vacon • 2
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7. Modbus TCP / Modbus UDP ............................................................................57
7.1 Modbus UDP vs TCP.........................................................................................................58
7.2 Modbus communications.................................................................................................60
7.3 Data addresses in Modbus messages .............................................................................61
7.3.1 Modbus memory map ......................................................................................................61
7.3.2 Modbus data mapping......................................................................................................62
7.4 Modbus communication and connection timeout ...........................................................73
7.5 Quick setup.......................................................................................................................74
7.6 Modbus - example messages ..........................................................................................75
7.6.1 Example 1 - Write process data.......................................................................................75
7.6.2 Example 2 - Read process data .......................................................................................76
7.6.3 Example 3 - Exception response .....................................................................................77
8. PROFINET IO ..................................................................................................78
8.1 PROFIdrive 4.1 profile ......................................................................................................78
8.2 PROFIdrive 4.1 state machine..........................................................................................78
8.3 PROFINET IO process communication ............................................................................79
8.3.1 Telegram types ................................................................................................................79
8.3.2 Telegram building blocks ................................................................................................84
8.3.3 Quick setup.......................................................................................................................89
8.4 PROFIdrive IO parameters...............................................................................................89
8.4.1 Parameters of the PROFIdrive.........................................................................................89
8.4.2 Vendor-specific PROFIdrive parameters.........................................................................91
8.4.3 PROFIdrive signal numbers.............................................................................................92
8.4.4 User specific record data.................................................................................................95
8.4.5 Base Mode Parameter Access Model..............................................................................96
8.4.6 Parameter responses ....................................................................................................100
8.4.7 Drive parameter access using application ID................................................................104
8.4.8 Parameter channel examples .......................................................................................104
8.5 PROFINET IO communications and connection timeout...............................................108
9. EtherNet/IP..................................................................................................109
9.1 General information.......................................................................................................109
9.1.1 Overview .........................................................................................................................109
9.1.2 AC/DC Drive Profile........................................................................................................109
9.1.3 EDS file ...........................................................................................................................109
9.1.4 LED functionality ............................................................................................................110
9.1.5 Explicit Messaging .........................................................................................................111
9.1.6 EtherNet/IP communication and connection timeout...................................................116
9.2 Common Industrial Objects implemented by OPTE9 ....................................................118
9.2.1 CIP Objects .....................................................................................................................118
9.2.2 Vendor Specific Objects .................................................................................................143
9.3 Assembly instances implemented by OPTE9 ................................................................151
9.3.1 CIP I/O Assembly instances for AC/DC Drive ................................................................151
9.3.2 Vendor-specific I/O Assembly Instances.......................................................................155
9.3.3 Mapping of Standard Output Assemblies onto VACON® data......................................165
9.3.4 Mapping of VACON® data onto Standard Input Assemblies ........................................166
9.4 EtherNet/IP connection example ..................................................................................168
10. Fault tracing.................................................................................................169
10.1 Typical fault conditions ..................................................................................................169
10.2 Other fault conditions ....................................................................................................170
11. APPENDIX 1 - PROCESS DATA......................................................................171
12. APPENDIX 2 - CONTROL AND STATUS WORD............................................... 172
12.1 Control Word bit description ...................................................................................172
12.2 Status Word Descriptions ........................................................................................174