null  null
Fieldbus Appendix
®
Anybus -S Drive Profile EtherNet/IP 2-Port
Modbus/TCP, EtherNet/IP & IT Functionality
Doc.Id. SCM-1200-070
Rev. 1.00
HMS Industrial Networks AB

Germany + 49 - 721 - 96472 - 0
Japan
+ 81 - 45 - 478 -5340
Sweden
+ 46 - 35 - 17 29 20
U.S.A.
+ 1 - 312 - 829 - 0601
France
+ 33 - 3 89 32 76 76
Italy
+ 39 - 347 - 00894 - 70
China
+ 86 - 10 - 8532 - 3183

[email protected]
[email protected]
[email protected]
[email protected]
[email protected]
[email protected]
[email protected]
Important User Information
This document provides an overview of the Anybus-S Drive Profile EtherNet/IP 2-Port, and should be used in conjunction with the Anybus-S Parallel Design Guide and the Anybus-S Drive Profile Design Guide.
The reader of this document is expected to be familiar with hardware and software design and to have basic knowledge in the EtherNet/IP fieldbus system, and communication systems in general.
For general information about the Anybus-S platform, consult the general Anybus-S Parallel Design Guide.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meet all performance and safety requirements including any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product
are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product described in this document. These intellectual property rights may include patents and pending patent applications
in the US and other countries.
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their
respective holders.
Warning:
This is a class A product. in a domestic environment this product may cause radio interference in
which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD
control procedures are not followed. Static control precautions are required when handling the product. Failure to observe this may cause damage to the product.
Anybus-S Drive Profile EtherNet/IP 2-Port User Manual
Rev 1.00
Copyright© HMS Industrial Networks AB
Oct 2010 Doc Id SCM-1200-070
Table of Contents
Table of Contents
Preface
About This Document
Related documents................................................................................................................................... 1
Document history .................................................................................................................................... 1
Revision list ............................................................................................................................................... 1
Conventions .............................................................................................................................................. 2
Terminology & abbreviations................................................................................................................. 2
Support ...................................................................................................................................................... 3
Chapter 1
Anybus-S Drive Profile EtherNet/IP 2-Port
Features...................................................................................................................................................... 4
Fieldbus conformance notes .................................................................................................................. 5
Front view ................................................................................................................................................. 5
Network Status LEDs ................................................................................................................... 6
Chapter 2
Filesystem
Introduction .............................................................................................................................................. 8
Filesystem overview ................................................................................................................................. 9
System files ................................................................................................................................................ 9
Chapter 3
Network Configuration
TCP/IP settings...................................................................................................................................... 10
Domain & host settings ........................................................................................................................ 11
IP access control..................................................................................................................................... 11
Gleaning (ARP) ...................................................................................................................................... 12
DHCP/BootP......................................................................................................................................... 12
HICP (Anybus IPconfig) ...................................................................................................................... 13
Industrial protocol modes..................................................................................................................... 13
Chapter 4
FTP Server
General..................................................................................................................................................... 14
User accounts.......................................................................................................................................... 14
Connection example (Windows Explorer)......................................................................................... 14
II
Chapter 5
Web Server
General..................................................................................................................................................... 15
Protected files ................................................................................................................................. 15
Authorization .......................................................................................................................................... 15
Content types .......................................................................................................................................... 16
Chapter 6
SMTP Client
General..................................................................................................................................................... 17
Client configuration ............................................................................................................................... 17
Operation................................................................................................................................................. 17
Email definitions .................................................................................................................................... 18
Chapter 7
Server Side Include (SSI)
General..................................................................................................................................................... 19
Functions ................................................................................................................................................. 20
Changing the SSI output strings .......................................................................................................... 30
Chapter 8
Bus Config Parameters
General..................................................................................................................................................... 31
Parameters ............................................................................................................................................... 31
Chapter 9
Modbus/TCP
Implementation details .......................................................................................................................... 32
Modbus register map ............................................................................................................................. 33
Default register mapping................................................................................................................. 33
Vendor specific mapping................................................................................................................. 33
Formula mapping .......................................................................................................................... 34
Modbus message time out .................................................................................................................... 34
Chapter 10
Modbus/UDP
Implementation details .......................................................................................................................... 35
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III
Chapter 11
EtherNet/IP
Implementation details .......................................................................................................................... 36
Identity Object (01h) ............................................................................................................................. 37
Message Router, (02h) ........................................................................................................................... 39
Assembly Object (04h) .......................................................................................................................... 40
Connection Manager (06h) ................................................................................................................... 43
Motor Data Object (28h) ...................................................................................................................... 44
Control Supervisor Object (29h) ......................................................................................................... 46
Reset service ................................................................................................................................... 47
State machine................................................................................................................................. 48
Run/Stop Event Matrix ............................................................................................................... 49
AC/DC-Drive Object (2Ah)................................................................................................................ 50
DLR Object (47h) .................................................................................................................................. 52
Drive Parameter Object (90h).............................................................................................................. 53
Drive IO Map Object (91h).................................................................................................................. 54
Reset service ................................................................................................................................... 54
TCP/IP Interface Object (F5h) ........................................................................................................... 55
Ethernet Link Object (F6h).................................................................................................................. 56
Appendix A Mechanical Specification
Appendix B Connectors
Application connector ........................................................................................................................... 59
Ethernet connector ................................................................................................................................ 59
Appendix C Environmental Specification
Temperature............................................................................................................................................ 60
Relative humidity.................................................................................................................................... 60
EMC compliance.................................................................................................................................... 60
Appendix D Electrical Characteristics
Protective Earth (PE) requirements .................................................................................................... 61
Power supply........................................................................................................................................... 61
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Preface
P. About This Document
For more information, documentation etc., please visit the HMS website, ‘www.anybus.com’.
P.1 Related documents
Document name
Anybus-S Drive Profile Design Guide
Anybus-S Drive Profile EtherNet/IP Fieldbus Appendix
Open Modbus/TCP Specification
RFC 821
RFC 1918
The CIP Networks Library Volume 1 Common Industrial Protocol
The CIP Networks Library Volume 2 EtherNet/IP Adaptation of CIP
Author
HMS
Schneider Automation
Network Working Group
ODVA
P.2 Document history
Summary of Recent Changes ( ... 1.00)
Change
Page(s)
P.3 Revision list
Revision
1.00
Date
Author
2010-10-25 KeL
Chapter(s) Description
First version
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About This Document 2
P.4 Conventions
The following conventions are used throughout this document:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘application’ is used when referring to the hardware that is connected to the Anybus
Application Connector.
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
•
Binary values are written in the format NNNNb, where NNNN is the binary value.
•
All pictures in this document shows the standard version of this product. However, other connectors, leds and switches may be present depending on configuration.
•
16/32 bit values are written in big endian Motorola format
•
All measurements expressed in this document have a tolerance of ±0.25mm unless otherwise
stated.
•
The expression ‘A»B’ means ‘a transition from A to B’.
P.5 Terminology & abbreviations
The following terminology and abbreviations are used throughout this document.
Term
Bus Config Parameters
Module
Anybus
Specific Fieldbus Configuration
Meaning
End-user configurable settings
Anybus-S DP EtherNet/IP
Fieldbus specific settings available in Anybus-S Drive Profile Development
Tool
Anybus-S Drive Profile Development Tool Freeware development tool for the Anybus-S Drive Profile platform, supplied
by HMS
CPI
Common Profile Interface (see Anybus Drive Profile Design Guide)
FTP
File Transfer Protocol. In case of this product, a protocol used to upload/
download files to/from the built-in file system.
HTTP
HyperText Transfer Protocol
SSI
Server Side Include. A system used to provide dynamic content in email messages and web pages.
GW
Gateway
IP
Internet Protocol
DNS
Domain Name System
DHCP
Dynamic Host Configuration Protocol
ARP
Address Resolution Protocol. Translates protocol addresses to MAC
addresses.
MAC
Media Access Control
MAC address
Physical network address
CIP
Common Industrial Protocol
DLR
Device Level Ring
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P.6 Support
HMS Sweden (Head Office)
E-mail:[email protected]
Phone: +46 (0) 35 - 17 29 20
Fax: +46 (0) 35 - 17 29 09
Online:www.anybus.com
HMS North America
E-mail:[email protected]
Phone: +1-312-829-0601
Toll Free:+1-888-8-Anybus
Fax: +1-312-738-5873
Online:www.anybus.com
HMS Germany
E-mail:[email protected]
Phone: +49-721-96472-0
Fax: +49-721-964-7210
Online:www.anybus.com
HMS Japan
E-mail:[email protected]
Phone: +81-45-478-5340
Fax: +81-45-476-0315
Online:www.anybus.com
HMS China
E-mail:[email protected]
Phone: +86 10 8532 3023
Online:www.anybus.com
HMS Italy
E-mail:[email protected]
Phone: +39 039 59662 27
Fax: +39 039 59662 31
Online:www.anybus.com
HMS France
E-mail:[email protected]
Phone: +33 (0) 3 89 32 76 41
Fax: +33 (0) 3 89 32 76 31
Online:www.anybus.com
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Chapter 1
1. Anybus-S Drive Profile EtherNet/IP 2-Port
This product conforms to all aspects of the application interface defined in the Anybus-S Drive Profile
Design Guide, making it fully interchangeable with any other device following that specification.
The Anybus-S Drive Profile EtherNet/IP 2-Port communication module provides instant Ethernet
connectivity via the patented Anybus-S application interface. The module uses the Common Profile Interface (CPI), which means that no network specific support code needs to be implemented in the application firmware to support this product and take advantage of it’s features.
For in-depth information regarding the Anybus-S Drive Profile software interface, consult the general
Anybus-S Drive Profile Design Guide.
Anybus-S Drive Profile Development Tool
The Anybus-S Drive Profile Development Tool is a Windows application, used to configure the Profile
Server in the module. It enables customer specific settings, vendor name, device name and parameter
configuration. The tool will also generate the necessary EDS-file for EtherNet/IP configuration.
1.1 Features
General
•
2 Ethernet ports with internal Switch
•
Common Profile Interface (CPI)
•
Galvanically isolated network interface
•
100/10Mbit, Full or Half Duplex
•
ARP, DHCP & HICP support
•
On-board IP configuration switches
•
AC Drive Profile (device type 02h)
•
DC Drive Profile (device type 13h)
•
Built in filesystem
•
Web server
•
SMTP client (event triggered)
•
Server Side Include (SSI) functionality
•
FTP Server
•
Device Level Ring (DLR) functionality available (announce-based ring participant)
Industrial Protocols
•
EtherNet/IP
•
Modbus/TCP
•
Modbus/UDP
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1.2 Fieldbus conformance notes
Note: The following information is preliminary/pending:
•
This product is pre-certified for network compliance. While this is done to ensure that the final
product can be certified, it does not necessarily mean that the final product doesn’t need recertification. Contact HMS for further information.
1.3 Front view
1
5
4
2
#
1
2
3
4
5
6
Description
Application Connector
Ethernet Connector, port 1
Ethernet Connector, port 2
Configuration Switches
Anybus Watchdog
Status Indicators
3
Link (Activity) 1
1
2
Module Status
Link (Activity) 2
4
3
Network Status
6
Comment
Consult the general Anybus-S Drive Profile Design Guide for further information.
See “Ethernet connector” on page 59
See “TCP/IP settings” on page 10
Consult the general Anybus-S Drive Profile Design Guide for further information
These LEDs indicate run time status and errors to the user, see below.
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1.3.1 Network Status LEDs
These LEDs indicate run time status and errors to the user. During power up a
LED test sequence is performed according to the EtherNet/IP specification
1
2
4
3
Link (Activity) 1 (LED 1)
This led indicates link, activity and speed for Ethernet port 1.
State
Off
Yellow
Green
Flickering, green/yellow
Description
Link not sensed
Activity, receiving/transmitting Ethernet packets at 10 Mbit
Activity, receiving/transmitting Ethernet packets at 100 Mbit
Ethernet activity
Link (Activity) 2 (LED 4)
This led indicates link, activity and speed for Ethernet port 2
State
Off
Yellow
Green
Flickering, green/yellow
Description
Link not sensed
Activity, receiving/transmitting Ethernet packets at 10 Mbit
Activity, receiving/transmitting Ethernet packets at 100 Mbit
Ethernet activity
Module Status (LED 2)
This LED is required for EtherNet/IP conformance and must be labelled with one of the following:
“MS”, “Mod”, “Mod Status” or “Module Status”
State
Off
Green
Flashing, red
Red
Description
No power
Normal operation
A minor recoverable fault has been detected
A major unrecoverable fault has been detected
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Network Status (LED 3
This LED is required for EtherNet/IP conformance and must be labelled with one of the following:
“NS”, “Net”, “Net Status” or “Network Status”
State
Off
Flashing, green
Green
Flashing, red
Red
Description
No power or no IP address
EtherNet/IP, Modbus TCP:
Waiting for connections
Modbus UDP:
Waiting for Modbus/UDP datagram
EtherNet/IP:
At least one connection has been opened towards the module.
Modbus/TCP:
At least one connection has been opened towards the module.
Modbus/UDP:
At least one Modbus/UDP has been received by the module.
EtherNet/IP:
One or more connections has timed out
Modbus/TCP:
A Modbus Message Time out has occurred, see “Modbus message time out” on
page 34
Modbus/UDP:
No Modbus/UDP message has been received within the configured control time
out.
Duplicate IP address
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Chapter 2
2. Filesystem
2.1 Introduction
General
The module features a built in filesystem, which is used to store information such as web files, network
communication settings, email messages etc.
Storage areas
The filesystem consists of the different storage locations, a.k.a.’Discs’:
•
Disc 0 (1151kByte, Non Volatile)
This section is intended for static files such as web files etc. Once the product is released, this
section can be locked so that it cannot be altered by the end user.
•
Disc 1 (128kByte, Non Volatile)
This section is intended for files which can be altered by the end user.
•
Disc 2 (1024kByte, Volatile)
This section is intended for temporary storage. This section is volatile, i.e. any data placed here
will be lost in case of power loss or reset.
Important note:
The non volatile storage is located in FLASH memory. Each FLASH segment can only be erased approximately 1000000 times due to the nature of this type of memory.
The following operations will erase one or more FLASH segments:
•
Deleting, moving or renaming a file or directory
•
Writing or appending data to an existing file
•
Formatting the filesystem
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Filesystem 9
2.2 Filesystem overview
Disc 0
Disc 1
Disc 2
cfg
ssi_str.cfg
http.cfg
ip_accs.cfg
smtp.cfg
ip.cfg
hicp.cfg
email
email_1.cfg
email_2.cfg
email_3.cfg
email_4.cfg
email_5.cfg
pswd
pswd
sys_pswd.cfg
temp
2.3 System files
The filesystem contains a set of files used for system configuration. These files, known as “system files”,
are regular ASCII files which can be altered using a standard text editor (such as the Notepad in
Microsoft Windows). Note that some of these files may also be altered by the module itself, e.g. when
using SSI (see chapter 7, ‘Server Side Include (SSI)’).
The format of the system files are based on the concept of ‘keys’, where each ‘key’ can be assigned a
value, see example below.
Example:
[key1]
value of key1
[key2]
value of key2
The format of each system file is described in detail later in this document.
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Chapter 3
3. Network Configuration
3.1 TCP/IP settings
To be able to participate on the network, the module needs a valid TCP/IP configuration. The module
can either retrieve these settings from Bus Config Parameters #2...#14 (see “Parameters” on page 31),
or use the on-board switches.
•
Bus Config Parameters (Switches = zero)
If the on-board switches are set to 0 (zero), the module will use the settings stored in Bus Config
Parameters #2...#14 (see “Parameters” on page 31).
Bus Config Parameters #2...#14 may also be affected by...
- Gleaning/ARP (See “Gleaning (ARP)” on page 12)
- EtherNet/IP (See “TCP/IP Interface Object (F5h)” on page 55)
- DHCP/BootP (See “DHCP/BootP” on page 12)
- HICP (See “HICP (Anybus IPconfig)” on page 13)
- SSI (See “StoreEtnConfig” on page 21)
•
Switches (Switches <> zero)
If the on-board switches are set to a value other than 0 (zero), the module will use the settings in
the table below. The switches are read by the module during startup, i.e. any changes require a
reset in order to have effect.
SW1
OFF
OFF
OFF
OFF
OFF
...
SW2
OFF
OFF
OFF
OFF
OFF
...
SW3
OFF
OFF
OFF
OFF
OFF
...
SW4
OFF
OFF
OFF
OFF
OFF
...
SW5
OFF
OFF
OFF
OFF
OFF
...
SW6
OFF
OFF
OFF
OFF
ON
...
SW7
OFF
OFF
ON
ON
OFF
...
SW8
OFF
ON
OFF
ON
OFF
...
Subnet
Gateway
IP
(Determined by bus config parameters #2...#14)
255.255.255.0
192.168.0.255
192.168.0.1
255.255.255.0
192.168.0.255
192.168.0.2
255.255.255.0
192.168.0.255
192.168.0.3
255.255.255.0
192.168.0.255
192.168.0.4
...
...
...
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
OFF ON 255.255.255.0
ON OFF 255.255.255.0
ON ON (invalid setting)
192.168.0.255
192.168.0.255
192.168.0.253
192.168.0.254
Note: The Bus Config Parameters remains unaffected by the switch settings.
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Network Configuration 11
3.2 Domain & host settings
The domain- and host settings are stored in the system file ‘/cfg/ip.cfg’. Note that the contents of this
file may be affected by SSI, DHCP, HICP and EtherNet/IP.
File format:
[DNS1 address]
xxx.xxx.xxx.xxx
[DNS2 address]
xxx.xxx.xxx.xxx
[Domain name]
domain
• Primary and Secondary DNS (Currently not used)
• Default domain name for not fully qualified host names.
• Host name of the module
[Host name]
anybus
3.3 IP access control
It is possible to specify which IP addresses that are permitted to connect to the module. This information is stored in the system file ‘/cfg/ip_accs.cfg’.
File Format:
[Web]
xxx.xxx.xxx.xxx
[FTP]
xxx.xxx.xxx.xxx
[Modbus/TCP]
xxx.xxx.xxx.xxx
[Ethernet/IP]
xxx.xxx.xxx.xxx
• Nodes listed here may access the web server.
• Nodes listed here may access the FTP server.
• Nodes listed here may connect to the module via Modbus/TCP.
• Nodes listed here may connect to the module via EtherNet/IP.
• Fallback setting, used by the module when one or several of the
keys above are omitted.
[All]
xxx.xxx.xxx.xxx
Note: ‘*’ may be used as a wildcard to select IP series.
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Network Configuration 12
3.4 Gleaning (ARP)
The IP address may be changed during runtime using the ARP command from a PC.
Please note that since ARP automatically sets the subnet mask to 255.255.255.0, the first three bytes of
the new IP address must be the same as for the PC executing the command, or the PC will not be able
to address the module.
Note: In order to use this functionality, the MAC address of the module must be known (the MAC address is printed on a label on the bottom side of the module).
In the following example, the IP address is set via the Microsoft Windows™ command prompt.
1. Make an entry into the host's ARP table defining the module's IP- and MAC address:
arp -s <IP address> <MAC address>
2. Execute the ping command from the host:
ping <IP address>
If successful, the module detects that it was addressed with the correct MAC address and adopts
it’s new IP settings from the Ping-command. The new settings will be stored in Bus Config Parameters #3...14 (See “Parameters” on page 31).
3. Remove the entry in the ARP table as follows (optional):
arp -d <IP address>
Note: Gleaning can be disabled in the Anybus-S Drive Profile Development Tool (specific fieldbus configuration).
3.5 DHCP/BootP
If enabled, the module can retrieve its TCP/IP settings from a DHCP or BootP server. If no DHCP
server is found, the module will fall back on it’s current settings (i.e. the settings currently stored in Bus
Config Parameters #3...14). If no current settings are available (i.e. set to 0), the module will halt and
indicate an error on the on-board status LEDs (the network configuration can however still be set using
HICP or ARP, see “HICP (Anybus IPconfig)” on page 13 and “Gleaning (ARP)” on page 12).
Note: DHCP support can be disabled in Bus Config Parameter #2, see “Parameters” on page 31.
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Network Configuration 13
3.6 HICP (Anybus IPconfig)
The module supports the HICP protocol used by the Anybus IPconfig utility from HMS, which can be
downloaded free of charge from the HMS website. This utility may be used to configure the network
settings of any Anybus product connected to the network.
Upon starting the program, the network is scanned for Anybus products. The network can be rescanned
at any time by clicking ‘Scan’. In the list of detected devices, the module will appear as ‘ABSDP-EIP2PORT’.
To alter its network settings, double-click on its entry
in the list. A window will appear, containing the settings for the module.
Validate the new settings by clicking ‘Set’. The new IP
configuration will be stored in Bus Config Parameters
#2...#14, see “Parameters” on page 31.
Optionally, the configuration can be protected from
unauthorized access by a password. To enter a password, click on the ‘Change password’ checkbox, and enter the password under ‘New password’.
The password is stored in the system file ‘/cfg/hicp.cfg’.
File Format:
[Password]
<password>
Note: HICP can be disabled in the Anybus-S Drive Profile Development Tool (specific fieldbus configuration).
3.7 Industrial protocol modes
The module supports 3 industrial protocol modes:
•
Modbus/TCP (See chapter 9, (“Modbus/TCP”))
•
EtherNet/IP ‘Profile’ (See chapter 11, (“EtherNet/IP”))
•
EtherNet/IP ‘Transparent’ (See chapter 11, (“EtherNet/IP”))
•
EtherNet/UD (See chapter 10, (“Modbus/UDP”))
The protocol mode is determined by Bus Config Parameter #13, see “Parameters” on page 31. Note
that the module needs to be restarted in order for any changes to have effect.
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Chapter 4
4. FTP Server
4.1 General
The module features a built in FTP server, which can be used to upload/download files to the filesystem
using any standard FTP client.
The FTP root directory can be set to either the system root or to ‘/cfg’ in the Anybus-S Drive Profile
Development Tool (specific fieldbus configuration).
The FTP server can be disabled in the Anybus-S Drive Profile Development Tool (specific fieldbus configuration).
4.2 User accounts
The file ‘/cfg/pswd/sys_pswd.cfg’ contains a list of users allowed to connect to the FTP server.
File Format:
Username1:Password1
Username2:Password2
Username3:Password3
Note: If this file is missing, the server accepts anonymous FTP.
4.3 Connection example (Windows Explorer)
The built in FTP client in Windows Explorer can easily be used to access the file system.
1. Open a Windows Explorer by right-clicking on the ‘Start’ button and selecting ‘Explore’.
2. In the address field, type FTP://<user>:<password>@xxx.xxx.xxx.xxx
- Substitute xxx.xxx.xxx.xxx with the IP address of the module
- Substitute <user> with the username to use
- Substitute <password> with the password to use
3. Press enter. The Explorer will now attempt to connect to the module using the specified settings.
If successful, the filesystem of the module is displayed in the Explorer window.
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Chapter 5
5. Web Server
5.1 General
The module features a built-in web server with SSI capabilities. The web content can be fully customized
to fit a particular application and allow access to drive parameters, configuration settings etc. For more
information about SSI, see chapter 7, ‘Server Side Include (SSI)’.
The web server can be disabled in the Anybus-S Drive Profile Development Tool (specific fieldbus configuration).
5.1.1 Protected files
For security reasons, the following files are protected from web access:
•
Files named ‘web_accs.cfg’
•
Files located in ‘/cfg/pswd’
•
Files located in ‘/pswd’
5.2 Authorization
Directories can be protected from web access by placing a file called ‘web_accs.cfg’ in the directory to
protect. This file shall contain a list of users that are allowed to access the directory and its subdirectories.
File Format:
Username1:Password1
Username2:Password2
Username3:Password3
...
UsernameN:PasswordN
[AuthName]
(message goes here)
List of approved users.
Optionally, a login message can be specified by
including the key [AuthName]. This message will
be displayed by the web browser upon accessing
the protected directory.
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5.3 Content types
By default, the following content types are recognized by their file extension:
Content type
text/html
image/gif
image/jpeg
image/x-png
application/x-javascript
text/plain
application/x-zip-compressed
application/octet-stream
text/vnd.wap.wml
application/vnd.wap.wmlc
image/vnd.wap.wbmp
text/vnd.wap.wmlscript
application/vnd.wap.wmlscriptc
text/xml
application/pdf
File extension
*.htm, *.html, *.shtm
*.gif
*.jpeg, *.jpg, *.jpe
*.png
*.js
*.bat, *.txt, *.c, *.h, *.cpp, *.hpp
*.zip
*.exe, *.com
*.wml
*.wmlc
*.wbmp
*.wmls
*.wmlsc
*.xml
*.pdf
It is possible to configure/reconfigure the reported content types, and which files that shall be scanned
for SSI. This is done in the system file ‘/http.cfg’.
File Format:
[FileTypes]
FileType1:ContentType1
FileType2:ContentType2
FileType3:ContentType3
...
FileTypeN:ContentTypeN
[SSIFileTypes]
FileType1
FileType2
FileType3
...
FileTypeN
Note: Up to 50 content types and 50 SSI file types may be specified in this file.
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Chapter 6
6. SMTP Client
6.1 General
The built in email client is capable of sending predefined email messages on parameter data events configured by the user.
The SMTP client supports SSI, however note that some SSI functions cannot be used in email messages
(this is specified separately for each SSI command). For more information about SSI, see chapter 7,
‘Server Side Include (SSI)’.
6.2 Client configuration
The module needs a valid SMTP server configuration in order to be able to send email messages. These
settings are stored in the system file ‘/cfg/smtp.cfg’. This file is read once during startup, i.e. any changes
requires that the module is restarted in order to have effect.
File format
[SMTP address]
xxx.xxx.xxx.xxx
[SMTP username]
user
Outgoing email server address
SMTP server login. Optional.
[SMTP password]
password
6.3 Operation
As mentioned previously, the email client sends predefined message based on parameter data events.
In operation, the client works as follows:
1. Trigger source
2. A logical AND is performed between the trigger source and a mask value
3. The result is compared to a reference value
4. If the result of the compared values are true, the email is sent to the specified recipient(s).
Which events, and which parameters, that shall cause a particular message to be sent, is specified separately for each message. For more information, see “Email definitions” on page 18.
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6.4 Email definitions
The messages are stored in the ‘/cfg/email’ directory. It is possible to define up to 5 messages, each triggered by separate events. Note that in order to be properly recognized by the module, the files must be
named ‘email_1.cfg’, ‘email_2.cfg’ ... ‘email_5.cfg’.
File format
[Parameter]
parameter number
[Mask]
mask value
[Operand]
operand
[Value]
reference value
[To]
recipient
[From]
sender
[Subject]
subject line
[Headers]
optional extra headers
[Message]
message body
Key
Parameter
Mask
Operand
Value
To
From
Subject
Headers
Message
Value
Vendor specific drive parameter to use as a trigger source
Mask value, applied on the ‘Parameter’ prior to comparison (logical AND).
Possible values are ‘<‘, ‘=’ or ‘>’. Specifies how ‘Parameter’ shall be compared with ‘Value’.
Used as a reference value for comparison.
Recipient; destination email address
Sender email address
Email subject. One line only.
Optional; may be used to provide additional headers.
The actual message.
Scanned for SSI
No
Yes
Note: Hexadecimal values must be written with the prefix ‘0x’ in order to be recognized by the module.
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Chapter 7
7. Server Side Include (SSI)
7.1 General
SSI are special commands embedded in the source document. When the module encounters an SSI
command, it executes the it, and replaces it with the result of the command.
Syntax
The ‘X’s below represents a command opcode and parameters associated with the command.
<?--#exec cmd_argument=’XXXXXXXXXXXXXXXXXXXXXX’-->
Example
The following example causes a web page to display the Ethernet Mac ID of the module:
<HTML>
<HEAD><TITLE>SSI Test</TITLE></HEAD>
<BODY>
The Ethernet Mac ID of the Anybus module is:
<?--#exec cmd_argument=’DisplayMacID’-->
</BODY>
</HTML>
Resulting webpage:
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7.2 Functions
DisplayIP()
This function returns the IP address.
Syntax:
<?--#exec cmd_argumet=’DisplayIP( Mode )’-->
Mode:
0:
Return the configured IP address
1:
Return the actual IP address
Output:
The IP address is returned as an ASCII string.
DisplaySubnet()
This function returns the subnet mask.
Syntax:
<?--#exec cmd_argumet=’DisplaySubnet( Mode )’-->
Mode:
0:
Return the configured Subnet Mask
1:
Return the actual Subnet Mask
Output:
The Subnet Mask is returned as an ASCII string.
DisplayGateway()
This function returns the default gateway.
Syntax:
<?--#exec cmd_argumet=’DisplayGateway( Mode )’-->
Mode:
0:
Return the configured Gateway address.
1:
Return the actual Gateway address.
Output:
The default gateway address is returned as an ASCII string.
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Server Side Include (SSI) 21
DisplayDHCPState()
This function returns the current DHCP state.
Syntax:
<?--#exec cmd_argumet=’DisplayDHCPState( “String 1”, “String 2” )’-->
String 1:
String to return if DHCP is enabled, e.g. “DHCP on”.
String 2:
String to return if DHCP is disabled, e.g. “DHCP off”.
Output:
The output will be one of the two strings specified in the command, depending on the current
DHCP state.
StoreEtnConfig1
This function stores a passed IP configuration in Bus Config Parameters #2...#14. Note that the passed
settings will not have effect until the module has been restarted.
To use this function, include it in a form containing one or several of following objects:
•
SetIp
•
SetSubnet
•
SetGateway
•
SetDHCPState (value must be “on” or “off”)
Syntax:
<?--#exec cmd_argumet=’StoreEtnConfig’-->
Output:
“Invalid IP address!”
“Invalid Subnet mask!”
“Invalid Gateway address!”
“Invalid IP address or Subnet mask!”
“Invalid DHCP state!”
“Configuration stored successfully.”
“Failed to store configuration!”
DisplaySMTPServer
This function returns the SMTP server address.
Syntax:
<?--#exec cmd_argumet=’DisplaySMTPServer’-->
Output:
The IP address of the SMTP server is returned as an ASCII string.
1.
This SSI function cannot be used in email messages.
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Server Side Include (SSI) 22
DisplaySMTPUser
This function returns the user name used for SMTP authentication.
Syntax:
<?--#exec cmd_argumet=’DisplaySMTPUser’-->
Output:
Username.
DisplaySMTPPswd
This function returns the password used for SMTP authentication.
Syntax:
<?--#exec cmd_argumet=’DisplaySMTPPswd’-->
Output:
Password.
StoreSMTPConfig1
This function stores a passed SMTP configuration to the system file ‘/cfg/smtp.cfg’. Note that the new
settings will not have effect until the module has been restarted.
To use this function, include it in a form containing one or several of following objects:
•
SetSMTPServer
•
SetSMTPUser
•
SetSMTPPswd
Syntax:
<?--#exec cmd_argumet=’StoreSMTPConfig’-->
Output:
“Invalid SMTP server address!”
“Configuration stored successfully.”
“Failed to store configuration!”
DisplayFWVersion
This function returns the firmware revision of the module.
Syntax:
<?--#exec cmd_argumet=’DisplayFWVersion’-->
Output:
Revision number as ASCII string.
1.
This SSI function cannot be used in email messages.
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Server Side Include (SSI) 23
DisplayBLVersion
This function returns the boot loader revision of the module.
Syntax:
<?--#exec cmd_argumet=’DisplayBLVersion’-->
Output:
Revision number as ASCII string.
DisplayCPIVersion
This function returns the Common Profile Interface (CPI) revision of the module.
Syntax:
<?--#exec cmd_argumet=’DisplayCPIVersion’-->
Output:
Revision number as ASCII string.
DisplaySerial
This function returns the production serial number of the module.
Syntax:
<?--#exec cmd_argumet=’DisplayCPIVersion’-->
Output:
Serial number as ASCII string.
DisplayMacId
This function returns the Ethernet Mac ID in the module.
Syntax:
<?--#exec cmd_argumet=’DisplayMacId’-->
Output:
Ethernet Mac ID as ASCII string.
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GetConfigItem()
This function reads a specified ‘key’ from a configuration file and returns its value. The module expects
the configuration file to have the following format:
[key1]
Value of Key1
[Key2]
Value of Key2
...
[KeyN]
Value of KeyN
Syntax:
<?--#exec cmd_argumet=’GetConfigItem ( “Filename”, “Key”, “Separator” ) ’-->
Filename:
Configuration file to read from.
Key:
Key to read value from.
Separator:
Optional line separator. If not given, new lines are separated by CRLF.
Output (if successful):
Value of Key.
Output (error):
“Could not get value for [Key]”
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Server Side Include (SSI) 25
SetConfigItem()1
This function stores configuration passed from an HTML form to a configuration file. All objects in the
passed form, except fields with names starting with underscore (‘_’) will be stored. The object name will
be stored as the [Key], and the value will be stored as a value associated with that key.
If the file is not found, it is created by the module. If the [Key] isn’t found in the file, the module adds
it automatically.
Example
A form containing the following fields...
name=”Speed”, value=”48”
name=”Temp”, value=”20”
name=”_B1”, value=”submit”2
... will generate the following configuration file:
[Speed]
48
[Temp]
20
Syntax:
<?--#exec cmd_argumet=’SetConfigItem ( “Filename” ) ’-->
Filename:
Destination file.
Output (if successful):
“Configuration stored to “filename””
Output (error):
“Could not store configuration to “filename””
IncludeFile()
This function returns the contents of a file.
Syntax:
<?--#exec cmd_argumet=’IncludeFile( “Filename” )’-->
Filename:
File to include.
Output (if successful):
The contents of the file is returned.
Output (error):
“Failed to open “filename””
1.
2.
This SSI function cannot be used in email messages.
Button used to send the form. To avoid storage, the name begins with underscore (‘_’).
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Server Side Include (SSI) 26
SaveDataToFile()1
This function saves the data of a passed HTML form to a file. The value of a single object, or, the value
of all objects, will be stored in the specified file.
Syntax:
<?--#exec cmd_argumet=’SaveDataToFile ( “Filename”, “Object Name”, Mode )’-->
Filename:
Destination file.
Object Name:
Optional; if given, only the value of the specified object is stored. If not, the values of all
objects are stored.
Mode:
Append:The information will be appended to the end of the destination file.
Overwrite:The destination file will be replaced.
Output (if successful):
“Data saved to file”
Output (error):
“Could not store data in “filename””
printf()
This function returns a formatted string which may contain drive parameter data. The formatting parameters are similar to that of the standard C-language function ‘printf()’.
Syntax:
<?--#exec cmd_argumet=’printf( “String”, Arg1, Arg2, ... , ArgN )’-->
String
Similar to the C-language function ‘printf()’, the ‘String’ parameter contains two types of objects;
ordinary characters which are copied to the output stream, and conversion specifications, each
which causes a conversion and printing of the next successive argument (Arg).
Conversion specifications are specified with the ‘%’ prefix and ends with a conversion character.
Between the prefix and the conversion character there may be, in order:
- Flags (in any order):
Flag
+
(space)
0 (zero)
#
1.
Meaning
Specifies left adjustment of the converted argument. Default is right adjustment.
Specifies that the number will always be printed with a sign (‘+’ or ‘-’)
If the first character is not a sign, a space will be prefixed
Specifies padding with leading zeroes.
Specifies an alternate output form. For ‘o’, the first digit will be zero. For ‘x’ or ‘X’, ‘0x’
or ‘0X’ will be prefixed to a non-zero result. For ‘e’, ‘E’, ‘f’’, ‘g’ and ‘G’, the output will
always have a decimal point; for ‘g’ and ‘G’, trailing zeroes will not be removed.
This SSI function cannot be used in email messages.
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Server Side Include (SSI) 27
- A number specifying the minimum field width. The converted argument will be printed in a
field at least this wide, and wider if necessary. If the converted argument has fewer characters
than the specified field width, it will be padded with spaces (or zeroes if using the 0-flag).
- A period (.) which separates the field width from the precision.
- A number, the precision, that specifies the maximum number of characters to be printed
from a string, or the number of digits to be printed after the decimal point for e, E or F conversions, or the number of significant digits for g or G conversion, or the minimum number
of digits to be printed for an integer (leading zeroes will be added to make up the necessary
width).
- A length modifier:
Modifier
h
l (letter ell)
L
Meaning
Indicates that the corresponding argument is to be printed as a short or unsigned short
Indicates that the argument is a long or unsigned long
- A conversion character:
Character
d
i
o
x
X
u
c
f
e
E
g
G
%
Argument type, converted to
byte, short; signed decimal notation.
byte, short; unsigned octal notation (without a leading zero).
byte, short; unsigned hexadecimal notation (without a leading 0x), using abcdef
byte, short; unsigned hexadecimal notation (without a leading 0X), using ABCDEF
byte, short; unsigned decimal notation.
byte, short; single character, after conversion to unsigned char.
long; decimal notation of the form [-]mmm.ddd, where the number of d’s is specified by
the precision. the default precision is 6; a precision of 0 (zero) suppresses the decimal
point.
long; decimal notation of the form [-]m.dddddd e±xx, where the number of d’s is specified by the precision. The default precision is 6; a precision of 0 (zero) suppresses the
decimal point.
long; decimal notation of the form [-]m.dddddd E±xx, where the number of d’s is specified by the precision. The default precision is 6; a precision of 0 (zero) suppresses the
decimal point.
long; %e or %E is used if the exponent is less than -4 or greater than or equal to the
precision; otherwise %f is used. Trailing zeroes and trailing decimal point are not
printed.
No argument is converted, i.e. a ‘%’ is printed.
Arg1....N
Each argument shall be written in the following format:
ReadVendPara( Num )
... where ‘Num’ is a vendor specific drive parameter.
Output (if successful):
The formatted string.
Output (error):
If the specified parameter does not exist, the following string is returned:
“Unknown parameter #Num”
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Server Side Include (SSI) 28
scanf()1
This function reads a string passed from an object in an HTML form, interprets it according the supplied
format specification, and stores the result in the drive parameters according to the passed arguments.
The formatting parameters are similar to that of the standard C-language function ‘scanf()’.
Syntax:
<?--#exec cmd_argumet=’scanf( “Object”, “Format”, Arg1, Arg2, ... , ArgN ),
ErrVal1, Errval2, ... Errval3’-->
Object:
The name of the object with the passed data string.
Format:
Specifies how the passed object string is formatted.
Character
d
i
o
x
X
u
c
f
e
E
g
G
%
Argument type, converted to
byte, short; signed decimal notation.
byte, short; unsigned octal notation (without a leading zero).
byte, short; unsigned hexadecimal notation (without a leading 0x), using abcdef
byte, short; unsigned hexadecimal notation (without a leading 0X), using ABCDEF
byte, short; unsigned decimal notation.
byte, short; single character, after conversion to unsigned char.
long; decimal notation of the form [-]mmm.ddd, where the number of d’s is specified by the precision. the default precision is 6; a precision of 0 (zero) suppresses the decimal point.
long; decimal notation of the form [-]m.dddddd e±xx, where the number of d’s is specified by
the precision. The default precision is 6; a precision of 0 (zero) suppresses the decimal point.
long; decimal notation of the form [-]m.dddddd E±xx, where the number of d’s is specified by
the precision. The default precision is 6; a precision of 0 (zero) suppresses the decimal point.
long; %e or %E is used if the exponent is less than -4 or greater than or equal to the precision;
otherwise %f is used. Trailing zeroes and trailing decimal point are not printed.
No argument is converted, i.e. a ‘%’ is printed.
Arg1...N
Specifies the destination drive parameters.
Each argument must be written in the format ‘WriteVendPara ( Parameter No. )’
ErrVal1...N
Optional; specifies the output string in case of an error.
Output (if successful):
“Write succeeded”
Output (error):
“Write failed”
1.
This SSI function cannot be used in email messages.
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Server Side Include (SSI) 29
SsiOutput()
This function instructs the module to temporarily change the output of the next SSI function.
Syntax:
<?--#exec cmd_argumet=’SsiOutput( “Success”, “Error” )’-->
- Success:
-
String to use on success.
- Error:
-
String to use in case of a failure.
Example:
In this example, the output of the scanf() call has been altered temporarily using SsiOutput().
<?--#exec cmd_argumet=’SsiOutput( “Parameter #8 updated”, “Error!” )’-->
<?--#exec cmd_argumet=’scanf( “Parameter1”, “%d”, WriteVendPara( 8 ) )’-->
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7.3 Changing the SSI output strings
It is possible to change the default output of SSI functions, either temporarily using SsiOutput() (See
“SsiOutput()” on page 29), or permanently by altering the SSI Output String file (see below).
SSI output string file
If the file ‘/ssi_str.cfg’ is found in the filesystem and is formatted correctly, the some SSI functions will
use the output strings specified in this file instead of the default ones.
File format:
[StoreEtnConfig]
Success: "String to use on success"
Invalid IP: "String to use when the IP address is invalid"
Invalid Subnet: "String to use when the Subnet mask is invalid"
Invalid Gateway: "String to use when the Gateway address is invalid"
Invalid DHCP state: "String to use when the DHCP state is invalid"
Invalid IP or Subnet: "String to use when the IP & Subnet mask does not match"
Save Error: "String to use when storage fails"
[StoreSMTPConfig]
Success: "String to use on success"
Invalid SMTP server: "String to use when the SMTP address is invalid"
Save Error: "String to use when storage fails"
[GetConfigItem]
Failure: "String to use on failure"1
[SetConfigItem]
Success: "String to use on success"2
Failure: "String to use on failure"2
[IncludeFile]
Failure: "String to use on failure"2
[SaveDataToFile]
Success: "String to use on success"2
Failure: "String to use on failure"2
[scanf]
Success: "String to use on success"
Failure: "String to use on failure"
1.
2.
To include the key name, %s can be included once
To include the filename, %s can be included once
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Chapter 8
8. Bus Config Parameters
8.1 General
The Bus Config Parameters are used for end-user accessible fieldbus specific configuration. These parameters are read once during startup, i.e. the module has to be restarted in order for any changes to
have effect.
8.2 Parameters
Default
Value
0
Min.
Value
0
Max.
Value
4
DHCP enable
1
0
1
4
5
6
7
8
IP address 1
IP address 2
IP address 3
IP address 4
Subnet mask
CIDR
0
0
0
0
1
0
0
0
0
1
255
255
255
255
31
9
10
11
12
13
GW address 1
GW address 2
GW address 3
GW address 4
Protocol
0
0
0
0
0
0
0
0
0
0
255
255
255
255
2
14 Modbus timeout 0
0
65535
15 Stop function
0
0
1
16
17
18
19
20
21
22
23
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
65535
65535
65535
65535
65535
65535
65535
65535
#
Name
1
2
Comm rate P1
Comm rate P2
3
Output 1
Output 2
Output 3
Output 4
Input 1
Input 2
Input 3
Input 4
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Description
Notes
0: Auto negotiate
1: 100Mbps, full duplex
2: 100Mbps, half duplex
3: 10Mbps, full duplex
4: 10Mbps, half duplex
0: DHCP disabled
1: DHCP enabled
IP address, first octet
IP address, second octet
IP address, third octet
IP address, fourth octet
Subnet mask in CIDR format. The CIDR
value gives the number of bits in the
subnet mask that are set to 1, counted
from the highest to the lowest bit. E.g. If
the subnet mask is 255.255.0.0, CIDR =
16.
Gateway address, first octet
Gateway address, second octet
Gateway address, third octet
Gateway address, fourth octet
0: Modbus/TCP
1: EtherNet/IP (Profile)
2: EtherNet/IP (Transparent)
Modbus timeout in tenths of a second.
0: Disabled
0: Ramp stop
1: Coast stop
1st parameter mapped to instance 102
2nd parameter mapped to instance 102
3rd parameter mapped to instance 102
4th parameter mapped to instance 102
1st parameter mapped to instance 103
2nd parameter mapped to instance 103
3rd parameter mapped to instance 103
4th parameter mapped to instance 103
-
These settings may also
be affected by...
• Gleaning/ARP (See
“Gleaning (ARP)” on
page 12)
• EtherNet/IP (See
“TCP/IP Interface
Object (F5h)” on
page 55)
• DHCP/BootP (See
“DHCP/BootP” on
page 12)
• HICP (See “HICP
(Anybus IPconfig)”
on page 13)
• SSI (See “StoreEtnConfig” on page 21)
See “Industrial protocol
modes” on page 13
See “Modbus message
time out” on page 34
-
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Chapter 9
9. Modbus/TCP
9.1 Implementation details
The Modbus/TCP protocol is an implementation of the standard Modbus protocol running on top of
TCP/IP. It uses the same function codes and addressing model, with the added benefits associated with
Ethernet. The drive parameters etc. are mapped directly to Modbus/TCP registers as described in
“Modbus register map” on page 33.
The module supports up to 8 simultaneous Modbus/TCP connections. If a previously opened connection has been inactive for 1 minute, the module closes that connection.
All Modbus/TCP messages are received/transmitted on TCP port no. 502. For detailed information regarding the Modbus/TCP protocol, consult the Open Modbus Specification.
Function codes
The following Modbus/TCP function codes are implemented in the module:
Function code
3
6
16
23
Function
Read Multiple Registers
Write Single Register
Force Multiple Registers
Read/Write Registers
Exception codes
CPI parameter error codes are translated to Modbus/TCP exception codes as follows:
CPI error code
Command not supported (08h)
Parameter not settable (0Eh)
State operation failure (19h)
Invalid parameter data error (09h)
Parameter not supported (14h)
Device state conflict (10h)
Not enough data (13h)
Too much data (15h)
Too high parameter value (D0h)
Too low parameter value (D1h)
Vendor specific error (1Fh)
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Modbus/TCP exception code
Illegal function (01h)
Illegal data address (02h)
Illegal data value (03h)
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9.2 Modbus register map
All drive registers are mapped to Modbus ‘4xxxx’-registers. Note that if a fault is detected while writing
multiple registers (applies to function codes 16 & 23), all registers processed before the one generating
the error will be written.
Depending on how the module is configured in Anybus-S Drive Profile Development Tool, data is represented in three different ways on the network:
•
Default Register Mapping (See “Default register mapping” on page 33)
•
Vendor Specific Mapping (See “Vendor specific mapping” on page 33)
•
Formula Mapping (See “Formula mapping” on page 34)
9.2.1 Default register mapping
If no mapping of vendor specific parameters has been downloaded to the module, and formula mapping
isn’t selected, the Default Register Mapping will be used.
In this mode, each parameter occupies two Modbus registers. If the parameter is 1 or 2 bytes long, it will
be placed in the higher of the two Modbus registers. The lower register will be set to 0 (zero).
Register #
40001
40002
40003
40004
40005
40006
40007
40008
40009
40010
40011
40012
...
4nnnn
4nnnn+1
Mapped to...
Vendor Specific Control Word (1...4 bytes)
Vendor Specific Reference Value (1...4 bytes)
Vendor Specific Status Word (1...4 bytes)
Vendor Specific Actual Value (1...4 bytes)
1st Vendor specific Parameter
2nd Vendor specific Parameter
Last vendor specific Parameter.
nnnn = (Number of vendor parameters *2) + 7
9.2.2 Vendor specific mapping
Vendor specific mapping between Modbus addresses and drive parameters are made with the AnybusS Drive Profile Development Tool. The configuration is then downloaded into the module prior to execution.
Parameters which are 3 or 4 bytes in length will require 2 Modbus registers. Also note that Modbus/
TCP is big endian, i.e. the most significant word is stored at the lowest Modbus address.
Vendor specific Control Word, Status Word, Reference Value & Actual Value, are set up as fieldbus specific configuration in the Anybus-S Drive Profile Development Tool.
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9.2.3 Formula mapping
In this mode, drive parameters, vendor specific Control/Status Words, and Vendor Specific Reference/
Actual values must be one or two bytes long. If greater, data may be overwritten.
Formula Mapping is selected in the Anybus-S Drive Profile Development Tool, and mapping in this
mode is as follows:
Register #
40001
40002
40003
40004
40005
40006
4XXXX
Mapped to...
Vendor Specific Control Word (1...2 bytes)
Vendor Specific Reference Value (1...2 bytes)
(reserved)
Vendor Specific Status Word (1...2 bytes)
Vendor Specific Actual Value (1...2 bytes)
(reserved)
Drive Parameter XXXX, where XXXX is a value between 7 and 9999.
9.3 Modbus message time out
The Modbus protocol itself has no support for time outs etc. on the application layer. Since this may be
required when controlling a drive, a simple method of supervision has been implemented in the module.
This functionality works by monitoring incoming Modbus/TCP messages; if no supported Modbus/
TCP command has been received within a specified time out period, the module clears the
FB_RUNNING-bit to indicate that the network is no longer controlling the drive. Once communication has been re-established (i.e. a valid Modbus/TCP command is received), the module sets the
FB_RUNNING-bit to 1.
The time out value is specified in Bus Config parameter #16 (see “Parameters” on page 31). The value
is specified in tenths of a second, i.e a value of 42 equals 4.2 seconds. A value of zero disables the time
out functionality.
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Chapter 10
10. Modbus/UDP
10.1 Implementation details
The implementation of the Modbus/UDP protocol in the Anybus-S Drive Profile EtherNet/IP 2-Port
module is very similar to the implementation of Modbus/TCP, see “Modbus/TCP” on page 32.
Instead of Modbus/TCP frames, Modbus/UDP frames are sent and received. All Modbus/UDP messages are received/transmitted on UDP port no. 502. The UDP checksum will be used, as there is no
checksum in the Modbus/UDP protocol.
Invocation
Identification
Protocol
Identifier
Unit Identifier
Function Code
Lenght
Field
Modbus Subframe
Data
Modbus/UDP frame (UDP frame payload)
Name
Invocation Identification
Protocol Identifier
Length Field
Modbus Unit Identifier
Subframe Function Code
Data
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Description
Used for transaction pairing (2 bytes)
Modbus (value: 0000h)
Number of bytes (LL) in Modbus Subframe (value = 00LLh)
Used to identify a remote unit located on a non-TCP/IP network (1 byte)
Modbus function code (1 byte)
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Chapter 11
11. EtherNet/IP
11.1 Implementation details
EtherNet/IP is based on the Common Industrial Protocol (CIP), which is also the framework for both
DeviceNet and ControlNet, to carry and exchange data between nodes.
EtherNet/IP uses port 44818 (TCP/UDP) for encapsulation messages, and port 2222 for I/O Data.
The EtherNet/IP implementation in the module supports up to 48 concurrent TCP connections.
EtherNet/IP ‘Profile’ vs. EtherNet/IP ‘Transparent’
As mentioned previously, the EtherNet/IP implementation in the module offers two modes of operation, a.k.a EtherNet/IP ‘Profile’ and EtherNet/IP ‘Transparent’.
In ‘Profile’-mode, the module follows the drive profile specification, whereas in ‘Transparent’-mode,
vendor specific Control/Status/Reference/Actual words are used.
Functionality
Assembly Object
AC/DC Object
Control Supervisor Object
EtherNet/IP ‘Profile’
Instance 20/70, 21/71 & 102/103 exists.
Implemented according to the EtherNet/IP
specification.
EtherNet/IP ‘Transparent’
Instance no. 100/101 & 102/103 exists.
Not implemented; object reports ‘Device
State Conflict’.
Electronic Data Sheet (.EDS)
Each device on EtherNet/IP is associated with an Electronic Data Sheet (a.k.a. EDS-file), which holds
a description of the device and its functions.
The Anybus-S Drive Profile Development Tool generates a suitable .EDS-file automatically based on
the actual configuration.
Implemented objects
The following objects are implemented in the module:
•
Identity Object (01h)
•
Message Router, (02h)
•
Assembly Object (04h)
•
Connection Manager (06h)
•
Motor Data Object (28h)
•
Control Supervisor Object (29h)
•
AC/DC-Drive Object (2Ah)
•
DLR Object (47h)
•
Drive Parameter Object (90h)1
•
Drive IO Map Object (91h)1
•
TCP/IP Interface Object (F5h)
•
Ethernet Link Object (F6h)
1. The class number of this object can be altered.
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11.2 Identity Object (01h)
Services
Class services:
Get Attribute All
Get Attribute Single
Instance services:
Get Attribute All
Get Attribute Single
Reset (See “Reset service” on page 38)
Class attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0001h
Description
Revision 1
Type
UINT
Value
Default: 005Ah
Description
HMS Industrial Networks AB
UINT
Default: 0002h
Default: 0021h
AC Drivea
Anybus-S Drive Profile EtherNet/IP
Module serial number
AnyBus-S EtherNet/IP
Major fieldbus version
Minor fieldbus version
Device status, see table below
Serial number of the module
Name of product
Instance attributes
#
1
Access
Get
Name
Vendor ID
2
Get
Device Typea
3
Get
4
Get
5
6
7
Get
Get
Get
Product Codea UINT
Struct of:
Revisionab
USINT
USINT
Status
WORD
Serial Number UDINT
Product Namea SHORT_STRING
a
a. Can be customized in the Anybus-S Drive Profile Development Tool (specific fieldbus configuration)
b. If set to 00.00 in the Anybus-S Drive Profile Development Tool, the module reports its firmware revision
number.
Status attribute
bit(s)
0
1
2
3
4-7
8
9
10
11
12 - 15
Name
Module Owned
(reserved)
Configured
(reserved)
Extended Device Status
Minor recoverable fault
Minor recoverable fault
Major recoverable fault
Major unrecoverable fault
(reserved)
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Extended device status
Value
0000b
0010b
0011b
0100b
0110b
0111b
Meaning
Unknown
Faulted I/O Connection
No I/O connection established
Non volatile configuration bad
Connection in Run mode
Connection in Idle mode
Reset service
The Identity object provides a reset service. There are two different types of reset requests:
•
Type 0: ‘Power Cycling Reset’
Upon receiving this request, the module calls ‘CPI_CallEmulatePowerCycle (P48)’.
•
Type 1: ‘Out of box reset’
Upon receiving this request, the module formats the filesystem in disc 1, thus resetting all internal
configuration parameters. It then calls ‘CPI_CallFactoryReset (P49), followed by
‘CPI_CallEmulatePowerCycle (P48)’.
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11.3 Message Router, (02h)
Services
Class services:
Instance services:
-
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11.4 Assembly Object (04h)
The Assembly Object binds attributes of multiple objects, which allows data to or from each object to
be sent or received over a single connection. The Assembly Object in this implementation uses static
assemblies.
As mentioned previously, the module can operate either in ‘Profile’-mode, or ‘Transparent’-mode (determined by Bus Config Parameter #15, see “Parameters” on page 31.). This affects the available instances and their usage in this object.
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Class attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0002h
Description
Revision 2
Instance attributes
Instances/Connection points implements the following attributes.
#
3
Access
Get
Name
Data
Anybus-S Drive Profile EtherNet/IP 2-Port
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Type
Array of BYTE
Value
-
Description
Data produced/consumed by the Anybus module, see “Consuming instances (output)” on
page 41 and “Producing instances (input)” on
page 42.
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Consuming instances (output)
Write requests are rejected if the assembly is linked to an active I/O connection in run mode. Only one
instance can be active at a time; if a second connection is requested, a state conflict error is reported.
Mode
-
Instance no.
-
Byte no.
-
Profile
20
0
b7
b6
b5
b4
b3
(no data; used as a heartbeat instance)
b2
b1
Fault
Reset
b0
Run Fwd
1
21
2
Speed Reference (Low byte)
3
Speed Reference (High byte)
0
NetRef
NetCtrl
Fault
Reset
Run Rev
Run Fwd
1
Transparent
100
102
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2
Speed Reference (Low byte)
3
Speed Reference (High byte)
0...X
Vendor Specific Control Word (little endian format)
...
...
Y...Z
Vendor Specific Reference Value (little endian format)
0...X
User mapped output parameter 1 (little endian format)
...
...
Y...Z
User mapped output parameter N (little endian format)
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Producing instances (input)
Mode
Profile
Instance no.
70
Byte no.
0
b7
b6
b5
b4
b3
b2
b1
Running 1
b0
Faulted
1
71
Transparent
101
103a
2
Speed Actual (Low byte)
3
Speed Actual (High byte)
0
At
Reference
Ref from
Net
Ctrl from
Net
Ready
Running 2
(Rev)
Running 1
(Fwd)
1
Drive State
2
Speed Actual (Low byte)
3
Speed Actual (High byte)
0...X
Vendor Specific Status Word (little endian format)
...
...
Y...Z
Vendor Specific Actual Value (little endian format)
0...X
User mapped input parameter 1 (little endian format)
...
...
Y...Z
User mapped input parameter N (little endian format)
Warning
Faulted
a. The size of this instance depends on the number of mapped parameters, see “Drive IO Map Object (91h)” on
page 54. When a connection to this instance is opened, a data size check is performed to ensure that the size
of the mapped parameters are equal or less than the requested size. When done, the drive parameters are
mapped as I/O to the drive.
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11.5 Connection Manager (06h)
Services
Class services:
Forward Open
Instance services:
Forward Close
Class 1 connections
Class 1 connections are used to transfer I/O data, and can be established to the Assembly Object instances.
Each Class 1 connection provides two data transports; one consuming, and one producing. The heartbeat instance in the Assembly Object is used for connections that shall access only inputs or only outputs. The module supports up to 31 simultaneous Class 1 connections.
Producing Instances
No. of Supported Class 1 Connections:
Supported Transports:
Supported Transport Types:
Supported Packet Rate (API):
Supported Trigger Types:
20 per instance (sharing same transport). Listen only.
1
Point-to-point/Unicast, Multicast
10...3200ms
Cyclic
Consuming Instances
No. of Supported Class 1 Connections:
Supported Transports:
Supported Transport Types:
Supported Packet Rate (API):
20 per instance, exclusive owner
1
Point-to-point/Unicast
Unlimited
Note: The first four bytes consumed by the device are defined as status information (32-bit run/idle
header). This header is not required by the EtherNet/IP specification, however since most master use
this header, the module strips off the first four bytes of data consumed by the device and interprets the
Run/Idle bits.
Class 3 connections
Class 3 connections are used to establish connections to the Message Router, and for explicit messaging.
The module supports up to 16 simultaneous Class 3 connections.
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11.6 Motor Data Object (28h)
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Class attributes
#
1
Access
Get
Name
Revision
Anybus-S Drive Profile EtherNet/IP 2-Port
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Type
UINT
Value
0001h
Description
Revision 1
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Instance attributes
Instances/Connection points implements the following attributes.
#
3
Access
Get/Set
Name
MotorType
6
Get/Set
RatedCurrent
Type Description
USINT 1: PM DC
2: FC DC
3: PM Synchronous
4: FC Synchronous
5: Switched Reluctance
6: Wound Rotor Induction
7: Squirrel Cage Induction
8: Stepper
9: Sinusoidal PM BL
10 Trapezoidal PM BL
UINT Rated Stator/Armature Current.
7
Get/Set
RatedVoltage
UINT
8
Get/Set
RatedPower
UDINT
9
Get/Set
RatedFreqb
UINT
10 Get/Set
RatedTemp
UINT
11 Get/Set
MaxSpeed
UINT
12 Get/Set
Polecountb
UINT
13 Get/Set
TorqConstant
UDINT
14 Get/Set
Inertia
UDINT
15 Get/Set
BaseSpeed
UINT
19 Get/Set
ServiceFactorb USINT
Related CPI Function Calls
P22
CPI_GetMotorTypea
CPI_SetMotorTypea
P15
CPI_GetMotorRatedCurrent
(Unit: 100mA)
CPI_SetMotorRatedCurrent
Rated Base/Armature Voltage.
P14
CPI_GetMotorRatedVoltage
(Unit: V)
CPI_SetMotorRatedVoltage
Rated Power at Rated Freq/MaxSpeed. P16
CPI_GetMotorRatedPower
(Units: W)
CPI_SetMotorRatedPower
Rated Electrical Frequency
P18
CPI_GetMotorRatedFrequency
(Unit: Hz)
CPI_SetMotorRatedFrequency
Rated Winding Temperature
P19
CPI_GetMotorRatedTemperature
(Units: Degrees C)
CPI_SetMotorRatedTemperature
Maximum allowed motor speed.
P35
CPI_GetMaximumMotorSpeed
(Unit: RPM)
CPI_SetMaximumMotorSpeed
Number of poles in the motor
P25
CPI_GetPoleNumber
CPI_SetPoleNumber
Motor torque constant
P20
CPI_GetMotorTorqueConstant
(Unit: 0.001 x Nm/A)
CPI_SetMotorTorqueConstant
Rotor inertia
P23
CPI_GetMotorInertia
(Unit: 10-6 x kg.m2)
CPI_SetMotorInertia
Nominal speed at rated frequency/voltage P17
CPI_GetMotorBaseSpeed
Units: RPM
CPI_SetMotorBaseSpeed
Range 0...255
P21
CPI_GetMotorServiceFactor
(Unit: %)
CPI_SetMotorServiceFactor
a. If unsupported, the module reports the motor as a ‘Squirrel Cage Induction’-motor; this will in such case also be
the only accepted setting for the ‘set’ service.
b. Only applies to AC motors.
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11.7 Control Supervisor Object (29h)
This object models all the management functions for devices within the ‘Hierarchy of Motor Control
Devices’. The behaviour of motor control devices is described by the State Machine (see “State machine” on page 48) and the Run/Stop Event Matrix (see “Run/Stop Event Matrix” on page 49).
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Reset (See “Reset service” on page 47)
Class attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0001h
Description
Revision 1
Type
Bool
Bool
Bool
Value
See “Run/Stop Event Matrix” on
page 49
Source/Destination for attribute value
(internal)
Instance 1 attributes
#
3
4
5
Access
Get/Set
Get/Set
Get/Set
Name
Run1
Run2
NetCtrl
6
Get
State
7
Get
Running1
8
Get
Running2
9
Get
Ready
10 Get
Faulted
11 Get
Warning
Anybus-S Drive Profile EtherNet/IP 2-Port
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Request Run/Stop control to be
local or from network.
1: Network control
0: Local control
USING 0: Vendor Specific
1: Startup
2: Not Ready
3: Ready
4: Enabled
5: Stopping
6: FaultStop
7: Faulted
Bool
1: Enabled and Run1
..or Stopping and Running1
..or FaultStop and Running1
0: Other state
Bool
1: Enabled and Run2
..or Stopping and Running2
..or FaultStop and Running2
0: Other state
Bool
1: In state READY, ENABLED
or STOPPING
0: Other state
Bool
1: Fault Occurred (latched)
0: No faults present
Bool
1: Warning (not latched)
0: No warnings present
Requests to this attribute causes the module to call CPI_SetNetControl.
Drive state machine, see “State machine”
on page 48.
Equals the FWD bit in the Drive Control
Word
Equals the REV bit in the Drive Control
Word
Drive state machine, see “State machine”
on page 48.
Drive is in FAULTED or FAULT_STOP
state.
Equals the ALARM bit in the Drive Control
Word
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# Access
12 Get/Set
17 Get/Set
Value
0»1:Fault reset
0: No action
FaultCode
UINT If in Faulted state, this attribute
indicates the fault that caused the
transition to Faulted state. If not
in Faulted state, this attribute
indicates the fault that caused the
last transition to Faulted state.
WarnCode
UINT Code word, indicating a warning.
If multiple warnings are present,
the lowest code value is available
here.
CtrlFromNet
Bool
Status of Run/Stop control
source:
1: Network control
0: Local control
NetFaultMode USINT Action on loss of CIP network
0: Fault + Stop
1: Ignore
2: Vendor specific
ForceFault/Trip Bool
0»1: Force
18 Get
ForceStatus
13 Get
14 Get
15 Get
16 Get/Set
Name
FaultRst
Type
Bool
Bool
0: Not Forced
>0:Forced
Source/Destination for attribute value
(internal)
Requests to this attribute causes the module to call CPI_GetAlarmCode (P77)
Equals the NETCTRL bit in the Drive Status Word.
Requests to this attribute causes the module to call...
- CPI_GetNetworkFaultMode (P44)
- CPI_SetNetworkFaultMode (P44)
When this attribute changes from 0 to 1,
the module calls CPI_CallForceFault,
causing the TRIP-bit in the Drive Control
word to be set.
When the drive enters FAULT_STOP or
FAULTED, the TRIP-bit is cleared again.
Set when ForceFault is requested (see
above), and the drive is in state
FAULT_STOP or FAULTED.
11.7.1 Reset service
Upon receiving a reset request from the network, the module calls CPI_CallEmulatePowerCycle (P48).
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11.7.2 State machine
The state transition diagram is specified by the drive profile. When the Vendor Specific Control Word
is used, the state is represented as ‘Vendor Specific’.
Switch off
Non-Existant
Vendor specific
Switch On
Fault detected
Reset
Startup
Faulted
Initialization
complete
Fault Stop
Complete
Fault Reset
Not_Ready
Main Power
On
Fault_Stop
Fault Detected
Main Power
Off
Fault
Detected
Fault Detected
Ready
Stopping
Stop Complete
Run
Run
Enabled
Stop
Fault Detected
Main Power Off
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11.7.3 Run/Stop Event Matrix
The Run/Stop Event Matrix is defined by the CIP Drive Profile.
Event
State
Nonexist
Startup
Notready
Ready
Enabled
Stopping
Faultstop
Faulted
Switch Off
-
Transition to
Non_Exist
Transition to
Non_Exist
Transition to
Non_Exist
Transition to
Non_Exist
Transition to
Non_Exist
Transition to
Non_Exist
Transition to
Non_Exist
Switch On
Transition to
Startup
-
-
-
-
-
-
-
Initialisation
Complete
-
Transition to
Not_Ready
-
-
-
-
-
-
Main power on
-
-
Transition to
Ready
-
-
-
-
-
Transition to Enabled
-
Run
-
-
-
Transition to Enabled
Stop
-
-
-
-
Transition to
Stopping
-
-
Stop Complete
-
-
-
-
-
Transition to
Ready
-
-
Transition to
Startup
Transition to
Startup
Transition to
Startup
Transition to
Startup
Transition to
Startup
Reset
-
-
Transition to
Startup
Main power off
-
-
-
Transition to
Not_Ready
Transition to
Faulted
Transition to
Faulted
Transition to
Faulted
-
Fault detected
-
Transition to
Faulted
Transition to
Faulted
Transition to
Faulted
Transition to
Faulted
Transition to
Faulted
-
-
Fault_Stop
Complete
-
-
-
-
-
-
Transition to
Faulted
-
Fault Reset
-
-
-
-
-
-
-
Transition to
Not_Ready
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11.8 AC/DC-Drive Object (2Ah)
This object models the functions specific to an AC or DC drive, e.g. speed ramp, torque control etc.
Note: If operating in Transparent mode, any access to this object will result in a ‘Device State Conflict’
error.
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Class attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0001h
Type
Bool
Value
1: DRive actual at reference
INT
Sped reference
Description
Revision 1
Instance 1 attributes
#
3
Access
Get
Name
AtReference
4
Get/Set
NetRef
6
Get/Set
DriveMode
7
Get
SpeedActual
8
Get/Set
SpeedRef
Related Parameter & CPI Function Call
P1
CPI_GetAtReference
Bool
Requests torque or speed refer- P1, P46
ence to be local or from the net- CPI_GetReferenceFromNet
work.
CPI_SetNetReference
1: Network control
0: Local control
Note: the actual status is
reflected in attribute 29 (RefFromNet)
USINT 0: Vendor Specific Mode
P43
1: OpenLoop Speed
CPI_GetDriveMode
2: ClosedLoop Speed Control
CPI_SetDriveMode
3: Torque Control
4: Process Control
Note: If not implemented in the applica5: Position Control
tion, the module handles OpenLoop only.
P5, P6
INT
Actual drive speed
CPI_GetActualSpeed
(Value needs to be scaled)
(Unit: RPM/2SpeedScale)
(Unit: RPM/2SpeedScale)
9
Get
10 Get/Set
CurrentActual
CurrentLimit
INT
Actual motor phase current
INT
(Unit: 100mA/2CurrentScale)
Motor phase current limit
(Unit: 100mA/2CurrentScale)
11 Get
TorqueActual
INT
Actual torque
(Unit: Nm/2TorqueScale)
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P2, P3
CPI_GetSpeedSetpoint
CPI_SetSpeedSetpoint
(Value needs to be scaled)
P10
CPI_GetActualOutputCurrent
(Value needs to be scaled)
P24
CPI_GetMotorPhaseCurrentLimit
CPI_SetMotorPhaseCurrentLimit
(Value needs to be scaled)
P7
CPI_GetActualTorque
(Value needs to be scaled)
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# Access
12 Get/Set
Name
TorqueRef
Type
INT
Value
Actual reference
(Unit: Nm/2TorqueScale)
15 Get
PowerActual
INT
Actual output power
16 Get
InputVoltage
INT
(Unit: W/2PowerScale)
Input Voltage
(Unit: V/2VoltageScale)
17 Get
OutputVoltage
INT
Output Voltage
18 Get/Set
AccelTime
UINT
19 Get/Set
DecelTime
UINT
20 Get/Set
LowSpeedLimit UINT
21 Get/Set
HighSpdLimit
UINT
22
23
24
26
27
28
29
SpeedScale
CurrentScale
TorqueScale
PowerScale
VoltageScale
TimeScale
RefFromNet
SINT
SINT
SINT
SINT
SINT
SINT
Bool
Field I or V
Bool
Get/Set
Get/Set
Get/Set
Get/Set
Get/Set
Get/Set
Get
31 Get/Set
Anybus-S Drive Profile EtherNet/IP 2-Port
Doc.Rev. 1.00
Related Parameter & CPI Function Call
P4
CPI_GetTorqueSetpoint
CPI_SetTorqueSetpoint
(Value needs to be scaled)
P13
CPI_GetActualPowerOutput
(Value needs to be scaled)
P12
CPI_GetInputVoltage
(Value needs to be scaled)
P11
CPI_GetOutputVoltage
(Value needs to be scaled)
(Unit: V/2VoltageScale)
Acceleration Time ; time from 0 to P26
CPI_GetAccelerationTime
HighSpeedLimit.
CPI_SetAccelerationTime
(Unit: ms/2TimeScale)
(Value needs to be scaled)
Deceleration Time; time from 0 to P29
CPI_GetDecelerationTime
HighSpeedLimit.
TimeScale)
CPI_SetDecelerationTime
(Unit: ms/2
(Value needs to be scaled)
P41
Minimum speed limit
SpeedScale)
CPI_GetMinimumSpeed
(Unit: RPM/2
CPI_SetMinimumSpeed
(Value needs to be scaled)
Maximum speed limit
P39
CPI_GetMaximumSpeed
(Unit: RPM/2SpeedScale)
CPI_SetMaximumSpeed
(Value needs to be scaled)
Speed scaling factor
(internal)
Current scaling factor
Torque scaling factor
Power scaling factor
Voltage scaling factor
Time scaling factor
Status or torque/speed reference P1
1: Network control
CPI_GetReferenceFromNet
0: Local control
Selects field voltage or field cur- (no message is sent to the application)
rent control for DC drives.
0: Voltage Control
1: Current Control
(Only voltage control is supported)
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EtherNet/IP 52
11.9 DLR Object (47h)
The Anybus-S Drive Profile EtherNet/IP 2-Port will act as an announce based DLR participant. For
further information on DLR functionality, please consult the CIP and EtherNet/IP specifications. .
Services
Class services:
Get Attributes All
Get Attribute Single
Instance services:
Get Attributes All
Get Attribute Single
Class attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0002h
Description
Revision 2
Instance attributes
#
1
Access
Get
2
Get
10 Get
12 Get
Name
Type
Network Topol- USINT
ogy
Network Status USINT
Value
0: Linear
1: Ring
0: Normal
1: Ring Fault
Active Supervi- Struct of:
sor address
UDINT
Array of 6 bytes
Capability Flags DWORD 00000001h
Description
-
Supervisor IP address
Supervisor MAC address
Describes the DLR capabilities of the
device, see below.
Capability flags
Bits
0
2-4
5
Name
Announce-based Ring
Node
Beacon-based Ring
Node
(reserved)
Supervisor capable
6 - 31
(reserved)
1
Description
Set if Announce frames are useda
Set if Beacon frames are used.a
Set to 0
Set if device is supervisor capable. This device is not supervisor capable, so this bit
will be set to 0.
Set to 0
a. Please note that in the Anybus-S Drive Profile EtherNet/IP 2-Port module, capability flag 0 is set to 1 and capailty
flag 1 is set to 0. These values can not be changed and the module will always function as an Announce-based
Ring Node.
Anybus-S Drive Profile EtherNet/IP 2-Port
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EtherNet/IP 53
11.10 Drive Parameter Object (90h)
This is a vendor specific object where drive parameters can be accessed over EtherNet/IP. The mapping
is done using the Anybus-S Drive Profile Development Tool, or a default mapping method is used.
It is possible to map a drive parameter to any instance number between 1 and 65535 and to any attribute
number between 1 and 255. The class number for this object can be changed in the development tool.
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Class attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0001h
Description
Revision 1
Instance attributes
Vendor specific mapping
The mapping is specified in Anybus-S Drive Profile Development Tool, and downloaded into the module prior to execution. Data types and access rights equals that of the mapped parameters, instance and
attribute numbers are specified manually.
EtherNet/IP formula mapping
The mapping is fixed as follows:
Drive parameter #1 = Instance #1, Attribute #1
Drive parameter #2 = Instance #2, Attribute #1
Drive parameter #3 = Instance #3, Attribute #1
...
Drive parameter #XXXX = Instance #XXXX, Attribute #1
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Doc.Id. SCM-1200-070
EtherNet/IP 54
11.11 Drive IO Map Object (91h)
This vendor specific object is used to map data to vendor specific assembly instances #102 and #103.
The class number for this object can be changed using the Anybus-S Drive Profile Development Tool.
Services
Class services:
Get Attribute Single
Reset (See “Reset service” on page 54)
Instance services:
Get Attribute Single
Set Attribute Single
Reset (See “Reset service” on page 54)
Class attributes
#
1
7
Access
Get
Get
Name
Revision
Max. no. of Instances
Type
UINT
UINT
Value
0001h
32
Description
Revision 1
Maximum number of drive parameters that can be
mapped to each assembly instance.
Instance attributes
Instance 1 maps drive parameters to Assembly instance #102 (parameters consumed by the module).
Attributes 1...4 can also be accessed by Bus Config parameters 18...21.
Instance 2 maps drive parameters to Assembly instance #103 (parameters produced by the module). Attributes 1....4 can also be accessed by Bus Config parameters 22...25.
Two and four byte values are represented in little endian format. Any attempt to map a parameter while
the assembly is active will result in a ‘State Conflict’ error.
#
1
2
...
32
Access
Get/Set
Get/Set
...
Get/Set
Name
1st mapped parameter
2nd mapped parameter
...
32nd mapped parameter
Type
UINT
UINT
...
UINT
Value
...
-
Description
No. of first parameter to map (0 = no mapping).
No. of second parameter to map (0 = no mapping).
...
No. of last mapped parameter (0 = no mapping).
Note: The mappings created in this object are stored in non-volatile memory.
11.11.1 Reset service
A reset command towards the class will clear mappings in all instances. A reset command towards a specific instance will clear all mappings within that instance.
Anybus-S Drive Profile EtherNet/IP 2-Port
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EtherNet/IP 55
11.12 TCP/IP Interface Object (F5h)
Services
Class services:
Get Attribute All
Get Attribute Single
Instance services:
Get Attribute All
Get Attribute Single
Set Attribute Single
Class attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0001h
Description
Revision 1
Description
Interface configuration
attribute is valid
Interface configuration
attribute is settable, and the
device is capable of obtaining its network configuration
via DHCP.
Instance 1 attributes
#
1
Access
Get
Name
Status
Type
Dword
Value
0000 0001h
2
Get
Configuration Capability Dword
0000 0014h
3
Get/Set
Configuration Control
4
Get
Physical Link Object
Path Size
Path
5
Get/Set
Interface Configuration
IP Address
0: Bus Config Param. #3...#14 DHCP enable/disablea
1: Configuration via DHCP
Struct of:
UINT
0002h
2 words
Padded EPATH 20 F6 24 03h
Ethernet Link Object,
instance 3
Struct of:
UDINT
IP address of modulea
Network Mask
UDINT
-
Network maska
Gateway Address
UDINT
-
Default gatewaya
Name Server
UDINT
-
Primary DNS (not used)b
Name Server 2
UDINT
-
Secondary DNS (not used)b
Domain Name
STRING
-
Default domain nameb
Host Name
STRING
-
Host name of the moduleb
6
Get/Set
Dword
a. Stored in Bus Config Parameters #2...#14
b. Stored in ‘/cfg/ip.cfg’
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EtherNet/IP 56
11.13 Ethernet Link Object (F6h)
Services
Class services:
Get Attribute All
Get Attribute Single
Instance services:
Get Attribute All
Get Attribute Single
Set Attribute Single
Get and Clear
Class attributes
#
1
2
3
Access
Get
Get
Get
Name
Revision
Max Instance
Number of instances
Type
UINT
UINT
UINT
Value
0003h
0003h
0003h
Description
Revision 3
Highest instance number is 3
Three instances are implemented
Instance 1 attributes
#
1
2
3
Access
Get
Get
Get
Name
Interface Speed
Interface Flags
Physical Address
Value
10 or 100
MAC Address
Interface Counters
In Octets
In Ucast Packets
In NUcast Packets
Type
UDINT
DWORD
ARRAY of 6
USINTs
Struct of:
UDINT
UDINT
UDINT
4
Get
In Discards
In Errors
UDINT
UDINT
-
In Unknown Protos
Out Octets
Out Ucast Packets
Out NUcast Packets
Out Discards
Out Errors
UDINT
UDINT
UDINT
UDINT
UDINT
UDINT
-
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-
Description
Actual speed of the network interface
(Assigned at production)
Octets received on the interface
Unicast packets received on the interface
Non-unicast packets received on the interface
Inbound packets with unknown protocol
Inbound packets that contain errors (does
not include In Discards)
Inbound packets with unknown protocol
Octets sent on the interface
Unicast packets sent on the interface
Non-unicast packets sent on the interface
Outbound packets with unknown protocol
Outbound packets that contain errors
(does not include In Discards)
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EtherNet/IP 57
#
5
6
Access
Get
Get/Set
7 Get
10 Get
Name
Media Counters
Alignment Errors
Type
Struct of:
UDINT
Value
-
FCS Errors
UDINT
-
Single Collisions
UDINT
-
Multiple Collisions
UDINT
-
SQE Test Errors
UDINT
-
Deferred transmissions
UDINT
-
Late Collisions
UDINT
-
Excessive Collisions
UDINT
-
MAC Transmit errors
UDINT
-
Carrier Sense Errors
UDINT
-
Frame Too Long
UDINT
-
MAC Receive Error
UDINT
-
Interface Control
Control Bits
Forces Speed
Interface Type
Interface Label
Struct Of:
Word
UINT
USINT
SHORT_STRING
-
Description
Media-specific counters
Frames received that are not an integral
number of octets in length
Frames received that do not pass the FCS
check
Successfully transmitted frames which
experienced exactly one collision
Successfully transmitted frames which
experienced more than one collision
Number of times SQE test error message
is generated. (Counter not provided with
current PHY interface)
Frames for which first transmission
attempt is delayed because the medium is
busy
Number of times a collision is detected
later than 512 bit-times into the transmission of a packet
Frames for which a transmission fails du
to excessive collisions.
Frames for which transmission fails due to
an internal MAC sublayer receive error.
Times that the carrier sense condition was
lost or never asserted when attempted to
transmit a frame.
Frames received that exceed the maximum permitted frame size.
Frames for which reception an on interface fails due to an internal MAC sublayer
receive error.
Auto-negotiation, duplex & speed.
See table below
See table below
Interface type
Instance
1
2
3
Value
2
2
1
Description
Twisted pair
Twisted pair
Internal interface
Interface label
Instance
1
2
3
Value
Port 1
Port 2
Internal
Anybus-S Drive Profile EtherNet/IP 2-Port
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Appendix A
A. Mechanical Specification
11,8
Note: All measurements expressed in this chapter have a tolerance of ±0.25mm unless otherwise stated
1,2
6.4 -12,2mm
8,7 15,3
32,2
51,5
86
Anybus-S Drive Profile EtherNet/IP 2-Port
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Appendix B
B. Connectors
B.1 Application connector
(Consult the general Anybus-S Drive Profile Design Guide for more information)
B.2 Ethernet connector
RJ45 (Standard)
Pin
1
2
3
4
5
6
7
8
Signal
TD+
TDRD+
Termination
Termination
RDTermination
Termination
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8
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Appendix C
C. Environmental Specification
C.1 Temperature
Operating
+0 to +70 degrees Celsius
Test performed according to EN 60068.
Non Operating
-15 to +85 degrees Celsius
Test performed according to EN 60068.
C.2 Relative humidity
The product is designed for a relative humidity of 5 to 95% non-condensing.
Test performed according to EN 60068.
C.3 EMC compliance
EMC pre-compliance testing has been conducted according to the Electromagnetic Compatibility Directive 2004/108/EC. For more information please consult the EMC pre-compliance document, see
product/support pages for Anybus-S Drive Profile EtherNet/IP 2-Port at www.anybus.com.
Anybus-S Drive Profile EtherNet/IP 2-Port
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Doc.Id. SCM-1200-070
Appendix D
D. Electrical Characteristics
D.1 Protective Earth (PE) requirements
In order to ensure proper EMC behaviour, the module must be properly connected to protective earth
as described in the general Anybus-S Drive Profile Design Guide.
D.2 Power supply
Supply voltage
The module requires regulated a +5V DC power source as specified in the general Anybus-S Drive Profile Design Guide.
Power consumption
The maximum total power consumption is 450mA.
Anybus-S Drive Profile EtherNet/IP 2-Port
Doc.Rev. 1.00
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