SEW-Eurodrive MOVIPRO Ethernet/IP - Page 5

Table of contents
Manual – MOVIPRO
®
with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
5
8.2.3 Addressing drive via the "IOScanning" function.......................................... 93
8.3 Requirements for fieldbus operation .............................................................................94
8.4 Project planning examples............................................................................................94
8.4.1 Configuring process data exchange............................................................. 94
8.4.2 Data exchange via Modbus/TCP ................................................................. 95
9 Modbus protocol (Modbus/TCP) ......................................................................................... 101
9.1 Description ..................................................................................................................101
9.1.1 Mapping and addressing............................................................................ 101
9.1.2 Services (function codes)........................................................................... 102
9.1.3 Accessing services..................................................................................... 102
9.2 Protocol structure........................................................................................................103
9.2.1 Header ....................................................................................................... 103
9.2.2 Service FC3 – Read holding registers ....................................................... 104
9.2.3 Service FC16 – Write multiple registers..................................................... 105
9.2.4 Service FC23 – Read/write multiple registers ............................................ 106
9.2.5 Service FC43 – Read device identifications............................................... 107
9.3 Connection management............................................................................................108
9.3.1 Sending process output data (request controlling connection) .................. 108
9.3.2 Closing a connection.................................................................................. 109
9.3.3 Timeout response ...................................................................................... 109
9.4 Parameter access via Modbus/TCP ...........................................................................110
9.4.1 Procedure with FC16 and FC03................................................................. 110
9.4.2 Procedure with FC23 ................................................................................. 110
9.4.3 Protocol structure ....................................................................................... 111
9.4.4 MOVILINK
®
parameter channel.................................................................. 111
9.5 Fault codes (exception codes) ....................................................................................113
9.6 Technical data, Modbus/TCP interface.......................................................................114
10 Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP............................... 115
10.1 Checking the status LEDs of the device .....................................................................115
10.2 Checking the status LED and the status display at the fieldbus master .....................116
10.3 Checking the fault sources..........................................................................................116
10.4 Fieldbus timeout..........................................................................................................117
11 Process data description..................................................................................................... 118
11.1 General process sequence .........................................................................................118
11.2 Process sequence MOVIPRO
®
SDC .........................................................................118
11.2.1 MOVIPRO
®
SDC control word.................................................................... 119
11.2.2 MOVIPRO
®
SDC status word..................................................................... 119
11.2.3 Digital inputs and outputs........................................................................... 120
11.2.4 Example: Delivery status............................................................................ 121
11.2.5 MOVIPRO
®
SDC drive functions................................................................ 121
11.3 MOVIPRO
®
ADC process sequence..........................................................................122
11.3.1 MOVIPRO
®
ADC control word.................................................................... 123
11.3.2 MOVIPRO
®
ADC status word..................................................................... 123
11.3.3 Data backup via PLC process data specification ....................................... 125
11.3.4 Digital inputs and outputs........................................................................... 125
16998413/EN – 12/2016