Schneider Electric LXM32M User Manual

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LXM32M

Modbus-TCP module Fieldbus manual

V1.01, 01.2012

ETH

0198441113843, V1.01, 01.2012

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Important information LXM32M

Important information

This manual is part of the product.

Carefully read this manual and observe all instructions.

Keep this manual for future reference.

Hand this manual and all other pertinent product documentation over to all users of the product.

Carefully read and observe all safety instructions and the chapter "Before you begin - safety information".

Some products are not available in all countries. For information on the availability of products, please consult the catalog.

Subject to technical modifications without notice.

All details provided are technical data which do not constitute warranted qualities.

Most of the product designations are registered trademarks of their respective owners, even if this is not explicitly indicated.

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LXM32M Table of contents

Important information 2

Table of contents 3

About this manual 7

About this manual

This manual applies to the module Modbus TCP for the product LXM32M, module identification ETH.

The information provided in this manual supplements the product manual.

Source manuals The latest versions of the manuals can be downloaded from the Inter-

net at:

http://www.schneider-electric.com

Source CAD data For easier engineering, CAD data (EPLAN macros or drawings) are

available for download from the Internet at:

http://www.schneider-electric.com

Corrections and suggestions We always try to further optimize our manuals. We welcome your sug-

gestions and corrections.

Please get in touch with us by e-mail:

techcomm@schneider-electric.com.

Work steps If work steps must be performed consecutively, this sequence of steps

is represented as follows:

■

Special prerequisites for the following work steps

▶

Step 1

◁

Specific response to this work step

▶

Step 2

If a response to a work step is indicated, this allows you to verify that the work step has been performed correctly.

Unless otherwise stated, the individual steps must be performed in the specified sequence.

Making work easier Information on making work easier is highlighted by this symbol:

Sections highlighted this way provide supplementary information on making work easier.

Parameters In text sections, parameters are shown with the parameter name, for

example _IO_act. A list of the parameters can be found in the product manual in the chapter Parameters.

SI units SI units are the original values. Converted units are shown in brackets

behind the original value; they may be rounded.

Example: Minimum conductor cross section: 1.5 mm2 (AWG 14)

Inverted signals Inverted signals are represented by an overline, for example STO_A or

STO_B.

Glossary Explanations of special technical terms and abbreviations.

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About this manual

2 Before you begin - safety information

2.1 Qualification of personnel

Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product. In addition, these persons must have received safety training to recognize and avoid hazards involved. These persons must have sufficient technical training, knowledge and experience and be able to foresee and detect potential hazards that may be caused by using the product, by changing the settings and by the mechanical, electrical and electronic equipment of the entire system in which the product is used.

All persons working on and with the product must be fully familiar with all applicable standards, directives, and accident prevention regulations when performing such work.

2.2

Intended use

The functions described in this manual are only intended for use with the basic product; you must read and understand the appropriate product manual.

The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements and the technical data.

Prior to using the product, you must perform a risk assessment in view of the planned application. Based on the results, the appropriate safety measures must be implemented.

Since the product is used as a component in an entire system, you must ensure the safety of persons by means of the design of this entire system (for example, machine design).

Operate the product only with the specified cables and accessories. Use only genuine accessories and spare parts.

Any use other than the use explicitly permitted is prohibited and can result in hazards.

Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.

The product must NEVER be operated in explosive atmospheres (hazardous locations, Ex areas).

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2 Before you begin - safety information

2.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are attached to the product that alert you to potential hazards.

Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories.

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

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

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

LXM32M

DANGER

WARNING

CAUTION

CAUTION used without the safety alert symbol, is used to address practices not related to personal injury (e.g. can result in equipment damage).

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2.4 Basic information

2 Before you begin - safety information

WARNING

LOSS OF CONTROL

•

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

•

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

•

System control paths may include communication links. Consideration must be given to the implication of unanticipated transmission delays or failures of the link.

•

Observe all accident prevention regulations and local safety guidelines.

•

Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service.

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

For USA: 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 Adjustable-Speed Drive Systems”.

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2 Before you begin - safety information

2.5 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the pertinent standards.

In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc.

Among others, these standards include:

•

IEC 61800 series: "Adjustable speed electrical power drive systems"

•

IEC 61158 series: "Industrial communication networks - Fieldbus specifications"

•

IEC 61784 series: "Industrial communication networks - Profiles"

•

IEC 61508 series: "Functional safety of electrical/electronic/ programmable electronic safety-related systems"

Also see the glossary at the end of this manual.

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3 Basics

3.1 Modbus TCP technology

3.1.1 Function principle

Modbus TCP is an Ethernet fieldbus. Modbus TCP describes the transmission of the Modbus protocol via the Ethernet interface and the TCP/IP transport and network layers.

The Modbus TCP client (master) connects to the Modbus TCP server (slave). Once the connection is established, the client sends Modbus requests to the server. These requests are processed by the server. The result is returned to the client as a Modbus response.

3 Basics

3.1.2 Bus topology

The Modbus TCP services are identical to the Modbus RTU services.

Star and tree topologies can be used. It is possible to use hubs or switches. In the case of high bus loads with many devices, it is recommended to use a switches.

The maximum length of a segment is 100 m. A segment consists of devices and hubs. A network can be subdivided into several segments by means of gateways or switches. Short cables and a star topology are recommended to achieve a fast bus cycle.

The transmission rate is 10 or 100 MBit/s in half-duplex mode. If switches are used, transmission is also possible in full duplex mode.

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Modbus Client

Modbus Server

Request Indication

Response

Confirmation

3 Basics

3.1.3 Client / server model

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Figure 2: Client / server model

The Modbus messaging service implements client/server communication between devices connected by means of a TCP/IP network. Modbus TCP does not use an object dictionary.

The client/server model is based on 4 types of messages:

•

Request: Message sent by the client to initiate a transaction.

•

Indication: Request as received by the server.

•

Response: Response message to the request sent by the server.

•

Confirmation: Response as received by the client.

A communication cycle consists of the request from the client (request from the fieldbus master) and a response from the server (response from the fieldbus slave). Modbus request and Modbus response have the same structure. If an error occurs on receipt of the Modbus request or if the slave cannot execute the action, the slave sends an error message in the Modbus response.

3.1.4 Network service SNMP

SNMP agent ConneXview The product supports SNMP version 1.0. An SNMP agent must be

The product analyzes the Modus requests received. Depending on the Modbus request, the product triggers actions or provides requested data.

The Internet community has developed the SNMP standard "Simple Network Management Protocol" to support the management of different network devices by means of a single system.

The Network Management System can exchange data with SNMP devices. The tasks of the network management system comprise monitoring, control and configuration of network components as well as error detection and error messaging.

used to monitor a network with SNMP. Schneider Electric offers the tool ConneXview for such purposes.

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Function code DataMBAP Header

MODBUS PDU

MODBUS TCP/IP ADU

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3.2 Modbus TCP protocol

The Modbus protocol defines a so-called Modbus PDU (Protocol Data Unit) which is independent of the underlying communication layers. This Modbus PDU consists of the fields "Function Code" and "Data". Depending on the mapping to the different network protocols, the Modbus PDU is extended by additional fields in the so-called Modbus ADU (Application Data Unit). The Modbus PDU and the Modbus ADU constitute the Modbus message, also referred to as "Frame".

Figure 3: Structure of a Modbus message

The "Function Code" of a message specified the Modbus service to be triggered. The "Data" field can contain additional information, depending on the "Function Code".

3 Basics

Due to the encapsulation of "Function Code" and "Data" in the Modbus PDU, the Modbus services and the object model can be the same in the case of all Modbus versions.

In the case of a "Function Code" for which the "Data" field in the Modbus PDU has a fixed length, the "Function Code" is sufficient.

In the case of a "Function Code" for which the "Data" field in the Modbus request or the Modbus response has a variable amount of data, the "Data" field contains a byte counter.

The maximum size of a Modbus ADU is 260 bytes. The size of an embedded Modbus PDU is 253 bytes.

NOTE: The fields are encoded in Big Endian format (highest-value byte first).

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3 Basics

3.2.1 MBAP header

LXM32M

The MBAP header contains the information allowing the recipient to uniquely identify a message. This is even possible if a message is split into several packets for transmission.

Explicit and implicit length rules as well as the use of a CRC-32 error check code (on Ethernet) results in an infinitesimal chance of undetected corruption to a request or response message.

Design The MBAP header has a length of 7 bytes and contains the following

fields:

Field Length Description

Transaction Identifier 2 bytes Identification of a Modbus

request or Modbus response.

Protocol Identifier 2 bytes Value 0 means Modbus proto-

col.

Length 2 bytes Number of bytes to follow.

Unit Identifier 1 byte Identification of a slave con-

nected to another bus via a serial line.

•

Transaction Identifier

The field "Transaction Identifier" is used for "Pairing". The server copies the "Transaction Identifier" of the Modbus request to the Modbus response.

•

Protocol Identifier

The field "Protocol Identifier" is used to identify the protocol. The Modbus protocol is identified by the value 0.

•

Length

The "Length" field is a byte counter for the following fields ("Unit Identifier", "Function Code" and "Data").

•

Unit Identifier

The field "Unit Identifier" is used to identify the server in the slave.

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LXM32M

3.3 Modbus TCP communication

3.3.1 Connection management

Establishing of a connection The Modbus TCP server allows for TCP connections via the default

port 502. A client can establish a new connection via this port. If the client is to exchange data with a remote server, a new client connection via remote port 502 must be established.

Modbus data transfer A Modbus request is sent via a suitable, open connection. This TCP

connection is found using the IP address of the remote device. The connection remains open for all Modbus communication. Up to 8 simultaneous connections are possible.

As described in the next chapter, a Modbus client can initialize several Modbus transactions without having to wait for the previous transaction to be finished.

Closing a connection After the Modbus communication between the client and a server is

finished, the client causes the connection used to be closed.

The server does not close the connection under normal circumstances.

3 Basics

However, when errors occur and in special cases, the server closes the connection, for example:

•

Communication errors

•

Communication inactivity

•

Maximum number of connections reached

The product can manage up to 8 TCP connections. If an attempt is made to establish a further connection beyond this maximum, the oldest unused connection is closed. If it is impossible to close the oldest unused connection, the new connection is refused.

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3 Basics

3.3.2 Modbus response to a Modbus request

The Modus server generates a Modbus response after having processed a Modbus request.

Depending on the type of processing, two types of Modbus responses are possible:

•

Positive Modbus response

The "Function Code" in the Modbus response corresponds to the "Function Code" in the Modbus request.

•

Negative Modbus response

The client receives pertinent information on error detection during processing;

The "Function Code" in Modbus response corresponds to the "Function Code" in the Modbus request + 80h.

The "Exception Code" indicates the cause of the error.

If a syntactically incorrect Modbus PDU (Protocol Data Unit) is transmitted, the connection is terminated. In the case of other other error, a negative Modbus response is sent.

LXM32M

Exception Code

01 Illegal Function Code The "Function Code" is unknown to the

02 Illegal Data Address Depends on the Modbus request

03 Illegal Data Value Depends on the Modbus request

04 Server Failure The server was unable to properly termi-

05 Acknowledge The server has accepted the Modbus

06 Server Busy The server was unable to accept the

0A Gateway Problem The gateway path is unavailable.

0B Gateway Problem The targeted device does not respond.

Name Description

server.

nate processing.

request. However, the execution takes a relatively long time. The server therefore only returns an acknowledgement confirming receipt of the service request.

Modbus request. It is the responsibility of the application on the client to determine whether and when to re-send the request.

The gateway generates this error.

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LXM32M

3.3.3 Reading and writing parameters

Parameters are processed as 32 bit values. 16 bit values must also be processed as 32 bit values. Two consecutive 16 bit parameters must be read or written to process a 16 bit parameter. The first Modbus address must be specified.

If several consecutive parameters are to be processed, a single Modbus command with the corresponding Modbus address and the length indication is sufficient.

NOTE: This does not apply to reading and writing parameters with addresses in the range from 17408 (4400h) to 17663 (44FFh). In this range, only a single parameter can be addressed with one Modbus command.

Example Reading the parameter CTRL1_KPp "Position controller P gain"

Modbus address 4614

When the parameter CTRL1_KPp with the Modbus parameter address 4614 and length 2 is read, the two parameter addresses 4614 and 4615 are read. Result:

Address Value

4614 0000

4615 00C8

3 Basics

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3 Basics

3.3.4 I/O scanning to "Drive Profile Lexium"

I/O scanning is used for cyclic interchange of data between master and slave.

I/O scanning must be configured on the master. The master can use 2 different approaches for of I/O scanning:

•

"Function Code" 23 (17h), Read-Write Mulitple Registers

•

"Function Code" 3 (03h), Read Multiple Registers and "Function Code" 16 (10h), Write Multiple Registers

NOTE: The read value is 0 until the first write command is executed.

Settings The following setting must be made on the master before you can use

I/O scanning:

•

The "Unit Identifier" is 255.

•

The Modbus parameter address is 0.

•

The data length is 13.

In addition, you can use up to 3 mappable parameters. If these parameters are used, the data length changes to 15, 17 or 19.

LXM32M

The Modbus addresses for I/O scanning do not differ from the addresses for normal Modbus access.

Output - Input Output and input refer to the direction of data transmission from the

perspective of the master.

•

Output: Commands from the master to the slave

•

Input: Status messages from the slave to the master

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3.3.4.1 I/O scanning Output

3 Basics

The table below shows the structure of the cyclic data for the commands from the master to the product. See the product manual for a description of the parameters.

Byte Meaning Data type Parameter address

0 ... 7 ParCh - Parameter channel

8 ... 9 dmControl INT -

10 ... 13 RefA32 DINT -

14 ... 17 RefB32 DINT -

18 ... 21 Ramp_v_acc DINT Parameter Ramp_v_acc

Modbus 1556

22 ... 25 Ramp_v_dec DINT Parameter Ramp_v_dec

Modbus 1558

26 ... 29 EthOptMapOut1 DINT Parameter EthOptMapOut1

Modbus 17500

30 ... 33 EthOptMapOut2 DINT Parameter EthOptMapOut2

Modbus 17502

34 ... 37 EthOptMapOut3 DINT Parameter EthOptMapOut3

Modbus 17504

ParCh Parameters can be read or written via "ParCh", see chapter

"3.3.4.3 Parameter channel".

dmControl The word "dmControl" is used to set the operating state and the oper-

ating mode.

See chapters "6.1.2 Changing the operating state" and "6.2.2 Starting and changing an operating mode" for a detailed description of the bits.

RefA32, RefB32 The two double words "RefA32" and "RefB32" are used to set two val-

ues for the operating mode. The meaning depends on the operating mode; it is described in the chapters on the individual operating modes.

Ramp_v_acc / Ramp_v_dec The double words "Ramp_v_acc" and "Ramp_v_dec" are used to set

the acceleration and the deceleration. They correspond to the parameters of the same name. See the product manual for a description.

EthOptMapOut1 ... EthOptMap-

Out3

The double words EthOptMapOut1 ... EthOptMapOut3 contain selectable parameters, see chapter "5.7.3 Setting the mapping for I/O scanning".

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3 Basics

3.3.4.2 I/O scanning Input

LXM32M

The table below shows the structure of the cyclic data for the status messages from the product to the master. See the product manual for a description of the parameters.

Byte Meaning Data type Parameter address

0 ... 7 ParCh - Parameter channel

8 ... 9 driveStat INT -

10 ... 11 mfStat INT -

12 ... 13 motionStat INT -

14 ... 15 driveInput INT -

16 ... 19 _p_act DINT Parameter _p_act

Modbus 7706

20 ... 23 _v_act DINT Parameter _v_act

Modbus 7744

24 ... 25 _I_act INT Parameter _I_act

Modbus 7686

26 ... 29 EthOptMapInp1 DINT Parameter EthOptMapInp1

Modbus 17512

30 ... 33 EthOptMapInp2 DINT Parameter EthOptMapInp2

Modbus 17514

34 ... 37 EthOptMapInp3 DINT Parameter EthOptMapInp3

Modbus 17516

ParCh Parameters can be read or written via "ParCh", see chapter

"3.3.4.3 Parameter channel".

driveStat The current operating state is indicated with the "driveStat" word.

For a detailed description of the bits, see chapter "6.1.1 Indication of the operating state".

mfStat The word "mfStat" is used to indicate the current operating mode.

For a detailed description of the bits, see chapter "6.2.1 Indicating and monitoring the operating mode".

motionStat The word "motionStat" is used to provide information on the motor and

profile generator.

bit Meaning

0 ... 5 Reserved

6 MOTZ: Motor at a standstill

7 MOTP: Motor movement in positive direction

8 MOTN: Motor movement in negative direction

9 PWIN: Motor within position window

10 Reserved

11 TAR0: Profile generator at standstill

12 DEC: Profile generator decelerates

13 ACC: Profile generator accelerates

14 CNST: Profile generator moves at constant velocity

15 Reserved

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3 Basics

driveInput The word "driveInput" is used to indicate the status of the digital signal

inputs.

bit Signal Factory setting

6 ... 15

_p_act The double word "_p_act" indicates the actual position. The value cor-

responds to the parameter _p_act.

_v_act The double word "_v_act" indicates the actual velocity. The value cor-

responds to the parameter _v_act.

_I_act The word "_I_act" is used to provide information on the total motor

current. The value corresponds to the parameter _I_act.

DI0

DI1

DI2

DI3

DI4

DI5

Signal input function Freely Available

Signal input function Reference Switch (REF)

Signal input function Positive Limit Switch (LIMP)

Signal input function Negative Limit Switch (LIMN)

Signal input function Freely Available

Reserved

EthOptMapInp1 ... EthOptMapInp3 The double words EthOptMapInp1 ... EthOptMapInp3 contain selecta-

ble parameters. The product manual provides descriptions of the parameters EthOptMapInp1 ... EthOptMapInp3 which explain parameter mapping.

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76543210Byte

Ctrl

Subindex

Index

3 Basics

3.3.4.3 Parameter channel

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The master can request a parameter value from the slave or change a parameter value via the parameter channel. Each parameter can be uniquely addressed via the index and subindex.

Figure 4: Parameter channel

Ctrl Byte "Ctrl" contains the request to read or write a parameter.

The transmit data contains the information whether a parameter is to be read or written. The receive data contains the information whether the read request or the write request were successful.

Transmit data:

Ctrl Function

No request

Read request

Write request (word)

Write request (double word)

Receive data:

Ctrl Function

Request not yet completed

Read request or write request successfully completed (word)

Read request or write request successfully completed (double word)

Error message

Only one request can be processed at a time. The slave provides the response until the master sends a new request. If a response includes parameter values, the slave responds with the current value in the case of a repetition.

NOTE: Read requests are only executed by the slave if the value changes from 02h to 12h. Write requests requests are only executed by the slave if the value changes from 02h to 22h or to 32h.

Subindex

The byte "Subindex" must be set to the value 00h.

Index The word "Index" contains the parameter address.

See the product manual for a list of the parameters.

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PV The double word "PV" contains the parameter value.

In the case of a read request, the value in the transmit data has no significance. The receive data contains the parameter value.

In the case of a write request, the transmit data contains the value to be written to the parameter. The receive data contains the parameter value.

If a read request or a write request were not successful, the double word "PV" contains the error number of the error.

Example: Reading a parameter In the example, the program number of the product is read from the

parameter _prgNoDEV. The parameter _prgNoDEV has the parameter address 258 (01h 02h).

The parameter value read has the decimal value 91200 which corresponds to 01h 64h 40h.

Transmit data:

Ctrl Subindex Index PV

Receive data:

01h 02

00h 00h 00h 00

3 Basics

Example: Writing of an invalid

parameter

Ctrl Subindex Index PV

01h 02

00h 01h 64h 40

In this example, the value of a non-existent parameter is to be changed. The parameter has the parameter address 101 (00h 65h). The value of the parameters is to be changed to 222 (DEh).

Before the slave can accept a new request, the value 02h must first be transmitted in byte "Ctrl".

Since the slave cannot address the parameter, a synchronous error message is transmitted with the receive data. Byte "Ctrl" is set to 72h. Double word "PV" is set to the error number (error number 1101h: Parameter does not exist).

Transmit data:

Ctrl Subindex Index PV

00h 65

00h 00h 00h DE

Receive data:

Ctrl Subindex Index PV

00h 65

00h 00h 11h 01

See the product manual for information on the error numbers.

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3 Basics

3.4 Modbus services - "Function Code"

The table below provides an overview of the available Modbus services:

LXM32M

"Function Code"

3 Read Multiple Registers Reading a parameter

8 Diagnostics Diagnostics

16 Write Multiple Registers Writing a parameter

23 Read/Write Multiple Registers Reading and writing parame-

43 Subcode14

90 UMAS File Transfer (Upload) –

Meaning under Modbus Meaning from device per-

spective

ters

Read Device Identification –

3.4.1 "Function Code" 3 (Read Multiple Registers)

This "Function Code" 3 (Read Multiple Registers) allows you to read several consecutive parameters, starting at any address.

Modbus request Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 3 = 03

Starting Address 2 (various) Address of the first parameter to be read

Quantity Of Registers

2 2 * n Number of 16 bit values to be read

Read Multiple Registers

(1 parameter has the value 2 since a parameter consists of a 32 bit value)

Modbus response Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 3 = 03

Byte Count 1 4 * n Number of data bytes

Registers Value 4 * n (various) Parameter values

Read Multiple Registers

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 03h + 80h = 83

Exception Code 1 01h ... 04

Read Multiple Registers

See chapter "3.3.2 Modbus response to a Modbus request"

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3 Basics

3.4.2 "Function Code" 8 (Diagnostics)

This "Function Code" 8 (Diagnostics) allows you to read diagnostics data of the slave.

Modbus request Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 8 = 08

Sub-function Code 2 (various) Diagnostics function

Data 2 (various) Data (depending on diagnostics function)

Modbus response Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 8 = 08

Sub-function Code 2 (various) Diagnostics function

Data 2 (various) Diagnostics data

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 08h + 80h = 88

Exception Code 1 01h ... 04

Diagnostics

See chapter "3.3.2 Modbus response to a Modbus request"

Sub-function Code The following diagnostics functions are available:

Sub-function Code Diagnostics function

00 Return Query Data Return request as a response

01 Restart Communication Option Re-initialize the communication port

02 Return Diagnostic Register Return the error number in the case of synchronous errors

03 (reserved) –

04 Force Listen Only Mode Force "Listen Only" mode

05 ... 09 (reserved) –

10 Clear Counters and Diagnostic

11 Return Bus Message Count Return number of detected "Bus Message"s

12 Return Bus Communication

Error Count

13 Return Bus Exception Error

Count

14 ... 15 (reserved) –

16 Return Slave NAK Count Return number of detected "Slave Not-Acknowledged"s

17 Return Slave Busy Count Return number of detected "Slave Busy"s

18 Return Bus Char Overrun

Count

>18 (reserved) –

Clear all statistical counters

Return number of detected "Bus Communication Error"s

Return number of detected "Bus Exception Error"s

Return number of detected "Bus Char Overrun"s

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3 Basics

LXM32M

3.4.3 "Function Code" 16 (Write Multiple Registers)

This "Function Code" 16 (Write Multiple Registers) allows you to write several consecutive parameters, starting at any address.

Modbus request Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 16 = 10

Starting Address 2 (various) Address of the first parameter to be written

Quantity Of Registers

Byte Count 1 4 * m Number of data bytes

Registers Value 2 * m (various) Parameter values

2 2 * m Number of 16 bit values to be written

Modbus response Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 16 = 10

Starting Address 2 (various) Corresponds to the Modbus request

Quantity Of Registers

2 2 * m Corresponds to the Modbus request

Write Multiple Registers

(1 parameter has the value 2 since a parameter consists of a 32 bit value)

Write Multiple Registers

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 10h + 80h = 90

Exception Code 1 01h ... 04

Write Multiple Registers

See chapter "3.3.2 Modbus response to a Modbus request"

30 Modbus-TCP module

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3.4.4 "Function Code" 23 (ReadWrite Multiple Registers)

This "Function Code" 23 (ReadWrite Multiple Registers) allows you to read and write several consecutive parameters, starting at any address.

Modbus request Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 23 = 17

Read Starting Address

Quantity To Read 2 2 * n Number of 16 bit values to be read

Write Starting Address

Quantity To Write 2 2 * m Number of 16 bit values to be written

Write Byte Count 1 4 * m Number of data bytes

Write Registers Value

2 (various) Address of the first parameter to be read

2 (various) Address of the first parameter to be written

4 * m (various) Parameter values

Read/Write Multiple Registers

(1 parameter has the value 2 since a parameter consists of a 32 bit value)

3 Basics

Modbus response Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 23 = 17

Byte Count 1 2 * n Number of data bytes

Read Registers Value

2 * n (various) Parameter values

Read/Write Multiple Registers

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 17h + 80h = 97

Exception Code 1 01h ... 04

Read/Write Multiple Registers

See chapter "3.3.2 Modbus response to a Modbus request"

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Modbus-TCP module 31

3 Basics

3.4.5 "Function Code" 43 (Encapsulated Interface Transport)

This "Function Code" 43 / 14 (Read Device Identification) allows you to read device-specific data.

Modbus request Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 43 = 2B

Modbus Encapsula-

1 14 = 0E

ted Interface Type

Read Device ID

1 01 Read all objects

Code

Object ID 1 0x00 Object ID

Modbus response Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 43 = 2B

Modbus Encapsula-

1 14 = 0E

ted Interface Type

Read Device ID

1 01 Corresponds to the Modbus request

Code

Conformity Level 1 02 Fixed value

More Follows 1 00 Fixed value

Next Object ID 1 00 Fixed value

Number Of Objects 1 03 Number of objects

Object ID 1 Object ID, see table

Object Length 1 Object length

Object Value (various) Object data (various)

Encapsulated Interface Transport

Fixed value 14 (Read Device Identification)

Encapsulated Interface Transport

Fixed value 14 (Read Device Identification)

LXM32M

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 2Bh + 80h = AB

Exception Code 1 01h ... 04

Encapsulated Interface Transport

See chapter "3.3.2 Modbus response to a Modbus request"

Object ID The following object IDs are available:

Object ID Object name Value

vendor name Manufacturer name

product code „xxxxxxxxxxxx“ (see type code)

revision "Vxx.yyy" (e.g. "V02.001")

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3.4.6 Examples

3.4.6.1 Example of "Function Code" 3

Reading an error memory entry. Since the Modbus addresses of the parameters of an error memory entry are contiguous (ascending order), a single Modbus request is sufficient.

Parameters _ERR_number (15362), _ERR_class (15364), _ERR_time (15366) and _ERR_qual (15368).

Modbus request Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 3 Read Multiple Registers

Starting Address 2 15362 (3C02h) Address of the first parameter to be read

Quantity Of Registers

Field Bytes Value Meaning

Function Code 1 3 Read Multiple Registers

Byte Count 1 16 Number of bytes: 8 bytes of data

Registers Value 16 32 bit value

2 8 Number of the 16 bit values to be read = 8

Modbus response Structure of the positive Modbus response:

_ERR_number, 15362 (error number) 32 bit value 32 bit value 32 bit value

_ERR_class, 15364 (error class)

_ERR_time, 15366 (error time)

_ERR_qual, 15368 (error qualifier)

3 Basics

3.4.6.2 Example of "Function Code" 16

Writing of the software limit switches. Since these parameters also have consecutive addresses, a single Modbus request is sufficient:

Parameters MON_swLimP (1544) and MON_swLimN (1546).

Modbus request Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 16 Write Multiple Registers

Starting Address 2 1544 (608h) Address of the first parameter to be written

Quantity Of Registers

Byte Count 1 8 Number of bytes: 8 bytes of data

Registers Value 8 32 bit value

Field Bytes Value Meaning

Function Code 1 16 Write Multiple Registers

Starting Address 2 1544 (608h) Address of the parameter

Quantity Of Registers

2 4 Number of parameters = 4 (8 bytes of data)

MON_swLimP, 1544 32 bit value

MON_swLimN, 1546

Modbus response Structure of the positive Modbus response:

2 4 Number of parameters = 4 (8 bytes of data)

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3 Basics

LXM32M

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4 Installation

SIGNAL AND DEVICE INTERFERENCE

Signal interference can cause unexpected responses of the device.

•

Install the wiring in accordance with the EMC requirements.

•

Verify compliance with the EMC requirements.

Failure to follow these instructions can result in death, serious injury or equipment damage.

4.1 Installation of the module

4 Installation

WARNING

CAUTION

DESTRUCTION DUE TO ESD

Electrostatic discharge (ESD) can cause immediate or later destruction of the module or the device.

•

Use suitable ESD measures (IEC 61340-5-2) when handling the module.

•

Do not touch any internal components.

Failure to follow these instructions can result in equipment damage.

▶

Install the module according to the instructions in the product manual.

Description Order no.

Fieldbus module EtherNet/IP (module identification ETH) with 2 x RJ45 connection. For EtherNet/IP and Modbus-TCP

VW3A3616

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Slot 3

4 Installation

4.2 Electrical installation

LXM32M

Cable specifications

Pin assignment

Shield: Required, both ends grounded

Twisted Pair: Required

PELV: Required

Cable composition: 8 * 0.25 mm2 (8 * AWG 22)

Maximum cable length: 100 m

Special features: -

▶

Note the pertinent information on equipotential bonding conductors in the product manual.

▶

Use pre-assembled cables to reduce the risk of wiring errors.

Figure 5: Pin assignment

Pin Signal Meaning

Tx+

Tx-

Rx+

Rx-

Ethernet transmit signal +

Ethernet transmit signal -

Ethernet receive signal +

Ethernet receive signal -

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5 Commissioning

WARNING

LOSS OF CONTROL

The product is unable to detect an interruption of the network link if connection monitoring is not active.

•

Verify that connection monitoring is on.

•

The shorter the time for monitoring, the faster the detection of the interruption.

Failure to follow these instructions can result in death, serious injury or equipment damage.

WARNING

UNINTENDED OPERATION

5.1

•

Do not write values to reserved parameters.

•

Do not write values to parameters unless you fully understand the function.

•

Run initial tests without coupled loads.

•

Verify the use of the word sequence with fieldbus communication.

•

Do not establish a fieldbus connection unless you have fully understood the communication principles.

•

Only start the system if there are no persons or obstructions in the hazardous area.

Failure to follow these instructions can result in death, serious injury or equipment damage.

Commissioning the device

For installation in the network, the device must first be properly installed (mechanically and electrically) and commissioned.

▶

Commission the device as per product manual.

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Modbus-TCP module 37

Fault Edit Value Unit

Op Mon Conf

Fault Edit Value Unit

Op Mon Conf

<1s

ESC

Fault Edit Value Unit

Op Mon Conf

Fault Edit Value Unit

Op Mon Conf

Subnet

<1s

2 x

<1s

ESC

<1s

2 x

<1s

ESC

<1s

2 x

<1s

ESC

<1s

2 x

<1s

ESC

Fault Edit Value Unit

Op Mon Conf

Fault Edit Value Unit

Op Mon Conf

Fault Edit Value Unit

Op Mon Conf

Fault Edit Value Unit

Op Mon Conf

Fault Edit Value Unit

Op Mon Conf

<1s

2 x

<1s

ESC

Fault Edit Value Unit

Op Mon Conf

Fault Edit Value Unit

Op Mon Conf

<1s

2 x

<1s

ESC

<1s

2 x

<1s

ESC

<1s

2 x

<1s

ESC

<1s

2 x

<1s

ESC

Fault Edit Value Unit

Op Mon Conf

<1s

2 x

<1s

ESC

Fault Edit Value Unit

Op Mon Conf

<1s

2 x

<1s

ESC

Fault Edit Value Unit

Op Mon Conf

<1s

2 x

<1s

ESC

Fault Edit Value Unit

Op Mon Conf

<1s

2 x

<1s

ESC

5 Commissioning

5.2 "First Setup"

LXM32M

A "First Setup" is required when the controller supply is switched on for the first time or after the factory settings have been restored.

Switching on the device

First Setup via HMI

■

The power stage supply is switched off.

▶

Disconnect the product from the the fieldbus during commissioning in order to avoid conflicts by simultaneous access.

▶

Switch on the controller supply.

◁

The device goes through an initialization routine, all LEDs are tested, all segments of the 7-segment display and the status LEDs light up.

After the initialization, the fieldbus interface must be configured. The product is configured via the integrated HMI or the commissioning software.

Figure 6: First Setup via the integrated HMI

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5 Commissioning

Type of network address assign-

ment

▶

Select the type of network address assignment.

The type of network address assignment is set via the parameter EthIpMode (iPMd).

Parameter name HMI menu HMI name

EthIpMode

ConF → CoMConF → FSu-

iPMd

Description Unit

Minimum value Factory setting Maximum value

Type of obtaining IP address

0 / Manual / MAnu : Manual 1 / BOOTP / boot : BOOTP 2 / DHCP / dhcP : DHCP

When selecting DHCP, also set the parameter EthFdrEnable to ON or OFF, depending on whether or not your DHCP server supports FDR.

Changed settings become active immediately.

0 2 2

5.2.1 Manual assignment of the network address

■

EthIpMode has been set to Manual (manu).

▶

Set the network addresses consisting of the IP address and the subnet mask.

Data type R/W Persistent Expert

UINT16 UINT16 UINT16 UINT16 R/W per.

Parameter address via fieldbus

CANopen 3044:5h Modbus 17418 Profibus 17418 CIP 168.1.5

The IP address is set via the parameters EthIPmodule1 ... EthIPmodule4. The subnet mask is set via the parameters EthIPmask1 ... EthIPmask4.

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5 Commissioning

LXM32M

Parameter name HMI menu HMI name

EthIPmodule1

ConF → CoMConF → FSu-

iPc1

EthIPmodule2

ConF → CoMConF → FSu-

iPc2

EthIPmodule3

ConF → CoMConF → FSu-

iPc3

EthIPmodule4

ConF → CoMConF → FSu-

iPc4

EthIPmask1

ConF → CoMConF → FSu-

iPM1

EthIPmask2

ConF → CoMConF → FSu-

iPM2

EthIPmask3

ConF → CoMConF → FSu-

iPM3

EthIPmask4

ConF → CoMConF → FSu-

iPM4

Description Unit

Minimum value Factory setting Maximum value

IP address Ethernet module, byte 1

Changed settings become active the next time the product is switched on.

IP address Ethernet module, byte 2

Changed settings become active the next time the product is switched on.

IP address Ethernet module, byte 3

Changed settings become active the next time the product is switched on.

IP address Ethernet module, byte 4

Changed settings become active the next time the product is switched on.

IP address subnet mask, byte 1

Changed settings become active the next time the product is switched on.

IP address subnet mask, byte 2

Changed settings become active the next time the product is switched on.

IP address subnet mask, byte 3

Changed settings become active the next time the product is switched on.

IP address subnet mask, byte 4

Changed settings become active the next time the product is switched on.

0 0 255

0 255 255

0 0 255

Data type R/W Persistent Expert

UINT16 UINT16 UINT16 UINT16 R/W per.

Parameter address via fieldbus

CANopen 3044:7h Modbus 17422 Profibus 17422 CIP 168.1.7

CANopen 3044:8h Modbus 17424 Profibus 17424 CIP 168.1.8

CANopen 3044:9h Modbus 17426 Profibus 17426 CIP 168.1.9

CANopen 3044:Ah Modbus 17428 Profibus 17428 CIP 168.1.10

CANopen 3044:Bh Modbus 17430 Profibus 17430 CIP 168.1.11

CANopen 3044:Ch Modbus 17432 Profibus 17432 CIP 168.1.12

CANopen 3044:Dh Modbus 17434 Profibus 17434 CIP 168.1.13

CANopen 3044:Eh Modbus 17436 Profibus 17436 CIP 168.1.14

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5.2.2 Assignment of the network address via BOOTP

■

EthIpMode has been set to BOOTP (boot).

▶

Verify that an accessible BOOTP server is available on the network.

5 Commissioning

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5 Commissioning

5.2.3 Assignment of the network address via DHCP

■

EthIpMode has been set to DHCP (dhcp).

▶

Verify that an accessible DHCP server is available on the network.

▶

Set a number that is unique in the network via dhcn. NOTE: This setting is only required if you want to use an FDR server.

The number is entered at the 13th, 14th and 15th digit of the device name. Example: LEXIUM_SERVO001

In the commissioning software, the full device name can be displayed and changed.

▶

Activate the FDR service via EFdr.

See chapter "6.3.3 FDR service (Fast Device Replacement)" for additional information on the FDR service.

LXM32M

Parameter name HMI menu HMI name

EthFdrEnable

ConF → CoMConF → FSu-

EFdr

Description Unit

Minimum value Factory setting Maximum value

FDR service

0 / Off / oFF : FDR service disabled 1 / On / on : FDR service enabled

Enable Ethernet service "Fast Device Replacement" (FDR). If FDR is enabled, the DHCP server must support FDR, otherwise no IP address can be obtained via DHCP.

0 0 1

Data type R/W Persistent Expert

UINT16 UINT16 UINT16 UINT16 R/W per.

Parameter address via fieldbus

CANopen 3044:40h Modbus 17536 Profibus 17536 CIP 168.1.64

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5.3 Setting the transmission rate

The parameter EthRateSet lets you set the transmission rate.

▶

Set the desired transmission rate with the parameter EthRateSet.

5 Commissioning

Parameter name HMI menu HMI name

EthRateSet Transmission rate setting

Description Unit

0 / Autodetect: Autodetect 1 / 10 Mbps Full: 10 Mbps full duplex 2 / 10 Mbps Half: 10 Mbps half duplex 3 / 100 Mbps Full: 100 Mbps full duplex 4 / 100 Mbps Half: 100 Mbps half duplex

Changed settings become active immediately.

5.4 Setting the protocol

The protocol is set by means of the parameter EthMode.

▶

Parameter name HMI menu HMI name

EthMode

ConF → CoM-

EtMd

Description Unit

Protocol

0 / Modbus TCP / MtCP : Modbus TCP I/O scanning is enabled

1 / EtherNet/IP / EtiP : EtherNet/IP communication is enabled

NOTE: Modbus TCP parameter access is possible irrespective of the selected setting.

Changed settings become active the next time the product is switched on.

Data type Minimum value Factory setting Maximum value

0 0 4

R/W

Persistent

Expert

UINT16

R/W

per.

Set the parameter EthMode to "Modbus TCP".

Data type Minimum value Factory setting Maximum value

0 1 1

R/W

Persistent

Expert

UINT16

R/W

per.

Parameter address via fieldbus

CANopen 3044:2h Modbus 17412 Profibus 17412 CIP 168.1.2

Parameter address via fieldbus

CANopen 3044:1h Modbus 17410 Profibus 17410 CIP 168.1.1

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5 Commissioning

5.5 Setting the gateway

LXM32M

The IP address of the gateway is set by means of the parameters EthIPgate1 ... EthIPgate4.

▶

Set the IP address of the gateway with the parameters EthIPgate1 ... EthIPgate4.

Parameter name HMI menu HMI name

EthIPgate1

ConF → CoM-

iPG1

EthIPgate2

ConF → CoM-

iPG2

EthIPgate3

ConF → CoM-

iPG3

EthIPgate4

ConF → CoM-

iPG4

Description Unit

Minimum value Factory setting Maximum value

IP address gateway, byte 1

Changed settings become active the next time the product is switched on.

IP address gateway, byte 2

Changed settings become active the next time the product is switched on.

IP address gateway, byte 3

Changed settings become active the next time the product is switched on.

IP address gateway, byte 4

Changed settings become active the next time the product is switched on.

0 0 255

Data type R/W Persistent Expert

UINT16 UINT16 UINT16 UINT16 R/W per.

Parameter address via fieldbus

CANopen 3044:Fh Modbus 17438 Profibus 17438 CIP 168.1.15

CANopen 3044:10h Modbus 17440 Profibus 17440 CIP 168.1.16

CANopen 3044:11h Modbus 17442 Profibus 17442 CIP 168.1.17

CANopen 3044:12h Modbus 17444 Profibus 17444 CIP 168.1.18

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5.6 Master with Word Swap

The IP address of a master with Word Swap is set by means of the parameters EthMbIPswap1 ... EthMbIPswap4.

You may not set an IP for a master without Word Swap.

▶

Check whether or not the master uses Word Swap.

▶

If the master uses Word Swap, set the IP address of the master with the parameters EthMbIPswap1 ... EthMbIPswap4.

5 Commissioning

Parameter name HMI menu HMI name

EthMbIPswap1 IP address of master for Modbus word

EthMbIPswap2 IP address of master for Modbus word

EthMbIPswap3 IP address of master for Modbus word

EthMbIPswap4 IP address of master for Modbus word

Description Unit

swap, byte 1

IP address of a Modbus master device. For this master, the word order is swapped to "Low word first", instead of the default "High word first".

High word first -> Modicon Quantum Low word first -> Premium, HMI (Schneider Electric)

Changed settings become active immediately.

swap, byte 2

Changed settings become active immediately.

swap, byte 3

Changed settings become active immediately.

swap, byte 4

Changed settings become active immediately.

Minimum value Factory setting Maximum value

0 0 255

Data type

R/W

Persistent

Expert

UINT16

R/W

per.

UINT16

R/W

per.

UINT16

R/W

per.

UINT16

R/W

per.

Parameter address via fieldbus

CANopen 3044:50h Modbus 17568 Profibus 17568 CIP 168.1.80

CANopen 3044:51h Modbus 17570 Profibus 17570 CIP 168.1.81

CANopen 3044:52h Modbus 17572 Profibus 17572 CIP 168.1.82

CANopen 3044:53h Modbus 17574 Profibus 17574 CIP 168.1.83

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5 Commissioning

5.7 Setting I/O-Scanning

5.7.1 Activating I/O scanning

I/O scanning is activated/deactivated by means of the parameter EthMbScanner.

▶

LXM32M

If you do not want to use I/O scanning, set the parameter EthMbScanner to "Off".

Parameter name HMI menu HMI name

EthMbScanner Modbus TCP I/O scanning

Description Unit

0 / Off: Modbus TCP I/O scanning off 1 / On: Modbus TCP I/O scanning on

I/O scanning only works if the parameter EthMode is set to Modbus TCP.

Changed settings become active immediately.

5.7.2 Setting the master for I/O scanning

Entering the IP address of a master reserves I/O scanning for this master. This means that no other master on the network can perform I/O scanning.

UNINTENDED EQUIPMENT OPERATION DUE TO UNLIMITED ACCESS

If the IP addresses are not set correctly, any network device may control the system or access by the master may be blocked.

•

Verify that you have set the correct master IP address.

Minimum value Factory setting Maximum value

0 1 1

WARNING

Data type R/W Persistent Expert

UINT16 UINT16 UINT16 UINT16 R/W per.

Parameter address via fieldbus

CANopen 3044:28h Modbus 17488 Profibus 17488 CIP 168.1.40

Failure to follow these instructions can result in death, serious injury or equipment damage.

The IP address of the master for I/O scanning is set by means of the parameters EthIPmaster1 ... EthIPmaster4.

▶

Set the IP address of the master for I/O scanning with the parameters EthIPmaster1 ... EthIPmaster4.

Modbus-TCP module

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5 Commissioning

Parameter name HMI menu HMI name

EthIPmaster1 IP address master, byte 1

EthIPmaster2 IP address master, byte 2

EthIPmaster3 IP address master, byte 3

EthIPmaster4 IP address master, byte 4

Description Unit

IP address of the master that is permitted to perform Modbus TCP I/O scanning. If set to 0.0.0.0 (default), any master can perform I/O scanning.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Minimum value Factory setting Maximum value

0 0 255

Data type

R/W

Persistent

Expert

UINT16

R/W

per.

UINT16

R/W

per.

UINT16

R/W

per.

UINT16

R/W

per.

Parameter address via fieldbus

CANopen 3044:29h Modbus 17490 Profibus 17490 CIP 168.1.41

CANopen 3044:2Ah Modbus 17492 Profibus 17492 CIP 168.1.42

CANopen 3044:2Bh Modbus 17494 Profibus 17494 CIP 168.1.43

CANopen 3044:2Ch Modbus 17496 Profibus 17496 CIP 168.1.44

5.7.3 Setting the mapping for I/O scanning

The input mapping is set by means of the parameters EthOptMapInp1 ... EthOptMapInp3.

The output mapping is set by means of the parameters EthOptMapOut1 ... EthOptMapOut3.

▶

Set the desired mapping values with the parameters

EthOptMapInp1 ... EthOptMapInp3 and EthOptMapOut1 ... EthOptMapOut3.

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LXM32M

Parameter name HMI menu HMI name

EthOptMapInp1 Optionally mapped input parameter 1 (drive

EthOptMapInp2 Optionally mapped input parameter 2 (drive

EthOptMapInp3 Optionally mapped input parameter 3 (drive

EthOptMapOut1 Optionally mapped output parameter 1 (PLC

EthOptMapOut2 Optionally mapped output parameter 2 (PLC

EthOptMapOut3 Optionally mapped output parameter 3 (PLC

Description Unit

to PLC)

Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (drive to PLC).

Changed settings become active immediately.

to PLC)

Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (drive to PLC).

Changed settings become active immediately.

to PLC)

Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (drive to PLC).

Changed settings become active immediately.

to drive)

Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (PLC to drive).

Changed settings become active immediately.

to drive)

Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (PLC to drive).

Changed settings become active immediately.

to drive)

Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (PLC to drive).

Changed settings become active immediately.

Minimum value Factory setting Maximum value

Data type R/W Persistent Expert

UINT16 UINT16 UINT16 UINT16 R/W per.

Parameter address via fieldbus

CANopen 3044:34h Modbus 17512 Profibus 17512 CIP 168.1.52

CANopen 3044:35h Modbus 17514 Profibus 17514 CIP 168.1.53

CANopen 3044:36h Modbus 17516 Profibus 17516 CIP 168.1.54

CANopen 3044:2Eh Modbus 17500 Profibus 17500 CIP 168.1.46

CANopen 3044:2Fh Modbus 17502 Profibus 17502 CIP 168.1.47

CANopen 3044:30h Modbus 17504 Profibus 17504 CIP 168.1.48

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LXM32M

5.7.4 Setting communication monitoring for I/O scanning

WARNING

LOSS OF CONTROL

The product is unable to detect an interruption of the network link if connection monitoring is not active.

•

Verify that connection monitoring is on.

•

The shorter the time for monitoring, the faster the detection of the interruption.

Failure to follow these instructions can result in death, serious injury or equipment damage.

Communication monitoring for I/O scanning is set by means of the parameter EthMbScanTimeout.

▶

Set communication monitoring for I/O scanning with the parameter EthMbScanTimeout.

5 Commissioning

Parameter name HMI menu HMI name

EthMbScanTimeoutModbus TCP I/O scanning timeout

Description Unit

Communication monitoring timeout for Modbus TCP. Value 0: Timeout monitoring disabled

In increments of 0.1 s.

Changed settings become active immediately.

5.8 Setting the web server

The web server is activated or deactivated by means of the parameter EthWebserver.

▶

If you do not want to use the web server, set the parameter EthWebserver to "Off".

See chapter "6.3.1 Web server" for additional information on the web server.

Parameter name HMI menu HMI name

EthWebserver Ethernet webserver

Description Unit

0 / Off: Ethernet webserver off 1 / On: Ethernet webserver on

Changed settings become active the next time the product is switched on.

Minimum value Factory setting Maximum value

0.0

2.0

60.0

Minimum value Factory setting Maximum value

0 1 1

Data type

R/W

Persistent

Expert

UINT16

R/W

per.

Data type

R/W

Persistent

Expert

UINT16

R/W

per.

Parameter address via fieldbus

CANopen 3044:2Dh Modbus 17498 Profibus 17498 CIP 168.1.45

Parameter address via fieldbus

CANopen 3044:6h Modbus 17420 Profibus 17420 CIP 168.1.6

0198441113843, V1.01, 01.2012

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LXM32M

0198441113843, V1.01, 01.2012

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LXM32M

6 Operation

WARNING

UNINTENDED OPERATION

•

Do not write values to reserved parameters.

•

Do not write values to parameters unless you fully understand the function.

•

Run initial tests without coupled loads.

•

Verify the use of the word sequence with fieldbus communication.

•

Do not establish a fieldbus connection unless you have fully understood the communication principles.

•

Only start the system if there are no persons or obstructions in the hazardous area.

Failure to follow these instructions can result in death, serious injury or equipment damage.

The chapter "Operation" describes the basic operating states, operating modes and functions of the product.

0198441113843, V1.01, 01.2012

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X_ERR14X_END13X_ADD112-

RF8HALT

WARN6ERROR5-

-3S TAT E2S TAT E1S TAT E0S TAT E

driveStat

6 Operation

6.1 Operating states

6.1.1 Indication of the operating state

The current operating state is indicated with the "driveStat" word.

Figure 7: Structure of driveStat

Bit Name Meaning

0 ... 3 STATE Current operating state (binary coded)

4 ... 5 - Reserved

6 ERROR An error has occurred (error classes 1 ... 3)

7 WARN A warning has occurred (error class 0)

8 HALT "Halt" is active

9 RF Homing valid

10 QS "Quick Stop" is active

11 ... 12 - Reserved

13 X_ADD1 Operating mode-specific information

14 X_END Operating mode terminated

15 X_ERR Operating mode terminated with error

LXM32M

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MT6ACTION5ACTION4MODE3MODE2MODE1MODE0MODE

dmControl

LXM32M

6.1.2 Changing the operating state

Bits 8 ... 15 of the word "dmControl" are used to set the operating state.

Figure 8: Structure dmControl bits 8 ... 15

Bit Name Meaning Operating state

8 DS Disable power stage

9 EN Enable power stage

10 QS Executing a "Quick Stop"

11 FR Execute "Fault Reset"

12 - Reserved Reserved

13 SH Execute "Halt"

14 CH Clear "Halt"

15 CU Resume operating mode interrupted by

"Halt"

6 Operation Enabled -> 4 Ready To Switch On

4 Ready To Switch On -> 6 Operation Enabled

6 Operation Enabled -> 7 Quick Stop Active

7 Quick Stop Active -> 6 Operation Enabled 9 Fault -> 4 Ready To Switch On

6 Operation Enabled

6 Operation

In the case of an access, the bits respond to a 0->1 change to trigger the corresponding function.

If a request for changing the operating state is not successful, this request is ignored. There is no error response.

Ambivalent bit combinations are treated in accordance with the following priority list (highest priority bit 8, lowest priority bit 14 and bit 15):

•

Bit 8 (disable power stage) prior to bit 9 (enable power stage)

•

Bit 10 ("Quick Stop") prior to bit 11 ("Fault Reset")

•

Bit 13 (execute "Halt") prior to bit 14 (clear "Halt") and bit 15 (resume operating mode interrupted by "Halt")

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-11CAP2 110CAP2 09CAP1 18CAP1 0

DE4MODE3MODE2MODE1MODE0MODE

mfStat

6 Operation

6.2 Operating modes

6.2.1 Indicating and monitoring the operating mode

The word "mfStat" is used to indicate the current operating mode.

Figure 9: Structure mfStat

Bit Name Description

0 ... 4 MODE Indicates the current operating mode

Value 01h: Profile Position Value 03h: Profile Velocity Value 04h: Profile Torque Value 06h: Homing Value 1Fh: Jog Value 1Eh: Electronic Gear Value 1Dh: Motion Sequence

5 DE The "DE" bit relates to parameters that are independent

of "Mode Toggle" (MT). The "DE" bit is set if a data value in the process data channel is invalid.

6 ME The "ME" bit relates to parameters that are dependent

on "Mode Toggle" (MT). The "ME" bit is set if a request from a master (starting an operating mode) was rejected.

7 MT Handshake via "Mode Toggle"

8 ... 9 CAP1 Bit 0 and bit 1 of parameter _Cap1Count

10 ... 11 CAP2 Bit 0 and bit 1 of parameter _Cap2Count

12 ... 15 - Reserved

LXM32M

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dmControl

LXM32M

6.2.2 Starting and changing an operating mode

Bits 0 ... 7 in the word "dmControl" are used to set the operating mode.

Figure 10: Structure dmControl bits 0 ... 7

Bit Name Description

0 ... 4 MODE Operating mode

Value 01h: Profile Position Value 03h: Profile Velocity Value 04h: Profile Torque Value 06h: Homing Value 1Fh: Jog Value 1Eh: Electronic Gear Value 1Dh: Motion Sequence

5 ... 6 ACTION Operating mode-dependent

7 MT Handshake via Mode Toggle

6 Operation

The operating modes can be changed during operation. For this purpose, the current process must be completed or explicitly canceled. The motor must be at a standstill.

The master must enter the following values to activate an operating mode or to change reference values:

•

Reference values, depending on desired operating mode

•

Operating mode in "dmControl", bits 0 ... 4 (MODE).

•

Action for this operating mode in bit 5 and bit 6 (ACTION)

•

Toggle bit 7 (MT)

The following chapters describe the possible operating modes, functions and the corresponding reference values.

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6 Operation

6.2.3 Overview of operating modes

The table below provides an overview of the operating modes. Detailed information can be found on the following pages.

LXM32M

Operating mode Method dmControl

Bits 0 ... 6 MODE+ACTION

Jog 1F

Electronic Gear Position synchroni-

zation without compensation movement

Position synchroni-

zation with compensation movement

Velocity synchroni-

zation

Profile Torque 24

Profile Velocity 23

Profile Position Absolute 01

Relative with refer-

ence to the currently set target position

Relative with refer-

ence to the current motor position

Homing Position setting 06

Reference move-

ment

Motion Sequence Start sequence 1D

Start individual data

set

Reference value RefA32 Reference value RefB32

Value 0: No movement

Value 1: Slow movement in positive direction

Value 2: Slow movement in negative direction

Value 5: Fast movement in positive direction

Value 6: Fast movement in negative direction

As GEARdenom As GEARnum

As PTtq_target As RAMP_tq_slope

As PVv_target -

As PPv_target As PPp_target

- As HMp_setP

As HMmethod -

Data set number Value 1: Use data set

number

Data set number -

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6.2.4 Operating mode Jog

Starting the operating mode The operating mode is set and started in the process data channel

6 Operation

with the transmit data (master to slave).

dmControl Bits 0 ... 6 MODE+ACTION

Reference value RefA32 Reference value RefB32

Value 0: No movement

Value 1: Slow movement in positive direction

Value 2: Slow movement in negative direction

Value 5: Fast movement in positive direction

Value 6: Fast movement in negative direction

Status information The word "driveStat" provides information on the operating mode.

Bit Name Meaning

13 X_ADD1 Reserved

14 X_END 0: Operating mode started

1: Operating mode terminated

15 X_ERR 0: No error

1: Error

Terminating the operating mode The operating mode is terminated when the motor is at a standstill and

one of the following conditions is met:

•

Value 0 RefA

•

Stop caused by "Halt" or "Quick Stop"

•

Stop caused by an error

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6 Operation

6.2.5 Operating mode Electronic Gear

Starting the operating mode The operating mode is set and started in the process data channel

with the transmit data (master to slave).

LXM32M

Method dmControl

Bits 0 ... 6 MODE+ACTION

Position synchronization without compensation movement

Position synchronization with compensation movement

Velocity synchronization 5E

Reference value RefA32 Reference value RefB32

As GEARdenom As GEARnum

Status information The word "driveStat" provides information on the operating mode.

Bit Name Meaning

13 X_ADD1 1: Reference velocity reached

14 X_END 0: Operating mode started

1: Operating mode terminated

15 X_ERR 0: No error

1: Error

1) Only with method Velocity synchronization and with active velocity window.

Terminating the operating mode The operating mode is terminated when the motor is at a standstill and

one of the following conditions is met:

•

Stop caused by "Halt" or "Quick Stop"

•

Stop caused by an error

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6.2.6 Operating mode Profile Torque

Starting the operating mode The operating mode is set and started in the process data channel

with the transmit data (master to slave).

6 Operation

dmControl Bits 0 ... 6 MODE+ACTION

Reference value RefA32 Reference value RefB32

As PTtq_target As RAMP_tq_slope

Status information The word "driveStat" provides information on the operating mode.

Bit Name Meaning

13 X_ADD1 0: Target torque not reached

1: Target torque reached

14 X_END 0: Operating mode started

1: Operating mode terminated

15 X_ERR 0: No error

1: Error

Terminating the operating mode The operating mode is terminated when the motor is at a standstill and

one of the following conditions is met:

•

Stop caused by "Halt" or "Quick Stop"

•

Stop caused by an error

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6 Operation

6.2.7 Operating mode Profile Velocity

Starting the operating mode The operating mode is set and started in the process data channel

with the transmit data (master to slave).

LXM32M

dmControl Bits 0 ... 6 MODE+ACTION

Reference value RefA32 Reference value RefB32

As PVv_target -

Status information The word "driveStat" provides information on the operating mode.

Bit Name Meaning

13 X_ADD1 0: Target velocity not reached

1: Target velocity reached

14 X_END 0: Operating mode started

1: Operating mode terminated

15 X_ERR 0: No error

1: Error

Terminating the operating mode The operating mode is terminated when the motor is at a standstill and

one of the following conditions is met:

•

Stop caused by "Halt" or "Quick Stop"

•

Stop caused by an error

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LXM32M

6.2.8 Operating mode Profile Position

Starting the operating mode The operating mode is set and started in the process data channel

with the transmit data (master to slave).

6 Operation

Method dmControl

Bits 0 ... 6 MODE+ACTION

Absolute 01

Relative with reference to the currently set target position

Relative with reference to the current motor position

Reference value RefA32 Reference value RefB32

As PPv_target As PPp_target

Status information The word "driveStat" provides information on the operating mode.

Bit Name Meaning

13 X_ADD1 0: Target position not reached

1: Target position reached

14 X_END 0: Operating mode started

1: Operating mode terminated

15 X_ERR 0: No error

1: Error

Terminating the operating mode The operating mode is terminated when the motor is at a standstill and

one of the following conditions is met:

•

Target position reached

•

Stop caused by "Halt" or "Quick Stop"

•

Stop caused by an error

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6 Operation

6.2.9 Operating mode Homing

Starting the operating mode The operating mode is set and started in the process data channel

with the transmit data (master to slave).

LXM32M

Method dmControl

Bits 0 ... 6 MODE+ACTION

Position setting 06

Reference movement 26

Reference value RefA32 Reference value RefB32

- As HMp_setP

As HMmethod -

Status information The word "driveStat" provides information on the operating mode.

Bit Name Meaning

13 X_ADD1 Reserved

14 X_END 0: Operating mode started

1: Operating mode terminated

15 X_ERR 0: No error

1: Error

Terminating the operating mode The operating mode is terminated when the motor is at a standstill and

one of the following conditions is met:

•

Homing successful

•

Stop caused by "Halt" or "Quick Stop"

•

Stop caused by an error

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6.2.10 Operating mode Motion Sequence

Starting the operating mode The operating mode is set and started in the process data channel

with the transmit data (master to slave).

6 Operation

Method dmControl

Bits 0 ... 6 MODE+ACTION

Start sequence 1D

Start individual data set 3D

Reference value RefA32 Reference value RefB32

Data set number Value 1: Use data set

number

Data set number -

Status information The word "driveStat" provides information on the operating mode.

Bit Name Meaning

13 X_ADD1 1: End of a sequence

14 X_END 0: Operating mode started

1: Operating mode terminated

15 X_ERR 0: No error

1: Error

Terminating the operating mode The operating mode is terminated when the motor is at a standstill and

one of the following conditions is met:

•

Individual data set terminated

•

Individual data set of a sequence terminated (waiting for transition condition to be fulfilled)

•

Sequence terminated

•

Stop caused by "Halt" or "Quick Stop"

•

Stop caused by an error

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6 Operation

6.3 Extended settings

6.3.1 Web server

Functions The product features an integrated web server.

6.3.1.1 Setting the web server

LXM32M

The web server offers the following features:

•

Display status information

•

Display and change parameters

•

Display and change network settings

•

Display and change Modbus TCP settings

•

Display and change EtherNet/IP settings

•

Display and change settings for the FDR service

•

Display network statistics

•

User-specific adaptation of the website See chapter "6.3.2 FTP server"

The web server is activated or deactivated by means of the parameter EthWebserver.

Parameter name HMI menu HMI name

EthWebserver

Description Unit

Ethernet webserver

0 / Off: Ethernet webserver off 1 / On: Ethernet webserver on

Changed settings become active the next time the product is switched on.

6.3.1.2 Accessing the web server

▶

If you do not want to use the web server, set the parameter EthWebserver to "Off".

Minimum value Factory setting Maximum value

0 1 1

Data type R/W Persistent Expert

UINT16 UINT16 UINT16 UINT16 R/W per.

Parameter address via fieldbus

CANopen 3044:6h Modbus 17420 Profibus 17420 CIP 168.1.6

The web server of the product can be accessed via a Web browser.

■

The product must have a valid IP address.

▶

Start an Internet browser.

▶

Enter the IP address of the product in the address bar.

▶

Enter "USER" as the username and the password (uppercase).

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6.3.1.3 User interface

6 Operation

Structure of the web server user interface:

Figure 11: User interface of the web server

(1) Main menu (2) Submenu (3) Content

Main menu Submenu Content

Home English Homepage

Documentation - Link to website

www.schneider-electric.com

Monitoring Drive monitor Status information

Drive parameter Display and change parame-

ters

Network Setup Network parameters Network settings

Modbus scanner Modbus settings

Eth/IP scanner EtherNet/IP settings

Fast device replacement FDR service settings

Administration Change web server passwords

Diagnostics TCP/IP statistics Information on TCP/IP

Modbus statistics Information on Modbus

Ethernet IP statistics Information on EtherNet/IP

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6 Operation

6.3.2 FTP server

Functions The product features an integrated FTP server.

6.3.2.1 Accessing the FTP server

LXM32M

The FTP server lets you upload a CFG file and a JPG file to modify the content and appearance of the web server.

The following items can be modified:

•

Product Name

•

Link under "Documentation..."

•

Product image (picture on the start page)

The FTP server of the product can be accessed via an FTP client.

■

The product must have a valid IP address.

▶

Start an FTP client.

▶

Enter the IP address of the product when prompted for a "Host/ Server" .

▶

Enter "USER" as the username and the password (uppercase).

6.3.2.2 User-specific adaptation of the website

You can upload a CFG file and a JPG file to modify the content and appearance of the web server.

CFG file File name of the CFG file: http.cfg

The CFG file has the following structure:

[ProductName] Lexium 32 by MyCompany

[ProductLink] http://www.my-company.com

[ProductImageName] mypic.jpg

JPG file The JPG file replaces the product image (picture on the start page).

The file name of the JPG file must match the file name specified in the CFG file.

NOTE: The entire file name is case-sensitive (even the extension JPG).

Uploading files

▶

Connect via an FTP client.

▶

Save the CFG file at the top level.

▶

Create a folder "html".

▶

Below the "html" folder, create an "images" folder.

▶

Save the JPG file in the "images" folder.

▶

Switch the product off and on.

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LXM32M

6.3.3 FDR service (Fast Device Replacement)

The FDR service uses standard DHCP and TFTP (Trivial File Transfer Protocol) technologies to simplify maintenance of Ethernet devices.

For example, the FDR service is used to replace a defective device by a new device. The service allows for detection, configuration and automatic start of the new device without complex manual user interaction.

The main steps:

•

A defective device that uses the FDR service is removed.

•

The new device that is pre-configured with the "DeviceName" of the defective device is installed in the network.

•

The FDR server which can be a Quantum- or Premium-SPS PLC Ethernet module detects the new device, configures it with its IP address and transmits the configuration parameters.

•

The replacement device checks the parameters for compatibility.

6 Operation

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LXM32M

7 Diagnostics and troubleshooting

7.1 Fieldbus communication error diagnostics

Connections for fieldbus mode If the product cannot be addressed via the fieldbus, first check the

connections. The product manual contains the technical data of the device and information on network and device installation. Check the following:

•

24Vdc power supply

•

Power connections to the device

•

Fieldbus cable and fieldbus wiring

You can also use the commissioning software for troubleshooting.

Fieldbus function test If the connections are correct, check the settings for the fieldbus

addresses. After correct configuration of the transmission data, test fieldbus mode.

▶

In addition to the master, activate a bus monitor that, as a passive device, displays messages.

▶

Switch the supply voltage off and on.

▶

Observe the network messages that are generated briefly after the supply voltage is switched on. A bus monitor can be used to record the elapsed time between messages and the relevant information in the messages.

Addressing, parameterization If it is impossible to connect to a device, check the following:

▶

Addressing

Each network device must have a unique IP address.

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3 4

1 2

7 Diagnostics and troubleshooting

7.2 Status LEDs

The status of the module is indicated by four LEDs.

Figure 12: Overview of the LEDs at the module

(1) Network activity interface A (2) Module status (3) Network activity interface B (4) Network status

LXM32M

NOTE: The meaning of the flash signals depends on the selected protocol.

▶

Check whether the protocol is set to "EtherNet/IP" or "Modbus TCP".

Network activity LED 1 and LED 3 The table below shows the meaning of the flashing signals for network

activity.

Color Status Meaning

- Off No connection

Green On Connection with 100 [MB/s]

Yellow On Connection with 10 [MB/s]

Green Flashing Activity with 100 [MB/s]

Yellow Flashing Activity with 10 [MB/s]

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LXM32M

7 Diagnostics and troubleshooting

Module status LED 2 The table below shows the meaning of the flashing signals for the

module status.

Color LED Meaning for EtherNet/IP

Meaning for Modbus TCP

- Off No power supply No IP address or no power supply

Green/yellow Flashing Start-up Start-up

Green On Ready for operation Ready for operation

Green Flashing Module is not configured or scanner is

Not ready (no connection, ...)

Idle

Red Flashing Recoverable error Recoverable error

Red On Irrecoverable error Irrecoverable error

1) Depends on the selected protocol (parameter EthMode)

Network status LED 4 The table below shows the meaning of the flashing signals for the net-

work status.

Color LED Meaning for EtherNet/IP

Meaning for Modbus TCP

- Off No IP address or no power supply No IP address or no power supply

Green/yellow Flashing Start-up Start-up

Green On Connected At least 1 port is connected and the IP

address has been set

Green Flashing 3 times - No connection, IP address has been set

Green Flashing 4 times - IP address conflict

Green Flashing 5 times - BOOTP or DHCP active

Green Flashing No connection -

Red Flashing Timeout -

Red On IP address conflict -

1) Depends on the selected protocol (parameter EthMode)

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7 Diagnostics and troubleshooting

7.3 Error indication

The last cause of error and the last 10 error messages are stored. You can display the last 10 error messages using the commissioning software and the fieldbus.

Asynchronous errors Asynchronous errors are triggered by internal monitoring (for example,

temperature) or by external monitoring (for example, limit switch). An error response is initiated if an asynchronous error occurs.

Asynchronous errors are indicated in the following way:

•

Transition to operating state 7 Quick Stop Active or to operating state 9 Fault.

•

Information in the words "driveStat", "mfStat", "motionStat" and "driveInput" during I/O scanning, see chapter "3.3.4.2 I/O scanning Input"

•

Error number is written to parameter _LastError

The parameters _LastError or _LastWarning can be used in the input mapping for I/O scanning. This way, error numbers are easy to read out.

LXM32M

Modbus response

Depending on the type of processing, two types of Modbus responses are possible:

•

Positive Modbus response

The "Function Code" in the Modbus response corresponds to the "Function Code" in the Modbus request.

•

Negative Modbus response

The client receives pertinent information on error detection during processing;

The "Function Code" in Modbus response corresponds to the "Function Code" in the Modbus request + 80h.

The "Exception Code" indicates the cause of the error.

If a syntactically incorrect Modbus PDU (Protocol Data Unit) is transmitted, the connection is terminated. In the case of other other error, a negative Modbus response is sent.

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7 Diagnostics and troubleshooting

Exception Code

01 Illegal Function Code The "Function Code" is unknown to the

02 Illegal Data Address Depends on the Modbus request

03 Illegal Data Value Depends on the Modbus request

04 Server Failure The server was unable to properly termi-

05 Acknowledge The server has accepted the Modbus

06 Server Busy The server was unable to accept the

0A Gateway Problem The gateway path is unavailable.

0B Gateway Problem The targeted device does not respond.

Name Description

server.

nate processing.

request. However, the execution takes a relatively long time. The server therefore only returns an acknowledgement confirming receipt of the service request.

Modbus request. It is the responsibility of the application on the client to determine whether and when to re-send the request.

The gateway generates this error.

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7 Diagnostics and troubleshooting

LXM32M

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8 Accessories and spare parts

8.1 Cables

Description Order no.

2 m, 2 x RJ45, shielded twisted pair cable 490NTW00002

5 m, 2 x RJ45, shielded twisted pair cable 490NTW00005

12 m, 2 x RJ45, shielded twisted pair cable 490NTW00012

2 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00002U

5 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00005U

12 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00012U

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8 Accessories and spare parts

LXM32M

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LXM32M

9 Glossary

9.1 Units and conversion tables

The value in the specified unit (left column) is calculated for the desired unit (top row) with the formula (in the field).

Example: conversion of 5 meters [m] to yards [yd] 5 m / 0.9144 = 5.468 yd

9.1.1 Length

in ft yd m cm mm

- / 12 / 36 * 0.0254 * 2.54 * 25.4

* 12 - / 3 * 0.30479 * 30.479 * 304.79

* 36 * 3 - * 0.9144 * 91.44 * 914.4

/ 0.0254 / 0.30479 / 0.9144 - * 100 * 1000

/ 2.54 / 30.479 / 91.44 / 100 - * 10

/ 25.4 / 304.79 / 914.4 / 1000 / 10 -

9 Glossary

9.1.2 Mass

lb oz slug kg g

slug

- * 16 * 0.03108095 * 0.4535924 * 453.5924

/ 16 - * 1.942559*10

/ 0.03108095 / 1.942559*10

/ 0.45359237 / 0.02834952 / 14.5939 - * 1000

/ 453.59237 / 28.34952 / 14593.9 / 1000 -

9.1.3 Force

lb oz p dyne N

dyne

- * 16 * 453.55358 * 444822.2 * 4.448222

/ 16 - * 28.349524 * 27801 * 0.27801

/ 453.55358 / 28.349524 - * 980.7 * 9.807*10

/ 444822.2 / 27801 / 980.7 - / 100*10

/ 4.448222 / 0.27801 / 9.807*10

9.1.4 Power

HP W

- * 746

/ 746 -

-3

* 0.02834952 * 28.34952

-3

- * 14.5939 * 14593.9

-3

* 100*10

-3

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9 Glossary

9.1.5 Rotation

min-1 (RPM) rad/s deg./s

min-1 (RPM)

rad/s

deg./s

9.1.6 Torque

lb‧in

lb‧ft

oz‧in

kp‧m

kp‧cm

dyne‧cm

9.1.7 Moment of inertia

- * π / 30 * 6

* 30 / π - * 57.295

/ 6 / 57.295 -

lb‧in lb‧ft oz‧in Nm kp‧m kp‧cm dyne‧cm

- / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*10

* 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*10

/ 16 / 192 - * 7.0616*10-3* 720.07*10-6* 72.007*10-3* 70615.5

/ 0.112985 / 1.355822 / 7.0616*10-3- * 0.101972 * 10.1972 * 10*10

/ 0.011521 / 0.138255 / 720.07*10-6/ 0.101972 - * 100 * 98.066*10

/ 1.1521 / 13.8255 / 72.007*10-3/ 10.1972 / 100 - * 0.9806*10

/ 1.129*10

/ 13.558*106/ 70615.5 / 10*10

LXM32M

/ 98.066*106/ 0.9806*106-

lb‧in

lb‧ft

kg‧m

kg‧cm

kp‧cm‧s

oz‧in

lb‧in

- / 144 / 3417.16 / 0.341716 / 335.109 * 16

* 144 - * 0.04214 * 421.4 * 0.429711 * 2304

* 3417.16 / 0.04214 - * 10*10

* 0.341716 / 421.4 / 10*10

* 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74

/ 16 / 2304 / 54674 / 5.46 / 5361.74 -

lb‧ft

9.1.8 Temperature

°F °C K

°F

°C

- (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15

°C * 9/5 + 32 - °C + 273.15

(K - 273.15) * 9/5 + 32 K - 273.15 -

9.1.9 Conductor cross section

AWG

1 2 3 4 5 6 7 8 9 10 11 12 13

42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6

kg‧m

kg‧cm

kp‧cm‧s

* 10.1972 * 54674

oz‧in

- / 980.665 * 5.46

AWG

14 15 16 17 18 19 20 21 22 23 24 25 26

2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13

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LXM32M

9.2 Terms and Abbreviations

See chapter "2.5 Standards and terminology" for information on the pertinent standards on which many terms are based. Some terms and abbreviations may have specific meanings with regard to the standards.

9 Glossary

CIP

Client First transmitter, then recipient of fieldbus messages in the client-

DOM

Error Discrepancy between a detected (computed, measured or signaled)

Error class Classification of errors into groups. The different error classes allow

Factory setting Factory settings when the product is shipped

Fatal error In the case of fatal error, the product is no longer able to control the

Fault Fault is a state that can be caused by an error. Further information

Common Industrial Protocol, general specification for communication between fieldbus devices.

server relationship. Starts transmission with a transmission to the server; the reference point is the server object dictionary.

Date of manufacturing: The nameplate of the product shows the date of manufacture in the format DD.MM.YY or in the format DD.MM.YYYY. Example:

31.12.09 corresponds to December 31, 2009

31.12.2009 corresponds to December 31, 2009

value or condition and the specified or theoretically correct value or condition.

for specific responses to errors, for example by severity.

motor so that the power stage must be immediately disabled.

can be found in the pertinent standards such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).

Fault reset A function used to restore the drive to an operational state after a

detected error is cleared by removing the cause of the error so that the error is no longer active.

Input Output and input refer to the direction of data transmission from the

perspective of the master. Input: Status messages from the slave to the master, see also Output.

Master Active bus device that controls the data traffic on the network.

Output Output and input refer to the direction of data transmission from the

perspective of the master. Output: Commands from the master to the slave, see also Input.

Parameter Device data and values that can be read and set (to a certain extent)

by the user.

Persistent Indicates whether the value of the parameter remains in the memory

after the device is switched off.

Quick Stop The Quick Stop function can be used for fast deceleration of a move-

ment in the case of an error or via a command.

User-defined unit Unit whose reference to motor movement can be determined by the

user via parameters.

Warning If the term is used outside the context of safety instructions, a warning

alerts to a potential problem that was detected by a monitoring function. A warning does not cause a transition of the operating state.

0198441113843, V1.01, 01.2012

Modbus-TCP module

9 Glossary

LXM32M

0198441113843, V1.01, 01.2012

Modbus-TCP module

LXM32M

10 Index

Abbreviations 79

Accessories and spare parts 75

Before you begin

Safety information 11

Cables 75

CAD data 7

Commissioning 37

First setup 38

Commissioning the device 37

First setup

Commissioning 38

Schneider Electric LXM32M User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

LXM32M

Important information

Table of contents

About this manual

Further reading

1 Introduction

2 Before you begin - safety information

2.1 Qualification of personnel

Intended use

2.3 Hazard categories

2.4 Basic information

2.5 Standards and terminology

3.1 Modbus TCP technology

3.1.1 Function principle

3 Basics

3.1.2 Bus topology

3.1.3 Client / server model

3.1.4 Network service SNMP

3.2 Modbus TCP protocol

3.2.1 MBAP header

3.3 Modbus TCP communication

3.3.1 Connection management

3.3.2 Modbus response to a Modbus request

3.3.3 Reading and writing parameters

3.3.4.1 I/O scanning Output

3.3.4.2 I/O scanning Input

3.3.4.3 Parameter channel

3.4.6 Examples

4.1 Installation of the module

4 Installation

4.2 Electrical installation

5 Commissioning

Commissioning the device

5.2.1 Manual assignment of the network address

5.2.2 Assignment of the network address via BOOTP

5.2.3 Assignment of the network address via DHCP

5.3 Setting the transmission rate

5.4 Setting the protocol

5.5 Setting the gateway

5.6 Master with Word Swap

5.7 Setting I/O-Scanning

5.7.1 Activating I/O scanning

5.7.2 Setting the master for I/O scanning

5.7.3 Setting the mapping for I/O scanning

5.7.4 Setting communication monitoring for I/O scanning

5.8 Setting the web server

6 Operation

6.1 Operating states

6.1.1 Indication of the operating state

6.1.2 Changing the operating state

6.2 Operating modes

6.2.1 Indicating and monitoring the operating mode

6.2.2 Starting and changing an operating mode

6.2.3 Overview of operating modes

6.2.4 Operating mode Jog

6.2.5 Operating mode Electronic Gear

6.2.6 Operating mode Profile Torque

6.2.7 Operating mode Profile Velocity

6.2.8 Operating mode Profile Position

6.2.9 Operating mode Homing

6.2.10 Operating mode Motion Sequence

6.3 Extended settings

6.3.1 Web server

6.3.1.1 Setting the web server

6.3.1.2 Accessing the web server

6.3.1.3 User interface

6.3.2 FTP server

6.3.2.1 Accessing the FTP server

6.3.2.2 User-specific adaptation of the website

6.3.3 FDR service (Fast Device Replacement)

7 Diagnostics and troubleshooting

7.1 Fieldbus communication error diagnostics

7.2 Status LEDs

7.3 Error indication

8 Accessories and spare parts

8.1 Cables