Download - DHE/DHF/DHR21B (standard) and DHE/DHF/DHR41B (advanced) · Contents Manual – DHE/DHF/DHR21B (standard) and DHE/DHF/DHR41B (advanced)3 Contents1General information 6 1.1About this

*22900055_0816*Drive Technology \ Drive Automation \ System Integration \ Services

Manual

ControllerDHE/DHF/DHR21B (standard) and DHE/DHF/DHR41B(advanced)

Edition 08/2016 22900055/EN

SEW-EURODRIVE—Driving the world

Contents

Manual – DHE/DHF/DHR21B (standard) and DHE/DHF/DHR41B (advanced) 3

Contents1 General information.................................................................................................................. 6

1.1 About this documentation ............................................................................................... 61.2 Structure of the safety notes ........................................................................................... 6

1.2.1 Meaning of signal words ................................................................................ 61.2.2 Structure of section-related safety notes........................................................ 61.2.3 Structure of embedded safety notes .............................................................. 7

1.3 Rights to claim under limited warranty ............................................................................ 71.4 Content of the documentation......................................................................................... 71.5 Exclusion of liability......................................................................................................... 81.6 Other applicable documentation ..................................................................................... 81.7 Product names and trademarks...................................................................................... 81.8 Copyright notice .............................................................................................................. 8

2 Safety notes .............................................................................................................................. 92.1 Preliminary information ................................................................................................... 92.2 Use.................................................................................................................................. 92.3 Target group ................................................................................................................... 92.4 Designated use ............................................................................................................. 10

2.4.1 Hoist applications ......................................................................................... 102.5 Functional safety technology ........................................................................................ 102.6 Bus systems.................................................................................................................. 10

3 Introduction............................................................................................................................. 113.1 Content of this manual .................................................................................................. 113.2 Additional documentation.............................................................................................. 11

4 Device structure ..................................................................................................................... 124.1 Overview of controllers ................................................................................................. 12

4.1.1 Freely programmable controller MOVI‑PLC® ............................................... 124.1.2 Configurable application controller CCU ...................................................... 12

4.2 Features........................................................................................................................ 134.3 Fieldbus interfaces of the device designs ..................................................................... 134.4 Communication interfaces ............................................................................................ 13

4.4.1 Engineering .................................................................................................. 154.4.2 System buses............................................................................................... 154.4.3 Binary inputs and outputs............................................................................. 164.4.4 Diagnostic LEDs........................................................................................... 16

5 Mechanical installation .......................................................................................................... 175.1 In the UOH11B/21B stand-alone housing..................................................................... 175.2 In MOVIDRIVE® MDX61B ............................................................................................ 17

5.2.1 Before you start ............................................................................................ 175.2.2 Installing and removing the DH.21/41B option card..................................... 18

5.3 In the MOVIAXIS® MXM master module ...................................................................... 19

6 Electrical installation.............................................................................................................. 206.1 Terminal positions......................................................................................................... 20

6.1.1 DH.21B/41B Controller................................................................................. 20

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Contents

Manual – DHE/DHF/DHR21B (standard) and DHE/DHF/DHR41B (advanced)4

6.1.2 DH.21B/41B controller in the stand-alone housing ...................................... 216.1.3 DH.21B/41B controller in MOVIDRIVE® MDX61B........................................ 226.1.4 DH.21B/41B controller in the MOVIAXIS® MXM master module.................. 226.1.5 DH.21B/41B controller in MOVITRAC® B..................................................... 246.1.6 DHF21B/41B controller ................................................................................ 256.1.7 DHR21B/41B controller ................................................................................ 26

6.2 Terminal assignment and DIP switches........................................................................ 276.2.1 X24: COM 1 (RS485) engineering interface ................................................ 276.2.2 X26: CAN 1 system bus interface and voltage supply ................................. 276.2.3 X30-1/X30-2: Ethernet 3/Ethernet 4 connection .......................................... 286.2.4 X30P: PROFIBUS connection...................................................................... 296.2.5 X30D: DeviceNetTM connection .................................................................... 316.2.6 X31: Digital inputs and outputs .................................................................... 336.2.7 X32/X33: CAN 2/CAN 1 system bus interface ............................................. 346.2.8 X34: COM 1/COM 2 (RS485) engineering interface .................................... 356.2.9 X35: USB engineering interface................................................................... 366.2.10 X36: Ethernet 1 system bus interface .......................................................... 366.2.11 X37: Ethernet 2 engineering interface.......................................................... 376.2.12 X38: SEW safety bus connection................................................................. 386.2.13 DIP switch S1 for DH.21B/41B..................................................................... 386.2.14 DIP switches 20 and 21 for DHR21B/41B ..................................................... 39

6.3 SD memory cards ......................................................................................................... 406.3.1 SD memory card OMH41B-T. ...................................................................... 406.3.2 SD memory card OMC41B-T. ...................................................................... 416.3.3 Bootloader update........................................................................................ 42

6.4 Shielding and routing bus cables .................................................................................. 43

7 Project planning and startup with MOVITOOLS® MotionStudio......................................... 447.1 About MOVITOOLS® MotionStudio .............................................................................. 44

7.1.1 Tasks............................................................................................................ 447.1.2 Communication channels............................................................................. 447.1.3 Functions...................................................................................................... 44

7.2 First steps ..................................................................................................................... 457.2.1 Starting the software and creating a project................................................. 457.2.2 Establishing communication and scanning the network............................... 457.2.3 Connection mode ......................................................................................... 467.2.4 Configuring units .......................................................................................... 48

7.3 Communication via USB............................................................................................... 507.3.1 Connecting the unit with the PC via USB..................................................... 507.3.2 Configuring the communication channel via USB ........................................ 51

7.4 Communication via Ethernet......................................................................................... 517.4.1 Connecting the device with the PC via Ethernet .......................................... 517.4.2 Configuring the communication channel via Ethernet.................................. 527.4.3 Communication ports used .......................................................................... 54

7.5 Startup of the fieldbus at the DHR21B/41B controller................................................... 547.5.1 The integrated Ethernet switch .................................................................... 547.5.2 TCP/IP addressing and subnets .................................................................. 55

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Contents


7.5.3 Setting the IP address parameters via DCP ................................................ 587.5.4 Setting the IP address parameters............................................................... 58

7.6 Executing functions with the units................................................................................. 607.6.1 Reading or changing unit parameters .......................................................... 607.6.2 Starting up units (online) .............................................................................. 61

7.7 Configuring and starting up drives ................................................................................ 627.8 Configuration and startup in the PLC Editor ................................................................. 627.9 Replacing the unit ......................................................................................................... 62

8 Operation................................................................................................................................. 638.1 DH.21B/41B Controller ................................................................................................. 63

8.1.1 LED "H1/H2" in stand-alone operation......................................................... 638.1.2 LED "L1" (CAN 1 status) .............................................................................. 638.1.3 LED "L2" (CAN 2 status) .............................................................................. 648.1.4 LED "L3" (IEC program status) .................................................................... 648.1.5 LED "L4" (controller status) .......................................................................... 648.1.6 LED "L5" (user) ............................................................................................ 648.1.7 LEDs "L6", "L7", "L8", "L9" (DIO n/m) .......................................................... 658.1.8 LED "L10" (24 V / I/O OK)........................................................................... 65

8.2 DHF21B/41B controller ................................................................................................. 658.2.1 LEDs in PROFIBUS mode ........................................................................... 668.2.2 LEDs in DeviceNetTM mode .......................................................................... 67

8.3 DHR21B/41B controller................................................................................................. 698.3.1 LEDs in PROFINET mode ........................................................................... 698.3.2 LEDs in EtherNet/IP and Modbus/TCP mode .............................................. 71

9 Service..................................................................................................................................... 739.1 System bus CAN 1/CAN 2 ............................................................................................ 739.2 Disposal ........................................................................................................................ 74

10 Technical data and dimension drawings.............................................................................. 7510.1 General technical data .................................................................................................. 7510.2 Technical data of the DH.21B/41B option card............................................................. 7610.3 Technical data of the DHF21B/41B option card............................................................ 7810.4 Technical data of the DHR21B/41B option card ........................................................... 7910.5 Technical data of the stand-alone device ..................................................................... 7910.6 Port overview ................................................................................................................ 80

10.6.1 PROFINET ................................................................................................... 8010.6.2 EtherNet/IP™, Modbus/TCP ........................................................................ 8010.6.3 Engineering interface ................................................................................... 81

10.7 Dimension drawings...................................................................................................... 8210.7.1 DHE21B/41B option card in UOH11B stand-alone housing ........................ 8210.7.2 DHF21B/41B and DHR21B/41B option cards in UOH21B stand-alone housing

83

Index ........................................................................................................................................ 84

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1 General informationAbout this documentation


1 General information1.1 About this documentation

This documentation is an integral part of the product. The documentation is intendedfor all employees who perform assembly, installation, startup, and service work on theproduct.Make sure this documentation is accessible and legible. Ensure that persons respons-ible for the machinery and its operation as well as persons who work on the device in-dependently have read through the documentation carefully and understood it. If youare unclear about any of the information in this documentation or require further in-formation, contact SEW‑EURODRIVE.

1.2 Structure of the safety notes1.2.1 Meaning of signal words

The following table shows the grading and meaning of the signal words for safetynotes.

Signal word Meaning Consequences if disregarded DANGER Imminent hazard Severe or fatal injuries.

WARNING Possible dangerous situation Severe or fatal injuries.

CAUTION Possible dangerous situation Minor injuries

NOTICE Possible damage to property Damage to the drive system or itsenvironment.

INFORMATION Useful information or tip: Simplifieshandling of the drive system.

1.2.2 Structure of section-related safety notesSection-related safety notes do not apply to a specific action but to several actionspertaining to one subject. The hazard symbols used either indicate a general hazardor a specific hazard.This is the formal structure of a safety note for a specific section:

SIGNAL WORDType and source of hazard.Possible consequence(s) if disregarded.• Measure(s) to prevent the hazard.

Meaning of the hazard symbolsThe hazard symbols in the safety notes have the following meaning:

Hazard symbol MeaningGeneral hazard

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1General informationRights to claim under limited warranty


Hazard symbol MeaningWarning of dangerous electrical voltage

Warning of hot surfaces

Warning of risk of crushing

Warning of suspended load

Warning of automatic restart

1.2.3 Structure of embedded safety notesEmbedded safety notes are directly integrated into the instructions just before the de-scription of the dangerous action.This is the formal structure of an embedded safety note:

SIGNAL WORD Type and source of hazard. Possible consequence(s) if disreg-arded. Measure(s) to prevent the hazard.

1.3 Rights to claim under limited warrantyRead the information in this documentation. This is essential for fault-free operationand fulfillment of any rights to claim under limited warranty. Read the documentationbefore you start working with the unit!

1.4 Content of the documentationThe current version of the documentation is the original.This document contains additional safety-relevant information and conditions for usein safety-related applications.

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1 General informationExclusion of liability


1.5 Exclusion of liabilityRead the information in this documentation, otherwise safe operation is impossible.You must comply with the information contained in this documentation to achieve thespecified product characteristics and performance features. SEW‑EURODRIVE as-sumes no liability for injury to persons or damage to equipment or property resultingfrom non-observance of these operating instructions. In such cases,SEW‑EURODRIVE assumes no liability for defects.

1.6 Other applicable documentation• Read through this documentation carefully before you commence installation and

startup of the DH.21B/41B option card.The documentation applies to the connected devices:• Operating instructions of the devices (e.g. MOVIDRIVE® B, MOVITRAC® B,

MOVIAXIS®)• Only electrical specialists are allowed to perform installation and startup observing

the relevant accident prevention regulations and the operating instructions of theconnected devices (e.g. MOVIDRIVE® MDX60B/61B, MOVITRAC® B,MOVIAXIS®).

• For devices with functional safety, also observe the corresponding manual "Func-tional Safety" or "Safe Disconnection – Conditions".

• You must adhere to the information in the documentation as a prerequisite to fault-free operation and fulfillment of warranty claims.

1.7 Product names and trademarksThe brands and product names in this documentation are trademarks or registeredtrademarks of their respective titleholders.

1.8 Copyright notice© 2016 SEW‑EURODRIVE. All rights reserved. Unauthorized reproduction, modifica-tion, distribution or any other use of the whole or any part of this documentation isstrictly prohibited.

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2Safety notesPreliminary information


2 Safety notes2.1 Preliminary information

The following general safety notes have the purpose to avoid injury and damage toproperty. They primarily apply to the use of products described in this documentation.If you use additional components also observe the relevant warning and safety notes.

2.2 UseMake sure that the basic safety notes are read and observed. Make sure that personsresponsible for the machinery and its operation as well as persons who work on thedevice independently have read through the documentation carefully and understoodit. If you are unclear about any of the information in this documentation, or if you re-quire further information, contact SEW‑EURODRIVE.The following safety notes refer to the use of the software.This document does not replace the detailed documentation for the connecteddevices. This documentation assumes that the user has access to and is familiar withthe documentation for all connected products.Do not perform installation or startup if the product is damaged.Removing required covers without authorization, improper use or incorrect installationand operation may result in severe injury to persons, or damage to machinery.All work in the areas of transportation, storage, operation and waste disposal must becarried out by persons who are trained appropriately.

2.3 Target groupSpecialist formechanical work

Any mechanical work may only be performed by adequately qualified personnel. Qual-ified personnel in the context of this documentation are persons familiar with thedesign, mechanical installation, troubleshooting and maintenance of the product, whopossess the following qualifications:• Qualification in the field of mechanics according to applicable national regulation.• They are familiar with this documentation

Specialist for elec-trotechnical work

Any electronic work may only be performed by adequately skilled persons (electric-ally). Qualified electricians in the context of this documentation are persons familiarwith electrical installation, startup, troubleshooting and servicing of the product whopossess the following qualifications:• Qualification in the field of electrical engineering according to applicable national

regulation.• They are familiar with this documentationIn addition to that, these persons must be familiar with the valid safety regulations andlaws, as well as with the requirements of the standards, directives and laws specifiedin this documentation. The above mentioned persons must have the authorization ex-pressly issued by the company to operate, program, configure, label and grounddevices, systems and circuits in accordance with the standards of safety technology.

Instructed persons All work in the areas of transportation, storage, operation and waste disposal must becarried out by persons who are trained appropriately. The purpose of the instruction isthat the persons are capable of performing the required tasks and work steps in a safeand correct manner.

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2 Safety notesDesignated use


2.4 Designated useThe product is intended for installation in electrical plants or machines.In case of installation in electrical systems or machines, startup of the product is pro-hibited until it is determined that the machine meets the requirements stipulated in thelocal laws and directives. For Europe, Machinery Directive 2006/42/EC as well as theEMC Directive 2014/30/EU apply. Observe EN 60204-1 (Safety of machinery - elec-trical equipment of machines). The product meets the requirements stipulated in theLow Voltage Directive 2014/35/EU.The standards given in the declaration of conformity apply to the product.Technical data and information on the connection conditions are provided on thenameplate and in chapter "Technical data" in the documentation. Always comply withthe data and conditions.Unintended or improper use of the product may result in severe injury to persons anddamage to property.Do not use the product as a climbing aid.

2.4.1 Hoist applicationsTo avoid danger of fatal injury by falling hoists, observe the following points when us-ing the product in lifting applications:• Use mechanical protection devices.• Perform a hoist startup.

2.5 Functional safety technologyThe product must not perform any safety functions without a higher-level safety sys-tem, unless explicitly allowed by the documentation.

2.6 Bus systemsA bus system makes it possible to adapt electronic drive components to the particularsof the machinery within wide limits. There is a risk that a change of parameters thatcannot be detected externally may result in unexpected (but not uncontrolled) systembehavior and may have a negative impact on operational safety, system availability, ordata security.Especially in Ethernet-based networked systems and with engineering interfaces,make sure that unauthorized access is prevented.Use IT-specific safety standards to increase access protection to the ports. For a portoverview, refer to the respective technical data of the used device.

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3IntroductionContent of this manual


3 Introduction3.1 Content of this manual

This manual describes:• The installation of the DH.21B/41B controller

– in the UOH11B/21B stand-alone housing– in MOVIDRIVE® MDX61B– in the MOVIAXIS® MXM master module– in MOVITRAC® B

• The interfaces and LEDs of the DH.21B/41B controller• The engineering access to the DH.21B/41B controller• The project planning and startup of DH.21B/41B controller

3.2 Additional documentationTo be able to configure and startup the DH.21B/41B controller simply and effectively,you also have to order the following documentation in addition to this manual:• "DHF21B/41B Controller Fieldbus Interfaces PROFIBUS DP-V1 and DeviceNet™"

manual• "DHR21B/41B Controller Fieldbus Interfaces PROFINET IO, EtherNet/IP™, Mod-

bus TCP/IP" manual• System manuals of the connected devicesWhen used as freely programmable controller (MOVI‑PLC®) with SD memory cardOMH41B:• "MOVI‑PLC® Programming in the PLC Editor" system manual

This system manual contains instructions for IEC 61131-3 compliant programming.• "MultiMotion Program Module – Universal, Parameterizable Software Platform for

MOVI‑PLC®" manual• "MPLCMotion_MDX and MPLCMotion_MX Libraries for MOVI‑PLC®" manual

This manual describes the libraries for controlling MOVIDRIVE® MDX60B/61B andMOVIAXIS® inverters.

• Manual "Libraries MPLCMotion_MC07 and MPLCMotion_MM for MOVI‑PLC®"This manual describes the libraries for controlling MOVITRAC® B and MOVIMOT®

inverters.When used as configurable application controller CCU with SD memory card OM-C41B:• "Application Configurator for CCU" manual• Manuals of CCU application modules:

– Universal module– Universal Module Technology 10 PD– Rapid/creep speed positioning– Bus positioning 6 PD– Energy-efficient storage/retrieval system– HandlingKinematics

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4 Device structureOverview of controllers


4 Device structure4.1 Overview of controllers4.1.1 Freely programmable controller MOVI‑PLC®

The controller can be programmed freely by using OMH41B type SD memory cards. Itallows drive solutions, logic processes and sequence controls to be automated simplyand efficiently using IEC 61131-3 compliant programming languages.• The freely programmable MOVI‑PLC® controller is a universal solution because it

is able to control the entire portfolio of SEW‑EURODRIVE inverters.• The freely programmable MOVI‑PLC® controller is scalable due to several differ-

ent performance classes standard, advanced and power1) and a modular softwareconcept with libraries for numerous applications.

• The freely programmable MOVI‑PLC® controller is powerful due to extensive tech-nologies (such as electronic cam, synchronous operation) and the control of de-manding applications (such as handling tasks).

1) "UHX71B Controller (Performance Class power)

Performance class "standard"DH.21B controllers enable coordinated single axis movements and integration of ex-ternal inputs/outputs as well as operator panels (DOP). This means the DH.21B con-troller is suitable for use as a module controller or stand-alone controller for machinesof medium complexity.

Performance class "advanced"The DH.41B controller is characterized by a greater variety of interfaces and a higherperformance level, which allows complex calculations and interpolated movements, forexample. The DH.41B controller is suitable for the automation of cells and machines.The integrated Ethernet interface enables direct connection of the DH.41B controllerto the control level.

4.1.2 Configurable application controller CCUThe controller can be used as configurable application controller (CCU) by using SDmemory cards of the type OMC41B. The application modules are started up quicklyand conveniently by graphical configuration. The process data interface correspondingto the configured application modules can be operated by a higher-level controller.A process data monitor, module diagnostics and trace recording with control mode areavailable for assisting the startup.

Performance class "standard"The "standard" performance class is intended for application modules with single-axisfunctionality and medium response times. A maximum of 16 axes can be connected toa configurable application controller. The following application modules are availablefor example and can be started up using the "Application Configurator" configurationsoftware:• "Universal module" for speed and positioning mode• "Universal module technology 10 PD" for synchronous operation• "Rapid/creep speed positioning" for arrivals via initiator 22

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4Device structureFeatures


Performance class "advanced"The "advanced" performance class is intended for application modules with single-axisand multi-axis functionality and fast response times. The following application modulesare available:• Single-axis functionality, see performance class "standard" (→ 2 12)• Multi-axis functionality:

– "Energy-efficient storage/retrieval system"– "HandlingKinematics" for gantries and robots

4.2 FeaturesTwo types of DH.21B/41B controllers are available:• As option card DH.21B/41B for MOVIDRIVE® B and MOVITRAC® B inverters

(only DHE21B/41B)• In the UOH11B/21B stand-alone housing for mounting rail installation

4.3 Fieldbus interfaces of the device designsThree types of DH.21B/41B controllers are available, which differ in the fieldbus inter-faces.

Device designs Fieldbus interfacesDHE21B/41B Ethernet TCP/IP, UDP

DHF21B/41B Ethernet TCP/IP, UDP, PROFIBUS DP-V1,DeviceNet™

DHR21B/41B Ethernet TCP/IP, UDP, PROFINET IO, EtherNet/IP™, Modbus TCP/IP

4.4 Communication interfacesThe DH.21B/41B controller has various communication interfaces.The system bus interfaces CAN 1/CAN 2 are primarily used for connecting several in-verters and for integrating decentralized I/O modules.This machine module can be operated via the integrated fieldbus interface with ahigher-level controller.An operator panel (e.g. DOP11B) or a gearmotor with integrated frequency inverterMOVIMOT® is connected to the engineering interface COM 1/COM 2 (RS485).

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4 Device structureCommunication interfaces


The Ethernet 1 (EtherCAT®/SBusPLUS) system bus interface is used to control drive in-verters, I/O modules and other EtherCAT® slave components.

XM

X32

X33

X36

X37

X35

X342

4

6

1

3

5

EtherCAT

SBusPLUS

DH.41B

[2]

[6]

[1]

[3]

[6]

[7]

[4]

[5]

SBus (CAN 1) SBus (CAN 2)

®

9007201639414539

[1] X34: COM 1/COM 2 (RS485) engineering interfaces[2] X35: USB engineering interface[3] X36: Ethernet 1 (EtherCAT®/SBusPLUS) system bus interface[4] X37: Ethernet 2 engineering interface[5] X32/X33: CAN 2/CAN 1 system bus interfaces[6] Inverter with CAN 1/CAN 2 system bus interfaces[7] Inverter with Ethernet 1 system bus interface

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4Device structureCommunication interfaces


4.4.1 EngineeringEngineering of the DH.21B/41B controller comprises configuration, parameterizationand programming in the MOVITOOLS® MotionStudio engineering software (only viathe freely programmable controller MOVI‑PLC®).The DH.21B/41B controller is connected with the engineering PC via the:• "X35: USB engineering interface" (→ 2 36)• "X37: Ethernet 2 engineering interface" (→ 2 37)• "X30P: PROFIBUS connection" (→ 2 29) for DHF21B/41B• "X30-1/X30-2: Ethernet 3/Ethernet 4 connection" (→ 2 28) for DHR21B/41B

INFORMATIONRefer to the following documentation for more information:• "DHR21B/41B Controller Fieldbus Interfaces EtherNet/IPTM, Modbus TCP/IP and

PROFINET IO" manual• "DHF21B/41B Controller Fieldbus Interfaces DeviceNetTM and PROFIBUS DP-V1"

manual

4.4.2 System buses

CAN 1/CAN 2 and Ethernet 1You can use the DH.21B/41B controller to control all drives of a machine module byconnecting several inverters via one system bus. This takes load off the higher-levelcontroller (e.g. PLC). You can connect a total of maximum 16 of the followingdevices via CAN 1/CAN 2 and Ethernet 11) :• MOVITRAC® B frequency inverter• MOVIDRIVE® MDX60B/61B drive inverter• MOVIAXIS® servo inverter to DH.41B• Gearmotors with integrated frequency inverter MOVIMOT®2)

• I/O coupler OCC11B/OCE11B• MOVITRAC® LTP-B frequency inverter• MOVITRAC® LTx frequency inverter• CMP ELVCD decentralized extra-low voltage servo drive

1) Operating a larger number of axes requires a check by SEW‑EURODRIVE.2) DeviceNet™ MFD... fieldbus interface required

COM 1/COM 2Connect one of the following devices each to the COM 1/COM 2 engineering inter-face:• Gearmotor with integrated frequency inverter MOVIMOT®

• DOP11B operator panel, preferably via Ethernet 2, see chapter "Ethernet2" (→ 2 16).

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4 Device structureCommunication interfaces


Ethernet 2You can implement the following functions and connections using the Ethernet 2 en-gineering interface:• Connecting a DOP11B operator panel• PC visualization (e.g. OPC interface)• Connection to master level

4.4.3 Binary inputs and outputsThe digital inputs and outputs of the controller enable you to switch actuators (e.g.valves) and evaluate digital input signals (e.g. sensors).

4.4.4 Diagnostic LEDsThe LEDs of the DH.21B/41B controller indicate the following states:• Voltage supply of the digital inputs and outputs• General state of the DH.21B/41B controller• State of the control program• State of the fieldbus interface (DHF/DHR)• State of the Ethernet 1 system bus interface• State of the Ethernet 2 engineering interface• State of the CAN 1/CAN 2 system bus interface

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5Mechanical installationIn the UOH11B/21B stand-alone housing


5 Mechanical installation5.1 In the UOH11B/21B stand-alone housing

INFORMATION• Installation of the DH.21B/41B controller into the UOH11B/21B stand-alone hous-

ing may only be performed by SEW‑EURODRIVE.

The controller is installed directly at the terminal strip with the installation set.

5.2 In MOVIDRIVE® MDX61BInMOVIDRIVE® MDX61B

INFORMATION• The DH.21B/41B option card can only be installed or removed for MOVIDRIVE®

MDX61B sizes 1 to 6.• The installation or removal of the DH.21V/41B option card in the MOVIDRIVE®

MDX61B size 0 drive inverters is restricted to SEW‑EURODRIVE engineers only.

Plug the DHE21B/41B option card into the fieldbus option slot ofMOVIDRIVE® MDX61B (not MOVIDRIVE® MDX60B). If the fieldbus option slot is notavailable, you can plug the DHE21B/41B option card into the expansion slot.

5.2.1 Before you startRead the following notes before installing or removing the DH.21B/41B optioncard:• De-energize the drive inverter. Disconnect the DC 24 V supply voltage and the line

voltage.• Before touching the DH.21B/41B option card, take appropriate measures (dis-

charge strap, conductive shoes, etc.) to protect it from electrostatic charge.• Before installing the DH.21B/41B option card, remove the keypad and the front

cover.• After installing the DH.21B/41B option card, replace the front cover and the

keypad.• Keep the DH.21B/41B option card in its original packaging until immediately before

you are ready to install it.• Hold the DH.21B/41B option card only by its edges. Do not touch any of the com-

ponents.• Never place the DH.21B/41B option card on a conductive surface.

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5 Mechanical installationIn MOVIDRIVE® MDX61B


5.2.2 Installing and removing the DH.21/41B option cardProceed as follows:

1.

4.

3.

2.

2102036363

1. Remove the retaining screws holding the card retaining bracket. Pull the card re-taining bracket out evenly from the slot (do not twist!).

2. Remove the retaining screws of the black cover plate on the card retainingbracket. Remove the black cover plate.

3. Position the option card onto the retaining bracket so that the retaining screws fitinto the corresponding bores on the card retaining bracket.

4. Insert the option card retaining bracket with the installed option card into the slot,pressing slightly so it is seated properly. Secure the option card retaining bracketwith the retaining screws.

5. Follow the instructions in reverse order when removing the option card.

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5Mechanical installationIn the MOVIAXIS® MXM master module


5.3 In the MOVIAXIS® MXM master moduleIn theMOVIAXIS®MXMmastermodule

INFORMATION• The installation or removal of the DH.21B/41B option card in the MOVIAXIS®

MXM master module is restricted to SEW‑EURODRIVE engineers only.

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6 Electrical installationTerminal positions


6 Electrical installation6.1 Terminal positions6.1.1 DH.21B/41B Controller

The following figure shows the positions of the terminals at the front of theDH.21B/41B controller.

X35

X36

X37

2

4

6

1

3

5

X34

1

2

3

1

3

4

2

1

2

3

1

2

3

1

2

3

X32

X33

2

4

6

1

3

58

10

7

9

X31

T1S1

L1L2

L3L5

XML6

L7L8

L9L4

L10

[2]

[1]

[3]

[4]

[5]

[6]

[7]

[8]

18243679115

[1] Device-specific fieldbus part DHF/DHR (not for DHE)[2] X31: Digital inputs and outputs[3] X34: COM 1/COM 2 (RS485) engineering interface[4] X35: USB engineering interface[5] X36: System bus interface Ethernet 1 (EtherCAT®/SBusPLUS)[6] X37: Engineering interface Ethernet 2[7] X32: CAN 2 system bus interface[8] X33: CAN 1 system bus interface

For detailed information on terminal assignment, refer to chapter "Terminalassignment and DIP switches" (→ 2 27).

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6Electrical installationTerminal positions


6.1.2 DH.21B/41B controller in the stand-alone housingThe following figure shows the position of the terminals at the front and the CAN wiringvia the X26 connector at the bottom side of the DHE21B/41B controller in the UO-H11B stand-alone housing.

1 2 3 4 5 6 7

SEW drive

DC +24 VGND

H1

H2

SC11 System bus +, CAN highSC12 System bus -, CAN low

GND, CAN GND

12

0Ω

X35

X36

X37

2

4

6

1

3

5

X3

4

DHE41B

1

2

3

1

3

4

2

1

2

3

1

2

3

1

2

3

X3

2X

33

2

4

6

1

3

58

10

7

9

X3

1

T1

S1

L1

L2

L3

L5

XM

L6

L7

L8

L9

L4

L10

X26

X24 [2]

[1]

[3]

9007201363243019

[1] DHE41B, see chapter "Terminal assignment and DIP switches" (→ 2 27)[2] X24: COM 1 (RS485) engineering interface[3] X26: CAN 1 system bus interface and voltage supply


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6.1.3 DH.21B/41B controller in MOVIDRIVE® MDX61B

DHE41B

X3

1X

32

X3

3

123

123

123

23

1

SC11

DGND

ON OFF

S12

X12

2

1

SC12 3

MOVIDRIVE MDX61B ®

12

0Ω

18502704011

For wiring the system bus, connect the X33 connector (CAN 1) or X32 (CAN 2) of theDH.21B/41B option card with X12 of MOVIDRIVE® MDX61B.The DH.21B/41B option card is powered via MOVIDRIVE® MDX61B. A separatevoltage supply is only necessary for digital inputs/outputs (X31), see chapter "X31:Digital inputs and outputs" (→ 2 33).For detailed information on terminal assignment, refer to chapter "Terminalassignment and DIP switches" (→ 2 27).

6.1.4 DH.21B/41B controller in the MOVIAXIS® MXM master module

MOVIAXIS®

MXM master module

2

X5b

1 DC 24VE

DGND

3 DC 24VB

4 BGND

DC 24 V forbrake supply

DC 24 V for controller electronics+-+-

X16-+

DC 24 V external

X5a

2

1

3

4

X5a

2

1

3

4

X5b

2

1

3

4

MOVIAXIS®

MXS switched-mode

power supply

X35

X36

X37

2

4

6

1

3

5

X3

4V

ers

ion

DHE41B

1

2

3

1

3

4

2

1

2

3

1

2

3

1

2

3

X3

2X

33

2

4

6

1

3

58

10

7

9

X3

1

T1S1

L1L2

L3L5

XML6

L7L8

L9L4

L10

2107421323 2290

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Connecting a voltage supply• The connectors X5a and X5b are connected in parallel. In this way, the voltage

supply of the MOVIAXIS® MXM master module can be provided from the right toX5b or from below to X5a. When the voltage supply is connected at X5a, X5b canbe used to connect other modules (e.g. power supply module, axis module). Thevoltage supply for the brake (X5a/b:3,4) is fed through the MOVIAXIS® MXM mas-ter module.

• The DH.21B/41B option card can be supplied from the MOVIAXIS® MXS switched-mode power supply module or from an external voltage source. To do so, connectX5 between the individual devices.

• If the DH.21B/41B option card is connected with DC 24 V from the MOVIAXIS®

MXS switched-mode power supply module, the functioning of the DH.21B/41B op-tion card is maintained after disconnection from the power supply. This is the caseif the DC link voltage is maintained or an external DC 24 V supply is present fromthe MOVIAXIS® MXS switched-mode power supply module.

Connecting the system busFor wiring the system bus, connect connector X33 (CAN 1) or X32 (CAN 2) of theDH.21B/41B option card with X9 (signal bus of the MOVIAXIS® power supply moduleor of a MOVIAXIS® axis module), or with X12 (CAN 2 bus of a MOVIAXIS® axismodule).

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6.1.5 DH.21B/41B controller in MOVITRAC® B

X45 X46

1 2 3 4 5 6HL ⊥

FSC11B

MOVITRAC® B

S1

OFF

ON

7

S2

X44

X26

1 2 3 4 5 6 7

X24

H1

H2

X1212345678

24 V IODC 24 V

-

+

9GND

=

X35

X36

X37

2

4

6

1

3

5

X3

4

DHE41B

1

2

3

1

3

4

2

1

2

3

1

2

3

1

2

3

X3

2X

33

2

4

6

1

3

58

10

7

9

X3

1

T1S1

L1L2

L3L5

XML6

L7L8

L9L4

L10

12

0Ω

[4]

[3]

[2]

[1]

[5]

18248288651

[1] DHE41B, see chapter "Terminal assignment and DIP switches" (→ 2 27)[2] X24: COM 1 (RS485) engineering interface[3] X26: CAN 1 system bus interface and voltage supply[4] X12:8 Auxiliary voltage/external voltage supply (24 V I/O)

X12:9 GND reference terminal[5] X46:1 – X46:3 SBusPLUS

X46:7 Auxiliary voltage/external voltage supply (24 V I/O)


Connecting a voltage supplyX26:1/2/3 and connector X33 are connected in parallel. The DH.21B/41B option cardin the compact controller is supplied with voltage via X26:6/7.The DHE21B/41B option card can be supplied with the required voltage byMOVITRAC® B. For this purpose, connect X26:3 (6)/7 with X46:3 (6)/7 or with X12:9/8.If the DHE21B/41B option card is supplied with DC 24 V from MOVITRAC® B, thefunctioning of the DHE21B/41B option card is maintained after disconnection from thepower supply. This requires an external DC 24 V supply to X12:8/9 of MOVITRAC® B. 22

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6.1.6 DHF21B/41B controller

2222

0123

222

456

27

1

2

3

X38

L18

X30P

1

5

X30D

S2

L16

L15

L14

L13

L12

L11

L17

ON

2

4

6

X34

X35

X36

X37

XM

1

3

5

1

2

3

1

2

3

1

2

3

1

2

3

X32

X33

2

4

6

1

3

58

10

7

9

X31

S1

3

4

2

1

L10

L9

L8

L7

T1

L6

L5

L4

L3

L2

L1

2

4

6

X34

X35

X36

X37

XM

1

3

5

1

2

3

1

2

3

1

2

3

1

2

3

X32

X33

2

4

6

1

3

58

1010

7

9

X31

S1

3

4

22

1

L10

L9

L8

L7

T1

L6

L5

L4

L3

L2

L1

[1]

[2]

[3]

[4]

9007201358009355

[1] X30P: PROFIBUS connection[2] X30D: DeviceNetTM connection[3] X38: SEW safety bus connection[4] DH.21B/41B, see chapter "Terminal assignment and DIP switches" (→ 2 27)


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6.1.7 DHR21B/41B controller

22

01

X30-1

X30-2

L14

L13

ON

1

2

3

X38

L12

L11

2

4

6

X34

X35

X36

X37

XM

1

3

5

1

2

3

1

2

3

1

2

3

1

2

3

X32

X33

2

4

6

1

3

58

10

7

9

X31

S1

3

4

2

1

L10

L9

L8

L7

T1

L6

L5

L4

L3

L2

L1

2

4

6

X34

X35

X36

X37

XM

1

3

5

1

2

3

1

2

3

1

2

3

1

2

3

X32

X33

2

4

6

1

3

58

1010

7

9

X31

S1

3

4

22

1

L10

L9

L8

L7

T1

L6

L5

L4

L3

L2

L1

[1]

[2]

[4]

[3]

9007201359644171

[1] X30-1: Ethernet 3 connection[2] X30-2: Ethernet 4 connection[3] X38: SEW safety bus connection[4] DH.21B/41B, see chapter "Terminal assignment and DIP switches" (→ 2 27)


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6Electrical installationTerminal assignment and DIP switches


6.2 Terminal assignment and DIP switches6.2.1 X24: COM 1 (RS485) engineering interface

FunctionYou can connect a DOP11B operator panel to the COM 1 (RS485) engineering inter-face. The connectors X24 and X34:1/3/5 are connected in parallel. If connector X24is unassigned, you can connect an operator terminal or a gearmotor with integratedMOVIMOT® frequency inverter to X34:1/3/5.For further information, refer to chapter "X34: COM 1/COM 2 (RS485) engineeringinterface" (→ 2 35).

Connection typeRJ10 socket

Wiring diagram

X24

H1

H2

AssignmentNo. Name FunctionX24 1 5 V Voltage output DC 5 V

2 RS+ Signal RS485+

3 RS– Signal RS485–

4 DGND Reference potential COM 1

6.2.2 X26: CAN 1 system bus interface and voltage supply

FunctionYou can connect the CAN 1 system bus and voltage supply to the X26 connector.The DH.21B/41B controller is supplied with voltage via X26:6/7.

Connection type7-pin terminal

Wiring diagram (side view)

2 3 4 5 6 71

X26

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6 Electrical installationTerminal assignment and DIP switches


AssignmentNo. Name FunctionX26 1 CAN 1H System bus CAN 1 high

2 CAN 1L System bus CAN 1 low

3 DGND Reference potential for controller/CAN 1

4 Reserved –

5 Reserved –

6 DGND Reference potential for controller/CAN 1

7 DC 24 V Voltage supply controller

6.2.3 X30-1/X30-2: Ethernet 3/Ethernet 4 connection

FunctionConnection to Ethernet network

INFORMATION• According to IEC 802.3, the maximum cable length for 10/100 MBaud Ethernet

(10 BaseT/100 BaseT), e.g. between 2 network stations, is 100 m.• SEW‑EURODRIVE recommends that you do not directly connect third-party end

devices to the DHR21B/41B option in order to minimize the load on the enddevices in EtherNet/IP networks caused by undesired multicast data traffic. Con-nect devices from third-party manufacturers via a network component that sup-ports the IGMP snooping functionality (e.g. managed switch). Managed switcheswith IGMP snooping functionality are not required for PROFINET IO and Modbus/TCP networks.

Connection typeTo connect DHR21B/41B to the Ethernet network, connect Ethernet interface X30-1or X30-2 (RJ45 plug connector) to the other network stations using a category 5,class D twisted-pair cable in accordance with IEC 11801 edition 2.0. The integratedswitch assists you in implementing a line topology and provides auto-crossing func-tions.

AssignmentNo. Name FunctionX30-1 Ethernet 3

Ethernet default assignmentX30-2 Ethernet 4

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Pin assignmentUse prefabricated, shielded RJ45 plug connectors compliant with IEC 11801, edition2.0, category 5.

[3] [2] [1]23

6

1

[6]

A B

2104906251

A = View from front

B = View from back

[1] Pin 1 TX+ Transmit Plus

[2] Pin 2 TX– Transmit Minus

[3] Pin 3 RX+ Receive Plus

[4] Pin 6 RX– Receive Minus

6.2.4 X30P: PROFIBUS connection

FunctionConnection to PROFIBUS system

Connection typeConnection to the PROFIBUS system using a 9-pin D-sub connector in compliancewith IEC 61158. The T-bus connection must be made using a connector with the cor-responding configuration.

Wiring diagramThe following figure shows the PROFIBUS connector that is connected to X30P ofthe DHF21B/41B option card.

RxD/TxD-P 3

1

59

6 8

4

5

6

9

VP (P5V/100mA)

DGND (M5V)

DGND (M5V)

CNTR-P

RxD/TxD-N

[3]

[1]

[2]

2103273483

[1] 9-pin D-sub connector[2] Signal line, twisted[3] Conductive connection over a large area between connector housing and shield

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AssignmentNo. Name FunctionX30P 1 N.C. Not connected

2 N.C. Not connected

3 RxD/TxD-P Receive/send signal positive

4 CNTR-P PROFIBUS repeater control signal

5 DGND (M5V) Reference potential for PROFIBUS

6 VP (P5V/100 mA) DC +5 V potential for bus terminator

7 N.C. Not connected

8 RxD/TxD-N Receive/send signal negative

9 DGND (M5V) Reference potential for PROFIBUS

Connecting PROFIBUS to DHF21B/41B controllerThe DHF21B/41B controller is connected to the PROFIBUS system using a shieldedtwisted-pair cable. Observe the maximum supported transmission rate when selectingthe bus connector.The twisted-pair cable is connected to the PROFIBUS connector at pins 3 (RxD/TxD-P) and 8 (RxD/TxD-N). Communication takes place using these two pins. The RS485signals RxD/TxD-P and RxD/TxD-N must all be connected to the same contacts in allPROFIBUS stations. Else, the bus components cannot communicate via the bus me-dium.The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic ad-apter (reference = pin 9) via pin 4 (CNTR-P).

Baud rates greater than 1.5 MBaudOperating the DHF21B/41B option card with baud rates > 1.5 MBaud is only possiblewith special 12 MBaud PROFIBUS connectors.

Bus terminationYou need not equip the DHF21B/41B option card with bus terminating resistors. Thismeans the PROFIBUS system can be put into operation more easily and the numberof error sources during installation is reduced.When the DHF21B/41B option card is located at the start or end of a PROFIBUS seg-ment and when there is only one PROFIBUS cable connected to the DHF21B/41B op-tion card, you must use a plug with an integrated bus terminating resistor.Switch on the bus terminating resistors for this PROFIBUS connector.

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Setting the station addressTo set the PROFIBUS station address, use DIP switches 20 – 26 on the DHF21B/41Boption card. The DHF21B/41B option card supports address range 0 – 125.

DHF41B

2222

0123

222

456

27

ON

2103383051

The default setting for the station address is 4:20 → Significance: 1 × 0 = 021 → Significance: 2 × 0 = 022 → Significance: 4 × 1 = 423 → Significance: 8 × 0 = 024 → Significance: 16 × 0 = 025 → Significance: 32 × 0 = 026 → Significance: 64 × 0 = 0

Any change made to the PROFIBUS station address during ongoing operation doesnot take effect immediately. You have to switch the compact controller or the inverterin which the DHF21B/41B option card is installed on and off again for the changes totake effect (power +24 V off/on).

6.2.5 X30D: DeviceNetTM connection

FunctionConnection to the DeviceNetTM fieldbus system

Connection typeThe DHF21B/41B option card is opto-decoupled on the driver side in accordancewith the DeviceNetTM specification (Volume I, Chapter 9). This means the CAN busdriver must be powered with 24 V voltage via the bus cable. The cable to be used isalso described in the DeviceNetTM specification (Volume I, Appendix B). The connec-tion must be made according to the color code specified in the "Assignment" table.

Wiring diagramThe following figure shows the 5‑pin Phoenix terminal that is connected to X30D ofthe DHF21B/41B option card.

DFD11B

1

2

3

4

5

DHF41B

X30D

The assignment of connecting terminals is described in the DeviceNetTM specification(Volume I, Appendix A).

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AssignmentNo. Name Function Color cod-

ingX30D 1 V– 0V24 BK

2 CAN_L CAN_L BU

3 SHIELD SHIELD blank

4 CAN_H CAN_H WH

5 V+ +24 V RD

Setting the station addressTo set the DeviceNetTM station address, use DIP switches 20 – 25 on the DHF21B/41Boption card. The DHF21B/41B option card supports address range 0 – 63.

INFORMATIONAlways de-energize the DHF21B/41B option card before changing the DIP switchsetting. The DIP switch settings are only adopted during initialization.

DHF41B

2222

0123

222

456

27

ON

2103383051

20 – 25 = MAC ID setting26 – 27 = baud rate setting

Setting the MAC IDThe MAC ID (Media Access Control Identifier) is set on the DHF21B/41B option cardusing DIP switches 20 – 25 in a binary coded manner. The MAC ID represents thenode address of the DHF21B/41B option card. The DHF21B/41B option card supportsaddress range 0 – 63.

Setting the baud rateThe baud rate is set using DIP switches 26 and 27.

DIP switch Baud rate26 27

0 0 125 kBd

1 0 250 kBd

0 1 500 kBd

1 1 Invalid

A maximum of 64 DeviceNetTM data words can be exchanged between theDeviceNetTM module and the UFF41B option. The number is set using the DeviceNetTM

scanner.

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6.2.6 X31: Digital inputs and outputs

FunctionThe terminal X31 provides eight digital inputs/outputs (e.g. for controlling external ac-tuators/sensors).

Connection typeSpring terminal plug connector

Wiring diagram

X31

1

3

5

7

9

2

4

6

8

10

AssignmentNo. Name FunctionX31 1 +24 V input DC 24 V voltage supply

2 REF 24 V Reference potential for binary signals

3 DIO0 Digital input/output (DIO0)








Binary inputs• The digital inputs are electrically isolated by optocouplers.• The permitted input voltages are defined according to IEC 61131.

+13 V – +30 V = "1" = contact closed-3 V – +5 V = "0" = contact open

Binary outputs• The digital outputs are electrically isolated by optocouplers.• The digital outputs are short-circuit proof but not external-voltage-proof.• The maximum permitted output current is 150 mA per digital output. All eight digital

outputs can be operated simultaneously with this current.

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NOTICEThe supply voltage must be present on X31:1/2 for using the digital inputs and out-puts.Overvoltage may damage the DH.21/41B controller. In this case, the specified func-tion of the digital inputs and outputs is no longer ensured.

• To prevent dangerous voltage peaks from occurring, do not connect inductiveloads to the supply voltage or the digital inputs/outputs without free running diodes.

For more information on digital inputs or outputs, refer to chapter "Technical data anddimension drawings" (→ 2 75).

6.2.7 X32/X33: CAN 2/CAN 1 system bus interface

FunctionDo not connect more than 16 devices to the CAN 1 or CAN 2 system bus. The sys-tem bus supports the address range 0 to 63.


CAN 1 wiring diagram

DGND

MOVIDRIVE

MDX60B/61B

X12

SC11 21

3SC12

DHE41B

X3

1X

32

X3

3

123

123

123

23

1

SC11

DGND

ON OFF

S12

X12:

2

1

SC12 3

ON OFF

S12

X45 X46

1 2 3 4 5 6HL ⊥

FSC11B

MOVITRAC® B

S1

OFF

ON

7

S2

X44

® MOVIDRIVE MDX61B ®

9007201357202827

Assignment: CAN 2 system bus interface (electrically isolated)No. Name FunctionX32 1 REF_CAN 2 Reference potential for system bus CAN 2

2 CAN 2H System bus CAN 2 high


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Assignment: CAN 1 system bus interfaceNo. Name FunctionX33 1 DGND Reference potential for system bus CAN 1

2 CAN 1H System bus CAN 1 high


Connecting the system bus

INFORMATION• The CAN 2 system bus is electrically isolated. We therefore recommend to use

the CAN 2 ( X32) system bus interface for connecting field devices (e.g. CANopeninputs and outputs).

• The CAN 1 system bus is not electrically isolated. We therefore recommend touse the CAN 1(X33) system bus interface to connect inverters via the system busin the control cabinet.

• A CAN system bus interface is required for communication betweenMOVIDRIVE® MDX61B and the integrated controller.

The CAN system bus supports transmission systems compliant with ISO 11898. The"Serial Communication" manual contains detailed information about the CAN systembus. This manual can be ordered from SEW‑EURODRIVE.

Cable specification• Use a 2 × 2-core twisted and shielded copper cable (data transmission cable with

braided copper shield). IEC 60999 does allow clamping without conductor endsleeves. The cable must meet the following specifications:– Cable cross section 0.2 mm2 – 1.0 mm2 (AWG24 – AWG18)– Cable resistance 120 Ω at 1 MHz– Capacitance per unit length ≤ 40 pF/m at 1 kHz

Suitable cables include CAN bus or DeviceNet cables.

6.2.8 X34: COM 1/COM 2 (RS485) engineering interface

FunctionYou can connect one of the following devices to the COM 1/COM 2 (RS485) engin-eering interface:• Gearmotor with integrated frequency inverter MOVIMOT®

• DOP11B operator panel

NOTICE• There must not be any potential shift between the devices connected via the

RS485. Take suitable measures to avoid potential shift such as connecting thedevice ground connectors using a separate cable.

• Dynamic terminating resistors are installed. Do not connect any external ter-minating resistors.

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Wiring diagram

X34

1

3

5

2

4

6

AssignmentNo. Name FunctionX34 1 RS+ Signal RS485+ (COM 1)

2 RS+ insulated Signal RS485+ insulated (COM 2)

3 RS– Signal RS485– (COM 1)

4 RS– insulated Signal RS485– insulated (COM 2)

5 DGND Reference potential (COM 1)

6 GND insulated Reference potential (COM 2)

INFORMATIONFor more information on how to connect the DOP11B operator terminal, refer to thesections "Installation" and "Pin assignment" in the "DOP11B Operator Terminal" sys-tem manual.

6.2.9 X35: USB engineering interface

Connection typeUSB plug connector type B

AssignmentNo. Name FunctionX35 1 USB +5 V

Default assignment2 USB-

3 USB+

4 DGND

6.2.10 X36: Ethernet 1 system bus interfaceThe Ethernet 1 system bus interface serves as system bus master of the fast SBusPLUS

system bus.

FunctionEthernet connection:• Modbus/TCP• EtherNet/IP™• PROFINET IO 22

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Wiring diagram

1 8

AssignmentNo. Name FunctionX36 1 TX+ Transmit line (+)

2 TX- Transmit line (-)

3 RX+ Receive line (+)

4 Reserved –

5 Reserved –

6 RX- Receive line (-)

7 Reserved –

8 Reserved –

6.2.11 X37: Ethernet 2 engineering interface

FunctionYou can connect an engineering PC to the Ethernet 2 engineering interface.

PC COM

X35

X36

X37

2

4

6

1

3

5

X3

4

1

2

3

1

3

4

2

1

2

3

1

2

3

1

2

3

X32

X33

2

4

6

1

3

58

10

7

9

X31

T1S1

L1L2

L3L5

XML6

L7L8

L9L4

L10

2102467211

Using this engineering interface, the DH.21B/41B option card can also exchangedata with another controller via UDP/TCP.


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Wiring diagram

1 8

AssignmentNo. Name FunctionX37 1 TX+ Transmit line (+)

2 TX- Transmit line (-)

3 RX+ Receive line (+)

4 Reserved –

5 Reserved –

6 RX- Receive line (-)

7 Reserved –

8 Reserved –

6.2.12 X38: SEW safety bus connection

FunctionConnection to the bus system SEW safety bus

AssignmentNo. Name FunctionX38 1 CAN H CAN High

2 CAN L CAN Low

3 DGND CAN reference potential

6.2.13 DIP switch S1 for DH.21B/41BYou can use DIP switch S1 to set a default IP address for the Ethernet 2 connection(X37). This IP address will be applied with the next boot process.

Switch position MeaningUp IP parameters:

• IP address: 192.168.10.4• Subnet mask: 255.255.255.0• Standard gateway: 1.0.0.0

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Switch position MeaningDown For addresses set in the configuration file see chapter Installation

options of DH.21B/41B.Opening the configuration file1. Right-click the controller.2. Select [Diagnostics] > [File System Monitor].3. In the File System Monitor, select [System] > [Open NetCon-

fig.cfg].Ethernet 1: X36 (system bus interface EtherCAT®/SBusPLUS)Ethernet 2: X37 (engineering interface)

6.2.14 DIP switches 20 and 21 for DHR21B/41BYou can use DIP switches 20 and 21 to set a default IP address for the Ethernet 2 con-nection (X37). This IP address will be applied with the next boot process.

DIP switch 20 MeaningON (right) Default IP address (192.16810.4)

OFF (left) Stored IP address or DHCP

DIP switch 21 MeaningON (right) EtherNet/IPTM, Modbus TCP/IP

OFF (left) PROFINET

INFORMATIONThe setting of the 20 and 21 DIP switches is only adopted with a power-on reset(switching on and off the DC 24 V supply voltage).

DIP switch 20 (Def IP)If the switch "20" is set to "1" (= right = ON), the following default IP address paramet-ers are set when switching on the DC 24 V supply voltage:• IP address: 192.168.10.4• Subnet mask: 255.255.255.0• Standard gateway: 1.0.0.0 for EtherNet/IPTM (192.168.10.4 for PROFINET)• P785 DHCP/Startup configuration: Saved IP parameters (DHCP is deactivated)

DIP switch 21 (protocol)DIP switch "21" is used to set the fieldbus protocol that is currently used.• 21 = "1" (= right = ON): The EtherNet/IPTM/Modbus TCP/IP fieldbus protocol is act-

ive.• 21 = "0" (= left = OFF): The PROFINET fieldbus protocol is active.

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6 Electrical installationSD memory cards


6.3 SD memory cardsThe SD memory cards are required for operating the DH.21B/41B option card. Theystore the firmware, the IEC program and user data (e.g. recipes). You can use thememory card for data backup and automatic parameterization in the event of an axisreplacement.The SD memory card is available in 26 variants (T0 – T25). The different variants al-low for the execution of different technology functions. The technology level can bechanged by replacing the SD memory card.

6.3.1 SD memory card OMH41B-T.With the SD memory card type OMH41B-T., the DH.21B/41B controller is used asfreely programmable controller. The SD memory card OMH41B-T. is inserted in theDH.21B/41B controller. If the delivery also includes a compact controller, aMOVIAXIS® MXM master module or an inverter with installed DH.21B/41B optioncard, then the SD memory card is already installed in the DH.21B/41B option card.

SD memory card OMH41B-T.Technology levelT0 – T25

Part number Description

T0 18212042 • Speed control management• Positioning, e.g. with the MPLCMo-

tion_MDX library

T1 18212050 Additional technology functions for T0:• Electronic cam• Electronic gear unit• Cam switch

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6Electrical installationSD memory cards


SD memory card OMH41B-T.Technology levelT0 – T25


T2 18212069 A certain number of technology points is con-sumed depending on the functionality used.Refer to the relevant documentation for in-formation on how many technology points arerequired.

T3 18219675

T4 18219683

T5 18219691

T6 18219705

T7 18219713

T8 18219721

T9 18219748

T10 18219756

T11 18228607

T12 18228616

T13 18228623

T14 18228631

T15 18228658

T16 18228666

T17 18228674

T18 18228682

T19 18228690

T20 18228704

T21 18228712

T22 18228720

T23 18228739

T24 18228747

T25 18228755

6.3.2 SD memory card OMC41B-T.The SD memory card OMC41B-T. lets you use the DH.21B/41B controller as configur-able application controller (CCU). A certain technology level is required for this pur-pose depending on the application module used. Refer to the documentation of theapplication module for information on the required technology level.

SD memory card OMC41B-T.Technology levelT0 – T25


T0 18228763 Single-axis application modules:• Speed specification• Bus positioning• Universal module, etc.22

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6 Electrical installationSD memory cards


SD memory card OMC41B-T.Technology levelT0 – T25


T1 18228771 Technology functions:• Cam positioning• Winder

T2 18228798 Multi-axis application modules:• Energy-efficient SRS• SyncCrane• Universal Module Technology 10 PD

T3 18228801 A certain number of technology points is con-sumed depending on the functionality used.Refer to the relevant documentation for in-formation on how many technology points arerequired.

T4 18228828

T5 18228836

T6 18228844

T7 18228852

T8 18228860

T9 18228879

T10 18228887

T11 18228896

T12 18228909

T13 18228917

T14 18228925

T15 18228933

T16 18228941

T17 18228968

T18 18228976

T19 18228984

T20 18228992

T21 18229018

T22 18229026

T23 18229034

T24 18229042

T25 18229059

6.3.3 Bootloader updateWhen LEDs "L3" and "L4" start flashing orange at a 1-Hz frequency after power-on, aboot loader update is required. During the bootloader update, the boot code matchingthe firmware is written to the boot sector of the controller.

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6Electrical installationShielding and routing bus cables


Proceed as follows:1. Do not switch off the voltage supply at any stage during the process.2. Press the reset button T1 on the front of the DH.21B/41B option card for 3

seconds. Once the boot loader update has started, only LED 4 will flash.ð When L4 flashes green, the bootloader update is completed successfully.

6.4 Shielding and routing bus cablesOnly use shielded cables and connection elements that meet the requirements of cat-egory 5, class D according to IEC 11801 edition 2.0.Correct shielding of the bus cable attenuates electrical interference that can occur inindustrial environments. The following measures ensure the best possible shielding:• Manually tighten the mounting screws on the connectors, modules, and equipoten-

tial bonding conductors.• Use only connectors with a metal housing or a metalized housing.• Connect the shielding in the connector over a wide surface area.• Apply the shielding of the bus cable on both ends.• Route signal and bus cables in separate cable ducts. Do not route them parallel to

power cables (motor leads).• Use metallic, grounded cable racks in industrial environments.• Route the signal cable and the corresponding equipotential bonding close to each

other using the shortest possible route.• Avoid using plug connectors to extend bus cables.• Route the bus cables closely along existing grounding surfaces.

NOTICEIn case of fluctuations in the ground potential, a compensating current may flow viathe bilaterally connected shield that is also connected to the protective earth (PE).Make sure you supply adequate equipotential bonding in accordance with relevantVDE regulations in such a case.

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7 Project planning and startup with MOVITOOLS® MotionStudioAbout MOVITOOLS® MotionStudio


7 Project planning and startup with MOVITOOLS® MotionStudio7.1 About MOVITOOLS® MotionStudio

AboutMOVITOOLS®MotionStudio

7.1.1 TasksThe MOVITOOLS® MotionStudio engineering software enables you to perform the fol-lowing tasks with consistency:• Establishing communication with devices• Executing functions with the devices

7.1.2 Communication channelsThe SEW Communication Server is integrated into the engineering softwareMOVITOOLS® MotionStudio for establishing communication with the devices.The SEW Communication Server allows you to create communication channels. Oncethe channels are established, the devices communicate via these communicationchannels using their communication options. You can operate up to 4 communicationchannels at the same time.MOVITOOLS® MotionStudio supports the following types of communication channels:• Serial (RS485) via interface adapters• System bus (SBus) via interface adapters• Ethernet TCP/IP, PROFINET IO, EtherNet/IP™, Modbus/TCP• EtherCAT®

• Fieldbus (PROFIBUS DP-V1)• Non-proprietary software interface Tool Calling InterfaceThe available channels can vary depending on the device and its communication op-tions.

7.1.3 FunctionsThe MOVITOOLS® MotionStudio engineering software enables you to perform the fol-lowing tasks with consistency:• Parameterization (e. g. in the parameter tree of the device)• Startup• Visualization and diagnostics• ProgrammingMOVITOOLS® MotionStudio provides the right tools for every device type.

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7Project planning and startup with MOVITOOLS® MotionStudioFirst steps


7.2 First steps7.2.1 Starting the software and creating a project

Proceed as follows:1. Select the following item from the Windows start menu: [Start] / [Pro-

grams] / [SEW] / [MOVITOOLS MotionStudio] / [MOVITOOLS MotionStudio]ð MOVITOOLS® MotionStudio is started.

2. Create a project with a name and directory.

7.2.2 Establishing communication and scanning the networkProceed as follows:1. Click "Configure communication channels" [1] in the toolbar.

[1]

18014399642823819

ð The following window opens.

9007217492118283

2. From the drop-down list [1], select the communication type.3. Activate the selected communication type [2].4. To edit the settings of the selected communication type, click the button [3].

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7 Project planning and startup with MOVITOOLS® MotionStudioFirst steps


5. If necessary, change the preset communication parameters. When doing so, referto the detailed description of the communication channels.

6. Scan your network via the "Device scan" icon [1] in the toolbar.

[1]

27021598896943499

7.2.3 Connection mode

OverviewThe MOVITOOLS® MotionStudio engineering software differentiates between "online"and "offline" connection mode. You determine the connection mode yourself.MOVITOOLS® MotionStudio starts up in the connection mode that was set before theprogram was closed.

INFORMATIONThe "Online" connection mode is not a response message which informs you thatyou are currently connected to the device or that your device is ready for communica-tion.• Should you require this feedback, observe chapter "Setting the cyclical accessibil-

ity test" in the online help (or the manual) of MOVITOOLS® MotionStudio.

INFORMATIONProject management commands (such as "download" and "upload"), the onlinedevice status, and the "device scan" work independently of the set connection mode.

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Depending on the selected connection mode, you can choose offline or online toolsspecific to your device. The following figure illustrates the two types of tools:

[4]

[1]

HDD RAM

[3][2]

RAM

Offline tool

Online tool

18014399752675211

[1] Hard drive of the engineering PC [3] Engineering PC[2] RAM of the engineering PC [4] Device

Tools Description

Online tools

Changes made using online tools affect only the device [4].• Execute the "Upload (device → PC)" function if you want to

transfer the changes to your RAM [2].• Save your project so that the changes can be stored on the

hard disk [1] of your engineering PC [3].

Offline tools

Changes made using offline tools affect only the RAM [2] at first.• Save your project so that the changes can be stored on the

hard disk [1] of your engineering PC [3].• Execute the "Download (PC → device)" function if you want to

transfer the changes to your device [4] as well. Check the para-meterization afterwards.

Selecting the communication mode (online or offline)Proceed as follows:1. Select the connection mode:

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7 Project planning and startup with MOVITOOLS® MotionStudioFirst steps


• For functions (online tools) that should directly influence the unit, switch to onlinemode by using the icon [1].

• For functions (offline tools) that should directly influence the unit, switch to offlinemode by using the icon [2].

[1] [2]

18014399643939211

2. Select the unit node.3. Select the tools for configuring the unit from the context menu.

7.2.4 Configuring unitsThe following example uses a MOVIFIT® unit to show how to display the tools for con-figuring the unit.The connection mode is "online". The unit has been scanned in the network view.Proceed as follows:1. Select the unit (in this example the power section [1]) in the network view.2. Right-click to open the context menu.

[1]

9007201701091851

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3. Select the tool for configuring the unit (in this example the command [Startup] >[Parameter tree]).

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7 Project planning and startup with MOVITOOLS® MotionStudioCommunication via USB


7.3 Communication via USB7.3.1 Connecting the unit with the PC via USB

The illustration shows how the device (in the example a gateway [3]) is connected withthe PC [1] using a USB connection cable [2]. It also shows how the gateway [3] is con-nected with the lower-level device [5] via SBus (CAN).

[1]

[5]

[3]

[2]

[4]

1

5

1716605579

[1] PC with USB port

[2] USB connection cable

[3] Gateway (UFx41 in the example)

[4] System bus connection (CAN based) between the gateway and the lower-leveldevice

[5] Lower-level device (MOVIAXIS® in the example)

Proceed as follows:1. Plug the A connector of the USB cable [2] into a free USB port on your PC [1].2. Insert the USB-B connector of the USB cable [2] into the USB port on your gate-

way [3].3. Connect the system bus interface of the gateway [3] with the SBus interface of the

lower-level device [5].

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7Project planning and startup with MOVITOOLS® MotionStudioCommunication via Ethernet


7.3.2 Configuring the communication channel via USBProceed as follows:1. Establish the communication channel via USB, see chapter "Establishing

communication and scanning the network" (→ 2 45).2. Set the communication parameters.

Communicationparameter

Description Information

Timeout Waiting time in [ms] that the master waitsfor a response from the slave after it hasmade a request.

Default setting:350 ms

7.4 Communication via Ethernet7.4.1 Connecting the device with the PC via Ethernet

The following figure shows the network with direct communication using Ethernet:

[1]

EURODRIVEEURODRIVE

[4]

[3]

[2]

ETHERNET

1193501835

[1] Engineering PC with Ethernet interface[2] Ethernet connection[3] Switch[4] Devices (examples) with Ethernet interfaces

Parameter requests from the MOVITOOLS® MotionStudio engineering software aretransferred to a switch [3] via Ethernet [2] from an engineering PC [1] using the Ether-net interface. The switch [3] then directly passes on the parameter requests to the Eth-ernet interface of the devices [4].

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7 Project planning and startup with MOVITOOLS® MotionStudioCommunication via Ethernet


7.4.2 Configuring the communication channel via EthernetThe devices use the device protocol from SEW‑EURODRIVE SMLP (SimpleMOVILINK® Protocol) that is directly transferred via TCP/IP.Proceed as follows:1. Establish the communication channel via Ethernet (→ 2 45).2. Set the SMLP protocol parameters in the following window in the "SMLP settings"

tab [1] (→ 2 53).

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

18328429835

[1] "SMLP settings" tab [5] "IP addresses of SMLP server" tab[2] Timeout [6] "Excluded IP addresses" tab[3] Broadcast IP address [7] Add IP address[4] Broadcast scan duration [8] IP address edit box

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7Project planning and startup with MOVITOOLS® MotionStudioCommunication via Ethernet


Ethernet parameters for SMLP The following table shows the communication parameters for SMLP:

No. Ethernet para-meter Description Information

[2] Timeout

Waiting time in ms that theclient waits for a reply fromthe server after it has madea request.

• Default setting: 1000 ms• If a delay of the commu-

nication causes failure, in-crease the value.

[3] Broadcast IP ad-dress

IP address of the local net-work segment withinwhich the device scan iscarried out.

In the default setting, thedevice scan only retrievesdevices in the local networksegment.

[4] IP address SMLPserver

IP address of the SMLPserver or of other devicesthat are to be included inthe device scan but areoutside the local networksegment.

• Enter the IP address ofdevices that are to be in-cluded in the device scanbut are outside the localnetwork segment.

• If you are operating an in-direct communication fromEthernet to PROFIBUS,enter the IP address of thecontroller.

[6] Excluded IP ad-dress

IP addresses of devicesthat should not be includedin the device scan.

Enter the IP address ofdevices that should not be in-cluded in the device scan.This can be devices that arenot ready for communication(e.g. because they have notbeen started up yet).

Adding devices to the local network segmentDuring a device scan, the system recognizes only devices that are in the same localnetwork segment as the engineering PC. If you have devices that are outside the localnetwork segment, add the IP addresses of these devices to the list of SMLP servers.Proceed as follows:1. Open the "SMLP settings" tab [1] (→ 2 52).2. Select the address list of the SMLP server.3. Open the "IP address of SMLP server" tab [5] (→ 2 52).4. To enter the IP address, click on the plus symbol [7].5. Enter the IP address in the edit box [8]. Click [OK].

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7 Project planning and startup with MOVITOOLS® MotionStudioStartup of the fieldbus at the DHR21B/41B controller


7.4.3 Communication ports usedThe following table shows the communication ports that are used by theMOVITOOLS® MotionStudio engineering software:

Application Number of the communication port Description

ETH server 300 (TCP/UDP)For the services of the SMLP andfor using a PC as Ethernet gate-way.

SEW CommunicationServer 301 (TCP)

For communication betweenMOVITOOLS® MotionStudio andthe SEW Communication Server.

Offline data server 302 (TCP)For communication ofMOVITOOLS® MotionStudio in off-line mode.

MOVIVISION® server 303 (TCP) For communication with a PC withactive MOVIVISION® server

Reserved 304 –

TCI server 305 (TCP) For communication via TCI (ToolCalling Interface by Siemens)

EcEngineeringServer-RemoteControl 306 (UDP) For direct communication (without

master) with the slaves

EcEngineeringServermailbox gateway 307 (UDP)

For direct communication (withoutmaster) with the slaves and forcommunication via a mailbox gate-way

MOVI‑PLC® visualiza-tion 308 (TCP/UDP)

For communication betweenMOVI‑PLC® and the 3D simulationof MOVITOOLS® MotionStudio

7.5 Startup of the fieldbus at the DHR21B/41B controllerThe following section comprises detailed information regarding setup of the fieldbus ofthe DHR21/41B controller.

7.5.1 The integrated Ethernet switchYou can use the integrated Ethernet switch to achieve line topologies known from thefieldbus technology via X30-1 and X30-2. Other bus topologies, such as star or tree,are also possible. Ring topologies are not supported.

INFORMATIONThe number of industrial Ethernet switches connected in line impacts the telegramruntime. If a telegram passes through the devices, the telegram runtime is delayed bythe store & forward function of the Ethernet switch:This means the more devices a telegram has to pass through, the higher the tele-gram runtime is.• For a telegram length of 64 bytes by approximately 10 µs (at 100 Mbit/s)• For a telegram length of 1500 bytes by approximately 130 µs (at 100 Mbit/s)

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7Project planning and startup with MOVITOOLS® MotionStudioStartup of the fieldbus at the DHR21B/41B controller


Auto-crossingThe two ports leading out of the Ethernet switch have auto-crossing functionality. Thismeans that they can use both patch and cross-over cables to connect to the next Eth-ernet node.

Auto-negotiationThe baud rate and duplex mode are negotiated by both Ethernet nodes when estab-lishing the connection. For this purpose, both Ethernet ports of the EtherNet/IP con-nection support an auto-negotiation functionality and work with a baud rate of either100 Mbit or 10 Mbit in full duplex or half-duplex mode.

Notes on multi cast handling• The integrated Ethernet switch does not provide a filter function for Ethernet mul-

ticast telegrams. Multicast telegrams that are usually sent in Ethernet/IP networksfrom the adapters to the scanners (PLC) are passed on to all switch ports.

• IGMP snooping (e.g. Managed Switches) is not supported.• SEW‑EURODRIVE therefore recommends to connect the DHR21B/41B option in

EtherNet/IP networks only with network components that support IGMP snooping(e.g. managed switch) or that have safety mechanisms integrated against excessmulticast load (e.g. devices from SEW‑EURODRIVE). Devices that do not havethis integrated function can fail due to high network loads. This restriction does notapply to PROFINET IO or Modbus/TCP networks.

7.5.2 TCP/IP addressing and subnets

IntroductionThe settings for the address of the IP protocol are made using the following paramet-ers• MAC address• IP address• Subnet mask• Standard gatewayThe addressing mechanisms and subdivision of the IP networks into subnetworks areexplained in this chapter to help you set the parameters correctly.

MAC addressThe MAC address (Media Access Controller) is the basis for all address settings. TheMAC address of an Ethernet device is a worldwide unique 6-byte value (48 bits). TheMAC address of SEW Ethernet devices is 00-0F-69-xx-xx-xx. The MAC address is dif-ficult to handle for large networks. This is why freely assignable IP addresses areused.

IP addressThe IP address is a 32-bit value that uniquely identifies a node in the network. An IPaddress is represented by 4 decimal numbers separated by decimal points.Example: 192.168.10.4

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Each decimal number stands for one byte (= 8 bits) of the address and can also berepresented using binary code (see following table).

Byte 1 Byte 2 Byte 3 Byte 411000000 . 10101000 . 00001010 . 00000100

The IP address comprises a network address and a node address (see followingtable).

Network address Node address192.168.10 4

The part of the IP address that denotes the network and the part that identifies thenode is determined by the network class and the subnet mask.Node addresses cannot consist of only zeros or ones (binary) because they representthe network itself or a broadcast address.

Network classesThe first byte of the IP address determines the network class and as such representsthe division into network addresses and node addresses.

Valuerange

Networkclass

Complete network ad-dress(Example)

Meaning

Byte 10 – 127 A 101.22.3 10 = Network address

1.22.3 = Node address

128 – 191 B 17216.52.4 172.16 = Network ad-dress52.4 = Node address

192 – 223 C 192.168.10.4 192.168.10 = Network ad-dress4 = Station address

This rough division is not sufficient for a number of networks. They also use an expli-cit, adjustable subnet mask.

Subnet maskA subnet mask is used to divide the network classes into even finer sections. Like theIP address, the subnet mask is represented by 4 decimal numbers separated bydecimal points.Example: 255.255.255.128Each decimal number stands for one byte (= 8 bits) of the subnet mask and can alsobe represented using binary code (see following table).

Byte 1 Byte 2 Byte 3 Byte 411111111 . 11111111 . 11111111 . 10000000

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If you compare the IP addresses with the subnet masks, you see that in the binaryrepresentation of the subnet mask all ones determine the network address and all thezeros determine the station address (see following table).

Byte 1 Byte 2 Byte 3 Byte 4IP address decimal 192 . 168 . 10 . 129

binary 11000000 . 10101000 . 00001010 . 10000001

Subnet mask decimal 255 . 255 . 255 . 128

binary 11111111 . 11111111 . 11111111 . 10000000

The class C network with the address 192.168.10. is further subdivided by the subnetmask 255.255.255.128. 2 networks are created with the address 192.168.10.0 and192.168.10.128.The following node addresses are permitted in the two networks:• 192.168.10.1 ... 192.168.10.126• 192.168.10.129 ... 192.168.10.254The network nodes use a logical AND operation for the IP address and the subnetmask to determine whether a communication partner is present in the same networkor in a different network. If the communication partner is in a different network, thestandard gateway is addressed for passing on the data.

Standard gatewayThe standard gateway is also addressed via a 32-bit address. The 32-bit address isrepresented by 4 decimal numbers separated by decimal points.Example: 192.168.10.1The standard gateway establishes a connection to other networks. In this way, a net-work node that wants to address another node can use a logical AND operation withthe IP address and the subnet mask to determine whether the required node is loc-ated in the same network. If this is not the case, the node addresses the standardgateway (router), which must be part of the actual network. The standard gatewaythen takes on the job of transmitting the data packages.

DHCP (Dynamic Host Configuration Protocol)Instead of setting the 3 parameters IP address, subnet mask and standard gatewaymanually, they can be assigned automatically by a DHCP server in the Ethernet net-work.This means the IP address is assigned from a table, which contains the allocation ofMAC address to IP address.Parameter P785 indicates whether the DHR21B/41B option expects the IP parametersto be assigned manually or via DHCP.

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7.5.3 Setting the IP address parameters via DCP

Initial startupFor PROFINET IO, the IP address parameters are determined via the "DCP" protocol(Discovery and Configuration Protocol). DCP operates with device names. The devicename uniquely identifies a PROFINET IO node in the network. It is identified with thePROFINET IO controller during the configuration of the node and also set using theconfiguration software on the PROFINET IO device. With the aid of the device name,the controller identifies the device during startup and transfers the corresponding IPaddress parameters. Settings directly on the slave are no longer required.

Resetting IP address parametersIf you do not know the IP address parameters and cannot access the inverter usingthe serial interface or the DBG60B keypad, you can reset the IP address parametersto the default values using DIP switch 20.This action resets the DHR21B/41B option card to the following default values:• IP address: 192.168.10.4• Subnet mask: 255.255.255.0• Standard gateway: 1.0.0.0• PROFINET device name: PNETDeviceName_MACIDProceed as follows:1. Switch off the 24 V DC supply voltage and the mains voltage.2. On the DHR21B/41B option card, set DIP switch 20 to "1" (= right = ON).3. Switch the DC 24 V supply voltage and the mains voltage back on.4. Wait until the DHR21B/41B option card has booted up. This is indicated by the

green "RUN" LED.ð The IP address parameters are reset.ð You can now access the inverter via the IP address 192.168.10.4.

Setting new IP address parametersProceed as follows:1. Start MOVITOOLS® MotionStudio.2. Select the required address parameters.3. On the DHR21B/41B option card, set DIP switch 20 to "0" (= left = OFF).4. Switch the device off and back on again.ð The new IP address parameters are set.

7.5.4 Setting the IP address parameters

INFORMATION• DHCP remains disabled when you reset the DIP switch 20 to "0" (= left = OFF).

You can re-activate DHCP via the EtherNet/IPTM TCP/IP interface object, para-meter P785 or the DHCP server by Rockwell Automation.

• DHCP remains active when resetting the values to the default setting (P802 Fact-ory setting). 22

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Initial startupIf the EtherNet/IP and Modbus/TCP protocol is set using the DIP switch, the defaultprotocol for the DHR21B/41B option will be "DHCP" (Dynamic Host ConfigurationProtocol). This means that the option card expects its IP address parameters from aDHCP server.

INFORMATIONThere is a free DHCP server available on the Rockwell Automation homepage. Thetool is known as "BOOTP Utility" and can be downloaded from the following website:http://www.ab.com/networks/bootp.html.

Once the DHCP server has been configured and the settings have been made for thesubnet mask and the standard gateway, the DHR21B/41B option card must be inser-ted in the assignment list of the DHCP server. In doing so, the MAC ID of theDHR21B/41B option card is allocated a valid IP address.

INFORMATIONThe configured IP address parameters are adopted permanently by the parameterset when DHCP is deactivated after the IP address has been assigned.

Changing IP address parameters after initial startupIf the DHR21B/41B option card was started using a valid IP address, you can also ac-cess the IP address parameters via the Ethernet interface.You can change the IP address parameters via Ethernet by one of the following meth-ods:• With the MOVITOOLS® MotionStudio engineering software• Using the EtherNet/IPTM TCP/IP interface object (see chapter "EtherNet/IP CIP ob-

ject directory")• With the SEW Address EditorYou can also change IP address parameters via the other interface of theDHR21B/41B option card.If the IP address parameters of the DHR21B/41B option card are assigned via aDHCP server, you can only change the parameters by adjusting the settings of theDHCP server.The methods listed above for changing the IP address parameters only come into ef-fect once the supply voltage (DC 24 V) has been switched off and back on again.

Deactivating/activating DHCPThe type of IP address assignment is determined by the setting of the attribute Config-uration Control of the EtherNet/IPTM TCP/IP interface object. The value is displayed orchanged in the parameter P785 DHCP/Startup Configuration.• "Stored IP parameters" setting

The stored IP address parameters are used.• "DHCP" setting

The IP address parameters are requested by a DHCP server.If you use the DHCP server from Rockwell Automation, you can activate or deac-tivate the DHCP by clicking a button. In this case, an EtherNet/IPTM telegram issent to the TCP/IP interface object of the station that is being addressed.

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7 Project planning and startup with MOVITOOLS® MotionStudioExecuting functions with the units


Resetting IP address parametersIf you do not know the IP address parameters and there is no serial interface orDBG60B keypad for reading the IP address, you can reset the IP address parametersto the default values using the DIP switch 20.This action resets the DHR21B/41B option card to the following default values:• IP address: 192.168.10.4• Subnet mask: 255.255.255.0• Standard gateway: 192.168.10.4• DHCP / Startup Configuration: Saved IP parameters (DHCP is deactivated)Proceed as follows:1. Switch off the 24 V DC supply voltage and the mains voltage.2. On the DHR21B/41B option card, set DIP switch 20 to "1" (= right = ON).3. Switch the DC 24 V supply voltage and the mains voltage back on.ð The IP address parameters are reset.

7.6 Executing functions with the units7.6.1 Reading or changing unit parameters

Proceed as follows:1. Switch to the required view (project view or network view).2. Select the connection mode:• If you want to read/change parameters directly on the unit, switch to online mode

by using the icon [1].• If you want to read/change parameters in the project, switch to offline mode by us-

ing the icon [2].

[1] [2]

18014399643939211

3. Select the unit you want to parameterize.4. Choose the command [Startup] > [Parameter tree] from the context menu.

ð This opens the "Parameter tree" view on the right section of the screen.

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7Project planning and startup with MOVITOOLS® MotionStudioExecuting functions with the units


5. Expand the parameter tree to the node you require.

9007200201958155

6. To display a specific group of device parameters, double-click on the group.7. Press the enter key to finalize any changes you make to numerical values in the

input fields.

INFORMATIONFor detailed information about the unit parameters, refer to the parameter list for theunit.

7.6.2 Starting up units (online)Proceed as follows:1. Switch to the network view.2. Switch to online mode by using the icon [1].

[1]

18014399693512203

3. Select the unit you want to startup.4. Choose the command [Startup] > [Startup] from the context menu.

ð The startup assistant is displayed.5. Follow the instructions of the startup wizard and then load the startup data into

your unit.

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7 Project planning and startup with MOVITOOLS® MotionStudioConfiguring and starting up drives


7.7 Configuring and starting up drivesProject planning and startup for drives is described in the following library manuals.

Drive ManualMOVIDRIVE® BMOVIAXIS®

Libraries MPLCMotion_MDX and MPLCMotion_MX forMOVI‑PLC®

MOVITRAC® 07 / BMOVIMOT®

Libraries MPLCMotion_MDX and MPLCMotion_MM forMOVI‑PLC®

INFORMATIONIf you want to operate the DH.21B/41B option card installed in MOVIDRIVE®

MDX61B, then the firmware of the MOVIDRIVE® MDX61B inverter must have at leaststatus ".16".This applies regardless of whether the inverter is controlled via the installedDH.21B/41B option card or whether the slot of the inverter is only used for installingthe DH.21B/41B option card while it is simultaneously used to control other inverters(e.g. MOVITRAC® B).

7.8 Configuration and startup in the PLC Editor

INFORMATION• For further information on configuration and startup of the DH.21B/41B option

card, refer to the "MOVI‑PLC® programming in the PLC Editor" system manual.• For information on how to configure the master in the various fieldbus systems,

refer to the following documentation:– DHF21B/41B Controller Fieldbus Interfaces DeviceNetTM and PROFIBUS DP-

V1– DHR21B/41B Controller Fieldbus Interfaces EtherNet/IPTM, Modbus TCP/IP

and PROFINET IO

7.9 Replacing the unitFor replacing a DHF21B/41B option card, a compact controller or a controlled drive,follow the instructions in chapter "Installing and removing the DH.21/41B optioncard" (→ 2 18). Insert the SD memory card of the previous controller into the new con-troller.

INFORMATIONThe variable values stored remanently on the DH.21B/41B option card are not storedon the SD memory card by default. This can be programmed through the application(IEC program), or the data backup must be imported through the project manage-ment in MOVITOOLS® MotionStudio.For information on replacing the drives, refer to the manual of the inverter in question.

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8OperationDH.21B/41B Controller


8 Operation8.1 DH.21B/41B Controller

The DH.21B/41B controller comes equipped with 10 LEDs (L1 – L10) that indicate thepresent state of the controller and the interfaces.

No. Name FunctionLED 1 CAN 1 status CAN 1 system bus status

LED 2 CAN 2 status CAN 2 system bus status

LED 3 IEC program status IEC program status

LED 4 Controller status Controller firmware status

LED 5 User LED Freely programmable

LED 6 DIO6/7 Status input or output DIO6/7




LED 10 24 V / I/O OK Status of I/O voltage supply

8.1.1 LED "H1/H2" in stand-alone operationLED "H1/H2" is reserved for stand-alone operation and the installation inMOVITRAC® B.

8.1.2 LED "L1" (CAN 1 status)LED "L1" indicates the status of the CAN 1 system bus.

Status LED Possible cause MeasureOrange The CAN 1 system bus is being initial-

ized.–

Green The CAN 1 system bus is being initial-ized.

–

Flashing green with0.5 Hz

The CAN 1 system bus is in SCOMsuspend mode.

–

Flashing green with 1 Hz The CAN 1 system bus is in SCOM Onmode.

–

Red The CAN 1 system bus is off (BUS-OFF).

• Check and correct the cabling ofthe CAN 1 system bus.

• Check and correct the baud rateset for the CAN 1 system bus.

• Check and correct the terminatingresistors of the CAN 1 system bus.

Flashing red with 1 Hz Warning on the CAN 1 system bus. • Check and correct the cabling ofthe CAN 1 system bus.


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8 OperationDH.21B/41B Controller


8.1.3 LED "L2" (CAN 2 status)LED "L2" indicates the status of the CAN 2 system bus.

Status LED Possible cause MeasureOrange The CAN 2 system bus is being initial-

ized.–

Green The CAN 2 system bus is initialized. –

Flashing green with0.5 Hz

The CAN 2 system bus is in SCOMsuspend mode.

–

Flashing green with 1 Hz The CAN 2 system bus is in SCOM Onmode.

–

Red The CAN 2 system bus is off (BUS-OFF).

• Check and correct the cabling ofthe CAN 2 system bus.


• Check and correct the terminatingresistors of the CAN 2 system bus.

Flashing red with 1 Hz Warning on the CAN 2 system bus. • Check and correct the cabling ofthe CAN 2 system bus.


8.1.4 LED "L3" (IEC program status)LED "L3" indicates the state of the IEC-61131 control program.

Status LED Possible cause MeasureGreen IEC program is running. –

Off No program is loaded. Load a program into the controller.

Flashing orange with 1 Hz Program sequence has stopped. Bootloader update required.

8.1.5 LED "L4" (controller status)LED "L4" indicates the firmware status of the DH.21B/41B controller.

Status LED Possible cause MeasureFlashing green with 1 Hz Firmware of the controller is running

correctly.–

Red • No SD memory card inserted.• File system on the SD memory

card corrupt.

–

Flashing orange with 1 Hz Program sequence has stopped. Bootloader update required.

8.1.6 LED "L5" (user)LED "L5" is freely programmable in the IEC program.

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8OperationDHF21B/41B controller


8.1.7 LEDs "L6", "L7", "L8", "L9" (DIO n/m)LEDs "L6", "L7", "L8", "L9" indicate the status of the digital inputs and outputs (X31:3 – X31:10) n or m (e. g. DIO2/3).

X31

1

3

5

7

9

2

4

6

8

10L6

L7

L8

L9

m n

2102564619

State LED Possible cause MeasureOff No voltage present. –Green Voltage at terminal n.

Red Voltage at terminal m.

Orange Voltage at terminals n and m.

8.1.8 LED "L10" (24 V / I/O OK)LED "L10" indicates the status of the voltage supply for digital inputs and outputs.

Status LED Possible cause MeasureGreen Voltage supply for the digital inputs or

outputs is OK.–

Off Voltage supply is not applied at the di-gital inputs or outputs.

1. Switch off the drive inverter inwhich the controller is installed.

2. Check and correct the cabling ofthe digital inputs/outputs accordingto the electrical wiring diagram.

3. Check current consumption of theconnected actuators.

4. Switch on the drive inverter inwhich the controller is installed.

Orange Voltage supply is applied at the digitalinputs or outputs. However, one of thefollowing faults has occurred:• Overload on one or more digital in-

puts or outputs• Overtemperature of the output

driver• Short circuit in at least one of the

digital inputs or outputs

8.2 DHF21B/41B controllerThe DHF21B/41B controller comes equipped with 8 LEDs (L11 – L18) that indicate thepresent state of the PROFIBUS communication and electronics as well as the fieldbusand DeviceNetTM interface.

No. Name FunctionLED 11 – Reserved

LED 12 – Reserved

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8 OperationDHF21B/41B controller


No. Name FunctionLED 13 BUS OFF

The two-color LEDs 13 – 16 indicate thecurrent state of the fieldbus and theDeviceNetTM interface.

LED 14 Bit strobe I/O

LED 15 Polled I/O

LED 16 MOD/NET

LED 17 PROFIBUS fault Status of PROFIBUS electronics

LED 18 RUN PROFIBUS Status of PROFIBUS communication

8.2.1 LEDs in PROFIBUS mode

LED "L17" (PROFIBUS fault)LED "L17" (PROFIBUS fault) indicates that communication via the PROFIBUS inter-face is working properly.

Status LED Possible cause MeasureOff The MOVI‑PLC® advanced controller is

exchanging data with DP master (dataexchange state).

–

Red • Connection to the DP master hasfailed.

• The MOVI‑PLC® advanced control-ler does not detect a PROFIBUSbaud rate.

• Bus interruption.• DP master not in operation.

• Check the PROFIBUS DP connec-tion of the device.

• Check the configuration of the DPmaster.

• Check all the cables in thePROFIBUS DP network.

Flashing red with 1 Hz • The MOVI‑PLC® advanced control-ler has detected the baud rate, butis not addressed by DP master.

• The MOVI‑PLC® advanced control-ler was either not configured in theDP master or has been configuredincorrectly.

• Check and correct the PROFIBUSaddress set in the MOVI‑PLC® ad-vanced controller and in the config-uration software of the DP master.

• Check and correct the configura-tion of the DP master.

• Use the GSD file SEW_6007.GSDwith the designation MOVI‑PLC forconfiguration.

LED "L18" (RUN PROFIBUS)LED "L18" (RUN PROFIBUS) indicates that the PROFIBUS electronics (hardware) isworking properly.

Status LED Possible cause MeasureGreen PROFIBUS hardware is OK. –

Green, flashing with 1 Hz The PROFIBUS station address seton the DIP switches is more than125. Station addresses >125 are notpermitted. The system does not startup. The maximum permitted stationaddress is 125.

1. Check and correct the PROFIBUSstation address on the DIP switches.

2. Switch on all inverters again. Themodified PROFIBUS station addresswill only take effect after a restart.

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8OperationDHF21B/41B controller


Status LED Possible cause MeasureOrange PROFIBUS hardware is being initial-

ized.–

8.2.2 LEDs in DeviceNetTM mode

LED "L16" (MOD/NET)The function of LED "L16" (MOD/NET = Module/network state) described in the follow-ing table is specified in the DeviceNet specification.

State LED Possible cause MeasureOff Not switched on or offline • Unit is offline.

• Unit is performing DUP-MAC check.• Device is switched off.

Flashing green with 1 Hz Online and in operationalmode

• The unit is online and no connection has beenestablished.

• DUP-MAC check was performed successfully.• A connection has not yet been established with

a master.• Missing, incorrect or incomplete configuration.

Green Online, operational modeand connected

• Unit is online.• A connection has been established with a mas-

ter.• Connection is active (established state).

Flashing red with 1 Hz Minor fault or connectiontimeout

• A correctable fault has occurred.• Polled I/O and/or bit-strobe I/O connections are

in timeout state.• DUP-MAC check has detected an error.

Red Critical error or critical linkfailure

• An error that cannot be corrected has occurred.• BusOff• DUP-MAC check has detected an error.

LED "L15" (PIO)LED "L15" (Polled I/O) monitors the polled I/O connection.

State LED Possible cause MeasureGreen, flashing every125 ms

DUP-MAC check Unit is performing DUP-MAC check.

Off Not switched on or offlinebut no DUP-MAC check

• Device is switched off.• Unit is offline.


• Unit is online.• DUP-MAC check was performed successfully.• A polled IO connection is being established with

a master (configuring state).• Missing, incorrect or incomplete configuration.

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8 OperationDHF21B/41B controller


State LED Possible cause MeasureGreen Online, operational mode

and connected• Unit is online.• A polled I/O connection has been established

(established state).


• Invalid number of process data is set via DIPswitches.

• A correctable fault has occurred.• Polled I/O connection is in timeout state.



LED "L14" (BIO)LED "L14" (bit-strobe I/O) monitors the bit-strobe I/O connection.

State LED Possible cause MeasureGreen, flashing every125 ms

DUP-MAC check Unit is performing DUP-MAC check.

Off Not switched on or offlinebut no DUP-MAC check

• Device is switched off.• Unit is offline.


• Unit is online.• DUP-MAC check was performed successfully.• A BIO connection is being established with a

master (configuring state).• Missing, incorrect or incomplete configuration.

Green Online, operational modeand connected

• Unit is online.• A BIO connection has been established (estab-

lished state).


• Invalid number of process data is set via DIPswitches.

• A correctable fault has occurred.• Bit-strobe I/O connection is in timeout state.



LED "L13" (BUS FAULT)LED "L13" (BUS FAULT) indicates the physical state of the bus node.

Status LED Status MeaningOff NO ERROR The number of bus errors is within the

normal range (error active state)

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8OperationDHR21B/41B controller


Status LED Status MeaningRed, flashing every125 ms

BUS WARNING The device is performing a DUP-MACcheck and cannot send any messagesbecause no other stations are connec-ted to the bus (error passive state).

Red, flashing with 1 Hz BUS WARNING The number of physical bus errors istoo high. No more error telegrams areactively written to the bus (error pass-ive state).

Red BUS ERROR • BusOff state• The number of physical bus errors

has increased despite switchoverto error-passive state. Access tothe bus is switched off.

Yellow POWER OFF External voltage supply has beenturned off or is not connected.

8.3 DHR21B/41B controllerThe DHR21B/41B controller comes equipped with 4 LEDs (L11 – L14) that indicatethe present state of the controller in EtherNet/IP and MODBUS/TCP mode.

No. Name Function in EtherNet/IP and Modbus/TCP mode

LED 11 – Reserved

LED 12 – Reserved

LED 13 Network status Network status

LED 14 Module status Module status

No. Name Function in PROFINET modeLED 11 – Reserved

LED 12 – Reserved

LED 13 BUS FAULT Bus error

LED 14 RUN Bus running

8.3.1 LEDs in PROFINET mode

LED "L13" (BUS FAULT)LED "L13" (BUS FAULT) indicates the PROFINET state.

Status LED Possible cause MeasureOff PROFINET IO device is exchanging

data with the PROFINET IO controller(Data Exchange).

–

• Flashing green• Flashing green/red

The flashing function in thePROFINET IO controller configurationis activated to visually localize the sta-tions.

–

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8 OperationDHR21B/41B controller


Status LED Possible cause MeasureRed • Connection to the PROFINET IO

controller has failed.• PROFINET IO device does not de-

tect a link.• Bus interruption.• PROFINET IO controller is not in

operation.

• Check the PROFINET connectionof the hardware option.

• Check the PROFINET IO control-ler.

• Check the cabling of yourPROFINET network.

• Yellow• Flashing yellow

The STEP 7 hardware configurationcontains a module that is not permit-ted.

Switch the STEP 7 hardware configur-ation to ONLINE and analyze the com-ponent status of the slots in thePROFINET IO device.

LED "L14" (RUN)LED "L14" (RUN) indicates that the bus electronics are operating correctly.

Status LED Possible cause MeasureGreen • Hardware OK.

• Proper operation.–

Off Hardware is not ready for operation. Switch on the device again.If this error reoccurs, contactSEW‑EURODRIVE.

Red Hardware defect in the bus electronics. Switch on the device again.If this error reoccurs, contactSEW‑EURODRIVE.

Flashing green Hardware does not start up. Switch on the device again.If this error reoccurs, contactSEW‑EURODRIVE.

Flashing yellow Hardware does not start up. Switch on the device again and set thedefault IP address parameter via the"S1" DIP switch.If this error reoccurs, contactSEW‑EURODRIVE.

Yellow Hardware does not start up. Switch on the device again.If this error reoccurs, contactSEW‑EURODRIVE.

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8OperationDHR21B/41B controller


"Link/Activity" LEDsThe two LEDs "Link" (green) and "Activity" (yellow) integrated in the RJ45 plug con-nectors (X30-1, X30-2) display the state of the Ethernet connection.

X3

0-1

X3

0-2

LED "Link"

LED "Activity"

2104908939

"Link" LED

Status LED MeaningGreen There is an Ethernet connection.

Off There is no Ethernet connection.

"Activity" LED

Status LED Operating statusYellow Data is currently being exchanged via Ethernet.

8.3.2 LEDs in EtherNet/IP and Modbus/TCP modeLEDs "L13" and "L14" indicate the current state of the DHR21B/41B controller and theEtherNet/IPTM or Modbus/TCP system.

LED "L13" (NETWORK STATUS)

Status LED Operating statusGreen There is a controlling connection to the fieldbus system.

Green, flashing No controlling connection.

Green/red, flashing The controller performs a self-test.

Red, flashing The previously established controlling connection has timedout. The status can be reset by restarting the communication.

Red Conflict detected in the assigned IP addresses. Another nodein the network uses the same IP address.

Off No IP address parameter has been assigned to the controlleryet.

LED "L14" (MODULE STATUS)

Status LED MeaningOff The option card is either not supplied with voltage, or it is

faulty.

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8 OperationDHR21B/41B controller


Status LED MeaningGreen, flashing • When the "NETWORK STATUS" LED is off at the same

time, the TCP/IP stack of the option card is started. If thisstatus continues and DHCP is activated, the hardware op-tion waits for data from the DHCP server.

• When the "NETWORK STATUS" LED flashes green at thesame time, the application of the option card is started.

Green/red, flashing The option card performs an LED test.

Green The option card is in standard operating state.

Red The option card is in fault state.

Red, flashing Conflict detected in the assigned IP addresses. Another sta-tion in the network uses the same IP address.

"Link/Activity" LEDsThe two LEDs "Link" (green) and "Activity" (yellow) integrated in the RJ45 plug con-nectors (X30-1, X30-2) display the state of the Ethernet connection.

X3

0-1

X3

0-2

LED "Link"

LED "Activity"

2104908939

"Link" LED

Status LED Operating statusGreen There is an Ethernet connection.

Flashes Function for locating in the Address Editor ofSEW‑EURODRIVE.

Off There is no Ethernet connection.

"Activity" LED

Status LED Operating statusYellow Data is currently being exchanged via Ethernet.

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9ServiceSystem bus CAN 1/CAN 2


9 Service9.1 System bus CAN 1/CAN 2

ProblemCommunication via system bus CAN 1 or CAN 2 is not working.

RemedyPerform the following steps one after the other until the problem is corrected.

Initial status• System bus CAN 1 or CAN 2 is connected correctly.• Communication via the CAN 1 or CAN 2 system bus was started up correctly for

the controller in the Application Configurator and for the axis in the drive startup forMOVI-PLC®/CCU.

↓

Bus connector connected? No → [A]

Yes↓

How does the LED of the CAN 1 orCAN 2 state respond?

Orange → [B]Green → [C]

Lights up or flashes red?↓

The system bus CAN 1 or CAN 2 is off or the system bus communication is faulty.

↓

[A]

↓

Check the set baud rate.

↓

Baud rate OK? No → [D]

Yes↓

Ensure that terminating resistors are connected correctly.

[A] Check the bus cabling.

[B] System bus CAN 1 or CAN 2 is being initialized.

[C] Bus communication is OK.

↓Check the configuration of the axes in the Application Configurator.

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9 ServiceDisposal


9.2 DisposalPlease observe current national regulations.Dispose of the following materials separately in accordance with the country-specificregulations in force, as:• Electronics scrap• Plastics• Sheet metal• Copper

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10Technical data and dimension drawingsGeneral technical data


10 Technical data and dimension drawings10.1 General technical data

The general technical data listed in the following table applies to:• DH.21B/41B option card installed in the inverter• DH.21B/41B controller in the UOH11B/21B stand-alone housing

General technical dataInterference immunity complies with EN 61800-3

Ambient temperature • Installed in MOVIDRIVE® MDX61B:– 0 °C to +60 °C

(Derating at 40 °C to 60 °C → System manual MOVIDRIVE®

MDX60B/61B)• Installed in MOVITRAC® B (AC 230 V; AC 400/500 V to 4 kW):

– -10 °C to +60 °C(Derating at 40 °C to 60 °C → System manual MOVITRAC® B)

• Installed in MOVITRAC® B (AC 400/500 V over 4 kW):– 0 °C to +60 °C

(Derating at 40 °C to 60 °C → System manual MOVITRAC® B)• Installed in the MOVIAXIS® MXM master module:

– 0 °C to +45 °C• Compact controller:

– -10 °C to +60 °C

Storage temperature -25 °C to +70 °C

Climate class EN 60721-3-3; class 3k3

Type of cooling Convection cooling

Degree of protection IP20

Operating mode Continuous operation, see MOVIDRIVE® MDX60B/61B, MOVITRAC® B,MOVIAXIS® system manuals

Pollution class 2 according to IEC 60664-1 (VDE0110-1)

Installation altitude max. 4000 m (asl)

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10 Technical data and dimension drawingsTechnical data of the DH.21B/41B option card


10.2 Technical data of the DH.21B/41B option card

DH.21B/41BPart number • DHE21B option card: 18236073

• DHE41B option card: 18211607

Electrical supply • MOVIDRIVE® MDX61B, MOVIAXIS® MXM master module, compact con-troller:– Supply the digital inputs and outputs separately with DC 24 V (X31:1/2).

• Installed in MOVIDRIVE® MDX61B:– Power consumption: Pmax = 6.8 W– The DHE21B/41B option card is supplied by MOVIDRIVE® MDX61B via

backplane connector.– In the case of disconnection from the power supply, continued function

is guaranteed by DC 24 V backup (external DC 24 V voltage supply toX10:9/10 of MOVIDRIVE® MDX61B required).

• Installed in the MOVIAXIS® master module (MXM):– Power consumption: Pmax = 8.5 W– V = DC 24 V (–15%/+20%)– Imax = 600 mA– The DHE21B/41B option card can be supplied from the MOVIAXIS®

MXS switched-mode power supply module or from an external voltagesource. To do so, connect X5 between the individual devices.

– If the DHE21B/41B option card is supplied with DC 24 V from theMOVIAXIS® MXS switched-mode power supply module, then the func-tion of the DHE21B/41B option card is ensured when voltage supply isswitched off (external DC 24 V voltage supply at X16 of theMOVIAXIS® MXS switched-mode power supply module).

Potential levels • Potential control/CAN 1/COM 1• Potential COM 2• Potential digital inputs and outputs• Potential system bus CAN 2

Memory • Retain data: 32 kB• System variables (retain): 8 kB• Code memory:

– DH.21B: 2 MB (for application program, incl. IEC libraries)– DH.41B: 4 MB (for application program, incl. IEC libraries)

• Data memory:– DH.21B: 6 MB– DH.41B: 12 MB

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10Technical data and dimension drawingsTechnical data of the DH.21B/41B option card


DH.21B/41BDigital inputs(X31:3 – X31:10)

Isolated (optocoupler), PLC-compatible (IEC 61131-2), sampling cycle corres-ponds to task cycle time.• Can be configured as digital inputs or outputs• Internal resistance: Ri ≈ 3 kΩ, II ≈ 10 mA• Signal level:

– DC (+13 V to +30 V) = "1": Contact closed (according to IEC 61131)– DC (–3 V to +5 V) = "0": Contact open (according to IEC 61131)

Digital outputs(X31:3 – X31:10)

PLC-compatible (IEC 61131-2), response time 1 ms• Can be configured as digital inputs or outputs

– Maximum permitted output current IA_max = DC 150 mA per digital output– All 8 digital outputs can be subject to the maximum approved output

current IA_max load at the same time.• Signal level: "0" = 0 V "1" = DC +24 V

CAN 2 system bus(X32:1 – X32:3)CAN 1 system bus(X33:1 – X33:3)

• System bus CAN 1 and CAN 2 to CAN specification 2.0, parts A and B,transmission technology to ISO 11898

• The CAN 2 system bus is electrically isolated.• Max. 64 stations (DHE41B) / 16 stations (DHE21B) per CAN system bus• Max. 64 (DHE41B) / 16 (DHE21B) SCOM transmit objects / 256 receive

objects per CAN system bus• Address range 0 – 63• Baud rate: 125 kBaud – 1 MBaud• If X32 or X33 is the bus terminator, you must connect a terminating resistor

(120 Ω) externally.• You can remove X32 or X33 without interrupting the system bus.• The system bus can be run in layer 2 (SCOM cyclic, acyclic) or in accord-

ance with the SEW MOVILINK® protocol.

Ethernet 1 Fast system bus SBusPlus based on EtherCAT® (with DH.41B)

Ethernet 2 • TCP/IP• Connection options: Engineering PC, other controller, Intranet

USB USB 1.0 for connecting an engineering PC

RS485 interface COM 1/2(X34:1 – X34:6)

• One DOP11B operator panel or one gearmotor with integrated MOVIMOT®

frequency inverter can be connected per RS485 interface.• E/A standard, 57.6/9.6 kBaud, max. total cable length 200 m• Dynamic terminating resistor with fixed installation• COM 2 is electrically isolated from the DH.21B/41B option card.

SD memory cardsOMH41B-T0 – T25OMC41B-T0 – T25

• PC readable• Includes:

– Firmware– IEC program– Data

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10 Technical data and dimension drawingsTechnical data of the DHF21B/41B option card


DH.21B/41BEngineering Engineering of the DHE21B/41B option card is carried out using the

MOVITOOLS® MotionStudio engineering software with PLC Editor. TheDHE21B/41B controller is connected with the engineering PC via the:• "X35: USB engineering interface" (→ 2 36)• "X37: Ethernet 2 engineering interface" (→ 2 37)The engineering of any SEW‑EURODRIVE components connected to theDHE21B/41B option card can be carried out via the DHE21B/41B option card.Engineering of the DHE21B/41B option card cannot be carried out via the in-verters.

10.3 Technical data of the DHF21B/41B option card

INFORMATIONThe technical data of the connections that are identical with the DHE21B/41B optioncard are described in chapter "Technical data of the DH.21B/41B optioncard" (→ 2 76).

DHF21B/41BPart number • DHF21B: 18236081

• DHF41B: 18211615

Electrical supply • Installed in MOVIDRIVE® MDX61B:– Power consumption: Pmax = 8 W

• Installed in the MOVIAXIS® MXM master module:– Power consumption: Pmax = 10 W

Potential levels • Potential control/CAN 1/COM 1• Potential COM 2• Potential digital inputs and outputs• Potential system bus CAN 2• Potential PROFIBUS

PROFIBUS connection(X30P:1 – X30P:9)

• Via 9-pin D-sub connector, pin assignment to IEC 61158• Bus termination not integrated. Activate bus termination with suitable

PROFIBUS connector with switchable terminating resistors.• Automatic baud rate detection: 9.6 kBaud – 12 MBaud

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10Technical data and dimension drawingsTechnical data of the DHR21B/41B option card


DHF21B/41BDeviceNet connection(X30D:1 – X30D:5)

• 2-wire bus and 2-wire supply voltage DC 24 V with 5-pin Phoenix terminal• Pin assignment according to DeviceNet specification• Baud rate: 125, 250 or 500 kBaud, can be set using DIP switches 26 and 27

• Bus cable length for thick cable according to DeviceNet specification 2.0Appendix B– 500 m at 125 kbaud– 250 m at 250 kbaud– 100 m at 500 kbaud

• MAC-ID:– 0 – 63, can be set using DIP switch 20 – 25

– Max. 64 stations

Engineering Additional engineering access via the engineering interface PROFIBUS(X30P)

10.4 Technical data of the DHR21B/41B option card

INFORMATIONThe technical data of the connections that are identical with the DHE21B/41B andDHF21B/41B option cards are described in chapters "Technical data of theDH.21B/41B option card" (→ 2 76) and "Technical data of the DHF21B/41B optioncard" (→ 2 78).

DHR21B/41BPart number • DHR21B: 18236103

• DHR41B: 18216323

Electrical supply • Installed in MOVIDRIVE® MDX61B:– Power consumption: Pmax = 9.5 W

• Installed in the MOVIAXIS® MXM master module:– Power consumption: Pmax = 12 W

Ethernet connection(X30-1, X30-2)

Via RJ45 socket, pin assignment according to IEC 11801Integrated Ethernet switch with auto-crossing and auto-negotiation function

Engineering Additional engineering access via PROFINET, EtherNet/IPTM and ModbusTCP/IP interfaces (X30:1/2)

10.5 Technical data of the stand-alone device

Stand-alone deviceDevice designs • DHE21B/41B in UOH11B stand-alone housing

• DHF21B/41B in UOH21B stand-alone housing• DHR21B/41B in UOH21B stand-alone housing22

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10 Technical data and dimension drawingsPort overview


Stand-alone deviceElectrical supply • X26: V = DC 24 V (–15% / +20%), DGND must be grounded (PELV)

• Power consumption Pmax = 8.5 W, Imax = 600 mA• X31: Supply the digital inputs and outputs separately with DC 24 V.

INFORMATION• The CAN 1 system bus is connected in parallel to X33 and X26.• The RS485 interface COM 1 is connected in parallel to X34 and X24.• For further technical data, refer to chapter "Technical data of the DH.21B/41B

option card" (→ 2 76).

10.6 Port overview10.6.1 PROFINET

Port TCP/UDP

Function Authorization

Ethertype 8892hex Process data exchange Controlling connection

Dynamicport defini-tion via EndPoint Map-per

UDP PROFINET DCE/RPC Reading and writing on all indexed parameters

23 TCP Telnet Reading OEM diagnostic data

80 TCP http The Java application uses SMLP via Port 300,reading and writing IP parameters,reading and writing indexed parameters

161 UDP SNMP Reading on MIBs

300 TCP SMLP (MOVILINK® on Ethernet) Reading and writing of all parameters

300 UDP Address Editor Reading and writing the IP parameters

10.6.2 EtherNet/IP™, Modbus/TCP

Port TCP/UDP


Ethertype 80E1hex ODVA ring redundancy protocol DLR Reading and writing the ring redundancy para-meter


80 TCP http The Java application uses SMLP via Port 300,reading and writing IP parameters,reading and writing indexed parameters


300 UDP Address Editor Reading and writing the IP parameters 2290

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10Technical data and dimension drawingsPort overview


Port TCP/UDP


5021) TCP Modbus/TCP Reading and writing on all indexed parameters

2222 UDP EtherNet/IP™ IO data Controlling connection

44818 TCP EtherNet/IP™ explicit messages Reading and writing on all indexed parameters1) not for MFE62 fieldbus interface

10.6.3 Engineering interface

Port TCP/UDP


21 TCP FTP Reading from and writing to the file system



300 UDP Address Editor Reading and writing the IP parameters

(308) TCP/UDP

3D simulation (optional)

(XXX) TCP/UDP

Other application-specific, pro-grammed applications

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10 Technical data and dimension drawingsDimension drawings


10.7 Dimension drawings10.7.1 DHE21B/41B option card in UOH11B stand-alone housing

4.5

5.5

28

30 22.5

X35

X36

X37

2

4

6

1

3

5

X3

4

DHE41B

1

2

3

1

3

4

2

1

2

3

1

2

3

1

2

3

X3

2X

33

2

4

6

1

3

58

10

7

9

X3

1

T1

S1

L1

L2

L3

L5

XM

L6

L7

L8

L9

L4

L10

257.

5 (1

0.14

)

224

(8.8

2)

234.

5(9

.23)

185

(7.2

8)

100 (3.94)

(0.18)

(1.18)

(1.1

0)

(0.89)

(0.2

2)

2132438155

The dimensions are specified in mm.

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10Technical data and dimension drawingsDimension drawings


10.7.2 DHF21B/41B and DHR21B/41B option cards in UOH21B stand-alone housing

4.5

5.5

28

30 22.5

DHF41B

2222

0123

222

456

27

2

4

6

1

2

3

X3

4X

35

X36

X37

XM

1

3

5

1

2

3

1

2

3

1

2

3

1

2

3

X3

2X

33

2

4

6

1

3

58

10

7

9

X3

1

X38

L18

X30P

S1

3

4

2

1

1

5

X3

0D

S2

L16

L15

L14

L13

L12

L11

L10

L9

L8

L7

T1

L6

L5

L4

L3

L2

L1

L17

ON

325

(12.

80)

358.

5 (1

4.11

)

335.

5 (1

3.21

)

286

(11.

26)

(0.89)

100 (3.94)(1.18)

(1.1

0)

(0.2

2)

(0.18)

2132441099

The dimensions are specified in mm.

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Index

IndexA

Additional documentation .................................... 11

B

Bootloader update ............................................... 42

C

Communication interfaces................................... 13Communication ports .......................................... 54Communication type

Configuring Ethernet communication ............. 52Configuring USB communication ................... 51

Configurable application controller CCU ............. 12Performance class "advanced" ...................... 13Performance class "standard" ........................ 12

Connecting DeviceNet to DHF21B/41B (X30D) .. 31Connecting PROFIBUS to DHF21B/41B............. 29Connecting the device with the PC

Via Ethernet.................................................... 51Via USB.......................................................... 50

Copyright notice .................................................... 8

D

Device replacement............................................. 62DH.21B/41B

Digital inputs and outputs ............................... 33Engineering .................................................... 15Ethernet 1 system bus.................................... 36Ethernet 2....................................................... 37Installation in MOVIDRIVE® MDX61B ............ 17Installation in MOVITRAC® B ......................... 24Installation in the MOVIAXIS® master module 23LEDs............................................................... 63RS485 interface.............................................. 35S1 DIP switch ................................................. 38SD memory card OMC41B-T. ........................ 40SD memory card OMH41B-T. ........................ 40System bus CAN 1/CAN 2 ............................. 34Terminal positions .......................................... 20

DH.21B/41B Controller ........................................ 12CAN 1/CAN 2 system bus interface ............... 15COM 1/COM 2 engineering interface ............. 15Communication interfaces.............................. 13Configurable application controllers CCU ...... 12

Device designs ............................................... 13Diagnostics LEDs ........................................... 16Digital inputs and outputs ............................... 16Ethernet 1 system bus interface..................... 15Ethernet 2 engineering interface .................... 16Fieldbus Interfaces ......................................... 13Freely programmable controller MOVI‑PLC® . 12Overview ........................................................ 12Properties ....................................................... 13

DH.21B/41B stand-alone deviceCAN 1 (X26) system bus interface ................. 27COM 1 (X24) engineering interface................ 27Technical data ................................................ 80Terminal positions .......................................... 21Voltage supply (X26) ...................................... 27

DHCP (Dynamic Host Configuration Protocol) .... 57DHF21B/41B

Connecting DeviceNet (X30D) ....................... 31Connecting PROFIBUS.................................. 29Connecting SEW safety bus (X38)................. 38LEDs in DeviceNet mode ............................... 67LEDs in PROFIBUS mode ............................. 66Technical data ................................................ 79

DHR21B/41BConnection to the Ethernet network ............... 28Ethernet switch, integrated............................. 54LEDs in EtherNet/IP mode ............................. 71LEDs in PROFINET mode.............................. 69Setting DIP switches ...................................... 39Setting the IP address parameters via DCP... 58TCP/IP addressing and subnetworks ............. 55Technical data ................................................ 79

Diagnostics LEDs ................................................ 16Digital inputs and outputs .................................... 16Dimension drawings

DHE21B/41B / UOH11B................................. 82DHF/DHR21B/41B / UOH21B ........................ 83

DIP switch 2(0) .................................................... 39DIP switch 2(1) .................................................... 39

E

Embedded safety notes......................................... 7Engineering ......................................................... 15Engineering, MOVITOOLS® MotionStudio .......... 44 22

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Ethernet 1 ............................................................ 36Ethernet 1 system bus......................................... 36Ethernet 2 ............................................................ 37Ethernet communication...................................... 52Ethernet switch, integrated.................................. 54

Auto-crossing ................................................. 55Auto-negotiation ............................................. 55Multicast handling........................................... 55

Exclusion of liability ............................................... 8

F

Freely programmable controllerPerformance class "advanced" ...................... 12Performance class "standard" ........................ 12

Functional safety technologySafety note ..................................................... 10

H

Hazard symbolsMeaning............................................................ 6

I

InformationDesignation in the documentation .................... 6

InstallationIn MOVITRAC® B ........................................... 24In the MOVIAXIS® master module.................. 23

IntroductionAdditional documentation ............................... 11Content of this manual ................................... 11

IP address ........................................................... 55IP address parameters EtherNet/IP / Modbus/TCP .

58Deactivating/activating DHCP ........................ 59Initial startup ................................................... 59Resetting IP address parameters................... 60

IP address parameters via DCP.......................... 58Initial startup ................................................... 58Resetting IP address parameters................... 58

L

L15 LED (PIO)..................................................... 67LED H1/H2 .......................................................... 63LED L1 (CAN 1 status) ........................................ 63LED L10 (24 V / I/O OK)...................................... 65LED L13 (BUS FAULT) - DeviceNet ................... 68LED L13 (BUS FAULT) - PROFINET.................. 69

LED L13 (NETWORK STATUS) - EtherNet/IP.... 71LED L14 (BIO) - DeviceNet ................................. 68LED L14 (MODULE STATUS) - EtherNet/IP....... 71LED L14 (RUN) - PROFINET.............................. 70LED L16 (MOD/NET)........................................... 67LED L17 (PROFIBUS fault) ................................. 66LED L18 (RUN PROFIBUS)................................ 66LED L2 (CAN 2 status) ........................................ 64LED L3 (IEC program status) .............................. 64LED L4 (controller status).................................... 64LED L5 (user) ...................................................... 64LED L6 – L9 (DIO n/m)........................................ 65LEDs

DH.21B/41B ................................................... 63DHF21B/41B .................................................. 65DHR21B/41B.................................................. 69

Lifting applications............................................... 10Link/activity LED - EtherNet/IP ............................ 72Link/activity LED - PROFINET............................. 71

M

MAC address....................................................... 55Mechanical installation

In MOVIDRIVE® MDX61B .............................. 17In the MOVIAXIS® MXM master module ........ 19In the stand-alone housing ............................. 17

MOVIAXIS® master moduleConnecting a voltage supply .......................... 23Connecting the system bus ............................ 23Installing DH.21B/41B .................................... 23

MOVIDRIVE® MDX61BConnecting the system bus ............................ 22Installing and removing DH.21/41B................ 18Installing DH.21B/41B .................................... 17

MOVITOOLS® MotionStudioCommunication channels ............................... 44Communication ports ..................................... 54Configure unit ................................................. 48Creating a project ........................................... 45Designated use .............................................. 44Establishing communication........................... 45Functions........................................................ 44Reading/changing device parameters............ 60Setting the connection mode.......................... 46Starting up unit ............................................... 61Tasks.............................................................. 44

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MOVITRAC® BCAN 1 (X26) system bus interface ................. 27COM 1 (X24) engineering interface................ 27Installation DH.21B/41B ................................. 24System bus connection .................................. 24Voltage supply (X26) ...................................... 27

N

Network classes .................................................. 56Notes

Meaning of the hazard symbols ....................... 6

O

Opening the parameter tree ................................ 60Other applicable documentation............................ 8

P

ParameterConfiguring Ethernet communication ............. 52Configuring USB communication ................... 51

Parameterizing the unitAbout MOVITOOLS® MotionStudio ................ 60

Performance class CCUadvanced........................................................ 13standard ......................................................... 12

Performance class MOVI‑PLC®

advanced........................................................ 12standard ......................................................... 12

Product names ...................................................... 8Project planning................................................... 44Project planning and startup

Drives ............................................................. 62In the PLC Editor ............................................ 62

R

Replacing the device ........................................... 62Rights to claim under limited warranty .................. 7RJ45 plug connector ........................................... 29RS485 interface................................................... 35

S

S1 DIP switch ...................................................... 38Safety functions................................................... 10Safety notes .......................................................... 9

Bus systems ................................................... 10Designation in the documentation .................... 6General............................................................. 9

Meaning of the hazard symbols ....................... 6Other applicable documentation....................... 8Preliminary information..................................... 9Structure of embedded..................................... 7Structure of the section-related ........................ 6Waste disposal ............................................... 74

SD memory cardOMC41B-T. .................................................... 40OMH41B-T. .................................................... 40

Section-related safety notes.................................. 6Setting the baud rate (DeviceNet operation) ....... 32SEW safety bus................................................... 38Shielding and routing bus cables ........................ 43Signal words in safety notes.................................. 6SMLP server

Adding devices ............................................... 53Setting parameters ......................................... 53

Standard gateway ............................................... 57Startup................................................................. 44

Unit in MOVITOOLS® MotionStudio ............... 61Subnet mask ....................................................... 56Switch.................................................................. 51System bus

CAN 1............................................................. 73CAN 2............................................................. 73

T

Target group.......................................................... 9TCP/IP................................................................. 51TCP/IP addressing and subnetworks ............ 55, 57

IP address ...................................................... 55MAC address.................................................. 55Network classes ............................................. 56Standard gateway .......................................... 57Subnet mask .................................................. 56

Technical dataDH.21B/41B as stand-alone device ............... 80DHE21B/41B .................................................. 76DHF21B/41B .................................................. 79DHR21B/41B.................................................. 79General technical data ................................... 75

TerminalsDH.21B/41B stand-alone device .................... 21X24 ................................................................. 27X26 ................................................................. 28X30-1/X30-2 ................................................... 28

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X30D .............................................................. 31X30P............................................................... 29X31 ................................................................. 33X32/X33.......................................................... 34X34 ................................................................. 35X36 ................................................................. 36X37 ................................................................. 37

Trademarks ........................................................... 8

U

USB communication............................................ 51

W

Waste disposal .................................................... 74Wiring diagram

CAN 1 system bus.......................................... 34

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