Home

5 - SEW-Eurodrive

1. MBAP Header Function Code Data FC23 f T ID 0x00 Prot ID 0x00 Length UI D FC ReadAddress ReadWord Write Address Write Word Bytes Write Data 1 10 N 07 Count Count N 1 N 64071AXX Example Request Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Requested service 23 Read Write Multiple Registers 8 Read reference number Offset high 9 Read reference number Offset low 10 Read word count high Number of words register always 0 11 Read word count low Number of words register 12 Write reference number Offset high 13 Write reference number low Offset 14 Write word count high Number of words register always 0 15 Write word count low Number of words register 16 Write byte count 2 Word count 17 Write register values 2 Data bytes depending on the length Response Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Service 23 Read Write Multiple Registers 8 Byte count Number of following bytes 9 Data 2 Data bytes depending on the length Exception Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code 97 hex 8 Exception code Fault code Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 8 71 s qu The Modbus Protocol Modbus TCP P
2. MBAP Header Function Code Data Write T ID 0x00 ProtD 0x00 a UI D FC WriteAdaress Write Word Byte MOVILINK hg arameter Data Request 010 0x200 0x04 0x8 Write T ID 0x00 ProtiD ox00 Length UI D FC WriteAddress Write Word Response 15 0x10 0x200 oor Pa a a A F Read Length UI D FC ReadAddress Read Word T ID 0x00 Prot ID 0x00 R Request 0x09 0x00 145 0x03 0x200 Count 0x04 Read T ID 0x00 Prot ID 0x00 S y FC Write Address Ain Bte MOVILINK Response y 0x03 0x200 Parameter Data f 0x04 0x8 64067AXX Or Write Read Length UI D FC ReadAddress ReadWord write Address Write Word Byte T ID 0x00 Prot ID 0x00 1410 8 5 G MOVILINK 0x17 ount Count Count j Request 0x17 0x200 0x04 0x200 0x04 Oxg Parameter Data Write Read _ 0x00 Protip ox00 _ Lenst UI D FC ReadAddress ReadWord Bye MOVILINK Response 1 6 8 0x17 0x200 oa ae Parameter Data 64165AXX The unit identifier UI D is used in gateway operation to map registers 200hex 203hex to the lower level stations see section Header The description of the MOVILINK parameter data 8 bytes and their mapping to reg isters 200hex 203hex is described in section MOVILINK parameter channel 76 Manual MOVI
3. Class hex Name 01 Identity object 02 Message Router Object 04 Assembly Object 06 Connection Manager Object 07 Register Object OF Parameter Object 64 Vardata Object F5 TCP IP Interface Object F6 EtherNet Link Object The meaning of the objects and a description of how to access them is given in the fol lowing section Identity object e The identity object contains general information on the EtherNet IP device e Class code 01hex Class Attri Access Name Data Default value hex Description bute type 1 Get Revision UINT 0001 Revision 1 2 Get Max Instance UINT 0001 Maximum instance Instance 1 Attri Access Name Data type Default value Description bute hex 1 Get Vendor ID UINT 013B SEW EURODRIVE GmbH amp Co KG 2 Get Device UINT 0065 Manufacturer specific type Type 3 Get Product UINT 0002 Product no 2 DHR41B Code Revision STRUCT of Major USINT zi p 4 Get Revision Revision of the identity object depends on firmware version Minor USINT Revision 5 Get Status WORD otene Table in Coding of attribute 5 Status 6 Get Serial UDINT Unique serial number Number 7 Get Product SHORT_ SEW MOVIPLC Product name Name STRING ADVANCED DHR41B 38 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP gu
4. 5 75 GSD tile ic cciadieess tate a aa eee 81 Procedure with FC16 and FC3 acsee 75 l Procedure with FC23 assssscsscesienrnn 75 Protocol STUCtOro pern ASh 76 IP address ceceeeeeeeeeee sees serae tenier ania siie 18 Parameter access via Modbus TCP to IP address parameter setting downstream units oo eee eect e eset seer ee eee 123 Deactivating activating DHCP ssec 21 Parameterization via PROFldrive data record 47 IP address parameters change Addressing downstream inverters 108 after initial startup an oa a e poa ENA baid cudatetecceene ene 20 Characteristics of the PROFINET devices L from SEW EURODRIVE naaa 104 LED L13 Meaning in EtherNet IP and Controller processing SEQUENCE nsss 107 Modbus TCP operation c ccccccccscseseseseteteeeceees 15 Introduction to PROFINET data records 102 LED L13 Meaning in PROFINET operation ARAN 16 Procedure via data record 47 nocssccccc 106 LED L14 Meaning in EtherNet IP and PROFIdrive parameter requests 114 Modbus TCP operation cccccccecscsssseseeeeeeseeees 15 Structure of the PROFINET parameter LED L14 Meaning in PROFINET operation ches 16 Channel ae O kote 105 LEDS LINKAGIVIY srede eene anta dz SPER ASSIGNEE OV ASO Tand A A a n PL7 PRO configuration example n 59 M Port statistics MAG address neunana oin aa a 18 PROFINET topology ossec 94 Mapping and addressing Modbus TCP 66 PrOG SS currenie o E lle ee tel eveda ees 9
5. Drive System 62205AXX Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Parameterization via PROF ldrive data record 47 Operating Behavior PROFINET IO 11 3 2 Structure of the PROFINET parameter channel gw 11 Generally the parameter setting of the devices to the PROF ldrive Base Mode Parame ter Access of profile version 4 0 is implemented via data record 47 The Request ID entry is used to distinguish between parameter access based on PROF ldrive profile or via SEW MOVILINK services The following table shows the possible codes of the individ ual elements The data record structure is the same for PROFldrive and MOVILINK access Record PROFldrive READ WRITE Parameter Channel DS47 SEW MOVILINK 62206AXX The following MOVILINK services are supported e 8 byte MOVILINK parameter channel with all the services supported by the station such as READ parameter WRITE parameter WRITE parameter volatile etc Field Data type Values Unsigned8 0x00 Reserved 0x01 OxFF Request ID Unsigned 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 OxFF Number of axes 0 255 No of parame
6. Data mapping and definition see IEC program and SEW unit profile 1 The unit identifier 0 and OxFF is used to access the parameters of DHR41B directly For other values 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 64 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup Modbus TCP Examples for data exchange via Modbus TCP The response telegram receives the response to the MOVILINK read service Byte Jaws Meaning Interpretation Help 0 i 0x00 Transaction identifier 2 3 0x00 Protocol identifier For a detailed description 4 0x00 i Number of bytes after byte 5 refer to Modbus TCP specifi 5 er Length field Must be 11 for MOVILINK cation and section Modbus 3 protocol Modbus TCP 6 0x00 Unit identifier 1 7 0x17 Function code Service FC23 read write reg ister 8 0x02 Read reference number 8 bytes MOVILINK 17 0x31 Administration byte 0x31 read 18 0x00 Parameter subindex 19 0x20 Parameter index 20 Ox6C
7. 3 Topology Editor Table view Graphic view Offline online comparison J Configured topology offline Detected topology online m 2 Fiter Show all devices x Start 4 devices found Object name Partner port Cable data Object name Partner port Cable data my moviple my movi ple Port 1 RJ45 X30 1 P1 Port 4 pn io Port 4 aes Port 2 RJ45 X30 2 P2 Port 2 my movidrive Port 1 El my Movidrive El my movidrive Port 1 RJ45 X30 P1 Port 1 my movi pic Port 2 Port 2 RJ45 X32 P2 Port 2 El PN IO CPU 315F 2 PN DP pn io Port 1 X2 P1 Port 1 my movi ple Port 4 st m Switch l Switch r Export Options 64633AXX 1 Offline online comparison tab 2 Start button 3 Plus minus symbol Determine the online topology by clicking Start 2 Make sure that the determined topology complies with your requirements by clicking on the plus symbol 3 in the online topology and checking the partner port The following units are displayed in this example 2 SEW units MOVIDRIVE MOVI PLC advanced DHR41B e One controller e 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 In order to apply the determined online topology to the configuration port by port right click on a port In the context menu select Apply port interconnection Repeat
8. DDODJ0HMMtt im MOVI PLC advanced DHR41B Controller EtherNet IP Modbus TCP and PROFINET IO Fieldbus Interfaces Edition 03 2009 Manual 16730410 EN z 5 o D ag a I Lu a a O ad 5 Da Lu n D ee ed big ue od 4 tas xX General Noles wse 25scceccscee sec rnanan aaiae aeaaee a a aa a aoaaa eae eaaa aa lanata Saada 6 1 1 How to use this documentation 00 2 eect ee eeetteeeeeeeteeeeeeeeeaeeeeeeeetaaeeeeneaes 6 1 2 Structure of the safety notes 0 2 eceecee cence eeteeeeeeeeeeeaeeeeeaeeeeeaeeeeeaeeeseaeeees 6 1 3 Rights to claim under limited warranty ccceeceeeeeseeeeeeeeeneeeeeeeeneeeeeeeeeaes 7 1 4 Exelusion ofslability cs e cecc cietect deed epee cas e a e aa a a e ae t 7 1253 COPYriQhts sexes staiteel S ETEA S S EE ated Sade oe lta 7 Safety NOs AEE EA aks Sets EEEE TEE E E ected 8 2 1 Other applicable documentation cceeeeeeeteeeeeteeeteeeeeteteeeeeaeesenaeeeteneeetaes 8 22 BUS SYSIOMIS vies saci ATT a a E E 8 23 Safety fUNCtiOns r a sites entities a A a aN een ea pee 8 2 4 Hoist applications 2 2 eee eee cence ee eeeeeeeeeeeeeaeeeeeeeeaeeeeeeeeaeeeeeeeeaeeeesennaeeees 8 2 5 Product names and trademarks eecceceeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeneeeeeseeeaeeees 8 26 Disposal cscic sical eet eee ti el ate 8 PROTACE 2 satect oes ce ss Ae cco E Ee oh at Ae 9 3 1 Cont nt of this manual anse ea ara aa
9. 223 C 192 168 10 4 192 168 10 Network address 4 Station address This rough division is not sufficient for a number of networks They also use an explicit adjustable subnet mask Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Assembly and Installation Notes for Ethernet TCP IP addressing and subnetworks Subnet mask by decimal points Example 255 255 255 128 Each decimal number stands for one byte 8 bits of the subnetwork mask and can also be represented using binary code see following table A subnet mask is used to divide the network classes into even finer sections Like the IP address the sub network mask is represented by four decimal numbers separated Byte 1 Byte 2 Byte 3 Byte 4 11111111 11111111 11111111 10000000 If you compare the IP addresses with the subnet masks you see that in the binary rep resentation of the subnet mask all ones determine the network address and all the zeros determine the station address see following table Byte 1 Byte 2 Byte 3 Byte 4 decimal 192 168 10 129 IP address binary 11000000 10101000 00001010 10000001 decimal 255 255 255 128 Subnetwork mask binary 11111111 11111111 11111111 10000000 The class C network with the address 192 168 10 dress 192 168 10 0 and 192 168 10 128 is further subdivided into 255 255
10. 77 C xD The Modbus Protocol Modbus TCP Fault codes exception codes 8 5 Fault codes exception codes If an error occurs when processing a function code the Modbus client is informed in an exception response The following exception codes can be reported by SEW devices Exception Name Meaning code hex 01 ILLEGAL FUNCTION The function code transferred to the request is not sup ported by the slave unit 02 ILLEGAL DATA ADDRESS You have entered an invalid data address for the access to the Modbus slave This can be due to the following reasons e Invalid start address when accessing the register of the Modbus slave not available or the function code cannot be used on this address e Invalid start address length combination e 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 smaller than 1 or larger than 125 The received PDU length is too short or too long depending on the specified word count e Internal fault while reading writing the process data 04 SLAVE DEVICE FAILURE Fault while accessing MOVILINK parameters e g internal timeout 06 SLAVE DEVICE BUSY There is already a controlling connection either via another Modbus controller or
11. 3 Select the Parameters tab 1 4 In Activate diagnostics alarms 2 set the alarms to ON Properties my movi plc ax General Addresses Parameters 1 Value Sy Parameters Alarm settings head E Enable diagnosis alarms Off z 2 Cancel Help 64646AXX 1 Parameters tab 2 Activate diagnostics alarms node 96 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD 10 PROFINET diagnostics alarms 10 4 2 Determining the cause of a fault A fault in the function unit belonging to the plug in module causes a diagnostic alarm to be sent to the controller as an incoming event Proceed as follows to determine a fault in STEP 7 HW Config 1 Click the ONLINE lt gt 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 E Module Information SEW DHR416 DE Ea Path myProject SIMATIC 300 1 CPU 315F 2PN Operating mode ofthe CPU STOP Status 9 Error Network Connection Statistics Identification General lO Device Diagnostics Communication Diagnostics Interface 1 Description SEW DHR41B System Identification PROFINET lO Name my movi plc Version Order No
12. Parameter object In exceptional cases you can also use the parameter object to access an SEW pa rameter channel e Class code OF hex Class Attri Access Name Data type Default value hex Description bute 1 Get Revision UINT 0001 Revision 1 2 Get Max Instance UINT 0005 Maximum instance 8 Get Parameter UINT 0009 Bit 0 Supports parameter Class instances Descriptor Bit 3 Parameters are stored ina non volatile manner 9 Get Configura UINT 0000 Configuration assembly is not tion assem supported bly interface The instances of the parameter object should only be used to access SEW parameters when the EtherNet IP scanner does not support the option to attach user defined data to the services Get_Attribute_Single and Set_Attribute_Single When you use the parameter object it takes a number of steps to address a parameter index First the address of the required parameter is set in instances 1 to 4 e Next instance 5 is used to access the parameter that is addressed in instances 1 to 4 Access to an SEW parameter index via the parameter 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 Attri Access Name Datatype Default value Description bute hex 1 Set Par
13. Select a unit 1 2 3 4 1 Select the desired port on slot 0 Right click and select Module status from the context menu A window is displayed Select the Statistics tab 1 The following view is displayed Lol amp fs Operating mode of the CPU lt RUN E Module Information SEW DHR41B Path myProject SIMATIC 300 1 CPU 315F 2 PN Status OK General lO Device Diagnostics Communication Diagnostics Interface Network Connection Statistics Identification Port Statistical value Current Port 1 P1 Dropped received packets no resources 0 Port 1 P1 Bad received packets 2 Eont Received octets 107128582 Port 1 P1 Dropped send packets no resources 0 Port 1 P1 Bad send packets transmit collisions 0 Port 1 P1 Send octets 107000842 Settings Close Update Print Help as a 64345AXX Statistics tab The following statistic values can be displayed 94 Dropped received packets 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 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 no resources indicates the number of valid Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C x
14. Service if the error occurs again Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Assembly and Installation Notes for Ethernet Status LED of the DHR41B option 4 6 3 Link Activity LEDs The two LEDs Link green and Activity yellow integrated in the RJ45 plug connec tors X30 1 X30 2 display the status of the Ethernet connection LED Link LED Activity 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 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 17 Assembly and Installation Notes for Ethernet TCP IP addressing and subnetworks 4 7 TCP IP addressing and subnetworks Preface MAC address IP address Network classes The settings for the address of the IP protocol are made using the following parameters e MAC address e IP address e Subnetwork mask e Standard gateway The addressing mechanisms and subdivision of the IP networks into sub networks are explained in this chapter to help you set the parameters correctly The MAC address Media Access Controller is the basis for all address settings The MAC address is a worldwide unique 6 byte value 48 bits ass
15. Supported services CIP object directory e Coding of attribute 5 Status Bit Name Description 0 Owned Controlling connection is active 1 Reserved 2 Configured Configuration complete 3 Reserved 4 7 Extended Device Status 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 e Coding of the extended device status bits 4 7 Value binary Description 0000 Unknown 0010 At least one faulty IO connection 0011 No IO connection established 0110 At least one IO connection active Service code hex Service Name Class Instance 01 Get_Attributes_Alll Xx Xx 05 Reset X 0E Get_Attribute_Single x x Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 39 6 C 3S The Ethernet Industrial Protocol EtherNet IP CIP object directory Message router object Class Instance 1 Supported ser vices e The message router object provides information on the implemented objects e Class code 02hex Attri Acces Name Data t
16. The following table shows the PROFINET header coding of the WRITE req user data including the Field Value Description Function _Num READ req Slot_Number x Slot_Number not used Index 47 Index of the data record Length 240 Maximum length of response buffer in the PN controller Positive response to WRITE parameter The following table shows the PROFINET header of the positive READ response with parameterization response 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 The following table shows the positive response for the PROFINET service Change Pa rameter Byte Field Value Description 0 0x01 Mirrored reference number from the parameter setting request 1 Response ID 0x02 Positive PROF Idrive response 2 Axis 0x01 1 SBus address 1 of MOVIDRIVE B 3 No of parameters 0x01 1 parameter Negative parame The following table shows the coding of a negative response of a PROFldrive service ter response Bit 7 is entered in the response ID if the response is negative Service READ response _ Description Slot_Number 0 Random is not evaluated Index 47 Index of the data record constant index 47 Length 8 8 byte user data in response buffer Byte Field
17. Write access is used for storing acyclic requests in the corresponding registers Read services read the responses from the same registers This method corresponds to the alternative concept according to the Modbus specifica tions appendix A Network Messaging Specification for the MODBUS TCP Protocol Version 1 1 8 4 1 Procedure with FC16 and FC3 Master Slave Modbus client Modbus serve FC16 Request with acyclical command J FC16 Response write access o k 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 that have now been written into the register FC3 Request to read acyclical result FC3 Response with acyclical result ee ee 64072AEN 8 4 2 Procedure with FC23 Master Slave Modbus client Modbus serve i FC23 Request with t acyclical command T FC3 Response with T acyclical result 64073AEN With FC23 the result is returned directly in the response Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 75 8 C xD The Modbus Protocol Modbus TCP Parameter access via Modbus TCP 8 4 3 Protocol structure
18. Description Component fersion 1820x x lO system 100 Address 2043 Device Number 1 Status Module configured but not available Extemal error Preset Actual mismatch inserted and configured module types are not the same Expectedtype l0 device 182x00 x Current type Not available Close Update Print Help 64647AXX 1 IO device diagnostics tab 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 sent to the controller The SF LED of the CPU goes out and no more faults are displayed in the component status Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 97 11 C xD Operating Behavior PROFINET IO Process data exchange with MOVI PLC advanced DHR41B 11 Operating Behavior PROFINET IO This section describes the basic behavior of the MOVI PLC advanced DHR41B con troller when operated on the PROFIBUS system 11 1 Process data exchange with MOVI PLC advanced DHR41B Control example for Simatic S7 STEP7 sample program 98 MOVI PLC advanced DHR41B is controlled via the process data channel which is up to 2 x 32 I O words in length These process data words are mapped in the I O or pe ripheral area of the MOVI PLC advanced DHR41B controller for example when a higher level PLC is used as the DP master
19. 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 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 MotionStu dio If there is no IEC program in MOVI PLC you can create one as follows Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 59 Configuration and Startup Modbus TCP Configuration examples in PL7 PRO e Open the context menu of the PLC in MOVITOOLS MotionStudio and run the project wizard New PLC Editor project see following figure E Network ay Ethemet 5 49 LS Comparison Online Startup gt E Appi dul ication modules gt f pp f gt i New PLC editor project Online Open PLC Editor Project Online Diagnostics en Documentation Version management Online Show online unit status Project unit Add medium Remove Properties 12049AXX e Use the wizard to create a new AxisControl project and upload it to MOVI PLC advanced DHR41B via the menu item Online login e 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 E I MOV PLC adva
20. 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 field bus mode yau can continue to implement rapid stop concepts using the terminals of MOVI PLC advanced DHR41B irrespective of the fieldbus used Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Assembly and Installation Notes for Ethernet 4 Connecting MOVI PLC advanced DHR41B to an Ethernet network 4 Assembly and Installation Notes for Ethernet Only the connection to Ethernet networks via X30 1 and X30 2 is described in this chap ter Connection and functions via X37 engineering are described in the MOVI PLC advanced DHE41B DHF41B DHR41B manual 4 1 Connecting MOVI PLC advanced DHR41B to an Ethernet network Front vow LED MOVEREG Designation DIP switches Function advanced DHR41B 9S gnatio Sp eit Terminal controller LED In EtherNet IP and Modbus TCP operation L14 MODULE STATUS L13 NETWORK STATUS In PROFINET operation L14 RUN L13 BUS FAULT L12 Reserved L11 Reserved X30 1 Ethernet connection LED Link green LED Activity yellow X30 2 Ethernet connection LED Link green LED Activity yellow DIP switches 2 ON Resets the address parameters to their default valu
21. IW671 WORD Processdata Input 10 CHANNEL 1 16 0000 Target Settings AT 61W672 WORD Processdata Input 11 CHANNEL M 16 0000 j Fe Task configuration AT 1W673 WORD Processdata Input 12 CHANNEL 1 16 0000 i Q Watch and Recipe Manager E AT 1W674 WORD Processdata Input 13 CHANNEL 1670000 30 Workspace 5 AT 6IW675 WORD Processdata Input 14 CHANNEL 1 16 0000 m AT GAWATA WARM Procecertata ined 11451 1 ICHANNFI M 1A8NNNN 12050AXX 11 3 Parameterization via PROFldrive data record 47 TIP The S7 sample project MOVILINK parameter channel can be used for this param eter channel You can download it from the SEW homepage http www sew euro drive de under Software 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 102 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO C xD 11 Parameterization via PROFIdrive data record 47 PROFINET Controller P Read Write Record 62204AXX The user data
22. P1 General Addresses Topology Options 1 Connection 2 Transmission medium duplex Automatic settings Automatic settings 3 BAA m Automatic settings monitor Boundaries Cancel Help 64634AXX 1 Options tab 2 Transmission medium duplex selection list 3 Auto negotiation auto crossover checkbox 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 92 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD 10 PROFINET configuration with topology detection 10 3 4 Topology diagnostics Topology errors are reported to the PROFINET IO controller as diagnostics alarms In the event of an error 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 Bh HW Config SIMATIC 300 1 Diagnostics ONLINE fo e Ea Station Edit Insert PLC View Options Window Help J Do amp 4 a Ho a a Dj x Bo we a Eind P At Aj 1 sft CPU 315F2 PN DP PROFIBUS 1 DP master system 1 Ee Standad Z aE PROFIBUS DP M PROFIBUS PA PROFINET IO 4 H E Additional Field Devices 5 a Gateway 6 HQ 1 0 E H
23. c000 98 11 2 Settings in MOVI PLC advanced DHR41B csscsscssscssessessesssessessesseeseeseen 100 11 2 1 Status of the PROFINET fieldbus interface eceeeee 100 11 3 Parameterization via PROFldrive data record 47 cccccsscceesesseeeeeeees 102 11 3 1 Introduction to PROFINET data records c cccceeeeeeeeeeeeteees 102 11 3 2 Structure of the PROFINET parameter channel 0006 105 11 3 3 Parameter setting procedure via data record 47 nsee 106 11 3 4 Controller processing SEQUENCE ccccceeeeeeeeeeeeeteeeeeeeeeeeteeettees 107 11 3 5 Addressing downstream inverters cceeeceeeeeeeeteeeeeeettteeeeeeeaas 108 11 3 6 MOVILINK parameter requests ccseseeeeeeeneeeeeeneeeeeceneenaanene 109 11 3 7 PROF Idrive parameter requests 2 ccceeeeeeeeeeeeeeeceeeeeeeeeeeeeeteees 114 12 Error Diagnostics ON PROFINET cccessssseeeeeseeeeseeeeneeeesseeeeenseeeesseesesseeees 119 12 1 Diagnostic Procedure nenien etuier eean ana ae tasane aaa aiia 119 12 1 1 Diagnostics problem 1 MOVI PLC advanced DHR41B not working on PROFINET IO eee 120 12 1 2 Diagnostics problem 2 No process data exchange with the I O controller ccccccecceceeeeeeceeeecnaeceeeeeeeeeseeeeeseesneaeees 121 13 APPeOn dix iis secesccacseccecccsecseeancgedeceedcce aa AERA TESS 122 13 1 Parameter access via EtherNet IP to downstream units ccceeeeees 122 13 2 Para
24. e When starting up a unit the IP settings for DHR41B can be assigned without chang ing the network connections or PC settings TIP e DHCP remains deactivated when you reset the DIP switch wee Def IP to 0 You can re activate DHCP via the EtherNet IP TCP IP interface object see section Eth erNet IP CIP object directory via the parameter or via the DHCP server from Rockwell Automation e DHCP is activated again when the values are reset to the factory setting Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 22 4 9 Assembly and Installation Notes for Ethernet Procedure for unit replacement Procedure for unit replacement If the DIP switch 2 Def IP is set to 1 ON at the DHR41B option the DIP switch 2 Def IP of the new DHR41B must also be set to 1 ON Other IP pa rameter settings are not required If DHCP 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 startup of the new DHR41B if DHCP is not active including the IP parameters Instead you can load a data backup created with the MOVITOOL
25. see the following figure This mechanism applies to a PROFINET controller Controller PROFINET SEW Device Parameter WRITE req DS47 me Request 1 with data parameter request i ESS Parameter 1 j Request og WRITE res Lee yT without data l foo 1 1 Ss j READ req DS47 R without data i K Parameter i i Y Processing a I i I te l l A Parameter Parameter P READ res het Response Response H with data parameter response i 62208AXX Figure 3 Telegram sequence for parameter access via Read Write Record 106 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO C xD 11 Parameterization via PROF ldrive data record 47 11 3 4 Controller processing sequence If the bus cycles are very short the request for the parameter response arrives 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 Send Write request with parameter data Check Write Write response response negative Write response 1 positive Send Read request Read respons negative or timeout No Yy Parameter transfer aborted with ERROR 62209AEN Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 107 11
26. 255 128 using the subnetwork mask Two networks are created with the ad The following station addresses are permitted in the two networks e 192 168 10 1 192 168 10 126 e 192 168 10 129 192 168 10 254 The network stations use a logical AND operation for the IP address and the subnetwork mask to determine whether there is a communication partner in the same network or in a different network If the communication partner is in a different network the standard gateway is addressed for passing on 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 to determine whether the desired station is located in the same network If this is not the case the station addresses the standard gateway router which must be part of the actual network The standard gateway then takes on the job of transmitting the data packages If for the standard gateway the same address is set as for the IP address the standard gateway is deactivated The address of the standard gateway and the IP address must be in the same subnet DHCP Dynamic Instead of setting the three parameters IP address subnetwork
27. Address SBUS CAN1 EtherCAT om Ot PLC with EtherNet IP scanner master Industrial Ethernet interface SEW inverter with SBus interface Index and parameter list of the unit SEW inverter with EtherCAT interface 1 2 64650AXX Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Appendix Parameter access via Modbus TCP or PROFINET to downstream units 13 2 Parameter access via Modbus TCP or PROFINET to downstream units 1 SPS Modbus TCP PROFINET IO 1 a a ae a a a a a ae DHR41B PLC Editor Routing Table Routing enabled Slot Local Parameter Dpram Can 1 Can 2 EtherCAT EtherCAT CAN 2 CAN 1 default Axis 0 254 Axis 99 Axis 1 12 Axis 16 27 Axis 44 75 2 a ee aS en et ee a ee a a Se a eee femme es oe el SBUS CAN1 5 EtherCAT Z 5 Om a 1 PLC with Modbus scanner 2 Industrial Ethernet interface 4 SEW inverter with SBus interface 5 Index and parameter list of the unit 6 SEW inverter with EtherCAT interface Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 64651AXX 13 123 13 Appendix L Pa
28. As a result the process data words can be addressed in the usual manner es PW160 gt PA3 RIE Pwiss gt PA2 Pwise gt PA1 A Ss _X30 1 Ru PA1 PA2 PA3 PA 64 2 T P T 1o PE 1 PE2 PE3 PE 64 ee Pwieo gt PE3 PW158 gt PE2 4 PW156 PE1 4 64648AXX Figure 2 Mapping PROFINET data in the PLC address range 1 Address range of the higher level PLC PI1 P164 Process input data PO1 PO64 Process output data 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 In this example the MOVI PLC advanced DHR41B controller is configured with the process data configuration 70 PD on input addresses PEW512 and output addresses PAW512 A data block DB3 is created with about 50 data words Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO C xD 11 Process data exchange with MOVI PLC advanced DHR41B When SFC 14 is called the process input data is copied to data block DB3 data words 0 to 18 When SFC15 is called
29. DHR41B manual Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 119 12 120 lt Diagnostic procedure a Error Diagnostics on PROFINET 12 1 1 Diagnostics problem 1 MOVI PLC advanced DHR41B not working on PROFINET IO Initial status e DHR41B option is physically connected to PROFINET IO e DHR41B option has been configured in the IO controller and bus communication is active Ethernet bus connector X30 1 X30 2 plugged in No gt A Yes Yes L L Response of the Link LED Response of the Yellow gt B BUS FAULT LED Red gt C Green Off L OFF C DHR41B option has no connection to Ethernet L Check the configured and set PROFINET name PROFINET names identical No gt D Yes L You may have configured an incorrect unit type or defined the configuration incorrectly L Delete configuration for the DHR41B option from the PROFINET IO network L Configure the DHR41B option again selecting the unit designation SEW DHR41B Assign the address range for your control system L Now load the configuration in the PROFINET IO controller and start the bus communi cation again A Check the bus cabling B The DHR41B option was not yet configured or configured incorrectly Check the configuration particularly the device name and the I
30. Data oe 93007 Finniwate part Data mapping and definition MOVILINK parameter see unit setting and SEW 21 0x00 channel The parameter value unit profile 22 0x00 0xA82e5b0d corresponds to firm x ware part number 28216102 53 23 0x00 24 0x00 1 The unit identifier 0 and OxFF is used to access the parameters of DHR41B directly For other values 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 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 65 8 66 gu 8 8 1 8 1 1 The Modbus Protocol Modbus TCP Introduction The Modbus Protocol Modbus TCP Introduction Modbus TCP is an open protocol based on TCP IP It was one of the first protocol types to become standard in industrial Ethernet interfaces for process data transfer Modbus frames are exchanged via the TCP IP port 502 Every master IP address is ac cepted Modbus exclusively uses the coding BIG ENDIAN Motorola data format or high byte first Access via Peer Cop is not possible Make sure that the bus master supports IO scan ning Modbus TCP is integrated
31. Modbus scanner 55 Diagnostic procedure nsss 119 ee ne Fault diagnostics EtherNet IP Modbus TCP 79 Configuring the master EtherNet IP scanner 24 j i Process data exchange u 24 Diagnostic SEQUENCE nnsssssssssrsrssinrirrnnrererennn 79 Connecting DHR41B to an Ethernet network 11 SISP T y SROCRTIY PS SAUS EEDS Connection on DHR41B E AA AEREA TA 79 Step 2 checking the status LEDs and PROFINET mrret eoin shasta aaeneie 84 the status display on the Connection DHR41B Ethernet s is 12 master scanner 80 Connection management Modbus TCP 73 f N a a Dropping CONNECTIONS essees 74 SIEP ae FaU CG ONO BUCS ana nea Be Sending process output data requesting a controlling connection a se 73 Timeout monitoring 00 eeeeeeeeeeette eee eetteeeeeetenee 74 Content of this manual cceseceeeeeeeeeeeteees 9 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Index G P General notes ccccececsceeeeeececeeeeseeecteeeseesrenteeeeees 6 Parameter access via engineering interface to Exclusion of liability ccccccceeecceeteeeteeeeeeeeneeees 7 downstream units eeeeiieeeereerrereseren 124 Structure of the safety notes cce 6 Parameter access via EtherNet IP to General safety notes for bus systems 0 8 downstream units cece eeeeeteeeeeeeeneeeees 122 GIOSSOMY ereen ierann then R lee EA tied setae 125 Parameter access via Modbus TCP
32. Network Components resz Sensors Seal Ethemet 1 PROFINET IO System 100 a SIMATIC 300 10 fi SIMATIC 400 1 11 a2 my Movi E SIMATIC PC Based Control 300 400 Bt DFE amp B E a SIMATIC PC Station tae F ke o m r 4m 1 my movi ple Slot g Module Order Number l ddress Q address Diagnostic Comment me moviphe TE E KEK BAR z At Ethemet intentace MBE 1 EL Pot REPSOL Ezik A EEE TAE AA HE E 1 Slot not used 2039 2 10 process data words 256 275 256 275 3 Slot not used 2038 4 Slot not used 2037 5 Slot not used 2036 z 6 Slot not used 2035 7 Slot not used 2034 a Slat nat ised eca Press F1 to get Help 64635AXX 1 Red cross symbol for error Possible causes ETHERNET ports mixed up e Wrong port property settings e 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 Select the Communication diagnostics tab Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 93 PROFINET IO Configuration PROFINET configuration with topology detection 10 EFO 10 3 5 Port statistics Proceed as follows to display the port statistics for an ETHERNET port in STEP 7 HW Config Click the ONLINE OFFLINE symbol to switch to the Online communication mode
33. PROFINET IO Configuration and Startup EtherNet IP C xD 5 Configuring the master EtherNet IP scanner First enter the name under which the data is stored in the controller tags for the newly created module and then enter the IP address New Module eee x Type ETHERNET MODULE Generic Ethernet Module Vendor Allen Bradley Parent LocalENB C tion Paramet Name MOVI PLC_Advanced PEN j ht Description R Instance Size Input 171 16 16 bit owe fe fe nsw Comm Format Data INT Configuatior lz p Ebit m Address Host Name ipAddess rots Pd C Host Name ee ae ied I Open Module Properties Cancel Help 12062AXX For the data format open the dropdown menu Comm Format and choose the entry Data INT Process data for DHR41B always contains 16 bits INT Inthe Connection Parameters group box enter the value 171 in the Input As sembly Instance input field The input data of the PLC must be linked to the output instance of DHR41B e 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 e In the selection fields Input Size and Output Size set a maximum value of 64 16 bit as the data length e Inthe Configuration Size selection field enter the value 0 The Configuration As sembly Ins
34. Ranai eaaa 9 3 2 Characteristics ucini enie a cine a a iiie ae ie ier 9 3 2 1 Process data exchange ssasssiisssssresriiisresreisneesnnrasdttinneaatinnnaeienninana 9 3 2 2 Parameter ACCESS onena e eriin deara kerana Derea Aia Tera Ara 9 3 2 3 Monitoring fUNCtiONS oaeiae ieai iA arai N eii 10 Assembly and Installation Notes for Ethernet ccccseescecsesseeseeeeeseeeeeeeeenes 11 4 1 Connecting MOVI PLC advanced DHR41B to an Ethernet network 11 4 2 Pin assignment of X30 1 ANd X30 2 0 cece eee eeneeeeeeeeeaeeeeeeeeeaaeeeeeeeaaes 11 4 3 Shielding and routing bus cables cecececeeeceeeeeeeeeeeeeeeeeeeeeeeteeetenaeeteeaees 12 4 4 The integrated Ethernet switch eeceeeeeeeeneeeeeeeeeaeeeeeeeeaaeeeeeeenaeeeeenenaas 13 4 5 Setting the DIP switches 0 eeececceeeeeeeeeeeeeeeeeeeeeeaeeeeeaaeeeeaeeseeeeeeeaeeeeeaees 14 4 6 Status LED of the DHR41B Option 0 ecceeeceeeeeeeeeeeneeeeeeeeseneeeeeeaeeeeenes 15 4 6 1 Status LEDs in EtherNet IP and Modbus TCP operation 15 4 6 2 Status LEDs in PROFINET operation 0 cccccceceeeeeeeeeeeeeeteeeeees 16 4 6 3 Link Activity LEDS ear e a ae aea a steels lal tee tba aT AASS 17 4 7 TCP IP addressing and subnetworkS ssssesesseseseesresrresrinterinssinrsrinssrress 18 4 8 Setting the IP address parameters cccccccceceeeeseteeeeeneeeteneeeseneeeteneeeteneees 20 4 9 Procedure for unit replaceMent ceecscee
35. Read Address Read WordCount FC 0x03 64065AXX Example Request 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 Response Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Service 3 Read Holding Register 8 Byte count Number of following bytes Ors Data 2 Data bytes depending on the length Exception Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code 83hex 8 Exception code Fault code Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 69 s qu The Modbus Protocol Modbus TCP Protocol structure 8 2 3 Service FC16 Write multiple registers With the service FC16 Write Multiple Registers you can write a variable number of reg isters see following figure MBAP Header Function Code Data FC16 f T ID 0x00 Prot ID 0x00 ean ae ozio Writ
36. SIMATIC STEP 7 This example will focus 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 support the PROFINET IO to pology detection Eh HW Config MATIC 300 1 Configuration myProject e Stetion Edt Insert PLC View Options Window Help p x Daet8h g h ae OO AR ox m at ari d PROFIBUS 1 DP master sytem 1 ee stance F PROFIBUS DP 7 PROFIBUS 4 PROFINET rn 0 Addtiond Field Device 5 Dive E 3 5 1 e fi 7 3 D Rao vio a g UFR418 V1 0 OLD 4 a MONS1B DFE128 a CJ MOvelT a MOVIFIT Classic a J MOWPRO ED Gay B v0 f Ee Press FI to get Help 12099AXX 2 Right click on the PROFINET IO system and select PROFINET IO topology from the context menu The Topology editor window is displayed Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 89 10 C xD PROFINET IO Configuration PROFINET configuration with topology detection 3 Select the Offline online comparison tab 1 1 3 90
37. advanced DHR41B 7 Move the entry DHR41B UFR41B to the PROFINET IO system with the mouse and assign a PROFINET station name This name must correspond to the PROFINET device name specified in MOVI PLC advanced DHR41B 8 Enter 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 t BET lg DHA41B V1 0 Slot not used Slotl PROFIS afe Option 9 F Module 1 0 2 Byte 3 Slot2 17 PD Channel 9 01 process data word 02 process data words 03 process data words 04 process data words 05 process data words O6 process data words 07 process data words 08 process data words 09 process data words 10 process data words 11 process data words 12 process data words 13 process data words 14 process data words 15 process data words 16 process data words 18 process data words 21 process data words 24 process data words 32 process data words 12098AXX 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 width is 64 words 9 Add data exchange with the new units to your user program Process data transfer is consistent SFC14 and SFC15 can be used to transfer process data Manual MOVI PLC advanced DHR41
38. another fieldbus system 0A GATEWAY PATH UNAVAILABLE The data cannot be transferred to a subsystem Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Fault Diagnostics for Operation on EtherNet IP and Modbus TCP a 9 Diagnostic sequence lt an 9 Fault Diagnostics for Operation on EtherNet IP and Modbus TCP 9 1 Diagnostic sequence The diagnostic procedures described in the following section demonstrate the integra tion of the DHR41B option into an Ethernet network and the error analysis method for the following problems e The MOVI PLC advanced DHR41B controller is not integrated properly in the EtherNet IP or Modbus TCP network e The master scanner cannot specify any process data For detailed information about programming the DHR41B unit refer to the MOVI PLC advanced DHE41B DHF41B DHR41B Controller manual For more diagnostic information refer to the online status display in the EtherNet IP master scanner in the Modbus TCP master and the corresponding online help Step 1 Checking the status LEDs of DHR41B and the DIP switch settings The possible DIP switch settings are described in chapter Setting the DIP switches For detailed information on the individual LED statuses refer to chapter Status LEDs of the DHR41B option The following table lists the resulting unit statuses for commu nication via X30 1 and X30 2 and possible causes An X indicates that the
39. ar Write word count Must for PD 1 64 12 0x06 Write byte count Number of PDW x 2 6 13 0x00 Process output data word 1 14 0x11 15 0x22 i initi Data Process output data word 2 Data mapping and definition 16 0x33 see IEC program 17 0x44 Process output data word 3 18 0x55 Only bytes 0 11 are returned in the response telegram of port 502 of the Modbus TCP slave where all values remain unchanged with the exception of byte 5 Byte 5 low byte length field is corrected to value 6 62 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup Modbus TCP Examples for data exchange via Modbus TCP During process data exchange via FC23 the telegram that is used to write and read 3 process data words PD each is structured as follows Byte a Meaning Interpretation Help 0 i 0x00 Transaction identifier 2 3 0x00 Protocol identifier 4 0x00 Number of bytes after byte 5 Length field 3 no of PD x 2 11 17 5 0x11 6 OxFF Unit identifier Must be 0 or 255 Service FC23 read write reg 0x19 Puncton code ister For a detailed description refer to Modbus TCP specifi aa Read reference number ee eat Galion one section Modbus 0x04 Must always be 4 protocol Modbus TCP 10 0x00 Redwordesint Number of PDW here 3 11 0x03 Must for PD 1 64 12 0x00 Offset from wher
40. 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 a controlling connection or if there is no controlling connection If the unit accepts the connection it transfers the process output data to the process data image or transmits the process data to a lower level station gateway operation As long as this connection is activated no other master can change the process output data PO data Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO g The Modbus Protocol Modbus TCP 8 Connection management 8 3 2 Dropping connections A connection is deleted from the internal connection list if The keep alive time has elapsed and the server no longer receives a response or e The socket reports a fault e The connection to the client has been dropped If it was a controlling connection another controlling connection can be established If there are no permitted PO data sent within the timeout interval a fieldbus timeout is triggered The default keep alive time is 10 seconds If there is a controlling connection with the timeout interval gt 5 s the keep alive time is increased to 2 x timeout interval In the event of a cable break or a socket fault of a controlling connection the fieldbus timeout in the unit will be d
41. e Use the wizard to create a new AxisControl project and upload it to MOVI PLC advanced DHR41B via the menu item Online login e 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 E 9 MOV PLC advanced DHR41B a it Communication Fix Digital IO disabled SLOT d 3 Can 1 enabled SLOT QM MOVIDRIVE MDX BIVAR H dB MOVIDRIVE MDX BIVAR di MOVIDRIVE MDX BIVAR Resources G E Global Variables oe S AxisConteol GlobaVarAnisCortrct B E AxisContiol Datamanagement B E AxisContsol_ MDX E E ibrary 01_Single4xisMotion MPLCD4 30 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO a a bray M SingletsisMotion MPLCM Can 2 disabled SLOT a E brary 05_Utiiies MPLOCommunical Com 1 disabiediSLOT H ibrary 05_UtiiesiMPLCD ataMan Com 2 disablediSLOT a C bray 10_Interface MPLCintertace_ E Wrery 10_Irterface MPLCintedace m ona O E ibrary 10_Intettace MPLCIntertace y a if Profinet Modbus Tcp Ethernet Ip enablediSLOT E E lirar 11_System MPLCSystem_DHI H an h E beyt Systemi MPLCSyetem_Enc POData1 AT IW562 WORD Processdata Input 1 CHANNEL 1 j 160000 H E brary 11_SystemiMPLCSystem Mal AT IW6563 WORD Processdata Input 2 CHANNEL 1 16 0000 E E library 11_System MPLCSyst
42. in the IEC program G Which status is displayed in the IEC application for the communication interface via the FBusGetinfo module see chapter Settings in MOVI PLC advanced DHR41B Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD 10 Configuring the PROFINET IO controller 10 PROFINET IO Configuration 10 1 Configuring the PROFINET IO controller The following paragraphs describe the configuration of MOVI PLC advanced DHR41B with PROFINET interface The configuration will be explained using the example of the SIMATIC STEP 7 configuration software and a SIMATIC CPU 315F 2 PN DP 10 1 1 Installing the GSD file TIP The latest GSD ML file version is also available for download on the SEW website www sew eurodrive de in the Software section Proceed as follows to install the GSD file 1 Start STEP 7 HW Config 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 JIJJMMTT 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 O Other field units Drives SEW DHR41B UFR41B in the hard ware Catalog 2 files are available for configuring the DHR41B option e DHR41B V1 0 for controllers that support
43. into the DHR41B option as of firmware version 11 Mapping and addressing The logic Modbus address scope is 64 k words and is addressed via the reference num ber offset Four different tables can be in the address scope e Binary inputs RO e Binary outputs RW e Input register RO e Output register RW The tables can be separated or overlapping The DHR41B option provides the following data areas e 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 OFF It contains the 1 64 cyclically transferred process data words The process data output words from the controller are also saved in another table It allows for one or several additional clients e g visualization to read the current set point values This table starts at offset 104hex and ends at offset 1FFhex e A third table is provided for the parameter access This table starts at offset 200 ends at offset 2FFhex and contains 4 words of the MOVILINK parameter channel see Fieldbus Unit Profile manual e The remaining address scope from offset 400hex to FFFFhex is reserved and must not be addressed The data word at offset 219hex 86064ec is a special case it allows for writing and reading the timeout monitoring time TIP For Schneider Electric control systems The address ran
44. lower level unit connected to DHR41B The assignment of unit identifier to the units on the system buses is determined via the routing table on the DHR41B memory card see section Appendix Function code Requested service Be Data Data depending on requested service e The slave simply copies the transaction identifier byte 0 and 1 It can help the mas ter to identify related actions e The protocol identifier byte 2 and 3 must always be 0 The length bytes byte 4 and 5 specify the number of bytes occurring in the length field As the maximum telegram length is 255 bytes the upper byte must be 0 e The unit identifier byte 6 can be used for distinguishing between several connected stations e g bridges or gateways It has 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 FF hex The 7 bytes of the header are followed by the function code and the data 68 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Modbus Protocol Modbus TCP E Protocol structure 8 2 2 Service FC3 Read holding registers With the service FC3 Read holding registers you can read a variable number of regis ters see following figure MBAP Header Function Code Data FC03 T ID 0x00 Prot ID 0x00 Length 1 5 UI D
45. state of the respective LED is not relevant LED L14 L13 Operating Cause MODULE NETWORK status STATUS STATUS Off Off Off No voltage supply Red Red Reset DHR41B is in reset status Red X Error Internal DHR41B fault Flashing Off IP Stack If DHCP is active the DHR41B remains in this state until green starting assigned an IP address Flashing Red IP conflict IP address conflict if the same IP address is used by another red station in the network Flashing Flashing LED test All LED conditions are briefly activated green red green red Flashing Flashing Application All functions of the DHR41B e g process data and connec green green starting tions to the master are now active Green Flashing Operational DHR41B is active on the fieldbus but without a controlling green connection to the master Green Green Connected There is a controlling connection to a master Green Flashing red Timeout A previously controlling connection is in timeout state 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 are further tools for checking the communication via Ethernet Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 79 9 80 a lt Fault Diagnostics for Op
46. the PROFINET IO topology detection e DHR41B V1 0 ALT for controllers that do not support the PROFINET IO topology detection Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 81 g PROFINET IO Configuration 10 Configuring the PROFINET IO controller 10 1 2 Assigning a PROFINET device name Proceed as follows to assign the PROFINET device name 1 Select ETHERNET Edit ETHERNET station from the Target system menu in STEP 7 HW Config The following window opens 1 2 3 4 5 6 7 8 Edit Ethernet Node Ethernet node Nodes accessible online MAC address 00 0F 69 FF EE 49 Set IP configuration C Use IP parameters Gateway _ P address 1 Subnet mask Obtain IP address from a DHCP server Identified by Client ID C MAC address Device name Client ID Assign device name _ Device name my movieple __Assign Name __ Reset to factory settings Reset Close Help 4 7 Browse button IP address input field Subnet mask input field Router address input field Assign IP Configuration button Device name input field Assign name button Close button 64630AXX 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 82 Manual MOVI PLC advanced DHR41
47. this procedure for all ports of the devices until the lists are green Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD 10 PROFINET configuration with topology detection 10 3 3 Changing the port properties The two ETHERNET ports of the PROFINET interface are set to Automatic setup by default Observe the following for this default setup e Auto negotiation and auto crossover are activated in this setup e The baud rate and the duplex mode are configured automatically The neighboring port must also be set to Automatic setup e 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 e If auto crossover is deactivated you have to use cross cables Proceed as follows to set a port to 100 Mbit s full duplex 1 Select a unit in STEP 7 HW Config 2 Select the desired port on slot 0 3 Right click on the port and select Object properties from the context menu A window is displayed Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 91 10 qu PROFINET IO Configuration PROFINET configuration with topology detection 4 Select the Options tab 1 Properties Ethernet Interface Port 1 RJ45 X30
48. 3 CHANNEL 1 16 0000 AT IW665 WORD Processdata Input 4 CHANNEL 1 1640000 AT IW666 WORD Processdata Input 5 CHANNEL I 16 0000 AT IW667 WORD Processdata Input 6 CHANNEL 1 16 0000 AT IW668 WORD Processdats Input 7 CHANNEL 1 1640000 AT 6IW669 WORD Processdata Input 8 CHANNEL 1 1640000 AT 1W670 WORD Processdata Input 9 CHANNEL I 1640000 AT 1W671 WORD Processdata Input 10 CHANNEL M 1670000 AT 1W672 WORD Processdata Input 11 CHANNEL M 1670000 AT 6IW673 WORD Processdata Input 12 CHANNEL M 16 0000 AT 1W674 WORD Processdata Input 13 CHANNEL 1 16 0000 AT 1W675 WORD Processdata Input 14 CHANNEL 1 1690000 AT IWATA WARM i Procecertata Inat 141 ICHANNFI Mi 1A8NNNN 12050AXX Configuration and Startup Modbus TCP Examples for data exchange via Modbus TCP 7 5 Examples for data exchange via Modbus TCP As there is a range of master systems and software solutions for standard PCs available for Modbus TCP there is no reference controller which is used to create all examples This is why this section gives detailed examples regarding the telegram structure You can compare the message structure in your own applications with the message structure in these examples for troubleshooting There are simple tools for recording telegrams via t
49. 60AXX Do not select the Connected checkbox because both the controller and the DHR41B option permit only a limit number of connections 32 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup EtherNet IP qu Configuration examples in RSLogix 5000 6 After downloading the changes to the PLC the index of the parameter to be read can be entered at ReadParameterRequest Index By altering ReadParameterStart to 1 the read request is executed once see following figure Controller Tags DeviceNet controller Scope FadeviceNet gt E SEW_Parameter_Channel BOOL MESSAGE Name Value ejs Data T pe ReadParameter MESSAGE ReadParameterRequest SEW_Parameter_C l ReadParameteiRequest Reseved 0 Decimal INT ReadParameterRequest Index _ 8606 Decimal INT mae ReadParameterRequest Data 16 0000_0000 Hex DINT E ReadParameterRequestSubindex 0 Decimal SINT ReadParameterRequest Reserved2 0 Decimal SINT ReadParameterRequest SubAddress1 0 Decimal SINT ReadParameterRequest SubChannell 0 Decimal SINT ReadParameterRequestSubAddiess2 0 Decimal SINT H ReadParameterRequest SubChannel2 0 Decimal SINT _ i ReadParameterResponse oc SEW_Parameter_C amp ReadParameterResponse Reserved 0 Decimal INT Ei ReadParam
50. 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 are stored in the higher level programmable controller so that there is no need to set parameters manually in the MOVI PLC advanced DHR41B In EtherNet IP operation the parameters of the inverter are set by the controller solely via explicit messages In Modbus TCP operation the controller can access the parameters via the 8 byte MOVILINK parameter channel In PROFINET operation two parameter access options are available The PROFldrive data record 47 offers access to all unit information also in PROFINET operation The PROFIBUS DP V1 parameter mechanisms offers universal access to all unit in formation Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 10 Preface Characteristics 3 2 3 Monitoring functions Using a fieldbus system requires additional monitoring functions for example time mon itoring of the fieldbus fieldbus timeout or rapid stop concepts For example you can adapt the monitoring functions specifically 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
51. 8 Meaning of the status LEDs in EtherNet IP and PROFINET Modbus TCP operation D VICE NING esiritta eniiiai iaia 82 LED L13 NETWORK STATUS oaan 15 Topology detection osc 88 LED L14 MODULE STATUS oce 15 PROFINET connection Meaning of the status LEDs in PROFINET operation CONJUR 84 LED L13 BUS FAULT ssccscccccce 16 PROFINET IO controller LED L14 RUN woicceeeeeeseceeeeeeeeeeeeeeeneeeeeeenaees 16 CONPIQUIATION sersem a E 81 Modbus protocol Modbus TCP sses 66 Protocol structure Modbus TCP eese 68 ACCOSS xc decaiscck ated ct aiaa taste nett dandani aana EA 67 FICQQC i snsc5e 20 free crcdvtes eteiindk ds biaasctaedecscnteans 68 Connection management sses 73 Service FC16 Write multiple register 70 Fault codes exception codes s e 78 Service FC23 Read write multiple register 71 Mapping and addressing sece 66 Service FC3 Read holding register 69 Parameter access via Modbus TCP 75 Service FC43 Read device identification 72 Protocol StrUuCtUre sire 68 R Services function codes nasse 67 Modules SIMATIC sssssssscssssssssssseessseesessssseeeee 84 Resetting the IP address parameters 21 Monitoring fUNCHIONS cccccccsssescsesesecsssecensenessecss 10 Return codes for parameter setting via MOVI eaten bts nhakninheu tate dates 28 59 explicit MESSAGES ose trete tetant 51 MOVILINK osaisin 53 77 109 General error CodeS stains ahaha 52 Multicast handling axecerertates luc
52. 821 Header einai a Ae ieee a 68 8 2 2 Service FC3 Read holding registers 2 0 0 eceeeeeeeeeeeeeeeeeeetieeeeeees 69 8 2 3 Service FC16 Write multiple registers 2 0 0 0 eeeeeeeeeeeeeeeeeeeeeeeeeeeee 70 8 2 4 Service FC23 Read write multiple registers cceeneeeeeeeee 71 8 2 5 Service FC43 Read device identification 20 eceeeeeeeeeeeeeeeteeee 72 8 3 Connection MaNageMeNt ccceceeececee teen eeeeeeeeeeeeeeeeaeeeteeaeeseeaeettnaeeeteaeeess 73 8 3 1 Sending process output data requesting a controlling connection 73 8 3 2 Dropping CONNECTIONS 02 0 2 ccc eee cece eeeeeeeeeeeeeeeeeeeeeeeeeeeeteetecsenaecaeeeeeees 74 8 3 3 TiMeOUt MONRO essaat irrena eee e E i R RRA 74 8 4 Parameter access via Modbus TOP sessseeseeeeseesrserrrerirserrrsrrrrsrrnesrenns 75 8 4 1 Procedure with FC16 and FCS seseseesssesrrrsseeerrrssrrrrrsssrrrnsssrerres 75 8 4 2 Procedure with FC23 ooo ecccccecceeeeeeeeeeteeeeeeeteneeeeeeeeeeeeeeeteeeeere 75 8 4 3 Protocol StrUCtUre ansni niied eaii iaaa dii ea aiii 76 8 4 4 MOVILINK parameter channel c ceeeeeeeeeeeeeeeeeeeeeeeeeeteeeeeteees 77 8 5 Fault codes exception codes sssesssssrssssrrrresrrrnserirrntentnnnnnrtnnnnentnnnnennnna 78 9 Fault Diagnostics for Operation on EtherNet IP and Modbus TCP 79 9 1 Diagnostic SCQUONCE sears iarainn aE re eean EE a ADEs ARAT EEEREN 79 10 PROFINET I0 Configuration cccccssecceeseeeesneeeeeeeeesseeeeneeeeesseaeseneeee
53. B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD Configuring the PROFINET IO controller 3 Choose the required station The SEW station appears under unit type The default device name is PNETDevice Name and must be changed appropriately Several MOVI PLC advanced DHR41B can be distinguished from each other by their displayed MAC address A label with the MAC address is attached to the DHR41B option 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 Click the Assign IP configuration button 5 TIP The IO controller must not yet be in a cyclic data transmission with the IO devices 6 Check whether the settings have been applied by once again clicking the Browse button 1 7 Click the Close button 8 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 10 83 10 84 C xD PROFINET IO Configuration Configuring the PROFINET connection for MOVI PLC advanced DHR41B 10 2 Configuring the PROFINET connection for MOVI PL C advanced DHR41B 10 2 1 Creat
54. B for EtherNet IP Modbus TCP and PROFINET IO 85 10 xD PROFINET IO Configuration Configuring the PROFINET connection for MOVI PLC advanced DHR41B 10 2 2 Configuring a station When the individual slots are configured the new station has to be configured 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 Properties my movi plc 1 T General Short description SEW DHR41B MoviPLC with PROFINET IO Interface incl topology recognition Order No Firmware 1820 x V1 0 Family SEW Device name 2 GSD file GSDML V2 1 SEW DHR41B UFR41B 20070311 xml Node PN IO system Device number PROFINET IO System 100 IP address Ethemet 3 r Comment Cancel 64631AXX 1 General tab 2 Device name input field 3 ETHERNET button 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 86 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD Configuring the PROFINET connection for MOVI PLC advanced DHR41B 4 Double click on the ETHERNET interface slot in
55. D PROFINET configuration with topology detection Bad received packets indicates the number of faulty ETHERNET packets A high number suggests a bus fault In this case check the cabling and shielding of the net work Received octets indicates the number of received packets Dropped 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 collisions indicates the number of ETHERNET packets dropped due to collisions There should be no collisions in a switched net work Sent Octets indicates the number of sent packets Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 10 95 g PROFINET IO Configuration 10 PROFINET diagnostics alarms 10 4 PROFINET diagnostics alarms 10 4 1 Switching on the diagnostic alarms The PROFINET interface supports 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
56. E_3PD Description Members Name PI Data Type Style Description from DRIVE m E C E o o m tor 11962AXX The description for process input and output data of the controller tag can be made in accordance with the definition of the process data PD in MOVI PLC advanced DHR41B 28 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup EtherNet IP qu Configuration examples in RSLogix 5000 4 To copy the data of MOVI PLC advanced DHR41B to the new data structure a CPS command is added at the start of the MainRoutine which reads the data from the controller tag see following figure A Controller Tags MainProgram MainRoutine Controller Fault Handler CI Power Up Handler salele EE Tasks E E MainTask CB MainProgram Program Tags Ba MainRoutine C3 Unscheduled Programs Phases E E Motion Groups 5 Ungrouped Axes 3 Add On Instructions Copy from MOVI PLC to Program Tag PS Synchronous Copy File Source MOVIPLC_Advanced Data 0 Dest MOVIPLC_ProgramTag PI Length 1 12058AXX To copy the 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 A Controller Tags MainProgram MainRoutine 5 Controller Fault Handler C Power Up Handler il Haele 3 6 Tasks MainTa
57. EtherNet IP net works caused by undesired multicast data traffic Connect non SEW devices via a network component that supports the IGMP snooping functionality e g managed switch 4 3 Shielding and routing bus cables Only use shielded cables and connection elements that also meet the requirements of category 5 class 2 in compliance with IEC 11801 edition 2 0 Correct shielding of the bus cable attenuates electrical interference that can occur in in dustrial environments The following measures ensure the best possible shielding e Manually tighten the mounting screws on the connectors modules and equipotential bonding conductors e Use only connectors with a metal housing or a metalized housing e Connect the shielding in the connector over a wide surface area e Apply the shielding of the bus cable on both ends e Route signal and bus cables in separate cable ducts Do not route them parallel to power cables motor leads e Use metallic grounded cable racks in industrial environments e Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route e Avoid using plug connectors to extend bus cables e Route the bus cables closely along existing grounding surfaces CAUTION In case of fluctuations in the ground potential a compensating current may flow via the bilaterally connected shield that is also connected to the protective earth PE Make sure you s
58. LC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 13 125 14 126 Index 14 Index A Control example for Simatic S7 Accessora a aan Mo ead mie R E R 31 STEP7 sample program ns 98 Assembly and installation notes for Ethernet 11 D Auto crossing a EEE cart setanares tite est 13 Data exchange via explicit messages 9 AUuto negotiation eeen 13 Data exchange via Modbus TCP B Parameter ACCESS n on 64 Bus cables Data exchange via Modbus TCP examples 61 Shielding and routing cccccccccecscscescsesceeeseeeees 12 Writing and reading process data 62 Data exchange via polled I O and bit strobe I O 9 c DFD11B CIP object directory cee tennessee 38 Connection ossessi 11 Assembly object ose treet 40 Terminal description ccecce 11 Ethernet link object sesers 50 DHCP Dynamic Host Configuration Protocol 19 Identity object cceeeeeccccceeeceeeeeeeteeeeeentnees 38 DHCP deactivation activation cccccccccecececeeeee 21 Message router object l es 40 DHR41B Parameter object usses 45 SATUS PED steed eara tana cln atlas 15 Register object ET tke keronans EE EE ENa Si 42 DHR41B connection to an Ethernet network 11 TCP IP interface object ccccccccceccceseesseeees 49 Diagnostic sequence for EtherNet IP Vardata object seeseeereereresseeeeeesiesieseenes 48 MOG BUSI GP np a 79 Configuration Diagnostics PROFINET connection s s 84 PROFINET pisope
59. LC program as a non binding sample SEW is not liable for the contents of the sample program e You can download S7 sample projects from the SEW homepage http www sew eurodrive de under Software Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 99 11 100 C 3D Operating Behavior PROFINET IO Settings in MOVI PLC advanced DHR41B The following figure shows the corresponding configuration for the MOVI PLC ad vanced DHR41B control card in the hardware configuration of STEP7 BR HW Config SIMATIC 3000 Slo es Station Edit Insert PLC View Options Window Help Osh S be wae HO Bw By SIMATIC 30001 Configuration myProject fret mja muR Profle Standard zj PROFIBUS DP 4 y PROFIBUS PA PROFINET lQ EC Additional Field Dewees I my sA Onves 1 bey E Gy DFE DFS 2 porte 3 OHR4B8 UFRAI8 gp DMRATB VIO Slot rot used J Slot PROFISafe Option OY Slot2 17 PD Channel 9 01 process data word 02 process data words 03 pocese data words 04 process data words 05 peocess data words 06 process dala words 07 process dels words 08 process data words 09 process data words 10 process data words 11 process data words 12 peocess data words 13 process data words 14 process data words 15 peocess data words 16 process data words 18 process dala words 21 process data words 24 process data words 32 process dat
60. LOT Dpram disabled SLOT amp jf ProfinetModbus Tcp Etheret Ip enabled SLOT amp inputs F ix 2 Resources G E Global Variables i a TI AxisCortrol HO Globalvar_AxisControt E O AxisContol_Datamanagement B E AxisConteol MDX B library O1_SingleAmisMotion MPLCD4 A Ibray O1_SingleAxieMotion MPLCM ao Ibray O5_Utiies MPLOCommunical E A library 05_Utities MPLCD ataManagi B Ibray 10_Irtertace MPLCintertace_ H E bray 10_Irtetface MPLCintedace_ E E library 10_Intertace MPLCintertece B C library 11_SystemiMPLCSystem_DH h E brary 11_ System MPLCSyetem_Eng POData1 AT 961 662 WORD Processdata Input 1 CHANNEL 1 160000 G E Ibray 11_System MPLCSyetem_Mat AT 1W663 WORD Processdata Input 2 CHANNEL 1 1640000 g LI library 11_System MPLCSystem_Sys AT 961664 WORD Processdata Input 3 CHANNEL I a Ibray 11_System SysLibFiedeyne tt E AT 91665 WORD Processdata Input 4 CHANNEL M 1640000 GEG reny standard fb 7 10 08 220000 E AT IW666 WORD Processdata Input 5 CHANNEL 1 160000 x oan ore AT IW667 WORD Processdata Input 6 CHANNEL N 1680000 g gt nii AT IW668 WORD Processdata Input 7 CHANNEL I i grac Browser E AT 1W669 WORD Processdata Input 8 CHANNEL I 180000 eT PL Configuration E AT 1W670 WORD Processdata Input 9 CHANNEL 1 1640000 Sampling Trace AT
61. Len Low BYTE Data Len High BYTE Reserved BYTE Reserved BYTE FC BYTE Vardata Array of BYTE Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP CIP object directory gw TCP IP interface object Class Instance 1 Supported services e The TCP IP interface object enables the IP parameters to be configured via EtherNet IP e Class code F5hex Attri Access Name Data Default value hex Description bute type 1 Get Revision UINT 0001 Revision 1 2 Get Max Instance UINT 0001 Maximum instance 3 Get Number of UINT 0001 DHR41B has one TCP IP inter Instances face Attri Access Name Datatype Defaultvalue Description bute hex 1 Get Status DWORD 00000001 Valid configuration 2 Get Configuration DWORD 00000014 The interface configuration attribute capability 5 is writable The DHCP can be used for configuration 3 Set Configuration DWORD 00000002 0 The unit uses the stored IP control parameters at startup 2 The unit waits for its IP configura tion via DHCP at startup 4 Get Physical Link STRUCT of Reference to the EtherNet link object Object class code OxF6 as sublayer Path Size UINT 0002 Path Padded 20 F6 24 01 EPATH 5 Set Interface con STRUCT of figuration IP Address UDINT Current IP address Netw
62. MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO General Notes Rights to claim under limited warranty 1 3 Rights to claim under limited warranty A requirement of fault free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the documentation Read the documen tation before you start working with the unit Make sure that the documentation is available to persons responsible for the system and its operation as well as to 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 to equipment or property resulting from non observance of the operating instructions In such cases any liability for defects is excluded 1 5 Copyright 2008 SEW EURODRIVE All rights reserved Copyright law prohibits the unauthorized duplication modification distribution and use of this document in whole or in part Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 2 2 1 2 2 2 3 2 4 2 5 2 6 Safety Notes Other applicable documentation Safety Notes Other applicable
63. P CIP object directory e This manufacturer specific object is required to use the engineering option of some of the software tools provided by SEW EURODRIVE e Class code 6416 None of the class attributes are supported Attri Access Name Datatype Default value Description bute hex 1 Get Data ARRAY OF SINT 2 Get Size UINT 00F2 Maximum data length in bytes Service code hex Service Name Instance attribute 1 Instance attribute 2 0E Get_Attribute_Single X X 32 Vardata custom X The standardized service Get_Attribute_Single Service Code 0x0E returns a data stream with the maximum data length attribute 2 when instance attribute 1 is accessed The data content is filled with zeros If a data stream is added to the request telegram Service Type Custom this data is returned in 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 table shows the complete telegram structure Name Data type Subaddress 1 BYTE Subchannel 1 BYTE Subaddress 2 BYTE Subchannel 2 BYTE Data
64. P address l C The DHR41B option indicates that the PROFINET IO controller has not yet established communication The PROFINET IO controller is switched off or has not yet been started up D Adapt PROFINET names Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Error Diagnostics on PROFINET a 12 Diagnostic procedure lt 12 1 2 Diagnostics problem 2 No process data exchange with the I O controller e 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 e Check the settings in MOVI PLC advanced DHR41B see chapter Settings in MOVI PLC advanced DHR41B Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 121 13 122 Appendix L Parameter access via EtherNet IP to downstream units 13 Appendix 13 1 Parameter access via EtherNet IP to downstream units 1 2 4 5 6 SPS EtherNet IP DHR41B Sere ubaadaress 1 O Subchannel 1 24 3 Subaddress 1 j EtherCAT 0 1001 Subaddress 1 F SBUS Address lt Subaddress 1 _ SBUS
65. PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Modbus Protocol Modbus TCP C xD Parameter access via Modbus TCP 8 4 4 MOVILINK parameter channel The following table shows the structure of the MOVILINK acyclic parameter channel It contains 8 bytes Offset 200hex 200hex 201hex 201 hex 202hex 202hex 203 hex 203hex Meaning Adminis Subin Index Index MSB Data Data LSB data tration dex high low data Comment Adminis Parameter index subindex 4 byte data tration Example 32hex OOhex 21hex 9Ehex O0hex O0hex OT hex F4hex Writing field bus timeout index 8606 You can access the parameter channel with FC3 FC16 and FC23 You can inform the parameter channel of the task in the administration byte using a write access The task itself is a MOVILINK service such as Write Write Volatile or Read The result can be read 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 e Offset 200 3200p administration write 4 bytes subindex 0 e Offset 201 219Ehex Index 8606 e Offset 202 0 Data high e Offset 203 01F4hex data low 500 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO
66. ParameterResponse SubAddress2 0 Decimal SINT WriteParameterResponse SubChannel2 0 Decimal SINT WriteParameterStart si Decimal BOOL 11967BXX 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 or the PLC Editor The tooltip displays for example index subindex factor etc of the pa rameter Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 5 35 5 36 C 3d Configuration and Startup EtherNet IP Configuration examples in RSLogix 5000 5 4 3 Access to unit parameters of downstream units Access to the unit parameters of a MOVITRAC B for example which is connected to the CAN 1 system bus of MOVI PLC advanced DHR41B is identical with the unit pa rameter access to 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 Controller Tags Sample controller Scope fJ Sample Show Show All Name Value Style Data Type ReadParameter faaa
67. S MotionStudio software to the new unit Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup EtherNet IP C xD Validity of the EDS file for DHR41B 5 5 Configuration and Startup EtherNet IP This section provides you with information about the configuration of the EtherNet IP master and startup of MOVI PLC for fieldbus operation Prerequisite is the correct con nection 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 TIP Do not edit or amend the entries in the EDS file SEW assumes no liability for inverter malfunctions caused by a modified EDS file SEW EURODRIVE provides the following EDS file for configuring the scanner Ether Net IP master e SEW_MOVIPLC_ADVANCED_DHR41B eds TIP Current versions of the EDS files for the DHR41B option are available on the SEW homepage http www sew eurodrive com under the heading Software Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 23 5 qv Configuration and Startup EtherNet IP Configuring the master EtherNet IP scanner 5 2 Configuring the master EtherNet IP scanner The following example refers to the configuration of the AllenBradley CompactLogix 1769 L32E controller with RSLogix 5000 programming softwa
68. TION Configuration FP Hardware Configuration E Software Configuration 3 Program J OFE Types Fy Variables L Animation Tables 3 Documentation Fie J Runtime Screens WONNA U i 10815AXX Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 55 Configuration and Startup Modbus TCP Configuration of the master Modbus scanner Settings for the Ethernet component 56 fal TSX ETY4103 RACKO POSITION 2 Double click on the Ethernet component to open the configuration window If you have a non extendable rack enter a 1 in the Network input field in the XWAY address section Enter the number of the slot that the Ethernet component 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 radio button Client Server configuration in the section IP address configuration In the Ethernet configuration section select the radio button Ethernet II In the Module utilities section select the check box IO Scanning Designation TCPAP 10 00 MODULE r Module IP address IP address Submetwork ma
69. Value Description 0 Response refer 0x01 Mirrored reference number from the parameter setting request ence 1 Response ID 0x810x82 Negative response for Request parameter negative response for Change Parameter 2 Axis 0x01 1 SBus address 1 of MOVIDRIVE B 3 No of parameters 0x01 1 parameter 4 Format 0x44 Error 5 No of Values 0x01 1 error code 6 7 Error value 0x0811 MOVILINK return code e g error class 0x08 Add code 0x11 o section MOVILINK return codes for PROFINET on page Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 11 117 C 3D 11 Operating Behavior PROFINET IO Parameterization via PROF ldrive data record 47 PROFIdrive The following table shows the coding of the error number in the PROFIdrive parameter return codes for response according to PROFldrive profile V3 1 This table applies if you use the PROFINET PROF ldrive services Request parameter and or Change parameter Error no Meaning Used for 0x00 Invalid parameter number Access to non existent parameters 0x01 Parameter value cannot be An attempt was made to change a parameter value that can changed not be changed 0x02 Minimum or maximum value An attempt was made to change a value to one that is outside exceeded of the limit values 0x03 Incorrect subindex Access to non
70. a words 10 process data words GSOML V2 1 SEW DHA418 UFR418 20070311 wal Slot Modde Ord tAdcress Qaddes pwr 182x x r i ArT AS 0 7 PRMD e EE 512 531 512 531 Ls Press Fl to get Help 12100AXX 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 fbhFbusGetinfo FhusGetinfo TRUEEnable 12046AXX The function module FbusGetinfo makes the status and some display parameters of the fieldbus interface available for the IEC program and diagnostics Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO C xD 11 Settings in MOVI PLC advanced DHR41B If there is no communication with the fieldbus master the output Error is set to TRUE During an active fieldbus connection the output Done is set to TRUE and the outputs Address Baud rate Timeout and Bus type show the respective parameters as they were set via the DIP switches of the DHR41B option or via the PLC Checking the Now the actual values can be read off MOVI PLC advanced DHR41B and setpoints process data can be written communication The process data should now correspond to the values displayed in the PLC Editor or in the diagnostics p
71. after the control program has been processed the pro cess output data are copied from data words 20 38 to the output address POW 572 Note the length information in bytes for the RECORD parameter The length information must correspond to the configured length Refer to the online help for STEP7 for further information about the system functions Start of cyclical program processing in OB1 BEGIN NETWORK TITLE Copy PI data from the DHR41B control card to DB3 words 0 18 CALL SFC 14 DPRD_DAT Read DP slave record LADDR WH16 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 DB3 DBW 0 Load PE1 L L DB3 DBW 2 Load PE2 L DB3 DBW 4 Load PE3 ete 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 0000 T DB3 DBW 24 Write Ohex to PO3 ete NETWORK TITLE Copy PO data from DB3 words 20 38 to the DHR41B control card CALL SFC 15 DPWR_DAT Write DP slave record LADDR WH16 200 Output address 512 200hex RECORD P DB3 DBX 20 0 BYTE 20 Pointer to DB DW RET VAL MW 32 Result in flag word 32 TIP e This program example is a special and free service that demonstrates only the ba sic principles of generating a P
72. ameter UINT 207A Index of the parameter Value 2 Get Link Path USINT 00 No link is specified Size 3 Get Link Path Packed 00 Not used EPATH Get Descriptor WORD 0000 Read write parameter Get Data type EPATH 00C7 UINT 6 Get Data Size USINT 02 Data length in bytes Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 45 6 46 C 3S The Ethernet Industrial Protocol EtherNet IP CIP object directory Instance 2 SEW subindex Instance 3 SEW subparameter 1 Instance 4 SEW subparameter 2 Attri Access Name Data type Default value hex Description bute 1 Set Parameter UINT 0000 Low byte contains the subindex Value 2 Get Link Path USINT 00 No link is specified Size 3 Get Link Path Packed 00 Not used EPATH Get Descriptor WORD 0000 Read write parameter 5 Get Data type EPATH 00C7 UINT Get Data Size USINT 02 Data length in bytes Attri Access Name Datatype Default value hex Description bute 1 Set Parameter UINT 0000 Low byte contains subaddress 1 Value High byte contains subchannel 1 2 Get Link Path USINT 00 No link is specified Size 3 Get Link Path Packed 00 Not used EPATH Get Descriptor WORD 0000 Read write parameter Get Data type EPATH 00C7 UINT 6 Get Data Size USINT 02 Data length in bytes Attri Access Name Datatype Default value Descrip
73. apter Appendix 11775BXX Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP C xD 6 Introduction 6 The Ethernet Industrial Protocol EtherNet IP 6 1 Introduction The EtherNet Industrial Protocol EtherNet IP is an open communication standard based on the classic EtherNet protocols TCP IP and UDP IP EtherNet IP has been defined by the Open DeviceNet Vendor Association ODVA and ControlNet International Cl EtherNet IP extends EtherNet technology to include the CIP application protocol Com mon Industrial Protocol CIP is known in the field of automation engineering because it is also used for DeviceNet and ControlNet as an application protocol 6 2 Process data exchange Up to 64 process data words can be exchanged with an EtherNet IP master scanner depending on the use of the DHR41B unit The EtherNet IP master scanner sets the process data length when opening the connection In addition to a controlling Exclusive Owner Connection up to two Listen Only Connec tions are available This means the actual values of the drive can also be read out by stand by controllers 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 opti
74. ause of error Remedy L13 LED Off PROFINET IO device is currently exchanging data with the PROFINET 10 controller Data Exchange Flashing The flashing function in the PROFI green NET IO controller configuration is acti Flashing vated to visually localize the stations green red Red e Connection to the PROFINET IO con e Check the PROFINET connection of the troller has failed DHR41B option e PROFINET IO device does not detect Check the PROFINET IO controller a link e Check the cabling of your PROFINET e Bus interruption network e PROFINET IO controller is not in operation Yellow The STEP 7 hardware configuration e Switch the STEP 7 hardware configura Flashing yel contains a module that is not permit tion to ONLINE and analyze the status low ted of the components of the slots in the PROFINET IO device LED L14 RUN indicates that the bus electronics are operating correctly Status of the Cause of error Remedy L14 LED Green e DHR41B hardware OK e Proper operation Off e DHR41B is not ready for operation Red Error in the DHR41B hardware Switch the unit on again Consult SEW Service if the error occurs again Flashing green Flashing yel Switch the unit on again Set default IP low Hardware of the DHR41B does not address parameters via DIP switch S1 boot up Consult SEW Service if the error occurs again Yellow Switch the unit on again Consult SEW
75. bject proceed as follows 1 Create a user defined data structure SEW_Parameter_Channel see following figure Controller Sample Data Type SEW_Parameter_Channel Controller Tags 5 Controller Fault Handler CI Power Up Handler Name SEW_Parameter_Channel 29 Tasks Motion Groups E3 Ungrouped Axes 5 Trends Members B E Data Types Reserved Decimal a User Defined Ea Index INT Decimal R SEW_Drive Data DINT JHex Ei SEW _Parameter_Channel ei ___ Subindex _ SINT Decimal W 0138_8249725_I_E771E08B Reserved2 SINT Decimal KA _013B_8249725_0_E771E088 SubAddress SINT Decimal H _3_words E SubChannell SINT Decimal E CR Strings C Sub ddress2 SINT Decimal Op Predefined SubChannel2 SINT Decimal 11764AXX 2 Define the following controller tags see following figure Name amp Data Type ReadParameter MESSAGE ReadParameterRequest SEW _Parameter_Channel ReadParameterResponse SEW _Parameter_Channel ReadParameterStart BOOL 11765AXX 3 Create a rung for the ReadParameter execution see following figure ReadParameterStart Type CIP Generic Message Control 11766AXX e For contact select the tag ReadParameterStart e For the Message Control select the tag ReadParameter Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 5 31 5 qu Con
76. d attribute is not supported 15 Too much data The length of the transferred data is too long for the service to be performed 16 Object does not exist The selected object is not implemented in the device 17 1D Reserved 1E Embedded service error Internal processing error 1F Vendor specific error Manufacturer specific error see Fieldbus Unit Profile man ual 20 Invalid parameter Invalid parameter This error message is used when a param eter does not satisfy the requirements of the specification and or the requirements of the application 21 FF Reserved Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP C xD Return codes for parameter setting via explicit messages MOVILINK spe The following table shows the MOVILINK specific return codes MOVILINK Error cific return codes Class and Additional Code in the event of an incorrect parameterization MOVILINK Error class Additional code Description 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 0x05 0x0C Illegal pointer 0x0D Not enough memory Ox0E System error OxOF Communication d
77. d to the service telegram The SEW parameter channel consists of the elements listed in the following table Name Datatype Description Index UINT SEW unit index Data UDINT Data 32 bit Subindex BYTE SEW unit subindex Reserved BYTE Reserved must be 0 Subaddress 1 BYTE baa ids Spee ere se MOVI PLC itself Subchannel 1 BYTE 3 Lower level bus system e g SBus 1 Subaddress 2 BYTE Reserved must be 0 Subchannel 2 BYTE Reserved must be 0 The subchannels and subaddresses apply depending on the lower level bus system from MOVI PLC advanced DHR41B to the drives For a schematic representation of the parameter access to lower level units refer to the chapter Appendix Subchan Interface Value range subaddress 1 nel 1 0 MOVI PLC itself 0 1 Inverter via DPRAM if in MDX B 0 2 EtherCAT X36 0 99 the EtherCAT address is calculated from Sub address 1 1001 3 SBus1 X33 and X26 1 63 4 SBus2 X32 1 63 5 RS485_1 X34 1 3 5 and X24 1 99 6 RS485_2 X34 2 4 6 1 99 Supported iss Service code hex Service Name Instance Ox0E Get_Attribute_Single X 44 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP C xD 6 CIP object directory Service code hex Service Name Instance 0x10 Set_Attribute_Single x
78. daar 96 PROFINET 10 controller sse 81 PROFINET topology oseere 93 PROFINET topology s sscssseeeeseeesesees 89 Diagnostics alarms siccs ciox sdaachtedinesestuces aberskcceies 96 Configuration and startup EtherNet IP 23 Configuration of the master E EtherNetv IP scanner ecse 24 Errors Settings in DHR41B cccccccccecsssssesessssesseseteees 27 Determining the cause ct 96 Validity of the EDS file for DHR41B 23 EtherNet Industrial Protocol EtherNet IP Configuration and startup Modbus TCP 55 CIP Object directory ossessi 38 Configuration of the master Process data exchange E PEE A OE pasate 37 Modbus scanner csee 55 Ethernet Industrial Protocol EtherNet IP 37 Settings in DHR41B nsee 58 Ethernet switch cc cccccceeeeeeeeeeeeeeeeneeeeeeeeeeees 13 Unit description file for Modbus TCP 55 AULO CIOSSING saisikin eiiiai aunat diaaa 13 Configuration examples in RSLogix 5000 28 Auto negotiation cccceeeeceeeeseeeeeeeeeeeeteeeeees 13 Configuration examples in RSLogix 5000 Multicast handling a so 13 EtherNet IP Exclusion of liability ccceeeseeeeeeeeeeeeeeeeeeee 7 Access to unit parameters of F downstream UNIS sesse 36 Configuration for the master Modbus scanner Fault codes exception COUES ceeseeeeeecteesseeeeees 78 Hardware configuration control structure 55 Fault Higa noe ties g Configuration of the master
79. documentation Note also the following documentation MOVI PLC advanced DHE41B DHF41B DHR41B Controller manual MOVI PLC Programming in the PLC Editor manual The following publications and documents apply to the connected units e Operating instructions of the units Units are for example MOVIDRIVE B MOVITRAC B MOVIAXIS e For units with functional safety technology also the respective Safe Disconnection Conditions manuals Bus systems MOVI PLC advanced DHR41B supports various bus systems A bus system makes it is possible to adapt frequency inverters to the particulars of the machinery within wide limits As with all bus systems there is a danger of invisible external as far as the in verter is concerned modifications to the parameters which give rise to changes in the unit behavior This may result in unexpected though not uncontrolled system behavior 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 following publications is observed Safe Disconnection for MOVIDRIVE MDX60B 61B MOVITRAC B Hoist applications MOVIDRIVE MDX60B 61B and MOVITRAC B are not designed for use as a safety device in hoist applications Use monitoring systems or mechanical protect
80. e Timeout and Bus type show the respective parameters as they were set via the DIP switches of the DHR41B option or via the PLC Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 27 5 qu Configuration and Startup EtherNet IP Configuration examples in RSLogix 5000 5 4 Configuration examples in RSLogix 5000 5 4 1 MOVI PLC advanced DHR41B with 16 PD data exchange 1 Set the IP address of the DHR41B option see section Setting 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 E S Controller CompactLogix LA Controller Tags Controller Fault Handler C3 Power Up Handler E E Tasks 2 4 MainTask amp O8 DeviceNetInputs A Program Tags Ei MainRoutine E DeviceNet_for_Logi MainProgram 3 DeviceNetOutputs 5 Unscheduled Programs Phe Motion Groups C3 Ungrouped Axes 3 Add On Instructions Data Types B A User Defined E SEW_DRIVE_3PD H SEW_MOVIAXIS_10PD Ei _0138_18211615_I_C9 KA _0138_18211615_0_CS El _10_words KA _3_words ER Strings LLAD Add_AnNafinad Data Type SEW_DRI E_3PD Name SEW_DRIV
81. e Address Write WordCount H N 64066AXX Example Request Byte Designation Meaning permitted values 0 6 MBAP header 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 Response Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code 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 Exception Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code 90hex 8 Exception code Fault code 70 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Modbus Protocol Modbus TCP C xD Protocol structure 8 2 4 Service FC23 Read write multiple registers With the service FC23 Read write multiple registers you can simultaneously write and read a variable number of registers The write access is carried out first Preferably this service is used for the process data see following picture
82. e WRITE and READ ser vices for volatile writing of the value 12345 to the IPOSPUS variable HO of a MOVIDRIVE B with SBus address 1 which is connected to the CAN 1 system bus X33 of DHR41B parameter index 11000 The MOVILINK service WRITE parameter volatile is used for this purpose Send WRITE parameter volatile request 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 The following table shows the WRITE request user data for MOVILINK Write para meters volatile Byte Field Value Description 0x01 Individual reference number for the parameter setting order is reflected in the parameter response 1 Request ID 0x40 SEW MOVILINK service 2 Axis 0x01 1 MOVIDRIVE B with SBus address 1 3 No of parameters 0x01 1 parameter 4 Attribute 0x30 MOVILINK service WRITE parameter volatile 5 No of elements 0x00 0 access to direct value no subelement 6 7 Parameter Number Ox2AF8 Parameter index 11000 IPOS variable HO 8 9 Subindex 0x0000 Subindex 0 10 Format 0x43 Double word 11 No of values 0x01 Change 1 parameter value 12 13 Value High word 0x0000 Higher order part of the parameter value 14 15 Value Low word Ox0BB8 Lower order part of the paramet
83. e network thatis that automatically every branch of cost and complexity of future with you always close at hand improve your productivity industry today daily operations Aim _ E F f SEW EURODRIVE N Driving the world e A w ee With a global presence With innovative With online information that offers responsive technology that solves and software updates and reliable solutions tomorrow s problems via the Internet available Anywhere today around the clock SEW EURODRIVE GmbH amp Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive com WWwW sew eurodrive com
84. e the PD is 13 0x04 Write reference number located i Must always be 4 14 0x00 Write word count Number of PDW here 3 15 0x03 see read word count 16 0x06 Write byte count Number of PDW x 2 6 17 0x00 Process output data word 1 18 0x11 19 0x22 Data mapping and definition an 33 Data Process output data word 2 see IEC program 21 0x44 Process output data word 3 22 0x55 The response telegram of the Modbus TCP slave comprises the following data bytes Byte a Meaning Interpretation Help 0 i 0x00 Transaction identifier 2 3 0x00 Protocol identifier For a detailed description 4 0x00 Number of bytes after byte 5 refer to Modbus TCP speci 5 608 Length field 3 no of PD x2 3 9 fication and section Modbus X protocol Modbus TCP 6 OxFF Unit identifier Must be 0 or 255 7 0x17 Function code Service FC23 read write reg ister 8 0x06 Write byte count Number of PDW x 2 6 9 0x00 Process input data word 1 10 OxAA 11 0xBB i ini Data Process input data word 2 paa mapping and defini 12 OxCC tion see IEC program 13 0xDD Process input data word 3 14 OxEE Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 63 Configuration and Startup Modbus TCP Examples for data exchange via Modbus TCP 7 5 2 Parameter access FC23 is suitable for the parameter access via the MOVILINK parameter chann
85. e to change a value to one that is in the permitted range but is not permitted due to other long term reasons parameter with specified individual values 0x15 Response is too long The length of the current response exceeds the maximum transmittable length 0x16 Invalid parameter address Invalid value or value that is not valid for this attribute num ber of elements parameter number subindex or a combina tion of these factors 0x17 Incorrect format Write request Invalid format or parameter data format that is not supported 0x18 Number of values is not Write request Number of values of parameter data does not consistent correspond to the number of elements in the parameter address 0x19 Axis does not exist Access to an axis that does not exist up to 0x64 Reserved Ox65 0xFF Depends on the manufac turer 118 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Error Diagnostics on PROFINET 2 a Diagnostic procedure lt an 12 12 Error Diagnostics on PROFINET 12 1 Diagnostic procedure 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
86. el as it is possible to realize the request to the MOVILINK service and the collection of the re sponse in one Modbus TCP service For read purposes the TCP IP telegram is structured as follows Meaning Interpretation Help Transaction identifier Protocol identifier Length field Number of bytes after byte 5 Must be 19 for MOVILINK Unit identifier 1 Function code Service FC23 read write reg ister Read reference number Offset where the MOVILINK parameter channel starts Must always be 512 Read word count Must always be 4 for the MOV ILINK parameter channel Write reference number Offset where the MOVILINK parameter channel starts Must always be 512 Write word count Must always be 4 for the MOV ILINK parameter channel Write byte count 8 bytes MOVILINK For a detailed description refer to Modbus TCP specifi cation and section Modbus protocol Modbus TCP Byte Valu e 0 i 0x00 2 0x00 4 0x00 5 0x13 6 0x00 7 0x17 0x02 0x00 10 0x00 11 0x04 12 0x02 13 0x00 14 0x00 15 0x04 16 0x08 17 0x31 18 0x00 19 0x20 20 Ox6C 21 0x00 22 0x00 23 0x00 24 0x00 Data MOVILINK parameter channel Administration byte 0x31 read Parameter subindex Parameter index 0x206c 8300 Firmware part number Parameter value Irrelevant for read service
87. em_ Sys AT IW664 WORD Processdata Input 3 CHANNEL 1 16 0000 a C ibrary 11_System SysLibFieAsyne it AT IW665 WORD Processdata Input 4 CHANNEL M 160000 a C tery standard Ib 7 10 08 2300 on E AT IW666 WORD Processdata Input 5 CHANNEL I 16 0000 H E Alam configuation E AT IW667 WORD Processdata Input 6 CHANNEL 1 16 0000 iiris AT IW668 WORD Processdata Input 7 CHANNEL 1640000 j o PLC Browser E AT 961669 WORD Processdata Input 8 CHANNEL 1 16 0000 s AT IW670 WORD Processdata Input 9 CHANNEL I 16 0000 Dy Samping Trace AT 61W671 WORD Processdata Input 10 CHANNEL 1 16 0000 gale Target Settings BAT 61W672 WORD Processdata Input 11 CHANNEL 1 1670000 Fe Task configuration a AT IW673 WORD Processdata Input 12 CHANNEL 1 16 0000 F Q Watch and Recipe Manager E AT 61W 674 WORD Processdata Input 13 CHANNEL 1 1640000 3 Workspace AT IW675 WORD Processdata Input 14 CHANNEL 1 16 0000 m AT GAWATA WARM Procecertata Inat MSM ICHANNFI M 1AeNnnn 12050AXX Configuration and Startup EtherNet IP qu Configuration examples in RSLogix 5000 5 4 2 Access to the parameters of MOVI PLC advanced DHR41B For easy read access to the parameters of MOVI PLC advanced DHR41B via explicit messages and the register o
88. er value After sending this WRITE request the WRITE response is received If there was no sta tus conflict in processing the parameter channel a positive WRITE response occurs Otherwise the status fault is listed in Error_code_1 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 11 111 Operating Behavior PROFINET IO Parameterization via PROF ldrive data record 47 Query parameter response The following table shows the coding of the READ req user data including the PROFINET header 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 240 Maximum length of response buffer in the master Positive response to WRITE Parameter volatile Service READ response 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 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
89. eration on EtherNet IP and Modbus TCP lt Diagnostic sequence Step 2 Check the status LED and the status display on the master scanner To do so use the documentation of the controller or master module Should there be no working EtherNet IP or Modbus TCP master yet you can use an SEW master simulator for testing or starting up the DHR41B option The latest version of the master simulator is available on the SEW website You can use the SEW master simulator to exchange process or parameter data with EtherNet IP or Modbus TCP profile with an SEW fieldbus interface Step 3 Fault diagnostics If DHR41B is in the Connected status data exchange between 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 Is the process data exchange activated in the scanner master Is the process data written to the correct location in the scanner Check the tags and scanner mapping Is the PLC in RUN mode or does active forcing overwrite the transfer of the normal process data words If the PLC is not sending data to the DHR41B please refer to the documentation of the PLC manufacturer for support Are the process data words being used correctly
90. es and deactivates DHCP IP address 192 168 10 4 64249AXX e Subnet mask 255 255 255 0 Gateway 192 168 10 4 21 0N EtherNet IP and Modbus TCP protocol is active 21 OFF PROFINET protocol is active X38 CAN for safety rele X38 1 Reserved vant communication X38 2 Reserved X38 3 Reserved 4 2 Pin assignment of X30 1 and X30 2 Use prefabricated shielded RJ45 plug connectors compliant with IEC 11801 edition 2 0 category 5 6 812111 WSS A B 54174AXX A View from front B View from back 1 Pin 1 TX Transmit Plus 2 Pin 2 TX Transmit Minus 3 Pin 3 RX Receive Plus 6 Pin 6 RX Receive Minus Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 11 Assembly and Installation Notes for Ethernet Shielding and routing bus cables DHR41B Ethernet connection To connect DHR41B to the Ethernet connect the Ethernet interface X30 1 or X30 2 RJ45 plug connector to the other network stations using a category 5 class D twisted pair cable in accordance with IEC 11801 edition 2 0 The integrated switch provides sup port for realizing a line topology and offers auto crossing functions TIPS e According to IEC 802 3 the maximum cable length for 10 100 MBd Ethernet 10BaseT 100BaseT e g between two network stations is 100 m e We recommend that you do not directly connect non SEW end devices to the DHR41B option in order to minimize the load on the end devices in
91. escription Slot_Number 0 Random is not evaluated Index 47 Index of the data record constant index 47 Length 10 10 byte user data for parameter request Byte Field Value Description 0 0x01 Individual reference number for the parameter setting order that is reflected in the parameter response 1 Request ID 0x01 Request parameter PROF Idrive 2 Axis 0x00 Axis number 0 DHR41B 3 No of parameters 0x01 1 parameter 4 Attribute 0x10 Access to parameter value 5 No of elements 0x00 0 access to direct value no subelement 6 7 Parameter Number 0x206C MOVILINK index 8300 Firmware version 8 9 Subindex 0x0000 Subindex 0 114 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO C xD 11 Parameterization via PROFIdrive data record 47 Query parameter response The following table shows the coding of the READ req user data including the PROFINET header Service READ request Description Slot_Number 0 Random is not evaluated Index 47 Index of the data record constant index 47 Length 240 Maximum length of response buffer in the PN controller Positive PROFldrive parameter response The table shows the READ res user data with the positive response data of the param eter setting request The parameter value for index 8300 firmware version is returned as an example Se
92. eseeneeeeeeeeneeeeeeeenaeeeeeeentaeeeeeteaes 22 Configuration and Startup EtherNet IP ccccsccssseceseeceesseeeeeseeeeesseesenneeeeees 23 5 1 Validity of the EDS file for DHR41B cc eeeeceeeceeeeenee essere eeeeeeeeeaeeeeeeeees 23 5 2 Configuring the master EtherNet IP scanner cccccecceeeeeeeeeeteeeeeneeees 24 5 3 Settings in MOVI PLC advanced DHR41B csscsccssssssessesseesesseestesesseeseeees 27 5 3 1 Process data Configuration cccceeceeeeeeeeeseteeeeeeeteneeeeeeetneeeeeee 27 5 3 2 Status of the fieldbus interface 2 eee eeeeeteeeeeeeeeteeeeeeetteeeeeeeeae 27 5 4 Configuration examples in RSLogix 5000 cceeececeeeeeeeeeeeeeeeeeteteeeeeeees 28 5 4 1 MOVI PLC advanced DHR41B with 16 PD data exchange 28 5 4 2 Access to the parameters of MOVI PLC advanced DHR41B 31 5 4 3 Access to unit parameters of downstream units cccccceeeeeeeees 36 The Ethernet Industrial Protocol EtherNet IP ccesesssseesseeeseseeeeeeeees 37 Gt IntrOGUCTION oeer aes en aS E aE a a R A Sis steed Hee E NEEE 37 6 2 Process data Exchange ccccceccceccesseceeeeeeeeneeeeeneeeseeeeeseaneeesenseeeeeeeeneaaes 37 6 3 CIP object GireCtOry ceeecceecseeeeeeeeeeeeeeeeeeeeeeeaeeeeeaeeeeeaeeeeeaeeeseaeeeteaaeeteneeeea 38 6 4 Return codes for parameter setting via explicit messageS cee 51 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbu
93. ess Editor ececceeeeeeeeeeeeeeeeeeeeees 21 SEW specific return codes cccccceeeeeeeeeeeeeeees 51 Standard gateway ssesseeeeiseeeerrserrrrrserrrreeeena 19 Status LED of the DHR41B option 15 Status LEDs of the DHR41B option LEDs Link ACtivity casisiirerieiiricitn a 17 Meaning in EtherNet IP and Modbus TCP operation 0000008 15 Meaning in PROFINET operation 0 16 Structure of the safety notes ne 6 Subnet MASK raian e a aa aE iaar 19 T TCP IP addressing and subnets DAGE garata i A TE O es 19 TCP IP addressing and subnetworks 2 18 IP addrOSS iriri ienie teiden iaiia 18 MAC address 00 22 cccceeeeeeeteteteeeeeteteeetteteeeenees 18 Network classes eessen 18 Standard gateway ssssseccsecceeenn 19 Subnet MaSK sssessssssseeseeeseerrrrnreneeesrrerrrernn 19 Topology detection PROFINET in Tarana ere e AA Aa E e 88 U Unit replacement procedure sssssssssesesereereeeeee 22 Ww Warnan cesan a a a 7 X X30 1 and X30 2 pin assignment s 11 128 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO SEW EURODRIVE Driving the world Drive Technology Drive Automation System Integration Services How we re driving the world With people who With comprehensive With uncompromising think fast and With a worldwide With drives and controls knowledge in virtually quality that reduces the develop the servic
94. esseseneeeeeneas 81 10 1 Configuring the PROFINET IO controller ccccceeseseeeeeseeeeeeeeeteneeetenaees 81 10 1 1 Installing the GSD ME erennere a TE T 81 10 1 2 Assigning a PROFINET device name ccecceeseeeeeeeeenteeeeeeeeeaes 82 10 2 Configuring the PROFINET connection for MOVI PLC advanced DAR4 1B Sonora a e E NS 84 10 2 1 Creating a new project assssssssessiesessrressssrrnesettnneestnnneestnenneneinnanenenen 84 10 2 2 Configuring a Station niea a R E 86 10 3 PROFINET configuration with topology detection 88 TO S 1 INTODUCHION 2 23 20 2 ead ak aidan he tie bead 88 10 3 2 Configuring the PROFINET topology eceeeceeeeeesteeeeeeeeteeeeeeeeaas 89 10 3 3 Changing the port properties 2 00 00 cccceeeeeeeceeeececeeceeeeeeeeeteeeeeeenaees 91 10 3 4 Topology diagnostics 00 cece eeeeneeeeeeeeeneeeeseeaeeeeeeeetaeeeeeeeaaas 93 10 35 Port StAatiStiCs on usri acca AE ae r aces A E ns AES 94 10 4 PROFINET diagnostics alarms 0 cccccceeeeeeeeeceeeeeeeeeseeeeeeeeeseeeeeteeeeessaees 96 10 4 1 Switching on the diagnostic alarms 0 0 eeeeeeeeeeeeeeeeeeetteeeeeeeeaaes 96 10 4 2 Determining the cause of a fault ec eeeeeeeeenteeeeeeeenaeeeeeeeaas 97 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 11 Operating Behavior PROFINET lO ccsccssseeceeseeeeseeeeeeseeesssaeseseeeeesssaeseseeeenes 98 11 1 Process data exchange with MOVI PLC advanced DHR41B
95. ests The PROFldrive parameter channel of SEW inverters is directly mapped in the structure of data record 47 Parameter access with PROF ldrive services usually takes place ac cording to the structure described below The typical telegram sequence for data record 47 is used PROF Idrive only defines the two request IDs Request ID 0x01request parameter PROF Idrive Request ID 0x02change parameter PROFidrive This means there is restricted data access in comparison with the MOVILINK services TIP The request ID 0x02 Change Parameter PROFldrive 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 parameters must be written cyclically at short intervals With this service you only alter the parameter values in the RAM of the inverter Reading a para The following tables show an example of the structure of the WRITE request and meter via PROFI READ res user data for reading an individual parameter via the MOVILINK parameter drive example channel Sending a parameter request The table shows the coding of the user data for the WRITE req service specifying the PROFINET header The WRITE req service is used to transfer the parameter setting re quest to the inverter Service WRITE request D
96. eterResponse lndex 860 6 Decimal INT ReadParameterResponse Data 16 0000_012c Hex DINT E ReadParameterResponse Subindex 0 Decimal SINT j E ReadParameterResponse Reserved2 0 Decimal SINT ReadParameterResponse Sub ddress1 0 Decimal SINT i E3 ReadParameterResponse SubChannell O Decimal SINT _ ReadParameterResponse SubAddress2 0 Decimal SINT ReadParameterResponse SubChannel2 0 Decimal SINT ReadParameterStart C Decima BOOL 11966BXX 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 see fig ure below The tooltip displays for example index subindex factor etc of the pa rameter Diagnostics Fieldbus type PLC Ethenet IP Fieldbus baud rate kBaud 100000 Fieldbus address o Feldbus timeout s Firmware version fieldbus 1821 AAAS Firmware release fieldbus 3 SI unit s PD configuration 16 PO Minimum 0 0 Default 500 0 Maximume 0 0 12061AXX Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 5 34 C zd Configuration and Startup EtherNet IP Configuration examples in RSLogix 5000 Only few changes are required for parameter w
97. existent subindex 0x04 No assignment Access with subindex to parameter that is not indexed 0x05 Incorrect data type An attempt was made to change a replace a value with one that does not correspond to the data type of the parameter 0x06 Setting not permitted can An attempt was made to set a value to one larger than 0 only be reset where this is not permitted 0x07 Description element cannot Access to description element that cannot be changed be changed 0x08 Reserved PROFIdrive Profile V2 PPO write query for IR not available 0x09 Description does not exist Access to description that is not accessible parameter value exists Ox0A Reserved PROF ldrive 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 Access to text assignment that is not accessible parameter able value exists 0x10 Reserved PROFIdrive Profile V2 no PPO write 0x11 Request cannot be exe Access is currently not possible and the reason is not cuted due to the operating explained mode 0x12 Reserved PROFIdrive Profile V2 other error 0x13 Reserved PROF drive Profile V2 data cannot be read in cyclic exchange 0x14 Incorrect value An attempt was mad
98. figuration and Startup EtherNet IP Configuration examples in RSLogix 5000 4 Click on in the MSG command to open the Message Configuration window see following figure Message Configuration ReadParameter xi Configuration Communication Tag Message Type ar Generic g Senice E et Attribute Single 7 Source Element ReadParameterRequ w ype Source Length 12 lt j Bytes Service le pe Code e Hex Class 7 Hex Destination ReadParameterResp Instance fi Attribute 4 Hex N ew Tag 11767AXX Select CIP Generic as message type Fill the other fields in the following order Source Element ReadParameterRequest Index SourceLength 12 Destination ReadParameterResponse lndex Class 7hex Instance 1 Attribute 4hex Service Code Chex QOm7mMvOWS 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 Message Configuration ReadParameter Configuration Communication Tag aS Message Path Browser x Communication Me Path MOVIPLC_Advanced CP C DHI CIP Swit MOVIPLC_Advanced pI it peewee A 1 1756 ENBT A Ethemet_for_Logix I Connected Ethemet w is WE THERNET MODULE MOVIPLC_Advanced s 1756 ENBT A Ethernet_for_Logix 120
99. ge often starts with 40001hex which corresponds to an offset with the value 0 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Modbus Protocol Modbus TCP Introduction Eo 8 1 2 Services function codes 8 1 3 Access For process data exchange parameter data exchange and unit identification the DHR41B option provides 4 FC services Function Codes e FC 3 Read Holding Registers e FC16 Write Multiple Registers e FC23 Read Write Multiple Registers e FC43 Read Device Identification The FC3 and FC16 services allow reading or writing of one or more registers FC23 al lows a register block to be read and written simultaneously FC43 can be used for a unit identification by reading out the identity parameters 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 Process output data FC3 0 64 words data actual val setpoint values FC16 ues FC23 100 103 Reserved 104 1FF Process output FC3 For reading the setpoint values by data setpoint val a Client other than the controlling ues one 200 2FF Result acyclical Request acyclical FC3 4 words parameter chan parameter channel FC16 nel FC23 300 FFFF Reserved Special Fieldbus timeout Fieldbu
100. has been assigned Changing the IP address parame ters after initial Startup If the DHR41B was started using a valid IP address you can also access the IP address parameters via the Ethernet interface There are various ways to change the IP address parameters via Ethernet e Using the MOVITOOLS MotionStudio software e 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 to the option DHR41B via a DHCP server you can only change the parameters by adjusting the settings of the DHCP server The options listed above for changing the IP address parameters only come into effect once the supply voltages DC 24 V have been switched off and back on again Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Assembly and Installation Notes for Ethernet Setting the IP address parameters Deactivating acti The type of IP address allocation is determined by the setting of the attribute Configura vating DHCP tion Control of the EtherNet IP TCP IP interface object The value is displayed or mod ified in the parameter P785 DHCP Startup Configuration Setting Saved IP parameters The saved IP address parameters are used Setting DHCP The IP address parameters are req
101. he 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 E ito ie P meane File Edit View Go Capture Analyze Statistics Help Seeewi Saxez e inxesaFz SBiaaan Filter modbus_tcp trans_id 0 v Expression Clear Apply Protocol Info Destination 63 10 3 64 3 1 119 Modbus TCP ss query 1 pkt 98 10 3 71 119 10 3 64 126 Modbus TCP response 1 pkt Frame 18 73 bytes on wire 73 bytes captured Ethernet II Src vmware_44 5a 09 00 0c 29 44 5a 09 Dst Cisco_aa 0f 3f Internet Protocol Src 10 3 64 126 10 3 64 126 Dst 10 3 71 119 10 3 71 Transmission Control Protocol Src Port iad2 1031 Dst Port asa appl prot Modbus TCP transaction identifier 0 protocol identifier 0 length 13 unit identifier 255 3 Modbus function 16 write Multiple Registers reference number 4 word count 3 byte count 6 ieee Data 0000 00 Of 90 aa Of 3f 00 Oc 29 44 5a 09 08 00 45 00 Be QZ seks 0010 00 3b 01 be 40 00 80 06 5d 04 Oa 03 40 7e Oa 03 Se Sree ee ae z P 0020 47 77 04 07 01 f6 17 f9 df fd Oc e1 7a id 50 18 Gw fa c5 88 cc 00 00 0E 1 06 10 00 12047AXX The figu
102. her 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 LED L14 MODULE STATUS indicates that the bus electronics are operating correctly States of the MOD ULE STATUS LED Meaning Off The DHR41B option card is not supplied with voltage or is defective Flashing green Ifthe NETWORK STATUS LED is off at the same time the TCP IP stack of the DHR41B option card will be started If this status continues and DHCP is acti vated the DHR41B option waits for data from the DHCP server Ifthe NETWORK STATUS LED is flashing green at the same time the applica tion of the DHR41B option card is started Flashing green red The DHR41B option card performs an LED test Green Indicates the standard operating state of the DHR41B option card Red The DHR41B option card is in fault state Flashing red Conflict detected in the assigned IP addresses Another station in the network uses the same IP address Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 15 16 Assembly and Installation Notes for Ethernet Status LED of the DHR41B option 4 6 2 Status LEDs in PROFINET operation LED L13 BUS FAULT LED L14 RUN The LED L13 BUS FAULT displays the status of the PROFINET Status of the C
103. igned to the Ethernet de vice SEW Ethernet devices have the MAC address 00 OF 69 xx xx xx The MAC ad dress is difficult to handle for larger networks This is why freely assignable IP addresses are used The IP address is a 32 bit value that uniquely identifies a station in the network An IP address is represented by four decimal 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 Byte 1 Byte 2 Byte 3 Byte 4 11000000 10101000 00001010 00000100 The IP address comprises a network address and a station address following table Network address Station address 192 168 10 4 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 the subnetwork mask Station addresses cannot consist of only zeros or ones binary because they represent the network itself or a broadcast address The first byte of the IP address determines the network class and as such represents the division into network addresses and station addresses Value range Complete network address Network class Meaning Byte 1 Example 0 127 A 10 1 22 3 10 Network address 1 22 3 Station address 128 191 B 172 16 52 4 172 16 Network address 52 4 Station address 192
104. ing a new project Proceed as follows to create a new project 1 oo FB ON Start the SIMATIC Manager and create a new project Select your control type and add the required modules The following modules make sense e OB82 module This module makes sure that the controller does not trigger a STOP in the event of so called diagnostic alarms e OB86 module This module indicates the failure of decentralized peripherals e 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 Start STEP 7 HW Config and select the PROFINET IO slot in the control rack Add a PROFINET IO system by right clicking the context menu with your mouse Specify an IP address for the PROFINET IO controller when doing this Add anew PROFINET subsystem using the ETHERNET button Open PROFINET 1lO Additional field devices Drives SEW DHR41B UFR41B in the hardware catalog 2 entries are available for the DHR41B option e DHR41B V1 0 for controllers that support the PROFINET IO topology detection e DHR41B V1 0 ALT for controllers that do not support the PROFINET IO topology detection Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD 10 Configuring the PROFINET connection for MOVI PLC
105. ing the changes to the PLC index and value to be written into the pa rameter can be entered at WriteParameterRequest index and WriteParameterRe quest Data By altering WriteParameterStart to 1 the write request is executed once see following figure Name Value Style Data Type H WriteParameter tose MESSAGE WriteParameterRequest carers SEW_ Parameter_ c W JWiriteParameterRequest Reservedl 0 Decimal INT WriteParameterR equest Index 11001 Decimal INT L B l WiriteParameterRequest Data 16 0000_0021 Hex DINT 2 WiiteParameterR equest Subindex I 0 Decimal SINT A WriteParameterRequest Reserved2 0 Decimal SINT amp WiiteParameterR equest SubAddress1 _ 0 Decimal SINT WriteParameterRequest SubChannell 0 Decimal SINT WriteParameterRequest SubAddress2 0 Decimal SINT WriteParameterRequest SubChannel2 0 Decimal SINT ES WriteParameterResponse Vase SEW_Parameter_C WiiteParameterResponse Reserved 0 Decimal INT E WriteParameterResponse Index 11001 Decimal INT WriteParameterResponse Data 16 0000_0021 Hex DINT WriteParameterResponse Subindex 0 Decimal SINT H WiiteParameterResponse Reserved2 0 Decimal SINT E WriteParameterResponse SubAddress1 0 Decimal SINT WriteParameterResponse SubChannell 0 Decimal SINT Write
106. ion devices as safety equipment to avoid possible damage to property or injury to people Product names and trademarks Disposal The brands and product names in this manual are trademarks or registered trademarks of the titleholders Observe the applicable national regulations Dispose of the following materials separately in accordance with the country specific regulations in force as e Electronics scrap e Plastic e Sheet metal Copper Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Preface Content of this manual 3 3 1 3 2 3 2 1 Preface Content of this manual This user manual describes e The startup procedure for MOVI PLC advanced DHR41B on the fieldbus systems EtherNet IP Modbus TCP and PROFINET IO e The configuration of the EtherNet IP master with EDS files e The configuration of the Modbus TCP master e The configuration of the PROFINET master using GSDML files The creation of IEC programs or the connection of SEW drives to the system bus inter faces of MOVI PLC is not described Characteristics The powerful universal fieldbus interfaces of the DHR41B option enable a connection to higher level automation systems via EtherNet IP Modbus TCP and PROFINET IO Process data exchange The MOVI PLC advanced DHR41B controller offers digital access to a special data range via the Industrial Ethernet interface This data range is evaluated by IEC
107. iption bute s 2 Get Max Instance UINT 0009 Maximum instance The MOVILINK parameter services are mapped in the nine instances of the register object The Get_Attribute_Single and Set_Attribute_Single services are used for ac cess As the register object is designed so that 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 Instance INPUT OUTPUT Resulting MOVILINK service with Get_Attribute_Single Set_Attribute_Single 1 INPUT READ parameter Invalid 2 OUTPUT READ WRITE parameter 3 OUTPUT READ WRITE VOLATILE parameter 4 INPUT READ MINIMUM Invalid 5 INPUT READ MAXIMUM Invalid 6 INPUT READ DEFAULT Invalid 7 INPUT READ SCALING Invalid 8 INPUT READ ATTRIBUTE Invalid 9 INPUT READ EEPROM Invalid 42 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP CIP object directory Get_Attribute_Single Get_Attribute_Single Set_Attribute_Single Get_Attribute_Single Set_Attribute_Single Get_Attribute_Single Get_Attribute_Single Get_Attribute_Single lt Get_Attribute_Single lt Get_Attribute_Single lt Get_Attribute_Single EtherNet IP Inp
108. isplayed once 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 e Os and 650 s means Timeout monitoring is deactivated e 10 ms 649 09 s means Timeout monitoring is activated The timeout interval can be set via e Register object 219Ehex 8606 ye e Parameter access to index 8606 via register object 200hex 203hex e Parameters in the parameter tree of MOVITOOLS MotionStudio The timeout monitoring is triggered when a controlling connection is activated The field bus driver cyclically checks whether the last PO data update was received within the tim eout interval If the timeout monitoring is deactivated by setting the timeout interval to 0 or 65000 no fieldbus timeout is detected This also applies when the controlling connection is dropped In the event of a timeout the timeout response is executed as programmed in the IEC program A change to the timeout interval writing on index 8606 is activated after a re boot 74 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Modbus Protocol Modbus TCP C xD 8 Parameter access via Modbus TCP 8 4 Parameter access via Modbus TCP A parameter access via the MOVILINK parameter channel in registers 200hex 203hex via Modbus TCP requires the services FC3 FC16 or FC23 write and read access
109. ite acticin tut An 13 Return codes of EtherNet IP 0 1 51 SEW specific return codes eesse 51 N Timeout of explicit messages c c 52 Network classes isessisescessressrrireerrrnrenrnrannennrana 18 Return codes of EtherNet IP neseser 51 Notes on assembly and installation for Ethernet 11 Rights to claim under limited warranty 7 o Operating behavior on PROFIBUS Control example for Simatic S7 cccccccs00e 98 Parameterization via PROFIBUS DP 102 PROFIBUS DP timeout nsc 100 Other applicable documentation ceeee 8 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 14 127 14 Index S Safety notes DiSp sal roenn a a aieia 8 Product names and trademarks osese 8 General safety notes for bus systems 8 Hoist applications ossos 8 Safety FUNCCIONS sonaa a i 8 Sample program STEP7 cc seeeeeeeeeeeeeeees 98 Services function codes in Modbus TCP 67 Setting the DIP switches sses 14 Setting the IP address parameters 005 20 Initial startup nesimate uaisa te 20 SEW Address Editor n se 21 Settings for the Ethernet component 56 Settings in DHR41B EtherNet IP Process data configuration seee 27 Status of the fieldbus interface 27 100 Settings in DHR41B Modbus TCP Process data configuration sese 58 Status of the fieldbus interface ccc08 58 SEW Addr
110. l code Additional code Length words word 1 low byte word 1 high byte Example 1Fhex O1hex O8hex MOVILINK Error Class 10hex MOVILINK Addi tional Error Code Vendor specific only low word word 1 In the example above MOVILINK error class 08 General Error is shown in the high byte of the additional code The MOVILINK additional error code 10 invalid index is shown in the low byte of the additional code This information shows that the system tried to access a unit index that does not exist Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 6 51 6 qu Timeout of the explicit mes sages General error codes 52 The Ethernet Industrial Protocol EtherNet IP Return codes for parameter setting via explicit messages The timeout is triggered by the DHR41B option The timeout interval must be set by the master after the connection has been established The EtherNet IP specification refers to an Expected packet rate rather than a timeout interval in this case The expected packet rate is calculated from the timeout delay as follows tTimeout_ExplicitMessages 4x tExpected_Packet_Rate_ExplicitMessages It can be set using connection object class 5 instance 1 attribute 9 The range of values runs from 0 ms to 655535 ms in 5 ms steps If there is a timeout for the explicit messages this connection type is automatically drop
111. len Bradley Eik User Defined 1763 ENBT A 1768 10 100 Mbps Ethernet Bridge Twisted Par Media Allen Bradley aR Strings 1769 32E Etherne 10 100 Mbps Ethernet Port on CompactLognS332 Allen Bradley CR Predefined 1769 1356 Etherne 10 100 Mbps Ethernet Port an Compact ogx5335E Allen Bradley th Module Defined 1783 EN2DN A 1788 Ethernet to Devicetiet Linking Device Allen Bradley 1 0 Configuration 1763 ENBT A 1788 10 100 Mops Ethernet Bridge Twisted Pair Media Allen Bradley 3 GB Backplane CompactL ogie System 1783 EWEB A 1788 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley fa 1769 L32E Compact _Logx1769_L32E 1794 AENT A 1794 10 100 Mbps Ethernet Adapter Twisted Pair Mede Allen Bradley MP 1 769 L32E Ethernet Port LocaENB DrivelogixS730 Eth 10 100 Mbps Ethernet Port on DriveLogix5 730 Allen Bradley Za Ethernet ETHERNET BRIDGE Generic Etherfvet IP CIP Bridge Allen Bradley GB Compacthus Loca ener 11709AXX e 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 appears To add option DHR41B to the project select the entry ETHERNET MODULE from the category Communications Confirm your selection by clicking OK The New Module window opens 24 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and
112. lug in of the active IEC program in MOVITOOLS MotionStudio If there is no IEC program in MOVI PLC you can create one as follows e Open the context menu of the PLC in MOVITOOLS MotionStudio and run the proj ect wizard New PLC Editor project see following figure 4 Network ir Ethemet 2 Comparison Online i Startup gt Ea 5g Application modules b E l Programming Ea New PLC editor project Online Diagnostics gt Open PLC Editor Project Online Documentation Version management Online E Show online unit status E Project unit Add medium gt xX Remove Properties 12049AXX e Use the wizard to create a new AxisControl project and upload it to MOVI PLC advanced DHR41B via the menu item Online login Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 101 11 qv Operating Behavior PROFINET IO Parameterization via PROFldrive data record 47 e Start the loaded program via the menu item Online start You can now monitor the uploaded process data under Resources Control configuration PLC configuration See following figure E MEMOVI PLC advanced DHR41B G 44 Communication F ix Digital IO disabled SLOT E 44 Can 1 enabled SLOT E A MOVIDRIVE MDX BIVAR amp a MOVIDRIVE MDX BIVAR iy MOVIDRIVE MDX BIVAR Can 2 disabled SLOT Com 1 disabled SLOT Com 2 disadled S
113. mask and standard Host Configura gateway manually they can be assigned in an automated manner by a DHCP server in the Ethernet network tion Protocol This means the IP address is assigned from a table which contains the allocation of MAC address to IP address Parameter P785 indicates whether the DHR41B option expects the IP parameters to be assigned manually or via DHCP Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 19 20 Assembly and Installation Notes for Ethernet Setting the IP address parameters 4 8 Setting the IP address parameters Initial startup The DHCP protocol Dynamic Host Configuration Protocol is the default setting for the DHR41B option This means that the option card expects its IP address parameters from a DHCP server TIP Rockwell Automation provides a DHCP server free of charge on their homepage The tool is known as BOOTP Utility and can be downloaded from the following website http www ab com networks bootp html Once the DHCP server has been configured and the settings have been made for the subnet mask and the standard gateway the DHR41B option must be added to the as signment list of the DHCP server During this process the MAC ID of the DHR41B op tion is allocated a valid IP address TIP The configured IP address parameters are permanently adopted into the parameter set if DHCP is deactivated after the IP address
114. meter access via Modbus TCP or PROFINET to downstream units 123 13 3 Parameter access via engineering interface to downstream units 124 13 4 GIOSSANY vinr Seer eat a eel eee ser eee eee eh te 125 TANAK nrar Boo Peso Pree ar RPE EES PRE BESO PEE NSB OED nas OES PRESS ERP SBE aro PnEn 126 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO General Notes How to use this documentation General Notes 1 1 How to use this documentation The documentation is an integral part of the product and contain important information on operation and service The documentation is written for all employees who assemble install startup and service this product 1 2 Structure of the safety notes The safety notes in this documentation are designed as follows Pictogram A SIGNAL WORD Type and source of danger Possible consequence s if disregarded e Measure s to prevent the danger gt Pictogram Signal word Meaning Consequences if disregarded Example I DA R Imminent danger Severe or fatal injuries gt Possible dangerous situation Severe or fatal injuries General danger A CAUTION Possible dangerous situation Minor injuries Specific danger e g electric shock NOTICE Possible damage to property Damage to the drive system or its environ ment TIP Useful information or tip Simplifies the handling of the drive system Manual
115. n 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 10 byte user data for parameter request The following table shows the WRITE request user data for MOVILINK Read para meters Byte Field Value Description 0 0x01 Individual reference number for the parameter setting request is mirrored in the parameter response 1 Request ID 0x40 SEW MOVILINK service 2 Axis 0x00 Axis number 0 DHR41B 1 Access to slave unit with SBus address 1 3 No of parameters 0x01 0 MOVI PLC or DHR41B 4 Attribute 0x10 MOVILINK service READ parameter 5 No of elements 0x00 0 Access to direct value no subelement 6 7 Parameter Number 0x206C MOVILINK index 8300 Firmware version 8 9 Subindex 0x0000 Subindex 0 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 11 109 E 11 Operating Behavior PROFINET IO Parameterization via PROFIdrive data record 47 Query parameter response The following table shows the PROFINET header coding of the READ request user data including the 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 parame
116. n MESSAGE ReadParameterRequest oes SEW Parameter_Channel ReadParameterRequest Reserved 0 Decimal INT E ReadParameterRequest Index H ReadParameterRequest Data 8489 Decimal INT 16 0000_0000 Hex DINT ReadParameterResponse Reserved H ReadParameterRequest Subindex 0 Decimal SINT FF ReadParameterRequest Reserved2 0 Decimal SINT ReadParameterRequest SubAddress1 i 7 Decimal SINT ReadParameterRequest SubChannell 3 Decimal SINT ReadParameterRequest SubAddress2 0 Decimal SINT ReadParameterRequest SubChannel2 0 Decimal SINT H ReadParameterResponse te SEW Parameter_ Channel al F ReadParameteiResponse Index amp ReadParameteiResponse Data ReadParameterResponse Subindex ReadParameterResponse Reserved2 t ReadParameterResponse SubAddress1 amp ReadParameterResponse SubChannell ReadParameterResponse Sub amp ddress2 3 Decimal Decimal Ecimal SINT F ReadParameterResponse SubChannel2 0 Decimal SINT i ReadParameterStart SH Decima BOOL In this example the value 150 rpm was read from the parameter P160 Fixed setpoint n11 index 8489 of a MOVITRAC B connected to the CAN 1 system bus of DHR41B with SBus address 7 For a schematic representation of the parameter access to lower level units refer to the ch
117. n of the Modbus TCP master and startup of the inverter for fieldbus operation Prerequisite is the correct connection and setting of the IP address parameters of DHR41B in accordance with section As sembly and Installation Instructions 7 1 Unit description file for Modbus TCP TIP There are no specific unit description files for Modbus TCP 7 2 Configuration of the master Modbus scanner The first example refers to the configuration and programming of a Schneider 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 TIP e Enter values in PL7 PRO using the keypad As Ethernet bus master use components from Schneider Electric that support I O scanning The Modbus TCP interface module for SEW drives cannot be addressed via Peer Cop However Ethernet bus masters that only support Peer Cop can access the drives from the PLC program using read and write commands 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 Configuration Hardware configuration iojxi Eje Edit Utiities Yew Tools PLC Debug Options Window 2 S elm Balej ti SiO Fle o San 2 ta ofa 3 STA
118. nced DHR418 ieoa i E 33 Communication Fix sibie Digital 1O disablediSLOT 60 EE AxisControl HO GlobaVar_AnisCortrol B E AxisControl_Datamanagement E AxisCortsol_ MDX E L library 01_SingeAsisMotion MPLCD 4 B E bray 01_SinglexisMotion MPLCM H E itary 05_Utiities MPLOCommuniical E E Ibrary 05_Utittes MPLCD ataManog H E Ibray 10_Intertace MPLCIntertace_ G E bray 10_Irterface MPLCintertace_ g LI brary 10_Intettace MPLCintertace B C ibrary 11_System MPLCSystem_DH A E Ibray 11_System MPLCSyetem_Eng i E Ibray 11_System MPLCSystem_Mat B L library 11_System MPLCSystem_Sys E iray 11_Systern Syol bFieAeyne ib E brary standard tb 7 10 08 23 00 00 j Lirary Manager B Log E PLC Browser j PLC Configuration j Dy Samping Trace A Target Settings Pr Fe Task configuration Q Watch and Recipe Manager i p a Workspace Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO E Can 1 enabled SLOT Bh MOVIDRIVE MDX BIVAR g MOVIDRIVE MDX BIVAR h g MOVIDRIVE MDX BIVAR Can 2 disabled SLOT Com 1 disabled SLOT Com 2 disadled SLOT Dpram disabdled SLOT a ii Profinet Modbus Tcp Ethernet Ip enabledfSLOT B POOP TOODTETOD OS GB inputs FXg PODatat AT IW662 WORD Processdata Input 1 CHANNEL 1 1640000 AT IW663 WORD Processdata Input 2 CHANNEL 1 160000 AT IW664 WORD Processdata Input
119. nec tion support an auto negotiation functionality and work with a baud rate of either 100 Mbit or 10 Mbit in full duplex or half duplex mode e 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 e IGMP Snooping e g Managed Switches is not supported e SEW EURODRIVE therefore recommends to connect the DHR41B option in Ether Net IP networks only with network components that support IGMP snooping e g managed switch or that have safety mechanisms integrated against excess multi cast load e g units from SEW EURODRIVE Units that do not have this integrated function can fail due to high network loads Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 13 14 Assembly and Installation Notes for Ethernet Setting the DIP switches 4 5 Setting the DIP switches TIP Before each change to the DIP switches disconnect the MOVI PLC advanced DHR41B control card from the voltage supply The DIP switch settings are adopted during initialization only DHR41B 64248AXX 29 Def IP if the switch 2 is set to 1 right ON the following default IP address parameters are set when the DC 24 V backup voltage is switched on e IP address 192 168 10 4 e Subnet ma
120. negotiation status Bit 5 shows whether the manual setting has to be reset e Bit 6 indicates a local hardware fault 3 Get Physical ARRAY of 00 OF 69 xx xx xx MAC ID Address 6 USINTs SEW MAC OUI 00 OF 69 Attri Access Name Data type Default value hex Description bute 1 Get Interface UDINT 00000064 Default value 100 Transmission Speed speed in Mbit s 2 Get Interface DWORD Bit 0 displays the active link Flags e Bit 1 displays full duplex mode e Bit2 bit 4 indicate the negotia tion status Bit 5 shows whether the manual setting has to be reset e Bit 6 indicates a local hardware fault 3 Get Physical ARRAY of 00 OF 69 xx xx xx xx MAC ID Address 6 USINTs SEW MAC OUI 00 OF 69 Service code hex Service Name Class Instance 01 Get_Attributes_Alll x 0E Get_Attribute_Single x x Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP Return codes for parameter setting via explicit messages E 6 4 Return codes for parameter setting via explicit messages Return codes of EtherNet IP SEW specific return codes If a parameter request via explicit messages fails a fault code can be used to determine the cause An error can be generated either by the DHR41B option by the EtherNet IP system or by a timeout The general error code ERR and the additional code EXERR can be read out from the status
121. ng for the plant This image is stored in the PROFINET 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 information Now a PROFINET IO controller can read the stored information from the PROFINET IO devices to deter mine the real plant topology By comparing the projected topology with the real topology you can detect any missing or incorrectly wired PROFINET IO devices and localize them in the plant Apart from cabling you can still determine the transmission characteristics for the ports For example you can set an Auto negotiation port to 100 Mbit full duplex The settings will be monitored SNMP as a protocol for network diagnostics extends the topology detection with stan dard diagnostics mechanisms from the IT area Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO PROFINET IO Configuration C xD 10 PROFINET configuration with topology detection 10 3 2 Configuring the PROFINET topology The configuration procedure for a PROFINET topology will be described using the ex ample of SIMATIC STEP 7 There are various approaches for configuration in
122. ode Fault code 72 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Modbus Protocol Modbus TCP C xD Connection management Objects DHR41B Object ID Name Type M O Category Value example 0x00 VendorName SEW EURODRIVE 0x01 ProductCode Mandatory Basic ad ADVANCED 0x02 MajorMinorRevisions art 823 568 0 10 example 0x03 VendorUrl www sew de 0x04 ProductName Optional Regular SEW MOVI PLC ADVANCED 0x05 ModelName DHR41B 8 3 Connection management Up to 8 simultaneous Modbus connections are possible max one of which has write access to the process data area controlling connection Connections that are no longer used must be dropped by the master If a ninth connec tion is to be established and the slave detects a connection that is no longer active it is severed on one side by the slave because it assumes that the associated master is no longer active If there are 8 active connections the attempt to establish a ninth connec tion is cancelled socket is closed on the server Connections 1 8 operate indepen dently of each other There is no prioritization Only one controlling connection that can change process 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
123. oes not exist 0x10 Communication not initialized 0x11 Mouse conflict 0x12 Illegal bus 0x13 FCS error 0x14 PB init 0x15 SBUS Illegal fragment count 0x16 SBUS Illegal fragment type 0x17 Access denied Not used Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 53 6 54 gw The Ethernet Industrial Protocol EtherNet IP Return codes for parameter setting via explicit messages MOVILINK Error class Additional code Description 0x00 No error 0x10 Illegal index 0x11 Not yet implemented 0x12 Read only 0x13 Parameter blocking 0x14 Setup runs 0x15 Value too large 0x16 Value too small 0x17 Required hardware does not exist 0x18 Internal error 0x19 Access only via RS485 via X13 sue 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 Encoder nameplate error 0x29 PLC state error Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup Modbus TCP Unit description file for Modbus TCP 7 Configuration and Startup Modbus TCP This section provides information about the configuratio
124. of parameters 0x01 1 parameter Negative parame The following table shows the coding of a negative response of a MOVILINK service ter response Bit 7 is entered in the the response ID if the response is negative Service WRITE response 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 8 8 byte user data in response buffer Byte Field Value Description 0 0x01 Mirrored reference number from the parameter setting request 1 Response ID OxCO Negative MOVILINK response 2 Axis 0x01 1 MOVIDRIVE B with SBus address 1 3 No of parameters 0x01 1 parameter 4 Format 0x44 Error 5 No of Values 0x01 1 error code 6 7 Error value 0x0811 MOVILINK return code e g error class 0x08 Add code 0x11 see section MOVILINK parameterization return codes for PROFINET on page 113 112 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO C xD Parameterization via PROF Idrive data record 47 MOVILINK The following table shows the return codes that are returned by the SEW PROFINET configuration interface module in case of an error in the PROFINET parameter access re
125. on The timeout interval must be set by the EtherNet IP master scanner when the connection is established The Ether Net IP specification refers to a Requested Packet Interval RPI instead of a timeout in terval The timeout interval displayed in the MOVITOOLS MotionStudio parameter tree re sults from the Requested Packet Interval RPI multiplied with the Timeout Multiplier This timeout interval is retained in the device when an Exclusive Owner Connection is removed and the device switches to timeout status after the timeout interval has elapsed The timeout status is displayed on the front of the DHR41B option by the flash ing red L13 LED A you can only activate the timeout delay via the bus you must not change the value via MOVITOOLS MotionStudio The timeout state causes the response programmed in the IEC program The timeout state can be reset via EtherNet IP as follows e Via the reset service of the identity object class 0x01 instance 0x01 undetermined attribute e By re establishing the connection e Via the reset bit in the control word Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 37 g The Ethernet Industrial Protocol EtherNet IP 6 CIP object directory 6 3 CIP object directory In the Common Industrial Protocol all unit data can be accessed via objects The ob jects listed in the following table are integrated in the DHR41B option
126. on bute s hex 3 Get Data Array of OUTPUT assembly BYTE Instance 121 This instance is accessed when the scanner wants to establish an input only connection Heartbeat No process output data is sent with this type of connection It is used only to read pro cess input data Attri Acces Name Data type Default value Description bute s hex 3 Get Data Array of OUTPUT assembly BYTE Data size 0 Instance 171 This instance is used to access the DHR41B process input data Several multicast con SEW PI data range nections or a point to point connection can be established to this instance Attri Acces Name Data type Default value Description bute s hex 3 Get Data Array of INPUT assembly BYTE TIP The names INPUT assembly and OUTPUT assembly refer to the processes as seen from the networkOs point of view INPUT assembly produces data on the net work an OUTPUT assembly consumes data from the network Supported services Service code hex Service Name Class Instance 161 Instance 121 Instance 171 0E Get_Attribute_Single x X x Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 41 g The Ethernet Industrial Protocol EtherNet IP 6 CIP object directory Register object e The register object is used to access an SEW parameter index e Class code 07nex Class Attri Acces Name Datatype Default value hex Descr
127. order to set the station s update time The following window opens Properties Ethernet Interface X1 General Addresses 10 iis 1 Update Time Mode fedar B Factor Send clock ms 2 Update time ms 4 000 vl l4 x 11 000 Watchdog Time Number of accepted update cycles with missing IO data Watchdog time ms 64632AXX 1 IO Cycle tab page 2 Update time selection field 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 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 10 87 10 88 gw PROFINET IO Configuration PROFINET configuration with topology detection 10 3 PROFINET configuration with topology detection 10 3 1 Introduction The PROFINET technology detection allows for projecting and monitoring the structure of the network with the PROFINET IO controller in addition to the PROFINET IO devic es The so called Physical device PHDEV is the starting point for the configuration The PDEV is a model for the ETHERNET interface and can be found in slot 0 of the config uration with an ETHERNET interface subslot and one subslot for each ETHERNET port The visible ETHERNET ports can be connected to the configuration tool The result is an image of the desired ETHERNET routi
128. ork Mask UDINT Current subnetwork mask Gateway UDINT Currently set standard gateway Address Name Server UDINT 00000000 DNS is not supported Name Server 2 UDINT 00000000 DNS is not supported Domain Name STRING sew de 6 Get Host Name STRING Not used Service code hex Service Name Class Instance 01 Get_Attributes_Alll x E 0E Get_Attribute_Single X X 10 Set_Attribute_Single x Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 49 56 qu The Ethernet Industrial Protocol EtherNet IP CIP object directory Ethernet link object Class Instance 1 Ethernet connec tion X30 1 Instance 2 Ethernet connec tion X30 2 Supported services 50 Information on the Ethernet communication interface is stored in the Ethernet link ob ject e Class code F6pex Attri Access Name Datatype Default Description bute value hex 1 Get Revision UINT 0002 Revision 2 2 Get Max Instance UINT 0002 Maximum instance 3 Get Number of UINT 0002 DHR41B has two Ethernet interfaces Instances Attri Access Name Data type Default value Description bute hex 1 Get Interface UDINT 00000064 Default value 100 Transmission Speed speed in Mbit s 2 Get Interface DWORD e Bit 0 displays the active link Flags e Bit 1 displays full duplex mode e Bit 2 bit 4 signal
129. ped for the explicit messages This is the default setting for EtherNet IP The con nection for these explicit messages must be re established to communicate with these messages again The timeout is not forwarded to the IEC program Generalerror Error name Description code hex 00 Success Successful 01 Connection failure A connection specific service has failed 02 Resource unavailable The source required for performing the service 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 attribute value Invalid attribute data have been sent 0A 0B 0c Object state conflict The selected object cannot perform the service in its current status oD Reserved 0E Attribute not settable It is not possible to access the selected object for writing 10 Device state conflict The current status of the device makes it impossible to per form the required service 11 12 Reserved 13 Not enough data The length of the transferred data is too short for the service to be performed 14 Attribute not supported The selecte
130. qu Operating Behavior PROFINET IO Parameterization via PROFldrive data record 47 11 3 5 Addressing downstream inverters The structure of the DS47 dataset defines an axis element This element is used to reach multi axis drives that are operated via one PROFINET interface The axis element addresses one of the units connected via the PROFINET interface Parameteraccess Setting Axis 0 enables access to the parameters of the MOVI PLC advanced to downstream DHR41B controller The PLC Editor offers a routing table This routing table assigns stations 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 C1 Master C2 Master C2 Master i m E Cyclic OUT Data aa PROFIBUS DP V1 PD Cyclic IN Data arr Acyclic DP V4 DHR41Bl gt _ C2 Services k 204 i E Acyclic DP V1 Axis 0 C2 Services EA E Axis 0 mje Acyclic DP V1 C1 Services 9 re fo es Oe fey 3 8l fe 8l B Ti ler g g fe s l i 5 fea gja SBus P881 1 P881 2 SBus Address 3 Dio elie MOVIDRIVE B MOVIAXIS MOVITRAC B 64803AXX See the Appendix for a schematic representation of parameter access to lower level
131. rameter access via engineering interface to downstream units 13 3 Parameter access via engineering interface to downstream units Drive Operator Panel DOP Ethernet TCP IP SMLP DHR41B Ethernet X37 USB X35 Ethernet X30 Af Subchannel 1 0 O Subaddress 1 0 5 Subchannel 1 342 Subaddress 1 EtherCAT EtherCAT 0 1001 Subaddress 1 SBUS Address 1 Subaddress 1 OBO SBUS Address 1 oase l Ec sep eee een ee EENE E SBUS CAN1 a e5 6 64649AXX 1 Engineering PC 2 Industrial Ethernet interface for engineering 3 USB Ethernet engineering interface 4 SEW inverter with SBus interface 5 Index and parameter list of the unit 6 SEW inverter with EtherCAT interface 124 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Appendix Glossary 13 4 Glossary Term Meaning DHCP Dynamic Host Configuration Protocol Allows you to allocate an IP address and additional configuration parameters for automa tion components in a network via a server TCP Transmission Control Protocol Acknowledged connection oriented transport protocol UDP User Datagram Protocol Non acknowledged connectionless transport protocol IP Internet Protocol Protocol for data transpo
132. re The EtherNet IP inter face is already integrated in the CPU component TIP If a CPU without an EtherNet IP interface is used an Ethernet communication interface must first be added to the I O configuration Process data In the following configuration example the option DHR41B is added to a project To do exchange 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 igl xi Fie Edt Vew Search loge mmncatiorns wis Window Heir pea Pe ee BPG HRI a Dmae 5 Enw 7 es oe No Forces Ok a ee E Controller Compact_Logxi 769_132E Controller Tags CS Controller Fauk Handler odie Desciiptior Vendo LI Powar Up Handler J Communications al S Tasks L734 AENTJA 1734 Ethemet Adapter Tvasted Pair Media Allen Bradley 3S8 MainTask 1738 AENT A 1738 Ethernet Adapter Twested Pair Meda Allen Bradley 4 MainProgram 1756 EN2T A 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley I Unscheduled Programs 1755 ENBT A 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley Sa Motion Groups L756 ENET A 1756 Ethernet Communication Interface Allen Bradley u Ungrouped Axes L7S6 ENET B 1756 Ethernet Communication Interface Allen Bradley LD Trends 1756 EWEB A 1756 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley E Data Types 1757 FFLDIA 1757 Foundation Fieldbus Linking Device Al
133. re above provides an example of how setpoints are written FC16 to the Modbus TCP slave with IP address 10 3 71 119 The 3 process data words are located from offset 4 reference number and are addressed via unit ID 255 All the other examples merely describe the Modbus TCP part of the telegram The TCP IP part of the telegram as well as establishing and dropping a TCP IP connection are not explained in detail Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 61 7 Configuration and Startup Modbus TCP Examples for data exchange via Modbus TCP 7 5 1 Writing and reading process data The process data exchange can be performed either via FC3 read and FC16 write or FC23 read and write For writing 3 process data words setpoints to a Modbus TCP slave via FC16 the TCP IP telegram to port 502 is structured as illustrated above Byte Value Meaning Interpretation Help 0 p 0x00 Transaction identifier 2 3 0x00 Protocol identifier 4 0x00 Length fela e oee 5 Ox0d i For a detailed description 6 OxFF Unit identifier Must be 0 or 255 refer to Modbus TCP specifi cation and section Modbus 7 0x10 Function code Service FC16 write register protocol Modbus TCP 8 0x00 Offset from where on the PD is 9 0x04 Write reference number located A Must always be 4 10 0x00 Number of PDW here 3 4
134. registers of the message tags see figure below amp Controller Tags Sample controller i Scope fa Sample Show Show All Name ai MESSAGE m H ReadParameter Flags 16 0290 Hex INT iE ReadParameter EW 0 Decimal BOOL fe ReadParameter ER 1 Decimal BOOL a ReadParameter DN o Decimal BOOL imi ReadParameter ST 0 Decimal B00L HReadParameter EN 1 Decimal BOOL fa ReadParameter T0 0 Decimal BOOL E ReadParameter EN_CC 1 Decimal BOOL fa ReadParameter ERR 16 001f Prex HT ReadParameter EXERR 16 0000_0810 H DINT OS ces te l TOOTA EtherNet IP specific return codes are returned in the error telegram if the data format is not maintained during the transfer or if a service is performed that has not been imple mented The coding of these return codes is described in the EtherNet IP specification see section General error codes The General Error Code of a manufacturer specific return code is 1Fhe 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 following table shows the data format for a parameter response message as an example Byte offset 0 1 2 3 Function General error code Additional code Additiona
135. rite access e Create the controller tags see following figure Name Data Type WriteParameter MESSAGE WriteParameterRequest SEW_Parameter_Channel WriteParameterResponse SEW_Parameter_Channel WriteParameterStart BOOL 11771AXX e Create a rung for executing the WriteParameter command see following figure VriteParameterStart Type Unconfigured Message Control 11772AXX 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 Message Configuration WriteParameter x Configuration Communication Tag Message Type cP Generic Service s et Attribute Single 7 Source Element WriteParameterR equ Type Source Length 12 lt j Bytes Service x Code fid Hex Class 7 Hex Destination WiiteParameterResp Instance 2 Attribute f4 Hex New Tag 11773AXX Fill the other fields in the following sequence Source Element WriteParameterRequest Index Source Length 12 Destination WriteParameterResponse lndex Class 7hex Instance 2 Attribute 4hex Service Code 10hex Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup EtherNet IP C xD Configuration examples in RSLogix 5000 7 After download
136. rotocol structure 8 2 5 Service FC43 Read device identification The service FC43 Read device identifications is also referred to as MEI Modbus En capsulated Interface Transport It can tunnel services and method calls The service Read Device Identification is tunneled with the MEl Type Ox0E According to the Modbus specifications there are 3 blocks Basic Regular and Extended that can be read The DHR41B option supports the Basic and Regular blocks conformity level 02 The entire block is always read streaming 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 Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Requested service 43 Read Device Identification 8 MEI type Ox0E 9 Read device ID code 01 or 02 10 Object ID 0 Response Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code Service 43 Read Device Identification 8 MEI type Ox0E 9 Read device ID code 01 or 02 10 Conformity level 02 11 More follows 0 12 Next object ID 0 13 Number of objects e g 3 14 Object ID 15 Object length 16 Object value 17 Exception Byte Designation Meaning permitted values 0 6 MBAP header See chapter Header 7 Function code 43hex 8 Exception c
137. rt in the Internet IP address An IP address consists of 32 bits divided into four so called octets containing 8 bits each for the sake of clarity These values are displayed as four decimal numbers separated by points for example 192 168 1 1 An IP address is subdivided into the network section net ID and the node address 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 O 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 the IP address identify the network Standard gateway IP address of the station in the subnetwork that establishes a connection to other networks Client Application that uses the services from another computer Example A process data master uses a service from the DHR41B option for cyclical data exchange Server Application on a computer that offers services to other computers Example The DHR41B option offers the service for cyclical process data exchange to a process data master Broadcast A broadcast is a transmission to all stations within a distribution list or network STP Shielded Twisted Pair UTP Unshielded Twisted Pair Manual MOVI P
138. rvice 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 Response ID 0x01 Positive response for Request Parameter 2 Axis 0x00 Reflected axis number 0 single axis 3 No of parameters 0x01 1 parameter 4 Format 0x43 Parameter format Double word 5 No of values 0x01 1 value 6 7 Value Hi 0x311C Higher order part of the parameter 8 9 Value Lo 0x7289 Lower order part of the parameter Decoding Ox 311C 7289 823947913 dec gt gt firmware version 823 947 9 13 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 115 11 C xD Operating Behavior PROFINET IO Parameterization via PROF Idrive data record 47 Example for writ The following tables show an example of the structure of the WRITE and READ services ing a parameter for the remanent writing of the internal setpoint n11 of a MOVIDRIVE B with SBus ad via PROFidrive dress 1 that is connected to DHR41B via the CAN 1 system bus see section Example for writing a parameter via MOVILINK on page 111 The PROFldrive Change para meter service is used for this purpose Send WRITE parameter request The following table shows the PROFINET header of the WRITE request with parameter request Se
139. rvice 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 The following table shows the WRITE req user data for the PROFINET service Change Parameter Byte Field Value Description 0 0x01 Individual reference number for the parameter setting order is reflected in the parameter response 1 Request ID 0x02 Change parameter PROF Idrive 2 Axis 0x01 Axis number 1 MOVIDRIVE B with SBus address 1 3 No of parameters 0x01 1 parameter 4 Attribute 0x10 Access to parameter value 5 No of elements 0x00 0 access to direct value no subelement 6 7 Parameter Number 0x2129 Parameter index 8489 P160 n11 8 9 Subindex 0x0000 Subindex 0 10 Format 0x43 Double word 11 No of Values 0x01 Change 1 parameter value ie Value HiWord 0x0000 Higher order part of the parameter value a Value LoWord OxOBB8 Lower order part of the parameter value After sending this WRITE request the WRITE 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_1 116 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO Parameterization via PROF ldrive data record 47 gw Query parameter response
140. s TCP and PROFINET IO 7 Configuration and Startup Modbus TCP cseccceseceeseeeeeeseeeeseeeeenseeeeeeseeeneeees 55 7 1 Unit description file for ModbUS TCP cccccceeeeeeeeeeeeeeeeeeteeeeteneeeteeeeeees 55 7 2 Configuration of the master Modbus SCanne ccccccccceeeeeeeteteeeeeeeeeees 55 7 3 Settings in MOVI PLC advanced DHR41B c scescescescesessessesetestesteseseees 58 7 3 1 Process data Configuration ccecceceeeeeeeeeeeeeeeeeeeteteeeeeeeenaeeeeeee 58 7 3 2 Status of the fieldbus interface 2 ceeeeeeeteeeeeeeeeteeeeeeetteeeeeeeeee 58 7 4 Configuration examples in PL7 PRO 0 cccscceeeeeeeeeeeeeeeteeeseneeeseaeeeeneeeee 59 7 4 1 MOVI PLC advanced DHR41B with 16 PD data exchange 59 7 5 Examples for data exchange via Modbus TCP cccccceeseeeeeteeeeeseeeees 61 7 5 1 Writing and reading process data ecceccceecceeeeeeeeeeeeeeeetntieeeeeeeeee 62 7 5 2 Parameter aCCeSS esccain aed ieee ea eee een eee 64 8 The Modbus Protocol Modbus TCP ccssscccseeceeesseeseseeeeeeseesseseeeeeseeesesseeeneees 66 Ba MntrOGUCH OM wzcidicce sirens stews S T ET 66 8 1 1 Mapping and addressing ccecceeceeeeeeeeeeeeeesetneeeeeeteeeeeeetneeeeee 66 8 1 2 Services function COdES ricik eee teneeeeeeetaeeeeeeetnieeeeenenea 67 BS WACCESSs aeece AAAA ade eed sts 67 B2 PROTOCOL STTUCTUNG 2 63 2 eon ects hele Nees cece lt cahddepeitsdeleckudetleelia teputdeids dancers 68
141. s timeout FC3 FC16 Parameter P819 16 bit value tim case 219E interval read interval write value eout interval in ms 8606 gec value Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 8 67 8 C xD The Modbus Protocol Modbus TCP Protocol structure 8 2 Protocol structure The Modbus protocol consists of a header and function code data The header is the same for all request response telegrams and error messages exceptions Depending on the function code a different number of data is attached to the header see following picture MBAP Header Function Code Data Transaction ID Protocol ID Length 1 1 N UI D FC N Data 64064AXX 8 2 1 Header The protocol bytes of the header are described in the following table Byte Designation Meaning 0 7 Transaction identifier Often 0 is simply copied by the server slave 2 A Protocol identifier 0 4 Length field upper byte 0 5 Length field lower byte Number of function codes data bytes 1 unit identifier 6 Unit identifier slave address This is the slave address In order to access the DHR41B process data it must be set to 0 0x00 or 255 OxFF The following address assignments apply to the parameter chan nel access Offset 200 2036 0 or 254 for parameters of the DHR41B 1 253 for parameters of a
142. sk CB MainProgram Program Tags Ed MainRoutine 9 Unscheduled Programs Phases J Motion Groups 3 Ungrouped Axes C Add On Instructions Copy from Program Tag to MO VI PLC PS Synchronous Copy File Source MOVIPLC_ProgramTag PO Dest MOVIPLC_Advanced 0 Data 0 Length 16 12059AXX 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 diagnostics plug in of the active IEC program in MOVITOOLS MotionStu dio If there is no IEC program in MOVI PLC you can create one as follows Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 5 29 qv Configuration and Startup EtherNet IP Configuration examples in RSLogix 5000 e Open the context menu of the PLC in MOVITOOLS MotionStudio and run the project wizard Create new PLC Editor project see following figure E Network S i Ethemet B 49 hs Comparison Online Startup E coe Application modules Diagnostics New PLC editor project Online Ex Open PLC Editor Project Online Documentation Version management Online Show online unit status Project unit Add medium gt X Remove Properties 12049AXX
143. sk 255 255 255 0 e Default gateway 192 168 10 4 e P785 DHCP Startup configuration Saved IP parameters DHCP is deactivated 2 protocol DIP switch 21 is used to set the protocol that is used for communication 21 right ON The EtherNet IP and Modbus TCP IP fieldbus protocol is active e 21 0 left OFF The PROFINET fieldbus protocol is active Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Assembly and Installation Notes for Ethernet Status LED of the DHR41B option 4 6 Status LED of the DHR41B option The LEDs of the DHR41B option card indicate the current status of the DHR41B option and the fieldbus system Depending on the set protocol the LEDs have the following meaning DHR41B 64247AXX 4 6 1 Status LEDs in EtherNet IP and Modbus TCP operation LED L13 NETWORK STATUS LED L14 MODULE STATUS The status of the fieldbus interface corresponding to the LED status is shown in chapter 9 The LED L13 NETWORK STATUS indicates the state of the fieldbus system States of the NET Meaning WORK STATUS LED Off The DHR41B option does not yet have any IP parameters Flashing green red The DHR41B option card performs an LED test Flashing 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 Anot
144. sk Gateway address m m wm 2 2 28 50 82 68 0 1 Address server Bandwidth Messaging IO Scanniag Adiressserver SNMP Global Data Bandwidth Bridge KWAY address ooo Connection configu ation Daia e Access control D Piutuvvul IP address configuration 7 Cortiguied UNITE oe rm T Paddess a2 fee fo fe e Subnetwork mask 255 255 J255 fo UNITE ee UNITE Gateway address 732 fee Jo fi UNITE UNITE C Client Server configuration UNITE UNITE UNITE UNITE UNITE Th Ethemet configuration Ethernet jeejee jeje e jejejejeje Le Sis R IR R IR IS cis ic is 10816AXX Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup Modbus TCP Configuration of the master Modbus scanner Addressing the drive using IO scanning Choose the IO Scanning tab page In this tab page you specify which of the stations connected to the Modbus are to exchange cyclical data In the section Master MW zones enter the control memory areas that are to be used to exchange cyclical data with the Modbus stations You will use the memory addresses later in your PLC program Enter the following in the Scanned peripherals group In the 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 dre
145. ss 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 be exchanged The values must be the same in both fields For the DHR41B option you can enter between 1 and 64 words fl TSX ETY 4103 RACKO POSITION 2 5 x Designation TCPAP 10 100 MODULE Module IP address IP address w s 0 2 Messaging input fal back Falbacktod Maintain Subnetwork mask 255 255 255 0 10 Scanning Adress server Module utilities iv Global data I Addess server Bandwidth Gateway address 1288 1 SNMP Global Data Bandwidth Master XMW zones Read Ref Bridge Soanning settings ms Show Normat Write Ref See Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Repetitive AD ref ADref AD VRA rel Wire VR Description rate_ _ master stave count master slave count CS 700 4 3 5 4 3 NONE wi NONE NONE NONE NONE NONE NONE 10817AXX Click on the button Confirm to confirm the rack configuration and the global config uration Once you have transferred your settings and started the program the color of LED L13 NETWORK STATUS of DHR41B changes to green see section Status LEDs of the DHR41B option 57 7 Configuration and Startup Modbus TCP Set
146. t and Bus type show the respective parameters as they were set via the DIP switches of the DHR41B option or via the PLC 58 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup Modbus TCP 7 Configuration examples in PL7 PRO 7 4 Configuration examples in PL7 PRO 7 4 1 MOVI PLC advanced DHR41B with 16 PD data exchange 1 Set the IP address of the DHR41B option see section Setting the IP address param eters 2 Integrate MOVI PLC advanced DHR41B into the configuration for I O scanning ac cording to section Configuration of the master Modbus 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 PeypLroRo cunenied gt Sb Sere awe EELT EE Aale O S amp Sale ml Sim Velo Selm 2x 10 x ta a 0 ts Structure View B E station E Configuration GP Hardware Configuration Gea Software Configuration Fi ST MAST Mainsew o x Sy Program example SEW J MAST Task MW150 16 0006 Enable Drive EH Sections MW151 16 7FFF Max speed 4 MW152 16 0000 not used Animation Tables 4 3 Documentation File E Runtime Soreens oam Wss mMor 2 10818AXX
147. tance input field is not used in this case e Click OK to complete the process e To ensure compatibility with existing DeviceNet configurations you can also choose the data type SINT in the Comm Format selection field In this case you must en sure that an even number of bytes 2 128 is configured and that data consistency is maintained during operation when the IO data is accessed Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 25 5 26 qu Configuration and Startup EtherNet IP Configuring the master EtherNet IP scanner Additional The Connection tab page is used to set the data rate and if required the error re settings sponse of the controller E Module Properties LocalENB ETHERNET MODULE LA xi General Connection Module Info Requested Packet Interval RPI hoo ms 1 0 3200 0 ms Inhibit Module I Major Fault On Controller If Connection Fails While in Run Mode Use Scheduled Connection over ControlNet Module Fault Status Offline Cancel Appl Help 11712AXX 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 e Click OK You have now configured process data exchange with a DHR41B Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Configuration and Startup EtherNet IP C xD 5 Se
148. ter request constant index 47 Length 240 Maximum length of response buffer in the master Positive MOVILINK parameter setting response The table shows the READ response user data with the positive response data of the parameter setting request The parameter value for index 8300 firmware version of DHR41B is returned as an example 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 Field Value Description 0 0x01 Reflected reference number from the parameter set ting request 1 Response ID 0x40 Positive MOVILINK response 2 Axis 0x00 0 DHR41B 3 No of parameters 0x01 1 parameter 4 Format 0x43 Parameter format Double word 5 No of values 0x01 1 value 6 7 Value High 0x311C Higher order part of the parameter 8 9 Value Low 0x7289 Lower order part of the parameter Decoding Ox 311C 7289 823947913 dec gt gt firmware version 823 947 9 13 110 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO C xD Example for writ ing a parameter via MOVILINK Parameterization via PROF ldrive data record 47 The following tables show the an example of the structure of th
149. ters Unsigned8 amp 0x01 0x13 1 19 DWORDs 240 DP V1 data bytes Attribute Unsigned For SEW MOVILINK Request ID 0x40 0x00 No service 0x10 READ Parameter 0x20 WRITE Parameter 0x40 Read Minimum 0x50 Read Maximum 0x60 Read Default 0x80 Read Attribute 0x90 Read EEPROM OxA0 0xF0 reserviert SEW Data Transport 0x10 Wert No of Elements Unsigned8 0x00 For parameters that are not indexed 0x01 0x75 Quantity 1 117 Parameter Number Unsigned16 0x0000 OxFFFF MOVILINK parameter index Subindex Unsigned16 0x0000 Format Unsigned8 0x43 Double word 0x44 Error No of Values Unsigned8 0x00 OxEA Quantity 0 234 Error Value Unsigned16 0x0080 MOVILINK Additional Code Low For SEW MOVILINK 16 bit error value Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 105 11 C xD Operating Behavior PROFINET IO Parameterization via PROFldrive data record 47 11 3 3 Parameter setting procedure via data record 47 Parameter access takes place with the combination of the WRITE RECORD and READ RECORD PROFINET services The parameter setting order is transferred to the IO de vice using the WRITE req Then it is processed internally The controller now 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
150. tings in MOVI PLC advanced DHR41B 7 3 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 7 3 1 Process data configuration The process data interface is normally configured by the master scanner The master sets the number of process 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 4 FE MOV PLC DHx418 parameteriFieldbus Bus diagnostics 5 MOVI PLC DHx41B parameter Diagnostics Display values Fieldbus type EtherNevIP ga Unit functions E Fieldbus Fieldbus baud rate kBaud 100000 5 Bus diagnostics Fieldbus address 0 Ethemet configuration Fieldbus timeout is 0500 Firmware version fieldbus 1821 534 3 10 Firmware release fieldbus 7 PD configuration 16 PDW 12057AXX 7 3 2 Status of the fieldbus interface fhbFbusGetlnfo FbusGetlnfo TRUE 4Enable bFBusDone nF BusBaudrate nFBusTimeOut nFBusType 12046AXX 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 master the output Error is set to TRUE During an active fieldbus connection the output Done is set to TRUE and the outputs Address Baud rate Timeou
151. tion bute hex 1 Set Parameter UINT 0000 Low byte contains subaddress 2 Value High byte contains subchannel 2 2 Get Link Path USINT 00 No link is specified Size 3 Get Link Path Packed 00 Not used EPATH Get Descriptor WORD 0000 Read write parameter Get Data type EPATH 00C7 UINT Get Data Size USINT 02 Data length in bytes Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP CIP object directory E Instance 5 SEW read write Attri Access Name Data Default value Description bute type hex 1 Set Parameter UDINT The set service executes write Value 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 USINT 00 No link is specified Size 3 Get Link Path Packed 00 Not used EPATH Get Descriptor WORD 0000 Read write parameter Get Data type EPATH 00C8 UDINT Get Data Size USINT 04 Data length in bytes Supported services Service code hex Service Name Class Instance 0E Get_Attribute_Single x x 10 Set_Attribute_Single x Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 47 6 qu Vardata object Class Instance 1 Supported services 48 The Ethernet Industrial Protocol EtherNet I
152. transported via an acyclic PROFINET service is grouped in a dataset Each dataset is clearly addressed by the following characteristics API Slot number Subslot number e 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 PROFldrive 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 via this parameter channel Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 103 11 C xD Operating Behavior PROFINET IO Parameterization via PROF Idrive data record 47 Characteristics of the SEW EURODRIVE PROFINET devices 104 The SEW EURODRIVE PROFINET units that support acyclic Read 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 PROFINET Controller a i Read Write Record PD Cyclic IN Out Parameter Buffer 1 SEW PROFINET Interface Process Data Parameter Buffer
153. ttings in MOVI PLC advanced DHR41B 5 3 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 5 3 1 Process data configuration The process data interface is normally configured by the master scanner It sets the number of process data words and the 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 4 FE MOV PLC DHx418 parameteriFieldbus Bus diagnostics 5 MOVI PLC DHx41B parameter Diagnostics Display values Fieldbus type EtherNevIP ga Unit functions E Fieldbus Fieldbus baud rate kBaud 100000 5 Bus diagnostics Fieldbus address 0 Ethemet configuration Fieldbus timeout is 0500 Firmware version fieldbus 1821 534 3 10 Firmware release fieldbus 7 PD configuration 16 PDW 12081AXX 5 3 2 Status of the fieldbus interface fhbFbusGetlnfo FbusGetlnfo TRUE Enable bFBusDone nFBusTimeOut nFBusType 12046AXX The function module FbusGetlnfo 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 master the output Error is set to TRUE During an active fieldbus connection the output Done is set to TRUE and the outputs Address Baud rat
154. turn codes for PROFINET MOVILINK Description return code hex 0x0810 Invalid index parameter index does not exist in the unit 0x0811 Function parameter not implemented 0x0812 Read access only 0x0813 Parameter lock activated 0x0814 Factory setting is active 0x0815 Value for parameter too large 0x0816 Value for parameter too small 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 cannot be changed with output stage enabled reserved 0x0821 Reserved 0x0822 Reserved 0x0823 Parameter may only be changed at IPOS program stop 0x0824 Parameter may only be changed when auto setup is deactivated 0x0505 Incorrect coding of management and reserved byte 0x0602 Communication error between inverter system and fieldbus interface 0x0502 Timeout of secondary connection e g during reset or with Sys Fault 0x0608 Incorrect coding of the format field Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO 11 113 11 C xD Operating Behavior PROFINET IO Parameterization via PROFldrive data record 47 11 3 7 PROFldrive parameter requ
155. uested by a DHCP server If you use the DHCP server from Rockwell Automation you can activate or deacti vate the DHCP via a button In this case an EtherNet IP telegram is sent to the TCP IP interface object of the station that is being addressed Resetting the IP If you do not know the IP address parameters and there is no other interface for reading address the IP address you can reset the IP address parameters to the default values using the parameters DIP switch 2 This action resets the DHR41B option to the following default values e IP address 192 168 10 4 e Subnet mask 255 255 255 0 e Default gateway 192 168 10 4 e DHCP Startup Configuration Saved IP parameters DHCP is deactivated Proceed as follows to reset the IP address parameters to the default values e Switch off the 24 V DC supply voltage and the mains voltage Set the DIP switch 2 on the DHR41B option to 1 e Switch the DC 24 V supply voltage and the line voltage back on SEW Address You can also use the SEW Address Editor to access the IP settings of DHR41B without Editor the Ethernet settings of the PC and DHR41B having to match The IP settings of all SEW units can be made and displayed in the local subnetwork us ing Address Editor in MOVITOOLS MotionStudio see section 10 e Thus for a running installation you can determine the PC settings required to pro vide for an access with the required diagnostics and engineering tools via Ethernet
156. units 108 Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Operating Behavior PROFINET IO Parameterization via PROF ldrive data record 47 gw 11 3 6 MOVILINK parameter requests Example for read ing a parameter via MOVILINK The MOVILINK parameter channel of the SEW inverter is directly mapped in the struc ture of data record 47 The request ID 0x40 SEW MOVILINK service is used for the exchange of MOVILINK parameter setting orders Parameter access with MOVILINK services usually takes place according to the structure described below The typical tele gram sequence is used for data record 47 Request ID 0x40 SEW MOVILINK service The actual service is defined by the data record element Attribute in the MOVILINK pa rameter channel The high nibble of the element corresponds to the MOVILINK service code The following tables give an example of the structure of the WRITE request and READ response user data for reading an individual parameter via the MOVILINK parameter 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 Service WRITE request Descriptio
157. upply adequate equipotential bonding according in accordance with relevant VDE regulations in such a case Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO Assembly and Installation Notes for Ethernet The integrated Ethernet switch 4 4 The integrated Ethernet switch You can use the integrated Ethernet switch to achieve line topologies known from the fieldbus technology Other bus topologies such as star or tree are also possible Ring topologies are not supported TIP The number of Industrial Ethernet switches connected in line impacts on the telegram run time If a telegram passes through the units the telegram runtime is delayed by the Store amp Forward function of the Ethernet switch e for a telegram length of 64 bytes by approximately 10 us at 100 Mbit s for a telegram length of 1500 bytes by approximately 130 us at 100 Mbit s This means that the more units a telegram has to pass through the higher the telegram runtime is Auto crossing Auto negotiation Notes on multi cast handling The two ports leading out of the Ethernet switch have auto crossing functionality This means that they can use both patch and cross over cables to connect to the next Ether net station The baud rate and the duplex mode is negotiated by both Ethernet nodes when estab lishing the connection For this purpose both Ethernet ports of the EtherNet IP con
158. ut Instance 1 Output Instance 2 Output Instance 3 Input Instance 4 Input Instance 5 Input Instance 6 Input Instance 7 Input Instance 8 Input Instance 9 READ WRITE WRITE VOLATILE READ MINIMUM DPRAM READ MAXIMUM READ DEFAULT READ SCALING READ ATTRIBUTE READ EEPROM SEW fieldbus profile Figure 1 Description of the parameter channel Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO gu 54185BEN 6 43 6 C xD The Ethernet Industrial Protocol EtherNet IP CIP object directory Instance 1 9 Attri Access Name Data type Default value hex Description bute 1 Get Bad Flag BOOL 00 0 good 1 bad 2 Get Direction BOOL 00 Input register 01 Output register 3 Get Size UINT 0060 Data length in bits 96 bit 12 byte 4 Get Set Data ARRAY of BITS Data in the format of the SEW parameter channel TIPS Explanation of the attributes Attribute 1 indicates whether an error occurred during the previous access to the data field Attribute 2 indicates 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 attache
159. ype Default value Description bute s hex 1 Get Revision UINT 0001 Revision 1 Attri Acces Name Datatype Default value hex Description bute s 1 Get Object_List STRUCT of Object list comprising Number of objects Number UINT 0009 List of objects Classes ARRAY of 01 00 02 00 UINT 04 00 06 00 07 00 OF 00 64 00 F5 00 F6 00 2 Get Number UINT 0009 Maximum number of connections Available Service code hex Service Name Class Instance 01 Get_Attributes_Alll x 0E Get_Attribute_Single x x The assembly object is used to access the DHR41B process data IO connections can be created for the instances of the assembly object to exchange cyclic process data Assembly object e Class code 04hex Class Attri Acces Name Data type Default value hex Description bute s 1 Get Revision UINT 0002 Revision 2 2 Get Max Instance UINT 0082 Maximum instance Manual MOVI PLC advanced DHR41B for EtherNet IP Modbus TCP and PROFINET IO The Ethernet Industrial Protocol EtherNet IP C xD 6 CIP object directory Instance 161 This instance is used to access the DHR41B process output data MOVIDRIVE can be SEW PO data controlled by only one scanner Therefore only one connection can be established with range this instance Attri Acces Name Datatype Default value Descripti

5 - SEW-Eurodrive

Contents

Download Pdf Manuals

Related Search

Related Contents