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SEW Eurodrive
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UFF41B
User Manual
157 pgs5.16 Mb0

SEW Eurodrive UFF41B User Manual

Drive Technology \ Drive Automation \ System Integration \ Services
Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Edition 02/2009
16756428 / EN
Manual
SEW-EURODRIVE – Driving the world
1 General Information ............................................................................................... 6
1.1 Using the manual........................................................................................... 6
1.2 Structure of the safety notes .......................................................................... 6
1.3 Rights to claim under limited warranty........................................................... 7
1.4 Exclusion of liability........................................................................................ 7
1.5 Copyright notice............................................................................................. 7
2 Safety Notes ......................... .................................................................................. 8
2.1 Other applicable documentation .................................................................... 8
2.2 General safety notes for bus systems............................................................ 8
2.3 Safety functions ............... ... ... ... ..................................................................... 8
2.4 Hoist applications....................................................................... ... ... ... .... ... .... 8
2.5 Product names and trademarks.......................................................... .... ....... 8
2.6 Waste disposal............................................................................................... 9
3 Introduction .......................................................................................................... 10
3.1 Content of the manual............................ ...................................................... 10
3.2 Characteristics ............................................................................................. 10
3.2.1 Process data exchange .................................................................... 10
3.2.2 Parameter access ............................................................................. 10
3.2.3 Monitoring functions .......................................................................... 11
4 Assembly and Installation Instructions ............................................................. 12
4.1 Installation options of the UFF41B fieldbus gateway................................... 12
4.2 Voltage supply ............................................................................................. 13
4.2.1 Voltage supply in the MOVIAXIS
4.2.2 Voltage supply in the UOH21B gateway housing ............................. 15
4.3 Connecting inverters and engineering PC ................................................... 16
4.3.1 Functional description of the terminals, DIP switches
and LED of the UFF41B option ......................................................... 16
4.3.2 Connecting CAN 1 system bus (connector X33) /
CAN 2 (terminal X32) ........................................................................ 17
4.3.3 Connecting SBUS
4.3.4 Ethernet interface terminal (terminal X37) ........................................ 21
4.3.5 Pin assignment X37 (Ethernet for engineering) ................................ 22
4.4 Status LED of the UFF41B fieldbus gateway............................................... 23
4.5 DIP switch S1 default IP address................................................................. 24
4.5.1 TCP / IP addressing and subnetworks .............................................. 24
4.6 SD memory card type OMG4.B ................................................................... 26
4.7 Connecting the UFF41B fieldbus gateway to a DeviceNet network............. 27
4.7.1 Pin assignment X30D (DeviceNet) ................................................... 27
4.7.2 Bus termination ................................................................................. 28
4.7.3 Setting the DIP switches ................................................................... 28
4.7.4 Status LED in DeviceNet operation .................................................. 30
4.8 Connecting the UFF41B fieldbus gateway to a PROFIBUS network........... 32
4.8.1 Pin assignment X30P (PROFIBUS) .................................................. 32
4.8.2 Status LED in PROFIBUS operation ................................................. 34
4.9 Shielding and routing bus cables................................................................. 35
plus
system bus (terminal X36) ............................. 21
®
master module ........................... 13
5 Configuring the UFx41B Fieldbus Gateway and the Inverter........................... 36
5.1 Description of the gateway functions ........................................................... 36
5.1.1 Introduction ....................................................................................... 36
5.1.2 Autosetup .......................................................................................... 36
5.1.3 Customized configuration ................................................................. 38
5.1.4 Configuring fieldbus gateway and slave units ................................. .. 39
5.1.5 Data backup ...................................................................................... 41
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
3
5.2 Startup procedure ........................................................................................ 44
5.2.1 Checking hardware installation and communication settings ........... 44
5.2.2 Establishing an engineering connection ........................................... 44
5.2.3 Configuring the fieldbus gateways ........................... ......................... 46
5.2.4 Last settings in the slave units .......................................................... 47
5.2.5 Monitoring and controlling process data ........................................... 49
5.2.6 Saving inverter data in the fieldbus gateway and using MOVITOOLS
5.2.7 E rror processing and status messages ............................................. 54
6 Configuration and Startup on DeviceNet Fieldbus........................................... 57
6.1 Validity of EDS files for the UFF41B option ................................................. 57
6.2 Configuring PLC and master (DeviceNet scanner)...................................... 58
6.3 Project planning examples in RSLogix5000.................................. ... ... ......... 61
6.3.1 UFF41B fieldbus gateway with 16 process data ............................... 61
6.3.2 Access to UFF41B fieldbus gateway parameters ............................. 64
6.3.3 A ccess to unit parameters of lower-level units .................................. 67
7 DeviceNet Operating Characteristics................................................................. 70
7.1 Process data exchange ............................................................................... 70
7.2 The Common Industrial Protocol (CIP)........................................................ 73
7.2.1 CIP object directory .......................................................................... 73
7.3 Return codes of the parameterization via explicit messages....................... 82
7.4 Terms and definitions................................................................................... 86
®
MotionStudio ................................................... 52
8 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus................... ... .. 87
8.1 Configuring a PROFIBUS DP master .......................................................... 87
9 PROFIBUS DP-V1 Operating Characteristics ............................... ...... ... ... .... ... .. 92
9.1 Process data exchange with the UFF41B fieldbus gateway........................ 92
9.2 PROFIBUS DP timeout................................................................................ 93
10 Functions of PROFIBUS DP-V1........................................................................... 94
10.1 Introduction to PROF IBUS DP- V1 ............................. ... ............................... 94
10.1.1 Class 1 master (C1 master) ............................................................. 95
10.1.2 Class 2 master (C2 master) ............................................................. 95
10.1.3 Data sets (DS) ............................... ... ... ... ... .... ... ... ............................ 95
10.1.4 DP-V1 services .............................. .................................................. 96
10.1.5 DP-V1 alarm handling ...................................................................... 96
10.2 Features of SEW fieldbus inte rfa ce s.......... .................................................. 97
10.3 Structure of the DP-V1 parameter channel.................................................. 98
10.3.1 Parameterization procedure via data set 47 .................................. 100
10.3.2 DP-V1 master processing sequence .............................................. 101
10.3.3 Addressing connected inverters ..................................................... 102
10.3.4 MOVILINK
10.3.5 PROFIdrive parameter orders ........................................................ 107
10.4 Configuring a C1 master............................................................................ 112
10.4.1 Operating mode (DP-V1 mode) ..................................................... 112
10.4.2 Example program for SIMATIC S7 ................................................. 113
10.4.3 Technical data of DP-V1 for UFF41B fieldbus gateway ................. 114
10.4.4 Error codes of the DP-V1 services .... ... .......................................... 115
®
parameter requests .................................................... 103
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Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
11 Operating MOVITOOLS® MotionStudio............... ............................................. 116
11.1 About MOVITOOLS
11.1.1 Tasks ... .......................................................................................... 116
11.1.2 Establishing communication with units ........................................... 116
11.1.3 Executing functions with the units .................................................. 116
11.2 First steps .................................................................................................. 117
11.2.1 Starting the software and creating a project ................................... 117
11.2.2 Establishing communication and scanning the network ................. 117
11.3 Communication mode................................................................................ 118
11.3.1 Overview .......... .... ... ... ... .... ............................................................. 118
11.3.2 Selecting communication mode (online or offline) ......................... 119
11.4 Communication via USB (direct)................................................................ 120
11.4.1 Connect the unit with the PC using USB connection cables .......... 120
11.4.2 Installing the driver ......................................................................... 121
11.4.3 Configuring USB communication ................................................... 121
11.4.4 USB communication parameters ................................................... 123
11.5 Communication via Ethernet...................................................................... 124
11.5.1 Connecting the unit with the PC via Ethernet ................................. 124
11.5.2 Configuring the communication channel via Ethernet .................... 125
11.5.3 Setting communication parameters for SMLP ................................ 126
11.6 Communication via PROFIBUS DP/DP-V1................................................ 128
11.6.1 Communication via C2 master ....................................................... 128
11.6.2 Additionally required hardware and software ................................. 129
11.6.3 Parameterize C2 master with SIMATIC NET ................................. 130
11.6.4 Configuring communication via PROFIBUS ................................... 133
11.6.5 Communication parameters for PROFIBUS DP/DP-V1 ................. 135
11.7 Executing function s with the units.............................................................. 136
11.7.1 Parameterizing units in the parameter tree .................................... 136
11.7.2 Reading/changing unit parameters ................................................ 136
11.7.3 Starting up the units (online) .......................................................... 137
11.8 Special configura tion an d dia g no stic s tool s ..................... ... .... ................... 138
®
MotionStudio ................................. ... .... ................... 116
12 Troubleshooting................................................................................................. 139
12.1 Error messages of the fieldbus gateway.................................................... 139
12.1.1 General errors of the fieldbus gateway .......................................... 140
12.1.2 Error during process data processing ............................................ 141
12.1.3 Error during unit replacement ......................................................... 142
12.2 Diagnostic procedure for operation on DeviceNet ..................................... 143
12.3 Diagnostic procedure for operation on PROFIBUS DP-V1........................ 145
13 Technical Data.................................................................................................... 146
13.1 General technical data............................................................................... 146
13.2 UFF41B fieldbus gateway.......................................................................... 147
13.3 Bus connection .......................................................................................... 148
13.4 Dimension drawings................................................................................... 149
13.4.1 Dimension drawing for fieldbus gateway UFF41B / UOH21B ........ 149
13.4.2 Dimension drawing MOVIAXIS
14 Appendix............................................................................................................. 151
14.1 Parameter access to lower-level units via DeviceNet ................................ 151
14.2 Parameter access to lower-level units via PROFIBUS DP-V1................... 152
14.3 Parameter access to lower-level units via engineering interfaces ............. 153
15 Index.................................................................................................................... 154
®
master module MXM / UFF41B . 150
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
5
1
General Information
Using the manual
1 General Information
Manual
1.1 Using the manual
The manual is part of the product and contains important information on operation and service. The manual is written for all employees who assemble, install, startup, and service the product.
The manual must be accessible and legible. Make sure that persons responsible for the system and its operation, as well as persons who work independently on the unit, have read through the manual carefully and understood it. If you are unclear about any of the information in this documentation, or if you require further information, contact SEW­EURODRIVE.
1.2 Structure of the safety notes
The safety notes in this manual are structured as follows:
Pictogram SIGNAL WORD
Type and source of danger.
Possible consequence(s) if the safety notes are disregarded.
• Measure(s) to prevent the danger.
Pictogram Signal word Meaning Consequences if
disregarded
Example:
General danger
Specific danger,
e.g. electric shock
DANGER Imminent danger Severe or fatal injuries
WARNING Possible dangerous situation Severe or fatal injuries
CAUTION Possible dangerous situation Minor injuries
NOTICE Possible damage to property Damage to the drive system or its
environment
TIP Useful information or tip.
Simplifies the handling of the drive system.
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Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Rights to claim under limited warranty
1.3 Rights to claim under limited warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the manual. Therefore, read the manual before you start operating the device!
1.4 Exclusion of liability
You must comply with the information in the manual and the documentation of the units connected to the fieldbus gateway to ensure safe operation and to achieve the specified product characteristics and performance features. SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non­observance of the operating instructions. In such cases, any liability for defects is excluded.
1.5 Copyright notice
© 2008 - SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the unauthorized duplication, modification, distribution, and use of this document, in whole or in part.
General Information
1
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
7
2
Safety Notes
Other applicable documentation
2 Safety Notes
2.1 Other applicable documentation
• Installation and startup only by trained personnel observing the relevant accident prevention regulations and the following documents:
– "MOVIDRIVE – "MOVITRAC – "MOVIAXIS
• Read through these documents carefully before you commence installation and startup of the UFF41B fieldbus gateway.
• As a prerequisite to fault-free operation and fulfillment of warranty claims, you must adhere to the information in the documentation.
2.2 General safety notes for bus systems
This communication system lets you adjust inverters and servo inverters to a variety of different applications. As with all bus systems, there is a danger of invisible, external (as far as the inverter is concerned) modifications to the parameters which give rise to changes in the unit behavior. This may result in unexpected (not uncontrolled) system behavior.
®
®
®
" operating instructions
MDX60B/61B" operating instructions
B" operating instructions
2.3 Safety functions
The inverters and servo drives are not allowed to perform any safety functions unless they are subordinate to other safety systems. Use higher-level safety systems to ensure protection of equipment and personnel.
For safety applications, ensure that the information in the following publications is observed: "Safe Disconnection for MOVIDRIVE
2.4 Hoist applications
MOVIDRIVE® MDX60B/61B, MOVITRAC® B and MOVIAXIS® must not be used as a safety device in hoist applications.
Use monitoring systems or mechanical protection devices as safety equipment to avoid possible damage to property or injury to people.
2.5 Product names and trademarks
The brands and product names contained within this manual are trademarks or regis­tered trademarks of the titleholders.
®
B / MOVITRAC® B / MOVIAXIS®".
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Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
2.6 Waste disposal
Observe the applicable national regulations.
Dispose of the following materials separately in accordance with the country-specific regulations in force, as:
• Electronics scrap
• Plastic
• Sheet metal
• Copper
Safety Notes
Waste disposal
2
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
9
3
Introduction
Content of the manual
3 Introduction
3.1 Content of the manual
This user manual describes how to:
• Connect the UFF41B fieldbus gateway to MOVIDRIVE
• Startup MOVIDRIVE
• Startup the UFF41B fieldbus gateway with the DeviceNet and PROFIBUS DP-V1
• Configure the DeviceNet master with EDS files.
• Configure the PROFIBUS DP-V1 master using GSD files.
3.2 Characteristics
The powerful, universal fieldbus interfaces of the UFF41B option enable you to use the option to connect to higher-level automation systems via DeviceNet and PROFIBUS DP-V1.
and to the MOVIAXIS
fieldbus systems.
®
®
servo inverter.
®
B, MOVITRAC® B and MOVIAXIS® for gateway operation.
B, MOVITRAC® B inverters
3.2.1 Process data exchange
The UFF41B fieldbus gateway allows for digital access to most parameters and func­tions via the DeviceNet and PROFIBUS interfaces. Control is performed via fast, cyclic process data. Via this process data channel, you can enter setpoints and trigger various control functions, such as enable, normal stop, rapid stop, etc. At the same time you can also use this channel to read back actual values, such as actual speed, current, unit status, error number or reference signals. In DeviceNet operation, process data are exchanged with polled I/O and bit-strobe I/O. In PROFIBUS operation, they are ex­changed via I/O data in the master.
3.2.2 Parameter access
In DeviceNet operation, the parameters of the inverter are set solely via explicit messages.
In PROFIBUS operation, the PROFIBUS DP-V1 parameter mechanisms lets you access any device information.
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Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
3.2.3 Monitoring functions
Using a fieldbus system requires additional monitoring functions, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts. You can determine, for instance, which fault responses should be triggered in the event of a bus error. The parameters for the fault response can be set in the servo inverter / inverter. A rapid stop is useful for many applications. This is why the fieldbus gateway will stop the lower-level drives in the event of a fieldbus timeout. As the range of functions for the control termi­nals is also guaranteed in fieldbus mode, you can continue to implement rapid stop concepts using the servo inverters/inverters connected to the fieldbus gateway.
Introduction
Characteristics
3
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
11
4
EURODRIVE
X35
X36
X37
Version
1 2 3
1
342
1
2 3
1 2 3
1 2 3
X32X33
S1
L1 L2 L3 L5
XM
L4
UFF41B
2 2 2 2
0 1 2
3 2 2 2
4
5
6 2
7
1 2 3
X38
L18
X30P
1
5
X30D
S2
L16 L15
L14
L13
L12
L11
L17
ON
X35
X36
X37
Version
1 2 3
1
342
1
2 3
1 2 3
1 2 3
X32X33
S1
L1 L2 L3L5
XM
L4
UFF41B
2 2 2 2
0 1 2
3 2 2 2
4
5
6 2
7
1 2 3
X38
L18
X30P
1
5
X30D
S2
L16 L15
L14
L13
L12
L11
L17
ON
X26
1
23456
7
X24
H1
H2
MOVIAXIS
T1
T1
MOVIAXIS®MXM UFF41B/ UOH21B
Assembly and Installation Instructions
Installation options of the UFF41B fieldbus gateway
4 Assembly and Installation Instructions
This chapter contains information on the assembly and installation of the UFF41B field­bus gateway in a MOVIAXIS
4.1 Installation options of the UFF41B fieldbus gateway
Observe the following installation instructions:
TIP
Only SEW-EURODRIVE is allowed to install/remove the UFF41B fieldbus gateway into/from a MOVIAXIS
®
master module MXM or in an UOH21B gateway housing.
®
master module MXM and an UOH21B gateway housing.
64421AXX
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Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
4.2 Voltage supply
Voltage supply, system bus and fieldbus interfaces as well as the engineering interface are located at different potential levels (see chapter 13.1).
Assembly and Installation Instructions
Voltage supply
4
4.2.1 Voltage supply in the MOVIAXIS
®
master module
TIP
The MOVIAXIS® master module MXM provides additional connections that are described in the following section.
Functional description of the terminals, X5a/X5b (MOVIAXIS
MOVIAXIS® master module MXM
1
X5b
2 3 4
1
X5a
2 3 4
59233AXX
• The terminals X5a and X5b are connected in parallel. In this way, the voltage supply of the MOVIAXIS below to X5a. With connection to X5a, further modules can be connected via X5b (e.g. supply module, axis module). The voltage supply for the brake (X5a/b:3, 4) is fed through the MOVIAXIS
• The UFF41B fieldbus gateway can be supplied from the MOVIAXIS power supply (MXS) or from an external voltage source. To do so, connect X5 between the individual units.
• If the UFF41B fieldbus gateway is connected with DC 24 V from the MOVIAXIS switched-mode power supply, the functioning of the option is maintained after dis­connection from the power supply. This is the case if the DC link voltage is main­tained or an external DC 24 V supply is present from the MOVIAXIS power supply.
Designation Terminal Function
X5b connector X5b:1
Terminal X5a X5a:1
®
master module can be provided from the right to X5b or from
X5b:2 X5b:3 X5b:4
X5a:2 X5a:3 X5a:4
®
master module.
®
master module)
DC 24 V DGND DC 24 V BGND
DC 24 V DGND DC 24 V BGND
Voltage supply for control electronics
E
Reference potential for control electronics
B
Voltage supply for brake Reference potential for brake connection
Voltage supply for control electronics
E
Reference potential for control electronics
B
Voltage supply for brake Reference potential for brake connection
®
switched-mode
®
switched-mode
®
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
13
4
MOVIAXIS®
master module MXM
2
X5b
1
DC 24V
E
DGND
3
DC 24V
B
4 BGND
DC 24 V for
brake supply
DC 24 V supply for control electronics
+-+-
X16
-
+
DC 24 V external
X5a
2
1
3 4
X5a
2
1
3 4
X5b
2
1
3 4
MOVIAXIS® switched-mode power supply MXS
X35
X36
X37
Version
1 2 3
1
342
1
2 3
1 2 3
1 2 3
X
32
X33
S1
L1 L2 L3L5
XM
L4
UFF41B
2 2 2 2
0 1 2 3
2 2 2
4 5 6
2
7
1 2 3
X38
L
18
X30P
1
5
X30D
S2
L16 L15
L14
L13
L12
L11
L17
ON
T1
Wiring diagram
Assembly and Installation Instructions
Voltage supply
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Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
64424AEN
Assembly and Installation Instructions
X24
H1 H2
4.2.2 Voltage supply in the UOH21B gateway housing
Description of the terminals and LED functions
Voltage supply
4
Front view MOVITRAC compact controller
Side view compact controller
X26
2345671
®
B /
58905AXX
58906AXX
X26:1 X24:2 X24:3 X24:4 X26:5 X26:6 X26:7
LED Terminal
H2 X24:4
X24:3 X24:2 X24:1
CAN1H CAN1L DGND Reserved Reserved DGND DC 24 V
Function
Reserved Reserved
No function.
Engineering cannot be performed using X24.
System bus CAN 1 high System bus CAN 1 low Reference potential control/CAN1
-
­Reference potential for UFF41B Voltage supply for controller
Designation
LED H1
Connector X24: RJ10 socket
Designation Terminal Function
Connector X26: CAN 1 and volt­age supply (plug-in terminal)
Connection of CAN 1 system bus / voltage supply (terminal X26)
The connections for CAN 1 (X26:1/2/3 and connector X33) are connected in parallel. The UFF41B fieldbus gateway is supplied with voltage in the UOH21B gateway housing via X26:6/7.
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
15
4
UFF41B
X35
X36
X37
Version
1 2 3
1
342
1
2 3
1 2 3
1 2 3
X32X33
S1
L1 L2 L3L5
XM
L4
T1
UFR41B
Assembly and Installation Instructions
Connecting inverters and engineering PC
4.3 Connecting inverters and engineering PC
4.3.1 Functional description of the terminals, DIP switch es and LEDs of the UFF41B option
Connectors, LEDs and DIP switches in the upper part of the UFF41B fieldbus gateway allow for connection to the fieldbus systems DeviceNet (see section "Connecting the UFF41B fieldbus gateway to a DeviceNet network") and PROFIBUS-DP (see section "Connecting the UFF41B fieldbus gateway to a PROFIBUS network").
Front view UFF41B fieldbus gateway
64418AXX
LED
Designation
DIP switch Terminal
LED LED 1
LED 2 LED 3 LED 4 LED 5
Terminal X35: USB connection
X35:1 X35:2 X35:3 X35:4
Terminal X36:
X36 Connection of an EtherCAT based system bus (RJ45 socket)
Terminal X37:
X37 Ethernet for engineering Ethernet connection (RJ45 socket)
Terminal X32: System bus CAN 2 (electrically isolated)
X32:1
X32:2
X32:3 (plug-in terminals)
Terminal X33: System bus CAN 1 (plug-in terminals)
X33:1
X33:2
X33:3 DIP switch S1
Memory card M1
Button T1
CAN 1 status CAN 2 status Program status Gateway status Gateway error
USB+5 V USB­USB+ DGND
Standard Ethernet assignment
BZG_CAN 2 CAN 2H CAN 2L
DGND CAN 1H CAN 1L
To p Bottom
Function
Status of CAN 1 system bus Status of CAN 2 system bus Status of gateway program Status of gateway firmware Status of gateway error (see section "Error messages of the fieldbus gateway")
DC 5 V voltage supply Signal USB­Signal USB+ Reference potential
plus
System bus SBUS
(in preparation)
Reference potential for system bus CAN 2 System bus CAN 2 high System bus CAN 2 low
Reference potential for system bus CAN 1 System bus CAN 1 high System bus CAN 1 low
Default IP address (192.168.10.4) IP parameter from SD memory card
Memory for firmware, gateway application, gate­way configuration, and inverter parameters
For Bootloader update (see section "SD memory card OMG4.B")
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Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Assembly and Installation Instructions
UFF41B
DGND
MDX60B/61B
X12
SC11
2
1
3
SC12
UFR41B
X31X32X33
1 2 3
1 2 3
1 2 3
2 3
1
ON OFF
S12
X45
X46
1
23456HL
FSC11B
MOVITRAC® B
S1
OFF
ON
7
S2
X44
Connecting inverters and engineering PC
4.3.2 Connecting CAN 1 system bus (terminal X33) / CAN 2 (terminal X32 )
Do not connect more than 64 units to the CAN 1 or CAN 2 system bus. The system bus supports the address range 0 to 63.
TIPS
• The CAN 1 system bus is not electrically isolated. Therefore, it is recommended to
use the CAN 1 (X33 or X26 with UFF41B/UOH21B) interface to connect inverters
via the system bus in the control cabinet. Set the P881 SBus address parameter in
increasing order to values 1 - 16 if the slave unit is connected to CAN 1 or the field­bus gateway.
• The CAN 2 system bus is electrically isolated. Therefore, preferably use interface CAN 2 (X32) for connecting field units or units in other control cabinets. Set the
P881 SBus address parameter in increasing order to values 17 - 34 if the unit is
connected to CAN 2 or the fieldbus gateway.
4
The CAN system bus supports transmission systems compliant with ISO 11898. For detailed information on the CAN system bus, refer to the "MOVIDRIVE
®
Communication and Fieldbus Device Profile" manual. You can order this manual from SEW­EURODRIVE.
®
Wiring diagram for MOVIDRIVE
B, MOVITRAC® B on CAN 1 system bus
64714AXX
Cable specification • Use a 2 x 2-core twisted and shielded copper cable (data transmission cable with
braided copper shield). Clamping without conductor end sleeves is possible in accor­dance with IEC 60999. The cable must meet the following specifications:
2
– Cable cross-section 0.2 to 1.0 mm
(AWG 24 - AWG 18)
– Cable resistance 120 Ω at 1 MHz
Cable length • The permitted total cable length depends on the baud rate setting of the system bus:
– Capacitance per unit length ≤ 40 pF/m at 1 kHz
Suitable cables include CAN bus or DeviceNet cables.
– 125 kBaud → 500 m – 250 kBaud → 250 m – 500 kBaud → 100 m – 1000 kBaud → 40 m
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
17
4
Assembly and Installation Instructions
Connecting inverters and engineering PC
Terminating resistor
• Switch on the system bus terminating resistor at the start and end of the CAN system
bus connection (MOVIDRIVE S1 = ON). For all other devices, switch off the terminating resistor (MOVIDRIVE DIP switch S12 = OFF; MOVITRAC way is, for example, located at the end of the CAN 2 system bus, you have to connect a terminating resistor of 120 Ω between pins X32:2 and X32:3 (for CAN 1: Terminat­ing resistor betwee
n pins X33:2 and X33:3).
®
B, DIP switch S12 = ON; MOVITRAC® B, DIP switch
®
B, DIP switch S1 = OFF). If the fieldbus gate-
®
B,
CAUTION
•There must not be any potential displacement between the units connected via the
CAN 2 system bus.
•There must not be any potential displacement between the units connected via the
CAN 1 system bus.
• Take suitable measures to avoid potential displacement, such as connecting the
unit ground connectors using a separate cable.
18
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Assembly and Installation Instructions
0
1
0
1
0
1
0
1
0
1
0
1
[1]
Connecting inverters and engineering PC
Wiring diagram for MOVIAXIS® on CAN 1 system bus
4
[1] Terminating resistor
Overview of system connection cables
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Type Part number Description CAN system cable 0819 692 3 CAN1 connection cable,
750 mm, RJ45-RJ45 CAN1 connection cable,
3000 mm, RJ45-RJ45 CAN2 adapter cable 1810 1607
CAN2 connection cable 1810 1585
CAN2 connection cable 1810 1593
System cable UFF41B gateway CAN 1 post connector (or CAN 2) to MOVIAXIS supply/regenerative power module CAN 1 system bus RJ45, length: 750 mm
0819 7261
0819 8993
CAN1 connection cable between MOVIAXIS system, length: 750 mm
CAN1 connection cable between MOVIAXIS system, length: 3000 mm
CAN2 post connector between master module and CAN2 SUB-D9 MOVIAXIS length: 500 mm
CAN2 SUB-D9 MOVIAXIS modules
CAN2 SUB-D9 MOVIAXIS
®
and CAN2 SUB-D9 MOVIAXIS®, to connect 3 axis
®
and CAN2 SUB-D9 MOVIAXIS®, to connect 4 axis
®
axis system and MOVIAXIS® axis
®
axis system and MOVIAXIS® axis
modules
Terminating resistor CAN 2 1810 1615 Terminating resistor for CAN 2 connections between axis modules
64784AXX
®
®
,
19
4
X46
ON
OFF
S 2
S 1
1
2
3
4
5
6
7
0
1
0
1
0
1
X12
MOVIAXIS
®
MOVITRAC
®
MOVIDRIVE
®
123
MOVITRAC
®
Assembly and Installation Instructions
Connecting inverters and engineering PC
Wiring diagram for MOVIAXIS®, MOVIDRIVE® B and MOVITRAC® B on CAN 1 system bus
Overview of system connection cables
Type Part number Description
20
CAN1 connection cable, 750 mm, RJ45 litz wire
CAN1 connection cable, 3000 mm, RJ45 litz wire
0819 7288
0819 7563
CAN connection cable MOVIAXIS length: 750 mm
CAN connection cable MOVIAXIS length: 3000 mm
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
®
axis system to MOVIDRIVE® and MOVITRAC®,
®
axis system to MOVIDRIVE® and MOVITRAC®,
64783AXX
Assembly and Installation Instructions
Connecting inverters and engineering PC
4
4.3.3 Connecting SBUS
plus
system bus (terminal X36)
Terminal X36 is intended for connecting a system bus based on EtherCAT (SBUS
4.3.4 Ethernet interface terminal (terminal X37)
You can connect an engineering PC to the Ethernet interface (terminal X37).
UFF41B
X35
342
1
Version
X36
S1
X37
1
1
XM L4
2
2
X32X33
3
3
1
1
2
2
3
3
L1 L2 L3L5
plus
).
64420AXX
The Ethernet interface (X37) supports auto crossing auto negotiation for baud rate and duplex mode. The IP parameters are defined depending on DIP switch S1 (see section "DIP switches S1 default IP address").
In addition to the engineering access via terminal X37, there is another engineering access via PROFIBUS (see section "Operation of MOVITOOLS
®
MotionStudio").
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
21
4
[3]
[2]
[1]
2
3
6
1
[6]
AB
Assembly and Installation Instructions
Connecting inverters and engineering PC
4.3.5 Pin assignment X37 (Ethernet for engineering)
Use prefabricated, shielded RJ45 plug connectors compliant with IEC 11801 edition 2.0, category 5.
Figure 1: Pin assignment of an RJ45 plug connector
A = Front view
B = View from back
[1] Pin 1 TX+ Transmit Plus
[2] Pin 2 TX- Transmit Minus
[3] Pin 3 RX+ Receive Plus
[6] Pin 6 RX- Receive Minus
Connecting UFF41B fieldbus gateway to Ethernet
To connect UFF41B to the Ethernet, connect the Ethernet interface X37 (RJ45 plug connector) to the other network stations using a category 5, class D twisted-pair cable in accordance with IEC 11801 edition 2.0. The interface supports auto crossing and high auto negotiation for baud rate and duplex mode.
TIP
According to IEC 802.3, the maximum cable length for 10/100 MBaud Ethernet (10BaseT / 100BaseT), e.g. between two network stations, is 100 m.
54174AXX
22
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Assembly and Installation Instructions
Status LED of the UFF41B fieldbus gateway
4.4 Status LED of the UFF41B fieldbus gateway
4
LED L1 (CAN 1 status)
LED L2 (CAN 2 status)
The LED L1 indicates the status of the CAN 1 system bus.
Status of the L1 LED
Orange The CAN 1 system bus is initialized. Green The CAN 1 system bus is initialized. Flashing green
(0.5 Hz) Flashing green
(1 Hz) Red The CAN 1 system bus is off (BUS-
Flashing red (1 Hz)
Diagnostics Remedy
The CAN 1 system bus is currently in SCOM suspend mode.
The CAN 1 system bus is currently in SCOM On mode.
OFF).
Warning on the CAN 1 system bus. 1. Check and correct the cabling of the
-
1. Check and correct the cabling of the CAN 1 system bus.
2. Check and correct the baud rate set for the CAN 1 system bus.
3. Check and correct the terminating resistors of the CAN 1 system bus.
CAN 1 system bus.
2. Check and correct the baud rate set for the CAN 1 system bus.
The LED L2 indicates the status of the CAN 2 system bus.
Status of the L2 LED
Orange The CAN 2 system bus is initialized. - Green The CAN 2 system bus is initialized. - Flashing green
(0.5 Hz) Flashing green
(1 Hz) Red The CAN 2 system bus is off (BUS-
Flashing red (1 Hz)
Diagnostics Remedy
The CAN 2 system bus is currently in SCOM suspend mode.
The CAN 2 system bus is currently in SCOM On mode.
OFF).
Warning on the CAN 2 system bus. 1. Check and correct the cabling of the
-
-
1. Check and correct the cabling of the CAN 2 system bus.
2. Check and correct the baud rate set for the CAN 2 system bus.
3. Check and correct the terminating resistors of the CAN 2 system bus.
CAN 2 system bus.
2. Check and correct the baud rate set for the CAN 2 system bus.
LED L3 (program status)
LED L3 indicates the status of the gateway program.
Status of L3 Diagnostics Remedy Green Gateway program is running. - Off No gateway program is loaded. Load a gateway program into the controller. Flashing orange
(1 Hz)
Program has stopped. Bootloader update required (see section
"SD memory card type OMG4.B")
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
23
4
Assembly and Installation Instructions
DIP switch S1 default IP address
LED 4 (PLC status)
LED L4 indicates the firmware status of the fieldbus gateway.
Status of the L4 LED Diagnostics Remedy Flashing green
(1 Hz) Red • No SD card plugged in.
Flashing orange (1 Hz)
The firmware of the fieldbus gateway is running properly.
• File system of the SC card corrupt
Program has stopped. Bootloader update required (see section
-
"SD memory card type OMG4.B")
LED L5 (user) LED L5 is lit up red if the gateway program has detected an error and if this error can
only be eliminated after diagnostics with MOVITOOLS
®
MotionStudio.
4.5 DIP switch S1 default IP address
With DIP switch S1, you can set a default IP address for the Ethernet connection (X37). The set IP address is applied in the next boot process.
S1 switch setting Meaning
Top IP p a r a m e t e r :
Bottom The IP parameters defined on the memory card of the UFF41B gateway are used.
• IP address: 192.168.10.4
• Subnet mask: 255.255.255.0
• Standard gateway: 1.0.0.0
The IP parameters for engineering interface X37 are entered in the file "...\Sys­tem\NetConfig.cfg" in section "Ethernet 2". You can adjust the file using a text editor (e.g. Notepad).
4.5.1 TCP / IP addressing and subnetworks
Introduction The settings for the address of the IP protocol are made using the following parameters:
• MAC address
• IP address
• Subnet mask
• Standard gateway
The addressing mechanisms and subdivision of the IP networks into sub-networks are explained in this chapter to help you set the parameters correctly.
MAC address The MAC address (Media Access Controller) is the basis for all address settings. The
MAC address is a worldwide unique 6-byte value (48 bits) assigned to the Ethernet device. SEW Ethernet devices have the MAC address 00-0F-69-xx-xx-xx. The MAC address is difficult to handle for larger networks. This is why freely assignable IP addresses are used.
IP address The IP address is a 32 bit value that uniquely identifies a station in the network. An IP
address is represented by four decimal numbers separated by decimal points.
Example: 192.168.10.4
24
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Assembly and Installation Instructions
DIP switch S1 default IP address
Each decimal number stands for one byte (= 8 bits) of the address and can also be represented using binary code (see following table).
Byte 1 Byte 2 Byte 3 Byte 4
11000000 . 10101000 . 00001010 . 00000100
The IP address comprises a network address and a station address (see following table).
Network address Station address
192.168.10 4
The part of the IP address that denotes the network and the part that identifies the station is determined by the network class and the subnetwork mask.
Station addresses cannot consist of only zeros or ones (binary) because they represent the network itself or a broadcast address.
Network classes The first byte of the IP address determines the network class and as such represents
the division into network addresses and station addresses.
4
Subnetwork mask
Value range Byte 1
0 - 127 A 10.1.22.3 10 = Network address
128 - 191 B 172.16.52.4 172.16 = Network address
192 - 223 C 192.168.10.4 192.168.10 = Network address
Network class
Complete network address (Example)
Meaning
1.22.3 = Station address
52.4 = Station address
4 = Station address
This rough division is not sufficient for a number of networks. They also use an explicit, adjustable subnetwork mask.
A subnetwork mask is used to divide the network classes into even finer sections. The subnetwork mask is represented by four decimal numbers separated by decimal points, in the same way as the IP address.
Example: 255.255.255.128
Each decimal number stands for one byte (= 8 bits) of the subnetwork mask and can also be represented using binary code (see following table).
Byte 1 Byte 2 Byte 3 Byte 4
11111111 . 11111111 . 11111111 . 1 0000000
If you compare the IP addresses with the subnetwork masks, you see that in the binary representation of the subnetwork mask all ones determine the network address and all the zeros determine the station address (see following table).
Byte 1 Byte 2 Byte 3 Byte 4
IP address
Subnet mask
decimal 192 . 168. . 10 . 129
binary 11000000 . 10101000 . 00001010 . 10000001
decimal 255 . 255 . 255 . 128
binary 11111111 . 11111111 . 11111111 . 10000000
The class C network with the address 192.168.10. is further subdivided into
255.255.255.128 using the subnetwork mask. Two networks are created with the address 192.168.10.0 and 192.168.10.128.
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
25
4
Standard gateway The standard gateway is also addressed via a 32-bit address. The 32-bit address is rep-
Assembly and Installation Instructions
SD memory card type OMG4.B
The following station addresses are permitted in the two networks:
• 192.168.10.1 - 192.168.10.126
• 192.168.10.129 - 192.168.10.254
The network stations use a logical AND operation for the IP address and the subnetwork mask to determine whether there is a communication partner in the same network or in another network. If the communication partner is in a different network, the standard gateway is addressed for passing on the data.
resented by four decimal numbers separated by decimal points.
Example: 192.168.10.1
The standard gateway establishes a connection to other networks. In this way, a net­work station that wants to address another station can use a logical AND operation with the IP address and the subnetwork mask to decide whether the desired station is located in the same network. If this is not the case, the station addresses the standard gateway (router), which must be part of the actual network. The standard gateway then takes on the job of transmitting the data packages.
4.6 SD memory card type OMG4.B
The SD memory card type OMG4.B is required for operating the UFF41B fieldbus gate-
Bootloader update
way and contains the firmware, the gateway program, and the gateway configuration. With a MOVIAXIS terization in case an axis needs to be replaced.
The SD memory card type OMG4.B is included in the scope of delivery of the UFF41B fieldbus gateway.
Only use type OMG4.B memory cards in a UFF41B fieldbus gateway.
When the LEDs L3 and L4 flash orange at a 1 Hz frequency after power-on, a bootloader update is required. Proceed as follows:
• Do not switch off the power supply during the entire process.
• Press the reset button T1 on the front of the UFF41B fieldbus gateway for 3 seconds. When the bootloader update starts, only LED 4 is flashing.
• The bootloader update has been successful when L4 flashes green.
®
axis module, it is also used for data backup and automatic parame-
26
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Assembly and Installation Instructions
UFF41B
2 2 2 2
0 1 2 3
2 2 2
4 5 6
2
7
1 2 3
X38
L18
X30P
1
5
X30D
S2
L16 L15
L14
L13
L12
L11
L17
ON
Connecting the UFF41B fieldbus gateway to a DeviceNet network
4.7 Connecting the UFF41B fieldbus gateway to a DeviceNet network
The following sections describes the terminals, DIP switches, and LEDs relevant for DeviceNet fieldbus operation.
4
Front view UFF41B fieldbus gateway
64775AXX
LED
Designation
DIP switch Terminal
LED LED 18
LED 17 LED 16
LED 15 LED 14 LED 13 LED 12 LED 11
Terminal X30D: DeviceNet (plug-in terminals)
X30D:1 X30D:2 X30D:3 X30D:4 X30D:5
DIP switch S2
S2 To p Switching between PROFIBUS and DeviceNet
For operation via DeviceNet: DIP switch for setting the MAC ID and the baud rate
Terminal X38: CAN for safety-relevant communication
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
X38:1
X38:2
X38:3 (plug-in terminals)
Mod/Net Polled I/O Bit-strobe I/O BUSFAULT
-
-
V­CAN_L DRAIN CAN_H V+
Bottom
Function
LEDs 17 and 18 are reserved for PROFIBUS. LED 18 is lit orange: UFF41B option is being initialized The two-color LEDs 13 to 16 indicate the current status of the fieldbus interface and the DeviceNet system.
Reserved Reserved
0V24 CAN_L DRAIN CAN_H 24 V
Fieldbus interface PROFIBUS (X30P) active Fieldbus interface DeviceNet (X30D) active
The DIP switches 20 - 25 are used to set the MAC ID (Media Access Control Identifier). The MAC ID represents the node address (address range 0 - 63)
Baud rate setting Baud rate setting
Reserved Reserved Reserved
4.7.1 Pin assignment X30D (DeviceNet)
The assignment of connecting terminals is described in the DeviceNet specification (Volume I, Appendix A).
DFD11B
UFF41B
1 2 3
4
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
5
X30D
The UFF41B option is opto-decoupled on the driver side in accordance with the DeviceNet specification (Volume I, Chapter 9). This means the CAN bus driver must be powered with 24 V voltage via the bus cable. The cable to be used is also described in the DeviceNet specification (Volume I, Appendix B). The connection must be made according to the color code specified in the following table.
61612BXX
27
4
Assembly and Installation Instructions
Connecting the UFF41B fieldbus gateway to a DeviceNet network
Pin no. Signal Meaning Color coding
1V- 0V24 BK
2CAN_L CAN_L BU
3 DRAIN DRAIN blank
4CAN_H CAN_H WH
5V+ 24 V RD
UFF41B and DeviceNet connection
According to the DeviceNet specification, a linear bus structure without or with very short droplines is required.
The maximum permitted cable length depends on the baud rate setting:
Baud rate Maximum cable length
500 kBaud 100 m
250 kBaud 250 m
125 kBaud 500 m
4.7.2 Bus termination
In order to avoid disruptions in the bus system due to reflections, each DeviceNet seg­ment must be terminated with 120 Ω bus terminating resistors at the first and last phys­ical station. Connect the bus terminating resistor between connections 2 and 4 of the bus plug.
4.7.3 Setting the DIP switches
TIP
De-energize the UFF41B fieldbus gateway before you change the DIP switch settings. The DIP switch settings are adopted during initialization only.
UFF41B
0
2
1
2
2
2
ON
3
2
4
2
5
2
6
2
7
2
64419AXX
20-25 = MAC ID setting
6-27
2
= Baud rate setting
Setting the MAC IDThe MAC ID (Media Access Control Identifier) is set on the UFF41B option using DIP
switches 2
0
- 25 in a binary coded manner. The MAC ID represents the node address
of the UFF41B. The UFF41B supports the address range 0 - 63.
28
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
Assembly and Installation Instructions
Connecting the UFF41B fieldbus gateway to a DeviceNet network
4
Setting the baud rate
The baud rate is set using DIP switches 26 and 27.
DIP switch
6
2
0 0 125 kBaud
1 0 250 kBaud
0 1 500 kBaud
11Invalid
7
2
Baud rate
A maximum of 64 DeviceNet data words can be exchanged between the DeviceNet module and the UFF41B option. The number is set using the DeviceNet scanner.
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
29
4
Assembly and Installation Instructions
Connecting the UFF41B fieldbus gateway to a DeviceNet network
4.7.4 Status LED in DeviceNet operation
The UFF41B fieldbus gateway has four two-color LEDs for diagnostic of the DeviceNet system; they indicate the current status of the UFF41B and the DeviceNet system. The unit status corresponding to the status of the LED is described in chapter "Error diagnostics".
Designation Abbreviation Complete LED designation
L16 MOD/NET Module/Network status
L15 PIO Polled I/O
L14 BIO Bit-strobe IO
L13 BUS FAULT BUS FAULT
LED
LED L16 (Mod/Net)
The function of the L16 LED (Mod/Net = Module/Network Status) described in the
following table is specified in the DeviceNet specification.
Status of the L16 LED
Off Not switched on/offline • Unit is offline
Flashing green (1 s cycle)
Lights up green Online, operational mode
Flashing red (1 s cycle)
Red light Critical fault or critical link
Status Meaning
• Unit performs DUP MAC check
• Unit is switched off
Online and in operational mode
and connected
Minor fault or connection timeout
failure
• The unit is online and no connection has been established
• DUP-MAC check performed successfully
• A connection has not yet been established with a master
• Missing, incorrect or incomplete configuration
•Online
• Connection to a master has been established
• Connection is active (established state)
• A correctable fault has occurred
• Polled I/O and/or bit strobe I/O connections are in the timeout status
• DUP-MAC check has detected an error
• A correctable fault has occurred
•BusOff
• DUP-MAC check has detected an error
L15 LED (PIO) The L15 (Polled I/O) LED monitors the polled I/O connection.
Status of the L15 LED
Flashing green (125 ms cycle)
Off Not switched on / offline
Flashing green (1 s cycle)
Lights up green Online, operational mode
Flashing red (1 s cycle)
Red light Critical fault or critical link
30
Status Meaning
DUP-MAC check Unit is performing DUP-MAC check
but not DUP-MAC check
Online and in operational mode
and connected
Minor fault or connection timeout
failure
• Unit is offline
• Unit is switched off
• Unit is online
• DUP-MAC check performed successfully
• A polled IO connection is being established with a master (configuring state)
• Missing, incorrect or incomplete configuration
•Online
• A polled I/O connection has been established (established state)
• Invalid baud rate set via DIP switches
• A correctable fault has occurred
• Polled I/O connection is in timeout status
• A fault that cannot be remedied has occurred
•BusOff
• DUP-MAC check has detected an error
Manual – Fieldbus Gateway UFF41B DeviceNet and PROFIBUS DP
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