Accessories EtherNet/IP™ 13451095 Ä.
Contents ________________________________________________________________ 1 1.1 1.2 1.3 1.
Contents ________________________________________________________________ 7 7.1 7.2 7.
Contents ________________________________________________________________ 14 Implemented CIP™ objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14.1 General CIP objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14.1.1 Identity Object (1 / 0x01) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14.1.2 Message Router Object (2 / 0x02) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14.1.
1 About this documentation ________________________________________________________________ 1 About this documentation Contents This documentation only contains descriptions of the E94AYCEO (EtherNet/IP™) communication module. Note! This documentation supplements the mounting instructions supplied with the controller and the Servo Drives 9400 hardware manual.
1 About this documentation ________________________________________________________________ Target group This documentation addresses persons who configure, install, commission, and maintain the networking and remote servicing of a machine. Tip! Current documentation and software updates with regard to Lenze products can be found in the download area at: www.lenze.
1 About this documentation 1.1 Document history ________________________________________________________________ 1.1 Document history Version 1.0 7 Description 03/2012 TD17 First edition for field test version V0.3.0.0 General revision of version V01.01.00.00 2.0 09/2012 TD17 3.0 12/2013 TD17 • New layout • Revision of the parameter descriptions Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
1 About this documentation 1.2 Conventions used ________________________________________________________________ 1.2 Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Identification Examples/notes Numbers Decimal Decimal separator Hexadecimal Binary • Nibble Standard notation Point 0x[0 ... 9, A ... F] In inverted commas Point Example: 1234 In general, the decimal point is used. Example: 1234.
1 About this documentation 1.3 Terminology used ________________________________________________________________ 1.3 Terminology used Term Meaning ACD Address Conflict Detection Adapter EtherNet/IP slave Drive Lenze inverters of the "Servo Drives 9400" product series Inverter Standard device ARP Address Resolution Protocol BOOTP Bootstrap Protocol Code Parameter which serves to parameterise and monitor the drive. In normal usage, the term is usually referred to as "Index".
1 About this documentation 1.4 Notes used ________________________________________________________________ 1.
2 Safety instructions 2.1 General safety and application notes ________________________________________________________________ 2 Safety instructions Note! It is absolutely vital that the stated safety measures are implemented in order to prevent serious injury to persons and damage to material assets. Always keep this documentation to hand in the vicinity of the product during operation. 2.
2 Safety instructions 2.2 Device and application-specific safety instructions ________________________________________________________________ 2.2 Device and application-specific safety instructions • During operation, the communication module must be securely connected to the standard device. • With external voltage supply, always use a separate power supply unit, safely separated to EN 61800-5-1 in every control cabinet (SELV/PELV). • Only use cables that comply with the listed specifications.
3 Product description 3.1 Application as directed ________________________________________________________________ 3 Product description 3.1 Application as directed The EtherNet/IP communication module ... • is an accessory module that can be used in conjunction with the following standard devices: Product series Type designation Servo Drives 9400 HighLine E94AxHExxxx From hardware version From software version 1A 04.00 Servo Drives 9400 PLC E94AxPExxxx VA 02.
3 Product description 3.3 Product features ________________________________________________________________ 3.3 Product features • Interface module for the EtherNet/IP communication system to be connected to the expansion slots of the Servo Drives 9400 • The communication module can either be supplied internally by the standard device or externally by a separate voltage source.
3 Product description 3.4 Terminals and interfaces ________________________________________________________________ 3.
4 Technical data 4.1 General data and operating conditions ________________________________________________________________ 4 Technical data 4.1 General data and operating conditions Range Values Order designation E94AYCEO Communication profile EtherNet/IP Communication medium S/FTP (Screened Foiled Twisted Pair), ISO/IEC 11801 or EN 50173, CAT 5e Interface for communication RJ45: Standard Ethernet (in accordance with IEEE 802.
4 Technical data 4.2 Protocol data ________________________________________________________________ 4.2 Protocol data Range Values I/O data words 1 ... 32 words (max. 64 bytes, 16 bits/word) Supported CIP services 4.3 • Get_Attributes_All • Get_Attribute_Single • Set_Attribute_Single • Reset (only type ’0’) • Forward_Open • Forward_Close Communication time The communication time is the time between the start of a request and the arrival of the corresponding response.
4 Technical data 4.4 Internal switch latency ________________________________________________________________ 4.4 Internal switch latency The integrated 2-port switch causes runtime delays. For "store-and-forward" and 100 Mbps, these runtime delays can be calculated as follows. • Runtime delay for an output data packet of the scanners incl.
4 Technical data 4.5 Protective insulation ________________________________________________________________ 4.5 Protective insulation Danger! Dangerous voltage If the Servo Drives 9400 are operated on a phase earthed mains with a rated mains voltage 400 V, external measures need to be implemented in order to ensure protection against accidental contact.
4 Technical data 4.5 Protective insulation ________________________________________________________________ The following illustration ... • shows the arrangement of the terminal strips and the separate potential areas of the inverter. • serves to determine the decisive protective insulation between two terminals located in differently insulated separate potential areas. X1 X2 Reinforced insulation X100 X3 MXI1 Basic insulation Bus Functional insulation Ext.
4 Technical data 4.5 Protective insulation ________________________________________________________________ Example Which type of protective insulation is used between the bus terminal of the device module in slot MXI1 or MXI2 and the mains terminal X100? The separate potential area with the better protective insulation is decisive. • The separate potential area of the bus terminal of the device module has a "functional insulation".
4 Technical data 4.6 Dimensions ________________________________________________________________ 4.6 Dimensions a 89 mm b 134 mm b1 87 mm e 23 mm E94YCXX005 [4-2] Dimensions Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
5 Installation ________________________________________________________________ 5 Installation Stop! Electrostatic discharge Electronic components within the communication module can be damaged or destroyed by electrostatic discharge. Possible consequences: • The communication module is defective. • Fieldbus communication is not possible or faulty. Protective measures • Before touching the module, be sure that you are free of electrostatic charge.
5 Installation 5.1 Mechanical installation ________________________________________________________________ 5.1 Mechanical installation 5.1.1 Assembly E94YCXX001G [5-1] 5.1.2 Assembly Disassembly E94AYCXX001H [5-2] Disassembly Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2 Electrical installation 5.2.1 Documentation for the standard device, control system, system/machine Observe the notes and wiring instructions contained in this documentation. Wiring according to EMC guidelines In typical systems, standard shielding is sufficient for Ethernet cables.
5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.2 Network topology It is typical of EtherNet/IP to have a rather free topology the limiting factor of which is large message latencies due to e.g. switches connected in series. Internal switch latency ( 18) The combination of a line and a stub is useful for system wiring.
5 Installation 5.2 Electrical installation ________________________________________________________________ • Switch / switch SW SW SW E94AYCEO007 [5-7] 27 Switch / switch topology (S = switch) Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.3 EtherNet/IP connection The EtherNet/IP connection is carried out via the RJ45 sockets X233 and X234. You can use a standard Ethernet patch cable to connect the communication module to the EtherNet/IP fieldbus.
5 Installation 5.2 Electrical installation ________________________________________________________________ Mounting clearance When ordering and using your Ethernet cable, note the amount of free space available. E94YCET017 [5-8] 29 Mounting clearance Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.4 Ethernet cable specification Note! Only use cables that meet the listed specifications. Ethernet cable specification Ethernet standard Standard Ethernet (in accordance with IEEE 802.3), 100Base-TX (Fast Ethernet) Cable type S/FTP (Screened Foiled Twisted Pair), ISO/IEC 11801 or EN 50173, CAT 5e Damping 23.
5 Installation 5.2 Electrical installation ________________________________________________________________ Colour code of the Ethernet cable Note! Wiring and colour code are standardised in EIA/TIA 568A/568B. In accordance with the industrial standard, the use of 4-pin Ethernet cables is permissible. The cable type only connects the assigned pins 1, 2, 3 and 6 to one another.
5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.5 External voltage supply The communication module can be supplied externally with voltage via separate supply cables at the 2-pole plug connector X232. Note! With external voltage supply, always use a separate power supply unit, safely separated to EN 61800-5-1 in every control cabinet (SELV/PELV).
6 Commissioning 6.1 Before initial switch-on ________________________________________________________________ 6 Commissioning During commissioning, plant-specific data such as motor parameters, operating parameters, responses, and parameters for fieldbus communication are defined for the inverter. Lenze devices use codes for this purpose. The codes of the inverter and for communication are saved to the memory module in a non-volatile data set.
6 Commissioning 6.2 Configuring the host system (scanner) ________________________________________________________________ 6.2 Configuring the host system (scanner) To be able to communicate with the communication module, the host (scanner) must be configured first. The configuration of EtherNet/IP networks always requires an EtherNet/IP scanner configuration software (e.g. »RSLogix 5000« from Rockwell) for the host (scanner).
6 Commissioning 6.2 Configuring the host system (scanner) ________________________________________________________________ 6.2.2 Example: IP configuration of the Allen-Bradley 1769-L32E CompactLogix controller In this example, the Allen-Bradley CompactLogix controller 1769-L32E with an integrated EtherNet/ IP interface is used to communicate with Servo Drives 9400. The »RSLogix 5000« programming software from Rockwell is used for the configuration.
6 Commissioning 6.2 Configuring the host system (scanner) ________________________________________________________________ 5. Go to the Port Configuration tab and enter the IP configuration, BOOTP setting, Ethernet baud rate and duplex mode. 6. Then click OK. • Now, the scanner is configured for the EtherNet/IP network.
6 Commissioning 6.3 Setting the IP configuration of the Servo Drive 9400 ________________________________________________________________ 6.3 Setting the IP configuration of the Servo Drive 9400 The IP configuration is required for addressing the Servo Drive 9400 to ensure that communication between the PC/»Engineer« or the scanner and the drive can be effected via EtherNet/IP. For this, an IP address, subnet mask, and gateway address must be allocated.
6 Commissioning 6.3 Setting the IP configuration of the Servo Drive 9400 ________________________________________________________________ 6.3.1 Setting via the EtherNet/IP configurator of the »Engineer« Note! • Changes in the IP parameters will become effective immediately. • An existing IP connection to the Servo Drive 9400 will be interrupted. • This procedure cannot be applied if the network is configured by a BOOTP/DHCP server.
6 Commissioning 6.3 Setting the IP configuration of the Servo Drive 9400 ________________________________________________________________ 2. A double-click on an EtherNet/IP node opens the Configure nodes dialog window. Here you can set the IP parameters. 3. Click on Transferred. • The IP configuration is transferred to the corresponding EtherNet/IP node. • The communication module carries out a stack reset.
6 Commissioning 6.3 Setting the IP configuration of the Servo Drive 9400 ________________________________________________________________ 6.3.2 Setting via codes in the »Engineer« You can also set the IP parameters manually in the »Engineer« under the Settings tab. The values will be transferred to the corresponding codes.
6 Commissioning 6.3 Setting the IP configuration of the Servo Drive 9400 ________________________________________________________________ IP address The IP address is set/changed in C13000 / C14000. In C13010/1...4 / C14010/1...4 the currently used IP address is shown. Example: Display of the IP address 192.168.0.
6 Commissioning 6.3 Setting the IP configuration of the Servo Drive 9400 ________________________________________________________________ 6.3.3 Setting via a BOOTP/DHCP server DHCP is the acronym for "Dynamic Host Configuration Protocol". This protocol is defined in RFC 2131 and is a compatible advancement of the "Bootstrap Protocol" (BOOTP) according to RFC 951. Both protocols enable network nodes to query information about the network configuration (e.g.
6 Commissioning 6.3 Setting the IP configuration of the Servo Drive 9400 ________________________________________________________________ 6.3.5 Setting the multicast configuration Several scanners ("Listen only" or "Input only" connections) can access multicast telegrams which are sent by drives. Settings for multicast configuration have to be carried out as well in the EtherNet/IP configuration software (z. B. »RSLogix 5000« from Rockwell).
6 Commissioning 6.4 Establishing an online connection via EtherNet/IP with the Lenze »Engineer« ________________________________________________________________ 6.4 Establishing an online connection via EtherNet/IP with the Lenze »Engineer« [6-1] Note! • In order to ensure perfect operation of cyclic EtherNet/IP communication, online access with the »Engineer« should be executed via an IEEE 802.1Q-capable switch. • The IEEE 802.
6 Commissioning 6.4 Establishing an online connection via EtherNet/IP with the Lenze »Engineer« ________________________________________________________________ In the »Engineer«, you can use the Online Set communication path and go online menu command to select the EtherNet/IP communication path. The previously configured EtherNet/IP nodes are shown in the "Communication path" dialog window: If the device access path is not configured correctly, the display field can be entered manually here.
6 Commissioning 6.5 Initial switch-on ________________________________________________________________ 6.5 Initial switch-on Documentation for the Servo Drive 9400 Note! Observe the safety instructions and information on residual hazards. Establishing communication In order to establish communication via an externally supplied communication module, the standard device must be switched on as well.
7 Data transfer ________________________________________________________________ 7 Data transfer EtherNet/IP uses CIP™ (Common Industrial Protocol) for the data exchange between devices via an Ethernet network – just like the closely related bus systems DeviceNet and ControlNet. Lenze implements the CIP following the ODVA standard (Open DeviceNet Vendor Association, www.odva.
7 Data transfer 7.1 Communication channels ________________________________________________________________ 7.1 Communication channels Note! The terms "input" and "output" refer to the point of view of the scanner: • Input data is produced by the adapter and consumed by the scanner. • Output data is produced by the scanner and consumed by the adapter. EtherNet/IP transmits parameter data and I/O data between the host system (scanner) and the drives (adapters) connected to the fieldbus.
7 Data transfer 7.2 Telegram types ________________________________________________________________ 7.2 Telegram types The "implicit message" and "explicit message" telegram types are transmitted between the host system (scanner) and the drive (adapter). Implicit messages (I/O data transfer) "Implicit messages" are transmitted or received according to the producer/consumer principle. There is one transmitter and no receiver or an optional number of receivers.
7 Data transfer 7.3 EtherNet/IP state diagram ________________________________________________________________ 7.3 EtherNet/IP state diagram [7-1] EtherNet/IP state diagram The current EtherNet/IP device state is ... • output via code C13861 / C14861; • output in the Identity Object (1 / 0x01) ( 121) via instance attributes 5 and 8; • indicated via the LED MS (see CIP™ status displays ( 78)). Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
8 I/O data transfer (implicit messages) ________________________________________________________________ 8 I/O data transfer (implicit messages) To exchange I/O data (implicit messages) between the host system (scanner) and the drive (adapter), you have to ...
8 I/O data transfer (implicit messages) 8.1 Technology applications (TA) / drive profiles ________________________________________________________________ 8.1 Technology applications (TA) / drive profiles The Servo Drive 9400 is provided with different drive profiles. They define a standardised or individual control and status word assignment as well as the standardisation of setpoint and actual value scalings.
8 I/O data transfer (implicit messages) 8.1 Technology applications (TA) / drive profiles ________________________________________________________________ 8.1.2 I/O assemblies Note! The terms "input" and "output" refer to the point of view of the scanner: • Input data is produced by the adapter and consumed by the scanner. • Output data is produced by the scanner and consumed by the adapter.
8 I/O data transfer (implicit messages) 8.1 Technology applications (TA) / drive profiles ________________________________________________________________ Assembly output objects (scanner adapter) Assembly output objects are assumed to have a 4-byte header (32-bit "Run/Idle header"). When mapping the assemblies, this header will automatically be added to the data stream by most AllenBradley PLC/SLC equipment.
8 I/O data transfer (implicit messages) 8.2 I/O configuration in the »Engineer« ________________________________________________________________ 8.2 I/O configuration in the »Engineer« For the Servo Drives 9400 HighLine the I/O data can be arranged individually (mapping). For this purpose, the »Engineer« is provided with a port configurator. Note! The port mapping is no configuration that can be carried out online for the Servo Drive 9400.
8 I/O data transfer (implicit messages) 8.2 I/O configuration in the »Engineer« ________________________________________________________________ 3. Click the Edit PDO button. The Process data object structure:PDO_RX0 selection window opens: Here you can map the individual ports from the Port Selection list to the receive PDO "PDO_RX0" by clicking the >> button. The Up and Down buttons serve to shift the sequence of the ports within the PDO. 4. Repeat steps 2. and 3. for the send object PDO_TX0.
8 I/O data transfer (implicit messages) 8.2 I/O configuration in the »Engineer« ________________________________________________________________ In the following example, ... • the ports "LPortControl1" and "Lport32In1" (a total of 6 bytes) have been mapped into the receive PDO PDO_RX0; • the ports "LPortStatus1" and "LPort32Out1" (a total of 6 bytes) have been mapped into the transmit PDO PDO_TX0. 5. Then link the mapped ports to application signals in the technology application selected.
8 I/O data transfer (implicit messages) 8.3 I/O configuration with »RSLogix 5000« version 19 or lower ________________________________________________________________ 8.3 I/O configuration with »RSLogix 5000« version 19 or lower The following example describes the I/O configuration of the Allen-Bradley 1769-L32E CompactLogix controller using the Rockwell »RSLogix 5000« programming software up to version 19.
8 I/O data transfer (implicit messages) 8.3 I/O configuration with »RSLogix 5000« version 19 or lower ________________________________________________________________ 2. Right click on "Ethernet" and execute the "New Module ..." command from the context menu. 3. Open "Communications" and select "ETHERNET-MODULE | Generic Ethernet Module". 4. Confirm the selection by clickingOK. 59 Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
8 I/O data transfer (implicit messages) 8.3 I/O configuration with »RSLogix 5000« version 19 or lower ________________________________________________________________ 5. Go to the "New Module" dialog window and define the properties of the newly added device . The terms "input" and "output" refer to the point of view of the scanner: • Assembly input objects (input) are sent from the adapter to the scanner. • Assembly output objects (output) are sent from the scanner to the adapter.
8 I/O data transfer (implicit messages) 8.3 I/O configuration with »RSLogix 5000« version 19 or lower ________________________________________________________________ 7. Under I/O Configuration in the configuration tree, right click "1769-L32E Ethernet Port LocalENB" and select "Properties". 8. Go to the Connection tab and set further properties. Required settings Setting Description Requested Packet Interval (RPI) Set RPI 2.0 ms.
8 I/O data transfer (implicit messages) 8.3 I/O configuration with »RSLogix 5000« version 19 or lower ________________________________________________________________ 9. Complete the settings with OK. • The I/O configuration is now complete. • The corresponding tags are then created in the "controller tags" of the control project: In the example, the drive was named "My_E94AYCEO".
8 I/O data transfer (implicit messages) 8.4 I/O configuration with »RSLogix 5000« version 20 or higher ________________________________________________________________ 8.4 I/O configuration with »RSLogix 5000« version 20 or higher The following example describes the I/O configuration of the Allen-Bradley 1769-L32E CompactLogix controller using the Rockwell »RSLogix 5000« programming software from version 20. From software version 20 onwards, EDS files ( 34) are used for the I/O configuration.
8 I/O data transfer (implicit messages) 8.4 I/O configuration with »RSLogix 5000« version 20 or higher ________________________________________________________________ 3. Right click on "Ethernet" and execute the "New Module ..." command from the context menu. 4. Go to the "Select Module Type" dialog box and select "E94AYCEO" on the Catalog tab. 5. Confirm the selection with Create. Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
8 I/O data transfer (implicit messages) 8.4 I/O configuration with »RSLogix 5000« version 20 or higher ________________________________________________________________ 6. In the "New Module" dialog window, select the General tab and allocate a an unique name and IP address. Example settings: DNS is not supported; the host name merely describes the device. 7. Click the 65 Change ... button. Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
8 I/O data transfer (implicit messages) 8.4 I/O configuration with »RSLogix 5000« version 20 or higher ________________________________________________________________ 8. Go to the "Module Definition" dialog window and make the connection settings. The terms "input" and "output" refer to the point of view of the scanner: • Assembly input objects (input) are sent from the adapter to the scanner. • Assembly output objects (output) are sent from the scanner to the adapter.
8 I/O data transfer (implicit messages) 8.4 I/O configuration with »RSLogix 5000« version 20 or higher ________________________________________________________________ 10. Open the "New Module" dialog window, select the Connection tab and set further properties. Required settings Settings Description Requested Packet Interval (RPI) Set RPI 2.0 ms. (Standard: 10 ms) The RPI [ms] specifies the intervals for the I/O data exchange between the drive (adapter) and the controller (scanner).
8 I/O data transfer (implicit messages) 8.4 I/O configuration with »RSLogix 5000« version 20 or higher ________________________________________________________________ 11. Complete the settings with OK. • The drive is inserted in the configuration tree under the "I/O Configuration". • The corresponding tags are created in the "Controller Tags". In the example, the drive was named "My_E94AYCEO". • Tag "My_E94AYCEO:I.ConnectionFaulted" for the connection status • Tag set "My_E94AYCEO:I.
8 I/O data transfer (implicit messages) 8.5 Saving the I/O configuration in »RSLogix 5000« ________________________________________________________________ 8.5 Saving the I/O configuration in »RSLogix 5000« After adding the scanner and the adapter to the I/O configuration, the configuration must be downloaded to the controller. The configuration file should also be saved on your computer. How to save the I/O configuration: 1. Select the menu command Communications Download.
9 Parameter data transfer (explicit messages) ________________________________________________________________ 9 Parameter data transfer (explicit messages) An "explicit message" is a logical instruction in the PLC program used for messaging. It can be used to read or write to either a parameter setting or the data of an assembly. For all Allen-Bradley devices of the CompactLogix, ControlLogix and SoftLogix series, the MSG instruction provides the application possibilities described in this chapter.
9 Parameter data transfer (explicit messages) 9.1 Write parameters ________________________________________________________________ 9.
9 Parameter data transfer (explicit messages) 9.2 Read parameters ________________________________________________________________ 9.
9 Parameter data transfer (explicit messages) 9.2 Read parameters ________________________________________________________________ For every "explicit message", the path for sending the message via the Ethernet port of the controller (scanner) to the IP address of the drive (adapter) needs to be set under the Communication tab. If you need assistance with the setting of this path, please consult the PLC manufacturer.
10 Monitoring 10.1 Fault with regard to EtherNet/IP communication ________________________________________________________________ 10 Monitoring 10.1 Fault with regard to EtherNet/IP communication The response of the Servo Drive 9400 to a fault with regard to EtherNet/IP communication can be set in the »Engineer« under the Monitoring tab. Settings Description Idle Mode The 32-bit real time header sent by the scanner is evaluated.
10 Monitoring 10.2 Interruption of internal communication ________________________________________________________________ 10.2 Interruption of internal communication The response to a communication error between the communication module and the Servo Drive 9400 can be set via standard device codes C01501 (module in slot MXI1) and C01502 (module in slot MXI2). 75 Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
11 Diagnostics 11.1 LED status displays ________________________________________________________________ 11 Diagnostics The LEDs on the front of the communication module serve to diagnose faults. Moreover, the »Engineer« serves to show diagnostic information. 11.1 LED status displays Note! LED status displays for trouble-free operation: • The LEDs ST ( 77) and NS ( 78) are permanently on.
11 Diagnostics 11.1 LED status displays ________________________________________________________________ 11.1.1 Module status displays Module states are indicated by the ST, ER and DE LEDs. E94AYCEO001E [11-1] LEDs ST, ER, DE LED Colour Status ST Green On Description The communication module is supplied with voltage and is connected to the standard device. Blinking 250 ms 250 ms The communication module is supplied with voltage, but is not connected to the standard device.
11 Diagnostics 11.1 LED status displays ________________________________________________________________ 11.1.2 CIP™ status displays CIP statuses are indicated by the MS and NS LEDs. E94AYCEO001E [11-2] LEDs MS, NS LED MS Colour / status Green Red Off Off Off On Description CIP module status: "Nonexistent" The communication module is not being supplied with voltage. CIP module status: "Major Unrecoverable Fault" The communication module has a fault that cannot be rectified.
11 Diagnostics 11.1 LED status displays ________________________________________________________________ LED NS Colour / status Green Red Off Off Off On Description CIP network status: "No IP Address" The communication module is not being supplied with voltage or has not been given an IP address. CIP network status: "Duplicate IP" The communication module is unable to gain access to the fieldbus (IP address conflict).
11 Diagnostics 11.1 LED status displays ________________________________________________________________ 11.1.3 Status displays on the RJ45 sockets (X233, X234) The LEDs on the RJ45 sockets X233 and X234 indicate the Ethernet connection status. E94AYCEO001E [11-3] LEDs Link , Act LED Colour Status Link Green Off Description No Ethernet connection On There is a physical Ethernet connection.
11 Diagnostics 11.2 Diagnostics with the »Engineer« ________________________________________________________________ 11.2 Diagnostics with the »Engineer« In the »Engineer« under the Diagnostics tab, you will find EtherNet/IP diagnostics information.
12 Error messages 12.1 Short overview of the EtherNet/IP error messages ________________________________________________________________ 12 Error messages This chapter supplements the error list in the reference manual and the »Engineer« online help for the Servo Drive 9400 by the error messages of the communication module. 12.1 Reference manual/»Engineer« online help for the Servo Drive 9400 Here you will find general information on diagnostics & fault analysis and on error messages.
12 Error messages 12.2 Possible causes and remedies ________________________________________________________________ 12.2 Possible causes and remedies This chapter lists all EtherNet/IP error messages in the numerical order of the error numbers. Possible causes and remedies as well as responses to the error messages are described in detail.
12 Error messages 12.2 Possible causes and remedies ________________________________________________________________ EtherNet/IP: Internal error [0x00c86100] Response (Lenze setting printed in bold) Setting: not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Communication module is defective. Send communication module with error description to Lenze.
12 Error messages 12.2 Possible causes and remedies ________________________________________________________________ EtherNet/IP: Fault Mode [0x00c88111] Response (Lenze setting printed in bold) Setting: C13880/2 / C14880/2 None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy • Connection to scanner has been interrupted. • Controlling I/O connection failed by timeout.
12 Error messages 12.2 Possible causes and remedies ________________________________________________________________ EtherNet/IP: Class 3 Connection Closed [0x00c88143] Response (Lenze setting printed in bold) Setting: not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Scanner has closed a "Class 3" connection. Check scanner functionality.
12 Error messages 12.3 CIP™ error messages ________________________________________________________________ 12.3 CIP™ error messages Error code [hex] 87 Error designation Description 0x000 SUCCESS No error 0x001 ... Instance error messages ( 126) of the Connection Manager Object (6 / 0x06) ( 126) 0x002 RESOURCE_UNAVAILABLE Resource required to perform the service not available. 0x003 INVALID_PARAM_VALUE Invalid parameter value 0x008 SERVICE_NOT_SUPP Service is not supported.
13 Parameter reference 13.1 Parameters of the standard device that are relevant to communication ________________________________________________________________ 13 Parameter reference This chapter supplements the parameter list and the attribute table in the reference manual and the »Engineer« online help for the Servo Drive 9400 by the parameter of the E94AYCEO (EtherNet/ IP) communication module. 13.
13 Parameter reference 13.1 Parameters of the standard device that are relevant to communication ________________________________________________________________ C00637 Parameter | Name: C00637 | Resp. to new module in MXI2 Data type: UNSIGNED_32 Index: 23939 = 0x5D83 Response if a new module has been plugged into module slot 2 of the standard device.
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ 13.2 Parameters of the communication module for slot MXI1 This chapter lists the parameters of the E94AYCEO communication module (EtherNet/IP) for slot MXI2 of the Servo Drive 9400 in numerically ascending order.
13 Parameter reference 13.
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13010 Parameter | Name: Data type: UNSIGNED_8 Index: 11565 = 0x2D2D C13010 | Active IP Address Display of the active IP address (Instance attribute 5 (IP Address) in the TCP/IP Interface Object (245 / 0xF5) ( 132)) Display range (min. value | unit | max.
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13016 Parameter | Name: Data type: UNSIGNED_8 Index: 11559 = 0x2D27 C13016 | Active Multicast IP Address Display of the active multicast IP address Display range (min. value | unit | max.
13 Parameter reference 13.
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13022 Parameter | Name: Data type: UNSIGNED_8 Index: 11553 = 0x2D21 C13022 | Quality of Service (DSCP) Setting for the prioritisation of the data packets to be transferred using Differentiated Services Codepoints (DSCP) Setting range (min. value | unit | max.
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13842 Parameter | Name: Data type: UNSIGNED_8 10733 = 0x29ED C13842 | Supervisor IP Address Display of the supervisor IP address (Instance attribute 10 (Supervisor IP Address) in the Device Level Ring (DLR) Object (71 / 0x47) ( 128)) Display range (min. value | unit | max.
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13851 Parameter | Name: Data type: INTEGER_16 Index: 10724 = 0x29E4 C13851 | All words from scanner Display of the I/O data words transferred from the scanner to the communication module. In the subcodes, all I/O data words transferred from the scanner are displayed. However, only the configured I/O data words are valid. Display range (min.
13 Parameter reference 13.
13 Parameter reference 13.
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13871 Parameter | Name: Data type: UNSIGNED_16 Index: 10704 = 0x29D0 C13871 | CIP Connections Type Display of the current CIP connection types • "Listen Only" connections are not displayed. Selection list (read only) 0 Nonexistent 1 Exclusive Owner 2 Input Only 3 Listen Only 4 Explicit Connection Subcodes Info C13871/1 Type of CIP connection 1 ... ...
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13874 Parameter | Name: Data type: UNSIGNED_32 Index: 10701 = 0x29CD C13874 | CIP Connections Timeout Time Display of the timeouts (ms) of the CIP connections Display range (min. value | unit | max. value) 0 ms 4294967295 Subcodes Info C13874/1 Timeout time of CIP connection 1 ... ...
13 Parameter reference 13.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13881 Parameter | Name: Data type: UNSIGNED_16 Index: 10694 = 0x29C6 C13881 | Overall Ethernet Timeout Time Setting of the overall monitoring time (see Fault with regard to EtherNet/IP communication ( 74)) A change in the monitoring response becomes immediately effective. Setting range (min. value | unit | max.
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ 13.3 Parameters of the communication module for slot MXI2 This chapter lists the parameters of the E94AYCEO communication module (EtherNet/IP) for slot MXI2 of the Servo Drive 9400 in numerically ascending order.
13 Parameter reference 13.
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14010 Parameter | Name: Data type: UNSIGNED_8 Index: 10565 = 0x2945 C14010 | Active IP address Display of the active IP address (Instance attribute 5 (IP Address) in the TCP/IP Interface Object (245 / 0xF5) ( 132)) Display range (min. value | unit | max.
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14016 Parameter | Name: Data type: UNSIGNED_8 Index: 10559 = 0x293F C14016 | Active Multicast IP Address Display of the active multicast IP address Display range (min. value | unit | max.
13 Parameter reference 13.
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14022 Parameter | Name: Data type: UNSIGNED_8 Index: 10553 = 0x2939 C14022 | Quality of Service (DSCP) Setting for the prioritisation of the data packets to be transferred using Differentiated Services Codepoints (DSCP) Setting range (min. value | unit | max.
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14842 Parameter | Name: Data type: UNSIGNED_8 Index: 9733 = 0x2605 C14842 | Supervisor IP Address Display of the supervisor IP address (Instance attribute 10 (Supervisor IP Address) in the Device Level Ring (DLR) Object (71 / 0x47) ( 128)) Display range (min. value | unit | max.
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14851 Parameter | Name: Data type: INTEGER_16 Index: 9724 = 0x25FC C14851 | All words from scanner Display of the I/O data words transferred from the scanner to the communication module (adapter). In the subcodes, all I/O data words transferred from the scanner are displayed. However, only the configured I/O data words are valid. Display range (min.
13 Parameter reference 13.
13 Parameter reference 13.
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14871 Parameter | Name: Data type: UNSIGNED_16 Index: 9704 = 0x25E8 C14871 | CIP Connections Type Display of the current CIP connection types • "Listen Only" connections are not displayed. Selection list (read only) 0 Nonexistent 1 Exclusive Owner 2 Input Only 3 Listen Only 4 Explicit Connection Subcodes Info C14871/1 Type of CIP connection 1 ... ...
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14874 Parameter | Name: Data type: UNSIGNED_32 Index: 9701 = 0x25E5 C14874 | CIP Connections Timeout Time Display of the timeouts (ms) of the CIP connections Display range (min. value | unit | max. value) 0 ms 4294967295 Subcodes Info C14874/1 Timeout time of CIP connection 1 ... ...
13 Parameter reference 13.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14881 Parameter | Name: Data type: UNSIGNED_16 Index: 9694 = 0x25DE C14881 | Overall Ethernet Timeout Time Setting of the overall monitoring time (see Fault with regard to EtherNet/IP communication ( 74)) A change in the monitoring response becomes immediately effective. Setting range (min. value | unit | max.
13 Parameter reference 13.4 Table of attributes ________________________________________________________________ 13.4 Table of attributes The table of attributes contains information required for communication with the inverter via parameters. How to read the table of attributes: Column Meaning Code Parameter name Cxxxxx Name Parameter short text (display text) Text hex Index under which the parameter is addressed. The subindex for array variables corresponds to the Lenze subcode number.
13 Parameter reference 13.
13 Parameter reference 13.
14 Implemented CIP™ objects ________________________________________________________________ 14 Implemented CIP™ objects An EtherNet/IP node can be seen as an accumulation of objects. An individual object is characterised by its class, its instances and attributes. Several services such as read and write services can be applied to these objects. Note! This chapter only describes the CIP objects implemented by Lenze and the properties supported by them (attributes, service codes etc.).
14 Implemented CIP™ objects ________________________________________________________________ General class attributes Attribute Service ID Name Data type Description 1 Get Revision UINT Revision no. of the object 2 Get Max. Instance UINT Max. number of instances of the object 3 Get Number of Instances UINT Number of instances of the object 6 Get Max.
14 Implemented CIP™ objects 14.1 General CIP objects ________________________________________________________________ 14.1 General CIP objects 14.1.1 Identity Object (1 / 0x01) The "Identity Object" provides the identification and general information about the device. Class attributes Attribute Service ID Name Data type Value 1 Get Revision UINT 1 (0x0001) 2 Get Max. Instance UINT 1 (0x0001) 3 Get Number of Instances UINT 1 (0x0001) 6 Get Max.
14 Implemented CIP™ objects 14.1 General CIP objects ________________________________________________________________ Attribute Service ID Name Data type Value 10 Heartbeat Interval USINT Interval between heartbeat messages in milliseconds 0 ms: No transmission of heartbeat messages (standard setting) Get Instance attribute "Status" (attribute 5) Bits Name Description 0 Owned The state ’1’ indicates that the device (or an object within the device) has an owner.
14 Implemented CIP™ objects 14.1 General CIP objects ________________________________________________________________ 14.1.2 Message Router Object (2 / 0x02) With the "Message Router Object", a client can address a service for the transfer of data to any object class or instance. 123 Note! There are no GET/SET services for this object! Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
14 Implemented CIP™ objects 14.1 General CIP objects ________________________________________________________________ 14.1.3 Assembly Object (4 / 0x04) For the data exchange, the communication module supports the assembly object instances 110 (0x6E, Custom Output) and 111 (0x6F, Custom Input). The contents of the input and output data depends on the I/O data arrangement in the drive (I/O configuration in the »Engineer« ( 55)).
14 Implemented CIP™ objects 14.1 General CIP objects ________________________________________________________________ Instance attributes for input data of the scanner Attribute Service ID Name Data type Value 3 Get / Set Data Array of BYTE Max. 64 bytes to the scanner 4 Get Size UINT Number of bytes in attribute 3 (Data) The assembly input objects (adapter to scanner) are mapped in the adapter memory starting with byte 0. The input objects are transmitted in a "modeless" manner, i.e.
14 Implemented CIP™ objects 14.1 General CIP objects ________________________________________________________________ 14.1.4 Connection Manager Object (6 / 0x06) The "Connection Manager Object" manages the internal resources for the I/O data transfer (implicit messaging) and the parameter data transfer (explicit messaging). The instance specified by the "connection manager" class refers to a "connection instance" or a "connection object".
14 Implemented CIP™ objects 14.1 General CIP objects ________________________________________________________________ Supported service codes 127 Service code [hex] Name Description 0x54 Forward_Open Opens a CIP connection from the PLC to the target drive. 0x4E Forward_Close Closes a CIP connection from the PLC to the target drive. 0x0E Get_Attribute_Single Outputs the value of a certain attribute. Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ 14.2 EtherNet/IP objects 14.2.1 Device Level Ring (DLR) Object (71 / 0x47) The "Device Level Ring (DLR) Object" provides status information for the DLR protocol. The DLR protocol is a "layer 2" protocol enabling the use of an Ethernet ring topology. Note! Only the "beacon-based ring node" mode is supported.
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ Instance attribute "Capability Flags" (attribute 12) Bits Name Description 0 Announce-based Ring Node Is not supported (state ’0’). 1 Beacon-based Ring Node The state ’1’ is set if the ring node implementation is based on the processing of "beacon frames". 2 ...
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ 14.2.2 Quality of Service (QoS) Object (72 / 0x48) The "Quality of Service (QoS) Object" enables different classifications and prioritisations of the data packets for EtherNet/IP communication. For this purpose, the EtherNet/IP messages are marked with "802.1Q tags" and "Differentiated Services Codepoints" (DSCP).
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ Supported service codes 131 Service code [hex] Name Description 0x0E Get_Attribute_Single Outputs the value of a certain attribute. 0x10 Set_Attribute_Single Changes the value of a certain attribute. Lenze · E94AYCEO communication module (EtherNet/IP™) · Communication Manual · DMS 3.
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ 14.2.3 TCP/IP Interface Object (245 / 0xF5) The "TCP/IP Interface Object" serves to configure the TCP/IP network interface of the device. Class attributes Attribute Service ID Name Data type Value 1 Get Revision UINT 2 (0x0002) 2 Get Max.
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ Attribute Service ID Name Data type Value 8 Get / Set TTL Value USINT TTL value (C13019 / C14019) for EtherNet/IP multicast data packets (value range: 1 ...
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ Bits Name Description 6 AcdStatus Display of the status of address conflict detection (ACD): • 0: No address conflict detected • 1: Address conflict detected 7 ... 31 - Reserved (0) Instance attribute "Configuration Capability" (attribute 2) Bits Name Description 0 BOOTP Client The state ’1’ indicates that BOOTP is used for the TCP/IP configuration of the device.
14 Implemented CIP™ objects 14.
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ 14.2.4 Ethernet Link Object (246 / 0xF6) The "Ethernet Link Object" provides general information and status information about the Ethernet interfaces (IEEE 802.3). Note! Write accesses to writable attributes become only effective after the device is reset ("Power off/on" or "Type 0 Reset").
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ Instance attribute "Interface Flags" (attribute 2) 137 Bits Name Description 0 Link Status This bit indicates whether the Ethernet interface is connected to an active network. • 0: No Ethernet connection available • 1: Ethernet connection available 1 Half/Full Duplex This bit indicates the current transmission mode of the Ethernet interface.
14 Implemented CIP™ objects 14.2 EtherNet/IP objects ________________________________________________________________ Instance attribute "Control Bits" (attribute 6, Interface Control) Bits Name Description 0 Auto-negotiate Activation of "Link Auto-Negotiation" • 0: "Link Auto-Negotiation" is not active. The device uses the settings of the bits "Forced Duplex Mode" (bit 1) and "Forced Interface Speed" (see attribute 6, Interface Control). • 1: "Link Auto-Negotiation" is active.
14 Implemented CIP™ objects 14.3 Lenze objects ________________________________________________________________ 14.3 Lenze objects 14.3.1 Lenze Class (101 / 0x65) The "Lenze Class (101 / 0x65)" enables the access to the error responses to EtherNet/IP errors adjustable in code C13880 / C14880. Class attributes Attribute Service ID Name Data type Value 1 Get Revision UINT 2 (0x0002) 2 Get Max. Instance UINT 1 (0x0001) Attribute Service ID Name Data type Value 1 Get No.
14 Implemented CIP™ objects 14.3 Lenze objects ________________________________________________________________ Supported service codes Service code [hex] Name Description 0x01 Get_Attributes_All Outputs a list of the attributes and the attribute's values for a certain object. 0x0E Get_Attribute_Single Outputs the value of a certain attribute. 0x10 Set_Attribute_Single Changes the value of a certain attribute.
14 Implemented CIP™ objects 14.3 Lenze objects ________________________________________________________________ 14.3.2 Lenze Class (103 / 0x67) The "Lenze Class (103 / 0x67)" provides the image of the scanner input data. The input data for the scanner are sent to the scanner via the assembly object instance 111 (0xE6). Class attributes Attribute Service ID Name Data type Value 1 Get Revision UINT 2 (0x0002) 2 Get Max.
14 Implemented CIP™ objects 14.3 Lenze objects ________________________________________________________________ 14.3.3 Lenze Class (104 / 0x68) The "Lenze Class (104 / 0x68)" provides the image of the scanner output data. The output data of the scanner are transmitted via the assembly object instance 110 (0xE5, Custom Output). Class attributes Attribute Service ID Name Data type Value 1 Get Revision UINT 2 (0x0002) 2 Get Max.
14 Implemented CIP™ objects 14.3 Lenze objects ________________________________________________________________ 14.3.4 Lenze Class (110 / 0x6E) The "Lenze Class (110 / 0x6E)" enables read or write access to Lenze codes. The Lenze code must be specified as an "instance" (corresponding code no. 1 ... 65535) and its subcodes must be specified as "attributes". Note! • If the corresponding Lenze code does not have a subcode, the value '0' must be entered in the attribute.
Index ________________________________________________________________ A Active gateway address (C13012) 92 Active gateway address (C14012) 105 Active IP address (C13010) 92 Active IP address (C14010) 105 Active Multicast IP Address (C13016) 93 Active Multicast IP Address (C14016) 106 Active subnetwork mask (C13011) 92 Active subnetwork mask (C14011) 105 Address Conflict Detection (C13846) 96 Address Conflict Detection (C14846) 109 All words from scanner (C13851) 97 All words from scanner (C14851) 110 All
Index ________________________________________________________________ C14853 | All words from standard device 110 C14858 | Ethernet port statistics 111 C14861 | CIP Module Status 111 C14862 | CIP Network Status 111 C14863 | Ethernet port 112 C14870 | Status of CIP connections 112 C14871 | Type of CIP connections 113 C14872 | Trigger of CIP connections 113 C14873 | RPI of CIP connections 113 C14874 | Timeout time of CIP connections 114 C14875 | CIP Connections RUN/IDLE Flag 114 C14880 | Reaction on communic
Index ________________________________________________________________ Ethernet Port (C13863) 99 Ethernet port (C14863) 112 Ethernet Port Statistics (C13858) 98 Ethernet port statistics (C14858) 111 Ethernet setting (C14017) 106 EtherNet/IP Class 1 Connection Closed (error message) 85 Class 3 Connection Closed (error message) 86 Duplicate IP Address (error message) 86 Error: Lenze Setting Loaded (error message) 84 Explicit Message Timeout (error message) 85 Fault Mode (error message) 85 Idle Mode (error mes
Index ________________________________________________________________ N S Nameplate 13 Network topology 26 Notes used 10 Number of nodes 16 Safety instructions 11 Safety instructions (representation) 10 Saving the I/O configuration in »RSLogix 5000« 69 Screenshots/application examples 6 Setting the IP configuration 37 State diagram 50 Status displays (LEDs) 76 Status displays on the RJ45 sockets (X233, X234) 80 Status of CIP connections (C14870) 112 Structure of the Ethernet cable 30 Subnet mask 41 Sub
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E94AYCEO communication module (EtherNet/IP™) · Communication Manual · EDS94AYCEO · 13451095 · DMS 3.0 EN · 12/2013 · TD17 Lenze Automation GmbH Postfach 10 13 52, D-31763 Hameln Hans-Lenze-Straße 1, D-31855 Aerzen Germany +49 5154 82-0 +49 5154 82-2800 lenze@lenze.com www.lenze.com Service Lenze Service GmbH Breslauer Straße 3, D-32699 Extertal Germany 008000 24 46877 (24 h helpline) +49 5154 82-1112 service@lenze.
