EtherNet/IP

Fieldbus manual
MDrive Motion Control Products
V1.00, 01.2012

TM
EtherNet/IP Fieldbus Manual
Date Revision Changes
09/26/2011 V1.00, 09.2011 Initial Release
01/12/2012 V1.00, 01.2012 Minor updates

The information in IMS Schneider Electric Motion USA product documen-

tation and on this web site has been carefully checked and is believed to
be accurate; however, no responsibility is assumed for inaccuracies.
IMS Schneider Electric Motion USA reserves the right to make changes
without further notice to any products to improve reliability, function or
design. IMS Schneider Electric Motion USA does not assume any liability
arising out of the application or use of any product or circuit described;
neither does it convey any license under its patent rights of others.
IMS Schneider Electric Motion USA’s general policy does not recommend
the use of its products in life support or aircraft applications wherein a
failure or malfunction of the product may directly threaten life or injury. Per
the terms and conditions of sales of IMS Schneider Electric Motion USA,
the user of IMS Schneider Electric Motion USA products in life support or
aircraft applications assumes all risks of such use and indemnifies IMS
Schneider Electric Motion USA against all damages.

EtherNet/IP Fieldbus Manual Revision V1.00, 01.2012

Copyright © Schneider Electric Motion USA, All Rights Reserved
Important information
This manual is part of the product.

Carefully read this manual and observe all instructions.

Keep this manual for future reference.

Hand this manual and all other pertinent product documentation over to all
users of the product.

Carefully read and observe all safety instructions and the chapter “Before you
begin - safety information”.
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 EtherNet/IP Fieldbus manual Table of Contents

Table of Contents
Important information .................................................................... 3

About this manual ................................................................................ 1

Further reading ................................................................... 1

1 Introduction ................................................................................... 1
1.1 Fieldbus devices on the EtherNet/IP network .................... 1

2 Before you begin - safety information ........................................ 3

2.1 Qualification of personnel ................................................... 3
2.2 Intended use....................................................................... 3
2.3 Hazard categories .............................................................. 4
2.4 Basic information ................................................................ 5
2.5 Standards and terminology ..................................................... 6

3 Basics ............................................................................................ 7
3.1 EtherNet/IP technology ...................................................... 7
3.1.1 Data security ......................................................... 7
3.1.2 Basics ................................................................... 7
3.1.3 Encapsulation ..................................................... 10
3.1.4 Messaging and message types .......................... 10
3.1.5 Communication via Explicit Message ................. 11
3.1.6 Communication via I/O Messages ...................... 12

4 Installation................................................................................... 13

5 Commissioning........................................................................... 15
5.1 Configuration .................................................................... 16
5.1.2 Configuring the Assembly object ........................... 17

6 Diagnostics and troubleshooting ............................................. 19

6.1 Fieldbus communication error diagnostics ....................... 19
6.2 Status LEDs ..................................................................... 20

7 Object model ............................................................................... 21

7.1 Data types used in this object model................................ 21
7.2 Identity object (01h – 1 instance) ...................................... 21
7.2.1 Identity object attribute 0x05 (Status) ................. 22
7.3 Assembly object (04h – 4 instances) ................................ 23
7.4 TCP object (05h – 1 instance)........................................... 24
7.5 Ethernet Link object (F6h – 1 instance) ............................ 25

8 Manufacturer specif c objects ................................................... 27

8.1 Preliminary ....................................................................... 27
8.1.1 MCode compatibility ........................................... 27
8.2 Setup object (64h – 1 instance) ........................................ 28
8.3 Miscellaneous object (65h – 1 instance) ........................... 28
8.4 Motion object (66h – 1 instance) ....................................... 29
8.5 I/O object (67h – 1 instance) ............................................. 30
8.6 Position object (68h – 1 instance) ..................................... 31
8.7 Encoder object (69h – 1 instance) .................................... 31
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 Table of Contents EtherNet/IP Fieldbus manual

9 Glossary ...................................................................................... 33
12.1 Units and conversion tables ............................................. 33
12.1.1 Length ................................................................. 33
12.1.2 Mass ................................................................... 33
12.1.3 Force................................................................... 33
12.1.4 Power.................................................................. 34
12.1.5 Rotation .............................................................. 34
12.1.6 Torque ................................................................ 34
12.1.7 Moment of inertia ................................................ 34
12.1.8 Temperature ....................................................... 34
12.1.9 Conductor cross section ..................................... 35
12.2 Terms and Abbreviations ................................................. 35

A Setting up an MDrive using RS Logix 5000.............................. 41

A.1 Adding the MDrive ............................................................ 41
A.2 Explicit messaging............................................................ 49
A.2.1 Formatting the message ..................................... 50

B Upgrading the Ethernet controller f rmware ............................ 53

B.1 Upgrading the Ethernet controller firmware...................... 53
B.1.1 To begin .............................................................. 54
B.1.2 Set the Tftpd Server IP ....................................... 54
B.1.3 Set the Ethernet upgrade file name .................... 54
6.6.4 Enter upgrade mode ........................................... 55
6.6.5 Complete upgrade process................................. 55
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List of Figures

Figure 1.1: Example TCP/IP network with MDrive products. ........ 1

Figure 3.1: Overview of communication means ............................ 8
Figure 5.1: Configuration tab....................................................... 16
Figure 5.2: Configuring the Assembly Objext 0x04 ..................... 17
Figure 5.3: Export *.L5X file ........................................................ 18
Figure 6.1: Status indicator LEDs ............................................... 20
Figure A.1: Adding a new module ............................................... 41
Figure A.2: Generic Ethernet Module.......................................... 42
Figure A.3: New module setup .................................................... 43
Figure A.4: Request Packet Interval setting ................................ 44
Figure A.5: Import routine ........................................................... 45
Figure A.6: I/O Data type files ..................................................... 45
Figure A.7: Synchronous Copy File Function.............................. 46
Figure A.8: Select data type ........................................................ 46
Figure A.9: Main program window .............................................. 47
Figure A.10: Main program ......................................................... 48
Figure A.11: Explicit message Query_SN ................................... 49
Figure A.12: Message configuration dialog ................................. 50
Figure B.1: TCP/IP Config tab..................................................... 53
Figure B.2: Setting the Tftpd Server IP ....................................... 54
Figure B.3: Setting the upgrade file name................................... 54
Figure B.4: Firmware upgrading.................................................. 56

List of Tables

Table 3.1: Connection groups ..................................................... 10

Table 6.1: Status indicator LEDs................................................. 20
Table 7.1: Data types identification ............................................. 21
Table 7.2: Identity object (01h – 1 instance) ............................... 21
Table 7.3: Identity object’s common services ............................. 22
Table 7.4: Bit definitions for status instance attribute of identity ....
object .......................................................................... 22
Table 7.5: Assembly object (04h – 4 instances) ......................... 23
Table 7.6: Assembly object’s common services ......................... 24
Table 7.7: TCP object (05h – 1 instance).................................... 24
Table 7.8: Assembly object’s common services ......................... 24
Table 7.9: Ethernet object (05h – 1 instance) ............................. 25
Table 7.10: Assembly object’s common services ....................... 25
Table 8.1: Object class groupings ............................................... 27
Table 8.2: Access types identification ......................................... 27
Table 8.3: Setup object (64h – 1 instance) ................................. 28
Table 8.4: Miscellaneous object (65h – 1 instance) ..................... 28
Table 8.5: Motion object (65h – 1 instance) ................................. 29
Table 8.6: I/O object (66h – 1 instance) ....................................... 30
Table 8.7: Position object (68h – 1 instance) ............................... 31
Table 8.8: Encoder object (69h – 1 instance) .............................. 31
Table 8.9: Hybrid specific object (6Ah – 1 instance) .................... 32
Table A.1: Message configuration............................................... 43
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iv
 EtherNet/IP Fieldbus manual About this manual

About this manual

The information provided in this manual supplements the product hard-

ware manual.

Source manuals The latest versions of the manuals can be downloaded from the Internet
at:
http://www.schneider-electric-motion.us
Applicable manuals for MDrive products with EtherNet/IP are:
• MCode Programming and Software Reference manual
• MODBUS/TCP Fieldbus manual
• EtherNet/IP Fieldbus manual

Graphic User Interface software For easier prototyping and development, a Graphic User Interface (GUI)
is available for use with MDrivePlus and MDrive Hybrid products. This
software is available for download from the Internet at:
http://www.schneider-electric-motion.us

Further reading
Recommended literature for further reading.

Reference documents • The CIP Networks Library Volume 1 Common Industrial Protocol
• The CIP Networks Library Volume 3 DeviceNet Adaptation of CIP
• The CIP Networks Library Volume 2 DeviceNet Adaptation of CIP
• DeviceNet terms of Usage Agreement http://www.odva.org

User Association • Open DeviceNet Vendor Association (ODVA)

http://www.odva.org
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 EtherNet/IP Fieldbus manual 1 Introduction

1 Introduction
1
EtherNet/IP is a fieldbus based on TCP and UDP. EtherNet/IP extends
Ethernet by an advanced industrial protocol (CIP, Common Industrial
Protocol) as an application layer for automation applications - this way,
Ethernet is excellently suited for industrial control . Products from dif-
ferent manufacturers can be networked without the need for special
interface adaptation. The majority of the required network components
correspond to the Ethernet components used in the PC world.

1.1 Fieldbus devices on the EtherNet/IP network

Different products with an EtherNet/IP interface can be operated in the
same fieldbus. EtherNet/IP provides a common basis for interchanging
commands and data between the network devices.

Ethernet switch

PC

Additional Ethernet devices

Controller

MDrive #1 MDrive #2
e.g. 192.168.33.1 e.g. 192.168.33.2

Figure 1.1: Example TCP/IP network with MDrive products.

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 EtherNet/IP Fieldbus manual 2 Before you begin - safety information

2 Before you begin - safety information

2
The information provided in this manual supplements the product
manual. Carefully read the product manual before using the product.

2.1 Qualif cation of personnel

Only appropriately trained persons who are familiar with and understand
the contents of this manual and all other pertinent product documenta-
tion are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid
hazards involved. These persons must have sufficient technical training,
knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the set-
tings and by the mechanical, electrical and electronic equipment of the
entire system in which the product is used.
All persons working on and with the product must be fully familiar with
all applicable standards, directives, and accident prevention regulations
when performing such work.

2.2 Intended use

The functions described in this manual are only intended for use with the
basic product; you must read and understand the appropriate product
manual.
The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical
data.
Prior to using the product, you must perform a risk assessment in view
of the planned application. Based on the results, the appropriate safety
measures must be implemented.
Since the product is used as a component in an entire system, you must
ensure the safety of persons by means of the design of this entire sys-
tem (for example, machine design).
Operate the product only with the specified cables and accessories. Use
only genuine accessories and spare parts.
Any use other than the use explicitly permitted is prohibited and can
result in hazards.
Electrical equipment should be installed, operated, serviced, and main-
tained only by qualified personnel.
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The product must NEVER be operated in explosive atmospheres (haz-

ardous locations, Ex areas).

Fieldbus interface 3
 2 Before you begin - safety information EtherNet/IP Fieldbus manual

2.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols
in the manual. In addition, labels with symbols and/or instructions
are attached to the product that alert you to potential hazards.
Depending on the seriousness of the hazard, the safety instructions
are divided into 4 hazard categories.

DANGER indicates an imminently hazardous situation, which,

if not avoided, will result in death or serious injury.

WARNING indicates a potentially hazardous situation, which, if

not avoided, can result in death, serious injury, or equipment
damage.

CAUTION indicates a potentially hazardous situation, which, if

not avoided, can result in injury or equipment damage.

CAUTION used without the safety alert symbol, is used to ad-

dress practices not related to personal injury (e.g. can result in
equipment damage).
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 EtherNet/IP Fieldbus manual 2 Before you begin - safety information

2.4 Basic information

UNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION

When the system is started, the drives are usually out of the
operator’s view and cannot be visually monitored.
• Only start the system if there are no persons in the hazard-
ous area.
Failure to follow these instructions will result in death or
serious injury.

LOSS OF CONTROL
• The designer of any control scheme must consider the
potential failure modes of control paths and, for certain
critical functions, provide a means to achieve a safe state
during and after a path failure. Examples of critical control
functions are emergency stop, overtravel stop, power out-
age and restart.
• Separate or redundant control paths must be provided for
critical functions.
• System control paths may include communication links.
Consideration must be given to the implication of unantici-
pated transmission delays or failures of the link.
• Observe all accident prevention regulations and local
safety guidelines. 1)
• Each implementation of the product must be individually
and thoroughly tested for proper operation before being
placed into service.
Failure to follow these instructions can result in death or
serious injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control”
and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide
for Selection, Installation and Operation of Adjustable-Speed Drive Systems”.
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2.5 Standards and terminology

Technical terms, terminology and the corresponding descriptions in
this manual are intended to use the terms or definitions of the pertinent
standards.
In the area of drive systems, this includes, but is not limited to, terms
such as “safety function”, “safe state”, “fault”, “fault reset”, “failure”, “er-
ror”, “error message”, “warning”, “warning message”, etc.
Among others, these standards include:
• IEC 61800 series: “Adjustable speed electrical power drive
systems”
• IEC 61158 series: “Industrial communication networks - Fieldbus
specifications”
• IEC 61784 series: “Industrial communication networks - Profiles”
• IEC 61508 series: “Functional safety of electrical/electronic/
programmable electronic safety-related systems”
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 EtherNet/IP Fieldbus manual 3 Basics

3 Basics
3

3.1 EtherNet/IP technology

EtherNet/IP devices are based on the same technology as devices on
Ethernet networks in the computer world. For many applications, com-
ponents from the existing company network can be used. However, it is
recommended to use industrial switches for time-critical applications.
This manual is not intended to convey basic knowledge, for example in
terms of network topology, data security or address assignment.

3.1.1 Data security

The larger the network into which the product is integrated, the greater
the risk of unauthorized external access. The operator of the local net-
work must take appropriate measures to prevent unauthorized access.
Contact your network administrator prior to commissioning the product.

3.1.2 Basics
The ODVA ( is in charge of the specifications for the EtherNet/IP network
and EtherNet/IP data terminal equipment. For more information on the
ODVA see:
http://www.odva.org

Number of nodes The number of nodes in an EtherNet/IP network is theoretically unlim-

ited; it depends on the subnet size and on whether or not a CIP router is
used. For example, 254 nodes are possible in a class C subnet.

Cable length The maximum cable length is 100 m between EtherNet/IP terminal
points and 90 m between infrastructure components. However, interfer-
ence in industrial environments may require you to use shorter cables.

Drive prof les The product supports the following drive profiles:
• “Drive Profile MDrive”
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 3 Basics EtherNet/IP Fieldbus manual

Communication means The product supports the following communication means:

Master Controller Assembly

Input
I/O scanner 100

Assembly
Output
112
EtherNet/IP cyclic
exchanges

Figure 3.1: Overview of communication means

The product identifies itself as CIP “Generic Device” (Device Type = 0h).

Data link layer The EtherNet/IP data link layer uses the transmission mechanisms as
per IEEE 802.3 Standard Ethernet specification (edition 2002). This
makes it possible to use a wide selection of available Ethernet compo-
nents.
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 EtherNet/IP Fieldbus manual 3 Basics

Physical layer Industrial EtherNet/IP specifies minimum requirements in terms of ambi-

ent conditions, cabling and connectors, based on IEC, ANSI, TIA and
EIA standards.
The connectors required for Industrial EtherNet/IP include RJ-45 con-
nectors. Use shielded or unshielded CAT5 or CAT6 cables for Industrial
EtherNet/IP.
Copper media may be used only for distances up to 100 m.

Terms: Object class, instance, attribute, The EtherNet/IP approach is object-oriented. CIP defines object class-
service es; one or more instances (objects) can be derived from such object
classes. The attributes of an object class or the instance derived from it
contain the various parameters. Services are actions that are possible
with these attributes.

Example Class Instance Attribute ID Description MCode

0x64 0x01 0x01 Reset enable CE

CIP object model See section 7.

Communication model EtherNet/IP uses the producer-consumer communication model. All

nodes check the bus as to whether a data packet with the Identifier they
support is available. Data packets that are sent by producers can only
be received by the consumers of these packets.
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Groups of connections EtherNet/IP is a connection-oriented network. Connections must be

established and managed between two nodes. There are 4 connection
groups with different priorities:

Group 1 Top-priority process data (highest priority)

Group 2 For simple master-slave connections
Group 3 For Explicit Messages
Group 4 Reserved group (lowest priority)

Table 3.1: Connection groups

Electronic Data Sheet An EDS file is a file in ASCII format. This file contains device-specific
and vendor-specific descriptions of all parameters for a device. The EDS
file also contains the fieldbus-specific communication parameters. The
EDS file is required for commissioning.

3.1.3 Encapsulation
EtherNet/IP is based entirely on existing TCP/IP and UDP/IP technolo-
gies that are used without any modification. TCP/IP is used for the trans-
mission of Explicit Messages while UDP/IP is used for I/O Messaging.

3.1.4 Messaging and message types

EtherNet/IP uses two types of messaging: Explicity Messaging and
Implicit (I/O data) Messaging. EtherNet/IP defines several message
types for communication. The product described here uses the “Explicit
Message” and “I/O Message” message types.

Explicit messages Explicit Messaging connections are point-to-point connections between

two network nodes that are used for transactions of the type request
- response. These connections are used to address parts of a device
which are accessible via the network. The data field of Explicit Messag-
es contains both protocol data and application-specific commands.

I/O messages I/O Messages, also referred to as Implicit Messages, are transmitted
via UDP/IP. I/O Message connections are often established as One-
to- Many relationships in the producer-consumer Multicast model of
Ether-Net/IP. The data fields of I/O Messages contain no protocol infor-
mation, but only time-critical I/O data. I/O Messages are a lot smaller
than Explicit Messages, thus allowing for much faster processing. These
messages are used to to transport application-specific I/O data over
the network at regular intervals. The meaning of the data is pre-defined
at the time the connection is established. I/O Messages can contain
socalled Assemblies of several parameters that can be transmitted with
a single message. The parameters for configuring EtherNet/IP commu-
nication are described in chapter 5 “Commissioning”.
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 EtherNet/IP Fieldbus manual 3 Basics

Command processing: Transmit data and The master sends a command to the drive system (slave) to execute
receive data a motion command, activate functions or request information from the
slave. The slave executes the command and acknowledges it with a
response message that may contain an error message if an error oc-
curred.
The master device can send new commands as soon as it has received
acknowledgement concerning the current command. Acknowledgement
information and error messages are included in the transmitted data in
bit-coded form.
The master must then continuously monitor for completion of the pro-
cessing command by evaluating the acknowledgment from the slave.
I/O messages are a special case. I/O messages are not acknowledged
from the slave.

3.1.5 Communication via Explicit Message

An Explicit Message (EtherNet/IP-specific or vendor-specific) is used
to read or write an individual parameter. See the product manual for an
overview of all parameters.
The parameter is accessed by means of Class.Instance.Attribute as per
CIP.
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 3 Basics EtherNet/IP Fieldbus manual

3.1.6 Communication via I/O Messages

An I/O Message is used for realtime exchange of process data. I/O mes-
sages lend themselves for motion commands. Transmission is very fast
because the data is sent without administration data and a transmission
acknowledgement from the recipient is not required.
The master can control the operating states of the slave by means of I/O
Message, for example, enable and disable the power stage, trigger a
“Quick Stop”, reset errors and activate operating modes.
Changing operating states and activating operating modes must be
done separately. An operating mode can usually only be activated if the
operating state is already “Operation Enabled”.
A new operating mode can only be activated when the motor is at a
standstill.

Output, Input Output and Input refer to the direction of data transmission from the
perspective of the master.
• Output: Commands from the master to the slave, or originator to
target.
• Input: Status messages from the slave to the master, or target to
originator.

Assembly I/O Messages contain a collection (Assembly) of different parameters

that are transmitted with a single message.
The following Assemblies are defined for EtherNet/IP:
• Output Assembly, instance 112
• Input Assembly, instance 100

Polled I/O Connection The Assemblies are used in a Polled I/O Connection . A Polled I/O
Connection is initiated by the master with a Poll Command. The Slave
responds with a Poll Response.
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 EtherNet/IP Fieldbus manual 4 Installation

4 Installation
4

SIGNAL AND DEVICE INTERFERENCE

Signal interference can cause unexpected responses of device.
 Install the wiring in accordance with the EMC requirements.
 Verify compliance with the EMC requirements.
Failure to follow these instructions can result in death, serious
injury or equipment damage.

For information on installation of the device and connecting the device to

the fieldbus see the product hardware manual.
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 EtherNet/IP Fieldbus manual 5 Commissioning

5 Commissioning
5

LOSS OF CONTROL
The product is unable to detect an interruption of the network
link if
 Verify that connection monitoring is on.
 The shorter the time for monitoring, the faster the detection of
the interruption.
Failure to follow these instructions can result in death,
serious injury or equipment damage.

UNINTENDED OPERATION
The product is unable to detect an interruption of the network
link if
 Do not write values to reserved parameters.
 Do not write values to parameters unless you fully understand
the function.
 Run initial tests without coupled loads.
 Verify that the system is free and ready for the movement be-
fore changing parameters.
 Verify the use of the word sequence with fieldbus communica-
tion.
 Do not establish a fieldbus connection unless you have fully
understood the communication principles.
Failure to follow these instructions can result in death,
serious injury or equipment damage.

Note: In loss of control instances the axis should decelerate to a stop.

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5.1 Conf guration

In order to set up the MDrive, you must first connect the utility in MCode/TCP mode by con-
necting to the default IP 192.168.33.1:503 to set up the IP and Subnet Mask. The gateway IP
address is not required.
If you are on a corporate network, you may need to check with your IT department to obtain
a block of private IP addresses so as not to conflict with computers and other devices on the
network.
The assigned IP address should always be within the IPv4 Private Network block (192.168.0.0 —
192.168.255.255).
MCode/TCP will always use port 503 and may communicate via TCP or UDP interchangeably.
The applications for MODBUS/TCP may be set via the TCP/IP Configuration Tools and is avail-
able at IP 192.168.33.1:502.
Once configured, you may connect to IP address you configured.

Figure 5.1: Configuration tab

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 EtherNet/IP Fieldbus manual 5 Commissioning

5.1.2 Conf guring the Assembly object

The assembly object (0x04) may be mapped to read/write desired attri-
butes. Each instance (100, input and 112, output) are set up using the
EIP tab of the TCP Configuration Utility. To set the desired attribute,
select the attribute you desire from the dropdowns.
These are listed as the equivalent MCode mnemonics and are labeled
by data type. The GUI will only allow selection of the allowed data
type.

Figure 5.2: Configuring the Assembly Objext 0x04

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 5 Commissioning EtherNet/IP Fieldbus manual

When completed click the “Set” button. This will set the attributes in the
MDrive.
The last step is to export the *.L5X (RSLogix 5000) file that maps the
tags to the attributes.

Figure 5.3: Export *.L5X file

• Select File > Save EIP User Defined Data Types

• Save the files (there will be 2 – 1 input, 1 output) to your hard drive

These files will be needed if using RSLogix as shown in the examples of

Appendix A.
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 EtherNet/IP Fieldbus manual 6 Diagnostics and troubleshooting

6 Diagnostics and troubleshooting

6
6.1 Fieldbus communication error diagnostics
A properly operating fieldbus is essential for evaluating operating and
error messages.

Connections for f eldbus mode If the product cannot be addressed via the fieldbus, first check the con-
nections. The product manual contains the technical data of the device
and information on network and device installation. Check the following:
• Power connections to the device
• Fieldbus cable and fieldbus wiring
• Network connection to the device
You can also use the TCP/IP Configuration Utility for troubleshooting.

Fieldbus function test If the connections are correct, check the settings for the fieldbus ad-
dresses. After correct configuration of the transmission data, test field-
bus mode.
1) In addition to the master that knows the product via the EDS file
and addressing, activate a bus monitor that, as a passive device,
displays messages.
2) Switch the supply voltage off and on.
3) Observe the network messages that are generated briefly after
the supply voltage is switched on. A bus monitor can be used to
record the elapsed time between

Addressing, parameterization If it is impossible to connect to a device, check the following:

1) Addressing: Each network device must have a unique IP address.
and the correct subnet mask.
2) Parameterization: “Vendor ID” and “Product Code” must match
the values stored in the EDS file.
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6.2 Status LEDs

The MDrivePlus with Ethernet has two dual-color (red/green) LEDs vis-
ible from the back of the drive to give status and error indication of the
EtherNet/IP connection.

LED 1

NS

P2

MS

LED 2

NS = Network Status
MS Module Status
Figure 6.1: Status indicator LEDs

Color State Description

LED 1 – Network Status (NS)
None Off No power
Flashing Recoverable fault or I/O connection
timed out
Green Solid Normal runtime operation (I/O
connection allocated)
Flashing Device is idle or not allocated to a client
(PLC)
Red/green Alternating Power-up self test in progress
LED 2 – Module Status (MS)
None Off No power
Red Solid Unrecoverable fault
Flashing Minor, recoverable fault
Green Solid Device operational
Flashing Standby, device has not been
configured
Red/green Alternating Power-up self test in progress

NOTE: The term I/O, in this context refers to EtherNet/IP communica-

V1.00, 01.2012

tions protocol and is unrelated to the hardware Input - output points.

Table 6.1: Status indicator LEDs

20 Fieldbus interface
 EtherNet/IP Fieldbus manual 7 Object model

7 Object model
7
7.1 Data types used in this object model

Data Type Description

SINT Signed 8-bit integer
INT Signed 16-bit integer
DINT Signed 32-bit integer
USINT Unsigned 8-bit integer
UINT Unsigned 16-bit integer
UDINT Unsigned 32-bit integer
STRING Character string (1 byte per character)
SHORTSTRINGnn Character string (1 byte in length; up to nn
characters)
BOOL 1 bit
BYTE Bit string (8-bits)
WORD Bit string (16-bits)
DWORD Bit string (32-bits)
REAL IEEE 32-bit single precision floating point

Table 7.1: Data types identification

7.2 Identity object (01h – 1 instance)

The following tables contain the attribute, status, and common services
information for the identity object.

Instance Attribute ID Name Data type Data value Access rule

0x00 0x01 Revision UINT 1 Get
0x01 0x01 Vendor number UINT 243 Get
0x02 Device type UINT 43 Get
0x03 Product code number UINT 15362 Get
0x04 Product major revision USINT 02 Get
Product minor revision USINT 22
0x05 Status WORD See Table 7.4 Get
0x06 Serial number UDINT Unique 32 bit value Get
0x07 Product name SHORTSTRING32 MDrive Get
V1.00, 01.2012

Table 7.2: Identity object (01h – 1 instance)

Fieldbus interface 21
 7 Object model EtherNet/IP Fieldbus manual

Service code Implemented for Service name

Class level Instance levels
0x05 No Yes Reset
0x0E Yes Yes Get_Attribute_Single
0x10 No Yes Set_Attribute Single

Table 7.3: Identity object’s common services

7.2.1 Identity object attribute 0x05 (Status)

This attribute represents the current status of the entire device. Its value
changes as the state of the device changes. The status attribute is a
WORD, with the following bit definitions:

15 ... 12 11 10 9 8 7 ... 4 3 2 1 0
Rsrvd Maj UF Maj RF Min.UF Min. RF Ext Stat Rsrvd Config Rsrvd Owned

Bit(s) Name Meaning

0 1 indicates the device (or an object within the device) has an owner. Within the Master/
Slave paradigm the setting of this bit means that the Predefined Master/Slave Connection
Set has been allocated to a master.
1 Reserved, always 0
2 Configured 1 indicates the application of the device has been configured to do something different
than the “out–of–box” default. This shall not include configuration of the communications.
3 Reserved, always 0
4–7 Extended Device Status Vendor–specific or as defined by table below. The EDS shall indicate if the device
follows the public definition for these bits using the DeviceStatusAssembly keyword
in the [Device] section of the EDS. If these bits are vendor specific then they shall be
enumerated in the EDS using the Assembly and Parameter sections.
8 Minor Recoverable 1 indicates the device detected a problem with itself, which is thought to be recoverable.
Fault The problem does not cause the device to go into one of the faulted states.
9 Minor Unrecoverable 1 indicates the device detected a problem with itself, which is thought to be unrecoverable.
Fault The problem does not cause the device to go into one of the faulted states.
10 Major Recoverable TRUE indicates the device detected a problem with itself, which caused the device to go
Fault into the “Major Recoverable Fault” state.
11 Major Unrecoverable TRUE indicates the device detected a problem with itself, which caused the device to go
Fault into the “Major Unrecoverable Fault” state.
12 – 15 Reserved, always 0

Table 7.4: Bit definitions for status instance attribute of identity object
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22 Fieldbus interface
 EtherNet/IP Fieldbus manual 7 Object model

7.3 Assembly object (04h – 4 instances)

Note that instance attributes show the default mapping of parameters to an at-
tribute. This mapping may be changed to any MCode mnemonic of the same
datatype using the TCP/IP Configuration Utility. See Section 5: Commissioning.

Instance Attribute ID Name Data type Data value Access rule

Class 1 Revision UINT 2 Get
(Instance 0)
2 Max instance UINT 0xFF Get
Input (TO) 3 Bytes MCode mnemonic Description Get
Instance 100 BOOL EF Error flag Same byte
BOOL MV Moving flag
USINT IN Read inputs as a group
USINT Pad
USINT Pad
DINT C1 Position counter
DINT C2 Encoder counter
DINT V Velocity

Output 3 Bytes MCode mnemonic Description Get/set

(OT)
UDINT A Acceleration
Instance 112
UDINT D Deceleration
DINT MA Move to absolute position
DINT MR Move to relative position
USINT RC Run current percent
USINT HC Hold current percent
BYTE OT Write digital outputs
USINT Pad
DINT SL Slew
UDINT VI Initial (starting) velocity
UDINT VM Maximum (final) velocity
UDINT TE Trip enable

128 (0x80) Input only heartbeat1 Heartbeat 0 n/a

129 (0x81) Listen only heartbeat 2
Heartbeat 0 n/a
Unused (n) Configuration 3

1. This instance allows clients to monitor input data without providing output data.

2 This instance allows clients (PLCs) to monitor input data without providing output
data. To use this connection type, an owning connection must exist from a second
client and the configuration of the connection must match exactly.

3 Configuration data is not required, but it must match if supplied. Contents of the
configuration instance are yet to be determined.
V1.00, 01.2012

Table 7.5: Assembly object (04h – 4 instances)

Fieldbus interface 23
 7 Object model EtherNet/IP Fieldbus manual

Service code Implemented for Service name

Class level Instance levels
0x0E Yes Yes Get_Attribute_Single
0x10 Yes Yes Set_Attribute Single

Table 7.6: Assembly object’s common services

7.4 TCP object (F5h – 1 instance)

The following tables contain the attribute and common services informa-
tion for the TCP Object.

Instance Attribute ID Name Data type Data value Access rule

Class 1 Revision UINT 1 Get
(Instance 0)
Instance 1 1 Status* DWORD See Table 5-3.2* Get
2 Configuration capability* DWORD See Table 5-3.4* Get
3 Configuration control* DWORD 0x0 Get/set
4 Physical Link Object * Below are defaults Get
Structure of
Path Size UINT 0x2
Path Array of Word 0x20 0xF6 0x24 0x01
5 Interface configuration* Below are defaults Get
Structure of
IP Address UDINT 192.168.33.1
Network Mask UDINT 255.255.0.0
Gateway Address UDINT 192.168.1.200
Name Server UDINT 0x0
Name Server 2 UDINT 0x0
Domain Name Size UINT 0x0
Domain Name STRING 0x0
6 Host name* Below are defaults Get
Structure of
Host Name Size UINT 0x0
Host Name STRING 0x0

* For more details on these attributes, see Volume 2: EtherNet/IP Ad-

aptation of CIP, Section 5-3.2 from ODVA. Tables reference in the data
value column are located in that document.
Table 7.7: TCP object (05h – 1 instance)

Service code Implemented for Service name

Class level Instance levels
0x0E Yes Yes Get_Attribute_Single
V1.00, 01.2012

0x10 No Yes Set_Attribute Single

Table 7.8: Assembly object’s common services

24 Fieldbus interface
 EtherNet/IP Fieldbus manual 7 Object model

7.5 Ethernet Link object (F6h – 1 instance)

The following tables contain the attribute and common services informa-
tion for the Ethernet Link Object.

Instance Attribute ID Name Data type Data value Access rule

Class 1 Revision UINT 1 Get
(Instance 0)
Instance 1 1 Interface speed* DWORD 0 Get
2 Interface flag* DWORD See Table 5-4.44* Get
3 Physical address ARRAY MAC Address Get

* For more details on these attributes, see Volume 2: EtherNet/IP Ad-

aptation of CIP, Section 5-3.2 from ODVA. Tables reference in the data
value column are located in that document.
Table 7.9: Ethernet object (0xF6 – 1 instance)

Service code Implemented for Service name

Class level Instance levels
0x0E Yes Yes Get_Attribute_Single

Table 7.10: Assembly object’s common services

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26 Fieldbus interface
 EtherNet/IP Fieldbus manual 8 Manufacturer specific objects

8 Manufacturer specif c objects

8
8.1 Preliminary
This section contains the objects specific to the MDrivePlus and MDrive
Hybrid Motion Control devices.
It is divided into Object classes by functional grouping, these are:

Object Description
0x64 Setup instructions
0x65 Miscellaneous instructions and flags
0x66 Motion instructions and flags
0x67 I/O instruction variables and flags
0x68 Position related instructions and flags
0x69 Encoder related instructions and flags
0x6A Hybrid specific instructions and flags
Table 8.1: Object class groupings

Access Description
RO Readable only
WO Writable only
WONE Writable only , no equal sign
RW Readable and writable, unconditional
RW_IO Readable always, Writable only if I/O
connection present
Table 8.2: Access types identification
NOTE: References in the section to “I/O” refer to the control of the hard-
ware input/output points on the device.

8.1.1 MCode compatibility

Each attribute on the object class grouping references a 1 or 2 character
MCode mnemonic.
Please reference the MCode Programming and Reference Manual,
which is located on the web site at http://www.imshome.com for detailed
usage instructions, value ranges and restrictions.
V1.00, 01.2012

Fieldbus interface 27
 8 Manufacturer specific objects EtherNet/IP Fieldbus manual

8.2 Setup object (64h – 1 instance)

The Setup object contains attributes configuring basic setup parameters.

Instance Attribute ID Description Data type MCode Access

Class 0x01 Revision UINT — RO
(Instance 0)
Instance 1 0x01 Software reset enable USINT CE RW
0x02 Clock mode enable BOOL CM RW
0x03 Clock ratio FLOAT CR RW
0x04 Output clock width USINT CW RW
0x05 Drive enable BOOL DE RW
0x06 Warning temperature USINT WT RW

Table 8.3: Setup object (64h – 1 instance)

8.3 Miscellaneous object (65h – 1 instance)

The Miscellaneous object contains attributes for reading and/or setting
miscellaneous variables and flags.

Instance Attribute ID Description Data type MCode Access

Class 0x01 Revision UINT — RO
(Instance 0)
Instance 1 0x01 Busy (program running) flag BW BY RO
0x02 Clock mode enable BOOL CM RW
0x03 Output clock width USINT CW RW
0x04 Error flag BOOL EF RW
0x05 Read/clear error condition UNIT16 ER RW
0x06 Read internal temperature INT IT RO
0x07 Read/set user register 1 value DINT R1 RW
0x08 Read/set user register 2 value DINT R2 RW
0x09 Read/set user register 3 value DINT R3 RW
0x0A Read/set user register 4 value DINT R4 RW
0x0B Read device serial number STRING SN RO
0x0C Read hardware/firmware version number STRING VR RO

Table 8.4: Miscellaneous object (65h – 1 instance)

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28 Fieldbus interface
 EtherNet/IP Fieldbus manual 8 Manufacturer specific objects

8.4 Motion object (66h – 1 instance)

The Motion object contains attributes for issuing motion commands and
reading and/or writing motion related variables or flags.

Instance Attribute ID Description Data type MCode Access

Class 0x01 Revision UINT — RO
(Instance 0)
Instance 1 0x01 Read/set acceleration UDINT A RW_IO
0x02 Read/set deceleration UDINT D RW_IO
0x03 Read/set motor holding current percent USINT HC RW_IO
0x04 Read/set holding current time delay UINT HT RW
0x05 Read/set jog mode enable/disable BOOL JE RW
0x06 Read/set limit switch response mode USINT LM RW
0x07 Command absolute move DINT MA RW_IO
0x08 Command relative move DINT MR RW_IO
0x09 Read/set microstep resolution UINT MS RW
0x0A Read/set motor settling delay time UINT MT RW
0x0B Read axis in motion flag BOOL MV RO
0x0C Read/set motor run current percent USINT RC RW_IO
0x0D Command slew at constant velocity DINT SL RW_IO
0x0E Read current velocity DINT V RO
0x0F Read velocity changing flag BOOL VC RO
0x10 Read/set initial (starting) velocity UDINT VI RW_IO
0x11 Read/sey maximum (terminal) velocity UDINT VM RW_IO

Table 8.5: Motion object (65h – 1 instance)

V1.00, 01.2012

Fieldbus interface 29
 8 Manufacturer specific objects EtherNet/IP Fieldbus manual

8.5 I/O object (67h – 1 instance)

The I/O object contains attributes for issuing I/O commands and reading
and/or writing I/O related variables or flags.
NOTE: Attributes in this object relate solely to the configuration
and control of the hardware Input–Output points and have no bear-
ing on EtherNet/IP communications protocol I/O messaging.

Instance Attribute ID Description Data type MCode Access

Class 0x01 Revision UINT — RO
(Instance 0)
Instance 1 0x01 Read/set digital filtering for input 1 USINT D1 RW
0x02 Read/set digital filtering for input 2 USINT D2 RW
0x03 Read/set digital filtering for input 3 USINT D3 RW
0x04 Read/set digital filtering for input 4 USINT D4 RW
0x05 Read/set digital filtering for analog input USINT D5 RW
0x06 Read/set filtering for the capture input USINT FC RW
0x07 Read/set filtering for the motion inputs USINT FM RW
0x08 Read the value of the analog input UINT I5 RO
0x09 Read the state of the encoder index mark BOOL I6 RO
0x0A Read inputs 1 — 4 as a BCD group USINT IL RO
0x0B Read all inputs as a BCD group USINT IN RO
0x0C Read internal temperature INT IT RO
0x0D Set outputs 1 — 4 as a group USINT OL RW
0x0E Set all outputs as a group USINT OT RO
0x0F Set/read I/O point 1 as type, active, sink/source STRING S1 RW
0x10 Set/read I/O point 2 as type, active, sink/source STRING S2 RW
0x11 Set/read I/O point 3 as type, active, sink/source STRING S3 RW
0x12 Set/read I/O point 4 as type, active, sink/source STRING S4 RW
0x13 Set/read analog input configuration STRING S5 RW
0x14 Set/read clock I/O point 7 as type, active, sink/source STRING S7 RW
0x15 Set/read clock I/O point 8 as type, active, sink/source STRING S8 RW
0x16 Set/read capture/trip I/O point 8 as type, active STRING S13 RW

Table 8.6: I/O object (66h – 1 instance)

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30 Fieldbus interface
 EtherNet/IP Fieldbus manual 8 Manufacturer specific objects

8.6 Position object (68h – 1 instance)

The position object contains attributes for reading and/or writing position
related variables or flags.

Instance Attribute ID Description Data type MCode Access

Class 0x01 Revision UINT — RO
(Instance 0)
Instance 1 0x01 Read/set counter 1 (position) DINT C1 RW
0x02 Read/set homing mode USINT HM
0x03 Read/set position DINT P RW
0x04 Read position capture at trip DINT PC RO
0x05 Read/set trip enable USINT TE RW

Table 8.7: Position object (68h – 1 instance)

8.7 Encoder object (69h – 1 instance)

The encoder object contains attributes for reading and/or writing en-
coder related variables or flags.

Instance Attribute ID Description Data type MCode Access

Class 0x01 Revision UINT — RO
(Instance 0)
Instance 1 0x01 Read/set counter 2 (encoder) DINT C1 RW
0x02 Read/set encoder deadband UINT DB RW
0x03 Enable/disable encoder functions BOOL EE RW
0x04 Read/set home to index mode USINT HI RW
0x05 Read encoder index mark BOOL I6 RO
0x06 Enable/disable position maintenance (non-hybrid only) BOOL PM RW
0x07 Read/set stall factor (non-hybrid only) UINT SF RW
0x08 Read/set stall detect mode (non-hybrid only) BOOL SM RW
0x09 Read stall flag (non-hybrid only) BOOL ST RO

Table 8.8: Encoder object (69h – 1 instance)

V1.00, 01.2012

Fieldbus interface 31
 8 Manufacturer specific objects EtherNet/IP Fieldbus manual

8.8 Hybrid specif c object (6Ah – 1 instance)

The hybrid specific object contains attributes for issuing hybrid com-
mands and reading and/or writing hybrid related variables or flags.

Instance Attribute ID Description Data type MCode Access

Class 0x01 Revision UINT — RO
(Instance 0)
Instance 1 0x01 Read hybrid status USINT AF RO
0x02 Read/set hybrid operating mode USINT AS RW
0x03 Read/set calibration mode STRING CA RW
0x04 Read/set control bounds USINT CB RW
0x05 Read set calibration current percent USINT CC RW
0x06 Clear locked rotor flag BOOL CF CMD
0x07 Read/set calibration time UINT CT RW
0x08 Read/set remote encoder line count UINT EL RW
0x09 Read/set lead limit UDINT LD RW
0x0A Read lead/lag position error DINT LL RO
0x0B Read/set lag limit UDINT LG RW
0x0C Read state of rotor locked/unlocked BOOL LR RO
0x0D Read set locked rotor timeout time UINT LT RW
0x0E Read set make-up speed UDINT MF RW
0x0F Read/set make-up mode STRING MU RW
0x10 Command calibration start USINT SC WONE
0x11 Read/set system speed USINT SS RW
0x12 Read/set torque direction BOOL TD RW
0x13 Read/set torque current percent USINT TQ RW
0x14 Read/set torque speed USINT TS RW

Table 8.9: Hybrid specific object (6Ah – 1 instance)

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32 Fieldbus interface
 EtherNet/IP Fieldbus manual 9 Glossary

9 Glossary

9
9.1 Units and conversion tables
The value in the specified unit (left column) is calculated for the desired
unit (top row) with the formula (in the field).
Example: conversion of 5 meters [m] to yards [yd]
5 m / 0.9144 = 5.468 yd

9.1.1 Length

in ft yd m cm mm
in — / 12 / 36 * 0.0254 * 2.54 * 25.4
ft * 12 — / 3 * 0.30479 * 30.479 * 304.79
yd * 36 *3 — * 0.9144 * 91.44 * 914.4
m / 0.0254 / 0.30479 / 0.9144 — * 100 * 1000
cm / 2.54 / 30.479 / 91.44 / 100 — * 10
mm / 25.4 / 304.79 / 914.4 / 1000 / 10 —

9.1.2 Mass

lb oz slug kg g
lb — * 16 * 0.03108095 * 0.4535924 * 453.5924
oz / 16 — * 1.942559*10-3 * 0.02834952 * 28.34952
slug / 0.03108095 * 1.942559*10-3 — * 14.5939 * 14593.9
kg / 0.453592370 / 0.02834952 / 14.5939 — * 1000
g / 453.592370 / 28.34952 / 14593.9 / 1000 —

9.1.3 Force

lb oz p dyne N
lb — * 16 * 453.55358 * 444822.2 * 4.448222
oz / 16 — * 28.349524 * 27801 * 0.27801
p / 453.55358 / 28.349524 — * 980.7 * 9.807*10-3
dyne / 444822.2 / 27801 / 980.7 — / 100*103
N / 4.448222 / 0.27801 / 9.807*10-3 * 100*103 —
V1.00, 9.2011

Integrated Motion System 33

 9 Glossary EtherNet/IP Fieldbus manual

9.1.4 Power

HP W
HP — * 745.72218
W / 745.72218 —

9.1.5 Rotation

min-1 (RPM) rad/s deg./s

min-1 (RPM) — * π / 30 *6
rad/s * 30 / π — * 57.295
deg./s /6 / 57.295 —

9.1.6 Torque

lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm

lb·in — / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106
lb·ft * 12 — * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106
oz·in / 16 / 192 — * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5
Nm / 0.112985 / 1.355822 / 7.0616*10-3 — * 0.101972 * 10.1972 * 10*106
kp·m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 — * 100 * 98.066*106
kp·cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 — * 0.9806*106
dyne·cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 —

9.1.7 Moment of inertia

lb·in2 lb·ft2 kg·m2 kg·cm2 kp·cm·s2 oz·in2

lb·in2 — / 144 / 3417.16 / 0.341716 / 335.109 * 16
lb·ft2 * 144 — * 0.04214 * 421.4 * 0.429711 * 2304
kg·m2 * 3417.16 / 0.04214 — * 10*103 * 10.1972 * 54674
kg·cm2 * 0.341716 / 421.4 / 10*103 — / 980.665 * 5.46
kp·cm·s2 * 335.109 / 0.429711 / 10.1972 * 980.665 — * 5361.74
oz·in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 —

9.1.8 Temperature

°F °C K
°F — (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15
V1.00, 9.2011

°C °C * 9/5 + 32 — °C + 273,15
K (K - 273.15) * 9/5 + 32 K - 273.15 —

34 Integrated Motion System

 EtherNet/IP Fieldbus manual 9 Glossary

9.1.9 Conductor cross section

AWG 1 2 3 4 5 6 7 8 9 10 11 12 13
mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6

AWG 14 15 16 17 18 19 20 21 22 23 24 25 26
mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13

9.2 Terms and Abbreviations

AC Alternating current

Acceleration The time rate of change of velocity with respect to a fixed reference
frame. The commanded step rate is started at a base velocity and ac-
celerated at a slew velocity at a defined and controlled rate or rate of
changes.

ASCII American Standard Code for Information Interchange. Standard for cod-
ing of characters.

Back Electro-Motive Force (Back EMF) Also known as regeneration current, the reversed bias generated by
rotation of the magnetic field across a stator’s windings. Sometimes
referred to as counter EMF.

CAN (Controller Area Network), standardized open fieldbus as per ISO

11898, allows drives and other devices from different manufacturers to
communicate.

CANopen CANopen is a CAN-based higher layer protocol. It was developed as

a standardized embedded network with highly flexible configuration
capabilities. CANopen was designed motion oriented machine control
networks, such as handling systems. It is used in many various fields,
such as medical equipment, off-road vehicles, maritime electronics,
public transportation, building automation, etc

Closed Loop System In motion control, this term describes a system wherein a velocity or
position (or both) sensor is used to generate signals for comparison
to desired parameters. For cases where loads are not predictable, the
closed loop feedback from an external encoder to the controller may be
used for stall detection, position maintenance or position verification.

Daisy Chain This term is used to describe the linking of several devices in sequence,
such that a single signal stream flows through one device and on to
V1.00, 9.2011

another

Integrated Motion System 35

 9 Glossary EtherNet/IP Fieldbus manual

DC Direct current

Deadband A range of input signals for which there is no system response.

Default value Factory setting.

Detent Torque The periodic torque ripple resulting from the tendency of the magnetic
rotor and stator poles to align themselves to positions of minimal reluc-
tance. The measurement is taken with all phases de-energized.

Direction of rotation Rotation of the motor shaft in a clockwise or counterclockwise direction

of rotation. Clockwise rotation is when the motor shaft rotates clockwise
as you look at the end of the protruding motor shaft.

DOM The Date of manufacturing on the nameplate of the device is shown in

the format DD.MM.YY,
e.g. 31.12.06 (December 31, 2006).

Duty Cycle For a repetitive cycle, the ratio of on time to total cycle time.

EMC Electromagnetic compatibility

Encoder Sensor for detection of the angular position of a rotating component.

The motor encoder shows the angular position of the rotor.

Error class Classification of errors into groups. The different error classes allow for
specific responses to faults, e.g. by severity.

Fatal error In the case of fatal error, the drive is not longer able to control the motor,
so that an immediate switch-off of the drive is necessary.

Fault Operating state of the drive caused as a result of a discrepancy between

a detected (computed, measured or signaled) value or condition and the
specified or theoretically correct value or condition.

Fault reset A function used to restore the drive to an operational state after a
detected fault is cleared by removing the cause of the fault so that the
fault is no longer active (transition from state “Fault” to state “Operation
Enable”).

Forcing Forcing switching states of inputs/outputs. Forcing switching states of

inputs/outputs.
V1.00, 9.2011

Full Duplex The transmission of data in two directions simultaneously. For example,
a telephone is a full-duplex device because both parties can talk at the
same time.

36 Integrated Motion System

 EtherNet/IP Fieldbus manual 9 Glossary

Ground Loop A ground loop is any part of the DC return path (ground) that has more
than one possible path between any two points.

Half Duplex A ground loop is any part of the DC return path (ground) that has more
than one possible path between any two points.

Half Step This term means that the motor shaft will move a distance of 0.9 degree
(400 steps per shaft revolution) instead of moving 1.8 degree per digital
pulse.

Hybrid Motion Technology™ (HMT) A motor control technology representing a new paradigm in brushless
motor control. By bridging the gap between stepper and servo perfor-
mance, HMT offers system integrators a third choice in motion system
design.

Hybrid Motors Hybrid stepper motors feature the best characteristics of PM and VR
motors. Hybrid steppers are best suited for industrial applications be-
cause of high static and run torque, a standard low step angle of 1.8°,
and the ability to Microstep. Hybrid stepper motors offer the ability to
precisely position a load without using a closed-loop feedback device
such as an encoder.

Holding Torque The maximum torque or force that can be externally applied to a
stopped, energized motor without causing the rotor to rotate continu-
ously. This is also called “static torque”.

I/O Inputs/outputs

Inc Increments

Index pulse Signal of an encoder to reference the rotor position in the motor. The
encoder returns one index pulse per revolution.

Inertia A measure of an object’s resistance to a change in velocity. The larger

an object’s inertia, the greater the torque required to accelerate or
decelerate it. Inertia is a function of an object’s mass and shape. For the
most efficient operation, the system-coupling ratio should be selected
so that the reflected inertia of the load is equal to or no greater than 10
times the rotor inertia of the stepper motor.

Inertia (Ref ected) Inertia as seen by the stepper motor when driving through a speed
change, reducer or gear train.

Lag The amount (in full motor steps) that the rotor lags the stator. Lag condi-
V1.00, 9.2011

tions are caused by loading on the motor shaft, as during transient load-
ing or rapid acceleration.

Integrated Motion System 37

 9 Glossary EtherNet/IP Fieldbus manual

Lead The amount (in full motor steps) that the rotor leads the stator. Lead
conditions are caused by an overhauling load, as during periods of rapid
deceleration.

Limit switch Switch that signals overtravel of the permissible range of travel.

Load Any external resistance (static or dynamic) to motion that is applied to

the motor.

Locked rotor When the lag/lead limit is reached, a timer starts a countdown that is
determined by the user. The locked rotor will assert itself by triggering
a flag and, depending on the selected mode, by disabling the output
bridge.

Loss of synchronization In traditional stepper systems, when the lead/lag relationship of the rotor
and stator reaches two full motor steps, the alignment of the magnetic
fields is broken and the motor will stall in a freewheeling state. Hybrid
Motion Technology eliminates this.

Microstepping A control electronic technique that proportions the current in a stepper

motor’s windings to provide additional intermediate positions between
poles. Produces smooth rotation over a wide range and high positional
resolution. Typically, step resolutions range from 400 to 51,200 steps
per shaft revolution.

Motor phase current The available torque of a stepper motor is determined by the mo-
tor phase current. The higher the motor phase current the higher the
torque.

Multidrop A communications configuration in which several devices share the

same transmission line, although generally only one may transmit at a
time. This configuration usually uses some kind of polling mechanism to
address each connected device with a unique address code.

NEMA The acronym for the National Electrical Manufacturer’s Association, an

organization that sets standards for motors and other industrial electrical
equipment.

Node guarding Monitoring of the connection with the slave at an interface for cyclic data
traffic.

Open Loop System An open loop motion control system is where no external sensors are
used to provide position or velocity feedback signals, such as encoder
feedback of position.
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38 Integrated Motion System

 EtherNet/IP Fieldbus manual 9 Glossary

Opto-Isolated A method of sending a signal from one piece of equipment to another

without the usual requirement of common ground potentials. The signal
is transmitted optically with a light source (usually a Light Emitting
Diode) and a light sensor (usually a photo-sensitive transistor). These
optical components provide electrical isolation.

Parameter Device data and values that can be set by the user.

Persistent Indicates whether the value of the parameter remains in the memory
after the device is switched off.

PLC Programmable logic controller

Position lead/lag The HMT circuitry continually tracks the position lead or lag error, and
may use it to correct position.

Position make-up When active, the position make-up can correct for position errors oc-
curring due to transient loads. The lost steps may be interleaved with
incoming steps, or reinserted into the profile at the end of a move.

Power stage The power stage controls the motor. The power stage generates cur-
rents for controlling the motor on the basis of the positioning signals
from the controller.

Pull-In Torque This is the maximum torque the stepper motor can develop when instan-
taneously started at that speed.

Pull-Out Torque This is the maximum torque that the stepper can develop once an ac-
celeration profile has been used to “ramp” it to the target speed.

Quick Stop Function used to enable fast deceleration of the motor via a command
or in the event of a malfunction.

Resolution The smallest positioning increment that can be achieved.

Resonance The frequency that a stepper motor system may begin to oscillate. Pri-
mary resonance frequency occurs at about one revolution per second.
This oscillation will cause a loss of effective torque and may result in
loss of synchronism. The designer should consider reducing or shifting
the resonance frequency by utilizing half step or micro-step techniques
or work outside the primary resonance frequency.

Rotor The moving part of the motor, consisting of the shaft and the magnets.
These magnets are similar to the field winding of a brush type DC motor
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Integrated Motion System 39

 9 Glossary EtherNet/IP Fieldbus manual

. Rotor Inertia The rotational inertia of the rotor and shaft.

RS485 Fieldbus interface as per EIA-485 which enables serial data transmission
with multiple devices.

Sinking Current Refers to the current flowing into the output of the chip. This means that
a device connected between the positive supply and the chip output will
be switched on when the output is low.

Slew The position of a move profile where the motor is operating at a constant
velocity

Sourcing Current Refers to the current flowing out of the output of the chip. This means
that a device connected between the chip output and the negative sup-
ply will be switched on when the output is high.

Stall detection Stall detection monitors whether the index pulse is always correctly trig-
gered at the same angle position of the motor shaft.

Stator The stationary part of the motor. Specifically, it is the iron core with the
wire winding in it that is pressed into the shell of the frame. The winding
pattern determines the voltage constant of the motor.

Torque ramp Deceleration of the motor with the maximum possible deceleration,
which is only limited by the maximum permissible current. The higher
the permissible braking current, the stronger the deceleration. Because
energy is recovered up depending on the coupled load, the voltage may
increase to excessively high values. In this case the maximum permis-
sible current must be reduced.

Variable current control When active, variable current control will control the motor current as
such to maintain the torque and speed on the load to what is required
by the profile. This leads to reduced motor heating and greater system
efficiency.

Warning If not used within the context of safety instructions, a warning alerts to
a potential problem detected by a monitoring function. A warning is not
a fault and does not cause a transition of the operating state. Warnings
belong to error class 0.

Watchdog Unit that monitors cyclic basic functions in the product. Power stage and
outputs are switched off in the event of faults.

Zero crossing The point in a stepper motor where one phase is at 100% current and
V1.00, 9.2011

the other is at 0% current.

40 Integrated Motion System

 EtherNet/IP Fieldbus manual A Setting up an MDrive using RS Logix 5000

A Setting up an MDrive using RS Logix 5000

A
A.1 Adding the MDrive
This appendix shows an example of adding an MDrive EtherNet/IP unit
to an RS Logix 5000 project. The PLC used in this example was an
Rockwell Automation Compact Logix L23E.

Step 1 1) Open a new project

2) Click the [+] next to I/O Configuration, Under your [PLC Name]
right-click “Ethernet”
3) Select “New Module”
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Figure A.1: Adding a new module

Fieldbus interface 41
 A Setting up an MDrive using RS Logix 5000 EtherNet/IP Fieldbus manual

4) Under “communications” of the Select Module” dialog Select

‘ETHERNET-MODULE Generic Ethernet Module’
5) Click OK

Figure A.2: Generic Ethernet Module

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42 Fieldbus interface
 EtherNet/IP Fieldbus manual A Setting up an MDrive using RS Logix 5000

Step 2 A “New Module” dialog will appear. Fill in the following information as
follows:
Name: MDrive (IMPORTANT!)
Description: MDriveHybrid (Desc. is at user discretion)
Comm Format: Data - SINT
IP Address: 192.168.33.1
Connection Parameters:
Assembly Instance Size
Input 100 16
Output 112 36
Configuration 1 0

Figure A.3: New module setup

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Fieldbus interface 43
 A Setting up an MDrive using RS Logix 5000 EtherNet/IP Fieldbus manual

Step 3 Set “Request Packet Interval (RPI)” under the connection tab to 20ms.

Figure A.4: Request Packet Interval setting

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44 Fieldbus interface
 EtherNet/IP Fieldbus manual A Setting up an MDrive using RS Logix 5000

Step 4 Under “Data Types”, right-click on “User-Defined and select “Import

Data Type”.

Figure A.5: Import routine

Select and import both MDrive_Inputs_T2O.L5X and MDrive_Outputs_

O2T.L5X . These files are created using the TCP/IP Configuration Utility
and exported as shown in Section 5.1.2 of this document.
V1.00, 01.2012

Figure A.6: I/O Data type files

Fieldbus interface 45
 A Setting up an MDrive using RS Logix 5000 EtherNet/IP Fieldbus manual

In the Program Window, select the Synchronous Copy File Function

(CPS). For the Source, The MDrive Input Data [0] tag.

Figure A.7: Synchronous Copy File Function

For the Destination, create a Tag using the User Defined data type
MDrive_Inputs_T2O as the Data Type.

Figure A.8: Select data type

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46 Fieldbus interface
 EtherNet/IP Fieldbus manual A Setting up an MDrive using RS Logix 5000

Set the Length to 16.

On the following rung, repeat the above process using a created Tag
using the MDrive_Outputs_T2O data type as the source, The MDrive
Output Data [0] as the destination and 36 as the length

Figure A.9: Main program window

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Fieldbus interface 47
 A Setting up an MDrive using RS Logix 5000 EtherNet/IP Fieldbus manual

This associates the Tags created with the import of the user defined
data types with the data in the implicit data object in the MDrive.

Step 5 Add another rung to the routine created above. This rung should include
a N/O contact as well and a Move (MOV) command. For the Contact,
create a Tag called “Jog”. In the Move, select the Source to be a Jog
speed in micosteps/sec. Set the Destination to be the “SL” parameter
within the MDrive Out Tag created in Step 4. Copy this rung, changing
the contact Tag to “Step”, and set the source to be 0.
Download the application and go online with the project. Toggling the
“Jog” contact will cause the connected Mdrive to Slew at the requested
speed. Toggling the “Stop” contact will make it stop.

Figure A.10: Main program

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48 Fieldbus interface
 EtherNet/IP Fieldbus manual A Setting up an MDrive using RS Logix 5000

A.2 Explicit messaging

Explicit messaging is used to transfer data that does not require con-
tinual updates. All MDrive parameters may be accessed via explicit
messaging

Figure A.11: Explicit message Query_SN

The message instruction must be configured to read or write to a spe-

cific Attribute (parameter) in the MDrive.
In this case, the Message is set to read the Serial Number from the
MDrive and move it into a Tag labeled “Ser_Num”. This is done by
chosing the “Get Attribute Single” from the Service Type pull-down and
selecting the appropriate Class, Instance and Attribute. This information
can be found in Section 8 of the Ethernet/IP Fieldbus Manual.
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Fieldbus interface 49
 A Setting up an MDrive using RS Logix 5000 EtherNet/IP Fieldbus manual

A.2.1 Formatting the message

1) Add a message instruction (MSG), create a new tag for the mes-
sage Get_SN (properties, base tag type, message data typt, con-
troller scope) and click the configure button.

Figure A.12: Message configuration dialog

2) Set the message parameters as shown in the screen capture above

in accordance with Table A.1,
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50 Fieldbus interface
 EtherNet/IP Fieldbus manual A Setting up an MDrive using RS Logix 5000

Field Description
Message Type The message type for MDrive parameters will be CIP Generic
Service Type The service type for MDrive, in this case will be Get Attribute Single. If setting a parameter the service type
would be Set Attribute Single. Available services depend on the class and instance being read or written.
Service code This field will be read only when Set Attribute Single or Get Attribute Single is the service type.
Class This is the EtherNet/IP class. For this exercise it is 64h Miscellaneous. Refer to Section 8: Manufacturer specific
objects, for a listing of supported classes, instances and attributes.
Instance This is the EtherNet/IP instance or object. Refer to Section 8: Manufacturer specific objects, for a listing of
supported classes, instances and attributes.
Attribute The attribute represents, in this exercise, the hex number (0x0B), of the instance assigned to the Read_Serial_
Number command. Refer to Section 8: Manufacturer specific objects, for a listing of supported classes, instances
and attributes.

Table A.1: Message configuration

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 A Setting up an MDrive using RS Logix 5000 EtherNet/IP Fieldbus manual

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52 Fieldbus interface
 EtherNet/IP Fieldbus manual B Upgrading the Ethernet controller firmware

B Upgrading the Ethernet controller f rmware

B
B.1 Upgrading the Ethernet controller f rmware
NOTE: This refers strictly to the controller firmware for the Ethernet
interface. It is NOT an upgrade to the MDrive operating firmware.
It is recommended that you DO NOT perform this upgrade unless so
instructed by the IMS SEM Applications department.
Please review this in detail before performing the upgrade, each step
must be completed in order.

Requirements The latest versions of the software and firmware are available on the
web site under the downloads tab at http://www.schneider-electric-
motion.us
1) TCP/IP Configuration Tool (Installed)
2) TFTPD Firmware Server (Installed)
3) Ethernet firmware upgrade file
IMPORTANT: Unzip upgrade *.S19 file to the installation directory
of the TCP/IP Configuration Tool
This process will utilize the firmware upgrade area on the configuration
tab of the TCP/IP Configuration Tool to set up.

Config Tab

Firmware upgrade
area
V1.00, 01.2012

Figure B.1: TCP/IP Config tab

Fieldbus interface 53
 B Upgrading the Ethernet controller firmware EtherNet/IP Fieldbus manual

B.1.1 To begin
1) Open the TCP/IP Configuration Tool
2) Click the config tab, if not already active.
3) Connect to your Ethernet MDrive over TCP.
B.1.2 Set the Tftpd Server IP
a) Click “Get Local IP”
b) Click “Write”
c) Tftpd Server IP should read ‘OK’

Figure B.2: Setting the Tftpd Server IP

B.1.3 Set the Ethernet upgrade f le name

a) Click “Browse & set file name”. In the file open window, browse to
the location where you extracted the firmware upgrade *.S19 file.
Click “OK”
b) Click “Write”
c) Ethernet Upgrade File Name should read ‘~OK’

a
V1.00, 01.2012

Figure B.3: Setting the upgrade file name

54 Fieldbus interface
 EtherNet/IP Fieldbus manual B Upgrading the Ethernet controller firmware

B.1.4 Enter upgrade mode

1) On the «Edit» menu, select «Enter Ethernet Firmware Upgrade
Mode»
2) A dialog will open requesting verification of the upgrade filename.
If the name matches, click «Yes».
3) If it does not match, click «No» and repeat step 2.
4) In the dialog, «Enter unlock code to enter upgrade mode», enter
the code:

2956102

5) The message, «Successfully entered Ethernet Firmware upgrade

mode» will appear, click «OK».
6) The message «Cycle power to upgrade Ethernet firmware via
Tftpd server» will pop up. DO NOT Click OK at this point.
B.1.5 Complete upgrade process
1) Remove power from you MDrive.
2) Click “OK” on the dialog referenced in Step 3-e.
3) On the “Edit” menu, select “Select & Enter Tftpd Server”. The
browse dialog should open to the install directory. If not, browse to
the Tftpd_Server install directory and select “tftpd32.exe”
4) Click “Open”
5) Apply power to the MDrive
6) The upgrade should begin after a few seconds.
7) When complete, close Tftpd server. Note that there is no dialog
informing you of completion. Check the tab marked “Log Viewer”
to verify completion.
8) Cycle power to the MDrive.
9) Reconnect using the default IP: 192.168.33.1 and Subnet mask:
255.255.0.0.
10) Configure device to your system requirements.
V1.00, 01.2012

Fieldbus interface 55
 B Upgrading the Ethernet controller firmware EtherNet/IP Fieldbus manual

Figure B.4: Firmware upgrading

V1.00, 01.2012

56 Fieldbus interface
WARRANTY
TWENTY-FOUR (24) MONTH LIMITED WARRANTY
IMS Schneider Electric Motion USA warrants only to the purchaser of the Product from IMS Schneider Electric Motion USA (the “Customer”) that the
product purchased from IMS Schneider Electric Motion USA (the “Product”) will be free from defects in materials and workmanship under the normal use
and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer. Customer’s exclusive
remedy under this Limited Warranty shall be the repair or replacement, at Company’s sole option, of the Product, or any part of the Product, determined
by IMS Schneider Electric Motion USA to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the
instructions described under the heading “Obtaining Warranty Service”.

NOTE: MDrive Motion Control electronics are not removable from the motor in thef eld. The entire unit must be returned to the factory
for repair.

This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate
handling; improper or inadequate wiring utilized or installed in connection with the Product; installation, operation or use of the Product not made in strict
accordance with the specifications and written instructions provided by IMS; use of the Product for any purpose other than those for which it was designed;
ordinary wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modifications to the Product; the misuse or failure of any item
or equipment connected to the Product not supplied by IMS Schneider Electric Motion USA; improper maintenance or repair of the Product; or any other
reason or event not caused by IMS Schneider Electric Motion USA.

IMS SCHNEIDER ELECTRIC MOTION USA HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR
IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY
PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL
IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.

This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This Limited Warranty is the
sole warranty offered by IMS Schneider Electric Motion USA with respect to the Product. IMS Schneider Electric Motion USA does not assume any other
liability in connection with the sale of the Product. No representative of IMS Schneider Electric Motion USA is authorized to extend this Limited Warranty
or to change it in any manner whatsoever. No warranty applies to any party other than the original Customer.

IMS Schneider Electric Motion USA and its directors, officers, employees, subsidiaries and affiliates shall not be liable for any damages arising from any
loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production or profits, overhead costs,
claims of third parties, labor or materials, penalties or liquidated damages or punitive damages, whatsoever, whether based upon breach of warranty,
breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party.

OBTAINING WARRANTY SERVICE

If the Product was purchased from an IMS Schneider Electric Motion USA Distributor, please contact that Distributor to obtain a Returned Material
Authorization (RMA). If the Product was purchased directly from IMS Schneider Electric Motion USA, please contact Customer Service at info@imshome.
com or 860-295-6102 (Eastern Time Zone).

Customer shall prepay shipping charges for Products returned to IMS Schneider Electric Motion USA for warranty service and IMS Schneider Electric
Motion USA shall pay for return of Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for
Products returned to IMS Schneider Electric Motion USA from outside the United States.
Schneider Electric Motion USA
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Marlborough, CT 06447 - U.S.A.
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: [email protected]
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© Schneider Electric Motion USA All Rights Reserved. V1.00, 01.2012
Product Disclaimer and most recent product information at
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