Schneider Electric Card Game LXM32M User Guide

LXM32M

Modbus-TCP module

Fieldbus manual

V1.01, 01.2012

ETH

www.schneider-electric.com

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Table of contents

Important information

Table of contents

About this manual

Further reading

User Association http://www.modbus.org

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1 Introduction

Introduction

Different products with a Modbus TCP interface can be operated in

the same fieldbus. Modbus TCP provides a common basis for inter-

changing commands and data between the network devices.

Figure 1: Fieldbus products on the network

Features The product supports the following functions via Modbus TCP:

•

Automatic IP address assignment via BOOTP or DHCP

Automatically obtaining configuration data via the FDR (Fast

Device Replacement) service

•

Commissioning via commissioning software

Diagnostics and configuration via integrated web server

Reading and writing parameters

Controlling the drive

Monitoring inputs and outputs

Diagnostics and monitoring functions

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1 Introduction

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2 Before you begin - safety information

Before you begin - safety information

2.1

Qualification of personnel

Only appropriately trained persons who are familiar with and under-

stand the contents of this manual and all other pertinent product docu-

mentation are authorized to work on and with this product. In addition,

these persons must have received safety training to recognize and

avoid hazards involved. These persons must have sufficient technical

training, knowledge and experience and be able to foresee and detect

potential hazards that may be caused by using the product, by chang-

ing the settings and by the mechanical, electrical and electronic equip-

ment of the entire system in which the product is used.

All persons working on and with the product must be fully familiar with

all applicable standards, directives, and accident prevention regula-

tions when performing such work.

2.2

Intended use

The functions described in this manual are only intended for use with

the basic product; you must read and understand the appropriate

product manual.

The product may only be used in compliance with all applicable safety

regulations and directives, the specified requirements and the techni-

cal data.

Prior to using the product, you must perform a risk assessment in view

of the planned application. Based on the results, the appropriate

safety measures must be implemented.

Since the product is used as a component in an entire system, you

must ensure the safety of persons by means of the design of this

entire system (for example, machine design).

Operate the product only with the specified cables and accessories.

Use only genuine accessories and spare parts.

Any use other than the use explicitly permitted is prohibited and can

result in hazards.

Electrical equipment should be installed, operated, serviced, and

maintained only by qualified personnel.

The product must NEVER be operated in explosive atmospheres

(hazardous locations, Ex areas).

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2 Before you begin - safety information

2.3

Hazard categories

Safety instructions to the user are highlighted by safety alert symbols

in the manual. In addition, labels with symbols and/or instructions are

attached to the product that alert you to potential hazards.

Depending on the seriousness of the hazard, the safety instructions

are divided into 4 hazard categories.

DANGER

DANGER indicates an imminently hazardous situation, which, if not

avoided, will result in death or serious injury.

WARNING

WARNING indicates a potentially hazardous situation, which, if not

avoided, can result in death, serious injury, or equipment damage.

CAUTION

CAUTION indicates a potentially hazardous situation, which, if not

avoided, can result in injury or equipment damage.

CAUTION

CAUTION used without the safety alert symbol, is used to address

practices not related to personal injury (e.g. can result in equipment

damage).

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2 Before you begin - safety information

WARNING

2.4

Basic information

LOSS OF CONTROL

•

The designer of any control scheme must consider the potential

failure modes of control paths and, for certain critical functions,

provide a means to achieve a safe state during and after a path

failure. Examples of critical control functions are emergency stop,

overtravel stop, power outage and restart.

•

Separate or redundant control paths must be provided for critical

functions.

System control paths may include communication links. Consider-

ation must be given to the implication of unanticipated transmis-

sion delays or failures of the link.

•

Observe all accident prevention regulations and local safety

guidelines. ¹⁾

Each implementation of the product must be individually and thor-

oughly tested for proper operation before being placed into serv-

ice.

Failure to follow these instructions can result in death or seri-

ous injury.

1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety

Guidelines for the Application, Installation, and Maintenance of Solid State Control”

and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide

for Selection, Installation and Operation of Adjustable-Speed Drive Systems”.

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2 Before you begin - safety information

2.5

Standards and terminology

Technical terms, terminology and the corresponding descriptions in

this manual are intended to use the terms or definitions of the perti-

nent standards.

In the area of drive systems, this includes, but is not limited to, terms

such as "safety function", "safe state", "fault", "fault reset", "failure",

"error", "error message", "warning", "warning message", etc.

Among others, these standards include:

•

IEC 61800 series: "Adjustable speed electrical power drive sys-

tems"

•

IEC 61158 series: "Industrial communication networks - Fieldbus

specifications"

•

IEC 61784 series: "Industrial communication networks - Profiles"

IEC 61508 series: "Functional safety of electrical/electronic/

programmable electronic safety-related systems"

Also see the glossary at the end of this manual.

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3 Basics

Basics

3.1

Modbus TCP technology

3.1.1 Function principle

Modbus TCP is an Ethernet fieldbus. Modbus TCP describes the

transmission of the Modbus protocol via the Ethernet interface and the

TCP/IP transport and network layers.

The Modbus TCP client (master) connects to the Modbus TCP server

(slave). Once the connection is established, the client sends Modbus

requests to the server. These requests are processed by the server.

The result is returned to the client as a Modbus response.

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

3.1.2 Bus topology

Star and tree topologies can be used. It is possible to use hubs or

switches. In the case of high bus loads with many devices, it is recom-

mended to use a switches.

The maximum length of a segment is 100 m. A segment consists of

devices and hubs. A network can be subdivided into several segments

by means of gateways or switches. Short cables and a star topology

are recommended to achieve a fast bus cycle.

The transmission rate is 10 or 100 MBit/s in half-duplex mode. If

switches are used, transmission is also possible in full duplex mode.

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3 Basics

3.1.3 Client / server model

Request

Indication

Response

Modbus Client

Modbus Server

Confirmation

Figure 2: Client / server model

The Modbus messaging service implements client/server communica-

tion between devices connected by means of a TCP/IP network. Mod-

bus TCP does not use an object dictionary.

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

•

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

Indication: Request as received by the server.

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

Confirmation: Response as received by the client.

A communication cycle consists of the request from the client (request

from the fieldbus master) and a response from the server (response

from the fieldbus slave). Modbus request and Modbus response have

the same structure. If an error occurs on receipt of the Modbus

request or if the slave cannot execute the action, the slave sends an

error message in the Modbus response.

The product analyzes the Modus requests received. Depending on the

Modbus request, the product triggers actions or provides requested

data.

3.1.4 Network service SNMP

The Internet community has developed the SNMP standard "Simple

Network Management Protocol" to support the management of differ-

ent network devices by means of a single system.

The Network Management System can exchange data with SNMP

devices. The tasks of the network management system comprise

monitoring, control and configuration of network components as well

as error detection and error messaging.

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

used to monitor a network with SNMP. Schneider Electric offers the

tool ConneXview for such purposes.

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3 Basics

3.2

Modbus TCP protocol

The Modbus protocol defines a so-called Modbus PDU (Protocol Data

Unit) which is independent of the underlying communication layers.

This Modbus PDU consists of the fields "Function Code" and "Data".

Depending on the mapping to the different network protocols, the

Modbus PDU is extended by additional fields in the so-called Modbus

ADU (Application Data Unit). The Modbus PDU and the Modbus ADU

constitute the Modbus message, also referred to as "Frame".

MODBUS TCP/IP ADU

MBAP Header

Function code

Data

MODBUS PDU

Figure 3: Structure of a Modbus message

The "Function Code" of a message specified the Modbus service to be

triggered. The "Data" field can contain additional information, depend-

ing on the "Function Code".

Due to the encapsulation of "Function Code" and "Data" in the Mod-

bus PDU, the Modbus services and the object model can be the same

in the case of all Modbus versions.

In the case of a "Function Code" for which the "Data" field in the Mod-

bus PDU has a fixed length, the "Function Code" is sufficient.

In the case of a "Function Code" for which the "Data" field in the Mod-

bus request or the Modbus response has a variable amount of data,

the "Data" field contains a byte counter.

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

embedded Modbus PDU is 253 bytes.

NOTE: The fields are encoded in Big Endian format (highest-value

byte first).

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3 Basics

3.2.1 MBAP header

The MBAP header contains the information allowing the recipient to

uniquely identify a message. This is even possible if a message is split

into several packets for transmission.

Explicit and implicit length rules as well as the use of a CRC-32 error

check code (on Ethernet) results in an infinitesimal chance of undetec-

ted corruption to a request or response message.

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

fields:

Field

Length

Description

Transaction Identifier

2 bytes

Identification of a Modbus

request or Modbus response.

Protocol Identifier

2 bytes

Value 0 means Modbus proto-

col.

Length

2 bytes

1 byte

Number of bytes to follow.

Unit Identifier

Identification of a slave con-

nected to another bus via a

serial line.

•

Transaction Identifier

The field "Transaction Identifier" is used for "Pairing". The server

copies the "Transaction Identifier" of the Modbus request to the

Modbus response.

•

Protocol Identifier

The field "Protocol Identifier" is used to identify the protocol. The

Modbus protocol is identified by the value 0.

Length

The "Length" field is a byte counter for the following fields ("Unit

Identifier", "Function Code" and "Data").

Unit Identifier

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

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3.3

Modbus TCP communication

3.3.1 Connection management

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

port 502. A client can establish a new connection via this port. If the

client is to exchange data with a remote server, a new client connec-

tion via remote port 502 must be established.

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

connection is found using the IP address of the remote device. The

connection remains open for all Modbus communication. Up to 8

simultaneous connections are possible.

As described in the next chapter, a Modbus client can initialize several

Modbus transactions without having to wait for the previous transac-

tion to be finished.

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

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

The server does not close the connection under normal circumstan-

ces.

However, when errors occur and in special cases, the server closes

the connection, for example:

•

Communication errors

Communication inactivity

Maximum number of connections reached

The product can manage up to 8 TCP connections. If an attempt is

made to establish a further connection beyond this maximum, the old-

est unused connection is closed. If it is impossible to close the oldest

unused connection, the new connection is refused.

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3 Basics

3.3.2 Modbus response to a Modbus request

The Modus server generates a Modbus response after having pro-

cessed a Modbus request.

Depending on the type of processing, two types of Modbus responses

are possible:

•

Positive Modbus response

The "Function Code" in the Modbus response corresponds to

the "Function Code" in the Modbus request.

•

Negative Modbus response

The client receives pertinent information on error detection dur-

ing processing;

The "Function Code" in Modbus response corresponds to the

"Function Code" in the Modbus request + 80_h.

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

If a syntactically incorrect Modbus PDU (Protocol Data Unit) is trans-

mitted, the connection is terminated. In the case of other other error, a

negative Modbus response is sent.

Excep-

tion Code

Name

Description

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

server.

Illegal Data Address

Illegal Data Value

Server Failure

Depends on the Modbus request

The server was unable to properly termi-

nate processing.

Acknowledge

The server has accepted the Modbus

request. However, the execution takes a

relatively long time. The server therefore

only returns an acknowledgement con-

firming receipt of the service request.

Server Busy

The server was unable to accept the

Modbus request. It is the responsibility of

the application on the client to determine

whether and when to re-send the request.

Gateway Problem

The gateway path is unavailable.

The targeted device does not respond.

The gateway generates this error.

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3.3.3 Reading and writing parameters

Parameters are processed as 32 bit values. 16 bit values must also be

processed as 32 bit values. Two consecutive 16 bit parameters must

be read or written to process a 16 bit parameter. The first Modbus

address must be specified.

If several consecutive parameters are to be processed, a single Mod-

bus command with the corresponding Modbus address and the length

indication is sufficient.

NOTE: This does not apply to reading and writing parameters with

addresses in the range from 17408 (4400_h) to 17663 (44FF_h). In this

range, only a single parameter can be addressed with one Modbus

command.

Example Reading the parameter CTRL1_KPp"Position controller P gain"

Modbus address 4614

When the parameter CTRL1_KPpwith the Modbus parameter address

4614 and length 2 is read, the two parameter addresses 4614 and

4615 are read. Result:

Address

4614

Value

0000_h

00C8_h

4615

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3.3.4 I/O scanning to "Drive Profile Lexium"

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

and slave.

I/O scanning must be configured on the master. The master can use 2

different approaches for of I/O scanning:

•

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

"Function Code" 3 (03_h), Read Multiple Registers and "Function

Code" 16 (10_h), Write Multiple Registers

NOTE: The read value is 0 until the first write command is execu-

ted.

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

I/O scanning:

•

The "Unit Identifier" is 255.

The Modbus parameter address is 0.

The data length is 13.

In addition, you can use up to 3 mappable parameters. If these

parameters are used, the data length changes to 15, 17 or 19.

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

addresses for normal Modbus access.

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

perspective of the master.

•

Output: Commands from the master to the slave

Input: Status messages from the slave to the master

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3.3.4.1 I/O scanning Output

The table below shows the structure of the cyclic data for the com-

mands from the master to the product. See the product manual for a

description of the parameters.

Byte

Meaning

ParCh

Data type

Parameter address

0 ... 7

8 ... 9

Parameter channel

dmControl

INT

10 ... 13 RefA32

DINT

14 ... 17 RefB32

18 ... 21 Ramp_v_acc

Parameter Ramp_v_acc

Modbus 1556

22 ... 25 Ramp_v_dec

26 ... 29 EthOptMapOut1

30 ... 33 EthOptMapOut2

34 ... 37 EthOptMapOut3

DINT

Parameter Ramp_v_dec

Modbus 1558

Parameter EthOptMapOut1

Modbus 17500

Parameter EthOptMapOut2

Modbus 17502

Parameter EthOptMapOut3

Modbus 17504

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

"3.3.4.3 Parameter channel".

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

ating mode.

See chapters "6.1.2 Changing the operating state" and

"6.2.2 Starting and changing an operating mode" for a detailed

description of the bits.

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

ues for the operating mode. The meaning depends on the operating

mode; it is described in the chapters on the individual operating

modes.

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

the acceleration and the deceleration. They correspond to the param-

eters of the same name. See the product manual for a description.

EthOptMapOut1 ... EthOptMap- The double words EthOptMapOut1 ... EthOptMapOut3 contain select-

Out3 able parameters, see chapter

"5.7.3 Setting the mapping for I/O scanning".

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3.3.4.2 I/O scanning Input

The table below shows the structure of the cyclic data for the status

messages from the product to the master. See the product manual for

a description of the parameters.

Byte

Meaning

ParCh

Data type

Parameter address

0 ... 7

8 ... 9

Parameter channel

driveStat

INT

10 ... 11 mfStat

INT

12 ... 13 motionStat

14 ... 15 driveInput

16 ... 19 _p_act

INT

DINT

Parameter _p_act

Modbus 7706

20 ... 23 _v_act

DINT

INT

Parameter _v_act

Modbus 7744

24 ... 25 _I_act

Parameter _I_act

Modbus 7686

26 ... 29 EthOptMapInp1

30 ... 33 EthOptMapInp2

34 ... 37 EthOptMapInp3

DINT

Parameter EthOptMapInp1

Modbus 17512

Parameter EthOptMapInp2

Modbus 17514

Parameter EthOptMapInp3

Modbus 17516

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

"3.3.4.3 Parameter channel".

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

For a detailed description of the bits, see chapter

"6.1.1 Indication of the operating state".

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

For a detailed description of the bits, see chapter

"6.2.1 Indicating and monitoring the operating mode".

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

profile generator.

bit

0 ... 5

Meaning

Reserved

MOTZ: Motor at a standstill

MOTP: Motor movement in positive direction

MOTN: Motor movement in negative direction

PWIN: Motor within position window

Reserved

TAR0: Profile generator at standstill

DEC: Profile generator decelerates

ACC: Profile generator accelerates

CNST: Profile generator moves at constant velocity

Reserved

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

inputs.

bit

Signal

DI0

DI1

DI2

DI3

DI4

DI5

Factory setting

Signal input function Freely Available

Signal input function Reference Switch (REF)

Signal input function Positive Limit Switch (LIMP)

Signal input function Negative Limit Switch (LIMN)

Signal input function Freely Available

Reserved

6 ... 15

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

responds to the parameter _p_act.

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

responds to the parameter _v_act.

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

current. The value corresponds to the parameter _I_act.

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

ble parameters. The product manual provides descriptions of the

parameters EthOptMapInp1 ... EthOptMapInp3 which explain parame-

ter mapping.

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3.3.4.3 Parameter channel

The master can request a parameter value from the slave or change a

parameter value via the parameter channel. Each parameter can be

uniquely addressed via the index and subindex.

Byte

Index

Subindex

Ctrl

Figure 4: Parameter channel

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

The transmit data contains the information whether a parameter is to

be read or written. The receive data contains the information whether

the read request or the write request were successful.

Transmit data:

Ctrl

02_h

12_h

22_h

32_h

Function

No request

Read request

Write request (word)

Write request (double word)

Receive data:

Ctrl

02_h

12_h

22_h

Function

Request not yet completed

Read request or write request successfully completed (word)

Read request or write request successfully completed (double

word)

72_h

Error message

Only one request can be processed at a time. The slave provides the

response until the master sends a new request. If a response includes

parameter values, the slave responds with the current value in the

case of a repetition.

NOTE: Read requests are only executed by the slave if the value

changes from 02_hto 12_h. Write requests requests are only executed

by the slave if the value changes from 02_hto 22_hor to 32_h.

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

Index The word "Index" contains the parameter address.

See the product manual for a list of the parameters.

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

In the case of a read request, the value in the transmit data has no

significance. The receive data contains the parameter value.

In the case of a write request, the transmit data contains the value to

be written to the parameter. The receive data contains the parameter

value.

If a read request or a write request were not successful, the double

word "PV" contains the error number of the error.

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

parameter _prgNoDEV. The parameter _prgNoDEVhas the parame-

ter address 258 (01_h02_h).

The parameter value read has the decimal value 91200 which corre-

sponds to 01_h64_h40_h.

Transmit data:

Ctrl

Subindex

Index

12_h

00_h

01_h02_h

00_h00_h00_h00_h

Receive data:

Ctrl

Subindex

00 _h

Index

22_h

01_h02_h

00_h01_h64_h40_h

Example: Writing of an invalid In this example, the value of a non-existent parameter is to be

parameter changed. The parameter has the parameter address 101 (00_h65_h).

The value of the parameters is to be changed to 222 (DE_h).

Before the slave can accept a new request, the value 02_hmust first be

transmitted in byte "Ctrl".

Since the slave cannot address the parameter, a synchronous error

message is transmitted with the receive data. Byte "Ctrl" is set to 72_h.

Double word "PV" is set to the error number (error number 1101_h:

Parameter does not exist).

Transmit data:

Ctrl

Subindex

Index

32_h

00_h

00_h65_h

00_h00_h00_hDE_h

Receive data:

Ctrl

Subindex

Index

72_h

00_h

00_h65_h

00_h00_h11_h01_h

See the product manual for information on the error numbers.

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3.4

Modbus services - "Function Code"

The table below provides an overview of the available Modbus serv-

ices:

"Function Meaning under Modbus

Code"

Meaning from device per-

spective

Read Multiple Registers

Diagnostics

Reading a parameter

Diagnostics

Write Multiple Registers

Read/Write Multiple Registers

Writing a parameter

Reading and writing parame-

ters

Read Device Identification

–

Subcode14

UMAS File Transfer (Upload)

–

3.4.1 "Function Code" 3 (Read Multiple Registers)

This "Function Code" 3 (Read Multiple Registers) allows you to read

several consecutive parameters, starting at any address.

Modbus request Structure of the Modbus request:

Field

Bytes

Value

Meaning

Function Code

Starting Address

3 = 03_h

(various)

2 * n

Read Multiple Registers

Address of the first parameter to be read

Quantity Of Regis-

ters

Number of 16 bit values to be read

(1 parameter has the value 2 since a parameter

consists of a 32 bit value)

Modbus response Structure of the positive Modbus response:

Field

Bytes

Value

Meaning

Function Code

Byte Count

Registers Value

3 = 03_h

4 * n

Read Multiple Registers

Number of data bytes

Parameter values

4 * n

(various)

Structure of the negative Modbus response

Field

Bytes

Value

Meaning

Function Code

Exception Code

03_h+ 80_h= 83_h

01_h... 04_h

Read Multiple Registers

See chapter

"3.3.2 Modbus response to a Modbus request"

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3.4.2 "Function Code" 8 (Diagnostics)

This "Function Code" 8 (Diagnostics) allows you to read diagnostics

data of the slave.

Modbus request Structure of the Modbus request:

Field

Bytes

Value

Meaning

Function Code

Sub-function Code

Data

8 = 08_h

(various)

Diagnostics

Diagnostics function

Data (depending on diagnostics function)

Modbus response Structure of the positive Modbus response:

Field

Bytes

Value

Meaning

Function Code

Sub-function Code

Data

8 = 08_h

(various)

Diagnostics

Diagnostics function

Diagnostics data

Structure of the negative Modbus response

Field

Bytes

Value

Meaning

Function Code

Exception Code

08_h+ 80_h= 88_h

01_h... 04_h

Diagnostics

See chapter

"3.3.2 Modbus response to a Modbus request"

Sub-function Code The following diagnostics functions are available:

Sub-function Code

Diagnostics function

Return request as a response

Return Query Data

Restart Communication Option Re-initialize the communication port

Return Diagnostic Register

(reserved)

Return the error number in the case of synchronous errors

–

Force Listen Only Mode

Force "Listen Only" mode

–

05 ... 09 (reserved)

Clear Counters and Diagnostic Clear all statistical counters

Return Bus Message Count

Return number of detected "Bus Message"s

Return Bus Communication

Error Count

Return number of detected "Bus Communication Error"s

Return Bus Exception Error

Count

Return number of detected "Bus Exception Error"s

14 ... 15 (reserved)

–

Return Slave NAK Count

Return number of detected "Slave Not-Acknowledged"s

Return number of detected "Slave Busy"s

Return number of detected "Bus Char Overrun"s

Return Slave Busy Count

Return Bus Char Overrun

Count

>18

(reserved)

–

Modbus-TCP module

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3 Basics

3.4.3 "Function Code" 16 (Write Multiple Registers)

This "Function Code" 16 (Write Multiple Registers) allows you to write

several consecutive parameters, starting at any address.

Modbus request Structure of the Modbus request:

Field

Bytes

Value

Meaning

Function Code

Starting Address

16 = 10_h

(various)

2 * m

Write Multiple Registers

Address of the first parameter to be written

Quantity Of Regis-

ters

Number of 16 bit values to be written

(1 parameter has the value 2 since a parameter

consists of a 32 bit value)

Byte Count

4 * m

Number of data bytes

Parameter values

Registers Value

2 * m

(various)

Modbus response Structure of the positive Modbus response:

Field

Bytes

Value

Meaning

Function Code

Starting Address

16 = 10_h

(various)

2 * m

Write Multiple Registers

Corresponds to the Modbus request

Quantity Of Regis-

ters

Structure of the negative Modbus response

Field

Bytes

Value

Meaning

Function Code

Exception Code

10_h+ 80_h= 90_h

01_h... 04_h

Write Multiple Registers

See chapter

"3.3.2 Modbus response to a Modbus request"

Modbus-TCP module

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3.4.4 "Function Code" 23 (ReadWrite Multiple Registers)

This "Function Code" 23 (ReadWrite Multiple Registers) allows you to

read and write several consecutive parameters, starting at any

address.

Modbus request Structure of the Modbus request:

Field

Bytes

Value

Meaning

Function Code

23 = 17_h

(various)

Read/Write Multiple Registers

Address of the first parameter to be read

Read Starting

Address

Quantity To Read

2 * n

Number of 16 bit values to be read

(1 parameter has the value 2 since a parameter

consists of a 32 bit value)

Write Starting

Address

(various)

2 * m

Address of the first parameter to be written

Quantity To Write

Number of 16 bit values to be written

(1 parameter has the value 2 since a parameter

consists of a 32 bit value)

Write Byte Count

4 * m

Number of data bytes

Parameter values

Write Registers

Value

4 * m

(various)

Modbus response Structure of the positive Modbus response:

Field

Bytes

Value

Meaning

Function Code

Byte Count

23 = 17_h

2 * n

Read/Write Multiple Registers

Number of data bytes

Parameter values

Read Registers

Value

2 * n

(various)

Structure of the negative Modbus response

Field

Bytes

Value

Meaning

Function Code

Exception Code

17_h+ 80_h= 97_h

01_h... 04_h

Read/Write Multiple Registers

See chapter

"3.3.2 Modbus response to a Modbus request"

Modbus-TCP module

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3 Basics

3.4.5 "Function Code" 43 (Encapsulated Interface Transport)

This "Function Code" 43 / 14 (Read Device Identification) allows you

to read device-specific data.

Modbus request Structure of the Modbus request:

Field

Bytes

Value

Meaning

Function Code

43 = 2B_h

14 = 0E_h

Encapsulated Interface Transport

Fixed value 14 (Read Device Identification)

Modbus Encapsula- 1

ted Interface Type

Read Device ID

Code

Read all objects

Object ID

0x00

Modbus response Structure of the positive Modbus response:

Field

Bytes

Value

Meaning

Function Code

43 = 2B_h

14 = 0E_h

Encapsulated Interface Transport

Fixed value 14 (Read Device Identification)

Modbus Encapsula- 1

ted Interface Type

Read Device ID

Code

Corresponds to the Modbus request

Conformity Level

More Follows

Next Object ID

Number Of Objects

Object ID

Fixed value

Number of objects

Object ID, see table

Object length

Object Length

Object Value

(various)

Object data (various)

Structure of the negative Modbus response

Field

Bytes

Value

Meaning

Function Code

Exception Code

2B_h+ 80_h= AB_h

01_h... 04_h

Encapsulated Interface Transport

See chapter

"3.3.2 Modbus response to a Modbus request"

Object ID The following object IDs are available:

Object ID

00_h

Object name

vendor name

product code

revision

Value

Manufacturer name

„xxxxxxxxxxxx“ (see type code)

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

01_h

03_h

Modbus-TCP module

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3 Basics

3.4.6 Examples

3.4.6.1 Example of "Function Code" 3

Reading an error memory entry. Since the Modbus addresses of the

parameters of an error memory entry are contiguous (ascending

order), a single Modbus request is sufficient.

Parameters _ERR_number (15362), _ERR_class (15364),

_ERR_time (15366)and _ERR_qual (15368).

Modbus request Structure of the Modbus request:

Field

Bytes

Value

Meaning

Function Code

Starting Address

Read Multiple Registers

15362 (3C02_h)

Address of the first parameter to be read

Number of the 16 bit values to be read = 8

Quantity Of Regis-

ters

Modbus response Structure of the positive Modbus response:

Field

Bytes

Value

Meaning

Function Code

Byte Count

Registers Value

Read Multiple Registers

Number of bytes: 8 bytes of data

32 bit value

_ERR_number, 15362 (error number)

_ERR_class, 15364 (error class)

_ERR_time, 15366 (error time)

_ERR_qual, 15368 (error qualifier)

3.4.6.2 Example of "Function Code" 16

Writing of the software limit switches. Since these parameters also

have consecutive addresses, a single Modbus request is sufficient:

Parameters MON_swLimP (1544)and MON_swLimN (1546).

Modbus request Structure of the Modbus request:

Field

Bytes

Value

Meaning

Function Code

Starting Address

Write Multiple Registers

1544 (608_h)

Address of the first parameter to be written

Number of parameters = 4 (8 bytes of data)

Quantity Of Regis-

ters

Byte Count

Number of bytes: 8 bytes of data

Registers Value

32 bit value

MON_swLimP, 1544

MON_swLimN, 1546

Modbus response Structure of the positive Modbus response:

Field

Bytes

Value

Meaning

Function Code

Starting Address

Write Multiple Registers

Address of the parameter

Number of parameters = 4 (8 bytes of data)

1544 (608_h)

Quantity Of Regis-

ters

Modbus-TCP module

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3 Basics

Modbus-TCP module

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LXM32M

4 Installation

Installation

WARNING

SIGNAL AND DEVICE INTERFERENCE

Signal interference can cause unexpected responses of the device.

•

Install the wiring in accordance with the EMC requirements.

Verify compliance with the EMC requirements.

Failure to follow these instructions can result in death, serious

injury or equipment damage.

4.1

Installation of the module

CAUTION

DESTRUCTION DUE TO ESD

Electrostatic discharge (ESD) can cause immediate or later destruc-

tion of the module or the device.

•

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

module.

•

Do not touch any internal components.

Failure to follow these instructions can result in equipment

damage.

▶

Install the module according to the instructions in the product man-

ual.

Description

Order no.

Fieldbus module EtherNet/IP (module identification VW3A3616

ETH) with 2 x RJ45 connection. For EtherNet/IP

and Modbus-TCP

Modbus-TCP module

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LXM32M

4 Installation

4.2

Electrical installation

Cable specifications

Shield:

Required, both ends grounded

Twisted Pair:

PELV:

Required

Cable composition:

Maximum cable length:

Special features:

8 * 0.25 mm²(8 * AWG 22)

100 m

▶

Note the pertinent information on equipotential bonding conductors

in the product manual.

▶

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

Pin assignment

Slot 3

Figure 5: Pin assignment

Signal

Tx+

Tx-

Rx+

Meaning

Ethernet transmit signal +

Ethernet transmit signal -

Ethernet receive signal +

Rx-

Ethernet receive signal -

Modbus-TCP module

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5 Commissioning

Commissioning

WARNING

LOSS OF CONTROL

The product is unable to detect an interruption of the network link if

connection monitoring is not active.

•

Verify that connection monitoring is on.

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

interruption.

Failure to follow these instructions can result in death, serious

injury or equipment damage.

WARNING

UNINTENDED OPERATION

•

Do not write values to reserved parameters.

Do not write values to parameters unless you fully understand the

function.

•

Run initial tests without coupled loads.

Verify the use of the word sequence with fieldbus communication.

Do not establish a fieldbus connection unless you have fully

understood the communication principles.

•

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

the hazardous area.

Failure to follow these instructions can result in death, serious

injury or equipment damage.

5.1

Commissioning the device

For installation in the network, the device must first be properly instal-

led (mechanically and electrically) and commissioned.

▶

Commission the device as per product manual.

Modbus-TCP module

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5 Commissioning

5.2

"First Setup"

A "First Setup" is required when the controller supply is switched on

for the first time or after the factory settings have been restored.

Switching on the device

■

▶

The power stage supply is switched off.

Disconnect the product from the the fieldbus during commissioning

in order to avoid conflicts by simultaneous access.

▶

◁

Switch on the controller supply.

The device goes through an initialization routine, all LEDs are tes-

ted, all segments of the 7-segment display and the status LEDs

light up.

After the initialization, the fieldbus interface must be configured. The

product is configured via the integrated HMI or the commissioning

software.

First Setup via HMI

Fault Edit Value Unit

Mon

Conf

ESC

Fault Edit Value Unit

<1s

Mon

ESC

Fault Edit Value Unit

Conf

<1s

Mon

Conf

2 x

<1s

Fault Edit Value Unit

ESC

<1s

Mon

Conf

ESC

Mon

Conf

Mon

Conf

<1s

Mon

Conf

2 x

<1s

2 x

<1s

Fault Edit Value Unit

ESC

<1s

Mon

Conf

ESC

<1s

Mon

Conf

Mon

Conf

Subnet

2 x

<1s

2 x

<1s

Figure 6: First Setup via the integrated HMI

Modbus-TCP module

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5 Commissioning

Type of network address assign-

ment

▶

Select the type of network address assignment.

The type of network address assignment is set via the parameter

EthIpMode(iPMd).

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthIpMode

Type of obtaining IP address

UINT16

R/W

per.

CANopen 3044:5_h

Modbus 17418

Profibus 17418

CIP 168.1.5

0 / Manual / MAnu : Manual

1 / BOOTP / boot : BOOTP

2 / DHCP / dhcP : DHCP

ConF → CoM-

ConF → FSu-

iPMd

When selecting DHCP, also set the parame-

ter EthFdrEnable to ON or OFF, depending

on whether or not your DHCP server sup-

ports FDR.

Changed settings become active immedi-

ately.

5.2.1 Manual assignment of the network address

■

▶

EthIpModehas been set to Manual (manu).

Set the network addresses consisting of the IP address and the

subnet mask.

The IP address is set via the parameters

EthIPmodule1... EthIPmodule4. The subnet mask is set via

the parameters EthIPmask1... EthIPmask4.

Modbus-TCP module

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5 Commissioning

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthIPmodule1

IP address Ethernet module, byte 1

255

UINT16

R/W

CANopen 3044:7_h

Modbus 17422

Profibus 17422

CIP 168.1.7

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPc1

per.

EthIPmodule2

IP address Ethernet module, byte 2

255

UINT16

R/W

CANopen 3044:8_h

Modbus 17424

Profibus 17424

CIP 168.1.8

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPc2

per.

EthIPmodule3

IP address Ethernet module, byte 3

255

UINT16

R/W

CANopen 3044:9_h

Modbus 17426

Profibus 17426

CIP 168.1.9

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPc3

per.

EthIPmodule4

IP address Ethernet module, byte 4

255

UINT16

R/W

CANopen 3044:A_h

Modbus 17428

Profibus 17428

CIP 168.1.10

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPc4

per.

EthIPmask1

IP address subnet mask, byte 1

255

UINT16

R/W

CANopen 3044:B_h

Modbus 17430

Profibus 17430

CIP 168.1.11

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPM1

per.

EthIPmask2

IP address subnet mask, byte 2

255

UINT16

R/W

CANopen 3044:C_h

Modbus 17432

Profibus 17432

CIP 168.1.12

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPM2

per.

EthIPmask3

IP address subnet mask, byte 3

255

UINT16

R/W

CANopen 3044:D_h

Modbus 17434

Profibus 17434

CIP 168.1.13

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPM3

per.

EthIPmask4

IP address subnet mask, byte 4

255

UINT16

R/W

CANopen 3044:E_h

Modbus 17436

Profibus 17436

CIP 168.1.14

Changed settings become active the next

time the product is switched on.

ConF → CoM-

ConF → FSu-

iPM4

per.

Modbus-TCP module

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5 Commissioning

5.2.2 Assignment of the network address via BOOTP

■

▶

EthIpModehas been set to BOOTP (boot).

Verify that an accessible BOOTP server is available on the net-

work.

Modbus-TCP module

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5 Commissioning

5.2.3 Assignment of the network address via DHCP

■

EthIpModehas been set to DHCP (dhcp).

▶

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

Set a number that is unique in the network via dhcn.

NOTE: This setting is only required if you want to use an FDR

server.

The number is entered at the 13th, 14th and 15th digit of the

device name.

Example: LEXIUM_SERVO001

In the commissioning software, the full device name can be dis-

played and changed.

▶

Activate the FDR service via EFdr.

See chapter "6.3.3 FDR service (Fast Device Replacement)" for

additional information on the FDR service.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthFdrEnable

FDR service

UINT16

R/W

per.

CANopen 3044:40_h

Modbus 17536

Profibus 17536

CIP 168.1.64

0 / Off / oFF : FDR service disabled

1 / On / on : FDR service enabled

ConF → CoM-

ConF → FSu-

Enable Ethernet service "Fast Device

Replacement" (FDR).

If FDR is enabled, the DHCP server must

support FDR, otherwise no IP address can

be obtained via DHCP.

EFdr

Modbus-TCP module

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5 Commissioning

5.3

Setting the transmission rate

The parameter EthRateSetlets you set the transmission rate.

▶

Set the desired transmission rate with the parameter EthRateSet.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthRateSet

Transmission rate setting

UINT16

R/W

per.

CANopen 3044:2_h

Modbus 17412

Profibus 17412

CIP 168.1.2

0 / Autodetect: Autodetect

1 / 10 Mbps Full: 10 Mbps full duplex

2 / 10 Mbps Half: 10 Mbps half duplex

3 / 100 Mbps Full: 100 Mbps full duplex

4 / 100 Mbps Half: 100 Mbps half duplex

Changed settings become active immedi-

ately.

5.4

Setting the protocol

The protocol is set by means of the parameter EthMode.

▶

Set the parameter EthModeto "Modbus TCP".

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthMode

ConF → CoM-

EtMd

Protocol

UINT16

R/W

CANopen 3044:1_h

Modbus 17410

Profibus 17410

CIP 168.1.1

0 / Modbus TCP / MtCP : Modbus TCP I/O

scanning is enabled

1 / EtherNet/IP / EtiP : EtherNet/IP commu-

nication is enabled

per.

NOTE: Modbus TCP parameter access is

possible irrespective of the selected setting.

Changed settings become active the next

time the product is switched on.

Modbus-TCP module

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5 Commissioning

5.5

Setting the gateway

The IP address of the gateway is set by means of the parameters

EthIPgate1... EthIPgate4.

▶

Set the IP address of the gateway with the parameters

EthIPgate1... EthIPgate4.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthIPgate1

ConF → CoM-

iPG1

IP address gateway, byte 1

255

UINT16

R/W

CANopen 3044:F_h

Modbus 17438

Profibus 17438

CIP 168.1.15

Changed settings become active the next

time the product is switched on.

per.

EthIPgate2

ConF → CoM-

iPG2

IP address gateway, byte 2

255

UINT16

R/W

CANopen 3044:10_h

Modbus 17440

Profibus 17440

CIP 168.1.16

Changed settings become active the next

time the product is switched on.

per.

EthIPgate3

ConF → CoM-

iPG3

IP address gateway, byte 3

255

UINT16

R/W

CANopen 3044:11_h

Modbus 17442

Profibus 17442

CIP 168.1.17

Changed settings become active the next

time the product is switched on.

per.

EthIPgate4

ConF → CoM-

iPG4

IP address gateway, byte 4

255

UINT16

R/W

CANopen 3044:12_h

Modbus 17444

Profibus 17444

CIP 168.1.18

Changed settings become active the next

time the product is switched on.

per.

Modbus-TCP module

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5 Commissioning

5.6

Master with Word Swap

The IP address of a master with Word Swap is set by means of the

parameters EthMbIPswap1... EthMbIPswap4.

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

▶

Check whether or not the master uses Word Swap.

If the master uses Word Swap, set the IP address of the master

with the parameters EthMbIPswap1... EthMbIPswap4.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthMbIPswap1

IP address of master for Modbus word

swap, byte 1

255

UINT16

R/W

per.

CANopen 3044:50_h

Modbus 17568

Profibus 17568

CIP 168.1.80

IP address of a Modbus master device. For

this master, the word order is swapped to

"Low word first", instead of the default "High

word first".

High word first -> Modicon Quantum

Low word first -> Premium, HMI (Schneider

Electric)

Changed settings become active immedi-

ately.

EthMbIPswap2

EthMbIPswap3

EthMbIPswap4

IP address of master for Modbus word

swap, byte 2

255

UINT16

R/W

per.

CANopen 3044:51_h

Modbus 17570

Profibus 17570

CIP 168.1.81

Changed settings become active immedi-

ately.

IP address of master for Modbus word

swap, byte 3

255

UINT16

R/W

per.

CANopen 3044:52_h

Modbus 17572

Profibus 17572

CIP 168.1.82

Changed settings become active immedi-

ately.

IP address of master for Modbus word

swap, byte 4

255

UINT16

R/W

CANopen 3044:53_h

Modbus 17574

Profibus 17574

CIP 168.1.83

Changed settings become active immedi-

ately.

per.

Modbus-TCP module

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5 Commissioning

5.7

Setting I/O-Scanning

5.7.1 Activating I/O scanning

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

EthMbScanner.

▶

If you do not want to use I/O scanning, set the parameter

EthMbScannerto "Off".

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthMbScanner

Modbus TCP I/O scanning

UINT16

R/W

per.

CANopen 3044:28_h

Modbus 17488

Profibus 17488

CIP 168.1.40

0 / Off: Modbus TCP I/O scanning off

1 / On: Modbus TCP I/O scanning on

I/O scanning only works if the parameter

EthMode is set to Modbus TCP.

Changed settings become active immedi-

ately.

5.7.2 Setting the master for I/O scanning

Entering the IP address of a master reserves I/O scanning for this

master. This means that no other master on the network can perform

I/O scanning.

WARNING

UNINTENDED EQUIPMENT OPERATION DUE TO UNLIMITED ACCESS

If the IP addresses are not set correctly, any network device may

control the system or access by the master may be blocked.

•

Verify that you have set the correct master IP address.

Failure to follow these instructions can result in death, serious

injury or equipment damage.

The IP address of the master for I/O scanning is set by means of the

parameters EthIPmaster1... EthIPmaster4.

▶

Set the IP address of the master for I/O scanning with the parame-

ters EthIPmaster1... EthIPmaster4.

Modbus-TCP module

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5 Commissioning

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthIPmaster1

IP address master, byte 1

255

UINT16

R/W

CANopen 3044:29_h

Modbus 17490

Profibus 17490

CIP 168.1.41

IP address of the master that is permitted to

perform Modbus TCP I/O scanning.

If set to 0.0.0.0 (default), any master can

perform I/O scanning.

per.

Setting can only be changed if power stage

is disabled.

Changed settings become active immedi-

ately.

EthIPmaster2

EthIPmaster3

EthIPmaster4

IP address master, byte 2

255

UINT16

R/W

per.

CANopen 3044:2A_h

Modbus 17492

Profibus 17492

CIP 168.1.42

Setting can only be changed if power stage

is disabled.

Changed settings become active immedi-

ately.

IP address master, byte 3

255

UINT16

R/W

per.

CANopen 3044:2B_h

Modbus 17494

Profibus 17494

CIP 168.1.43

Setting can only be changed if power stage

is disabled.

Changed settings become active immedi-

ately.

IP address master, byte 4

255

UINT16

R/W

CANopen 3044:2C_h

Modbus 17496

Profibus 17496

CIP 168.1.44

Setting can only be changed if power stage

is disabled.

Changed settings become active immedi-

ately.

per.

5.7.3 Setting the mapping for I/O scanning

The input mapping is set by means of the parameters

EthOptMapInp1... EthOptMapInp3.

The output mapping is set by means of the parameters

EthOptMapOut1... EthOptMapOut3.

▶

Set the desired mapping values with the parameters

EthOptMapInp1... EthOptMapInp3and EthOptMapOut1...

EthOptMapOut3.

Modbus-TCP module

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Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthOptMapInp1

EthOptMapInp2

EthOptMapInp3

EthOptMapOut1

EthOptMapOut2

EthOptMapOut3

Optionally mapped input parameter 1 (drive

to PLC)

UINT16

R/W

per.

CANopen 3044:34_h

Modbus 17512

Profibus 17512

CIP 168.1.52

Modbus address of parameter which is

optionally mapped to Ethernet/IP assembly

or Modbus TCP I/O scanner data (drive to

PLC).

Changed settings become active immedi-

ately.

Optionally mapped input parameter 2 (drive

to PLC)

UINT16

R/W

per.

CANopen 3044:35_h

Modbus 17514

Profibus 17514

CIP 168.1.53

Modbus address of parameter which is

optionally mapped to Ethernet/IP assembly

or Modbus TCP I/O scanner data (drive to

PLC).

Changed settings become active immedi-

ately.

Optionally mapped input parameter 3 (drive

to PLC)

UINT16

R/W

per.

CANopen 3044:36_h

Modbus 17516

Profibus 17516

CIP 168.1.54

Modbus address of parameter which is

optionally mapped to Ethernet/IP assembly

or Modbus TCP I/O scanner data (drive to

PLC).

Changed settings become active immedi-

ately.

Optionally mapped output parameter 1 (PLC -

to drive)

UINT16

R/W

per.

CANopen 3044:2E_h

Modbus 17500

Profibus 17500

CIP 168.1.46

Modbus address of parameter which is

optionally mapped to Ethernet/IP assembly

or Modbus TCP I/O scanner data (PLC to

drive).

Changed settings become active immedi-

ately.

Optionally mapped output parameter 2 (PLC -

to drive)

UINT16

R/W

per.

CANopen 3044:2F_h

Modbus 17502

Profibus 17502

CIP 168.1.47

Modbus address of parameter which is

optionally mapped to Ethernet/IP assembly

or Modbus TCP I/O scanner data (PLC to

drive).

Changed settings become active immedi-

ately.

Optionally mapped output parameter 3 (PLC -

to drive)

UINT16

R/W

per.

CANopen 3044:30_h

Modbus 17504

Profibus 17504

CIP 168.1.48

Modbus address of parameter which is

optionally mapped to Ethernet/IP assembly

or Modbus TCP I/O scanner data (PLC to

drive).

Changed settings become active immedi-

ately.

Modbus-TCP module

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LXM32M

5 Commissioning

5.7.4 Setting communication monitoring for I/O scanning

WARNING

LOSS OF CONTROL

The product is unable to detect an interruption of the network link if

connection monitoring is not active.

•

Verify that connection monitoring is on.

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

interruption.

Failure to follow these instructions can result in death, serious

injury or equipment damage.

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

parameter EthMbScanTimeout.

▶

Set communication monitoring for I/O scanning with the parameter

EthMbScanTimeout.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthMbScanTimeou Modbus TCP I/O scanning timeout

UINT16

R/W

CANopen 3044:2D_h

Modbus 17498

Profibus 17498

CIP 168.1.45

0.0

2.0

60.0

Communication monitoring timeout for Mod-

bus TCP.

Value 0: Timeout monitoring disabled

In increments of 0.1 s.

per.

Changed settings become active immedi-

ately.

5.8

Setting the web server

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

EthWebserver.

▶

If you do not want to use the web server, set the parameter

EthWebserverto "Off".

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

server.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthWebserver

Ethernet webserver

UINT16

R/W

per.

CANopen 3044:6_h

Modbus 17420

Profibus 17420

CIP 168.1.6

0 / Off: Ethernet webserver off

1 / On: Ethernet webserver on

Changed settings become active the next

time the product is switched on.

Modbus-TCP module

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5 Commissioning

Modbus-TCP module

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LXM32M

6 Operation

Operation

WARNING

UNINTENDED OPERATION

•

Do not write values to reserved parameters.

Do not write values to parameters unless you fully understand the

function.

•

Run initial tests without coupled loads.

Verify the use of the word sequence with fieldbus communication.

Do not establish a fieldbus connection unless you have fully

understood the communication principles.

•

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

the hazardous area.

Failure to follow these instructions can result in death, serious

injury or equipment damage.

The chapter "Operation" describes the basic operating states, operat-

ing modes and functions of the product.

Modbus-TCP module

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6 Operation

6.1

Operating states

6.1.1 Indication of the operating state

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

driveStat

X_ERR X_END X_ADD1

HALT

WARN ERROR

STATE STATE STATE STATE

Figure 7: Structure of driveStat

Bit

Name

STATE

Meaning

0 ... 3

Current operating state (binary coded)

Reserved

4 ... 5

ERROR

WARN

HALT

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

A warning has occurred (error class 0)

"Halt" is active

Homing valid

"Quick Stop" is active

11 ... 12

Reserved

X_ADD1

X_END

X_ERR

Operating mode-specific information

Operating mode terminated

Operating mode terminated with error

Modbus-TCP module

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6 Operation

6.1.2 Changing the operating state

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

state.

dmControl

MT ACTION ACTION MODE MODE MODE MODE MODE

Figure 8: Structure dmControl bits 8 ... 15

Bit

Name

Meaning

Operating state

Disable power stage

Enable power stage

Executing a "Quick Stop"

Execute "Fault Reset"

6 Operation Enabled -> 4 Ready To Switch On

4 Ready To Switch On -> 6 Operation Enabled

6 Operation Enabled -> 7 Quick Stop Active

7 Quick Stop Active -> 6 Operation Enabled

9 Fault -> 4 Ready To Switch On

Reserved

Execute "Halt"

Clear "Halt"

6 Operation Enabled

Resume operating mode interrupted by

"Halt"

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

the corresponding function.

If a request for changing the operating state is not successful, this

request is ignored. There is no error response.

Ambivalent bit combinations are treated in accordance with the follow-

ing priority list (highest priority bit 8, lowest priority bit 14 and bit 15):

•

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

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

Bit 13 (execute "Halt") prior to bit 14 (clear "Halt") and bit 15

(resume operating mode interrupted by "Halt")

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6 Operation

6.2

Operating modes

6.2.1 Indicating and monitoring the operating mode

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

mfStat

CAP2 1 CAP2 0 CAP1 1 CAP1 0

MODE MODE MODE MODE MODE

Figure 9: Structure mfStat

Bit

Name

Description

0 ... 4

MODE

Indicates the current operating mode

Value 01_h: Profile Position

Value 03_h: Profile Velocity

Value 04_h: Profile Torque

Value 06_h: Homing

Value 1F_h: Jog

Value 1E_h: Electronic Gear

Value 1D_h: Motion Sequence

The "DE" bit relates to parameters that are independent

of "Mode Toggle" (MT). The "DE" bit is set if a data

value in the process data channel is invalid.

The "ME" bit relates to parameters that are dependent

on "Mode Toggle" (MT). The "ME" bit is set if a request

from a master (starting an operating mode) was rejec-

ted.

Handshake via "Mode Toggle"

Bit 0 and bit 1 of parameter _Cap1Count

Bit 0 and bit 1 of parameter _Cap2Count

Reserved

8 ... 9

CAP1

10 ... 11 CAP2

12 ... 15

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6 Operation

6.2.2 Starting and changing an operating mode

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

mode.

dmControl

MT ACTION ACTION MODE MODE MODE MODE MODE

Figure 10: Structure dmControl bits 0 ... 7

Bit

Name

Description

0 ... 4

MODE

Operating mode

Value 01_h: Profile Position

Value 03_h: Profile Velocity

Value 04_h: Profile Torque

Value 06_h: Homing

Value 1F_h: Jog

Value 1E_h: Electronic Gear

Value 1D_h: Motion Sequence

5 ... 6

ACTION Operating mode-dependent

MT Handshake via Mode Toggle

The operating modes can be changed during operation. For this pur-

pose, the current process must be completed or explicitly canceled.

The motor must be at a standstill.

The master must enter the following values to activate an operating

mode or to change reference values:

•

Reference values, depending on desired operating mode

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

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

Toggle bit 7 (MT)

The following chapters describe the possible operating modes, func-

tions and the corresponding reference values.

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LXM32M

6 Operation

6.2.3 Overview of operating modes

The table below provides an overview of the operating modes.

Detailed information can be found on the following pages.

Operating mode

Method

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

Jog

1F_h

Value 0: No movement

Value 1: Slow movement

in positive direction

Value 2: Slow movement

in negative direction

Value 5: Fast movement in

positive direction

Value 6: Fast movement in

negative direction

Electronic Gear

Position synchroni- 1E_h

zation without com-

pensation move-

ment

As GEARdenom

As GEARnum

Position synchroni- 3E_h

zation with compen-

sation movement

As GEARdenom

As GEARnum

Velocity synchroni- 5E_h

zation

As GEARdenom

As GEARnum

Profile Torque

Profile Velocity

Profile Position

24_h

23_h

As PTtq_target

As PVv_target

As PPv_target

As RAMP_tq_slope

Absolute

01_h

As PPp_target

Relative with refer- 21_h

ence to the cur-

rently set target

position

Relative with refer- 41_h

ence to the current

motor position

As PPv_target

As PPp_target

Homing

Position setting

06_h

26_h

As HMp_setP

Reference move-

ment

As HMmethod

Motion Sequence

Start sequence

1D_h

Data set number

Value 1: Use data set

number

Start individual data 3D_h

set

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LXM32M

6 Operation

6.2.4 Operating mode Jog

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

with the transmit data (master to slave).

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

1F_h

Value 0: No movement

Value 1: Slow movement

in positive direction

Value 2: Slow movement

in negative direction

Value 5: Fast movement in

positive direction

Value 6: Fast movement in

negative direction

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

Bit

Name

Meaning

X_ADD1 Reserved

X_END 0: Operating mode started

1: Operating mode terminated

X_ERR 0: No error

1: Error

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

one of the following conditions is met:

•

Value 0 RefA

Stop caused by "Halt" or "Quick Stop"

Stop caused by an error

Modbus-TCP module

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LXM32M

6 Operation

6.2.5 Operating mode Electronic Gear

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

with the transmit data (master to slave).

Method

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

Position synchronization without compen- 1E_h

sation movement

As GEARdenom

As GEARnum

Position synchronization with compensa- 3E_h

tion movement

Velocity synchronization

5E_h

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

Bit

Name

Meaning

X_ADD1 1: Reference velocity reached ¹⁾

X_END 0: Operating mode started

1: Operating mode terminated

X_ERR 0: No error

1: Error

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

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

one of the following conditions is met:

•

Stop caused by "Halt" or "Quick Stop"

Stop caused by an error

Modbus-TCP module

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LXM32M

6 Operation

6.2.6 Operating mode Profile Torque

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

with the transmit data (master to slave).

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

24_h

As PTtq_target

As RAMP_tq_slope

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

Bit

Name

Meaning

X_ADD1 0: Target torque not reached

1: Target torque reached

X_END 0: Operating mode started

1: Operating mode terminated

X_ERR 0: No error

1: Error

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

one of the following conditions is met:

•

Stop caused by "Halt" or "Quick Stop"

Stop caused by an error

Modbus-TCP module

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LXM32M

6 Operation

6.2.7 Operating mode Profile Velocity

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

with the transmit data (master to slave).

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

23_h

As PVv_target

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

Bit

Name

Meaning

X_ADD1 0: Target velocity not reached

1: Target velocity reached

X_END 0: Operating mode started

1: Operating mode terminated

X_ERR 0: No error

1: Error

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

one of the following conditions is met:

•

Stop caused by "Halt" or "Quick Stop"

Stop caused by an error

Modbus-TCP module

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LXM32M

6 Operation

6.2.8 Operating mode Profile Position

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

with the transmit data (master to slave).

Method

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

Absolute

01_h

21_h

As PPv_target

As PPp_target

Relative with reference to the currently

set target position

As PPv_target

As PPp_target

Relative with reference to the current

motor position

41_h

As PPv_target

As PPp_target

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

Bit

Name

Meaning

X_ADD1 0: Target position not reached

1: Target position reached

X_END 0: Operating mode started

1: Operating mode terminated

X_ERR 0: No error

1: Error

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

one of the following conditions is met:

•

Target position reached

Stop caused by "Halt" or "Quick Stop"

Stop caused by an error

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LXM32M

6 Operation

6.2.9 Operating mode Homing

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

with the transmit data (master to slave).

Method

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

Position setting

06_h

26_h

As HMp_setP

Reference movement

As HMmethod

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

Bit

Name

Meaning

X_ADD1 Reserved

X_END 0: Operating mode started

1: Operating mode terminated

X_ERR 0: No error

1: Error

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

one of the following conditions is met:

•

Homing successful

Stop caused by "Halt" or "Quick Stop"

Stop caused by an error

Modbus-TCP module

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LXM32M

6 Operation

6.2.10 Operating mode Motion Sequence

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

with the transmit data (master to slave).

Method

dmControl

Reference value RefA32 Reference value RefB32

Bits 0 ... 6

MODE+ACTION

Start sequence

1D_h

3D_h

Data set number

Value 1: Use data set

number

Start individual data set

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

Bit

Name

Meaning

X_ADD1 1: End of a sequence

X_END 0: Operating mode started

1: Operating mode terminated

X_ERR 0: No error

1: Error

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

one of the following conditions is met:

•

Individual data set terminated

Individual data set of a sequence terminated (waiting for transition

condition to be fulfilled)

•

Sequence terminated

Stop caused by "Halt" or "Quick Stop"

Stop caused by an error

Modbus-TCP module

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6 Operation

6.3

Extended settings

6.3.1 Web server

Functions The product features an integrated web server.

The web server offers the following features:

•

Display status information

Display and change parameters

Display and change network settings

Display and change Modbus TCP settings

Display and change EtherNet/IP settings

Display and change settings for the FDR service

Display network statistics

User-specific adaptation of the website

See chapter "6.3.2 FTP server"

6.3.1.1 Setting the web server

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

EthWebserver.

▶

If you do not want to use the web server, set the parameter

EthWebserverto "Off".

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Data type Parameter address

R/W

via fieldbus

Persistent

Maximum value Expert

EthWebserver

Ethernet webserver

UINT16

R/W

per.

CANopen 3044:6_h

Modbus 17420

Profibus 17420

CIP 168.1.6

0 / Off: Ethernet webserver off

1 / On: Ethernet webserver on

Changed settings become active the next

time the product is switched on.

6.3.1.2 Accessing the web server

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

■

▶

The product must have a valid IP address.

Start an Internet browser.

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

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

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LXM32M

6 Operation

6.3.1.3 User interface

Structure of the web server user interface:

Figure 11: User interface of the web server

(1)

(2)

(3)

Main menu

Submenu

Content

Main menu

Home

Submenu

English

Content

Homepage

Documentation

Link to website

www.schneider-electric.com

Monitoring

Drive monitor

Status information

Drive parameter

Display and change parame-

ters

Network Setup Network parameters

Modbus scanner

Network settings

Modbus settings

Eth/IP scanner

EtherNet/IP settings

Fast device replacement

Administration

FDR service settings

Change web server passwords

Information on TCP/IP

Information on Modbus

Information on EtherNet/IP

Diagnostics

TCP/IP statistics

Modbus statistics

Ethernet IP statistics

Modbus-TCP module

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LXM32M

6 Operation

6.3.2 FTP server

Functions The product features an integrated FTP server.

The FTP server lets you upload a CFG file and a JPG file to modify

the content and appearance of the web server.

The following items can be modified:

•

Product Name

Link under "Documentation..."

Product image (picture on the start page)

6.3.2.1 Accessing the FTP server

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

■

▶

The product must have a valid IP address.

Start an FTP client.

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

Server" .

▶

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

6.3.2.2 User-specific adaptation of the website

You can upload a CFG file and a JPG file to modify the content and

appearance of the web server.

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

The CFG file has the following structure:

[ProductName]

Lexium 32 by MyCompany

[ProductLink]

http://www.my-company.com

[ProductImageName]

mypic.jpg

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

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

CFG file.

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

JPG).

Uploading files

▶

Connect via an FTP client.

Save the CFG file at the top level.

Create a folder "html".

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

Save the JPG file in the "images" folder.

Switch the product off and on.

Modbus-TCP module

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LXM32M

6 Operation

6.3.3 FDR service (Fast Device Replacement)

The FDR service uses standard DHCP and TFTP (Trivial File Transfer

Protocol) technologies to simplify maintenance of Ethernet devices.

For example, the FDR service is used to replace a defective device by

a new device. The service allows for detection, configuration and auto-

matic start of the new device without complex manual user interaction.

The main steps:

•

A defective device that uses the FDR service is removed.

The new device that is pre-configured with the "DeviceName" of

the defective device is installed in the network.

•

The FDR server which can be a Quantum- or Premium-SPS PLC

Ethernet module detects the new device, configures it with its IP

address and transmits the configuration parameters.

The replacement device checks the parameters for compatibility.

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6 Operation

Modbus-TCP module

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LXM32M

7 Diagnostics and troubleshooting

Diagnostics and troubleshooting

7.1

Fieldbus communication error diagnostics

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

connections. The product manual contains the technical data of the

device and information on network and device installation. Check the

following:

•

24V_dcpower supply

Power connections to the device

Fieldbus cable and fieldbus wiring

You can also use the commissioning software for troubleshooting.

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

addresses. After correct configuration of the transmission data, test

fieldbus mode.

▶

In addition to the master, activate a bus monitor that, as a passive

device, displays messages.

▶

Switch the supply voltage off and on.

Observe the network messages that are generated briefly after the

supply voltage is switched on. A bus monitor can be used to record

the elapsed time between messages and the relevant information

in the messages.

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

▶

Addressing

Each network device must have a unique IP address.

Modbus-TCP module

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LXM32M

7 Diagnostics and troubleshooting

7.2

Status LEDs

The status of the module is indicated by four LEDs.

Figure 12: Overview of the LEDs at the module

(1)

(2)

(3)

(4)

Network activity interface A

Module status

Network activity interface B

Network status

NOTE: The meaning of the flash signals depends on the selected pro-

tocol.

▶

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

TCP".

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

activity.

Color

Status

Off

Meaning

No connection

Green

Yellow

Green

Yellow

Connection with 100 [MB/s]

Connection with 10 [MB/s]

Activity with 100 [MB/s]

Activity with 10 [MB/s]

Flashing

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7 Diagnostics and troubleshooting

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

module status.

Color

LED

Meaning for EtherNet/IP ¹⁾

No power supply

Start-up

Meaning for Modbus TCP ¹⁾

No IP address or no power supply

Start-up

Off

Green/yellow

Green

Flashing

Ready for operation

Flashing

Module is not configured or scanner is

Idle

Not ready (no connection, ...)

Red

Flashing

Recoverable error

Irrecoverable error

Recoverable error

Irrecoverable error

1) Depends on the selected protocol (parameter EthMode)

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

work status.

Color

LED

Off

Meaning for EtherNet/IP ¹⁾

No IP address or no power supply

Start-up

Meaning for Modbus TCP ¹⁾

No IP address or no power supply

Start-up

Green/yellow

Green

Flashing

Connected

At least 1 port is connected and the IP

address has been set

Green

Red

Flashing 3 times -

Flashing 4 times -

Flashing 5 times -

Flashing

No connection, IP address has been set

IP address conflict

BOOTP or DHCP active

No connection

Timeout

Flashing

Red

IP address conflict

1) Depends on the selected protocol (parameter EthMode)

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LXM32M

7 Diagnostics and troubleshooting

7.3

Error indication

The last cause of error and the last 10 error messages are stored. You

can display the last 10 error messages using the commissioning soft-

ware and the fieldbus.

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

temperature) or by external monitoring (for example, limit switch). An

error response is initiated if an asynchronous error occurs.

Asynchronous errors are indicated in the following way:

•

Transition to operating state 7 Quick Stop Active or to operating

state 9 Fault.

•

Information in the words "driveStat", "mfStat", "motionStat" and

"driveInput" during I/O scanning, see chapter

"3.3.4.2 I/O scanning Input"

•

Error number is written to parameter _LastError

The parameters _LastError or _LastWarning can be used in the

input mapping for I/O scanning. This way, error numbers are easy to

read out.

Modbus response

Depending on the type of processing, two types of Modbus responses

are possible:

•

Positive Modbus response

The "Function Code" in the Modbus response corresponds to

the "Function Code" in the Modbus request.

•

Negative Modbus response

The client receives pertinent information on error detection dur-

ing processing;

The "Function Code" in Modbus response corresponds to the

"Function Code" in the Modbus request + 80_h.

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

If a syntactically incorrect Modbus PDU (Protocol Data Unit) is trans-

mitted, the connection is terminated. In the case of other other error, a

negative Modbus response is sent.

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LXM32M

7 Diagnostics and troubleshooting

Excep-

tion Code

Name

Description

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

server.

Illegal Data Address

Illegal Data Value

Server Failure

Depends on the Modbus request

The server was unable to properly termi-

nate processing.

Acknowledge

The server has accepted the Modbus

request. However, the execution takes a

relatively long time. The server therefore

only returns an acknowledgement con-

firming receipt of the service request.

Server Busy

The server was unable to accept the

Modbus request. It is the responsibility of

the application on the client to determine

whether and when to re-send the request.

Gateway Problem

The gateway path is unavailable.

The targeted device does not respond.

The gateway generates this error.

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7 Diagnostics and troubleshooting

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LXM32M

8 Accessories and spare parts

Accessories and spare parts

8.1

Cables

Description

Order no.

2 m, 2 x RJ45, shielded twisted pair cable

5 m, 2 x RJ45, shielded twisted pair cable

12 m, 2 x RJ45, shielded twisted pair cable

490NTW00002

490NTW00005

490NTW00012

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

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

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

490NTW00002U

490NTW00005U

490NTW00012U

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8 Accessories and spare parts

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LXM32M

9 Glossary

Glossary

9.1

Units and conversion tables

The value in the specified unit (left column) is calculated for the

desired unit (top row) with the formula (in the field).

Example: conversion of 5 meters [m] to yards [yd]

5 m / 0.9144 = 5.468 yd

9.1.1 Length

/ 12

/ 36

* 0.0254

* 0.30479

* 0.9144

* 2.54

* 30.479

* 91.44

* 100

* 25.4

* 304.79

* 914.4

* 1000

* 10

* 12

/ 3

* 36

* 3

/ 0.0254

/ 2.54

/ 25.4

/ 0.30479

/ 30.479

/ 304.79

/ 0.9144

/ 91.44

/ 914.4

/ 100

/ 1000

/ 10

9.1.2 Mass

* 16

slug

* 0.03108095

* 1.942559*10^-3

* 0.4535924

* 0.02834952

* 14.5939

* 453.5924

* 28.34952

* 14593.9

* 1000

slug

/ 16

/ 0.03108095

/ 0.45359237

/ 453.59237

/ 1.942559*10^-3

/ 0.02834952

/ 28.34952

/ 14.5939

/ 14593.9

/ 1000

9.1.3 Force

dyne

* 16

* 453.55358

* 28.349524

* 444822.2

* 27801

* 980.7

* 4.448222

* 0.27801

* 9.807*10^-3

/ 100*10³

/ 16

/ 453.55358

/ 444822.2

/ 4.448222

/ 28.349524

/ 27801

/ 0.27801

dyne

/ 980.7

/ 9.807*10^-3

* 100*10³

9.1.4 Power

* 746

/ 746

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LXM32M

9 Glossary

9.1.5 Rotation

min^-1(RPM)

min^-1(RPM) -

rad/s

* π / 30

deg./s

* 6

rad/s

* 30 / π

/ 6

* 57.295

deg./s

/ 57.295

9.1.6 Torque

lb‧in

lb‧ft

/ 12

oz‧in

* 16

* 192

kp‧m

* 0.011521

kp‧cm

* 1.1521

dyne‧cm

lb‧in

lb‧ft

* 0.112985

* 1.129*10⁶

* 12

* 1.355822

* 0.138255

* 13.8255

* 13.558*10⁶

oz‧in

/ 16

/ 192

* 7.0616*10^-3* 720.07*10^-6* 72.007*10^-3* 70615.5

/ 0.112985

/ 0.011521

/ 1.1521

/ 1.129*10⁶

/ 1.355822

/ 0.138255

/ 13.8255

/ 7.0616*10^-3

* 0.101972

* 10.1972

* 10*10⁶

* 98.066*10⁶

* 0.9806*10⁶

kp‧m

kp‧cm

dyne‧cm

/ 720.07*10^-6/ 0.101972

/ 72.007*10^-3/ 10.1972

* 100

/ 100

/ 13.558*10⁶/ 70615.5

/ 10*10⁶

/ 98.066*10⁶/ 0.9806*10⁶

9.1.7 Moment of inertia

lb‧in²

lb‧ft²

/ 144

kg‧m²

kg‧cm²

kp‧cm‧s²

oz‧in²

* 16

lb‧in²

/ 3417.16

* 0.04214

/ 0.341716

* 421.4

* 10*10³

/ 335.109

* 0.429711

* 10.1972

/ 980.665

lb‧ft²

* 144

* 2304

* 54674

* 5.46

* 5361.74

kg‧m²

kg‧cm²

kp‧cm‧s²

oz‧in²

* 3417.16

* 0.341716

* 335.109

/ 16

/ 0.04214

/ 421.4

/ 0.429711

/ 2304

/ 10*10³

/ 10.1972

/ 54674

* 980.665

/ 5.46

/ 5361.74

9.1.8 Temperature

°F

°C

°F

°C

(°F - 32) * 5/9

(°F - 32) * 5/9 + 273.15

°C * 9/5 + 32

°C + 273.15

(K - 273.15) * 9/5 + 32

K - 273.15

9.1.9 Conductor cross section

AWG

mm²

42.4

33.6

26.7

21.2

16.8

13.3

10.5

8.4

6.6

5.3

4.2

3.3

2.6

AWG

mm²

2.1

1.7

1.3

1.0

0.82

0.65

0.52

0.41

0.33

0.26

0.20

0.16

0.13

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LXM32M

9 Glossary

9.2

Terms and Abbreviations

See chapter "2.5 Standards and terminology" for information on the

pertinent standards on which many terms are based. Some terms and

abbreviations may have specific meanings with regard to the stand-

ards.

CIP Common Industrial Protocol, general specification for communication

between fieldbus devices.

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

server relationship. Starts transmission with a transmission to the

server; the reference point is the server object dictionary.

DOM Date of manufacturing: The nameplate of the product shows the date

of manufacture in the format DD.MM.YY or in the format

DD.MM.YYYY. Example:

31.12.09 corresponds to December 31, 2009

31.12.2009 corresponds to December 31, 2009

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

value or condition and the specified or theoretically correct value or

condition.

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

for specific responses to errors, for example by severity.

Factory setting Factory settings when the product is shipped

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

motor so that the power stage must be immediately disabled.

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

can be found in the pertinent standards such as IEC 61800-7, ODVA

Common Industrial Protocol (CIP).

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

detected error is cleared by removing the cause of the error so that

the error is no longer active.

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

perspective of the master. Input: Status messages from the slave to

the master, see also Output.

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

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

perspective of the master. Output: Commands from the master to the

slave, see also Input.

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

by the user.

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

after the device is switched off.

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

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

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

user via parameters.

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

alerts to a potential problem that was detected by a monitoring func-

tion. A warning does not cause a transition of the operating state.

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LXM32M

9 Glossary

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LXM32M

10 Index

Abbreviations

First setup

Commissioning

Accessories and spare parts