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MCi210 User Guide

7

Issue Number: 2

Intro

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Use

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Introduction

2.1

MCi210 module

The MCi210 is a CoDeSys-based user-programmable option module for Unidrive M. It is an
intelligent module that expands on the functionality of the Unidrive M by offering the following
features:
•

CoDeSys based user programming

•

Digital I/O

•

Timer Unit

•

Onboard Ethernet (2 ports)

•

File system

2.2

User programming

The MCi210 module is capable of running a CoDeSys program created by a user with the Machine
Control Studio (MC Studio) software. It is an integrated development environment that supports all
five of the programming languages of the IEC 61131-3 standard, including Structured Text (ST),
Ladder Diagram (LD), Function Block Diagram (FBD), Sequential Function Chart (SFC) and
Instruction List (IL). Continuous Function Chart (CFC) is also supported.
The user has a number of tasks available to them. These are documented below.
•

Initial

•

Freewheeling

•

Clock0

•

Clock1

•

Clock2

•

Clock3

•

Position

•

Event0

•

Event1

•

Event2

•

Event3

•

ErrorTask

The Freewheeling, Clock

n

and Position tasks are cyclic tasks. The Clock

n

and Position tasks will

run at an interval set by the user in MC Studio. The Freewheeling task is the lowest priority task and
will run when processor resource allows.

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Содержание MCi210

Страница 1: ...User Guide Part Number 0478 0033 02 Issue 2 www controltechniques com MCi210 ...

Страница 2: ...al consumption and scrap throughout their long working lifetime In typical applications these positive environmental effects far outweigh the negative impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment Recyclers...

Страница 3: ...3 Mechanical installation 9 3 1 General Installation 9 4 Electrical installation 10 4 1 MCi210 module information 10 4 2 Ethernet 11 4 3 Digital I O 12 5 Parameters 13 5 1 Overview 13 5 2 Menus 13 5 3 Parameter save and restore 14 5 4 Remanent variables 14 5 5 Menu 0 MCi210 Module information 15 5 6 Menu 1 User Application 19 5 7 Menu 2 Ethernet configuration 25 5 8 Menu 3 Timer 32 5 9 Menu 4 Digi...

Страница 4: ...4 MCi210 User Guide Issue Number 2 10 Diagnostics 73 10 1 Run time errors 73 10 2 Drive trip display codes 73 10 3 Run time error codes 74 10 4 Ethernet error codes 75 10 5 Module error codes 76 ...

Страница 5: ...r Guide carefully The STOP and SAFE TORQUE OFF functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SAFE TORQUE OFF function none of the drive functions must be used to ensure ...

Страница 6: ...cross sectional areas of conductors the selection of fuses or other protection and protective ground earth connections Instructions for achieving compliance with specific EMC standards may be found in the relevant drive documentation Within the European Union all machinery in which this product is used must comply with the following directives 2006 42 EC Safety of machinery 2004 108 EC Electromagn...

Страница 7: ...Sys program created by a user with the Machine Control Studio MC Studio software It is an integrated development environment that supports all five of the programming languages of the IEC 61131 3 standard including Structured Text ST Ladder Diagram LD Function Block Diagram FBD Sequential Function Chart SFC and Instruction List IL Continuous Function Chart CFC is also supported The user has a numb...

Страница 8: ...and System Integration option module is performed using menus and parameters A menu is a logical collection of parameters that have similar functionality The MCi210 module contains a number of menus that are grouped by the slot number that the module is installed into The method used to determine the menu or parameter is as follows Pr S mm ppp signifies a module parameter where S is the slot numbe...

Страница 9: ...nstalling the first option module Option module slots must be used in the following order slot 3 slot 2 and slot 1 Align the option module above the drive as shown Insert the option module tab into the slot on the drive Press down on the option module until it clicks into place Before installing or removing an option module from any drive ensure the AC supply has been disconnected for at least 10 ...

Страница 10: ...activity indicator is provided for each of the Ethernet ports The indicators are located on the top surface of the module The MCi210 module also provides a 6 way pluggable connector for digital inputs and outputs Figure 4 1 MCi210 Figure 4 2 MCi210 Connections Table 4 3 8P8C RJ45 Ethernet port connector pin out Terminal Description 1 Transmit 2 Transmit 3 Receive 4 N A 5 N A 6 Receive 7 N A 8 N A ...

Страница 11: ...ended that a minimum specification CAT5e is used in new installations The Ethernet interface on the module supports the Auto cross over detection therefore a cross over cable is not required when connecting the Ethernet port on the module directly to the Ethernet port of a PC 4 2 3 Link activity indicators Each Ethernet port has a corresponding link activity indicator on the topside of the module ...

Страница 12: ...r more information 4 3 1 Digital I O specifications The digital I O circuits are isolated from the power circuits in the drive by basic insulation single insulation only The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation supplementary insulation rated for use at the AC supply voltage If the digital inputs or outputs are...

Страница 13: ...refore will always perform a drive database upload 5 2 Menus Table 5 1 below details each of the module s internal menus Table 5 1 MCi210 Internal Menu descriptions Where S is the slot number that the module is installed in The module s menu 0 is also displayed in menu 15 16 or 17 on the drive depending on which slot the module is installed in MC Studio can be used to set up a custom or applicatio...

Страница 14: ... of variable allow values to be retained after a power cycle or module reset however there is a difference between Retain and Persistent variables The following table indicates the behaviour of all variable types Key X Value is maintained Value is initialized RETAIN variables are declared in MC Studio as shown below VAR RETAIN iRem1 INT 1 Retain variable END_VAR PERSISTENT variables are declared i...

Страница 15: ...are Version 00 00 00 00 to 99 99 99 99 RO Num ND NC PT S 00 003 Hardware Version 0 00 to 99 99 RO Num ND NC PT S 00 004 Serial Number LS 0 to 99999999 RO Num ND NC PT S 00 005 Serial Number MS 0 to 99999999 RO Num ND NC PT S 00 006 Module Status Bootldr Update 2 Bootldr Idle 1 Initializing 0 OK 1 Config 2 Error 3 RO Txt ND NC PT S 00 007 Reset Module Off 0 or On 1 Off 0 RW Bit NC S 00 008 Default ...

Страница 16: ...898765 S 00 002 Software Version Minimum 0 Display 00 00 00 00 Maximum 999999 Display 99 99 99 99 Default Units Type 32 Bit Volatile Update Rate Power up write Display Format Version Number Decimal Places 0 Coding RO ND NC PT S 00 003 Hardware Version Minimum 0 00 Maximum 99 99 Default Units Type 16 Bit Volatile Update Rate Power up write Display Format None Decimal Places 2 Coding RO ND NC PT S 0...

Страница 17: ...ration information will be irretrievably lost S 00 006 Module Status Minimum 2 Maximum 3 Default Units Type 8 Bit Volatile Update Rate Background Display Format None Decimal Places 0 Coding RO Txt ND NC PT Value Text Description 2 Bootldr Update The bootloader is performing a flash update 1 Bootldr Idle The bootloader is idle 0 Initializing The module is initializing 1 OK Module is initialized wit...

Страница 18: ...t 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 File System 6 Module Too Hot S 00 010 Active IP Address Minimum 2147483648 Display 128 0 0 0 Maximum 2147483647 Display 127 255 255 255 Default Units Type 32 Bit Volatile Update Rate Background Display Format IP Address Decimal Places 0 Coding...

Страница 19: ... Num ND PT S 01 013 Auto run Enable Off 0 or On 1 On 1 RW Bit US S 01 014 Global Run time Trip Enable Off 0 or On 1 Off 0 RW Bit US S 01 015 Disable Reset on trip Clear Off 0 or On 1 Off 0 RW Bit US S 01 017 Enable Out of Range Error Off 0 or On 1 Off 0 RW Bit US S 01 019 Save Retain Data Request Off 0 or On 1 Off 0 RW Bit NC S 01 020 Power Down Retain Data Save Disabled 0 UV 1 UV no 24V 2 Disable...

Страница 20: ...CMP This allows for downloading to one UCI folder while running from another Note the difference between the Selected UCI Selected UCI number S 01 001 and the Active UCI The Selected UCI is the image that the user wishes to be active after a module reset the Active UCI displays the UCI image currently active This parameter indicates the status of a user program if it is present If no user program ...

Страница 21: ...uring the most recent sample period the cyclic tasks took all of the system resource This is normal This parameter is calculated only when the user program is running When the user program is not running the parameter is set to 100 When set to 1 On the user program will start automatically on a module reset or at power up When set to 1 On the module may cause the drive to trip when a run time erro...

Страница 22: ...allows the user to define the action on the retain data when the drive enters under voltage state When set to 0 no action will be taken and the retain data will not be saved When set to 1 the retain data will be automatically saved when the drive enters the under voltage state S 01 015 Disable reset on trip clear Minimum 0 Maximum 1 Default 0 Units Type 1 Bit User Save Update Rate Background read ...

Страница 23: ... time error Value Text Description 0 Disabled Retain data not automatically saved 1 UV Retain data automatically saved on under voltage 2 UV no 24V Retain data saved on under voltage AND no 24 V backup supply detected S 01 021 Under voltage state user program behaviour Minimum 0 Maximum 2 Default 1 Units Type 8 Bit User Save Update Rate Read when an Under Voltage is detected and S 01 020 is set to...

Страница 24: ...um 11 Default 0 Units Type 8 Bit Volatile Update Rate Written every second Display Format None Decimal Places 0 Coding RO Txt ND PT BU Value Text 0 USER_TASK_INIT 1 USER_TASK_EVENT0 2 USER_TASK_EVENT1 3 USER_TASK_EVENT2 4 USER_TASK_EVENT3 5 USER_TASK_POS 6 USER_TASK_CLOCK0 7 USER_TASK_CLOCK1 8 USER_TASK_CLOCK2 9 USER_TASK_CLOCK3 10 USER_TASK_FWHEEL 11 TASK_UNKNOWN ...

Страница 25: ...NS 000 000 000 000 to 255 255 255 255 000 000 000 000 RW IP US S 02 010 Secondary DNS 000 000 000 000 to 255 255 255 255 000 000 000 000 RW IP US S 02 011 MAC Address 00 00 00 00 00 00 to FF FF FF FF FF FF RO Mac ND NC PT S 02 020 Priority Protocol None 0 Modbus TCP 1 Ethernet IP 2 0 RW Txt US S 02 021 Web Server Enable Off 0 or On 1 On 1 RW Bit US S 02 022 Web Server Port 0 to 65535 80 RW Num US ...

Страница 26: ... connection has been detected on either of the Ethernet ports 2 DHCP In Progress The module is attempting to obtain an 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 been successfully configure...

Страница 27: ...stored for the parameter This parameter controls and displays the subnet mask of the module If DHCP is enabled DHCP Enable S 02 005 this parameter becomes read only and until an IP 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 subnet mask stored for the parameter S 02 006 IP Address Minimum 0 Display 0 0 0 0 ...

Страница 28: ...ful will the Secondary DNS address be tried If DHCP is enabled DHCP Enable S 02 005 this parameter becomes read only and until an IP 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 ...

Страница 29: ...ule This parameter enables the selection of the fieldbus protocol to have priority over all other protocols 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 Minim...

Страница 30: ...st priority 2 Ethernet IP Ethernet IP has highest priority S 02 021 Web Server Enable Minimum 0 Maximum 1 Default 1 Units Type 1 Bit User Save Update Rate Background read Display Format None Decimal Places 0 Coding RW BU S 02 022 Web Server Port Minimum 0 Maximum 65535 Default 80 Units Type 16 Bit User Save Update Rate Read on module reset and HTTP_ENABLE Display Format None Decimal Places 0 Codin...

Страница 31: ...et enabling this parameter will add VLAN prioritization to all packets helping to ensure real time packets are not delayed by those of lower priority If disabled prioritization will use the Diffserv field in IP traffic only meaning non IP traffic can still affect real time IP traffic This parameter specifies the VLAN ID that the interface will be a member of Any packets entering the switch without...

Страница 32: ...ed PT Protected parameter RA Rating dependent US User save PS Power down save DE Destination IP IP address Mac Mac address SMP Slot menu parameter S 03 001 Timer Unit Control Word Minimum 0 Display 0000000000 Maximum 892 Display 1101111100 Default 0 Display 0000000000 Units Type 16 Bit User Save Update Rate Immediate Display Format Binary Decimal Places 0 Coding RW BU Bit Description 0 to 2 Event ...

Страница 33: ...ture Mode 2 The selected clock drives the counter A falling edge transition on Digital Input 3 causes the current counter value to be latched into the Timer Capture Cache Timer Unit Capture Cache S 03 005 parameter and the Timer Event Flag Timer Unit Status Word S 03 002 b0 is set The counter then continues incrementing the Timer Event Flag Timer Unit Status Word S 03 002 b0 is not set on wrap aro...

Страница 34: ...e set if Event Task Schedule Timer Unit Control Word S 03 001 bit 0 bit 2 is set to zero Note This bit is automatically cleared when the parameter is read 1 Wrap around flag 0 Wrap around has not occurred 1 Counter wrap around has occurred Note This bit is automatically cleared when the parameter is read 2 Timer Enabled 0 Timer is disabled 1 Timer is enabled Note In case Register is configured the...

Страница 35: ...er Range Default Type S 04 001 Digital Input 1 State Off 0 or On 1 RO Bit ND NC PT S 04 002 Digital Input 2 State Off 0 or On 1 RO Bit ND NC PT S 04 003 Digital Input 3 State Off 0 or On 1 RO Bit ND NC PT S 04 004 Digital Input Output 4 State Off 0 or On 1 RO Bit ND NC PT S 04 010 Digital Output 5 Off 0 or On 1 Off 0 RW Bit S 04 011 Digital Input Output 4 Demand Off 0 or On 1 Off 0 RW Bit S 04 020...

Страница 36: ...e output high but due to a wiring error the output is being held low this parameter will give the value 0 When written this parameter will set the state of Digital Output 5 Setting to 0 will place the output low and setting to 1 will place the output high S 04 002 Digital Input 2 State Minimum 0 Maximum 1 Default Units Type 1 Bit Volatile Update Rate Immediate Display Format None Decimal Places 0 ...

Страница 37: ... input Setting it to 1 will configure it as an output S 04 011 Digital Input Output 4 Demand Minimum 0 Maximum 1 Default 0 Units Type 1 Bit Volatile Update Rate Immediate Display Format None Decimal Places 0 Coding RW S 04 020 Digital Outputs State Minimum 0 Display 00 Maximum 3 Display 11 Default 0 Display 00 Units Type 8 Bit Volatile Update Rate Immediate Display Format Binary Decimal Places 0 C...

Страница 38: ...ic Rx Links Free 0 to 255 RO Num ND NC S 09 003 Fieldbus Links Free 0 to 255 RO Num ND NC S 09 004 Cyclic Mappings Free 0 to 255 RO Num ND NC S 09 009 Idle Task Free 0 to 255 RO Num ND NC S 09 010 Synchronous Task Free 0 to 255 RO Num ND NC S 09 020 Synchronous Task Worst Free 0 to 255 RO Num ND NC S 09 030 PCB Temperature 128 to 127 C RO Num ND NC RW Read Write RO Read only Num Number parameter B...

Страница 39: ... Cyclic Rx Links Free Minimum 0 Maximum 255 Default Units Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC BU S 09 003 Fieldbus Links Free Minimum 0 Maximum 255 Default Units Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC BU S 09 004 Cyclic Mappings Free Minimum 0 Maximum 255 Default Units T...

Страница 40: ...Transmit link parameters Table 5 4 Receive link parameters The Easy Mode Cyclic Data links can be made synchronous links by setting a value in Tx Link Maximum Network Delay S 11 030 S 11 031 or S 11 032 S 09 020 Synchronous Task Worst Free Minimum 0 Maximum 255 Default Units Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC BU S 09 030 PCB Temper...

Страница 41: ...m 14 Timeout 8 In error 7 Link num in use 6 Not editable 5 Invalid link num 4 Invalid args 3 Too many links 2 Out of memory 1 OK 0 RO Txt S 10 020 Tx2 Link Profile 0 to 0 0 RW Num US S 10 021 Tx2 Link Number 0 to 255 0 RW Num US S 10 022 Tx2 Source Parameter 0 to 4 99 999 0 000 RW SMP PT US S 10 023 Tx2 Parameter Count 0 to 32 0 RW Num US S 10 024 Tx2 Link Transmission Type Unicast 0 Broadcast 1 M...

Страница 42: ...7 Rx1 Timeout Event Destination This slot 0 Slot 1 1 Slot 2 2 Slot 3 3 Slot 4 4 This slot 0 RW Txt US S 10 048 Rx1 Timeout Event Type No event 0 Event 1 Event1 2 Event2 3 Event3 4 No event 0 RW Txt US S 10 049 Rx1 Link Status Invalid profile 16 Invalid mapping 15 Read only param 14 Timeout 8 In error 7 Link num in use 6 Not editable 5 Invalid link num 4 Invalid args 3 Too many links 2 Out of memor...

Страница 43: ... Type Direct 0 Multicast1 1 Multicast2 2 Multicast3 3 Multicast4 4 Direct 0 RW Txt US S 10 065 Rx3 Timeout 0 to 65535 ms 100 ms RW Num US S 10 066 Rx3 Timeout Action Trip 0 Clear output 1 Hold last 2 Trip 0 RW Txt US S 10 067 Rx3 Timeout Event Destination This slot 0 Slot 1 1 Slot 2 2 Slot 3 3 Slot 4 4 This slot 0 RW Txt US S 10 068 Rx3 Timeout Event Type No event 0 Event 1 Event1 2 Event2 3 Event...

Страница 44: ...d by the module This parameter allows all parameters in menu 10 to be defaulted to factory settings To default the parameters in menu 10 set this parameter to On 1 and then reset the menu by setting Reset S 10 002 to On 1 or reset the module by setting Reset Module S 00 007 to On 1 This parameter will be automatically set to Off 0 when the default operation has been completed S 10 001 Enable Minim...

Страница 45: ...eter Count S 10 013 S 10 023 or S 10 033 will become read only with value of 0 This parameter is used to set the link number for the transmit link This number should be unique for each transmit link S 10 004 Message Rate Minimum 0 Maximum 100 Default 0 Units ms Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 10 010 Tx1 Link Profile S 10 020 Tx2 Li...

Страница 46: ... Parameter S 10 032 Tx3 Link Source Parameter Minimum 0 Display 0 00 000 Maximum 499999 Display 4 99 999 Default 0 Display 0 00 000 Units 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 Link Parameter Count S 10 023 Tx2 Link Parameter Count S 10 033 Tx3 Link Parameter Count Minimum 0 Maximum 32 Default 0 Units Type 8 Bit ...

Страница 47: ...atically display the appropriate address Value Text Description 0 Unicast Link is unicast to the IP Address specified 1 Broadcast Link is broadcast 255 255 255 255 2 Multicast1 Link is multicast to the IP Address 3 Multicast2 Link is multicast to the IP Address 4 Multicast3 Link is multicast to the IP Address 5 Multicast4 Link is multicast to the IP Address S 10 015 Tx1 Link Destination Address S ...

Страница 48: ...ination Parameter S 10 042 S 10 052 or S 10 062 and Rx Link Parameter Count S 10 043 S 10 053 or S 10 063 will become read only with value of 0 Value Text 16 Invalid profile 15 Invalid mapping 14 Read only param 13 12 11 10 9 8 Timeout 7 In error 6 Link num in use 5 Not editable 4 Invalid link num 3 Invalid args 2 Too many links 1 Out of memory 0 OK S 10 040 Rx1 Link Profile S 10 050 Rx2 Link Prof...

Страница 49: ...0 or S 10 060 then this parameter will become read only with value of 0 S 10 041 Rx1 Link Number S 10 051 Rx2 Link Number S 10 061 Rx3 Link Number Minimum 0 Maximum 255 Default 0 Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 10 042 Rx1 Link Destination Parameter S 10 052 Rx2 Link Destination Parameter S 10 062 Rx3 Link Destination Paramete...

Страница 50: ...eset Display Format None Decimal Places 0 Coding RW Txt BU Value Text Description 0 Direct Link is Unicast or Broadcast 1 Multicast1 Link is multicast to the IP Address 2 Multicast2 Link is multicast to the IP Address 3 Multicast3 Link is multicast to the IP Address 4 Multicast4 Link is multicast to the IP Address S 10 045 Rx1 Link Timeout S 10 055 Rx2 Link Timeout S 10 065 Rx3 Link Timeout Minimu...

Страница 51: ...imal Places 0 Coding RW BU Value Text Description 0 Trip Trip drive with Slotx Error and sub trip code yyy where x is the slot number in which the module is installed 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 S 10 047 Rx1 Link Timeout Event Destination S 10 057 Rx2 Link Timeout Event Destination S...

Страница 52: ...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 S 10 049 Rx1 Link Status S 10 059 Rx2 Link Status S 10 069 Rx3 Link Status Minimum 16 Maximum 0 Default Units Type 8 Bit Volatile Update Rate Write...

Страница 53: ...Variable allocation menus Digital I O Timer User programming Diagnostics Index This parameter shows status of receive link if it has been configured A reset of the menu by setting Reset S 10 002 to On 1 is required for any changes to take effect 4 Invalid link num 3 Invalid args 2 Too many links 1 Out of memory 0 OK Value Text ...

Страница 54: ... ND NC PT S 11 030 Tx1 Link Maximum Network Delay 0 to 100 ms 0 ms RW Num US S 11 031 Tx2 Link Maximum Network Delay 0 to 100 ms 0 ms RW Num US S 11 032 Tx3 Link Maximum Network Delay 0 to 100 ms 0 ms RW Num US S 11 040 Rx1 Late Synchronization Frame Action Off 0 Trip 1 Do not use 2 Use 3 Off 0 RW Txt US S 11 041 Rx1 Late Synchronization Frame Destination This slot 0 Slot 1 1 Slot 2 2 Slot 3 3 Slo...

Страница 55: ...is parameter displays the MAC address as a 64 bit hexadecimal value of the synchronization grandmaster if there is a grandmaster RW Read Write RO Read only Num Number parameter Bit Bit parameter Txt Text string Bin Binary parameter FI Filtered ND No default value NC Not copied PT Protected parameter RA Rating dependent US User save PS Power down save DE Destination IP IP address Mac Mac address SM...

Страница 56: ...k grandmaster A value of On 1 inhibits this S 11 006 Synchronization Jitter From Grandmaster Minimum 2147483648 Maximum 2147483647 Default Units ns Type 32 Bit Volatile Update Rate Written every 500 ms Display Format None Decimal Places 0 Coding RW ND NC PT S 11 007 Synchronization Jitter Threshold Minimum 10 Maximum 4294967295 Default 1000 Units ns Type 32 Bit User Save Update Rate Read on reset ...

Страница 57: ...rt layer to use 0 Layer 2 Ethernet 1 UDP S 11 010 PTP Date Minimum 0 Display 00 00 00 Maximum 235959 Display 23 59 59 Default Units Type 32 Bit Volatile Update Rate Written every 500 ms Display Format Time Decimal Places 0 Coding RO ND NC PT BU S 11 011 PTP Time Minimum 0 Display 00 00 00 Maximum 235959 Display 23 59 59 Default Units Type 32 Bit Volatile Update Rate Written every 500 ms Display Fo...

Страница 58: ...message This parameter controls the rate at which PTP Sync frames are sent The message rate is determined by raising 2 to the power of this parameter E g the default value of 2 results in four sync messages per second S 11 014 1 Step Clock Correction Minimum 0 Maximum 1 Default 1 Units Type 1 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW Txt BU S 11 015 PTP...

Страница 59: ...2 Bit Volatile Update Rate Written every 500 ms Display Format None Decimal Places 0 Coding RO ND NC PT BU S 11 030 Tx1 Link Maximum Network Delay S 11 031 Tx2 Link Maximum Network Delay S 11 032 Tx3 Link Maximum Network Delay Minimum 0 Maximum 100 Default 0 Units Type 8 Bit User Save Update Rate Read on reset Display Format None Decimal Places 0 Coding RW BU S 11 040 Rx1 Link Late Synchronization...

Страница 60: ...e 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 S 11 042 Rx1 Link Late Synchronization Frame Event S 11 052 Rx2 Link Late Synchronization...

Страница 61: ...1 Modbus Timeout Event Destination This slot 0 Slot 1 1 Slot 2 2 Slot 3 3 Slot 4 4 This slot 0 RW Txt US S 15 012 Modbus Timeout Event Type No event 0 Event 1 Event1 2 Event2 3 Event3 4 No event 0 RW Txt US S 15 013 Modbus Resister Addressing Mode Standard 0 Modified 1 Standard 0 RW Txt US S 15 020 Priority Connection 1 000 000 000 000 to 255 255 255 255 000 000 000 000 RW IP US S 15 021 Priority ...

Страница 62: ...kground read written to 0 on initialization Display Format None Decimal Places 0 Coding RW S 15 003 Default Minimum 0 Maximum 1 Default 0 Units Type 1 Bit Volatile Update Rate Read on module reset protocol interface reset or protocol enable Display Format None Decimal Places 0 Coding RW S 15 004 Modbus Configuration Error Minimum 0 Maximum 2 Default Units Type 8 Bit Volatile Update Rate Write on m...

Страница 63: ...priority connections are permanent and once made will only be deleted at the request of the client or due to a communications error Any connections not in the priority 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 ...

Страница 64: ...is received within the time period specified in Modbus timeout S 15 009 S 15 008 Maximum Connections Per Client Minimum 1 Maximum 4 Default 2 Units Type 8 Bit User Save Update Rate Read on module reset Modbus interface reset or Modbus interface enable Display Format None Decimal Places 0 Coding RW BU S 15 009 Modbus timeout Minimum 1 Maximum 10000 Default 100 Units ms Type 16 Bit User Save Update ...

Страница 65: ...set Modbus interface reset or Modbus interface enable 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 S 15 012 Modbus timeout event type Minimum 0 Maximum 5 Default ...

Страница 66: ...cription 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 connection 1 Minimum 0 Display 0 0 0 0 Maximum 4294967295 Display 255 255 255 255 Default 0 Display 0 0 0 0 Units Type 32 Bit User Save Update Rate Read on module reset Modbus interface reset or Modbus interface enable Display Format IP Address Decimal Places 0 Coding RW BU S 15 021 Prior...

Страница 67: ...amming Diagnostics Index This parameter specifies an IP Address for a priority connection 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 Type 32 Bit User Save Update Rate Read on module reset Modbus interface reset or Modbus interface enable Display Format IP Address Decimal Places 0 Coding RW BU ...

Страница 68: ...ted with a parameter to allow users to view variables on the drive s keypad or via comms The parameters that can be associated are in the following menus and ranges Pr 70 000 to Pr 70 255 Pr 71 000 to Pr 71 255 Pr 72 000 to Pr 72 255 Pr 73 000 to Pr 73 255 Pr 74 000 to Pr 74 255 Pr 75 000 to Pr 75 255 ...

Страница 69: ...ital input 2 and digital input 3 terminals respectively Parameter S 004 004 will indicate the state of the digital I O 4 terminal regardless of whether it is configured as an input or output It cannot be used to set the output To set the digital I O 4 terminal when configured as an output parameter S 04 011 should be used Parameter S 04 010 is used to set the state of the digital output 5 dedicate...

Страница 70: ...lues 50 MHz 12 5 MHz 3 125 MHz and 781 25 kHz Two modes of operation are supported Free running mode or Capture mode Capture mode allows the value of the Timer Unit counter to be captured using the module s digital input 3 Event task triggering is also supported One of four Event tasks may be configured to run on a Timer Event occurring The Event will be either the capture of the counter value cou...

Страница 71: ... b5 b6 0 1 Clock Source Select S 03 001 b4 Enable Timer S 03 001 b3 S 03 002 b2 Wrap Around Control S 03 004 Wrap around Limit S 03 003 Timer Count S 03 002 b1 Timer Wrap around Flag Timer Mode Timer Mode S 03 001 b7 b8 S 03 005 Timer Capture Cache S 03 002 b0 Time Event Flag EVENT Task Control Event Task Schedule S 03 001 b0 b2 1 0 Digital Input 1 S 04 001 Digital Input 2 S 04 002 Digital Input 3...

Страница 72: ...ompliant with IEC 61131 3 and allows the user to develop their MCi210 applications in a number of different languages including Structured Text ST Function Block Diagram FBD Ladder Diagrams LD Sequential Function Chart SFC and Instruction List IL Machine Control Studio is specifically for use with MCi210 and Unidrive M onboard target and cannot be used to develop applications for other manufacture...

Страница 73: ...e type of error and the setting of the global run time trip enable parameter Pr S 01 014 10 2 Drive trip display codes If the option module 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 The exact reason for the trip will be indicated in the drive trip code parameters Pr 10 020 and ...

Страница 74: ... will be automatically limited and no error will occur 5 Param dec places May Yes Invalid number of decimal places used 6 Param type May Yes Invalid parameter type used 7 Param no 64 bit May Yes No 64 bit parameter support 8 Array bounds May Yes Error in accessing an out of range index of an array 9 Pointer alignmt May Yes Error in the pointer alignment The pointed address can t be accessed accord...

Страница 75: ...error during operation it will force a SlotX Error trip on the drive with a sub trip string Table 10 3 shows the possible Ethernet error codes and sub trip string Table 10 3 Ethernet error codes Drive trips do not cause the ERROR task to run Only certain user program errors do Value Sub trip string Description 100 Link Loss Network link has been lost 101 E IP Timeout An Ethernet IP RPI timeout tri...

Страница 76: ...lization error 209 FS init File system initialization error 210 Memory alloc Memory allocation error 211 Filesystem File system error 212 Configuration Configuration file error 213 OHt Overheated 214 TO drv The drive has not responded with the watchdog period 215 eCMP eCMP comms failure 216 TO eCMP slot 1 Slot 1 eCMP timeout 217 TO eCMP slot 2 Slot 2 eCMP timeout 218 TO eCMP slot 3 Slot 3 eCMP tim...

Страница 77: ...s 73 Digital I O 35 69 E Electrical installation 10 Ethernet Configuration 25 Ethernet error codes 75 I IP Address 27 M Machine Control Studio 72 Machine Control Studio MC Studio 7 Mechanical installation 9 Menus 13 Module error codes 76 Module Status 17 N Network Status 26 P Parameter save and restore 14 Parameters 13 R Remanent variables 14 Reset Module 17 Run time error codes 74 Run time errors...

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