schneider VW3 A3 316 User Guide

Download

2354235 11/2008

Altivar 61/71

EtherNet/IP™ card

User manual

VW3 A3 316

11/2010

AAV68822

www.schneider-electric.com

Table of Contents

1. Important Information _______________________________________________________________________________________ 4

2. Before you begin___________________________________________________________________________________________ 5

3. Documentation structure_____________________________________________________________________________________ 6

4. Introduction_______________________________________________________________________________________________ 7

4. 1. Presentation _________________________________________________________________________________________ 7

4. 2. Notation ______________________________________________ ______________________________________________ 7

5. Hardware setup ___________________________________________________________________________________________ 8

5. 1. Receipt _____________________________________________________________________________________________ 8

5. 2. Hardware description __________________________________________________________________________________ 8

5. 3. Installing the card in the drive____________________________________________________________________________ 8

6. Connecting to the EtherNet/IP network _________________________________________________________________________ 9

6. 1. Card RJ45 connector pinout_____________________________________________________________________________ 9

6. 2. Example of connection to an EtherNet/IP network____________________________________________________________ 9

7. Using the HMI with the EtherNet/IP card _______________________________________________________________________ 10

7. 1. Access to EtherNet/IP menu via graphic display terminal _____________________________________________________ 10

7. 2. Access to EtherNet/IP menu via the integrated display terminal ________________________________________________ 10

7. 3. Ethernet/IP configuration with the HMI____________________________________________________________________ 11

7. 4. Detail of the configured parameters ______________________________________________________________________ 12

7. 5. Assemblies and scanner configuration____________________________________________________________________ 12

8. Configuration of the assemblies______________________________________________________________________________ 13

8. 1. Configuration of the assemblies: overview_________________________________________________________________ 13

8. 2. Configuration of the assembly (100,101) Telemecanique native profile___________________________________________ 14

8. 3. Configuration of the assembly (103,104) Allen Bradley® profile ________________________________________________ 15

8. 4. Configuring the communication scanner __________________________________________________________________ 16

8. 5. Configuring the control ________________________________________________________________________________ 17

9. Fault management ________________________________________________________________________________________ 22

9. 1. Fault management ___________________________________________________________________________________ 22

9. 2. Status of the LEDs ___________________________________________________________________________________ 23

10. Configuration of monitored parameters _______________________________________________________________________ 24

11. Webserver _____________________________________________________________________________________________ 25

11. 1. Opening the Altivar home page ________________________________________________________________________ 25

11. 2. Web pages structure_________________________________________________________________________________ 25

11. 3. Drive_____________________________________________________________________________________________ 26

11. 4. Network setup______________________________________________________________________ ________________ 29

11. 5. Diagnostics________________________________________________________________________________________ 32

12. Integration in RSLogix ____________________________________________________________________________________ 34

12. 1. Principle__________________________________________________________________________________________ 34

12. 2. Procedure ________________________________________________________________________________________ 34

12. 3. Registering the EDS file in RSlogix _____________________________________________________________________ 41

13. CIP objects_____________________________________________________________________________________________ 44

13. 1. Supported object classes _____________________________________________________________________________ 44

13. 2. Identity object _____________________________________________ _________________________________________ 44

13. 3. Message router object _______________________________________________________________________________ 45

13. 4. Ethernet Link object _________________________________________________________________________________ 47

13. 5. TCP/IP Interface object_______________________________________________________________________________ 50

13. 6. Connection object manager___________________________________________________________________________ 52

13. 7. Motor data object ___________________________________________________________________________________ 53

13. 8. Control supervisor object _______________ ______________________________________________________________ 54

13. 9. AC/DC Drive Object _________________________________________________________________________________ 56

13. 10. Assembly object ___________________________________________________________________________________ 57

13. 11. Application objects _________________________________________________________________________________ 58

14. Explicit Messaging _______________________________________________________________________________________ 60

15. Device profiles __________________________________________________________________________________________ 61

16. Configuring an ATV71/61 in replacement of a Powerflex® drive____________________________________________________ 70

AAV68822 11/2010 3

1. Important Information

The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result in personnal injury if the instruction are not followed.

This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow

this symbol to avoid possible injury or death.

NOTICE

Read these instructions carefully, and look at th e equip ment to bec ome fami liar with t he devi ce before t rying to insta ll, operat e, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifie s a procedure.

DANGER

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death, serious injury, or equipment damage.

WARNING

Warning indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

CAUTION

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

PLEASE NOTE

Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material. This document is not intended as an instruction manual for untrained persons. © 2006 Schneider Electric. All Rights Reserved.

4 AAV68822 11/2010

2. Before you begin

Read and understand these instructions before performing any procedure with thi s drive.

* For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustabl e-Speed Drive Systems".

DANGER

HAZARDOUS VOLTAGE

• Read and understand this bulletin in its entirety before installing or operating Altivar 71 drive. This equipment must only be installed, adjusted, repaired, and maintained by qualified personnel.

• The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment.

• Many parts of this variable speed drive, including the printed circuit board s, operate at the line voltage. DO NOT TOUCH. Use only electrically insulated tools.

• DO NOT touch unshielded components or terminal strip screw connections with voltage prese nt.

• DO NOT short across terminals PA and PC or across the DC bus capacitors.

• Install and close all the covers before applying power or starting and stopping the drive.

• Before servicing the variable speed drive

- Disconnect all power.

- Place a “DO NOT TURN ON” label on the variable speed drive disconnect.

- Lock the disconnect in the open position.

• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15 MINUTES to allow the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given in the Installation Manual to verify that the DC voltage is less than 45 VDC. The drive LEDs are not accurate indicators of the absence of DC bus voltage.

Failure to follow these instructions will result in death or serious injury.

WARNING

DAMAGED EQUIPMENT

Do not install or operate any drive or drive accessory that appears damaged.The relays, inputs, or outputs of a damaged drive may not operate in a normal manner, leading to unintended equipment operation.

Failure to follow this instruction can result in death, serious injury, or equipment damage.

WARNING

LOSS OF CONTROL

• The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and af ter a path failure. Examples of critical control functions are emergency stop and overtravel stop.

• Separate or redundant control paths must be provided for critical control functions.

• System control paths may include communication links. Considerat ion must be given to the implications of unanticipated transmission delays or failures of the link.*

• € Each implementation of an Altivar 71 Modbus TCP/IP EtherNet/IP card must be individually and thoroughly tested for proper operation before being placed into service.

Failure to follow this instruction can result in death, serious injury, or equipment damage.

AAV68822 11/2010 5

3. Documentation structure

The following Altivar 71 technical documents are available on the Web site www.schneider-electric.com.

b Installation Manual

This manual describes:

• How to assemble the drive.

• How to connect the drive.

b Programming Manual

This manual describes:

• The functions.

• The parameters.

• How to use the drive display terminal (integrated display terminal and graphi c display terminal).

b Communication Parameters Manual

This manual describes:

• The drive parameters with specific information (addresses, formats, etc.) for use via a bus or communication network.

• The operating modes specific to communication (state chart).

• The interaction between communication and local control .

b Modbus, CANopen®, Ethernet™, Profibus, INTERBUS, Uni-Telway, DeviceNet™, Modbus Plus, Fipio, etc., manuals.

These manuals describe:

• Connection to the bus or network.

• Configuration of the communication-specific parameters via the integrated display terminal or the graphic display terminal.

• Diagnostics.

• Software setup.

• The communication services specific to the protocol .

b Altivar 58/58F Migration Manual

This manual describes the differences between the Altivar 71 and the Altivar 58/58F. It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.

6 AAV68822 11/2010

4. Introduction

4. 1. Presentation

The EtherNet/IP card (catalog number VW3 A3 316) is used to connect an Altivar 71 or an Altivar 61 drive to an Ethern et network using the EtherNet/IP protocol.

IMPORTANT : This communication option card is fully supported with the version V1.5 IE 13 and above of the Altivar 61 firmware. This communication option card is only supported with t he version V1 .6 IE 19 and abo ve of the Al tivar 71 fi rmware. Specific versions of the Altivar 71 firmware are not supported.

The VW3 A3 316 card is equipped with two shielded RJ45 EtherNet/IP connectors. The accessories for connection to the EtherNet/IP network must be ordered separately. The data exchanges permit full drive functionality:

• Configuration

• Adjustment

• Control

• Monitoring

• Diagnostics The standard Web server (English only) provides access to the following pages:

• Altivar Viewer

• Data Viewer

• EtherNet/IP

• Security Etc.

The graphic display terminal or the integrated display terminal can be used to access numerous functions for communication diagnostics.

4. 2. Notation

Drive terminal displays

The graphic display terminal menus are shown in square brackets. Example: [1.9 COMMUNICATION].

The integrated 7-segment display terminal menus are shown in round brackets. Example: (COM-).

The parameter names displayed on the graphic display terminal are shown in square brackets. Example: [Fallback speed].

The parameter codes displayed on the integrated 7-segment display terminal are shown in round brackets. Example: (LFF).

Formats

Hexadecimal values are written as follows: 16# Binary values are written as follows: 2# PC-Software: Commissioning Software

AAV68822 11/2010 7

5. Hardware setup

LEDs

Shielded female RJ45 EtherNet/IP connector (Port 1)

Shielded female RJ45 EtherNet/IP connector

(Port 2)

MAC address

label

5. 1. Receipt

• Check that the card catalog number marked on the label is the same as that on t he delivery note corresponding to the purchase order.

• Remove the option card from its packaging and check that it has not been damaged in transit.

CAUTION

STATIC SENSITIVE COMPONENTS

The EtherNet/IP card can be damaged by static electricity. Obse rve electrostatic precautions when h andling and installing the card.

Failure to follow this instruction can result in equipment damage.

5. 2. Hardware description

5. 3. Installing the card in the drive

See the Installation Manual.

8 AAV68822 11/2010

6. Connecting to the EtherNet/IP network

8........................1

PLC

Ethernet switch

ATV71 ATV71 ATV71 ATV71 ATV71

Daisy chain and/or star topology

6. 1. Card RJ45 connector pinout

The EtherNet/IP card is equipped with two shielded RJ45 connectors. The shielding is connect ed to the drive ground. Use an STP (shielded twisted pair) EtherNet/IP cable.

Pin Signal

1TD+ 2TD3RD+ 4 5 6RD7 8

The transmission speed is detected automatically by the card (10 Mbps or 100 Mbps). The card can operate in half duplex or full duplex mode, wh eth er conn ected t o a hub or a swi t ch and regardl ess of the t ra nsmission spe ed

(10 Mbps or 100 Mbps).

6. 2. Example of connection to an EtherNet/IP network

AAV68822 11/2010 9

7. Using the HMI with the EtherNet/IP card

RDY NET +0.00 Hz 0A

MAIN MENU

1 DRIVE MENU

2 ACCESS LEVEL 3 OPEN / SAVE AS 4 PASSWORD 5 LANGUAGE

Code Quick

ENT

RDY NET +0.00 Hz 0A

1 DRIVE MENU

1.1 SIMPLY START

1.2 MONITORING

1.3 SETTINGS

1.4 MOTOR CONTROL

1.5 INPUTS/OUTPUTS CFG

Code << >> Quick

1.6 COMMAND

1.7 APPLICATION FUNCT.

1.8 FAULT MANAGEMENT

1.9 COMMUNICATION

1.10 DIAGNOSTICS

1.11 IDENTIFICATION

1.12 FACTORY SETTINGS

1.13 USER MENU

1.14 PROGRAMMABLE CARD

ENT

RUN NET +50.00 Hz 80A

1.9 COMMUNICATION COM. SCANNER OUTPUT MODBUS HMI MODBUS NETWORK CANopen

EtherNet/IP

Code << >> Quick

XXX

SIM-

ESC

ENT

FCS-

LAC-

CON-

FLt-

ESC

ENT

ESC

Displays the drive state

EtH-

Power-up

7. 1. Access to EtherNet/IP menu via graphic display terminal

The [EtherNet/IP] submenu is used to configure and display the EtherNet/IP card parameters and can be accessed via the

[1.9 - COMMUNICATION] menu.

This menu is only accessible in standard, advanced and expert mode: In the [2 ACCESS LEVEL] (LAC-) menu, set the level to [expert]

(EPr).

Can be accessed by the other level.

7. 2. Access to EtherNet/IP menu via the integrated display terminal

The (EtH-) submenu is used to configure and display the EtherNet/IP card parameters. It can be accessed via the (COM-) menu.

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7. Using the HMI with the EtherNet/IP card

7. 3. Ethernet/IP configuration with the HMI

Detail of the Ethernet/IP configuration menu: (All these settings can also be performed from the webserver or PC-Software). In the table, parameters which are not followed by their parameter code (between p arenthesis) are not displa yed on the 7 segment displ ay of the drive.

[1.9 - COMMUNICATION] (COM-)

Parameter Possible value Terminal display

[DEVICE NAME]

The device name is required if the card uses DHCP to obtain its IP Address.

[Rate Setting] (rdS)

This field is used to set the transmission speed and the transmission mode of the card.

[Actual Rate] (Ard)

This field displays the baud rate and the transmission mode currently used by the communication card. (Display on l y)

[IP mode] (IpM )

Use this parameter to select the IP address assignment method.

[IP card] (IPC-) These fields are editable

(IPC1) (IPC2) (139) (160) (069) (241) (IPC3) (IPC4)

IP address of the card

[IP Mask] (IPN-) These fields are editable

(IPM1) (IPM2) (255) (255) (254) (0) (IPM3) (IPM4)

Subnet mask

[IP Gate] (IPG-) These fields are editable

(IPG1) (IPG2) (0) (0) (0) (0) (IPG3) (IPG4)

Default gateway IP address

• If the address has been given by a BOOTP or a DHCP server, these fields are read only.

• After dynamic addressing by a BOOTP or DHCP server, the new address value is displayed.

[Services] (EE)

Enables web server and e-mail server * This parameter is significant at the bit level.

Bit 0 and bit, other bits are reserved

[MAC @]

MAC address display

V menu [ETHIP] (Eth)

16 chars. [ABC… ]

0 : Autodetect (default) [Auto] (AUtO) 1 : 10 Mbps Full [10 Mbps full] (10 F) 2 : 10 Mbps Half [10 Mbps half] (10H) 3 : 100 Mbps Full [100 Mbps full] (100F) 4 : 100 Mbps Half (do not use) [100 Mbps half] (100H) 0 : Autodetect [Auto] (AUtO) 1 : 10 Mbps Full [10 Mbps full] (10 F) 2 : 10 Mbps Half [10 Mbps half] (10H) 3 : 100 Mbps Full [100 Mbps full] (100F) 4 : 100 Mbps Half [100 Mbps half] (100H) 0 : Manu [fixed] (MAnU) 1 : BOOTP [BOOTP] 2 : DHCP [DHCP] (dHCP)

address

0 : Web Server and Email functions are disabled. 0 1: Web Server activated. 1 2: Email function activated 2 3: Web server and Email functions are activated 3 [00-80-F4-XX-XX-XX] [00-80-F4-XX-XX-XX]

when IP mode is set to Fixed

(bOOt)

[139.160.069.241]

[255.255.254.0]

[0.0.0.0]

*: This functionality can only be configured from the WEB server or from commissioning software.

AAV68822 11/2010 11

7. Using the HMI with the EtherNet/IP card

7. 4. Detail of the configured parameters

b IP address

Assigning IP addresses

The drive needs 3 IP addresses:

• The drive IP address.

• The subnet mask.

• The gateway IP address. They can be provided by:

• A BOOTP server (correspondence between the MAC address and the IP addresses).

• Or a DHCP server (correspondence between Device Name [DEVICE NAME] and the IP addresses). The address is assigned according to the IPmode parameter:

IP Mode value Comments

IP mode = 0 The card uses the address defined in

IP mode = 1 The card receives its address from a BOOTP server

IPC1, IPC2, IPC3, IPC4

IP mode = 2 And Device name contains a valid name.

IMPORTANT: The IP mode parameter may be modified according to the configuration control attribute of the TCP/IP interface object (CIP standard). See page 50

The card receives its address from a DHCP server

7. 5. Assemblies and scanner configuration

The assemblies are chosen at the master controller level (see for example chapter 16 Integration in RSlogix). For the 4 ODVA set of assemblies (20,21,22,23,70,71,72,73) there are no more configuration to do at the communication scanner level. For the Telemecanique assembly (100,101) and Allen Bradley® assembly (103,104) you must:

• configure at the drive level the size of the assembly,

• define the mapping of the additional parameters.

12 AAV68822 11/2010

8. Configuration of the assemblies

Assemblies

20 - 70

CIP basic speed control profile

EtherNet/IP Cyclic exchanges

EtherNet/IP acyclic messages

Assemblies

21 - 71

CIP extended speed control profile

Assemblies

22 - 72

CIP speed and torque Control profile

Assemblies

23 - 73

CIP extended speed and torque Control profile

Assemblies

100 - 101

Telemecanique native drive Profile

Assemblies

103 - 104

Allen Bradley drive profile

CIP

Explicit

messaging

Parameters management

Embedded

Web server

Drive setup

Master

Controller

Scanner

Standard

Web

browser

IE, Mozilla

8. 1. Configuration of the assemblies: overview

VW3 A3 316 EtherNet/IP communication card Features overview

AAV68822 11/2010 13

8. Configuration of the assemblies

NCA1 NMA1 NCA2 NMA2 NCA3 NMA3 NCA4 NMA3 NCA5 NMA4 NCA6 NMA5 NCA7 NMA6 NCA8 NMA7

EtherNet/IP

scanner

EtherNet/IP option

VW3 A3 316

Altivar 71/61

The mapping of the 100-101 Assemblies is made with the ATV71 communication scanner

100-101 Native drive profile CiA402

This configuration is made with:

•HMI

• PC-Software

• Keypad

Up to 8 additional parameters are mapped.

Assembly

100

Assembly

101

Fixed size !

8. 2. Configuration of the assembly (100,101) Telemecanique native profile

The size of the assembly is fixed and is equal to 8. The mapping of the other parameters is made with the communication scanner : The configuration of the addresses defined with NCAx and NMAx can be made with the graphic keypad: For assembly 100 : [1.9- COMMUNICATION] (COM-) menu, [COM.SCANNER OUTPUT] (OCS-) submenu. For assembly 101 : [1.9- COMMUNICATION] (COM-) menu, [COM.SCANNER INPUT] (ICS-) submenu. See menu [1.2 MONITORING] > COMMUNICATION MAP to monitor the communication scanner.

See also "Configuring the communication scanner" page 16

Here is an example of the configuration of the assemblies 100, 101 from RSLogix software:

14 AAV68822 11/2010

8. Configuration of the assemblies

PAD WORD PAD WORD

Control Word Status Word

Set point Actual speed

NCA1 NMA1 NCA2 NMA2 NCA3 NMA3 NCA4 NMA3 NCA5 NMA4 NCA6 NMA5 NCA7 NMA6 NCA8 NMA7

EtherNet/IP

scanner

EtherNet/IP option

VW3 A3 316

Altivar 71/61

103-104 Native drive profile CiA402

This configuration is made with:

• Webserver

• PC-Software

Up to 8 additional parameters are mapped.

The mapping of the 103-104 Assemblies is made with the option card EtherNet/IP scanner

Assembly

103

Assembly

104

The sizes indicated must be adjusted according to the settings defined with the EtherNet/IP scanner setup (webserver or PC-Software).

Note:

• The size of the assembly cannot be modified dynamically; such change requires a power ON.

• Given that assemblies 103 and 104 uses NCAx and NMAx, the configuration edited with the webserver or PC-Software are also applied to the communication scanner of the drive (like assemblies 100 and 101).

8. 3. Configuration of the assembly (103,104) Allen Bradley® profile

The size of the assembly is selectable from 2 to 10 words. The 2 first words of the input assembly are fixed: Control word, Speed setpoint. The 4 first words of the output assembly are fixed two pad words: Status word, Actual Speed.

IMPORTANT: NCA1 and NCA2 are already configured (default settings of the drive). It is important when configuring this

assembly set to handly remove the default assignment of NCA1 and NCA2: By setting NCA1 and NCA2 to a null address or by configuring this two address to other required parameters of the drive.

This will avoid a conflict between NCA1 and the control word of the profile (located in the first word of the assembly 103). The configuration of the addresses defined with NCAx and NMAx can be made with the graphic keypad: For assembly 103 : [1.9- COMMUNICATION] (COM-) menu, [COM.SCANNER OUTPUT] (OCS-) submenu.

For assembly 104 : [1.9- COMMUNICATION] (COM-) menu, [COM.SCANNER INPUT] (ICS-) submenu. See menu [1.2 MONITORING] > COMMUNICATION MAP to monitor the communication scanner.

See also "Configuring the communication scanner" page 16 The mapping of the other parameters is made with the EtherNet/IP scanner:

Here is an example of the configuration of the assemblies 103, 104 from RSLogix software

AAV68822 11/2010 15

8. Configuration of the assemblies

8. 4. Configuring the communication scanner

You need to read this chapter only if you use the assemblies 100 or 101 that use the drive communication scanner. The variables exchanged by the output assembly 100 and input assembly 101 are selected by configuring the communication scanner. The 8 output variables are assigned by means of the 8 parameters [Scan. Outp address] (nCAp). They are configured using the graphic

display terminal via the [1.9 - COMMUNICATION] (COM-) menu, [COM. SCANNER OUTPUT] (OCS-) submenu. The 8 input variables of the assembly 101 are assigned by means of the 8 parameters [Scan. Inp address] (nMAp). They are configured

using the graphic display terminal via the [1.9 - COMMUNICATION] (COM-) menu, [COM. SCANNER INPUT] (ICS-) submenu. Enter the logic address of the parameter (see the Communication parameters manual).

If a parameter [Scan. Outp address] (nCAp) or [Scan. Inp address] (nMAp) is equal to zero, the corresponding period variable is not used by the drive.

These 8 assignment parameters are described in the tables below:

Parameter name Output assembly 100 Default assignment

[Scan. Out1 address] (nCA1) NCA1 = 8501 [Scan. Out2 address] (nCA2) NCA2 = 8602 [Scan. Out3 address] (nCA3) NCA3 = not used [Scan. Out4 address] (nCA4) NCA4 = not used [Scan. Out5 address] (nCA5) NCA5 = not used [Scan. Out6 address] (nCA6) NCA6 = not used [Scan. Out7 address] (nCA7) NCA7 = not used [Scan. Out8 address] (nCA8) NCA8 = not used

Parameter name Input assembly 101 Default assignment

[Scan. In1 address] (nMA1) NMA1=3201 [Scan. In2 address] (nMA2) NMA2=8604 [Scan. In3 address] (nMA3) NMA3=not used [Scan. In4 address] (nMA4) NMA4=not used [Scan. In4 address] (nMA5) NMA5=not used [Scan. In4 address] (nMA6) NMA6=not used [Scan. In4 address] (nMA7) NMA7=not used [Scan. In4 address] (nMA8) NMA8=not used

Example of configuration via the graphic display terminal:

RDY NET +0.00Hz 0A RDY NET +0.00Hz 0A

COM. SCANNER INPUT COM. SCANNER OUTPUT Scan. In1 address : 3204 Scan. Out1 address : 9001 Scan. In2 address : 3206 Scan. Out2 address : 9002 Scan. In3 address : 0 Scan. Out3 address : 0 Scan. In4 address : 0 Scan. Out4 address : 0 Scan. In5 address : 0 Scan. Out5 address : 0

Code Quick Code Quick

Scan. In6 address : 0 Scan. Out6 address : 0 Scan. In7 address : 0 Scan. Out7 address : 0 Scan. In8 address : 0 Scan. Out8 address : 0

Note:

All modifications to parameters [Scan. Outp address] (nCAp) or [Scan. Inp address] (nMAp) must be made wi th the motor stopped. The master PLC program should be updated to take account of this modification.

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8. Configuration of the assemblies

8. 5. Configuring the control

b Principle

By the configuration of the control, it is possible to decide from what channel the drive receives its commands and setpoint, either permanently or depending on a switching command.

Numerous configurations are possible. For more information, refer to the Programming manual and Communication parameters manual. The following configurations are some of the possibilities available.

M Control with communication scanner

If the default assemblies (100, 101) are selected, all possibilities of Altivar 71 drive are available. It is possible to use all profiles and modes of the drive:

- I/O profile,

- Drivecom profiles with separate or non separate mode.

By the configuration of the communication scanner, it is possible to assign any relevant parameter of the drive to the 4 input and 4 output variables of the assemblies. See the input / output interface with the PLC can be fully customised depending on the application.

The use of the communication scanner is also the best way to interface with a "Controller Inside" card.

M Control according to ODVA AC drive profile

The ODVA AC drive profile is activated when one of the following assembl ies is selected:

• 20: Basic speed control output

• 21: Extended speed control output

• 22: Speed and torque control output

• 23: Extended speed and torque control output

• 70: Basic speed control input

• 71: Extended speed control input

• 72: Speed and torque control input

• 73: Extended speed and torque control input The advantage of using the ODVA drive profile standard is the interchangeability with other brands. The drive must be configured in the Drivecom profile with separate mode.

The EtherNet/IP card translates the commands, behaviour and monitoring information from of ODVA profile (on the network) to the Drivecom profile (in the driv e ) .

M Control according to Allen-Bradley® drive profi le

The Allen-Bradley® Drive profile is activated when one of the following assemblies is selected:

• 103: Allen-Bradley® drive output

• 104: Allen-Bradley® drive input If you need to replace Allen-Bradley® drives, in an existing application, this profile is a good way to minimise the modifications. The drive must be configured in the Drivecom profile with separate mode.

The EtherNet/IP card translates the commands, behaviour and mon itoring informati on from of Allen-Bradley® dri ve profile (on the ne twork) to the Drivecom profile (in the drive).

AAV68822 11/2010 17

8. Configuration of the assemblies

b Available configurations

M If you use the communication scanner:

• 100: Communication scanner output

• 101: Communication scanner input there is no limitation in the configuration of the control. The examples below are only possible if you use the communication scanner.

M If you use the ODVA AC drive profile or Allen-Bradley® Drive profile, that is, the assemblies:

• 20: Basic speed control output

• 21: Extended speed control output

• 22: Speed and torque control output

• 23: Extended speed and torque control output

• 70: Basic speed control input

• 71: Extended speed control input

• 72: Speed and torque control input

• 73: Extended speed and torque control input

• 103: Allen-Bradley® drive output

• 104: Allen-Bradley® drive input

Parameter Permitted value Comment

Profile Drivecom profile separate The run commands are in Drivecom profile,

Setpoint 1 configuration Network card Setpoint 1 comes from EtherNet/IP. Setpoint 1B configuration Terminals Setpoint 2 comes from terminals (AI1 or AI2). Setpoint 2 configuration Terminals Setpoint 2 comes from terminals (AI1 or AI2). Command 1 configuration Network card Command 1 comes from EtherNet/IP. Command 2 configuration Terminals Command 2 comes from terminals. Command switching Network card bit 12 Bit 12 of the control word switches the command . Setpoint switching Network card bit 13 Bit 13 of the control word switches the setpoint (1 <-> 1B or 1 <-> 2).

the command and the reference can come from different channels.

Configuration via the graphic display terminal or the integrated display terminal:

Case 1: Setpoint 1B is connected to the functions (Summing, PID, etc) which remain active even after switching.

Menu Parameter Permitted value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

[Ref.1 channel] (Fr1) [Com. card] (nEt) [Ref.1B channel] (Fr1b) [Ref. AI1] (AI1) or [Ref. AI2] (AI2) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [C312] (C312)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

Case 2: Setpoint 2 is directly connected to the drive reference limit. If switching is performed, the functions that affect the reference (summing, PID, etc.) are inhibited.

Menu Parameter Permitted value

[1.6 - COMMAND] (CtL-) [1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

Note: It is not possible to configure the display terminal as a channel. To switch to the display terminal, use the function force local and assign the parameter [Forced local Ref.] to [HMI] (LCC).

[Ref 1B switching] (rCb) [C313] (C313)

[Profile] (CHCF) [Separate] (SEP) [Ref.1 channel] (Fr1) [Com. card] (nEt) [Ref.2 channel] (Fr2) [Ref. AI 1] (AI1) or [Ref. AI2] (AI2) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [C312] (C312) [Ref. 2 switching] (rFC) [C313] (C313)

18 AAV68822 11/2010

8. Configuration of the assemblies

b Control via EtherNet/IP in I/O profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint come from EtherNet/IP. Control is in I/O profile.

Configure the following parameters:

Parameter Value Comment

Profile I/O profile The run command is simply obtained by bit 0 of the command word. Setpoint 1 configuration Network card The setpoint comes from EtherNet/IP. Command 1 configuration Network card The command comes from EtherNet/IP.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

[Ref.1 channel] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. opt card] (nEt)

b Control via EtherNet/IP or via the terminals in I/O profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint both come from EtherNet/IP or the terminals. Input LI5 at the terminals is used to switch between EtherNet/IP and the terminals. Control is in I/O profile.

Configure the following parameters:

Parameter Value Comment

Profile I/O profile The run command is simply obtained by bit 0 of the control word. Setpoint 1 configuration Network card Setpoint 1 comes from EtherNet/IP. Setpoint 1B configuration Analog input 1 on the terminals Setpoint 1B comes from input AI1 on the terminals. Setpoint switching Input LI5 Input LI5 switches the setpoint (1 Command 1 configuration Network card Command 1 comes from EtherNet/IP. Command 2 configuration Terminals Command 2 comes from the terminals. Command switching Input LI5 Input LI5 switches the command.

Note: Setpoint 1B is connected to the functions (Summing, PID, etc) which remain active even after switching. Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [LI5] (LI5)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

[Ref.1B chan] (Fr1b) [AI1 ref.] (AI1) [Ref 1B switching] (rCb) [LI5] (LI5)

↔1B).

AAV68822 11/2010 19

8. Configuration of the assemblies

b Control via EtherNet/IP in Drivecom profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint come from EtherNet/IP. Configure the following parameters:

Parameter Value Comment

Profile Separate Drivecom profile The run commands are in Drivecom profile, the command and the setpoint can

Setpoint 1 configuration Network card The setpoint comes from EtherNet/IP. Command 1 configuration Network card Command 1 comes from EtherNet/IP.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. card] (nEt)

come from different channels.

b Control via EtherNet/IP or the terminals in Drivecom profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint both come from EtherNet/IP or the terminals. Input LI5 at the terminals is used to switch between EtherNet/IP and the terminals.

Configure the following parameters:

Parameter Value Comment

Profile Separate Drivecom profile The run commands are in Drivecom profile, the command and the

Setpoint 1 configuration Network card Setpoint 1 comes from EtherNet/IP. Setpoint 2 configuration Analog input 1 on the terminals Setpoint 2 comes from input AI1 on the terminals. Setpoint switching Input LI5 Input LI5 switches the setpoint (1 Command 1 configuration Network card Command 1 comes from EtherNet/IP. Command 2 configuration Terminals Command 2 comes from the terminals. Command switching Input LI5 Input LI5 switches the command.

Note: Setpoint 2 is directly connected to the drive ref erence limit. If switching is performed, the functions that af fect the reference (summing, PID, etc) are inhibited.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Ref.2 chan] (Fr2) [AI1 ref.] (AI1) [Ref. 2 switching] (rFC) [LI5] (LI5) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [LI5] (LI5)

setpoint can come from different channels.

↔ 2) and the command.

20 AAV68822 11/2010

8. Configuration of the assemblies

b Control in Drivecom profile via EtherNet/IP and setpoint switching at the terminals

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command comes from EtherNet/IP. The setpoint comes either from EtherNet/IP or from t he terminals. Input LI5 at the terminals is used to swit ch the setpoint between EtherNet/ IP and the terminals. Control is in Drivecom profile.

Configure the following parameters:

Parameter Value Comment

Profile Separate Drivecom profile The run commands are in Drivecom profile, the command and the

Setpoint 1 configuration Network card Setpoint 1 comes from EtherNet/IP. Setpoint 1B configuration Analog input 1 on the terminals Setpoint 1B comes from input AI1 on the terminals. Setpoint switching Input LI5 Input LI5 switches the setpoint (1 Command 1 configuration Network card Command 1 comes from EtherNet/IP. Command switching Channel 1 Channel 1 is the command channel.

Note: Setpoint 1B is connected to the functions (summing, PID, etc) that remain active, even after switching.

setpoint can come from different channels.

↔1B).

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd switching] (CCS) [ch1 active] (Cd1)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

[Ref.1B chan] (Fr1b) [AI1 ref.] (AI1) [Ref 1B switching] (rCb) [LI5] (LI5)

AAV68822 11/2010 21

9. Fault management

9. 1. Fault management

An EtherNet/IP time out is triggered if the card does not receive any cyclic messages (regardless within a predefined time period). This period is managed by the EtherNet/IP controller (not by the drive) and is configured in its module properties box. The duration of the time out is defined by the RPI (Request packet intervals).

If the card is controlled by explicit messages(without periodic exchanges) There is no control of the communication time-out.

The response of the drive in case of such event can be configured.

RDY NET +0.00Hz 0A

Configuration can be performed using the graphic display terminal or integrated display terminal using the [Network fault mgt] (CLL) parameter in the [1.8 FAULT MANAGEMENT] (FLt-) menu, [COM.

FAULT MANAGEMENT] (CLL-) submenu.

The values of the [Network fault mgt] (CLL) parameter, trigger a [COM. network] (CnF) drive f ault, are:

Value Meaning

[Freewheel] (YES) Freewheel stop (factory setting) [Ramp stop] (rMP) Stop on ramp [Fast stop] (FSt) Fast stop [DC injection] (dCI) DC injection stop

The values of the [Network fault mgt] (CLL) parameter, which do not trigger a drive fault , are:

Value Meaning

[Ignore] (nO) Fault ignored [Per STT] (Stt) Stop according to configuration of [Type of s top] (Stt) [Fallback spd] (LFF) Switch to fallback speed, mai ntained as long as the fault is present and the run command is

not disabled.

[Spd maint.] (rLS) The drive maintains the speed at the time the fault occurred, as the fault persists and the

run command has not been removed.

Network fault mgt : Freewheel

CANopen fault mgt : Freewheel Modbus fault mgt : Freewheel

COM. FAULT MANAGEMENT

: :

Code Quick

The fallback speed can be configured via the [Fallback spd] (LFF) parameter in the [1.8 FAULT MANAGEMENT] (FLt-) menu.

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9. Fault management

9. 2. Status of the LEDs

The VW3 A3 316 Ethernet/IP card features 5 LEDs, which are visible through the Altivar 61/71 cover.

1.1

1.2

1.3

1.4

1.5

2.1 Port 1 activity

2.2 Port 2 activity

2.3 Link status

2.4 NS "Network status"

2.5 MS "Module status"

The 2 first LEDS are respectively dedicated to each Ethernet port. The third LED is relative to the IP level. The 2 last LEDs are specific to EtherNet/IP and CIP communication protocol.

LED Color/ state Description

2.1 Off No link Flashing Green/yellow Power up testing. Green ON Link at 100 Mbps. Yellow ON Link at 10 Mbps. Green BLINK Activity at 100 Mbps. Yellow BLINK Activity at 10 Mbps.

2.2 Off No link Flashing Green/yellow Power up testing. Green ON Link at 100 Mbps. Yellow ON Link at 10 Mbps. Green BLINK Activity at 100 Mbps. Yellow BLINK Activity at 10 Mbps.

2.3 Off Physical connections unplugged - No IP address obtained Flashing Green/red Power up testing. Green ON At least one port is connected and an IP address has been obtained. Green flashing 3 times All ports are unplugged, but the card has an IP address. Green flashing 4 times Error: Duplicated IP address (1) Green flashing 5 times The card is performing a BOOTP or DHCP sequence

2.4

"NS"

2.5

"MS"

Off The device does not have an IP address or powered off. Flashing Green/red Power up testing. Green ON The device has at least one established connection (even to the Message Router). Green flashing The device has not established connections, burt has obtained an IP address. Red flashing One or more of the connections in which this device is the target has timed out. This shall be left only if

all time out connections are reestablished or if the device i s reset.

Red ON The device has detected that its IP address is already in use (1).

Off No power is supplied to the device Flashing Green/red Power Up testing. Green ON The device is operating correctly. Green flashing The device has not been configured. Red flashing The device has detected a recoverable minor fault. Red ON The device has detected a non-recoverable major fault (1).

(1) In case of duplicate IP Address, the led 2.3 is green flashing 4 times, led 2.4 and 2.5 are solid red.

AAV68822 11/2010 23

10. Configuration of monitored parameters

It is possible to select up to 4 parameters to display their values in the [1.2 - MONITORING] menu on the graphic display terminal. The selection is made via the [6 - MONITORING CONFIG.] menu, [6.3 - COM. MAP CONFIG.] submenu.

Each parameter in the range [Address 1 select.] … [Address 4 select.] is used to select the parameter logic address. Sel ect an address of zero to disable the function.

In the example given here, the monitored words are:

• Parameter 1 = Motor current (LCR): logic address 3204;

signed decimal format.

• Parameter 2 = Motor torque (OTR): logic address 3205;

signed decimal format.

• Parameter 3 = Last fault occurred (LFT): logic address 7121;

hexadecimal format.

• Disabled parameter: address 0; default format: hexadecimal format.

One of the three display formats below can be assigned to each monitored word:

Format Range Terminal display

Hexadecimal 0000 … FFFF [Hex] Signed decimal -32,767 … 32,767 [Signed] Unsigned decimal 0 … 65,535 [Unsigned]

RDY NET +0.00Hz 0A

6.3 COM. MAP CONFIG. Word 1 add. select. : 3204 Format word 1 : Signed Word 2 add. select. : 3205 Format word 2 : Signed Word 3 add. select. : 7121

Code Quick

Format word 33 : Hex

Word 4 add. select. : 0 Format word 4 : Hex

24 AAV68822 11/2010

11. Webserver

This chapter describes the function of the integrated webserver of the EtherNet/IP card.

11. 1. Opening the Altivar home page

From your web browser, default http password and login are : USER, USER for monitor and setup security level and ADMIN, ADMIN for administrator level.

From the altivar home page, you can access to 4 main menus:

•Drive,

• Network setup,

• Network diagnostic,

•Email

11. 2. Web pages structure

Each web page uses the same structure. Each main menu, "Drive", "Network setup" and "Network Diagnostics" contains each own sub menu. This last one is displayed on the left side of web page.

The toggle button shows or hides the left sided menu.

AAV68822 11/2010 25

11. Webserver

11. 3. Drive

b Drive monitor

26 AAV68822 11/2010

11. Webserver

b Drive parameters

The left column is used to select a mod/imd group (or list) of parameters. The right columns displays the parameters, its Modbus address and its current value.

bSAVING PARAMETERS

When parameters of the drive are modified from the webserver, they are not saved into drive memory (to avoid numerous write access to the flash memory). However, it is possible to perform the backup of the parameters from the webserver: This operation can be done by writing 2 to CMI parameter. This operation saves ALL the parameters of the drive to flash memory.

AAV68822 11/2010 27

11. Webserver

b Drive recorder

The trend viewer shows traces of two preselected parameters RUN/STOP: Starts or stoppes the trends recording. Reset : Erases the recorded trend. Min/Max : defines the lowest and highest values that are displayed on the trend window. Per(s) : Periodicity : Minimal value.

28 AAV68822 11/2010

11. Webserver

11. 4. Network setup

b Monitor security

The Monitor security password is the basic level access to the drive thro ugh the webserver: it allows the access to the differe nt web pages but don’t authorize write access. New level username and password can be redefined here.

AAV68822 11/2010 29

11. Webserver

b Setup security

- HTTP : data write.

- Data write level password.

b Administrator security

30 AAV68822 11/2010

11. Webserver

b EtherNet/IP setup

b EtherNet/IP scanner setup

AAV68822 11/2010 31

11. Webserver

b Email management

Configuration of the email generator on the left side:

- email IP server Address

- email sender address, recipient address from

θ.

11. 5. Diagnostics

32 AAV68822 11/2010

11. Webserver

b Ethernet statistics

b Message statistics

NOTE: As a Schneider product, The EtherNet/IP option card uses internally MODBUS TCP for the web-server. (The MODBUS TCP port is not accessible).

AAV68822 11/2010 33

12. Integration in RSLogix

12. 1. Principle

RSX drive equipped with an EtherNet/IP card shall be configured as a "Generic Ethernet Module" in the same way as the EtherNet/IP adapter of PowerFlex 70 drives.

12. 2. Procedure

b Create a new project

34 AAV68822 11/2010

12. Integration in RSLogix

b Add a EtherNet/IP scanner to the I/O configuration

AAV68822 11/2010 35

12. Integration in RSLogix

36 AAV68822 11/2010

12. Integration in RSLogix

b Configure the EtherNet/IP scanner

b Add a EtherNet/IP ATV71/61 drive to the I/O configuration

AAV68822 11/2010 37

12. Integration in RSLogix

38 AAV68822 11/2010

12. Integration in RSLogix

b Configure the ATV71 EtherNet/IP card

Above the Allen-Bradley drive profile is selected.

AAV68822 11/2010 39

12. Integration in RSLogix

Below the CIP extended speed control profile is selected.

Below the CIP extended speed and torque control profile is selected.

40 AAV68822 11/2010

12. Integration in RSLogix

Below native RSX profile is selected.

12. 3. Registering the EDS file in RSlogix

An EDS file is provided with the drive. (This file is available on the CD or on www.schneider-electric.com). It exists 1 EDS file for the ATV71 and 1 EDS file for the ATV61. The following lines describe how to import these files in your project:

In RSnetWorx , start the EDS wizards

AAV68822 11/2010 41

12. Integration in RSLogix

Follow the instructions:

Choose "Register" to import a new EDS file. If you want to update an EDS file you need to "unregister" this de vice first.

42 AAV68822 11/2010

12. Integration in RSLogix

Select the required file:

Then finish, the dialog box displays the result of the import operation.

AAV68822 11/2010 43

13. CIP objects

13. 1. Supported object classes

Three categories of object classes can be defined:

• 1: CIP device on EtherNet/IP.

• 2: AC/DC drive.

• 3: VSD specific. These objects are detailed here:

Object class Class ID Cat.

Identity object Message router object Ethernet Link object TCP/IP Interface object Connection object manager

page 52 Motor data object Control supervisor object

(13. 2.) page 44 16#01 1 1 Supports the reset service

(13. 3.) page 45 16#02 1 1 Explicit message connection

(13. 4.) page 47 16#F6 1 1 Counter and status information

(13. 5.) page 50 16#F5 1 1 TCP/IP configuration

(13. 6.)

(13. 7.) page 53 16#28 2 1 Defines data for the motor connected to the device

(13. 8.) page 5416#29 2 1 Manages drive functions, operational states and control

16#05 1 1

Number of

instances

Effect on behavior Interface

AC/DC Drive Object Assembly object Application objects

(13. 9.) page 56 16#2A 2 1 Provides drive configuration

(13. 10.) page 57 16#04 2 12 Defines I/O data format

(13. 11.) page 58 3 1 Vendor specific - drive's parameters

13. 2. Identity object

The Identity object provides identificatio n and status information about the drive.

Class code

Hexadecimal Decimal

16#01 1

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 1 — 2 Get Max Instances Opt. UINT 1 1 defined instance

44 AAV68822 11/2010

13. CIP objects

Instance attributes

Attribute ID Access Name Need Data type Value Details

1 Get Vendor ID Req. UINT 243 Schneider Automation, Inc [243] 2 Get Device type Req. UINT 16#02 AC/DC drive profile 3 Get Product code Req. UINT 5 or 7 5: ATV71

4 Get Revision Req. Struct of:

USINT

USINT 5 Get Status Req. WORD — See definition in the table below 6 Get Serial number Req. UDINT — Serial number of the drive 7 Get Product name Req. Struct of:

USINT

STRING 8 Get State Opt. USINT — 0: Non existent

10 Get/Set Heartbeat interval (2) Opt. USINT 0–255 Interval in seconds between two heartbeat messages.

— Product revision of the drive (1)

— 11 (product name length)

7: ATV61

“ATV71 Drive”

1: Device self-testing 2: Standby 3: Operational 4: Major recoverable fault 5: Major unrecoverable fault

0: No message.

(1)Mapped in a word: MSB minor revision (second USINT), LSB major revision (first USINT).

Example: 517 = 16#0205 means revision V5.2.

(2)The heartbeat message broadcasts the current state of the device.

13. 3. Message router object

The Message router object is the element throu gh which all the "Explici t messages" objects pass in order to be directed t owards the objects they are truly destined to.

Class code

Hexadecimal Decimal

16#02 2

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 1 2 Get Max instances Opt. UNT 1 1 Defined instance

AAV68822 11/2010 45

13. CIP objects

Instance attributes

Attribute ID Access Name Need Data type Value Details

1 Get Object list:

Number classes

2 Get Number available Opt. UINT 1 Maximum number of simultaneous connections 3 Get Number active Opt. UINT 1 Number of active connections 4 Get Active connections Opt. UINT [ ] 1 List of active connections (referred to with their respective

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Opt. Struct of:

UINT UINT [ ]

20 (codes)

List of supported objects; the first UINT is the number of supported classes; the remaining UINTs are the codes of these classes.

Connection instance ID)

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

46 AAV68822 11/2010

13. CIP objects

13. 4. Ethernet Link object

This object provides the mechanism to configure a device's TCP/IP network interface.

b Class code

Hexadecimal decimal

16#F5 245

b Class attributes

Class attributes for this object are optional.

b Instance attributes

Attribute ID Access Name need Data type Value Details

1GetStatus Req. DWORD

2GetConfiguration

3GetConfiguration Req. DWORD

Set control

NOTE : This attribute interacts with the Altivar 71 parameter [IPmode]. (see chapter 8.

4GetPhysical link Req. STRUCT {

capability

Req. DWORD

UINT path size Padded EPATH path }

Bit level

0 The interface configuration attribute has not

been configured.

1 The interface configuration contains a valid

configuration.

2-15 Reserved for future use.

0 BOOTP Client.

1 DNS Client. 2 DHCP Client. 3 DHCP-DNS capable. 4 Interface configuration settable.

All other bits are reserved and shall be set to 0.

0 The interface configuration is valid.

The interface configuration must be

obtained with BOOTP. The interface configuration must be

obtained with DHCP..

3 Reserved. 4 DNS Enable.

All other bits are reserved and shall be set to 0. Path size: number of 16 bit words in the element

Path Path: Logical segments identifying the physical link object. The path is restricted to one logical class segment and one logical instance segment. The maximum size is 12 bytes.

AAV68822 11/2010 47

13. CIP objects

Attribute ID Access Name need Data type Value Details

5Get

Set

Interface configuration

Req. STRUCT {

UDINT IP Address UDINT Network Mask UDINT Gateway address

IP Address: Value of 0 indicates noIP address has been configured. Otherwise, the IP address sh all be set to a valid Class A, B, or C address and shall not be set to the loopback address (127.0.0.1).

Network Mask: Value of 0 indicates no network mask address has been configured.

6Get

Set

Host Name Req. STRING ASCII characters. Maximum length is

UDINT Primary Name server

UDINT Secondary name server

STRING Default Domain

name

}

Gateway Address: Value of 0 indicates no IP address has been configured. Otherwise, the IP address shall be set to a valid Class A, B, or C address and shall not be set to the loopback address (127.0.0.1).

Primary name: Value of 0 indicates no name server address has been configured. Otherwise, the name server address shall be set to a valid Class A, B, or C address.

Secondary Name: Value of 0 indicates no secondary name server address has been configured. Otherwise, the name server address shall be set to a valid Class A, B, or C address.

Default domain name: ASCII characters. Maximum length is 48 characters. Shall be padded to an even number of characters (pad not included in length). A length of 0 shall indicate no Domain Name is configured.

64 characters. Shall be padded to an even number of characters (pad not included in length). A length of 0 shall indicate no Host Name is configured.

b Class service

Service Code Service Name Need Description

16#01 Get_Attribute_All Optional Returns a predefined listing of this objects

16#0E Get_Attribute_Single Optional Returns the contents of the specified attribute.

attributes.

b Instance service

Service Code Servic e Name Need Description

16#01 Get_Attribute_All Optional Returns a predefined listing of this objects

16#0E Get_Attribute_Single Required Returns th e contents of the specified attribute. 16#02 Set_Attribute_All optional Modifies all settable attributes. 16#10 Set_Attribute_Single Required Modifies a single attribute.

attributes.

48 AAV68822 11/2010

13. CIP objects

Waiting for Configuration

Non-existent

Obtaining initial

Configuration

Applying Configuration

TCP/IP Network

Interface Configured

(Status = 0x00000001)

Status = 0x00000000

BOOTP OR DHCP Enabled

BOOTP/DHCP Disabled AND Stored Config is Valid

Powerup/Reset

BOOTP/DHCP Response Received

Configuration Applied

BOOTP/DHCP Disabled AND Stored Config is Invalid

Set_Attributes Request Received

Change Interface Configuration

Status = 0x00000000

b Behaviour

The following state machine is used to configure the TCP/IP network interface.

AAV68822 11/2010 49

13. CIP objects

13. 5. TCP/IP Interface object

This object maintains link specific counters and status information for an Ethernet 802.3 communications interface.

b Class code

Hexadecimal Decimal

16#F6 246

b Class attributes

Attribute ID Access Name Need Data type Value

1 Get Revision Req. UINT 2 2 through 7 optional

b Instance attributes ../

Attribute ID Access Name Need Data type Value Details

1GetInterface Speed Req. UDINT 0,10,100

2GetInterface flags Req. DWORD

3GetPhysical

Address

Req. ARRAY OF

6 USINTs

1000, etc.

level

Speed in Mbps.

0 Link status 1 Half/full duplex

Bit

2-4 Negotiation status

5 Manual setting / requires reset 6 Local Hardware fault

All other bits are reserved and shall be set to 0. This array contains the MAC address of the

card.Format: XX-XX-XX-XX-XX-XX

4 … G et Interface

counters

Cond. STRUCT {

UDINT In Octets Octets received on the interface UDINT In Ucast Packets Unicast Packets received on the interface. UDINT In NUcast

Packets

UDINT In Discards Inbound packets received on the interface but

UDINT In Errors Inbound packets that contain errors. (does not

UDINT In Unknown

Protos

UDINT Out Octets Octets sent on the interface. UDINT Out Ucast

packest UDINT Out NUcast

Packets

UDINT Out discards Outbound packets discarded UDINT Outbound packets that contain errors

}

Non Unicast Packets received on the interface.

discarded.

include in Discards) Inbound packets with unknown protocol.

Unicast Packets sent on the interface.

Non Unicast Packets sent on the interface.

50 AAV68822 11/2010

13. CIP objects

Attribute ID Access Name Need Data type Value Details

5GetMedia Counters Cond. STRUCT {

UDINT Alignment errors Frames received that are not an integral

UDINT FCS Errors Frames received that do not pass the FCS

UDINT Single collisions Successfully transmitted frames which

UDINT Multiple Collisions Successfully transmitted frames which

UDINT SQE Test Errors Number of times SQE test error message is

UDINT Deferred

Transmissions

UDINT Late Collisions Number of times a collision is detected later

UDINT Excessive Collisions Frames for which transmission fails due to

UDINT MAC Transmit errors Frames for which transmission fails due to

UDINT Carrier sense Errors Times that the carrier sense condition was

UDINT Frame too long Frames received that exceed the maximum

UDINT MAC Receive Errors Frames for which reception on an interface

}

6SetInterface control Optional STRUCT {

WORD Control Bits Interface control bits UINT Force interface

Speed }

number of octets in length

check

experienced exactly one collision

experienced more than one collision

generated Frames for which first transmission attempt

is delayed because the medium is busy

than 512 bittimes into the transmission of a packet

excessive collision

an internal MAC sublayer transmit error

lost or never asserted when attempting to transmit a frame

permitted frame size

fails due to an internal MAC sublayer receive error

Speed at which the interface shall be forced to operate.

AAV68822 11/2010 51

13. CIP objects

b Class service

Service Code Service Name Need Description

16#01 Get_Attribute_All Optional Returns a predefined listing of this objects attributes. 16#0E Get_Attribute_Single Optional Returns the contents of the specified attribute. 16#10 Get_and_clear Cond. Modifies a single attribute

b Instance service

Service Code Service Name Need Description

16#01 Get_Attribute_All Optional Returns a predefined listing of this objects attributes. 16#0E Get_Attribute_Single Required Returns the contents of the specified attribute. 16#10 Set_Attribute_Single Required Modifies a single attribute.

13. 6. Connection object manager

Class code

Hexadecimal Decimal

16#05 5

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 1 — 2 Get Max instances Opt. UINT 4 3 defined instances (1)

(1)Only instances 1 (explicit message), 2 (polled I/O message), and 4 (change of state/cyclic message) are supported. Instance 3 (bit

strobe) is not supported.

Attributes of instance 1—Explicit message instance

Attribute ID Access Name Need Data type Value Details

1 Get State Req. USINT — 0 : Non-existent

2 Get Instance_type Req. USINT 0 Explicit Message 3 Get TransportClass_trigger Req. BYTE 16#83 Class 3 server 4 Get Produced_connection_id Req. UINT 10xxxxxx011 xxxxxx = Node address 5 Get Consumed_connection_id Req. UINT 10xxxxxx100 xxxxxx = Node address 6 Get Initial_comm_characteristics Req. BYTE 16#21 Explicit messaging via Group 2 7 Get Produced_connection_size Req. UINT 36 Produced data maximum size

8 Get Consumed_connection_size Req. UINT 36 Consumed data maximum size

9 Get/Set Expected_packet_rate Req. UINT 2500 2.5 sec. (TimeOut) 12 Get/Set Watchdog_timeout_action Req. USINT 1 or 3 1 : Auto-Delete

13 Get Produced connection path length Req. UINT 0 Length of attribute 14 data 14 Get Produced connection path Req. Array of UINT Null Empty 15 Get Consumed connection path length Req. UINT 0 Length of attribute 16 data 16 Get Consumed connection path Req. Array of UINT Null Empty

3 : Established 5 : Deferred Delete

(in bytes)

3 : Deferred Delete (Default)

Refer to EtherNet/IP specification for more information.

52 AAV68822 11/2010

13. CIP objects

13. 7. Motor data object

The Motor data object acts as a motor parameter database.

Class code

Hexadecimal Decimal

16#28 40

Object 28hex (Motor Data)

Path CIP name CIP configuration parameter name

16#28/01/06 = 40/1/6 RatedCurrent Motor Rated Cur 16#28/01/07 = 40/1/7 RatedVoltage Motor Rated Volt 16#28/01/09 = 40/1/9 RatedFreq Motor Rated Freq 16#28/01/0F = 40/1/15 BaseSpeed Motor Base Speed

Telemecanique adaptation:

Path Code Altivar name Logic address

16#28/01/06 = 40/1/6 NCR Rated mot. current 16#2583 = 9603 16#28/01/07 = 40/1/7 UNS Rated motor volt. 16#2581 = 9601 16#28/01/09 = 40/1/9 FRS Rated motor freq. 16#2582 = 9602 16#28/01/0F = 40/1/15 NSP Rated motor speed 16#2584 = 9604

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 2 — 2 Get Max instance Opt. UINT 1 — 6 Get Max ID number of class attribute Opt. UINT 7 — 7 Get Max ID number of instance attribute Opt. UINT 15 —

Instance attributes

Attribute ID Access Name Need Data type Value Details

3 Get/Set MotorType Req. USINT 7 6 = Wound rotor induction motor

6 Get/Set RatedCurrent Req. UINT Depends on the

drive rating

7 Get/Set RatedVoltage Req. UINT Depends on the

drive rating 9 Get/Set RatedFreq Opt. UINT 50/60 [Rated motor freq.] (FrS) 15 Get/Set BaseSpeed Opt. UINT Depends on the

drive rating

7 = Squirrel cage induction motor

[Rated mot. current] (nCr)

[Rated mot. volt.] (UnS)

[Nom motor speed] (nSP)

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute

AAV68822 11/2010 53

13. CIP objects

13. 8. Control supervisor object

The Control supervisor object models the functions for managing all devices within the hierarchy of motor control devices.

Object 29hex (Control Supervisor)

Path CIP name CIP configuration parameter name

16#29/01/0D = 41/1/13 FaultCode Fault Code

Telemecanique adaptation:

Path Code Altivar name Logic address

16#29/01/0D = 41/1/13 ERRD CiA402 fault code 16#219E = 8606

Class code

Hexadecimal Decimal

16#29 41

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 2 — 2 Get Max instance Opt. UINT 1 — 6 Get Max ID number of class attribute Opt. UINT 7 — 7 Get Max ID number of instance attribute Opt. UINT 17 —

Instance attributes

Attribute ID Access Name Need Data type Details

3 Get/Set Run Fwd Req. BOOL On an edge (0 V1) 4 Get/Set Run Rev Opt. BOOL On an edge (0 V1) 5 Get/Set NetCtrl Opt. BOOL 0: Local Control (Channel 1)

6 Get State Opt. USINT 0 = Vendor Specific,

7 Get Running Fwd Req. BOOL 8 Get Running Rev Opt. BOOL 9 Get Ready Opt. BOOL 10 Get Faulted Req. BOOL 12 Get/Set FaultRst Req. BOOL Fault reset (0 V1) 13 Get FaultCode Opt. UINT Refer to the Communication parameters manual:

15 Get CtrlFromNet Opt. BOOL 0 = Local Control; 1 = Network Control

1: Network Control (default)

1 = Startup, 2 = Not_Ready, 3 = Ready, 4 = Enabled, 5 = Stopping, 6 = Fault_Stop, 7 = Faulted

DSP402 fault code (Errd)

54 AAV68822 11/2010

13. CIP objects

Non-Existent

Startup

Switch off

Switch on

Not_Ready

Ready

Fault detected

Main power on

Enabled

Stopping

Stop

Run

Initialization complete

Stop complete

Fault detected

Fault Reset

Faulted

Fault_Stop

Fault detected

Fault stop complete

Main power off

Reset

Main power off

Class service

Service Code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service Code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Req. Write an attribute 16#05 Reset Req. Drive reset

Control supervisor state transition diagram

AAV68822 11/2010 55

13. CIP objects

13. 9. AC/DC Drive Object

The AC/DC Drive object models the functions (such as torque control and speed ramp) that are specific to drives.

Class code

Hexadecimal Decimal

16#2A 42

Class attributes

Attribute ID Access Name Need Data Type Value Details

1 Get Revision Opt. UINT 1 — 2 Get Max instance Opt. UINT 1 — 6 Get Max ID number of class attribute Opt. UINT 7 — 7 Get Max ID number of instance attribute Opt. UINT 21 —

Instance attributes

Attribute ID Access Name Need Data type Details

3 Get AtReference Opt. BOOL 4 Get/Set NetRef (1) Req. BOOL 0: Local speed setpoint (AI1 or AI2)

5 Get/Set NetProc Opt. BOOL Not handled 6 Get/Set Drive mode Req. USINT 1: Open loop

7 Get SpeedActual Req. INT Output speed (rFrd) 8 Get/Set SpeedRef Req. INT Speed setpoint (LFrd) 9 Get CurrentActual Opt. INT Motor current (LCr) 10 Get/Set CurrentLimit Opt. INT [Mot. ther m. current] (ItH) 11 Get TorqueActual Opt. INT Output torque (Otrn) 12 Get/Set TorqueRef Opt. INT Torque setpoint (LtC r) 18 Get/Set AccelTime Opt. U INT Acceleration time (ACCd) 19 Get/Set DecelTime Opt. UINT Deceleration time (dECd) 20 Get/Set LowSpdLimit Opt. UINT Parameter [Low speed] (LSP) converted in RPM 21 Get/Set HighSpdLimit Opt. UINT Parameter [High speed] (HSP) converted in RPM

1: Speed setpoint via the network

2: Closed loop (FVC)

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute

56 AAV68822 11/2010

13. CIP objects

13. 10. Assembly object

The Assembly object binds together the att ribu te s of mu lt ip le object s so that inf ormatio n t o or fr om each obj ect can be co mmuni cat ed over a single connection.

Assembly objects ar e s tatic. The assemblies in use can be modified through the parameter access of the network configuration tool (RSNetWorx). The drive needs a power off to take into account a new assembly assignment.

Class code

Hexadecimal Decimal

16#04 4

Class attribute

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 2 — 2 Get Max instance Opt. UINT 105 13 defined instances

Instances supported

Instance Name Data size

20 ODVA Basic speed control output 4 bytes 21 ODVA Extended speed control output 4 bytes 22 ODVA Speed and torque control output 6 bytes 23 ODVA Extended speed and torque control output 6 bytes 100 Native drive output 16 bytes 103 Allen-Bradley® drive out put 20 bytes 70 ODVA Basic speed control input 4 bytes 71 ODVA Extended speed control input 4 bytes 72 ODVA Speed and torque control input 6 bytes 73 ODVA Extended speed and torque control input 6 bytes 101 Native drive input 16 bytes 104 Allen-Bradley® drive input 20 bytes

The description of each instance is detailed in chapter 15. Device profiles

Instance attributes

Attribute ID Access Name Need Data type Value Details

3 Get/Set (1) Data Req.

(1)Set access is restricted to output instances only (instances 20, 21, 22, 23, 100 and 103).

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute

AAV68822 11/2010 57

13. CIP objects

13. 11. Application objects

Class code

Hexadecimal Decimal

16#70 to 16#A8 112 to 424

Altivar parameters path

The Altivar parameters are grouped in classes. Each application class has only 1 instance. Each instance groups 200 parameters. Each attribute in an instance relates to a parameter.

The first parameter registered in the first applicati on class (class code: 16#70 = 112) has the logical address 3000. Examples:

Logical address Path Hexadecimal Path decimal

3 000 16# 70 / 01 / 01 112 / 1 / 1 3 100 16# 70 / 01 / 65 112 / 1 / 101 3 200 16# 71 / 01 / 01 113 / 1 / 1

64 318 16# A2 / 1 / 77 418 / 1 / 119

Refer to the Communication parameters manual.

Class attributes

Attribute ID Access Name Need Data type Value

1 Get Revision Opt. UINT 1 2 Get Max instance Opt. UINT 1 6 Get Max ID number of class attribute Opt. UINT 7 7 Get Max ID number of instance attribute Opt. UINT X

Instance attributes

Attribute ID Access Name Data type Val ue

1 Get/Set First parameter of the class UINT / USINT Value returned by the drive

... ... ... ... ...

X Get/Set Last parameter of the class UINT / USINT Value returned by the drive

Note: Depending on the parameter, writ e access may be prohib ited. Ref er to the Communi catio n parameters manual for more informa tion.

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instances service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 116#0 Set_Attribute_Single Opt. Write an attribute

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13. CIP objects

b Object 2Ahex (AC/DC Drive)

Path CIP name CIP configuration parameter name

16#2A/01/07 = 42/1/7 SpeedActual Speed Actual 16#2A/01/08 = 42/1/8 SpeedRef Speed Reference 16#2A/01/09 = 42/1/9 CurrentActual Current Actual 16#2A/01/0A = 42/1/10 CurrentLimit Current Limit 16#2A/01/0B = 42/1/11 TorqueActual Torque Actual 16#2A/01/0C = 42/1/12 TorqueRef Torque Reference 16#2A/01/12 = 42/1/18 AccelTime Accel Time 16#2A/01/13 = 42/1/19 DecelTime Decel Time 16#2A/01/14 = 42/1/20 LowSpdLimit Low Speed Limit 16#2A/01/15 = 42/1/21 HighSpdLimit High Speed Limit

Telemecanique adaptation:

Path Code Altivar name Logic add r ess Unit Id

16#2A/01/07 = 42/1/7 RFRD Output velocity 16#219C = 8604 16#2A/01/08 = 42/1/8 LFRD Speed setpoint 16#219A = 8602 16#2A/01/09 = 42/1/9 LCR Motor current 16#0C84 = 3204 16#2A/01/0A = 42/1/10 ITH Mot. therm. current 16#2596 = 9622 16#2A/01/0B = 42/1/11 Otrn Output torque (Nm) 16#2A0B = 10763 251 16#2A/01/0C = 42/1/12 n.a. Torque setpoint (Nm) 16#2A0C = 10764 251 16#2A/01/12 = 42/1/18 ACCD CIP acceleration time 16#2A12 = 10770 251 16#2A/01/13 = 42/1/19 DECD CIP deceleration time 16#2A13 = 10771 251 16#2A/01/14 = 42/1/20 LSPD CIP Low speed limit 16#2A14 = 10772 251 16#2A/01/15 = 42/1/21 HSPD CIP High speed limit 16#2A15 = 10773 251

AAV68822 11/2010 59

14. Explicit Messaging

The following example shows an example of explicit messaging: The value of the ACC parameter ( Modbus @ = 9001 / CIP address 16#2A:1:16#12 ) is modified when the variable "bit01" is toggled ON.

The detailed configuration of the message Box:

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15. Device profiles

EtherNet/IP card provides several profiles:

• CIP AC drive profile (0x02) (default setting),

• Allen Bradley drive profile,

• Telemecanique: CiA 402 and I/O. The profile is chosen by the selection of the right input assembly and output assembly. In this manual, the chapter "Integration in RSLogix 5000" shows how the user may select the assemblies.

b List of assemblies

Output assemblies

Assembly name Number Size

CIP basic speed control output 20 2 words (4 bytes) CIP extended speed control output 21 2 words (4 bytes) CIP speed and torque control output 22 3 words (6 bytes) CIP extended speed and torque control output 23 3 words (6 bytes) Native drive output 100 2 to 10 words (4 to 20 bytes) Allen-Bradley® drive output 103 2 to 10 words (4 to 20 bytes)

Input assemblies

Assembly name Number Size

CIP basic speed control input 70 2 words (4 bytes) CIP extended speed control input 71 2 words (4 bytes) CIP speed and torque control input 72 3 words (6 bytes) CIP extended speed and torque control input 73 3 words (6 bytes) Native drive input 101 2 to 10 words (4 to 20 bytes) Allen-Bradley® drive input 104 2 to 10 words (4 to 20 bytes)

IMPORTANT REMARK:

For the assemblies 20 and 22, the defaul t setti ngs def ines tha t the speed s etpoi nt is orig inate d from t he termi nals. To full y contro l the drive from the network the following operation is required: The object 2A/1/4 (netref) must be changed from 0 to 1 (byte). Such assignment can be done:

• By program, with an MSG() instruction block.

• With the Class instance editor: (

AAV68822 11/2010 61

15. Device profiles

b Assembly 20: CIP basic speed control output

Assembly mapping

Word number Definition

0 CIP basic command word 1 Speed setpoint (rpm)

CIP basic command word

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not used Not used Not used Not used Not used Fault reset (1)

Not used Run Forward (2)

0 = No command 1 = Fault reset

(1)Active on rising edge. (2)Active on level.

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Not used Not used Not used Not used Not used Not used Not used Not used

0 = Stop 1 = Run

b Assembly 70: CIP basic speed control input

Assembly mapping

Word number Definition

0 CIP basic status word 1 Actual speed (rpm)

CIP basic status word

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not used Not used Not used Not used Not used Running

0 = Stopped 1 = Running

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Not used Not used Not used Not used Not used Not used Not used Not used

Not used Faulted

0 = No fault 1 = Fault

b Assembly 21: CIP extended speed control output

Assembly mapping

Word number Definition

0 CIP extended command word 1 Speed setpoint (rpm)

CIP extended command word

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not used Network setpoint

0 = Setpoint by terminals 1 = Setpoint by network

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Not used Not used Not used Not used Not used Not used Not used Not used

(1)Active on rising edge.

62 AAV68822 11/2010

Network command 0 = Command by terminals

1 = Command by network

Not used Not used Fault rese t (1 )

0 = No command 1 = Fault reset

Run forward / reverse 00 = Quick stop

01 = Run forward 10 = Run reverse 11 = Freewheel stop

15. Device profiles

b Assembly 71: CIP extended speed control input

Assembly mapping

Word number Definition

0 CIP extended status word 1 Actual speed (rpm)

CIP extended status word

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

At reference 0 = Reference not reached 1 = Reference reached

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Not used

Setpoint from network 0 = Setpoint from terminals 1 = Setpoint from network

Not used Not used Not used Not used Bit 8 to bit 10 are used for the drive state

Command from network 0 = Command from terminals 1 = Command from network

Ready 0 = Not ready 1 = Ready

Running forward / reverse 00 = Stopped

01 = Running forward 10 = Running reverse 11 = Not used

000 = Not used 001 = Startup 010 = Not Ready 011 = Ready 100 = Enabled 101 = Stopping 110 = Fault Stop 111 = Faulted

Warning 0 = No warning

1 = Warning

Not used

b Assembly 22: CIP speed and torque control output

Assembly mapping

Word number Definition

0 CIP basic command word (1) 1 Speed setpoint (rpm) 2 Torque setpoint (Nm)

(1)Refer to assembly 20.

b Assembly 72: CIP speed and torque control input

Assembly mapping

Word number Definition

0 CIP basic status word (1) 1 Actual speed (rpm) 2 Actual torque (Nm)

(1)Refer to assembly 70.

b Assembly 23: CIP extended speed and torque control output

Assembly mapping

Word number Definition

0 CIP extended command word (1) 1 Speed setpoint (rpm) 2 Torque setpoint (Nm)

(1)Refer to assembly 21.

AAV68822 11/2010 63

15. Device profiles

b Assembly 73: CIP extended speed and torque control input

Assembly mapping

Word number Definition

0 CIP extended status word (1) 1 Actual speed (rpm) 2 Actual torque (Nm)

(1)Refer to assembly 71.

b Assembly 100: Native drive output

Assembly mapping

Word number Definition

0 Control word 1 Velocity setpoint 2 Scanner write word 1 3 Scanner write word 2 4 Scanner write word 3 5 Scanner write word 4 6 Scanner write word 5 7 Scanner write word 6

Altivar 71/61 assignment

Word number Code Name Logic address

0 NC1 Communication scanner, value of write word 1

(default value :CMD, Control word)

1 NC2 Communication scanner, value of write word 2

(default value: LFRD, velocity setpoint) 2 NC3 Communication scanner, value of write word 3 16#31DB = 12763 3 NC4 Communication scanner, value of write word 4 16#31DC = 12764 4 NC5 Communication scanner, value of write word 5 16#31DD = 12765 5 NC6 Communication scanner, value of write word 6 16#31DE = 12766 6 NC7 Communication scanner, value of write word 7 16#31DF = 12767 7 NC8 Communication scanner, value of write word 8 16#31E0 = 12768

Note: The default assignment of NC1 and NC2 must be changed to "Not assigned".

16#31D9 = 12761

16#31DA = 12762

64 AAV68822 11/2010

15. Device profiles

b Assembly 101: Native drive input

Assembly mapping

Word number Definition

0 Scanner read word 1 1 Scanner read word 2 2 Scanner read word 3 3 Scanner read word 4 4 Scanner read word 5 5 Scanner read word 6 6 Scanner read word 7 7 Scanner read word 8

Altivar 71/61 assignment

Word number Code Name Logic address

0 NM1 Communication scanner, value of read word 1

(default value: Status word, ETA) 1 NM2 Communication scanner, value of read word 2

(default value: Velocity actual value, RFRD) 2 NM3 Communication scanner, value of read word 3 16#31C7 = 12743 3 NM4 Communication scanner, value of read word 4 16#31C8 = 12744 4 NM5 Communication scanner, value of read word 5 16#31C9 = 12745 5 NM6 Communication scanner, value of read word 6 16#31CA = 12746 6 NM7 Communication scanner, value of read word 7 16#31CB = 12747 7 NM8 Communication scanner, value of read word 8 16#31CC = 12748

16#31C5 = 12741

16#31C6 = 12742

AAV68822 11/2010 65

15. Device profiles

b Assembly 103: Allen-Bradley® drive output

Assembly mapping

Word number Definition

0 Allen-Bradley® drive logic command 1 Standardized speed setpoint (reference) 2 Scanner write word 1 3 Scanner write word 2 4 Scanner write word 3 5 Scanner write word 4 6 Scanner write word 5 7 Scanner write word 6 8 Scanner write word 7 9 Scanner write word 8

Altivar 71/61 assignment

Word number Code Name Logic address

0 n.a. Allen-Bradley® drive logic command n.a. 1 LFR Frequency setpoint 16#2136 = 8502 2 NC1 Communication scanner, value of write word 1 16#31D9 = 12761 3 NC2 Communication scanner, value of write word 2 16#31DA = 12762 4 NC3 Communication scanner, value of write word 3 16#31DB = 12763 5 NC4 Communication scanner, value of write word 4 16#31DC = 12764 6 NC5 Communication scanner, value of write word 5 16#31DD = 12765 7 NC6 Communication scanner, value of write word 6 16#31DE = 12766 8 NC7 Communication scanner, value of write word 7 16#31DF = 12767 9 NC8 Communication scanner, value of write word 8 16#31E0 = 12768

Note: The default assignment of NC1 and NC2 must be changed to another value or to not assigned..

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15. Device profiles

b Allen-Bradley® drive logic command

The logic command is a 16-bit word of control produced by the scanner and consumed by the EtherNet/IP card. If enabled, the Logic command word is always word 0 in the output image.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

MOP Increment

Local control

Direction

Clear faults (3)

Jog

Start (2)

Stop (1)

0 = Not Increment 1 = Increment

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

MOP Decrement 0 = Not decrement

1 = Decrement

(1)Stop: Active at level. (2)Start: Active on rising edge. A Not stop condition (logic 0 = 0) must first be present before a Start conditi on (logic 1 = 1) will start the drive. (3)Clear faults: Active on rising edge. To perform this command, the value must switch from "0" to "1." (4)Direction \ No command: If a direction is selected acts like Hold direction control. (5)Accel rate \ No command: If a rate is selected acts like Hold accel rate. (6)Decel rate \ No command: If a rate is selected acts like Hold decel rate. (7)Reference select \ No command: If a rate is selected acts like Hold command.

0 = No local control 1 = Local control

Reference select 000 = No command (7)

001 = Setpoint 1 channel (Fr1) 010 = Setpoint 2 channel (Fr2) 011 = Ref. 3 (Preset 3) 100 = Ref. 4 (Preset 4) 101 = Ref. 5 (Preset 5) 110 = Ref. 6 (Preset 6) 111 = Ref. 7 (Preset 7)

00 = No command (4) 01 = Forward command 10 = Reverse command 11 = Hold direction control

0 = Not clear faults 1 = Clear faults

Decel rate 00 = No command (6)

01 = Decel rate 1 command 10 = Decel rate 2 command 11 = Hold decel rate

0 = Not jog 1 = Jog

Accel rate 00 = No command (5)

01 = Accel rate 1 command 10 = Accel rate 2 command 11 = Hold accel rate

0 = Not start 1 = Start

0 = Not stop 1 = Stop

b Altivar 71/61 assignment

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not used Not used Direction

00 = No command (4) 01 = Forward command 10 = Reverse command 11 = Hold direction control

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Not used Setpoint select

000 = No command 001 = Terminals 010 = Control by network 011 = Preset 3 100 = Preset 4 101 = Preset 5 110 = Preset 6 111 = Preset 7

Not used Not used Not used Not used

Clear faults (3) 0 = Not clear faults

1 = Clear faults

Not used Start (2)

0 = Not start 1 = Start

Stop (1) 0 = Not stop

1 = Stop

AAV68822 11/2010 67

15. Device profiles

b Standardised setpoint

The setpoint (16 bits only) is produced by the controller and consumed by the EtherNet/IP card. If enabled, the setpoint is always word 1 in the output image.

The setpoint value is a standardised (e.g. scaled) value; it is not an engineering value.

Telemecanique adaptation

[Frequency setpoint] (LFr) s hall be configured i n high resoluti on: standardised val ue on 16 signed bit s at maximum frequen cy. The value

32767 corresponds to the parameter [Max frequency] (tFr). The default value of the parameter [Max frequency] (tFr) is 60 Hz , and the resolution is then approximately 0.0018 Hz.

Note:

The commanded maximum speed can never exceed the value of the parameter [High speed] (HSP). The table below shows example setpoints and thei r results on an Altivar d rive that has its pa rameter [Max fr equency] (tFr) set to 130 Hz and its parameter [High speed] (HSP) set to 60 Hz.

Setpoint value

32767 (1) 100% 130 Hz 60 Hz (2) 15123 (3) 16384 50% 65 Hz 60 Hz (2) 15123 (3) 8192 25% 32.5 Hz 32.5 Hz 8192 0 0% 0 Hz 0 Hz 0

(1)A value of 32767 is equivalent to the parameter [Max frequency] (tFr) frequency value. Values greater than 32767 reverse speed. (2)The drive runs at 60 Hz instead of 130 Hz or 65 Hz because the parameter [High speed] (HSP) sets 60 Hz as the maximum speed. (3)The feedback value is also scaled based on the value of the parameter [Max frequency] (tFr), for example, 60/130 = 0.46 so

32767 x 0.46 = 15123.

Percent Value

Scale

Output speed Feedback value

b Assembly 104: Allen-Bradley® drive input

Assembly mapping

Word number Definition

0 Allen-Bradley® drive logic status 1 Speed feedback (actual value) 2 Scanner read word 1 3 Scanner read word 2 4 Scanner read word 3 5 Scanner read word 4 6 Scanner read word 5 7 Scanner read word 6 8 Scanner read word 7 9 Scanner read word 8

Word number Code Name Logic address

0 n.a. Allen-Bradley® drive logic status n.a. 1 RFR Output frequency 16#0C82 = 3202 2 NM1 Communication scanner, value of read word 1 16#31C5 = 12741 3 NM2 Communication scanner, value of read word 2 16#31C6 = 12742 4 NM3 Communication scanner, value of read word 3 16#31C7 = 12743 5 NM4 Communication scanner, value of read word 4 16#31C8 = 12744 6 NM5 Communication scanner, value of read word 5 16#31C9 = 12745 7 NM6 Communication scanner, value of read word 6 16#31CA = 12746 8 NM7 Communication scanner, value of read word 7 16#31CB = 12747 9 NM8 Communication scanner, value of read word 8 16#31CC = 12748

Note: The default assignment of NM1 and NM2 must be changed to "Not assigned".

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15. Device profiles

b Allen-Bradley® drive logic status

The Logic Status is a 16-bit word of status produced by the EtherNet/IP card and consumed by the scanner. If enabled, the Logic status word is always word 2 in the input image.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Fault

Alarm

Decelerating

Accelerating

Actual direction

Command direction

Active

Ready

0 = No fault 1 = Fault

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Reference 0000 = Ref A auto

0001 = Ref B auto 0010 = Preset 2 auto 0011 = Preset 3 auto 0100 = Preset 4 auto 0101 = Preset 5 auto 0110 = Preset 6 auto 0111 = Preset 7 auto 1000 = Term blk manual 1001 = DPI 1 manual 1010 = DPI 2 manual 1011 = DPI 3 manual 1100 = DPI 4 manual 1101 = DPI 5 manual 1110 = DPI 6 manual 1111 = Jog reference

0 = No alarm 1 = Alarm

0 = Not decelerating 1 = Decelerating

0 = Not accelerating 1 = Accelerating

Local control 000 = Port 0 (TB)

001 = Port 1 010 = Port 2 011 = Port 3 100 = Port 4 101 = Port 5 110 = Port 6 111 = No local

0 = Reverse 1 = Forward

0 = Not active 1 = Active

At speed 0 = Not at reference

1 = At reference

Telemecanique adaptation

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Fault

Alarm

Decelerating

Accelerating

Actual direction

Command direction

Running

0 = Not ready 1 = Ready

Ready

0 = No fault 1 = Fault

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Setpoint source 0000 = Terminals

0001 = not used 0010 = Preset 2 0011 = Preset 3 0100 = Preset 4 0101 = Preset 5 0110 = Preset 6 0111 = Preset 7 1000 = not used 1001 = Graphic display terminal 1010 = Modbus 1011 = CANopen 1100 = PC-Software 1101 = EtherNet/IP card 1110 = Controller inside 1111 = not used

Note: When the value of Setpoint source (bits 12, 13, 14 and 15) is Preset speed x, it means that the corresponding comman d is giv en by the assembly 103 via Setpoint select (bits 12,13 and 14) (not by the termin als).

0 = No alarm 1 = Alarm

0 = Not decelerating 1 = Decelerating

0 = Not accelerating 1 = Accelerating

Control source 000 = Terminals

001 = Graphic display terminal 010 = Modbus 011 = CANopen 100 = PC-Software 101 = EtherNet/IP card 110 = Controller inside 111 = not used

0 = Reverse 1 = Forward

0 = Not active 1 = Active

At speed 0 = Not at reference

1 = At reference

0 = Not ready 1 = Read

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16. Configuring an ATV71/61 in replacement of a Powerflex® drive

This chapter illustrates of to proceed to exchange Powerflex® drive an ATV71. This example has been realized by RSlogix® software. There are three way to configure the drive equipped with an EtherNet/IP card.

IMPORTANT NOTE:

The ATV71/61 provides several assembly sets. Assembly 103 and 104 emulates the Powerflex drive assemblies. But for compatibility reasons these assemblies can also use number 1 and 2. This means that in the ATV71/61:

• output assembly 103 and 2 are identical,

• input assembly 104 and 1 are identical. In the following example, we start with an application based on a network made of a single VSD (a Powerflex drive). The following pages

describe how to replace it by an ATV71 .

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16. Configuring an ATV71/61 in replacement of a Powerflex® drive

Put the RSlogix environment Offline:

Then edit the module properties of the "ETHERNET MODULE Powerflex" by double-clicking in the navigation tree.

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16. Configuring an ATV71/61 in replacement of a Powerflex® drive

Here, we have used Assemblies 1 and 2 (As Powerflex VSD). But Assemblies 103 and 104 could also be used, like in the dialog box below.

Notice that only the Module Name is changed.

Confirm the modification by OK, save the project and download it to the PLC.

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Now, switch to RSnetworx, The old configuration is always displayed:

Browse the whole Network:

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16. Configuring an ATV71/61 in replacement of a Powerflex® drive

Once the network has been scanned, you should obtain thi s:

This last screen shows the data screen of the ATV71.

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ATV61_71_Ethernet/IP_EN_AAV68822_03

AAV68822 11/2010

schneider VW3 A3 316 User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Important Information

2. Before you begin

3. Documentation structure

4. Introduction

4. 1. Presentation

4. 2. Notation

5. Hardware setup

5. 1. Receipt

5. 2. Hardware description

5. 3. Installing the card in the drive

6. Connecting to the EtherNet/IP network

6. 1. Card RJ45 connector pinout

6. 2. Example of connection to an EtherNet/IP network

7. Using the HMI with the EtherNet/IP card

7. 1. Access to EtherNet/IP menu via graphic display terminal

7. 2. Access to EtherNet/IP menu via the integrated display terminal

7. 3. Ethernet/IP configuration with the HMI

7. 4. Detail of the configured parameters

7. 5. Assemblies and scanner configuration

8. Configuration of the assemblies

8. 1. Configuration of the assemblies: overview

8. 2. Configuration of the assembly (100,101) Telemecanique native profile

8. 3. Configuration of the assembly (103,104) Allen Bradley® profile

8. 4. Configuring the communication scanner

8. 5. Configuring the control

9. Fault management

9. 1. Fault management

9. 2. Status of the LEDs

10. Configuration of monitored parameters

11. Webserver

11. 1. Opening the Altivar home page

11. 2. Web pages structure

11. 3. Drive

11. 4. Network setup

11. 5. Diagnostics

12. Integration in RSLogix

12. 1. Principle

12. 2. Procedure

12. 3. Registering the EDS file in RSlogix

13. CIP objects

13. 1. Supported object classes

13. 2. Identity object

13. 3. Message router object

13. 4. Ethernet Link object

13. 5. TCP/IP Interface object

13. 6. Connection object manager

13. 7. Motor data object

13. 8. Control supervisor object

13. 9. AC/DC Drive Object

13. 10. Assembly object

13. 11. Application objects

14. Explicit Messaging

15. Device profiles

16. Configuring an ATV71/61 in replacement of a Powerflex® drive