Lexium Controller - Schneider Electric
Contents
1. Function Slot Index Length Data Data Ox5F 0x01 OxE9 0x02 Offset Offset Example with ACC Ox5F 0x01 OxE9 0x02 0x2329 offset 9001 Step 2 read The PROFIBUS DPv1 master must give the length to be read starting from the offset indicated in step 1 Function Slot Index Length Data Data Ox5E 0x01 OxEA lt 0x3C Example with ACC Ox5E 0x01 OxEA 0x02 length 1 word length 0x2 bytes The response to this request contains the data to be read Step 2 write The PROFIBUS DPv1 master must give the value to be written at the offset indicated in step 1 Function Slot Index Length Data Data Ox5F 0x01 OxEA 0x02 Value Value Example with ACC Ox5F 0x01 OxEA 0x02 0x0010 write at 1 6 s To check what offset has been configured it is possible to interrogate the slave Function Slot Index Length Data Data Ox5E 0x01 OxE9 0x02 Offset Offset Software setup of DPv1 messaging Direct access using the SLOT INDEX Direct access is available from slot 2 on Read Function MSB slot LSB index Length Data Data Example with ACC Ox5E 0x23 0x29 0x02 offset 9001 Ox2329 The response to this request contains the data to be read Function MSB slot LSB index Length Data Data Value r2. CHANNEL 1 ae PBS_I4 AT 20 WORD CHANNEL gt PBS_03 AT QW19 WORD CHANNEL Q PBS_O4 AT QW20 WORD CHANNEL Q PBS_O5 AT KAW21 WORD CHANNEL Q Configuration Configuring PZDs communication scanner The program freely accesses PZDs The 10 periodic output variables are assigned by means of parameters QW33 to QW42 Assigning the parameter name PROFIBUS variable Access to the scanner parameters depends on the choice of PPO QW33 PZD1 QW34 PZD2 QW35 PZD3 QW36 PZD4 Scan Out1 address QW37 PZD5 Scan Out2 address Scan Out3 address Scan Out4 address Scan Out5 address Scan Out6 address Scan Out7 address QW39 PZD7 Scan Out8 address QW40 PZD8 Scan Out9 address QW41 PZD9 Scan Out10 address QW42 PZD10 QW38 PZD6 oo oe et et eS The 10 periodic input variables are assigned by means of parameters IW16 to IW25 Assigning the parameter name PROFIBUS variable Access to the scanner parameters depends on the choice of PPO IW16 PZD1 IW17 PZD2 IW18 PZD3 IW19 PZD4 Scan In1 address IW20 PZD5 Scan In2 address Scan In3 address Scan In4 address Scan In5 address Scan In6 address Scan In7 address lW22 PZD7 Scan In8 address IW23 PZD8 Scan In9 address IW24 PZD9 Scan In10 address IW25 PZD10 1IW21 PZD6 i Gr gnay pitin nn Fu
3. Red ST Green DX Meaning Corrective actions in the event of malfunction LED LED The card has been configured and its amp parameters set correctly by the master The card is in Idle state awaiting Enter a value between 1 and 126 using the switches KL configuration SA A The card is in the following state Check the connection to the PROFIBUS DP bus then start up the uf Wait_Prm or Wait_Cfg PLC Ifthe Lexium Controller has a communication card fault reset oS it y The card is in fault mode Turn off and then on again If the problem persists replace the Z Lexium Controller The card is in data exchange state and error free data exchange is taking place D No communication on the bus no data being Check the connection to the PROFIBUS DP bus start up the PLC amp exchanged LED states TA LED off K Slow flashing 0 5 s FI var Z LED on lt l Quick flashing 0 1 s PTA Software setup PROFIBUS DPv1 protocol Data is exchanged according to the master slave principle Only the master can initialize communication The slaves behave like servers responding to requests from masters Several masters can coexist on the same bus In this case the slave I O can be read by all the masters However only one master has write access to the outputs The number of data items exchanged is defined at the time of configuration A GSD file contains the configuration data for the Le
4. e How to install the graphic display terminal e How to connect the graphic display terminal e How to program the controller via the graphic display terminal Easy Motion Programming Manual Supplied preinstalled in the Lexium Controller the application model associated with Easy Motion mode is a user friendly tool that can be used for e Rapid axis configuration e Use of Manual Automatic mode e Creating positioning tasks Editing cam profiles Backup and recovery of the machine parameters Diagnostics of the motion controller and the various axes This programming manual also contains a table of the parameters that can be accessed via the communication protocols Motion Pro Programming Manual The Motion Pro Programming Manual is included in the software online help This online help describes The software interface e IEC 1131 programming e The function libraries standard functions motion control functions application functions The Lexium controller configuration screens Modbus Ethernet PROFIBUS DP and DeviceNet manuals These manuals describe e Connection to the bus or network e Diagnostics e Software setup e The protocol communication services Introduction The purpose of this document is to help you use the PROFIBUS DPV1 bus Presentation The PROFIBUS DP communication bus is used to connect a LMC20A1307 controller to a PROFIBUS DPV1 bus The data exchanges permit full functiona
5. 53 0011 0101 85 0101 0101 117 0111 0101 22 0001 0110 54 0011 0110 86 0101 0110 118 0111 0110 23 0001 0111 55 0011 0111 87 0101 0111 119 0111 0111 24 0001 1000 56 0011 1000 88 0101 1000 120 0111 1000 25 0001 1001 57 0011 1001 89 0101 1001 121 0111 1001 26 0001 1010 58 0011 1010 90 0101 1010 122 0111 1010 27 0001 1011 59 0011 1011 91 0101 1011 123 0111 1011 28 0001 1100 60 0011 1100 92 0101 1100 124 0111 1100 29 0001 1101 61 0011 1101 93 0101 1101 125 0111 1101 30 0001 1110 62 0011 1110 94 0101 1110 126 2 0111 1110 31 0001 1111 63 0011 1111 95 0101 1111 0111 1111 1 Addresses 0 and 1 are usually reserved for the PROFIBUS DP masters and must not be used to configure the PROFIBUS DP address on a Lexium Controller 2 We do not recommend using address 126 as it is not compatible with the SSA Set Slave Address service and with some network configuration software Sycon etc Examples Address 23 Address 89 Configuration Configuring the control signals The LMC20A1307 can be used to access the following functions e Control of the Lexium Controller on PROFIBUS DP e Cyclic parameter exchanges MW access To do this Go to Motion Pro CoDeSys Tab Resource Click on PLC configuration Go to PROFIBUS The input words output words and status words can be accessed via Motion Pro CoDeSys and are given by oe PBS_I2 AT 18 WORD CHANNEL ras PBS_I3 AT 19 WORD
6. Lexium Controller PROFIBUS DP User s manual Retain for future use LMC20A 1 307 Schneider Electric Contents Important information Documentation structure Introduction Presentation Connection to the bus Recommendations Configuring the switches Configuring the control signals Configuring PZDs communication scanner Configuring communication fault management Controlling the address and speed of the bus Diagnostics LEDs Software setup PROFIBUS DPv1 protocol Software setup of DPv1 messaging Output PZDs Input PZDs PKW aperiodic service While every precaution has been taken in the preparation of this document Schneider Electric SA assumes no liability for any omissions or errors it may contain nor for any damages resulting from the application or use of the information herein The products and options described in this document may be changed or modified at any time either from a technical point of view or in the way they are operated Their description can in no way be considered contractual Important information PLEASE NOTE Please read these instructions carefully and examine the equipment in order to familiarize yourself with the device before installing operating or carrying out any maintenance work on it The following special messages that you will come across in this document or on the device are designed to
7. coverable communication fault A non recoverable fault is generated when one of the following events occurs Dialog fault between the PROFIBUS communication module and the Lexium Motion Controller CPU Hardware fault if it can be tested The user is informed of the fault via the STATUS_Error parameter word on the low order byte Value Description of parameter values 0 No fault 1 Loss of Lexium Controller internal communication 2 Hardware fault detected 3 Error in the EEPROM checksum 4 Faulty EEPROM 5 Faulty Flash memory 6 Faulty RAM memory 7 Faulty NVRAM memory 8 Faulty analog input 9 Faulty analog output 10 Faulty logic input 11 Faulty logic output 101 Unknown card 102 Exchange problem on the Lexium Controller internal bus 103 Time out on the Lexium Controller internal bus 500 ms The values are 0 DPS2_DP_STATE_WAIT_PRM 1 DPS2_DP_STATE_WAIT_CFG 12 DPS2_DP_STATE_DATA_EX 13 DPS2_DP_STATE_ERROR Configuration Controlling the address and speed of the bus The PROFIBUS configuration parameters can be displayed using the Motion Pro CoDeSys software via the PLC_Browser commands The command is as follows optioncardinf The information given by the optioncardinf command in the PLC browser is by way of example other information is possible e Soft Version Gives information on the software version of the PROFIBUS communication interface integrat
8. ead Ox5E 0x23 0x29 0x02 Value Write Function MSB slot LSB index Length Data Data Example with ACC Ox5F 0x23 0x29 0x04 0x0011 offset 9001 Ox2329 Irrespective of the type of access used direct or indirect Read report Function Slot Index Length Data Data OxDF 0x80 OxXX OxYY 0 Write report Function Slot Index Length Data Data OxDE 0x80 OxXX OxYY 0 With error types OxXX OxYY Type of error Meaning 0xC2 0x00 Resource SAP not available in use 0xB7 0x00 Access Incorrect length 0 or gt 60 OxAO 0x00 Application Read failed time out etc 17 Software setup Output PZDs The first eight bytes contain an aperiodic request PKW to write or read a parameter 1 2 3 4 5 6 7 8 9 10 11 12 13 14 PKW PZD1 PZD2 PZD3 PKE 0 R W PWE QW33 QW34 QW35 15 16 17 18 19 20 21 22 23 24 25 26 27 28 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 QW36 QW37 QW38 QW39 QW40 QW41 QWA42 The 20 other bytes contain the PZD outputs PKW request PKE Parameter logic address RIW Request code 0 No request 1 Read 2 Write PWE For a read request Not used For a write request Parameter value Input PZDs The first eight bytes contain the response PKW to the read write request The 20 other bytes contain the PZD inputs i
9. ed in the Lexium Controller Address Address configured on the Lexium Controller switches on the PROFIBUS bus BaudRate Bus speed set by the PROFIBUS DP master PPO Type Gives the PPO configured for PROFIBUS communication between the Lexium Controller and the PROFIBUS master PLC These parameters cannot be modified PROFIBUS Configuration Info Soft Version 1 1ie1 Varies according to the version of the software Hard Version 1 0 BaudRate 0 Unknown 28 9600 Bauds 32 19200 Bauds 37 45450 Bauds 42 93750 Bauds 54 187500 Bauds 68 gt 500000 Bauds 80 1 5 MBauds 82 3 MBauds 83 6 MBauds 88 12 MBauds Address 7 From 1 to 125 PPO Type 0 Unknown 1 Periodic 10 10 Aperiodic 4 4 2 gt Periodic 10 10 3 Periodic 2 2 4 gt Periodic 6 6 Status Error 0 No Error 1 Time out on the reception of periodic variables 2 Identification Error Status Network 0 Wait Parameters 1 Wait Configuration 2 Data Exchanges 3 Error End of PROFIBUS Configuration Info 13 Diagnostics LEDs The PROFIBUS DP card has two LEDs ST and DX visible through the window on the cover of the Lexium Controller The status of the PROFIBUS DP card is indicated by the red ST status LED e The status of the PROFIBUS DP communication link is indicated by the green DX data exchange LED The table below gives the meanings of the various states of these two LEDs
10. lity of the Lexium Controller MW access e Monitoring e Diagnostics The slave address is configured using switches 1 PROFIBUS LEDs 2 PROFIBUS connector 3 Address configuration switches The speed of the PROFIBUS network is automatically detected by the card Hardware setup Connection to the bus Connector pinout The transmission interface conforms to the RS 485 standard and is electrically isolated from the Lexium Controller Female SUB D connector Terminal Description 1 not connected not connected RxD TxD N Reception Transmission not connected DGND ground VP 5 volts not connected RxD TxD P Reception Transmission not connected o CO N oO of A m Connection accessories PROFIBUS DP bus connection elements Description Use Reference Connectors With line terminator 490 NAD 911 03 Intermediate connection 490 NAD 911 04 Intermediate connection and terminal port 490 NAD 911 05 PROFIBUS DP bus connection cables Description Length Reference PROFIBUS DP connection cables 100 m TSX PBS CA 100 400 m TSX PBS CA 400 Example of connection PROFIBUS DP communication module TSX PBY100 LMC20A 1307 Altivar 71 Bo Tees Ot or ok i l TSX PREMIUM PLC fe v J 0 i sce u i N Intermediate L gt AS connector
11. n 11 Configuration Configuring communication fault management A PROFIBUS DP communication fault triggers a data bit in the Lexium Controller status word When a PROFIBUS DP communication fault occurs the Lexium Controller program must take account of this event and react according to the requirements of the application stop maintain emergency etc The response of the Lexium Controller in the event of a PROFIBUS DP communication fault can be managed Information on the PROFIBUS communication status is available so that the Motion Pro CoDeSys program can manage and detect these faults Communication can be divided into 2 types Recoverable faults and non recoverable faults occurring following serious electronic problems Recoverable communication fault A recoverable fault is generated when one of the following events occurs e Receipt of a SET_PRM CHK_CFG request that is not OK Time out on the output data reception watchdog The user is informed of the fault via the STATUS_Error parameter word on the high order byte Value Description of parameter values 0 No fault Time out on the reception of periodic variables destined for the Lexium Controller This time out can be set by the network configuration software 2 Identification fault between the Lexium Controller PROFIBUS card and the PROFIBUS master 3 Initialization fault on the Lexium Controller PROFIBUS card hardware problem 1 Non re
12. n read mode 1 2 3 4 5 6 7 8 9 10 11 12 13 14 PKW PZD1 PZD2 PZD3 PKE 0 R W N PWE IW16 IW17 IW18 15 16 17 18 19 20 21 22 23 24 25 26 27 28 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 IW19 IW20 IW21 IW22 IW23 IW24 IW25 PKW request PKE Parameter logic address R W N Response code 0 No request 1 Successful read report 2 Successful write report 7 Error report PWE For a successful request Parameter value For an incorrect request 0 Incorrect address 1 Write access denied Software setup PKW aperiodic service The PKW service consisting of PKE R W R W N and PWE enables MW aperiodic access to the Lexium Controller parameters in read and write mode Output PKWs PKE Parameter logic address R W 0 No request 1 Read 2 Write One off read and write requests can be triggered continuously while R W equals 1 or 2 PWE For a write operation Value to be written Input PKWs PKE Copies the output PKE value R W N 0 No request 1 Read operation correct 2 Write operation correct 7 Read or write error PWE If correct read operation Parameter value This can be limited by the Lexium Controller if the maximum value is exceeded by the write operation If correct write operation Value of the write PWE If there is an error 0 Incorrect address 1 Write operation refused Note The parameters in the output PZDs must not be changed by the PKW service Parame
13. on 0 up OFF or 1 down ON of the 7 switches The least significant bits are on the right The table below indicates the positions of the switches for all configurable addresses Addr Switches Addr Switches Addr Switches Addr Switches 0 1 10000 0000 32 0010 0000 64 0100 0000 96 0110 0000 1 1 0000 0001 33 0010 0001 65 0100 0001 97 0110 0001 2 0000 0010 34 0010 0010 66 0100 0010 98 0110 0010 3 0000 0011 35 0010 0011 67 0100 0011 99 0110 0011 4 0000 0100 36 0010 0100 68 0100 0100 100 0110 0100 5 0000 0101 37 0010 0101 69 0100 0101 101 0110 0101 6 0000 0110 38 0010 0110 70 0100 0110 102 0110 0110 7 0000 0111 39 0010 0111 71 0100 0111 103 0110 0111 8 0000 1000 40 0010 1000 72 0100 1000 104 0110 1000 9 0000 1001 41 0010 1001 73 0100 1001 105 0110 1001 10 0000 1010 42 0010 1010 74 0100 1010 106 0110 1010 11 0000 1011 43 0010 1011 75 0100 1011 107 0110 1011 12 0000 1100 44 0010 1100 76 0100 1100 108 0110 1100 13 0000 1101 45 0010 1101 77 0100 1101 109 0110 1101 14 0000 1110 46 0010 1110 78 0100 1110 110 0110 1110 15 0000 1111 47 0010 1111 79 0100 1111 111 0110 1111 16 0001 0000 48 0011 0000 80 0101 0000 112 0111 0000 17 0001 0001 49 0011 0001 81 0101 0001 113 0111 0001 18 0001 0010 50 0011 0010 82 0101 0010 114 0111 0010 19 0001 0011 51 0011 0011 83 0101 0011 115 0111 0011 20 0001 0100 52 0011 0100 84 0101 0100 116 0111 0100 21 0001 0101
14. s AL 490 NAD 911 04 Connector with line terminator 490 NAD 911 03 Connecting cable PROFIBUS DP TSX PBS CAe00 100 or 400 m Hardware setup Recommendations The user can select the data rate ranging from 9 6 kbps to 12 Mbps This selection made when starting up the network applies to all the bus subscribers The maximum segment length is in inverse proportion to the data rate Data rate kbps 9 6 19 2 93 75 187 5 500 1500 3000 6000 12000 Distance segment m 1200 1200 1200 1000 400 200 100 100 100 Repeaters can be used to cover greater distances e The bus ends with a line terminator at each end of each segment Do not connect more than 32 stations per segment without a repeater or more than 127 with a repeater Keep the bus away from the power cables clearance of at least 30 cm e If it is necessary for the bus to cross the power cables be sure they cross at right angles Configuration Configuring the switches Ee The address of the Lexium Controller and the selection of the operating mode are only taken into account the next time the Lexium Controller is turned on Coding the Lexium Controller address A Lexium Controller is identified on the bus by its address coded between 0 and 126 The address corresponds to the binary number given by positi
15. ters linked to output PZDs must not be changed by the PKW service 19 Software setup Examples of PKW aperiodic exchanges Example of aperiodic write operation Parameter Mw9001 address 9001 10 values in hexadecimal 1 2 3 4 5 6 7 8 etc 23 29 00 02 00 00 00 64 etc MW9001 10 Write request Address 9001 2329h The positive response is identical to the aperiodic part of the write request bytes 1 to 8 Example of negative response 1 2 3 4 5 8 etc 23 29 00 07 00 00 00 0 etc 0 incorrect address Negative response 20 LMC_Profibus_EN_V2 2008 06
16. warn you about potential risks or draw your attention to information that will clarify or simplify a procedure The addition of this symbol to a Danger or Warning safety label indicates that there is an electrical risk that will result in injury if the instructions are not followed A This is a safety warning symbol It warns you of potential risks of injury All safety messages that follow this symbol must be complied with in order to avoid any risk of injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death serious injury or equipment damage A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage PLEASE NOTE Only qualified staff are authorized to carry out maintenance work on electrical equipment Schneider Electric accepts no responsibility for the consequences of using this device This document does not constitute an instruction manual for inexperienced people 2008 Schneider Electric All rights reserved Documentation structure Installation Manual This manual describes e How to install the controller How to connect the controller Optional Graphic Display Terminal User s Manual This manual describes
17. xium Controller using PROFIBUS DPv1 TELEOAAF gsd This file is used by the PLC during the configuration phases There is one GSD file for the whole Lexium Controller range It does not describe the parameters of the Lexium Controller just the communication data This file is on the CD ROM supplied with the Lexium Controller The PROFIBUS DPv1 card for the Lexium Controller supports types 3 4 5 and 8 PPO format Parameter Process Data Object cyclic frames PKW length word PZD length word 2 3 4 1 2 3 4 5 6 7 8 9 10 PPO type 1 PPO type 2 PPO type 6 PPO type 7 PPO cyclic frames contain the periodic variables that are used for 2 types of service I O exchanges PZD Aperiodic exchanges PKW for parameter setting configuration and diagnostics PKW aperiodic exchanges are included in the cyclic frames and do not require special frames An aperiodic exchange is used to read or write a parameter 15 Software setup of DPv1 messaging Several types of DPv1 master can currently be used Some masters require the exclusive use of slot 1 which requires an indirect access mechanism Others allow the data to be accessed directly using direct access Indirect access use of SLOT 1 only To use PROFIBUS DPv1 messaging the following sequence must be used Step 1 The PROFIBUS DPv1 master must firstly give the slave the modbus offset of the parameter to be read or written
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