1. Manuals
  2. Brands
  3. DMM Manuals
  4. Servo Drives
  5. DYN 5 Series
  6. Manual

DMM DYN5 Series Manual

Hide thumbs Also See for DYN5 Series:
Table of Contents

Advertisement

Quick Links

Download this manual
5
DYN
Series
AC SERVO DRIVE
Ethernet/IP Specification
MANUAL CODE: DYN5-EIP-SL258-11A
REVISION: 1.1A
RELEASE DATE: June 2022
This manual must be kept accessible for the user or operator.
Copyright © 2022 DMM Technology Corp.
Document Layout Dimension:
Letter 8.5 x 11inches (215.9 x 279.4 mm)

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the DYN5 Series and is the answer not in the manual?

Questions and answers

Related Manuals for DMM DYN5 Series

Summary of Contents for DMM DYN5 Series

  • Page 1 AC SERVO DRIVE Ethernet/IP Specification MANUAL CODE: DYN5-EIP-SL258-11A REVISION: 1.1A RELEASE DATE: June 2022 This manual must be kept accessible for the user or operator. Copyright © 2022 DMM Technology Corp. Document Layout Dimension: Letter 8.5 x 11inches (215.9 x 279.4 mm)

  • Page 2: Safety Notice

    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 Section 4. Using Explicit Messaging...

  • Page 4: Overview

    DMM TECHNOLOGY CORP. Section 1. Overview The DYN5 servo drive optioned with Ethernet/IP communication allows the servo drive to be fully operated on a Ethernet/IP network. The DYN5 servo drive acts as Target device and exchanges data with a Originator device. Through this network, the Originator 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. RJ45 Ports JP5A and JP5B are used for the Ethernet/IP interface. Both connectors are standard RJ45.
  • Page 6 DMM TECHNOLOGY CORP. ATTENTION As the DYN5 servo drive supports Multiple Servo Drive Daisy Chain Network Con- nection, the servo drive IP setting must follow the below rules. • IPv4 IP Address is 4 bytes: B3.B2.B1.B0 • All DYN5 servo drive on the same Daisy Chain Network must have the same B3, B2, B1 IP Address Settings •...

  • Page 7: Basic Setup Instructions

    DMM TECHNOLOGY CORP. Section 3. Basic Setup Instructions Follow below instructions to setup a Ethernet/IP communication between the DYN5 servo drive and a Ethernet/IP Client. For general DYN5 servo drive operation and wiring instructions, refer to DYN5 servo drive in- struction manual Manual# DYN5MS-ZM1.

  • Page 8: Servo Drive Setup

    DMM TECHNOLOGY CORP. Servo Drive Setup (1) Download and install DMMDRV5 software. (2) Refer to Section 2. to check all wiring and connectors. Ensure the IP address setting rule on Page 6 is followed. (3) Check PC ethernet port TCP/IPv4 settings. This is needed to set and match with the servo drive IP address.

  • Page 9: 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 10: Using Explicit Messaging

    DMM TECHNOLOGY CORP. Section 4. Using Explicit Messaging Ethernet/IP Objects All DYN5 servo drive functions can be accessed using CIP Class 3 explicit messaging to Get/ Set servo drive pbjects. DYN5 servo drive supports Identity Class Objects and Parameter Class Objects as outlined in the below sections.

  • Page 11: Identity Object Class 0X01

    DMM TECHNOLOGY CORP. Identity Object Class 0x01 Class Code Hexadecimal Decimal 0x01 Instances Instance Description Host DYN5 Servo Drive Instance Attributes Attribute ID Access Rule Name Data Type Description Vendor ID WORD Servo Drive Returns 0xABCD Device Type WORD Servo Drive Returns 127...

  • Page 12: Parameter Object Class 0X0F

    DMM TECHNOLOGY CORP. Parameter Object Class 0x0F Class Code Hexadecimal Decimal 0x0F Instances * See next page Instance Attributes Attribute ID Access Rule Name Data Type Description * Access UDINT Rule varies based on pa- All Param- * Function depends on parameter or...

  • Page 13: Parameter Object Class Instances Summary

    DMM TECHNOLOGY CORP. Parameter Object Class Instances Summary Instance# Data Attribute 1 - Name Access Data Range Description Deci- Type NA (Memory Test Any value written into this instance can be read back. No function relat- 0x01 UDINT32 0~63 Object) ed to servo drive.

  • Page 14: Parameter Object Class Instance Details

    DMM TECHNOLOGY CORP. Parameter Object Class Instance Details Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range NA (Memory Test 0x01 Int16 0~63 Object) Details This instance serves as a memory test for the controller. Any value written into this instance can be read back.
  • Page 15 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range 0x03 Set ABS Origin UDINT32 0xFFFF Details When using multi-turn system, setting this instance to 0xFFFF will set current servo motor position to Abso- lute Zero, then also performs a Reset command to reset servo control at current position.
  • Page 16 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range GEAR_NUM 0x0b UDINT32 1~16384 Parameter LINE_NUM 0x0c UDINT32 1~4095 Parameter Details These instances correspond to standard DYN5 servo drive parameters that can be read/set from EtherNet/ IP.
  • Page 17 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range 2^14~ 0x0e Turn_ConstSpeed UDINT32 2^14 Details This instance is used to send servo drive speed command. When data is sent to this instance, servo drive internally switches into Speed Servo Mode to run speed command.
  • Page 18 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range Square_Wave 0x0f UDINT32 0~4096 Motion Amplitude Sin_Wave 0x11 UDINT32 0~4096 Motion Amplitude 0x13 SS_Frequency UDINT32 0~60 Details These instances are used to generate and run internal Square Wave and Sine Wave motion commands.
  • Page 19 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range Go_Absolute_Pos_ 0x15 UDINT32 -2^27 ~ 2^27 Profile Command Details This instances is used to send Absolute Profile Position Command to servo drive. When command is sent, servo drive internally switches to Position servo mode to execute command immediately.
  • Page 20 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range Motor Absolute 0x1d UDINT32 -2^27 ~ 2^27 Position Details These instances contain the absolute position of the motor. Full motor position is 32-bits unsigned long.
  • Page 21 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range 0x1f Motor Torque UDINT32 ±2000 Details This instance 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 22 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range 0x21 Drive Reset UDINT32 0xABCD Details This instance is used to send servo drive Reset command. When this Instance is set to 0xABCD, servo drive issues Reset command. Used to clear servo drive faults or reset motor position.
  • Page 23 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range 0x25 Command Mode Switch UDINT32 0x0000 | 0xFFFF Torque 0x26 UDINT32 -2000~2000 Command Torque Mode 0x27 UDINT32 1~20000 Speed Limit Details These instances are used for Torque Servo Mode operation under Ethernet/IP control. The DYN5 servo drive can freely switch between Position/Speed Mode or Torque mode.
  • Page 24 DMM TECHNOLOGY CORP. Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range 0xFF Diagnostic Counter UDINT32 0~255 Details This instance contains servo drive internal unsigned 8-bit counter used for testing and diagnostics. Instance value increments by 1 each time it is read. Rolls back to 0 after 255.

  • Page 25: Using Implicit I/O Messaging

    DMM TECHNOLOGY CORP. Section 5. Using Implicit I/O Messaging In CIP Class 1 Implicit I/O Messaging, the DYN5 servo drive acts as the I/O Adapter, which is connected to an I/O Scanner. The Scanner is the Originator and DYN5 servo drive is the Tar- get.

  • Page 26: Plc Communication Example

    The PLC used is Automation Direct Productivity1000 PLC Model# P1-540. These instructions are identical for all Productivity PLC models with Ethernet/IP 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 27: Example - Explicit Messaging Get_Attribute_Single - Disgnostc Counter

    DMM TECHNOLOGY CORP. Example - Explicit Messaging Get_Attribute_Single - Disgnostc Counter This example uses Explicit Messaging to Get/Read from Parameter Class 0x0F Instance 0xFF Diagnostic Counter. (1) Ensure that the DYN5 servo drive is set into Ethernet communication mode and network ad- dressing of each device is set appropriately.
  • Page 28 DMM TECHNOLOGY CORP. (5) Drag and drop Instruction for Ethernet/IP Explicit Message into a rung Output. Duplicate settings as shown below. Note the Service ID, Class ID, Attribute ID and Instance ID used. (6) Trigger this instruction using 2 Second Bit as NO Rising Edge Contact as shown below: (7) Complie and Run the program.

  • Page 29: Example - Explicit Messaging Set_Attribute_Single - Speed Command

    DMM TECHNOLOGY CORP. Example - Explicit Messaging Set_Attribute_Single - Speed Command (1) Follow and complete Steps 1, 2, 3 and 4 from example in Section 6.1. (2) Drag and drop Instruction for Ethernet/IP Explicit Message into a rung Output. Duplicate settings as shown below.

  • Page 30: Example - Explicit Messaging Set_Attribute_Single

    DMM TECHNOLOGY CORP. Example - Explicit Messaging Set_Attribute_Single - Relative Profile Position Command (1) Follow and complete Steps 1, 2, 3 and 4 from example in Section 6.1. (2) Drag and drop Instruction for Ethernet/IP Explicit Message into a rung Output. Duplicate settings as shown below.

  • Page 31: Example - Implicit I/O Messaging Setup

    DMM TECHNOLOGY CORP. Example - Implicit I/O Messaging Setup (1) Follow and complete Steps 1, 2, 3 and 4 from example in Section 6.1. (2) Add I/O message and duplicate below settings. Input Data Output Data Configuration Data not used...
  • Page 32 DMM TECHNOLOGY CORP. (3) Complie and Run the program. Open PLC Data View and Edit/Force dyn5_eipst1 status tag Msg1Enable to Enable I/O message 1 as created in Step 2. (4) Open PLC Data View and monitor Input Data input1 and Output Data output1 The RPI time as set in Step 2 is 250ms.

  • Page 33: Servo Drive Communication Response Time

    DMM TECHNOLOGY CORP. Section 7. Servo Drive Communication Response Time When designing time-sensitive applications, consider below timing information regarding the Object and I/O data. ♦ General Object and I/O data Update Rate • General update time delay between DYN5 servo drive main servo CPU and Ethernet/IP module is 300 microseconds (us).

  • Page 34: 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 35: 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 36: 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 37 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 38: 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 39: 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 40 AC SERVO DRIVE Ethernet/IP Specification MANUAL CODE: DYN5-EIP-SL258-11A REVISION: 1.1A RELEASE DATE: June 2022 Copyright © 2022 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...

Table of Contents