ADJUSTABLE SPEED DRIVE NETWORK INTERFACE ICC INDUSTRIAL CONTROL COMMUNICATIONS, INC. ETH-100 ETHERNET COMMUNICATIONS INTERFACE FOR THE TOSHIBA 7-SERIES AND 9-SERIES ADJUSTABLE SPEED DRIVES April 2002 ICC #10449-1.
Introduction Thank you for purchasing the ICC, Inc. ETH-100 Ethernet Communications Interface for the Toshiba 7-Series and 9-Series Adjustable Speed Drives. Before using the ETH-100 interface, please familiarize yourself with the product and be sure to thoroughly read the instructions and precautions contained in this manual.
ETH-100 Ethernet Interface User's Manual Part Number 10449-1.100-000 Printed in U.S.A. ©2001-2002 Industrial Control Communications, Inc. All rights reserved Industrial Control Communications, Inc. reserves the right to make changes and improvements to its products without providing notice. Notice to Users INDUSTRIAL CONTROL COMMUNICATIONS, INC.’S PRODUCTS ARE NOT AUTHORIZED FOR USE AS CRITICAL COMPONENTS IN LIFE-SUPPORT DEVICES OR SYSTEMS.
Usage Precautions Operating Environment • Please use the ETH-100 only when the ambient temperature of the environment into which the ETH-100 is installed is within the following specified temperature limits: Operation: -10 ∼ +50°C (+14 ∼ +122°F) Storage: -40 ∼ +85°C (-40 ∼ +185°F) • • Avoid installation locations that may be subjected to large shocks or vibrations. Avoid installation locations that may be subjected to rapid changes in temperature or humidity.
TABLE OF CONTENTS 1. Mechanical Diagrams........................................................................... 6 1.1 1.2 1.3 Enclosure .........................................................................................................6 Mounting Clip ...................................................................................................7 External Interface .............................................................................................8 2. Feature Summary ............
10.4 10.5 10.6 10.7 10.8 10.9 11. Register Remap Function ...........................................................................29 ASD Scan Registers ...................................................................................30 Modbus Programmable Pointer Registers ..................................................30 Register Access Notes ...............................................................................31 Performance Tips .........................................................
1. Mechanical Diagrams 1.
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1.3 External Interface MMI port Network Link/Act LEDs Module Status / Network Status LEDs ASD Channel A ASD Channel B ASD Channel C Configuration DIP switches Ethernet Network SHIELD grounding terminal (refer to Section 4). Note that for clarity the above diagram shows the ETH-100 unit removed from its case. However, it is not necessary to remove the unit from its case in order to install or configure the ETH-100.
2. Feature Summary The ETH-100 interface provides a wide array of network data access and drive control features. Combined with the flexible configuration and standard 10BaseT Ethernet/Internet connectivity, this allows powerful networked control and monitoring systems to be designed. This in turn provides easy and direct data transfer capabilities to PLCs, PC-based control systems and a wide array of manufacturing/ERP and plant control software packages. Network IEEE 802.3 10BaseT Ethernet compliant.
Drive AutoScan Algorithm Connections to the drives are automatically established and continuously monitored. No drive configuration needs to be performed to connect the ETH-100 to the drives. Just plug it in – it’s that simple. User-Configurable Scan Registers In order to provide faster access to internal drive data, the user has the ability to program up to 8 ASD registers per channel to be locally mirrored within the ETH-100.
Field-Upgradeable As new firmware becomes available, the ETH-100 unit can be upgraded in the field by the end-user. Refer to section 12 for more information. Versatile 3-Way DIN-Rail Mounting System The unit’s enclosure is provided with a mounting clip attached to the rear of the unit. This clip allows the unit to be mounted 3 different ways: • For DIN rail mounting, snap the mounting clip onto a standard DIN rail, and then snap the unit enclosure onto the clip’s retaining tabs.
3. Installing The Interface The ETH-100 connects to each drive via the drive’s common serial (logic level) communication port, typically located on either the main drive control board (G7), on the front of the drive enclosure under a small snap-on cover (A7, S9), or on the righthand side of the drive enclosure under a small snap-on cover (S7).
If the EOI is already connected via the RS485/RS232 channel, then no change is required. 6. Connect the drive’s common serial communication port (CNU2) to one of the channels (A, B or C) of the ETH-100 with the communication cable (communication cable is not included with the interface kit). When choosing cables for this connection, standard 24 AWG category 5 (CAT5) unshielded twisted-pair (UTP) 8-conductor cables found in Ethernet networks in most office environments can be used.
4. Remove the drive’s common serial communication port cover (refer to the appropriate drive manual for instructions how to do this). Do not discard this cover, as it should be reinstalled to minimize contamination of the port’s electrical contacts if the interface is ever disconnected from the drive. 5. Connect the drive’s common serial communication port to one of the channels (A, B or C) of the ETH-100 with the communication cable (communication cable is not included with the interface kit).
4. Grounding Grounding is of particular importance for reliable, stable operation. Communication system characteristics may vary from system to system, depending on the system environment and grounding method used. The ETH-100 interface is provided with a “GND” screw terminal on the bottom of the unit.
5. Environmental Specifications Item Specification Operating Environment Indoors, less than 1000m above sea level, do not expose to direct sunlight or corrosive / explosive gasses Operating Temperature -10 ∼ +50°C (+14 ∼ +122°F) Storage Temperature -40 ∼ +85°C (-40 ∼ +185°F) Relative Humidity 20% ∼ 90% (without condensation) Vibration 5.9m/s2 {0.
6. Maintenance And Inspection Preventive maintenance and inspection is required to maintain the ETH-100 Ethernet interface in its optimal condition, and to ensure a long operational lifetime. Depending on usage and operating conditions, perform a periodic inspection once every three to six months. Before starting inspections, always turn off all power supplies to connected drives, and wait at least five minutes after each drive’s “CHARGE” lamp has gone out.
7. Storage And Warranty 7.1 Storage Observe the following points when the ETH-100 interface is not used immediately after purchase or when it is not used for an extended period of time. • Avoid storing the unit in places that are hot or humid, or that contain large quantities of dust or metallic dust. Store the unit in a well-ventilated location. • When not using the unit for an extended period of time, apply power at least once every two years and confirm that it still functions properly. 7.
8. Console Configuration The ETH-100 typically requires configuration prior to communicating on an Ethernet network. Configuration is achieved via a text-based console interface, accessible over an RS232 serial channel and a telnet interface. The following are the factoryset values of the most important Ethernet parameters: IP Address ................ 10.0.0.101 Netmask ................... 255.255.255.0 Default Gateway ....... 10.0.0.
are their default values: usually the only change needed is the “Bits Per Second” setting shown in Figure 2.
Figure 3: HyperTerminal Configuration Screen #3 8.2 Telnet The console is also accessible via a Telnet interface for remote administration over Ethernet once the unit is communicating on the network. The Telnet console uses well-known port 23. Note that although only 1 telnet console session can be active at any given time, the telnet console and RS232 console operate independently and can be used simultaneously. 8.2.
Figure 4: Telnet Menu 8.3 Command Overview The console provides standard access and configuration methods for the various network parameters and application configuration parameters supported by the ETH100. The number and type of supported console commands may vary with different console version and application version firmware. This section will present an overview of the supported console commands.
Figure 5: "Help" Command Via Telnet Echo: “Echo ON” (default setting) will echo typed characters back to the user. “Echo OFF” will disable the echoing of typed characters. Set: The “Set” command actually encompasses several subcommands, each of which allows setting a different configuration parameter. To set a parameter, two arguments are required: the parameter’s name and the value to set it to. Figure 6 shows an example of changing the IP address of a device to 192.168.1.1.
Figure 7: "Show" Command Overview 8.4 Console Configuration Backup The console configuration is backed up in the ETH-100’s battery backed SRAM. This allows the console configuration to be restored upon power-up. Although the battery inside the ETH-100 is rated to last approximately 10 years with no other power supplied to the unit (and longer when power is supplied to the unit), it may eventually require replacement at some point in the product’s lifetime.
9. LED Indicators The ETH-100 unit contains many different LED indicators, each of which conveys important information about the status of the unit, connected drives and Ethernet network. These LEDs and their functions are summarized here. 9.1 Module and Ethernet Indicators The module and Ethernet indicators are located between the MMI port and the Channel A drive port. Figure 8 indicates the functions of these LEDs (perspective is with MMI port to the left of the LEDs).
9.3 MMI Connector Indicators The MMI port RJ45 connector also contains two integrated green LEDs. Figure 10 indicates the functions of these LEDs. Active Sockets Indicator Reserved Blinks in 0.
10. Modbus TCP/IP The ETH-100 interface supports Schneider Electric’s Modbus TCP/IP protocol, release 1.0. The ETH-100 is conformance class 0 and partial class 1 compliant, and allows up to 8 simultaneous Modbus TCP/IP client connections (sockets). Socket timeouts are set to 30s, which means that if a particular open socket experiences no activity for more than 30s, then the interface assumes that the client has experienced some sort of unexpected problem, and the ETH-100 will close that socket. 10.
10.3 Modbus/Drive Register Mappings The ETH-100’s Modbus TCP/IP interface acts as a relatively straightforward network gateway for the attached drives. By and large, Modbus TCP/IP holding registers (04 registers) are directly mapped to corresponding Toshiba drive registers (also referred to as “communication numbers” in Toshiba documentation) with a direct 1-to-1 correspondence.
Table 2 : Example Status Word (ASD Register 0xFE01) Format Low Byte High Byte Bit Function 15 14 13 12 11 10 9 8 7 Reserved Faulted status Reserved Reserved Reserved Run / stop status Forward / reverse status Jog status DC injection braking status 6 5 4 3 2 1 0 Accel / decel #1/#2 status Reserved Reserved Reserved Reserved Reserved Reserved 0 1 -- Not faulted Faulted ---- Stopped Forward Not jogging Not DC injection braking #1 Running Reverse Jogging DC injection braking #2 ------- 10.
0xFD00 (Modbus holding register 0xFD01), which can therefore be accessed via Modbus holding register 0x0D01 (332910) when register remapping is enabled. When register remapping is enabled, only accesses to Modbus registers 0x0A01 – 0x1000 are affected: the normal locations for the critical control and status registers remain unaffected and can still be accessed (i.e. Communication Frequency Command will be updated via writes to either register 0x0A02 or 0xFA02: both will write to ASD register 0xFA01).
Refer to section 11.3.3 for more information regarding programmable pointer registers and their configuration. 10.7 Register Access Notes This section contains some helpful notes and reminders that further detail the interface unit and drives’ behavior. • Remember that drive registers and Modbus registers are offset by 1. Accessing the lowest valid Modbus register (0x0001) will access drive register 0x0000.
10.8 Performance Tips This section offers several configuration tips which can help to optimize the performance of communications with the ETH-100 and attached drives. 1. Configure Modbus programmable pointer registers to also be drive scan registers. In the example configuration shown in Table 3, Modbus registers FC00 ~ FC07 are configured to point to the ASD scan registers. In this case, a Modbus transaction beginning at address FC00 with a length of 8 can be processed extremely fast.
3. Group read and write registers together in the programmable pointer list and access them with separate Modbus commands. The ETH-100 can process read requests and write requests faster when they are grouped together rather than the master having to issue multiple transactions to access disjoint registers. This is especially true when the registers to be accessed are also configured as ASD scan registers. Pointer registers can be accessed in any combination of starting register and length.
10.9 Exceptions and Troubleshooting Although by no means exhaustive, Table 6 provides some possible causes behind some of the most common errors experienced when using the Modbus TCP/IP interface. Table 6: Troubleshooting Reference Problem Register addressing is off by 1 Modbus TCP/IP client cannot establish communication with the ETH-100 Possible Cause Refer to Section 10.
11. Embedded Web Server The ETH-100 interface contains an embedded web server (also known as an HTTP server), which allows users to access the unit’s internal data in a graphical manner with web browsers such as Microsoft Internet Explorer or Netscape Navigator. In this way, the unit and connected drives can be monitored, configured and controlled from across the room or from across the globe. The ETH-100’s web pages are best viewed with either Internet Explorer version 5.
11.1 Setup Page The setup page is the initial page that is displayed when the unit’s IP address is accessed via a web browser. Refer to Figure 11 for a screen shot of the setup page. This page contains the ETH-100’s basic identification and configuration parameters: Note that the ETH-100 requires valid user authentication whenever any configuration information is modified. This will appear as a browser popup box that will request the user name and password.
11.2 Modbus Page The Modbus page can be accessed by clicking on the “Modbus” tab located at the top of the browser window. Refer to Figure 12 for a screen shot of the Modbus Page. Figure 12: Embedded Web Server Access – Modbus Page This page provides access to the unit’s register remap function. To change the register remap selection, simply click on the radio button corresponding to the desired value. Refer to section 10.4 for a discussion pertaining to register remapping.
11.3 Channels Page The Channels page can be accessed by clicking on the “Channels” tab located at the top of the browser window.
11.3.1 Channel Select Use the “Select” drop-down box to select the desired channel. The screen that is displayed will appear as in Figure 14. The channel select section on this screen will display the currently selected channel and its online/offline status. A channel is defined to be online if a logical connection has been made with an ASD connected to that channel.
11.3.2 ASD Scan Register Configuration Scan Register Setup Information: • • • • • • • • Scan register values refer to ASD registers, NOT Modbus registers. There are 8 possible scan register values for each of the 3 channels. Not all 8 values need to be configured. The ETH-100 will only mirror those scan registers that have a displayed value. Each active scan register must be configured as read or write. ! A read scan register will be continuously polled from the ASD.
11.3.3 Programmable Pointer Registers Configuration Modbus Programmable Pointer Register Setup Information: • • • • • • • Programmable pointer register values refer to MODBUS registers. There are 16 pointer registers for each of the three channels. Not all 16 registers need to be configured. A pointer register can be accessed by making a request to Modbus registers FC00 ~ FC0F. Any of these 16 registers can be defined as the starting register for the transaction.
11.3.4 Drive Test Commands Drive test commands can be used to test the communications between the ETH-100 and your ASD. To run the ASD connected to the currently selected channel, click “Run” and submit a valid frequency command in the “FC” field. Clicking “Run” writes a value of 0xC400 to ASD register 0xFA00 (communication command). Submitting a valid frequency command writes that value to ASD register 0xFA01 (communication frequency command).
12. Firmware Updates The ETH-100’s embedded firmware resides in flash memory that can be updated in the field. Firmware updates may be released for a variety of reasons, such as custom firmware implementations, firmware improvements and added functionality as a result of user requests. ICC is continually striving to enhance the functionality and flexibility of our products, and we therefore periodically release new embedded firmware to achieve these goals and meet customer requests.
12.3 Using The RFU Utility Support for downloading new application firmware to the ETH-100 is provided by the free Rabbit Field Utility (RFU), which is a 32-bit application that runs on Microsoft Windows platforms. The RFU utility can be downloaded from ICC’s home page at http://www.iccdesigns.com. The remainder of this section will detail the RFU utility configuration and firmware download procedures. 12.3.
Note: It is possible that certain computers may have difficulty communicating at a sustained 115kbaud rate, which may result in communication errors during firmware downloading. If this occurs, try setting the “baud rate” parameter shown in Figure 19 to a lower value. Figure 19: Communications Options Window Next, select the “Setup…Boot Strap Loaders” menu item. The “Choose Loaders” window shown in Figure 20 then appears. Confirm that the correct paths to the COLDLOAD.BIN and PILOT.BIN files are entered.
12.3.3 Transmitting Firmware Files When a board support package (BSP) has been downloaded and unzipped, the flash firmware file will be the one with “.BIN” as its file name extension. Once the RFU utility has been configured, the flash firmware files can be downloaded to the ETH-100 by two different methods. The simplest way is to drag the application firmware .BIN file’s icon and drop it onto the RFU utility’s main screen. This will automatically initiate the download process.
When the unit powers up again, it will be running the new application firmware. If the new firmware version release notes indicated that any configuration parameters must be reentered, reenter them again via the console. Also configure any new parameters that are available to match your application requirements. When completed with MMI port use, remove the MMI cable and replace the MMI port dust cover to minimize contamination of the port’s electrical contacts.
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ICC INDUSTRIAL CONTROL COMMUNICATIONS, INC. 2202 Timberloch Place, Suite 210 The Woodlands, TX USA 77380-1163 Tel: [281] 367-3007 Fax: [281] 367-2177 World Wide Web http://www.iccdesigns.com Printed in U.S.
