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DMM DYN 5 Series Manual

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5
DYN
Series
AC SERVO DRIVE
Modbus TCP/IP Specification
MANUAL CODE: DYN5-MBTCP-SL425-10A
REVISION: 10A
RELEASE DATE: October 2021
This manual must be kept accessible for the user or operator.
Copyright © 2021 DMM Technology Corp.
Document Layout Dimension:
Letter 8.5 x 11inches (215.9 x 279.4 mm)

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  • Page 1 Modbus TCP/IP Specification MANUAL CODE: DYN5-MBTCP-SL425-10A REVISION: 10A RELEASE DATE: October 2021 This manual must be kept accessible for the user or operator. Copyright © 2021 DMM Technology Corp. Document Layout Dimension: Letter 8.5 x 11inches (215.9 x 279.4 mm)

  • Page 2: Safety Notice

    DMM TECHNOLOGY CORP. ■ Safety Notice ■ WARNING The user or operator should read through this manual completely before installation, testing, operation, or inspection of the equipment. The DYN5 series AC Servo Drive should be operated under correct circumstances and conditions. Bodily harm or damage to equipment and system may result if specifications outlined in this document are not followed.

  • Page 3: Table Of Contents

    DMM TECHNOLOGY CORP. Table of Contents ■ Safety Notice ■ ■ Notations Used ■ Table of Contents Section 1. Overview Section 2. Network Connection Section 3. Basic Setup Instructions Servo Drive Setup Ping (ICMP) Test Modbus Poll Test Section 4.

  • Page 4: Overview

    DMM TECHNOLOGY CORP. Section 1. Overview The DYN5 servo drive optioned with Modbus TCP/IP communication allows the servo drive to be fully operated on a Modbus TCP/IP network. The DYN5 servo drive acts as Server (Slave) device and exchanges data with a Client (Master) device. Through this network, the Client has full access and control of the servo drive including: •...

  • Page 5: Network Connection

    DMM TECHNOLOGY CORP. Section 2. Network Connection For general DYN5 servo drive operation and wiring instructions, refer to DYN5 servo drive in- struction manual Manual# DYN5MS-ZM1. Connector JP5A and JP5B are used for the Modbus TCP/IP interface. Both connectors are stan- dard RJ45.

  • Page 6: Basic Setup Instructions

    DMM TECHNOLOGY CORP. Section 3. Basic Setup Instructions Follow below instructions to setup a Modbus TCP/IP communication between the DYN5 servo drive and a PC Modbus TCP/IP Client. These instructions are the same for all DYN5 servo drive models with Modbus TCP/IP option.

  • Page 7: Servo Drive Setup

    DMM TECHNOLOGY CORP. Servo Drive Setup (1) Download and install DMMDRV5 software. (2) Download and install Modbus Poll software (www.modbustools.com). Modbus Poll is a Mod- bus TCP/IP master (Client) simulator software for PC computer. (3) Check PC ethernet port TCP/IPv4 settings. This is needed to set and match with the servo drive IP address.

  • Page 8: Ping (Icmp) Test

    DMM TECHNOLOGY CORP. Ping (ICMP) Test Check servo drive ethernet connectivity using Ping test on PC. (1) Open the PC Command Prompt. (2) Type “ping AAA.AAA.AAA.AAA” where AAA.AAA.AAA.AAA is the servo drive IP address set in Section 3.1 Step. 6.

  • Page 9: Modbus Poll Test

    DMM TECHNOLOGY CORP. Modbus Poll Test Check Modbus TCP/IP connectivity using Modbus Poll software. Modbus Poll software turns the PC into Modbus Client (master) used to test servo drive communication. (1) Open the Modbus Poll software. (2) Click Connection->Connect. Select Modbus TCP/IP connection. Input servo drive IP ad- dress.
  • Page 10 DMM TECHNOLOGY CORP. (5) (Relative Profile Position command example) Set Modbus Poll so it reads from register containing servo motor position. Click Setup->Read/Write Definition. 32-bit servo motor position is contained in registers 0x1D and 0x1E. Set to below setting and click OK. Note Slave ID number does not matter.

  • Page 11: Modbus Register Specifications

    DMM TECHNOLOGY CORP. Section 4. Modbus Register Specifications Modbus Register Overview All DYN5 modbus registers are standard 16 bits wide Modbus Holding Registers. ♦ The DYN5 servo drive supports the following Modbus Function codes Function Code Function Name Read Holding Registers (Single + Multiple)

  • Page 12: Modbus Register Outline

    DMM TECHNOLOGY CORP. Modbus Register Outline Register# Data Data Register Map Access Description Modbus Type Range Decimal NA (Memory Test Whatever value written into this register can be read back. No 40001 Int16 0~63 Register) function related to servo drive. Default = 0.

  • Page 13: Modbus Register Details

    DMM TECHNOLOGY CORP. Modbus Register Details Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] NA (Memory Test 40001 Int16 0~63 Register) Details This register serves as a memory test for the controller. Whatever value written into this register can be read back.
  • Page 14 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] 40004 Set ABS Origin Int16 0xFFFF Details When using multi-turn system, setting this register to 0xFFFF will set current servo motor position to Absolute Zero, then also performs a Reset command to reset servo control at current position.
  • Page 15 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] GEAR_NUM 40012 Int16 1~16384 Parameter LINE_NUM 40013 Int16 1~4095 Parameter Details These registers correspond to standard DYN5 servo drive parameters that can be read/set from Modbus TCP/IP.
  • Page 16 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] Turn_Const- 2^14~ 40015 Int16 Speed 2^14 Details This register is used to send servo drive speed command. When data is sent to this register, servo drive internally switches into Speed Servo Mode to run speed command.
  • Page 17 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] Square_Wave 40016 Int16 0~4096 Motion Amplitude Sin_Wave 40018 Int16 0~4096 Motion Amplitude 40020 SS_Frequency Int16 0~60 Details These registers are used to generate and run internal Square Wave and Sine Wave motion commands.
  • Page 18 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] 40022 Go_Absolute_Pos_ Int32 -2^27 ~ 2^27 Profile Command 40023 Details These two registers are used to send Absolute Profile Position Command to servo drive. When command is sent, servo drive internally switches to Position servo mode to run command immediately.
  • Page 19 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] 40030 Motor Absolute Int32 -2^27 ~ 2^27 Position 40031 Details These registers contain the absolute position of the motor. Full motor position is 32-bits long. Register 0x1d contains higher 16-bits, register 0x1e contains lower 16-bits.
  • Page 20 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] 40032 Motor Torque Int16 ±981 Details This register contains the reference value of instantaneous output current from servo drive to motor. 981=peak output current of servo drive. Value is positive when current/torque is applied in CCW direction.
  • Page 21 DMM TECHNOLOGY CORP. Register# Modbus Address# Register Map Access Data Type Data Range (Modbus Decimal) [hex] 40034 Drive Reset Int16 0xABCD Details This register is used to send servo drive Reset command. If this register is set to 0xABCD, servo drive issues Reset command. Used to clear servo drive faults or reset motor position.

  • Page 22: Plc Communication Example

    Productivity PLC models with Modbus TCP Client capability. ♦ Hardware Layout JP2 Connect to PC DMMDRV5 software via mini-USB to USB-A Cable (DMM Part# CA-DYN5USB-FR3) T2 Connect to JP3 Connect to servo motor servo motor power...

  • Page 23: Initial Communication - Read From Register 0Xfffe Diagnostic Counter

    DMM TECHNOLOGY CORP. Initial Communication - Read from register 0xFFFE Diagnostic Counter (1) Ensure that the DYN5 servo drive is set into Ethernet Modbus TCP/IP communication mode and network addressing of each device is set appropriately. Connect all devices per Hardware Layout diagram above and power up each device.
  • Page 24 DMM TECHNOLOGY CORP. (4) The details of the ModbusTCPRead instructions is show as below. A. Select Ethernet Port and input servo drive IP address. TCP Port number is always 502. Slave Node Number is not relevant. B. Select “Use Structure” to automatically create Tag Names for communication status.

  • Page 25: Speed Command And Speed Feedback Example

    DMM TECHNOLOGY CORP. Speed Command and Speed Feedback Example In this example, we will send a Speed command to the servo drive and passively monitor the motor speed using Automatic Polling. The overall program logic is shown below. The Modbus Read function is polled automatically us- ing Automatic Polling Opting in PLC.
  • Page 26 DMM TECHNOLOGY CORP. The two Modbus TCP/IP Read and Write Instruction details are shown below. Modbus Read: Modbus Write: 1. Set drive IP address and Port settings 1. Set drive IP address and Port settings 2. Select Tag name for instruction status 2.
  • Page 27 DMM TECHNOLOGY CORP. Save and Write the program into PLC and Run. Open the Data View window and input the Tagname as shown below to monitor the data. The Modbus Read instruction is running Automatic Polling so the instruction is called every 250ms.

  • Page 28: Profile Relative Position Command Example

    DMM TECHNOLOGY CORP. Profile Relative Position Command Example In this example, we will send a Profile Relative Position command to the servo drive and passive- ly monitor the motor position using Automatic Polling. For this example, we will use a motor with 16-bit encoder ( 65,536ppr ). With GEAR_NUM parameter [ Pr.19 ] set to 16384 for 1:1 command distance ratio, meaning a position command...
  • Page 29 DMM TECHNOLOGY CORP. The two Modbus TCP/IP Read and Write Instruction details are shown below. Modbus Read: Modbus Write: 1. Set drive IP address and Port settings 1. Set drive IP address and Port settings 2. Select Tag name for instruction status 2.
  • Page 30 DMM TECHNOLOGY CORP. Save and Write the program into PLC and Run. Open the Data View window and input the Tagname as shown below to monitor the two data READ_DATA_POS32 and WRITE_DATA_ REL_POS32. Both Modbus Read and Write instruction is called by Automatic Polling.

  • Page 31: Servo Drive Communication Response Time

    DMM TECHNOLOGY CORP. Section 6. Servo Drive Communication Response Time When designing time-sensitive applications, consider below timing information regarding the data in the modbus registers. ♦ General Modbus Register Update Rate • General update time delay between DYN5 servo drive main servo CPU and modbus module is 300 microseconds (us).

  • Page 32: Appendix A - Dmmdrv5 Communication Setup

    Appendix A - DMMDRV5 Communication Setup This section will outline quick communication setup and jog of servo motor from DMMDRV5 pro- gram. Refer to DMM manual# DSFEN_A15 for full feature specification of DMMDRV5 program. ■ DMMDRV5 System Requirements Operating System: Windows XP SP3 or higher *Recommended: Windows 7 or Higher...

  • Page 33: Appendix B - Profile Position Command Trajectory Calculator

    DMM TECHNOLOGY CORP. Appendix B - Profile Position Command Trajectory Calculator When sending Profile Absolute or Relative position command to the servo drive, refer to the below specifica- tion to calculate the motion profile. The Max Acceleration, Max Speed, and GEAR_NUM parameters are used for generating the motion profile.

  • Page 34: Appendix C - Dtpu Dynamic Target Position Update Specification

    DMM TECHNOLOGY CORP. Appendix C - DTPU Dynamic Target Position Update Specification DTPU P O S I T I O N I N G The DYN servo drive’s built in S-Curve generator is able to update the target position instanta- neously regardless of whether the current command position has completed or not.
  • Page 35 DMM TECHNOLOGY CORP. ♦ S-Curve Acceleration/Deceleration The DTPU algorithm also applies a curved acceleration to maintain smooth motion. At each S-Curve transition point, the acceleration/deceleration is curved at the edges so speed is smooth- ly changed. This decreases motor vibration. The smoothing is applied relative to total command movement so overall distance and position accuracy is not affected.

  • Page 36: Warranty And Liability

    Any direct or indirect commercial loss, commercial profit, physical damage or mechan- ical damage caused by the DYN5 AC Servo Drive is not responsible by DMM Technology Corp. The features and functionality of the product should be used with full discretion by the operator.

  • Page 37: Manual Disclaimer

    DMM Technology Corp. constantly strive to improve its product performance and reliability. As such, the contents and information in this manual may be changed without notice to reflect corrections, improvements or changes to the product. Refere to the DMM website to download latest version of this manual.
  • Page 38 Modbus TCP/IP Specification MANUAL CODE: DYN5-MBTCP-SL425-10A REVISION: 10A RELEASE DATE: October 2021 Electronic Version Copyright © 2021 DMM Technology Corp. Published In Canada DMM TECHNOLOGY CORP. 120 - 21320 Gordon Way Richmond, British Columbia V6W1J8 Canada PHONE: +1 (604)-370-4168 FAX: +1 (604) 285-1989 WEB: http://www.dmm-tech.com...

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