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1. 10 Basic information on the PROFIBUS interface of the MDA esee 10 Functions of the PROFIBUS interface of the MDA rrrrsvrnnnnvnnnnvnnnnnvnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnvnnenenenr 10 Description of the finite state machine PROFIDRIVE V 2 0 rrnnnvnnnnnvnnnnvnnnnnvnnnnvnnnnnnnnnnvnnnnnnnnnnvnnenennnr 10 Function diagram for basic controller nennen nnne nnns 10 Function diagram for speed control operation mode rrrnnnnnnvrnnnnnnvrnnnnnnvrnnnnnnvrnnnnnnnrnnnennnrnnssrnnrnnsssnnrnnn 11 Function diagram for positioning operation mode rennen 11 Control and parameter change obt 11 Lo 0110 WONG m 12 Status Word M HH 12 Operation Modes ae 13 Changing the operation mode arnrnnnnronnrnvnnnnnnnnnnvonnnnrnnenrennnrennsnrenennnensnrenenrnsennrnsnnrnensnresenresennresenreennnnee 13 Speed control operation Mode ae idet 14 Control word for speed control operation mode nennen nennen 14 POSITIONING operation mOde 2 u 2 u 1 15 Control word for position control operation mode 15 Local peripheralidevices 2 2 ee Rs En 16 GUI 17 Setpoint setting with PZD p nee ee ges 17 Communication 4 2 42 402400n nn anna ence eek sec ES 18 Parameter process data object PPOO 18 PPO tye e E A A E E e
2. Sub AK Parameter List Min Max Default Unit Access index 1 6 7 Controller type 0 None 0 RW 1 Torque 2 Output speed 3 Absolute position 4 Relative position 5 Modulo position 6 Contouring error 2 6 7 Feature Bit00 Synchronisation 0 RW Bit01 Nominal value externally allowed 0 Bit02 Stop with position dwell time 0 Bit03 Stop with brake 0 Bit04 Intermediate stop without current 0 Bit05 with speed limitation 0 Bit06 07 Reserved 0 3 6 8 Nominal value 27 11274 0 type dep RW 4 16 8 Target time 0 12 0 ms RW 5 6 7 Torque 0 10000 500 mNm RW 6 Reserved 7 6 7 Maximum speed 0 8000 4000 rpm RW 8 6 7 Nominal output 0 8000 3000 rpm RW speed for position control 9 6 7 Acceleration value 100 165535 4000 rpm s RW 10 _ 6 7 Deceleration value 100 165535 1000 rpm s RW 11 6 8 Holding time ms 0 1000000 0 ms RW 12 16 7 Acceleration ramp 0 Linear 0 1 0 RW 1 Sinesquare 13 16 7 Deceleration ramp 0 Linear 0 1 0 RW 1 Sinesquare 14 6 7 Driving data record 0 None 0 99 0 RW linking 1 Overhung 2 Maintain position 3 Brake 4 Without power 15 6 7 Next DDR 0 99 0 RW 16 6 7 Control parameter 1 4 1 RW record 17 16 7 Program 0 99 0 RW identification GFC AntriebsSysteme GmbH 27 Profibus interface 4 3 2 PNU 1001 System parameters For a detailed parameter description refer to the System window section in the RS232 Firmware 28 user manual Sub AK Pa
3. Interface description PROFIBUS DP Milan drive advanced Servo motor with integral controls Profibus interface Preface Thoroughly read the present manual and all safety instructions and warnings in particular before installation and commissioning of the servo drive Observe all warning plates attached to the device Please make sure that all warning plates are legible and that missing or damaged signs are replaced The present user manual describes wiring commissioning functions and the protocol of the Milan Drive Advanced PROFIBUS interface It is part of the overall documentation of the servo drives with Milan Drive Advanced integral electronics For information on installation commissioning and functions of the Milan Drive Advanced please refer to the corresponding user manuals A list of these user manuals can be found in the literature section For more detailed information refer to Website For technical and general information customers may refer to the following address http www milan drive de Contact In case you have any questions or problems when reading these operating instructions please contact one of the addresses mentioned at the end of these instructions or the sales agent responsible for your area
4. 0x0237 Drive is running drive task accepted 0x147D 0x2067 OFF 2 results in tapering off Switch on inhibit 1 1 option 0x147C OFF 1 0x2200 Drive at standstill control requested Not ready for switch on 0x0000 OFF 1 requires a reset of all bits 0x2200 Not ready for switch on vs From the start 2 2 option 0x0000 Deactivate control same result as OFF 1 0x2200 Drive at standstill control requested Not ready for switch on From the start Comments on the table above Provide control is evaluated first then ON 2 and ON 3 can be processed This is how the telegram has to be implemented in accordance with PROFIDRIVE V2 0 Bit 4 and 5 are required for operation However they do not influence the finite state machine For this reason they can also be changed immediately For reasons of clarity they will be changed from the next telegram PROFIDRIVE V2 0 does not provide any information regarding the effect of deactivating the control Since active deactivation is equal to a 0x0000 telegram which is also generated when interrupting the PROFIBUS the drive is stopped with OFF 1 This corresponds to the Fail Safe mode and was approved by the notified body for PROFIBUS The value 0x2A37 may also be displayed here if either the reference operation has been performed with regards to the position or if the entries None or Powerup are already available in the programming tool f
5. Functional blocks SFC 14 and 15 are system functional blocks of Siemens Step7 generation Functional blocks can directly be established in the Step7 manager block directory For further description of input and output assignment of functional blocks refer to Step help This system component reads consistent data from the drive In the following PPO type 1 PPO type 2 is used i e write 6 words and read 10 words LADDR W 16 100 100hex 256dez I O address range RECORD P 40 0 Byte 20 Pointer to data range where data are to be recorded iM KOP AWL FUP OB1 MDA NEUYSIMATIC 300 Station CPU 313C 2 DP 1 43 Datei Bearbeiten Einf gen Zielsystem Test Ansicht Extras Fenster Hife Diels ei ases ol Coll fs e DE e isle rc Nel Inhalt von UmgebungiSchnittstelle BS Neues Netzwerk gg Bitverkn pfung amp vergleicher g Umwandler GA Z hler Ga DB Aufruf E Spr nge PE ol Festpunkt Fkt Netzwerk ER Einlesen der ersten 10 Worte vom Milan Antrieb p Gleitpunkt Ft mm Ey Verschieben ai Programmsteuerung Lei Schieben Rotieren Lei Zeiten G Data of a Standard Wortverkn pfung DP SlavRET VALP gFault FB Bausteine Einbinden des SFC 14 f r die 10 Worte des PPO Typsl PPO Typ 2 Die Daten werden beginnend auf Eingangswort 40 gelegt eR EH RE E EE z DPRD DAT gy FC Bausteine P E 40 0 B EH SFB Bausteine vad RECORDL YTE 20 gy SFC Baus
6. 0 1 Stopcommandispresen 1 1 1 Quickstop command is present 3 8 Indication of the synchronisation status for Technological function Electric shaft Subindex 18 Info drive Bit Decimal Description 1 O oO 1 flimitswitehpus 0000000000000 8 Drive atstandstil 3 GFC AntriebsSysteme GmbH Profibus interface 4 3 4 PNU 1003 Drive data For a detailed parameter description refer to the Hardware window section in the RS232 Firmware user manual The functions quick stop ramp and quick stop value are available from firmware version APP 02 01 and operating software MDAwin 02 01 and higher NOTE Modifications of the motor data the motor offset and the UZK correction factor may cause major faults or even a complete failure of the drive gt The values may only be changed by the service department of GFC AntriebsSysteme Sub AK Parameters List Min Max Default Unit Access index 1 6 Motor type OzNot defined 0 RO 1 MES35 2 MES63 3 MES56 2 6 Motor pole pairs 0 Not defined 0 6 0 RO 3 6 3 6 Feedback source O Resolver 0 RO 1 Hyperface 4 6 Brake 0 Not available 0 RO 1 available 5 Fan OzNot available 0 RW 1 continuous 2 temperature controlled 6 Reserved 7 6 Current factor 1000 110000 1750
7. 9 single step mode 10 single step pause 11 reference set 12 limit switch positive 13 limit switch negative 14 drive without power 15 drive at standstill 16 Ack Quick stop 17 Ack Stop 18 Ack RFO stop 19 PB I O extension 40 GFC AntriebsSysteme GmbH Profibus interface 4 3 14 PNU 1181 Analogue input For a detailed parameter description refer to the I O drive window section in the RS232 Firmware user manual The functions filter adjustment and dead zone value are available from firmware version APP 02 01 and operating software version MDAwin 02 01 and higher Sub AK Parameters List Min Max Default Access index 1 6 7 Module address OzNot assigned 0 RO 1 Interface 2 Reserved 2 6 7 Input number 0 255 0 RO 3 6 7 Feature Bit00 Inverse signal RW Bit01 Fault hardware range yes no Bit02 D07 Reserved 4 6 7 Function 0 None 0 RW 1 Output speed setpoint 2 Torque setpoint 3 Speed limit 4 Torque limit 5 6 7 Function value min 32k 32k 0 RW 6 6 7 Function value max 32k 32k 0 RW 7 6 7 Interface value min 32k 32k 0 RW 8 5 7 Interface value max 32k 32k 0 RW 9 6 7 Input type OzNo 0 RW 10 10V 2 Reserved 10 6 7 Filter adjustment 0 65535 1988 RW 11 6 7 Dead zone value 0 65535 5 RW 4 3 15 PNU 1201 to 1204 Speed position controller controller records 1 to 4 For a detailed parameter description refer to
8. For this the MDA has to be programmed with PPO type 5 or 6 as bus device The inputs may be assigned a specific function for a detailed description refer to the I O drive window in the RS232 Firmware user manual If the inputs are assigned the None function the state of the inputs is only displayed to bus master and triggers no reaction in the drive PPO types 5 and 6 are described in the following PPO type 5 The master can only determine the PPO type as PPO Read and PPO Write It cannot be mixed with other PPO types PZD for PPO Read PZD1 Status word PZD2 Main actual value active driving data record PZD3 Actual output speed PZD4 Actual torque PZD5 and 6 Actual position PZD7 Digital inputs PZD8 Analogue input PZD for PPO Write PZD1 Control word PZD2 Main setpoint driving data record which needs to be activated PZD3 Not assigned PZD4 Not assigned PZD5 and 6 Setpoint PZD7 Digital outputs PZD8 Not assigned The function direct setpoint setting with PZD5 and 6 is available from firmware version APP 02 04 and higher For a detailed description refer to the setpoint setting with PZD section in this manual PPO type 6 The master can only determine the PPO type as PPO Read and PPO Write It cannot be mixed with other PPO types For PZD PPO type 6 is identical to type 5 in addition the parameters can be programmed using the PKW mechanism 16 GFC AntriebsSysteme GmbH Profibus interface 3 4 5 Overrid
9. Prag P Berlin Cottbus Bautzen web Dresden Pirna Y004 011 003 en 2 09
10. 0 RO 1 PROFIBUS 2 CANopen 3 DeviceNet 2 6 7 Bus termination 0 No 0 1 Yes 3 6 7 Slave address 0 255 2 RW 4 Baud rate 0 5 Operation mode 0 6 6 7 Diagnosis 0 Off 0 1 On 7 6 7 Disable fieldbus 0 No 0 access 1 Yes 8 6 7 Rights 0 Read only 0 1 Change DDR 2 Only service and bus cannot be changed 3 Everything can be changed 9 Reserved 4 3 7 PNU 1008 Control loop For a detailed parameter description refer to the Control loop window section in the RS232 Firmware user manual These parameters are adapted to the mounted motor in the factory and may not be changed by the user The user has read access only NOTE Modifications of the control loop parameters may cause major faults or even a complete failure of the drive gt The values may only be changed by the service department of GFC AntriebsSysteme Sub AK Parameters Min Max Default Unit Access index 1 6 Field P amplification KP 1 65535 5000 1000th RO 2 6 _ _ Field P scaling 1000 31000 1 RO 3 6 _ Field I reset time TN us 0 65535 5000 10ys RO 4 6 _ Field I scaling 1000 1000 Ji RO 5 6 Torque P amplification KP 1 65535 5000 1000th RO 6 6 Torque P scaling 1000 1000 1 RO 7 6 Torque l reset time TN us 0 65535 5000 10ys RO 8 6 Torque l scaling 1000 1000 1 RO GFC AntriebsSysteme GmbH 33 Profibus interface 4 3 8 PNU 1009 Fault register 4
11. 11 17 Reserved 4 3 10 1 Subindex 8 Status digital inputs Bit Decimal Description 0 1 Digital input 1 set 1 2 Digital input 2 set 2 4 Digital input 3 set 3 8 Digital input 4 set 4 15 gt 16 reserved 4 3 10 2 Subindex 9 Status digital outputs Bit Decimal Description 0 1 Digital output 1 set 1 2 Digital output 2 set 2 4 Digital output 3 set 3 8 Digital output 4 set 4 15 gt 16 reserved 4 3 11 PNU 1012 Customer designation PNU 1012 enables writing and reading of customer designation 1 from the name plate To be able to use this PNU the customer designation may only consist of 11 digits the first digit is either a positive or negative algebraic sign the remaining 9 digits may only take the values 0 to 9 Other combinations or letters in this field may cause faults during writing or reading Task ID 6 is used to read the field task ID 8 to write the field For a description of the customer designation 1 field refer to the Name plate window section in the RS232 firmware user manual 38 GFC AntriebsSysteme GmbH Profibus interface 4 3 12 PNU 1101 to 1104 digital inputs 1 to 4 For a detailed parameter description refer to the I O drive window section in the RS232 Firmware user manual The functions limit switch positive negative with warning are available from firmware version APP 02 01 and operating software version MDAwin 02 01 and high
12. 3 1 PNU 1 to 99 driving data records PNU 898 and 899 push to run driving data records 27 4 3 2 PNU 1001 System Darameters 28 4 3 3 PNU 1002 Actual values 22 uu 444440444HHHBnnennnnnnnennnnnnnennnnnnnennennnnannennnnannennnnannennnnennensnnennensnnennennnnennennnn 29 4 3 8 1 Subindex 14 Info status 1 29 4 3 3 2 Subindex 15 Info collective faute 29 4 3 8 3 Subindex 16 Info collective warnings nennen ener tnn ener 30 4 3 3 4 Subindex 17 Info status 3 30 4 3 3 5 Subindex 18 Info drive 30 4 3 4 PNU 1003 Drive data i caeca ENEE ENEE restet pe ea ernennen een menden be sank 31 4 3 5 PNU 1006 Reference operation eesesssessessssesseseeeeeen nennen nnne nnn nrne nennen nennen nennen nnns 32 4 3 6 PNU 1007 Bus interface ieiuniis eeeeenceee condense SEENEN einer SEENEN vases den nennen end 33 4 3 7 PNU 1008 Control loop 33 4 3 8 PNU 1009 Fault register nes nn nennen 34 4 3 8 1 Subindex 1 Individual fault register 1 voltages sssssssssseeeeeeeeeenenen nennen 34 4 3 8 2 Subindex 2 Individual fault register 2 temperatures 34 4 3 8 3 Subindex 3 Individual fault register 3 motor nennen 34 4 3 8 4 Subindex 4 Individual fault register 4 Local AN 34 4 3 8 5 Subindex 5 Individual fault register 5 fieldbus sesssssseeneeeeeeenneenenns 35 4 3 8 6 Subindex 6 Individual fault register 6 driving data manager 35 4 3 8 7 Subinde
13. RO 8 6 7 Max torque positive 0 10000 14000 mNm RW 9 6 7 Max torque 0 10000 34000 mNm RW negative 10 6 7 Max speed positive 0 8000 4000 rpm RW 11 6 7 Max speed 0 8000 4000 rpm RW negative 12 16 7 Speed limit 0 10000 6000 rpm RW 13 6 Resolver offset 1 4095 1 Inc RO 14 6 Align Current 0 65535 1000 mNm RO 15 6 Align Period 0 65535 1000 ms RO 16 6 Position ind 1 65535 4096 RO impulses 17 16 7 Position holding 0 65535 0 ms RW time 18 6 Brake apply time 0 5000 40 ms RO 19 6 Brake release time 0 5000 40 ms RO 20 6 UZK correction 0 1000 90 RO factor 21 6 7 Ballast monitoring 0 User defined 2 RW 1 None 2 internal 3 100W external 4 200W external 5 400W external 22 6 Ballast time 0 65535 250 RO constant 23 6 Ballast fault 0 65535 700 RO 24 6 Max motor torque 0 10000 314000 mNm RO 25 6 Max motor speed 0 8000 14000 rpm RO 26 6 7 Quick stop ramp 0 Linear 0 1 0 RW 1 Sinesquare 27 16 7 Quick stop value 100 65535 65535 rpm s RW GFC AntriebsSysteme GmbH 31 Profibus interface 4 3 5 PNU 1006 Reference operation For a detailed parameter description refer to the Reference operation window section in the RS232 Firmware user manual The functions Timeout and Next DDR with DDR no are available from firmware version APP 02 01 and operating software version MDAwin 02 01 and higher Sub AK Parameters List M
14. Type of hazard and its source consequences measures or prohibitions Possible consequence s on non observance gt Measure s to avoid the hazard GFC AntriebsSysteme GmbH 7 Profibus interface NOTE contains important information on the product or highlights a section of the documentation to which special attention should be paid Pictograph on NOTE consequences or measures Type of hazard and its source Possible consequence s on non observance gt Measure s to avoid the hazard 1 3 1 Used danger signs Danger signs warn about a danger source Layout yellow triangle and symbol General danger zone in combination with personal injuries Please heed all measures marked with the danger sign to prevent injuries or damage Hazardous electrical voltage Danger due to electric shock Hot surfaces Danger of burns 1 3 2 Used mandatory signs Mandatory signs call on the user to do something to prevent a danger Layout blue circle and symbol General mandatory sign Heed instruction zd Caution Disconnect plug before opening 1 3 3 Further symbols Information Contains important tips and information In case of non observance no damage is to be expected GFC AntriebsSysteme GmbH Profibus interface 1 4 Commissioning electrical connection NOTE For the Milan Drive Advanced servo drive the motor and the controls are firmly connected as
15. instructions Operation box PV 1608 Order no Y004 010 50 GFC AntriebsSysteme GmbH Profibus interface 8 2 Further literature 1 As an introduction to Profibus DP Manfred Popp PPROFIBUS DP Grundlagen Tipps und Tricks f r Anwender H htig Verlag ISBN 3 7785 2676 6 2 Guidelines for the electrician Installation guide Profibus DP FMS order no 2 112 Available from PROFIBUS Nutzerorganisation Haid und Neu Str 7 D 76131 Karlsruhe Tel 49 721 9658590 Fax 49 721 9658589 http www profibus com 3 Profibus profile Profile for Profidrive variable speed drives Version 2 order no 071 Available from PROFIBUS Nutzerorganisation Haid und Neu Str 7 D 76131 Karlsruhe Tel 49 721 9658590 Fax 49 721 9658589 http www profibus com 4 Profibus guideline Connection technology for Profibus order no 2 142 Available from PROFIBUS Nutzerorganisation Haid und Neu Str 7 D 76131 Karlsruhe Tel 49 721 9658590 Fax 49 721 9658589 http www profibus com 5 Profibus DP DPV1 H htig Verlag ISBN 3 7785 2676 6 GFC AntriebsSysteme GmbH 51 Grenzstra e 5 01640 Coswig Tel 49 3523 94 60 Fax 49 3523 74142 gfc antriebe 2gfc auma com Leipzig Halle v Mei en B101 Ost C IC wem Chemnitz Hof Eisenach Daimlerstra e 9 73760 Ostfildern Tel 0711 34803 0 Fax 0711 34803 3034 riester wof auma com Flughafen DD Klotzsche Siebenlehn
16. processed using the PKW mechanism Handling and viewing parameters Master gt Slave In the PKW mechanism the master defines a task the slave processes the task and creates the appropriate response Tasks and responses cannot be blocked every PPO Write contains exactly one command and every PPO Read contains exactly one response Therefore a maximum of 4 octets of process data can be transmitted with one task or one response The task response and the associated parameters are coded in the parameter ID GFC AntriebsSysteme GmbH 19 Profibus interface Parameter ID PKE 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 10 AK Parameter number PNU Task response processing The task response processing procedures are defined in such a way that the ID indicates which fields of the PKW interface IND PWE must also be evaluated Further a differentiation is made between the parameter value and the parameter description The task and response IDs printed in bold in the following two tables are currently used for the MDA Table Task IDs Master gt Slave Task ID Function Response ID positive negative 0 No task 0 1 Request parameter value 1 2 7 2 Change parameter value word 1 7 8 3 Change parameter value double word 2 7 8 4 Request description element 3 7 5 Change description element 3 7 8 6 Request parameter v
17. speed torque or position within the running driving data record For this the firmware APP 02 04 and the GSD file in version V4 are required Due to the limited value range of the setpoint from external being also used via the analogue input position setpoints can only be processed up to 15 bits To being able to use the setpoint specifications via fieldbus the drive must be operated via PPO types 2 5 or 6 by the PLC The setpoint channel is only activated in these types via process data words PZD 5 and 6 In addition activate the nominal value externally allowed check mark within the characteristics of the DDR and Bit 14 setpoint specification within the control word GFC AntriebsSysteme GmbH 17 Profibus interface 3 5 Communication The communication with the MDA is accomplished via PROFIBUS DP The max transmission speed is 12 Mbit s A standardised PROFIBUS cable as well as active termination on both sides of the bus cable are imperatively required 3 5 1 Parameter process data object PPO The profile PROFIDRIVE of PROFIBUS provides for the following parameter process data objects PPO 1 2 3 4 5 6 7 8 9 20 11 12 13 14 55 16 17 18 19 20 21 22 23 24 25 26 27 28 PKW PZD PKE IND PWE PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 STW HSW ZSW HIW Type 1 Octet string 12
18. the Speed position controller window section in the RS232 Firmware user manual Sub AK Parameter Min Max Default Unit Access index 1 6 7 Output speed P amplification KP 1 65535 5800 1000th RW 2 6 Output speed P scaling 1000 1000 Ji RO 3 6 7 Output speed I reset time TN us 0 65535 131 10ys RW 4 6 Output speed l scaling 1000 3000 1 RO 5 6 7 Position P amplification KP 1 65535 6500 1000th RW 6 6 7 Pilot control 0 65535 11000 RW 7 6 7 Positioning window 0 30000 10 RW 8 6 7 Contouring error window 0 30000 1000 RW 9 6 Driving data record end window 0 30000 5 RO 4 3 16 PNU 1211 Operational data For a detailed parameter description refer to the Operational data window section in the RS232 Firmware user manual Sub AK Parameters Unit Access index 1 6 Operation time Sec RO 2 6 Motor running time Sec RO 3 6 Fault Temp Elect RO 4 6 Fault Temp Motor RO 5 6 Fault Temp PE RO 6 6 Fault DC link circuit RO 7 6 Fault Fieldbus RO 8 6 Fault Excess current RO 9 6 Number of restarts RO GFC AntriebsSysteme GmbH 41 Profibus interface 4 3 17 PNU 1401 to 1500 Event buffer Depending on the version this function is available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher Die eingetragenen Ereignisse k nnen ber das Fenster Ereigni
19. 3 3 OxE1 0xD1 4 4 2 3 4 OxE1 0xD5 4 12 3 1 1 OxE5 0xD5 12 12 4 1 2 OxE5 OxD9 12 20 Available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher and GSD file V4 5 5 5 20 20 6 6 6 28 28 Available for firmware version APP 02 04 and operating software version MDAwin 02 04 and higher and GSD file V5 7 2 2 OxE9 0xD9 20 20 The first two configurations cannot be used for programming the drive but they do not burden the Profibus as strongly as 16 bytes less per telegram 8 bytes outgoing data and 8 bytes incoming data need to be transmitted For configurations 1 STW ZSW and HSW HIW and 3 parameter STW ZSW and HSW HIW only the process data which are most necessary are transmitted which burdens the Profibus with 8 bytes per telegram less than the configurations 2 and 4 actual values GFC AntriebsSysteme GmbH 21 Profibus interface 3 6 Programming of the master sub assembly 3 6 1 Configuration of the controls 22 When using Siemens S7 controls the MDA is connected via the graphic user interface of the hardware configuration in Step to the master controls When using MDA for the first time you have to import the GSD file on the enclosed CD into Step7 From firmware version APP 02 00 The GSD file includes a picture of the drive in BMP format If the picture is in the same path when reading the GSD file th
20. 3 8 1 4 3 8 2 4 3 8 3 4 3 8 4 34 For a detailed parameter description refer to the Drive fault window section in the RS232 Firmware user manual Subindices 9 to 16 are currently not assigned The meanings of the numbers in each subindex are explained in the following tables The fault numbers are set by the system and will be cancelled after acknowledgement The user has read access only Subindex AK Parameters Access 1 6 Faults Voltage RO 2 6 Faults Temperature RO 3 6 _ Faults Motor RO 4 6 Faults LocalCAN RO 5 6 Faults Fieldbus RO 6 6 Faults Driving data record RO 7 6 Faults Parameters RO 8 6 Faults Logic hardware RO 9 16 Fault registers 09 to 16 Subindex 1 Individual fault register 1 voltages Bit Decimal Description Cd o 1 Voltage monitoring DC circuit link UZK lt 180V Voltage monitoring DC circuit link UZK 400V Voltage monitoring Brake reserved Subindex 2 Individual fault register 2 temperatures Bit Decimal Description S O O 1 Temperature monitoring Moto 3 8 Temperature monitoring Ballast resistor Subindex 3 Individual fault register 3 motor Bit Decimal Description 0 1 JResovrsignal 00000000000 3 8 Encoderindex 0 00 0 O 6 64 reserved 8 256 reserved 9 512 FaultMotorcontros S e Subindex 4 Individual faul
21. 3 CANopen interface has the parameter change rights 4 2 2 PNU 947 Fault number If the bit 3 fault is set in the status word the fault number can be queried in this parameter The parameter is a Read only parameter This PNU offers an overview over selected faults If the fault number 12 is indicated a detailed fault signal within the manufacturer specific PNU 1009 Fault register PWE Designation Without fault DC link circuit below 180V DC link circuit above 400V Motor temperature above 140 C Electronics temperature above 78 C Brake supply voltage not in range from 20V to 28V Quick stop Fault occurred during reference operation Motor current switched off Fault in driving data record 10 Fault in the system parameters 11 Drive blocked 12 Collective fault for details refer to the fault register PNU 1009 oo oNOOIP OPD O GFC AntriebsSysteme GmbH 25 Profibus interface 4 2 3 PNU 971 Save parameter to non volatile memory Use this function to store all parameter settings in the non volatile EEPROM memory The PWE parameter value must take the value 1 during transmission The values changed via PROFIBUS are discarded when switching off the MDA or in case of a power failure since they are only stored in the RAM If the changed parameters are to be retained even after the MDA has been switched off use this PNU to save the values before switching off the mains voltage From a physical point of view EEPR
22. 3 Warnings and notes Failure to observe of the warnings and notes may lead to serious injuries or damage Qualified personnel must be thoroughly familiar with all warnings and notes in these operation instructions In order to highlight safety relevant procedures in these operation instructions the following safety instructions apply DANGER indicates an imminently hazardous situation which if the warnings and notes are not observed could result in death or serious damage to health or considerable material damage This note is only used in case of danger to life and a high level of hazard Danger sign on the type of danger and or pictograph on Type of hazard and its source consequences measures or prohibitions Possible consequence s on non observance gt Measure s to avoid the hazard WARNING indicates a potentially hazardous situation which if the warnings and notes are not observed could result in death or serious damage to health or considerable material damage Danger sign on the type of danger and or pictograph on Type of hazard and its source consequences measures or prohibitions Possible consequence s on non observance gt Measure s to avoid the hazard CAUTION indicates a potentially hazardous situation which if the warnings and notes are not observed could result in minor injuries or material damage Danger sign on the type of danger and or pictograph on
23. Alternation ID O blocked 0 1 0 RO 1 enabled 2 6 7 Reference type RW 3 6 8 active position RW 4 6 8 nominal position RW 4 4 2 PNU 1022 Technological function Electric shaft Depending on the version this function is available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher Subindex AK Parameters List Min Max Default Access 1 6 Alternation ID 0 blocked 0 1 0 RO 1 enabled Operation mode Gear factor input Gear factor output CAN ID Master CAN ID Slave Sync mode Timeout Behaviour on error oo IS IGM JO AWN OOo o Oo O O O Oo 4 4 3 PNU 1023 Override Depending on the version this function is available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher For a detailed description of this function refer to the Override section in this manual The subindex 1 is not used Subindex AK Parameter Liste Min Max Default Zugriff 1 reserved 2 6 7 Function 0 Aus 0 RW 1 speed 2 time and speed 3 6 7 value 0 255 100 RW GFC AntriebsSysteme GmbH 43 Profibus interface 5 MDAwin operating software For a detailed description of the MDAwin operating software refer to the MDAwin operating software section in the RS232 Firmware user manual 5 1 Settings in the Fieldbus window SH MDA windows inte
24. OM memories possess a lower number of maximum possible write cycles than RAM memories Therefore parameter changes should only be stored into the EEPROM if this data is to be maintained even after switching off the MDA Consequently it is recommended to only save data after successful parameterization or prior to disconnecting the voltage 26 GFC AntriebsSysteme GmbH Profibus interface 4 3 Device specific parameter numbers In the following the individual device specific PNUs are listed in detail In the access column the abbreviations RO for read only and RW for read write are used Inthe AK column the task ID required to assign a task is indicated The ID is required to read or describe the respective subindex For more detailed information refer to section 3 4 6 PKW processing 4 3 1 PNU 1 to 99 driving data records PNU 898 and 899 push to run driving data records Use PNU 1 to 99 to program the driving data records in the same way as via the DDR editor window in the MDAwin operating software For information on the individual parameters please refer to the DDR editor window section in the User Manual RS232 Firmware PNUS 898 and 899 push to run driving data records 101 and 102 enable changing the parameters for push to run operation and are described in detail in the Manual operation window section in the User Manual RS232 Firmware
25. Plug wiring For a detailed plug wiring description refer to the Electrical connection section in the RS232 Firmware user manual 6 1 2 Cable sets For a detailed parameter description refer to the Electrical connection section in the RS232 Firmware user manual 46 GFC AntriebsSysteme GmbH Profibus interface 7 Examples 7 1 1 Example finite state machine for position control Description Status Master Slave 0x0000 Start up 0x2200 Drive at standstill control requested Not ready for switch on 0x0406 Provide control ON 2 and ON 3 0x2231 Ready for switch on 0x0407 Switch on ON 1 0x2233 Ready for operation 0x043F Enable operation 0x2237 Operation enabled 0x0COF Start reference operation 0x2237 Reference operation started Operation enabled Ox2A37 Reference operation performed Operation enabled 0x043F End of reference operation bit 4 and 5 ON P 0x2A37 Operation enabled 0x047F Start drive task Ox3A37 Drive at standstill drive task accepted Ox1A37 Drive is running drive task accepted Ox1E37 Drive is running drive task accepted setpoint reached 0x3E37 Drive is at standstill drive task accepted setpoint Operation enabled reached 0x043F Start drive task 0x2E37 Drive at standstill drive task accepted 0x0A37_ Drive is running drive task accepted OxOE37 Drive is running drive task accepted setpoint re
26. Possibly other functions may be available which are not described in this document However the manufacturer shall not be obliged to provide these functions with a new drive or when performing maintenance work The contents of this document were checked for compliance with the described hardware and software Deviations may nevertheless occur we assume no liability for full compliance with all data The information contained in these documents is subject to regular revision and any required modification will be included in the next issue We reserve the right to alter the present document without prior notification Issue Note 1 05 First issue 1 06 General update 1 07 Update due to functional extension with firmware APP 02 00 1 09 Update due to functional extension with firmware APP 02 04 2 GFC AntriebsSysteme GmbH Profibus interface Table of contents 1 1 oo to to to o GO A 1 4 4 1 SAFETY INSTRUCTIONS arses sets idae 7 Designated BI 7 General ice NER 7 LUE LliiEEDpc 7 MSOC d nger SI9NS avd s eene aenea en EE 8 Ee ane elei ee EE 8 Further symbols nedum Ma bh E 8 Commissioning electrical connection 1e eee esie cesses eene nennen nnne nnne nnne nnne 9 SHORT DESCRIPTION rerea 9 dtola ACn
27. Type 2 Octet string 20 Type 3 Octet string 4 Type 4 Octet string 12 Type 5 Octet string 16 Type 6 Octet string 24 PKW Parameter identification value PZD Process data PKE Parameter ID 1 and 2 octet IND Subindex 3 octet 4 octet is reserved PWE Parameter value 5 to 8 octet STW Control word ZSW Status word HSW Main setpoint HIW Main actual value The master may determine different types of PPO Read and PPO Write But it is only permitted to mix type1 type2 with PKW component or type3 type4 without PKW component Milan Drive Advanced supports PPO types 1 to 4 The PKW component is used for parameter transmission the PZD component for handling the operation functions The PKW component is the parameter channel which uses confirmed communication services only The PZD component is the process data channel and uses non confirmed communication services The status word and the actual values can be used to check the drive s reactions to the commands 18 GFC AntriebsSysteme GmbH 3 5 1 1 3 5 1 2 3 5 1 3 3 5 1 4 Profibus interface PPO type 1 The master can determine PPO type 1 as PPO Read and PPO Write PKW The parameters can be altered via the PKW mechanism PZD for PPO Read PZD1 Status word PZD2 Main actual value active driving data record PZD for PPO Write PZD1 Contr
28. a unit gt Proceed in compliance with the indications in the RS 232 Firmware user manual for assembly installation and commissioning 2 Short description For the Milan Drive Advanced servo drive the motor and the controls are firmly connected as a unit In the standard version the electrical connections are established via standardised signal M12 and power plug socket connectors M23 Motor The MES servo motors are three phase synchronous motors with special permanent magnets Permanent ambient temperatures up to 155 C insulation class F are permitted The motor temperature is monitored by a sensor integrated in the motor winding As an option the motor is also available with integral holding brake Electronics The DAC servo controls combine all components necessary for independent electronic controls in one housing These are e aself commutated intermediate circuit including a mains filter for direct connection to the mains e 4 quadrant operation integral brake resistor e integral voltage supply for electronics e sequence control and motor control e fieldbus interfaces option e digital galvanically isolated inputs and outputs e analogue input e RS232 interface for operation parameter setting and programming Therefore the Milan Drive Advanced may be operated independently for various drive solutions or may also be integrated in automation systems GFC AntriebsSysteme GmbH 9 Profi
29. ached 0x2E37 Drive is at standstill drive task accepted setpoint Operation enabled reached 0x047F Start drive task 0x3E37 Drive at standstill drive task accepted Ox1A37 Drive is running drive task accepted 0x047B 0x1857 OFF 3 results in Quickstop Switch on inhibit Ox385F Drive is at standstill Quickstop results in fault Fault 0x04FB 0x3857 Acknowledge fault Switch on inhibit 1 1 option Ox04FA OFF 1 0x2200 Drive at standstill control requested Not ready for switch on 0x0000 OFF 1 requires a reset of all bits 0x2200 Not ready for switch on as From the start 2 2 option 0x0000 Deactivate control same result as OFF 1 0x2200 Drive at standstill control requested Not ready for switch on From the start Comments on the table above a Provide control is evaluated first then ON 2 and ON 3 can be processed This is how the telegram has to be implemented in accordance with PROFIDRIVE V2 0 b Bit 4 and 5 are required for operation However they do not influence the finite state machine For this reason they can also be changed immediately Since Firmware APP 02 01 bits 4 and 5 are necessary for executing the reference operation c PROFIDRIVE V2 0 does not provide any information regarding the effect of deactivating the control Since active deactivation is equal to a 0x0000 telegram which is also generated when interrupting t
30. alue array 4 5 7 7 Change parameter value array word 4 7 8 8 Change parameter value array double word 5 7 8 9 Request number of array elements 6 7 The right column in the task ID table refers to the response ID table and contains the normal responses associated with the task positive and also under fault conditions negative The master transfers a task to a slave with PPO Write It repeats this task at least until a response comes in from the slave with PPO Read This procedure ensures task response transfer at the user level Only one task is being processed at any given time A slave provides the response until the master creates a new task If the response contains a parameter value each repetition from the slave always transmits the current value cyclic processing These are all responses to the tasks Request parameter value and Request parameter value array The PWE transfer of words is realised using octet 7 and octet 8 of the PPO and double words are transferred using octet 5 to octet 8 of the PPO For tasks and responses which refer to array elements the IND octet 3 of the PPO contains the array subindex For tasks and responses which refer to parameter descriptions the IND octet 3 of the PPO contains the record subindex of the parameter description corresponding to the object definition in the Profidrive Profibus profile Issue September 1997 section 5 1 parameters In case of tasks which cannot be executed the sla
31. arning limit switch reached is available from firmware version APP 02 01 and operating software version MDAwin 02 01 and higher Bit Decimal Description 0 1 Contouring error availabe 3 8 Swichonlmtacive 4 3 9 7 Subindex 7 Individual warning register 7 parameters Bit Decimal Description gt o t1 Waming Motor parameters Warning System parameters 4 3 9 8 Subindex 8 Individual warning register 8 logic hardware Bit Decimal Description GFC AntriebsSysteme GmbH 37 Profibus interface 4 3 10 PNU 1011 Hardware status For a detailed parameter description refer to the name plate window drive info drive section in the RS232 Firmware user manual I O drive window and the Sub AK Parameters List Min Max Default Access index 1 6 _ Logic variant RO 2 6 Bus module variant OzNo module available RO 1 Profibus 2 CANopen 3 6 WO interface variant 0 No module available RO 1 Type1 4 6 Number of digital inputs on 0 4 4 RO interface 5 6 Number of digital outputs on 0 4 4 RO interface 6 6 Number of analogue inputs 0 2 1 RO on interface 7 6 Number of analogue outputs 0 2 0 RO on interface 8 6 Status digital inputs RO 9 6 Status digital outputs RO 10 6 Status analogue input 1 ST 2010 RO
32. bit 6 toggle function Has 0 to be present during the transition from ready for operation to operation enabled 13 1 Set reference Reference is set directly without a reference operation 0 No meaning 14 setpoint setting Refer to the control word of the speed control mode 15 reserved GFC AntriebsSysteme GmbH Profibus interface 3 4 4 Local peripheral devices This function is available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher As standard the MDA is equipped with four digital and analogue inputs and outputs each as well as one analogue input The inputs and outputs may be assigned specific functions for a detailed description refer to the I O drive window in the RS232 Firmware user manual The PB I O extension function can be used to directly control the digital outputs via PZD from the bus master For this the MDA has to be programmed with PPO type 5 or 6 as bus device If this function is selected the respective output cannot perform an internal MDA function at the same time The PPO types 5 and 6 correspond to the combinations type1 type2 or type3 type4 extended by two words for the input and output section of the drive The PPO types are described in detail in the Communication section The PPO types are described in the communication section The digital inputs as well as the analogue input can directly be read out by the bus master using PZD
33. bus interface 3 Profibus DP 3 1 Basic information on the PROFIBUS interface of the MDA The PROFIBUS interface of the Milan Drive Advanced is based on the PROFIDRIVE PROFIBUS profile for variable speed drives PROFIDRIVE The device functions are mirrored in the communication with PROFIBUS DP The max transmission speed is 12 Mbit s The PROFIDRIVE profile The PROFIDRIVE profile is a standard for all manufacturers for building drives with PROFIBUS interface The profile determines how drives are programmed and how the setpoints and actual values are transmitted This makes it possible to interchange drives of different manufacturers The profile contains specifications for the operation mode Speed control and Positioning It determines the basic drive functions and leaves room for user specific expansions and developments 3 2 Functions of the PROFIBUS interface of the MDA e Reading and programming the parameters and driving data records e Execution of drive tasks e Reference operation e Reading of actual values faults and warnings e Logging of parameter and driving data record changes 3 3 Description of the finite state machine PROFIDRIVE V 2 0 The state machine of the PROFIDRIVE V 2 0 is influenced by the control word Each bit has a special function If several bits are changed at the same time the functions may be only processed one after the other i e the software implementation determines a certain sequence which doe
34. d then changes to Switch on inhibit 0 No meaning Inching 1 ON Drive runs with the settings of PNU898 DDR101 This 8 1 is a standard driving data record whereas only a speed driving data record is useful 0 Inching 1 OFF The drive remains in its position Inching 2 ON Drive runs with the settings of PNU899 DDR102 This 9 1 is a standard driving data record whereas only a speed driving data record is useful 0 Inching 2 OFF The drive remains in its position 1 Control from automation Control via Profibus DP process data valid 10 unit 0 No control Process data invalid Start referencing The reference procedure is started with a change from 1 0 to 1 Bit 11 in the status word is set to 0 Drive runs 11 with the settings for Reference operation Precondition Operation is enabled 0 Stop referencing An ongoing reference procedure is stopped drive stops at ramp Speed mode Drive in the speed mode bit 6 On off switch 1 Has to be present during the transition from ready for 12 operation to Operation enabled Position mode Drive in the position mode bit 6 toggle function 0 Has to be present during the transition from ready for operation to Operation enabled 13 1 Set reference Reference is set directly without a reference operation 0 No meaning 1 setpoint setting used to release the setpoint presetting via fieldbus 14 within PZD 5 and 6 as from Firmware APP 02 04 0 No setpoint setting Setpoint presetting via PZD 5 and 6 d
35. e This function is available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher The MDA offers the possibility to adapt the preset running speed output speed in per cent via PROFIBUS during operation This function may only be used for the operation modes positioning output speed and contouring error and is activated using PNU 1023 Two variants of this function are available The first variant n override can only be used to influence the preset running speed output speed within a range of 0 255 To this end all global limits have to be set accordingly or the increase of the running speed output speed must be technically feasible The second variant additionally offers the possibility to adapt the acceleration and deceleration ramps in per cent within a range of 0 100 Within an active driving data records or in case of linked records without standstill only the n override may be performed The adaptation of the acceleration or deceleration ramps is only possible after a driving data record has been restarted 3 4 6 Setpoint setting with PZD This function is available from firmware version APP 02 04 and operating software version MDAwin 02 04 As from firmware version APP 02 04 MDA is able to directly specify setpoints via the process data channel without having to record these into the parameter string of the DDR and having to start up again This allows specifying e g the setpoints for
36. e MDA may be displayed in the hardware configuration window You may drag the MDA using drag amp drop from the hardware catalogue of the hardware configuration to the bus string in the configuration window RAHW Konfig SIMATIC 300 1 Konfiguration TestMDA Bill Station Bearbeiten Einf gen Zielsystem Ansicht Extras Fenster Hilfe Diesel a Sei gie Suchen Profil Stana s SS e CH SIMATIC e CH SIMODRIVE IC SIMOREG CH SIMOVERT H SINAMICS sIPOS E Weitere FELDGER TE Allgemein 3 03 Antriebe 3 Positionierantrieb H A Servoantrieb MDA EC Servoantrieb MDA EA B Milan drive advanced MDA DAC Universalmodul PPO Typ3 PPO Write Typ3 PPO Read Typ4 PPO Typi PPO wiite Typ1 PPO Read Typ2 PPO Typ5 PPN Tun Er Zei FFO Read ip na A general window opens where you have to set the bus address Then select the PPO types and drag them into the I O fields of the actuator To set the bus address use the Fieldbus window in the MDAwin operating software GFC AntriebsSysteme GmbH Profibus interface 3 7 Integrating SFC14 and SFC 15 Use PPO type 1 or PPO type 1 PPO type 2 to change the parameters Since more than 4 bytes are exchanged depending on the PLC used the system component SFC14 has to be integrated in OB1 Only the type range S7 400 is able to directly and consistently receive larger data stacks via Profibus and does not require using these functional blocks
37. ee 19 PPO lye 2 sine E 19 PPOUYYPEJ 2 19 ueni E ae en inde aad eves 19 NW feele EE 19 Transmission of PPOs with Profibus DP the Data Exchange function eessessseseeeseeesreerrrerrrerrreseree 21 Configuration of the PPO type the Check Configuration function sssssssseseneseernnnerrrsrerrrnrrennseeenene 21 Programming of the master sub assembly esee eene nnnnns 22 Configuration of the controls ssssessesesseseseseeeiteettteitttttttttttttntt tutt tntt tunt tnnt EEAtEEAEEAEEEEEnEn EEE nnna nE naene nEn 22 Integrating SFC14 and SFE 13 2 uuu u 44 4 een eanne naaa enimere aneia anaiarena iania 23 F nctional DIOC SREE EEE 23 PARAMETERS 2 24 List of the parameter numbers rrassvnnnnnnvnnnnnnnnvnnnnnnnennnnnnnennnnnnnnnnnnnnnennnnnnnnnnnnnnnennnnnnnennnnnnnennnnnnnennnnnnnenr 24 GFC AntriebsSysteme GmbH 3 Profibus interface 4 2 PROFIDRIVE profile parameter nUumberS rrrrsvrrravvnnnnvnnnnvnnnnnnnnnnvnnnnnnnnnnvnnnnnnnnnnnnnnnnnennnennnnnnnnnnnnnnnnnnn 25 4 2 1 PNU 927 Parameter change rights PW nennen nennen nnns 25 4 2 2 PNU 947 T Dit let E 25 4 2 3 PNU 971 Save parameter to non volatile memon 26 4 3 Device specific parameter numbers rrsnsrnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnvnnnnnnnennnnnnnnnnnnnnnnnennnnnnnnnnnner 27 4
38. egrated in existing applications The S7 functional blocks for Profibus DP manual contains the description of the individual functional blocks GFC AntriebsSysteme GmbH 23 Profibus interface 4 Parameters 4 1 List of the parameter numbers PNU Subindex Description 1 17 Driving data records 1 to 99 99 100 Not used 897 898 17 Driving data records Run Inching 1 899 Inching 2 900 Reserved for Profidrive 999 1000 Not used 1001 16 System parameters 1002 20 Actual values 1003 27 Drive data 1004 Not used 1005 1006 20 Reference operation 1007 9 Bus interface 1008 8 Control loop 1009 16 Fault register 1010 16 Warning register 1011 17 Status hardware 1012 Customer designation 1013 Not used 1020 1021 4 Technological function Flying referencing 1022 Technological function Electric shaft 1023 Technological function Override 1024 Not used 1100 1101 5 Digital inputs 1 to 4 1104 1105 Not used 1140 1141 6 Digital outputs 1 to 4 1144 1145 Not used 1180 1181 9 Analogue input 1182 Not used 1184 1185 Not used 1190 1191 11 Analogue output not implemented 1192 Not used 1200 1201 9 Speed position controller controller record 1to 4 1204 1205 Not used 1210 1211 9 Current operational data 1212 Not used 1220 1221 Not used 1300 1301 Soft PLC parameter not implemented 1400 1401 8 Event bu
39. er Subindex AK Parameters List Min Max Default Access 1 6 7 Module address OZNot assigned 0 RO 1 Interface 2 Reserved 2 6 7 Input number 0 255 0 RO 3 6 7 Feature Bit00 Active High Low 1 RW Bit01 In combination with DDR Bit02 07 Reserved 4 6 7 DDR no DDR no 0 99 0 RW 5 6 7 Function 0 None 0 19 0 RW 1 Synchronisation 2 GOTO DDR x 3 Intermediate stop 4 Single step mode 5 Reference 6 Reference start 7 Start stop 8 limit switch negative 9 limit switch positive 10 controller enable RFO 11 Quick stop 12 Power amplifier off 13 Start 14 Stop 15 Teach in 16 Ack fault 17 set reference manually 18 limit switch negative with warning 19 limit switch positive with warning GFC AntriebsSysteme GmbH 39 Profibus interface 4 3 13 PNU 1141 to 1144 digital outputs 1 to 4 For a detailed parameter description refer to the I O drive window section in the RS232 Firmware user manual Subindex AK Parameters List Min Max Default Access 1 Module address 0 Not assigned 0 RO 1 Interface 2 Reserve 2 Output number 0 255 0 RO 3 Feature Bit00 Active High Low 1 RW Bit01 In combination with DDR Bit02 07 Reserved 5 DDR no DDR no 0 99 0 RW 6 Function 0 None 0 646 0 RW 1 collective warning 2 collective fault 3 DDR active 4 Setpoint reached 5 reference operation 6 fieldbus active 7 control error 8 intermediate stop
40. ernal fault detection at the MDA can only be realised via the status word Disable fieldbus Access This function has not yet been implemented Rights The PROFIBUS interface of the MDA is definitely set to access level 4 Planner refer to online level 4 for MDAwin The MDA automatically detects the baud rate therefore the baud rate setting is only required for superordinate controls the bus master During bus initialisation phase the MDA adapts to the master baud rate 44 GFC AntriebsSysteme GmbH Profibus interface 5 2 Fieldbus monitoring window This function is available from firmware version APP 02 04 and operating software version MDAwin 02 04 and higher Si MDA Windows Interface Module DAC Application Datei Modus Extras MDA Optionen Ansicht Fenster Dc HS SMS 68 9 PDS Stopper FDS Nr Lesen Schreiber N chster EE Feldbus Monitor ioj xl E Status Istwerte m Steuerwort m Zustandswort Antrieb Info C Ein C Einschaltbereit Antrieb St rung C Spannung einschalten C Betriebsbereit Antrieb Warnung 5 Betriebsdaten Schnellstop C Betrieb freigegeben Feldbus Monitor C Betrieb freigeben C Storung Ereignisspeicher c Cc Handbetrieb Hochlaufgeber sperren Fahrauftrag verwerfen Spannung eingeschaltet FDS Programmierung C Hochlaufgeber stoppen Zwischenhalt Schnellstop Editor FDS 5 se E c di Parameter Sollwert freigeben Fahrauftrag aktivieren Einschalts
41. esumed Activate drive task Each flank releases a drive task or a new setpoint toggle 6 1 bit A flank change must only be performed if the pre vious drive task has been acknowledged with bit 12 of the 0 status word and if bit 11 reference point has been set Acknowledge fault Collective signal is acknowledged in case of positive flank 7 1 drive is in Fault mode until fault is eliminated then changes to Switch on inhibit 0 No meaning Inching 1 ON Drive runs with the settings of PNU898 DDR101 This is 8 1 a standard driving data record whereas only a speed driving data record is useful 0 Inching 1 OFF The drive remains in its position Inching 2 ON Drive runs with the settings of PNU899 DDR102 This is 9 1 a standard driving data record whereas only a speed driving data record is useful 0 Inching 2 OFF The drive remains in its position 4 Control from automation Control via Profibus DP process data valid 10 unit 0 No control Process data invalid Start referencing The reference procedure is started with a change from 0 1 to 1 The bit 11 in the status word is set to 0 Drive runs 11 with the settings for Reference operation Precondition Operation is enabled 0 Stop referencing An ongoing reference procedure is stopped drive stops at ramp Speed mode Drive in the speed mode bit 6 On off switch 1 Has to be present during the transition from ready for 12 operation to operation enabled Drive in the position mode
42. f the change rights an information window for each not accessible right will be displayed Message dialogue 1 message The leading priority was not achieved Please close and open the interface if you want to retry GFC AntriebsSysteme GmbH 11 Profibus interface 3 3 5 Control word Bit Designation Speed control operation mode Positioning operation mode 0 ON 1 OFF 1 1 ON 2 OFF2 2 ON 3 OFF 3 3 Enable operation inhibit operation 4 Inhibit operating condition ramp function Cancel operating condition drive task generator 5 Enable ramp function generator stop ramp Operating condition intermediate stop function generator 6 Enable setpoint inhibit setpoint Activate drive task flank 7 Acknowledge fault no meaning 8 Inching 1 ON inching 1 OFF 9 Inching 2 ON inching 2 OFF 10 Control from automation unit no control 11 Start referencing cancel referencing 12 Output speed Positioning 13 Set reference no meaning 14 Setpoint setting via fieldbus no setpoint setting 15 Not used Explanation To the left of the slash the meaning for the bit value 1 can be found to the right the meaning for the bit value 0 3 3 6 Status word Bit Designation Speed control operation mode Positioning operation mode 0 Ready for switch on not ready for switch on 1 Read
43. ffer only readable with MDAwin 1500 24 GFC AntriebsSysteme GmbH Profibus interface 4 2 PROFIDRIVE profile parameter numbers The parameter numbers 900 to 999 are defined or reserved for PROFIDRIVE according to the profile The following table includes an overview of the parameter numbers defined in the PROFIDRIVE PROFIBUS profile which are used in the MDA interface PNU AK Designation Data type 927 1 2 Parameter change rights PKW 947 1 Fault number Unsigned16 11 bit 2 max of 2048 PNUS 971 2 Save parameter to non volatile memory 4 2 1 PNU 927 Parameter change rights PKW With this value the parameter change rights for the PROFIBUS interface can be requested or transferred An error may occur if the MDAwin operating software has the parameter change rights i e the Online Level 1 operation mode has been selected or another master has already requested the parameter change rights The change rights can be requested or transferred by sending a telegram PWE Designation 0 PROFIBUS interface does not have the parameter change rights 1 PROFIBUS interface has the parameter change rights A value higher than 1 will be considered as a fault By reading the PNU it can be checked which interface does have the change rights actually PWE Designation 0 MDA has the parameter change rights 1 RS232 has the parameter change rights MDAwin 2 PROFIBUS interface has the parameter change rights
44. he PROFIBUS the drive is stopped with OFF 1 This corresponds to the Fail Safe mode and was approved by the notified body for PROFIBUS GFC AntriebsSysteme GmbH 47 Profibus interface 7 1 2 Example finite state machine for speed control Description Status Master Slave 0x0000 Start up 0x2200 Drive at standstill control requested Not ready for switch on 0x0406 Provide control ON 2 and ON 3 0x2231 Ready for switch on 0x0407 Switch on ON 1 0x2233 Ready for operation 0x1407 Speed mode 0x2233 0x140F Operation enabled 0x2237 Operation enabled 0x143F Bit 4 and 5 ON 0x2237 Operation enabled 0x147F Start drive task 0x2237 Drive at standstill drive task accepted 0x0237 Drive is running drive task accepted 0x0E37 Drive is running drive task accepted f or n reached 0x0237 Drive is running drive task accepted 0x2237 Drive at standstill drive task accepted 0x143F Level bit 6 is zero again because of new flank 0x147F Start drive task 0x2237 Drive at standstill drive task accepted 0x0237 Drive is running drive task accepted 0x0E37 Drive is running drive task accepted f or n reached 0x143F Stop drive task 0x0237 Drive is running drive task accepted 0x2237 Drive at standstill drive task accepted 0x147F Start drive task 0x2237 Drive at standstill drive task accepted
45. i eer ER reet HERE EXE Eee er e Rene Ren ee 42 4 4 Technological functions eeeeeeeee eese eese nran NRAN NAERAN enun nnne nnns 43 4 4 1 PNU 1021 Technological function Flying referencing srrnnnnnnvrnnnnnnvrnnnnnnrrnnnnnnrrnnnrnnrnnnrennrrnnrrnnrnnnsrnnnnne 43 4 4 2 PNU 1022 Technological function Electric shaft AAA 43 AAS PNU 1023 Override ecd erret ebenen HEU sr Ep Ir RE adia 43 5 MDAWIN OPERATING SOFTWARE mrnvnnnnovnnnnvnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnennnnnnnnnnnnnnnennn 44 5 1 Settings in the Fieldbus WinNdowWw rrrrsvrnnnvvnnnnvnnnnvnnnnnvnnnnnnnnnnvennnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnner 44 5 2 Fieldbus monitoring windOwW eeeeeeee eene eene nennen nnne nnne nena nnne nsns nnne sane nnns nnmnnn 45 ELECTRICAL CONNECTION EEE EM 46 6 1 1 Plug WINO c 46 612 Gable sels cei delete dele ect es ida end e Edere ue Pe Peg ea ce eee dead 46 7 EXAMPLES sauen 47 7 1 1 Example finite state machine for position control nnne 47 4 GFC AntriebsSysteme GmbH 8 1 8 2 Profibus interface Example finite state machine for speed control sssssssssseeeeeeeeeeenn nennen 48 Example Parameter transmission rnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnnnnnnnnnnnennnnnennnnnnnennnnnnneer 49 LITERATURE de 50 Milan user manua
46. in Max Default Unit Access index 1 6 7 Type 0 None 0 RW 1 Marker 2 Flank 3 Limit switch positive 4 Limit switch negative 5 Block positive 6 Block negative 2 6 7 Start 0 Power up 0 RW 1 First start 2 Manual 3 Input 3 6 7 Behaviour after reference 0 No operation 0 RW 1 Approach limit switch positive 2 Approach limit switch negative 3 Approach position 4 Next DDR 4 6 7 Reference traverse O positive 0 RW 1 negative 5 6 7 Absolute resolver position 1 4095 1 RW 6 6 7 Output speed speed 8000 8000 100 rpm RW 7 6 7 Torque Force 0 10000 500 mNm RW 8 6 8 Reference offset 2 14 0 Incr RW 9 6 8 Position after ref operation 27 27 4 lo Incr RW 10 6 8 Manual reference position m H TT 0 Incr RW 11 6 7 Acceleration 100 65535 1000 rpm s RW 12 6 7 Deceleration 100 65535 1000 rpm s RW 13 6 7 Acceleration ramp O Linear 0 RW 1 Sinesquare 14 6 7 Deceleration ramp O Linear 0 RW 1 Sinesquare 15 6 7 Brake 0 No 0 RW 1 Yes 16 Reserved 17 6 7 Time out value 0 65535 0 S RW 18 6 7 DDR no 0 99 0 RW 19 Reserved 20 Reserved 32 GFC AntriebsSysteme GmbH Profibus interface 4 3 6 PNU 1007 Bus interface For a detailed description of the parameters refer to the MDAwin operating software section in this manual and to the Fieldbus window section in the RS232 Firmware user manual Sub AK Parameters List Min Max Default Access index 1 6 Type 0 None
47. is in the speed control and torque control operation mode 3 4 2 1 Control word for speed control operation mode Bit Value Designation Note 1 ON 1 Ready for operation 0 Forces bit 1 in the status word 0 OFF 1 Brakes drive at ramp switches off motor current when drive stands still 1 ON2 OFF 2 command cancelled 1 Power electronics on Forces bit 4 in the status word 0 OFF 2 Switches off motor current drive tapers off Power electronics off 1 ON 3 OFF 3 command cancelled 2 Quick stop off Forces bit 5 in the status word 0 OFF 3 Runs down to current limit switches off motor current Quick stop on when drive stands still A fault occurs 3 1 Enable operation Forces bit 2 in the status word 0 Inhibit operation Switches off motor current drive tapers off 1 Operating condition Must be continuously present to enable execution of a 4 drive task 0 Inhibit ramp function Runs down to current limit drive stops with retaining generator RFO torque 1 Enable ramp function Must be continuously present to enable execution of a 5 generator drive task 0 Stop ramp function Freezes the current output speed generator 6 1 Activate drive task Flank starts a driving data record 0 Stop drive task Flank stops the driving data record Ack fault Collective signal is acknowledged in case of positive 7 1 flank drive is in Fault mode until fault is eliminate
48. isabled 15 reserved 14 GFC AntriebsSysteme GmbH Profibus interface 3 4 3 Positioning operation mode If bit 12 is not set in the control word the drive is in the positioning operation mode absolute relative or modulo 3 4 3 1 Control word for position control operation mode Bit Value Designation Note 1 ON1 Ready for operation Forces bit 1 in the status word 0 0 OFF 1 Brakes drive at ramp switches off motor current when drive stands still 1 ON2 OFF 2 command cancelled 1 Power electronics on Forces bit 4 in the status word 0 OFF 2 Switches off motor current drive tapers off Power electronics off 1 ON 3 OFF 3 command cancelled 2 Quick stop off Forces bit 5 in the status word 0 OFF 3 Runs down to current limit switches off motor current Quick stop on when drive stands still A fault occurs 3 1 Enable operation Forces bit 2 in the status word 0 Inhibit operation Switches off motor current drive tapers off 1 Operating condition Must be continuously present to enable execution of a 4 drive task l B 0 Stop RFO Runs down to current limit drive stops with retaining torque 1 Operating condition Must be continuously present to enable execution of a drive task 5 Intermediate stop Drive brakes at ramp on n 0 and stops with retaining 0 torque The drive task is not cancelled In case of a change to bit 5 1 the drive task will be r
49. ls EE 50 ilicis 51 GFC AntriebsSysteme GmbH 5 Profibus interface 6 GFC AntriebsSysteme GmbH Profibus interface 1 Safety instructions 1 1 Designated use Milan Drive Advanced servo drives also called MDA in the following are designed as equipment for the use in industrial environments As standard the servo drives are designed for installation in industrial robots pick and place units and many other equipment and devices For other applications please consult us The manufacturer is not liable for any damage resulting from use in other than the designated applications Such risk lies entirely with the user Observance of these operation instructions is considered as part of the servo drive s designated use Please read these instructions thoroughly as they are intended for your personal safety and also help enhancing the lifetime of your servo drive 1 2 General notes e During operation parts move or rotate within this unit Important dangers can arise from rotating shaft couplings with keyway and inserted parallel key Remove inserted parallel keys or protect them against loosening by taking suitable measures e During operation surfaces of the drive unit may heat up according to its enclosure protection The surface temperature can rise up to above 100 C Before touching the unit measure the temperature for safety reasons if required wait until it has cooled down to 40 C 1
50. ndex 1 6 __ Torque Force 10000 10000 mNm RO 2 6 Output speed Speed 8000 8000 rpm RO 3 6 Position EN 427 1 Inc RO 4 6 Error 0 65k Inc RO 5 6 DCHink circuit 10V RO 6 6 24 VDC internal 10 V RO 7 6 24 VDC external 10V RO 8 6 Brake voltage 10 V RO 9 6 Temperature electronics 10 C RO 10 6 Temperature motor 10 C RO 11 6 Temperature motor controls 10 C RO 12 6 Temperature ballast 10 C RO 13 6 Active DDR 0 99 RO 14 6 Info status 1 RO 15 6 Info collective faults RO 16 6 Info collective warnings RO 17 6 Info status 2 RO 18 6 Info drive RO 19 Reserved 20 Reserved 4 3 3 1 Subindex 14 Info status 1 Bit Decimal Description 0 1 Collective warning 10 8 128 128 11 15 gt 2048 4 3 3 2 Subindex 15 Info collective faults Bit Decimal Comment oO 1 Colective fault Voltage monitoring Uzk lt 180V 3 8 Colective fault LocalCAN monitoring 6 64 CollectivefaultParameters Z GFC AntriebsSysteme GmbH 29 Profibus interface 4 3 3 3 4 3 3 4 4 3 3 5 30 Subindex 16 Info collective warnings Bit Decimal Designation 0 1 Colective warning Voltage monitoring 3 8 Colective warning LocalCAN monitoring 6 64 CollectivewarningParameters Subindex 17 Info status 2 Bit Decimal Description 1 1 1 1
51. nge rights In the PROFIDRIVE profile two change rights are managed Parameter change rights PKW and the control change rights PZD These change rights may be granted separately to different users The bus master has to be granted the control change rights to be able to operate the MDA via bus master The bus master automatically obtains the control change rights by starting up the finite state machine of the drive correctly i e using the control word In case another user has already obtained the control change rights when the bus master starts up the finite state machine the MDA remains in the not ready for switch on state As from Firmware APP 02 01 the drive already shows in the status word by means of the bit 9 status priority request local operation whether the leading priority over Profibus can be reached To detect absence of control access it is not necessary to boot the state machine The bus master must have the parameter change rights to be able to perform parameter changes via the bus master If required the bus master has to use PNU 927 first to obtain the parameter change rights If another user has been granted the change rights beforehand the user must abandon these change rights first To be able to access a MDA using the MDAwin operating software the required change rights have to be available The bus master may possibly have to abandon these change rights first If the operating software cannot access one o
52. ol word PZD2 Main setpoint driving data record which needs to be activated PPO type 2 The master can determine PPO type 2 as PPO Read PKW The parameter processing can be altered via tne PKW mechanism PZD for PPO Read PZD1 Status word PZD2 Main actual value active driving data record PZD3 Output speed PZD4 Torque PZD5 and 6 Position PZD for PPO Write PZD1 Control word PZD2 Main setpoint driving data record which needs to be activated PZD3 and 4 not used PZD5 and 6 Position PZD5 und 6 Setpoint The function PPO Write is available from firmware version APP 02 04 and higher This allows direct setpoint specification via PZD 5 and 6 via fieldbus For a detailed description refer to the Setpoint setting with PZD section in this manual PPO type 3 The master can determine PPO type 3 as PPO Read and PPO Write PZD for PPO Read PZD1 Status word PZD2 Main actual value active driving data record PZD for PPO Write PZD1 Control word PZD2 Main setpoint driving data record which needs to be activated PPO type 4 The master can determine PPO type 4 only as PPO Read PZD for PPO Read PZD1 Status word PZD2 Main actual value active driving data record PZD3 Actual speed PZD4 Actual torque PZD5 and 6 Actual position The PPO types 5 and 6 are described in the local peripheral devices section 3 5 2 PKW processing The parameters can be altered via the PKW mechanism in cyclic data transfer The following tasks are
53. or Reference operation 48 GFC AntriebsSysteme GmbH Profibus interface 7 2 Example Parameter transmission Master Slave Description 239F 0000 0000 0001 Request parameter change rights a 139F 0000 0000 0001 Positive telegram confirmation 7382 0100 0000 0002 Set controller type output speed in the manual operation DDR 4382 0100 0000 0002 Positive telegram confirmation Comments on the table above a First of all parameter change rights are requested by sending the value 0x01 to the PNU 927 0x39F The order recognition for the respective telegram is combined with the PNU b As an example type of controller sub index 1 within the manual operation driving data record 1 PNU 898 0x382 is set to speed value 0x02 GFC AntriebsSysteme GmbH 49 Profibus interface 8 Literature 8 1 Milan user manuals Short instructions Order no Y004 135 User manual RS232 Firmware Order no Y003 804 Dimension sheet Order no Y003 805 2D and 3D CAD data of the MDA for common CAD systems can be ordered from GFC AntriebsSysteme Technical data Order no Y003 806 Interface description PROFIBUS DP Order no Y004 011 Interface description CANopen Order no Y004 013 Functional block description S7 functional blocks for Profibus DP Order no Y004 012 Functional block description PLC function blocks for CANopen Order no Y004 014 Operation
54. perre E Antrieb C St rung quittieren C Wamung Typenschild C Tippen 1 C im Toleranzbereich kein Schleppfehler Hardware Stromregler C Tippen 2 Ing ger Drehzahl Lageregler C F hrung Sollwert erreicht System c c 1 0 Antrieb Start Referenzieren Referenz gesetzt Feldbus C Drehzahl Position C Sollwert Quittierung Recent Referenz setzen Antrieb steht E Technologiefunktionen Fliegendes Referenzieren C Sollwert aktivieren C Frei Elektrische Welle Frei C Frei and Schreiben Einzelschritt This window displays the control and state word of a drive equipped with fieldbus interface For this there must be an active connection to the drive The update is carried out at the same frequency as the update of other displays like speed or position No indication can be made on transient procedures via the fieldbus monitor This window is used to commission a drive with fieldbus interface GFC AntriebsSysteme GmbH 45 Profibus interface 6 Electrical connection Lethal voltages at the control and power connections even if the drive is at a standstill Electric shock risk gt Disconnect all wires of the connected control and power cables also those which are not required at the respective terminals in the control cabinet and protect them against direct contact gt It is not permitted by any means to just cut the connecting cables at the unassembled end 6 1 1
55. rameters List Min Max Default Access index 1 6 7 System type 0 Linear 0 RW 1 Round shaft modulo 2 6 7 Display unit Time 0 Second 0 RW 1 Minute 3 6 7 Display unit 0 Turn 4 RW Position 1 Degree 2 Minute 3 Second 4 Increments 5 m 6 dm 7 cm 8 mm 9 um 4 6 7 Display unit 0 Celsius 0 RW Temperature 1 Fahrenheit 5 6 7 Conversion Motor 0 Motor turn 0 RW unit 1 Gear rotation 2 Increments 6 6 7 Conversion 0 Turn 0 RW System unit 1 m 2 dm 3 cm 4 mm 5 um 6 Degree 7 Minute 8 Second 7 6 7 Conversion Motor 1 65000 1 RW value 8 6 7 Conversion 1 65000 1 RW System value 9 6 7 Inversion of 0 No 0 RW direction system 1 Yes 10 6 7 Inversion of 0 No 0 RW direction gear 1 Yes 11 6 7 Gear factor input 1 1000 1 RW 12 6 7 Gear factor output 1 1000 1 RW 13 Reserved 0 14 6 7 Software limit OzNot activated 0 RW switch 1 Activated 15 6 8 Software limit aa h21 lo RW switch negative 16 16 8 Software limit BTG Jo RW switch positive GFC AntriebsSysteme GmbH 4 3 3 PNU 1002 Actual values For a detailed parameter description refer to the Actual values window and Drive information window sections in the RS232 Firmware user manual Profibus interface These parameters are described by the system and may not be changed by the user The user has read access only Sub AK Parameters Min Max Unit Access i
56. rface module DAC application Datei Modus Extras MDA Optionen Ansicht Fenster Os JEF mssewelsjer Stat DDR Stop DDR pons 1 Er maven NES E Status Actual values Type Drive information Drive fault Slave address Drive warning peration mode perational data Manual operation B DDR programming Editor DDR Diagnosis B Parameter E Drive Name plate Hardware Control loop Speed position controller System 140 drive Reference operation Technological functions Immediate referencing Type The bus module included within the drive is automatically detected and viewed if there is a connection to the drive available online Slave address The address of the slave 0 127 is entered in this field An address may be assigned only once within a segment The address 125 is preset on delivery Operation mode This function is not yet available via PROFIBUS Use bit 12 of the control word to change the operation mode via the PROFIBUS interface of the MDA For more detailed information refer to section 3 PROFIBUS DP of the present manual Diagnosis This function is available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher The diagnosis function via PROFIBUS can be switched off When switching off no telegrams will be sent to the master when a fault occurs at the MDA Thus no fieldbus fault is displayed at the superordinate controls if an MDA internal fault occurs The int
57. s not necessarily conform to the desired sequence For this reason and to ensure a smooth transition from one state to the other it is imperatively required unless stated otherwise that only one bit is changed at a time for the desired function Deviations and a typical sequence are presented and explained in the following 3 3 1 Function diagram for basic controller power off from each state OFF 1 OFF 2 E OFF 3 Ces Switch an inhibit not ready for switch on ready for switch on ready for operation operation enabled The illustration above shows the outlines of the state machine For the signal sequence required to control the state machine refer to the PROFIDRIVE PROFIBUS profile issue September 1997 page 21 or to the examples in section 7 Examples 10 GFC AntriebsSysteme GmbH Profibus interface 3 3 2 Function diagram for speed control operation mode Refer to PROFIDRIVE PROFIBUS profile issue September 1997 page 22 For a detailed description of the operation modes used with the MDA refer to section 3 4 Operation modes An example is shown in section 7 Examples 3 3 3 Function diagram for positioning operation mode Refer to PROFIDRIVE PROFIBUS profile issue September 1997 page 23 For a detailed description of the operation modes used with the MDA refer to section 3 4 Operation modes An example is shown in section 7 Examples 3 3 4 Control and parameter cha
58. s of the number in each subindex are explained in the following tables Subindex AK Parameters Access 1 6 Warnings Voltage RO 2 6 Warnings Temperature RO 3 6 Warnings Motor RO 4 6 Warnings LocalCAN RO 5 6 Warnings Fieldbus RO 6 6 Warnings Driving data manager RO 7 6 Warnings Parameters RO 8 6 Warnings Logic hardware RO 9 16 Warning registers 09 to 16 Subindex 1 Individual warning register 1 voltages Bit Decimal Description Sd 0 1 Voltage monitoring DC circuit link UZK Voltage monitoring Brake Subindex 2 Individual warning register 2 temperatures Bit Decimal Description 0 14 Temperature monitoring Motor 1 2 Temperaturemonitoring Electronics 2 24 TemperaturemonitrigPowerelectronics 3 8 Temperature monitoring Ballast resistor Z 4 15 gt 16 reserved Subindex 3 Individual warning register 3 motor Bit Decimal Description Subindex 4 Individual warning register 4 LocalCAN Bit Decimal Description o O 0 1 Connection CGANXCDSP h j Subindex 5 Individual warning register 5 fieldbus Bit Decimal Description o 1 Connection monitoring via bus 1 15 2 reserved GFC AntriebsSysteme GmbH Profibus interface 4 3 9 6 Subindex 6 Individual warning register 6 driving data manager The w
59. sspeicher im Bedienprogramm MDAwin ausgelesen werden At the moment the event buffer cannot be read via the Profibus interface of the MDA The parameters are described in detail in the Event buffer window of the RS232 Firmware user manual Prior to being able to read the event buffer the PNU 1501 sub index 1 has to be read once Due to this reading process an image of the event buffer is created which will not be influenced by new events while reading the individual entries Subindex AK Parameters List Min Max Default Access 1 Event class O No entry 0 6 0 RO Type 1 Fault 2 Warnings 3 Info 4 Write parameters 5 Command 6 System message 2 Event number event class dependent 0 64k 0 RO Message 3 Event parameter 0 0 RO Value 4 Date year 00 99 0 RO 5 Date month 01 12 0 RO 6 Date day 01 31 0 RO 7 Time hour 00 23 0 RO 8 Time minute 00 59 0 RO 42 GFC AntriebsSysteme GmbH Profibus interface 4 4 Technological functions The parameter numbers for the technological functions of the MDA are listed below Depending on the version of the drive these functions are available 4 4 1 PNU 1021 Technological function Flying referencing Depending on the version this function is available for firmware version APP 02 00 and operating software version MDAwin 02 00 and higher Subindex AK Parameters List Min Max Default Access 1 6
60. t register 4 LocalCAN Bit Decimal Description o 1 Connection CAN XC DSP Connection CAN XC l OBox GFC AntriebsSysteme GmbH Profibus interface 4 3 8 5 Subindex 5 Individual fault register 5 fieldbus Bit Decimal Description amp 0 0 0 0 O 0 1 Connection monitoringbus Fault in the slave drive for Technological function Electric shaft 4 3 8 6 Subindex 6 Individual fault register 6 driving data manager Bit Decimal Description Oo 1 Reference operation faut 3 8 Drive blocked during driving data record y 6 64 Positioning commands without setreference 8 256 __ Range overflow of absolute encoder APP 02 00 and MDAwin 02 00 4 3 8 7 Subindex 7 Individual fault register 7 parameters Bit Decimal Description 0 1 jFautMotorparametes 4 3 8 8 Subindex 8 Individual fault register 8 logic hardware Bit Decimal Description Cid o 1 Faultin the EEPROM Fault in the Flash CRC Fault during system start GFC AntriebsSysteme GmbH 35 Profibus interface 4 3 9 PNU 1010 Warning register 4 3 9 1 4 3 9 2 4 3 9 3 4 3 9 4 4 3 9 5 36 For a detailed parameter description refer to the Drive warning window section in the RS232 Firmware user manual Subindices 9 to 16 are currently not assigned The meaning
61. teine Multinstanzen Ugl6 100 9 Bibliotheken Netzwerk 3 Titel Rimni ninna Anu nme Locus 1 SFC 15 writes consistent data to the drive In the following PPO type 1 PPO type 2 is used i e write 6 words and read 10 words LADDR W 16 100 100hex 256dez I O address range RECORD P 40 0 Byte 20 pointer to data range where data are to be recorded TS KOP AWL FUP 0B1 MDA_NEU SIMATIC 300 Station CPU 313C 2 DP 1 CH Datei Bearbeiten Einf gen Zielsystem Test Ansicht Extras Fenster Hilfe Dee ai el epis e e DE e speres p vel zd xd pict zuerk 138 Ausgabe der ersten 4 Worte an den Milan Antrieb HS Neues Netzwerk Ausgabe an den SFCl5 f r die ersten 4 Worte des PPO Typsl Die Daten werden gg Bitverkn pfung beginnend auf Ausgangswort 40 gelegt Q Vergleicher amp amp g Umwandler SFC15 EM Z hler Write Consistent amp ps DB Aufruf Data to a Standard 8 Spr nge amp S Festpunkt Fkt 8 Gleitpunkt Fkt ag Verschieben Bg Programmsteuerung P i 168100 Lei Schieben Rotieren Statusbits s k anois RET VAL Fault Lei Zeiten d YTE 12 Wortverkn pfung FB Bausteine EH FC Bausteine 3 8 Functional blocks Functional blocks are available for the bus communication of the MDA with a Siemens S7 When using these blocks the bus communication does not have to be programmed as the functional blocks may be int
62. tion mode is used for the modes of operation speed control torque control or contouring error control A plausibility check is performed before starting a driving data record If the Speed operation mode is set and a driving data record with PID control activated a fault is triggered 3 4 4 Changing the operation mode Even when starting up the PROFIDRIVE state machine it either changes to the Position mode or the Output speed mode during the transition from ready for operation to Operation enabled depending on the value of bit 12 of the control word For this transition the bit has to be present accordingly 0 position 1 output speed Before changing the operation mode an active driving data record either has to be completed or stopped Only then the operation mode can be changed via bit 12 Now you can freely change over between the two operation modes The main difference is the way the driving data records DDR are started Whereas bit 6 starts a driving data record with any flank in the positioning mode and the driving data record can only be actively stopped via OFF1 OFF2 or OFF3 a driving data record is started with a positive flank and stopped again with a negative flank switch function in the speed mode Some of the bit configurations in the status word are also different GFC AntriebsSysteme GmbH 13 Profibus interface 3 4 2 Speed control operation mode If the control word is set in bit 12 the drive
63. ve responds with an error number in octet 7 and octet 8 from PPO Read interpreted as Integer16 Table Response IDs slave gt master Response ID Function 0 No response Transmit parameter value word Transmit parameter value double word Transmit description element Transmit parameter value array word Transmit parameter value array double word Transmit number of array elements Task cannot be executed with fault number No programming rights for PKW interface Parameter data signal word Parameter data signal double word o NO A om CH 20 GFC AntriebsSysteme GmbH Profibus interface Table Error numbers for response Error number Meaning 0 Impermissible PNU 1 Parameter value cannot be changed 2 Upper or lower value limit exceeded 3 Faulty subindex 4 Not used 5 Wrong data type 6 9 Not used 10 Access group user level wrong Read only parameters 11 100 Not used 101 Impermissible task ID The error numbers 0 to 100 are defined or reserved depending on the PROFIDRIVE profile 3 5 3 Transmission of PPOs with Profibus DP the Data_Exchange function When Profibus DP is used only cyclic data exchange with PPOs is available Furthermore DP offers the function Data_Exchange with which cyclic data can be transmitted to the slave and also collected from the slave at the same time The input and output data which are e
64. x 7 Individual fault register 7 parameters 35 4 3 8 8 Subindex 8 Individual fault register 8 logic hardware ssesseesseeseeesrsesisesirssrntsrnerrnsintrinssrnternnernnenns 35 4 3 9 PNU 1010 Warning register u nenne aan an Ei 36 4 3 9 1 Subindex 1 Individual warning register 1 Ivotages 36 4 3 9 2 Subindex 2 Individual warning register 2 Demperatures 36 4 3 9 3 Subindex 3 Individual warning register 3 motort nnns 36 4 3 9 4 Subindex 4 Individual warning register 4 Local AN 36 4 3 9 5 Subindex 5 Individual warning register 5 ieldbus 36 4 3 9 6 Subindex 6 Individual warning register 6 driving data manager 37 4 3 9 7 Subindex 7 Individual warning register 7 parameters 37 4 3 9 8 Subindex 8 Individual warning register 8 logic hardware esssesssessisesiessiessinssinssinssrnssinrsreserensrenenns 37 4 3 10 PNU 1011 Hardware status 38 4 3 10 1 Subindex 8 Status digital inputs esssssssssssseseseeeeeeeee nennen nnne nnns 38 4 3 10 2 Subindex 9 Status digital outputs nennen nenne nenne rnnt nennen nnns 38 4 3 11 PNU 1012 Customer desionaton nenne nnne nen en rennen nsns 38 4 3 12 PNU 1101 to 1104 digital inputs 1 to 4 nennen nennen nnns 39 4 3 13 PNU 1141 to 1144 digital outputs od 40 43 14 IPNU T EN BE e Ce LEE 41 4 3 15 PNU 1201 to 1204 Speed position controller controller records 1 to 4 41 43 16 PNUWU 1211 Operational data e aneignen 41 43 17 IPNU TA01 to 1500 Event buffer ueter
65. xchanged with Data_Exchange hereby correspond to the described PPO types The change of the PPO type during ongoing operation is not possible 3 5 4 Configuration of the PPO type the Check_Configuration function In the Profibus DP communication model a modular slave consists of a number of input modules output modules or combined input output modules A module is hereby described by a so called ID It contains the information about the direction of the module input or output the number of input or output bytes of the module and the data consistency of the module byte or word consistency or consistency over the entire length The information about the modules present in the slave and their IDs is also called slave configuration The programmed configuration in the DP master is sent from the DP master to the DP slave when establishing cyclic communication with the Check_Configuration function The slave checks whether the received configuration is compatible with the permissible configuration This means that each PPO type must be copied to modules and described by the corresponding IDs PPOs which are sent to the slave from the master are interpreted as output data WritePPO PPOs which are received by the master from the slave are interpreted as input data ReadPPO There are 4 different configurations available for the PPO types PPO Write type PPO Read Configuration data Output bytes Input bytes type 1
66. y for operation not ready for operation 2 Operation enabled operation inhibited 3 Fault no fault 4 No OFF 2 OFF2 5 No OFF 3 OFF 3 6 Switch on inhibit no switch on inhibit 7 Warning no warning 8 Setpoint within tolerance range setpoint not contouring error no contouring error within tolerance range 9 Control requested local operation 10 f or n reached f or n not reached Setpoint reached setpoint not reached 11 Reference point set no reference point set 12 not used Setpoint acknowledgement flank 13 Drive stationary drive moving 14 15 not used Explanation To the left of the slash the meaning for the bit value 2 1 can be found to the right the meaning for the bit value 0 NOTE As from Firmware APP 02 01 a contouring fault is displayed in the status word in positive logic the reference operation is only performed if bits 4 and 5 within the control word have been set 12 GFC AntriebsSysteme GmbH Profibus interface 3 4 Operation modes The MDA allows selection between several types of control They are included within the driving data records DDR To perform these control types predefined operation modes have to be used in accordance with PROFIDRIVE The positioning operation mode is used for the modes of operation absolute relative or modulo positioning The relative positioning operation mode can be started even when no reference is set The speed control opera

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