LXM32M
Modbus-TCP module
Fieldbus manual
V1.01, 01.2012
ETH
LXM32M
Table of contents
Table of contents
Modbus-TCP module
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Table of contents
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Modbus-TCP module
LXM32M
Table of contents
Modbus-TCP module
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Modbus-TCP module
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About this manual
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:
Source CAD data For easier engineering, CAD data (EPLAN macros or drawings) are
available for download from the Internet at:
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:
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 prod-
uct 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_Aor
STO_B.
Glossary Explanations of special technical terms and abbreviations.
Modbus-TCP module
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About this manual
Index List of keywords with references to the corresponding page numbers.
Further reading
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Modbus-TCP module
LXM32M
1 Introduction
1
Introduction
1
Different products with a Modbus TCP interface can be operated in
the same fieldbus. Modbus TCP provides a common basis for inter-
changing commands and data between the network devices.
L
N
Figure 1: Fieldbus products on the network
Features The product supports the following functions via Modbus TCP:
•
•
Automatic IP address assignment via BOOTP or DHCP
Automatically obtaining configuration data via the FDR (Fast
Device Replacement) service
•
•
•
•
•
•
Commissioning via commissioning software
Diagnostics and configuration via integrated web server
Reading and writing parameters
Controlling the drive
Monitoring inputs and outputs
Diagnostics and monitoring functions
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1 Introduction
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Modbus-TCP module
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2 Before you begin - safety information
2
Before you begin - safety information
2
2.1
Qualification of personnel
Only appropriately trained persons who are familiar with and under-
stand the contents of this manual and all other pertinent product docu-
mentation 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 chang-
ing the settings and by the mechanical, electrical and electronic equip-
ment 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 regula-
tions 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 techni-
cal 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
DANGER indicates an imminently hazardous situation, which, if not
avoided, will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not
avoided, can result in death, serious injury, or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not
avoided, can result in injury or equipment damage.
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 Before you begin - safety information
WARNING
2.4
Basic information
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. Consider-
ation must be given to the implication of unanticipated transmis-
sion delays or failures of the link.
•
•
Observe all accident prevention regulations and local safety
guidelines. 1)
Each implementation of the product must be individually and thor-
oughly tested for proper operation before being placed into serv-
ice.
Failure to follow these instructions can result in death or seri-
ous injury.
1) 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 perti-
nent 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 sys-
tems"
•
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
Basics
3
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.
The Modbus TCP services are identical to the Modbus RTU services.
3.1.2 Bus topology
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 recom-
mended 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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3.1.3 Client / server model
Request
Indication
Response
Modbus Client
Modbus Server
Confirmation
Figure 2: Client / server model
The Modbus messaging service implements client/server communica-
tion between devices connected by means of a TCP/IP network. Mod-
bus 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.
The product analyzes the Modus requests received. Depending on the
Modbus request, the product triggers actions or provides requested
data.
3.1.4 Network service SNMP
The Internet community has developed the SNMP standard "Simple
Network Management Protocol" to support the management of differ-
ent 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.
SNMP agent ConneXview The product supports SNMP version 1.0. An SNMP agent must be
used to monitor a network with SNMP. Schneider Electric offers the
tool ConneXview for such purposes.
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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".
MODBUS TCP/IP ADU
MBAP Header
Function code
Data
MODBUS PDU
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, depend-
ing on the "Function Code".
Due to the encapsulation of "Function Code" and "Data" in the Mod-
bus 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 Mod-
bus PDU has a fixed length, the "Function Code" is sufficient.
In the case of a "Function Code" for which the "Data" field in the Mod-
bus 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
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 undetec-
ted 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
1 byte
Number of bytes to follow.
Unit Identifier
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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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 connec-
tion 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 transac-
tion 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 circumstan-
ces.
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 old-
est 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 pro-
cessed 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 dur-
ing 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 trans-
mitted, the connection is terminated. In the case of other other error, a
negative Modbus response is sent.
Excep-
tion Code
Name
Description
01
Illegal Function Code The "Function Code" is unknown to the
server.
02
03
04
Illegal Data Address
Illegal Data Value
Server Failure
Depends on the Modbus request
Depends on the Modbus request
The server was unable to properly termi-
nate processing.
05
Acknowledge
The server has accepted the Modbus
request. However, the execution takes a
relatively long time. The server therefore
only returns an acknowledgement con-
firming receipt of the service request.
06
Server Busy
The server was unable to accept the
Modbus request. It is the responsibility of
the application on the client to determine
whether and when to re-send the request.
0A
0B
Gateway Problem
Gateway Problem
The gateway path is unavailable.
The targeted device does not respond.
The gateway generates this error.
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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 Mod-
bus 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_KPpwith the Modbus parameter address
4614 and length 2 is read, the two parameter addresses 4614 and
4615 are read. Result:
Address
4614
Value
0000h
00C8h
4615
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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 execu-
ted.
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.
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 Basics
3.3.4.1 I/O scanning Output
The table below shows the structure of the cyclic data for the com-
mands from the master to the product. See the product manual for a
description of the parameters.
Byte
Meaning
ParCh
Data type
-
Parameter address
0 ... 7
8 ... 9
Parameter channel
dmControl
INT
-
-
-
10 ... 13 RefA32
DINT
DINT
DINT
14 ... 17 RefB32
18 ... 21 Ramp_v_acc
Parameter Ramp_v_acc
Modbus 1556
22 ... 25 Ramp_v_dec
26 ... 29 EthOptMapOut1
30 ... 33 EthOptMapOut2
34 ... 37 EthOptMapOut3
DINT
DINT
DINT
DINT
Parameter Ramp_v_dec
Modbus 1558
Parameter EthOptMapOut1
Modbus 17500
Parameter EthOptMapOut2
Modbus 17502
Parameter EthOptMapOut3
Modbus 17504
ParCh Parameters can be read or written via "ParCh", see chapter
dmControl The word "dmControl" is used to set the operating state and the oper-
ating mode.
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 param-
eters of the same name. See the product manual for a description.
EthOptMapOut1 ... EthOptMap- The double words EthOptMapOut1 ... EthOptMapOut3 contain select-
Out3 able parameters, see chapter
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3 Basics
3.3.4.2 I/O scanning Input
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
ParCh
Data type
-
Parameter address
0 ... 7
8 ... 9
Parameter channel
driveStat
INT
-
-
-
-
10 ... 11 mfStat
INT
12 ... 13 motionStat
14 ... 15 driveInput
16 ... 19 _p_act
INT
INT
DINT
Parameter _p_act
Modbus 7706
20 ... 23 _v_act
DINT
INT
Parameter _v_act
Modbus 7744
24 ... 25 _I_act
Parameter _I_act
Modbus 7686
26 ... 29 EthOptMapInp1
30 ... 33 EthOptMapInp2
34 ... 37 EthOptMapInp3
DINT
DINT
DINT
Parameter EthOptMapInp1
Modbus 17512
Parameter EthOptMapInp2
Modbus 17514
Parameter EthOptMapInp3
Modbus 17516
ParCh Parameters can be read or written via "ParCh", see chapter
driveStat The current operating state is indicated with the "driveStat" word.
For a detailed description of the bits, see chapter
mfStat The word "mfStat" is used to indicate the current operating mode.
For a detailed description of the bits, see chapter
motionStat The word "motionStat" is used to provide information on the motor and
profile generator.
bit
0 ... 5
6
Meaning
Reserved
MOTZ: Motor at a standstill
MOTP: Motor movement in positive direction
MOTN: Motor movement in negative direction
PWIN: Motor within position window
Reserved
7
8
9
10
11
12
13
14
15
TAR0: Profile generator at standstill
DEC: Profile generator decelerates
ACC: Profile generator accelerates
CNST: Profile generator moves at constant velocity
Reserved
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3 Basics
driveInput The word "driveInput" is used to indicate the status of the digital signal
inputs.
bit
Signal
DI0
DI1
DI2
DI3
DI4
DI5
-
Factory setting
0
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
Signal input function Freely Available
Reserved
1
2
3
4
5
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.
EthOptMapInp1 ... EthOptMapInp3 The double words EthOptMapInp1 ... EthOptMapInp3 contain selecta-
ble parameters. The product manual provides descriptions of the
parameters EthOptMapInp1 ... EthOptMapInp3 which explain parame-
ter mapping.
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3 Basics
3.3.4.3 Parameter channel
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.
Byte
0
1
2
3
4
5
6
7
PV
Index
Subindex
Ctrl
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
02h
12h
22h
32h
Function
No request
Read request
Write request (word)
Write request (double word)
Receive data:
Ctrl
02h
12h
22h
Function
Request not yet completed
Read request or write request successfully completed (word)
Read request or write request successfully completed (double
word)
72h
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 _prgNoDEVhas the parame-
ter address 258 (01h 02h).
The parameter value read has the decimal value 91200 which corre-
sponds to 01h 64h 40h.
Transmit data:
Ctrl
Subindex
Index
PV
12h
00h
01h 02h
00h 00h 00h 00h
Receive data:
Ctrl
Subindex
00 h
Index
PV
22h
01h 02h
00h 01h 64h 40h
Example: Writing of an invalid In this example, the value of a non-existent parameter is to be
parameter 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
32h
00h
00h 65h
00h 00h 00h DEh
Receive data:
Ctrl
Subindex
Index
PV
72h
00h
00h 65h
00h 00h 11h 01h
See the product manual for information on the error numbers.
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3.4
Modbus services - "Function Code"
The table below provides an overview of the available Modbus serv-
ices:
"Function Meaning under Modbus
Code"
Meaning from device per-
spective
3
Read Multiple Registers
Diagnostics
Reading a parameter
Diagnostics
8
16
23
Write Multiple Registers
Read/Write Multiple Registers
Writing a parameter
Reading and writing parame-
ters
43
Read Device Identification
–
Subcode14
90
UMAS File Transfer (Upload)
–
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
Starting Address
1
2
2
3 = 03h
(various)
2 * n
Read Multiple Registers
Address of the first parameter to be read
Quantity Of Regis-
ters
Number of 16 bit values to be read
(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
1
Value
Meaning
Function Code
Byte Count
Registers Value
3 = 03h
4 * n
Read Multiple Registers
Number of data bytes
Parameter values
1
4 * n
(various)
Structure of the negative Modbus response
Field
Bytes
Value
Meaning
Function Code
Exception Code
1
1
03h + 80h = 83h
01h ... 04h
Read Multiple Registers
See chapter
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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
Sub-function Code
Data
1
2
2
8 = 08h
(various)
(various)
Diagnostics
Diagnostics function
Data (depending on diagnostics function)
Modbus response Structure of the positive Modbus response:
Field
Bytes
Value
Meaning
Function Code
Sub-function Code
Data
1
2
2
8 = 08h
(various)
(various)
Diagnostics
Diagnostics function
Diagnostics data
Structure of the negative Modbus response
Field
Bytes
Value
Meaning
Function Code
Exception Code
1
1
08h + 80h = 88h
01h ... 04h
Diagnostics
See chapter
Sub-function Code The following diagnostics functions are available:
Sub-function Code
Diagnostics function
Return request as a response
00
01
02
03
04
Return Query Data
Restart Communication Option Re-initialize the communication port
Return Diagnostic Register
(reserved)
Return the error number in the case of synchronous errors
–
Force Listen Only Mode
Force "Listen Only" mode
–
05 ... 09 (reserved)
10
Clear Counters and Diagnostic Clear all statistical counters
Register
11
12
Return Bus Message Count
Return number of detected "Bus Message"s
Return Bus Communication
Error Count
Return number of detected "Bus Communication Error"s
13
Return Bus Exception Error
Count
Return number of detected "Bus Exception Error"s
14 ... 15 (reserved)
–
16
17
18
Return Slave NAK Count
Return number of detected "Slave Not-Acknowledged"s
Return number of detected "Slave Busy"s
Return number of detected "Bus Char Overrun"s
Return Slave Busy Count
Return Bus Char Overrun
Count
>18
(reserved)
–
Modbus-TCP module
29
LXM32M
3 Basics
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
Starting Address
1
2
2
16 = 10h
(various)
2 * m
Write Multiple Registers
Address of the first parameter to be written
Quantity Of Regis-
ters
Number of 16 bit values to be written
(1 parameter has the value 2 since a parameter
consists of a 32 bit value)
Byte Count
1
4 * m
Number of data bytes
Parameter values
Registers Value
2 * m
(various)
Modbus response Structure of the positive Modbus response:
Field
Bytes
Value
Meaning
Function Code
Starting Address
1
2
2
16 = 10h
(various)
2 * m
Write Multiple Registers
Corresponds to the Modbus request
Corresponds to the Modbus request
Quantity Of Regis-
ters
Structure of the negative Modbus response
Field
Bytes
Value
Meaning
Function Code
Exception Code
1
1
10h + 80h = 90h
01h ... 04h
Write Multiple Registers
See chapter
30
Modbus-TCP module
LXM32M
3 Basics
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
2
23 = 17h
(various)
Read/Write Multiple Registers
Address of the first parameter to be read
Read Starting
Address
Quantity To Read
2
2 * n
Number of 16 bit values to be read
(1 parameter has the value 2 since a parameter
consists of a 32 bit value)
Write Starting
Address
2
2
(various)
2 * m
Address of the first parameter to be written
Quantity To Write
Number of 16 bit values to be written
(1 parameter has the value 2 since a parameter
consists of a 32 bit value)
Write Byte Count
1
4 * m
Number of data bytes
Parameter values
Write Registers
Value
4 * m
(various)
Modbus response Structure of the positive Modbus response:
Field
Bytes
1
Value
Meaning
Function Code
Byte Count
23 = 17h
2 * n
Read/Write Multiple Registers
Number of data bytes
Parameter values
1
Read Registers
Value
2 * n
(various)
Structure of the negative Modbus response
Field
Bytes
Value
Meaning
Function Code
Exception Code
1
1
17h + 80h = 97h
01h ... 04h
Read/Write Multiple Registers
See chapter
Modbus-TCP module
31
LXM32M
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 = 2Bh
14 = 0Eh
Encapsulated Interface Transport
Fixed value 14 (Read Device Identification)
Modbus Encapsula- 1
ted Interface Type
Read Device ID
Code
1
01
Read all objects
Object ID
Object ID
1
0x00
Modbus response Structure of the positive Modbus response:
Field
Bytes
Value
Meaning
Function Code
1
43 = 2Bh
14 = 0Eh
Encapsulated Interface Transport
Fixed value 14 (Read Device Identification)
Modbus Encapsula- 1
ted Interface Type
Read Device ID
Code
1
01
Corresponds to the Modbus request
Conformity Level
More Follows
Next Object ID
Number Of Objects
Object ID
1
1
1
1
1
1
02
00
00
03
Fixed value
Fixed value
Fixed value
Number of objects
Object ID, see table
Object length
Object Length
Object Value
(various)
Object data (various)
Structure of the negative Modbus response
Field
Bytes
Value
Meaning
Function Code
Exception Code
1
1
2Bh + 80h = ABh
01h ... 04h
Encapsulated Interface Transport
See chapter
Object ID The following object IDs are available:
Object ID
00h
Object name
vendor name
product code
revision
Value
Manufacturer name
„xxxxxxxxxxxx“ (see type code)
"Vxx.yyy" (e.g. "V02.001")
01h
03h
32
Modbus-TCP module
LXM32M
3 Basics
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
Starting Address
1
2
2
3
Read Multiple Registers
15362 (3C02h)
8
Address of the first parameter to be read
Number of the 16 bit values to be read = 8
Quantity Of Regis-
ters
Modbus response Structure of the positive Modbus response:
Field
Bytes
Value
3
Meaning
Function Code
Byte Count
Registers Value
1
Read Multiple Registers
Number of bytes: 8 bytes of data
1
16
16
32 bit value
32 bit value
32 bit value
32 bit value
_ERR_number, 15362 (error number)
_ERR_class, 15364 (error class)
_ERR_time, 15366 (error time)
_ERR_qual, 15368 (error qualifier)
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
Starting Address
1
2
2
16
Write Multiple Registers
1544 (608h)
4
Address of the first parameter to be written
Number of parameters = 4 (8 bytes of data)
Quantity Of Regis-
ters
Byte Count
1
8
8
Number of bytes: 8 bytes of data
Registers Value
32 bit value
32 bit value
MON_swLimP, 1544
MON_swLimN, 1546
Modbus response Structure of the positive Modbus response:
Field
Bytes
Value
Meaning
Function Code
Starting Address
1
2
2
16
Write Multiple Registers
Address of the parameter
Number of parameters = 4 (8 bytes of data)
1544 (608h)
4
Quantity Of Regis-
ters
Modbus-TCP module
33
LXM32M
3 Basics
34
Modbus-TCP module
LXM32M
4 Installation
4
Installation
4
WARNING
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
CAUTION
DESTRUCTION DUE TO ESD
Electrostatic discharge (ESD) can cause immediate or later destruc-
tion 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 man-
ual.
Description
Order no.
Fieldbus module EtherNet/IP (module identification VW3A3616
ETH) with 2 x RJ45 connection. For EtherNet/IP
and Modbus-TCP
Modbus-TCP module
35
LXM32M
4 Installation
4.2
Electrical installation
Cable specifications
Shield:
Required, both ends grounded
Twisted Pair:
PELV:
Required
Required
Cable composition:
Maximum cable length:
Special features:
8 * 0.25 mm2 (8 * AWG 22)
100 m
-
▶
Note the pertinent information on equipotential bonding conductors
in the product manual.
▶
Use pre-assembled cables to reduce the risk of wiring errors.
Pin assignment
8
7
Slot 3
6
5
4
8
A
3
A
2
1
1
8
7
6
5
4
3
2
1
8
1
B
B
Figure 5: Pin assignment
Pin
1
Signal
Tx+
Tx-
Rx+
-
Meaning
Ethernet transmit signal +
2
Ethernet transmit signal -
3
Ethernet receive signal +
4
-
-
5
-
Rx-
-
6
Ethernet receive signal -
7
-
-
-
8
36
Modbus-TCP module
LXM32M
5 Commissioning
5
Commissioning
5
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
•
•
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.
5.1
Commissioning the device
For installation in the network, the device must first be properly instal-
led (mechanically and electrically) and commissioned.
▶
Commission the device as per product manual.
Modbus-TCP module
37
LXM32M
5 Commissioning
5.2
"First Setup"
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
■
▶
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 tes-
ted, 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.
First Setup via HMI
Fault Edit Value Unit
Op
Mon
Conf
ESC
Fault Edit Value Unit
<1s
Op
Mon
1.
2.
ESC
Fault Edit Value Unit
Conf
<1s
Op
Mon
Conf
2 x
<1s
=
=
=
Fault Edit Value Unit
Op
Fault Edit Value Unit
Fault Edit Value Unit
Fault Edit Value Unit
1.
2.
ESC
Op
<1s
Mon
Conf
Op
Op
1.
2.
ESC
Mon
Conf
Mon
Conf
<1s
Mon
Conf
2 x
<1s
IP
2 x
<1s
Fault Edit Value Unit
Op
Fault Edit Value Unit
Fault Edit Value Unit
1.
2.
ESC
<1s
Mon
Conf
Op
Op
1.
2.
ESC
<1s
Mon
Conf
Mon
Conf
Subnet
2 x
<1s
2 x
<1s
Figure 6: First Setup via the integrated HMI
38
Modbus-TCP module
LXM32M
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
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthIpMode
Type of obtaining IP address
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:5h
Modbus 17418
Profibus 17418
CIP 168.1.5
0
2
2
0 / Manual / MAnu : Manual
1 / BOOTP / boot : BOOTP
2 / DHCP / dhcP : DHCP
ConF → CoM-
ConF → FSu-
iPMd
When selecting DHCP, also set the parame-
ter EthFdrEnable to ON or OFF, depending
on whether or not your DHCP server sup-
ports FDR.
Changed settings become active immedi-
ately.
5.2.1 Manual assignment of the network address
■
▶
EthIpModehas been set to Manual (manu).
Set the network addresses consisting of the IP address and the
subnet mask.
The IP address is set via the parameters
EthIPmodule1... EthIPmodule4. The subnet mask is set via
the parameters EthIPmask1... EthIPmask4.
Modbus-TCP module
39
LXM32M
5 Commissioning
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthIPmodule1
IP address Ethernet module, byte 1
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:7h
Modbus 17422
Profibus 17422
CIP 168.1.7
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPc1
per.
-
EthIPmodule2
IP address Ethernet module, byte 2
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:8h
Modbus 17424
Profibus 17424
CIP 168.1.8
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPc2
per.
-
EthIPmodule3
IP address Ethernet module, byte 3
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:9h
Modbus 17426
Profibus 17426
CIP 168.1.9
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPc3
per.
-
EthIPmodule4
IP address Ethernet module, byte 4
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:Ah
Modbus 17428
Profibus 17428
CIP 168.1.10
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPc4
per.
-
EthIPmask1
IP address subnet mask, byte 1
-
0
255
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:Bh
Modbus 17430
Profibus 17430
CIP 168.1.11
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPM1
per.
-
EthIPmask2
IP address subnet mask, byte 2
-
0
255
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:Ch
Modbus 17432
Profibus 17432
CIP 168.1.12
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPM2
per.
-
EthIPmask3
IP address subnet mask, byte 3
-
0
255
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:Dh
Modbus 17434
Profibus 17434
CIP 168.1.13
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPM3
per.
-
EthIPmask4
IP address subnet mask, byte 4
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:Eh
Modbus 17436
Profibus 17436
CIP 168.1.14
Changed settings become active the next
time the product is switched on.
ConF → CoM-
ConF → FSu-
iPM4
per.
-
40
Modbus-TCP module
LXM32M
5 Commissioning
5.2.2 Assignment of the network address via BOOTP
■
▶
EthIpModehas been set to BOOTP (boot).
Verify that an accessible BOOTP server is available on the net-
work.
Modbus-TCP module
41
LXM32M
5 Commissioning
5.2.3 Assignment of the network address via DHCP
■
EthIpModehas 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 dis-
played and changed.
▶
Activate the FDR service via EFdr.
additional information on the FDR service.
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthFdrEnable
FDR service
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:40h
Modbus 17536
Profibus 17536
CIP 168.1.64
0
0
1
0 / Off / oFF : FDR service disabled
1 / On / on : FDR service enabled
ConF → CoM-
ConF → FSu-
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.
EFdr
Modbus-TCP module
42
LXM32M
5 Commissioning
5.3
Setting the transmission rate
The parameter EthRateSetlets you set the transmission rate.
▶
Set the desired transmission rate with the parameter EthRateSet.
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthRateSet
Transmission rate setting
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:2h
Modbus 17412
Profibus 17412
CIP 168.1.2
0
0
4
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 immedi-
ately.
5.4
Setting the protocol
The protocol is set by means of the parameter EthMode.
▶
Set the parameter EthModeto "Modbus TCP".
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthMode
ConF → CoM-
EtMd
Protocol
-
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:1h
Modbus 17410
Profibus 17410
CIP 168.1.1
0
1
1
0 / Modbus TCP / MtCP : Modbus TCP I/O
scanning is enabled
1 / EtherNet/IP / EtiP : EtherNet/IP commu-
nication is enabled
per.
-
NOTE: Modbus TCP parameter access is
possible irrespective of the selected setting.
Changed settings become active the next
time the product is switched on.
Modbus-TCP module
43
LXM32M
5 Commissioning
5.5
Setting the gateway
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
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthIPgate1
ConF → CoM-
iPG1
IP address gateway, byte 1
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:Fh
Modbus 17438
Profibus 17438
CIP 168.1.15
Changed settings become active the next
time the product is switched on.
per.
-
EthIPgate2
ConF → CoM-
iPG2
IP address gateway, byte 2
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:10h
Modbus 17440
Profibus 17440
CIP 168.1.16
Changed settings become active the next
time the product is switched on.
per.
-
EthIPgate3
ConF → CoM-
iPG3
IP address gateway, byte 3
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:11h
Modbus 17442
Profibus 17442
CIP 168.1.17
Changed settings become active the next
time the product is switched on.
per.
-
EthIPgate4
ConF → CoM-
iPG4
IP address gateway, byte 4
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:12h
Modbus 17444
Profibus 17444
CIP 168.1.18
Changed settings become active the next
time the product is switched on.
per.
-
Modbus-TCP module
44
LXM32M
5 Commissioning
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.
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthMbIPswap1
IP address of master for Modbus word
swap, byte 1
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:50h
Modbus 17568
Profibus 17568
CIP 168.1.80
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 immedi-
ately.
EthMbIPswap2
EthMbIPswap3
EthMbIPswap4
IP address of master for Modbus word
swap, byte 2
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:51h
Modbus 17570
Profibus 17570
CIP 168.1.81
Changed settings become active immedi-
ately.
IP address of master for Modbus word
swap, byte 3
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:52h
Modbus 17572
Profibus 17572
CIP 168.1.82
Changed settings become active immedi-
ately.
IP address of master for Modbus word
swap, byte 4
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:53h
Modbus 17574
Profibus 17574
CIP 168.1.83
Changed settings become active immedi-
ately.
per.
-
Modbus-TCP module
45
LXM32M
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.
▶
If you do not want to use I/O scanning, set the parameter
EthMbScannerto "Off".
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthMbScanner
Modbus TCP I/O scanning
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:28h
Modbus 17488
Profibus 17488
CIP 168.1.40
0
1
1
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 immedi-
ately.
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.
WARNING
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.
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 parame-
ters EthIPmaster1... EthIPmaster4.
Modbus-TCP module
46
LXM32M
5 Commissioning
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthIPmaster1
IP address master, byte 1
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:29h
Modbus 17490
Profibus 17490
CIP 168.1.41
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.
per.
Setting can only be changed if power stage
is disabled.
-
Changed settings become active immedi-
ately.
EthIPmaster2
EthIPmaster3
EthIPmaster4
IP address master, byte 2
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:2Ah
Modbus 17492
Profibus 17492
CIP 168.1.42
Setting can only be changed if power stage
is disabled.
Changed settings become active immedi-
ately.
IP address master, byte 3
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:2Bh
Modbus 17494
Profibus 17494
CIP 168.1.43
Setting can only be changed if power stage
is disabled.
Changed settings become active immedi-
ately.
IP address master, byte 4
-
0
0
255
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:2Ch
Modbus 17496
Profibus 17496
CIP 168.1.44
Setting can only be changed if power stage
is disabled.
Changed settings become active immedi-
ately.
per.
-
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... EthOptMapInp3and EthOptMapOut1...
EthOptMapOut3.
Modbus-TCP module
47
LXM32M
5 Commissioning
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthOptMapInp1
EthOptMapInp2
EthOptMapInp3
EthOptMapOut1
EthOptMapOut2
EthOptMapOut3
Optionally mapped input parameter 1 (drive
to PLC)
-
-
0
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:34h
Modbus 17512
Profibus 17512
CIP 168.1.52
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 immedi-
ately.
Optionally mapped input parameter 2 (drive
to PLC)
-
-
0
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:35h
Modbus 17514
Profibus 17514
CIP 168.1.53
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 immedi-
ately.
Optionally mapped input parameter 3 (drive
to PLC)
-
-
0
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:36h
Modbus 17516
Profibus 17516
CIP 168.1.54
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 immedi-
ately.
Optionally mapped output parameter 1 (PLC -
to drive)
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:2Eh
Modbus 17500
Profibus 17500
CIP 168.1.46
-
0
-
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 immedi-
ately.
Optionally mapped output parameter 2 (PLC -
to drive)
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:2Fh
Modbus 17502
Profibus 17502
CIP 168.1.47
-
0
-
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 immedi-
ately.
Optionally mapped output parameter 3 (PLC -
to drive)
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:30h
Modbus 17504
Profibus 17504
CIP 168.1.48
-
0
-
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 immedi-
ately.
Modbus-TCP module
48
LXM32M
5 Commissioning
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.
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthMbScanTimeou Modbus TCP I/O scanning timeout
s
UINT16
UINT16
UINT16
UINT16
R/W
CANopen 3044:2Dh
Modbus 17498
Profibus 17498
CIP 168.1.45
t
0.0
2.0
60.0
Communication monitoring timeout for Mod-
bus TCP.
Value 0: Timeout monitoring disabled
In increments of 0.1 s.
per.
-
Changed settings become active immedi-
ately.
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
EthWebserverto "Off".
server.
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthWebserver
Ethernet webserver
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:6h
Modbus 17420
Profibus 17420
CIP 168.1.6
0
1
1
0 / Off: Ethernet webserver off
1 / On: Ethernet webserver on
Changed settings become active the next
time the product is switched on.
Modbus-TCP module
49
LXM32M
5 Commissioning
Modbus-TCP module
50
LXM32M
6 Operation
6
Operation
6
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, operat-
ing modes and functions of the product.
Modbus-TCP module
51
LXM32M
6 Operation
6.1
Operating states
6.1.1 Indication of the operating state
The current operating state is indicated with the "driveStat" word.
driveStat
15
14
13
12
-
11
10
9
8
X_ERR X_END X_ADD1
-
QS
RF
HALT
7
6
5
-
4
-
3
2
1
0
WARN ERROR
STATE STATE STATE STATE
Figure 7: Structure of driveStat
Bit
Name
STATE
-
Meaning
0 ... 3
Current operating state (binary coded)
Reserved
4 ... 5
6
ERROR
WARN
HALT
RF
An error has occurred (error classes 1 ... 3)
A warning has occurred (error class 0)
"Halt" is active
7
8
9
Homing valid
10
QS
"Quick Stop" is active
11 ... 12
13
-
Reserved
X_ADD1
X_END
X_ERR
Operating mode-specific information
Operating mode terminated
Operating mode terminated with error
14
15
Modbus-TCP module
52
LXM32M
6 Operation
6.1.2 Changing the operating state
Bits 8 ... 15 of the word "dmControl" are used to set the operating
state.
dmControl
15
14
13
12
-
11
10
9
8
CU
CH
SH
FR
QS
EN
DS
7
6
5
4
3
2
1
0
MT ACTION ACTION MODE MODE MODE MODE MODE
Figure 8: Structure dmControl bits 8 ... 15
Bit
8
Name
DS
Meaning
Operating state
Disable power stage
Enable power stage
Executing a "Quick Stop"
Execute "Fault Reset"
6 Operation Enabled -> 4 Ready To Switch On
9
EN
4 Ready To Switch On -> 6 Operation Enabled
10
11
QS
6 Operation Enabled -> 7 Quick Stop Active
FR
7 Quick Stop Active -> 6 Operation Enabled
9 Fault -> 4 Ready To Switch On
12
13
14
15
-
Reserved
Reserved
SH
CH
CU
Execute "Halt"
Clear "Halt"
6 Operation Enabled
6 Operation Enabled
6 Operation Enabled
Resume operating mode interrupted by
"Halt"
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 follow-
ing 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")
Modbus-TCP module
53
LXM32M
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.
mfStat
15
-
14
-
13
-
12
11
10
9
8
-
CAP2 1 CAP2 0 CAP1 1 CAP1 0
7
6
5
4
3
2
1
0
MT
ME
DE
MODE MODE MODE MODE 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
6
DE
ME
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.
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 rejec-
ted.
7
MT
Handshake via "Mode Toggle"
Bit 0 and bit 1 of parameter _Cap1Count
Bit 0 and bit 1 of parameter _Cap2Count
Reserved
8 ... 9
CAP1
10 ... 11 CAP2
12 ... 15
-
Modbus-TCP module
54
LXM32M
6 Operation
6.2.2 Starting and changing an operating mode
Bits 0 ... 7 in the word "dmControl" are used to set the operating
mode.
dmControl
15
14
13
12
-
11
10
9
8
CU
CH
SH
FR
QS
EN
DS
7
6
5
4
3
2
1
0
MT ACTION ACTION MODE MODE MODE MODE 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
7
ACTION Operating mode-dependent
MT Handshake via Mode Toggle
The operating modes can be changed during operation. For this pur-
pose, 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, func-
tions and the corresponding reference values.
Modbus-TCP module
55
LXM32M
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.
Operating mode
Method
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
Jog
1Fh
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
Electronic Gear
Position synchroni- 1Eh
zation without com-
pensation move-
ment
As GEARdenom
As GEARnum
Position synchroni- 3Eh
zation with compen-
sation movement
As GEARdenom
As GEARnum
Velocity synchroni- 5Eh
zation
As GEARdenom
As GEARnum
Profile Torque
Profile Velocity
Profile Position
24h
23h
As PTtq_target
As PVv_target
As PPv_target
As PPv_target
As RAMP_tq_slope
-
Absolute
01h
As PPp_target
As PPp_target
Relative with refer- 21h
ence to the cur-
rently set target
position
Relative with refer- 41h
ence to the current
motor position
As PPv_target
As PPp_target
Homing
Position setting
06h
26h
-
As HMp_setP
Reference move-
ment
As HMmethod
-
Motion Sequence
Start sequence
1Dh
Data set number
Data set number
Value 1: Use data set
number
Start individual data 3Dh
set
-
Modbus-TCP module
56
LXM32M
6 Operation
6.2.4 Operating mode Jog
Starting the operating mode The operating mode is set and started in the process data channel
with the transmit data (master to slave).
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
1Fh
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
13
14
Name
Meaning
X_ADD1 Reserved
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
Modbus-TCP module
57
LXM32M
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).
Method
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
Position synchronization without compen- 1Eh
sation movement
As GEARdenom
As GEARdenom
As GEARdenom
As GEARnum
As GEARnum
As GEARnum
Position synchronization with compensa- 3Eh
tion movement
Velocity synchronization
5Eh
Status information The word "driveStat" provides information on the operating mode.
Bit
13
14
Name
Meaning
X_ADD1 1: Reference velocity reached 1)
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
Modbus-TCP module
58
LXM32M
6 Operation
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).
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
24h
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
15
X_END 0: Operating mode started
1: Operating mode terminated
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
Modbus-TCP module
59
LXM32M
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).
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
23h
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
15
X_END 0: Operating mode started
1: Operating mode terminated
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
Modbus-TCP module
60
LXM32M
6 Operation
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).
Method
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
Absolute
01h
21h
As PPv_target
As PPp_target
Relative with reference to the currently
set target position
As PPv_target
As PPp_target
Relative with reference to the current
motor position
41h
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
15
X_END 0: Operating mode started
1: Operating mode terminated
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
Modbus-TCP module
61
LXM32M
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).
Method
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
Position setting
06h
26h
-
As HMp_setP
Reference movement
As HMmethod
-
Status information The word "driveStat" provides information on the operating mode.
Bit
13
14
Name
Meaning
X_ADD1 Reserved
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
Modbus-TCP module
62
LXM32M
6 Operation
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).
Method
dmControl
Reference value RefA32 Reference value RefB32
Bits 0 ... 6
MODE+ACTION
Start sequence
1Dh
3Dh
Data set number
Data set number
Value 1: Use data set
number
Start individual data set
-
Status information The word "driveStat" provides information on the operating mode.
Bit
13
14
Name
Meaning
X_ADD1 1: End of a sequence
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
Modbus-TCP module
63
LXM32M
6 Operation
6.3
Extended settings
6.3.1 Web server
Functions The product features an integrated web server.
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
6.3.1.1 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
EthWebserverto "Off".
Parameter name
HMI menu
HMI name
Description
Unit
Minimum value
Factory setting
Data type Parameter address
R/W
via fieldbus
Persistent
Maximum value Expert
EthWebserver
Ethernet webserver
-
UINT16
UINT16
UINT16
UINT16
R/W
per.
-
CANopen 3044:6h
Modbus 17420
Profibus 17420
CIP 168.1.6
0
1
1
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
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).
Modbus-TCP module
64
LXM32M
6 Operation
6.3.1.3 User interface
Structure of the web server user interface:
1
2
3
Figure 11: User interface of the web server
(1)
(2)
(3)
Main menu
Submenu
Content
Main menu
Home
Submenu
English
-
Content
Homepage
Documentation
Link to website
Monitoring
Drive monitor
Status information
Drive parameter
Display and change parame-
ters
Network Setup Network parameters
Modbus scanner
Network settings
Modbus settings
Eth/IP scanner
EtherNet/IP settings
Fast device replacement
Administration
FDR service settings
Change web server passwords
Information on TCP/IP
Information on Modbus
Information on EtherNet/IP
Diagnostics
TCP/IP statistics
Modbus statistics
Ethernet IP statistics
Modbus-TCP module
65
LXM32M
6 Operation
6.3.2 FTP server
Functions The product features an integrated FTP server.
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)
6.3.2.1 Accessing the FTP server
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]
[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.
Modbus-TCP module
66
LXM32M
6 Operation
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 auto-
matic 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.
Modbus-TCP module
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6 Operation
Modbus-TCP module
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7 Diagnostics and troubleshooting
7
Diagnostics and troubleshooting
7
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.
Modbus-TCP module
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7 Diagnostics and troubleshooting
7.2
Status LEDs
The status of the module is indicated by four LEDs.
1
2
A
B
3
4
Figure 12: Overview of the LEDs at the module
(1)
(2)
(3)
(4)
Network activity interface A
Module status
Network activity interface B
Network status
NOTE: The meaning of the flash signals depends on the selected pro-
tocol.
▶
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
Off
Meaning
No connection
Green
Yellow
Green
Yellow
On
Connection with 100 [MB/s]
Connection with 10 [MB/s]
Activity with 100 [MB/s]
Activity with 10 [MB/s]
On
Flashing
Flashing
Modbus-TCP module
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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 1)
No power supply
Start-up
Meaning for Modbus TCP 1)
No IP address or no power supply
Start-up
Off
Green/yellow
Green
Green
Flashing
On
Ready for operation
Ready for operation
Flashing
Module is not configured or scanner is
Idle
Not ready (no connection, ...)
Red
Red
Flashing
On
Recoverable error
Irrecoverable error
Recoverable 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
Off
Meaning for EtherNet/IP 1)
No IP address or no power supply
Start-up
Meaning for Modbus TCP 1)
No IP address or no power supply
Start-up
-
Green/yellow
Green
Flashing
On
Connected
At least 1 port is connected and the IP
address has been set
Green
Green
Green
Green
Red
Flashing 3 times -
Flashing 4 times -
Flashing 5 times -
Flashing
No connection, IP address has been set
IP address conflict
BOOTP or DHCP active
No connection
Timeout
-
-
-
Flashing
Red
On
IP address conflict
1) Depends on the selected protocol (parameter EthMode)
Modbus-TCP module
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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 soft-
ware 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
•
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.
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 dur-
ing 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 trans-
mitted, the connection is terminated. In the case of other other error, a
negative Modbus response is sent.
Modbus-TCP module
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7 Diagnostics and troubleshooting
Excep-
tion Code
Name
Description
01
Illegal Function Code The "Function Code" is unknown to the
server.
02
03
04
Illegal Data Address
Illegal Data Value
Server Failure
Depends on the Modbus request
Depends on the Modbus request
The server was unable to properly termi-
nate processing.
05
Acknowledge
The server has accepted the Modbus
request. However, the execution takes a
relatively long time. The server therefore
only returns an acknowledgement con-
firming receipt of the service request.
06
Server Busy
The server was unable to accept the
Modbus request. It is the responsibility of
the application on the client to determine
whether and when to re-send the request.
0A
0B
Gateway Problem
Gateway Problem
The gateway path is unavailable.
The targeted device does not respond.
The gateway generates this error.
Modbus-TCP module
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7 Diagnostics and troubleshooting
Modbus-TCP module
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8 Accessories and spare parts
8
Accessories and spare parts
8
8.1
Cables
Description
Order no.
2 m, 2 x RJ45, shielded twisted pair cable
5 m, 2 x RJ45, shielded twisted pair cable
12 m, 2 x RJ45, shielded twisted pair cable
490NTW00002
490NTW00005
490NTW00012
2 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification
5 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification
12 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification
490NTW00002U
490NTW00005U
490NTW00012U
Modbus-TCP module
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8 Accessories and spare parts
Modbus-TCP module
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9 Glossary
9
Glossary
9
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
in
-
/ 12
/ 36
* 0.0254
* 0.30479
* 0.9144
-
* 2.54
* 30.479
* 91.44
* 100
-
* 25.4
* 304.79
* 914.4
* 1000
* 10
ft
* 12
-
/ 3
yd
m
* 36
* 3
-
/ 0.0254
/ 2.54
/ 25.4
/ 0.30479
/ 30.479
/ 304.79
/ 0.9144
/ 91.44
/ 914.4
cm
mm
/ 100
/ 1000
/ 10
-
9.1.2 Mass
lb
oz
* 16
-
slug
kg
g
lb
-
* 0.03108095
* 1.942559*10-3
-
* 0.4535924
* 0.02834952
* 14.5939
-
* 453.5924
* 28.34952
* 14593.9
* 1000
oz
slug
kg
g
/ 16
/ 0.03108095
/ 0.45359237
/ 453.59237
/ 1.942559*10-3
/ 0.02834952
/ 28.34952
/ 14.5939
/ 14593.9
/ 1000
-
9.1.3 Force
lb
oz
p
dyne
N
lb
-
* 16
* 453.55358
* 28.349524
-
* 444822.2
* 27801
* 980.7
-
* 4.448222
* 0.27801
* 9.807*10-3
/ 100*103
-
oz
p
/ 16
-
/ 453.55358
/ 444822.2
/ 4.448222
/ 28.349524
/ 27801
/ 0.27801
dyne
N
/ 980.7
/ 9.807*10-3
* 100*103
9.1.4 Power
HP
W
HP
W
-
* 746
-
/ 746
Modbus-TCP module
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9 Glossary
9.1.5 Rotation
min-1 (RPM)
min-1 (RPM) -
rad/s
* π / 30
-
deg./s
* 6
rad/s
* 30 / π
/ 6
* 57.295
-
deg./s
/ 57.295
9.1.6 Torque
lb‧in
-
lb‧ft
/ 12
oz‧in
* 16
* 192
-
Nm
kp‧m
* 0.011521
kp‧cm
* 1.1521
dyne‧cm
lb‧in
lb‧ft
* 0.112985
* 1.129*106
* 12
-
* 1.355822
* 0.138255
* 13.8255
* 13.558*106
oz‧in
Nm
/ 16
/ 192
* 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5
/ 0.112985
/ 0.011521
/ 1.1521
/ 1.129*106
/ 1.355822
/ 0.138255
/ 13.8255
/ 7.0616*10-3
-
* 0.101972
* 10.1972
* 10*106
* 98.066*106
* 0.9806*106
-
kp‧m
kp‧cm
dyne‧cm
/ 720.07*10-6 / 0.101972
/ 72.007*10-3 / 10.1972
-
* 100
-
/ 100
/ 13.558*106 / 70615.5
/ 10*106
/ 98.066*106 / 0.9806*106
9.1.7 Moment of inertia
lb‧in2
-
lb‧ft2
/ 144
kg‧m2
kg‧cm2
kp‧cm‧s2
oz‧in2
* 16
lb‧in2
/ 3417.16
* 0.04214
-
/ 0.341716
* 421.4
* 10*103
-
/ 335.109
* 0.429711
* 10.1972
/ 980.665
-
lb‧ft2
* 144
-
* 2304
* 54674
* 5.46
* 5361.74
-
kg‧m2
kg‧cm2
kp‧cm‧s2
oz‧in2
* 3417.16
* 0.341716
* 335.109
/ 16
/ 0.04214
/ 421.4
/ 0.429711
/ 2304
/ 10*103
/ 10.1972
/ 54674
* 980.665
/ 5.46
/ 5361.74
9.1.8 Temperature
°F
°C
K
°F
°C
K
-
(°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
mm2
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
AWG
mm2
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
Modbus-TCP module
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9 Glossary
9.2
Terms and Abbreviations
pertinent standards on which many terms are based. Some terms and
abbreviations may have specific meanings with regard to the stand-
ards.
CIP Common Industrial Protocol, general specification for communication
between fieldbus devices.
Client First transmitter, then recipient of fieldbus messages in the client-
server relationship. Starts transmission with a transmission to the
server; the reference point is the server object dictionary.
DOM 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
Error Discrepancy between a detected (computed, measured or signaled)
value or condition and the specified or theoretically correct value or
condition.
Error class Classification of errors into groups. The different error classes allow
for specific responses to errors, for example by severity.
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
motor so that the power stage must be immediately disabled.
Fault Fault is a state that can be caused by an error. Further information
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 func-
tion. A warning does not cause a transition of the operating state.
Modbus-TCP module
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9 Glossary
Modbus-TCP module
80
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10 Index
10 Index
10
A
F
First setup
B
C
G
H
Before you begin
I
D
E
J
Error diagnostics
M
Manuals
Errors
Modbus-TCP module
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10 Index
O
Operating mode
Q
S
Source
T
U
P
Modbus-TCP module
82
|