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TitleP Software Fieldbus Conn
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Fieldbus Communications
Fieldbus communications enable control systems to
exchange data with remote sensors, actuators and
drives using a common protocol and communications
bus. The benefits are often better control, and reduced
installation, cabling and maintenance costs.

Modbus RTU is the standard fieldbus protocol on
all Control Techniques drives with communications
capability.

Programming drives for communications is a simple and
straight forward process, with “Motion Made Easy”™
setting up a fieldbus is primarily a “point and click” and
“drag and drop” operation.

The SM-Profibus, SM-DeviceNet and SM-CANOpen Solution
Modules have been fitted to this 75 hp Unidrive SP allowing it
to do double duty as a communications gateway for these three
fieldbus protocols.

Communications and Fieldbus Protocols

Drive / Controller M
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Commander SX Q

Commander SK Q Q Q Q Q Q Q

Commander GP20 Q Q Q Q Q Q Q

M
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Unidrive SP Q Q Q Q Q* Q Q Q Q Q Q

Digitax ST Q Q Q Q Q* Q Q Q Q Q Q

MDS Series Q Q Q Q

EN Series Q Q Q Q

Epsilon EP Series Q Q Q Q

MC Series Q Q Q Q Q Q Q

D
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s Mentor II Q Q Q Q Q

Quantum III Q Q Q Q Q

* Also requires SM-Applications Lite V2 or an SM-Applications Plus module.

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CTOPC server
CTOPC server runs on a Windows® PC and allows for
open and transparent data exchange with higher level
information systems.

OPC has become the industry standard for connecting
industrial automation components to higher level
information systems. The higher level information
systems include SCADA (Supervisory, Control, and Data
Access), MRP (Manufacturing Resource Planning), ERP
(Enterprise Resource Planning), and other productivity
solutions. It is very common for higher level information
systems to include an OPC client into their software. The
OPC client can connect to any number of OPC server
enabled devices such as the CTOPC server or other third
party OPC servers. The OPC standard allows for OPC
clients to browse data from OPC server thus eliminating
the need for gateway data concentrators or proprietary
drivers and gateways.

The CTOPC server is installed on a PC running
Windows™. The CTOPC server “serves” data to the
various OPC clients. Typically the CTOPC server will
reside on the same PC as the OPC client. The CTOPC
Server then polls data from all the Control Technique
components connected via Modbus RTU, Modbus TCP/IP
or CTNet.

• Unidrive SP Drive

• CTNet I/O

• SM-Applications Plus Module

• Mentor Drive

The CTOPC server is configured via an excel spreadsheet
which defines what data is polled from the various
components on the network. The OPC client is
configured to connect to the CTOPC server.

The OPC client can then browse and select data from the
CTOPC server.

www.controltechniques.com

www.controltechniques.com www.controltechniques.com

www.controltechniques.com

Factory Floor

Control Console

CTOPCserver

Drive System

Modbus

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The SM-SERCOS module is
class B compliant, supporting
the torque, velocity and position
control modes. This flexible
module also supports probing
cycle additional functions (Position registration)
and user-defined telegrams.

The SM-SERCOS module is configurable through
Unidrive SP parameters — there are no hardware
configuration switches.

The SM-SERCOS module uses the standard fibre optic
ring topology, using standard transmit and receive
optical connectors.
• All SERCOS baud rates supported —
(16 Mbps Default), 8 Mbps, 4 Mbps, 2 Mbps.
• Network cycle times support: 250 µs, 500 µs and
1 to 65 ms (In 1 ms increments).
• Four optical power levels are available for
transmission, and it is possible to disable the network
repeater in the module (breaking the network at the
point).
• Provides two freeze inputs used for SERCOS probing
cycle functionality.

Drive
Required
Modules

Network
Operation

Cyclic Data
Access

Acyclic
Messaging

Access

Unidrive SP SM-SERCOS Follower Closed Loop Data Yes

Digitax ST SM-SERCOS Follower Closed Loop Data Yes

The CANopen interface has been tested and awarded
full Product Conformance Certification by CiA (CAN
In Automation), the controlling body for CANopen.
Conveniently, the CANopen interface is configured
as a slot-in card to the interface module which gives
the Unidrive SP its flexibility in high level control and
communication systems.

The CANopen interface enables OEMs and users to
harness the comprehensive facilities of CANopen for use
in industrial automation systems where Unidrives may be
called upon to network with other CANopen compliant
“intelligent” devices such as sensors and actuators.

Profibus-DP is a high speed communications network
protocol that allows large amounts of data to be
transferred quickly (up to 12 MB/s). The Profibus-DP
interface detects the network data rate and automatically
synchronizes to it. Profibus-DP systems are centralized
and consist of a master controller controlling all
communications with follower nodes on the network.

Unidrive SP / Digitax ST
Commander GP20 / Commander SK
• Access to all user parameters
• Cyclic I/O 32 words IN / 32 words OUT
• Non-cyclic Message Support for all parameters
• DPV0, DPV1 functionality
including Profidrive profile support

Epsilon EP-PB / FM-3PB /FM-4PB
• Cyclic I/O connection support
• Drag and Drop DeviceNet Configuration
• Non-cyclic Message Support

Quantum / Mentor
• Access to all parameters
• Cyclic I/O support
• MD-24 required

Drive
Required
Modules

Network
Operation

Cyclic Data
Access

Non-cyclic
Messaging

Access

Commander
SK

SM-Profibus Follower
32 Words IN /
32 Words Out

Yes

Commander
GP20

SM-Profibus Follower
32 Words IN /
32 Words Out

Yes

Unidrive SP SM-Profibus Follower
32 Words IN /
32 Words Out

Yes

Digitax ST SM-Profibus Follower
32 Words IN /
32 Words Out

Yes

Epsilon EP-PB None Follower
12 Words IN /
12 Words Out

Yes

EN FM-3/4PB Follower
12 Words IN /
12 Words Out

Yes

MDS FM-3/4PB Follower
12 Words IN /
12 Words Out

Yes

Mentor II MD24 Follower
4 Words IN /
4 Words Out

Yes

Quantum III MD24 Follower
4 Words IN /
4 Words Out

Yes

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It allows process data to be regularly updated in remote
network nodes, and removes the need for extensive
digital and analog I/O wiring. Supported data rates for
CANopen range from 10 K bits/sec to 1 M bit/sec.

Drive Modules
Network

Operation
Cyclic Data

Access

Acyclic
Messaging

Access

Commander SX SM-CANopen Follower
4 Words IN /
4 Words Out

Yes

Commander SK SM-CANopen Follower
4 Words IN /
4 Words Out

Yes

Commander GP20 SM-CANopen Follower
4 Words IN /
4 Words Out

Yes

Unidrive SP SM-CANopen Follower
4 Words IN /
4 Words Out

Yes

Digitax ST SM-CANopen Follower
4 Words IN /
4 Words Out

Yes

CAN INTERFACE
The Unidrive SP SM-CAN interface allows any CAN
protocol to be implemented for Unidrive using DPL
(Drive Programming Language) code or the Function
Block Editor within SyPTPro (System Programming Tool).
Function blocks are available for the SyPTPro Workbench
that provide full access to the CAN controller from the
DPL program.

Due to the way CAN works, it is ideal for designing
and implementing networks with “peer-to-peer”
communications, where nodes are allowed to transmit
data over the network at data rates from 10K bits/sec
to 1 M bit/sec, without the need for an overall master
controller.

The CAN controller used in the Unidrive SP CAN module
has full message filtering features built in, which allows
the CAN controller to filter out unwanted messages, thus
reducing the loading on the CPU.

Drive
Required
Modules

Network
Operation

Cyclic Data
Access

Acyclic
Messaging

Access

Unidrive SP
Digitax ST-P

SM-CAN*
Master/
Follower

User
Configurable

User
Configurable

INTERBUS-S

Interbus-S networks are ‘centralized’ systems, requiring
a master controller (usually a PLC) which controls all
communications with follower nodes on the network.
The Interbus-S interface enables the drive to function as
these network nodes, with the advantage for users that
it does not require any change to its default setting to
operate on a configured network.

The master controller scans the network during network
initialization, and assigns addresses to each node
depending on their physical location on the network.
The data rate for Interbus-S is fixed at 500 K bit/sec.

Drive Modules
Network

Operation
Cyclic Data

Access

Non-cyclic
Messaging

Access

Commander SX SM-INTERBUS Follower
10 Words IN /
10 Words Out

Yes

Commander SK SM-INTERBUS Follower
10 Words IN /
10 Words Out

Yes

Commander
GP20

SM-INTERBUS Follower
10 Words IN /
10 Words Out

Yes

Unidrive SP SM-INTERBUS Follower
10 Words IN /
10 Words Out

Yes

Digitax ST SM-INTERBUS Follower
10 Words IN /
10 Words Out

Yes

Mentor II MDIBS Follower
3 Words IN /
3 Words Out

Yes

Quantum III MDIBS Follower
3 Words IN /
3 Words Out

Yes



Highly Deterministic Distributed Control

Control Techniques CTNet interface enables users to
leverage the facilities of the Unidrive SP and Mentor
II, Applications coprocessor modules, for real time
decentralized control. CTNet was developed specifically
for highly dynamic applications, over trunk lengths
generally exceeding 100 m, using proven token ring
data link technology. CTNet is a “decentralized peer-
to-peer” system, requiring no master PLC controller,
with each intelligent node taking its turn to control the
network, and communicate directly, and in real-time,
with other network nodes at data transfer rate of up
to 5 M bits/sec. CTNet supports up to 255 nodes and
provides an intelligent drive-oriented approach to systems
integration based on decentralized control, universal
communications and graphical software.

Unidrive SP / Digitax ST enable a CTNet gateway to
industrial networks such as Profibus-DP, Interbus-S,
DeviceNet, Ethernet, and SERCOS.

Drive Modules
Parameter

Access
Hardware

Cyclic
Data
Size

Non-cyclic
Messaging

Access

Unidrive SP
SM-Applications

Plus
Full ARCNET N/A Yes

Digitax ST-P Integrated Full ARCNET N/A Yes

Mentor II MD-29AN Full ARCNET N/A Yes

Quantum III MD-29AN Full ARCNET N/A Yes

*Also requires SM-Applications Plus module

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Drive Integration
Automation Hierarchy Selection
It is rare that an industrial drive stands alone in an
application. In the majority of cases, drives are part of
a system. As such it is necessary for the parts of the
system to communicate with one another, transmitting
commands and/or data. This communication can be in
many forms from traditional analog signals to wireless
communication systems. Control Techniques produces
lower cost, higher performance drives, with flexible and
dynamic interfaces to products such as PLC’s, HMI’s etc.

Traditionally systems have been controlled by powerful
Centralized Controllers at the Process Level. As the
cost of PLC’s reduced, control was distributed to the
Machine level. As PLC’s continue to fall in price, further
distribution of control is happening. However, the
threat to PLC’s in this role comes from drives which
have considerable processing power, and direct contact
with much of the critical variables of the system thereby
offering new opportunities in terms of optimized system
control.

In all applications it is worth considering the relative
benefits of Centralized and Decentralized Control. This
assessment needs to be done prior to deciding on the
most appropriate fieldbus for the application.

CENTRALIZED CONTROL SySTEMS

Centralized control requires a powerful Machine
Controller, (usually a PLC or PC) with centralized
programming and configuring software tools to provide:

• Gateway to the process layer
• Machine co-ordination and sequencing
• Machine real-time control algorithms for one or a
number of devices (including drives)
• A high speed and medium bandwidth communication
system and/or support a lot of inputs and outputs for
plant based devices
• Service data to and from devices

The communication throughout the system is via the
machine fieldbus Local Area Network (LAN). The dynamic
speed of such a network depends not only on the choice
of fieldbus, but also on the number of nodes connected.
Great care is needed in specifying such a system if the
system requirements are not to be compromised. The
specification of such a network is the most common
problem during system commissioning, and can be
responsible for some serious project delays.
A typical configuration for a centralized control system is
shown below.

Advantages:
• Simple architecture
• One learning curve for programming and configuration
tools
• Efficient, one point bridge to process layer
• Usually a lot of applications support available from
controller suppliers and integrators

Disadvantages:
• Expensive hardware and software (Machine Controllers
are expensive on large systems and software tools)
• The central controller is a commissioning bottleneck
• Redundancy is very expensive to build in
• A broad family of controllers needed for cost effective
adoption across a factory

Machine
Controller

Machine Fieldbus LAN

Machine Section #1 Machine Section #2

Section
Controller

HMI

Section
Controller

HMI

Machine Section #3

HMI

Remote Monitoring

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DECENTRALIZED CONTROL SySTEM

This alternative approach is also referred to as a
Distributed Control System. This requires:
• Peer to peer communications (devices to talk with
one another)
• “Intelligence” in some devices
• A gateway to support the Process layer interfaces
• A common and flexible programming, configuration,
commissioning and visualization software tool

Advantages:
• Low cost
• Small control panel size
• Easier design and maintenance – Modular software
• Opportunity for faster response times than with
centralized control (Better Performance)
• Inherent system redundancy possible
• Multi-commissioning access reduces set-up time
• No machine controller
• Modular software readily facilitates re-use
• System is scalable

Fully Decentralized Control

Disadvantages:
• Needs high level commissioning and programming
tools (Need to realize sections and device functions)
• Gateway to Process layer required
• Process layer can access all machine devices (no
filtering)
• High degree of system determinism may be required
• High system communication bandwidth may be
required

HyBRID CONTROL SOLUTION

A Hybrid solution, sometimes known as Distributed
Sectional or Cluster Control, is now receiving significant
attention. This requires:
• A medium processing power Machine Controller to
provide:
– Gateway to the Process layer
– Machine co-ordination and sequencing
– Support a lot of system inputs and outputs (digital
and analog) – High Speed and medium band
width to and from each section
• A medium processing power Sectional Controller to
provide:
– Gateway to the Machine controller
– Section co-ordination, sequencing and if necessary
synchronisation
– Support a lot of system inputs and outputs (digital
and analog) – High Speed and medium band
width to and from each section. Service data to and
from each device
– Master-Follower or Peer-Peer architectures can be
adopted
– Common programming, configuration and
commissioning software tools

Hybrid Control (Distributed Sectional Control)

Advantages:
• Very cost effective solution for medium/large systems
• Simple architecture – each section controller is
responsible for its own sectional devices
• Efficient, one point bridge to the Process layer
• Modular software – Easier development, maintenance
and re-use
• Common server and marshalling
• Inherent sectional redundancy
• Multi-commissioning access
• Tight control with fast updates for Sectional control
• Common programming and commissioning software

Disadvantages:
• Potentially higher cost for small systems
• Without common software tools system (machine and
sectional) visibility is restricted – solved with SyPTPro

Machine Section #1

UT7X

UT70

UT70

UT70 UT70 UT70

I/O Ctnet LAN

Sectional Drives Ctnet LAN

Machine Section #2

UT7X

UT70

UT80

SCADA
Commissioning Tool
Programming Tool

Remote Monitoring

Machine Fieldbus LAN

Section
Master

Section
Master

Machine Section #3

UT7X

UT80

UT70

UT70 UT70

HMIHMI

HMI

S
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C
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L
A

N

UT70 UT70

Sectional Drives & I/O
Ctnet LAN

RS485

Central Network
Programming &
Parameter Port
Modbus-RTU

(RS485)

Machine Section #1

UT7X

UT70

UT70

UT70 UT70 UT70

I/O Ctnet LAN

Sectional Drives Ctnet LAN

Machine Section #2

UT7X

UT70

UT80

Machine LAN (eg CTNet)

Section
Master

Section
Master

Machine Section #3

UT7X

UT80

UT70

UT70 UT70

HMIHMI

HMI

S
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c
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a
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C
tn

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L
A

N

UT70 UT70

Sectional Drives & I/O
Ctnet LAN

RS485

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