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DIV PQ - Moog Valve and Pump Configuration Software

1. Io nuoo nss id A BA Io nuoo nss id A BA Io nuoo nss id A BA Io nuoo nss id A BA Io nuoo nss id A BA Io nuoo nss id A BA IJo uoo nss id A BA Jo nuoo nss id A BA Pafqo 9 AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG gosJen BU A BU A dx dX QA dX GA dX FA dx A dx ZA dX LA dX QA uu sod6n 141631 dis6n 4 Jed6n d4164 SJOBIp aedbip aedbip Jed6jp aedbip pu bip pu bip pu bip pu bip dusbjp le sud 540 540 540 iqy sad iqysad iqy sad 87 9 6 86 JE 9 GE ve 66 CE LE Wa 8 212 92 92 yc 62 cc LZ cl LL OL TO ON oi vol 601 201 LOL 001 66 86 16 LZ LZ LZ LZ LZ LZ LZ 21 LL LZ LZ LZ LZ 21 LZ LZ LZ LZ LZ 21 LZ 21 LZ LZ LZ LZ 19 19 29 29 19 19 19 29 GE 20 01 270 4015 00748 010AG SZ2668 Od AIC jenueyy Jesn Haws Booyy 9LLNIN A 9LLNIN J9WI JUA OPAENISISyUrF Nvole907 AIG uunapdool 6l 6 9LLNIN A 9LLNIN
2. OPJOAIBISYPIE Nvole907 AIG wiupdoo SL 6 9LLNIN A 9LLNIN JW JUA Pd l s dpuz Nvole907 Na LL Z 9LLNIN A Nu 9LLNIN Jew JusAg opd A 89 xl1s NVvole907 Ald wiipdoo 91 6 992 8LNIN A Nu 8LNIN SdALUoIssIwsuUel Nvole907 AIG unupdool 91 6 492 8LNIN A BLNIN SdALuoIssiwsuelL NVOlE 071 AIG unupdool FL 6 992 8LNIN A MU BLNIN Bd luolssittuusueil NVOlE 07 AIG unupdool EL 6 992 8LNIN A Nu 8LNIN d luolssluusueil 8 NVOI8901 AIG unupdool ZL 6 2071 S69 A MU ZELNIN opd gp snpiqoO NVOIE907 AIG gos pdao m 6 8 2 1 969 Nu ZELNIN 40 Nvole907 AIG qooupdool OL 6 8 2 1 968 969 A MU ZELNIN 40 Nvole907 AIG qooupdool 6 6 8 2 71 629 969 A Nu ZELNIN 40 8 Nvole907 AIG qooipdoo 8 Z 8 2 71 N MU SIN Uotssiueug LaJOWAH NVOlE 07 AIG 1 6 L yA N MU 8LNIN NVOIE907 AIG pouui Joo 9 6 ZELNIN N Mu ZELNIN ssaipyJajaweledajoway NVOIE907 AIG S Z ZELNIN N MU ZELNIN NYOIE907 Ald Jedwao r Z 8LNIN N Nu 8LNIN SPONSJOWSYHe S ueg e007 AIG 800 6 000005 00000010 ZELNIN ajeng ueg e007 AIG Apqoo
3. GN pre WER 4 2 Restore 28 5 PROFIBUS hardware and cabling 5 1 Complied hardware standards 5 2 Cabling of PROFIBUS Slaves 5 3 Advice according Baude rates 5 4 PROFIBUS connectors 6 Object dictionary 7 Literature Moog GmbH Copyright Completeness This document is complete only when used in conjunction with the product related hardware and software documentation re quired for the relevant application as for example operating in structions of the valve and other manuals Selection and qualification of personnel As specified in the product related hardware and software documentation required for the relevant application only users properly qualified and authorized for these tasks may work with and on our products Note This document has been prepared with great care in compli ance with the relevant regulations state of the art technology and our many years of knowledge and experience and the con tents have been generated to the best of the authors knowl edge However the possibility of error remains and improve ments are possible Please feel free to submit any comments about possible err
4. Signature Function Positive Negative 0 No instruction 0 7 1 Parameter value read 1 2 11 7 2 Parameter value write 1 7 word 3 Parameter value write 2 7 double word 4 9 reserved 10 Parameter value write 11 7 byte Table 6 Parameter Channel Commands Response commands AK Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 19 4 Store Restore 0 No Response Parameter value transmitted 1 word Parameter value transmitted 2 double word 3 6 Reserved Instruction not processable see 7 error code 8 10 reserved Parameter value transmitted 11 byte Table 7 Parameter Channel Response If the valve is not capable of processing the request from the PLC or the coding of the parameter channel is not correct the valve respond with an error code in the data section of the parameter channel instead of the requested value or zero value in case of an write command Table of error codes PWE Error Code Semantic 0 undefined PNU 1 Parameter not changeable 2 Lower or upper value range limit overflow 3 Subindex error 4 No array 5 Data type error 6 Setting not allowed only rese table 7 Description element not change able 8 reserved 9 reserved 10 Access group error 11 No operation sovereignty 12 password error 13 Text not readable in cyclic data
5. 9LLNI eenjeajenjoy Duuon 80 50 JEA pa 68 7 A PA 91 9LLNI Buluoni sorsa JEA pa 88 7 A BA 91 9LLNI Lonjenjenpy Buluoni gorsa 18 2 mu SINI ubis Buluoni gorsa 98 4 9LLNI anjeAlenjy Buluoni sorsa PAPA JA 68 7 A PA Nu 9LINI yOsHOounsseld Buluoni sorsa sjosidpn TE 7 A BA Nu 9LINI B L Suluon sorsa ses dp 62 7 puog nje AlEm V A EA Md OLLNI jeuBisusonpsued wnwixeyy Buluoni gorsa xew issidp 8 4 AJEA Au OLLNI SINSSOIGWNWIXe Buluoni gorsa xeu s dp 97 4 Md OLLNI jeu is sonpsue4 Buluoni gorsa uliui6issidpn 92 4 9LINI snssaJdunuwlUuN Buluoni sorsa uluusidpn ez 7 mu SINI dAL Buuom g rysd dp nai 22 2 AJEA 91 SLNIN ON OEH NU XE N Suluon sorsa LZ 7 A PA Nu 8LNIN ON 2EH lu Buluoni sorsa B D3AA 02 7 AJEA 91 9LINI TEUVH AMOT BuuiolluoNW Ald NOHES E LLZ 0 Aseuojoip 1201 0 9 ANOPUI M YES IE Jane PUL O UOV 92 20
6. DIGITAL INTERFACE VALVE WITH PROFIBUS INTERFACE User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 WHAT MOVES YOUR WORLD MOO CS Copyright 2007 Moog GmbH Hanns Klemm Stra e 28 71034 B blingen Deutschland Telephone 49 7031 622 0 Fax 49 7031 622 191 E mail sales germany moog com Internet http www moog com Industrial All rights reserved No part of this document may be reproduced in any form print photocopies microfilm or by any other means or edited dupli cated or distributed with electronic systems without our prior written consent Offenders will be held liable for the payment of damages Subject to change without notice We reserve the right to make changes to this document at any time and without specified reasons Table of Contents 1 General Description 2 PROFIBUS state machine 2 1 Status LEDs wa 2 1 1 Module Status LED MS 2 1 2 Network Status LED NS 3 Master slave communication 3 1 Diagnosis EEN RER 3 2 Changing station address 3 3 Parameter 5222 3 4 Configuration telegram 3 5 Global control 3 6 Parameter channel en 4 Store Restore
7. GLA pinij 0 4 40 SNEISONd 24 o suonouni pue si uueJed A PA au Jo uonduosap p lle p 104 uaeuonporp 1201 0 9 7 Literature 7 Literature PROFIBUS DP Profile Fluid Power Technology v1 5 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 76131 Karlsruhe Germany Phone 49 721 96 58 590 Fax 49 721 96 58 589 PROFIBUS_International compuserve com www profibus com Testspecification for PROFIBUS slaves Version 2 0 PROFIBUS Nutzerorganisation e V Haid und Neu Str 7 76131 Karlsruhe Germany Phone 49 721 96 58 590 Fax 49 721 96 58 589 PROFIBUS_International compuserve com www profibus com Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions Version 1 5 VDMA Zentrale Lyoner Strake 18 60528 Frankfurt Germany Telefon 49 69 66 03 0 www vdma org Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 40 MOOG COM INDUSTRIAL For the location nearest you contact moog com industrial globallocator Argentina Australia Austria Brazil China Finland France Germany Hong Kong India Ireland Italy Japan Korea Luxembourg Netherlands Norvvay Russia Singapore South Africa Spain Sweden Switzerland United Kingdom USA 2007 Moog GmbH 54 61 43 55 86 358 33 49 852 91 353 39 81 82 352 31 47 7 65 27
8. JOE UOJEINSSSIHONIEN dwey euegenjeApuewsq Ion UOJEANSSSIHONIEN dwey SsusgenjeAPpuewWeg Ion UOJEANSSSIHONIEN dwey u g njeapueweq Ion 02 8 dwey euegenjeApuewsq Ion UOJEINSSSIHENIEN dwey u g njeapueweq Ion UOJEINSSSIHENIEN dwey euegenjeApuewseq Ion uoo inss id A BA dwey auegenjeApuewsq Ion UOIEINSSSIHONIEN dwey euegenjeApuewsq Ion UOQ nSS LGH A PA dwey euegenjeApuewsq Ion uoo inss id A BA dwey u g njeapueweq Ion UOIEINSSSIHONIEN dwey euegenjeApuewsq Ion UODaINSSalqanje JOJJUODEINSSal gare JOuJUODaINSSalgaje Buyeos auegenjeApuewsq Ion UODaINSSaIganje 22 10 eJ euegenjeApuewseq Ion UOIEINSSSIHONIEN Areuoip p Pafqo 9 80750 80750 8075 80750 8075 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 sodjopduuisid Jid6 ul opduuusid lunun lunun lopdwusud Adsodjoeduuis ud lunun sodjoeduuus ud Jid6 ul oeduuuisid lunun B u oeduusid Jid joeduusid lunun peduus d dAydwus d pdsud junsid sjowapsid Jojwapsuid 6S 89 19 9S GG ys EG 48 LS 09 87 Lv 9 Sv vv ev cv Lv 6 CC CC 142
9. lunun lopdwajds HdsodioEdulilds lunun Hqua Boop 201 901 96 18 98 L9 09 69 8S 19 9S SS ys EG 48 LS L L L L L L L L L L L L L L L L 8 20 01 Z O 4015 00748 0 V0AG SZ2668 Od AIC jenueyy Jesn Hawa Boo o o o o o o SINI 8LNIN 9LLNIN SINI 8LNIN 9LINI SINI 9LINI 0 SINI 8LNIN 9LLNI SINI 8LNIN 9LINI SINI 8LNIN 9LINI SINI 8LNIN egegL 0 SINI 8LNIN YSE9L 0 SINI 8LNIN MI MI NIVINOQG SINI 8LNIN 9LLNIN SINI 9LLNI SINI 9LLNI 8LNI SINI 9LLNI SINI 9LLNI SINI SINIR 9LLNI SINI 9LLNI SINI 9LLNI SINI 8LNIN lqe Idnyoo1 yun oul Aejag XIJ 1d HUN pjoysesy Jomo x li y n adh GIE yun 1 02 yun n gA en ov yun oe yun PlOysauyL GIE yun ap sq x li yun eJ u g njeapuewaq 104 2 11804 BuuiolluowlonuoS Ion UOQUOH SOG A EA E4UOJUONISOJONIEN JO1UOJUONISOdGSAIEA BuuiolluowlonuoS Jon UOQUOINSOJOAJBA ENUOJUONISOJONIEN 0NUOJUONSOHONIEN fuHO UOVyonuo2 jon uoOuol
10. 050 E 8LNIN HUN foquo lnss lcdl AlA 8orsa ned Nu 9LINI wiodes IonuoOo inss iq A BA 80vSd yessud L cc Au 9LINI lqe LdnY007 uonesu AIG Iquuo ds YEZ L dwogaysuspeleyn 10 eJ u g njeapueweq Ion UOQUONISOd MI 9LINI aige LdNY007 uonesu AIG Iquuo ds EEZ L dwogaysuspeleyn 10 eJ u g njeapueweq Ion UOQUONISOg MI 9LINI aige LdNY007 uonesu AIG Iquuo ds CES L uaeuonporp 1201 0 9 dwogaysuspeleyn 10 eJ u g njeapuewaq 104 UOQUONISOd uonesu dwogaysuspeleyn 10 06 20 01 Z O 4015 00738 010 0 922668 Od AIC Gem jenueyy Jesn Hawa Boo 9LLNIN DF 8LNIN 9LLNIN g oy 8LNIN 9LLNIN Or 8LNIN 9LLNIN g Or 8LNIN 9LLNIN g oy 8LNIN 9LLNIN 0 8LNI 0 9LINI 18959 CELNIN MJ MJ MI Md 9LLNIN SINI 9LLNIN SINI 8LNIN 9LLNIN SINI 8LNIN 9LLNIN SINI 8LNIN 9LLNIN SINI 8LNIN 9LLNIN SINI SINI 8LNIN 9LINI ceLNin SAHISO GSW uone KIJO ABEB N U Luonel o q yun XIJ 1d SWL uone yun aul LLONEISIEISA Nal AlISOd uu uolle19 999V nun SONISOHSWILUONEIS SIOY XIJ 1d SrNe oNau uone ay nun ANEB N UI uo e19 909V XIJ 1d hun aul Luolle19 909V dAL XIJ 1d yun ISHO
11. 210 4015 00748 010AG SZ2668 Od AIC SJEMWI jenueyy s s pisv d L d L Joe dAL SANISOFSWILLONEJIEISISA yun SAHISO GSW uone KIJO aM Doku nun uonje XIJ 1d uu LLONEISISISA Yun alu uon e1 9 j 5 q Nal SANISOJOWI uone ay Yun auagen eApueweqg 104 UOQUOH SOG A EA uoe susdwonpuegpeaq 10 eJ auagen jeApueweqg O UOQUOH SOG ALE A uonesu dwogaysuspeleyg 10 eJ auagen jeApuewsq 104 uoOuollISOcJ AJBA ueg u pu d qieuon l q 10 eJ auagen eApuewseg 104 UOQUOH SOG ALEA uleoyu pu d dieuon liq 10 eJ u g njeapuewaq 104 UOQUOH SOG A EA dwey auagen jeApuewed 104 UOQUOH SOG A EA dwey auagen eApuewed 104 UOQUOH SOG A EA dwey susganjey puewWagq 104 UOQUOH SOG A EA dwey susganjey puewWagq 104 UOQUOH SOG A EA dwey auagen jeApuewed 104 UODUOH SOG A EA dwey auagen eApuewed 104 UODUOH SOG A EA dwey susganjey puewWaegq 104 UOQUOH SOG A EA dwey 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 epispqpids dAypqpids dAuu olds poHipids d uIpids Adsodjopdunds lunun 45 Hd uropduuids lunun S uropduuids 6
12. are reserved for the transfer of parameters from master to slave or vice versa The first 4 bytes are used to code the request or the response the next 4 bytes contain the parameter data or in case of an transmission error the error code vvhich is set by the slave Through this channel most of the parameters on the valve can be accessed the only restriction of this mechanism is that the data to be send must consist of maximum four bytes Thus makes it impossible to transfer arrays or look up tables The follovving schematic shovvs a eyclic telegram vvith the 8 additional bytes for the parameter channel com munication The coding for input and output telegram are equal Only the interpretation of the command and value bytes differs betvveen input and output Byte 0 1 2 3 4 5 6 7 8 u PKE IND res PWE eyclic telegram Bit 15 14 13 12 11 10 9 8 7 6 5 4aJ J3 2 1 0 AK res PNU e PKE Parameter signature value e IND Defines the index within the specified slot res Reserved bits or bytes must be zero e PWE Process value e AK Instruction response signature see following coding table e PNU Parameter number slot number of the parameter The complete coding of the parameter channel is conform to the parameter channel which is described in the Fluid Power Technology profile and the ProfiDrive profile V2 0 Commands AK
13. inss id A BA Io uooc inss id A BA 9 Io uooS inss id A BA Io uooS inss id A BA Ionuoo inss id A BA Io uoo inss id A jBA JOUODEINSSal gale Io uoo inss id A BA Io uoo inss id A BA Io uoo inss id A jBA JOUODEINSSal gale JOUODEINSSalqanle A Io uoo inss id A BA Io uoo inss id A BA Io uoo inss id A BA Io uoo inss id A jBA Pafqo 9 AIG AIG AIG AIG ANa NG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG 61suddwo 61suddwo ubisuddwo ubisuddwo upndeiddu upndeiddu u6Bdsiddwo u6Bdsiddwo duus ddwo duus ddwo Ayas ddwo Ayas ddwo Jqds ddwo Jqds ddwo s ds ddwo s ds ddwo an sddwo an sddwo A s ddwo 911 LOL 091 GPL 1441 621 821 ELL LL 16 96 18 08 99 P 87 66 CE 99 99 99 99 99 99 99 99 99 99 99 99 99 99 99 99 99 99 99 amssald an ye an ueIs UoQ lEosIIn INSS Jd SANISOH UEIS UODQ TEOSIIn I OINSSOld SANISOHUEIS 0 9 JNSS ld THHHHHHHHH 691 691 mun Indinoi d 007789126 1 9126 Mur nd 1 9126 ww nd 1 J9 9WEIAUO SIdi pu O 000000 0 SIdi pu O 000000 0 AUI 000000 0 9LLNI 9171 ZELVO14 2617013 261 014 u 7eu
14. n rH ddn d L ney q poyylonuo PJAOMNIOAUOIJIEIOT yNeyaqpsopyjo juogjeso7 Aejaquosamod SIOJOWEIE NEJAQ WaJ0 SOY SIOJOWEIEd WOACS Ayiqedeo vopsjssweu sjoL gsTo loiquue1B l 1 ysEVNZ ABIS gsIN oiquue16B asezas gs Tpalo qweu aje Lanelsziejsey gsnidalosgwebaja LanelszuiejseyN je907 poyyonuoo poyy lA q PJOMSNYEIS DIOMWOIIUOH po2 40412 uonduos q 2 uonduos ql poyy ONIELH S UOISISA 1IPA DIBEH41 1n OEeJnuEe N SWEN OPUSA Jsjoweied MOPUIAASJESIIPd AJBA Buvoyuopy MOPUIMSJESIE Jane ao naq d Soe JOUOYUONISOGSNJEAN Io uoo inss id A BA weIs S 9 8 SISEWEJIEAS10IS Sue Old Old Old Old Old so naq mad aq mad mad Old Ile mad mad mad amagd amag Old UIEN 0018 Areuoip p Pafqo 9 AIG AIG AIG AIG AIG AIG AIG AIG AIG 10650 10650 80750 AIG AIG AIG AIG AIG 80750 80750 80750 80750 80750 AIG 80750 80750 80750 80750 10650 80750 AIG 80750 uon p No ds ddnjes e dAyes ej q ppoumo oolh q p olno dedids Jeds d A p md Jedjs Jedojs deoA p 0 wudwgsosd Idysgwosd uidisz
15. 01 Z O 4015 00738 010 0 922668 Od AIC Gem jenueyy Jesn Hawa Boo 18959 12 33 9LLNIN oy 8LNIN 9LLNIN Or 8LNIN 9LLNIN SINI 8LNIN 9LINI CELNIN SLNI 8LNIN mure ddn g9 7E SINI SINIn 1 9126 HWT 1 MOT SINI 8LNIN 9LINI SINI 8LNIN 9LINI Md MJ MJ Md MI 9LLNIN SINI 9LLNIN SINI 8LNIN 9LLNIN 8LNI SINI 9LLNI ce LNin SINI 8LNIN 9LLNI SINI 9LLNI SINI 9LLNI SINI 9LLNI SAHISO GSU LUONEIS SIIY KIJO yun ANEB N UIH uollB19 909V XIJ 1d SW 22 Hun aul uolle19 999V adAL GIE yun 18sHO Joe yun yuramoT xUJ 1d yun yuru ddN xUJ 1d yun UIOHIOSPIOH HUN anjeAsousiajoy euegenjeApuewsq Ion UOQUOH SOG A EA dwey euegenjeApuewseq Ion UOQUOH SOG A EA dwey euegenjeApueweq Ion UOQUOHISOG A EA dwey susgeanjeApueWeq Ion uoOuol ISOcJ A jBA dwey euegenjeApuewsq Ion UOQUOH SOG A EA dwey SusgenjeApuewWseq Ion UOOUOH SOG ALEA 103UODUOH SOG A E A JO4JUODUONISO Gare 2 euegenjeApuewseq Ion UOQUOH SOG A EA bulleoS 10 eJ euegenjeApuewsq Ion UOQUOH SOG A EA 1042UODUOH SOG A E
16. 34 46 41 44 1 User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 All rights reserved Subject to change without notice 11 4326 5916 3 9561 6044 664 144 6580 11 5523 8011 21 2893 1600 9 2517 2730 1 4560 7000 7031 622 0 2 635 3200 80 4120 8799 21 451 9000 332 42111 463 55 3615 31 764 6711 40 46 401 252 462 000 224 32927 8 31713 1811 6773 6238 12 653 6768 902 133 240 31 680 060 71 394 5010 168 429 6600 716 652 2000 VVHAT MOVES YOUR VVORLD info argentina 0moog com info australia moog com info austria moog com info brazil moog com info china moog com info finland moog com info france moog com info germany moog com info hongkong moog com info india moog com info ireland moog com info italy moog com info japan moog com info korea moog com info luxembourg moog com info netherlandst0moog com info norvvaydomoog com info russia moog com info singapore moog com info southafrica moog com info spain moog com info sweden moog com info switzerland moog com info unitedkingdom moog com info usa moog com
17. 3400 3410 Internal voltage Power supply voltage 3411 Power supply voltage too high 3412 Power supply voltage too low 3420 Control voltage 3421 Control voltage too high 3422 Control voltage too low Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 3 Master slave communication 40xx Temperature 41xx Ambient Temperature 4110 Ambient temperature too high 4120 Ambient temperature too low 42xx Device Temperature 4210 Temperature of electronic compo nents 4211 Temperature of electronic components too high 4212 Temperature of electronic components too lovv 4220 Temperature of hydraulic compo nents 4221 Temperature of hydraulic components too high 4222 Temperature of hydraulic components too lovv 50xx Device Hardvvare 5100 Hardware power supply 5110 Internal power supply er ror 5200 Device control 5210 Measurement circuits 5211 Pressure 5212 internal LVDT 5213 X1 Analog In 0 5214 X1 Analog In 1 5215 X5 Analog In 2 5216 X6 Analog In 3 5217 X7 Analog In 4 5218 X8 external LVDT 5220 Microprocessor core 5230 Sensors 5231 Pressure 5232 Encoder SSl Local CAN 5233 X1 Analog In 0 5234 X1 Analog In 1 5235 Kb Analog In 2 52
18. Freeze req Sync req Unlock req Lock req Byte 2 Bit 7 6 5 4 VVD Fact 1 WD Fact 2 MinTSDR Byte 5 Bit 7 16 514 ident number high byte Byte 6 Bit sls 4 ident number lovv byte Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 14 Byte 7 Bit Byte 8 Bit Byte 9 Bit 3 4 Configuration telegram Group Ident Dis Start Control Dis Stop Control VVD Base reserved reserved Publisher Enable Fail Safe DPV1 enable Chk Config mode reserved Enable Update Alarm Enable Status Alarm Enable Manufacturer Specific Alarm Enable Diagnostic Alarm Enable Process Alarm Enable Pull Plug Alarm 3 Master slave communication After the parameterization the master sends a configuration telegram to the slave The slave checks the con figuration of the master with its own and confirms or rejects the telegram In one byte of the data unit of the telegram up to 16 bytes or words can be described The signature of configuration which use the parameter channel contains the configuration byte OxF3 simultaneous in and out data 4 words full length consis tency Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 15 3 Master slave communication All bytes of the configuration telegram have the following c
19. cc cc cc 142 cc CC CC CC CC CC CC CC CC 142 cc ce cc 142 921 9602 921 Wa o gU 8LNIN 8LNIN 8LNIN 901 CELNIN CELNIN CELNIN CELNIN CELNIN CELNIN 0 1770 8LNIN 8LNIN 8LNIN 0 00000210 9271 SINI 8LNIN 9LLNIN 8LNI 9LINI SINI 8LNIN 9LINI 0 SINI 8LNIN 9LLNI 8LNI 8LNIN 9LINI Or 8LNIN gt gt gt gt gt i Le 20 0 Z O UOISIEA 00748 010AQ SZZ668 Od AIG enuen s si Hawa Boo Mu QINI SUE AlJ9V1 o JuoS nss iq Jo uoo inss id A BA y s ddwo Zi 99 MI 8 NIN d 18 0 11UOJSUNsSald Jo luoS inss id A BA dAjsiddwo 91 99 MI SLNIN ad 19 0 11UOJSUNsSald OJUO DINSSA AEA dAjsuddwa L 99 91 8LNIN ueJ65 l llonuoOieqolS9SngldOtIid Old AIG 10601d ve v9 91 8LNIA JanUusp spoNlenloySngisOud Old AIG pipououd EE v9 MI ZELNIN uono Si l uie1eq euBis Old 1806150 ee 79 MI ZELNIN uono Si l uieij1eq euBis Old 1606150 11 79 CELNIN JequinNleuas yalqoAyuep AIG qo pi 91 v9 91 CELNIN JoqWNNUO SIASY p lqo inu pi AIG qo pi SL v9 91 CELNIN 1o qOANu pi Alq qo pi rL v9 91 ZELNIN DUODUaN lqo inu pi AIG oan EL v9 91 8LNIN POVMLAcIQ Old AIG pow Adpoid 21 v9 01 9LININ snes q OdA Old AIG s soda LL v9 Nu 8 LNIN Old Ala uyouudoud OL 9 Ol SLNIN s guue1u6 uol
20. communication 1 By sending the Set Slave Add telegram to the slave The 4 data bytes of the telegram contain the new address the identifier number and the flag whether the station address can be changed again The identi fier number of our digital interface valves is 0 07 4 The no address change flag is cleared after a new boot up of the valve Bit TI615141312171 0 nevv address Bit ident number lovv byte ident number high byte 0x00 address change allowed 0x01 no address change allowed 2 By writing on the PROFIBUS module identifier parameter The difference is that by using the Set Slave Add telegram the ID is changed immediately VVhen changing the value of the module identifier e g over the parameter channel or via the service interface the new sta tion address must then be saved through the store restore routines and is used on the next boot up of the valve Slot ndex Name Data Type Access 1 Persis Value Default tence Range 64 0 PROFIBUS module ID UINT08 rw Y 1 126 1126 The node ID which can be read out through the service connector or over the PROFIBUS gives back the ac tual mode ID of the valve If the module ID id changed over the PROFIBUS telegram
21. load RestoreDefaultParameters function is called all other values are rejected Table 10 Restore When the RestoreDefaultParameters function is started the configuration of the valve is reset to the factory default values The new parameters are automatically stored in the internal nonvolatile memory of the valve Because also the communication configuration of the valve is restored the valve performs a restart of the application program to relnitialize the communication interface Therefore the RestoreDefaultParameters request is not acknowledged by the valve because the communication configuration is changed immedi ately The valve automatically restarts the PROFIBUS state machine and waits for the new parameterization and configuration from the master A RestoreDefaultParameters may only be performed in a save machine state because all configura e tion changes like communication parameters or controller adiustments are set back to factory default 5 PROFIBUS hardware and cabling 5 1 Complied hardware standards The PROFIBUS Interface Hardware is successfully tested according testspecification for PROFIBUS slaves Version 2 0 ofthe PNO Order No 2 032 Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 21 5 PROFIBUS hardware and cabling 5 2 Cabling of PROFIBUS Slaves The use of 2 wire PROFIBUS cables is recommended to prevent parallel connection of the power suppl
22. too low 8 internal supply voltage too high 9 internal reference voltage too low 10 internal reference voltage too high 11 internal current too low 12 internal current too high 13 electronics temperature too low amp lt 20degC 14 electronics temperature too high gt 85degC 15 electronics temperature exceeded gt 105degC 16 current sensor circuit failure 17 pilot single stage Ivdt cable break 18 pilot single stage Ivdt position out of range 19 pilot single stage Ivdt circuit failure 20 main stage Ivdt cable break 21 main stage Ivdt position out of range 22 main stage Ivdt circuit failure 23 internal pressure transducer cable break 24 internal pressure transducer circuit failure 25 internal pressure transducer peak 26 analog input 0 d cable break 27 analog input 1 d cable break 28 analog input 2 d cable break 29 analog input 3 d cable break 30 analog input 4 d cable break 31 analog input 0 d current too low 4 20mA 32 analog input 1 d current too low 4 20mA 33 analog input 2 d current too low 4 20mA 34 analog input 3 d current too low 4 20mA 35 analog input Ad current too low 4 20mA 36 analog input 0 d circuit failure 37 analog input 1 d circuit failure 38 analog input 2 d circuit failure 39 analog input 3 d circuit failure 40 analog input 4 d circuit failure 41 encoder channel a cable break 42 encoder channel b cable break 43 encoder channel z cable break 44 ssi error 45 povve
23. 36 X6 Analog In 3 5237 X7 Analog In 4 5238 X8 external LVDT 5300 Local input device 5400 Power electronics 5410 driver 5500 Data memory 5510 RAM 5520 EPROM 5530 EEPROM 60xx Device Software 6010 Software reset VVatchdog 61xx Internal Software 6101 Error Handler 6102 Interrupt Time Exceeded 6103 Task Time Exceeded 6104 Out Of Memory 62xx User Software 6201 Event Handler 63xx Data Set 6310 Parameter loss 6311 Node Identifier Data 6312 User Data 6313 Restore Data 6314 Factory Data 6315 Calibration Data Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 9 3 Master slave communication 6316 Diagnosis Data 6320 Parameter error 70xx Additional Modules 7300 Sensor 7310 Pressure sensor 80xx Monitoring 8100 Communication 8101 local CAN Communica tion 8102 CAN Overrun Objects lost 8103 local CAN Overrun Ob jects lost 8104 CAN in Error Passive Mode 8105 local CAN in Error Pas sive Mode 8106 Life Guard Error or Heartbeat Error 8107 CAN recovered from bus off 8108 local CAN recovered from bus off 8109 CAN transmit COB ID collision 810A local CAN Transmit COB ID collision 820B Protocol Error 820C PDO not processed due to length error 820D PDO length exceeded 8209 local RPDO1 time out 820A local RPDO2 time o
24. 6uiddelNopd sweled uiddewopd4 WsuelL ZELNIN A ZELNIN p ddeyy qo lqouo NVOlE 07 AIG deuunpdool vL Z neoliddyuyy u Lioq6uiddelNopd 18 sweled uiddeyyopd4 WsueuL 9LLNIN A Au 9LLNIA Jaw USA Opdiiwisuel Uy NVOIE9071 Aq wypdoo Z Z 9LLNIA A Au 9LLNIA Jaw ua Opdiwisuel pig NVOIE907 Aq wiajpdoo cL Z 9LLNIA A MI 9LININ J w Uda Opd itusued puz NVOIE907 Aq uumpdool WA 61 9LLNIN A MI 9LININ JW JUAJ 6 118 NVOIE901 NG 02 Z 9LLNIA A Au 9LLNIA SUL GIy opdluusue 1lLulr NVOIE9071 Ala uunpd ool 69 Z 9LLNIN A Au 9LLNIA uqiuu OPAyiwisued pg NVOIE907 Aq yunpdoo 89 Z 9LLNIA A MI 9LININ NVOlEPoo71 AIG uunpdool 29 el 9LLNIA A Au 9LLNIA opdluusueills NVOlEo071 NG uunpdool 99 Z SININ A Nu 8LNIN adi Luolssitusueu sein ueg E907 upulumpdool 99 EI pejnuewopquWwsueJ LNVOIe5o1ulp SININ A Nu 8LNIN ed Luolssitusueu sein ueg 18207 Nd upulumpdool r9 EI D I EINOD HILUSUELLNVOISOOTIDIE adA Luolssiuusueiu Lan Aueuopip eloo 9 86 20 01 Z O 4018 00738 0 0 0 922668 Od AIG sa enuen s s Hawa Boo 0 9LINI N MA 9LINI 19sJoBUNEISIEWOISNZ LAATIEUJSYXZ 79691 9LLNI N mu 9LINI 10 LAATIEUJSYXZ BUIWOUSALOPE dBulle5SSi uuolsno 79691 9LLNI N MA OLINL oljei9uiNiojoe BuijeosSi uuol snO 1GATreusojx3 9LINI 9LLNI enjenjenpYy LAMI wapi 70 A MI SLNIN UEUNIBUNOHUOyN Y ndujan ojeuy GIN A MJ SLNI d jind
25. 8LNI 2 9226 HWT 18M07 8LNI 9LINI 8LNI 8LNIN 194166 0 81 8LNIN 9LINI SINI 8LNIN 9LINI 9LINI 9LINI 9LINI 62 20 01 Z O 4015 00748 010AQ SZZ668 Od AIG Jost Hawa Booyy ol 8INI xyald JOJUDDEINSSo1qaAje 80rsd 050 86 8LNIN HUN foquoQ lnss ldl AlBA 80 50 lunsud 16 mu 9LINI Mud H AO 1 yu Joye 80790 NOluul sid 96 susgeanjeApuewWeq Ion uooS inss id A BA ol 81NI lonuoo lnss ld Ale A 80vSd udsud 96 8LNIN HUN LOANUOTEINSSAIIANIEN 80rsa lunsud ve Mu 9LLNI murueddn MUT Joye g0rsa ddnu sad ge 22 euegenjeApuewseq Ion uooS 1nss id A BA ol 81NI x zi lonuoo lnss ld Al A g0rsa 050 d 8LNIN h n LONUOTZSINSSAUIAANIEN 80vsd ned LE mu 9LINI y l dl SploH 8079 p yjoss d 06 cc euegenjeApuewsq Ion UOIEINSSSIHONIEN SINI XYaJd lonuo lnss ld AlEA 80rsd 050 62 91 8LNIN yun 8079 lunjsus d 82 euegen jeApuewsq Ion UOJEINSSSIHONIEN Nu OLLNI Joye sorsa Jousid 12 22 u g njeapueweq Ion 0 88 SINI lonuoo lnss ld AlEA 80rsd Jidsud 97 8LNIN HUN LONUOTEINSSSIIONIEN 80rsd ned 92 91 9LLNI puewsd 80 90 weps ud yc euegenjeApuewseq Ion 02 8 81NI lonuo lnss ld AlEA 80rsd
26. A o uoOuonisod AjBA yu Joye euegenjeApuewsq Ion UOQUOH SOG A EA 102UODUOH SOG A EA JO4JUODUONISO deN eA yur Joye auegenjeApuewsq Ion UOQUOH SOG A EA 102UOOUOH SOG A EA JO4JUODUONISO gare euegenjeApuewsq Ion UOOUOH SOG ALEA 103UOOUOH SOG A EA JO4JUODUONISO Jaba euegenjeApuewseq Ion UOOUOH SOG ALEA Areuoip p Pafqo 9 80750 80750 80750 80750 8075 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 sodjoeduuds ud uroeduuids lunun S uroeduuids Hdioeduuids lunun pedwuds 45 1005 lunids sJjouu pids 45 Hdids lunids mojwijids Hdids lunids ddnuulids Hdids lunids pluy sids Hdids lunids joujds 09 8y Lv 9 Sv vv ev cv Lv Ov 6 86 26 96 GE ve 66 CE Le Wa 67 8 22 L L L L L L L L L L L L L L L L L L L L L L L L YSE9L 0 170 18959 CELNIN 70 g oy 8LNIN 9LLNIN g gp 8LNIN 9LLNIN g oy 8LNIN 9LLNIN g oy 8LNIN Z MI Au ueuonporp eloo 9 9LLNI SINI SINI ceLNin 8LNIN SINI 8LNIN 9LLNIN SINI 8LNIN 9LLNIN SINI 9LLNIN SINI 8LNIN 20 01
27. Cfg and Slave Dag telegrams All other telegrams are ignored WAIT_CFG The configuration telegram defines the number of input and output bytes The master transmits the IO configuration to the valve After receiving the Chc_Cfg telegram the valve compares the configu ration with its own configuration If the configuration is acknowledged the valve confirms the configu ration by setting the corresponding bit in the diagnosis state and enters automatically the DATA EXCH state and starts the cyclic communication with the master DATA_EXCH If both Chk_Cfg and Set_Prm are confirmed positive the valve goes into DATA_EXCH state and starts exchanging cyclic data with the master Start up routine The ideal start up sequence for the before described telegrams is request diagnosis changing station address if necessary setting parameterization checking configuration request diagnosis to check the preceeding commands data exchange D DP oO N In parallel diagnosis requests reparameterizations reconfigurations and global control telegrams are ac cepted and processed by the valve 2 1 Status LEDs The valve s operating mode and the network status are displayed on multicolor light emitting diodes status display LEDs on the electronics housing 2 1 1 Module Status LED MS The Module Status LED displays operational and error states Module status LED MS Condition Off No supply voltage Green nor
28. INI 9LLNI Aq league L r 870 mu 8LNIN opqu spelgouoyesuddypeddeyy NVOlE o7 Na wnudeunpdsoj 601 6 Jolsqwnn BuiddeIopdilussueu lulr 870 Nu 8LNIN opqu spelgouoyesuddypeddeyy NVOIIE907 Na uinudeunpdool 801 Z Jolsqwnn BuiddeyopqyuWwsuel pig 870 A mu SLNIN OPduspelgouoyesuddypeddeyy 2 Na wnudew pdoo 201 6 o squ nn Buiddeyjopd iwusues puz 870 A Nu 8LNIN opqu spelgouoyesuddypeddeyy NVOIIE907 Na wnudew pdoo 904 6 Jolsqwnn 6 1115 ZELNIN A MA ZELNIN peddeyysgo Lpelqouo NVOlE or Ald dewypdoo GOL 6 neollddyuyy u Lioq6uiddelNopd 18 sweled uiddeyyop4 WsueuL ZELNIN A Nu ZELNIN p ddeyy go n lqouo NVvole907 AIG deuupdool 86 6 neolddyuyy u 14o 5uiddeyyopel s sweled uiddeyyopd4 Wsueu ZELNIN A MU ZELNIN p ddeyy go LPalgouo NVOlE 07 AIG 2 16 Z neornddvu u 14o i5ulddeyyopel s aweie 4bulddeyjopdyiwsues ZELNIN A Md ZELNIN p ddeyy go i lqouo NVOlE 07 AIG deuupdool 06 6 neolddyuyy u 140 15ulddeyyopci 49 aweied4bulddeyopd iwsues ZELNIN A MU ZELNIN p ddeyy gon lqouo Nvole907 AIG deu npdoo 68 Z neornddyu N q 1o i5ulddeyyopel s aweie 4bulddeyopg iwsues ZELNIN A MA ZELNIN peddeyysgo Lpelqouo NVOlE o7 Ald deunpdool 28 Z neorddvyu N u 14o 15ulddeyyopel s sweied uiddeyyop4 WsueuL ZELNIN A Md ZELNIN peddeyysgo Lpalqouo NVOlE o7 Ald deunpdool 18 6 neollddyu N u Lioq
29. ISOq AJEA BuliolluoWiojnuooS Ion UODUOIISO gaA e JOUODQUOHISOgaAe A JOUODUOHISO dA eA ENUOJULONSOHJONIEN ENULOJUONISOJONIEN JO UODUOHISO gare JOJUOQUOINISOGaA e A JO UODUOHISOGSAe A JOUODUOHISO dA eA 2 auagen eApuewed 104 uoOuollISOq AJEA E4UOJUONISOJONIEN 04UOJUONISOHONIEN uoe su duioopueqpe d 10 eJ u g njeapuewaq 104 uoOuollIsOq AJEA E4UOJUONISOJOAIEN 04UOEJUONISOHONIEN uoe susdwonpuegpeaq 10 eJ auagen eApuewed 104 UOYUONSOHOAEN ENULOJUONISOJONIEN 04UOJUONISOHONIEN uoe susdwonpuegpeaq 10 eJ Areuoip p Pafqo 9 AIG 80750 80750 80750 80750 80750 8075 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 80750 IqHuo ds Hdun lunun wnuowjds Hdids lunids Mojuowjds Hdids lunids ddnuowjds dAjuowjds Hdids lunids 5 1005 lunids IEAIdS Hdids lunids Jooo z ds Hdids lunids sapqp ds Hdids lunids qp spqp ds Hdids lunids LEZ 691 891 251 991 SSL yol 891 491 LSL 091 07 Lvl 9 GPL 1441 DCL 621 821 SLL YLL ELL LLL OLL 601 801 L L L L L L L L L L L L L L L L L L L L L L L L L L L L 0 0 v8E9L 81 007 o 91NI SLNIN yuma ddn g9 7E
30. NIEN 91 8LNIN Yun S 80rsa lunun 09 cc aeuonporp eloo 9 dwey euegenjeApuewsq Ion CE 20 01 Z O 4015 00748 0 V0AG SZ2668 Od AIG jenueyy Jesn Hawa Boo ceELVO ls ceELVO ls UI x GEES u oolinN ns S 1d Au x ZEHNUEIS u oolinN ns S 1d Au ZEHNUEIS u oolinN ns S ld Aul x ZELS u oolinN ns S ld Aul x GEES u oolinN ns S 1d AUI Ceuejs u oolinN ns S ld 9LINIn 9LINIn c t1VO14 c t1VO14 9LLNI 9LLNI 9LLNI 9LLNI vo vo gt gt gt gt gt gt gt gt gt gt gt gt 222 Md Md MI Eee S Md celLvOls 1VO 14 1VYO14 1YO14 1VO14 1VO 14 1VO 14 CELVOT4 9LLNIN 9LLNIN 1VO 14 1VO 14 9LLNI 9LLNI 9LLNI 9LLNI 8LNI 8LNI 8LNI Jope 410 e169 U Jope 410 e169 U Jue suoo uuilu eojeuolniodoucd Jue suoOo uuilu eojeuoniodouc ulegjeuo uodold uegjeuomodosd adojsduey adojsdwey uoedeQanesp H AoedeoolineipAH aInssa1daduasIa9jaH aInssa1dgaduasIa9jaH anssa1dwuasAs anssa1dwuasAs geayadej 1 u u o9npsue1 a 01Uu09a1Nnssa1d gE ly oe 1 u u o npsue1 Ll Monuo snss l i asejajujanp SUBI 95 OJUO D INSS IA AeA OJUO DINSSA AeA Io uooS
31. Par chn Status vvord Spool Value 4 valves Q Out OxE1 0xD1 2 words output Control word 2 words input Spool Setpoint In Status word Spool Value 5 valves p Q par chn Out OxF3 0xE2 0xD2 4 words input output Par Chn 3 words output Control word 3 words input Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 16 3 Master slave communication Spool Setpoint Pressure Setpoint In Par chn Status word Spool Value Pressure Value 6 valves p Q Out 0 2 0 2 3 words output Control Word 3 words input Spool Setpoint Pressure Setpoint In Status Word Spool Value Pressure Value 100 valves p par chn Out OxF3 0xE1 0xD1 4 vvords input output Par Chn 2 vvords output Control vvord 2 vvords input Spool Setpoint Pressure Setpoint n Par chn Status vvord Spool Value Pressure value 101 valves p Out OxE1 0xD1 2 words output Control word 2 words input Pressure Setpoint In Status word Pressure Value Table 5 Telegram Description Telegram number 3 is the factory default configuration When the user defined telegram is used the valve automatically calculates the needed PROFIBUS configu ration while the telegrams are put together The number of configuration bytes and the configuration bytes can read out from the valve After changing the parameter Telegram Selection the valve automatically cal culates the new con
32. UIE O O Enu Hiq Jo uoo inss iq A BA NIG u ps ddwo 807 99 Nu ZE LVOT14 uleoi1o enu i Jjiq Jon uoo inss iq A BA NIG uBpsiddwo 261 99 Nu OLLNI Jon uoo inss iq A BA Ald Joisidduwo 261 99 Nu OLLNI 2 9 Ald Joisiddwwo 111 99 uaeuonprp eloo 9 ye 20 01 Z O UOISIJA 00748 0 V0AG SZ2668 Od AIC SEW jenueyy JSN Hawa Boo SINI 8LNIN 8LNIN 1210 CELNIN CELNI CELNI Ee 270 2826661991 CELNIN 170 CELNIN 00886 6991 ceLNin 0181860291 ceLNin c6LOLOLOOL ceLNin CECE66L OIL CELNIN 8LNIN 8LNIN 8 02 78 9 L S SS9 L en 0 2817013 2817013 281701 2817013 2817013 2817013 2817013 281701 h r anyeBonjueys IndinQued UOQ lEosiln 0 7789 22 Z gt gt gt gt gt gt gt gt gt gt Z Z22222222 222222 i BELL e z Pe e Md MJ MJ Md Md MJ MJ Md Nu SINI 8LNIN 8LNIN ONIALS ONIALS ONIALS ONIALS ONIALS ONIALS ONIALS ONIALS SINI ceLNin CELNI CELNI 8LNIN 8LNIN ceLNin 8LNIN ceLNin ceLNin ceLNin ceLNin ZELNIN 8LNIN 8LNIN 8LNIN 8LNIN CELNI 9LLNIN 8LNIN 1VO 14 1VO 14 1VO 14 1VO 14 1VO 14 1VO 14 1VO 14 1VO 14 843931NI lqeuq lqeuq Z uolss idxg 9 uolss idxg S uolss idxg y u
33. ber high byte ident number lovv byte Byte 7 Bit header byte Byte 8 15 Byte extended diagnosis data 15 14 12 11 10 Error Register Error Time 0 MSB Error Time 1 Error Time 2 Error Time 3 LSB 3 Master slave communication Length of extended diagnosis data including format Device Profile Error Code MSB Device Profile Error Code LSB Vendor Specific Error Code The meaning of the Device Profile Error Code as well as the Vendor Specific Error Code are described in the following tables The Error Time refers to the boot up time of the valve t is measured in minutes When the error is corrected the valve acknowledges the new state with a cleared diagnosis telegram Table of device profile error Codes Profile Error Code Description 10xx Generic Error 20xx Current 21xx Current device input side 2110 22xx nput Current too high Current inside the device 2211 Internal current 1 2212 Internal current 2 23xx Current device output side 30xx 31xx Voltage Mains Voltage 3110 32xx Voltage inside the device nput voltage out of range 3210 nternal voltage too high 3220 nternal voltage too lovv 33xx Output Voltage
34. capable of detecting the PROFIBUS baudrate set by the master automatically When the electronic is in Baud Search state it can not accept any message The electronic is searching for the transmission rate of the bus on different baudrates trying to detect a correct SD1 SD2 or SD3 telegram After identifying a baudrate the controller switches to Baud Control state Baud Control The detected baudrate is constantly monitored in the Baud_Control state Each error free detected telegram to its own station address resets the internal watchdog The watchdog timer can be set by the user via the parameter telegram TWD 1 ms or 1 ms WD FACT 1 WD FACT 2 see byte 7 of the Set Prm telegram If the watchdog expires the valve falls back to the Baud Search state and starts searching the bad rate again A watchdog time between 2 ms and 650 s independent of the baudrate can be im plemented by using the vvatchdog factors Only in Povver On state the slave accepts a Set Slave Address telegram Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 4 2 PROFIBUS state machine DP_CONTROL WAIT_PRM After the startup phase the slave expects a parameter telegram which defines the behaviour of the slave The parameter telegram contains for example information about the ident number the sync freeze capability master address and watchdog time In the state VVAIT PRM the slave also accepts and responds to Get
35. ejs u o linN sns S 1d u U zegluejs u o linN sns S 1d u 7 7264 8 u o linN sns S 1d U 7eduejs u o linN sns S 1d 1912E0 1912E0 EE 20 0 Z O uolsi8A 00748 010AQ SZZ668 Od AIG SIE enuen s si Hawa Boo Nu OLLNI JYluurqindinOijSAo1 mojsiddwo 08 19 Nu OLLNI WurmndynQJemoT 041LOIEAINSSSIYENIEN mojs ddwo s9 19 OLLNI yw mnd noJsddn 9 Ald ddns ddwo 79 19 MI OLLNI yw mnd noJsddn JolJuooS inss id A PA ddns ddwo 6r 19 MI ceLvOld 1 8 AIG 092 99 Nu ZELVOT14 Vaa We posa pu 101UOQ nSS LH A B A NIG 6 2 99 ZE LVO14 d y ulpiquo sicH pul142 jonuoo inss id A BA Ald ysdoujduwo giz 99 Ol OLLNI jndyno eljo 4u0D JOJUODaINSSalgaje jnos ddwo 12 99 Nu SLNIN Jsqunnlesispweuegden oy jonuoS inss id A BA uunujessid 972 99 01 ZE DO Yegleltueleyig JOMUODSINSSOIGaAle AIG Lipsuddwo eve 99 Ol Ze UINOH Jo uooS nss iq A BA Ald oudsuddwo 22 99 Ze UNO yeqoyei69 u Jo uoo inss iq A BA Ald yu s ddwo LES 99 MI CELVOT4 Lioyenusseyiq JOMJUDHSINSSOIGaAle AIG 99 Nu 2817013 4 0 88 AIG 922 99 Nu ZELVOT14
36. eunBjuoD Old Ald o16jo01d 6 v9 01 SLNIN s guue16 uonein6Juoo Old Ald o16yooud 79 8 NIN ul5u T uonein6Juoo Old Ald z r9 91 CELNIN SIEINASNAIJOUI Old AIG L v9 mu 8LNIN JeyNuop eInPOWSNAIJOUI Old AIG apipowoj 0 v9 01 SINI XO 80790 Hdun 691 cc 8LNIN Yun 80vSd lunun 891 cc Nu BuuoluoWlionuoO 101 8079 wiuowsud 2181 cc uoo inss id A BA 91 8LNI XU 1d IoJJuoO Inss iq A eA g0rsa Hdsid 991 cc 91 8LNIN Yun JOMUDDSINSSAIGaAle 80vSd lunsad SSL cc Nu 9LINI p oysay emo uHoluoyylonuo on 80rsa mojuows ud YSL cc uoo inss id A BA 91 81NI XUJ 1d loJJuoO Inss iq A eA g0rsa Hdsid EGL cc 01 8LNIN Yun JOMUDDSINSSOIGaAle 80vSd lunsad 281 cc mu 9LINI SuHoluoyylonuo on sorsa ddnuowsud LSL 22 02 88 MU 8INI BuuolnuoWlonuoO on gorsa dAyuows d 091 22 UOQ snSS LH A A 91 81NI KIJald lonuoQ lnss ld AlBA 80rvSd dsd DFL cc 8LNIN Yun JOMUDDSINSSBIGaAle 80vSd lunsad 871 cc 91 9LLNI uoyelA qlonuoo ONUOJSANSSSIISAIEN 80vSd uapposud Lvl cc 91 81NI KU IOJJUOJHNSSHHIANBA 80rsa dsd 9 cc 01 8LNIA Yun IOJJuoO Inss 1q A eA 80rsa lunsad StL cc 9LLNI anjealenoy lonuoQ nss ld AlEA 80rsa leasud tyl cc Nu GIN XIJ 1d 8 dwey 80 0 19 22 u g njeapueweq Ion UOIEINSSSIHO
37. figuration which will be active after the next boot up To find out which configuration has been calculated the number of relevant configuration bytes can be read out from the parameter PROFIBUS cofiguration length The GSD file which is delivered with the valve already contains the configurations for the standard telegrams Slot Index Name Data Type Access Persis Value Default tence Range 64 2 PROFIBUS configuration length UINTO8 ro Y UINT08 After reading out the number of configuration bytes the coding of this bytes can be looked up in the parame ters which define the input or output configuration Slot Index Name Data Type Access Persis Value Default tence Range 64 3 9 PROFIBUS input output configuration UINTO8 rw N UINTO8 User defined Telegram If a user defined telegram is used the standard signals described in the profile can be used If other parame ters shall be transmitted cyclically over the PROFIBUS they have to be named in the following parameters Slot Index Name Data Type Access Persis Value Default tence Range 64 17 32 PROFIBUS signal parameter 1 16 INT32 rw N INT32 0 Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 17 3 Master slave communication By assigning the parameters to the PROFIBUS signal parameters 1 16 they are automatically assigned to the s
38. ies for the terminating resistors The IEC 61158 specifies two kind of bus cables Type B is no more up to date and should not be used any more Parameter Cable Type A Characteristic wave impedanc e 0 135 165 bei 3 20 MHz Mutual capacitance pF m lt 30 Loop resistance km 110 VVire diameter mm x 0 64 VVire cross section mm x 0 34 Table 11 PROFIBUS cable Characteristics 5 3 Advice according Baude rates At bitrates higher than 1500 kbit s no stubs should be used f the stubs are necessary no termination resis tors may be placed in this circuits Cable stubs up to 1500 kbit s should be in sum smaller than 6 6 m Cable lengths for different bitrates Supported bitrates kBit s Maximum cable length m 9 6 1200 19 2 1200 45 45 1200 93 75 1200 187 5 1200 500 400 1500 200 3000 100 6000 100 12000 100 Table 12 Bitrate Cable length 5 4 PROFIBUS connectors The valve is equipped with two M12 male female 5 pole PROFIBUS connectors B coded according to the IEC 61076 2 101 X3 male X4 female 4 3 3 4 Pin Signal X3 X4 1 Profi V Supply voltage for termination resistors 2 Profi A Rx Tx data 3 Profi GND supply voltage ground 4 Profi B Rx Tx data 5 Shield cable shield Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 22 6 Object dictionar
39. ignal 240 255 These Signals can novv be assigned to the profile conform parameters vvhich define the eyclic telegram Master to Slave Telegram Project MSB This parameter can contain up to four signal numbers vvhich stand for the parameters vvhich are transmitted from the master to the slave Slot ndex Name Data Type Access 1 Persis Value Default tence Range 0 42 Master to Slave Telegram Project MSB INT32 rw N INT32 0 Master to Slave Telegram Project LSB This parameter can contain up to four signal numbers which stand for the parameters which are transmitted from the master to the slave Slot Index Name Data Type Access Persis 1 Value Default tence Range 0 43 Master to Slave Telegram Project LSB INT32 rw N INT32 0 Slave to Master Telegram Project MSB This parameter can contain up to four signal numbers which stand for the parameters which are transmitted from the slave to the master Slot Index Name Data Type Access Persis Value Default tence Range 0 44 Slave to Master Telegram Project MSB INT32 rw N INT32 0 Slave to Master Telegram Project LSB This parameter can contain up to four signal numbers which stand for the parameters which are transmitted from the slave to the master Slot Index Name Data Type Access Persis Value Default tence Range 0 45 Slave to Master Telegram P
40. l 4 6 121 1271 A Mu 8LNIN JOyNUSPISINPOY ueg e007 Na pipouuoo L 6 ZELNIN 01 ZELNIN eyeqoysoubeq alem AIG wudo 92 u PIeH ZELNIN 91 ZELNIN ByeqoysouBbelq alem Ald wijido yc 22 9LLNI 91 9LINI aInjesadwajdgod eyeqoysoubeiq alem Ald dunq d z 22 PIeH 9LLNIN 9LLNIN a eyonAlddnsismog ejeqonsouBbeiq asem dns md LL ZL PIeH 9LLNIN 9LLNIN e eyonAlddnsndg eEyeqonsou5elq alem AIG dnsndo OL 22 PIeH 92 0 A 8LNIN apoojas4ajaweled add g0rsa poouudA p 7 2 woo Boow AWA 19 TYNIEPOW ang g0rsa HnipulA p L u ZELNIN N Nu ZELNIN ZEAINSISNN AIG zener 96 LI ZELNIN N ZELNIN ZEGANDISNN AIG zener 88 LL 9LLNIN N 9LLNIN 9LA3NSISNN Jepueyjuang AIG g n en 18 LL 9LLNIN N Nu 9LLNIN 9LGANSISNN Ja pueyjuerg AIG g Ln en 08 LI 8LNIN N Nu 8LNIN 843 019 AIG gon en 62 LI 8LNIN N MU 8LNIN 8dIN ISNN AIG 8 22 LL ZELNI N Mu ZELNI 26430531 Na ZESIEA WA LL ZELNI N Nu ZELNI ZENSOALNI Na ZESIEA v9 LI 9LINI N Nu 9LINI 9LYS9SLNI Jajpueyjueng Na 9 SJeA 9 LI 9LINI N MI 9LINI 9 4393I1NI J9 PUBUJUJAZ Na 9 SJeA ER LL SIN N Mu SIN 843931NI J9 PUBUJUJAZ Na 8 9 99 LL Aseuojoip 1201 0 9 96 20 01 Z O 4016 00748 0 V0AG SZZ668 Od AIG SIB Jost Hawa B
41. mal operation Blinking Green Valve standby mode Blinking red Correctable error red unrecoverable error Blinking red green Self test Table 1 Module Status MS 2 1 2 Network Status LED NS The network status LED displays the status of the PROFIBUS network Network status LED NS Condition Off No supply voltage Green state DATA EXCH valve is in data ex change state Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 5 3 Master slave communication Blinking Green state WAIT CFG valve is waiting for con figuration telegram Orange state WAIT PRM valve is waiting for pa rameter telegram orange State Baud control valve has detected baudrate Blinking Orange state Baud_Search valve is searching for correct baudrate red major error Blinking red Bus error Blinking red green self test Table 2 Network Status NS 3 Master slave communication 3 1 Diagnosis The diagnosis telegram is a high priority telegram which is send out on the request of the master The diag nosis data can be read out at any time as soon as a stable connection baudrate is set up During start up phase the master automatically fetches the diagnosis buffer see startup routine If new diagnostic data is available the valve indicates the After that the master requests in the next cycle a diagnosis telegram instead of a eyclic telegram The diagno
42. ocal CAN tpdo 3 d time out 85 local CAN tpdo 4 d time out 86 local CAN tpdo 1 d data 87 local CAN tpdo 2 d data 88 local CAN tpdo 3 d data 89 local CAN tpdo 4 d data 90 91 CAN general fault CAN overrun 92 93 CAN in error passiv mode CAN_recovered_from_bus off 94 CAN_rpdo_1 d_time_out 95 CAN_rpdo_2 d_time_out 96 CAN_rpdo_3 d_time_out 97 98 CAN rpdo 4 d time out CAN rpdo 1 d data 99 CAN rpdo 2 4 data 100 CAN rpdo 3 d data 101 CAN Ad data 102 103 CAN tpdo 1 d time out CAN tpdo 2 d time out 104 CAN tpdo 3 d time out 105 CAN tpdo 4 d time out 106 CAN 1 d data 107 CAN tpdo 2 d data 108 CAN tpdo 3 d data 109 110 CAN Ad data CAN life guard error or heartbeat error 111 CAN sync producer time out 112 CAN sync consumer time out 113 EtherCAT_communication_fault 114 EtherCAT_rpdo_time_out 195 EtherCAT_rpdo_data 116 EtherCAT_tpdo_time_out 117 EtherCAT_tpdo_data 118 PROFIBUS_general_fault 3 2 Changing station address Table 4 Moog Error Codes The factory setting for the PROFIBUS station address is by default 126 There are two possibilities to change the station address Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 12 3 Master slave
43. oding Bit 71615 41312 1 0 length of data 0x00 1 byte word OxOF 16 byte word input output 00 special format 01 input 10 output 11 input output 0 byte 1 word 0 consistent over byte word 1 consistent over whole length Because there are many possibilities of coding the same input output configuration it is necessary to use the coding the valve has calculated on the PLC Otherwise the configuration from the PLC will be rejected The valve provides multiple predefined communication telegram configurations To choose which telegram to use the parameter TelegramSelection has to be set to the right value Slot Index Name Data Type Access Persis Value Default tence Range 0 46 PROFIBUS telegram selector UINTO8 ro Y UINTO8 13 Table of standardized and predefined telegrams Telegram Description Parameter Map Configuration Meaning ping 0 User defined telegram gt Z ds 1 drives par chn Out OxF3 0xE2 0xD2 4 vvords input output Par Chn 3 vvords output Control vvord 3 vvords input Position Setpoint n Par chn Status vvord Position Value 2 drives Out OxE2 0xD2 3 words output Control word 3 words input Position Setpoint In Status word Position Value 3 valves Q par chn Out OxF3 0xE1 0xD1 4 vvords input output Par Chn 2 vvords output Control vvord 2 vvords input Spool Setpoint n
44. olnsss idxg uolsseidxy z uolss idxg uonrss idxg 0 uolss idxg Be Jioiuigp uij qi uiolsno yseunigiOI A9119B6Bl 1 Jspweleqlo u y sHOHeE s lduES jeuueygalgeug jsuueygalgeug jsuueygalgeug jsuueygalgeug sojdwesjoJequinn Joping smes 04109 1 5 1 5 HooovIoylJonjenoJnssold Ysogguey genjeneinsseid 1 2 1 2 1 2 JejpueyJusag Jejpueyjuaag J pueul u Ad 1J pueulu Ad uon p xline i
45. oom 8LNIN A Nu 8LNIN loejnueWWopdlltusue1 NVOlEoOOTpuz ued 8907 8LNIN A Nu 8 NIN d LUOlSSIUISUEL Jain ueg e007 poejnuejopdyWsuel NYOIE90 Tis 492 8LNIN A Au 8LNIN ad LuoIssiwsuel opdWuusueilulr NVOlEoo71 492 8LNIN A Au 8LNIN 9edAuolssiwsues NVO1E907 492 8LNIN A Nu 8LNIN d luolssluusueil opdluusueilpuz NVOlEoo7 1 4992 8LNIN A Md SLNIN d luolssituusueil Opd iwsued js NVOleoo1 6121 969 A A ZELNIN O pd gp snpiqoO opdiuusueiulult NVOlE Oo71 e AA AYAN u 6201 969 A Nu ZELNIN o pd gp snpiqoO opqyuwsuel pig NVole907 987 2 1 u 292 S69 A MI ZELNIN OpdAdpasnpIgod opduuusueilpuz NVOIE907 e AA AYAN LLG S69 A A ZELNIN 4 opd7uuussueulls NVOleEoo71 987 12 UL 870 A nu 8LNIN opdulsiolqouoneoridivyp ddeiy NVOleE o71 Jolsqwnn 870 A MU 8LNIN opdulsiolqouoneoliddyp ddeiy NVOleE o7 Jolsqwnn Sulddeyyopd Al 2 s pi 870 A nu 8LNIN opdulsiolqouoneoliddvp ddeiy NVOlE o71 Jolsqunn Sulddelyopcl Al Mp Z 870 Nu 8LNIN opclulsio lqouoneoliddyp ddeyy NVOlE 07 Jolsqunn Buiddeyjopganisoey s ZELNIN A MI ZELNIN p ddeyy go m lqouon NVOleE o71 polddy iN u Lio I5ulddeyyopd 19 ZELNIN A MU ZeLNIA paddeyyogo LPalqouon NVOlE o71 pol ddyuiN u Li0 15ulddeyyopd 19 ZELNIN A Md ZELNIN paddewagojjoalgouon NVOlEoo71 polddyuiN u Lo i56ulddeyyo
46. ors and incomplete information to us User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 2 1 General Description 1 General Description This specification describes the PROFIBUS DPV1 fieldbus interface for the DIV The physical connectors as vvell as the profile specific parameters and telegrams necessary to built up a connection betvveen the PLC and the valve The described functions and parameters are only a small extract from the existing ones The complete func tional specification is described in the PROFIBUS DP Profile Fluid Povver Technology Developed by the PROFIBUS Working Group Fluid Power Technology based on the profiles developed by the VDMA e V VVorking Group Fluid Povver Technology MoVaCo configuration software PROFIBUS master PROFIBUS connectors X3 X4 r Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 3 2 PROFIBUS state machine 2 PROFIBUS state machine Power Off Power_On Baud_Search WD_Time_Out Power_On Baud_Control Set_Slave_Add WD_DP_Control_Time_Out WD On 1 V D On 0 DP CONTROL Slave Diag Get Co Set Slave Add WAIT_PRM Chk_Cfg not ok Set_Prm not ok Slave_Diag WAIT_CFG Get Cfg Set Prm Chk Cfg ok Slave Diag DATA EXCH Get Cfg Set Prm Power On Baud Search The valve is
47. pd 19 ouese qBulddeyjopqanisoey ZELNIN A Au CELNIN p ddeyy go LpelqouoN NVOlEoo71 polddyuiyN u Lo i6ulddeyyopd 19 ZELNIN A Md ZELNIN p ddeyy go LPpelqouoN NVOlEoo71 polddyuiyN u Lilo i6ulddeyyopd 19 sweled uiddeyyopdenssey CELNIN Au CELNIN p ddeyy qo Lpelqouon NVOlEoo71 polddyuiy u Lio i6urddeyyopd 19 CELNIN Au CELNIN p ddeyy gono lqouon NVOIE907 polddyuiyN u Lo i6urddeyyopd 19 owese qbulddeyjopqanisoey ZELNIN A Au ZELNIN peddewego Lpelqouon NVOleEoo1 polddyuiyN u Lio i6urddeyyopda 19 ouese qbulddeyjopqanisooy Areuoyoip Pafqo 9 AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG Ald AIG AIG AIG AIG AIG Ald AIG AIG AIG AIG uewuinpdoo uewumpdoo umpdool umpdool umpdool umpdool qoo pdoo qoo pdool qoo pdool qoo pdoo w nudewupdoo w nudewupdoo w nudewupdoo w nudewupdoo deuupd ol deuupdoo deuupdoo deuupdoo deuupdoo deuupdoo deuupdoo deuupdoo 9 49 19 09 69 8S ZS 9S SS ys es 48 LS 09 cv Lv 9 GE 8 212 02 Z Z 61 Z 61 Z 61 Z 61 61 61 61 Z 61 61 Z 61 Z 61 Z 61 61 26 20 01 Z O 4015 00748 010AG SZ2668 Od AIC SJEMWI jenueyy Jesn Haws Booyy SIN A MA SINI d Indu oyndujenBojeuy dAygue 4 YL 9L
48. r driver 46 internal random access memory 47 internal program memory 48 internal nonvolatile memory 49 out of memory error 50 softvvare coding 51 softvvare reset vvatchdog 52 interrupt time exceeded 53 task time exceeded 54 parameter initialisation error 55 node identifier data memory corrupted 56 user data memory corrupted 57 restore data memory corrupted 58 factory data memory corrupted 59 calibration data memory corrupted 60 diagnosis data memory corrupted 61 position control monitoring 62 velocity control monitoring 63 force control monitoring User Manual Firmware DIV PA B99225 DV010 BE400 Version 0 2 10 07 11 3 Master slave communication 64 flow_control_monitoring 65 pressure_control_monitoring 66 current_control_monitoring 67 spool_position_control_monitoring 68 trajectory_generator_processing_error 69 eventhandler_exception 70 local_CAN_general_fault 71 local_CAN_overrun 72 local_CAN_in_Error_passiv_mode 73 local_CAN_recovered_from_bus off 74 local_CAN_rpdo_1 d_time_out 75 local CAN rpdo 2 d time out 76 local CAN rpdo 3 d time out 77 local CAN rpdo 4 d time out 78 local CAN rpdo 1 d data 79 local CAN rpdo 2 d data 80 local CAN rpdo 3 d data 81 local CAN rpdo 4 d data 82 local CAN tpdo 1 d time out 83 84 local CAN tpdo 2 d time out l
49. roject LSB INT32 rw N INT32 0 PROFIBUS parameter channel activation The parameter is used to define whether the parameter channel shall be activated in the user defined tele gram Slot Index Name Data Type Access Persis Value Default tence Range 64 10 PROFIBUS parameter channel activation UINTO8 rw Y 0 1 0 proprmchn 3 5 Global control The valves have the possibility to read and process global control telegrams With the functions of this tele grams it is possible to SYNC the set command values to the valve while the valve continues operating The valve uses the last set command to control the system this gives the PLC the time and possibility to update the set commands of the whole application With the UNSYNC function the PLC frees the new set com mand to the valve which starts controlling from this time with the set command This is needed to synchro nize groups of valves to the same set command or to get a system image of actual values Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 18 3 Master slave communication Supported Global Control Commands e SYNC e UNSYNC FREEZE e UNFREEZE 3 6 Parameter channel There is the possibility to add a mechanism to configure parameters on the valve called the parameter channel This mechanism adds 8 additional bytes of data into the input as vvell as the output telegram vvhich
50. sis telegram contains 15 byte of status data The first 7 bytes of the diagno sis data contain information according to the standard Byte 1 Bit Diagnostic station does not exist set by master Diag Station not Ready Slave not ready for DataExchange DiagCfg Fault Configuration Data does not match Diag Ext Diag Slave has external diagnosis Diag Not Supported Slave does not support the requested function Diag Invalid Slave Response set Slave to 0 permanently Diag Prm_Fault Slave not ready for DataExchange Diag Master_Lock set by master Slave was configured by other master Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 6 Byte 2 Bit 3 Master slave communication Diag Prm Req Slave requires nevv configuration Diag Stat Diag statistic diagnosis permanently on 1 Diag VVD ON VVatchdog active Diag Freeze Mode Freeze command vvas received Diag Sync Mode Sync command vvas received reserved Byte 3 Bit Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 Diag Deactivated set by master reserved Diag Ext Overflovv Diag master add master address after parameterization OxFFwithout parameterization ident num
51. the node ID is immedi ately changed If the module ID is changed over parameter access the node ID still holds the actual module ID until the next boot up of the slave Slot ndex Name Data Type Access 1 Persis Value Default tence Range 64 33 PROFIBUS node ID rw N 1 126 1126 Because all slaves have the factory setting station number 126 it is recommended to install the valves one by one and configure the station address or to switch them on in a sequence because then the PLC can es tablish a peer tp peer connection to the slave to configure the node ID If more than one new valve is put into the bus with the ID 126 the PLC can not identify that there is more than one unconfigured slave It is also possible to preconfigure the valves over the service connector before in stalling them in the PROFIBUS 3 3 Parameter telegram With the parameter telegram the master identifies itself and defines in which mode the slave will be oper ated e g which global control commands will be accepted by the slave Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 13 3 Master slave communication Byte 1 Bit 7 6 5 4 reserved VVD On
52. transfer 14 Name not readable in cyclic data transfer 15 No text array existent 16 reserved 17 Instruction not processable caused by bad operation state 18 other errors 19 Data not readable in cyclic error 20 100 reserved for all PNO profiles 101 200 reserved for future profile exten sions 210 255 vendor specific Table 8 Parameter Channel Error Codes 4 Store Restore t is possible to save the changes of configuration inside a non volatile memory area of the electronic 4 1 Store To save the configuration changes a vvrite access to the function StoreParameters has to be performed Slot ndex Name Data Type Access Persis Value Default tence Range Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 20 5 PROFIBUS hardware and cabling 0 51 Store Parameters INT32 rw N INT32 0 Value table Value Function 0x73617665 save StoreParameters function is called all other values are rejected Table 9 Store 4 2 Restore To reset the configuration of the valve to factory default settings a write access to the function RestoreDe faultParameters has to be performed Slot Index Name Data Type Access Persis Value Default tence Range 0 52 Restore Default Parameters INT32 rw N INT32 0 Value table Value Function Ox6C6F6164
53. uioid pouuoo DOUD poumnep p4JMs s Joampyueu 1 AA D piu Aoid WEUUSANOP aweN Hoys 012 607 802 202 902 402 voce 602 202 cs LS OG 9 Sv vv ev cv Lv Ov 6 86 26 96 66 CE Wa 8 92 cc L 02 x pul o S OCH S OCO O O OoOO oo S O O OOO o oooooo0o000000 1015 o 8291 8 9 1 v8E9L 8LNI 8LNIN 9LINI 8LNI 8LNIN 9LLNI 9LINI 9LINI CELNIN 9LINI 9LINI 9LINI 9LINI peg 9LINI 9LINI 9LINI 9LLNI 9LINI 9LINI 9LINI 81NI 8LNIN PUL mure ddn g9 7E 2 92C Nur 1 42 20 01 Z O 4018 00748 010AQ SZZ668 Od AIG enuey Jost Haws Boo 91 SIN XIJ 1d jo NUOYUONISOJENIeN gorsa Hdids 97 WA 91 SLNIN yun IO uoOuonIiSOdq A eA sorsa lunjds 42 L 9LINI nleApueuu q sorsa w pjds yc L auegenjeApuewsq 101 UOQUOH SOd ALEA 91 SIN XIJ 1d IO1JUOYIUONISOdSNEA sorsa Hdids ez LZ 91 8LNIN yun IOJJUOJUONISO JOAN BAN sorsa lunjds 22 L 9LLNI yulodyas IOJUODUONISOdSNEA 80 50 y sids LZ L 91 9LLNI Jo denjenlenOV IO uoOuonisodq AleA Ala ydjeaids 2 LZ 9LLNI JOlldenjeApuewsq IO uoOuolnlisoq A eA Alq ydw p ds L LZ Nu ZELNIN YoOdJeonpsuel Duuon Ala LOZ 7 puogenjejjenjoy A PA 9LINI Bumon sorsa IEADIDD 06 7 puogenjejjenjoy A PA
54. ul Y ndujan ojeuy 9LINI 9LLNI yind l nSoleuy Lo A Nu SLNIN eindujen ojeuy 8LNI A MJ GIN adA Indu e ndujen ojeuy 9LINI 9LLNI e ndujen ojeuy Lag A Au SLNIN ju uunoBuuolluolA ayndujen ojeuy 8LNI Au GIN d Indu 9LINI 9LLNI zindujenBojeuy OLLNI OLLNI DIEA JSINPSUEJ 95 0 9LINI A MA 9LINI Bueas Lindjnoenbojeuy 8291 9LINI A MA 9LINI Bueas Lindjnoenbojeuy 8291 OLLNI A Au 9LINI Bueas Lindjnoenbojeuy 0 OLLNI A Md 9LINI Bueas o nd noen ojeuy 8291 9LINI A MA 9LINI Bueas o nd noen ojeuy 8291 9LLNI A MA 9LINI Bueas ond noen ojeuy SIN A Md SINI d Indu undul n6oleuv 9LINI 9LLNI LndujenBojeuy euolpip Pafqo 9 AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG AIG uowpue d jpue jeapue UOWEUE d jgue league uowzue dAjzue league pns d EH JeJQep dA ue jen ue EL cl ou Orr owt 0 OO O CGN ost LO OM oi GL GL GL GL GL GL GL GL GL GL GL GL GL UZA UZA UZA UZA UZA UZA UZA UZA UZA 6 20 01 210 4015 00748 010AG SZ2668 Od AIC SJEMWI jenueyy Jesn Hawa Booyw
55. ut 820B local RPDO3 time out 820C local RPDO4 time out 820D local TPDO1 time out 820E local TPDO2 time out 820F local TPDO3 time out 8210 local TPDO4 time out 8211 local RPDO1 data 8212 local RPDO2 data 8213 local RPDO3 data 8214 local RPDO4 data 8215 local TPDO1 data 8216 local TPDO2 data 8217 local TPDO3 data 8218 local TPDO4 data 825X PROFIBUS 8200 Closed loop control monitoring 8201 Position control monito ring 8202 Pressure control monito ring 8203 Position Control 8204 Velocity Control 8205 Force Control 8206 Flovv Control 8207 Current Control 8208 Trajectory Generation Table of vendor specific error codes Table 3 Profile Error Codes Additionally there is a vendor specific error code mapped into the diagnosis telegram of the valve vvhich de fines more detailed error conditions vvhich are not covered by the profile codes Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 10 Moog GmbH 3 Master slave communication Moog Error Code Description 0 no_fault 1 error microprocessor core 2 error digital signal processor 3 error dsp program download 4 error dsp realtime data transmission 5 power supply voltage too low 6 power supply voltage too high 7 internal supply voltage
56. y Table 13 Pin Assignment 6 Object dictionary On request we provide a GSD file The GSD file is needed to import the communication specification into the PROFIBUS projecting system It contains the supported functionalities and the predefined communication telegrams Moog GmbH User Manual Firmware DIV PQ B99225 DV010 BE400 Version 0 2 10 07 23 yc 20 01 Z O 4015 00748 0 V0AG SZ2668 Od AIC jenueyy Jesn Hawa Boo v8E9L 170 4 6771 271 9LLNIN 0JJUOD 8907 9 9LLNIN 9597760991 CELNIN 926266991 ceLNin 0170 CELNIN CELNIN 8097969901 8 995007501 91211191 8LNIN CELNIN CELNIN CELNIN CELNIN LSC ney DL ney vl 9LLNIN 9LLNIN 9LLNIN 9LLNIN 9602 9LLNIN YEOLZ q 82 ssens WWOIY SUUEH Hquio SOOW unej q ebuey onen Z gt gt gt gt gt gt z z gt gt i ocu lsisi q MJ NU OJ Md MJ Md Md MJ Md Au MJ 19497 ss y 9LINI SINI SINI SINI 9LLNIN 9LLNIN ceLNin CELNIN ceLNin ceLNin CELNIN 8LNIN CELNIN CELNIN CELNIN CELNIN SINI SINI SIN 9LLNIN 9LLNIN 9LLNIN ONIALS 9LLNIN ONIALS ONIALS ONIALS ONIALS 9LLNIN ONIALS d L eleg

DIV PQ - Moog Valve and Pump Configuration Software

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