LXM32M Modbus-TCP module Fieldbus manual V1.01, 01.2012 0198441113843, V1.01, 01.2012 ETH www.schneider-electric.
Important information LXM32M 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". Some products are not available in all countries.
LXM32M Table of contents Table of contents Important information 2 Table of contents 3 About this manual 7 Further reading 1 Introduction 2 Before you begin - safety information 11 2.1 Qualification of personnel 11 2.2 Intended use 11 2.3 Hazard categories 12 2.4 Basic information 13 2.5 Standards and terminology 14 3 0198441113843, V1.01, 01.2012 8 4 Basics 9 15 3.1 Modbus TCP technology 3.1.1 Function principle 3.1.2 Bus topology 3.1.3 Client / server model 3.1.
5 6 7 4 LXM32M 4.1 Installation of the module 35 4.2 Electrical installation 36 Commissioning 37 5.1 Commissioning the device 37 5.2 "First Setup" 5.2.1 Manual assignment of the network address 5.2.2 Assignment of the network address via BOOTP 5.2.3 Assignment of the network address via DHCP 38 39 41 42 5.3 Setting the transmission rate 43 5.4 Setting the protocol 43 5.5 Setting the gateway 44 5.6 Master with Word Swap 45 5.7 Setting I/O-Scanning 5.7.
LXM32M 8 9 7.2 Status LEDs 70 7.3 Error indication 72 Accessories and spare parts 75 8.1 75 Cables Glossary 77 9.1 Units and conversion tables 9.1.1 Length 9.1.2 Mass 9.1.3 Force 9.1.4 Power 9.1.5 Rotation 9.1.6 Torque 9.1.7 Moment of inertia 9.1.8 Temperature 9.1.9 Conductor cross section 77 77 77 77 77 78 78 78 78 78 9.2 Terms and Abbreviations 79 Index 81 0198441113843, V1.01, 01.
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LXM32M About this manual About this manual This manual applies to the module Modbus TCP for the product LXM32M, module identification ETH. The information provided in this manual supplements the product manual. Source manuals The latest versions of the manuals can be downloaded from the Internet at: http://www.schneider-electric.com Source CAD data For easier engineering, CAD data (EPLAN macros or drawings) are available for download from the Internet at: http://www.schneider-electric.
LXM32M About this manual Index List of keywords with references to the corresponding page numbers. Further reading http://www.modbus.org 0198441113843, V1.01, 01.
LXM32M 1 1 Introduction Introduction 1 Different products with a Modbus TCP interface can be operated in the same fieldbus. Modbus TCP provides a common basis for interchanging commands and data between the network devices. L N Figure 1: Fieldbus products on the network Features The product supports the following functions via Modbus TCP: • • 0198441113843, V1.01, 01.
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LXM32M 2 Before you begin - safety information 2 Before you begin - safety information 2.1 Qualification of personnel 2 Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product. In addition, these persons must have received safety training to recognize and avoid hazards involved.
LXM32M 2 Before you begin - safety information 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 DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.
LXM32M 2.4 2 Before you begin - safety information Basic information WARNING 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 outage and restart. Separate or redundant control paths must be provided for critical functions.
2 Before you begin - safety information 2.5 LXM32M 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", "error", "error message", "warning", "warning message", etc.
LXM32M 3 Basics 3 Basics 3.1 Modbus TCP technology 3.1.1 Function principle 3 Modbus TCP is an Ethernet fieldbus. Modbus TCP describes the transmission of the Modbus protocol via the Ethernet interface and the TCP/IP transport and network layers. The Modbus TCP client (master) connects to the Modbus TCP server (slave). Once the connection is established, the client sends Modbus requests to the server. These requests are processed by the server.
LXM32M 3 Basics 3.1.3 Client / server model Request Indication Modbus Client Modbus Server Confirmation Response Figure 2: Client / server model The Modbus messaging service implements client/server communication between devices connected by means of a TCP/IP network. Modbus TCP does not use an object dictionary. The client/server model is based on 4 types of messages: • • • • Request: Message sent by the client to initiate a transaction. Indication: Request as received by the server.
LXM32M 3.2 3 Basics Modbus TCP protocol The Modbus protocol defines a so-called Modbus PDU (Protocol Data Unit) which is independent of the underlying communication layers. This Modbus PDU consists of the fields "Function Code" and "Data". Depending on the mapping to the different network protocols, the Modbus PDU is extended by additional fields in the so-called Modbus ADU (Application Data Unit). The Modbus PDU and the Modbus ADU constitute the Modbus message, also referred to as "Frame".
LXM32M 3 Basics 3.2.1 MBAP header The MBAP header contains the information allowing the recipient to uniquely identify a message. This is even possible if a message is split into several packets for transmission. Explicit and implicit length rules as well as the use of a CRC-32 error check code (on Ethernet) results in an infinitesimal chance of undetected corruption to a request or response message.
LXM32M 3 Basics 3.3 Modbus TCP communication 3.3.1 Connection management Establishing of a connection The Modbus TCP server allows for TCP connections via the default port 502. A client can establish a new connection via this port. If the client is to exchange data with a remote server, a new client connection via remote port 502 must be established. Modbus data transfer A Modbus request is sent via a suitable, open connection. This TCP connection is found using the IP address of the remote device.
LXM32M 3 Basics 3.3.2 Modbus response to a Modbus request The Modus server generates a Modbus response after having processed a Modbus request. Depending on the type of processing, two types of Modbus responses are possible: • Positive Modbus response - • The "Function Code" in the Modbus response corresponds to the "Function Code" in the Modbus request.
LXM32M 3.3.3 3 Basics Reading and writing parameters Parameters are processed as 32 bit values. 16 bit values must also be processed as 32 bit values. Two consecutive 16 bit parameters must be read or written to process a 16 bit parameter. The first Modbus address must be specified. If several consecutive parameters are to be processed, a single Modbus command with the corresponding Modbus address and the length indication is sufficient.
LXM32M 3 Basics 3.3.4 I/O scanning to "Drive Profile Lexium" I/O scanning is used for cyclic interchange of data between master and slave. I/O scanning must be configured on the master. The master can use 2 different approaches for of I/O scanning: • • "Function Code" 23 (17h), Read-Write Mulitple Registers "Function Code" 3 (03h), Read Multiple Registers and "Function Code" 16 (10h), Write Multiple Registers NOTE: The read value is 0 until the first write command is executed.
LXM32M 3 Basics 3.3.4.1 I/O scanning Output The table below shows the structure of the cyclic data for the commands from the master to the product. See the product manual for a description of the parameters. ParCh dmControl Byte Meaning Data type Parameter address 0 ... 7 ParCh - Parameter channel 8 ... 9 dmControl INT - 10 ... 13 RefA32 DINT - 14 ... 17 RefB32 DINT - 18 ... 21 Ramp_v_acc DINT Parameter Ramp_v_acc Modbus 1556 22 ...
LXM32M 3 Basics 3.3.4.2 I/O scanning Input The table below shows the structure of the cyclic data for the status messages from the product to the master. See the product manual for a description of the parameters. ParCh driveStat Byte Meaning Data type Parameter address 0 ... 7 ParCh - Parameter channel 8 ... 9 driveStat INT - 10 ... 11 mfStat INT - 12 ... 13 motionStat INT - 14 ... 15 driveInput INT - 16 ... 19 _p_act DINT Parameter _p_act Modbus 7706 20 ...
LXM32M 3 Basics driveInput The word "driveInput" is used to indicate the status of the digital signal inputs. bit Signal Factory setting 0 DI0 Signal input function Freely Available 1 DI1 Signal input function Reference Switch (REF) 2 DI2 Signal input function Positive Limit Switch (LIMP) 3 DI3 Signal input function Negative Limit Switch (LIMN) 4 DI4 Signal input function Freely Available 5 DI5 Signal input function Freely Available 6 ...
LXM32M 3 Basics 3.3.4.3 Parameter channel The master can request a parameter value from the slave or change a parameter value via the parameter channel. Each parameter can be uniquely addressed via the index and subindex. Byte 0 1 2 3 4 5 6 7 PV Index Subindex Ctrl Figure 4: Parameter channel Ctrl Byte "Ctrl" contains the request to read or write a parameter. The transmit data contains the information whether a parameter is to be read or written.
LXM32M 3 Basics PV The double word "PV" contains the parameter value. In the case of a read request, the value in the transmit data has no significance. The receive data contains the parameter value. In the case of a write request, the transmit data contains the value to be written to the parameter. The receive data contains the parameter value. If a read request or a write request were not successful, the double word "PV" contains the error number of the error.
LXM32M 3 Basics 3.4 Modbus services - "Function Code" The table below provides an overview of the available Modbus services: 3.4.
LXM32M 3.4.2 3 Basics "Function Code" 8 (Diagnostics) This "Function Code" 8 (Diagnostics) allows you to read diagnostics data of the slave.
LXM32M 3 Basics 3.4.3 "Function Code" 16 (Write Multiple Registers) This "Function Code" 16 (Write Multiple Registers) allows you to write several consecutive parameters, starting at any address.
LXM32M 3.4.4 3 Basics "Function Code" 23 (ReadWrite Multiple Registers) This "Function Code" 23 (ReadWrite Multiple Registers) allows you to read and write several consecutive parameters, starting at any address.
LXM32M 3 Basics 3.4.5 "Function Code" 43 (Encapsulated Interface Transport) This "Function Code" 43 / 14 (Read Device Identification) allows you to read device-specific data.
LXM32M 3.4.6 3 Basics Examples 3.4.6.1 Example of "Function Code" 3 Reading an error memory entry. Since the Modbus addresses of the parameters of an error memory entry are contiguous (ascending order), a single Modbus request is sufficient. Parameters _ERR_number (15362), _ERR_class (15364), _ERR_time (15366) and _ERR_qual (15368).
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LXM32M 4 4 Installation Installation 4 WARNING SIGNAL AND DEVICE INTERFERENCE Signal interference can cause unexpected responses of the 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. 4.
LXM32M 4 Installation 4.2 Electrical installation Cable specifications Shield: Required, both ends grounded Twisted Pair: Required PELV: Required Cable composition: 8 * 0.25 mm2 (8 * AWG 22) Maximum cable length: 100 m Special features: - ▶ Note the pertinent information on equipotential bonding conductors in the product manual. ▶ Use pre-assembled cables to reduce the risk of wiring errors.
LXM32M 5 5 Commissioning Commissioning 5 WARNING LOSS OF CONTROL The product is unable to detect an interruption of the network link if connection monitoring is not active. • • 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. WARNING UNINTENDED OPERATION • • • • • • Do not write values to reserved parameters.
LXM32M 5 Commissioning 5.2 "First Setup" A "First Setup" is required when the controller supply is switched on for the first time or after the factory settings have been restored. Switching on the device ■ The power stage supply is switched off. ▶ Disconnect the product from the the fieldbus during commissioning in order to avoid conflicts by simultaneous access. ▶ Switch on the controller supply.
LXM32M 5 Commissioning Type of network address assignment ▶ Select the type of network address assignment. The type of network address assignment is set via the parameter EthIpMode (iPMd).
Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type Parameter address R/W via fieldbus Persistent Expert EthIPmodule1 IP address Ethernet module, byte 1 ConF → CoMConF → FSu- Changed settings become active the next time the product is switched on. 0 0 255 UINT16 UINT16 UINT16 UINT16 R/W per. - CANopen 3044:7h Modbus 17422 Profibus 17422 CIP 168.1.7 0 0 255 UINT16 UINT16 UINT16 UINT16 R/W per.
LXM32M 5.2.2 5 Commissioning Assignment of the network address via BOOTP 0198441113843, V1.01, 01.2012 ■ EthIpMode has been set to BOOTP (boot). ▶ Verify that an accessible BOOTP server is available on the network.
LXM32M 5 Commissioning 5.2.3 Assignment of the network address via DHCP ■ EthIpMode has been set to DHCP (dhcp). ▶ Verify that an accessible DHCP server is available on the network. ▶ Set a number that is unique in the network via dhcn. NOTE: This setting is only required if you want to use an FDR server. The number is entered at the 13th, 14th and 15th digit of the device name. Example: LEXIUM_SERVO001 In the commissioning software, the full device name can be displayed and changed.
LXM32M 5.3 5 Commissioning Setting the transmission rate The parameter EthRateSet lets you set the transmission rate. ▶ Set the desired transmission rate with the parameter EthRateSet. Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type Parameter address R/W via fieldbus Persistent Expert EthRateSet Transmission rate setting 0 0 4 UINT16 UINT16 UINT16 UINT16 R/W per.
LXM32M 5 Commissioning 5.5 Setting the gateway The IP address of the gateway is set by means of the parameters EthIPgate1 ... EthIPgate4. ▶ Set the IP address of the gateway with the parameters EthIPgate1 ... EthIPgate4. Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type Parameter address R/W via fieldbus Persistent Expert EthIPgate1 IP address gateway, byte 1 ConF → CoM- Changed settings become active the next time the product is switched on.
LXM32M 5.6 5 Commissioning Master with Word Swap The IP address of a master with Word Swap is set by means of the parameters EthMbIPswap1 ... EthMbIPswap4. You may not set an IP for a master without Word Swap. ▶ Check whether or not the master uses Word Swap. ▶ If the master uses Word Swap, set the IP address of the master with the parameters EthMbIPswap1 ... EthMbIPswap4.
LXM32M 5 Commissioning 5.7 Setting I/O-Scanning 5.7.1 Activating I/O scanning I/O scanning is activated/deactivated by means of the parameter EthMbScanner. ▶ If you do not want to use I/O scanning, set the parameter EthMbScanner to "Off". Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type Parameter address R/W via fieldbus Persistent Expert EthMbScanner Modbus TCP I/O scanning 0 1 1 UINT16 UINT16 UINT16 UINT16 R/W per.
LXM32M 5 Commissioning Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value EthIPmaster1 IP address master, byte 1 0 IP address of the master that is permitted to 0 perform Modbus TCP I/O scanning. 255 If set to 0.0.0.0 (default), any master can perform I/O scanning. Data type Parameter address R/W via fieldbus Persistent Expert UINT16 UINT16 UINT16 UINT16 R/W per. - CANopen 3044:29h Modbus 17490 Profibus 17490 CIP 168.1.
LXM32M 5 Commissioning Description Unit Minimum value Factory setting Maximum value EthOptMapInp1 Optionally mapped input parameter 1 (drive to PLC) 0 Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (drive to PLC). Changed settings become active immediately.
LXM32M 5.7.4 5 Commissioning Setting communication monitoring for I/O scanning WARNING LOSS OF CONTROL The product is unable to detect an interruption of the network link if connection monitoring is not active. • • 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.
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LXM32M 6 6 Operation Operation 6 WARNING UNINTENDED OPERATION • • • • • • 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 the use of the word sequence with fieldbus communication. Do not establish a fieldbus connection unless you have fully understood the communication principles. Only start the system if there are no persons or obstructions in the hazardous area.
LXM32M 6 Operation 6.1 Operating states 6.1.1 Indication of the operating state The current operating state is indicated with the "driveStat" word. driveStat 15 14 13 12 11 10 9 8 - - QS RF HALT X_ERR X_END X_ADD1 7 6 WARN ERROR 5 4 3 2 1 0 - - STATE STATE STATE STATE Figure 7: Structure of driveStat Name Meaning 0 ... 3 STATE Current operating state (binary coded) 4 ... 5 - Reserved 6 ERROR An error has occurred (error classes 1 ...
LXM32M 6.1.2 6 Operation Changing the operating state Bits 8 ... 15 of the word "dmControl" are used to set the operating state. dmControl 15 14 13 12 11 10 9 8 CU CH SH - FR QS EN DS 6 5 4 7 MT ACTION ACTION MODE 3 2 1 0 MODE MODE MODE MODE Figure 8: Structure dmControl bits 8 ...
LXM32M 6 Operation 6.2 Operating modes 6.2.1 Indicating and monitoring the operating mode The word "mfStat" is used to indicate the current operating mode. mfStat 15 14 13 12 - - - - 11 10 9 8 CAP2 1 CAP2 0 CAP1 1 CAP1 0 7 6 5 4 3 2 1 0 MT ME DE MODE MODE MODE MODE MODE Figure 9: Structure mfStat Bit Name Description 0 ...
LXM32M 6.2.2 6 Operation Starting and changing an operating mode Bits 0 ... 7 in the word "dmControl" are used to set the operating mode. dmControl 15 14 13 12 11 10 9 8 CU CH SH - FR QS EN DS 6 5 4 7 MT ACTION ACTION MODE 3 2 1 0 MODE MODE MODE MODE Figure 10: Structure dmControl bits 0 ... 7 Bit Name Description 0 ...
LXM32M 6 Operation 6.2.3 Overview of operating modes The table below provides an overview of the operating modes. Detailed information can be found on the following pages. Operating mode Method Jog dmControl Bits 0 ...
LXM32M 6.2.4 6 Operation Operating mode Jog Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). dmControl Bits 0 ...
LXM32M 6 Operation 6.2.5 Operating mode Electronic Gear Starting the operating mode Method The operating mode is set and started in the process data channel with the transmit data (master to slave). dmControl Bits 0 ...
LXM32M 6.2.6 6 Operation Operating mode Profile Torque Starting the operating mode Status information Terminating the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 24h As PTtq_target As RAMP_tq_slope The word "driveStat" provides information on the operating mode.
LXM32M 6 Operation 6.2.7 Operating mode Profile Velocity Starting the operating mode Status information Terminating the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 23h As PVv_target - The word "driveStat" provides information on the operating mode.
LXM32M 6.2.8 6 Operation Operating mode Profile Position Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). Method dmControl Bits 0 ...
LXM32M 6 Operation 6.2.9 Operating mode Homing Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). Method dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 Position setting 06h - As HMp_setP Reference movement 26h As HMmethod - Status information Terminating the operating mode The word "driveStat" provides information on the operating mode.
LXM32M 6 Operation 6.2.10 Operating mode Motion Sequence Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). Method dmControl Bits 0 ...
LXM32M 6 Operation 6.3 Extended settings 6.3.1 Web server Functions The product features an integrated web server. The web server offers the following features: • • • • • • • • Display status information Display and change parameters Display and change network settings Display and change Modbus TCP settings Display and change EtherNet/IP settings Display and change settings for the FDR service Display network statistics User-specific adaptation of the website See chapter "6.3.2 FTP server" 6.3.1.
LXM32M 6 Operation 6.3.1.3 User interface Structure of the web server user interface: 1 2 3 Figure 11: User interface of the web server (1) (2) (3) Main menu Submenu Content Main menu Submenu Content Home English Homepage Documentation - Link to website www.schneider-electric.
LXM32M 6 Operation 6.3.2 FTP server Functions The product features an integrated FTP server. The FTP server lets you upload a CFG file and a JPG file to modify the content and appearance of the web server. The following items can be modified: • • • Product Name Link under "Documentation..." Product image (picture on the start page) 6.3.2.1 Accessing the FTP server The FTP server of the product can be accessed via an FTP client. ■ The product must have a valid IP address. ▶ Start an FTP client.
LXM32M 6.3.3 6 Operation FDR service (Fast Device Replacement) The FDR service uses standard DHCP and TFTP (Trivial File Transfer Protocol) technologies to simplify maintenance of Ethernet devices. For example, the FDR service is used to replace a defective device by a new device. The service allows for detection, configuration and automatic start of the new device without complex manual user interaction. The main steps: • • • 0198441113843, V1.01, 01.
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LXM32M 7 Diagnostics and troubleshooting 7 Diagnostics and troubleshooting 7.1 Fieldbus communication error diagnostics Connections for fieldbus mode 7 If the product cannot be addressed via the fieldbus, first check the connections. The product manual contains the technical data of the device and information on network and device installation.
LXM32M 7 Diagnostics and troubleshooting 7.2 Status LEDs The status of the module is indicated by four LEDs. 1 2 A B 3 4 Figure 12: Overview of the LEDs at the module (1) (2) (3) (4) Network activity interface A Module status Network activity interface B Network status NOTE: The meaning of the flash signals depends on the selected protocol. ▶ Check whether the protocol is set to "EtherNet/IP" or "Modbus TCP". The table below shows the meaning of the flashing signals for network activity.
LXM32M 7 Diagnostics and troubleshooting Module status LED 2 The table below shows the meaning of the flashing signals for the module status. Color LED Meaning for EtherNet/IP 1) Meaning for Modbus TCP 1) - Off No power supply No IP address or no power supply Green/yellow Flashing Start-up Start-up Green On Ready for operation Ready for operation Green Flashing Module is not configured or scanner is Idle Not ready (no connection, ...
LXM32M 7 Diagnostics and troubleshooting 7.3 Error indication The last cause of error and the last 10 error messages are stored. You can display the last 10 error messages using the commissioning software and the fieldbus. Asynchronous errors Asynchronous errors are triggered by internal monitoring (for example, temperature) or by external monitoring (for example, limit switch). An error response is initiated if an asynchronous error occurs.
LXM32M 7 Diagnostics and troubleshooting Description 01 Illegal Function Code The "Function Code" is unknown to the server. 02 Illegal Data Address Depends on the Modbus request 03 Illegal Data Value Depends on the Modbus request 04 Server Failure The server was unable to properly terminate processing. 05 Acknowledge The server has accepted the Modbus request. However, the execution takes a relatively long time.
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LXM32M 8 Accessories and spare parts 8.1 Cables 8 Accessories and spare parts 8 Description Order no. 490NTW00002 490NTW00005 12 m, 2 x RJ45, shielded twisted pair cable 490NTW00012 2 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00002U 5 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00005U 12 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00012U 0198441113843, V1.01, 01.
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LXM32M 9 Glossary 9 Glossary 9.1 Units and conversion tables 9 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 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.
LXM32M 9 Glossary Rotation min-1 (RPM) rad/s deg./s * π / 30 *6 rad/s * 30 / π - * 57.295 deg./s /6 / 57.295 - 9.1.6 Torque min-1 (RPM) - 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.
LXM32M 9.2 9 Glossary Terms and Abbreviations See chapter "2.5 Standards and terminology" for information on the pertinent standards on which many terms are based. Some terms and abbreviations may have specific meanings with regard to the standards. CIP Client First transmitter, then recipient of fieldbus messages in the clientserver relationship. Starts transmission with a transmission to the server; the reference point is the server object dictionary.
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LXM32M 10 10 Index Index 10 F A Abbreviations 79 Accessories and spare parts 75 First setup Commissioning Further reading B 38 8 G Before you begin Safety information 11 Glossary 77 Hazard categories 12 Homing 62 Input 22 Installation 35 H C Cables CAD data Commissioning First setup Commissioning the device 75 7 37 I 38 37 D electrical Diagnostics 69 E 36 Intended use 11 Introduction 9 J Electrical installation 36 Electronic Gear 58 Error diagnostics M Connections
LXM32M 10 Index O Operating mode Electronic Gear 58 Homing 62 Jog 57 Motion Sequence 63 Profile Position 61 Profile Torque 59 Profile Velocity 60 Operating modes Operating state, changing the 53 Operating states 52 Operating states, indication Profile Torque 59 Profile Velocity 60 Qualification of personnel 11 S Source 54 Operating modes, starting and changing 55 Operating state, changing the 61 Q Operating modes, starting and changing 55 Indicating operating states Profil
