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1. 4 1 DAS 4 1 4 2 4 3 Output Assemblies 4 3 5 Explicit messaging een int 5 1 5 1 5 2 p3 TCP IP ODJECU ua nce en 5 3 5 4 Ethernet 5 4 A anne nada A 1 Ethernet IP Programmer s Guide ACS Drive Controller List of Figures Figure 1 1 EntherNet IP Network Example 1 1 Figure 1 2 ACS Drive as an Adapter 1 2 Figure 1 3 EtherNet IP Layer Structure with the ACS Drive as the User Device Profile 1 4 Figure 3 1 Ready to Manually Enter the IP 5 3 1 Figure 3 2 A Manually Entered IP address Ready to 3 2 Figure 3 3 Testing Verifies a Successful Ethernet 3 2 Figure 3 4 Testing indicates a Failed Attempt for Ethernet Connection 3 2 Figure 3 5 Obtaining IP Address Automatically faisant 3 3 Figure 3 6 Click OK when Ethernet Configuration is 3 4 Figure 3 7 Selecting Operating Mode of ACS Drive 3 4 Figure 4 1 EtherNet IP tut 4 1 Ethernet IP Programmer s Guide ACS Drive Controller List of Tables Table 2 1 Cable Wire Type Versus Cable 2 2 Table 2 2 Har2. TOTAL LENGTH HORIZONTAL TOTAL LENGTH CABLE PATCH PATCH OF PATCH LENGTH PATCH AND GAUGE DERATING LENGTH EQUIPMENT AND H C lt 100M EQUIPMENT HORIZONTAL 24 0 2 100 0 0 100 24 0 2 0 80 85 85 24 0 2 25 59 64 89 24 0 2 50 38 43 93 0 5 0 68 68 26 0 5 25 46 26 0 5 50 30 35 85 26 0 5 100 0 0 100 Table 2 1 Cable Wire Type Versus Cable Length Please refer to Section 8 9 2 3 6 of the ODVA EtherNet IP Standard v 1 11 for additional information 2 3 Tolomatic Motion Interface TMI Requirement The TMI is used to configure the ACS Drive including setting up the Ethernet port PC HARDWARE MINIMUM REQUIREMENT Processor 1 GHz RAM 512 MB Disk Space 32 Bit 600 MB Disk Space 64 Bit 1 5 GB USB 1 USB Connection USB to Serial Converter 1 USB to Serial Converter Table 2 2 Hardware Requirements The Tolomatic Motion Interface TMI is compatible with the following operating systems Windows 7 and Windows XP For all platforms it is recommended that you upgrade to the latest Windows Service Pack and critical updates from the Windows Update Web Site at http go microsoft com fwlink Linkid 168461 to ensure the best compatibility and security The TMI software is not supported on IA 64 based Itanium systems Ethernet IP Programmer s Guide ACS Drive Controller 2 2 2 ACS ETHERNET IP REQUIREMENTS 2 4 Firmware Requirements Fea
3. Tolomatic EXCELLENCE IN MOTION ETHERNET IP PROGRAMMER S GUIDE ACS Drive Controller 3600 4168_00 LINEAR SOLUTIONS MADE EASY Tolomatic reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice Information in this document is subject to change without notice 201110121047 Contents List OF FIQUI OS i DIST OF R ij 1 EtherNet IP Overview ssscssssssssssssssessssesssssnsessnsensnssnsenenssnsnssnssnenssnsanenss 1 1 1 1 1 1 ene 1 1 1 2 EIN 1 3 1 3 2 ACS EtherNet IP REQuiremMenttS 1sssscssssssssssessessessnsesssssssessssesssssnsesenses 2 1 ccc ttt te et tet ett tea 2 1 2 1 2 3 Tolomatic Motion Interface 2 2 2 4 Firmware Requirement uen 2 3 PAS EDS EE 2 3 3 ACS Drive Configuration using 3 1 ES Smi E EE A EA 3 1 3 2 Configure EtherNet IP 3 4 4 EtherNet IP amp 1 0
4. 20 23 REAL Target 0 Force 24 27 DWORD Target 0 Motion Type absoute or incremental 28 31 DWORD Digital Output 4 bits used out of 32 Table 4 6 ACS EtherNet IP Full Output Assembly Ethernet IP Programmer s Guide e 4 4 e ACS Drive Controller Explicit Messaging One of the explicit message objects is allocated as part of the predefined slave adapter connection set as defined in the Ethernet IP specification The other may be allocated using the Unconnected Message Manager UCMM protocol These objects can be used to access any ACS Drive parameter OBJECT ID OBJECT NAME PURPOSE 1 Vendor Identity Identifies the drive as ACS Drive amp Controller 4 Assembly ACS Drive currently supports two 2 Output assembly objects and one 1 Input assembly object as specified by EtherNet IP standard 245 TCP ACS Drive TCP IP Interface Object provides information about TCP IP network interface such as IP Address Network Mask Gateway Host Name 246 Ethernet Link ACS Drive Ethernet Link Object provides information about Speed and Duplex connection Table 5 1 Message Objects 5 1 Identity Object The following tables contain the attribute status and common services information for the Identity Object INSTANCE ATTRIBUTE NAME CIP DATA DATA VALUE ID TYPE Class Instance 0 1 Revision UINT 1 Instance 1 1 Vendor number UINT 1230 2 Device
5. and parameters from the ACS drive allow a user or program to monitor the status and descriptions of the connections An implicit or connection sets up the periodic exchange of data between the ACS drive and the data tags in scanner memory Configuration of the number of parameters and which ones are used along with direction is set up at the scanner normally part of the PLC configuration process and separate from the PLC ladder programming An I O messaging service request may result from a software driver implementation such as EIP Scan from Pyramid Systems or may be part of a message box inside a ladder rung of a PLC program Service requests always contain a code specifies what is being requested and a path specifies destination object of request The paths of some of these service codes supported in the ACS drive may take the form of an ASCII character string or tag Other paths will require specification of class instance and attribute Input and output directions are from the perspective of scanner device Input assemblies are consumed by scanner devices and produced by adapter devices Output assemblies are produced by a scanner device and consumed by an adapter device Refer to Figure 4 1 Output assemblies are commonly used for controlling the enable disable state of the drive and for supplying the velocity or position reference Input assemblies are commonly used to monitor the drive status and run time quantities s
6. in realizing high performance and advanced automating manufacturing applications Common Industrial Protocol CIP has enabled the enterprise for e Interoperability between legacy multi vendor internet technologies e Near real time network performance including low latency low jitter and minimal packet loss e Security e Reliability e Manageability and ease of use features e Ability to add innovative technologies such as mobile technologies EtherNet IP provides comprehensive messaging and services for control safety synchronization motion configuration and information that creates unified communication across manufacturing enterprise Tolomatic s implementation of EtherNet IP connectivity conforms to the Open Systems Interconnection 05 model which defines the framework of implementing network protocols in seven layers The ACS drive EtherNet IP implementation conforms to Open DeviceNet Vendor Association ODVA standard CIP version 3 10 and EtherNet IP version 1 11 For more information regarding EtherNet IP and CIP functionality and conformation standards as regulated by the ODVA visit their website at www odva org A typical EtherNet IP network forms several point to point connections A typical network in the factory would comprise of variety of complex devices such as HMIs PLCs motion controllers bar code scanners to simple devices such as 1 0 This configuration is represented in Figure 1 1 CIP Network
7. to monitor input data without providing output data To use this connection type an owning connection must exist from a second client and the configuration of the connection must match exactly SThis instance allows output data without providing input data Table 5 4 Assembly Object 04 6 Instances HEX Ethernet IP Programmer s Guide ACS Drive Controller 5 2 5 EXPLICIT MESSAGING Assembly Object Common Services SERVICE CODE IMPELEMENTED FOR SERVICE NAME CLASS LEVEL INSTANCE LEVEL Eigse Yes Yes Get_Attribute_Single 10 No Yes Set_Attribute_Single Table 5 5 Assembly Objects Common Services 5 3 TCP IP Object Please refer to Volume 2 EtherNet IP Adaptation of CIP v 1 11 5 5 3 for exact format and interpretation of attributes INSTANCE ATTRIBUTE ID NAME DATA TYPE Class Instance 0 1 Revision UINT Instance 1 1 Status DWORD 2 Configuration capability DWORD 3 Configuration control DWORD 4 Physical Link Object Structure of UINT Path size A f Word Path rray of Wor 5 Interface configuration Structure of UDINT IP Address UDINT Network Mask UDINT Gateway Address UDINT Name Server UDINT Name Server 2 UINT Domain Name Size STRING Domain Name 6 Host name Structure of Host Name Size UINT Host Name STRING Table 5 6 TCP IP Object 0xF5 1 Instance TCP IP Object Common Services SERVICE CODE IMPELEMENTED FOR SERVICE NAME C
8. type UINT 0 3 Product code number UINT 9046 4 Product major revision USINT 01 Product minor revision USINT 01 5 Status WORD NA 6 Serial number UDINT Unique 32 bit value rg Product name SHORT ACS Drive amp STRING32 Controller Table 5 2 Identity Object 01 1 Instance Ethernet IP Programmer s Guide ACS Drive Controller 5 1 5 EXPLICIT MESSAGING Identity Object Common Services SERVICE CODE IMPELEMENTED FOR SERVICE NAME CLASS LEVEL INSTANCE LEVEL 01 Yes Get_Attribute_All 5 No Yes Reset OEHex Yes Yes Get_Attribute_Single 10Hex No Yes Set_Attribute_Single Table 5 3 Identity Objects Common Services 5 2 Assembly Object The following tables contain the attribute instance data mapping and common services information for the Assembly Object INSTANCE ATTRIBUTE ID NAME CIP DATA TYPE DATA VALUE Class Instance 0 1 Revision UINT 2 2 Max instance UINT 129 Input 3 T gt 0 Refer to Table 4 2 Instance 100 Output 3 0 gt T Refer to Table 4 5 Instance 112 Output 3 0 gt T Refer to Table 4 6 Instance 113 254 OxFE 4 Input only Heartbeat 0 heartbeat 255 OXFF 5 Listen only Heartbeat 0 heartbeat 253 0xFD 6 Output Only Heartbeat 0 heartbeat This instance allows clients PLCs to monitor input data without providing output data This instance allows clients PLCs
9. used with the ACS drive If the cables are made on site they must be tested to meet performance criteria set according to TIA EIA 568 B standard This cable definition is the general cable requirements for copper and fiber cabling installations EtherNet IP specifications limit the channel to 100 meters or up to 90 meters horizontal wiring with two 5 meter patch cords Some applications will require longer patch cords In these applications the total length of horizontal wiring must be adjusted to compensate for the added loss of each connector pair and additional patch cord length beyond 10m 102 H C 0 Where C is the maximum combined length m of the work area cable equipment cable and patch cord H is the length m of the horizontal cable H C lt 100 m D is a de rating factor for the patch cord type 0 2 for 24 AWG UTP 24 AWG ScIP and 0 5 for 26 AWG ScTP The derating factors are based on COMMERCIAL cables Other constructions such as high flex may have different performance Consult the manufacturer for information W is the maximum length m of the work area cable T is the total length of horizontal patch and equipment cords The maximum stranded cable length is limited to 85mm for the channel with the standard 20 derating for standard stranded cables Ethernet IP Programmer s Guide ACS Drive Controller 2 1 2 ACS ETHERNET IP REQUIREMENTS oo WIRE TYPE VERSUS LENGTH
10. LASS LEVEL INSTANCE LEVEL Yes Yes Get_Attribute_Single 10 No Yes Set_Attribute_Single Table 5 7 TCP IP Object Common Services Ethernet IP Programmer s Guide ACS Drive Controller 5 3 5 EXPLICIT MESSAGING 5 4 Ethernet Link Object Please refer to Volume 2 EtherNet IP Adaptation of CIP v 1 11 Section 5 5 4 for exact format and interpretation of attributes INSTANCE ATTRIBUTE ID NAME DATA TYPE Class Instance 0 1 Revision UINT Instance 1 1 Interface speed UDINT 2 Interface flags DWORD 3 Physical address USINT Array 6 Table 5 8 Ethernet Link Object OxF6 1 Instance Ethernet Link Object Common Services SERVICE CODE IMPELEMENTED FOR SERVICE NAME CLASS LEVEL INSTANCE LEVEL Yes Yes Get_Attribute_Single 10 No Yes Set_Attribute_Single Table 5 9 TCP IP Object Common Services Ethernet IP Programmer s Guide ACS Drive Controller e 5 4 e Appendix Troubleshooting No Ethernet Communication 1 Check Ethernet Cable Verify Ethernet Cable is plugged in securely Incorrect combination of IP Address Subnet Mask Gateway Check with your network administrator to determine correct combination 4 Try different Ethernet port on the drive No EtherNet IP connectivity 1 Check your assembly configuration 2 Check if Ethernet communication can be established with the drive using PING utility 3 Check if Digital O
11. Pushbutton Cluster Motor Starter Device Configuration Input Output Devices Bar Code Scanner Drive Figure 1 1 EntherNet IP Network Example Ethernet IP Programmer s Guide ACS Drive Controller e 1 1 1 OVERVIEW 1 3 Definitions The following definitions provide a general context for terms used in this guide in the EtherNet IP implementation Device A device is considered any product that supports the EtherNet IP encapsulation of CIP Connection A connection is a logic link between two devices that may share more than one connection Scanner A master or controlling device that initiates a request or connection Adapter A device that receives a connection request or an individual service request Multiple adapters can be connected to one scanner on a network The ACS drive is an adapter device see Figure 1 2 SCANNER SCANNER PLC HMI Figure 1 2 ACS Drive as an Adapter Device Assembly A collection of pre defined data that resides in an adapter Each datapoint is identified by its own unique instance number size and type There are three types of assemblies producing data to be sent consuming data to be received and configuration how the data is to be consumed and interpreted Explicit Messaging Connection A connection used for individual request response transactions that are handled in the EtherNet IP protocol via TCP For example an explicit connection reque
12. ationFailed Figure 3 6 Failed DHC Configuration When Ethernet configuration is complete press OK 3 2 Configure EtherNet IP Mode Once ACS drive is correctly setup with IP address mask and gateway input assemblies are available for scanner to consume By putting ACS drive in EtherNet IP mode ACS drive is ready to consume output assemblies from the scanner In TMI go to the Mode Select tab and select the EtherNet IP radio button as shown here FD Drive Actuator Motor Mode Select VO Faut HomeSetup Mode Setup Operating Mode Index Move Analog Position EtherNet IP Connected COM4 38400 baud Figure 3 7 Selecting Operating Mode of ACS Drive Ethernet IP Programmer s Guide ACS Drive Controller 3 4 3 ACS DRIVE CONFIGURATION USING TMI Clicking on any other tab or navigating away from Mode Select tab will configure the ACS drive for EtherNet IP mode At this point the ACS Drive is ready to be integrated with any scanner Ethernet IP Programmer s Guide ACS Drive Controller 3 5 EtherNet IP amp 1 0 Connections The ACS drive will only allow two connections The ACS drive responds to connection and service requests from a scanner and no commands or parameters from the drive are required to allow these connections However certain commands
13. dividual target nodes via connected or unconnected messages A connected message establishes a formal CIP connection between devices that allows each device to detect and report either established or failed connections Unconnected messages are managed by the internal stack s Unconnected Message Manager UCMM and does not establish a periodic explicit connection Implicit or 1 0 Connection A connection that establishes a periodic exchange of data between a scanner and adapter A repetition packet interval or RPI normally expressed in milliseconds is established by the scanner device in both directions An connection request also establishes the size of each assembly and the instance numbers of the assembly types producing consuming and configuration To allow the adapter to interpret subsequent data exchange an 1 0 connection may also contain data destined for the adapter s configuration assembly In EtherNet IP the 1 0 connection itself is established via TCP but the subsequent exchange of data uses UDP 1 0 connection also determines how the adapter device should send its data either point to point addressed to the scanner only or multicast address group that includes the scanner and allows other devices on the network to receive data from the adapter NOTE If the data is sent via multicast the adapter device itself must support multicast or the connection will fail Both explicit service requests and implicit 1 0 connecti
14. dware Requirements 2 2 Table 4 1 Data 4 2 Table 4 2 ACS EtherNet IP Input Assembly 4 2 Table 4 3 ACS Drive 4 2 Table 4 4 ACS Drive 4 3 Table 4 5 ACS EtherNet IP Output Assembly 4 3 Table 4 6 ACS EtherNet IP Full Output 0 4 4 Table 5 1 Message 5 1 Table 5 2 Identity Object 01 p71 INSTANCE ns 5 1 Table 5 3 Identity Objects Common Services 5 2 Table 5 4 Assembly Objects 04 6 Instances 5 2 Table 5 5 Assembly Objects Common Services 5 3 Table 5 6 TCP IP Object JOKES 7 1 See ens ne 5 3 Table 5 7 TCP IP Object Common 2 2 5 3 Table 5 8 Ethernet Link Object OXF6 1 Instance 5 4 Table 5 9 TCP IP Object Common 2 5 4 Ethernet IP Programmer s Guide ACS Drive Controller EtherNet IP Overview BE 1 1 Introduction NOTE This document is intended to provide information on the EtherNet IP protocol only Please reference the ACS Hardware Installation Guide for all electrical and hardware installation procedures specifications and safety instructions when operating the ACS Drive 1 2 Network EtherNet IP has been instrumental
15. ernal use internal use we EE EE internal use 0 30 open 31 Drive Control 0 off 1 0 CTROFF 1 Host CTRON Table 4 3 ACS Drive Status Ethernet IP Programmer s Guide 4 2 ACS Drive Controller 4 ETHERNET IP amp 1 0 CONNECTIONS ACS DRIVE FAULTS BIT DESCRIPTION Positive Limit Negative Limit E Stop Position Error Feedback Error Overcurrent Motor Overtemperature Drive Overtemperature Drive OverVolatage Drive UnderVoltage 10 Flash Error 11 13 Open COIN Bow Table 4 4 ACS Drive Faults E 4 3 Output Assembly INSTANCE ATTRIBUTE ID BYTES TYPE VALUE Input 0 gt T 3 0 USINT Network Outputs Instance 112 Bit 0 Enable Bit 1 Start Motion Bit 2 Home Bit 3 E Stop Bit 4 7 Reserved 1 USINT Move Select 0 16 2 3 NA Reserved Table 4 5 ACS EtherNet IP Output Assembly Ethernet IP Programmer s Guide ACS Drive Controller 4 3 e 4 ETHERNET IP 8 1 0 CONNECTIONS INSTANCE ATTRIBUTE ID BYTES TYPE VALUE Output 0 gt T 3 0 USINT Network Outputs Instance 113 Bit 0 Enable Bit 1 Start Motion Bit 2 Home Bit 3 E Stop Bit 4 7 Reserved 1 USINT Move Select 0 16 2 3 NA Reserved 4 7 REAL Target 0 Position 8 11 REAL Target 0 Velocity 12 15 REAL Target 0 Acceleration 16 19 REAL Target 0 Deceleration
16. g click the Disconnect button on the TMI Drive tab or press the Disconnect from Drive button on the toolstrip click Yes when asked Update drive flash memory e cycle ACS drive power turn off then turn on press the Connect button on the TMI Drive tab or press the Connect to Drive button on the toolstrip When the Ethernet configuration tool is opened the status bar informs the status of the DHCP address configuration process This is not dynamically updated To see the current status press Cancel or OK wait a bit then open this tool again PACS Meme Peel TCP IP Properties _ SS Network Settings Obtain an IP address automatically IP address 0 0 120 Subnet Mask 255 255 255 0 Default Gateway 10 10 0 1 MAC Address 00 04 3 33 10 0 Tea Cana DHCPAddressConfigurationinProgress Figure 3 5 Obtaining an IP Address Automatically If there is problem and the ACS drive is unable to get an IP address from the DHCP server the status bar will display the error message Ethernet IP Programmer s Guide ACS Drive Controller e 3 3 e 3 ACS DRIVE CONFIGURATION USING TMI rties ACS Internet Protocol TCP IP Properties Network Settings Obtain an address automatically IP address 10 0 120 Subnet Mask 255 255 255 0 Default Gateway 10 10 0 1 MAC Address 00 04 43 33 10 ED DHCPAddressConfigur
17. ons allow scanner access to parameters however the process differs Typically the scanner device utilizes HMI or PLC software such as Allen Bradley s ControlLogix PLC s normally will make both explicit and 1 0 connections Ethernet IP Programmer s Guide ACS Drive Controller 1 3 1 OVERVIEW 1 4 Layer Structure Figure 1 3 below shows the seven layers of protocol implementation Tolomatic s ACS Drive user device profile resides on the seventh layer qo Or Connection Management Message Rouino ee gt E gt Figure 1 3 EtherNet IP Layer Structure with the ACS Drive as the User Device Profile 1 PHYSICAL Ml 1 5 References 1 The CIP Network Library Volume 1 Common Industrieal Protocol Edition 3 10 April 2011 2 The CIP Network Library Volume 2 EtherNet IP Adaptation of CIP Edition 1 11 April 2011 Ethernet IP Programmer s Guide ACS Drive Controller e 1 4 e ACS EtherNet IP Requirements EE 2 1 Definitions EE 2 2 Cabling ACS Drive amp Controller Part Number 36049654 is the only part number with EtherNet IP capability ACS drive part number can be found on the label on the front cover The selection of cable has a profound impact on network performance and reliability Selecting the correct cable requires an understanding of the environment where the cable is installed Due to high data rate and reliability considerations at the minimum Cat5e cables should be
18. st from a scanner device results in a response from the adapter device indicating a successful or failed request If data payload was part of the request this information would also be included Requests from a scanner device is called a service request and these requests are identified by one byte service codes inside the request pocket CIP specifications define the meaning of the majority of these service codes however codes 0x4B through 0x63 have meanings specific to the destination object of the service request Ethernet IP Programmer s Guide ACS Drive Controller 1 2 1 OVERVIEW Service request destinations are defined by a portion of the request packet or path that is either an object description or an ASCII character string The adapter device receiving a service request distinguishes between an object description path ASCII character string path by the path s header bytes Class type of object reference instance object of the type and the attribute numbers inside the path identify a request to an object For example a mixed carton of oatmeal contains 24 packages objects and are considered instances 1 through 24 Each object can have multiple attributes In this example the carton contains 6 different flavors or attributes 1 through 6 An example service request from a scanner would be to ask for the flavor of package or object number 12 Explicit message commands or data requests can also be sent from the scanner to in
19. ttings to the ACS drive and when the Test button is pressed TMI will download the settings to the ACS drive and initiate the PC to Ping the drive NOTE An Ethernet cable must be connected from the PC to the ACS drive Ethernet IP Programmer s Guide ACS Drive Controller 3 1 3 ACS DRIVE CONFIGURATION USING TMI Obtain an IP address automatically IP address 10 10 0 120 Subnet Mask 255 255 255 0 Default Gateway 10 10 0 1 MAC Address 00 04 43 33 10 ED Cned Figure 3 2 Manually Entered IP Address Ready to Test If the Test worked a screen will pop up showing similar results to the following Address 10 10 0 120 Host 10 10 0 120 RoundTrip time 7 Time to live 128 Don t fragment False Buffer size 1 Figure 3 3 Testing Verifies a Successful Ethernet Connection lf the Test didn t work in this example the Ethernet cable was unplugged from the ACS drive an error dialog will be shown ether Comer ene 4 _ Ping 10 10 0 119 failed TimedOut Figure 3 4 Testing Indicates a Failed Attempt for Ethernet Connection Ethernet IP Programmer s Guide ACS Drive Controller 3 2 3 ACS DRIVE CONFIGURATION USING TMI To configure the ACS drive for DHCP server in order to dynamically assign an IP Address e check the Obtain an IP address automatically checkbox click OK on the ACS Internet Protocol TCP IP Properties dialo
20. tures described in this manual require Tolomatic ACS Drive firmware version 2 0 0 0 or higher 2 5 EDS File EtherNet IP Electronic Data Sheet EDS file is available for ACS Drives that supports EtherNet IP Please download that from http www tolomatic com Ethernet IP Programmer s Guide ACS Drive Controller 2 3 e ACS Drive Configuration Using TMI ACS Drive Configuration for EtherNet IP is a 2 step process 1 Using Tolomatic Motion Interface assign an IP Address Subnet Mask and Gateway 2 Using TMI set the drive to EtherNet IP mode For information related to setup installation of Tolomatic Motion Interface please refer to TMI User Manual 3 1 Setup IP Address Choose the Tools gt Ethernet menu selection or press the Configure Ethernet button in the toolstrip ACS Internet Protocol Network Settings Obtain an address automatically IP address 192 168 0 100 Subnet Mask 255 255 255 0 Default Gateway 192 168 0 1 Address 00 04 3 32 88 0 Figure 3 1 Ready to Manually Enter the IP Address Enter the IP address Subnet Mask and Default Gateway parameters for the network The values shown above are the factory default values for the ACS drive Typically at least the IP address and Default Gateway will need to be changed for the network To test the Ethernet settings the Test button can be used to download the Ethernet se
21. uch as current position and faults if present INPUT ASSEMBL PLC HMI K ACS Drive SCANNER OUTPUT ASSEMBLY ADAF TER Figure 4 1 EtherNet IP 1 0 Assembly 4 1 Data Types Data Types used in this Object Model are described in Table 4 1 below Ethernet IP Programmer s Guide ACS Drive Controller e 4 1 e 4 ETHERNET IP amp 1 0 CONNECTIONS DATA TYPE DESCRIPTION USINT Unsigned Short Integer 8 bit UINT Unsigned Integer 16 bit UDINT Unsigned Double Integer 32 bit SHORT STRINGnn Character String 1st byte is length up to nn characters WORD Bit String 16 bits DWORD Bit String 32 bits REAL IEEE 32 bit Single Precision Floating Point Table 4 1 Data Types E 4 2 Input Assembly INSTANCE ATTRIBUTE ID BYTES TYPE VALUE Input T gt 0 1 0 3 REAL Current Position Instance 100 4 7 DWORD Drive Status 32 bitmap statuses 8 11 DWORD Drive Faults 32 bitmap faults 12 15 DWORD Digital Input 8 bits used out of 32 16 19 DWORD Digital Output 4 bits used out of 32 20 23 REAL Analog Input 24 27 REAL Analog Output Table 4 2 ACS EtherNet IP Input Assembly ACS DRIVE STATUS BIT DESCRIPTION Drive Enable 0 Not Enable 1 Enable Drive Homed 0 Not Homed 1 Homed Drive In Motion 0 Motion Complete 1 In Motion EStop 0 off 1 internal use internal use internal use int
22. utputs can be set reset using EtherNet IP 0 gt assembly 4 Advanced Troubleshooting Tip Check Ethernet packets received and sent to the PLC from and to the drive Motion cannot be executed over 1 Check if Drive Status Drive Faults Digital Inputs and Outputs can EtherNet IP be queried over EtherNet IP If drive is not sending them then troubleshoot Ethernet communication 2 Check if drive is configured with EtherNet IP communication mode using Tolomatic Motion Interface Software 3 Check if Digital Outputs can be set reset using EtherNet IP O gt T assembly If the Digital Outputs of the drive cannot be set or reset using EtherNet IP O gt T assembly then troubleshoot the Ethernet communication 4 Advanced Troubleshooting Tip Try different EtherNet IP scanner to interface with Tolomatic ACS Drive Ethernet IP Programmer s Guide ACS Drive Controller A 1 Copyright 2011 Tolomatic Inc All rights Reserved All brand and product names are trademarks of their respective owners Information in this document is believed to be accurate at time of publication 201110121047 Tolomatic EXCELLENCE IN MOTION 3800 County Road 116 Hamel MN 55340 Phone 763 478 8000 Toll Free 1 800 328 2174 Fax 763 478 8080 Email help tolomatic com www tolomatic com
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