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1. RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integer Float Access Access Access 4X 4X AN Register Register Register 695 1207 1719 697 1209 1721 699 1211 1723 701 1213 1725 703 1215 1727 705 1217 1729 707 1219 1731 709 1221 1733 711 1223 1735 713 1225 1737 715 1227 1739 717 1229 1741 719 1231 1743 721 1233 1745 723 1235 1747 725 1237 1749 727 1239 1751 729 1241 1753 731 1243 1755 733 1245 1757 735 1247 1759 737 1249 1761 739 1251 1763 741 1253 1765 743 1255 1767 745 1257 1769 747 1259 1771 749 1261 1773 751 1263 1775 753 1265 1777 Name Description Range Unit L4 8 8 E EI ui lt 91 VAR SUSPEND MOTION W N RW Suspend motion Suspends motion produced 0 1 by trajectory generator Current move will be completed before motion is suspended 0 motion suspended 1 motion resumed 92 VAR MOVEP AN WIN IW Target position for absolute move Writing value executes Move to position as per mtn MOVEP statement using current values of acceleration deceleration and max velocity 93 VAR MOVED A WIN IW Incremental position Writing value 0 executes Incremental move as mtn MOVED statement using current values of acceleration deceleration and max velocity 94 VAR MDV DISTANCE E N W Distance for MDV move 95 VAR MDV VELOCITY AN F N
2. Commissioning inh WM MotionView OnBoard 2 14 E94P 240V 04 Amp 192 168 124 120 STOPPED EEK Lenze AC Tech English m Disconnect Save Al Load All Default Al e E94P 240V 04 Amp 192 168 124 Motor Description Parameters xCommunication Modbus Reply Delay e Ethernet Modbus TCP EtherNet lP CIP Rs485 777 9 DeviceNet PROFIBUS DP B04443200400000 192 168 124 120 Figure 15 Modbus RTU Folder 4 3 4 Modbus TCP IP Server Node Settings The IP address of the PositionServo drive is composed of four sub octets that are separated by three dots Each sub octet can be configured with a number between 1 and 254 As shipped from the factory the default IP address of a drive is 192 168 124 120 There are two methods of changing the current IP address An address can be assigned to the drive automatically dynamic IP address when the drive is connected to a DHCP Dynamic Host Configuration Protocol enabled server or the drive can have an IP address assigned to it manually be the user static IP address 4 3 4 1 Obtaining the PositionServo s Current Ethernet Settings The current Ethernet setting and IP address of the PositionServo drive can be obtained from the drive display and keypad Press the recessed mode button lt on the display and use the UP and DOWN buttons V to access parameters IP 1 IP 2 IP 3 and IP 4 Each of these parame
3. Safety Information Warnings Cautions amp Notes General Some parts of Lenze controllers frequency inverters servo inverters DG 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 VDE 0110 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 as directed Drive controllers are components which 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 mac
4. Ethernet network cable termination is not required as it is integrated into the circuitry of each device s RJ45 port Lenze 13 P94MOD01C AC Tech Installation 3 3 8 Network Schematic EIA 485 Figure 7 illustrates the connection of the cables for a PositionServo drive in a Modbus master slave network PLC PC PositionServo PositionServo Modbus Master RS 485 Module RS 485 Module 1200 Keesen Min 1m Figure 7 1200 1 Termination in EIA 485 RS485 Network Min 1m 3 3 9 Network Schematic Ethernet Figure 8 illustrates a one to one ethernet connection Figure 9 illustrates a multi node ethernet connection PLC PC PositionServo Modbus Client Modbus Server 8 3 i P2 i D Cross over patch cable Figure 8 One to One Connection PLC PC PositionServo PositionServo PositionServo Modbus Client Modbus Server Modbus Server Modbus Server Br P2 k P2 US P2 k A R mo jm le rm op Ethernet Switch Figure 9 Multi Node Connection P94MODO1C 14 Lenze AC Tech Commissioning In 4 Commissioning 4 1 Overview It is assumed that
5. Description Client Server Transaction Identifier 2 Identification of a Modbus Initialized by the client Recopied by server from Request Response received request transaction Protocol Identifier 2 0 Modbus protocol Initialized by the client Recopied by server from received request Length 2 Number of following bytes Initialized by the client Initialized by the server request response Unit Identifier 1 Identification of a remote Initialized by the client Recopied by server from slave connected on a serial received request line or on other buses Table Copyright 2005 2009 Modbus IDA from the official Modbus Messaging Implementation Guide V1 0b P94MODO1C 28 Lenze AG Tech Reference PID List with Modbus Values This is a condensed PID List to show the corresponding Modbus 4X Registers for PIDs 1 256 Modbus RTU can not access beyond PID256 For the complete variable list refer to the PositionServo Programming Manual PM94P01 or PM94M01 These variables can be accessed from the user s program or any supported communications interface protocol From the user program any variable can be accessed by either its variable name or by its index value using the syntax lt VARINDEX gt where lt VARINDEX gt is the variable index from the PID List From the communications interface any variable can be accessed by its index value The column Type indicates the type of variable mtr Motor denotes a mo
6. Modbus RTU amp Modbus TCP IP Communication Communications Interface Reference Guide About These Instructions This documentation applies to Modbus RTU and Modbus TCP IP communications for the PositionServo drive and should be used in conjunction with the PositionServo User Manual S94P01 S94PM01 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 and the applicable option module Copyright 2005 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 Corporation 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 Corporation 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 Modbus is a registered trademark of Schneider Automation P94MOD01C 2 Lenze AC Tech Contents T 1 5 1 1 Warnings Cautions amp NOTES cccccssccssssdsine
7. NC tu M 8 6 RX Receive Port Data Terminal 7 N C 2 8 N C The status LEDs integrated in the RJ45 connector indicate link activity and baudrate The green LED indicates baudrate and blinks steadily when the drive is running at the network speed 10 100Mbps The yellow LED indicates link activity and flashes when the drive is communicating transmitting receiving with the network P94MOD01C 10 Lenze AC Tech 3 3 3 3 1 3 3 2 3 3 3 Installation D Electrical Installation Cable Types Due to the high data rates used on Modbus networks it is paramount that correctly specified quality cable is used The use of low quality cable will result in excess signal attenuation and data loss For 485 it is recommended to use a good quality shielded twisted pair cable with characteristic impedance of 1200 For Ethernet it is recommended that a minimum specification of CAT5e UTP cable unscreened is used However for environments that high levels of electrical noise STP screened cable is recommended Network Limitations EIA 485 There are several limiting factors that must be taken into consideration when designing a Modbus RTU network however here is a simple checklist e Modbus RTU networks are limited to a maximum of 247 nodes e Only 32 nodes based on each node having a load impedance of 1 unit may be connected on a single network segment Certain Modbus 485 masters may only
8. 0 torque 1 velocity 2 position 35 VAR CURRENT SCALE F Y RW Analog input 1 current reference scale Model AN Dependent 36 VAR VELOCITY SCALE vel F Y RW Analog input 1 velocity reference scale 10000 to RPM V 10000 37 VAR REFERENCE W Y RW Reference selection 1 0 1 internal source 0 external 38 VAR STEPINPUTTYPE W Y RW Selects how position reference inputs 0 1 operating 0 Quadrature inputs A B 1 Step amp Direction 39 VAR W Y RW Motor thermal protection function 0 1 MOTORTHERMALPROTECT 0 disabled 1 enabled 40 VAR Y RW Motor thermal protection PTC cut off Ohm MOTORPTCRESISTANCE resistance 41 VAR SECONDENCODER why R W Second encoder 0 1 0 disabled 1 enabled 42 VAR REGENDUTY W Y RW Regen circuit PWM duty cycle in 1 100 43 VAR ENCODERREPEATSRC W Y RW Selects source for repeat buffers 0 1 0 Model 940 Encoder Port P4 Model 941 2nd Encoder Option Bay 1 Model 940 2nd Encoder Option Bay Model 941 Resolver Port P4 44 VAR GAIN vel W Y RW Velocity loop Proportional gain 0 32767 45 VAR VI GAIN vel W Y RW Velocity loop Integral gain 0 32767 46 VAR PP GAIN W Y RW Position loop Proportional gain 0 32767 47 VAR PI GAIN W Y RW Position loop Integral gain 0 16383 48 VAR PD GAIN W Y RW Position loop Differential gain 0 32767 49 VAR PI LIMIT W Y RW Position loop integral gain limit 0 20000 50 VAR SEI GAIN Not Use
9. 800 217 9100 e Service 508 278 9100 www lenze actech com P94M0D01D
10. All values in decimal notation To access the variable index as RAM integer use the following formula to calculate this register address maximum address allowed is 511 register address gt 0 2 variable index 1 To access the variable index as a RAM float use the following formula to calculate this register address maximum address allowed is 1023 register address gt 512 2 variable index 1 To access the variable index as a EPM integer use the following formula to calculate this register address maximum address allowed is 1535 PositionServo Parameter Index Number Refer to section xxxx for a full list register address gt 1024 2 variable index 1 Lenze AC Tech 5 3 Protocol Implementation ilili To access the variable index as EPM float use the following formula to calculate this register address maximum address allowed is 2047 register address gt 1536 2 variable index 1 Two special methods are created for those terminals that can ony handle 16 bit registers To access the variable index as a RAM 16 bit integer register the RAM copy of a variable that is represented as a 16 bit integer use the following formula to calculate this register address maximum address allowed is 2303 register address gt 2048 variable index 1 For these terminals the values are represented only as integers The variable ind
11. and NFPA 70 along with state and local regulations Lenze 5 P94MODO1C AC Tech Safety Information 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 e After the controller has been disconnected from the supply voltage live components and power connection must not be touched immediately since capacitors could be charged Wait at least 60 seconds before servicing the drive Observe all corresponding notes on the controller e Do not continuously cycle input power to the controller more than once every three minutes e Please close all protective covers and doors during operation WARNING Network control permits automatic operation of the inverter 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 Pictog
12. 3 Modbus RTU Slave Node Getngs sese 18 4 3 4 Modbus TCP IP Server Node Settings iss cssisssscsssscsisnsdcestesstonsdoasdsenisnsdsestestsaniniee 19 e NET NR uM 21 4 3 6 Non Communication Based Parameter Settings 21 4 4 Drive Monitoring Mdb Ene 22 Lenze 3 P94MODO1C AC Tech Contents 4 5 Controlling the DNG RR RERO 22 4 6 Changing Drive Parameters 044001 00 22 4 7 EIA 485 15405 Parameters 22 4 8 Ethernet LS SR RR 23 4 9 Negative Number Transmission pads dns deoa po doo o Re 23 5 Modbus Implementation c ccccccsccsssscssesssssssscessssssssescescassessessessassassascaseaseaseaseaseaseaseaseasens 24 5 1 MTT 24 5 2 Data Format Size and Memory Are 24 5 9 R gister NONDE M 25 5 4 Endid Format RENE NENNE UNNE NE SENERE EE PN EE EN EU 26 5 5 PET ACCESS cud RPM NN MCN 26 55 1 Register MM 26 NN 26 5 6 No Response Conditions 4 1 uera rnnt rtt nnn nnn 26 5 7 RESPONSES eege 27 5 8 Modbus dE 27 5 8 1 PDU Function OG E 27 mos PD EE EE EEE E E EEEE 27 5 8 3 ADU for 28 58 4 ADU Tor Modbus TGP scsi 28 6 PALAN MTS 29 6 1 PID List with Modbus Values 200 29 P94MODO1C 4 Lenze AC Tech 1 1 Safety Information
13. 855 1367 1879 857 1369 1881 859 1371 1883 861 1373 1885 863 1375 1887 865 1377 1889 867 1379 1891 869 1381 1893 871 1383 1895 873 1385 1897 875 1387 1899 877 1389 1901 879 1391 1903 881 1393 1905 883 1395 1907 885 1397 1909 887 1399 1911 889 1401 1913 891 1403 1915 893 1405 1917 895 1407 1919 897 1409 1921 899 1411 1923 901 1413 1925 903 1415 1927 905 1417 1929 907 1419 1931 909 1421 1933 911 1423 1935 913 1425 1937 915 1427 1939 917 1429 1941 P94MOD01C Name Description Range Unit KI 8 E EI ui 203 VAR 9 DEBOUNCE w Y RW Input C2 de bounce time in mS 0 1000 ms 204 VAR IN10 DEBOUNCE why R W Input C3 de bounce time in mS 0 1000 mS 205 VAR_IN11_DEBOUNCE RW Input C4 de bounce time in mS 0 1000 mS 206 VAR_OUT1_FUNCTION why R W Programmable Output 1 Function 0 7 0 Not Assigned 1 Zero Speed 2 In Speed Window 3 Current Limit 4 Run time fault 5 Ready 6 Brake 7 In position 207 VAR OUT2 FUNCTION why R W Programmable Output 2 Function 0 7 208 VAR_OUT3_FUNCTION why R W Programmable Output 3 Function 0 7 209 VAR_OUT4_FUNCTION W Y RW Programmable Output 4 Function 0 7 210 VAR HALLCODE WIN R Current hall code Bit 0 Ha
14. Fit the 20 pin header into the module before fitting the module into the drive Install the EIA 485 RS485 COMM Module E94ZARS41 in Option Bay 1 Replace the two COMM module screws max torque 0 3Nm 3lb in to secure Option Bay 1 in place lt gt o mi Lenze jp RARE e 00000000 00000000 2 5921 Figure 2 Installation of EIA 485 5485 Communications Module 9 P94MOD01C Q Installation 3 2 Connectors 3 2 1 485 Module Table 2 and Figure 3 illustrate the pinout of the PositionServo EIA 485 5485 Option Module E94ZARS41 The 3 pin connector provides 2 wire plus isolated ground connection to the network Table 2 EIA 485 RS485 Interface Pin Designation Terminal Name Description Connector 1 ICOM Isolated Common 2 Transmit 3 TXA Transmit A Ex 5 gt a Figure 3 EIA 485 RS485 Interface Pin Designation 3 2 2 Ethernet Port Port P2 on the front of the PositionServo is an RJ45 Standard Ethernet connector that is used to communicate with a host via Ethernet TCP IP Table 3 P2 Pin Assignments Communications Pin Name Function RJ45 Connector 1 TX Transmit Port Data Terminal P2 2 Transmit Port Data Terminal 3 RX Receive Port Data Terminal 8 L 4 NC D d 5
15. V17 F Y RW User variable 118 VAR V18 F Y RW User variable 119 VAR V19 Y RW User variable 120 VAR V20 F Y RW User variable Lenze 33 LAC Tech P94MOD01C Name Description Range Unit 121 VAR V21 F Y RW User variable 122 VAR V22 F Y RW User variable 123 VAR V23 Y RW User variable 124 VAR V24 F Y RW User variable 125 VAR V25 F Y RW User variable 126 VAR V26 F Y RW User variable 127 VAR V27 F Y RW User variable 128 VAR V28 F Y RW User variable 129 VAR V29 F Y RW User variable 130 VAR V30 Y RW User variable 131 VAR V31 F Y RW User variable 132 VAR MOVEDR DISTANCE N W Registered move distance UU incremental motion as MOVEDR statement 133 VAR_MOVEDR_ A F N W Registered move displacement Writing to UU DISPLACEMENT this variable executes the move MOVEDR mtn using value set by 132 134 VAR MOVEPR DISTANCE F N W Registered move distance UU Absolute motion as per MOVEPR statement 135 VAR_MOVEPR_ A F N W Registered move displacement Writing to UU DISPLACEMENT this variable makes the move MOVEPR using mtn value set by 134 136 VAR_STOP_MOTION WIN IW St
16. only variable or reading from a W write only variable will not work The column Units shows units of the variable Units unique to this manual that are used for motion are UU user units EC encoder counts S seconds PPS pulses per sample Sample time is 512us servo loop rate PPSS pulses per sample per sample Sample time is 512us servo loop rate Lenze 29 P94MOD01C AC Tech Reference NOTE In true Modbus 3X and 4X Registers are numbered starting at 1 This is known as one based addressing However when transmitted to a slave over the serial link the actual address transmitted is one less Some Modbus masters will allow for the first register number to be 0 This is known as zero based addressing If this is the case the Modbus register numbers listed in this manual must be offset by 1 to properly program a master using zero based addressing Name Description Range Unit x t 1 VAR IDSTRING N R Drive s identification string 2 VAR NAME Y RW Drive s symbolic name 3 VAR SERIAL NUMBER R Drive s serial number 4 VAR MEM INDEX R W Position in RAM file 0 32767 5 VAR_MEM_VALUE RW Value to be read or written to the RAM file 6 VAR_MEM_INDEX_ R W Holds value the M
17. order for this change to take effect When DHCP is disabled and power cycled to the drive it will revert back to its previous static IP address It is most common for the PositionServo drive IP address to be left at its default value 192 168 124 120 and to configure the PC Ethernet port to communicate on this subnet If more than one drive needs to be connected to the PC at any one time then the IP 4 parameter can be accessed the keypad and changed to provide unique IP address on the network for each drive Note that IP 4 is the only octet that can be changed 1 IP2 and IP 3 are read only and that power must be cycled to the drive for any changes to take effect If the PositionServo drive s needs to be configured for a specific subnet with different values to default for IP 1 IP 2 and IP 3 and IP 4 then this needs to be performed with the MotionView configuration tool First establish communications using the default drive address or with an address that was established by changing IP 4 parameters via the drive keypad Follow the rest of these instructions in order to establish communications and launch MotionView using this address Once within the MotionView software a full IP address can be assigned From the Node tree within MotionView select the Communications folder and then the Ethernet sub folder as shown in Figure 16 The settings reflect those that will appear in the software parameter view window MotionView On
18. output function range 0 8 0 Not assigned 1 Phase Current RMS 2 Phase Current Peak Value 3 Motor Velocity 4 Phase Current R 5 Phase Current 5 6 Phase Current T 7 14 current 8 Id current 0 8 86 VAR AOUT VELSCALE Analog output scale for velocity quantities 0 10 mV Rpm 87 VAR AOUT CURSCALE Analog output scale for current related quantities 0 10 V A 88 VAR AOUT Analog output value Used if VAR 85 is set to 0 0 10 89 VAR AIN1 DEADBAND Analog input 1 dead band Applied when used as current or velocity reference 0 100 mV 90 VAR OFFSET Analog input 1 offset Applied when used as current velocity reference 10 000 to 310 000 mV RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integer Float Access Access Access 4X 4X 4X Register Register Register 645 1157 1669 647 1159 1671 649 1161 1673 651 1163 1675 653 1165 1677 655 1167 1679 657 1169 1681 659 1171 1683 661 1173 1685 663 1175 1687 665 1177 1689 667 1179 1691 669 1181 1693 671 1183 1695 673 1185 1697 675 1187 1699 677 1189 1701 679 1191 1703 681 1193 1705 683 1195 1707 685 1197 1709 687 1199 1711 689 1201 1713 691 1203 1715 693 1205 1717 P94MOD01C 32 Lenze
19. 0 3 1 4 4 7 1 4 8 11 C1 C4 247 VAR M VALIDATE win IW Makes Drive accept Motor s parameters 0 1 MOTOR 0 No action 1 Validate Motor Data 248 VAR MIDI Y RW Motor 249 VAR M EABSOLUTE Y RW Motor 250 VAR M ABSWAP F Y RW Motor Encoder Feedback B leads A 0 1 0 No Action 1 Bleads A for forward checked active 251 VAR M HALLS INVERTED Y RW Motor Encoder Feedback Halls 0 1 0 No Action 1 Inverted Halls Box checked active 252 RESERVED Do NOT use 253 RESERVED Do NOT use 254 RESERVED Do NOT use 255 RESERVED Do NOT use 256 RESERVED Do NOT use RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integer Float Access Access Access 4X AN 4X Register Register Register 981 1493 2005 983 1495 2007 985 1497 2009 987 1499 2011 989 1501 2013 991 1503 2015 993 1505 2017 995 1507 2019 997 1509 2021 999 1511 2023 1001 1513 2025 1003 1515 2027 1005 1517 2029 1007 1519 2031 1009 1521 2033 1011 1523 2035 1013 1525 2037 1015 1527 2039 1017 1529 2041 1019 1531 2043 1021 1533 2045 1023 1535 2047 1025 1537 2049 This is a condensed PID List to show the corresponding Modbus 4X Registers for PIDs 1 256 Modbus RTU can not access beyond PID256 For the complete variable list refer to the PositionServo Programming Manual PM94P01 or PM94M01 Lenze 37 P94MOD01C Lenze AC Tech Corporation 630 Douglas Street e Uxbridge MA 01569 e USA Sales
20. 1 F N RW User defined Network variable P94MODO1C 34 RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integer Float Access Access Access 4X 4X 4X Register Register Register 755 1267 1779 757 1269 1781 759 1271 1783 761 1273 1785 763 1275 1787 765 1277 1789 767 1279 1791 769 1281 1793 771 1283 1795 773 1285 1797 775 1287 1799 TIT 1289 1801 779 1291 1803 781 1293 1805 783 1295 1807 785 1297 1809 787 1299 1811 789 1301 1813 791 1303 1815 793 1305 1817 795 1307 1819 797 1309 1821 799 1311 1823 801 1313 1825 803 1315 1827 805 1317 1829 807 1319 1831 809 1321 1833 811 1323 1835 813 1325 1837 815 1327 1839 817 1329 1841 819 1331 1843 821 1333 1845 823 1335 1847 825 1337 1849 827 1339 1851 829 1341 1853 831 1343 1855 833 1345 1857 835 1347 1859 Name Description Range Unit 162 VAR NV22 F N RW User defined Network variable 163 VAR NV23 F N RW User defined Network variable 164 VAR NV24 F N RW User defined Network variable 165 VAR NV25 F N RW User defined Network variable 166 VAR NV26 F N RW User defined Network variable 167 VAR NV27 F N RW User defined Network variable
21. 168 VAR NV28 F N RW User defined Network variable 169 VAR NV29 F N RW User defined Network variable 170 VAR NV30 F N RW User defined Network variable 171 VAR NV31 F N RW User defined Network variable 172 VAR SERIAL ADDRESS w Y RW RS485 drive ID 0 254 173 VAR MODBUS BAUDRATE W Y RW Baud rate for ModBus operations 2 6 2 9600 3 19200 4 38400 5 57600 6 115200 174 VAR MODBUS DELAY w Y RW ModBus reply delay in mS 0 1000 175 VAR RS485 CONFIG why R W Rs485 configuration 0 1 0 normal IP over PPP 1 ModBus1 19200 176 VAR PPP BAUDRATE why R W RS232 485 normal mode baud rate 2 6 2 9600 3 19200 4 38400 5 57600 6 115200 177 VAR MOVEPS F N W Same as variable 92 but using S curve acceleration deceleration 178 VAR_MOVEDS F N W Same as variable 93 but using S curve acceleration deceleration 179 VAR MDVS VELOCITY A Velocity for MDV move using S curve accel deceleration Writing to this variable mtn executes MDV move with Distance value last written to variable 94 unless motion is suspended by 91 180 VAR_MAXVEL F N RW Max velocity for motion profile 181 VAR ACCEL F N RW Accel value for indexing UU S2 182 VAR_DECEL F N RW Decel value for indexing UU S2 183 VAR QDECEL F N RW Quick decel value UU S2 184 VAR INPOSLIM W N RW Sets window for In Position Limits UU 185 VAR VEL F N RW Velocity reference for Profiled velocity UU S 186 VAR_UNITS Be a
22. 5 Parity No Parity OPE RS485 Stop Bits 20 Modbus RTU N RS485 Address 3 CANopen DeviceNet CIP PROFIBUS DP Figure 14 RS 485 Folder Configuration Modbus slave the modbus slave protocol is enabled on the RS485 port UPPP the RS485 uses UPPP Point to Point Protocol Baud Rate 115200bps 57600bps 38400bps 19200bps 9600bps Parity Even Odd None Stop Bits 2 1 5 1 Address 1 247 Each slave device in the Modbus network must have its own unique network address The Addr submenu on the drive display and the front panel buttons can be used to set the Modbus network address The RS485 default configuration is UPPP 19200bps No Parity 2 Stop Bits and Address 1 TIP Avoid using address 1 Most Modbus devices ship with a default address of 1 As duplicate addressing on a Modbus network is not allowed this can lead to conflicts when replacing and commissioning nodes To avoid this it is recommended that you do not set the slave address to 1 Modbus RTU Folder Modbus Reply Delay Modbus Reply Delay is the delay introduced after receiving a Modbus request and before sending a reply Note that this delay will always be gt 3 5 characters as required by the Modbus specification Some Modbus master devices are slower to respond than others and an increase of the Modbus reply delay value may be required to successfully work with these devices P94MOD01C 18 Lenze AC Tech
23. Board 2 08 E94P 240V 08 Amp 192 168 124 120 STOPPED Lenze AC Tech it 240V 08 Amp 192 168 124 120 STOPPED Motor Configure IP Address e Communicat tion GjEthemet C Obtain IP Address using DHCP IP Address 10 135 110 210 RS485 Subnet Mask 255 255 255 0 Default Gateway 110 135 110 1 PROFIBUS DP 10 TCP Reply Delay 2 ms Digital 10 Tools B Faults Successfully connected to drive 08420200400 192 168 124 120 Figure 16 Ethernet Folder The IP address subnet mask and default gateway address can all be edited in this screen If the text in any of these boxes turns red once it has been entered then this means that the values or format used is invalid and the values will not be applied To enable DHCP click the box adjacent to Obtain IP Address using DHCP to place a check mark in this box M P94MODO1C 20 Lenze AG Tech Commissioning disable DHCP click the box again Power must be cycled for any changes to Configure IP Address to take effect On changing any ethernet parameter value the dialog box in Figure 17 will appear Click Ok and cycle power for changes to take effect 4 3 4 3 Configuring the IP Address Automatically Dynamic Address When connecting a PositionServo drive onto a network domain with a DHCP enabled server where all devices have dynamic IP addresses assigned by the server the IP address of the PositionServo
24. Bus voltage 74 VAR s t DE em Heatsink temperature 0 for temperatures 40C and actual heat sink temperature for temperatures gt 40 C 0 actual heat sink temperature 75 VAR ENABLE ACCELDECEL vel Enable Accel Decel function for velocity mode 0 disable 1 enable 0 1 76 VAR ACCEL LIMIT vel Accel value for velocity mode 0 1 5000000 Rpm Sec 77 VAR DECH LIMIT vel E Decel value for velocity mode 0 1 5000000 Rpm Sec 78 VAR_FAULT_RESET E Reset fault configuration 0 on activation of Enable Inhibit input A3 1 on deactivation of Enable Inhibit input A3 0 1 79 VAR M2SRATIO MASTER Master to system ratio Master counts range 32767 32767 32767 32767 80 VAR M2SRATIO SYSTEM Master to system ratio System counts range 1 32767 1 32767 81 VAR S2PRATIO SECOND Secondary encoder to prime encoder ratio Second counts range 32767 32767 32767 32767 82 VAR S2PRATIO PRIME Secondary encoder to prime encoder ratio Prime counts range 1 32767 1 32767 83 VAR EXSTATUS E Extended status Lower word copy of DSP status flags 84 VAR HLS MODE E Hardware limit switches 0 not used 1 stop and fault 2 fault 85 VAR AOUT FUNCTION Analog
25. EM_INDEX will modify once INCREMENT the R W operation is complete 7 VAR VELOCITY ACTUAL R Actual measured motor velocity NOTE Only applicable to MVOB drives with Firmware 4 00 and higher 8 VAR RSVD 2 9 VAR DFAULT R Drive Default Settings 10 VAR M ID mtr Y R W Motor ID 11 VAR M MODEL mtr Y RW Motor model 12 VAR M VENDOR mtr Y RW Motor vendor 13 VAR M ESET mtr Y RW Motor Feedback Resolver Positive for CW 0 1 0 none 1 Positive for CW 14 VAR M HALLCODE mtr Y R W Hallcode index 0 5 15 VAR M HOFFSET mtr Y R W Reserved 16 VAR M ZOFFSET mtr Y R W Resolver Offset 0 360 17 VAR M ICTRL mtr Y RW Reserved 18 VAR M JM mtr Y RW Motor moment of inertia Jm 0 0 1 Kgm2 19 VAR M KE mtr Y RW Motor voltage or back EMF constant Ke 1 500 V Krpm 20 VAR M KT mtr Y RW Motor torque or force constant Kt 0 01 10 Nm A 21 VAR M LS mtr Y RW Motor phase to phase inductance Lm 0 1 500 mH 22 VAR M RS mtr Y RW Motor phase to phase resistance Rm 0 01 500 Ohm 23 VAR M MAXCURRENT mtr Y RW Motor s max current RMS 0 5 50 A mp 24 VAR M MAXVELOCITY mtr Y R W Motor s max velocity 500 20000 RPM 25 VAR M NPOLES mtr Y BW Motor s poles number 2 200 26 VAR M ENCODER mtr Y RW Encoder resolution 256 65536 PPR 12 Npoles 27 VAR M TERMVOLTAGE mtr Y RW Nominal Motor s terminal voltage 50 800 28 VAR M FEEDBACK mtr Y R W Feedback type 1 2 1 Encoder 2 Resolver 29 VAR ENABLE SW
26. ITCH w Y R W Enable switch function 0 1 Bit TYPE 0 inhibit only 1 Run 30 VAR CURRENTLIMIT FLY R W Current limit A mp 31 VAR Y RW Peak current limit for 16kHz operation A mp PEAKCURRENTLIMIT16 32 VAR PEAKCURRENTLIMIT F Y RW Peak current limit for 8kHz operation A mp 33 VAR PWMFREQUENCY W Y RW PWM frequency selection 0 1 0 16kHz 1 8kHz These are all R W variables but they only become active after variable 247 is set P94MODO1C 30 RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integer Float Access Access Access 4X 4X 4X Register Register Register 515 1027 1539 517 1029 1541 519 1031 1543 521 1033 1545 523 1035 1547 525 1037 1549 527 1039 1551 529 1041 1553 531 1043 1555 533 1045 1557 535 1047 1559 537 1049 1561 539 1051 1563 541 1053 1565 543 1055 1567 545 1057 1569 547 1059 1571 549 1061 1573 551 1063 1575 553 1065 1577 555 1067 1579 557 1069 1581 559 1071 1583 561 1073 1585 563 1075 1587 565 1077 1589 567 1079 1591 569 1081 1593 571 1083 1595 573 1085 1597 575 1087 1599 577 1089 1601 579 1091 1603 Lenze Name Description Range Unit L4 8 8 E EI ui lt 34 VAR DRIVEMODE why R W Drive mode 0 2
27. R SE POSERROR WIN R 2nd encoder position error in encoder counts EC PULSES 228 VAR MODBUS PARITY why R W Parity for Modbus Control 0 2 0 No Parity 1 Odd Parity 2 Even Parity 229 VAR MODBUS STOPBITS w Y RW Number of Stopbits for Modbus Control 0 2 0 1 0 1 1 5 2 2 0 230 VAR M NOMINALVEL F Y RW Induction Motor Nominal Velocity 500 20000 RPM 231 VAR_M_COSPHI F Y RW Induction Motor Cosine Phi 0 1 0 232 VAR M BASEFREQUENCY F Y RW Induction Motor Base Frequency 0 400Hz Hz 233 VAR M SERIES Induction Motor Series P94MODO1C 36 RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integer Float Access Access Access 4X 4X 4X Register Register Register 919 1431 1943 921 1433 1945 923 1435 1947 925 1437 1949 927 1439 1951 929 1441 1953 931 1443 1955 933 1445 1957 935 1447 1959 937 1449 1961 939 1451 1963 941 1453 1965 943 1455 1967 945 1457 1969 947 1459 1971 949 1461 1973 951 1463 1975 953 1465 1977 955 1467 1979 957 1469 1981 959 1471 1983 961 1473 1985 963 1475 1987 965 1477 1989 967 1479 1991 969 1481 1993 971 1483 1995 973 1485 1997 975 1487 1999 977 1489 2001 979 1491 2003 Lenze Name Description Range Unit L4 8 8 E EI ui 234 VAR CAN BAUD EPM W Y RW CAN Bus Par
28. R W User units 187 VAR MECOUNTER RW inputs reference counter value Count 188 VAR PHCUR F N R Phase current A 189 VAR_POS_PULSES W N RW Target position in encoder pulses EC 190 VAR_APOS_PULSES W N RW Actual position in encoder pulses EC 191 VAR_POSERROR_PULSES WIN R Position error in encoder pulses EC 192 VAR_CURRENT_VEL_PPS F Set point target velocity PPS PPS 193 VAR CURRENT N R Set point target acceleration demanded PPSS PPSS value 194 VAR INO DEBOUNCE W Y RW nput A1 de bounce time in mS 0 1000 mS 195 VAR_IN1_DEBOUNCE RW nput A2 de bounce time in mS 0 1000 mS 196 VAR_IN2_DEBOUNCE RW nput A3 de bounce time in mS 0 1000 mS 197 VAR IN3 DEBOUNCE W Y RW nput A4 de bounce time in mS 0 1000 ms 198 VAR IN4 DEBOUNCE W Y RW nput B1 de bounce time in mS 0 1000 mS 199 VAR_IN5_DEBOUNCE RW nput B2 de bounce time in mS 0 1000 mS 200 VAR IN6 DEBOUNCE W Y RW nput B3 de bounce time in mS 0 1000 ms 201 VAR_IN7_DEBOUNCE W Y RW nput B4 de bounce time in mS 0 1000 mS 202 VAR_IN8_DEBOUNCE W Y RW nput C1 de bounce time in mS 0 1000 ms Lenze 35 LAC Tech RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integer Float Access Access Access 4X 4X 4X Register Register Register 837 1349 1861 839 1351 1863 841 1353 1865 843 1355 1867 845 1357 1869 847 1359 1871 849 1361 1873 851 1363 1875 853 1365 1877
29. W Velocity for MDV move Writing to this variable executes MDV move with Distance mtn value last written to variable 94 96 VAR_MOVE_PWI1 A win Ww Writing value executes Move in positive 0 11 direction while input true active Value mtn specifies input 0 3 A1 A4 4 7 1 4 8 11 C1 C4 97 VAR MOVE PWIO win Writing value executes Move in positive 0 11 direction while input false not active Value mtn specifies input 0 3 A1 A4 4 7 B1 B4 8 11 C1 C4 98 VAR MOVE Moi F N W Writing value executes Move negative 0 11 direction while input true active Value mtn specifies input 0 3 A1 M 4 7 B1 B4 8 11 C1 C4 99 VAR MOVE NWIO A F N W Writing value executes Move negative 0 11 direction while input false not active Value mtn specifies input 0 3 A1 A4 4 7 B1 B4 8 11 C1 C4 100 VAR VO Y RW User variable 101 VAR V1 F Y RW User variable 102 VAR V2 Y RW User variable 103 VAR V3 F Y RW User variable 104 VAR V4 F Y RW User variable 105 VAR V5 F Y RW User variable 106 VAR V6 Y RW User variable 107 VAR V7 F Y RW User variable 108 VAR V8 F Y RW User variable 109 VAR V9 Y RW User variable 110 VAR V10 F Y RW User variable 111 VAR F Y RW User variable 112 VAR V12 F Y RW User variable 113 VAR V13 F Y RW User variable 114 VAR V14 F Y RW User variable 115 VAR_V15 F Y RW User variable 116 VAR_V16 F Y RW User variable 117 VAR
30. ameter Baud Rate 1 8 1 8 1 10k 2 20k 3 50k 4 125k 5 250k 6 500k 7 800k 8 1000k 235 VAR CAN ADDR EPM W Y RW CAN Bus Parameter Address 1 127 236 VAR CAN W Y RW CAN Bus Parameter Boot up Mode 0 2 EPM Operational State Control 0 enters into pre operational state 1 enters into operational state 2 pseudo NMT sends NMT Start Node command after delay set by variable 237 237 VAR OPERDELAY _ W Y RW CAN Bus Parameter pseudo NMT mode Refer to sec EPM delay time in seconds variable 236 238 VAR CAN ENABLE EPM W Y RW CAN Bus Parameter Mode Control 0 4 0 Disable CAN interface 1 Enable CAN interface in DS301 mode 2 Enable CAN interface in DS402 mode 3 Enable DeviceNet 4 Enable PROFIBUS DP 239 VAR HOME ACCEL Y RW Homing Mode ACCEL rate 0 UU sec2 10000000 0 240 VAR HOME OFFSET Y RW Homing Mode Home Position Offset 32767 to UU 432767 241 VAR HOME OFFSET W Y RW Homing Mode Home Position Offset in EC PULSES encoder counts 2147418112 242 VAR HOME FAST VEL Y RW Homing Mode Fast Velocity 10000 to UU sec 10000 243 VAR HOME SLOW VEL Y RW Homing Mode Slow Velocity 10000 to UU sec 10000 244 VAR HOME METHOD W Y RW Homing Mode Homing Method 1 35 245 VAR START HOMING WIN Homing Mode Start Homing 0 1 0 No action 1 Start Homing 246 VAR HOME SWITCH W Y RW Homing Mode Switch Input Assignment 0 11 INPUT
31. as not directed to the drive s network address is not at least 8 bytes long minimum required for the supported functions e is more than 18 bytes long maximum allowed before input buffer overflow occurs P94MOD01C 26 Lenze AC Tech 5 7 5 8 5 8 1 5 8 2 Protocol Implementation ilili Exception Responses If an invalid message is received the drive will respond with a Modbus Exception as per the Modbus application Protocol specification V1 1 i e the exception function code the request function code 0x80 an exception code is provided to indicate the reason of the error Table 9 Exception Codes Code V1 1 Specification Description 0x01 Illegal Function function not supported by PositionServo 0x02 Illegal data address requested address is not a valid register address 0x03 Illegal Data Value set value not valid for specific variable Modbus Message Frame The Modbus protocol defines a simple protocol data unit PDU independent of the underlying communication layers There are additional application data unit ADU fields introduced by the network layer ADU for Modbus RTU EN ER PDU Figure 18 Modbus RTU Frame 485 ADU for Modbus TCP IP EN MBAP PDU Figure 19 Modbus TCP IP Request Response PDU Function Code e Size 1 byte The function code indicates what kind of action to perform e The function code depending upon the function is no
32. be able to support a fewer number of nodes i e 8 16 Refer to the documentation for the Modbus master in use network may be built up from one or more segments with the use of network repeaters e Maximum network segment length is 1200 meters for baudrates up to and including 19200bps Certain Modbus masters may be limited to shorter runs Refer to the documentation for the Modbus master in use e Minimum of 1 meter of cable between nodes e Use fiber optic segments to e Extend networks beyond normal cable limitations e Overcome different ground potential problems Overcome very high electromagnetic interference EIA 485 is a linear daisy chain topology Both ends of the network segment must be terminated by a 1200 1 resistor Network Limitations Ethernet There are several limiting factors that must be taken into consideration when designing a Modbus TCP IP network however here is a simple checklist e Modbus TCP IP networks are limited to a maximum of 255 nodes per subnet based on a Class C addressing system e Hubs are not recommended for general use as they contribute in creating network data collisions ports on a hub do not route data direct to other ports but instead all ports are open to receive data from every port and as such will cause additional delays in transmissions while the re attempts are carried out e Switches the recommended solution for connecting a multi node network as they route n
33. ces that often have parameters starting at address 1 However the true data addressed within a Modbus telegram starts at address 0 This means that registers are offset by 1 compared to the true data address transmitted on the network e g Holding register 40001 is actually accessed as 0000 in the message telegram address field The conversion from Modbus register number to the Modbus data address field is performed automatically by the Modbus Master Client The PositionServo adheres to the Modbus Standard in that its registers start at 1 NOTE 1 Some Modbus masters will allow for the first register number to be 0 This is known as zero based addressing If this is the case the Modbus register numbers listed in this manual must be offset by 1 to properly program a master using zero based addressing e Using a master that supports traditional register addressing to access PositionServo parameter 100 user variable VAR VO as a 16 bit value would use Modbus register 42405 e Using a master that has zero based addressing enabled would use Modbus register 42404 25 P94MODO1C 5 5 5 5 1 5 5 2 5 6 Protocol Implementation Endian Format Modbus uses big endian representation of the register data This means that when a numerical value that is larger than a single byte is transmitted the MOST significant byte MSB is sent first e g e 16 bit integer value 0x1234 2 bytes of 0x12 and 0x34 e 32 bit integer
34. ction Codes The Modbus function codes supported by the PositionServo drive are 03 Read Holding Register 16 Preset write Multiple Registers Data Format Size and Memory Area Modbus registers are limited by protocol definition to a length of 16 bits per register The user must use two consecutive 16 bit registers to read write one 32 bit register All PositionServo drive parameters are 32 bit in size but can be accessed in 3 different formats e Floating Point FLOAT or REAL e 32 bit integer DWORD or DINT e 16 bit integer WORD or INT where by the true 32 bit value consumes two consecutive 16 bit registers Furthermore PositionServo parameters exist in each of the 3 formats in both RAM volatile and EPM non volatile areas Therefore the memory addresses are divided into six ranges according to their format and memory type as shown in Table 8 Table 8 Memory Address Ranges Memory Area Offset 0 512 1024 1556 2068 2304 Type RAM RAM EPM EPM RAM EPM Format 32 bit INT Float 32 bit INT Float 16 bit INT 16 bit INT The Modbus register address of a drive parameter can be calculated as follows Modbus 2 x PID Register Memory pise Modbus Offset Where PIDNumber MemoryOffset Memory offset as per table 4 above ModbusOffset 0 for zero based addressing 1 for traditional Modbus addressing NOTE
35. d 51 VAR VREG WINDOW vel W Y RW Gains scaling coefficient 16 to 4 52 VAR ENABLE WIN IW Software Enable Disable 0 1 0 disable 1 enable 53 VAR RESET win IW Drive s reset Disables drive Stops running 0 1 program if any reset active fault 0 no action 1 reset drive 54 VAR STATUS WIN IR Drive s status register 55 VAR BCF SIZE R User s program Byte code size Bytes 56 VAR AUTOBOOT W Y RW User s program autostart flag 0 1 0 program started manually MV or interface 1 program started automatically after drive booted 57 VAR GROUPID w Y RW Network group ID 1 32767 58 VAR VLIMIT ZEROSPEED FLY R W Zero Speed window 0 100 Rpm 59 VAR VLIMIT SPEEDWND E RW At Speed window 10 10000 Rpm 60 VAR VLIMIT ATSPEED F Y RW Target Velocity for At Speed window 10000 Rpm 410000 61 VAR PLIMIT POSERROR why R W Position error 1 32767 EC 62 VAR PLIMIT ERRORTIME Y RW Position error time time which position error 0 25 8000 mS has to remain to set off position error fault 63 VAR PLIMIT SEPOSERROR W Y RW Second encoder Position error 1 32767 EC 64 VAR_PLIMIT_ F Y RW Second encoder Position error time time 0 25 8000 mS SEERRORTIME which position error has to remain to set off position error fault 65 VAR_INPUTS WIN R Digital inputs states A1 occupies Bit 0 A2 Bit 1 CA bit 11 Lenze 31 LAC Tech RAM EPM EPM Register Reg Copy Reg Copy 32bit 32bit 32bit Float Integ
36. drive can also be assigned automatically by the server To have the address assigned automatically the drive must have its DHCP mode enabled This can be done by using the drive keypad and display Press the mode button on the display and use the UP and DOWN buttons to access parameter DHCP Check this parameter is set to a value of 1 If the DHCP parameter is set to 0 then use the mode and up arrow to set to 1 and then cycle power to the drive in order for this change to take effect When the PositionServo drive is waiting for an IP address to be assigned to it by the server it will display in each of the four octet parameters IP 1 IP 2 IP 3 and IP_4 on its display Once the address is assigned by the server it will appear in these parameters If this parameters continue to display then it is likely that a connection between the drive and server has not been established or the server is not DHCP enabled DHCP can be enabled through the MotionView software for convenience should the operator wish to configure the drive using a manual static IP address and switch over to an automatic dynamic address once configuration is complete 4 3 5 Re Initializing To activate any changes made the drive has to be reinitialized Hence the warning within MotionView Some parameter s change will take an effect after REBOOT Important Message You must REBOOT the drive for changes to take e
37. er Float Access Access Access 4X AN 4X Register Register Register 581 1093 1605 583 1095 1607 585 1097 1609 587 1099 1611 589 1101 1613 591 1103 1615 593 1105 1617 595 1107 1619 597 1109 1621 599 1111 1623 601 1113 1625 603 1115 1627 605 1117 1629 607 1119 1631 609 1121 1633 611 1123 1635 613 1125 1637 615 1127 1639 617 1129 1641 619 1131 1643 621 1133 1645 623 1135 1647 625 1137 1649 627 1139 1651 629 1141 1653 631 1143 1655 633 1145 1657 635 1147 1659 637 1149 1661 639 1151 1663 641 1153 1665 643 1155 1667 P94MODO1C Index Name Type Format EPM Access Description Range Unit VAR OUTPUT Digital outputs states Writing to this variables sets resets digital outputs except outputs which have been assigned special function Output 1 Bit 0 Output 2 Bit 1 Output 3 Bit 2 Output 4 Bit 3 Output 1 Output 4 67 VAR ADDRESS Ethernet IP address IP address changes at next boot up 32 bit value 68 VAR IP MASK Ethernet IP NetMask Mask changes at next boot up 32 bit value 69 VAR IP GATEWAY Ethernet Gateway IP address Address changes at next boot up 32 bit value 70 VAR IP DHCP 2 2 Use DHCP 0 manual 1 use DHCP service 71 VAR Analog Input AIN1 current value 72 VAR AIN2 Analog Input AIN2 current value 73 VAR BUSVOLTAGE
38. etwork data direct from port to port collisions may occur during network start up or when a device is connected and the correct port routing is established and therefore reduce the possibility of collisions e Office grade Ethernet equipment does not generally offer the same level of noise immunity or robustness as industrial grade Ethernet equipment Lenze 11 P94MODO1C AC Tech 3 3 4 Installation Maximum cable length for UTP STP CAT5e cable is typically 100m For other categories consult the cable data sheet Use fiber optic segments to e Extend networks beyond normal cable limitations e Overcome different ground potential problems e Overcome very high electromagnetic interference Spurs or T connections are not permitted on an Ethernet cable To create additional connections an Ethernet switch must be used The use of wireless networking products for industrial applications is becoming more acceptable but extreme care must be taken during the design phase and consultation with an industrial wireless provider is strongly recommended Connections and Shielding EIA 485 To ensure good system noise immunity all network cables should be correctly grounded Minimum recommendation of grounding is that the network cable is grounded once in every cubical Ideally the network cable should be grounded on or as near to each drive as possible For wiring of cable to the connector plug the unscreened cable cores
39. ex is not multiplied by 2 because one variable is mapped to one register only If the variable which is represented as a 32 bit value internally is out of range lower than minimum or higher than maximum value for 16 bit integers then the return value is truncated to the closest value supported by the 16 bit signed number The access to a variable using this register address range will only read write the RAM copy of a variable To access the variable index as an EPM 16 bit signed integer register the EPM copy of a variable that is represented as a 16 bit integer use the following formula to calculate this register address maximum address allowed is 2560 register address gt 2304 variable index 1 For these terminals the values are represented only as integers The variable index is not multiplied by 2 because one variable is mapped to one register only If the variable which is represented as a 32 bit value internally is out of range lower than minimum or higher than maximum value for 16 bit integers then the return value is truncated to the closest value supported by the 16 bit register The access to a variable using this register address range will read only the RAM copy of a variable and write both the RAM and EPM copies of a variable Refer to section 6 for a complete list of Modbus registers for each variable Register Numbering Modbus registers start at 1 which historically coincided with many older slave devi
40. ffect and reconnect Proper operation of IMotionView is not guaranteed if you don t reboot the drive Figure 17 REBOOT Message This can be done by cycling the power to the drive 4 3 6 Non Communication Based Parameter Settings In addition to configuring the Modbus settings and depending upon the application there may be several drive based parameters that will need to be set using MotionView or an Indexer program or via the Modbus parameter access channel Such as PID34 Drive Mode VAR_DRIVEMODE PID37 Reference VAR REFERENCE PID29 Enable switch funtion VAR ENABLE SWITCH Lenze 21 P94MOD01C AC Tech 4 5 4 6 4 7 P94MODO01C 22 Commissioning Drive Monitoring The master client can read the drive parameters as long as Modbus communications are enabled NOTE 1 The complete list of variables can be found in the PositionServo Programming Manual PM94P01 PM94M01 Controlling the Drive Controlling the drive over Modbus is essentially identical to controlling the drive from the User s program The list of variables and their functionality is identical for both User s program and Modbus control Refer to the variable list in the PositionServo Programming Manual for the functionality of the drive s variables Changing Drive Parameters To change drive parameters simply write to the appropriate register as listed in the PositionServo Programming Manual PM94P01
41. hine 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 which can easily be damaged by inappropriate handling Do not damage or destroy any electrical components since this might endanger your health 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 Additional information can be obtained from the national regulation documentation In the United States electrical installation is regulated by the National Electric Code nec
42. lave Server 4 51 Connecting With the drive power disconnected install the EIA 485 RS485 module and connect the network cable as instructed in the preceeding sections Ensure the drive Run Enable terminal is disabled then apply the correct voltage to the drive refer to drive s user manual for voltage supply details 4 3 2 Connect to the Drive with MotionView OnBoard Refer to the PositionServo User Manual section 6 2 for full details on configuring and connecting a drive via MotionView OnBoard MVOB software Contained herein is a brief description of launching MVOB and communicating with the drive 1 Open the PC s web browser Enter the drive s default IP address 192 168 124 120 in the browser s Address window The authentication screen may be displayed if the PC does not have Java RTE version 1 4 or higher If so to remedy this situation download the latest Java RTE from http www java com When MotionView has finished installing a Java icon entitled MotionView OnBoard will appear on your desktop and the MVOB splash screen is displayed Click Run to enter the MotionView program Once MotionView has launched verify motor is safe to operate click YES have then select Connect from the Main toolbar top left The Connection dialog box will appear Select Discover to find the drive s on the network available for connection Discover may fail to find the drive s IP address on a computer with both a wireless netwo
43. ll 1 Bit 1 Hall 2 Bit 2 Hall 3 211 VAR ENCODER WIN R Primary encoder current value EC 212 VAR RPOS PULSES WIN R Registration position EC 213 VAR RPOS E N R Registration position UU 214 VAR POS F N R W Target position UU 215 VAR APOS F N RW Actual position UU 216 VAR POSERROR WIN IR Position error EC 217 VAR CURRENT VEL F N R Set point target velocity demanded value UU S 218 VAR CURRENT ACCEL F N R Set point target acceleration demanded UU S2 value 219 VAR_TPOS_ADVANCE WIN IW Target position advance Every write to this EC variable adds value to the Target position summing point Value gets added once per write This variable useful when loop is driven by Master encoder signals and trying to correct phase Value is in encoder counts 220 VAR IOINDEX W IN RW Same as INDEX variable in user s program 221 VAR PSLIMIT PULSES W Y RW Positive Software limit switch value in EC Encoder counts 222 VAR NSLIMIT PULSES W Y RW Negative Software limit switch value in EC Encoder counts 223 VAR SLS MODE why R W Soft limit switch action code 0 2 0 no action 1 Fault 2 Stop and fault When loop is driven by trajectory generator only With all other sources same action as 1 224 VAR_PSLIMIT F Y RW Same as var 221 but value in User Units UU 225 VAR_NSLIMIT Y RW Same as var 222 but value in User Units UU 226 VAR SE APOS PULSES WIN R 2nd encoder actual position in encoder EC counts 227 VA
44. mercial and industrial automation applications The Modbus RTU architecture is based upon a Master Slave orientation in which the PositionServo drive is always a slave node While the Modbus RTU protocol does not specify the physical layer the most commonly used is 2 wire 485 RS485 The PositionServo requires the use of an 485 option module E94ZARS41 to be able to connect to such a network and communicate via Modbus RTU Modbus TCP IP uses an Ethernet physical layer and as such peer to peer and client server communication techniques are possible However the PositionServo drive is always a server slave node 2 2 485 Module 2 2 1 Specification e Supported baudrates 115200bps 57600bps 38400bps 19200bps 9600bps e Parity modes supported Even Odd None e Stop bits supported 2 1 5 1 EIA 485 2 wire half duplex e Network impedance loading of 1 unit EIA 485 specification stipulates max of 32 units per network segment 2 2 2 Module Identification Label Figure 1 illustrates the labels on the PositionServo 485 RS485 option module The PositionServo 485 module is identifiable by e One label affixed to the side of the module e The TYPE identifier in the center of the label E94ZARS41 e The port interface identifier P21 on the right hand side of the label B ED Lenze TYPE E94ZARS41BT L ID NO 123456789 A Fieldbus Protocol Made in USA 039080825 N B Model N
45. ops motion 0 1 0 no action 1 stops motion 137 VAR START PROGRAM WIN IW Starts user program 0 1 0 no action 1 starts program 138 VAR VEL MODE ON WIN Turns on Profile Velocity for Internal Position 0 1 s Vom operation 1 velocity mode on 139 VAR IREF F N W Reference Internal Torque or Velocity Mode RPS Amps 140 VAR_NVO F N RW User defined Network variable 141 VAR NV1 F N RW User defined Network variable 142 VAR NV2 F N RW User defined Network variable 143 VAR NV3 F N RW User defined Network variable 144 VAR NV4 F N RW User defined Network variable 145 VAR NV5 F N RW User defined Network variable 146 VAR NV6 E N RW User defined Network variable 147 VAR NV7 F N RW User defined Network variable 148 VAR NV8 F N RW User defined Network variable 149 VAR NV9 F N RW User defined Network variable 150 VAR NV10 F N RW User defined Network variable 151 VAR NV11 F N RW User defined Network variable 152 VAR NV12 F N RW User defined Network variable 153 VAR NV13 N RW User defined Network variable 154 VAR NV14 F N RW User defined Network variable 155 VAR NV15 F N RW User defined Network variable 156 VAR NV16 F N RW User defined Network variable 157 VAR NV17 F N RW User defined Network variable 158 VAR NV18 N RW User defined Network variable 159 VAR NV19 F N RW User defined Network variable 160 VAR NV20 F N RW User defined Network variable 161 VAR NV2
46. or PM94M01 EIA 485 RS485 Parameters Drive variables 172 176 are EIA 485 RS485 communication programming parameters specifically for configuration of the EIA 485 interface Table 5 EIA 485 RS485 Variables Excerpted from PS Variable List PID Variable Name Type Format EPM Access Description Units 172 VAR SERIAL ADDRESS Ww Y R W RS485 drive ID Range 0 254 Baud rate for Modbus operations 2 9600 5 57600 VAR MODBUS BAUDRATE n m K H 2 3 19200 6 115200 4 38400 174 VAR MODBUS DELAY Ww Y R W Modbus reply delay inms mS Range 0 1000 RS485 configuration 175 VAR RS485 CONFIG W Y DAN 0 normal IP over PPP 1 ModBus VAR PPP BAUDRATE RS232 485 normal mode baud rate 2 9600 5 57600 176 wors Does NOT apply W Y RW IS 6 115200 to MVOB 4 38400 Commissioning n 48 Ethernet Parameters Drive variables 67 70 are Ethernet communication programming parameters specifically for configuration of the ethernet interface Table 6 Ethernet Variables Excerpted from PS Variable List PID Variable Name Type Format EPM Access Description Units Ethernet IP address IP address changes at next boot up 32 bit value Ethernet IP NetMask Mask changes at next 67 VAR IP ADDRESS Ww Y R W VAR IP MASK W Y RW l oot up 32 bit value 69 VAR IP GATEWAY W Y R W Ethe
47. raphs used in These Instructions Pictograph Signal Word Meaning Consequence if Ignored DANGER Warning of Hazardous Electrical Reference to an imminent danger that may Voltage result in death or serious personal injury if the corresponding measures are not taken WARNING Impending or possible danger to Death or injury personnel STOP Possible damage to equipment Damage to drive system or its surroundings e NOTE Useful tip If note is observed it 1 will make using the drive easier 1 2 Reference Documents e Modbus Application Protocol Specification V1 1 Refer to http www modbus org tech php Modbus Over Serial Line Specification amp Implementation Guide V1 0 Refer to http www modbus org e PositionServo Programming Manual PM94P01 PM94M01 MVOB Refer to http www lenze actech com NOTE i The complete list of variables can be found in the PositionServo Programming Manual PM94P01 PM94M01 P94MOD01C Lenze AC Tech Introduction 2 Introduction The following information is provided to explain how the PositionServo drive operates on a Modbus network it is not intended to explain how Modbus itself works Therefore a working knowledge of Modbus is assumed as well as familiarity with the operation of the PositionServo drive 2 1 Fieldbus Overview Modbus is an internationally accepted asynchronous serial protocol designed for com
48. ress in the address field of the message When the slave returns its response it places its own address in the response address field to let the master know which slave is responding Error Check Field Error checking field is the result of a Cyclical Redundancy Checking CRC calculation that is performed on the message contents The CRC field checks the contents of the entire message It is applied regardless of any parity checking method used for the individual characters of the message The CRC field contains a 16 bit value implemented as two 8 bit bytes The CRC field is appended to the message as the last field in the message When this is done the low order byte of the field is appended first followed by the high order byte The CRC high order byte is the last byte to be sent in the message The CRC value is calculated by the sending device which appends the CRC to the message The receiving device recalculates a CRC during receipt of the message and compares the calculated value to the actual value it received in the CRC field If the two values are not equal then it results in an error 5 8 4 ADU for Modbus TCP The ADU for Modbus TCP consists of the MBAP Header and the common Modbus PDU The MBAP header is 7 bytes long The actual IP addressing and message error checking are performed by the Ethernet physical layer refer to the ISO 7 layer model and the Modbus IDA website for further details Table 10 MBAP Header Field Length Bytes
49. rk card and a wired network card or a PC with more than one network connection If this happens try one of the following remedies Disable the wireless network card and then use Discover Type in the drive s IP address manually at the box IP Address Then click Connect Highlight the drive or drives to be connected and click Connect in the dialog box Connection Connected Connectto drive 192 168 124 120 Discover L IP Address Connect Name Find by name Figure 12 Connection Box with Discovered Drive In the lower left of the MotionView display the Message Window will contain the connection status message The message Successfully connected to drive 04402200450 192 168 124 120 indicates that the drive B04402200450 with IP address 192 168 124 120 is connected Lenze AC Tech 17 P94MOD01C Tr Commissioning 4 3 3 Modbus RTU Slave Node Settings If using the EIA 485 RS485 module open MotionView and click on the Communication folder Then select the RS485 folder to set change the RS485 parameters Configuration Baud Rate Parity Stop Bits and Address MotionView OnBoard 2 14 E94P 240V 04 Amp 192 168 124 120 STOPPED Lenze AC Tech m Disconnect me toad 3 6 DefautAl E94P 240V 04 Amp 192 168 124 Motor Description Value RS485 Configuration Modbus Slave RS485 Baud Rate 19200 EtherNetllP CIP RS48
50. rmally followed by a data field that contains request and response parameters PDU Data The data field of messages sent from a master client to slave server device contains additional information that the slave server uses to take the action defined by the function code This can include items like discrete and register addresses the quantity of the items to be handled and the count of the actual data bytes in the field The data field may be nonexistent of zero length in certain kinds of requests In this case the slave server does not require any additional information The function code alone specifies the action Lenze 27 P94MOD01C AC Tech mn Protocol Implementation If no error occurs related to the Modbus function requested in a properly received Modbus ADU the data field of a response from a slave server to a master client contains the data requested If an error related to the Modbus function requested occurs the field contains an exception code that the server application can use to determine the next action to be taken 5 8 3 ADU for Modbus RTU The ADU for Modbus RTU consists of the Address field Error Check and the common Modbus PDU Address Field As described in the previous section the valid slave nodes addresses are in the range of 0 247 decimal The individual slave devices are assigned addresses in the range of 1 to 247 A master addresses a slave by placing the slave add
51. rnet Gateway IP address Address m changes at next boot up 32 bit value 70 VAR IP DHCP W Y R W Use DHCP 0 1 O manual 1 use DHCP service 4 9 Negative Number Transmission Drive variables 51 60 79 81 and 90 are signed integer values and could be negative These registers are sent over the modbus communications in signed internal units Table 7 Signed Integer Variables Excerpted from PS Variable List PID Variable Name Type Format EPM Access Description Units 51 VAR VREG WINDOW vel W Y B W Gains scaling coefficient Range 16 to 4 60 VAR VLIMIT ATSPEED F Y R W Target Velocity for At Speed window Rpm Range 10000 10000 Master to system ratio Master counts range 32767 32767 79 VAR M2SRATIO MASTER Y R W Value will be applied upon write to PID 80 Write to this PID followed by writing to PID 80 to apply new ratio pair Secondary encoder to prime encoder ratio Second counts range 32767 32767 81 VAR S2PRATIO SECOND Y R W Value will be applied upon write to PID 82 Write to this PID followed by writing to PID 82 to apply new ratio pair Analog input 1 offset Applied when used 90 VAR AIN1 OFFSET Y current velocity reference mV Range 10 000 to 10 000 23 P94MOD01C 5 2 P94MODO01C 24 Protocol Implementation Modbus Implementation Supported Fun
52. should be kept as short as possible recommended maximum of 20mm Connect to cubical panel 20mm max earth PE as z close to drive as possible DQ Figure 4 485 Connection P94MOD01C 12 Lenze Installation 3 3 5 Connections and Shielding Ethernet The use of pre fabricated cables is recommended as this reduces the chances of connections mistakes and poor quality connections If cable connections are assembled on site then it is strongly recommended that these cables are tested with a suitable Ethernet cable tester STP cables are the preferred solution as they provide a screen shield surrounding the inner cores and have an integrated screened surround on the RJ45 connector for quick and easy connection Figure 5 CAT5e STP Cable Images 2000 2009 Belkin International Inc 3 3 6 Network Termination 485 In high speed EIA 485 networks typically 19 2kbps or higher it is essential to install the specified termination resistors i e one at both ends of a network segment Failure to do so will result in signals being reflected back along the cable which will cause data corruption A 1200 1 1 4W resistor should be fitted to both ends of a network segment across the TxA and TXB lines 1292 1 4 W Connect to cubical panel earth PE as close to drive as possible Figure 6 EIA 485 RS485 Network Termination 3 3 7 Network Termination Ethernet
53. smitted is one less Some Modbus masters will allow for the first register number to be 0 This is known as zero based addressing If this is the case the Modbus register numbers listed in this manual must be offset by 1 to properly program a master using zero based addressing Refer to Section 6 for a list of the PositionServo Modbus registers Lenze 15 P94MOD01C AC Tech Commissioning Project component Variables General Limit values Name Drive user variable VAR VO Device 941 PositionServo X axis Data area FC 03 16 read write long registers Signed Address Address 4C3 Valid range Address HEX 0 FFFF re Dword Use zero based addressing Figure 10 Example Modbus Register Assignment 6 Repeat steps 3 to 5 for each required slave server node File Edit Tools View Options Deg x e 2 2 e Components E A MODBUS 7 ATU Master fast peripherals m RTU Master slow peripherals m RTU Slave 7 Slave fast peripherals m TCP IP Modbus ES PROFIBUS ES CANOPEN E a INTERBUS MODBUS TCP IP Modbus Project LJ Modbus Client 941 PositionServo X axis m 941 PositionServo Y axis Figure 11 Example Modbus Master Client Configuration 7 Save the configuration and download to the master client P94MOD01C 16 Lenze Commissioning n 4 3 Configuring the PositionServo S
54. ssnssanscsnssdssnsesssnansnasantesnssdnsndedstesnsasssnesanesenedinsions 5 1 2 Reference DOCHIIGITIS nonis 6 2 IMO VF EE 7 2 1 FR p 22 do corni Ee CR D RR AND HUN IT 7 EE 7 222 aad vn nd noms 7 2 3 EEE NNI eec 8 3 PPS PAN sn RR RET 9 3 1 Mechanical Installation sess 9 3 2 CONNECTIONS annone an a 10 NNN ee 10 32A zc OU OR AR T 10 3 3 Electrical Inetallaton nnn 11 3 3 1 EC AND tT 11 3 3 2 Network Limitations 11 3 3 3 Network Limitations Ethernet 5 e eerernetn entere 11 3 3 4 Connections and Shielding EIA 485 sse 12 3 3 5 Connections and Shielding Ethernet 13 3 3 67 Network Termination EIA 485 ee 13 3 3 7 Network Termination Ehemek uusmuemememeemmeeevevuv 13 3 3 8 Network Schematic EIA 485 sse 14 3 3 9 Network Schematic gege ER DURER OMEN UU DN 14 4 COMMISSIONING NRI 15 4 1 UK 15 4 2 Configuring the Network Master Clent 15 4 3 Configuring the PositionServo Slave Server siae icon curent utut 17 43 ER ERR ES RR 17 4 3 2 Connect to the Drive with MotionView OnBoard 17 4 3
55. ters contain one sub octet of the full IP address for example in the case of the drive default factory set address parameters IP 1 192 IP 2 168 IP 3 124 IP 42 120 By accessing these four parameters the full IP address on the drive can be obtained If parameters IP 1 IP 2 IP 3 and IP_4 all contain rather than a numerical values it means that the drive has DHCP enabled and the DHCP server is yet to assign the drive its dynamic IP address As soon as an IP address is assigned by the server the address assigned will be display by the drive in the above parameters See section on obtaining IP addresses through DHCP Lenze 19 P94MODO1C AC Tech Commissioning 4 3 4 2 Configuring the IP Address Manually Static Address When connecting directly from PositionServo drive to the PC without a DHCP server or when connecting to a private network where all devices have static IP addresses the IP address of the PositionServo drive will need to be assigned manually To assign the address manually the drive must have its DHCP mode disabled This can be done using the drive keypad and display Press the recessed mode button lt on the display and use the UP and DOWN buttons V to access parameter DHCP Check this parameter is set to a value of 0 If the DHCP parameter is set to 1 then use the mode and down V arrows to set to 0 and then cycle power to the drive in
56. the user has familiarised themselves with how to set parameters using MotionView software Refer to the PositionServo with MVOB User Manual S94PM01 for more details The details that follow provide a step by step guide to quickly and easily set up a PositionServo drive to communicate on a Modbus network 4 2 Configuring the Network Master Client The method for configuring master client devices differs greatly between manufacturers Provided herein is a very basic generic guide to setting up a network master client Consult the master client manufacturer for configuration assistance if required 1 Launch the Master client configuration software 2 Setup the Master client Modbus port as required Refer to Table 4 Table 4 Modbus RTU and Modbus TCP IP Settings Modbus RTU Master settings Modbus TCP Client settings Node address IP Address or DHCP enabled Baud rate Subnet mask set as required i e 255 255 255 0 Data bits 8 for Modbus RTU Gateway set as required Parity Service port 502 Stop bits Baud rate set as required i e 100Mbps Flow control 3 Add generic Modbus slave server node to the master client 4 Setthe slave server node address 5 Assign the Modbus slave service registers as required NOTE 1 In true Modbus 3X and 4X Registers are numbered starting at 1 This is known as one based addressing However when transmitted to a slave over the serial link the actual address tran
57. tor value mtn Motion writing to an mtn variable could cause the start of motion A vel Velocity denotes a velocity or velocity scaling value The column Format provides the native format of the variable W 32 bit integer F float real When setting a variable via an external device the value can be addressed as floating or integer The value will automatically adjusted to fit it s given form The column shows if a variable has a non volatile storage space in the EPM memory Y Variable has non volatile storage Space in EPM N Variable does not exist in EPM memory The user s program uses a RAM volatile copy of the variables stored on the EPM At power up all RAM copies of the variables are initialized with the EPM values The EPM s values are not affected by changing the variables in the user s program When the user s program reads a variable it always reads from the RAM volatile copy of the variable Communications Interface functions can change both the volatile and non volatile copy of the variable If the host interface requests a change to the EPM non volatile value this change is done both in the user program s RAM memory as well as in the EPM Interface functions have the choice of reading from the RAM volatile or from the EPM non volatile copy of the variable The column Access lists the user s access rights to a variable R read only W write only R W read write Writing to an R read
58. umber PositionServo C E94ZARS41BTO00XX1A10 o C Lenze Order Number Communications D Firmware Revision T Figure 1 PositionServo 485 RS485 Module Label Lenze 7 P94MOD01C AC Tech ie Introduction 2 3 Ethernet Port e Supported baudrates 100Mbps and 10Mbps e Supports two simultaneous Modbus TCP IP connections on port 502 e Complies with IEEE 802 3 e Standard screened RJ45 connector with integrated status LEDs e Onopen connections with no activity for more then 75 seconds the PositionServo Drive sends a TCP keep alive message every 75 seconds to check the connection status NOTE 1 The PositionServo does not support auto negotiation cross over Therefore unless the connecting device supports auto negotiation cross over a crossover cable will be required for one to one connection P94MOD01C 8 Lenze Installation 3 Installation Section 3 1 is only applicable to Modbus RTU communication with the EIA 485 RS485 option module E947ARS41 Modbus TCP IP communication uses the P2 Ethernet port on the front of the PositionServo 3 1 Mechanical Installation 1 Lenze AC Tech Ensure that for reasons of safety the AC supply DC supply and 24VDC backup supply have been disconnected before opening the option bay cover Remove the two COMM module screws that secure Option Bay 1 With a flat head screwdriver lift the Option Bay 1 cover plate and remove
59. value 0x12345678 4 bytes of 0x12 0x34 0x56 and 0x78 Registers Access e Care should be taken when accessing registers from multiple sources such as multiple clients or the drive Indexer program as data could be over written or out of sequence e Writing to the EPM area of memory simultaneously writes to the RAM area too e Writing to the EPM area of memory should be done conservatively as the EEPROM EPM has a typical life expectancy of 1 million writes Register Reading Use the function code 03 0x03 Read 4X Holding Registers to read an adjoining block of holding registers in a remote device NOTE 1 Do NOT attempt to read any write only variables Attempting to read a write only variable can result in erroneous data Register Writing No discrete coil access function code 1 is provided for PositionServo Drive Use the 16 0x10 Write Multiple Registers function to write binary values This requires the user programming to pack bits into user registers The function code 16 0x10 Write Multiple Registers is used to write a block of adjoining registers 1 123 Master device dependent in a remote device NOTE Do NOT attempt to write to any read only variables Attempting to write to a read only variable can result in drive fault F41 No Response Conditions The PositionServo Drive will not respond to any message that contains one or more parity errors e has an invalid CRC value w

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