviceNet MCi210 SI-Ethernet Revision Name: Revision Class 0x01 Default Instance...
  • Page 178 Table 7-24 Revision specification Major revision (MM.002 / 1000000) Minor revision (MM.002 / 10000) Mod 100 Where “Mod 100” refers to the fractional value of the result from MM.002/10000, (the value after the decimal point). e.g. For a value of 12345678 in Pr MM.002 (12.34.56.78 on the keypad display), the major revision is 12 and the minor revision is 34.
  • Page 179 Product Name Name: ProductName Onboard Ethernet Factory Fitted Ethernet Class 0x01 Default SI-Ethernet SI-Ethernet Instance 0x01 Data Type SHORT_STRING Attribute 0x07 Access Returns the product name as a short string of ASCII Bytes. The first byte specifies the number of following bytes that constitute the product name.
  • Page 180 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 181 Name: RatedVoltage2 Class 0x28 Default Pr 0.21.009 Instance 0x02 Data Type USINT Attribute 0x07 Access Get/Set Returns or sets the rated motor voltage in Volts for instance 2. This attribute is linked to Pr 0.21.009. Rated frequency Name: RatedFreq1 Class 0x28 Default Pr 0.05.006 / 10...
  • Page 182 Motor2Select Name: Motor2Select Class 0x28 Default Instance 0x01 Data Type USINT Attribute 0x64 Access Get/Set Selects between Motor 1 and Motor 2. This attribute is linked to Pr 0.11.045. When this bit is set to 1, Motor 2 will be active. Any change in this attribute will be implemented when the drive is disabled.
  • Page 183 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 184 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 185 The Ready attribute will be set in accordance with the state as shown in Table 7-29. Table 7-29 Control Supervisor Ready attributes Code State Ready state Ready True Enabled True Stopping True All others False Faulted Name: Faulted Class 0x29 Default Instance 0x01...
  • Page 186 If the drive fault code is not listed in Table 7-30 then the Ethernet interface will return the ODVA code as follows: ODVA Fault Code = 0x1000 + drive fault code. Table 7-30 Control Supervisor fault code attributes Drive Fault Code ODVA Fault Code Drive Fault Code ODVA Fault Code...
  • Page 187 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 188 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 189 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 190 SpeedRef Name: SpeedRef Class 0x2A Default Instance 0x01 Data Type USINT Attribute 0x08 Access Get/Set Sets or returns the speed reference in RPM. RFC-A or RFC-S 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 191: Web

    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 192 7.6.1 Configuring the Ethernet interface web page connection If DHCP is enabled, all appropriate IP addresses will be configured by the network DHCP server, you can confirm this is working by checking the IP address has been correctly configured in parameters Pr S.02.006 to Pr MS.02.008.
  • Page 193 From the home page menu bar, the user can select the following functions: • PARAMETERS - Read/write drive and option module parameters • CONFIGURATION - Create/Delete/Edit user accounts • SIGN IN/OUT - Sign in to or out from a user account If the user does not have the required authorisation level to access the particular page NOTE then the following message will be shown.
  • Page 194 7.6.5 SIGN IN When signing in, the following screen is shown. The default administrator account username is 'admin' with the password 'admin'. The account username is not case-sensitive but the password is case-sensitive. After signing in, the user can (depending upon account authorisation level): •...
  • Page 195 Password The password has no restrictions and can be any sequence of characters (or can also be left empty). In this example we have chosen the username 'Supervisor' and the authorisation level 'Regular User'. To create the new user account, click the 'Add User' button, the new user account will be created and displayed in the accounts list.
  • Page 196 Edit User Existing user details (password and authorisation level) can be changed by clicking the 'Edit' button of the relevant account on the 'Configuration' page. Enter the new password and/or the authorisation level and click 'Save' to activate the changes. The username can not be changed.
  • Page 197 For writable parameters, to write a new value, enter the new value and click 'Submit'. The new value will be written to the specified parameter. Some parameters will provide a drop-down box from which the desired option may be selected; parameters designated as bit parameters will provide a tick box to represent the desired state of the parameter (Off or On).

  • Page 198: 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 199: 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 200: 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 201: 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 202: 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 203: 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 204 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 205: 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 205 shows the possible conditions. Table 10-4 Ethernet alarm bits Alarm Description (Pr MM.009)

  • Page 206: 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: 3...

  • Page 207: 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 208 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 209 Implicit data: See Cyclic data. Instance: A collection of properties (Attributes) that are contained within a Class. Used in conjunction with the Class and Attribute properties. IP: Internet Protocol, this is the protocol used to transmit bytes across an IP network. IP address: An address that identifies a node uniquely on a subnet or network.
  • Page 210 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. Normally used to connect a network device to a network switch. PC: Personal Computer.
  • Page 211 TCP: Transmission Control Protocol, this protocol is responsible for ensuring that the data on the network reaches it’s destination. URL: Uniform Resource Locator. A method used to give a web site a friendly name such as www.controltechniques.com as an alternative to an IP address. VPN: Virtual Private Network.
  • Page 212 Index AC/DC Drive object ..................186 Addressing ....................17 Addressing etiquette ...................17 Advanced EDS File ..................158 Alternative notation ..................19 Assembly object ................162, 207 Attribute ....................207 Basic speed and torque control ..............166 Basic speed and torque feedback ............172 Basic speed control ..................163 Basic speed feedback ................169 Cable shield connections ................15 Cabling .......................15 Cabling considerations ................14...
  • Page 213 Extended speed feedback ................170 Firewall issues ..................201 Fixed IP addressing ..................19 Getting started ....................17 Glossary of terms ..................207 Grounding ....................14 Hubs ......................15 Installing SyPTPro ..................199 Instance ....................209 Introduction ....................9 IP address ....................19 Layout ......................14 LED Diagnostics ..................202 Length of cable ...................15 Minimum software versions required for Ethernet ......17, 198 Modbus function codes ................135 Modbus TCP/IP ..................135...
  • Page 214 Security ....................198, 201 Security levels ..................201 Set-Up Flow Chart ..................21 Shield ......................15 Site security ....................201 SM-LON module - front view ..............12 SNTP ......................158 Subnet mask ....................19 Supported drive assembly objects ............162 Virus considerations .................201 Warnings ......................6 Where do IP addresses come from? ............17 Write consistency ..................159 SI-Ethernet User Guide Issue Number: 3...
  • Page 216 0478-0137-03...

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