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

DYN5-EIP-SL258-11A PAGE 11 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
4.2 Identity Object Class 0x01
Class Code
Hexadecimal Decimal
0x01 1
Instances
Instance Description
1 Host DYN5 Servo Drive
Instance Attributes
Attribute ID Access Rule Name Data Type Description
1
Get
Vendor ID WORD Servo Drive Returns 0xABCD
2Device Type WORD Servo Drive Returns 127
3 Product Code WORD Servo Drive Returns 1
4
Revision:
Major
Minor
WORD Servo Drive Returns Hardware and
Firmware Revision Code
5 Status WORD Servo Drive Returns 0
6 Serial Number UDINT Servo Drive Returns 1
7 Product Name STRING[8] Servo Drive Returns “DYN5ENIP”
Services
Service
Code
Implemented For:
Service Name
Class Instance
0x01 Yes Yes Get_Attributes_All
0x0E Yes Yes Get_Attribute_Single

DYN5-EIP-SL258-11A PAGE 12 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
4.3 Parameter Object Class 0x0F
Class Code
Hexadecimal Decimal
0x0F 15
Instances
* See next page
Instance Attributes
Attribute ID Access Rule Name Data Type Description
1
* Access
Rule varies
based on pa-
rameter type,
see table for
Instances on
next page
Parameter /
Command
UDINT
All Param-
eter Class
Objects are
UDINT data
type.
* Function depends on parameter or
command type, see table for Instances
on next page
Services
Service
Code
Implemented For:
Service Name
Class Instance
0x0E No Yes Get_Attributes_Single
0x10 No Yes Set_Attribute_Single

DYN5-EIP-SL258-11A PAGE 13 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Instance#
Attribute 1 - Name Access Data
Type Data Range Description
Hex Deci-
mal
0x01 1 NA (Memory Test
Object) RW UDINT32 0~63 Any value written into this instance can be read back. No function relat- ed to servo drive. Default = 0.
0x02 2 Drive Status R UDINT32 0~65535 16-Bit Servo Drive Status Word
0x03 3 Set ABS Origin RW UDINT32 0xFFFF Set Absolute Origin Zero Command (multi-turn system), instance only
accepts 0xFFFF (65535) to set multi-turn ABS zero
0x04 4 Main Gain RW UDINT32 1~127 Main Gain parameter
0x05 5 Speed Gain RW UDINT32 1~127 Speed Gain parameter
0x06 6 Integration Gain RW UDINT32 1~127 Integration Gain parameter
0x07 7 Torque Filter Con-
stant RW UDINT32 1~127 Torque Filter Constant parameter
0x08 8 High Speed RW UDINT32 1~127 High Speed parameter
0x09 9 High Accel RW UDINT32 1~127 High Acceleration parameter
0x0a 10 On Position Range RW UDINT32 1~127 On Position Range parameter
0x0b 11 "GearNumber
GEAR_NUM" RW UDINT32 1~16384 Gear Number parameter
0x0c 12 "LineNumber
LINE_NUM" RW UDINT32 1~4095 Line Number parameter
0x0d 13 Drive SW Enable/
Disable RW UDINT32 0xAAAA | 0xDEDE
"0xAAAA (43690) = Enable Servo Drive
0xDEDE (57054) = Disable Servo Drive
0x0e 14 Turn_ConstSpeed W UDINT32 -16384~16384
Turn Constant Speed Command [rpm]
Positive command is CW
Negative command is CCW
0x0f 15 Square_Wave
Motion Amplitude W UDINT32 0~4096
Square wave amplitude command
First, send frequency Instance 0x13, then send amplitude Instance 0x0F
* 2047 = 90degrees, 4095 = 180degrees shaft amplitude
0x11 17 Sin_Wave Motion
Amplitude W UDINT32 0~4096
Sine wave amplitude command
First, send frequency Instance 0x13, then send amplitude Instance 0x11
* 2047 = 90degrees, 4095 = 180degrees shaft amplitude
0x13 19 SS_Frequency W UDINT32 0~60 Square / Sine wave motion frequency
0x14 20 Motor Speed R UDINT32 Motor Speed [rpm] Readout. Setting/Writing returns 05 status error
0x15 21 Go_Absolute_Pos_
Prole Command W UDINT32 -134217728 ~ 134217727 Go Prole Absolute Position Command. Positive CW. Negative CC.
0x17 23 Go_Relative_Pos_
Prole Command W UDINT32 -134217728 ~ 134217727 Go Prole Relative Position Command. Positive CW. Negative CCW.
0x1d 29 Motor Absolute
Position R UDINT32 -134217728 ~ 134217727 Motor Absolute Position Readout
0x1f 31 Motor Torque R UDINT32 -2000~2000 Motor Torque Readout
0x20 32 Torque Limit
(Global) RW UDINT32 0~127 Global Torque Limit
0x21 33 Drive Reset W UDINT32 0xABCD Servo Drive Reset Command, send 0xABCD (43981) to reset servo
drive.
0x22 34 EIP Module
Firmware R UDINT32 Reads EIP module rmware version DDMMYYVVVV: DATE MONTH YEAR VERSION
0x25 37 Command Mode
Switch RW UDINT32 0x0000 | 0xFFFF
0x0000 = Position/Speed Mode
0xFFFF (65535) = Torque Mode
0x26 38 Torque Command W UDINT32 -2000~2000 Torque Mode Torque Command. Positive CW. Negative CCW.
0x27 39 Torque Mode
Speed Limit RW UDINT32 1~20,000 Motor Speed Limit when running Torque Mode [rpm]
0xFF 255 Diagnostic Counter R UDINT32 0~255 Diagnostic Counter, returns +1 each read
Parameter Object Class Instances Summary

DYN5-EIP-SL258-11A PAGE 14 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Ethernet/IP Specication
4.4 Parameter Object Class Instance Details
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x01 1 NA (Memory Test
Object) RW Int16 0~63
Details
This instance serves as a memory test for the controller. Any value written into this instance can be read
back. Data is volatile and will be lost after power cycle or Reset. Default value after power up is 0. This
data serves no function for the servo drive otherwise.
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x02 2 Drive Status R UDINT32 0~65535
Details
This instance contains 16-bit Servo Drive Status Byte. Can be read to monitor servo drive operation status
and motor motion status.
Drive_Status Byte Low 16= b7 b6 b5 b4 b3 b2 b1 b0
Bit Value Description
b0
0Motor On Position. |Pset - Pmotor| < = OnpositionRange Parameter Pr.15
Corresponds to ON/LOW state at JP4.Pin14/15 ONPOS output.
1Motor O󰀨 Position. |Pset - Pmotor| > OnPositionRange Parameter Pr.15
Corresponds to OFF/HIGH state at JP4.Pin14/15 ONPOS output.
b1 0Servo Enabled. Both Hardware and Software Enable are Enabled.
1 Servo Disabled / Motor Free
b4 b3 b2
0No Alarm
1Motor Lost Phase alarm, |Pset - Pmotor|>8192(encoder counts), 180(deg)
2Over Current Alarm
3Overheat Alarm / Overpower Alarm
4 Error for CRC code check, refuse to accept current command
5Over Voltage Alarm
6 Encoder Error Alarm / Encoder Battery Error Alarm
b5 0
Prole Position S-curve motion command completed. Note this only means the
motion command is completed, does not mean motor is In-Position. See Appen-
dix B for details.
1Prole Position S-curve motion command running. See Appendix B for details.
b6 0 Reserved - Do not use
b7 0 Reserved - Do not use
Drive_Status Byte High 16= b7 b6 b5 b4 b3 b2 b1 b0 = Not Implemented all zeros

DYN5-EIP-SL258-11A PAGE 15 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x03 3 Set ABS Origin RW UDINT32 0xFFFF
Details
When using multi-turn system, setting this instance to 0xFFFF will set current servo motor position to Abso-
lute Zero, then also performs a Reset command to reset servo control at current position.
Instance has no functinality when using single-turn system. Setting instance to any other value than
0xFFFF will return 05 Error.
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x04 4 Main Gain
RW UDINT32 1~127
0x05 5 Speed Gain
0x06 6 Integration Gain
0x07 7 Torque Constant
0x08 8 High Speed
0x09 9 High Accel
0x0a 10 On Position Range
Details
These instances correspond to standard DYN5 servo drive parameters that can be read/set from TCP/IP.
All parameters have normal DYN5 servo drive functionality.
[ Pr.00 ] = Main Gain Parameter
[ Pr.01 ] = Speed Gain Parameter
[ Pr.02 ] = Integration Gain Parameter
[ Pr.03 ] = Torque Constant Parameter
[ Pr.15 ] = On Position Range Parameter
[ Pr.07 ] = High Speed Parameter
[ Pr.11 ] = High Accel Parameter
All the above parameters can be changed on-the-y during operation and becomes e󰀨ective as soon as
new setting is saved into servo drive. Allow ≥300us after sending parameter for new setting to become
e󰀨ective.

DYN5-EIP-SL258-11A PAGE 16 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x0b 11 GEAR_NUM
Parameter RW UDINT32 1~16384
0x0c 12 LINE_NUM
Parameter RW UDINT32 1~4095
Details
These instances correspond to standard DYN5 servo drive parameters that can be read/set from EtherNet/
IP. All parameters have normal DYN5 servo drive functionality.
GEAR_NUM parameter [ Pr.19 ] is used for electronic scaling when sending Position command to servo
drive. See Appendix B for usage details.
LINE_NUM parameter [ Pr.20 ] controls the emulated incremental encoder output resolution from
JP4.Pin44/45/46/47/48/49.
LINE_NUM parameter
setting Output Pulse Resolution Calculation
1~2048
Output Pulse = LINE_NUM x 4
Ex. If LINE_NUM is set to 500, servo drive outputs 2,000
pulse per motor revolution.
2048~4095
Output Pulse = ( LINE_NUM - 2047 ) x 4
Ex. If LINE_NUM is set to 4095 (maximum), servo drive
outputs 8,192 pulse per motor revolution.
Change into these parameters are e󰀨ective after power cycle or Rest command.
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x0d 13 Drive SW
Enable/Disable RW UDINT32 0xAAAA | 0xDEDE
Details
This instance is used to send servo drive Software Enable/Disable command. Setting instance to 0xAAAA
is software Enable command. Setting instance to 0xDEDE is software Disable command.
After powered up or Reset command, Software Enable is automatically Enabled.
Setting instance to any other value than 0xAAAA or 0xDEDE will return 05 Error.

DYN5-EIP-SL258-11A PAGE 17 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x0e 14 Turn_ConstSpeed W UDINT32 2^14~
2^14
Details
This instance is used to send servo drive speed command. When data is sent to this instance, servo drive
internally switches into Speed Servo Mode to run speed command. Instance data is rpm units. Ex. Setting
instance to 500 runs motor at 500rpm in positive direction.
Setting instance to 0 stops motor movement.
Acceleration/Deceleration when changing speed is controlled by Max_Accel parameter [ Pr.11 ] and
GEAR_NUM parameter [ Pr.19 ]:
Motor Acceleration/Deceleration [ rpm/s ] = Max_Accel x 635.78 x ( 4096 ÷ GEAR_NUM )
Positive Command = CW Negative Command = CCW
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x14 20 Motor Speed R UDINT32
Details
This instance contains servo motor speed in [ rpm ] units. Read this instance to obtain current servo motor
speed. Instance data update rate is 300us.
The servo motor speed can be read whenever the encoder is correctly conneced to the servo drive. Even
when the servo drive is Disabled or Faulted/Alarmed and motor is free/coasting, the motor speed can be
read.

DYN5-EIP-SL258-11A PAGE 18 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x0f 15 Square_Wave
Motion Amplitude W UDINT32 0~4096
0x11 17 Sin_Wave
Motion Amplitude W UDINT32 0~4096
0x13 19 SS_Frequency W UDINT32 0~60
Details
These instances are used to generate and run internal Square Wave and Sine Wave motion commands.
First, send SS_Frequency command, then send Square_Wave or Sin_Wave amplitude command.
When Amplutide command is received by servo drive, servo drive internally switches to Square or Sine
motion mode and runs motion immediately.
Square wave motion is a max acceleration/deceleration motion prole. Sine wave motion is a smooth,
constant acceleration/deceleration motion prole.
Amplitude 0~4096 range corresponds to 0~180degrees motor movement.
Frequency 0~60 range corresponds to 0~60Hz motor movement.
Example 1: Setting Instance 0x13 to 5, then setting Instance 0x0F to 2048 runs a 5Hz Square wave mo-
tion at 90degree amplitude.
Example 2: Setting Instance 0x13 to 2, then setting Instance 0x11 to 1024 runs a 2Hz Sine wave motion at
45degree amplitude.
Starting Position
Motor Position
Time
1 Second
0.2s
Positive Direction CW
Negative Direction CCW
45°
90°
Starting Position
Motor Position
Time
1 Second
0.5s
Positive Direction CW
Negative Direction CCW
22.5°
45°
* See previous page for Instance 0x14 / 20 (Motor Speed) details.

DYN5-EIP-SL258-11A PAGE 19 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x15 21 Go_Absolute_Pos_
Prole Command W UDINT32 -2^27 ~ 2^27
Details
This instances is used to send Absolute Prole Position Command to servo drive. When command is sent,
servo drive internally switches to Position servo mode to execute command immediately.
Position command is 32-bits size.
Positive command turns motor in CW direction, negative command turns motor in CCW direction.
See Appendix B for motion prole calculation. Allowed position command range = ± 134,217,728.
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x17 23 Go_Relative_Pos_
Prole Command W UDINT32 -2^27 ~ 2^27
Details
This instance is used to send Relative Prole Position Command to servo drive. When command is sent,
servo drive internally switches to Position servo mode to execute command immediately.
Positive command turns motor in CW direction, negative command turns motor in CCW direction.
See Appendix B for motion prole calculation. Allowed position command range = ± 134,217,728.

DYN5-EIP-SL258-11A PAGE 20 of 38
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DYN5 AC SERVO DRIVE
Ethernet/IP Specication
Instance hex Instance decimal Attribute 1 - Name Access Data Type Data Range
0x1d 29 Motor Absolute
Position R UDINT32 -2^27 ~ 2^27
Details
These instances contain the absolute position of the motor. Full motor position is 32-bits unsigned long.
If using 16-bit encoder, one motor revolution will equal 65,536 absolute position. If using 20-bit encoder, one
motor revolution will equal 1,048,576 absolute position.
If servo drive is in Relative servo mode, the position after power up or Reset is zero.
If servo drive is in Absolute servo mode, the position after power up or Reset is single turn or multi-turn abso-
lute zero.
Positive position means motor is in CW direction relative to zero position.
Motor absolute position range is ± 134,217,728. If position exceeds this, position will roll back to 0.
The servo motor position can be read whenever the encoder is correctly conneced to the servo drive. Even
when the servo drive is Disabled or Faulted/Alarmed and motor is free/coasting, the motor position can be
read.
Position instance update rate is 300us.