SEW-Eurodrive MOVIPRO User manual

Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIPRO
®
SDC
with EtherNet/IP and Modbus/TCP Interface
Edition 07/2010 16990811 / EN

SEW-EURODRIVE—Driving the world

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 3
Contents
Contents
1 General Information ............................................................................................ 5
1.1 How to use this documentation................................................................... 5
1.2 Structure of the safety notes ....................................................................... 5
1.3 Rights to claim under limited warranty ........................................................ 6
1.4 Exclusion of liability..................................................................................... 6
1.5 Other applicable documentation ................................................................. 6
1.6 General safety notes for bus systems......................................................... 6
1.7 Safety functions .......................................................................................... 6
1.8 Hoist applications........................................................................................ 7
1.9 Copyright..................................................................................................... 7
2 Application Modules in MOVITOOLS®MotionStudio ..................................... 8
2.1 Application modules for MOVIPRO®SDC .................................................. 8
3 Startup................................................................................................................ 14
3.1 Startup procedure ..................................................................................... 14
3.2 Check list for startup ................................................................................. 14
4 Installation Notes .............................................................................................. 16
4.1 Fieldbus connection .................................................................................. 16
4.2 The integrated Ethernet switch ................................................................. 18
4.3 TCP/IP addressing and subnetworks........................................................ 19
4.4 Setting the IP address parameters ........................................................... 21
4.5 Shielding and routing the bus cables ........................................................ 22
4.6 Status and error messages....................................................................... 23
5 EtherNet/IP – Configuration and Startup ........................................................ 27
5.1 Validity of the EDS file for MOVIPRO®..................................................... 27
5.2 Configuring the master (EtherNet/IP scanner) .......................................... 27
5.3 Configuration example in RSLogix 5000................................................... 30
5.4 Access to unit parameters ........................................................................ 35
5.5 Access to unit parameters of the integrated power section ...................... 40
6 Ethernet Industrial Protocol (EtherNet/IP) ...................................................... 41
6.1 Introduction ............................................................................................... 41
6.2 Process data exchange ............................................................................ 41
6.3 CIP object directory.................................................................................. 42
7 Configuration and Startup of Modbus/TCP .................................................... 57
7.1 Unit description file for Modbus/TCP ........................................................ 57
7.2 Configuration of the master (Modbus scanner)......................................... 57
7.3 Configuration examples in PL7 PRO ........................................................ 60
7.4 Data exchange via Modbus/TCP – examples........................................... 61
8 Modbus Protocol (Modbus/TCP) ..................................................................... 66
8.1 Introduction ............................................................................................... 66
8.2 Protocol structure ...................................................................................... 68
8.3 Connection management.......................................................................... 73
8.4 Parameter access via Modbus/TCP ......................................................... 74
8.5 Error codes (exception codes) .................................................................. 78

4Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
Contents
9 Operation on EtherNet/IP and Modbus/TCP – Error Diagnostics................. 79
9.1 Diagnostic sequence................................................................................. 79
9.2 Fieldbus timeout ....................................................................................... 80
10 Process Data Description................................................................................. 81
10.1 Overview of process data ......................................................................... 81
10.2 MOVIPRO®control word .......................................................................... 81
10.3 MOVIPRO®status word............................................................................ 82
10.4 Digital inputs and outputs.......................................................................... 83
10.5 Process data of power section.................................................................. 84
11 MOVITOOLS®MotionStudio – Operation........................................................ 93
11.1 About MOVITOOLS®MotionStudio .......................................................... 93
11.2 First steps ................................................................................................. 94
11.3 Connection mode...................................................................................... 94
11.4 Communication via Ethernet..................................................................... 97
11.5 Executing functions with the units........................................................... 106
12 MOVIPRO®– Parameterization ...................................................................... 108
12.1 Encoder configuration ............................................................................. 108
12.2 Motor startup........................................................................................... 119
12.3 Storing unit data...................................................................................... 124
12.4 "PFA-..." power section parameter overview........................................... 126
12.5 "PFA-..." power section parameter information ....................................... 131
13 Service ............................................................................................................. 169
13.1 Unit replacement..................................................................................... 169
13.2 Encoder exchange .................................................................................. 171
13.3 Service unit ............................................................................................. 171
13.4 MOVIPRO® SDC error list...................................................................... 172
14 Additional Documentation ............................................................................. 183
Index................................................................................................................. 184

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 5
1
How to use this documentation
General Information
1 General Information
1.1 How to use this documentation
The documentation is an integral part of the product and contains important information
on operation and service. The documentation is written for all employees who assemble,
install, startup, and service this product.
The documentation must be accessible and legible. Make sure that persons responsible
for the system and its operation, as well as persons who work independently on the unit,
have read through the documentation carefully and understood it. If you are unclear
about any of the information in this documentation, or if you require further information,
contact SEW-EURODRIVE.
1.2 Structure of the safety notes
1.2.1 Meaning of the signal words
The following table shows the grading and meaning of the signal words for safety notes,
notes on potential risks of damage to property, and other notes.
1.2.2 Structure of the section-related safety notes
Section safety notes do not apply to a specific action, but to several actions pertaining
to one subject. The used symbols indicate either a general or a specific hazard.
This is the formal structure of a section safety note:
1.2.3 Structure of the embedded safety notes
Embedded safety notes are directly integrated in the instructions just before the descrip-
tion of the dangerous action.
This is the formal structure of an embedded safety note:
•SIGNAL WORD Nature and source of hazard.
Possible consequence(s) if disregarded.
– Measure(s) to prevent the danger.
Signal word Meaning Consequences if disregarded
DANGER Imminent danger Severe or fatal injuries
WARNING Possible dangerous situation Severe or fatal injuries
CAUTION Possible dangerous situation Minor injuries
NOTICE Possible damage to property Damage to the drive system or its envi-
ronment
INFORMATION Useful information or tip: Simpli-
fies the handling of the drive
system.
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.

6Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
1Rights to claim under limited warranty
General Information
1.3 Rights to claim under limited warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the documentation. Read the documen-
tation before you start working with the unit!
1.4 Exclusion of liability
You must comply with the information contained in this documentation to ensure safe
operation of MOVIPRO®and to achieve the specified product characteristics and per-
formance features. SEW-EURODRIVE assumes no liability for injury to persons or dam-
age to equipment or property resulting from non-observance of these operating instruc-
tions. In such cases, any liability for defects is excluded.
1.5 Other applicable documentation
This document does not replace the detailed operating instructions. Only electrical spe-
cialists are allowed to install and start up MOVIPRO®observing the applicable accident
prevention regulations and the MOVIPRO®SDC operating instructions.
1.6 General safety notes for bus systems
This communication system allows you to adapt the MOVIPRO®SDC to your applica-
tion. As with all bus systems, there is a danger of modifications to the parameters that
are not visible from outside (in relation to the inverter), which give rise to changes in the
inverter behavior. This may result in unexpected (not uncontrolled) system behavior.
1.7 Safety functions
MOVIPRO®may not perform any safety functions unless they are described and ex-
pressly approved.
For safety applications, ensure that the information in the following publication is ob-
served:
•MOVIPRO
®SDC – Functional Safety
Use only those components in safety applications that were explicitly designed and de-
livered for this purpose by SEW-EURODRIVE.

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 7
1
Hoist applications
General Information
1.8 Hoist applications
• Hoist applications can only be implemented with MOVIPRO®SDC under the follow-
ing conditions:
– A hoist startup must be performed.
•MOVIPRO
®is not designed for use as a safety device in hoist applications.
Use monitoring systems or mechanical protection devices as safety equipment to
avoid possible damage to property or injury to people.
1.9 Copyright
© 2010 – SEW-EURODRIVE. All rights reserved.
Unauthorized duplication, modification, distribution or any other use of the whole or any
part of this documentation is strictly prohibited.

8Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
2Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
2 Application Modules in MOVITOOLS®MotionStudio
2.1 Application modules for MOVIPRO®SDC
2.1.1 Description
Drive task Industrial drive tasks usually require more than motor speed control. The inverter often
has to control complex motion sequences and take on typical PLC tasks.
Solution with
MOVIPRO®SDC
SEW-EURODRIVE offers various standardized control programs, so-called application
modules, for positioning.
The application module has a user-friendly GUI to assist with parameterization. You
merely have to specify the parameters required for your application. The application
module uses this information to create the control program and loads it into the inverter.
MOVIPRO®SDC then takes over the entire motion control. Thus the application module
takes load off the higher-level controller.
Benefits The application modules offer the following benefits:
• A wide range of functions
• A user-friendly GUI
• Only the parameters necessary for the application must be entered
• Guided parameter setting instead of complicated programming
• No programming experience required
• Quick familiarization, therefore quicker configuration and startup
• All movement functions are controlled directly in the MOVIPRO®
Scope of delivery
and documentation
The application modules are included in the MOVITOOLS®MotionStudio software and
can be used with all MOVIPRO®SDC units.
INFORMATION
For information on how to operate the application modules, refer to the MOVIDRIVE®
B application manuals. They are available on the SEW homepage.

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 9
2
Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
2.1.2 Available application modules
The following application modules are available for MOVIPRO®SDC.
• Bus positioning
• Extended positioning via bus
• Modulo positioning
• Table positioning
• Sensor based positioning via bus
• Automotive AMA0801
Bus positioning The "Bus positioning" application module has the following functions:
• Variable and unlimited number of target positions
• Freely adjustable travel speed for positioning
• Maximum travel distance ± 32700 mm
1984436491

10 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
2Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Extended bus
positioning
The "Extended bus positioning" application module has the following functions:
• Variable number of target positions
• The travel speed for positioning and the acceleration and deceleration ramps are
specified variably by the PLC.
• Maximum travel distance ± 262100 mm
• Operation is possible with 4 instead of 6 process data words. The variable specifica-
tion of the ramp type is not used in this case.
1984444811

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 11
2
Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Modulo positioning The "Modulo positioning" application module has the following functions:
• Fieldbuses with 4 or 6 process data words are supported.
• Target position specified via 2 process data words
• Freely adjustable travel speed
• Two different ramps can be selected when 4 process data words are used for control.
• The acceleration or deceleration ramps can be specified using process data word 5
or 6 for control via 6 process data words.
• For a non-positive connection (= with slip) between the motor shaft and application,
the distance measurement can be taken via an external incremental or absolute en-
coder. The encoder must be mounted to the application without slip.
Table positioning The "Table positioning" application module has the following functions:
• Control via fieldbus
• 32 table positions in inverter
• Freely adjustable travel speed
1984678283

12 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
2Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Sensor-based
positioning
The "Sensor-based positioning" application module has the following functions:
• Variable and unlimited number of target positions
• Freely adjustable travel speed (changes can be made during travel for linear posi-
tioning ramps)
• Maximum travel distance ± 32700 m
1984845707

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 13
2
Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Automotive
AMA0801
The "Automotive AMA0801" application module offers the following functions:
• The "Automotive AMA0801" application module makes it possible to implement lifting
devices, conveyor systems and machinery with drives that have to move at a syn-
chronous angle to one another occasionally or permanently.
• The "Automotive AMA0801" application module has a selectable process data inter-
face. Setpoints specification is either variable or binary.
• The program is used to control individual drives. In synchronous operation mode,
these drives can be synchronized to a master drive.
2123860875

14 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
3Startup procedure
Startup
3Startup
3.1 Startup procedure
3.2 Check list for startup
3.2.1 Preliminary work
Make sure that the following preliminary steps have been carried out:
• MOVITOOLS®MotionStudio version 5.60 or later is installed on the engineering PC.
• The EDS file "SEW_MOVIPRO.eds" is available.
• The Ethernet service interface is configured. For more information, refer to section
"Communication via Ethernet".
• The MOVIPRO®unit is connected to Ethernet.
• A connection has been established between the engineering PC and the MOVIPRO®
unit.
– Except for the lower byte, the engineering PC and the MOVIPRO®unit have the
same IP address.
– The engineering PC and the MOVIPRO®unit have identical subnet masks.
– The MOVIPRO®can be addressed via the engineering PC using the ping com-
mand.
The following illustration gives an overview of the MOVIPRO®startup procedure and lists other applicable
documentation:
[1] Motor startup →Refer to the operating instructions of the motor for
more information.
[2] MOVIPRO®startup →For more information, refer to the "MOVIPRO®
SDC" operating instructions.
[3] Parameterization →For more information, see section "Parameteriza-
tion of "MOVIPRO®SDC (page 108)"
[4] Fieldbus configuration →Information is listed in the following sections:
– "Configuration and startup of EtherNet/IP"
(page 27)
– "Configuration and startup of Modbus/TCP"
(page 57)
– "Application modules in MOVITOOLS®Motion-
Studio (page 8)"
– "Process data description" (page 81)
00
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Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 15
3
Check list for startup
Startup
3.2.2 Unit installation
Perform the following steps:
1. Install the components according to the information in the MOVIPRO®operating in-
structions:
– Supply system cable
– Motor cable
– Braking resistor
– DC 24 V backup voltage
2. Switch on all power supplies of the MOVIPRO®unit.
3.2.3 Configuration of MOVIPRO®
Proceed as follows to configure the MOVIPRO®:
1. Start MOVITOOLS®MotionStudio.
2. Create a new project.
3. Set the communication properties to "Ethernet".
4. Perform a unit scan.
5. Mark the MOVIPRO®unit.
6. Right-click on it and select [Startup] / [Startup] from the context menu.
7. Perform a motor startup (page 119).
8. Load the respective application module into MOVIPRO®, if necessary.
9. Check whether the process data exchange between the controller and the
MOVIPRO®is working properly.
10.Enable the MOVIPRO®unit.
INFORMATION
For information about using MOVITOOLS®MotionStudio, refer to section "Operation
of MOVITOOLS®MotionStudio (page 93)".
00
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16 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
4Fieldbus connection
Installation Notes
4 Installation Notes
4.1 Fieldbus connection
4.1.1 Ethernet fieldbus X4232_11 and X4232_12 (RJ45)
Use prefabricated, shielded RJ45 plug connectors compliant with IEC 11801 edition 2.0,
category 5.
INFORMATION
For information on the assembly and the installation of MOVIPRO®, refer to the
"MOVIPRO®SDC" operating instructions.
For a simple application, this section contains information on how to install the Ether-
net.
Function
Ethernet fieldbus interface
Connection type
Push-pull RJ45
Wiring diagram
2354433675
Assignment
No. Name Function
1 TX+ Sending cable (+)
2 TX- Sending cable (-)
3 RX+ Receiving cable (+)
4 res. Reserved
5 res. Reserved
6 RX- Receiving cable (-)
7 res. Reserved
8 res. Reserved
18
NOTICE
RJ45 patch cable without push-pull connector housing not snapped into place.
Damage to the push-pull RJ45 connection.
• Only use push-pull RJ45 mating connectors in accordance with IEC PAS 61076-3-
117.

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 17
4
Fieldbus connection
Installation Notes
4.1.2 Ethernet fieldbus X4233_11 and X4233_12 (M12)
4.1.3 MOVIPRO®– Ethernet connection
To connect MOVIPRO®to the Ethernet, connect one of the following Ethernet interfaces
to the other network stations using a category 5, class D twisted-pair cable in accor-
dance with IEC 11801, edition 2.0:
• X4232_11 (RJ45)
• X4232_12 (RJ45)
• X4233_11 (M12)
• X4233_12 (M12)
The integrated switch assists you with implementing a line topology and provides auto-
crossing functions.
Function
Ethernet fieldbus interface, 4-pole
Connection type
M12, 4-pole, female, D-coded
Wiring diagram
2464600971
Assignment
No. Name Function
1 TX+ Sending cable (+)
2 RX+ Receiving cable (+)
3 TX- Sending cable (-)
4 RX- Receiving cable (-)
5 res. Reserved
2
4
3
1
INFORMATION
• According to IEC 802.3, the maximum cable length for 10/100 MBaud Ethernet
(10BaseT / 100BaseT), e.g. between 2 network stations, is 100 m.
• In order to minimize the load on the end units resulting from unintended multi-cast
data transmission, SEW-EURODRIVE recommends not to connect any non-SEW
end units to MOVIPRO®. Connect non-SEW devices via a network component that
supports the IGMP snooping functionality (e.g. managed switch).

18 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
4The integrated Ethernet switch
Installation Notes
4.2 The integrated Ethernet switch
You can use the integrated Ethernet switch to achieve line topologies known from the
fieldbus technology. Other bus topologies, such as star or tree, are also possible. Ring
topologies are not supported.
4.2.1 Auto-crossing
The two ports leading out of the Ethernet switch have auto-crossing functionality. This
means that they can use both patch and cross-over cables to connect to the next Ether-
net station.
4.2.2 Auto-negotiation
The baud rate and the duplex mode is negotiated by both Ethernet nodes when estab-
lishing the connection. For this purpose, both Ethernet ports of the Ethernet connection
support an auto-negotiation functionality and work with a baud rate of either 100 Mbit or
10 Mbit in full duplex or half-duplex mode.
4.2.3 Notes on multi cast handling
• The integrated Ethernet switch does not provide a filter function for Ethernet multi-
cast telegrams. The multicast telegrams, which are usually sent from the adapters
(MOVIPRO®) to the scanners (PLC), are forwarded to all switch ports.
• IGMP Snooping (e.g. Managed Switches) is not supported.
• Therefore, SEW-EURODRIVE recommends that the MOVIPRO®unit is only con-
nected to network components that support IGMP Snooping (e.g. Managed Switch)
or that have integrated mechanisms to protect against too high multi cast loads (e.g.
units from SEW-EURODRIVE). Units that do not have this integrated function can fail
due to high network loads.
INFORMATION
The number of industrial Ethernet switches connected to the line affects the telegram
runtime. If a telegram passes through the units, the telegram runtime is delayed by the
Store & Forward function of the Ethernet switch:
• For a telegram length of 64 bytes by approximately 10 µs (at 100 Mbit/s)
• For a telegram length of 1500 bytes by approximately 130 µs (at 100 Mbit/s)
This means that the more units a telegram has to pass through, the higher the tele-
gram runtime is.

Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface 19
4
TCP/IP addressing and subnetworks
Installation Notes
4.3 TCP/IP addressing and subnetworks
4.3.1 Preface
The settings for the address of the IP protocol are made using the following parameters:
• MAC ID
• IP address
• Subnetwork mask
• Standard gateway
The addressing mechanisms and subdivision of the IP networks into subnetworks are
explained in this chapter to help you set the parameters correctly.
4.3.2 MAC ID
The MAC (Media Access Controller) ID is the basis for all address settings. The MAC
ID is a worldwide unique 6-byte value (48 bits) assigned to the Ethernet device. SEW
Ethernet units have the MAC ID 00-0F-69-xx-xx-xx. The MAC ID is difficult to handle for
larger networks. This is why freely assignable IP addresses are used.
4.3.3 IP address
The IP address is a 32 bit value that uniquely identifies a station in the network. An IP
address is represented by 4 decimal numbers separated by decimal points.
Example: 192.168.10.4
Each decimal number stands for one byte (= 8 bits) of the address and can also be rep-
resented using binary code (see following table).
The IP address comprises a network address and a station address (see following ta-
ble).
The part of the IP address that denotes the network and the part that identifies the sta-
tion is determined by the network class and the subnetwork mask.
Station addresses cannot consist of only zeros or ones (binary) because they represent
the network itself or a broadcast address.
4.3.4 Network classes
The first byte of the IP address determines the network class and as such represents
the division into network addresses and node addresses.
Byte 1 Byte 2 Byte 3 Byte 4
11000000 . 10101000 . 00001010 . 00000100
Network address Station address
192.168.10 4
Value range Network class Complete network address
(Example)
Meaning
Byte 1
0 – 127 A 10.1.22.3 10 = Network address
1.22.3 = node address
128 – 191 B 172.16.52.4 172.16 = Network address
52.4 = node address
192 – 223 C 192.168.10.4 192.168.10 = Network address
4 = node address

20 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface
4TCP/IP addressing and subnetworks
Installation Notes
This rough division is not sufficient for a number of networks. They also use an explicit,
adjustable subnet mask.
4.3.5 Subnet mask
A subnet mask is used to divide the network classes into even finer sections. Like the
IP address, the subnet mask is represented by 4 decimal numbers separated by decimal
points.
Example: 255.255.255.128
Each decimal number stands for one byte (= 8 bits) of the subnet mask and can also be
represented using binary code (→following table).
If you compare the IP addresses with the subnet masks, you see that in the binary rep-
resentation of the subnet mask all ones determine the network address and all the zeros
determine the station address (see following table).
The class C network with the address 192.168.10. is further subdivided into
255.255.255.128 using the subnet mask. Two networks are created with the address
192.168.10.0 and 192.168.10.128.
The following node addresses are permitted in the two networks:
• 192.168.10.1 – 192.168.10.126
• 192.168.10.129 – 192.168.10.254
The network nodes use a logical AND operation for the IP address and the subnet mask
to determine whether there is a communication partner in the same network or in a dif-
ferent network. If the communication partner is in a different network, the standard gate-
way is addressed for passing on the data.
4.3.6 Standard gateway
The standard gateway is also addressed via a 32-bit address. The 32-bit address is rep-
resented by 4 decimal numbers separated by decimal points.
Example: 192.168.10.1
The standard gateway establishes a connection to other networks. In this way, a net-
work station that wants to address another station can use a logical AND operation with
the IP address and the subnetwork mask to decide whether the desired station is located
in the same network. If this is not the case, the station addresses the standard gateway
(router), which must be part of the actual network. The standard gateway then takes on
the job of transmitting the data packages.
Byte 1 Byte 2 Byte 3 Byte 4
11111111 . 11111111 . 11111111 . 10000000
Byte 1 Byte 2 Byte 3 Byte 4
IP address decimal 192 . 168. . 10 . 129
binary 11000000 . 10101000 . 00001010 . 10000001
Subnet mask decimal 255 . 255 . 255 . 128
binary 11111111 . 11111111 . 11111111 . 10000000