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VLT

AutomationDrive EtherNet/IP

- I n t r o d u c t i o n -

MG.90.J1.02 – VLT is a registered Danfoss trademark

Technical Overview

EtherNet/IP™ was introduced in 2001 and today is the most developed, proven and complete

industrial Ethernet network solution available for manufacturing automation.

EtherNet/IP is a member of a family of networks that implements the Common Industrial Protocol

(CIP™) at its upper layers. CIP encompasses a comprehensive suite of messages and services for a

variety of manufacturing automation applications, including control, safety, synchronization, motion,

configuration and information. As a truly media-independent protocol that is supported by hundreds of

vendors from around the world, CIP provides users with unified communication architecture

throughout the manufacturing enterprise.

EtherNet/IP provides users with the network tools to deploy standard Ethernet technology for

manufacturing applications while enabling Internet and enterprise connectivity.

Assumptions

These operating instructions are under the conditions that the Danfoss EtherNet/IP option is used in

conjunction with a Danfoss FC 100/200/300 frequency converter, inclusive that the installed controller

supports the interfaces described in this document and that all the requirements stipulated in the

controller, as well as the frequency converter, are strictly observed along with all limitations herein.

Hardware

This manual relates to the EtherNet/IP option MCA121, type no. 130B1119 (un-coated) and 130B1219

(coated).

Background Knowledge

The Danfoss EtherNet/IP Option Card is designed to communicate with any system complying with the

CIP EtherNet/IP standard. Familiarity with this technology is assumed.

Issues regarding hardware or software produced by other manufacturers, including commissioning

tools, are beyond the scope of this manual, and are not the responsibility of Danfoss.

For information regarding commissioning tools, or communication to a non-Danfoss node, please

consult the appropriate manuals.

FC 300-related Literature

The following literature is available for the FC 300 series:

Title

Literature no.

FC 300 Operating Instructions

MG.33.Ax.yy

FC 300 Design Guide

MG.33.Bx.yy

Please also refer to:

http://www.danfoss.com/BusinessAreas/DrivesSolutions/

-for additional information

ODVA Conformance

The EtherNet/IP option is tested to conform to the ODVA standards, and is certified, towards

conformance test level version 3.

Summary of Contents for 130B1119

Page 1: ...opology 10 Network 11 Recommended Design Rules 12 EMC Precautions 13 How to Configure the System 14 IP Settings 14 Ethernet Link Parameters 16 Configuring the Scanner 17 IP traffic 19 How to Control the FC 300 20 I O Assembly Instances 20 EtherNet IP connections 21 Control Word Profile 23 Change of State COS 23 Danfoss FC Control Profile 24 ODVA Control Profile 28 Reference Handling 30 Parameters ...

Page 2: ...nvironment Although Danfoss A S has tested and reviewed the documentation within this manual Danfoss A S makes no warranty or representation either express or implied with respect to this documentation including its quality performance or fitness for a particular purpose In no event shall Danfoss A S be liable for direct indirect special incidental or consequential damages arising out of the use o...

Page 3: ...verload protection in accordance with NEC 6 Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs 7 Please note that the frequency converter has more voltage inputs than L1 L2 and L3 when load sharing linking of DC inter...

Page 4: ...led information including the full range of set up options and diagnosis tools please refer to the chapters How to Configure the System How to Control the FC 100 200 300 How to Access FC 100 200 300 Parameters Parameters Troubleshooting Terminology In this manual several terms for Ethernet is used EtherNet IP is the term used to describe the CIP ODVA application protocol Ethernet is a common term ...

Page 5: ...h a Danfoss FC 100 200 300 frequency converter inclusive that the installed controller supports the interfaces described in this document and that all the requirements stipulated in the controller as well as the frequency converter are strictly observed along with all limitations herein Hardware This manual relates to the EtherNet IP option MCA121 type no 130B1119 un coated and 130B1219 coated Bac...

Page 6: ...tic Compatibility I O Input Output IP Internet Protocol LCP Local Control Panel LED Light Emitting Diode LSB Least Significant Bit MAR Major Recoverable fail MAU Major Unrecoverable fail MAV Main Actual Value actual output MSB Most Significant Bit MRV Main Reference Value N A Not applicable ODVA Open DeviceNet Vendor Association PC Personal Computer PLC Programmable Logic Controller PNU Parameter ...

Page 7: ...VLT AutomationDrive EtherNet IP MG 90 J1 02 VLT is a registered Danfoss trademark 7 How to Install The EtherNet IP Option ...

Page 8: ...0 200 300 Remove the frame located beneath and discard it Push the option into place The Ethernet connectors must be facing upwards Remove both knock outs on the fieldbus option adaptor frame Push the fieldbus option adaptor frame for the FC 100 200 300 into place Replace the LCP and attach cable N B Do not strip the Ethernet cable and ground it via the strain relief plate The grounding of screene...

Page 9: ... Major fault Red Solid red The device has detected a un recoverable fault Self test Red Green Flashing red green The EIP option is in self test mode NS1 NS2 Network status one per port State LED Description No IP address no power Off The device does not have a valid IP address or is un powered No connections Green Flashing green There are no established any CIP connections to the device Connected ...

Page 10: ...rNet IP options in a line topology as an alternative to the typical star topology The two ports are equal in the sense that they are transparent for the option If only one connector is used either port can be used Star topology Line topology Note For line topology please refer to section Recommended design rules In a line topology all drives must be powered either by mains or by their 24 V DC opti...

Page 11: ...n for Ethernet data transmission are suitable Usually CAT 5e and 6 cables are recommended for industrial applications Both types of cable are available as Unshielded Twisted Pair and Shielded Twisted Pair Generally shielded cables are recommended for use in industrial environments and with frequency converters A maximum cable length of 100 m is allowed between switches Optical fibres can be used f...

Page 12: ...pology it is important to notice that a small delay is added with each every switch in the line For EtherNet IP the maximum number of drives in a line is dependent of the API speed of the connected scanner According to the graph above the network should thus be segmented with the use of external Ethernet switches It is not recommended to connect more than 32 drives in a line at any API Exceeding t...

Page 13: ...rotective earth connection must be observed The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise from one cable to the other Normally a distance of 200 mm 8 inches is sufficient but maintaining the greatest possible distance between the cables is recommended especially where cables run in parallel over long distances When...

Page 14: ... 12 07 Domain Name 12 03 Default Gateway 12 08 Host Name 12 04 DHCP Server 12 09 Physical Address The MCA121 option offers several ways of IP address assignment Setting up drive with manual assigned IP address Par Name Value 12 00 IP Address Assignment 0 MANUAL 12 01 IP Address 192 168 0 xxx 12 02 Subnet Mask 255 255 255 0 12 03 Default Gateway optional Class C IP address example Any valid IP addr...

Page 15: ...ddress of option which is also printed on the label of the option If using fixed leases together with DHCP or BOOTP the physical MAC address is linked with a fixed IP address N B If no DHCP or BOOTP reply has been received after 4 attempts e g if the DHCP BOOTP server has been powered off the option will fallback to the last good known IP address Par 12 03 Default Gateway is optional and only used...

Page 16: ...nnected Ethernet devices to choose common transmission parameters such as speed and duplex mode In this process the connected devices first share their capabilities as for these parameters and then choose the fastest transmission mode they both support By default this function is enabled Incapability between the connected devices may lead to decreased communication performance To prevent this Auto...

Page 17: ...nload DDFieldbus_Setup_Files htm N B The current version of the major EtherNet IP configuration tools does not support EDS files for EtherNet IP devices Configuring a Rockwell Master For configuring a FC 100 200 300 with MCA121 for operation with a Rockwell Allen Bradley Scanner via EtherNet IP the FC 100 200 300 must be added as a Generic Ethernet Module Under the General tab enter information ab...

Page 18: ... information about RII and fault conditions The Module Info This tap holds generic information The Reset Module This button will make a simulated Power cycle of the drive N B For more information on the CIP class 1 Forward Open command please refer to section EtherNet IP Connections under the How to Control chapter ...

Page 19: ...to all connected hosts IGMP IGMP Internet Group Management Protocol is an integrated part of IP It allows hosts to join or leave a multicast host group Group membership information is exchanged between a specific host and the nearest multicast router For EtherNet IP networks it is essential that the switches used supports IGMP Snooping IGMP Snooping enables the switch to listen in on the IGMP conv...

Page 20: ...ances E g 101 153 8 bytes 20 bytes It is not possible to mix instances across profiles e g 20 100 Assembly instances must be consistent to the ODVA or FC profile The controlling instance can be read in par 12 20 Control Instance The figure below shows the I O Assembly Instance options for controlling and monitoring the FC 100 200 300 drive Profile par 8 10 Direction Instance decimal Size bytes Dat...

Page 21: ...inator to Target Target to Originator Point to Point Multicast Target to Originator only Data Size Specified in bytes for both directions Originator Target Target Originator The data size depends on the assembly instance chosen in Destination Instances decimal Originator Target Target Originator Data size 20 21 100 70 71 150 4 bytes 101 151 8 bytes 103 153 20 bytes Packet Rate Specified in millise...

Page 22: ...owing information Connection Name Given name for the connection Message Parameters Service Code Class Instance Attribute Member Request Data Unconnected Messages UCMM Non cyclic single connection using TCP transport This type of connection is used for explicit messaging The connection is established on the fly and does not require any Forward Open command Message Parameters Service Code Class Inst...

Page 23: ...of COS filters par 12 21 to 12 21 for each bit in the different PCD words The filter acts like a logical AND function If a bit in the filter is set to 1 the COS function triggers when there is a change to the corresponding bit for the PCD word Parameter 12 38 can be used to filter out undesired events for COS If a filter bit is set to 0 the corresponding I 0 Instance bit will be unable to produce ...

Page 24: ...e how Bit 03 gates with the corresponding function on a digital input Bit 04 Quick stop Bit 04 0 causes a stop in which the motor speed is ramped down to stop via par 3 81 Quick stop ramp time Bit 05 Hold output frequency Bit 05 0 causes the present output frequency in Hz to freeze The frozen output frequency can then be changed only by means of the digital inputs par 5 10 to 5 15 programmed to Sp...

Page 25: ... function is useful for turning off the control word when not required for updating or reading parameters Bit 11 Relay 01 Bit 11 0 Relay not activated Bit 11 1 Relay 01 activated provided Control word bit 11 has been chosen in par 5 40 Function relay Bit 12 Relay 02 Bit 12 0 Relay 02 has not been activated Bit 12 1 Relay 02 has been activated provided Control word bit 12 has been chosen in par 5 4...

Page 26: ...o re establish operation Bit 04 No error Error no trip Bit 04 0 means that the frequency converter is not in fault mode Bit 04 1 means that there is a frequency converter error but no trip Bit 05 Reserved Bit 05 is not used in the status word Bit 06 No error Trip lock Bit 06 0 means that the frequency converter is not in fault mode Bit 06 1 means that the frequency converter is tripped and locked ...

Page 27: ...re no voltage warnings Bit 13 1 means that the DC voltage in the frequency converter s intermediate circuit is too low or too high Bit 14 Torque OK Torque limit exceeded Bit 14 0 means that the motor current is lower than the torque limit selected in par 4 16 and 4 17 Torque limit Bit 14 1 means that the torque limit in par 4 16 and 4 17 Torque limit has been exceeded The nominal torque can be rea...

Page 28: ... Fwd Bit 0 0 means that the VLT frequency converter has a stop command Bit 0 1 leads to a start command and the VLT frequency converter will start to run the motor clockwise Bit 1 Run Rev Bit 1 0 leads to a stop of the motor Bit 1 1 leads to a start of the motor Bit 2 Fault Reset Bit 2 0 means that there is no trip reset Bit 2 1 means that a trip is reset Bit 3 No function Bit 3 has no function Bi...

Page 29: ...of the control word are set at the same time Bit 3 Running 2 Bit 3 0 means that the drive is in neither of these states or that Run 2 is not set Bit 3 1 means that the drive state attribute is enabled or stopping or that fault stop and bit 0 Run 2 of the control word are set at the same time Bit 4 Ready Bit 4 0 means that the state attribute is in another state Bit 4 1 means that the state attribu...

Page 30: ...s on the settings in the following parameters Parameter 1 23 Motor frequency Parameter 1 25 Motor nominal speed Parameter 3 02 Minimum reference Parameter 3 03 Maximum reference All references provided to the frequency converter are added to the total reference value If a reference is to be controlled by the fieldbus only ensure that all other reference inputs are zero This means that digital and ...

Page 31: ...VLT is a registered Danfoss trademark 31 Bus Speed Reference Value under Instances 20 70 and 21 71 Master slave 16 bit CTW Speed ref RPM The speed reference value should be transmitted to the VLT frequency converter in the form of a 16 bit word The value is transmitted directly in RPM ...

Page 32: ...ption A to enable control from the EtherNet IP option This parameter cannot be adjusted while the motor is running 8 03 Control Word Timeout Time Range 0 1 18000 0 s 1 0 s Function Enter the maximum time expected to pass between the reception of two consecutive telegrams containing a CTW If this time is exceeded it indicates that the serial communication has stopped The function selected in par 8 ...

Page 33: ... warning until par 8 06 toggles Then the frequency converter resumes its original set up Resume The frequency converter resumes the set up active prior to the time out 8 06 Reset Control Word Timeout Option Do not reset 0 Do reset 1 Function Select Do reset 1 to return the frequency converter to the original set up following a control word time out When the value is set to Do reset 1 the frequency...

Page 34: ...1 Control site is set to 0 Digital and control word 8 51 Quick Stop Select Option Digital input 0 Bus 1 Logic AND 2 Logic OR 3 Function Select control of the Quick Stop function via the terminals digital input and or via the fieldbus N B This parameter is active only when par 8 01 Control site is set to 0 Digital and control word 8 52 DC Brake Select Option Digital input 0 Bus 1 Logic AND 2 Logic ...

Page 35: ...rminals digital input and or via the fieldbus N B This parameter is active only when par 8 01 Control site is set to 0 Digital and control word 8 56 Preset Reference Select Option Digital input 0 Bus 1 Logic AND 2 Logic OR 3 Function Select control of the frequency converter Preset Reference selection via the terminals digital input and or via the fieldbus N B This parameter is active only when pa...

Page 36: ...Read only if par 12 00 set to DHCP or BOOTP 12 04 DHCP Server Option 000 000 000 000 255 255 255 255 Function Read only Displays the IP address of the found DHCP or BOOTP server N B A power cycle is necessary after setting the IP parameters manually 12 05 Lease Expires Option dd hh mm ss Function Read only Displays the lease time left for the current DHCP assigned IP address 12 06 Name Servers Opt...

Page 37: ...d hh mm ss 12 12 Auto Negotiation Option Off 0 On 1 Function Configures Auto Negotiation of Ethernet link parameters for each port ON or OFF If set to OFF Link Speed and Link Duplex can configured in par 12 13 and 12 14 12 13 Link Speed Option None 0 10 Mbps 1 100 Mbps 2 Function Forces the link speed for each port in 10 or 100 Mbps If par 12 12 is set to ON this parameter is read only and display...

Page 38: ...tion of readable process data N B For configuration of 2 word 32 bit parameter read write use 2 consecutive arrays in par 12 21 and 12 22 12 28 Store Data Values Option Off 0 Store All set up s 1 Function This parameter activates a function that stores all parameter values in the non volatile memory EEPROM thus retaining parameter values at power down Off The store function is inactive Store All s...

Page 39: ...only Displays the control source in Instance 21 71 Off Control via the network is not active On Control via the network is active 12 33 CIP Revision Range 0 Major version 00 99 1 Minor version 00 99 Function Read only Displays the CIP version of the option software 12 34 CIP Product Code Range 0 9999 1100 FC 302 1110 FC 301 Function Read only Displays the CIP product code 12 37 COS Inhibit Timer R...

Page 40: ...ion Disable 0 Enable 1 Function Enables disables the build in HTTP web server 12 82 SMTP service Option Disable 0 Enable 1 Function Enables disables the SMTP e mail service on the option 12 89 Transparent Socket Chanel Port Range 0 9999 0 Function Configures the TCP port number for the transparent socket channel This enables FC telegrams to be sent transparently on Ethernet via TCP Default value i...

Page 41: ...Diagnostics is enabled in par 12 90 the build in switch is able via Time Domain Reflectometry TDR This is a measurement technique which detects common cabling problems such as open circuits short circuits and impedance mismatches or breaks in transmission cables The distance from the option to the error is displayed in meters with an accuracy of 2m The value 0 means no errors detected 12 94 Broadc...

Page 42: ... Advanced Interface counters from build in switch can be used for low level trouble shooting The parameter shows a sum of port 1 port 2 12 99 Media Counters Range Alignment Errors 0 FCS Errors 1 Single Collisions 2 Multiple Collisions 3 SQE Test Errors 4 Deferred Errors 5 Late Collisions 6 Excessive Collisions 7 MAC Transmit Errors 8 Carrier Sense Errors 9 Frame Too Long 10 MAC Receive Errors 11 F...

Page 43: ...9 ch Visible string 48 12 08 Host Name max 19 ch Visible string 48 12 09 Physical Address 00 1B 08 00 00 00 Visible string 17 12 1x Ethernet Link Parameters 12 10 Link Status No Link 0 0 1 Unsigned 8 0 1 12 11 Link Duration 00 00 00 00 Time diff w date 0 1 12 12 Auto Negotiation On 1 0 1 Unsigned 8 0 1 12 13 Link Speed None 0 0 2 Unsigned 8 0 1 12 14 Link Duplex Full Duplex 1 0 1 Unsigned 8 0 1 12...

Page 44: ...upported by FC 100 200 300 Conversion index This number to the left refers to a conversion figure on the right to be used when writing or reading parameters Conversion index Conversion factor 67 1 60 6 1000000 5 100000 4 10000 3 1000 2 100 1 10 0 1 1 0 1 2 0 01 3 0 001 4 0 0001 5 0 00001 6 0 000001 ...

Page 45: ...ult Red Flashing red The device has detected a recoverable fault MAR Major unrecoverable fault Red Steady red The device has detected a un recoverable fault MAU Self test Red Green Flashing red green The EIP option is in self test mode NS1 NS2 Network status one per port No connections Green Flashing green There are no established any CIP connections to the device Connected Green Steady green Ther...

Page 46: ... the availability of the individual alarms and warnings are dependent on the drive type FC100 200 300 series Warning and Alarm Messages There is a clear distinction between alarms and warnings In the event of an alarm the frequency converter will enter a fault condition After the cause for the alarm has been cleared the master must acknowledge the alarm message in order to start operation of the f...

Page 47: ...0 Inverter overloaded MAR 00000400 DC link under voltage MAR 00000800 DC link over voltage MAR 00001000 Short circuit MAU 00002000 Inrush fault MAR 00004000 Mains phase loss MAU 00008000 AMA not OK MAR 00010000 Live zero error MAR 00020000 Internal fault MAU 00040000 Brake overload MAU 00080000 Motor phase U is missing MAU 00100000 Motor phase V is missing MAU 00200000 Motor phase W is missing MAU...

Page 48: ...e 00000800 Speed limit 00000800 DC link over voltage 00001000 Reserved 00001000 DC link voltage low 00002000 Reserved 00002000 DC link voltage high 00004000 Reserved 00004000 Mains phase loss 00008000 Reserved 00008000 No motor 00010000 Reserved 00010000 Live zero error 00020000 KTY error 00020000 10V low 00040000 Fans error 00040000 Brake resistor power limit 00080000 ECB error 00080000 Brake res...

Page 49: ... 00000400 Output frequency low 00000800 Reserved 00000800 Brake check OK 00001000 Reserved 00001000 Braking max 00002000 Reserved 00002000 Braking 00004000 Reserved 00004000 Out of speed range 00008000 Reserved 00008000 OVC active 00010000 Reserved 00010000 AC brake 00020000 KTY warning 00020000 Password Timelock 00040000 Fans warning 00040000 Password Protection 00080000 ECB warning 00080000 Refe...

Page 50: ...active 00000040 Start Prevented 00000080 Control ready 00000100 Drive ready 00000200 Quick Stop 00000400 DC Brake 00000800 Stop 00001000 Stand By 00002000 Freeze Output Request 00004000 Freeze Output 00008000 Jog Request 00010000 Jog 00020000 Start Request 00040000 Start 00080000 Start Applied 00100000 Start Delay 00200000 Sleep 00400000 Sleep Boost 00800000 Running 01000000 Bypass 02000000 Fire M...

Page 51: ...Code UINT Value of par 12 34 4 Get Revision Struct Value of par 12 33 5 Get Status WORD EIP status word par 12 30 6 Get Serial Number UDINT Serial number 7 Get Product Name String Value of par 15 40 e g FC 302 8 Get State UINT 0 Non existent 1 Device Self Testing 2 Standby 3 Operational 4 Major Recoverable Fault 5 Major Unrecoverable Fault 6 254 Reserved 255 Default for Get Attribute All 9 Get Con...

Page 52: ...Number of Forward Close requests rejected due to other reasons 8 Get Connection Timeouts UINT Number of connection timeouts Connection Entry List Struct of NumConnEntries INT Number of connection entries 9 Get ConnOpenBits ARRAY of BOOL List of connection data Class ID 0x28 Motor Data Object Instance Attributes Attribute Access Name Data Type Parameter Description 1 Get Number of Attributes suppor...

Page 53: ...0000 0002 Excessive Device Temperature mar 2240 Earth fault 0000 0004 Short to earth mau 0 unused 0000 0008 No fault 8100 Controlword timeout 0000 0010 Communication mir 2310 Overcurrent 0000 0020 Continuous Overcurrent mau 8302 Torque limit 0000 0040 Torque limiting mar 4310 Motor thermistor 0000 0080 Excess Drive Temperature mar 4310 Motor ETR over temp 0000 0100 Excess Drive Temperature mar 231...

Page 54: ... Reference 6 Get Set Drive Mode USINT Mapping of values from parameter 1 00 7 Get Actual Speed INT See Attribute 22 8 Get Set Reference Speed INT See Attribute 22 18 Get Set Acceleration Time UINT Scaled with Attribute 28 and written to Parameter 341 19 Get Set Deceleration time UINT Scaled with Attribute 28 and written to Parameter 342 20 Get Set Low Speed Limit UINT Scaled with Attribute 22 and ...

Page 55: ...he option after the build in switch Instance Attributes Attribute Access Rule Name Data Type Description of Attribute Parameter in drive 1 Get Interface Speed UDINT Interface speed in Mbps e g 0 10 100 1000 etc 12 13 2 Get Interface Flags DWORD Interface status flags 3 Get Physical Address ARRAY of 6 USINTs MAC layer address 12 09 Interface Counters STRUCT of In Octets UDINT Octets received on the...

Page 56: ...ror 12 99 11 Interface Control STRUCT of Configuration for physical interface Control Bits WORD Interface Control Bits 6 Set Forced Interface Speed UINT Speed at which the interface shall be forced to operate Speed in Mbps 10 100 1000 etc 7 Get Interface Label SHORT_STRING Human readable identification 8 Get Link List Size USINT Number of members in Link List 9 Get Link List ARRAY OF UINT Link Lis...

Page 57: ...ter Attribute From drive 12 Get default value data type described in Attr 5 Generic parameter s default value Parameter Attribute From drive 13 Get Scaling multiplier UINT multiplier for scaling factor 1 14 Get Scaling divisor UINT divisor for scaling factor 1 15 Get Scaling base UINT base for scaling formula 0 16 Get Scaling offset INT offset for scaling formula 0 17 Get Multiplier link UINT para...

Page 58: ...rademark 58 3 Get 1st group parameter 000 099 UINT instance number of Parameter Object variable 4 Get 2nd group parameter 100 199 UINT instance number of Parameter Object variable Get UINT variable n 2 Get nth group parameter UINT instance number of Parameter Object variable ...

Page 59: ...he parameter the value for the attribute Examples fictitious parameters Parameter 0 01 index 0 Class 100 Instance 101 Attribute 100 Parameter 1 00 index 0 Class 101 Instance 100 Attribute 100 Parameter 2 59 index 0 Class 102 Instance 159 Attribute 100 Parameter 5 34 index 3 Class 105 Instance 134 Attribute 103 Parameter 6 54 index 9 Class 106 Instance 154 Attribute 109 Parameter 10 01 index 0 Clas...

Page 60: ...objects 59 Data types 44 E EDS 17 EMC precautions 13 Ethernet 4 14 EtherNet IP 4 14 F FC profile 24 Forward Open 21 H Hardware 5 7 I I O 20 Identity object 51 IGMP 19 Installation 8 Interface object 55 IP settings 14 IP traffic 19 L Link object 55 Literature 5 LEDs 9 M Master 17 Motor data object 52 Multicast 19 N Network 10 O Object model 51 ODVA conformance 5 ODVA profile 28 Overview technical 5...

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