DMM DYN 5 Series User manual

AC SERVO DRIVE
Ethernet/IP Specication
MANUAL CODE: DYN5-EIP-SL258-11A
REVISION: 1.1A
RELEASE DATE: June 2022
DYN 5 Series
This manual must be kept accessible for the user or operator.
Copyright © 2022 DMM Technology Corp.
Document Layout Dimension:
Letter 8.5 x 11inches (215.9 x 279.4 mm)

DYN5-EIP-SL258-11A PAGE 2 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
■ Safety Notice ■
The user or operator should read through this manual completely before installation, testing,
operation, or inspection of the equipment. The DYN5 series AC Servo Drive should be operated
under correct circumstances and conditions. Bodily harm or damage to equipment and system
may result if specications outlined in this document are not followed. Take extra precaution
when the above warning convention is used for certain critital specications.
■ Notations Used ■
Unless otherwise noted, all specication and units of measurement used in this manual are in
Metric standard units:
Mass: Kilogram [ kg ]
Length: Millimeter [ mm ]
Time: Seconds [ s ]
Temperature: Celsius [ °C ]
WARNING
!

DYN5-EIP-SL258-11A PAGE 3 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Table of Contents
■ Safety Notice ■ 2
■ Notations Used ■ 2
Table of Contents 3
Section 1. Overview 4
Section 2. Network Connection 5
Section 3. Basic Setup Instructions 7
3.1 Servo Drive Setup 8
3.2 Ping (ICMP) Test 9
Section 4. Using Explicit Messaging 10
4.1 Ethernet/IP Objects 10
4.2 Identity Object Class 0x01 11
4.3 Parameter Object Class 0x0F 12
Parameter Object Class Instances Summary 13
4.4 Parameter Object Class Instance Details 14
Section 5. Using Implicit I/O Messaging 25
Section 6. PLC Communication Example 26
6.1 Example - Explicit Messaging Get_Attribute_Single - Disgnostc Counter 27
6.2 Example - Explicit Messaging Set_Attribute_Single - Speed Command 29
6.3 Example - Explicit Messaging Set_Attribute_Single - 30
Relative Prole Position Command 30
6.3 Example - Implicit I/O Messaging Setup 31
Section 7. Servo Drive Communication Response Time 33
Appendix A - DMMDRV5 Communication Setup 34
Appendix B - Profile Position Command Trajectory Calculator 35
Appendix C - DTPU Dynamic Target Position Update Specification 36
Warranty and Liability 38
Manual Disclaimer 39
Manual Revisions 39

DYN5-EIP-SL258-11A PAGE 4 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Section 1. Overview
The DYN5 servo drive optioned with Ethernet/IP communication allows the servo drive to be fully
operated on a Ethernet/IP network. The DYN5 servo drive acts as Target device and exchanges
data with a Originator device. Through this network, the Originator has full access and control of
the servo drive including:
• Reading and Writing servo drive parameters
• Reading servo motor Position/Speed/Current/Torque
• Reading servo drive Status
• Sending Position/Speed/Torque command
The DYN5 servo drive Ethernet/IP supports both Explicit (Class 3 CIP) and Implicit (Class 1 CIP)
messaging types. Explicit messaging is Unconnected, Implicit messaging is Connected.
♦ Compatible Model Numbers
The DYN5 servo drive with the below model numbers are optioned with Ethernet/IP communi-
cation. Note that the servo drive optioned with Ethernet/IP still has base Pulse/Analog/RS232
capability it the user wishes to use these control methods.
* Note as of June 2022, the DYN5 Ethernet/IP does not support CIP Motion. All motion com-
mands are executed through Explicit Messaging only.
♦ Basic Specication
Interface 10/100 Base-T Ethernet IEEE 802.3
Hardware Interface RJ45 Recommended CAT5 or higher cable with
braid shielding
Communication Speed 10/100 Mbps - Drive Auto Detect
IP Addressing Static – Set in DMMDRV5 program
DHCP is not supported

DYN5-EIP-SL258-11A PAGE 5 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Section 2. Network Connection
For general DYN5 servo drive operation and wiring instructions, refer to DYN5 servo drive in-
struction manual Manual# DYN5MS-ZM1.
RJ45 Ports JP5A and JP5B are used for the Ethernet/IP interface. Both connectors are standard
RJ45.
The DYN5 servo drive supports daisy-chain topology, JP5A is used for input, JP5B is used for
output. The last servo drive on the chain should have JP5B terminated with the JP5 Terminator
(Part# CN5-JP5-TMD1). If only 1 servo drive is on the network, the terminator still needs to be
connected to JP5B, with JP5A connected to the Client (Master).
♦ Part# CN5-JP5-TMD1 - DYN5 JP5 Ethernet Network End Terminator
♦ Single Servo Drive Network Connection
♦ Multiple Servo Drive Daisy Chain Network Connection
Ethernet/IP Client
PLC, PC etc.
Ethernet Cable
Connect Ethernet Network
End Terminator to JP5B
Connect controller to JP5A
Ethernet/IP Client
PLC, PC etc.
Connect controller to rst
servo drive JP5A
Connect Ethernet Network End Terminator to last
servo drive JP5B
Connect rst servo drive
JP5B to second servo drive
JP5A
Connect additional servo
drive from JP5B to JP5A

DYN5-EIP-SL258-11A PAGE 6 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
ATTENTION
!
As the DYN5 servo drive supports Multiple Servo Drive Daisy Chain Network Con-
nection, the servo drive IP setting must follow the below rules.
• IPv4 IP Address is 4 bytes: B3.B2.B1.B0
• All DYN5 servo drive on the same Daisy Chain Network must have the same
B3, B2, B1 IP Address Settings
• No other device on the entire network can use same B3,B2,B1 IP Address as
any DYN5 servo drive
• Try to avoid use of IP address settings 0, 254, 255 as these are sometimes
used by devices for special functions
Example IP Address:
PC Ethernet
Switch
PLC
DYN5-1
JP5A JP5B
DYN5-2
JP5A JP5B
DYN5-3
JP5A JP5B
DYN5-4
JP5A JP5B
Network End
Terminator Network End
Terminator
192.168.0.10
192.168.0.5
192.168.50.1
192.168.47.1
192.168.47.2
192.168.47.3
• DYN5 Network 1 uses IP Address 192.168.50.X
• DYN5 Network 2 uses IP Address 192.168.47.X
• No other device on the network can use IP address 192.168.50.X or
192.168.47.X
DYN5
Network 1
DYN5
Network 2

DYN5-EIP-SL258-11A PAGE 7 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Section 3. Basic Setup Instructions
Follow below instructions to setup a Ethernet/IP communication between the DYN5 servo drive
and a Ethernet/IP Client.
For general DYN5 servo drive operation and wiring instructions, refer to DYN5 servo drive in-
struction manual Manual# DYN5MS-ZM1.
(A) Wiring and Connections
Follow below diagram for basic minimum wiring for Ethernet/IP communication testing. Note the
below diagram does not include any reference for EMI, grounding or safety. Refer to DYN5 servo
drive instruction manual for these considerations.
JP5A Ethernet/IP Client
PC/PLC
Connect Ethernet Network
End Terminator to JP5B
T2 Connect to servo motor
power via motor power
cable
D2
D1
Short D1/D2
L2
L1
R
T
S
JP2 Connect to PC DMMDRV5
software via USB Cable
(DMM Part# CA-DYN5USB-FR3)
T3 Power logic L1/L2
and control R/S/T with
110~220VAC
JP3 Connect to servo motor
encoder feedback cable
(B) Parts Needed
• DYN5 AC Servo Drive with Ethernet/IP option
• DXT/DST/DHT AC Servo Motor
• Encoder Feedback Cable to connect servo motor to servo drive
• Motor Power Cable to connect servo motor to servo drive
• Mini-USB to USB-A cable to connect servo drive to PC DMMDRV5 software
(DMM Part# CA-DYN5USB-FR3)
• Ethernet cable to connect servo drive JP5A to PC for Ethernet/IP communication
• Part# CN5-JP5-TMD1 - DYN5 JP5 Ethernet Network End Terminator
• PC computer with DMMMDRV5 software
* Note all ethernet cables used should be Straight Through type and not Crossover type cables

DYN5-EIP-SL258-11A PAGE 8 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
(1) Download and install DMMDRV5 software.
(2) Refer to Section 2. to check all wiring and connectors. Ensure the IP address setting rule on
Page 6 is followed.
(3) Check PC ethernet port TCP/IPv4 settings. This is needed to set and match with the servo
drive IP address. For this example, the PC IP address is set to 192.168.0.109 and subnet mask
255.255.0.0
(4) Connect all components to servo drive as above diagram (A) Wiring and Connections. Apply
power to servo drive.
(5) Establish connection between DMMDRV5 program and DYN5 servo drive. See Appendix A
for connection setup instructions.
(6) Open the Servo Setting module. Select Position Servo Mode 1 . Select Ethernet Com-
mand Input Mode (Ethernet/IP) 2 . Note no matter the operation command from Ethernet/IP,
the servo drive should be set into Position Sero Mode here. The servo drive will internally switch
between Position/Speed/Torque servo modes according to the command received from
EtherNet//IP. Set the servo drive IP address within the network of the PC IP address 3 . In
this example, the servo drive IP address is set to 192.168.50.18. Set GEAR_NUM to 16384 4
.
(7) Click Save All to save new settings into servo drive 5 . Power cycle servo drive - remove
power from both L1/L2 and R/S/T. Wait 30 seconds, then apply power again.
The DYN5 servo drive is now fully setup for Ethernet/IP.
1
2
3
5
3.1 Servo Drive Setup
4
192 . 168 . 0 . 109
255 . 255 . 0 . 0
192 168 50 18

DYN5-EIP-SL258-11A PAGE 9 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Check servo drive ethernet connectivity using Ping test on PC.
(1) Open the PC Command Prompt.
(2) Type “ping AAA.AAA.AAA.AAA” where AAA.AAA.AAA.AAA is the servo drive IP address set
in Section 3.1 Step. 6.
(3) Check that a reply is received back from the servo drive. This conrms the servo drive is in
Ethernet mode and IP address is set correctly.
(4) If reply is not received from servo drive, check all connections and settings in Section 3.1.
3.2 Ping (ICMP) Test
192 . 168 . 50 . 18
192 . 168 . 50 . 18
192 . 168 . 50 . 18
192 . 168 . 50 . 18
192 . 168 . 50 . 18
192 . 168 . 50 . 18
192 . 168 . 50 . 18:

DYN5-EIP-SL258-11A PAGE 10 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Section 4. Using Explicit Messaging
All DYN5 servo drive functions can be accessed using CIP Class 3 explicit messaging to Get/
Set servo drive pbjects. DYN5 servo drive supports Identity Class Objects and Parameter Class
Objects as outlined in the below sections.
♦ General Notes regarding DYN5 servo drive Ethernet/IP Object behaviour
• All Write/Set commands into paramtere class are saved into volatile RAM, set-
tings lost after Reset command or Power Cycle
• Reading from Write-Only or non-existent Objects will return 0x12345
• Writing to Read-Only Objects or non-existent Objects will have no e󰀨ect, but will not
throw exception reply
• When Writing to the Parameter Class Instance, data length must write 4 bytes data,
else will return 05 Error
• All Parameter Class Data Type is UDINT
• Writing outside allowed data range returns 05 error
• Reading from any unreadable Objects returns 0x12345 (74565)
• Any unsupported Class, Service, Instance or Attribute commands will return 05 Error
♦ Supported Data Types
Data Type Description
WORD 16-bit unsigned integer
UDINT 32-bit unsigned integer
STRING[n] ASCII character array of n characters
4.1 Ethernet/IP Objects