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Manual – MOVI-PLC® advanced DHR41B for EtherNet/IP, Modbus/TCP and PROFINET IO

Parameter access via Modbus/TCP

The Modbus Protocol (Modbus/TCP)

8.4.3

Protocol structure

Or:

* The unit identifier (UI-D) is used in gateway operation to map registers 200

hex

203

hex

to the lower-level stations, see section 'Header'.

The description of the MOVILINK

parameter data (8 bytes) and their mapping to reg-

isters 200

hex

203

hex

is described in section 'MOVILINK

parameter channel'.

64067AXX

Byte-

Count

(0x8)

MOVILINK®

Parameter-Data

Write
Request:

Read
Request:

MBAP Header

Function Code-Data

(0x10)

T- ID (0x00)

Prot-ID (0x00)

UI-D

(*)

Length

(1+6+8)

Write Address

(0x200)

Write Word

Count

(0x04)

Byte-

Count

(0x8)

MOVILINK®

Parameter-Data

(0x03)

T- ID (0x00)

Prot-ID (0x00)

UI-D

(*)

Length

(1+6+8)

Write Address

(0x200)

Write Word

Count

(0x04)

Write
Response:

Read
Response:

(0x10)

T- ID (0x00)

Prot-ID (0x00)

UI-D

(*)

Length

(1+5)

Write Address

(0x200)

Write Word

Count

(0)

(0x03)

T- ID (0x00)

Prot-ID (0x00)

UI-D

(*)

Length

(1+5)

Read Address

(0x200)

Read Word

Count
(0x04)

64165AXX

Byte-

Count

(0x8)

Write/Read
Request:

Write/Read
Response:

(0x17)

T- ID (0x00)

Prot-ID (0x00)

UI-D

(*)

Length

(1+10+8)

Read Address

Write Address

(0x200)

ReadWord

Count

(0x04)

Write Word

Count

(0x04)

Byte-

Count

(0x8)

MOVILINK®

Parameter-Data

(0x17)

T- ID (0x00)

Prot-ID (0x00)

UI-D

(*)

Length

(1+6+8)

Read Address

(0x200)

ReadWord

Count

(0x04)

MOVILINK®

Parameter-Data

Содержание DHR41B

Страница 1: ...Drive Technology Drive Automation System Integration Services MOVI PLC advanced DHR41B Controller EtherNet IP Modbus TCP and PROFINET IO Fieldbus Interfaces Manual Edition 03 2009 16730410 EN ...

Страница 2: ...SEW EURODRIVE Driving the world ...

Страница 3: ...witch 13 4 5 Setting the DIP switches 14 4 6 Status LED of the DHR41B option 15 4 6 1 Status LEDs in EtherNet IP and Modbus TCP operation 15 4 6 2 Status LEDs in PROFINET operation 16 4 6 3 Link Activity LEDs 17 4 7 TCP IP addressing and subnetworks 18 4 8 Setting the IP address parameters 20 4 9 Procedure for unit replacement 22 5 Configuration and Startup EtherNet IP 23 5 1 Validity of the EDS f...

Страница 4: ...entification 72 8 3 Connection management 73 8 3 1 Sending process output data requesting a controlling connection 73 8 3 2 Dropping connections 74 8 3 3 Timeout monitoring 74 8 4 Parameter access via Modbus TCP 75 8 4 1 Procedure with FC16 and FC3 75 8 4 2 Procedure with FC23 75 8 4 3 Protocol structure 76 8 4 4 MOVILINK parameter channel 77 8 5 Fault codes exception codes 78 9 Fault Diagnostics ...

Страница 5: ... data record 47 106 11 3 4 Controller processing sequence 107 11 3 5 Addressing downstream inverters 108 11 3 6 MOVILINK parameter requests 109 11 3 7 PROFIdrive parameter requests 114 12 Error Diagnostics on PROFINET 119 12 1 Diagnostic procedure 119 12 1 1 Diagnostics problem 1 MOVI PLC advanced DHR41B not working on PROFINET IO 120 12 1 2 Diagnostics problem 2 No process data exchange with the ...

Страница 6: ...re of the safety notes The safety notes in this documentation are designed as follows Pictogram SIGNAL WORD Type and source of danger Possible consequence s if disregarded Measure s to prevent the danger Pictogram Signal word Meaning Consequences if disregarded Example General danger Specific danger e g electric shock DANGER Imminent danger Severe or fatal injuries WARNING Possible dangerous situa...

Страница 7: ...o persons who work independently on the unit You must also ensure that the documentation is legible 1 4 Exclusion of liability You must observe this publication and the documentation of the connected units from SEW EURODRIVE to ensure safe operation and to achieve the specified product char acteristics and performance requirements SEW EURODRIVE assumes no liability for injury to persons or damage ...

Страница 8: ...s which give rise to changes in the unit behavior This may result in unexpected though not uncontrolled system behavior 2 3 Safety functions The MOVIDRIVE MDX60B 61B and MOVITRAC B inverters may not perform safety functions without higher level safety systems Use higher level safety systems to ensure protection of equipment and personnel For safety applications ensure that the informa tion in the ...

Страница 9: ...DHR41B controller offers digital access to a special data range via the Industrial Ethernet interface This data range is evaluated by IEC 61131 3 as process input and output data to a higher level controller The meaning of the trans ferred data depends on the IEC program 3 2 2 Parameter access This parameter data exchange enables you to implement applications for which all im portant parameters ar...

Страница 10: ...lly to your application in the IEC program You can determine for instance which fault responses should be triggered in the event of a bus error For many applications a rapid stop function is useful However you can also freeze the last setpoints so that the drive continues to operate with the most recently val id setpoints As the range of functions for the control terminals is also available in fie...

Страница 11: ...gnation LED DIP switches Terminal Function 64249AXX LED L14 L13 L14 L13 L12 L11 In EtherNet IP and Modbus TCP operation MODULE STATUS NETWORK STATUS In PROFINET operation RUN BUS FAULT Reserved Reserved X30 1 Ethernet connection LED Link green LED Activity yellow X30 2 Ethernet connection LED Link green LED Activity yellow DIP switches 20 ON Resets the address parameters to their default values an...

Страница 12: ...ng in the connector over a wide surface area Apply the shielding of the bus cable on both ends Route signal and bus cables in separate cable ducts Do not route them parallel to power cables motor leads Use metallic grounded cable racks in industrial environments Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route Avoid using plug...

Страница 13: ...ti cast handling The integrated Ethernet switch does not provide a filter function for Ethernet multi cast telegrams Multicast telegrams that are usually sent from the adapters DHR41B to the scanners PLC in EtherNet IP networks are passed on to all switch ports IGMP Snooping e g Managed Switches is not supported SEW EURODRIVE therefore recommends to connect the DHR41B option in Ether Net IP networ...

Страница 14: ...Subnet mask 255 255 255 0 Default gateway 192 168 10 4 P785 DHCP Startup configuration Saved IP parameters DHCP is deactivated 21 protocol DIP switch 21 is used to set the protocol that is used for communication 21 1 right ON The EtherNet IP and Modbus TCP IP fieldbus protocol is active 21 0 left OFF The PROFINET fieldbus protocol is active TIP Before each change to the DIP switches disconnect the...

Страница 15: ...hing green There is no controlling IO connection Green There is a controlling EtherNet IP or Modbus TCP connection Red Conflict detected in the assigned IP addresses Another station in the network uses the same IP address Flashing red The previously established controlling IO connection is in timeout status The status is reset by restarting communication States of the MOD ULE STATUS LED Meaning Of...

Страница 16: ... detect a link Bus interruption PROFINET IO controller is not in operation Check the PROFINET connection of the DHR41B option Check the PROFINET IO controller Check the cabling of your PROFINET network Yellow Flashing yel low The STEP 7 hardware configuration contains a module that is not permit ted Switch the STEP 7 hardware configura tion to ONLINE and analyze the status of the components of the...

Страница 17: ...green and Activity yellow integrated in the RJ45 plug connec tors X30 1 X30 2 display the status of the Ethernet connection 63365AXX LED status Meaning Link green There is an Ethernet connection Link off There is no Ethernet connection Link flashes Locating function of SEW Address Editor see section 4 8 Activity yellow Data is currently being exchanged via Ethernet X30 1 X30 2 LED Link LED Activit...

Страница 18: ...l numbers separated by decimal points Example 192 168 10 4 Each decimal number stands for one byte 8 bits of the address and can also be rep resented using binary code following table The IP address comprises a network address and a station address following table The part of the IP address that denotes the network and the part that identifies the sta tion is determined by the network class and th...

Страница 19: ...the data Standard gateway The standard gateway is also addressed via a 32 bit address The 32 bit address is rep resented by four decimal numbers separated by decimal points Example 192 168 10 1 The standard gateway establishes a connection to other networks In this way a net work station that wants to address another station can use a logical AND operation with the IP address and the subnet mask t...

Страница 20: ...ers via the Ethernet interface There are various ways to change the IP address parameters via Ethernet Using the MOVITOOLS MotionStudio software Using the EtherNet IP TCP IP interface object see section EtherNet IP CIP object directory Using the SEW Address Editor In addition you can also change the IP address parameters via the other interface of DHR41B If the IP address parameters are assigned t...

Страница 21: ... 4 Subnet mask 255 255 255 0 Default gateway 192 168 10 4 DHCP Startup Configuration Saved IP parameters DHCP is deactivated Proceed as follows to reset the IP address parameters to the default values Switch off the 24 V DC supply voltage and the mains voltage Set the DIP switch 20 on the DHR41B option to 1 Switch the DC 24 V supply voltage and the line voltage back on SEW Address Editor You can a...

Страница 22: ...CP is active the assignment list of the DHCP server must be updated when the DHR41B option is replaced The MAC address of the DHR41B option is printed on its front panel for this purpose If DHCP is not active the IP parameters saved on the memory card of DHR41B will be used If the memory card of DHR41B is not plugged into the new unit when replacing the old one you will have to perform a complete ...

Страница 23: ...on and setting of the IP address parameters of DHR41B in accordance with section Assembly and Installation Instructions 5 1 Validity of the EDS file for DHR41B SEW EURODRIVE provides the following EDS file for configuring the scanner Ether Net IP master SEW_MOVIPLC_ADVANCED_DHR41B eds TIP Do not edit or amend the entries in the EDS file SEW assumes no liability for inverter malfunctions caused by ...

Страница 24: ...t To do so go to the view Controller Organizer in the RSLogix 5000 program as shown in the screenshot below use the tree structure on the left side of the screen In the I O Configuration folder select the entry 1769 L32E Ethernet Port LocalENB as the Ethernet communication interface Make a right mouse click to open the context menu and choose New Module The selection window Select Module Type appe...

Страница 25: ...41B To establish a controlling connection in the Connection Parameters group box en ter the value 161 in the Output Assembly Instance input field The input data of the PLC must be linked to the output instance of DHR41B In the selection fields Input Size and Output Size set a maximum value of 64 16 bit as the data length In the Configuration Size selection field enter the value 0 The Configuration...

Страница 26: ...ditional settings The Connection tab page is used to set the data rate and if required the error re sponse of the controller The DHR41B option supports a minimum data rate input field Requested Packet In terval RPI of 4 ms Longer cycle times can be implemented without any problems Click OK You have now configured process data exchange with a DHR41B 11712AXX 0 0 I ...

Страница 27: ... timeout interval In the parameter tree of MOVITOOLS MotionStudio index 8451 the currently set val ue is displayed in the field PD configuration see following figure 5 3 2 Status of the fieldbus interface The function module FbusGetInfo makes the status and some display parameters of the fieldbus interface available for the IEC program and diagnostics If there is no communication with the fieldbus...

Страница 28: ... the IP address parameters 2 Add MOVI PLC advanced DHR41B to the EtherNet IP configuration according to chapter 5 2 3 You can now start integration into the RSLogix project To do so create a controller tag with a user defined data type to create a simple data consistent interface to the process data of the DHR41B see following figure The description for process input and output data of the control...

Страница 29: ...e data from the new data structure to MOVI PLC advanced DHR41B a CPS command is added at the end of the MainRoutine see following figure 5 Now save the project and upload it to the PLC The PLC is set to RUN mode Now the actual values can be read from MOVI PLC advanced DHR41B and set points can be written The process data should now correspond to the values displayed in the PLC Editor or in the dia...

Страница 30: ...tudio and run the project wizard Create new PLC Editor project see following figure Use the wizard to create a new AxisControl project and upload it to MOVI PLC advanced DHR41B via the menu item Online login Start the loaded program via the menu item Online start You can now monitor the uploaded process data under Resources Control configuration PLC con figuration See following figure 12049AXX 120...

Страница 31: ...parameters of MOVI PLC advanced DHR41B via explicit messages and the register object proceed as follows 1 Create a user defined data structure SEW_Parameter_Channel see following figure 2 Define the following controller tags see following figure 3 Create a rung for the ReadParameter execution see following figure For contact select the tag ReadParameterStart For the Message Control select the tag ...

Страница 32: ...ement ReadParameterRequest Index B SourceLength 12 C Destination ReadParameterResponse Index D Class 7hex E Instance 1 F Attribute 4hex G Service Code ehex The service type is set automatically 5 Specify the target device on the Communication tab Click the Browse button and select the required unit from the IO configuration under Ethernet in the Message Path Browser see following figure Do not sel...

Страница 33: ...o 1 the read request is executed once see following figure On response to the read request ReadParameterResponse Index should indicate the read index and ReadParameterResponse Data should contain the read data In this example the timeout delay of MOVI PLC advanced DHR41B index 8606 set by the scanner has been read 012Chex 0 3 s You can check the value in the MOVITOOLS MotionStudio parameter tree s...

Страница 34: ...executing the WriteParameter command see following figure For contact select the tag WriteParameterStart For message control select the tag WriteParameter Click on in the MSG command to open the Message Configuration window see following figure Fill the other fields in the following sequence Source Element WriteParameterRequest Index Source Length 12 Destination WriteParameterResponse Index Class ...

Страница 35: ...arameterRe quest Data By altering WriteParameterStart to 1 the write request is executed once see following figure On response to the write request WriteParameterResponse Index should give the written index and WriteParameterResponse Data should contain the written data In this example 22hex 33 dec was written to index 11001 H1 You can check the value in the MOVITOOLS MotionStudio parameter tree o...

Страница 36: ...MOVI PLC advanced DHR41B itself see chapter 5 4 2 The only difference is that Read WriteParameterRequest SubChannel1 for example must be set to 3 and Read WriteParameterRequest SubAddress1 must be set to the SBus address of the MOVITRAC B connected to the DHR41B option see following figure In this example the value 150 rpm was read from the parameter P160 Fixed setpoint n11 index 8489 of a MOVITRA...

Страница 37: ...trollers or visualization devices If one controlling connection is already active via Modbus TCP an Exclusive Owner Connection cannot be activated via EtherNet IP without a power on reset Timeout behavior The timeout status is triggered by the DHR41B option The timeout interval must be set by the EtherNet IP master scanner when the connection is established The Ether Net IP specification refers to...

Страница 38: ...y Object 06 Connection Manager Object 07 Register Object 0F Parameter Object 64 Vardata Object F5 TCP IP Interface Object F6 EtherNet Link Object Attri bute Access Name Data type Default value hex Description 1 Get Revision UINT 0001 Revision 1 2 Get Max Instance UINT 0001 Maximum instance Attri bute Access Name Data type Default value hex Description 1 Get Vendor ID UINT 013B SEW EURODRIVE GmbH C...

Страница 39: ...atus See table Coding of the extended device status 8 Minor Recoverable Fault Minor fault that can be remedied 9 Minor Unrecoverable Fault Minor fault that cannot be remedied 10 Major Recoverable Fault Major fault that cannot be remedied 11 Major Unrecoverable Fault Major fault that cannot be remedied 12 15 Reserved Value binary Description 0000 Unknown 0010 At least one faulty IO connection 0011 ...

Страница 40: ... Class code 04hex Class Attri bute Acces s Name Data type Default value hex Description 1 Get Revision UINT 0001 Revision 1 Attri bute Acces s Name Data type Default value hex Description 1 Get Object_List STRUCT of Object list comprising Number of objects List of objects Number UINT 0009 Classes ARRAY of UINT 01 00 02 00 04 00 06 00 07 00 0F 00 64 00 F5 00 F6 00 2 Get Number Available UINT 0009 M...

Страница 41: ...nce is used to access the DHR41B process input data Several multicast con nections or a point to point connection can be established to this instance Supported services Attri bute Acces s Name Data type Default value hex Description 3 Get Data Array of BYTE OUTPUT assembly Attri bute Acces s Name Data type Default value hex Description 3 Get Data Array of BYTE OUTPUT assembly Data size 0 Attri but...

Страница 42: ...at INPUT objects can only be read and OUTPUT objects can be read and written the options listed in the following table are available for addressing the parameter channel Attri bute Acces s Name Data type Default value hex Description 2 Get Max Instance UINT 0009 Maximum instance Instance INPUT OUTPUT Resulting MOVILINK service with Get_Attribute_Single Set_Attribute_Single 1 INPUT READ parameter I...

Страница 43: ...AD DEFAULT READ SCALING READ ATTRIBUTE WRITE WRITE VOLATILE Get_Attribute_Single Get_Attribute_Single Set_Attribute_Single Set_Attribute_Single Get_Attribute_Single Get_Attribute_Single Get_Attribute_Single Get_Attribute_Single Get_Attribute_Single Input Instance 1 Input Instance 4 Input Instance 5 Input Instance 6 Input Instance 7 Input Instance 8 Get_Attribute_Single Input Instance 9 Output Inst...

Страница 44: ...icates the direction of the instance Attribute 3 indicates the data length in bits Attribute 4 represents the parameter data When accessing attribute 4 the SEW parameter channel must be attached to the service telegram The SEW parameter channel consists of the elements listed in the following table Name Data type Description Index UINT SEW unit index Data UDINT Data 32 bit Subindex BYTE SEW unit s...

Страница 45: ...eter object is complicated and prone to errors Consequently this process should only be used when the EtherNet IP scanner does not support parameterization using the mechanisms of the register object Instance 1 SEW parameter index 0x10 Set_Attribute_Single X Service code hex Service Name Instance Attri bute Access Name Data type Default value hex Description 1 Get Revision UINT 0001 Revision 1 2 G...

Страница 46: ...in bytes Attri bute Access Name Data type Default value hex Description 1 Set Parameter Value UINT 0000 Low byte contains subaddress 1 High byte contains subchannel 1 2 Get Link Path Size USINT 00 No link is specified 3 Get Link Path Packed EPATH 00 Not used 4 Get Descriptor WORD 0000 Read write parameter 5 Get Data type EPATH 00C7 UINT 6 Get Data Size USINT 02 Data length in bytes Attri bute Acce...

Страница 47: ...et service executes write access to the parameters addressed in instances 1 to 4 The get service executes read access to the parameters addressed in instances 1 to 4 2 Get Link Path Size USINT 00 No link is specified 3 Get Link Path Packed EPATH 00 Not used 4 Get Descriptor WORD 0000 Read write parameter 5 Get Data type EPATH 00C8 UDINT 6 Get Data Size USINT 04 Data length in bytes Service code he...

Страница 48: ...n a mirrored form Vardata test mode The Vardata service service code 0x32 is a manufacturer specific service In this ser vice the telegram structure for the request and response are the same The telegram contains routing information the data length of the Vardata user data telegram and the actual Vardata layer 7 telegram The data length of the Vardata layer 7 telegram is vari able The following ta...

Страница 49: ...D 00000014 The interface configuration attribute 5 is writable The DHCP can be used for configuration 3 Set Configuration control DWORD 00000002 0 The unit uses the stored IP parameters at startup 2 The unit waits for its IP configura tion via DHCP at startup 4 Get Physical Link Object STRUCT of Reference to the EtherNet link object class code 0xF6 as sublayer Path Size UINT 0002 Path Padded EPATH...

Страница 50: ... Transmission speed in Mbit s 2 Get Interface Flags DWORD Bit 0 displays the active link Bit 1 displays full duplex mode Bit 2 bit 4 signal negotiation status Bit 5 shows whether the manual setting has to be reset Bit 6 indicates a local hardware fault 3 Get Physical Address ARRAY of 6 USINTs 00 0F 69 xx xx xx MAC ID SEW MAC OUI 00 0F 69 Attri bute Access Name Data type Default value hex Descripti...

Страница 51: ...ecification see section General error codes The General Error Code of a manufacturer specific return code is 1Fhex SEW specific return codes The return codes that the DHR41B option or lower level units send in the event of incor rect parameterization are described in section MOVILINK specific return codes In conjunction with EtherNet IP the return codes are returned in the following format The fol...

Страница 52: ...is unavailable 03 Reserved 04 Path segment error The processing node cannot interpret the Path segment iden tifier or the segment syntax 05 Path destination unknown The Path refers to an object class object instance or a struc tural element that is not supported by the processing node 06 07 Reserved 08 Service not supported The service is not supported for the selected class instance 09 Invalid at...

Страница 53: ...lass Additional code Description 0x05 0x00 Unknown error 0x01 Illegal service 0x02 No response 0x03 Different address 0x04 Different type 0x05 Different index 0x06 Different service 0x07 Different channel 0x08 Different block 0x09 No scope data 0x0A Illegal length 0x0B Illegal address 0x0C Illegal pointer 0x0D Not enough memory 0x0E System error 0x0F Communication does not exist 0x10 Communication...

Страница 54: ...ns 0x15 Value too large 0x16 Value too small 0x17 Required hardware does not exist 0x18 Internal error 0x19 Access only via RS485 via X13 0x1A Access only via RS485 via XT 0x1B Parameter protected 0x1C Controller inhibit required 0x1D Value invalid 0x1E Setup started 0x1F Buffer overflow 0x20 No enable required 0x21 End of file 0x22 Communication order 0x23 IPOS stop required 0x24 Autosetup 0x25 E...

Страница 55: ...Electric control system TSX Premium P57203 using the programming software PL7 PRO An ETY4103 is used as the Ethernet component The information and illustrations are based on the English version of the PL7 PRO software Hardware config uration control structure Start PL7 PRO and enter the control type Enter the hardware configuration for the control system in the application browser un der STATION C...

Страница 56: ... is plugged into here 2 in the input field Station in the XWAY address section In this case the XWAY ad dress is 1 2 In the section IP address configuration select the radio button Configured Enter the IP address and the network parameters in the input fields IP address Subnet work mask and Gateway address If the control system is to receive the address parameters via a DHCP server select the radi...

Страница 57: ...he IP address input field enter the IP address of the SEW drive In the Unit ID input field enter the value 0 In the Repetitive rate dropdown menu enter the cycle time that is used to ad dress the stations Enter the value 4 in the input fields RD ref slave and WR ref slave as the cyclical process data are available from offset 4 In the input fields RD count and WR count enter the number of words to...

Страница 58: ... data words In the parameter tree of MOVITOOLS MotionStudio index 8451 the currently set val ue is displayed in the field PD configuration see following figure 7 3 2 Status of the fieldbus interface The function module FbusGetInfo makes the status and some display parameters of the fieldbus interface available for the IEC program and diagnostics If there is no communication with the fieldbus maste...

Страница 59: ...bus scanner 3 Now the integration into the PLC project can be performed 4 Create a new section in PL7 PRO in the application browser under Station Program Mast Task Sections 5 In this example the setpoints for the drive start from MW150 see following figure 6 Now save the project and upload it to the PLC The PLC is set to RUN mode Now the actual values can be read off MOVI PLC advanced DHR41B and ...

Страница 60: ...ionStudio and run the project wizard New PLC Editor project see following figure Use the wizard to create a new AxisControl project and upload it to MOVI PLC advanced DHR41B via the menu item Online login Start the loaded program via the menu item Online start You can now monitor the uploaded process data under Resources Control configuration PLC con figuration See following figure 12049AXX 12050A...

Страница 61: ...s for recording telegrams via the Ethernet network e g Wireshark see following figure Packetizer etc These freeware tools are available on the Internet Observe that tracing all Ethernet telegrams in a network is only possible with a tab hub or a switch with a port mirror function The telegrams sent from and to the PC which is also used for recording can always be recorded of course The figure abov...

Страница 62: ...e 5 low byte length field is corrected to value 6 Byte Value Meaning Interpretation Help 0 0x00 Transaction identifier For a detailed description refer to Modbus TCP specifi cation and section Modbus protocol Modbus TCP 1 2 0x00 Protocol identifier 3 4 0x00 Length field Number of bytes after byte 5 3 no of PD 2 7 13 5 0x0d 6 0xFF Unit identifier Must be 0 or 255 7 ox10 Function code Service FC16 w...

Страница 63: ... 0x00 Read word count Number of PDW here 3 Must for PD 1 64 11 0x03 12 0x00 Write reference number Offset from where the PD is located Must always be 4 13 0x04 14 0x00 Write word count Number of PDW here 3 see read word count 15 0x03 16 0x06 Write byte count Number of PDW 2 6 17 0x00 Data Process output data word 1 Data mapping and definition see IEC program 18 0x11 19 0x22 Process output data wor...

Страница 64: ... of the unit identifier to the downstream units on the system buses is determined via the routing table of the DHR41B control configuration This allows pa rameter access for inverters that are connected via a DHR41B unit without any restrictions See the Ap pendix for a schematic representation of parameter access to lower level units 7 0x17 Function code Service FC23 read write reg ister 8 0x02 Re...

Страница 65: ...es the request is passed on to a lower level unit The assignment of the unit identifier to the downstream units on the system buses is determined via the routing table of the DHR41B control configuration This allows pa rameter access for inverters that are connected via a DHR41B unit without any restrictions See the Ap pendix for a schematic representation of parameter access to lower level units ...

Страница 66: ...be separated or overlapping The DHR41B option provides the following data areas For the process data transfer there is a table that allows for write access for setpoint values as well as for read access for actual values This table starts at offset 4 and ends at offset 0FFhex It contains the 1 64 cyclically transferred process data words The process data output words from the controller are also s...

Страница 67: ...identification by reading out the identity parameters 8 1 3 Access The implemented registers and possible services function codes for data exchange are summarized in the following table Meaning when Offset hex Reading Writing Access Comment 0 3 Reserved 4 FF Process input data actual val ues Process output data setpoint values FC3 FC16 FC23 0 64 words 100 103 Reserved 104 1FF Process output data s...

Страница 68: ...s the function of a subaddress that is only used for parameter access in SEW units The process data are always mapped to the unit that is addressed via the unit identifier 0 or FFhex The 7 bytes of the header are followed by the function code and the data 64064AXX MBAP Header Transaction ID Protocol ID Length 1 1 N UI D Function Code Data FC N Data Byte Designation Meaning 0 Transaction identifier...

Страница 69: ... UI D Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Requested service 3 Read Holding Register 8 Reference number high Offset 9 Reference number low Offset 10 Word count high Number of words register 11 Word count low Number of words register Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Service 3 Read Hol...

Страница 70: ...eader See chapter Header 7 Function code Requested service 16 Write Multiple Registers 8 Reference number high Offset 9 Reference number low Offset 10 Word count high Number of words register 11 Word count low Number of words register 12 Byte count 2 Word count 13 Register values 2 Data bytes depending on the length Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Fun...

Страница 71: ... chapter Header 7 Function code Requested service 23 Read Write Multiple Registers 8 Read reference number high Offset 9 Read reference number low Offset 10 Read word count high Number of words register always 0 11 Read word count low Number of words register 12 Write reference number high Offset 13 Write reference number low Offset 14 Write word count high Number of words register always 0 15 Wri...

Страница 72: ...ng This means that values 01 and 02 are per mitted in the Read device ID code The Object ID must be zero The response is not frag mented Example Request Response Exception Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Requested service 43 Read Device Identification 8 MEI type 0x0E 9 Read device ID code 01 or 02 10 Object ID 0 Byte Designation Meaning ...

Страница 73: ...s data is permitted If a controlling connection has already been established via EtherNet IP you cannot es tablish another controlling connection via Modbus TCP The slave can at least buffer one frame with maximum Modbus length on receipt or transmission 8 3 1 Sending process output data requesting a controlling connection Sending process output data is only permitted if the connection already is ...

Страница 74: ...nce the timeout interval has elapsed Then a new controlling connection can be established 8 3 3 Timeout monitoring The timeout monitoring time can be set in the range of 0 to 650 s in steps of 10 ms 0 s and 650 s means Timeout monitoring is deactivated 10 ms 649 09 s means Timeout monitoring is activated The timeout interval can be set via Register object 219Ehex 8606dec Parameter access to index ...

Страница 75: ...n 1 1 8 4 1 Procedure with FC16 and FC3 The respective error code is generated if a write access is incorrect see section Error codes exception codes In this way the write services are already processed by sending a Write request FC16 and the service confirmation can be carried out by eval uating the Write response Later on the master will send a Read Request FC03 in or der to read out the values ...

Страница 76: ... 0x10 T ID 0x00 Prot ID 0x00 UI D Length 1 6 8 WriteAddress 0x200 Write Word Count 0x04 Byte Count 0x8 MOVILINK Parameter Data FC 0x03 T ID 0x00 Prot ID 0x00 UI D Length 1 6 8 WriteAddress 0x200 Write Word Count 0x04 Write Response Read Response FC 0x10 T ID 0x00 Prot ID 0x00 UI D Length 1 5 WriteAddress 0x200 Write Word Count 0 FC 0x03 T ID 0x00 Prot ID 0x00 UI D Length 1 5 ReadAddress 0x200 Read...

Страница 77: ...ead with a read access Refer to the MOVIDRIVE Fieldbus Unit Profile and Parame ter List documentation for information on the structure of the parameter channel In this example the MOVILINK parameter channel is used to request 500 ms to be writ ten to the fieldbus timeout interval Offset 200 3200hex administration write 4 bytes subindex 0 Offset 201 219Ehex Index 8606 Offset 202 0 Data high Offset ...

Страница 78: ...of the Modbus slave not available or the function code cannot be used on this address Invalid start address length combination No symmetric access with read write Wrong object ID on access via FC43 03 ILLEGAL DATA VALUE A part of the data field of the Modbus request contains a value invalid for the Modbus slave This can be due to the following reasons The Word count contains an invalid value small...

Страница 79: ...ollowing table lists the resulting unit statuses for commu nication via X30 1 and X30 2 and possible causes An X indicates that the state of the respective LED is not relevant In order to check and set the IP parameters you can proceed according to section Setting IP address parameters or use MOVITOOLS MotionStudio The PING and IPCONFIG commands that you can enter via the DOS console on your PC ar...

Страница 80: ... master scanner and slave is active If the data is not transferred to the IEC application of MOVI PLC ad vanced DHR41B via EtherNet IP or Modbus TCP correctly the following steps will as sist you in finding the cause for the problem A Are the correct values for the process data words displayed in the PLC Editor If yes continue with F B Is the process data exchange activated in the scanner master C...

Страница 81: ... and select the Install new GSD file menu item in the Extras menu A window is displayed 2 Click on Browse and select the following file GSDML V2 1 DHR41B UFR41B JJJJMMTT xml JJJJMMTT represents the date 3 Click on OK to confirm your selection 4 You will find the PROFINET IO interface for MOVI PLC advanced DHR41B via PROFINET IO Other field units Drives SEW DHR41B UFR41B in the hard ware catalog 2 ...

Страница 82: ...station from the Target system menu in STEP 7 HW Config The following window opens 2 Click on the Browse 1 button in the ETHERNET stations group You receive an overview of all PROFINET IO stations that you can reach online with your configura tion tool 64630AXX 1 Browse button 2 IP address input field 3 Subnet mask input field 4 Router address input field 5 Assign IP Configuration button 6 Device ...

Страница 83: ...tion 4 Enter the device name in the Device name input field 6 and click the Assign name button 7 The device name can have up to 255 characters The device name is transferred to and saved in the station Click on Reset to reset the device name of MOVI PLC advanced DHR41B online This requires a restart of DHR41B 5 Specify an IP address 2 and a subnet mask 3 as well as a router address 4 if required C...

Страница 84: ...lized peripherals OB122 module This module is addressed if the controller cannot access data of a station of the decentralized periphery This can occur for example when MOVI PLC advanced DHR41B is ready for operation later than the control system 2 Start STEP 7 HW Config and select the PROFINET IO slot in the control rack 3 Add a PROFINET IO system by right clicking the context menu with your mous...

Страница 85: ... the IO and periphery addresses in slot 2 and save the configuration The slot model is used for configuration with PROFINET Each slot is assigned to a MOVI PLC fieldbus interface The following structure is used The default configuration Slot not used must not be modified Slot 1 is reserved for future PROFIsafe applications Slots 2 17 can be assigned process data channels The maximum process data w...

Страница 86: ...ed with fur ther settings Proceed as follows to configure a station 1 Double click on the unit symbol of the new station The following window opens 2 Enter the device name assigned before in the Device name input field 2 on the General tab 1 Note that the name is case sensitive 3 Click on the ETHERNET button 3 in the Station PN IO system group in order to enter the previously assigned IP address 6...

Страница 87: ...nfiguration 4 Double click on the ETHERNET interface slot in order to set the station s update time The following window opens 5 On the IO cycle tab 1 set the update time 2 for the station to update its process data As a gateway MOVI PLC advanced DHR41B supports a minimum update time of 4 ms 64632AXX 1 IO Cycle tab page 2 Update time selection field 1 2 0 0 I ...

Страница 88: ...INET IO controller In order to be able to determine the real plant topology the PROFINET IO devices must support the so called LLDP protocol The PROFINET IO devices exchange information with the neighboring PROFINET IO devices via LLDP Via LLDP each PROFINET IO device cyclically sends information about its own PROFINET device name and port number The neighboring unit receives and stores this infor...

Страница 89: ...us on one approach 1 In STEP 7 HW Config import the PROFINET devices from the hardware catalog into the PROFINET network as usual Make sure that the PROFINET IO controller supports topology detection The con troller manufacturer will provide according information The hardware catalog contains several entries for each SEW interface marked as dif ferent versions An entry marked with ALT does not sup...

Страница 90: ...er port The following units are displayed in this example 2 SEW units MOVIDRIVE MOVI PLC advanced DHR41B One controller One switch The switch does not support topology and is highlighted white The remaining PROFINET IO devices are not linked yet and are thus highlighted yellow 6 In order to apply the determined online topology to the configuration port by port right click on a port In the context ...

Страница 91: ...e configured automatically The neighboring port must also be set to Automatic setup You can use patch or crossover cables You may set a port to 100 Mbit s full duplex Observe the following for this setting This setting must also be made for the port of the neighboring unit otherwise it would work with 100 Mbit s half duplex If auto crossover is deactivated you have to use cross cables Proceed as f...

Страница 92: ...ion PROFINET IO Configuration 4 Select the Options tab 1 5 From the Transmission medium duplex 2 list select TP ITP with 100 Mbit s full du plex 6 Deactivate the Auto negotiation auto crossover checkbox 3 64634AXX 1 Options tab 2 Transmission medium duplex selection list 3 Auto negotiation auto crossover checkbox 2 1 3 0 0 I ...

Страница 93: ...rror the EXTF LED of the PROFINET IO controller is lit The error is also indicated by a red cross 1 in STEP 7 HW Config Possible causes ETHERNET ports mixed up Wrong port property settings Units cannot be addressed Proceed as follows to display information on an error 1 Select the unit or the respective slot 2 Right click and select Module status from the context menu A window is displayed 3 Selec...

Страница 94: ... Right click and select Module status from the context menu A window is displayed Select the Statistics tab 1 The following view is displayed The following statistic values can be displayed Dropped received packets no resources indicates the number of valid ETHERNET packets dropped on receipt A large number of dropped valid packets suggests a high load on the bus system In this case try to reduce ...

Страница 95: ...d sent packets no resources indicates the number of valid ETHERNET packets dropped on dispatch A large number of dropped valid packets suggests a high load on the bus system In this case try to reduce the utilization by especially reducing the number of broadcast and multicast telegrams and reducing the IO cycle or the number of PROFINET units in a line if required Bad sent packets transmission co...

Страница 96: ... diagnostic alarms in the event of a unit fault These diagnostic alarms are deactivated by default Proceed as follows to activate the diagnos tics alarms in STEP 7 HW Config 1 Highlight slot 0 2 Right click on it and select Object properties from the context menu A window is displayed 3 Select the Parameters tab 1 4 In Activate diagnostics alarms 2 set the alarms to ON 64646AXX 1 Parameters tab 2 ...

Страница 97: ... in STEP 7 HW Config 1 Click the ONLINE OFFLINE symbol to switch to the Online communication mode 2 Mark the symbol of the SEW PROFINET interface 3 Right click on it and select Component status from the context menu A window is displayed 4 Select the IO device diagnostics tab 1 5 Click on Display to receive detailed information on the fault After resetting the fault a so called ongoing event is se...

Страница 98: ...addressed in the usual manner Control example for Simatic S7 Process data exchange with MOVI PLC advanced DHR41B is controlled using SIMATIC S7 in accordance with the selected process data configuration either directly using load and transfer commands or by means of special system functions SFC 14 DPRD_DAT and SFC15 DPWR_DAT STEP7 sample program In this example the MOVI PLC advanced DHR41B control...

Страница 99: ... W 16 240 Input address 512 RET_VAL MW 30 Result in flag word 30 RECORD P DB3 DBX 0 0 BYTE 20 Pointer NETWORK TITLE PLC program with drive application PLC program uses the process data in DB3 for data exchange with the DHR41B control card L DB3 DBW 0 Load PE1 L DB3 DBW 2 Load PE2 L DB3 DBW 4 Load PE3 etc L W 16 0006 T DB3 DBW 20 Write 6hex to PO1 L 1500 T DB3 DBW 22 Write 1500dec to PO2 L W 16 000...

Страница 100: ...l card in the hardware configuration of STEP7 11 2 Settings in MOVI PLC advanced DHR41B The creation of IEC programs is described in detail in the MOVI PLC manual This section only describes the fieldbus specific characteristics 11 2 1 Status of the PROFINET fieldbus interface The function module FbusGetInfo makes the status and some display parameters of the fieldbus interface available for the I...

Страница 101: ... or via the PLC Checking the process data communication Now the actual values can be read off MOVI PLC advanced DHR41B and setpoints can be written The process data should now correspond to the values displayed in the PLC Editor or in the diagnostics plug in of the active IEC program in MOVITOOLS MotionStudio If there is no IEC program in MOVI PLC you can create one as follows Open the context men...

Страница 102: ...via PROFIdrive data record 47 11 3 1 Introduction to PROFINET data records With Read Record and Write Record PROFINET offers acyclic services that can be used to transfer parameter data between PROFINET controller master and a PROFINET device slave Via UDP User Datagram Protocol the priority of this data exchange is lower than the priority of the process data exchange 12050AXX TIP The S7 sample pr...

Страница 103: ...tics API Slot number Subslot number Index The structure of dataset 47 is used for the parameter exchange with SEW EURODRIVE PROFINET units The structure of data record 47 is specified in the PROFIdrive profile drive technology of the PROFIBUS user organization as of V4 0 as PROFINET param eter channel Different procedures for accessing parameter data of the SEW EURODRIVE PROFINET unit are provided...

Страница 104: ...ead Record and Write Record services all have the same communication characteristics The units are basi cally controlled via a PROFINET controller with cyclic process data Additionally this controller usually a PLC can set the parameters for the SEW EURODRIVE PROFINET unit via Read Record and Write Record 62205AXX Drive System Read Write Record PROFINET Cyclic IN Out Parameter Buffer 1 Parameter B...

Страница 105: ...nsigned8 0x00 Reserved 0x01 0xFF Request ID Unsigned8 0x40 SEW MOVILINK service 0x41 SEW Data Transport Response ID Unsigned8 Response 0x00 Reserved 0x40 SEW MOVILINK service 0x41 SEW Data Transport Response 0xC0 SEW MOVILINK service 0x41 SEW Data Transport Unsigned8 0x00 0xFF Number of axes 0 255 No of parameters Unsigned8 0x01 0x13 1 19 DWORDs 240 DP V1 data bytes Attribute Unsigned8 For SEW MOV...

Страница 106: ...w sends a READ req to pick up the parameter setting response The device sends a positive response READ res The user data now contain the parameter setting response of the parameter setting order that was previously sent with WRITE req see the following figure This mechanism applies to a PROFINET controller 62208AXX Figure 3 Telegram sequence for parameter access via Read Write Record Controller PR...

Страница 107: ...es before the SEW device has concluded the parameter access in the device This means that the response data from the SEW device is not yet available In this state the device delays the response to the Read Record Request 62209AEN Send Write request with parameter data Send Read request Check Write response Write response negative Write response positive Parameter transfer aborted with ERROR Read r...

Страница 108: ...a routing table This routing table assigns Axis settings to the downstream inverters Example An inverter connected to CAN 1 of MOVI PLC advanced DHR41B with SBus address 1 is addressed with Axis 1 See the Appendix for a schematic representation of parameter access to lower level units 64803AXX C1 Master Acyclic DP V1 C2 Services Acyclic DP V1 C2 Services Axis 0 Axis 0 Axis 0 Cyclic OUT Data Cyclic...

Страница 109: ...rameter channel Sending a parameter request The table shows the coding of the user data for the WRITE request PROFINET service The WRITE request service is used to transfer the parameter setting request to the in verter The firmware version is read The following table shows the WRITE request header for transferring the parameter re quest The following table shows the WRITE request user data for MO...

Страница 110: ...1 Index 47 Index of the dataset for the parameter request constant index 47 Length 240 Maximum length of response buffer in the master Service READ request Description API 0 Fixed setting 0 Slot_Number 0 Random is not evaluated Subslot_Number 1 Fixed setting 1 Index 47 Index of the dataset for the parameter request constant index 47 Length 10 Maximum length of response buffer in the master Byte Fi...

Страница 111: ...positive WRITE response occurs Otherwise the status fault is listed in Error_code_1 Service WRITE request Description API 0 Fixed setting 0 Slot_Number 0 Random is not evaluated Subslot_Number 1 Fixed setting 1 Index 47 Index of the dataset for the parameter request constant index 47 Length 16 16 byte user data for order buffer Byte Field Value Description 0 0x01 Individual reference number for th...

Страница 112: ... 1 Fixed setting 1 Index 47 Index of the dataset for the parameter request constant index 47 Length 4 4 byte user data in response buffer Byte Field Value Description 0 0x01 Reflected reference number from the parameter setting request 1 Response ID 0x40 Positive MOVILINK response 2 Axis 0x01 Reflected axis number 1 MOVIDRIVE B with SBus address 1 3 No of parameters 0x01 1 parameter Service WRITE ...

Страница 113: ...l 0x0817 Required option card not installed 0x0818 Error in system software 0x0819 Parameter access only via RS 485 process interface 0x081A Parameter access only via RS 485 diagnostics interface 0x081B Parameter is access protected 0x081C Controller inhibit is required 0x081D Invalid value for parameter 0x081E Factory setting was activated 0x081F Parameter was not saved in EEPROM 0x0820 Parameter...

Страница 114: ...the WRITE req service specifying the PROFINET header The WRITE req service is used to transfer the parameter setting re quest to the inverter TIP The request ID 0x02 Change Parameter PROFIdrive results in remanent write ac cess to the selected parameter Consequently the internal flash EEPROM of the in verter is written with each write access Use the MOVILINK service WRITE parame ter volatile if pa...

Страница 115: ...ex 47 Index of the data record constant index 47 Length 240 Maximum length of response buffer in the PN controller Service READ request Description Slot_Number 0 Random is not evaluated Index 47 Index of the data record constant index 47 Length 10 10 byte user data in response buffer Byte Field Value Description 0 0x01 Mirrored reference number from the parameter setting request 1 Response ID 0x01...

Страница 116: ...TE response is received If there is no status conflict in processing the parameter channel a positive WRITE response occurs Otherwise the status fault is listed in Error_code_1 Service WRITE request Description Slot_Number 0 Random is not evaluated Index 47 Index of the data record constant index 47 Length 16 16 byte user data for order buffer Byte Field Value Description 0 0x01 Individual referen...

Страница 117: ...troller Service READ response Description Slot_Number 0 Random is not evaluated Index 47 Index of the data record constant index 47 Length 4 4 byte user data in response buffer Byte Field Value Description 0 0x01 Mirrored reference number from the parameter setting request 1 Response ID 0x02 Positive PROFIdrive response 2 Axis 0x01 1 SBus address 1 of MOVIDRIVE B 3 No of parameters 0x01 1 paramete...

Страница 118: ...0A Reserved PROFIdrive Profile V2 incorrect access group 0x0B No operation priority An attempt was made to change a parameter without change rights 0x0C Reserved PROFIdrive Profile V2 incorrect password 0x0D Reserved PROFIdrive Profile V2 text cannot be read in cyclic data transfer 0x0E Reserved PROFIdrive Profile V2 name cannot be read in cyclic data transfer 0x0F No text assignment avail able Ac...

Страница 119: ... The diagnostic procedures described in the following section demonstrate the fault analysis methods for the most frequent problems MOVI PLC advanced DHR41B not working on PROFINET IO MOVI PLC advanced DHR41B cannot be controlled by the IO controller For detailed information about programming the MOVI PLC advanced DHR41B con troller refer to the MOVI PLC advanced DHE41B DHF41B DHR41B manual ...

Страница 120: ...ROFINET name PROFINET names identical No D Yes You may have configured an incorrect unit type or defined the configuration incorrectly Delete configuration for the DHR41B option from the PROFINET IO network Configure the DHR41B option again selecting the unit designation SEW DHR41B Assign the address range for your control system Now load the configuration in the PROFINET IO controller and start t...

Страница 121: ...problem 2 No process data exchange with the I O controller Check the settings in the higher level I O controller again Is the user program switched off correctly See sample program in chapter Process data exchange with the MOVI PLC advanced DHR41B controller Check the settings in MOVI PLC advanced DHR41B see chapter Settings in MOVI PLC advanced DHR41B ...

Страница 122: ...EtherNet IP scanner master 2 Industrial Ethernet interface 4 SEW inverter with SBus interface 5 Index and parameter list of the unit 6 SEW inverter with EtherCAT interface X35 X37 XM DHR41B SPS EtherNet IP Subaddress1 EtherCAT 0 1001 Subaddress1 SBUS Address Subaddress1 SBUS Address Subchannel1 0 Subaddress1 0 1 2 5 Subchannel1 2 4 3 X32 X33 X32 X33 X36 SBUS CAN1 EtherCAT 4 5 6 5 CAN2 2 2 0 1 ON 1...

Страница 123: ...Industrial Ethernet interface 4 SEW inverter with SBus interface 5 Index and parameter list of the unit 6 SEW inverter with EtherCAT interface X35 X37 XM DHR41B SPS Modbus TCP PROFINET IO EtherCAT CAN 2 CAN 1 1 2 5 X32 X33 X32 X33 X36 SBUS CAN1 EtherCAT 4 5 6 5 CAN2 2 2 0 1 ON 1 2 3 X38 L12 L11 L14 L13 X30 1 X30 2 PLC Editor Routing Table default Routing enabled Slot Local Parameter Axis 0 254 Dpr...

Страница 124: ...s1 SBUS Address Subaddress1 SBUS Address EtherCAT EtherCAT 6 5 Subchannel1 0 Subaddress1 0 5 Subchannel1 3 4 2 XM X32 X33 Ethernet TCP IP SMLP Drive Operator Panel DOP 1 DHR41B Ethernet X37 USB X35 3 4 5 X37 X36 X35 2 2 0 1 ON 1 2 3 X38 L12 L11 L14 L13 X30 1 X30 2 Ethernet X30 2 1 Engineering PC 2 Industrial Ethernet interface for engineering 3 USB Ethernet engineering interface 4 SEW inverter wit...

Страница 125: ...ress host ID Subnetwork mask The subnetwork mask establishes which part of the IP address is used to address the net work and which part is used to address a station host All bits set to 1 in the subnetwork mask represent the network part net ID all bits set to 0 represent the node address host ID In a class B network for example the subnetwork mask is 255 255 0 0 that is the first two bytes of th...

Страница 126: ...Ethernet network 11 Connection PROFINET 84 Connection DHR41B Ethernet 12 Connection management Modbus TCP 73 Dropping connections 74 Sending process output data requesting a controlling connection 73 Timeout monitoring 74 Content of this manual 9 Control example for Simatic S7 STEP7 sample program 98 D Data exchange via explicit messages 9 Data exchange via Modbus TCP Parameter access 64 Data exch...

Страница 127: ...tic S7 98 Parameterization via PROFIBUS DP 102 PROFIBUS DP timeout 100 Other applicable documentation 8 P Parameter access via engineering interface to downstream units 124 Parameter access via EtherNet IP to downstream units 122 Parameter access via Modbus TCP 75 Procedure with FC16 and FC3 75 Procedure with FC23 75 Protocol structure 76 Parameter access via Modbus TCP to downstream units 123 Par...

Страница 128: ...tatus of the fieldbus interface 27 100 Settings in DHR41B Modbus TCP Process data configuration 58 Status of the fieldbus interface 58 SEW Address Editor 21 SEW specific return codes 51 Standard gateway 19 Status LED of the DHR41B option 15 Status LEDs of the DHR41B option LEDs Link Activity 17 Meaning in EtherNet IP and Modbus TCP operation 15 Meaning in PROFINET operation 16 Structure of the saf...

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