Schneider Electric Card Game LXM32M User Guide

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  
LXM32M  
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LXM32M  
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Modbus-TCP module  
 
LXM32M  
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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LXM32M  
About this manual  
Index List of keywords with references to the corresponding page numbers.  
Further reading  
User Association http://www.modbus.org  
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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  
 
LXM32M  
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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LXM32M  
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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LXM32M  
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 Basics  
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 Basics  
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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3.2.1 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 Basics  
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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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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3.3.4.3 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.  
Modbus-TCP module  
27  
 
LXM32M  
3 Basics  
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  
28  
Modbus-TCP module  
 
   
LXM32M  
3 Basics  
3.4.2 "Function Code" 8 (Diagnostics)  
This "Function Code" 8 (Diagnostics) allows you to read diagnostics  
data of the slave.  
Modbus request Structure of the Modbus request:  
Field  
Bytes  
Value  
Meaning  
Function Code  
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  
67  
 
 
LXM32M  
6 Operation  
Modbus-TCP module  
68  
 
LXM32M  
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  
69  
 
       
LXM32M  
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  
70  
 
 
LXM32M  
7 Diagnostics and troubleshooting  
Module status LED 2 The table below shows the meaning of the flashing signals for the  
module status.  
Color  
-
LED  
Meaning for EtherNet/IP 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  
71  
 
LXM32M  
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  
72  
 
   
LXM32M  
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  
73  
 
LXM32M  
7 Diagnostics and troubleshooting  
Modbus-TCP module  
74  
 
LXM32M  
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  
75  
 
       
LXM32M  
8 Accessories and spare parts  
Modbus-TCP module  
76  
 
LXM32M  
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  
77  
 
               
LXM32M  
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  
lbin  
-
lbft  
/ 12  
ozin  
* 16  
* 192  
-
Nm  
kpm  
* 0.011521  
kpcm  
* 1.1521  
dynecm  
lbin  
lbft  
* 0.112985  
* 1.129*106  
* 12  
-
* 1.355822  
* 0.138255  
* 13.8255  
* 13.558*106  
ozin  
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  
-
kpm  
kpcm  
dynecm  
/ 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  
lbin2  
-
lbft2  
/ 144  
kgm2  
kgcm2  
kpcms2  
ozin2  
* 16  
lbin2  
/ 3417.16  
* 0.04214  
-
/ 0.341716  
* 421.4  
* 10*103  
-
/ 335.109  
* 0.429711  
* 10.1972  
/ 980.665  
-
lbft2  
* 144  
-
* 2304  
* 54674  
* 5.46  
* 5361.74  
-
kgm2  
kgcm2  
kpcms2  
ozin2  
* 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  
78  
 
         
LXM32M  
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  
79  
 
   
LXM32M  
9 Glossary  
Modbus-TCP module  
80  
 

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