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DIGIVEX Motion - BTT Automatyka

1. No MEANING O Wrong parameter number PNU PNUE Parameter does not exist 1 Parameter value cannot be modified This is a parameter which is only accessible in read mode 2_ Overrunning of upper or lower limits 3 Wrong subindex 11 Parameter unavailable Modification request when access is not available Parameter identifier IND 2 word PKE IND PWE1 PWE2 HIGH LOW SSIND PNUE Specific to Subindex DIGIVEX Motion 15 8 7 54 0 Subindex 0 255 The subindex is an 8 bit value which in the case of cyclical data exchange is transmitted by the PPO in the high order byte HIGH bits 8 15 of the parameter index IND Low order byte LOW bits 0 7 is not defined in the PROVIdrive Profile V2 0 The low order byte of the parameter index for DIGIVEX Motion is used to define the high order bits of the parameter number 15 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS The number of index of the DIGIVEX Motion parameter as defined in user PVD 3527 Directory of Variables is defined using16 bits and made up as follows 15 INDEX elle 4 PNUE 0 10 PNU CONVERSION TABLE index range PKW parameter header The following values are given in hexadecimal format The digit of the AK section of the PKW is replaced by the letter k in this table The 2 digits of the SSIND section of the PKW are replaced by the letters si in thi
2. omo A po BEE B B PVD 3554 GB 01 2004 a d 6 8 By il i 08320 26 a dra DI i0 3 N al x 6 ir DUI Dr 8 lm E a mi 1 gt ON oD OA PC DIGIVEK Motion possible with all PROFIBUS network dialogue is the drives via Turn off the PLC or disconnect the connection with the PLC in case of Basic_DM program loading into one of the drives DIGIVEX Motion PROFIBUS 3 2 4 Application example with PCMCIAPRO interface gt B 9 gt a lt Qi o lo al A Me WI IL en o S E Lal ca Di D Ly ER OFF oB Ge IP mj O Q nn ra na w 5 9 eoo By o PEEB esa ea EER e ici HHHH BEE AC_62001 PVD 3554 GB 01 2004 CB 08320 27 a U a yje z 2 E an pa Go ef Fe ae mj O nn an ra Qi D PC DIGIVEX network Turn off the the drives PCMCIAPRO Motion PLC or disconnect the connection with the
3. Index Designation Comments 918 0x396 Param_PB_918 Selected address returned with the address PROFIBUS address code wheel 922 0x39A Param_PB_922 Positioning interface Standard telegram default value 0 930 0x3A2 Param_PB_930 Positioning mode Operating mode default value 2 964 0x3C4 Param_PB_964 Subindex Equipment 0 manufacturer s code 0x0792 identification 1 type DIGIVEX Motion 2 version 3 date year 4 date day month 965 0x3C5 Param_PB_965 PROFIDrive V3 0 Profile number default value 0x03 967 0x3C7 Param_PB_967 See description section 2 3 STW1 control word 968 0x3C8 Param_PB_968 See description section 2 3 ZSW1 status word 980 0x3D4 Param_PB_980 Each subindex of this parameter indicates a List of the defined number of a parameter supported by parameter numbers DIGIVEX Motion in ascending order 13 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 2 5 PKW Profidrive V2 0 mechanism for processing parameters Parameter area PKW The PKW mechanism is used to manipulate and observe write read parameters as follows Condition PPO type 1 for DIGIVEX Motion in accordance with PROVIdrive Profile V2 0 The parameter area always contains 4 words Parameter identifier PKE 1 word Bit no 15 12 11 10 0 AK 0 PNU Parameter identifier IND 2 word Bit no 15 8 7 5 4 0 SSIND 0 PNUE Parameter value PWE High order word PWE1
4. REFERENCE DESIGNATION PROFIBUS cable by the CB08320 metre 20 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS Permissible cable length for one segment m Max cable length for one Transmission speed segment 9 6 187 5 kbauds 1000 m 500 kbauds 400 m 1 5 Mbauds 200 m 3 12 Mbauds 100 m Repeaters can be installed to increase the length of a segment Cable installation rules It is prohibited for the bus cable to be twisted stretched or compressed during installation Moreover the conditions linked to electromagnetic compatibility must also be observed during installation PROF IBus cable requirements for DIGIVEX Multi Motion DMM REFERENCE DMM REQUIRED LENGTH DMM06002P DMM06004P 0 17 mm between axes DMMO06008P DMM06016P 0 22 mm between axes DMM06032P 0 30 mm between axes 3 1 3 Bus connector Use a bus connector such as one of those described in the table below to connect up the PROFIBUS cable to the communication module Recommended PROFIBUS connectors REFERENCE AC62001 AC62002 AC62003 Max transmission speed 12 Mbauds Terminal resistor On Off switch Cable output 45 180 coaxial 45 Interfaces PROFIBUS subscribers 9 pin Sub D female connector PROFIBUS bus cable 4 junction terminals for wires up to 1 5 mm PROFIBUS cable diameter 8 0 5mm Please refer to the manual delivered with the connector for connector cable assembl
5. 3 word Low order word PWE2 4 word AK Request and or response identifier PNU Parameter number Parameter identifier PKE 1 word The parameter identifier PKE is always a 16 bit value Bits 0 10 PNU contain the low order parameter number required Bit 11 is reserved Bits 12 15 AK contain the request and or response identifier The meaning of the request identifier is shown in the 1 table below The meaning of the request identifier for response telegrams drive master is shown in the 2 table below Only certain response identifiers are possible according to the request identifier An error code is put in parameter 2 value PWE2 as shown in the 3 table below when the value of the response identifier is 7 request cannot be processed 14 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS Request identifier table master gt drive Response identifier table drive gt master RESPONSE Meee MEANING IDENTIFIER IDENTIFIER a Positive Negative 0 No request 0 1 Parameter value request 1 2 7 2 Parameter value modification word 1 7 3 Parameter value modification double word 2 7 RESPONSE IDENTIFIER 0 No response MEANING 1 Parameter value transmission word 2 Parameter value transmission double word 7 Request cannot be processed with error number Error codes returned with the response request cannot be processed
6. 2 SYSTEM CONNECTION 4 1 Using Parvex Motion Explorer PME 4 1 1 Starting up the application INSTALLATION Double click on the PARVEX PME icon located on the desktop in order to open the PARVEX Motion Explorer control panel or select Start Programs Parvex Parvex Motion Explorer Paryex Motion Explorer Iof x File Configuration i E Se DL DIGIVEX DIGIVEX HMI Parvex Drives Motion Vision DIGIVEX Motion This icon is used to start the PME DIGIVEX Motion module dedicated to applications using drive positioners This environment called Profibus Network Management is used to have access to PME DIGIVEX Motion functions A preview of the main functions proposed is given below 30 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 4 1 2 Using PME tools Please refer user manual PVD 3516 Parvex Motion Explorer Software for details regarding PME tools It is essential that any connected automates be turned off when loading a program with the Program Editor tool and when updating Firmware with the Incident Diagnosis Assistant tool 4 1 2 1 1 PROFIBUS Interface Configuration The PROFIBUS interface configuration is carried out using the following control sequence i Configuration of x CANopen Options Configuration Description ree CANopen interface with CRS232 JUSBPRO x Properties M Description USB PROFIBUS interface PARVEX Referenc
7. Ox5E 0x00 0x2F OxFO max size 18 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBU S 4 Response acknowledgement from the Slave 1 case the response is negative DPV1 Read Acknowledgement Fct_num Rd 0 byte Slot num Index DB47 Length bytes 0x5E 0x00 Ox2F OKOA Parameter Response Header Request ref Request ID Axis No of parameters Request repeated 0x81 Rd 0x82 Wr 0x00 0x01 Parameter value Format No of values Value 0x44 0x01 Error code 16 bit NB If the acknowledgment of the response is not ready only the first 4 bytes are returned 2 case the response is posi tive DPV1 Read Acknowledgment Fct_num Rd 0 byte Slot_num Index DB47 Length bytes Ox5E 0x00 Ox2F gt 0x06 Rd 0x04 Wr Parameter Response Header Request ref Request ID Axis No of parameters Request repeated 0x01 Rd 0x02 Wr 0x00 0x01 Parameter value for a read only request Format No of values Value cf table page 2 0x01 Variable size Data code 8 bit format table taken from PROFIDrive V3 0 Code Data type Format Integer16 0x03 Integer32 0x04 Unsigned16 0x06 Unsigned32 0x07 Floating32 0x08 VisibleString ascii 16 bytes Ox09 OctetString 16 bytes OKOA Bit Sequence 32 bits 0x23 Error 16 bits 0x44 O
8. PKW mechanism Process data area PZD Process data is used to transmit control words requests master drive or status words responses drive master 2 1 2 DIGIVEX Motion response time The DIGIVEX Motion response time with regard to PZD is 0 8 milliseconds This is the time between the control word arriving in the DP slave and the status word being made available to PROFIBUS DP The DIGIVEX Motion response time for a PKW parameter modification goes up to 1 5 milliseconds 8 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 2 2 Acyclical data transmission Extended PROFIBUS DP functions DPV1 The PROFIBUS DP extensions DPV1 include the definition of an acyclic data exchange which takes place at the same time as the cyclical data transmissions Acyclic data transmission is used for e exchanging large quantities up to 240 bytes of useful data simultaneous access by other PROFIBUS masters class 2 master e g PME Parvex Motion Explorer start up tool e reducing the bus cycle time by removing the PKW area from cyclical transmission and assigning it to acyclical data transmission Implementing the extended PROFIBUS DP functionality The different masters and or the different types of data exchange are represented by channels in DIGIVEX Motion e Acyclic data exchange with the same class 1 master if supported Use of DPV1 READ and WRITE functions The contents of the transmitted data block
9. correspond to the structure of the acyclic parameter channel as defined in the PROF ldrive Profile version 3 0 with data block 47 e Acyclic transmission using the PME Parvex Motion Explorer start up tool class 2 master PME can acyclically access parameter and process data in the drive e Acyclic transmission with an HMI second class 2 master which can acyclically access parameters in the drive 9 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 2 3 Control and status words The control and status words correspond to the specifications in PROVIdrive Profile V2 0 and or V3 0 for the positioning mode Assigning STW1 control word bits STW1 control word bits 0 11 as defined in the PROFIDrive Profile bits 12 15 specific to DIGIVEX Motion 3 4 1 0 1 Torque mode Zero torque ON BIT VALUE MEANING COMMENTS 1 ON Sets the drive to ready to run status 0 OFF 1 ABORT Stoppage using brakes movement stops abort_cmd 1 in accordance with programmed 0 acceleration accel_ prog then set to zero torque torque_cmd 0 when the axis is shutdown moving 0 This function is not active when the drive is in speed drive mode drive_mode 1 1 ON Operating condition 1 0 OFF2 TORQUE CMD Freewheel stoppage motor set to zero torque torque_cmd 0 1 ON Operating condition 2 0 ARRET3 EMERGENCY Fast stoppage emergency cmd 1 fastest possible deceleration accel_max then
10. in the drive housing RECOMMENDATIONS for installation The bus cables must be made up of twisted conductors and be shielded They should be laid separately to the power cables and spaced 20 cm apart The braided shielding and any underlying shielding strapping should be connected at both ends with a wide contact surface guaranteeing a good electric connection that is to say the bus cable shielding linking two drives should be connected to the housing on each of the drives The same applies to the shielding on the bus cable between the PROFIBUS DP master and the drives Power supply and bus cables should only cross one another at right angles Equipotential bonding Differences in potential such as different power supplies between the drives and the PROFIBUS DP master must be avoided e Use equipotential bonding conductors 16 mm Cu for equipotential bonding cables up to 200 m long 25 mm Cu for equipotential bonding cables of over 200 m long e Equipotential bonding cables must be laid so that the area between the equipotential bonding conductors and the signal cables is as small as possible e Equipotential bonding conductors must be connected up to the earth PE conductor with a wide contact surface 3 2 Connecting for drives setting 3 2 1 General points To set a DIGIVEX Motion drive from a PC using PME software it is necessary to use one of the following interfaces REFERENCE DESIGNATION USBPRO or USBPROx12 USB PRO
11. interface PROFIBUS address BR pu OO ooon O 13 14 18 20 20 20 20 21 22 24 24 24 25 26 27 28 29 4 PROFIBUS DP MASTER CLASS 1 amp 2 SYSTEM CONNECTION 4 1 4 1 1 4 1 2 4 2 4 3 Using Parvex Motion Explorer PME Starting up the application INSTALLATION Using PME tools GSD Files Operating in relation with SIMATIC S7 1 PVD 3554 GB 01 2004 30 30 30 31 34 34 DIGIVEX Motion PROFIBUS 4 3 1 PROFIBUS DP interface in SIMATIC S7 4 3 2 Adding DIGIVEX Motion to the module catalogue 4 3 3 Adding DIGIVEX Motion to the hardware configuration 4 3 4 Setting the parameters for the DP master bus Characteristic and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www SSDdrives com Available DIGIVEX MOTION instructions DIGIVEX Single Motion DSM User Manual DSM PVD3515 DIGIVEX Power Motion DPM User Manual DPM PVD3522 DIGIVEX Multi Motion DMM User Manual DMM PVD3523 DIGIVEX Motion CANopen PVD3518 DIGIVEX Motion Profibus PVD3554 PME DIGIVEX Motion Adjustment Manual PVD3516 DIGIVEX Motion Directory of Variables PVD3527 DIGIVEX Motion Programming PVD3517 DIGIVEX Motion Cam Function PVD3538 PME Tool kit User and Commissioning Manual PVD3528 e CANopen CAN Bus Access via CIM03 PVD3533 e CANopen Remote control us
12. set to zero torque torque_cmd 0 when moving 0 Automatic drive control lifted torque_cmd 1 motor torque set Automatic control implemented motor set to zero torque torque_cmd 0 Operating condition 1 EMERGENCY STOP MOVE EN Fastest possible braking emergency_cmd 1 No zero torque setting when the axis is shutdown different from STW1 bit 2 Movement is authorized move_en 1 Movement stoppage Movement in progress is suspended move_en 0 3 Movement is stopped using programmed deceleration accel_prog 6 Not in use 1 Acknowledge fault Fault is acknowledged with a rising front reset_cmd 7 1 0 Normal operating condition 8 Not in use Not in use 10 1 Control word validation Drive follows control words from the Master 0 Invalid control words Drive ignores control words from the Master 1 HOME Origin setting sequence is running home_cmd 1 11 0 Origin setting sequence is not running home_cmd 0 10 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 1 EXEC EN Authorizes the program in DIGIVEX Motion to run 12 exec_en 1 0 Prohibits the program in DIGIVEX Motion from running exec_en 0 13 o ub0 DIGIVEX Motion ub0 binary variable 14 ub1 DIGIVEX Motion ub1 binary variable 19 o out0 DIGIVEX Motion out0 logic output The abort_cmd torque_cmd emergency_cmd move_en home_cmd exec_en an
13. the PLC Standard telegram1 As for PP03 only process data is exchanged cyclically DIGIVEX Motion parameters can however be accessed through the DPV1 Profidrive V3 0 mechanism for the PLC that can support this functionality NB Addresses for the beginning and end of the Inputs Outputs in the hardware configuration slots must be adapted to the range supported by the CPU usually lt 256 35 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 4 3 4 Setting the parameters for the DP master bus Double click on the DP icon associated with the CPU in the hardware configuration window The following window will open Properties DP R0 S2 1 x General Addresses Operating Mode Configuration Short Description DP Order No Name DP Interface Type PROFIBUS Address 1 Networked Yes Comment Cancel Help e Click on Properties e Select the sub network proposed if it is suitable if not create a new one with the desired transmission speed e Click on Properties e Select the Network parameters tab e Click on Options Under the Equidistance tab check Activate the bus cycle Enter 1 in the Total box for the number of PG e Click on Details This will then give x Number of PGs 0Ps TDs on PROFIBUS Corigued 0 taa T Conttant bus cycle time master cycle portion OAS mi Content bus cycle time master a
14. 04 DIGIVEX Motion PROFIBUS o as SNI1HOYd S318V9 3HL 40 XIANWd 1289628907 Ki NOILOW XINA NANOMA ONLIINNOO 340 VO INd aq jim S YNMS J3U O Uj sng jo pua puo Buiuuibag u NO UO SaYyd ims ay bu nd alym spua ay JO pajo20 saduo sisas JOu ay DANY Wiz ano jo 9Z vz suoj2Jauu0s puiwsa 0 3 909 snq Burob no ay J9auv0d s omjy Waysxs sng su JO Pos Sy JO USAI gi y SUO 23uu09 jouiwsa 0 23 902 sng Buiwodu ay dauuod SAOMjY Aysadosd aasnjoxea ay S Bumosp Siyj 20 pasnposdas pa j usuoi 39 JOUUDI Jj oguapijuod ANHNS si puo 8 3 5 E A 3 vo gl We 82 N a a a ON9 dA N a d a ONI dA n a 4 a ONI dA N a g a N a d a NOLLOW X3ADIO NOLLOW X3A9IO NOHOW X3AIDIO FIVHHIINI 3LVNOLNY 23 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 3 1 5 Bus cable shielding EMC precautions The following precautions should be taken to ensure that the PROFIBUS DP works correctly particularly for data transmission using RS485 Shielding The shielding for the PROFIBUS bus cable must be connected in the bus connector Additional shielding is given by a collar placed around the bus cable shielding and connected with a wide contact surface to the protective earth Be careful not to damage the solid copper core when baring the ends of the conductors Also make sure that the shielding for each bus cable is not only connected to the protective earth at the entrance to the electric cabinet but also
15. 1 A warning is present A minor fault is present status does not 7 change for the drive fault relay and the torque 1 Setpoint measured position Deviation between setpoint position and deviation ok measured position values is within tolerance limits 8 tracking error lt trackerror_max 0 Setpoint measured position Deviation between setpoint position and deviation fault measured position values has exceeded the limits set by trackerror_max tracking_error gt trackerror_max 9 1 Valid control word The control word is enforced 0 Invalid control word The control word is ignored 10 1 Target position reached in_position 1 0 Target position not reached in_position 0 1 HOME MADE Origin setting sequence carried out 11 home_made 1 0 Origin setting sequence not carried out home_made 0 12 Not in use 1 Movement in progress moving 1 13 This bit is always set to 1 in speed and master slave synchronization mode 0 No movement in progress moving 0 14 1 Program running exec_on 1 0 No program running exec_on 0 1 ub10 DIGIVEX Motion ub10 variable The ZSW2 control word is assigned to the DIGIVEX Motion ui10 low order 16 bit variable 12 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 2 4 List of standard PROFIDrive parameters The standard parameters defined by PROFIDrive V3 0 and supported by DIGIVEX Motion are listed below except 967 NB These parameters are only accessible in read mode
16. FIBUS Interface PCIPRO CP5611 PCI PROFIBUS card PCMCIAPRO CP5511 PCMCIA PROFIBUS card RS232 interface can communicate with one drive at a time Caution It is only possible to use this interface if the drive is not RS232PRO connected to PROFIBUS network the drive mustn t be connected to a supervisor or a PLC via PROFIBUS network 24 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 3 2 2 Application example with USBPRO interface Le Z DSM 00 si s E ee e B 9 P 0 o ag i n d a q wi oy 4 yA L9 A mj MERS pa K a mi AN T Je p coy 4 S col lo aa DI fi sr lm lo Al T a 2 a o e Del I lol Jd DI ml cal m Dj er La z T T AC 62001 AC 62002 AC 62001 PC DIGIVEX Motion dialogue is possible with all the drives via PROFIBUS network Turn off the PLC or disconnect the connection with the PLC in case of Basic_DM program loading into one of the drives USB cable provided with USBPRO interface 25 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 3 2 3 Application example with PCIPRO interface DSM 6 oo a d n g amp SL di o 0 A ai e Me o Fa D d log _ 9 a Tmi a d ca _ s eB OFF g JE sal EB
17. ME Parvex Motion Explorer tool through the PROFIBUS PC interfaces It has the advantage of reducing the cycle time since the PKW cyclical exchange is no longer required to occasionally access the parameters This mechanism is also used to access large scale parameters for example DIGIVEX Motion firmware upgrade by PME This mechanism can be broken down into 4 phases 1 Parameter request from the Master This 1 phase is carried out as the result of a DB47 data block write request integrating either a read request or a write parameter request DPV1 Write Header Fct_num Wr octet 0 Slot_num Index DB47 Length bytes Ox5F 0x00 0x2F Ox0A Rd gt Ox0C Wr Parameter Request Header Request ref Request ID Axis No of parameters Selected by the 0x01 Rd 0x02 Wr 0x00 0x01 master Parameter address Attribute No of elements Param Num 16 bit Subindex 16 bit 0x10 0x00 OxXXXX OxXXXX Parameter value for a write request only Format No of values Value cf table pa 0x01 ge 2 Variable size 2 Request acknowledgment from the Slave DPV1 Write Acknowledgement Fct_num Wr octet 0 Slot num Index DB47 Length bytes Ox5F 0x00 Ox2F Ox0A Rd gt OxOC Wr 3 Response request from the Master DPV1 Read Header Fct_num Rd octet 0 Slot num Index DB47 Length bytes
18. MEZ ito rai aa x Devices js _nPro Muti Orme gt Validate the configuration by clicking on OK 32 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS Advice on how to use the SIEMENS Set PG PC interface parameter setting tool is provided with the CP5611 and CP5511 cards Set PG PC Interface xl Access Path Access Point of the Application CP L21 gt CP5611 PROFIBUS FE for SIMATIC NET Interface Parameter Assignment Used CPS611 PROFIBUS KActive gt Properties Diagnostics BA CPS611 MPI Copy Delete HA CP5611 PROFIBUS lt Active gt TETTI Parameter assignment of your communications processor CP5611 for a PROFIBUS network Interfaces Add Remove Select Cancel Help e Select the CP L2 1 access point and associate it with the CP5611 PROFIBUS or CP5511 PROFIBUS set of parameters as applicable e Select the CP L2 2 access point if input 1 is already assigned e Validate by clicking on OK Reopen the Set PG PC interface tool and click on Properties In the Station details check PG PC is the only master on the bus even if this is not the case select a free address ideally 2 as the PLC is at address 1 and the slaves at address 3 and above In the Network details select the transmission speed in accordance with the hardware configuration defined with STEP7 see section 4 3 in Prof
19. PLC in case of Basic_DM program loading into one of dialogue possible with all the drives via Profibus DIGIVEX Motion PROFIBUS 3 2 5 Application example with RS232PRO interface the drive mustn t be connected to PROFIBUS network Q dee J 6 Bp BBB 38 Se amp i Bog FIELDBUS 2 te RS232PRO 6 ac D a selle Bg BEEBE B E y PC A PC DIGIVEX Motion dialogue is only possible with one drive at a time The drive mustn t be connected to a supervisor or a PLC via PROFIBUS network when RS232PRO is used 28 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 3 3 PROFIBUS address Starting up the DIGIVEX Motion PROFIBUS simply requires the PROFIBUS address to be set The PROFIBUS address is set using the address code wheel NB The manoeuvring of the code wheel must be carried out with the drive in shutdown status power turned off The address modification will not take effect unit the drive has been restarted The new restart is activated by cutting the power supply and then turning it back on again The 0 1 and 2 addresses are prohibited to the drive Address 1 and 2 being reserved for the PROFIBUS DP masters The first available address for the drive is therefore 3 29 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 4 PROFIBUS DP MASTER CLASS 1 amp
20. SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex DRIVES www SSDdrives com PARVEX DIGIVEX Motion PROFIBUS User and commissioning manual PVD 3554 GB 01 2004 W Profibus Network Tool No Name 3 3 PST DSM 002 004 230 PRODUCT RANGE TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery gt NX HX HXA 1 to 320 Nim gt NX LX 0 45 to 64 N m High rotor inertia for better inertia load matching gt HS LS 3 3 to 31 N m Varied geometrical choice gt short motors range HS LS 3 3 to 31 N m gt or small diameter motors HD LD 9 to 100 N m Voltages to suit different mains supplies gt 230V three phase for s rie L NX gt 400V 460V three phase for s rie H NX e DIGIVEX DRIVE DIGITAL SERVOAMPLIFIERS gt SINGLE AXIS DSD gt COMPACT SINGLE AXIS DuD DLD gt POWER SINGLE AXIS DPD gt MULTIPLE AXIS DMD e PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 2 SPINDLE DRIVES e SPINDLE SYNCHRONOUS MOTORS gt HV COMPACT SERIES gt HW ELECTROSPINDLE frameless water cooled motor From 5 to 110 kW up to 60 000 rpm e DIGIVEX DIGITAL SERVOAMPLIFIERS 3 DC SERVODRIVES e AXEM RS SERIES SERVOMOTORS 0 08 to 13 N m RTS SERVOAMPLIFIERS RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 4 SPECIAL ADAPTATION SERVODRIVES EX SERVOMOTORS
21. ciple of token passing Active stations or masters receive transmit authorization in a logical ring for a defined time window These masters can then communicate in this time window with other masters or manage communication with associated slaves in accordance with a low priority master slave procedure The PROFIBUS DP uses first and foremost the master slave procedure for exchanging data predominantly cyclically with drives such as the DIGIVEX Motion Access to the drives is always carried out in accordance with the master slave procedure the drives automatically being the slaves Each slave can be identified through its unique MAC address on the bus Data exchange is predominantly carried out cyclically with drives such as DIGIVEX Motion 1 4 Standards guidelines and profiles The standards and guidelines shown below can be obtained from PNO the PROFIBUS user organization www profibus com PROFIBUS Technical Overview September 1999 Order no 4 001 German e PROFIBUS Specification FMS DP PA All standard definitions relating to the PROFIBUS specification in accordance with EN 50170 vol 2 0 version 1 0 Order no 0 042 English PROFIBUS DP Extensions contains amongst other things the acyclic communication functions using PROFIBUS DP Extensions to EN 50170 EN 50 170 vol 2 version 2 0 Order no 2 082 English e PROFIBUS Technical Guideline Installation guidelines for PROFIBUS DP FMS September 1998 Order ref
22. ctetString 128 bytes OxFE Floating64 OxFF 19 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 3 CONNECTING 3 1 Connecting the bus cable RS485 3 1 1 Pin configuration of the Sub D connector DIGIVEX Motion PROFIBUS comprises a 9 pin Sub D female connector X1 for connecting it to the PROFIBUS system All RS485 interface connections are protected against short circuiting and have galvanic insulation Pin configuration of the Sub D female connector PIN DESIGNATION MEANING O 1 Not assigned 5 5 2 Not assigned oO 3 TxD Emission data B 5 4 RTS Control signal oS 5 DGND PROFIBUS data reference potential C S 1 6 VP Power supply voltage 5V O 7 Not assigned 8 RxD Receiving data A 9 Not assigned 3 1 2 Cables RS485 technology is the most frequently used transmission mode for PROFIBUS DP Thus a two wire shielded cable with a twisted pair of copper conductors is used It is possible to connect up to a maximum of 124 devices with one PROFIBUS line Up to 32 devices can be interconnected in a linear topology within one bus segment Repeaters cable amplifiers can be used to link the different bus segments if the number of subscribers exceeds 32 The maximum cable lengths are dependant on the baud rate transmission speed The maximum cable lengths given in the table below can only by guaranteed with PROFIBUS bus cables CB08320
23. cyclic potion huuu mi miramum 90 ms Other acire stators 1974 mi jmrmum 0 294 mel Time baie Conrtant DP cycle 3000 mi DOO me The minimum values are displayed it is advisable to make the value slightly higher while guaranteeing the shortest possible DP cycle NB A short DP cycle ensures amongst other things better dynamics from PME Parvex Motion Explorer tools 36 PVD 3554 GB 01 2004
24. d moving variables are detailed in user manual PVD 3517 Programming MOVE EN is only taken into account if in14 input is not assigned to move_en EXEC EN is only taken into account if in15 input is not assigned to exec_en The STW2 control word is assigned to the DIGIVEX Motion ui0 low order 16 bit variable Assigning ZSW1 control word bits Status word bits 0 13 as defined in the PROFIDrive Profile bits 14 15 specific to DIGIVEX Motion BIT VALUE MEANING COMMENTS 1 DRIVE OK Power supply present and no serious faults fatal_error 0 drive_ok 1 0 Torque may or may not be present 0 No power supply or presence of a serious fault fatal_error 1 drive_ok 0 1 READY Drive turned on drive_ok 1 and no faults Ready to run present fault 0 1 The drive can start with the command Enable operation STW1 bit 3 0 Not ready to run Causes no ON command fault present OFF2 or OFF3 command 2 1 Operation enabled Torque set torque_on 1 0 Operation disabled Motor set to zero torque torque_on 0 1 A serious fault is present Serious fault fatal_error 1 drive fault 3 relay opens and zero torque is set 0 No serious fault present fatal_error 0 1 z 0 OFF2 command applied See STWI1 bit 1 1 a 0 OFF3 command applied See STW1 bit 2 11 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS
25. e USBPRO OK Cancel PROFIBUS Interface Check Profibus and indicate which PROFIBUS interface module is used e USBPRO module max rate 5Mbaud CP5611module CP5511module e RS232PRO module e USBPROx12 module max rate 12Mbaud PROFIBUS interfaces are supplied by a third party please refer to the manufacturer s installation procedures beforehand REFERENCE DESIGNATION USBPRO or USBPROx12 USB PROFIBUS Interface PCIPRO PCI PROFIBUS CP5611 Card PCMCIAPRO PCMCIA PROFIBUS CP5511 Card Properties 31 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS CP5611 amp CP5511 The access point must be selected in accordance with the value selected using the SIEMENS Set PG PC interface parameter setting tool Configuration Oy x 5611 CP5611 sat Access Point CP_L21 r IEHIDA i Setting made with the Siemens tool Set PG PC Interface Cancel USBPRO and USBPROx12 If necessary the transmission speed of porfibus will be changed to be in accordance with the speed imposed by the Master io USB USBPROx12 PRO PROFIBUS Baudrate 12 ME x 45 45 kBaud 93 75 kBaud 187 5 kBaud 500 kBaud 1500 kBaud Properties Cancel 6 MB 12 MB Click on Properties to select the serial number for the USB Profibus interface This number is detected automatically by clicking on Search attached device
26. er field devices gt Drives gt Parvex as shown below NA HW Config Configuring hardware Station PLC View Options Help Dez es al alia f 25 ae Profle Paves PROFIBUS DP Q Autres appareils de terrain 3 Entra nements ga DIGIVEX MOTION 8 PROFIBUS PA SIMATIC 300 SIMATIC 400 SIMATIC PC Based Control 300 400 8 Station PC SIMATIC E Field devices defined via device database files as DP Zd slaves Press F1 to get Help 34 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 4 3 3 Adding DIGIVEX Motion to the hardware configuration Continue by adding DIGIVEX Motion to the hardware configuration of your project as shown in STEP7 software help HW Config SIMATIC 314C Configuration DSM 314 tl Station Edit Insert PLC View Options Window Help lj xj pelaa 8 S Sali sila E 82 e PROFIBUS DP Network 1 Comment e p PKW 2 PZD darti La 107 ie 107 f Press F1 to get Help cha 4 Choosing the slots Three configurations are possible for the Input Output slots PP01 This standard message is used to access the DIGIVEX Motion parameters following the PKW mechanism section 2 4 and the 2 process data 2 status words in input or 2 control words in output PP03 Only process data is exchanged This configuration is used when no other DIGIVEX Motion parameter is required by
27. erence 2 111 German PROFIBUS guideline Connections for PROFIBUS February 2000 Version 1 0 Order no 2 141 German e PROFIBUS guideline Optical transmission system for PROFIBUS July 1999 draft Version 2 0 Order no 2 021 German 4 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS e PROFIdrive Profile version 2 0 Profile for variable speed drives September 1997 PNO PROFIBUS Profile Order no 3 071 German 3 072 English e PROFIdrive profile version 3 0 PROFIdrive Profile Drive Technology September 2000 draft PNO PROFIBUS profile Order no 3 172 English 5 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 2 COMMUNICATING WITH DIGIVEX Motion Technical specifications Connection to the PROFIBUS bus is carried out using a 9 pin Sub D plug in compliance with the PROFIBUS standard All RS485 interface connections are protected against short circuiting and have galvanic insulation The PROFIBUS interface supports transmission speeds of between 9 6 kbauds and 12 MBauds Functionalities e Cyclical process data exchange PZD DPVO in accordance with the PROFIdrive Profile V2 0 and or V3 0 e Parameter access Cyclical parameter access PKW DPVO in accordance with the PROF Idrive ProfileV2 0 Acyclical parameter access data block 47 DPV1 in accordance with the PROF Idrive Profile V3 0 The diagram shown below gives a preview of the communication functions carried out by DIGIVEX M
28. for explosive atmosphere e AXL COMPACT SERIES SERVOREDUCERS 5 to 700 N m 5 POSITIONING SYSTEMS e Numerical Controls CYBER 4000 1 to 4 axes CYBER 2000 NC 1 to 2 axes e DRIVE POSITIONER gt SINGLE AXIS DSM gt POWER SINGLE AXIS DPM gt MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER DIGIVEX Motion PROFIBUS Contents 1 PROFIBUS DP GENERAL DEFINITIONS 1 1 1 2 1 3 1 4 Definition Transmission via RS 485 Bus access and data exchange procedure Standards guidelines and profiles 2 COMMUNICATING WITH DIGIVEX Motion 2 1 2 1 1 2 1 2 2 2 2 3 2 4 2 5 2 6 Cyclical data transmission Useful data structure in accordance with PROF IDrive Profiles V2 0 and V3 0 DIGIVEX Motion response time Acyclical data transmission Control and status words List of standard PROF IDrive parameters PKW Profidrive V2 0 mechanism for processing parameters DPV1 Profidrive V3 0 mechanism for processing parameters 3 CONNECTING 3 1 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 3 2 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 3 Connecting the bus cable RS485 Pin configuration of the Sub D connector Cables Bus connector Cable connecting diagram Bus cable shielding EMC precautions Connecting for drives setting G n ral points Application example with USBPRO interface Application example with PCIPRO interface Application example with PCMCIAPRO interface Application example with RS232PRO
29. ile selector DP x PROFIBUS Staton Parametms T PG PC is the griy master on the bus e Validate by clicking on OK then on OK in the main window 33 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 4 2 GSD Files PROFIBUS slaves do not have the same performance characteristics The characteristic properties of a slave are grouped together in a database GSD file containing the data for the appliance This file is used by all the master systems for correctly addressing the slave and its individual possibilities This file is available in the C Program Files Parvex Profibus file for the DIGIVEX Motion PROFIBUS Eudp0792 gsd range 4 3 Operating in relation with SIMATIC S7 4 3 1 PROFIBUS DP interface in SIMATIC S7 S7 masters can be CPUs with integrated PROFIBUS DP interface such as for example CPU314C 2DP CPU315 2DP CPU413 2DP CPU414 2DP or CPU416 2DP For corresponding couplers CP please consult us The master station as well as the PROFIBUS network system are configured in the hardware manager STEP7 To create a project using the SIMATIC Manager tool File gt New 4 3 2 Adding DIGIVEX Motion to the module catalogue Start up the hardware configuration tool SIMATICXXX gt Hardware Click on Tools gt Install new GSD e Select in C Program Files Parvex Profibus Eudp0792 gsd You should then see the DIGIVEX Motion slave catalogue displayed under PROFIBUS DP gt Oth
30. ing PDO messages PVD3543 Block Positioning Application Software PVD3519 Fly shear linear cutting software application PVD3531 Rotary blade cutting software application PVD3532 2 PVD 3554 GB 01 2004 34 34 35 36 DIGIVEX Motion PROFIBUS 1 PROFIBUS DP GENERAL DEFINITIONS 1 1 Definition PROFIBUS PROcess Fleld BUS is an international open field bus standard It is defined by international standards EN 50170 and or IEC 61158 and has a wide range of applications in manufacturing and industrial process automation PROFIBUS DP is a PROFIBUS communication profile It is optimized for high speed time critical data transmission at field level using low cost connectors PROFIBUS is a multi master system which allows the joint operation of several automation engineering or visualization systems with their on site centralized devices on one bus PROFIBUS differentiates between master and slave devices e Masters control data traffic on the bus and are also called active subscribers A master can send information without having received an external request when it has bus access authorization token There are two categories of master e MasterClass 1 This concerns central automation stations e g PLC which exchange cyclic messages with the slaves e Master Class 2 This includes eguipment such as consoles for programming and parameter setting or for operator control and monitoring which are used for c
31. not a requirement for information from the PKW interface operating cyclically only PZD data is relevant then a no request request must be sent AK 0 Example Below is the request and the response for a request to modify parameter number 0x2900 subindex 0 with the value 40 00 this parameter has a 32 bit 40 00 floating format and is written 0x4220 0000 AK PNU SSIND PNUE PWE1 PWE2 Request 3 0x100 0 5 0x4220 0 Response 2 0x100 0 5 0x4220 0 i e PKE IND PWE1 PWE2 Request 0x3100 0x0005 0x4220 0x0000 Response 0x2100 0x0005 0x4220 0x0000 The PPOConverter exe software tool to be found in the C Program Files Parvex Profibus file can be used to carry out the conversion between a parameter index number and the corresponding values for the PKW section of the PPO Moreover this tool can be used to carry out the conversion between a floating value and the PWE fields of the PPO and display the uncoded contents of STW1 control words and ZSW1 status words NB The SFC15 function contained in the SIEMENS S7 automate program is used to access the write mode for outgoing PPO Likewise the SFC14 function is used to access the read mode for incoming PPO 17 PVD 3554 GB 01 2004 DIGIVEX Motion PROF IBUS 2 6 DPV1 Profidrive V3 0 mechanism for processing parameters This mechanism is supported by the range S7 400 which has the latest firmware as well as the P
32. onfiguring starting up e g Parvex Motion Explorer on PC or monitoring whilst the plant is operating e Slaves are field devices such as for example DIGIVEX Motion drives independent inputs outputs and solenoid valves They have no bus access authorization that is to say they are only empowered to acknowledge received messages or to return messages to masters on request Slaves are also called passive subscribers 1 2 Transmission via RS 485 A two wire shielded cable with a twisted pair of copper conductors is used as it meets high transmission speed and simple low cost installation criteria Transmission speed can be freely selected between 9 6 kBauds and 12 MBauds This same speed is defined for all devices connected to the bus when the system starts up 3 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS A line bus structure is used to connect up all the devices It is possible to interconnect up to 32 subscribers masters or slaves in one segment The bus is terminated at the beginning and the end of each segment by an active terminal Voltage must always be applied to both bus terminals for the bus to work correctly The terminals are usually switchable in the bus connectors Repeaters cable amplifiers can be used to link the different bus segments when there are more than 32 subscribers or to extend the network 1 3 Bus access and data exchange procedure The PROFIBUS bus operates in accordance with the prin
33. otion using PROFIBUS DP Automation Configuring Operation Class master 1 Class master 2 Class master 2 PLC PME HMI l PROFIBUS DP Cyclic channels Acyclic channels PROFIBUS communication Interface DIGIVEX Motion DIGIVEX Motion PROFIBUS DP data channels 6 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS 2 1 Cyclical data transmission DIGIVEX Motion is controlled through the cyclical PROFIBUS DP channel Moreover this same channel can be used for exchanging parameters The structure of useful data for the cyclical channel is defined in the PROFIDrive Profile version 2 0 and is called PPO Parameter Process Data Object This structure is used by the master to access drive slaves by exchanging cyclical data 2 1 1 Useful data structure in accordance with PROFIDrive Profiles V2 0 and V3 0 Useful data structure according to the PPO The useful data structure in cyclical transmission is divided into two sections which can be transmitted in each telegram Useful data Protocol frame trailer Protocol frame header Mi a ae PKW parameters PZD process data FS PPO PZD process data area that is to say control words or status information e PKW parameter area for reading writing drive parameters It is possible when configuring the master to define the type of PPO see below with which the master is to acce
34. s table 16 bit parameter index Parameter header in the PKW PKE IND 32 bits 0x0000 Oxk000si00 0x03C4 Oxk3C4si00 0x07FF Oxk7FFsi00 0x2800 Oxk000si05 0x2DC7 Oxk5C7si05 Ox2FFF Oxk7FFsi05 Parameter value PWE 3 and 4 word The parameter value PWE is automatically transmitted as a double mot 32 bits A PPO telegram can only transmit a single value A 32 bit parameter value is made up of PWE1 high order word 3 word and PWE2 low order word 4 word A 16 bit parameter value is transmitted in PWE2 low order word 4 word In this case PWE1 high order word 3 word must be given the value 0 Rules for processing requests responses e A request or a response can only ever refer to one parameter e The master must continue to repeat a request until a corresponding response is received e The master identifies the response to a previously sent request by analyzing the response identifier analyzing the parameter number PNU analyzing if necessary the parameter index IND analyzing if necessary the parameter value PWE 16 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS e The complete request must be sent in one telegram telegrams cannot be split The same applies to the responses e As regards response telegrams containing parameter values the drive will always reply giving the actual value in the event that the response telegrams are repeated e If there is
35. ss the drives when the network is starts up The type of PPO selected depends on the task assigned to the drive in the automation system Process data is automatically transmitted They are processed as top priority in the shortest time slots in the drives The drive is controlled by process data e g On Off etc The parameter area gives the user complete access to all parameters and variables in the drive via the bus It is possible for example to write a target position or to read detailed information concerning diagnosis fault messages etc DIGIVEX Motion supports two types of PPO from amongst those defined in the PROFIDrive Profile version 2 0 PPO1 PKW parameter area with 4 words and 2 words of PZD process data PPO3 PKW without parameter area with 2 words of PZD process data 7 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS PPO1 PPO3 PKW Parameter identifier and value PZD Process data PKE Parameter identifier and request type STW Control word IND Index ZSW Status word PWE Parameter value The various essential tasks are accounted for by subdividing the useful data into PKW parameter data and PZD process data Parameter setting data area PKW The PKW parameter identifier value telegram section is used for monitoring and or modifying any of the parameters in the drive The required request response identifier mechanisms are described in section 2 4
36. y instructions and wire baring lengths 21 PVD 3554 GB 01 2004 DIGIVEX Motion PROFIBUS Each bus segment must have a resistor network i e a bus terminal at both ends The terminal can be switched on and off if the recommended connectors have been used for the connections Terminal resistor ON Terminal resistor switched switched ON OFF OFF Position of the switch for activating and deactivating the terminal resistor Users must ensure that a resistor terminal network is installed on the first and last subscriber as specified in the diagram below if these bus connectors are not used 7 VP PIN6 390 ohms Data lines 6 RxD TxD P PIN 3 220 ohms Data lines RxD TxD N PIN8 390 ohms I DGND PIN 5 Resistor terminal network A bus segment must always be terminated at both ends by a terminal resistor This condition is not fulfilled for example if the last slave with bus connector is switched off The resistor is inoperative if the bus connector voltage is supplied by the station Please make sure that all stations comprising an active terminal resistor are supplied with power at all times The bus connector with looped though bus cable can be disconnected from a drive PROFIBUS DP interface without interrupting the data transmission on the bus 3 1 4 Cable connecting diagram 22 PVD 3554 GB 01 20

DIGIVEX Motion - BTT Automatyka

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