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1. 16 3 5 2 13 PNU 1055 Meaning of displayed value on 2 16 3 5 2 14 PNU 1056 Value of actual motor 17 3 5 2 15 PNU 1057 Value of actual motor 17 3 5 2 16 PNU 1058 Value of actual main 17 3 5 2 17 PNU 1059 Value of actual internal DC power 17 3 5 2 18 PNU 1060 Value of actual motor temperature PTC 17 3 5 2 19 PNU 1061 Value of actual drive 17 3 5 2 20 PNU 1062 Value of actual motor temperature KTY 17 3 5 2 21 PNU 1070 Value of MCM ABS 0 17 3 5 2 22 PNU 1071 Value of MCM ABS 1 nnne 17 3 5 2 23 PNU 1072 Value of MCM ABS 2 17 3 5 2 24 PNU 1073 Value of MCM ABS 3 17 3 5 2 25 PNU 1080 Value of MCM SH 0 en nnn nnne 18 3 5 2 26 PNU 1081 Value of MCM SH 1 18 PROFIBUS DP product line ACO5000 PRELIMINARY Page 3 of 32 DANAHER MOTION SA 3 5 2 27 PNU 1082 Value of MCM SH 2 eene me
2. BEBE BHE ERE BE EEB RHA elelsilisojssssr isacisesiesoo ise verag Table 28 PROFIBUS DP product line ACO5000 PRELIMINARY Page 27 of 32 DANAHER MOTION SA Table 28 cont Drve status PZD55 a oua oi pes L Lumja ajgeua uongisdd Status Word ZSW I 4 Juodas azaay ETE EET EEE EEE ning to ois eT Panwa issad ey a Sod aad NOM 10 as Control Word STW Re sem ses agge mwe moj dogs xoi d lt anes young ojo jojo sje Seng 1 External interlock is set on terminal block 23 2 Reached frequency is set on terminal block 25 Example of input output setting 3 Zero frequency is set on terminal black 27 4 Start stop is set on terminal block 28 Table 28 PROFIBUS DP product line ACO5000 Page 28 of 32 PRELIMINARY DANAHER MOTION SA Write from Master to ACO5000 Er per e eL 0 0 0 0 0 0 Read from ACO5000 into Master e 2 See table 2 on page 7 Table 29 Page 29 of 32 PROFIBUS DP product line ACO5000 PRELIMINARY DANAHER MOTION SA 5 SAMPLE TELEGRAMS AND EXAMPLES 5 1 Zero telegram At the beginning of communication via the parameter channel and after communication errors a zero telegram should be sent Byte 1 2
3. X X X X X X X X Table 25 4 2 Operating modes The selection of a new operating mode is described in detail in the chapter on the parameter channel This procedure must be observed and adhered to WARNING Appropriate precautionary measures against damage caused by faulty representation of data formats or normalization of the set points must be taken by the user The possible operating modes are described below Operating modes with a positive number 1 2 are defined in the drive profile Operating modes with a negative number 1 2 are labeled in the drive profile as being manufacturer specific modes 4 2 1 Digital speed operating mode 1 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW 5 Speed set point Speed set point MSB little endian LSB little endian 7 Actual speed Actual speed ZSW MSB little endian LSB little endian Drive status Drive status Table 26 4 2 2 Analog speed operation mode 1 In preparation 4 2 3 Example returned status The table 28 shows the returned state of the drive depending on the action done in the table 27 Indice Action Drive reaction without PROFIBUS part 1 Power ON with enable relay ON Nothing 2 Start with wrong OP mode or not set STW Nothin 0x047F desired speed set in PZD34 9 Table 27 PROFIBUS DP product line ACO5000 PRELIMINARY Page 25 of 32 DANAHER MOTION SA Ta
4. ACOMEL Technical description Edition JAN12 2007 File ACO5_Profibus_prod_spec_gb Communication profile PROFIBUS DP for the Product Line ACO5000 PRELIMINARY DANAHER MOTION S A La Pierreire 2 CH 1029 Villars Ste Croix Telephone 41 21 631 33 33 Telefax 41 21 636 05 09 E mail info danaher motion ch www danaher motion ch Solutloss by CD DANAHER MOTION Printed Converted to PDF 12 01 2007 10 01 21 HJU DANAHER MOTION SA Edition Comments March 14 2005 First PRELIMINARY version June 10 2005 Registration of GSD file clarification of transmit and receiver buffer June 29 2006 Completion of chap 3 5 2 12 813 e Correction of chap 4 2 1 and completion of chap 4 2 3 e Added PNU 1100 January 12 2007 e Added PNU 1301 e Added PNU 1302 Acknowledgements Danaher Motion SA has made every effort to supply Trademark Company names products and services mentioned in this document All brand names and product names are trademarks or registered trademarks of the proprietors of the respective titles All rights reserved This document remains the intellectual property of Danaher Motion SA who also owns the exclusive copyright No part of this document may be reproduced transmitted transcribed stored in a retrieval system in any form or by any means electronic mechanical optical manual or otherwise without permission in writing form to copyright of Dana
5. Windows commissioning software Caution If the address has been changed then to take effect the ACO5000 has to be switched off and on again In order to be able to run the converter with the PROFIBUS option then both option and enabling of it are mandatory See also settings in the Windows commissioning software All drives are shipped with address 126 3 5 1 3 PNU 930 Selector for operating modes The Selector for operating modes is defined by the drive profile and mirrors the operating modes of the drive profile to the operating modes of the DRIVE The following table 11 shows a summary of the operating modes Page 12 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA Caution If process data are exchanged across the PROFIBUS then the operating modes of the drive profile must only be selected with PNU 930 Operating mode Operating mode re of drive profile ACO5000 1 0 Digital speed control according to PROFIDRIVE profile 1 1 Analog speed control In preparation 126 Initial settings when instrument is switched on Table 11 The individual operating modes are described in Table 11 Change of operating mode can only be undertaken in connection with the control word The operating mode must be changed according to the following sequence 1 Inhibit set points and process data Bit 10 in the control word is set to 0 so that no new set
6. 1010 0010 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0001 PKE IND PWE Table 33 The number that is transferred in the PWE section represents the error number and can be looked up in the table 7 in Chapter 3 2 1 2 In this case error no 17 Task impossible because of operating mode will be signaled Page 30 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA 5 3 Enable the DRIVE The enable can be made by setting the bit combination for the Operation enabled state in the control word Byte 9 10 11 12 xxx0 x1xx 0011 1111 XXXX XXXX XXXX STW HSW Table 34 The DRIVE then reports back the corresponding state in its status word or indicates a warning or error message Byte 9 10 11 12 xx1x 0010 0111 XXXX XXxx XXXX ZSW HSW Table 35 PROFIBUS DP product line ACO5000 PRELIMINARY Page 31 of 32 DANAHER MOTION SA I pa NAHER MOTION Danaher Motion SA La Pierreire 2 CH 1029 Villars Ste Croix Switzerland Tel 41 0 21 631 33 33 Fax 41 0 21 636 05 09 ACO5 Profibus prod spec gb printed in Switzerland E mail info danaher motion ch 03 2005 Internet www DanaherMotion net Quthinnt ta nhanan nrinr natiaa Page 32 of 32 PRELIMINARY PROFIBUS DP product line ACO5000
7. 26 Release val 1 Drive starts and ramps up to set point 27 External Interlock gt 0 Drive goes in inhibit mode and displays error on 7 segment display 28 External Interlock 1 Nothing 29 Fault reset 1 Drive starts and ramps up to set point 30 Fault reset 0 Nothing 31 Rotation direction change Drive ramps down 32 Same stat as before Drive reaches zero frequency and changes rotation direction 33 Same stat as before Drive ramps up to set point 34 Read of PNU 930 at power up See table 29 for answer 35 Write data of 255 into PNU 930 with STW See table 29 for answer set 0x0400 36 1 into 930 with STW not S s table 29 for answer 37 Read of PNU 904 See table 29 for answer 38 Write data of 1 into PNU 904 See table 29 for answer 39 Read of PNU 1000 See table 29 for answer Table 27 Page 26 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA Control Word ST Status Word ZSW Drive status PZD5b5 FAULT E VAL STOP FREE 20 SENS ROTATION N1 gt bom 24 I c RELEAS OJINTERM pes a ef me em 55 5 ef a af ea 2 55 55 jppeiojooJjiojiojojijojjiojioojoiojojo o o cj feeze setpoint Per PEE EEE EEE EEE pus pe ene pez pes ens on ees v ens oven ena o fe een BE B BE Alla EE BUB gua RHE
8. Event Bit 0 switch on is also set 3 Action None 4 Event Bit 3 operation enabled is also set Action Motion is enabled depending on the operation mode 5 Event Bit 3 is canceled Action Drive is braked using the standard ramp 6 Event Bit 0 is canceled Action Output stage is switched off 7 Event Bit 1 or bit 2 is canceled Action Fast stop 8 Event Bit 0 is canceled Action Output stage is switched off 9 Event Bit 1 is canceled Action Output stage is switched off 10 Event Bit 1 or bit 2 is canceled Action Output stage is switched off 11 Event Bit4 is canceled Action Fast stop 12 Event Bit 1 is canceled Action Output stage is switched off 13 Event Error response active Action Output stage is switched off 14 Event Error Action None 15 Event Bit 7 is set Action Acknowledge error 16 Event Bit4 is set Action Motion is enabled 17 Event Bit 2 is canceled Action Output stage is switched off Table 21 The state transitions are affected by internal events e g switching off the DC link voltage and by the flags in the control word Bits 0 1 2 3 7 4 1 1 Control word STW With the aid of the control word you can switch from one instrument state to another In the diagram for the state machine you can see which instrument states can be reached by which transitions The momentary instrument state can be taken from the status word Several states may be passed through
9. 12 3 5 1 3 PNU 930 Selector for operating 12 35 1 4 PNU 903 BAUDRATE nno PR deu dine 13 3 5 1 5 PNU 965 PROFIDRIVE profile 13 3 5 2 Manufacturer specific parameters ACO5000 13 35 21 PNW 1000 Deviceimatme uere eee d eth e ER etu 14 3 5 2 2 PNU 1001 Manufacturer specific 14 3 5 2 3 PNU 1002 Manufacturer specific 15 3 5 2 4 1003 Embedded software 15 3 5 2 5 PNU 1010 Delivery dates of 15 3 5 2 6 PNU 1011 Serial number of 15 35 27 PNU 1012 RUNDING TMG sci areca Rte eee tee tpe eer te et e 16 3 5 2 8 1013 Time during which power is 16 3 5 2 9 PNU 1050 Value of actual motor 16 3 5 2 10 PNU 1052 Mirror of analog output SANT 16 3 5 2 11 PNU 1053 Mirror of analog output 16 3 5 2 12 PNU 1054 Meaning of displayed value 1
10. 3 4 5 6 7 8 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 PKE IND PWE Table 30 The DRIVE answers by likewise setting the first 8 byte of the telegram to zero 5 2 Setting the operating mode After switch on or a reset the DRIVE is in the operating mode 126 in which it cannot perform any motion functions To be able to carry out motion it must be set to the speed control mode 1 The procedure to do this is as follows a Set the control word Bit 10 PZD1 Bit 10 to 0 This invalidates the process data for the DRIVE Byte 9 10 11 12 XXXX XOXX XXXX XXXX XXXX XXXX XXXX XXXX STW HSW Table 31 b Transmit a parameterization telegram for the operating mode setting Byte 1 2 3 4 5 6 7 8 00110011 1010 0010 xxxx 0000 0000 0000 0000 0000 0000 0000 0001 PKE IND PWE Table 32 The bits in the PKE section have the following significance Bit 0 to 10 PNU 930 Bit 12 to 15 AK 3 The DRIVE sends a response telegram with AK 2 and mirrors identical the values for PNU and PWE Switch on the new operating mode by setting the control word 10 to 1 This validates the process data If for example point a is not observed the DRIVE transmits a negative answer response ID 7 Byte 1 2 3 4 5 6 7 8 0111 0011
11. Env XX DR naa da cvv 21 eA PE sueenuni lee 21 Control word STW aca Fide se Ck Oda e a aO dava 22 41 2 Status word ZSW 5 eines iece Ir an ce nd SUB a ade rena 23 4 2 OPERATING MODES me MM 25 4 2 1 Digital speed operating mode 1 esee 25 4 2 2 Analog speed operation mode 1 eere 25 4 2 8 Example returned status eese 25 5 SAMPLE TELEGRAMS AND EXAMPLES 30 5 1 ZERO TELEGRAM eer 30 5 2 SETTING THE OPERATING ccceseecceeeseeeeeeesseeceeesneeseensneeseeensnaesesesnaeseensnaeseensnaeeeensaeseensnaes 30 5 3 ENABLE THE dinean eh En daaa auen etaan note Eas ruere cma danas 31 Page 4 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA 1 GENERAL 1 1 About this manual This operating manual applies to the ACO5000 product line family It describes the connections and basic functions of the standard models For more general information about PROFIBUS please visit the followi
12. for 32bits float values 3 5 2 20 PNU 1062 Value of actual motor temperature KTY style See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 21 PNU 1070 Value of MCM ABS 0 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 22 PNU 1071 Value of MCM ABS 1 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 23 PNU 1072 Value of MCM ABS 2 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 24 PNU 1073 Value of MCM ABS 3 See user manual for meaning The value is represented according the IEEE standard for 32bits float values PROFIBUS DP product line ACO5000 PRELIMINARY Page 17 of 32 DANAHER MOTION SA 3 5 2 25 PNU 1080 Value of MCM SH 0 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 26 PNU 1081 Value of MCM SH 1 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 27 PNU 1082 Value of MCM SH 2 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 28 PNU 1083 Value of MCM SH 3 See user manual for meaning The value is represented according the IEEE
13. points will be accepted by the ACO5000 and no new control functions can be initiated A new operating mode can however be selected while a motion function is being performed The control word is only inhibited to the extent that the ACO5000 can always be switched into a safe state 2 Select the new operating mode with PNU 930 The new operating mode is selected with parameter 930 through the parameter channel but not yet accepted 3 Set receive the set points and actual values Enter the corresponding set points in the set point area of the process data The interpretation of the actual values is also altered The user program must respond accordingly 4 Enable the set points Bit 10 of STW is set to 1 The set points are immediately accepted and processed The new actual values are output with the appropriate normalization and data format Caution In the safe operating mode 126 no motion functions can be initiated via the PROFIBUS However it is possible to perform motion functions with the aid of the setup Software If the operating mode is changed then motion functions can only be operated via the PROFIBUS 3 5 1 4 PNU 963 BAUDRATE This parameter defines the index of the baud rate that is used for PROFIBUS communication and can only be read The baud rate is given out by the PROFIBUS master The table 12 shows the indices with the according baud rates Indices 0 1 2 3 4 5 6 7 8 9 Baud rate kbps 12000 6000
14. the according meaning See PNU 1054 for complete explanation Indices 1 2 3 4 5 6 Fs Im N Pw Iw Us Meaning Output freq total motor current Motor speed Motor power motor current Motor voltage Table 18 The output is to zero if there is no speed feedback Furthermore speed measurement should be selected with the ACO5000 Windows commissioning software Page 16 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA 3 5 2 14 PNU 1056 Value of actual motor power See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 15 PNU 1057 Value of actual motor voltage See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 16 PNU 1058 Value of actual main voltage See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 17 PNU 1059 Value of actual internal DC power voltage See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 18 PNU 1060 Value of actual motor temperature PTC style See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 19 PNU 1061 Value of actual drive temperature See user manual for meaning The value is represented according the IEEE standard
15. up PROFIBUS DP product line ACO5000 PRELIMINARY Page 19 of 32 DANAHER MOTION SA 3 5 2 35 PNU 1100 Value of active partition See user manual for meaning Programming of partition through PNU1100 will take precedence over terminal block settings 3 5 2 36 PNU 1200 Value of dynamic acceleration time See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 37 PNU 1201 Value of dynamic deceleration time See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 38 PNU 1202 Value of low frequency stabilization SBF See user manual for meaning 3 5 2 39 PNU 1204 Value of DC brake current See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 40 PNU 1205 Value of time of DC brake current See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 41 PNU 1206 Value of permanent DC brake current See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 42 PNU 1300 Value of set speed The returned value is an image of data written in PZD34 3 5 2 43 PNU 1301 Value of maximum speed of partition See user manual for meaning 3 5 2 44 PNU 1302 Value of minimum speed of partition See user manual for meaning Page 20 of 32 PRELIMINAR
16. 0 is not read for switch on Internal initialization not full filed on Switch on inhibited The ACO5000 is ready for switch on Parameters can be transferred motion cannot be carried out yet Ready for switch on Parameters can be transferred motion cannot be carried out yet Ready for operation Parameters can be transferred motion cannot be carried out yet Operation enabled No error present Motion is enabled Fast stop activated Drive has been stopped using the emergency stop Output stage is switched off Motion is enabled Error response If an error occurs in the ACO5000 then the ACO5000 changed to the active error Error response active In this state the power stage is switched off immediately disabled This state can only be terminated by the bit command Error reset To do this the error cause must have been removed Table 20 Transitions of the status machine Transition Description 0 Event Reset Internal power supply switched Action Initialization started 1 Event Initialization successful ACO5000 switch on inhibit Action None Table 21 PROFIBUS DP product line ACO5000 PRELIMINARY Page 21 of 32 DANAHER MOTION SA Table 21 cont 2 Event Bit 1 inhibit voltage and Bit 2 fast stop are set in the control word Action none
17. 3000 1500 500 187 5 93 75 45 45 192 9 6 Table 12 3 5 1 5 PNU 965 PROFIDRIVE profile number This parameter can be used to read out the number of the PROFIDRIVE profile Profile Number 3 Version 2 is used 3 5 2 Manufacturer specific parameters ACO5000 PROFIBUS DP product line ACO5000 PRELIMINARY Page 13 of 32 DANAHER MOTION SA 3 5 2 1 PNU 1000 Device name The device name consists of four ASCII characters with the contents ACOx whereby x stands for the power level of the ACO5000 The table 13 shows the indices with the according power level sii 5005 5008 5012 5020 Indices 1 2 3 2 Table 13 3 5 2 2 PNU 1001 Manufacturer specific error Bit Comment 0 Reserved for future extensions 1 Converter overload 2 Earth default 3 Input over voltage 4 Main supply out of tolerance 5 Supply voltage fail 6 External trip 7 Motor temperature too high 8 Converter temperature too high 9 External braking resistor temperature too high 10 Motor overload 11 Reserved for future extensions 12 Reserved for future extensions 13 Reserved for future extensions 14 Reserved for future extensions 15 Reserved for future extensions 16 Reserved for future extensions 17 Reserved for future extensions 18 Reserved for future extensions 19 Reserved for future extensions 20 Reserved for future extensio
18. CTION PROFIDRIVE 3 1 General Description The PROFIBUS profile PROFIdrive includes the following parameter process data objects PPO BYTE 1 2 E 5 9 t 11 13 15 17 E 19 20 21 gt 23 25 26 27 2 PKW PZD1 PZD2 203 204 205 206 207 208 PZD9 2010 STW HSW not used PKE IND PWE ZSW HIW PZD34 PZD56 Data Data Data Data block 1 block 2 Data block 3 block 4 block 5 Data block 6 Data block 7 ABBREVIATIONS Typ 1 Octet String 12 PKW Parameter ID value Parameter ID 1 and 2 octet IND Index with PPO 37 octet 4 octet is reserved PWE Parameter value 5 to 8 octet Typ 2 Octet String 20 Used by 5000 STW Main control word HSW Secondary control word ZSW Main status word HIW Secondary control word PZD Process data Typ 3 Octet String 4 4 Octet String 12 Typ 5 Octet String 28 Table 1 ACOB5000 only uses the PPO type 2 with 4 words PKW section and 6 words PZD section The PKW section is used mainly for the transmission of parameters for the drive the PZD section is used principally for handling motion functions Furthermore it means that the total amount of buffer size nee
19. Channel PKW The service channel PKW is subdivided in 3 categories that have the following meaning PKW Parameter ID value PKE Parameter ID 1 and 2 byte IND Index according PPO PWE Parameter value For meaning see 3 2 1 For meaning see 3 2 2 For meaning see 3 2 3 Table 3 3 2 1 Parameter ID PKE ABBREVIATIONS Byte 1 Byte 2 AK task response ID SPM Toggle Bit for spontaneous message 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 not implemented at present PNU Parameter number AK SPM PNU Table 4 Bold lines in the table are valid for the ACO5000 Master Slave Slave gt Master TaskID Function Response ID positive Response ID negative 0 no task 0 0 1 request parameter value 1 2 7 2 alter parameter value W 1 7 8 3 alter parameter value DW 2 7 8 4 request description element 3 7 5 alter description element 3 7 8 6 request parameter value A 4 5 7 7 alter parameter value A W 4 7 8 8 alter parameter value 5 7 8 9 request number of array elements 6 7 10 15 Reserved Table 5 Page 8 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 3 2 1 1 Interpretation of the response IDs Response ID Interpretation 0 no task 1 transmit parameter value 2 transmit parameter value 3 transmit description element 4 transmit paramet
20. INARY Page 11 of 32 DANAHER MOTION SA Table 10 cont 1070 TFLIEE r w MCM AbsO value A 1071 TFLIEE r w MCM Abs1 value A 1072 TFLIEE r w MCM Abs2 value A 1073 TFLIEE r w MCM Abs3 value A 1080 TFLIEE r w MCM SHO value A 1081 TFLIEE r w SH1 value A 1082 TFLIEE r w MCM SH2 value A 1083 TFLIEE r w SH3 value A 1090 TFLIEE r w MCM value 1091 TFLIEE r w MCM value 1092 TFLIEE r w MCM value 1093 TFLIEE r w MCM DTOO value 1100 TUCHAR r w Active partition 1200 TFLIEE r w Acceleration time s 1201 TFLIEE r w Deceleration time s 1202 TSHORT r w Low frequency stabilization 1203 TFLIEE r w DC braking value A 1204 TFLIEE r w DC braking duration s 1205 TFLIEE r w Permanent DC braking value A 1300 UINT32 ro Set speed RPM 1301 UINT32 ro Maximum speed of selected partition RPM 1302 UINT32 ro Minimum speed of selected partition RPM Table 10 3 5 1 Profile parameters 3 5 1 1 PNU 904 911 PPO type These parameters describe the numbers of the supported PPO types write und read Since only PPO type 2 is supported this parameter is always set to 2 3 5 1 2 PNU 918 PROFIBUS node address With this parameter the PROFIBUS node address of the drive can be read You can alter the node address station address a PROFIBUS network by using the ACO5000
21. MINARY DANAHER MOTION SA Page 9 of 32 DANAHER MOTION SA Table 7 cont 109 wrong motion block no 0 1 180 192 255 110 wrong parameter PTEACH x y 111 EEPROM write error 112 wrong value 113 BCC error in motion block 114 Object is read only or write only 115 Incompatible object SDO channel only 2115 reserve Table 7 3 2 2 Subindex IND Byte 3 Byte 4 15 LE n 7 5 E 2 o RESERVED RESERVED Table 8 Not used reserved for future extension 3 2 3 Parameter value PWE The data for the PNU variable is contained in the PWE which is a 4 byte data double word DW Commands are transferred with task ID 3 If a command cannot be executed the response identification AK 7 signals the error and an error number is given out The error numbers are described in chapter 3 2 1 2 in table 7 3 3 The Process Data Channel PZD Cyclical data are exchanged across the PROFIBUS through the process data section of the 20 byte telegram Each PROFIBUS cycle triggers an interrupt in the 5000 This has the effect that new process data are exchanged and processed The interpretation of these process data depends on the operating mode that is set The operating mode is set through a PROFIBUS parameter PNU 930 In all operating modes the data word 1 of the process data PZD1 in the direction from control system gt ACO5000 is used for instrument contr
22. Y PROFIBUS DP product line ACO5000 DANAHER MOTION SA 4 PROCESS DATA CHANNEL The process data channel is used for real time communication This channel can effectively be divided into two telegram portions PZD1 Control word STW Status word ZSW instrument control The control word and the status word are used to control the instrument and monitor the status of the instrument PZD2 6 Set point actual values depending on the operating mode Set points and actual values such as position velocity and current are exchanged in this section The availability of a process data channel is determined in the PROFIDRIVE drive profile The significance of the process data is defined according to the operating mode The process data that are used are determined in such a way that the real time capability of this channel is optimally used A central role is played by the parameter In the following the instrument control is described first and then the significance and functioning of the operating modes 4 1 Instrument control The control of the instrument is described with the aid of a status machine The status machine is defined in the drive profile by a flow diagram for all operating modes The following diagram shows the possible instrument states for the DRIVE The following table describes the instrument states and the transitions States of the status machine State Description Not ready for switch The 500
23. ce anna Bec Y Rene Da dA aec T anneau Ea 7 3 1 1 Parameter Service Channel PKW 8 3 1 2 Process Data Channel PZD 8 3 2 PARAMETER SERVICE CHANNEL 8 3 2 1 Parameter ID 8 3 2 1 1 Interpretation of the response IDs 9 3 2 1 2 Profile specific error numbers with response ID 7 9 3 2 20 3Subindex IND ineen iniii anieri noce ei nnii E aain An nd NUBE Una Pan EUN ad 10 3 2 8 Parameter value 10 3 3 THE PROCESS DATA CHANNEL PZD sees eese eese eee eene seen nnne nn nnne nn nn nnne nn nn nnn 10 3 4 READ WRITE AN AMPLIFIER PARAMETER eee enne eene nunne nunne nnne sn nn nnne nn nn nnne nn nn nn nnne 11 3 5 SUMMARY OF THE PARAMETER NUMBERS nnne nnne nnne nnn nnne natn nnne nn nn nnne 11 3 5 1 Profile parameters nennen nennen nnnm nnne nn nnmnnn nnnm nr nnmnnn nr nane nnns 12 3 5 1 1 PNU 904 911 PPO 12 3 5 1 2 PNU 918 PROFIBUS node
24. ded for a write and read is equal to 2 Octet String 20 40 octets 20 for write and read The table 2 shows the buffer place requested for a write and read and meaning Byte 112 3 4 5 6 7 8 9 110 11 12 13 14 15 16 17 18 19 20 Write from master to ACO5000 PKE IND PWE STW HSW PZD34 PZD56 Byte 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Read from ACO5000 into master PKE IND PWE ZSW HIW PZD34 PZD56 Table 2 PROFIBUS DP product line ACO5000 PRELIMINARY Page 7 of 32 DANAHER MOTION SA The instrument profile can be divided into two sections or data channels 1 PKW section 4 words 2 PZD section 6 words 3 1 1 Parameter Service Channel PKW channel The PKW data channel can also be called the service channel The service channel only uses confirmed communication services and is used by ACO5000 as a parameter channel This channel has no real time capability 3 1 2 Process Data Channel PZD channel The PZD data channel can also be termed the process data channel The process data channel uses unconfirmed communication services The response of the servo amplifier to an unconfirmed service can only be seen in the reaction of the instrument status word actual values This channel has real time capability 3 2 Parameter Service
25. during a telegram cycle e g Ready for switch on gt Ready for operation gt Operation enabled The bits in the control word can be operating mode dependent or mode independent The following table describes the bit assignment in the control word Bit Name Commentary 0 Switch on 1 Inhibit voltage 2 Fast stop switch on inhibited 1 0 drive brakes using normal ramp 3 Operation enabled 4 Fast stop 1 0 drive brakes using normal ramp 5 Pause Freezes the actual speed 6 Set point enable Table 22 Page 22 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA Table 22 cont 7 Reset Fault only effective with errors 0 1 8 Inching 1 Not implemented 9 Inching 2 Not implemented 10 PZD enable inhibit 11 Manufacturer specific 12 Manufacturer specific 13 Manufacturer specific Hold current value for MCM SH mode 14 Manufacturer specific Reserved 15 Manufacturer specific Physical rotation direction Table 22 In order to be able to start the ACO5xxx It is mandatory to wire the Stop and Reset Terminal blocks according the user manual via the ACO5000 Windows commissioning software see picture 1 STO RESETS O w 3E Picture 1 See PNU 1094 In order to be able to change the physical rotation of the motor through PROFIBUS it is mandatory to enable it see picture 2 and t
26. ed as the result of a transmitted control word then first of all the boundary conditions for the expected instrument state must be clarified e g enable of the output stage hardware software PROFIBUS DP product line ACO5000 PRELIMINARY Page 23 of 32 DANAHER MOTION SA The following table describes the bit assignment in the status word Bit Name Commentary Ready for switch on Switched on Operation enabled Fault Error Voltage inhibited Quick stop Switch on inhibit Warning Set point monitoring Not reached 0 Reached 1 Remote Not supported fixed to 1 Table 24 Page 24 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA Table 24 cont 10 Set point reached Not implemented 11 Manufacturer specific Reserved 12 Manufacturer specific Reserved 13 Manufacturer specific Reserved 14 Manufacturer specific Reserved 15 Manufacturer specific Reserved Table 24 State of the status machine wW OO X XK gt gt Bit 4 B o ius b 007 State Not ready for switch on Switch on inhibit Ready for switch on Ready for operation Operation enabled Error Error response Quick stop active OL A ooojoo er
27. er value 5 transmit parameter value 6 transmit number of array elements 7 task is not possible with error no 8 no operating authority for PKW interface 9 spontaneous message W 10 spontaneous message DW 11 Spontaneous message A W 12 spontaneous message A DW Table 6 Abbreviations in the tables A Array W Word DW Double word 3 2 1 2 Profile specific error numbers with response ID 7 Error no Description 0 illegal PNU arameter value cannot be changed 2 Lower or upper limit violated 3 Erroneous sub index 4 no array 5 Incorrect data type 6 setting not allowed can only be reset 7 Descriptive element cannot be changed 8 PPO write requested in IR not available 9 descriptive data not available 10 access group incorrect 11 No parameter change rights 12 Password incorrect 13 Text cannot be read in cyclic data transmission 14 Name cannot be read in cyclic data transmission 15 text array not available 16 PPO write missing 17 task cannot be executed due to operating status 18 other error 19 100 reserved 101 faulty task ID 102 software error command table 103 only possible in disabled state 104 only possible in enabled state 105 BCC error in the EEPROM data 106 only possible after task is stopped 107 wrong value 16 20 108 wrong parameter OCOPY x y z Table 7 PROFIBUS DP product line ACO5000 PRELI
28. her Motion SA Pass on to third parties is only allowed if the explicit permission of Danaher Motion SA is obtained beforehand Danaher Motion SA declines all claims for damages which arise from the application of information that may be wrong or inadequate or missing in this document Danaher Motion SA reserves the right to change this document completely or partially without prior notice Page 2 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA TABLE OF CONTENT 1 GENERAL EE 5 1 1 ABOUTTHIS MANUAL 2 Cre eee cota ange eaea ea naamaa aaa daa aaa ada aiaa 5 1 2 REPRESENTATION 5 1 3 SAFETY cien X 5 2 INSTALLATION SETUP 2 21 coi sitios zii cce iota e Eu Doc ce ydo tO Ce DER oc De adeo vis 6 2 1 HARD AND SOFTWARE INSTALLATION ensem nnnm nnn nn nnn nn nnn nnn tn ss mss a tmn ssa sa ennenen nnna 6 2 2 PARAMETERIZATION OF THE MASTER INTERFACE MODULE eeeen enne nennen nenne nennt nnn 6 3 INTRODUCTION PROFIDRIVE cce eeee eee esee n nennen enne nane e nma sa 7 3 1 GENERAL ence ctione ak Bee Ya aote Da aka o
29. lbe 27 cont 3 Write correct OP mode with STW 0x047F Error 17 4 Write correct OP mode with STW 0x007F Nothing 5 Switch ON disable STW 0x047E Nothing 6 Switch ON enable STW 0x047F Drive starts and ramps up 7 Switch ON enable STW 0x047F Drive reaches set point in PZD34 8 Operation enable 0 Drive stops and ramps down 9 Operation enable 0 Drive reaches zero frequency 10 Operation enable 1 Drive starts and ramps up to set point 11 Switch ON gt 0 Drive stops and ramps down and reaches zero speed 12 Switch ON 1 Drive starts and ramps up to set point 13 Disable voltage 0 Drive stops and ramps down and reaches zero speed 14 Disable voltage 1 Nothing 15 Switch ON gt 0 Nothing 16 Switch ON 1 Drive starts and ramps up to set point 17 Quick stop enable 0 Drive stops and ramps down 18 Quick stop enable 0 Drive reaches zero frequency 19 Quick stop 1 Switch ON 0 Nothing 20 Switch ON 1 Drive starts and ramps up to set point 24 Quick stop 0 Drive stops and ramps down and reaches zero speed 22 Quick stop 1 Drive starts and ramps up to set point 23 Freeze 0 Drive does not respond to new set point 24 Freeze 1 new set point Drive ramps up or down to new set point 25 Baleassival gt 0 Drive stops and ramps down and reaches zero speed
30. mbers PNU Data type Access Description Profile parameter 904 UINT32 ro Number of the supported PPO write always 2 911 UINT32 ro Number of the supported PPO read always 2 918 UINT32 ro Participant address on PROFIBUS 930 UINT32 r w Selector for operating mode 963 UINT32 ro PROFIBUS baud rate 965 Octet String2 ro Number of the PROFIDRIVE profile 0302H Manufacturer specific parameters for ACO5000 1000 Visible string4 ro Device name 1001 UINT32 ro Manufacturer specific error register 1002 UINT32 ro Manufacturer specific status register 1003 Visible string4 ro Embedded software version 1010 UINT32 ro Delivery date of drive 1011 UINT32 ro Serial number of drive 1012 TFLIEEE ro Running time hours 1013 TFLIEE ro Time power applied hours 1050 TFLIEE ro Actual motor current A 1052 TFLIEE ro Mirror of SAN 1 0 10 0 V 1053 UBYTE ro Mirror of SAN 2 0 10 0 V 1054 TUCHAR rw Meaning of SAN1 1055 TUCHAR r w Meaning of SAN2 1056 TFLIEEE ro Actual motor power W 1057 TFLIEEE ro Actual motor voltage V 1058 TFLIEEE ro Actual main voltage V 1059 TFLIEEE ro Actual chopper voltage V 1060 TFLIEEE ro Actual motor temperature C PTC style 1061 TFLIEEE ro Actual drive temperature C 1062 TFLIEEE ro Actual motor temperature C KTY style Table 10 PROFIBUS DP product line ACO5000 PRELIM
31. ner enne nnne 18 3 5 2 28 PNU 1083 Value of MCM eene nnne nnne nnns 18 3 5 2 29 PNU 1090 Value of MOM DTO eene nennen nnne 18 3 5 2 30 PNU 1091 Value of MOM 1 eene nnne enne 18 3 5 2 31 PNU 1092 Value of MOM 27 eene meer ener rents 18 3 5 2 32 PNU 1093 Value of MOM 3 menn ener enne 18 3 5 2 33 PNU 1094 Selection of type of 18 3 5 2 34 PNU 1095 Selection of level 18 3 5 2 35 PNU 1100 Value of active partition essem 20 3 5 2 36 PNU 1200 Value of dynamic acceleration 20 3 5 2 37 PNU 1201 Value of dynamic deceleration 20 3 5 2 38 PNU 1202 Value of low frequency stabilization 20 3 5 2 39 PNU 1204 Value of DC brake current sss 20 3 5 2 40 PNU 1205 Value of time of DC brake 20 3 5 2 41 PNU 1206 Value of permanent DC brake 20 3 5 2 42 PNU 1300 Value of set speed 20 3 5 2 43 PNU 1301 Value of maximum speed 20 3 5 2 44 PNU 1302 Value of minimum speed 20 4 PROCESS DATA CHANNEL 5 2 1 icr reato Rn
32. ng web page www profibus com 1 2 Representation convention Unless otherwise noted all data represented in this manual are in the so called Little Endian representation See table 1 for in dissociable data bytes Along this manual the word motor is used for both motor and spindle 1 3 Safety instructions See ACO5000 User manual Never use ACO5000 Windows setup program when the ACO5000 is running with a PROFIBUS master This will cause unexpected result and or crash of PROFIBUS functionality PROFIBUS DP product line ACO5000 PRELIMINARY Page 5 of 32 DANAHER MOTION SA 2 INSTALLATION SETUP 2 1 Hard and Software installation 2 2 Parameterization of the master interface module The characteristic communication features of a PROFIBUS device are defined in the form of an electronic device data sheet or device description file GSD in german Ger te Stamm Datei Pd j f i ory 7 IE 1 7 ip y p du rf A Device Data Base Files 580 files a Figure 1 GSD files expand open communication up to operator control level GSD files can be loaded during configuration This means that integration of devices from different manufacturers into the PROFIBUS system is simple and user friendly Use our registered ACO50992 GSD file by PROFIBUS Nuetzerorganisation for this configuration Page 6 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA 3 INTRODU
33. ns 21 Reserved for future extensions 22 Reserved for future extensions 23 Reserved for future extensions 24 Reserved for future extensions 25 Reserved for future extensions 26 Reserved for future extensions 27 Reserved for future extensions 28 Reserved for future extensions 29 Reserved for future extensions 30 Reserved for future extensions 31 Reserved for future extensions Table 14 Page 14 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 3 5 2 3 PNU 1002 Manufacturer specific status Bit Comment 0 State of Input Terminal block number 24 1 State of Input Terminal block number 23 2 State of Input Terminal block number 22 3 State of Input Terminal block number 21 4 State of Input Terminal block number 20 5 State of Input Terminal block number 19 6 State of Input Terminal block number 18 7 State of Input Terminal block number 17 8 State of Output Terminal block number 26 9 State of Output Terminal block number 27 10 State of Output Terminal block number 28 11 State of Output Terminal block number 29 12 No meaning 13 State of STOP input 14 State of RESET input 15 No attribution 16 Software interlock 17 STOP in progress 18 Rotation direction change in progress 19 DC Braking in progress 20 Permanent DC b
34. o assign a programmable input to ISR function via the ACO5000 Windows commissioning software see picture 3 Partition parameters Part 0 gt Terminally Parameter 0 0 Vae um Number of poles 4 Motor power 0 70 kw Motor nom Current 5 0 Current accel decel lacc 5 0 igs ISR Motor current 5 0 8 Freg ctrl source KP5 None Default frequency 0 00 Hz Minimum frequency 0 00 Hz _ None Picture 2 Picture 3 example of assignment Depending on the bit combination in the control word a corresponding control command is defined The following table shows the bit combinations and also determines the priorities of the individual bits in case several bits are altered in one telegram cycle Command Bit7 Bit4 Bit3 2 BitO Transitions Shutdown X X X 1 1 0 2 6 8 Switch on X X X 1 1 1 3 Inhibit voltage X X X X 0 X 7 9 10 12 Fast stop disable X X X 0 1 X 7 10 11 gt 12 Fast stop enable X 0 1 1 1 1 11 Inhibit operation X X 0 1 1 1 5 Enable operation X 1 1 1 1 1 4 16 Reset error 1 X X X X X 15 Acknowledge warnings X X X X X X Table 23 Bits labelled with X are irrelevant 4 1 2 Status word ZSW With the aid of the status word the instrument state can be represented and the transmitted control word can be verified If an unexpected condition is report
35. ol and in the direction from ACO5000 gt control system it has the function of a status indicator for the drive Caution When the ACO5000 is switched on the operating mode that is set is always 126 safe state Before changing the operating mode bit 10 of the control word STW must always be set to 0 The new operating mode only becomes active when bit 10 of the control word is set to 1 Using the parameter channel The digital high frequency drives of the ACO5000 have to be adapted to the circumstances of your machine The parameters for the controllers are set using either the setup Software or via the PROFIBUS Page 10 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA 3 4 Read write an amplifier parameter Read AK 1 or write AK 3 amplifier parameters Telegram layout Request Response PKE AK 1 read 3 write 2 7 error PKE PNU see 2 1 as transmitted for AK 3 see 3 5 for data type for AK 3 returns the PWE of the request PWE for AK 1 data type irrelevant for AK 1 see 3 5 for data type Table 9 3 5 Summary of the parameter numbers All the parameter numbers for ACO5000 are listed in numerical order in the table 10 with a short description e The parameter numbers in the range 900 999 are profile specific for the PROFIBUS drive profile PROFIDRIVE e Parameter numbers 999 are manufacturer specific List of the parameter nu
36. raking in progress 21 Actual speed reduction in progress 22 No attribution 23 No attribution 24 Physical rotation direction 25 No attribution 26 Safety relay ON 27 No attribution 28 Internal DC Bus discharge in progress 29 Software fault latent 30 Software fault 31 Fatal error 3 5 2 4 PNU 1003 Embedded software version The embedded software version consists of four ASCII characters 3 5 2 5 PNU 1010 Delivery dates of drive Table 15 DANAHER MOTION SA The delivery date is TLONG data type and is formatted as in the following example Returned value 20050222 Value 2005 02 22 Meaning Year Month day Table 16 3 5 2 6 PNU 1011 Serial number of drive See user manual for meaning PROFIBUS DP product line ACO5000 PRELIMINARY Page 15 of 32 DANAHER MOTION SA 3 5 2 7 PNU 1012 Running time See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 8 PNU 1013 Time during which power is applied See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 9 PNU 1050 Value of actual motor current Representation of actual motor current A 3 5 2 10 PNU 1052 Mirror of analog output SAN1 This parameter reflects the analog signal of SAN1 The returned value is in Volt 0 10V 10 Volts corresponds always to maximum of displayed value
37. see PNU 1054 The value is represented according the IEEE standard for 32bits float values 3 5 2 11 PNU 1053 Mirror of analog output SAN2 This parameter reflects the analog signal of SAN2 The returned value is in Volt 0 10V 10 Volts corresponds always to maximum of displayed value see PNU 1055 The value is represented according the IEEE standard for 32bits float values 3 5 2 12 PNU 1054 Meaning of displayed value on SAN1 This parameter defines what is represented at the analog output As the ACO5000 Windows commissioning software it is impossible to select the same indice SAN1 and 2 The last selected SAN will reset to zero the first one Example If on SANT the indice 1 Fs and then on SAN2 also indice 1 Fs then the output SANT will be set to zero The table 17 shows the indices with the according meaning Indices 1 2 3 4 5 6 Fs Im N Pw Iw Us Meaning output freq total motor current Motor speed motor motor current motor voltage Table 17 The output is set to zero if there is no speed feedback Furthermore speed measurement should be selected with the ACO5000 Windows commissioning software 3 5 2 13 PNU 1055 Meaning of displayed value on SAN2 This parameter defines what is represented at the analog output SAN1 The table 18 shows the indices with
38. standard for 32bits float values 3 5 2 29 PNU 1090 Value of MCM DTO 0 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 30 PNU 1091 Value of MCM 1 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 31 PNU 1092 Value of MCM DTO 2 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 32 PNU 1093 Value of MCM 3 See user manual for meaning The value is represented according the IEEE standard for 32bits float values 3 5 2 33 PNU 1094 Selection of type of MCM The table 18 below shows the available indices Caution In order to use the it is mandatory to assign a programmable output to the MCM function This can be done exclusively through the ACO5000 Windows commissioning software The selection of type of MCM is not memorized in the drive and has therefore to be re entered at every power up Indices 0 1 2 MCM type ABS absolute SH sample hold DTO auto gap Table 19 3 5 2 34 PNU 1095 Selection of level of MCM See user manual for meaning Page 18 of 32 PRELIMINARY PROFIBUS DP product line ACO5000 DANAHER MOTION SA The selection of level of MCM is not memorized in the drive and has therefore to be re entered at every power

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