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Nidec Unidrive M600, User Manual

The Nidec Unidrive M600 is an advanced motor drive system designed to deliver precise control and efficiency for various industrial applications. To fully harness its capabilities, users can conveniently access the comprehensive User Manual for free download at manualshive.com, offering step-by-step instructions and valuable insights for optimal performance.

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User Guide

SI-Ethernet and 
Unidrive M -  
Onboard Ethernet

Part Number: 0478-0137-03
Issue: 3

Summary of Contents for Unidrive M600

Page 1: ...User Guide SI Ethernet and Unidrive M Onboard Ethernet Part Number 0478 0137 03 Issue 3 ...

Page 2: ...ances including EU directive 2011 65 EU and the Chinese Administrative Measures for Restriction of Hazardous Substances in Electrical and Electronic Products Disposal and Recycling WEEE REACH legislation EC Regulation 1907 2006 on the Registration Evaluation Authorisation and restriction of Chemicals REACH requires the supplier of an article to inform the recipient if it contains more than a speci...

Page 3: ... to change the specification of the product or its performance or the contents of the guide without notice 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 Cont...

Page 4: ...e 9 2 2 Features 9 2 3 Option module identification 10 2 4 Factory fit Ethernet interface identification 11 2 5 Product conformance 11 2 6 Conventions used in this guide 11 2 7 Firmware Statement 11 3 Mechanical installation 12 4 Electrical installation 14 4 1 SI Ethernet module information 14 4 2 Cabling considerations 14 4 3 Module grounding 14 4 4 Cable shield connections 15 4 5 Cable 15 4 6 Ma...

Page 5: ...s 191 8 PC Tools Applications 198 8 1 Unidrive M Connect 198 8 2 Machine Control Studio 198 8 3 CTScope 199 8 4 SyPTPro 199 8 5 CT OPC server 200 9 Security 201 9 1 Introduction 201 9 2 General site security issues 201 9 3 Default restrictions 201 10 Diagnostics 202 10 1 LED diagnostics 202 10 2 Drive trip display codes 202 10 3 Ethernet sub trip codes 203 10 4 Ethernet sub trip codes 205 10 5 Eth...

Page 6: ...Responsibility It is the responsibility of the installer to ensure that the equipment is installed correctly with regard to all instructions given in this guide They must give due consideration to the safety of the complete system so as to avoid the risk of injury both in normal operation and in the event of a fault or of reasonably foreseeable misuse The manufacturer accepts no liability for any ...

Page 7: ...ult in a hazard either through their intended behaviour or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example an over speed protection device in case of failure of the speed contr...

Page 8: ...ftware are designed to high standards of quality and robustness they are not intended for use as safety functions i e where a fault or failure would result in a risk of injury In any application where the incorrect operation of the brake release mechanism could result in injury independent protection devices of proven integrity must also be incorporated 1 13 Adjusting parameters Some parameters ha...

Page 9: ...0 sizes 2 to 9 Unidrive M400 sizes 2 to 9 Unidrive M600 sizes 3 to 11 Unidrive M700 M701 M702 sizes 3 to 11 2 2 Features The following list gives an overview of the functionality available Single RJ45 connectivity with support for shielded twisted pair 100 Mbs Ethernet with auto negotiation Full and half duplex operation with auto negotiation Auto crossover detection TCP IP Modbus TCP IP EtherNet ...

Page 10: ...front of the option module SI Ethernet being beige Figure 2 2 SI Ethernet label 2 3 1 Date code format The date code is four numbers The first two numbers indicate the year and the remaining numbers indicate the week of the year in which the drive was built Example A date code of 1710 would correspond to week 10 of year 2017 Earth connection Link LEDs SI Ethernet 1714 S N 8000001001 S N 8000001001...

Page 11: ...s in menu 0 will appear in drive menu 15 16 or 17 depending on which slot the module is installed in In the case of the onboard Ethernet interface the set up parameters in menu 0 will appear in drive menu 24 The setting of the Option Slot Identifiers Pr 11 056 may change the slot numbering from those described above The internal menus of the option module or onboard Ethernet interface will appear ...

Page 12: ...rminal cover on the drive holds the option module in place so this must be put back on 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 WARNING 1 2 Option modules can...

Page 13: ...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 Move the option module in direction shown 1 2 Align and insert the option module tab in to the slot provided this is highlighted in the detailed view A Press down on the option...

Page 14: ...ernet cable tester this is of particular importance when cables are constructed on site Any isolated signal circuit has the capability to become live through accidental contact with other conductors as such they should always be double insulated from live parts The routing of network and signal wires should be done so as to avoid close proximity to mains voltage cabling 4 3 Module grounding SI Eth...

Page 15: ... the user to design a robust network using the topology that works best for the chosen design Star topology Enables individual devices to be swapped out Minimise message transmission delays Line topology daisy chain Simple wiring Lowest cost Tree topology Maximises bandwidth contains messages within appropriate segments Products can be connected in functional groups e g to enable one section of a ...

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

Page 17: ...nt subnets can only communicate by using a gateway typically a router or firewall 5 3 Where do IP addresses come from Every address on a network must be unique If you do not connect your network to any other networks the assignment of IP addresses is not critical although using a standard system is recommended as you have full control of the addresses used The issue of addressing becomes important...

Page 18: ...se addresses are intended for medium to large size networks These addresses must be requested from the governing body InterNIC when using them publicly on the Internet to avoid duplication Class B addresses are generally used on public or private networks 5 5 3 Class C addresses Class C addresses use the first 3 octets as the subnet address and the remaining octet as the host id A class C address ...

Page 19: ...bit Alternative subnet mask notation 192 168 0 1 24 5 6 3 Completing the address To determine which part of the address constitutes the network address and which part constitutes the node address the IP address is bit wise ANDed with the subnet mask Figure 5 1 shows how the IP address and subnet mask are used to determine the subnet address and the host address Figure 5 1 Completing the address 5 ...

Page 20: ...twork nodes from one subnet cannot communicate directly with nodes on a different subnet To allow nodes to communicate a router or similar device is required to allow the two subnets to exchange data This means that any node wishing to communicate with a node that is not on its own subnet must know the address of a router that is on its own subnet This is sometimes called a gateway or default gate...

Page 21: ...ces switches Ensure the correct cable types are used Perform cable tests A dedicated Ethernet cable tester Is recommended Configure the IP address subnet mask and default gateway Ensure PC is on the same subnet or the default gateway on the drive PC are set Ensure segment lengths no longer than maximum limits END See Chapter 4 See Chapter 4 See Chapter 4 See Chapter 4 See Chapter 5 Save module set...

Page 22: ... Protected FI Filtered US User save PS Power down save BU Bit default or Unipolar Menu Name Description S 0 Module Setup Provides module information such as firmware version serial number and status S 2 Ethernet Configures and provides information on the Ethernet network S 9 Resources Provides information on the module task resources and PCB temperature S 10 Easy Mode Configures and provides infor...

Page 23: ... option module and the onboard Ethernet interface Table 5 6 Menu 0 slot availability Parameter Range Default Access Size Bits S 00 000 Parameter mm 000 0 to 65535 RW 16 S 00 001 Module ID 0 to 65535 RO 16 S 00 002 Software Version 00 00 00 00 to 99 99 99 99 RO 32 S 00 003 Hardware Version 0 00 to 99 99 RO 16 S 00 004 Serial Number LS 0 to 99999999 RO 32 S 00 005 Serial Number MS 0 to 99999999 RO 3...

Page 24: ... RO 64 S 02 020 Priority Protocol 0 to 2 0 RW 8 S 02 021 Web Server Enable 0 Off to 1 On 1 On RW 1 S 02 022 Web Server Port 0 to 65535 80 RW 16 S 02 024 Ethernet MTU 158 to 1500 bytes 1500 bytes RW 16 S 02 025 Gateway Mode 0 to 2 0 RW 8 S 02 030 VLAN Enable 0 Off to 1 On 0 Off RW 1 S 02 031 Drive VLAN ID 0 to 255 0 RW 8 S 02 034 Drive Mode 0 Unidrive M to 1 Unidrive SP 0 Unidrive M RW 8 S 02 035 N...

Page 25: ...Count 0 to 10 0 RW 8 S 10 014 Tx1 Transmission Type 0 Unicast to 11 Multicast10 0 Unicast RW 8 S 10 015 Tx1 Destination Address 0 0 0 0 to 255 255 255 255 0 0 0 0 RW 32 S 10 016 Tx1 Message Rate 0 to 100 ms 0 ms RW 8 S 10 019 Tx1 Link Status 31 Disabled to 2 OK Sync RO 8 S 10 020 Tx2 Link Profile 0 Std to 1 Sync 0 Std RW 8 S 10 021 Tx2 Link Number 0 to 255 0 RW 8 S 10 022 Tx2 Source Parameter 0 0 ...

Page 26: ...ount 0 to 10 0 RW 8 S 10 054 Rx2 Source Type 0 Direct to 11 Multicast10 0 Direct RW 8 S 10 055 Rx2 Timeout 0 to 65535 ms 100 ms RW 16 S 10 056 Rx2 Timeout Action 0 Trip to 2 Hold last 0 Trip RW 8 S 10 057 Rx2 Timeout Event Dest 0 This slot to 4 Slot 4 0 This slot RW 8 S 10 058 Rx2 Timeout Event Type 0 No Event to 4 Event3 0 No Event RW 8 S 10 059 Rx2 Link Status 31 Disabled to 2 OK Sync RO 8 S 10 ...

Page 27: ...31 12 99 RO 32 S 11 011 PTP Time 00 00 00 to 23 59 59 RO 32 S 11 015 PTP Delay Select 1 P2P DELAY to 2 Off 1 P2P DELAY RW 8 S 11 016 PTP Sync Rate 4 to 0 4 RW 8 S 11 017 In sync window length 2 to 255 s 20 s RW 8 S 11 020 Network Error Count 0 to 4294967295 RO 32 S 11 022 Interoption Sync Status 0 MASTER to 2 INDEPENDENT RO 8 S 11 030 Easy Mode Maximum Network Delay 1 to 100 ms 3 ms RW 8 S 11 040 ...

Page 28: ...W 8 S 15 008 Max Connections Per Client 1 to 4 2 RW 8 S 15 009 Modbus Timeout 1 to 10000 ms 100 ms RW 16 S 15 010 Modbus Timeout Action 0 Trip to 1 No action 1 No action RW 8 S 15 011 Modbus Timeout Event Dest 0 This slot to 4 Slot 4 0 This slot RW 8 S 15 012 Modbus Timeout Event Type 0 No event to 5 Trigger Event 4 0 No event RW 8 S 15 013 Modbus Register Addressing Mode 0 Standard to 1 Modified ...

Page 29: ...is slot RW 8 S 20 017 PLC idle event type 0 No event to 5 Trigger Event 4 0 No event RW 8 S 20 018 Active input assembly object 0 100 PrimaryI to 4 73 ExtSpdTqCtrI RO 8 S 20 019 Active output assembly object 0 101 PrimaryO to 4 23 ExtSpdTqCtrO RO 8 S 20 020 Input assembly object size 4 to 128 bytes 8 bytes RW 8 S 20 021 Output assembly object size 4 to 128 bytes 8 bytes RW 8 S 20 024 In Assembly O...

Page 30: ...9 4 99 999 0 0 00 000 RW 32 S 21 011 Input mapping parameter 11 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 012 Input mapping parameter 12 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 013 Input mapping parameter 13 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 014 Input mapping parameter 14 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 015 Input mapping parameter 15 0 0 ...

Page 31: ...99999 4 99 999 0 0 00 000 RW 32 S 21 027 Input mapping parameter 27 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 028 Input mapping parameter 28 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 029 Input mapping parameter 29 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 030 Input mapping parameter 30 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 21 031 Input mapping parameter 31 ...

Page 32: ...4 99 999 0 0 00 000 RW 32 S 22 011 Output mapping parameter 11 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 012 Output mapping parameter 12 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 013 Output mapping parameter 13 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 014 Output mapping parameter 14 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 015 Output mapping parameter 15 0...

Page 33: ...999 4 99 999 0 0 00 000 RW 32 S 22 027 Output mapping parameter 27 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 028 Output mapping parameter 28 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 029 Output mapping parameter 29 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 030 Output mapping parameter 30 0 0 00 000 to 499999 4 99 999 0 0 00 000 RW 32 S 22 031 Output mapping parameter ...

Page 34: ... 23 010 Output fault value 10 2147483648 to 2147483647 0 RW 32 S 23 011 Output fault value 11 2147483648 to 2147483647 0 RW 32 S 23 012 Output fault value 12 2147483648 to 2147483647 0 RW 32 S 23 013 Output fault value 13 2147483648 to 2147483647 0 RW 32 S 23 014 Output fault value 14 2147483648 to 2147483647 0 RW 32 S 23 015 Output fault value 15 2147483648 to 2147483647 0 RW 32 S 23 016 Output f...

Page 35: ...RW 32 S 23 026 Output fault value 26 2147483648 to 2147483647 0 RW 32 S 23 027 Output fault value 27 2147483648 to 2147483647 0 RW 32 S 23 028 Output fault value 28 2147483648 to 2147483647 0 RW 32 S 23 029 Output fault value 29 2147483648 to 2147483647 0 RW 32 S 23 030 Output fault value 30 2147483648 to 2147483647 0 RW 32 S 23 031 Output fault value 31 2147483648 to 2147483647 0 RW 32 S 23 032 O...

Page 36: ...er up if the stored drive database is different to that of the drive the Ethernet interface will upload the drive s database and overwrite the stored database If the two databases match the drive s database will not be uploaded A module that is powered up for the first time will not contain a drive database and therefore will perform a drive database upload 6 1 Full parameter descriptions 6 1 1 Me...

Page 37: ...l Number LS S 00 004 This parameter displays the current status of the module All possible values are shown in the table overleaf 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 2 Coding RO ND NC PT S 00 004 Serial Number LS Minimum 0 Maximum 99999999 Default None Unit...

Page 38: ...Value Text Description 2 Bootldr Update The bootloader is performing a flash update 1 Bootldr Idle The bootloader is idle 0 Initializing Module is currently initializing 1 OK Module has initialized and has found no errors 2 Config A configuration error has been detected 3 Error An error has occurred preventing the module from running correctly S 00 007 Reset Minimum 0 Off Maximum 1 On Default 0 Of...

Page 39: ...0000 Maximum 65535 Display 1111111111111111 Default 0 Display 0000000000000000 Units None Type 16 Bit Volatile Update Rate Background Display Format Binary Decimal Places 0 Coding RO NC BU Bit Alarm 0 User Program 1 eCMP 2 Modbus 3 Ethernet IP 4 Reserved 5 Filesystem 6 Too Hot S 00 010 Active IP Address Minimum 2147483648 Display 128 0 0 0 Maximum 2147483647 Display 127 255 255 255 Default 0 Displ...

Page 40: ...lized 1 Links Down No link connection has been detected on either of the Ethernet ports 2 DHCP In Progress The module is attempting to obtain the IP address subnet mask default gateway and DNS server addresses from a DHCP server 3 No Address The module does not have an IP address either the user has not provided one manually or one could not be allocated via DHCP 4 Ready The network interface has ...

Page 41: ... 169 254 255 255 If DHCP is disabled the module will initialize on reset or power cycle with the IP address stored for the parameter Controls and displays the subnet mask of the module If DHCP is enabled this parameter becomes read only and until a subnet mask is allocated to the module will display 0 0 0 0 If DHCP is disabled the module will initialize on reset or power cycle with the subnet mask...

Page 42: ...ress be tried If DHCP is enabled this parameter becomes read only and until a primary DNS address is allocated to the module will display 0 0 0 0 If DHCP is disabled the module will initialize on reset or power cycle with the primary DNS address stored for the parameter S 02 008 Default Gateway Minimum 0 Display 0 0 0 0 Maximum 4294967295 Display 255 255 255 255 Default 3232236030 Display 192 168 ...

Page 43: ...hers A tick period of 1 ms will be given to the highest priority fieldbus protocol 5 ms to all other fieldbus protocols equal priority If no fieldbus protocol has been selected to have priority over others all protocols will have equal priority and a tick rate of 5 ms S 02 010 Secondary DNS Minimum 0 Display 0 0 0 0 Maximum 4294967295 Display 255 255 255 255 Default 0 Display 0 0 0 0 Units None Ty...

Page 44: ...load and must be downloaded as a separate action S 02 022 Web Server Port Minimum 0 Maximum 65535 Default 80 Units None Type 16 Bit User Save Update Rate Read on module reset and S 02 021 On Display Format None Decimal Places 0 Coding RW BU The web server functionality is available in firmware version V01 06 00 22 and onwards S 02 024 Ethernet MTU Minimum 158 Maximum 1500 Default 1500 Units Bytes ...

Page 45: ...rotocol used to resolve the network layer address IP address into a link layer address MAC address IGMP Internet Group Management Protocol used for establishing multicast group memberships ICMP Internet Control Message Protocol used to send error messages such as device not available or service unavailable error messages eCMP Control Techniques proprietary communication protocol CT DIP Control Tec...

Page 46: ...ils the parameter operation Setting this parameter to 1 On allows a Unidrive M600 M700 M702 to be used in place of a Unidrive SP when communicating over Modbus TCP IP or EtherNet IP without the need to change S 02 030 VLAN Enable Minimum 0 Display Off Maximum 1 Display On Default 0 Display Off Units Type 1 Bit User Save Update Rate Read on module reset Display Format None Decimal Places 0 Coding R...

Page 47: ...aximum 1 Display On Default 0 Display Off Units None Type 1 Bit User Save Update Rate Background Display Format None Decimal Places 0 Coding RW S 02 036 Non cyclic base parameter Minimum 0 Display 0 00 000 Maximum 59999 Display 0 59 999 Default 0 Display 0 00 000 Units Type 16 Bit User Save Update Rate Background Display Format Slot Menu Param Decimal Places 0 Coding RW BU Parameter Description S ...

Page 48: ...ter number PPP of the target or source parameter S MM PPP 5 Parameter value LSW or error code This parameter Stores the least significant word of the value to be written to the destination parameter if the command is Write 2 or Stores the least significant word of the value read from the destination parameter if the command is read and the status is Done or The error code for the process if the st...

Page 49: ...ied item does not exist 5 Data Type The data could not be converted from the specified type 6 Failed Read The value could not be read reason unknown 7 Failed Write The value could not be written reason unknown 8 Not Readable The data could not be read as the source does not allow read access 9 Not Writeable The data could not be written as the destination does not allow write access 10 Over Range ...

Page 50: ...e Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC PT BU S 09 003 Fieldbus Links Free Minimum 0 Maximum 255 Default None Units None Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC PT BU S 09 004 Cyclic Mappings Free Minimum 0 Maximum 255 Default None Units None Type 8 Bit Volatile Update Rate...

Page 51: ...e Minimum 0 Maximum 255 Default None Units Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC PT BU S 09 030 PCB Temperature Minimum 128 Maximum 127 Default None Units o C Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC PT The number of cyclic links is limited to a maximum of 2 when accessing t...

Page 52: ...ay Off Maximum 1 Display On Default 1 Display On Units None Type 1 Bit User Save Update Rate Background read Display Format None Decimal Places 0 Coding RW BU S 10 002 Easy Mode Reset Minimum 0 Display Off Maximum 1 Display On Default 0 Display Off Units None Type 1 Bit Volatile Update Rate Background read Display Format None Decimal Places 0 Coding RW NC S 10 003 Easy Mode Default Minimum 0 Displ...

Page 53: ...to Off as shown in the associated timing diagram If the active configuration is Offline this represents a configuration via PC tools software This parameter provides an indication that all links in the active configuration are 1 Receiving new messages successfully AND 2 Transmitting links this however does not mean the destination devices are receiving the messages this will be dependent on their ...

Page 54: ...A reset of the configuration will clear this count The count can be sampled by a user application in order to detect change since the last sample this enables custom reaction to a timeout event occurring on any cyclic receive link which has a timeout value configured irrespective of the timeout action for the link If a custom timeout reaction is required on a per link basis then the link action mu...

Page 55: ...ent occurring on a synchronous cyclic receive link which has a received a message containing a time that is now in the past irrespective the defined action for the link Used to select Tx1 as a standard or synchronous cyclic link This parameter is used to set the link number 1 to 255 for the Tx1 link S 10 009 Data Late Count Minimum 0 Maximum 65535 Default None Units None Type 16 Bit Volatile Updat...

Page 56: ...urce Parameter Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Read on reset Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 10 013 Tx1 Parameter Count Minimum 0 Maximum 10 Default 0 Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU ...

Page 57: ...icast to the IP address 239 255 0 1 3 Multicast2 Link is multicast to the IP address 239 255 0 2 4 Multicast3 Link is multicast to the IP address 239 255 0 3 5 Multicast4 Link is multicast to the IP address 239 255 0 4 6 Multicast5 Link is multicast to the IP address 239 255 0 5 7 Multicast6 Link is multicast to the IP address 239 255 0 6 8 Multicast7 Link is multicast to the IP address 239 255 0 ...

Page 58: ...d Easy Mode protocol is disabled or link number set to 0 30 VLAN disabled VLAN is required in order to guarantee timing in synchronous mode but it is disabled 29 Reserved 29 Reserved for future use 28 Reserved 28 Reserved for future use 27 Reserved 27 Reserved for future use 26 Reserved 26 Reserved for future use 25 Reserved 25 Reserved for future use 24 Reserved 24 Reserved for future use 23 Rese...

Page 59: ...Attrib missing Attribute is missing 8 Timeout Timeout 7 In error The specified link is in error state 6 Link num in use The link number specified is already in use 5 Not editable The link specified is not editable 4 Invalid link num An invalid link number was specified 3 Invalid args Link number argument zero or invalid 2 Too many links Maximum number of links has been reached 1 Out of memory Fail...

Page 60: ...s None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 10 022 Tx2 Source Parameter Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Read on reset Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 10 023 Tx2 Parameter Count Minimum 0 Maximum 10 Default...

Page 61: ...icast to the IP address 239 255 0 1 3 Multicast2 Link is multicast to the IP address 239 255 0 2 4 Multicast3 Link is multicast to the IP address 239 255 0 3 5 Multicast4 Link is multicast to the IP address 239 255 0 4 6 Multicast5 Link is multicast to the IP address 239 255 0 5 7 Multicast6 Link is multicast to the IP address 239 255 0 6 8 Multicast7 Link is multicast to the IP address 239 255 0 ...

Page 62: ...d Easy Mode protocol is disabled or link number set to 0 30 VLAN disabled VLAN is required in order to guarantee timing in synchronous mode but it is disabled 29 Reserved 29 Reserved for future use 28 Reserved 28 Reserved for future use 27 Reserved 27 Reserved for future use 26 Reserved 26 Reserved for future use 25 Reserved 25 Reserved for future use 24 Reserved 24 Reserved for future use 23 Rese...

Page 63: ...nly 9 Attrib missing Attribute is missing 8 Timeout Timeout 7 In error The specified link is in error state 6 Link num in use The link number specified is already in use 5 Not editable The link specified is not editable 4 Invalid link num An invalid link number was specified 3 Invalid args Link number argument zero or invalid 2 Too many links Maximum number of links has been reached 1 Out of memor...

Page 64: ...s None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 10 032 Tx3 Source Parameter Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Read on reset Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 10 033 Tx3 Parameter Count Minimum 0 Maximum 10 Default...

Page 65: ... multicast to the IP address 239 255 0 1 3 Multicast2 Link is multicast to the IP address 239 255 0 2 4 Multicast3 Link is multicast to the IP address 239 255 0 3 5 Multicast4 Link is multicast to the IP address 239 255 0 4 6 Multicast5 Link is multicast to the IP address 239 255 0 5 7 Multicast6 Link is multicast to the IP address 239 255 0 6 8 Multicast7 Link is multicast to the IP address 239 2...

Page 66: ... Text Description 31 Disabled Easy Mode protocol is disabled or link number set to 0 30 VLAN disabled VLAN is required in order to guarantee timing in synchronous mode but it is disabled 29 Reserved 29 Reserved for future use 28 Reserved 28 Reserved for future use 27 Reserved 27 Reserved for future use 26 Reserved 26 Reserved for future use 25 Reserved 25 Reserved for future use 24 Reserved 24 Res...

Page 67: ...trib RO Attribute is read only 9 Attrib missing Attribute is missing 8 Timeout Timeout 7 In error The specified link is in error state 6 Link num in use The link number specified is already in use 5 Not editable The link specified is not editable 4 Invalid link num An invalid link number was specified 3 Invalid args Link number argument zero or invalid 2 Too many links Maximum number of links has ...

Page 68: ...ts None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 10 042 Rx1 Destination Parameter Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Read on reset Display Format Slot Menu Param Decimal Places 0 Coding RW BU S 10 043 Rx1 Parameter Count Minimum 0 Maximum 10 Defa...

Page 69: ...1 Broadcast Link is broadcast 255 255 255 255 2 Multicast1 Link is multicast to the IP address 239 255 0 1 3 Multicast2 Link is multicast to the IP address 239 255 0 2 4 Multicast3 Link is multicast to the IP address 239 255 0 3 5 Multicast4 Link is multicast to the IP address 239 255 0 4 6 Multicast5 Link is multicast to the IP address 239 255 0 5 7 Multicast6 Link is multicast to the IP address ...

Page 70: ... Slx Er and sub trip code 106 Cyclic Timeout 1 Clear output PLC output parameters will have their values set to zero 2 Hold last Hold the last value in output parameters S 10 047 Rx1 Timeout Event Dest Minimum 0 Display This slot Maximum 4 Display Slot 4 Default 0 Display This slot Units None Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU Value...

Page 71: ...o event 1 Event Trigger module event 2 Event 1 Trigger module event 1 3 Event 2 Trigger module event 2 4 Event 3 Trigger module event 3 This feature is not yet implemented S 10 049 Rx1 Link Status Minimum 31 Display Disabled Maximum 2 Display OK sync Default None Units None Type 8 Bit Volatile Update Rate Write on reset Display Format None Decimal Places 0 Coding RO Txt NC ND PT Value Text Descrip...

Page 72: ... 14 Read only param The mapped parameter is read only 13 Msg mismatch Link number and direction do not match 12 Msg too long Resulting message is too long 11 Attrib NA Attribute not available 10 Attrib RO Attribute is read only 9 Attrib missing Attribute is missing 8 Timeout Timeout 7 In error The specified link is in error state 6 Link num in use The link number specified is already in use 5 Not ...

Page 73: ...Default 0 Display Std Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt Value Text Description 0 Std Standard link 1 Sync Synchronized link S 10 051 Rx2 Link Number Minimum 0 Maximum 255 Default 0 Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 10 052 Rx2 Destination Parameter M...

Page 74: ...39 255 0 1 3 Multicast2 Link is multicast to the IP address 239 255 0 2 4 Multicast3 Link is multicast to the IP address 239 255 0 3 5 Multicast4 Link is multicast to the IP address 239 255 0 4 6 Multicast5 Link is multicast to the IP address 239 255 0 5 7 Multicast6 Link is multicast to the IP address 239 255 0 6 8 Multicast7 Link is multicast to the IP address 239 255 0 7 9 Multicast8 Link is mu...

Page 75: ...t Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 0 Trip Trip drive with Slx Er and sub trip code 106 Cyclic Timeout 1 Clear output PLC output parameters will have their values set to zero 2 Hold last Hold the last value in output parameters S 10 057 Rx2 Timeout Event Dest Minimum 0 Display This slot Maximum 4 Display Slot 4 Default 0 Display This slot Units None Type ...

Page 76: ... 2 4 Event 3 Trigger module event 3 This feature is not yet implemented S 10 059 Rx2 Link Status Minimum 31 Display Disabled Maximum 2 Display OK sync Default None Units None Type 8 Bit Volatile Update Rate Write on reset Display Format None Decimal Places 0 Coding RO Txt NC ND PT Value Text Description 31 Disabled Easy Mode protocol is disabled or link number set to 0 30 VLAN disabled VLAN is req...

Page 77: ...usy 16 Invalid profile The profile is invalid 15 Invalid mapping The mapped parameter does not exist 14 Read only param The mapped parameter is read only 13 Msg mismatch Link number and direction do not match 12 Msg too long Resulting message is too long 11 Attrib NA Attribute not available 10 Attrib RO Attribute is read only 9 Attrib missing Attribute is missing 8 Timeout Timeout 7 In error The s...

Page 78: ...None Decimal Places 0 Coding RW Txt Value Text Description 0 Std Standard link 1 Sync Synchronized link S 10 061 Rx3 Link Number Minimum 0 Maximum 255 Default 0 Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 10 062 Rx3 Destination Parameter Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None...

Page 79: ...fied 1 Broadcast Link is broadcast 255 255 255 255 2 Multicast1 Link is multicast to the IP address 239 255 0 1 3 Multicast2 Link is multicast to the IP address 239 255 0 2 4 Multicast3 Link is multicast to the IP address 239 255 0 3 5 Multicast4 Link is multicast to the IP address 239 255 0 4 6 Multicast5 Link is multicast to the IP address 239 255 0 5 7 Multicast6 Link is multicast to the IP add...

Page 80: ... Slx Er and sub trip code 106 Cyclic Timeout 1 Clear output PLC output parameters will have their values set to zero 2 Hold last Hold the last value in output parameters S 10 067 Rx3 Timeout Event Dest Minimum 0 Display This slot Maximum 4 Display Slot 4 Default 0 Display This slot Units None Type 8 Bit User save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU Value...

Page 81: ...dule event 2 Event 1 Trigger module event 1 3 Event 2 Trigger module event 2 4 Event 3 Trigger module event 3 This feature is not yet implemented S 10 069 Rx3 Link Status Minimum 31 Display Disabled Maximum 2 Display OK sync Default None Units None Type 8 Bit Volatile Update Rate Write on reset Display Format None Decimal Places 0 Coding RO Txt NC ND PT Value Text Description 31 Disabled Easy Mode...

Page 82: ...pped parameter is read only 13 Msg mismatch Link number and direction do not match 12 Msg too long Resulting message is too long 11 Attrib NA Attribute not available 10 Attrib RO Attribute is read only 9 Attrib missing Attribute is missing 8 Timeout Timeout 7 In error The specified link is in error state 6 Link num in use The link number specified is already in use 5 Not editable The link specifie...

Page 83: ... the Ethernet interface to act as a grandmaster clock This parameter displays the MAC address as a 64 bit hexadecimal value of the synchronization grandmaster if there is a grandmaster This parameter displays the synchronization jitter in nanoseconds The value is filtered to be human readable S 11 001 Preferred Sync Master Minimum 0 Maximum 4 Default 1 Units None Type 8 Bit User Save Update Rate R...

Page 84: ...p date of 1st January 1970 S 11 007 Sync Jitter Threshold Minimum 500 Maximum 1000000 Default 1000 Units ns Type 32 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 11 008 Module Sync Flag Minimum 0 Display Off Maximum 1 Display On Default 0 Display Off Units None Type 1 Bit Volatile Update Rate Written every 10 ms Display Format None Decimal Places 0 Cod...

Page 85: ...r It is recommended to set this parameter to 2 OFF when multiple SI Ethernet modules or Unidrive M700 M702 drives are connected in a star topology on an un managed Ethernet switch Un managed Ethernet switches do not filter the PTP delay response messages and instead will broadcast these to all switch ports which can result in overloading the synchronization master This parameter controls the rate ...

Page 86: ... an indication of a problem This Interface does not support Slave mode S 11 017 In sync window length Minimum 3 Maximum 255 Default 20 Units Seconds Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 11 020 Network Error Count Minimum 0 Maximum 4294967295 Default None Units None Type 32 Bit Volatile Update Rate Written every 500 ms Display Format Non...

Page 87: ...ave Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 11 040 Rx1 Late Sync Frame Action Minimum 1 Display Trip Maximum 3 Display Use Default 1 Display Trip Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 1 Trip Trip drive with Slx Er and sub trip code 2 Do not use The data is ignored ...

Page 88: ...e Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 0 No Event No event 1 Event Trigger module event 2 Event1 Trigger module event 1 3 Event2 Trigger module event 2 4 Event3 Trigger module event 3 This feature is not yet implemented S 11 050 Rx2 Late Sync Frame Action Minimum 1 Display Trip Maximum 3 Display Use Default 1 Display Trip Units None...

Page 89: ... 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 0 This slot Trigger module event in this slot 1 Slot 1 Trigger module event in slot 1 2 Slot 2 Trigger module event in slot 2 3 Slot 3 Trigger module event in slot 3 4 Slot 4 Trigger module event in slot 4 This feature is not yet implemented S 11 052 Rx2 Late Sync Frame Event Min...

Page 90: ...ng RW Txt BU Value Text Description 1 Trip Trip drive with Slx Er and sub trip code 107 2 Do not use The data is ignored 3 Use The data is used immediately S 11 061 Rx3 Late Sync Frame Dest Minimum 0 Display This slot Maximum 4 Display Slot 4 Default 0 Display This slot Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU Value Text Descri...

Page 91: ... Late Sync Frame Event Minimum 0 Display No Event Maximum 4 Display Event3 Default 0 Display No Event Units None Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 0 No Event No event 1 Event Trigger module event 2 Event1 Trigger module event 1 3 Event2 Trigger module event 2 4 Event3 Trigger module event 3 This feature is no...

Page 92: ...able Display Format None Decimal Places 0 Coding RW NC S 15 004 Modbus Config Error Minimum 0 Display No error Maximum 3 Display Num Connections Default None Units None Type 8 Bit Volatile Update Rate Module reset Modbus interface reset or Modbus interface enable Display Format None Decimal Places 0 Coding RO Txt NC ND PT BU Value Text Description 0 No error No error 1 Port in use Specified port i...

Page 93: ...ority connections pool are kept in the non priority connections pool If a client attempts to establish a priority connection and all available non priority connections are in use the non priority connection that has not been used for the longest will be closed to make way for the new priority connection This parameter defines the maximum number of priority connections that any one client can estab...

Page 94: ...te Rate Module reset Modbus interface reset or Modbus interface enable Display Format None Decimal Places 0 Coding RW BU It is good system design to allow for some message loss by setting the timeout duration to be greater than the transmit period by a factor of 2 or more S 15 010 Modbus Timeout Action Minimum 0 Display Trip Maximum 1 Display No action Default 1 Display No action Units None Type 8...

Page 95: ...or Modbus interface enable Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 0 This slot Trigger event in this slot 1 Slot 1 Trigger event in slot 1 2 Slot 2 Trigger event in slot 2 3 Slot 3 Trigger event in slot 3 4 Slot 4 Trigger event in slot 4 This feature is not yet implemented S 15 012 Modbus Timeout Event Type Minimum 0 Display No event Maximum 5 Display Trigger E...

Page 96: ...3 Modbus Register Addressing Mode Minimum 0 Display Standard Maximum 1 Display Modified Default 0 Display Standard Units None Type 8 Bit User Save Update Rate Module reset Modbus interface reset or Modbus interface enable Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 0 Standard mm x 100 ppp mm 162 and ppp 99 1 Modified mm x 256 ppp mm 63 and ppp 255 S 15 020 Priority...

Page 97: ... 0 0 0 Units None Type 32 Bit User Save Update Rate Module reset Modbus interface reset or Modbus interface enable Display Format IP Address Decimal Places 0 Coding RW BU S 15 022 Priority Connection 3 Minimum 0 Display 0 0 0 0 Maximum 4294967295 Display 255 255 255 255 Default 0 Display 0 0 0 0 Units None Type 32 Bit User Save Update Rate Module reset Modbus interface reset or Modbus interface en...

Page 98: ...s 0x2A Control Techniques objects classes 0x64 to 0x69 Explicit non cyclic access to parameters EtherNet IP server port The Ethernet interface uses the standard server port 44818 0xAF12 for EtherNet IP communications this is fixed and cannot be changed Parameter Update Rate Parameters are exchanged over the network The value exchanged over the network must be exchanged with the drive or option par...

Page 99: ...erNet IP Minimum 0 Display Off Maximum 1 Display On Default 1 Display On Units None Type 1 Bit User Save Update Rate Background read Display Format None Decimal Places 0 Coding RW BU If either Input Assembly Object Size S 20 020 or Output Assembly Object Size S 20 021 is a non zero value then the available mappings will still be consumed even if the Ethernet IP functionality is disabled S 20 002 R...

Page 100: ...rror No error 1 RPI event dst RPI timeout event destination not valid 2 RPI event type RPI timeout event type not valid 3 IDLE event dst PLC IDLE event destination not valid 4 IDLE event type PLC IDLE event type not valid 5 Input mapping Input mapping parameter not valid 6 Output mapping Output mapping parameter not valid 7 In cons trig pr Input consistency trigger parameter not valid 8 Out cons t...

Page 101: ...tput mappings for the assembly object 101 if active Clear Output On an RPI timeout the interface will not trip the drive It will write all PLC output mappings for the assembly object 101 if active to zero Hold Last On an RPI timeout the interface will not trip the drive The last value received will be maintained No Action On an RPI timeout the interface will not trip the drive The last value recei...

Page 102: ...0 This slot Trigger event in this slot 1 Slot 1 Trigger event in slot 1 2 Slot 2 Trigger event in slot 2 3 Slot 3 Trigger event in slot 3 4 Slot 4 Trigger event in slot 4 This feature is not yet implemented S 20 013 RPI timeout event type Minimum 0 Display No event Maximum 5 Display Trigger Event 4 Default 0 Display No event Units None Type 8 Bit User Save Update Rate Module reset EtherNet IP inte...

Page 103: ...mal Places 0 Coding RW Txt BU Value Text Description 0 Trip Trip drive with Slx Er and sub trip code 116 1 Send flt values Send configured fault values to the output parameters 2 Clear output PLC output parameters will have their values set to zero 3 Hold last Hold the last value in output parameters 4 No Action No action with output parameters S 20 016 PLC idle event destination Minimum 0 Display...

Page 104: ...ent 2 Trigger Event 1 Trigger module Event 1 3 Trigger Event 2 Trigger module Event 2 4 Trigger Event 3 Trigger module Event 3 5 Trigger Event 4 Trigger module Event 4 This feature is not yet implemented S 20 018 Active input assembly object Minimum 0 Display 100 PrimaryI Maximum 4 Display 73 ExtSpdTqCtrlI Default 0 Display 100 PrimaryI Units None Type 8 Bit Volatile Update Rate Module reset Ether...

Page 105: ...face reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RO Txt NC ND PT BU Value Text Description 0 101 PrimaryO Primary output 101 1 20 BscSpdCtrlO Basic speed control output 20 2 21 ExtSpdCtrlO Extended speed control output 21 3 22 SpdTqCtrlO Speed and torque control output 22 4 23 ExtSpdTqCtrlO Extended speed and torque control output 23 S 20 020 Input assembly ob...

Page 106: ...the data has been transmitted It is therefore possible by controlling the trigger parameters that a user program in the drive or option module can ensure that the values in the cyclic data parameters are not sampled until all values are updated Whether consistency is enabled or not data will always be consistent for an individual parameter i e all 4 bytes of a 32 bit value will be consistent S 20 ...

Page 107: ...tten to the cyclic data destination parameters and the trigger parameter is set to one If the output trigger parameter value is non zero then the output values are not written to the destination parameters Consistency disabled When the output consistency is disabled the output values are written to the cyclic data destination parameters at the background task rate after it has been received S 20 0...

Page 108: ...eset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW BU S 20 030 Custom Vendor ID Minimum 0 Display 257 CT Maximum 1 Display 553 CT AMERICA Default 0 Display 257 CT Units None Type 8 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW T...

Page 109: ...t or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW BU S 20 033 Actual Product Code Minimum 0 Maximum 65535 Default None Units None Type 16 Bit Volatile Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RO NC ND PT BU For more information on the product code refer to the EtherNet IP section ...

Page 110: ...C DC Motor 1 6 WRI Wound Rotor Induction Motor 2 7 SCI Squirrel Cage Induction Motor 3 9 Sin PM BL Sinusoidal PM BL Motor 4 10 Trap PM BL Trapezoidal PM BL Motor S 20 041 Type of Motor 2 Minimum 0 Display 2 FC DC Maximum 4 Display 10 Trap PM BL Default 2 Display 7 SCI Units None Type 8 Bit User Save Update Rate Reset Display Format None Decimal Places 0 Coding RO Txt PT BU Value Text Description 0...

Page 111: ...te Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 002 Input mapping parameter 2 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 2001 Display 0 02 001 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Forma...

Page 112: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 006 Input mapping parameter 6 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Pla...

Page 113: ...4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 010 Input mapping parameter 10 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset Et...

Page 114: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 014 Input mapping parameter 14 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Pl...

Page 115: ... 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 018 Input mapping parameter 18 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset E...

Page 116: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 022 Input mapping parameter 22 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Pl...

Page 117: ... 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 026 Input mapping parameter 26 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset E...

Page 118: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 21 030 Input mapping parameter 30 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Pl...

Page 119: ...te Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 001 Output mapping parameter 1 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 6042 Display 0 06 042 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Form...

Page 120: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 005 Output mapping parameter 5 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Pl...

Page 121: ... 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 009 Output mapping parameter 9 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset E...

Page 122: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 013 Output mapping parameter 13 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal P...

Page 123: ... 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 017 Output mapping parameter 17 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset ...

Page 124: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 021 Output mapping parameter 21 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal P...

Page 125: ... 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 025 Output mapping parameter 25 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset ...

Page 126: ...Net IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 029 Output mapping parameter 29 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal P...

Page 127: ...type S 20 017 has occurred S 22 031 Output mapping parameter 31 Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units None Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format Slot Menu Param Decimal Places 0 Coding RW PT BU S 22 032 Output mapping parameter 32 Minimum 0 Display 0 00 000 Maxi...

Page 128: ...23 004 Output fault value 4 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 005 Output fault value 5 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or...

Page 129: ...value 8 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 009 Output fault value 9 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interfa...

Page 130: ...23 013 Output fault value 13 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 014 Output Fault value 14 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset ...

Page 131: ...interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 018 Output fault value 18 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 019 Output fault value 19 Minimum 2147483648 Maximum 21...

Page 132: ...le reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 023 Output fault value 23 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 024 Output fault value 24 Minimum ...

Page 133: ...alue 26 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 027 Output fault value 27 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interf...

Page 134: ...le reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 031 Output fault value 31 Minimum 2147483648 Maximum 2147483647 Default 0 Units Type 32 Bit User Save Update Rate Module reset EtherNet IP interface reset or EtherNet IP interface enable Display Format None Decimal Places 0 Coding RW PT S 23 032 Output fault value 32 Minimum ...

Page 135: ...dbus function codes Modbus TCP IP uses the standard Protocol Data Unit PDU but without the CRC bytes and encapsulates it within a Modbus TCP IP Application Data Unit ADU for transmission This means that the Modbus PDU is the same for both standard RTU and Ethernet based transmission Table 7 1 Supported Modbus function codes 7 2 1 Modbus TCP IP port The port number used for Modbus TCP IP may be rec...

Page 136: ...registers only To access a 32 bit parameter two contiguous Modbus registers must be specified in the request and the 32 bit data access scheme must be used 7 2 4 32 bit data access Standard Modbus registers are 16 bits in size and reference a single drive option module parameter To access a 32 bit data value the multiple read write services must be used to transfer a contiguous array of 16 bit reg...

Page 137: ...increments the address value by 1 this results in a theoretical maximum parameter address of 163 84 limited to 162 99 in software when the default standard addressing mode see Modbus Register Addressing Mode S 15 013 is used To access a parameter number above 99 then the modified addressing mode must be used see Modbus Register Addressing Mode S 15 013 this will allow access to parameter numbers u...

Page 138: ...request The register data in the response will contain 4 bytes of data Example To read drive parameters 0 20 021 to 0 20 023 transaction ID 42 with 32 bit data access and standard addressing CT Parameter Addressing mode Protocol register s mm ppp Standard mm 100 ppp 1 Modified mm 256 ppp 1 Examples 16 bit 32 bit Decimal Hex 0x Decimal Hex 0x 0 01 021 Standard 120 00 78 16504 40 78 Modified 276 01 ...

Page 139: ...write the value 12345 to drive parameter 0 20 001 transaction ID 42 using standard addressing Byte Hex value Description Byte Hex value Description 0 1 00 2A Transaction ID 42 0 1 00 2A Transaction ID 42 2 3 00 00 Protocol ID 0 TCP IP 2 3 00 00 Protocol ID 0 TCP IP 4 5 00 06 Length Bytes 6 4 5 00 0F Length Bytes 15 6 FF Unit identifier FF Drive 6 FF Unit identifier FF Drive 7 03 Function code 3 7 ...

Page 140: ...itten in the response will be twice the number of parameters written Master request data Slave response data Byte Hex value Description Byte Hex value Description 0 1 00 2A Transaction ID 42 0 1 00 2A Transaction ID 42 2 3 00 00 Protocol ID 0 TCP IP 2 3 00 00 Protocol ID 0 TCP IP 4 5 00 06 Length Bytes 6 4 5 00 06 Length Bytes 6 6 FF Unit identifier FF Drive 6 FF Unit identifier FF Drive 7 06 Func...

Page 141: ...se data Byte Hex value Description Byte Hex value Description 0 1 00 2A Transaction ID 42 0 1 00 2A Transaction ID 42 2 3 00 00 Protocol ID 0 TCP IP 2 3 00 00 Protocol ID 0 TCP IP 4 5 00 13 Length Bytes 19 4 5 00 06 Length Bytes 6 6 FF Unit identifier FF Drive 6 FF Unit identifier FF Drive 7 10 Function code 16 7 10 Function code 16 8 9 47 E4 Start register 20 020 8 9 47 E4 Start register 20 020 1...

Page 142: ...followed by the register data unless an exception occurs If 32 bit parameter addressing is used For each parameter read or written two 16 bit registers must be used in the request For each parameter written four bytes must be specified in the request For each parameter read four bytes of data will be used in the response Byte Description Byte Description 7 Function code 0x17 7 Function code 0x17 8...

Page 143: ... 00 2A Transaction ID 42 0 1 00 2A Transaction ID 42 2 3 00 00 Protocol ID 0 TCP IP 2 3 00 00 Protocol ID 0 TCP IP 4 5 00 17 Length Bytes 6 4 5 00 0F Length Bytes 15 6 FF Unit identifier FF Drive 6 FF Unit identifier FF Drive 7 17 Function code 23 7 17 Function code 23 8 9 47 E7 Start read register 20 023 8 0C Length of data Bytes 12 10 11 00 06 Number of read registers 6 9 12 Register data 0 Pr 2...

Page 144: ...they are synchronized to that master This process may take several seconds to complete Data transfer Cyclic data synchronous and non synchronous is sent using the User Datagram Protocol UDP Non cyclic data is sent using the Transmission Control Protocol TCP Cycle time down to 500 µs Jitter less than 1 µs RTMoE can be configured in two ways Via Machine Control Studio using the cyclic link editor or...

Page 145: ...x transmit synchronous links N A 1 N A 1 Max receive synchronous links N A 1 N A 1 Max length of non synchronous link 10 x 32 bit 10 x 32 bit 10 x 32 bit 10 x 32 bit Max length of synchronous link N A 3 x 32 bit N A 3 x 32 bit Minimum transmission period 10 ms 1 ms 10 ms 500 µs Synchronized with AMC N A Yes when cycle time 1 ms N A Yes when cycle time 500 µs Synchronized with onboard program N A Y...

Page 146: ...c data use cyclic links for important information relating to the dynamic behavior of the machine e g control word speed reference etc Non cyclic data used for non time critical information e g drive setup data A user program must be used to control the transfer of non cyclic messages see Non cyclic enable S 02 035 and Non cyclic base parameter S 02 036 Each cyclic message can be one of three type...

Page 147: ... 10 024 or S 10 034 Tx1 Tx2 or Tx3 respectively the appropriate multicast destination address is automatically set in S 10 015 S 10 025 or S 10 035 Tx1 Tx2 or Tx3 respectively a receiving link on the same network must be configured to use the same multicast address group as specified in S 10 014 S 10 024 or S 10 034 Tx1 Tx2 or Tx3 respectively in S 10 044 S 10 054 or S 10 064 Rx1 Rx2 or Rx3 respec...

Page 148: ...MC Synchronous links work by including the time of when the data should be used along with the data values This time allows enough time for the cyclic link to reach all destination devices the time allowed for can be set in Easy Mode Maximum Network Delay S 11 030 The receiving interface will wait for its current time to match the timestamp in the cyclic link before processing the message With nor...

Page 149: ...rioritisation information See Gateway Mode S 02 025 Ensure that VLAN Virtual Local Area Network is enabled on all devices so that synchronous data can be prioritized as it is passed between switches See VLAN Enable S 02 030 and Drive VLAN ID S 02 031 Use multiple Master Clock Domains See Master Clock Domain S 11 002 7 3 7 Synchronization master If a synchronous cyclic link is used then one device ...

Page 150: ... 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 For the gateway mode to operate correctly the standard Ethernet network must be connected to port 1 on the drive and the real time Ethernet to port 2 as shown in Figure 7 3 NOTE NOTE ...

Page 151: ...This can be performed by configuring a suitable drive menu 0 parameter as the start parameter and the required number of parameters as the count Drive menu 22 of the drive can be used to configure what parameters the selected drive menu 0 parameters point to For example to configure a synchronized cyclic link with control word and speed reference the following parameters would be required Transmit...

Page 152: ...to be Local The Ethernet interface will delay the usage of the data transmitted until the same point in time that all receiving slaves will use the data 7 3 11 Parameter Update Rate Parameters are exchanged over the network The value exchanged over the network must be exchanged with the drive or option parameter The rate of data exchange differs for synchronous and non synchronous cyclic links as ...

Page 153: ... of seven consecutive parameters that will be used to read from or write to a parameter in the drive or option module at the specified IP address by a user program The non cyclic data access feature operates on a state machine principle this means that the commands must be sent in the correct sequence otherwise the parameter access will fail The following diagram illustrates the operation of the n...

Page 154: ...yy zzz of the IP address is written to the base address 2 parameter Because each octet is an unsigned byte and the parameter used to store the combined value is a signed 16 bit parameter the following sequence must be used Base address 1 www xxx 1 www bit shift left 8 times clear upper 16 bits and lower 8 bits 2 xxx clear upper 24 bits 3 Bitwise OR the two values 4 Correct the result for negative ...

Page 155: ...t menu number Examples For the drive application menu 3 the value sent would be 20 For the SI Applications Plus register 70 in slot 3 the value sent would be 370 7 4 3 Setting the destination parameter address Base address 4 The destination parameter address is sent in the format PPP where PPP is the three digit parameter number Examples For parameter 021 the value sent would be 21 For parameter 1...

Page 156: ... Value 0x00007FFF Handle the casting from 32bit variable to 16bit parameter IF Value 15 True THEN Subtract 32768 LSW LSW 32768 ENDIF Write it to the correct parameter Address BaseAddress 5 Address LSW Calculate the value to write MSW MSW Value 16 0x00007FFF Handle the casting from 32bit variable to 16bit parameter IF Value 31 True THEN Subtract 32768 MSW MSW 32768 ENDIF Write it to the correct par...

Page 157: ...he most significant word of the parameter value is read and converted from a signed 16 bit value and stored in a 32 bit variable by bitwise shifting it 16 places left and bitwise ANDing the result with the hexadecimal value 0x0000FFFF The actual value is then calculated by bitwise ORing the two words together If the source parameter was a 16 bit parameter and the most significant bit b15 was set t...

Page 158: ...ut action This indicates that the interface has detected that the cyclic data communication has been interrupted 7 5 2 Read consistency Under normal conditions cyclic data is sampled and transmitted at the Requested Packet Interval RPI However if an option module was in the process of modifying the mapped parameters while these parameters were being sampled then the data transmitted across the net...

Page 159: ...alues are updated Whether consistency is enabled or not data will always be consistent for an individual parameter i e all 4 bytes of a 32 bit value will be consistent Example In this example Pr 0 18 031 is set as the input trigger and Pr 0 18 032 is set as the output trigger The EtherNet IP master is configured to check the values of Pr 0 20 011 and Pr 0 20 012 are equal and write the same value ...

Page 160: ...INIT Initialise configuration Initial Background top IF 18 32 1 THEN Output trigger set Check first sum value against NewValue IF 20 021 NewValue THEN OK increment values by 1 NewValue NewValue 1 IF NewValue 32767 THEN NewValue 32768 20 011 NewValue 20 012 NewValue Set input trigger Read input parameters and transmit to master 18 031 1 Delay for PLC to get inputs depends on cycle time and paramete...

Page 161: ... object transfers data from the PLC to the drive an input assembly object transfers data from the drive to the PLC 7 5 6 Configuring EtherNet IP cyclic parameters In order to use cyclic data over EtherNet IP the EtherNet IP interface must be configured to map the required parameter data to the assembly object For drive parameter access object 100 0x64 is used for reading parameters and object 101 ...

Page 162: ...en a new Ethernet module must be created In order to communicate with the Unidrive M the PLC must have the Ethernet IP address set correctly as illustrated in Figure 7 5 Figure 7 5 PLC configuration 7 5 8 Assembly objects An assembly object is an object which contains a group of attributes to control or monitor the drive operation These attributes can be members of EtherNet IP objects or drive par...

Page 163: ...l word consists of 2 bytes 16 bits with only 2 bits of the low byte being used as shown below Assembly object name Class Length Bytes Type Default Mappings Decimal Hex 0x Bytes 0 to 3 Bytes 4 to 7 PrimaryI 100 64 4 to 80 Input 0 10 040 0 02 001 BscSpdCtrlI 70 46 4 Input ExtSpdCtrlI 71 47 4 Input SpdTrqCtrlI 72 48 6 Input ExtSpdTrqCtrlI 73 49 6 Input PrimaryO 101 65 4 to 80 Output 0 06 042 0 01 021...

Page 164: ... a trip state For the drive to run at the speed specified in Word 1 Pr 0 06 043 must be ON and bit 0 bit 7 and bit 8 of the drive control word Pr 0 06 042 must all be set to 1 and the external hardware enable signal must be present Table 7 10 Drive control word bit functions Bit Function Equivalent parameter 0 Drive enable Pr 0 06 015 1 Run forward Pr 0 06 030 2 Jog forward Pr 0 06 031 3 Run rever...

Page 165: ... to command the drive to run in the forward direction RunRev b1 Set this bit to command the drive to run in the reverse direction FaultRst b2 A 0 to 1 transition will reset the drive if the drive was in a trip state NetCtrl b5 Used in conjunction with Pr 0 06 043 to enable the drive control word bits b0 b6 and bit 9 Pr 0 06 042 NetRef b6 Set this bit to command the drive to use the remote speed re...

Page 166: ...ribed as follows b15 b14 b13 b12 b11 b10 b9 b8 SpeedRef high byte b7 b6 b5 b4 b3 b2 b1 b0 SpeedRef low byte Table 7 12 Basic speed and torque control Data Word Function Word 0 Basic control word Word 1 Speed reference SpeedRef Word 2 Torque reference TorqueRef b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 FaultRst RunFwd Name Control Word Description RunFwd b0 Set this bit to command the d...

Page 167: ...ection 7 31 AC DC Drive object attributes on page 187 7 5 12 Extended speed and torque control Output assembly object 0x17 2310 The PLC or scanner must be configured for 6 output bytes or 3 output words if this assembly object is to be used Extended control word The extended control word consists of 2 bytes 16 bits with only 5 bits of the low byte used as shown below b15 b14 b13 b12 b11 b10 b9 b8 ...

Page 168: ...the drive to run in the reverse direction FaultRst b2 A 0 to 1 transition will reset the drive if the drive was in a trip state NetCtrl b5 Used in conjunction with Pr 06 043 to enable the drive control word bits b0 b6 and bit 9 Pr 06 042 NetRef b6 Set this bit to command the drive to use the remote speed reference value specified in Word 1 For the drive to run at the speed specified in Word 1 Pr 0...

Page 169: ...own below The individual bit functions are described as follows Speed feedback SpeedActual The speed feedback word utilises 2 bytes 16 bits as shown below For more information on the speed feedback see section 7 31 AC DC Drive object attributes on page 187 Table 7 14 Basic speed feedback Data word Function Word 0 Basic status word Word 1 Speed feedback SpeedActual b15 b14 b13 b12 b11 b10 b9 b8 b7 ...

Page 170: ...back Data word Function Word 0 Extended status word Word 1 Speed feedback SpeedActual b15 b14 b13 b12 b11 b10 b9 b8 DriveState b7 b6 b5 b4 b3 b2 b1 b0 At Reference RefFrom Net CtrlFrom Net Ready Running2 Rev Running1 Fwd Warning Faulted Table 7 16 DriveState codes Code b15 b8 State Description 1 00000001 Startup This state is skipped over on CT drives 2 00000010 Not_Ready Inhibit 3 00000011 Ready ...

Page 171: ...the drive alarms is active Running1 Fwd b2 Indicates if the drive is running in the forward direction 0 False 1 True Running2 Rev b3 Indicates if the drive is running in the reverse direction 0 False 1 True Ready b4 The Ready bit is set depending on which state the drive is in Ready True Enabled True Stopping True All others False CtrlFromNet b5 Indicates if the drive is being controlled from the ...

Page 172: ...us word consists of 2 bytes 16 bits with only the low byte used as shown below The individual bit functions are described as follows b15 b14 b13 b12 b11 b10 b9 b8 SpeedActual high byte b7 b6 b5 b4 b3 b2 b1 b0 SpeedActual low byte Table 7 17 Basic speed and torque feedback Data word Function Word 0 Basic status word Word 1 Speed feedback SpeedActual Word 2 Torque feedback TorqueActual b15 b14 b13 b...

Page 173: ...nput assembly object 0x49 7310 The PLC or scanner must be configured for 6 input bytes or 3 input words if this assembly object is to be used Extended status word The extended status word consists of 2 bytes 16 bits with the bits having functions as shown below The DriveState byte returns a code to indicate the operating state of the drive as shown in Table 7 19 b15 b14 b13 b12 b11 b10 b9 b8 Speed...

Page 174: ...it Description Faulted b0 Indicates whether the drive is OK or tripped 0 OK Pr 0 10 001 1 1 Tripped Pr 0 10 001 0 Warning b1 Indicates if one of the drive alarms is active Running1 Fwd b2 Indicates if the drive is running in the forward direction 0 False 1 True Running2 Rev b3 Indicates if the drive is running in the reverse direction 0 False 1 True Ready b4 The Ready bit is set depending on which...

Page 175: ... b2 b1 b0 TorqueActual low byte Object Class Class Code Numberof Instances Effect Decimal Hex 0x Identity 1 01 1 Provides device specific information Assembly 4 04 16 Defines the I O data format parameter mapping Motor Data 40 28 2 Defines the motor data Control Supervisor 41 29 1 Provides drive control and monitoring information AC DC Drive 42 2A 1 Provides drive configuration and running state i...

Page 176: ...it allocation below Table 7 22 Identity object Attribute Access Name Data Type 1 Get VendorID UINT 2 Get DeviceType UINT 3 Get ProductCode UINT 4 Get Revision USINT 6 Get SerialNumber UDINT 7 Get ProductName SHORT_STRING Name VendorID Class 0x01 Default 0x101 25710 Instance 0x01 Data Type UINT Attribute 0x01 Access Get Name DeviceType Class 0x01 Default 0x02 Instance 0x01 Data Type UINT Attribute ...

Page 177: ...rface code is defined as follows Revision Returns 2 bytes to indicate the major and minor revision numbers of the Ethernet interface firmware version The Ethernet interface firmware version MM 002 consists of four 2 digit decimal numbers with the following significance Major Minor Bugfix Build The revision code returns the major and minor revisions of the Ethernet interface firmware version in two...

Page 178: ...ntained within two adjacent parameters Pr MM 004 Serial Number LS displays the least 8 significant decimal digits and Pr MM 005 Serial Number MS displays the most 8 significant decimal digits For example if the serial number of the onboard Ethernet interface is 123456789 then Pr MM 005 Serial Number MS will display 1 and Pr MM 004 Serial Number LS will display 23456789 The Ethernet interface seria...

Page 179: ...a object are shown in Table 7 25 AC Motor data object attributes below Table 7 25 AC Motor data object attributes The MotorType attribute has no effect on drive operation it is only used to provide information to the user as shown in Table 7 26 Supported motor types below Name ProductName Class 0x01 Default Onboard Ethernet Factory Fitted Ethernet SI Ethernet SI Ethernet Instance 0x01 Data Type SH...

Page 180: ...dCurrent2 10 Get RatedCurrent2 Pr 0 21 007 10 Rated voltage Returns or sets the rated motor voltage in Volts for instance 1 This attribute is linked to Pr 0 05 009 Name MotorType1 Class 0x28 Default 7 Instance 0x01 Data Type USINT Attribute 0x03 Access Get Set Name MotorType2 Class 0x28 Default 7 Instance 0x02 Data Type USINT Attribute 0x03 Access Get Set Name RatedCurrent1 Class 0x28 Default Pr 0...

Page 181: ... Set Pr 0 21 006 RatedFreq2 10 Get RatedFreq2 Pr 0 21 006 10 Base speed Returns or sets the base speed of the motor in RPM for instance 1 This attribute is linked to Pr 0 05 008 Returns or sets the base speed of the motor in RPM for instance 2 This attribute is linked to Pr 0 21 008 Name RatedVoltage2 Class 0x28 Default Pr 0 21 009 Instance 0x02 Data Type USINT Attribute 0x07 Access Get Set Name R...

Page 182: ...ented when the drive is disabled Attribute ID Access Name Parameter dependence Decimal Hex 0x 3 03 Get Set RunFwd 0 06 042 bit1 4 04 Get Set RunRev 0 06 042 bit3 5 05 Get Set NetCtrl 0 06 042 bit7 6 06 Get State See Table 7 28 Control Supervisor state attributes on page 184 7 07 Get RunningFwd 1 0 10 040 AND 0x2002 0x0002 0 0 10 040 AND 0x2002 0x0002 8 08 Get RunningRev 1 0 10 040 AND 0x2002 0x200...

Page 183: ... NetCtrl Switches between terminal and fieldbus control Get Set Pr 0 06 042 bit 7 0 Terminal control 1 Fieldbus control State This returns a code to indicate the current running state of the drive as shown in Table 7 28following Name RunFwd Class 0x29 Default N A Instance 0x01 Data Type USINT Attribute 0x03 Access Get Set Name RunRev Class 0x29 Default N A Instance 0x01 Data Type USINT Attribute 0...

Page 184: ...This state is skipped over 2 Not_Ready 0 10 101 0 Inhibit 3 Ready 0 10 101 1 Ready 4 Enabled 0 10 101 2 OR 0 10 101 4 Stop or Run 5 Stopping 0 10 101 6 OR 0 10 101 7 Decelerating or DC injection braking 6 Fault_Stop 0 10 101 5 AC supply loss 7 Faulted 0 10 101 9 Tripped 0 Vendor Specific 0 10 101 All other drive states See parameter reference guide Name RunningFwd Class 0x29 Default N A Instance 0...

Page 185: ...0 to 1 transition FaultCode The fault code attribute will return the ODVA fault code as follows If the drive is not OK the drive fault code is obtained from Pr 0 10 020 if the drive fault code is listed in Table 7 30 then the ODVA fault code as shown in Table 7 30 below will be returned Table 7 29 Control Supervisor Ready attributes Code State Ready state 3 Ready True 4 Enabled True 5 Stopping Tru...

Page 186: ...unFwd and RunRev attributes to control the drive RunFwd and RunRev will have no effect if DriveEnable is not set to 1 Get Set Pr 0 06 042 bit 0 Table 7 30 Control Supervisor fault code attributes Drive Fault Code ODVA Fault Code Drive Fault Code ODVA Fault Code 1 0x3220 20 0x2310 2 0x3210 21 0x4300 3 0x2300 26 0x5112 4 0x7112 32 0x3130 6 0x9000 Name CtrlFromNet Class 0x29 Default N A Instance 0x01...

Page 187: ...Name Access Parameter dependence 0x03 310 AtReference Get Pr 0 10 006 0x04 410 NetRef Get Set Pr 0 06 042 bit 8 0x06 610 DriveMode Get Set See Table 7 32 on page 188 0x07 710 SpeedActual Get RFC A or RFC S Pr 0 03 002 Open Loop Pr 0 05 004 0x08 810 SpeedRef Get Set RFC A or RFC S Pr 0 01 021 scaled to 0 decimal places Get Open Loop Pr 0 01 021 60 NofPP scaled to 0 decimal places Set Open Loop Pr 0...

Page 188: ...e 0x04 Access Get Set The NetRef can only be changed between local and remote when the drive is configured in speed control mode If a change is requested when in torque mode then a Device State Conflict error code 0x10 will be returned Name DriveMode Class 0x2A Default N A Instance 0x01 Data Type USINT Attribute 0x06 Access Get Set Access DriveMode Actual Drive Mode Torque Mode 0 4 011 Value Mode ...

Page 189: ...et 0 User Defined Don t care Return Invalid Attribute Value 0x09 1 Open Loop Speed Open loop Pr 0 04 011 Speed control mode 0 RFC A or RFC S or Regen Return Drive state conflict error 0x10 2 Closed Loop Speed RFC A or RFC S Pr 0 04 011 Speed control mode 0 Open loop or Regen Return Drive state conflict error 0x10 3 Torque Control Open loop or RFC A or RFC S Pr 0 04 011 Torque control mode 1 Regen ...

Page 190: ...e load torque reference as of rated motor load torque This attribute has 1 decimal place precision so a value of 1000 represents 100 0 load Set Pr 0 04 008 TorqueRef 10 Scaled to 1 decimal place Get TorqueRef Pr 0 04 008 10 Scaled to 1 decimal place RefFromNet Indicates the source of the speed reference TRUE if Pr 0 01 049 3 and Pr 0 01 050 1 FALSE otherwise Name SpeedRef Class 0x2A Default N A In...

Page 191: ...Control Techniques object classes 7 6 Web page basics Currently only basic web page support is provided showing diagnostics and key parameters user account management and basic drive parameter access is also provided These pages are non adaptive and are designed for PCs laptops and tablets rather than mobile cell phones The web pages do not form part of the Ethernet interface firmware and must be ...

Page 192: ...gateway capable of reaching this address additionally the Ethernet interface will also require a gateway configured in Pr S 02 008 7 6 2 Making a connection To connect to Ethernet interface web page enter the IP address of the Ethernet interface as shown in Pr S 02 006 into the web browser window For example for an IP address of 10 75 125 124 type the following into the web browser http 10 75 125 ...

Page 193: ...e than one person should be given administration privileges Other user accounts Other user accounts should be used for engineers that need to make changes to the system occasionally different account types are available depending on the features required Table 7 35 shows the authorisation levels for each account type Table 7 35 User account authorisation levels Multiple user access It is not possi...

Page 194: ...age 7 6 6 CONFIGURATION The CONFIGURATION menu allows the user to create new user accounts delete existing user accounts or edit existing user account details When this page is selected the existing user accounts are displayed Add User To add a user account click the Add User button this will display the Account Editor page Enter a username password and the desired authorisation level The password...

Page 195: ...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 Delete User To remove an existing user account click the Delete button of the relevant account on the Configuration page T...

Page 196: ...drive or option module parameter To access the parameter editor page click PARAMETERS on the menu bar the Parameter Editor page will be displayed From this page select the slot menu and parameter to access the current parameter value will be shown This value is constantly updated there is no need to refresh the page For parameters designated as read only parameters the option to enter a new value ...

Page 197: ...represent the desired state of the parameter Off or On If the parameter state is currently On then the tick box will be greyed out If the parameter state is currently Off then the tick box will be highlighted To change the parameter state click the tick box and then click the Submit button The Parameter Editor page also provides buttons to reset the drive and save the parameters in the drive 7 6 8...

Page 198: ...e system Drive discovery gives the ability to find drives on a network automatically without the user having to specify their addresses For more information on using Unidrive M Connect please refer to the online help supplied 8 2 Machine Control Studio Machine Control Studio is a CoDeSys based development environment designed for use with the onboard user program of Unidrive M and the MCi200 MCi21...

Page 199: ...played on the main screen CT TCP IP must be selected in the Communication Settings 8 4 SyPTPro SyPTPro is a complete integrated development suite for distributed drive applications SyPTPro allows user programs to be developed for multiple nodes in DPL ladder and function block programming languages DPL Drive Programming Language is a high level language as easy to use as BASIC but optimized for dr...

Page 200: ...stems containing an OPC Data Access client to communicate with Unidrive M over Ethernet or Modbus RTU It does not support any other manufacturers product The server uses proprietary protocols to gather and distribute data to and from Unidrive M and offers a standard OPC DA interface to OPC Clients The CT OPC server supports versions 1 2 and 3 of the OPC DA server specifications These specification...

Page 201: ...mputer to a network carries the risk of transferring computer viruses to other computers on that network It is vital that when connecting to a network you ensure that your anti virus software is up to date and activated Many operating system vendors offer regular product updates to increase stability and reduce the risk of malicious programs causing damage to your corporate infrastructure 9 2 3 Fi...

Page 202: ...ond port is indicated by LED B The function of these LEDs are described inTable 10 1 LED functionality below Table 10 1 LED functionality 10 2 Drive trip display codes If the Ethernet interface detects an error during operation it will force a trip on the drive However the trip string displayed on the drive will only indicate which slot initiated the trip if the error originated from the onboard E...

Page 203: ...module with another one of the same ID number will not initiate this trip The trip will also occur if an option module is installed to a previously unused slot Value Pr 0 10 070 Sub trip string Description 100 Link Loss Network link has been lost 101 E IP Timeout An Ethernet IP RPI timeout trip has occurred 102 E IP Read Param Invalid read consistency parameter is parameter read only 103 E IP Writ...

Page 204: ...llocation error 211 Filesystem Error File system error 212 Config Save Configuration file save error 213 Over Temperature Overheated 214 Drive Timeout The drive has not responded within watchdog period 215 eCMP Comms Error eCMP communication failure 216 TO eCMP Slot1 eCMP communication to slot 1 timeout 217 TO eCMP Slot2 eCMP communication to slot 2 timeout 218 TO eCMP Slot3 eCMP communication to ...

Page 205: ...er program has generated an alarm 1 eCMP An eCMP alarm has been generated 2 Modbus A Modbus alarm has been generated 3 Ethernet IP An Ethernet IP alarm has been generated 4 Reserved Reserved 5 File System File system full alarm has been generated 6 Too Hot Temperature too high alarm has been generated Value Pr 0 10 070 Reason 1 The module category cannot be identified 2 All the required customisab...

Page 206: ...06 SI Ethernet User Guide Issue 3 10 6 Diagnostic flow chart Is PrS 02 004 is PrS 02 004 S 02 003 Ethernet interface was Is Pr S 02 004 Ethernet interface is Default Ethernet interface MM 008 and retry 6 ...

Page 207: ...e Class and Instance properties Auto crossover detection A method used to automatically detect if a crossover or non crossover network cable is connected Bit A binary digit this may have the value of 1 or 0 Byte A collection of 8 binary digits that collectively store a value This may be signed or unsigned Class A collection of properties which allow the control or monitoring of a device Used in co...

Page 208: ...lectronic Data Sheet file A file which specifies the EtherNet IP device functionality Ethernet address See MAC address EtherNet IP An industrial application layer protocol for communicating to devices over Ethernet The EtherNet IP protocol communicates to the drive using assembly objects Exception codes An error response from Modbus Explicit data See Non cyclic data Firewall A computer or piece of...

Page 209: ...that may be signed or unsigned LSB Least Significant Bit Byte MAC address This is a unique address that is assigned to the Ethernet interface at the time of manufacture No other device will have this address The address is used to make connections to the interface before the IP address is assigned MBAP Modbus application protocol This is a 7 byte header added to the main Modbus telegram PDU which ...

Page 210: ...ntly less control of the data RPI Requested Packet Interval Specifies the expected time for the device to respond to a request Scan rate See Poll rate Shielding A connection to provide additional immunity to noise used on a network cable SMTP Simple Mail Transfer Protocol A protocol used for sending email SNTP Simple Network Time Protocol A protocol used for synchronising time over a network Statu...

Page 211: ...r 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 A method of using a non secure or public network that allows devices to be connected together as if they were a part of a private network Word A collection of 1...

Page 212: ...es 18 Class C addresses 18 Class D E addresses 18 Class Types 18 Completing the address 19 Configuring SM Ethernet cyclic parameters 161 Configuring the PLC 162 Conformance 11 Connection and indications 14 Control Supervisor object 182 Control Techniques object 191 CTSoft 198 Cyclic implicit or polled data 207 Cyclic implicit or polled data transfer 161 D Default restrictions 201 DHCP consideratio...

Page 213: ...Pro 199 Instance 209 Introduction 9 IP address 19 L Layout 14 LED Diagnostics 202 Length of cable 15 M Minimum software versions required for Ethernet 17 198 Modbus function codes 135 Modbus TCP IP 135 Module identification 206 Module information 14 N Network design 17 Network length 15 Network topology 15 Non cyclic explicit data 209 Non cyclic explicit data transfer 161 O Object Class 207 Object...

Page 214: ...01 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 V Virus considerations 201 W Warnings 6 Where do IP addresses come from 17 Write consistency 159 ...

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