Profibus DP - Elektro
Contents
1. Product manual Model Profibus DP 07 05 04 02 E V0801 doc 11 4 3 Contents of the control word byte 0 HOST login necessary activated drive necessary command number dec hex commanddeseripion PF hotes OZO OOOO Edge change necessary read status Host login attention 2 interface login Host logout yes start absolute position start incremental position fu EP d start reference run i i i reference mode see chapter 9 stop with braking ramp preset counter ilu d us 1 set BIAS processing pointer 1 0 1 only in operating mode 5 with BIAS move synchron synchron adjustment eyemark control 1 eyemark control 2 virtual axis Lye pes 0 data bloc read e e status response see command e data bloc write and status response see command not used deactivate Digital drive activate Digital drive reset Digital drive store data in drive operating mode speed serial EE read write variable flag edge and status response see command 4 3 1 Inhalte des Steuerwortes Byte 1 Contents of the control word byte 1 command description O 00 read status with realposition 1 1 01 read status with realposition 2 The answer Inputbuffer is described in chapter 5 20 12 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 4 4 Edge change of the control word In installations the cycle times of the PLC and the respecti2. 0 3 the Input buffer explained in chapter 5 21 will be received This commands are only accepted with an edge change write Byte 2 0 write variable T 15 0 I 2 3 4 5 6 7 8 s jot Tt tt value not analyzed variable no 0 255 Byte2 1 write flag 2 X A e arei 15 INN state not analyzed flag no 0 255 Byte2 2 write 3 variables successive 2 3 4 5 6 7 8 9 10 11 12 1 14 15 value value Nr 1 value Nr 2 variable no 0 253 Byte 2 3 write 4 flages successive 2 3 amp amp 7 E oepa 15 ptt state reserviert Nr 1 2 43 flag no 0 252 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 21 Data frames Control word write read variable flags 25 read request Byte 2 4 read 2 variables successive actual position 1 T 15 TUUS not analyzed variable no 0 254 Input buffer Byte 2 4 read 2 variables successive actual position 1 value value actual position 1 Nr Nr 1 variable no 0 254 Control word write read variable flags 25 request Byte 2 5 read 8 flages successive 2 GP PT 15 sl _ 3 not analyzed flage no 0 248 Input buffer Byte 2 5 read 8 flages successive 0 1 2 3 4 5 6 7 8 9 10 dH R 15 state reserved Nr 1 2 3 4 5 6 7 age no 0 248 fl 22 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Dat
3. 66 803131 Oslo SPAIN Calle La Granja 74 Tel 34 91 6616001 eurotherm teleline es Eurotherm Espana SA Pol Ind Alcobendas Fax 34 91 6619093 28108 Madrid SWEDEN Box 9084 Tel 46 35 177300 http www eurotherm se Eurotherm Drivteknik AB S 30013 Halmstad Fax 46 35 108407 info drives eurotherm se SWITZERLAND Schwerzistrasse 20 Tel 41 55 4154400 eurotherm ch Eurotherm Produkte CH 8807 Freienbach Fax 41 55 4154415 Schweiz AG UK New Courtwick Lane Tel 44 0 1903 737000 http www eurotherm co uk Eurotherm Drives Ltd Littlehampton Fax 44 0 1903 737100 info eurotherm co uk West Sussex BN17 7RZ U S A Eurotherm Drives Inc 9225 Forsyth Park Drive Charlotte North Carolina 28273 Tel 1 704 588 3246 http www eurothermdrives com Fax 1 704 588 3249 russ fulle eurothermdrives com Eurotherm Antriebstechnik GmbH Im Sand 14 e D 76669 Bad Schonborn e Telefon 07253 940 40 e Fax 07253 940 499 E Mail info eurotherm de e Internet http www eurotherm de
4. The 635 637 has following ident number Ident number 1008 2 5 Communication The maximum cable length depends on the transmission rate see DIN 19245 3 187 5 kBit s up to 1000 m cable length 500 kBit s up to 400 m cable length 1 5 MBit s up to 200 m cable length 3 MBit s up to 150 m cable length 6 MBit s 150 m cable length 12 MBit s up to 100 m cable length The Digital drive 635 637 supports baud rates up to 6 Mbit s With baud rates gt 1 5 Mbits s special connector plugs are to be provided These contain the bus termination resistors and the corresponding inductivities in order to reduce the line reflections Note When removing such plugs there can be mismatches which can produce interference on the bus The communication occurs via the RS 485 standard For the bus cable shoud be used a twisted pair cable with shield 6 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 3 Digital drive 635 637 63 7 with Profibus DP 3 1 Data length At the Digital drive 635 637 there are configurated 16 byte for input and output data Byte for sign by configuration the master OxBF hex 1914 3 2 Bus watching The Digital drive 635 637 makes 1t possible to detect a bus break and to execute a definition reaction For that the bus watching must be activated by the master Follow reaction can activate after detected a bus break no reaction stop abrupt stop with braking ramp disable Digi
5. 5 4 3 2 1 0 Position internal used internal used internal used COM2 active reached disabled position RS232 422 i reached byte 15 Status word 2 byte 2 Trailing Trailing new format registration distance ok distance ok disabled started error hostlogin dynamically drive 3 total warning without T1 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 25 6 Pin assignment bus interface Profibus DP Connection plug SUB D 9 female The Profibus DP interface 1s galvanically isolated which makes the physical transmission free of interference Provided module RP PDP The voltage provided on COM2 PIN 5 and PIN 6 45V serves as a voltage supply of the external bus termination resistors connecting plugs with internal termination resistors The signal RTS is required for the direction detection with fibre optic connections LWL 26 Request to Send Potential 5V Product manual Model Profibus DP 07 05 04 02 E V0801 doc 7 Example for operating the Digital drive 635 637 via the Profibus DPfield bus system 7 1 Positioning via Profibus DP 1 Step Host login via the Profibus DP bus once after power on or always after host logout necessary Send a telegramm output data with 01h Host login in the control word to the 635 637 10 11 12 data byte 0 1l 2 3 4 5 6 7 8 9 13 14 15 DICIS xx not analyzed 2 Step check host login In the in
6. Paris GERMANY Von Humboldt Strasse 10 Tel 49 6252 798200 http www eurotherm de Eurotherm Antriebstechnik 64646 Heppenheim Fax 49 6252 798205 GmbH info eurotherm de HONG KONG Unit D Tel 4852 2873 3826 eurotherm a eurotherm com hk Eurotherm Ltd 18 F Gee Chang Hong Centre Fax 852 2870 0148 65 Wong Chuk Hang Road Aberdeen INDIA 152 Developed Plots Estate Tel 91 44 496 1129 svs Meuromds rpems ems vsnl net in Eurotherm India Ltd Perungudi Fax 91 44 496 1831 Chennai 600 096 IRELAND LD A Industrial Estate Tel 353 45 879937 Eurotherm Ireland Ltd Monread Road Fax 353 45 875123 Naas Co Kildare ITALY Via Gran Sasso 9 Tel 39 0362 557308 http www eurothermdrives 1t Eurotherm Drives SPA 20030 Lentate Sul Seveso Fax 39 0362 557312 info eurothermdrives it Milano JAPAN Denpa Building Tel 81 3 3447 6441 http www eurotherm com apan htm Nemic Lambda KK 1 11 15 Higahi Gotanda Fax 81 3 3447 6442 19K IWM WDasahi net or Shinagawa Ku Tokyo 141 0022 Eurotherm Division KOREA 3F J Building Tel 82 2 478 8507 Eurotherm Korea Ltd 402 3 Poongnab Dong Fax 82 2 488 8508 Songpa Ku Seoul 138 040 NETHERLANDS Genielaan 4 Tel t31 2 yan 752 http Www eurotherm n Eurotherm BV 2404CH Fax 31 172 417 260 sales eurotherm nl Alpen aan den Rijn Holland NORWAY Postboks 650 Tel 47 66 992550 eurotherm online no Eurotherm Drives Norge 1411 Koltbotn Fax 47
7. direction this is subsequently moved to Note 1 If input X10 24 is not configured as reference sensor a start fault will occur upon execution of a reference run 2 If the zero position is not reachable in the specified direction after stopping the axis the zero point will not be moved to 95 Reference run with automatic selection of direction Auto The previous reference types can be combined with the automatic selection of direction If the automatic selection of direction is active there are 2 differences 1 The axis can use both reference directions As a result the zero point can always be moved to 2 With reference modes with reference sensor the reference run is started in the opposite direction if the reference sensor is already activeat the start of the reference run see figure 3 After the reference sensor becomes free inactive the axis 1s stopped see figure 4 Subsequently the reference sensor is moved to in the specified reference direction and the reference run is ended according to the reference mode Product manual Model Profibus DP 07 05 04 02 E V0801 doc 4 Standard reference modes overview Reference run with automatic selection of direction Sensor X10 24 Figure 4 9 6 Reference run with shifting of reference point Ag The previous reference modes can also be combined with the reference point shifting With this the actual position 0 is shifted by the amount specified in th
8. manual Model Profibus DP 07 05 04 02 E V0801 doc Data frames 5 10 Control word synchron setting 13 2 3 4 5 6 da 8 2 10 11 12 13 14 15 2 2 2 2 ave not analyzed Byte 10 inputprofil 0 no Profil ramp down 2 ramp up T offset master gearfactor master control word permitted variable content 1 32767 The content of the variable is interpreted as gear factor 256 5 11 Control word eyemark command 1 14 0 bk 2 3 4 5 6 7 8 9 10 11 12 13 14 15 a low word high word Byte L Byte 15 0 OFF ON eyemark window close eyemark window open format length control word 5 12 Control word eyemark command 2 15 Byte not analyzed max correction sensor position control word Product manual Model Profibus DP 07 05 04 02 E V0801 doc l 7 5 13 Control word virtual axis 16 Data frames L 2 3 4 5 6 7 8 9 10 11 12 13 14 15 L Byte 15 0 OFF 1 ON not analyzed control word 5 14 Control word read data block 17 With read data block the parameters of the requested data block and the following data block in the input data are returned Only even data block numbers are accepted 12 13 14 15 not analyzed data block No 100h see chapter 8 reserv
9. reference run of the axis 1s always necessary when there must be a fixed relationship between the electrical and the mechanical zero point of the axis e g with a rotary axis with a tool or a linear axis In order to be able to solve this task flexibly 24 standard reference modes are offered These are explained in the following text 38 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Standard reference modes overview 9 2 Reference run to the resolver zero position ano The resolver located in the motor represents an absolute position registering system The zero position of this system can be used to create a zero point with high repeat accuracy Figure 1 showes a typical application The axis to be referenced is connected directly with the motor so that a clear coordination between the motor and output position results Process The axis executes a counter preset according to the resolver zero position and moves to the zero point in the specified direction Fig 1 Reference run to the resolver zero position Product manual Model Profibus DP 07 05 04 02 E V0801 doc 39 Standard reference modes overview 9 3 Reference run to the reference sensor Ref _ Reference runs to an external reference sensor are necessary wherever no exact assignment at the motor to output position can be made Typical application examples are systems with gearboxes as shown in figure 2 Process The axis starts the refernce run in t
10. word byte 0 byte 1 a commandnumber lt 25 copy of the control word byte 0 for one data cycle then 0 b commandnumber gt 64 40 hex copie of the control word byte 1 byte 2 5 actual position 1 2 see contents of the control word byte 1 byte 6 7 actual speed in rpm byte 8 Input status o7 6 5 4 3 2 f 1 0 byte 9 Output status 7 6 5 4 L3 x 1 0 target position Limit SUE Output Output Output Output Output poson control reached X10 12 X10 13 X10 20 X10 23 X10 8 reached Temperature Resolver internal used active before Overcurrent ofthe output temperature error ready Software stage too too high high l inverted logic 2 as of firmware 5 12 24 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Data frames Data contents of the input buffers mE 11 Error status 2 Vaca Internal stop Overcurrent not not s EEPROM Sua power E regulator Reset Hardware check total exceeded byte 12 Status word 1 bytel Setpoint Warning Warning 12t Warning Warning Ballast active Undervoltage Output stage within output stage regulator motor t motor passive setpoint zero temperature temperature window byte 13 Status word 1 byte2 SA 1 _o__ Limit switch Warning Speed internal used EEPROM Warning internal used reached regulator storage runs ballast power mda without I gain byte 14 Status word 2 byte 1 7 6
11. 0801 doc 5 Appendix for user manual Digital drive 635 637 637 for the bus system Profibus DP A Profibus DP module RP_PDP can be integrated as an option into the Digital drive 635 637 637 Consequently it is possible to network the Digital drive 635 637 as a slave in the Profibus DP bus system 2 Basic features of the Profibus DP The Profibus DP was developed for a fast data exchange The bus access occurs between the masters not Eurotherm drives in token passing mode and to the peripheral devices in the master slave mode The bus cycle time will be calculated exactly only in a mono master system only one master in the system A maximum of 126 participators master and slaves can be connected on the bus system 2 1 Device data base Each Profibus DP device is characterized by typical features and the efficiency on the bus These features are provided according to the Profibus norm to the user in the form of device specification sheets and a device data base GSD ASCII file The fixed file format facilitates the configuration of Profibus DP systems This device master file GSD comes with the EASYRIDER shell File name ASB 1008 GSD 2 2 Ident number Each participator must have an individuall ident number This make it easier to projekt the sytems and allows the unequivocal assignment of the connected participators The Ident number and the device data base will be controlled by the Profibus User Organisation PNO
12. 2 Control word start absolut 3 and start incremental 4 sss 14 5 3 Control word start reference run P A 14 5 4 Control word stop oooooononnnnnnncncccnnnnnononnnononononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnncnnnnnnnos 15 5 5 Control word stop with braking ramp 7 15 5 0 Controlword preset counter B oe dais nderit d mesa inimi Um adt o mi cUm SUM UIDI IUE EE 15 5 7 Control word set BIAS processing pointer 9 16 5 8 Control word move 10 and move 11 16 59 Control word Move synchron Ol UL aaa 16 5 10 Control word synchron setting LS energetica Uns eno deua nsi eu ou denn an lean Ut 17 Product manual Model Profibus DP 07 05 04 02 E V0801 doc CONTENTS 5 11 2412 5 13 5 14 5 14 1 5 15 5 16 5 17 5 18 5 19 5 20 5 21 Page Control word eyemark command 1 14 cin ai 17 Control word eyemark command 2 15 oooooooonnnonononcnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonoss 17 Control CO NP IINE 6 o NT 18 Control word read data block L7 ainia 18 IR A A s 18 Control word write data block 18 ooonnnnnnnncncnnnncnnnnnononononononannnnanoncccccnccnnononononinons 19 Control vord reserved Ml lane tania 19 Control words Digital drive 635 637 637 disable enable 20 21 RESET 22 save data 23 sese 19 Control word operating mode speed loop Z4 oooocnncccccncnononono
13. 45 12 Modification Record V04 47HM98 new chapter Dokumentation in text modification Eurotherm Format text addition text addition text addition 11 11 1998 H Mund V05 31HM99 textaddition 5 3 03 08 1999 V06 13SA00 command addition 5 19 30 03 2000 T Saladin AA A V07 43SA00 Blocknumber 8 corrected S7 command TL corrected 23 10 2000 T Saladin V0801 Separation Eurotherm Format German English all 16 03 2001 N Dreilich 6 Product manual Model Profibus DP 07 05 04 02 E V0801 doc A AUSTRALIA Unit 10 Tel 61 2 9634 8444 Eurotherm Pty Ltd 40 Brookhollow Avenue Fax 61 2 96348555 eurotherm eurotherm com au Baulkham Hills New South Wales 2153 AUSTRIA Geiereckstrasse 18 1 Tel 43 1 798 7601 http www eurotherm at Eurotherm GmbH A1110 Vienna Fax 43 1 798 7605 eurotherm eurotherm at BELGIUM Rue du Val Notre Dame 384 Tel 32 85274080 sales eurotherm belgium be Eurotherm BV B 4520 Moha Fax 32 85274081 http www eurotherm com au CANADA 530 Seaman Street Tel 1 905 664 8911 andy wright Meurothermdrives com Eurotherm Drives Unit 3 Fax 1 905 6645869 Stoney Creek Ontario L8E 3X7 DENMARK Enghavevej 9D Tel 45 70 201311 leif tangaa eurotherm se Eurotherm Drives Danmark DK 7100 Fax 45 70 201312 Vejle FRANCE 15 Avenue de Norv ge Tel 33 1 69 185151 Eurotherm Vitesse Variable Villebon Yvette Fax 33 1 69 185159 SA 91953 Courtaboeuf Cedex
14. 5 04 02 E V0801 doc frame Byte 10 11 Byte 12 13 Byte 6 7 Byte 8 9 Byte 10 11 Byte 12 13 Byte 6 7 Byte 8 9 Byte 10 11 Byte 12 13 Byte 6 7 Byte 8 9 Byte 10 11 Byte 12 13 Byte 6 7 Byte 8 9 Byte 10 11 Byte 12 13 Byte 6 7 Byte 8 9 Byte 10 11 Byte 12 13 Byte 6 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12 13 Byte 6 7 Byte 8 9 Byte 10 11 Byte 12 13 Byte 6 7 Byte 8 9 33 Table of the block numbers for 635 637 continued frame 1 15h Trailing window in increments 0 32767 Byte 10 11 Trailing reaction Byte 12 0 without on stop abrupt 2 stop 3 deactivate regulator EE CCOERENNNEE RE MENTE DEN Setpoint integrator steepness 10000 off without integrator poi evaluation with orgue como eA e poi value noming test point 2 eurem IR 100A 2 ctm e DE Speed 0 offset storage value 311 mV eee 00000 CL sess ME E NEN NN EA Jo EO o O o A A E E s00 AFF Reserved or EASYRIDER exo non SFFR initializing data forie 16 possible synchonowsprofies Input dios input X 102 Cant 0 3 soe opto cto 0 3 Bes ye np dion muxmar 93 ws Input denon pat OE es Input definition inpurX 10 15 9 3 eo Input definition uXi024 0 3 en Input definition impar X1025 os ea Output definition outputX 1012 0 2 ea Output definition outputX 101 e Output
15. 5 18 Control word operating mode speed loop 24 With this telegram you can send new speed values to the digital drive With byte 15 you can switch between rated value via the Profibus DP and analog rated value Caution If the the speed loop is switched off via the Profibus DP byte 15 0 an analog value possibly applied to connector X10 pin 18 and 5 can be used 8 9 10 11 12 13 14 15 L gt 15 0 OFF ON not analyzed current limit 3 integrator ld Sec speed min l control word A negative speed is created through the 2 complement e g 2000 0x7D0 2000 OxF82F In order to use this function the operating mode speed control must selected in the digital drive This can be done either with the help of EASYRIDER or with the telegram write data block The operating mode is preselected for the digital drive in block number 0x101 20 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Data frames 5 19 Control word write read variable flags 25 in byte 2 of the outputbuffer the mode of the command is explained In byte 3 the startadress of the variable or flag 1s defined byte 2 0 byte 2 1 byte 2 2 byte 2 3 byte 2 4 byte 2 5 byte 2 6 Notice write one variable write one flag write 3 ariables write 4 flags read 2 variables realpos1 read 8 flags write 3 var read 3 var After a write command byte 2
16. It can be very helpful for an initial commissioning 0x49 Master in STOP 0x A9 Data exchange 0x05 Connection interrupted All other status displays indicate incorrect parameterization of the drive with the master display of the baud rate firmware version of the Profibus DP interface display of the data contents of each received telegram 10 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 4 Definitions of the data field Definition of the data field in the Profibus DP fieldbus system for the Digital drive 635 637 Output data master gt Digital drive 635 637 16 byte data unit 0 E 2 3 4 5 6 7 8 9 10 11 12 13 14 15 control word see 4 3 parameter 4 1 Numbers representation in the serial commands 4 1 1 2 byte hexadecimal values WORD Number range 2 15 signed integer Example The hexadecimal value 0123h represents itself as follows 01 High Byte Byte 1 23 Low Byte Byte 2 Precedence within the serial command Bit 7 0 15 8 meri 23 01 4 1 2 4 byte hexadecimal values LWORD Number range 231 signed long Example The hexadecimal value 01234567h represents itself as follows 01 High Byte Byte 1 23 Low Byte Byte 2 45 High Byte Byte 3 67 Low Byte Byte 4 Precedence within the serial command Bit 7 0 15 823 16 31 24 pen e mmi 67 45 23 01 4 2 Parameter scaling speed value v rpm AAA acceleration deceleration value a rpm s 5
17. Profibus DP Series Bus interface Product manual Model Profibus DP 07 05 04 02 E V0801 doc EUROTHERM DRIVES PRODUCT MANUAL Further descriptions that relate to this document UL 07 01 05 06 635 Product manual 1 lum UL 07 02 08 03 637 Product manual E UL 07 02 09 01 637 Product manual C UL 10 06 03 Serial transfer protocol EASY serial Product Description O EUROTHERM Drives Limited All rights reserved No portion of this description may be produced or processed in any form without the consent of the company Changes are subject to change without notice EUROTHERM has registered in part trademark protection and legal protection of designs The handing over of the descriptions may not be construed as the transfer of any rights Made in Germany 2001 2 Product manual Model Profibus DP 07 05 04 02 E V0801 doc CONTENTS Page ENE Most Important CHING DESL eee eoo onera eene e ER e Une UE ERE CS erae ep Re ea eR EE Sage E Se Ea su e esae aae einge xe ac pues 5 1 Appendix for user manual Digital drive 635 637 637 tor the Dus system Profibus DP sacessiccsseiscevcnececensacivesdennsasssnonssyseensnstvscnssstveseseatesss 6 2 Basic features of the Profibus DP ssseecoooss
18. To in irc Em 18 Dt 7 AECA A EET RO TORRE 14 device data DUIS rada 6 DIA 9 E PASY RIDER SU tds 10 A A Pu e AA 13 21 Po Es Y 0 oeste E A e In 24 gt o O o E II et 27 28 29 30 31 F Hs A A DEM I eee ner ee 10 G A 6 H O as Zi Host lociim Top oUi aea EE AE A E E 14 44 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Index I os A E 6 ril Q 43 HI DIA TO UE NE e m 23 TA 18 N N umbers TEDESCO sio 11 P Pin dos rone r E E CMM E MEMINI 26 POPC SSE COMME concu DURS aeu DUM MEM MEN IERI CEPR eI MR M 15 R SSE CCS MANO ETIN uu C 14 as AS LINDA ME E Dd eS 38 39 40 41 42 Sj side A Co PO mn eee or a ne eee 14 38 PTT SIS SS A T RR 40 lb qx 26 S A M 11 SLEA C 30 LO ko A E E E EE E E E E E 30 I S Y AN E III A 30 45 O OR e o E PE E E A 14 JU OO o e o A en A 20 SO AU ao 7 ont 10 MEC dO HOTICHIEHIG aeccseseie omit er ee nt eae new en ety eer enn te rene te ree ey 8 T termination resisto ES cri DR A 9 U UPD VS ERST PO T T TRE 8 Product manual Model Profibus DP 07 05 04 02 E V0801 doc
19. a frames Control word write read variable flags 25 request Byte 2 6 write 3 variables successive 2 3 4 5 6 7 8 9 10 11 12 1 14A 1 value value Nr 1 value Nr 2 variable no 0 250 Input buffer Byte 2 6 read 3 variables successive value value value Nr 3 Nr 4 Nr 4 variable no 0 250 5 20 Input buffer Digital drive 635 637 master The data contents of the input puffer are engaged as a default with the necessary regulator information With byte 1 of the control word can be determined whether in byte 2 5 of the status word the actual position 1 byte 1 0 or the actual position 2 byte 1 1 should be send return With the commands read data block 5 14 and variable flags 5 19 is the returned status dependent on the respective command As of firmwareversion 5 12 you have the possibility to send the following commands without edge change Sent control word 1 1 is then returned in bytes 0 and 1 in the status word 16 Byte data unit status word 2 status word 1 error status Digital drive 635 637 I O status actual speed position 1 position 2 status word Product manual Model Profibus DP 07 05 04 02 E V0801 doc 23 5 21 Data contents of the input buffers Data frames byte 0 a commandnumber lt 25 copy of the control word byte 0 the last command will be stored if gt 0 b commandnumber gt 64 40 hex copie of the control
20. d and or the position value byte 2 5 can be compared with the set value data byte 0 2 3 4 5 m 14 oo fw Tem J position reached position 0 5 Step host logout via the Profibus DP bus Senda telegramm output data with 02h host logout in the control word to the 635 637 data byte 0 1l 2 3 4 5 6 7 8 9 10 11 12 13 14 15 je eo xx x x a x ex nx on x c boc xx not analyzed Product manual Model Profibus DP 07 05 04 02 E V0801 doc 29 Example for operating the Digital drive 635 637 via the Profibus DPfield bus system 7 20 Example for control by Siemens S7 In order to address profibus participants with the the Siemens S7 controller with a consistent data length of more than 4 bytes the following functional modules must be used SFC 14 read data consistent SFC 15 write data consistent With it assists the point of view is to be seen always from the master These functional modules must then be inserted in a the corresponding place in the program execution 7 2 1 Read Data With call SFC 14 the module is called up into the net The corresponding specifications must be entered subsequently after the CALL SFC 14 LADDR W 16 200 RET VAL MW100 RECORD P DB100 DBx 0 0 Byte 16 W 16 200 Gives the word address of the memory area for which a participant was configures e g Address 0x200 5004 MW100 The
21. definition owp x 1020 o2 syr Output definition owp x10233 o2 sys eena OR owes AG med EC e ll les llull loss 34 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Table of the block numbers for 635 637 continued A04h position set 0 A0S5h acceleration ramp value x 5 aa c braking ramp value x 5 sa frame 0 255 see EASYRIDER Byte 6 Byte 7 Byte 8 9 Byte 10 11 0 12000 1 45 0 32000 0 32000 Byte 12 13 A06h position reached window in increments setpoint position low word 32 Bit A07h setpoint position high word 32 Bit y COMMAND 0 255 see EASYRIDER A A26h position set 9 0 32767 Byte 6 7 Byte 8 9 Byte 10 11 Byte 12 13 A40h BIAS program info data A7Fh nn AS5h BIAS program version Byte 1 4 AS6h BIAS program version Byte 5 6 reserve 2 Byte ASTh reserved until A7Fh AS0h BUS module data ABFh A80h until A83h reserve AS4h SUCOnet K BUS Axis number 255 SUCOnet K BUS Bus interruption 0 3 0 without reaction I MN i lt em O X mie 5 em O O E on ep 5 i E Byte 6 Byte 7 stop abrupt 2 stop 3 deactivate regulator SUCOnet K BUS braking ramp value x 5 ae 0 64000 Byte 8 9 Un Product manual Model Profibus DP 07 05 04 02 E V0801 doc 3 Table of the block numbers for 635 637 continued frame A85h until A87
22. e control word 5 14 1 Input data 0 l Za 3 4 3 6 7 8 9 10 11 12 13 14 15 Bro p ee ee not analyzed data block 1 data block data block No 100h see chapter 8 reserve control word If an invalid block number is requested the data contents of the input data of bytes 2 15 is FFy 18 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Data frames 5 15 Control word write data block 18 Changing parameters on the Digital drive 635 637 1s only possible if there has been a login through the master Host login COM2 If parameters are to be changed on the Digital drive 635 637 all 8 bytes of the parameter data must always be entered during write data block to the selected block number The table of block numbers is located in the chapter 8 In this connection the marked areas can only be changed in the deactivated state of the regulator 0 l Pa 3 4 3 6 da 8 9 10 11 12 13 14 15 ano not analyzed data block 1 data block data block No 100h see chapter 8 reserve control word 5 16 Control word reserved 19 5 17 Control words Digital drive 635 637 disable enable 20 21 RESET 22 save data 23 Ze 3 4 5 6 7 8 9 10 11 12 13 14 15 L not analyzed control word Product manual Model Profibus DP 07 05 04 02 E V0801 doc l 9 Data frames
23. e path parameter from the zero point found according to the reference modes see figure 5 Note 1 Is the actual position 0 1s not reached in the specified direction after stopping the axis the actual position 0 is not moved to point actual position 0 ref run after ref run Figure 5 Reference point shifting 42 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 10 Appendix Assignment of the table positions for P and I gain in the current and speed controller to the physical value PA PA 7 7 2 a 309 8 9 ed 9 El 9 9 9 9 9 El El El 4 9 El El El El 2 NO 1 4 94 0 15 23 1 5 89 17 71 1 5 07 1 6 53 11 14 1 4 3 l l 1 5 68 19 1 6 85 3 9 gt gt gt gt gt gt gt 14 39 173 25 4 l 8 0 2 f 22 23 24 25 26 27 28 29 0 31 30 13 Assignment of the transmitted parameters to the physical values P Gain physicalic value 8 I Gain physicalic value 150 V Gain percentage 2 56 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 43 11 Index A Tere 10 10 98 C21 1 IR PRA CAER OPA E N T A 14 ACM POSTOR es 24 B A PP o o AA 8 BIS Ds 16 DO FTA LAOS PPM cased onesie un RE CO II A 32 DU CIOE OA o II e oo OO A 6 Dus territi A e E A 9 DOS ra 7 C A o A PE 6 communicate OT 6 O A O E COR EE 6 COMO caes 12 Tunc o A O UU OE E GPU 8 D is e e oo 5 19 data DIO
24. e input buffers 14 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Data frames 5 4 Control word stop 6 not analyzed not analyzed offpos window control word 5 5 Control word stop with braking ramp 7 25 3 4 5 6 T 8 9 10 11 12 13 14 15 L not analyzed offpos window DL decelaration ramp not analyzed control word 5 6 Control word preset counter 8 not analyzed Byte 6 counter 2 counter 2 position control word Product manual Model Profibus DP 07 05 04 02 E V0801 doc 15 Data frames 5 7 Control word set BIAS processing pointer 9 Loo A not analyzed BIAS pointer control word 5 8 Control word move 10 and move 11 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Ll not analyzed Ld acceleration ramp not analyzed control word 5 9 Control word move synchron on 12 Starts the position synchronous positioning of the axis according to an external master encoder 2 3 4 3 6 T 8 9 10 IL 12 13 14 15 2 2 ave nicht ausgewertet not analyzed Byte 7 0 overtake immeadiate overtake after format length master Byte 6 synchronprogram no 1 16 0 no profil format length master control word 16 Product
25. eter like command 0B move synchron parameter like command 0C Product manual Model Profibus DP 07 05 04 02 E V0801 doc 1 3 5 Data frames 5 1 Host login logout 1 2 The most data frames are accepted by the Digital drive only after a host registration The host registration must only be sent uniquely to connecting the control voltage 24V For Host login logout only the control word from the Digital drive 635 637 will be evaluated The 2nd to 15th bytes can containe any data Only one interface will be have a login COMI or COM2 Senda telegramm output data with 01h Host login in the control word to the 635 637 10 11 12 data byte 0 1l 2 3 4 5 6 7 8 9 13 14 15 Cc 5 2 Control word start absolut 3 and start incremental 4 Za 3 4 5 6 7 8 p 10 11 12 13 14 15 2 2 ave xx don t care not assigned offpos window 0 32768 decelaration ramp Wert x 5 acceleration ramp Wert x 5 speed min position control word 5 3 Control word start reference run 5 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 2 byte 15 reference mode see chapter 9 Byte offpos window decelaration ramp acceleration ramp speed min position control word 1 The reference run is only started if the Bit position reached is set 1 See also chapter Data contents of th
26. functional module must be able to store pending messages in a flag word P DB100 DBx 0 0 Byte 16 Target area in which the entry data are stored e g in data module 100 as of byte O for 16 bytes 30 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Example for operating the Digital drive 635 637 via the Profibus DPfield bus system Example for control by Siemens S7 7 2 2 Write Data With Call SFC 15 the module is called up into the hetwork The corresponding specifications must subsequently be entered by the user after the CALL SFC 15 LADDR W 16 200 RECORD P DB100 DBx 20 0 Byte 16 RET_VAL MW102 W 16 200 gives the word address of the memory area for which a participant was configured e g address 0x200 5124 P DB100 DBx 20 0 Byte 16 Target area in whish the output data for the slave are stored e g in data module 100 as of byte 20 for 16 bytes MW102 The functional module must be able to store pending messages in a flag word 7 2 3 Watch and control variables An initial data exchange can be made with the online function in the Siemens programming software in the corresponding module with LOAD gt Observing and controlling variables for reading example DB100 DBW 0 2 4 for writing example DB100 DBW 20 22 24 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 31 8 Table of the block numbers for 635 637 Note The marked block numbers ma
27. h reserve E A88h PROFIBUS axis number 255 Byte 6 0 3 PROFIBUS bus interruption Byte 7 0 without reaction stop abrupt 2 stop 3 deactivate regulator Ss lt lt e e A p em e e e ve e B PROFIBUS braking ramp value x 5 A89h until A8Bh reserved ASCh CAN BUS Node number CAN BUS Bus interruption Byte 7 0 without reaction stop abrupt 2 stop 3 deactivate regulator CAN BUS braking ramp value x 5 Byte Byte 1 Bye 1 Nw CAN omessa OOOO UY 6 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Table of the block numbers for 635 637 continued frame 0 3 INTERBUS bus interruption Byte 0 without reaction 1 stop abrupt 2 stop 3 deactivate regulator INTERBUS braking ramp value x 5 m 0 64000 Byte 8 9 AAIh until ABFh ACOh FFFh reserve 1000h Synchronous profiles according to EASYRIDER calculation 1FFFh set number 0 adress 2C000H 2C007h BUS command 2000h and 2001h a EMEN MN L 2000h BIAS program 0 1499 blocks of 8 bytes see EASYRIDER help NEM 2FFFh Product manual Model Profibus DP 07 05 04 02 E V0801 doc 3 7 9 Standard reference modes overview 2 2 resolver zero position Ref m reference sensor PE positive direction negative direction Auto automatic direction selection Ag reference point shifting 9 1 Reference run and modes The
28. he specified direction The actual position 1s zeroed upon detection of the low high slope of the external reference sensor At the same time the axis is stopped via the active deceleration ramp Note 1 If input X10 24 not configured as reference sensor a start fault occurs upon execution of a reference run 2 If the zero position is not reachable in the specified direction after stopping the axis the zero point is not moved to Sensor 410 24 Fig 2 reference run to an external reference sensor 40 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Standard reference modes overview 9 4 Reference run to the reference sensor and the resolver zero position Ref d d O A o o The reference modes with reference sensor and resolver zero position represent a combination of the induvidual modes They are always required wherever no clear coordination of motor position to output position can be made on the one hand On the other hand however the high repeat accuracy of the resolver zero point is required Typical applications are also on the other hand systems with gearboxes see figure 2 Process The axis starts the reference run in the specified directions A counter preset is executed according to the following resolver zero position selection of the high low slope of the external reference sensor At the same time the axis 1s stopped via the active deceleration ramp If the zero point can be reached in the specified
29. nononoononoronn nono non nnnnonnnonoos 20 Control word write read variable flags 25 ooooocccccccicicicooononoooonoonronrrrrrrr no nono nononnnnnoos 21 Input buffer Digital drive 635 63 7 63 7 master c0ooocoocccconononononanaoonon nono nn noo nono no nono nono 23 Data contents ot the Input DUITE S serie rnein a EI do ID Ps encon 24 Pin assignment bus interface Profibus DP eee eene eee eere eene 26 Example for operating the Digital drive 635 637 637 via the Profibus DPheld DUS SST oscar iia 27 Positioning via Profibus DP esses nnn aT Example Tor control DY SIMENS 9 sica E 30 ISSUED C CR 30 A 3l Watch and control variables sse eene eene eene enne 31 Table of the block numbers for 635 637 eee eere eee 32 Standard reference modes overview eee eere eee ee eee eee eene eee tette eee soon 38 FG Bee TUI amn POG SL iris 38 Reference run to the resolver zero position occccnnnnnnnnnnnnnnnononononoconononononononono nono nonnnnnnnnnos 39 Rercrence Tun to the T Cl el NCS SEO Orar 40 Reference run to the reference sensor and the resolver zero position 4 Reference run with automatic selection of direction ccccccnncnnnnnonccnnnnnnnnnnnnononccncnnnnnnnnnnnnos 4 Reference run with
30. put data master in the data byte 14 the bit 1 COM2 host login will be set 0 a a ee COM Host login Product manual Model Profibus DP 07 05 04 02 E V0801 doc 27 Example for operating the Digital drive 635 637 via the Profibus DPfield bus system Positioning via Profibus DP 3 Step position with start absolut Send a telegramm output data with the control word start absolut and the parameters for position and speed to the Digital drive 635 637 Example Position 500 000 increments 500 000d 0007A120h speed 2000 s 7DOh 1 rpm acceleration 1000 3E8 value x 5 a deceleration 1500 5DC value x 5 2x offpos window 100 64h O l 2 3 data byte offpos window deceleration acceleration speed position start absolute 2 Example Position 0 increments 00d 00h speed 2000 s 7DOh 1 rpm acceleration 1000 3E8 value x 5 m deceleration 1500 5DC value x 5 offpos window 100 64h 0 1l 2 3 4 5 6 7 a a amp 9 12 13 eae yy offpos window deceleration acceleration speed position start absolute 28 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Example for operating the Digital drive 635 637 via the Profibus DPfield bus system Positioning via Profibus DP 4 Step check position reached In the input data in the data byte 15 the bit 5 position reached can be checke
31. shifting of reference point sess 42 APD NAI qe 43 lino d POP OU gn E 44 INTOCIEICACION Record c E East 46 Product manual Model Profibus DP 07 05 04 02 E V0801 doc The most important thing first We thank you for the trust that you have shown in our product The operating instructions presented hereserves as an overview of the technical data and features Please read the operating instructions before putting the product to use If you have any questions please contact your nearest Eurotherm representative Improper application of the product in connection with dangerous voltage can lead to injuries In addition damage can also occur to motors or other products Therefore please observe strictly our safety precautions Topic Safety precautions We assume that as an expert you are familiar with the relevant safety regulations especially in accordance with VDE 0100 VDE 0113 VDE 0160 EN 50178 the accident prevention regulations of the employers liability insurance company and the DIN regulations and that you can use and apply them Also the CE regulations are to be observed and guaranteed Depending on the kind of application additional norms e g UL DIN are to be observed If our products are employed in connection with components from other manufacturers their operating instructions are also to be strictly observed Product manual Model Profibus DP 07 05 04 02 E V
32. sseccccssscccccossseecocsssseecocssseecessssseeesoss 6 2 1 Device data DAS odium UD DEI DPI MIU DIUI CI IUIUS RII RAE I COME 6 2 2 A on A 6 2 3 Communication occcccccnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnn nono non nana nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 6 3 Digital drive 635 637 637 with Profibus DP eee eere eene eee uu 7 Set A 7 e BUS A aa 7 3 3 SO AS aaa 7 Do ehemadccske e Doce etie puede Ute ee nO Tene ee ene EEA 7 3 5 Selection of the correct baud rate oooococcccnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 8 POMMES S cnn o 9 3 7 Fieldbus diagnosis via the EASYRIDER shell eee 10 4 Definitions of th d t Dield uie oiivosesseco sees esdavesvessvdsen s esvd suae oe aus esu dua eue ae red eub se nuss 11 4 Numbers representation in the serial commands eese 11 4 1 1 Zbyte hexadecimal values WORD acia 11 4 1 2 4 byte hexadecimal values LWORD oooocccncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnininnninines 11 do A en eee ee 11 25 Comentsot me control word Dyte Drs 12 4 3 1 Inhalte des Steuerwortes Byte 1 Contents of the control word byte 1 12 44 Edge change of the control Word ococccccnccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnininininines 13 441 Move Commands without edge change rs 13 5 MV TE RD TTE TT T T 14 S1 OSE NGS lodo lr iaa 14 5
33. t level must be ensured on the bus Therefore termination resistors must be added to the first and last participant in the bus train At baud rates of up to 1 5 Mbits s the termination resistors integrated on the interface card of the Digital drive 635 637 can be used for one bus termination Both jumpers 9 and 10 are to be closed on Bus plugs with integrated termination resistors can also be used With baud rates of gt 1 5 Mbits s special connecting plugs are to be used see chapter 2 3 transmission technology a 635 plan view Option RP PDP front of drive 0 12 3 4 5 6 7 2 22 2 2 2 2 2 COM 2 b 637 plan view 2 58 59 55 93 92 91 9 front of drive com 1 Option RP_PDP COM 2 picture 3 1 DIP switches for station address 1 8 termination resistors 9 10 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 9 3 7 Fieldbus diagnosis via the EASYRIDERS shell Additionally the EASY RIDER shell also offers an online Profibus DP diagnosis display Menu gt Diagnosis gt Fieldbus This display offers the following possibilities for diagnosis station address name of drive bus status connection ok interrupted This allows you to detect whether communication with the master exists Status Here the internal status of the Profibus ASICs is displayed Here the user gets important information about the internal state machine of the Profibus ASICs
34. tal drive 635 637 The selection and the setting made by the EASYRIDER shell in the menu commissioning fieldbus 3 3 Station address The station address will be set with Digital drive 635 637 by DIP switches on the interface card or by the EASYRIDER shell valid address range 2 125 If the station address should be set by the EASYRIDER shell the DIL switches must set smaller than 2 By the EASYRIDER shell you have to program the address in the menu gt commissioning gt fieldbus The changed data should be stored in the EEPROM with button It should be considered that the setting of a station address only during the initialization of the Digital drive 635 637 so after when you switch on the power supply 24V will be get in 3 4 Schematic sketch Profibus DP fieldbus master Eurotherm Eurotherm servo drive servo drive z J Product manual Model Profibus DP 07 05 04 02 E V0801 doc 3 5 Selection of the correct baud rate The baud rate should always be set high enough to fulfill the required system reaction time The lower the baud rate 1s selected the more insensitive the system 1s to interference from outside the less difficult it will be to repress eventual interference The bus cycle time depends on the set baud rate It should not be less than the greatest telegram update time of a slave in the system This allows you to prevent telegrams arriving from the bus fas
35. ter than they can be processed by the respective participant The update time for the 635 637 is 2 msec In a mono master system the system reaction time can be calculated 1n dependency on the selected baudrate as following The theoretically system reaction time token GAP test number of stations offset number of E A bytes x 11 Tsy tpit Up to 1 5 MBit s all stations have inputs and outputs and the lower limiting values according to DIN 19245 3 the cycle time can be calculated as follows cycle time 70 403 number of stations 246 number of E A bytes 11 1 tpit Examples In the following a few examples are shown of how the cycle time changes depending on the number of participants at the same baud rate Useful data 16 bytes I O per participant 64 Byte 128 Byte 160 Byte 320 Byte Below an extract from the DIN 19245 3 to calculate the system reaction time Token TipD1 TToken 37 33 tps 70 tpit GAP Tipi Tsp1 TSL 37 66 300 tps 403 tpit Offset Tip 2 Tsp2 g min TSpg 37 198 11 ltBit 246 tBit Tom ltpit TToken time to send a token telegram Tsp time to send a telegram with Start Delimiter SD1 Tipp Idle Time TsDr Station Delay Time of the responder TsL Slot Time TsM Safty Margin l times for 1 5 MBit s 8 Product manual Model Profibus DP 07 05 04 02 E V0801 doc 3 0 Bus termination For communication a defined quiescen
36. ve bus system are often different and also not syschronous In this case the following points must be observed With normal program processing the PLC new telegrams to the bus master at a certain time If the bus cycle time is now shorter than the PLC cycle time the telegrams will be sent several times according to the bus cycle time New telegrams are usually transferred from the PLC again once after a further PLC cycle 1s ended Without a slope evaluation of the control words This fact would result in the commands being executed several times This 1s however undesirable with some commands With the command start incremental this would result in the specified position being added to setpoint position with every telegram received With telegrams with slope evaluation identical control words in sequence are only accepted once For an intentional repetition of a control word another control word must be sent in between For this the control word 0 actually not a command can be used 4 4 1 Move commands without edge change As of firmwareversion 5 12 you have the possibility to send the following commands without edge change HOST login necessary activated drive necessary command number is er sn ini LL ee start absolute position parameter like command 03 Edge change necessary parameter like command 06 stop with braking ramp parameter like command 07 parameter like command OA param
37. y only be changed in the deactivated state of the regulator frame 100h Axis identification with networking Function identification for ISP function 2 Stepper motor pulse direction 3 Stepper motor pos negative Output increments 101h 635 637 operating modes 0 torque speed control speed control 2 torque control 3 position speed control 4 position control 5 position control BIAS ese EEN EEN T O pea az O eea O ECETIA e O oriens posi eones er ice overage re mess A TA A Bx DO CT MANTA at 32 Product manual Model Profibus DP 07 05 04 02 E V0801 doc Table of the block numbers for 635 637 continued wem unerofpsepis Motor inductance Geminis ormone S feistneevaeNTOT2 Sc __ NENNEN EN NENNEN NENNEN EE EN NEN BEEN block no i lt em e A p o em e ep E i ve FU E 10Bh motor name ASCII 18 bytes 10Ch 10Eh A EE S EE S EE S EE S OS 1 13h Default speed for position controller in rpm 1 45 0 12000 1 45 Default braking ramp for position controller value x 5 0 64000 114h Default acceleration ramp for position controller value x 5 m 0 64000 Default position reached for position controller in increments 0 32767 ho see appendix Product manual Model Profibus DP 07 0
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