Lenze AC Tech MotionView OnBoard PositionServo... User manual

PositionServo ETHERNET/IP
Communications Protocol Reference Guide

Copyright ©2008 by Lenze AC Tech Corporation.
All rights reserved. No part of this manual may be reproduced or transmitted in any form without written
permission from Lenze AC Tech Corporation. The information and technical data in this manual are subject to
change without notice. Lenze AC Tech makes no warranty of any kind with respect to this material, including,
but not limited to, the implied warranties of its merchantability and fitness for a given purpose. Lenze AC Tech
assumes no responsibility for any errors that may appear in this manual and makes no commitment to update
or to keep current the information in this manual.
MotionView®, PositionServo®, and all related indicia are trademarks of Lenze AG in the United States and
other countries.
CompoNet™, DeviceNet™, CIP™, CIP Safety™, CIP Sync™, CIP Motion™, DeviceNet Safety™ and EtherNet/
IP Safety™ and all related indicia are trademarks of the ODVA (Open DeviceNet Vendors Association). EtherNet/
IP™ is a trademark used under license by ODVA.
RSLogix™, RSLogix™ 5000, CompactLogix, CompactLogix 5000, ControlLogix®, MicroLogix™, SoftLogix,
Allen Bradley®and all related indicia are trademarks of Rockwell Automation®Corporation.
About These Instructions
This documentation applies to EtherNet/IP communications for the PositionServo drive and should be used
in conjunction with the PositionServo User Manual (S94H201) that shipped with the drive. These documents
should be read in their entirety as they contain important technical data and describe the installation and
operation of the drive.

iP94ETH01D
Contents
1. Safety Information...................................................................................................1
1.1 Warnings, Cautions & Notes.............................................................................................1
1.2 Reference Documents...................................................................................................... 2
2. Introduction.............................................................................................................3
2.1 EtherNet/IP Overview ....................................................................................................... 3
2.2 Ethernet TCP/IP Configuration .......................................................................................... 3
3. Installation ..............................................................................................................5
3.1 Mechanical Installation .................................................................................................... 5
3.2 Electrical Installation........................................................................................................ 5
3.3 Grounding........................................................................................................................ 5
3.4 Cabling ............................................................................................................................ 5
3.5 Maximum Network Length...............................................................................................5
3.6 Minimum Node to Node Cable Length.............................................................................. 6
3.7 Network Topology............................................................................................................ 6
3.8 Example Networks........................................................................................................... 7
4 Configuring EtherNet/IP...........................................................................................9
4.1 Connect to the Drive with MotionView OnBoard................................................................ 9
4.2 Configuring a Scanner or Bridge ..................................................................................... 13
4.3 Adding a Bridge or Scanner to the I/O Configuration........................................................ 13
4.4 Adding the Adapter and Drive to the I/O Configuration..................................................... 16
4.5 Saving the Configuration.................................................................................................19
5 I/O Messaging........................................................................................................20
5.1 Overview of I/O Messaging ............................................................................................. 20
5.2 I/O Assemblies................................................................................................................ 20
5.3 Using Assemblies for Control and Status/Data Monitoring ...............................................21
5.4 Using DataLinks.............................................................................................................. 21
5.5 Assembly Object............................................................................................................. 22
5.6 Example Ladder Logic Program ...................................................................................... 24
6 Explicit Messages ..................................................................................................27
6.1 Formatting Explicit Messages ......................................................................................... 27
6.2 Performing Explicit Messages ......................................................................................... 29
6.3 Explicit Message Example...............................................................................................30

ii
P94ETH01D
Contents
7 Ethernet/IP Objects ................................................................................................34
7.1 Identity Object ................................................................................................................ 34
7.2 PositionServo System Object........................................................................................... 35
7.3 Assembly Object............................................................................................................. 36
7.4 TCP/IP Interface Object ................................................................................................... 36
7.5 Ethernet Link Object .......................................................................................................37
8 Applications ...........................................................................................................38
8.1 Application Example 1 - Velocity Control ......................................................................... 38
8.2 Application Example 2 - Indexing .................................................................................... 41
8.3 Application Example 3 - Configuration Using Explicit Messages ...................................... 47
8.4 Application Note - Detection of EtherNet/IP Exclusive Ownership Loss ............................ 54

1P94ETH01D
Safety Information
1. Safety Information
1.1 Warnings, Cautions & Notes
Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, with the
potential to cause attached motors to move or rotate. Some surfaces can be hot.
Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation creates
the risk of severe injury to personnel or damage to equipment.
All operations concerning transport, installation, and commissioning as well as maintenance must be carried
out by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN
VDE0110 and national regulations for the prevention of accidents must be observed).
According to this basic safety information, qualified skilled personnel are persons who are familiar with the
installation, assembly, commissioning, and operation of the product and who have the qualifications necessary
for their occupation.
Application
Drive controllers are components that are designed for installation in electrical systems or machinery. They
are not to be used as appliances. They are intended exclusively for professional and commercial purposes
according to EN 61000-3-2. The documentation includes information on compliance with the EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. the starting of operation as directed)
is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98/37/EC
(Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance with the EMC
Directive (2004/108/EC).
The drive controllers meet the requirements of the Low Voltage Directive 2006/95/EC. The harmonised
standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
The availability of controllers is restricted according to EN 61800-3. These products can cause radio
interference in residential areas.
Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not change
any insulation distances during transport or handling. Do not touch any electronic components and contacts.
Controllers contain electrostatically sensitive components, that can easily be damaged by inappropriate
handling. Do not damage or destroy any electrical components since this might endanger your health!
When installing the drive ensure optimal airflow by observing all clearance distances in the drive's user manual.
Do not expose the drive to excessive: vibration, temperature, humidity, sunlight, dust, pollutants, corrosive
chemicals or other hazardous environments.
Electrical Connection
When working on live drive controllers, applicable national regulations for the prevention of accidents (e.g. VBG
4) must be observed. The electrical installation must be carried out according to the appropriate regulations
(e.g. cable cross-sections, fuses, PE connection).

2
P94ETH01D
Safety Information
Additional information can be obtained from the national regulation documentation. In the United States,
electrical installation is regulated by the National Electric Code (nec) and NFPA 70 along with state and local
regulations.
The documentation contains information about installation in compliance with EMC (shielding, grounding, filters
and cables). These notes must also be observed for CE-marked controllers. The manufacturer of the system or
machine is responsible for compliance with the required limit values demanded by EMC legislation.
Operation
Systems including controllers must be equipped with additional monitoring and protection devices according to
the corresponding standards (e.g. technical equipment, regulations for prevention of accidents, etc.). You are
allowed to adapt the controller to your application as described in the documentation.
DANGER!
After the controller has been disconnected from the supply voltage, do not touch the live components and
power connection, since capacitors could still be charged. Wait at least 60 seconds before servicing the drive
Please observe the corresponding notes on the controller.
Do not continuously cycle input power to the controller more than once every three minutes.
Please close all protective covers and doors during operation.
WARNING!
Network control permits automatic operation of the drive. The system design must incorporate adequate
protection to prevent personnel from accessing moving equipment while power is applied to the drive system.
Table 1: Pictographs used in these instructions
Pictograph Signal Word Meaning Consequence if Ignored
DANGER! Warning of Hazardous Electrical
Voltage.
Reference to an imminent danger that
may result in death or serious personal
injury if the corresponding measures
are not taken.
WARNING! Impending or possible danger to
personnel
Death or injury
STOP! Possible damage to equipment Damage to drive system or its
surroundings
NOTE Useful tip: If note is observed, it will
make using the drive easier
1.2 Reference Documents
• EtherNet/IPInformation:http://www.odva.org
• PositionServoProgrammingManual(PM94H201):http://www.lenzeamericas.com
• PositionServoUserManual(S94H201):http://www.lenzeamericas.com
NOTE:
The complete list of variables can be found in the PositionServo Programming Manual (PM94H201).

3P94ETH01D
Introduction
2. Introduction
EtherNet/IP just like its close siblings DeviceNet and ControlNet, uses CIP (Common Industrial Protocol
a.k.a. Control and Information Protocol) to exchange data between devices on an Ethernet network. AC Tech
implementation of CIP follows the standard supported by the ODVA (governing organization) and supports the
two main types of EtherNet/IP communication: Explicit Messaging and I/O Messaging.
The purpose of this document is to describe the EtherNet/IP implementation specifics for the PositionServo
drive as well as provide the necessary information and examples for users and network programmers. This
document assumes the reader is familiar with the general concept of CIP and has a basic knowledge of
Ethernet TCP/IP communication principles.
2.1 EtherNet/IP Overview
EtherNet/IP implements network protocol using the seven layer Open Systems Interconnection (OSI) model as
illustrated in Figure 1. Ethernet has an active infrastructure and as such EtherNet/IP can support an almost
unlimited number of point-to-point nodes. The EtherNet/IP system requires just one connection for configuration
and control. An EtherNet/IP system uses peer-to-peer communication and can be setup to operate in a master/
slave or distributed control configuration.
Layer
Application
Presentation
Session
Transport
Network
Data Link
Physical
IP
TCP UDP
Encapsulation
Ethernet
CSMA/CD
ControlNet
CTDMA
CAN
CSMA/NBA
DeviceNet
Physical Layer
ControlNet
Physical Layer
Ethernet
Physical Layer
DeviceNet
Transport
ControlNet
Transport
CIP: Connection Management - Message Routing
CIP: Data Management - Explicit Messages, I/O Messages
CIP: Application Layer - Object Library
1
2
4
5
6
7
3
Figure 1: OSI Model
2.2 Ethernet TCP/IP Configuration
Typically, an EtherNet/IP network is made up of segments containing point-to-point connections in a star
configuration as illustrated in Figure 2. At the center of this star topology is a bank of Ethernet 2 & 3 switches
that can support a great number of point-to-point nodes.
Network
Message Router
Object
TCP/IP Ethernet
Assembly
Object
TCP/IP Interface
Object
Parameter
Object
Explicit
Messages
I/O
Messages
Connection Manager
Object Ethernet Interface
Object
Application-Specific
Object
Identity
Object
UCMM
Figure 2: EtherNet/IP Star Configuration

4
P94ETH01D
Introduction
2.2.1 MultiCast Configuration
By default the PositionServo drive automatically generates the multicast address used for I/O messaging. The
default multicast TTL (time to leave) value is 1 which means that the multicast I/O packets will be propagated
over the local subnet only.
The user is allowed to explicitly set the drive’s multicast address and TTL values but this feature should be used
carefully. In the Communication folder of the MotionView program there is a menu for Ethernet IP settings. The
TTL and Mcast Config attributes in the TCP/IP object are also implemented. Note that the Num Mcast value in
the Mcast Config attribute must always be 1.
The user configurable PositionServo system variables for multicast are:
Variable ID Meaning
273 TTL
275 Multicast address (default 239.192.15.32)
2.2.2 IGMP Implementation
The IGMP v2 version of the IGMP (Internet Group Management Protocol) is used.
Type Checksum
Group Address
Max Response Time
0 7 8 15 16 31
Message Type
0x11
0x12
0x16
0x17
0x22
General Query
v1 Report
v2 Report
v2 Leave
v3 Report
Max Response Time
Maximum time the Querier
waits for report in response
to a membership query
Checksum
The 1’s complement
of the entire IGMP message
Group Address
In a general query it is the multicast group address
In other cases it is a specific multicast address
23 24
Figure 3: IGMP v2 Message Format
2.2.3 TCP/IP Sockets
The PositionServo supports up to 3 TCP/IP socket connections.
2.2.4 CIP Connections
The PositionServo supports up to 10 CIP connections.

5P94ETH01D
Installation
3. Installation
Ethernet/IP communication is not supported by the RS232-based PositionServo drive even if the RS232-based
drive has the Ethernet option module E94ZAETH1 installed. Ethernet/IP is also not supported by the MVCD
PositionServo drives (part number ending in “X”). Ethernet/IP is supported by the MVOB equipped PositionServo
drives (part number ending in “M” or “S”).
3.1 Mechanical Installation
No mechanical installation is necessary. The Ethernet Module is the standard interface on the PositionServo
drive.
3.2 Electrical Installation
Table 2 and Figure 4 illustrate the pinout of the PositionServo Ethernet interface. The 8-pin connector provides
a standard RJ45 UTP/STP (Unscreened/Screened Twisted Pair) connection to a 10Mbs or 100Mbs Ethernet
system.
Table 2: Ethernet Interface Pin Designation
Terminal Name Description
1 TxB (+) Transmit B (+)
2 TxA (-) Transmit A (-)
3 RxB (+) Receive B (+)
4 -- Not Used
5 -- Not Used
6 RxA(-) Receive A (-)
7 -- Not Used
8 -- Not Used
18
7
6
2
3
4
5
Figure 4: Ethernet Interface Pin Designation
3.3 Grounding
The PositionServo Ethernet interface is supplied with a grounding tag on the module that should be connected
to the closest possible grounding point using the minimum length of cable. This will greatly improve the noise
immunity of the module. If standard Ethernet UTP or STP cables are used, supplementary grounding is not
required when connecting to the PositionServo Ethernet interface.
3.4 Cabling
To ensure long-term reliability it is recommended that any cables used to connect a system together are tested
using a suitable Ethernet cable tester, this is of particular importance when cables are made up on site. It is
recommended that a minimum specification of CAT5e is installed on new installations, as this gives a good
cost performance ratio. If you are using existing cabling this may limit the maximum data rate depending on
the cable ratings. In noisy environments the use of STP or fiber optic cable will offer additional noise immunity.
3.5 Maximum Network Length
The main restriction imposed on Ethernet cabling is the length of a single section of cable as detailed in Table
3. If distances greater than this are required it may be possible to extend the network with additional switches
or by using a fiber optic converter. Cabling issues are the single biggest cause of network downtime. Ensure
cabling is correctly routed, wiring is correct, connectors are properly fitted and any switches or routers used
are rated for industrial use. Office grade Ethernet equipment does not offer the same degree of noise immunity
as equipment intended for industrial use.

6
P94ETH01D
Installation
Table 3: Maximum Network Length
Type of Cable Data Rate (bits/sec) Maximum Trunk Length (m)
Copper - UTP/STP CAT 5 10M 100
Copper - UTP/STP CAT 5 100M 100
Fiber Optic - Multi-mode 10M 2000
Fiber Optic - Multi-mode 100M 3000
Fiber Optic - Single-mode 10M no standard
Fiber Optic - Single-mode 100M up to 100000
NOTE:
The distances specified are absolute recommended maximums for reliable transmission of data. The distances for the fiber
optic sections will be dependent on the equipment used on the network. The use of wireless networking products is not
recommended for control systems, as performance may be affected by many external influences.
3.6 Minimum Node to Node Cable Length
There is no minimum length of cable recommended in the Ethernet standards for UTP or STP. For consistency
across fieldbus modules, a minimum network device-to-device distance equal to 1 meter of cable is
recommended. This minimum length helps to ensure good bend radii on cables and avoids unnecessary strain
on connectors.
3.7 Network Topology
Given its universal connectivity, an ethernet network may contain varied connection devices including hubs,
switches and routers. Mixing commercial and industrial ethernet networks is possible but care should be taken
to ensure clean data transmission. A large, high performance industrial Ethernet network is best served by
managed switches that permit data control and monitoring capability.
3.7.1 Hubs
A hub provides a basic connection between network devices. Each device is connected to one port on the hub.
Any data sent by a device is then sent to all ports (floods) on the hub. The use of hubs is not recommended for
use within control systems due to the increased possibility of collisions. Collisions can cause delays in data
transmission and are best avoided, in severe cases a single node can prevent other nodes on the same hub
(or collision domain) from accessing the network. If using hubs or repeaters you must ensure that the path
variability value and propagation equivalent values are checked. This is beyond the scope of this manual.
3.7.2 Switches
Switches offer a better solution to hubs because after initially learning the addresses of connected devices the
switch will only send data to the port that has the addressed device connected to it. This prevents excessive
traffic. Some managed switches allow the switching of data to be controlled and monitored which may
be of particular importance on large or high performance systems. The word “switch” is sometimes used
interchangeably with the terms scanner, matrix and bridge.
3.7.3 Routers
A router is used to communicate between two physical networks (or subnets) and provides some degree of
security by allowing only defined connections between the two networks. A typical use would be connecting
the office and manufacturing networks or connecting a network to an I.S.P (Internet Service Provider). A router
is sometimes known as a gateway as it provides a “gateway” between two networks.