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MOVIDYN® Servo Controller AFP11A

1. Write access 00154AEN Fig 44 Process data access of DP master and FMS master in mixed mode DP FMS 4 2 2 1 Process Output Data Objects Tables 6 to 8 show the communications objects for the process output data setpoints from master to servo controller In straight FMS mode the FMS master can use the FMS service Write to write these objects and thus control the servo controller via the process data channel Furthermore in mixed mode DP FMS an FMS master can use the FMS service Read to read and if necessary visualize the setpoints specified by a DP master via PROFIBUS DP Index 988 Object code 7 Simple variable Data type index 10 Octet string Length 2 bytes Local address Password Access groups Access rights Read all Write all Name 16 Extension length Table 6 Description of the object 1 process output data word 1 PO Fig 45 shows the structure of the object 1 process output data word 1 PO Octet 0 Octet 1 High Low PO 1 00155AEN Fig 45 Structure of the object 1 process output data word 1 PO CINCA ko 3 ELSA SURODRIVE 40 MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS FMS ES Interface
2. Ga Ga Ge Tem porary storage 1500 1 min 1348 1 min 876 1 min A A JL 2 MEA WK 876 1 min Current actual value 1500 1 min mg 1348 1 min e A Oo PROFIBUS DP OS 00142AEN Fig 32 Simultaneous freezing of the current actual values with the Freeze command The master now has enough timeto retrieve all the actual values from the servo controllers Fig 33 When a new Freeze command is received all addressed servo controllers simultaneously save their current actual values temporarily The servo controllers quit Freeze mode when the Unfreeze control command is issued MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface bos EI E Temporary storage 1500 1 min 1348 1 min 876 1 min Current actual value 1098 1 min 328 1 min 1139 1 min J PROFIBUS DP A 00143AEN Fig 33 Reading the frozen actual values The MOVIDYN Servo Controller supports both Sync Mode and Freeze Mode This makes it possible to group together a number of servo controllers and synchronize them u
3. Cfg_Data identifier byte for parameter channel Cfg_Data identifier byte for 3 process data words MSB LSB MSB LSB UNN AEN We UNN ie 243 dec 242 Aer Data length Data length L nput output 4 words Input output 3 words Word structure Word structure Consistency over complete length _ Consistency over complete length 00098AEN Fig 22 Configuration example for parameter channel 3 process data words Fig 23 shows the communication between the automation unit DP master and the MOVIDYN Servo Controller via three process data words and the parameter channel for reading and writing of drive parameters This configuration could be used for example to control the servo controller with Control Word 1 Speed Setpoint Process Ramp and Status Word 1 Speed Actual Value Apparent Current Actual Value resp and parameterize it via the parameter channel see SEW documentation Fieldbus Unit Profile User Manual MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface gt P e gt Parameter channel PD1 PD2 PD Parameter channel PD 1 PD2 PD 3 00099AEN Fig 23 Communication with 3 process data words and parameter channel 3 2 Ident Number Each DP ma
4. E gt a URODRIVE 29 E The PROFIBUS DP Interface C ll ch d 2 3 UROL 30 O a OW 54 PD 1 Ow 52 PD 2 OW 50 PD3 OW 48 OW 46 OW 44 A UN Parameter channel TK A Parameter channel i L J T C Sts A A A A A A A EW 54 PD 1 EW 52 PD 2 EW 50 PD 3 EW 48 EW 46 EW 44 EW 42 AT PLC address area 00144AEN Fig 34 Allocation of the PLC 1 0 area For details of the control via the process data channel in particular the coding of the control and status words please refer to the Unit Profile User Manual 3 7 Parameterizing via PROFIBUS DP The servo controller parameters are read and written by the READ and WRITE services of the application layer layer 7 If there is no layer 7 as in the case of PROFIBUS DP a suitable application layer must be emulated i e mechanisms for parameterizing the servo controller be created 3 7 1 Structure of the Parameter Channel The parameterizing of field units using fieldbus systems which do not provide an application layer requires the emulation of the most important functions and services such as READ and WRITE for the reading and writing of parameters In the case of PROFIBUS DP this requires a Parameter Process Data Object PPO to be defined This PPO is transferred c
5. FUROR MOVIDYN AFP11A PROFIBUS Option PCB 57 GEN Ges UROL 58 LEDs 12 Min Tsdr 12 43 MOVIDYN 51 settings commissioning procedure with fieldbus 14 terminal assignment for fieldbus operation 14 Object list 38 Parameterizing faults 32 54 fieldbus index 38 FMS services 36 parameter index 30 via parameter channel 30 via PROFIBUS DP 30 Pin assignment 9 PLC sample control program for control 29 Process data length 16 PROFIBUS DP 15 Read via DP 32 Return codes 54 Scope of delivery 8 Station diagnosis 22 Station diagnosis via DP 44 Sync 26 Watchdog timer 21 Write via DP 33 MOVIDYN AFP11A PROFIBUS Option PCB We are available wherever you need us Worldwide SEW EURODRIVE right around the globe is transmission with manufacturing and assem your competent partner in matters of power bly plants in most industrial countries EURODRIVE SEW EURODRIVE GmbH amp Co P O Box 30 23 D 76642 Bruchsal Germany Tel 49 7251 75 0 Fax 49 7251 75 19 70 Telex 7 822 391 http www SEW EURODRIVE com sew sew eurodrive com
6. C A C Parameter channel PD 1 00095AEN Fig 19 Communication with 1 process data word and parameter channel 3 1 6 Configuring for 2 PD Parameter Channel Control of the MOVIDYN Servo Controller using two process data words and an additional parameter channel requires two identifier bytes to be defined Identifier byte 1 contains the code for the parameter channel identifier byte 2 contains the code for two process data words Fig 20 shows how these two identifier bytes are coded These codes must be sent to the servo controller by the DP master when PROFIBUS DP is started so that the DP master and the DP slave can exchange two process data words as well as the parameter channel MOVIDYN AFP11A PROFIBUS Option PCB ara EVA RODRA 19 E The PROFIBUS DP Interface Cy s lL UROL Cfg_Data identifier byte for parameter channel Cfg_Data identifier byte for 2 process data words MSB LSB MSB LSB 111 1 1 0 0 1 41 Pex 1 1 1 1 0 0 0 1 Fx 243 Ae 241 Ae A Data length Data length Input output 4 words Input output 2 words Word structure Word structure _ Consistency over complete length c Consistency over complete length 00096AEN Fig 20 Configuration example for p
7. Index 989 Object code 7 Simple variable Data type index 10 Octet string Length 4 bytes Local address Password Access groups Access rights Read all Write all Name 16 Extension length _ Table 7 Description of the object 2 process output data words 2 PO Fig 46 shows the structure of the object 2 process output data words 2 PO Octet 0 Octet 1 Octet 2 Octet 3 High Low High Low PO 1 PO 2 00156AEN Fig 46 Structure of the object 2 process output data words 2 PO Index 990 Object code 7 Simple variable Data type index 10 Octet string Length 6 bytes Local address Password Access groups Access rights Read all Write all Name 16 Extension length _ Table 8 Description of the object 3 process output data words 3 PO Fig 47 shows the structure of the object 3 process output data words 3 PO Octet 0 Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 High Low High Low High Low PO 1 PO 2 PO3 00157AEN Fig 47 Structure of the object 3 process output data words 3 PO 4 2 2 2 Process Input Data Objects Tables 9 to 11 show the communications objects for the process input data actual values of the servo controller These objects can only be read with the FMS service Read SEM FUROR O MOVIDYN
8. Index 998 Object code 7 Simple variable Data type index 10 Octet string Length 4 Local address Password Access groups Access rights Read all Write all Name 16 Extension length _ Table 16 Description of the Universal Read Pointer object 4 2 7 2 Universal Read Data Object Accessing this parameter using the FMS service Read returns the parameter value of the read pointer held in the Universal Read Pointer object Fig 57 shows the structure of this object Octet Octet2 Octet3 Octet4 Octet5 Octet6 Octet7 Octet8 Data Data MSM Data Data Data Data Data Data LSB gt a a 4 byte data 8 byte data 00167ADE Fig 57 Structure of the Universal Read Data parameter The number of valid data can be determined from the Parameter List Data are generally entered flush left i e beginning with the most significant byte in octet 1 The Universal Read Data object is only handled locally on the fieldbus option pcb and is defined as shown in Table 17 Index 999 Object code 7 Simple variable Data type index 10 Octet string Length 8 Local address Password Access groups Access rights Read all Write all Name 16 Extension length Table 17 Description of the Universal Read Data object 4 3 Communications Relationship List CRL The communications relationships between
9. Nam e 16 Extension length _ Table 4 Object description of the MOVIDYN drive parameters 4 2 2 Objects for Process Data Communication For process data communication via FMS six communications objects are available which are described in Table 5 Fieldbus Designation Functionality index 988 1 process output 1 Only FMS mode Transmission of a process output data word from the master to data word the servo controller with the FMS service Write 1 PO 2 In the mixed mode DP FMS Reading a process output data word specified by the DP master e g for visualization with the FMS service Read 989 2 process output 1 Only FMS mode Transfer of two process output data words from the master to data words the servo controller with the FMS service Write 2 PO 2 In mixed mode DP FMS Reading two process output data words specified by the DP master e g for visualization with the FMS service Read 990 3 process output 1 Only FMS mode Transfer of three process output data words from the master to data words the servo controller with the FMS service Write 3 PO 2 In mixed mode DP FMS Reading three process output data words specified by the DP master e g for visualization with the FMS service Read 991 1 process input Reading one process input data word PD 1 with the FMS service Read data word 1 Pl 992 2 process input Reading two process input data words PD1 PD 2 with FMS service Read data wo
10. 1 housing cover for MAS or for MKS 2 2 Supported Servo Controller Types The AFP 11 option pcb for connection to a PROFIBUS FMS DP system can be used with all servo controllers of the MOVIDYN 51 family To adjust fieldbus parameters you need the MD_SHELL PC user interface ver V1 60 or higher 2 3 Fitting the Option PCB Please follow the instructions below when fitting the option pcb Before you start Option pcbs Store the option pcb in its original packaging and only take it out shortly before you fit it Hold the option pcb by its edge and do not touch unnecessarily Do not touch any components Procedure for Fitting the Option PCB 1 Disconnect the servo controller from the supply Switch off the mains supply and if connect ed the external 24V supply 2 Take off the left black front cover after removing the two recessed head screws Note When the controller cover is removed the unit has enclosure IP00 Dangerous voltages may be present for up to 10 minutes after disconnecting the unit from the mains 3 Take appropriate ESD measures before touching the pcb wrist strap conductive shoes etc 4 Position the pcb with the backplane connector to the rear in the guide rails of the option pcb slot Make sure that the pcb sits properly in the rear guide rails 5 Press the backplane connector of the pcb into the socket in the controller housing The pcb sockets must be flush with the cover of the axis module
11. LA E CG On DRI 3 7 1 2 Index Addressing Byte 2 Index High and byte 3 Index Low are used to identify the parameter to be read or written via the fieldbus system The parameters of a servo controller are addressed using a standard index irrespective of the type of fieldbus system Byte 1 should be considered reserved and must generally be set to 0x00 3 7 1 3 Data Area As shown in Fig 38 the data are contained in byte 4 to byte 7 of the parameter channel This allows a maximum of 4 byte data to be transmitted per each service The data are generally entered flush right i e byte 7 contains the least significant data byte data LSB byte 4 correspondingly the most significant data byte data M SB Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Management Reserved Index High Index Low Data MSB Data Data Data LSB High byte 1 Low byte 1 High byte 2 Low byte 2 High word Low word Double word rt 00148AEN Fig 38 Definition of the data area in the parameter channel 3 7 1 4 Faulty Execution of Service Faulty execution of service is signalled by setting the status bit in the management byte If the received handshake bit is identical to the transmitted handshake bit the servo controller has executed the service If the status bit indicates an error the error code is entered in the data area of the parameter message Fig 39 Bytes 4 7 p
12. compact servo controller 6 Install the supplied cover plate to cover the option pcb slot and screw tight 2 screws 7 The AFP 11 option pcb is now completely fitted MOVIDYN AFP11A PROFIBUS Option PCB Assembly Installation Instructions PROFIBUS FMS DP a ooo LED green RUN RUN BUS FAULT een HE LED red lt Pro EPROM BUS FAULT cessor 1 LS 2 WI d Sa Address E 8 de j 7 Ze P H i Da EE pp EE Bus DEE Ge o sa Er i Yi 5 MER E off OFF Ska A a E po Bus termination E gt E 2 9 pin DPRAM type D connector 7 ER socket O O Cover for MKS compact servo controller MAS axis module 00078AEN Fig 2 The AFP 11 option 2 4 Pin Assignment The MOVIDYN Servo Controller is connected to the PROFIBUS network via a 9 pin type D connector in accordance with DIN 19245 Part 3 Connection to the T bus is with an appropriately designed connector or a bus terminal Fig 3 shows the pin assignment As the bus terminating resistors can be connected on the option pcb it is not necessary to use a type D connector with integrated terminating resistors Pin no Signal RS 485 reference 9 pin type D connector 1 not assigned Se ER not assigned O 3 R
13. AFP11A PROFIBUS Option PCB 41 D The PROFIBUS FMS Interface Index 991 Object code 7 Simple variable Data type index 10 Octet string Length 2 bytes Local address Password Access groups Access rights Read all Write all Name 16 Extension length Table 9 Description of the object 1 process input data word 1 Pl Fig 48 shows the structure of the object 1 process input data word 1 Pl Octet 0 Octet 1 High Low PI 1 8 00158AEN Fig 48 Structure of the object 1 process input data word 1 PI Index 992 Object code 7 Simple variable Data type index 10 Octet string Length 4 bytes Local address Password Access groups Access rights Read all Write all Name 16 Extension length _ Table 10 Description of the object 2 process input data words 2 PI Fig 49 shows the structure of the object 2 process input data words 2 Pl Octet 0 Octet 1 Octet 2 Octet 3 High Low High Low gt EN y PI 1 PI 2 A 00159AEN Fig 49 Structure of the object 2 process input data words 2 PI SEN SIA URODRIME 42 MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS FMS ES Interface Index 993 Object code 7 Simple variable Data type index 10 Octet
14. DYN Servo Controller Although the servo controller does not use any Event services i e the servo controller cannot execute any slave initiatives communication links with slave initiatives are supported Even though the Physical Read and Physical Write services are supported according to the CRL no Physical Write access can be performed MOVIDYN AFP11A PROFIBUS Option PCB ara es URODRIVE 51 D The PROFIBUS FMS Interface Caray No ELN WRA EL 52 CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 2 MSZY 0 20 All All 0 0 0 0 3000 max PDU Size Features supported Supported FMS services Send HiPrio 0 000000002000 Read indication Send LoPrio 241 Rec HiPrio 0 Rec LoPrio 241 Table 21 CRL for master slave cyclic Read CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 3 MSZY 0 21 All All 0 0 0 0 3000 max PDU Size Features supported Supported FMS services Send HiPrio o 000000001000 Write indication Send LoPrio 241 Rec HiPrio 0 Rec LoPrio 241 Table 22 CRL for master slave cyclic Write CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 4 MSZY_SI 0 22 All All 0 0 1 0 3000 max PDU Size Features supported Supported FMS services Send HiPrio 241 000010002000 Read indication Send LoPrio 241 Event Notification request Rec HiPrio 0 Rec LoPrio 241 T
15. Reserved Data length not relevant for Read service Handshake bit must be toggled for each new service Status bit X not relevant 0 correct execution of service 0 1 bit value is toggled 1 faulty execution of service Service identifier 00150AEN Fig 40 Coding of the READ service in the management byte Fig 40 shows how the READ service is coded in the management byte The data length is not relevant so only the Service Identifier for the READ service has to be entered The service is activated in the servo controller when the handshake bit is toggled For example the Read service could be activated by entering the codes O1hex or Alpe in the management byte 3 7 3 Writing a Parameter via PROFIBUS DP Write When executing a WRITE service via the parameter channel the handshake bit should not be toggled until the entire parameter channel has been set up accordingly for the service in question as the parameter channel is transferred on a cyclic basis Adhere to the following sequence of operations to write a parameter 1 Enter the index of the parameter to be written in byte 2 Index High and byte 3 Index Low 2 Enter the data to be written in bytes 4 7 3 Enter the Service Identifier for the Write service in the management byte byte 0 4 Transfer the Write service to the servo controller by toggling the handshake bit The servo controller now processes the Write service and returns the ack
16. has changed in this case from 0 to 1 The servo controller then looks at the parameter channel and processes the Write service and responds to all messages though with the handshake bit still 0 Confirmation that the service has been executed is indicated by the change of the handshake bit in the response message from the servo controller The control system recognizes that the received handshake bit is now the same as the one sent and can then prepare a new parameter adjustment MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP Interface Higher level automatic system Drive inverter Slave PROFIBUS DP 00110010 gt 400110010 a Parameter setting au Parameter setting channel is prepared 00110010 gt channel is received for WRITE service 3 100110010 ON but not evaluated Handshake bit is toggled and service transferred to 111001 drive inverter OOO TO caoocenoncrrenserians i gt DEE J Write service 101110010 p is processed A 00110010 Da Write service is executed handshake bit is toggled Service acknowledge 9 1110010 O received as Send and e ccccccnncnncnnnncnnennnes gt y receive handshake 01110010 ee e bits the same again eeh Parameter setting e 01110010 gt channelis received S A 01110010 but not evaluated 00152AEN Fig 42 Sequence of parameter adjustment via PROFIBUS DP 3
17. 7 5 Parameter Data Format When parameterizing via the fieldbus interface the same parameter coding is used as when parameterizing via the serial interfaces RS 232 and RS 485 The majority of the parameters is transmitted in 4 byte BCD format 32 bit values are directly entered in the parameter channel as 4 byte hex values For details of the data formats and value ranges of the individual parameters please refer to the SEW documentation MOVIDYN Parameter List 3 8 GSD Files All slave specific features are stored in a device database file GSD file EN 50170 V2 DIN E 19245 Part 3 describes the format of a GSD file It can be used by the DP master for easy configuration of the DP slave However as some DP masters do not support this file format additional type files are required These files are enclosed to the fieldbus documentation package on a diskette In addition these files can be downloaded via modem or the Internet at the addresses below Internet http www SEW EURODRIVE com all files http www PROFIBUS com GSD files only Modem Siemens Schnittstellencenter Furth Tel 49 911 737972 GSD and Siemens type files MOVIDYN AFP11A PROFIBUS Option PCB AUN EURODE 35 D The PROFIBUS FMS Interface GEN Ges UROL 4 The PROFIBUS FMS Interface With the AFP 11 option the MOVIDYN Servo Controller offers a FMS interface conforming to DIN 19245 Part 2 4 1 FMS
18. All 0 1 0 0 0 max PDU Size Features supported Supported FMS services Send HiPrio O 000000 80 33 06 Read ind Write ind Phys Read ind Phys Write ind LoPri 241 Send o re Get OV long indication Rec HiPrio 0 Acknowledge Event Notification ind Rec LoPrio 241 Alter Event Condition Monitoring ind Table 27 CRL for master slave acyclic with event notification for cyclic connections Though FMS services for event processing which are marked with an are offered in the CRL they are not supported by the MOVIDYN Servo Controller 4 4 Communications Relationship List of the Master A CRL corresponding to the CRL in the servo controller must be configured in the FMS master to be able to communicate with the MOVIDYN Servo Controller via PROFIBUS FMS The master CRL must conform to the following conventions 1 The FMS master may expect no more services from the slave than supported by the latter The Features supported parameter may therefore only contain the service primitives Request that are defined as indications in the corresponding slave CRL 2 The size of the Receive PDU Rec HiPrio Rec LoPrio of the master must at least be that of the Send PDU Send HiPrio Send LoPrio of the slave 3 The corresponding flow control counters must agree SCCmaster RCCslave and RCCwaster SCCslave Table 28 shows a communications relationship list specified in the master referring to a servo control
19. DP master when PROFIBUS DP is started so that the DP master and the DP slave can exchange the process data word as well as the parameter channel Cfg_Data identifier byte for parameter channel Cfg_Data identifier byte for 1 process data word MSB LSB MSB LSB 1 1 7 1 1 0 0 1 41 FS 111114 1 0 0 01 0 nes 243 dec 240 dec Data length Data length L nput output 4 words __ nput output 1 word Word structure Word structure _ Consistency over complete length __ Consistency over complete length 00094AEN Fig 18 Configuration example for parameter channel 1 process data word Fig 19 shows the communication between the automation unit DP master and the MOVIDYN Servo Controller via one process data word and the parameter channel for reading and writing of drive parameters The higher level control system could use this configuration for example to control the servo controller with Control Word 1 and Status Word 1 and access all drive parameters via the parameter channel see SEW documentation Fieldbus Unit Profile User Manual bos CC E A 7 e 7 7 e e 7 ell O E Z da SN Parameter channel PD 1 CZ e a E A E ao gt Oo e gien
20. I O words F3hex FOhex parameter channel 1 process data word 5 I O words F3hex Fl hex parameter channel 2 process data words 6 I O words Eine F2hex parameter channel 3 process data words 7 O words CUA CAAT WRA DRI 56 Commissioning tools MD_SHELL PC program version V1 60 and higher MOVIDYN AFP11A PROFIBUS Option PCB The definition for cable type A for PROFIBUS DP is set forth in DIN E 19245 Part 3 Appendix A Parameter Cable type A PROFIBUS DP Surge impedance 135 165 Ohm 3 20 MHz Capacitance per unit length gt 30 pF m Loop resistance lt 110 Ohm km Core diameter gt 0 64mm Core cross section gt 0 34mm Index Address setting the 11 Bus termination 10 COM ET 200 Commissioning 30 Communications relationship list 49 Configuration 15 Cfg_Data 16 1 PD parameter channel 19 1 process data word 17 2 PD parameter channel 19 2 process data words 17 3 PD parameter channel 20 3 process data words 18 Options for MOVIDYN 51 16 DDLM_Slave_Diag 22 Default bus parameters 12 Diagnosis 12 Display elements 12 Equipotential bonding 10 ET 200 Features of the PROFIBUS interface 6 Fieldbus Timeout 21 Fieldbus Unit Profile Documentation 2 Freeze 26 Ident Number 21 Installation of the bus cable 10 of the option pcb in the unit 8 of the PROFIBUS system 10
21. aeaGh x 37 dt ION cuece be ota oe A DPE ee GO eee PE eee bee 37 41 6 SlauSs 24 2 denge EE sae weenie we oo Be wed we A KA 37 Ads Reeg 2tacaccaws bade bived doee Sarde eg Eu e bathe a 37 AB WIIG ee aie Goo Be ka ee ee Ake ad Gob ay ag kes amp Rae 37 4 2 Object List ssc kas a ae we Ae A a hed Rat eae ae Dek 38 4 2 1 Object Description of the Drive Parameters 38 4 2 2 Objects for Process Data Communication 39 423 Min ISO Object aed sco ca ace Be es a A doe ee A ae Er 43 4 2 4 DP Station Diagnosis Obert 44 4 2 5 Download Parameter Block Object 44 4 2 6 Universal Write Parameter Object 46 4 2 7 Universal Read Functionality Objects 2 ee 46 4 3 Communications Relationship List CRU 49 43 1 CRL Definition visor nia a ob eo BAS wa oe ae ee a e 50 4 3 2 Communications Relationship Lists of the Servo Controller 51 4 4 Communications Relationship List of the Master 53 5 Parameter Adjustment Return Codes o 54 5 1 Incorrect Service Code in the Parameter Channel 54 5 2 Incorrect Specification of the Data Length in the Parameter Channel 54 5 3 Internal Communications Error s 2 ooo 55 6 Technical Data sci cia eds at io ie ade eta OEA aA amp 56 lt d SEENEN EENEG 57 INGO A EE 57 SEN co eg Se WWROMEIME 4 MOVIDYN AFP11A PROFIBUS Option PCB Important Notes Ea O Read this user
22. information can be found in section x x of this user manual Each unit is manufactured and tested to current SEW EURODRIVE technical standards and specifi cations The manufacturer reserves the right to make changes to the technical data and designs as well as the user interface herein described which are in the interest of technical progress A requirement for fault free operation and fulfilment of any rights to claim under guarantee is that these instructions and notes are followed These instructions contain important information for servicing they should therefore be kept in the vicinity of the unit FUROR MOVIDYN AFP11A PROFIBUS Option PCB 5 EN Introduction CER C SITA ODRI o 1 Introduction Thanks to its high performance universal fieldbus interface the MOVIDYN Servo Controller with the AFP 11 option enables connections to be made with higher level automation systems via the open and standardized serial PROFIBUS FMS and PROFIBUS DP bus system PROFIBUS FMS PROFIBUS FMS Fieldbus Message Specification is designed for non time critical applications in automation engineering such as for example networking different automation systems of various manufacturers In drive engineering the PROFIBUS FMS is mainly used for visualization of data and for parameterizing of drives as it allows for larger amounts of non time critical data to be exchanged in a simpl
23. last setpoints so that the drive can continue with the last valid setpoints e g conveyor belt As the functionality of the control terminals is also ensured when the servo controller is operated in the fieldbus mode fieldbus independent emergency stop concepts can still be implemented via the servo controller s terminals The MOVIDYN Servo Controller offers numerous diagnostic facilities for commissioning and servicing For instance both the setpoints transmitted from the higher level control unit as well as the actual values can be checked with the integrated fieldbus monitor It also provides you with a lot of additional information on the status of the fieldbus option pcb In combination with the MD_SHELL PC software the fieldbus monitor function offers convenient diagnostic facilities in that it provides a detailed display of the fieldbus and unit status information as well as the facility to set all the drive parameters including the fieldbus parameters FUROR MOVIDYN AFP11A PROFIBUS Option PCB 7 Assembly Installation Instructions Caray C SITA URI CO 2 Assembly Installation Instructions Unless the AFP 11 option is already installed in the MOVIDYN Servo Controller please check if the components stated in the scope of delivery are complete 2 1 Scope of Delivery The AFP 11 option comprises the following components 1 AFP 11 PROFIBUS option pcb
24. made between a master master and a master slave communications link As the MOVI DYN Servo Controller is to be considered a PROFIBUS slave station the CRL only contains the link types for the master slave relationship Table 18 shows the link types supported by the MOVIDYN Servo Controller TYPE Meaning MSAZ Master slave link for acyclic data transfer without slave initiative MSAZ_SI Master slave link for acyclic data transfer with slave initiative MSZY Master slave link for cyclic data transfer without slave initiative MSZY_ Master slave link for cyclic data transfer with slave initiative Table 18 Link types between FMS master and MOVIDYN 4 3 1 3 Link Attribute ATTR The ATTRA link attribute indicates whether the link is an open ol or a defined communications link In the case of an open link the address RADR and the service access point RSAP of the communication partner are only entered as the link is being established To ensure the servo controller will work properly with the various FMS masters PROFIBUS conformance all commu nication links of the MOVIDYN Servo Controller are implemented as open links 4 3 1 4 Service Access Points LSAP RSAP Service access points form the interface between the application layer layer 7 and the data link layer layer 2 of a PROFIBUS station across which messages are transferred From the point of view of the servo controller the LSAP Local Link Service Access Poin
25. manual carefully before you start installation and commissioning work on MOVIDYN Servo Controllers with PROFIBUS options This user manual assumes that the user is familiar with and has at his disposal all relevant documentation on the MOVIDYN system in particular the installation and operating instructions Important Notes Safety notes Always follow the safety notes contained in this user manual Safety notes are marked as follows Electrical hazard e g during live working Mechanical hazard e g when working on hoists Important Instructions for the safe and fault free operation of the system e g pre setting before commissioning Failure to follow these instructions may result in injury to people and damage to property General safety notes for bus systems The fieldbus option gives you a communications system which allows you to match the MOVIDYN drive system to the specifics of your application to a very high degree As with all bus systems there is however the risk of parameters being changed which will not show outside i e the servo controller but affect the behaviour of the servo controller This may result in unexpected not uncontrolled though system behaviour O Inthese instructions cross references are marked with a e g MD_SHELL means Please refer to the MD_SHELL user manual for detailed information or information on how to carry out this instruction section x x means Further
26. started up the next time 3 4 Diagnostic Data Station diagnosis of the MOVIDYN Servo Controller can be performed using the DP service DDLM_Slave_Diag The servo controller also supports unit related diagnosis Fig 27 shows the structure of the diagnostic data Octet 1 station status 1 Octet 2 station status 2 Octet 3 station status 3 Octet 4 DP master address Octet 5 Ident Number high Octet 6 Ident Number low Octet 7 Header Octet 8 Unit related diagnose 00136AEN Fig 26 Structure of the diagnostic data for the MOVIDYN Octets 1 7 contain the diagnostic information according to DIN E 19245 Part 3 As the header of the unit related diagnostic data a value of 2 in octet 7 indicates that the unit related diagnostics are 2 bytes in length incl header If there is a fault on the servo controller octet 8 will also contain the fault code only then will external diagnosis be possible Note The unit related diagnostic information is only updated every 800ms This means that an error message may not be output for 800ms after the fault occurs A much faster and simpler method of detecting faults can be implemented using status word 1 of the MOVIDYN Servo Controller see Fieldbus Unit Profile User Manual 3 4 1 Data in Octet 1 Station Status 1 Fig 27 shows the coding of octet Station Status 1 in accordance with DIN E 19245 Part 3 Station status 1 comprises
27. string Length 6 bytes Local address Password Access groups Access rights Read all Write all Name 16 Extension length _ Table 11 Description of the object 3 process input data words 3 PI Fig 50 shows the structure of the object 3 process input data words 3 Pl Octet 0 Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 High Low High Low High Low PI 1 PI 2 PI 3 3 f 00160AEN Fig 50 Structure of the 3 process input data words 3PI object 4 2 3 Min Tsdr Object Where several PROFIBUS masters are present it is often necessary to modify the response delay time min Tspr This has to be done when the servo controller responds faster than the master can switch between send and receive DIN 19245 defines default values with which every PROFIBUS master or slave in a PROFIBUS network can safely be operated This minimum response delay time for PROFIBUS is set using the DIP switch on the option pcb see Fig 8 This DIP switch is used to toggle between the min Ton default value for straight DP applications and the min Tspr default value for mixed FMS DP applications The default values for the minimum response delay time defined in DIN 19245 will be chosen depending on the selected baud rate The FMS object Min Tsdr can then be used to read or write the min Ion bus parameter directly When changing min Tspa remember that when the servo controller is powe
28. the DP master when PROFIBUS DP is started so that the DP master and DP slave can exchange a process data word Cfg_Data identifier byte MSB 1111141110 lolo lo H P0nex 240 dec Data length 2 words Input output Word structure Consistency over complete length 00088AEN Fig 12 Configuration data example for setting 1 input output word 1 PD Fig 13 shows the communication between the automation unit DP master and the MOVIDYN Servo Controller via one process data word only This configuration could be used for example to control the servo controller with control word 1 and status word 1 see SEW documentation Fieldbus Unit Profile User Manual TE GS map lt 3 Fig 13 Control of the servo controller via 1 process data word 00089AXX 3 1 3 Configuring for 2 Process Data Words 2 PD Control of the MOVIDYN Servo Controller using two process data words requires that the Co Data identifier byte is coded as shown in Fig 14 This code must be sent to the servo controller by the DP master when PROFIBUS DP is started so that the DP master and DP slave can exchange two process data words LI V EURODRINE MOVIDYN AFP11A PROFIBUS Option PCB 17 E The PROFIBUS DP Interface CUA C SITA URI Cfg_Data identifier b
29. the address of the DP master is entered by which the MOVIDYN Servo Controller was parameterized with the DP service DDLM_Set_Prm If the servo controller was not parameterized by a DP master this octet contains the address FFhex 3 4 5 Ident Number in Octet 5 6 The manufacturer identification for the DP slave type is allocated by the PROFIBUS User Group This Ident Number can be used both for checking purposes and for exact unit identification The MOVIDYN Servo Controller enters the Ident Number 5100hex in this octet the more significant part 51hex is entered in octet 5 the less significant part OOhex is entered in octet 6 of the Ident Number 3 4 6 Unit related Diagnosis using Octet 7 8 The MOVIDYN Servo Controller supports unit related diagnosis Unit related diagnostic informa tion is only available when the servo controller outputs a fault message or warning By setting bit 3 Diag Ext_Diag in octet 1 Station Status 1 the servo controller indicates to the master that unit rela ted diagnostic information is available S AVA RODRIG MOVIDYN AFP11A PROFIBUS Option PCB 25 E The PROFIBUS DP Interface LA E CG On DRI The unit related diagnostic information is stored in octet 7 and more specifically in octet 8 As the header of the unit related diagnostic data octet 7 contains the length of the unit related diagnostics incl header byte As the fault c
30. the parameter number 1 38 where the error occurred see Example 2 MOVIDYN AFP11A PROFIBUS Option PCB fara mS TUROORINA 45 D The PROFIBUS FMS Interface o UN MN E ez DRI Example 2 Error writing the 11th parameter Write Error Response Error Class 8 Other Error Code 0 Other Additional Code High 11dec Error writing parameter 11 Additional Code Low 15 hex Value too large If an error occurs when a parameter is written processing of the parameter block is aborted All parameters in the block following the faulty parameter are not transmitted to the servo controller and remain unchanged 4 2 6 Universal Write Parameter Object This object permits any parameter to be written regardless of the size and content of the object list on the fieldbus option pcb The parameter value to be written is shown together with the index in a 10 byte data area of the Universal Write object The parameter values can be four or eight bytes long depending on the drive parameter The length can be obtained from the current parameter list for the respective unit The parameter data must be entered flush left in every case Fig 53 Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8 Octet9 Octet 10 Index Index Data Data High Low MSB Data Data Data Data Data Data LSB E 4 byt
31. 2 Ident Number A ss niter Oe YEE ORES YEE Ee YG OP Eee OE OY 21 3 3 Watchdog Timer 2h e 2000 teen Ged ond wos we ew Ree AE ee ES 21 3 4 Diagnostic Data z ys sope ir ee Led RR REG OR Gg Be eRe E 22 3 4 1 Datain Octet 1 Station Status e 22 3 4 2 Datain Octet 2 Station Status 7 24 243 Datain Octet 3 Station Status 2 25 3 44 DP Master Address in Octet 4 0 0 o eo 25 3 4 5 Ident Number in Octet5 6 s aa aaria n ae a aa aa e a a a len BOR aY 25 3 4 6 Unit Related Diagnosis using Octet 7 8 ooa oaa ee 25 3 5 Sync and Freeze Mode seve ened ee Hehe Oa E ee a Oe 26 3 6 Control viaPROFIBUS DP a mace daaa monodi ee 29 3 7 Parameterizing via PROFIBUS DP 30 3 7 1 Structure of the Parameter Channel 30 3 7 2 Reading a Parameter via PROFIBUS DP Read 32 3 7 3 Writing a Parameter via PROFIBUS DP Write e 33 3 7 4 Sequence of Parameter Adjustment via PROFIBUS DP 34 37 5 Parameter Data Format ios oss 224 be Gk dey ae A Bae de ee ee aS 35 3 8 GSD AICS ins ra rra eee ee a ea a ee Bae Ae 35 FUROR MOVIDYN AFP11A PROFIBUS Option PCB 3 DES 4 The PROFIBUS FMS Interface oo e a 36 4 1 FMS SOIVICOS vicios cio a aa e A eae PAE ae 36 4 1 1 INS cados E a Bee oe ee ee a hee ier od 36 Adee ADOT 2262 acededaaacadhadeiaiaee 2 a Paw iw ae wats ame ae 37 AAS RCC siria Si eee se eee Bee ee ee a A aS 37 ANA W ace dee oes Ae AR ee ORE RH ee eR RR ane Rew
32. Edition 07 96 User Manual gt lt lt Servo Controller pag gt z O e gt RS AFP11A PROFIBUS Option PCB ei zc Ml E ele sew eom EUROORIVE q LA CL uf EELER SSES SR e SEW EUROORIVE LITTA AAA IA A ATT H HIT Sa gt D d a ANY y e ae ee ee ee ee ee ee i o y p i Ibe a L Loft DEES CER C EA URI N Preface This PROFIBUS AFP 11 Option user manual describes the procedure for installing the AFP 11 PROFIBUS option pcb in the servo controller and for commissioning the MOVIDYN Servo Control ler when connected to a PROFIBUS DP or PROFIBUS FMS fieldbus system In addition to describing all the settings on the fieldbus option pcb this manual further discusses the various options for connecting the servo controller to PROFIBUS DP or PROFIBUS FMS in the form of brief commissioning examples In addition to this PROFIBUS Option user manual the following more detailed documentation on fieldbuses is also necessary in order to enable the MOVIDYN to be connected simply and efficiently to the PROFIBUS fieldbus system MOVIDYN Fieldbus Unit Profile user manual MOVIDYN Parameter List The MOVIDYN Fieldbus Unit Profile Manual gives a detailed description of the fieldbus parameters and their codes and discusses various control concepts and application options in the form of brief commissionin
33. FIBUS DP mode the DIP switch must be set at DP This will activate the default bus parameters in particular the min Tspr for time optimized DP mode in accordance with DIN E 19245 Part 3 For mixed mode FMS DP or straight FMS mode the DIP switch must be set at FMS Fig 8 wn g CH lt FMS DP DP Default bus parameters for Se Default bus parameters for FMS mode or Condition as delivered straight DP PROFIBUS mode FMS DP mixed mode FMS DP active 00083AEN Fig 8 Setting the default bus parameters to DIN 19245 This switch only serves to select the default bus parameters Independent of the setting of this switch the servo controller at any time supports simultaneous use of the PROFIBUS protocol options FMS and DP Combislave functionality Any change to this DIP switch setting will only become effective after the servo controller has been switched off mains supply and 24V supply ON OFF and switched on again 2 9 Display Elements LED Green RUN LED Red BUS ERROR __ Meaning Flashing at approx 3Hz Off Option pcb is being initialized only immediately after servo controller power up or reset On Flashing at approx Configured station address is not within the permitted range 5Hz 0 126 Set correct station address and switch the unit on again On Irrelevant Normal operation AFP 11 option pcb is working correctly MOVIDYN AFP11A PROFIBUS Option PCB Assembly Installation Instr
34. MOVIDYN AFP11A PROFIBUS Option PCB ara eS URODRIVE 13 Assembly Installation Instructions Commissioning procedure for the MOVIDYN Servo Controller 1 Enable the output stage on the terminal side Apply a 24V signal on input terminal 21 5 CONTROLLER INHIBIT function e g via jumper X21 1 2 3 4 Use this jumper to 5 Controller inhibit enable the output 6 gt no function stage via the 7 no function terminal sees 8 no function 9 10 11 0V24 12 24 V MAS 51 MKS 51 00085AEN Fig 9 Enabling the output stage via jumper 2 Switch on 24 V supply Switch on the external 24V supply only not the mains supply to reprogram the servo controller to setpoint source FIELDBUS despite the installed jumper 3 Input terminals X21 6 8 NO FUNCTION Program input terminals X21 6 X21 7 and X21 8 to NO FUNCTION In Positioning mode you may continue to use terminals X21 7 and X21 8 as limit switches P300 Programming terminal MA X21 6 NO FUNCTION P301 Programming terminal MA X21 7 NO FUNCTION unless in positioning mode P302 Programming terminal MA X21 8 NO FUNCTION unless in positioning mode 4 Setpoint source FIELDBUS Set the setpoint source to FIELDBUS to control the servo controller via fieldbus P110 Programming terminal MA X21 6 NO FUNCTION For more informa
35. Services With the AFP 11 option the MOVIDYN Servo Controller supports the FMS services shown in Fig 43 These FMS services conform to the definitions in the sensor actuator profile FMS master DP FMS slave Initiate OTT Abort oo E CE Abort Reject Identify Get OV Status Read Write PROFIBUS FMS 00153AEN Fig 43 FMS services supported by the MOVIDYN Servo Controller 4 1 1 Initiate With the FMS service nitiate establish link a communications link is established between an FMS master and the MOVIDYN Servo Controller The establishment of the link is always performed by the FMS master As the link is being established various conventions regarding the communications link are checked e g FMS services supported user data length etc If the link is successfully established the servo controller answers with a positive nitiate Response If the link could not be established then the conventions regarding the communications link between the FMS master and MOVIDYN Servo Controller do not match The servo controller will answer with an nitiate Error Response In this event compare the configured communications relationship list of the FMS master with that of the servo
36. VIDYN Parameter List Table 3 Structure of the MOVIDYN static object list 4 2 1 Object Description of the Drive Parameters The drive parameters of the MOVIDYN Servo Controller are described in detail in the SEW documentation MOVIDYN Parameter List In addition to the parameter index i e the number with which you can address the appropriate parameter via the communications interfaces of the servo controller you will find further information about the coding range of values and meaning of the parameter data To access all drive parameters via PROFIBUS FMS you must add the value 1000dec to the index shown in the parameter list to access the fieldbus index In general you can read or write drive parameters with the following formula Fieldbus Index Parameter Index 1000dec The object description in the object list is identical for all drive parameters Even parameters that can only be read are given the attribute Read All Write All in the object list as the servo controller itself carries out the appropriate testing and if necessary supplies a return code Table 4 shows the object descriptions of all drive parameters MOVIDYN AFP11A PROFIBUS Option PCB Index The PROFIBUS FMS ES Interface Parameter Index 1000dec Object code 7 Simple variable Data type index 10 Octet string Length 4 Local address Password Access groups Access rights Read all Write all
37. able 23 CRL for master slave cyclic with slave initiative Read CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 5 MSZY_SI 0 23 All All 0 0 1 0 3000 max PDU Size Features supported Supported FMS services Send HiPrio 241 00 00 10 00 10 00 Write indication Send LoPrio 241 Event Notification request Rec HiPrio 0 Rec LoPrio 241 Table 24 CRL for master slave cyclic Read CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 6 MSZY_SI 0 24 All All 0 1 1 0 0 max PDU Size Features supported Supported FMS services Send HiPrio O 0000 10 80 33 06 Head Ind Write ind Send LoPrio 241 Phys Read ind Phys Write ind SE Get OV long indication Rec HiPrio 0 Event Notification request Rec LoPrio 241 Acknowledge Event Notification ind Alter Event Condition Monitoring ind Table 25 CRL for master slave acyclic with slave initiative MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS FMS ES Interface CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 7 MSAZ 0 25 All All 0 1 0 0 0 max PDU Size Features supported Supported FMS services Send HiPrio O 00 00 00 80 33 00 Read ind Write ind Phys Read ind Phys Write ind Send LoPrio 241 t OV long indicati Rec HiPrio 0 Get OV long indication Rec LoPrio 241 Table 26 CRL for master slave acyclic CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 8 MSAZ 0 26 All
38. address Password Access groups Access rights Read all Write all Name 16 Extension length Table 13 Description of the DP Station Diagnosis object The DP Station Diagnosis object consists of six octets structured as shown in Fig 52 The contents of the individual octets conform to DIN E 19245 Part 3 and are not discussed here Octet 1 Station status 1 Octet 2 Station status 2 Octet 3 Station status 3 Octet 4 DP master address Octet 5 Ident nummer high Octet 6 Ident nummer low 00161AEN Fig 51 Structure of the DP Station Diagnosis object 4 2 5 Download Parameter Block Object The Download Parameter Block object enables a maximum of 38 MOVIDYN drive parameters to be written at the same time This means you can use this object to parameterize the servo controller in the start up phase with only one Write service call Since as a rule only a few parameters have to be altered this parameter block with a maximum of 38 parameters is adequate for almost all applications The user data area is fixed at 38 x 6 2 bytes 230 bytes octet string type Fig 52 shows the structure of the Download Parameter Block object MOVIDYN AFP11A PROFIBUS Option PCB Fig 52 Structure of the Download Parameter Block object Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8 Octet 9 Octet 10 Octet 225 O
39. ant part of the position is transferred one bus cycle ahead of the more significant part MSB LSB 7 6 5 4 3 2 1 0 Data length 0000 1 byte word 1111 16 byte word Input output 00 special identifier formats 01 input 10 output 11 input output Format 0 byte structure 1 word structure Consistency over 0 byte or word 1 complete length 00087AEN Fig 11 Format of the Cfg_Data identifier byte to DIN E 19245 Part 3 The MOVIDYN Servo Controller supports six different process data configurations To control the servo controller you can define the amount of process data to be transferred using 1 2 or 3 process data words and also enable disable a parameter channel for read write access to all drive parame ters This produces the following process data configurations 1 process data word 1 PD 2 process data words 2 PD 3 process data words 3 PD 1 process data word parameter channel 1 PD Param 2 process data words parameter channel 2 PD Param 3 process data words parameter channel 3 PD Param This configuration is set up solely via the DP master as the bus system is started up so that no additional manual parameterizing of the servo controller is required This automatic configuring mechanism enables download applications to be implemented where the servo controller can be completely controlled and parameterized via t
40. arameter channel and 2 process data words Fig 21 shows the communication between the automation unit DP master and the MOVIDYN Servo Controller via two process data words and the parameter channel for reading and writing of drive parameters This configuration could be used for example to control the servo controller with Control Word 1 Speed Setpoint and Status Word 1 Speed Actual Value resp and parameterize it via the parameter channel see SEW documentation Fieldbus Unit Profile User Manual E T a W WS ds CZ l Parameter channel PD1 PD gt ANA lt Parameter channel PD1 PD 2 00097AEN Fig 21 Communication with 2 process data words and parameter channel 3 1 7 Configuring for 3 PD Parameter Channel Control of the MOVIDYN Servo Controller using three process data words and an additional parameter channel requires two identifier bytes to be defined Identifier byte 1 contains the code for the parameter channel identifier byte 2 contains the code for three process data words Fig 22 shows how these two identifier bytes are coded These codes must be sent to the servo controller by the DP master when PROFIBUS DP is started so that the DP master and the DP slave can exchange three process data words as well as the parameter channel
41. controller The attempt to establish an already existing communications link again generally leads to Abort The communications link will then no longer exist so the FMS service nitiate will have to be performed again to reinstate the communications link MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS FMS ES Interface 4 1 2 Abort An existing communications link between the FMS master and the MOVIDYN Servo Controller is cleared using the FMS service Abort Abort is an unacknowledged FMS service and can be initiated both by the FMS master as well as by the MOVIDYN The attempt to establish an already existing communications link again generally leads to Abort The communications link will then no longer exist so the FMS service nitiate will have to be performed again to reinstate the communications link 4 1 3 Reject With the FMS service Reject the MOVIDYN Servo Controller rejects an illegal FMS service The servo controller indicates to the FMS master that this is an illegal or invalid service 4 1 4 Identify With the FMS service Identify the MOVIDYN Servo Controller passes the following data to the FMS master for definite identification vendor_name SEW Eurodrive GmbH amp Co model_name MOVIDYN revision 821XXXYYZZ Number of servo controller system software 4 1 5 Get OV With the FMS service Get OV the FMS master can retrieve the object description of the MOVIDYN Servo Controller In general a
42. controllers simultaneously update their active setpoints with the value temporarily stored beforehand Fig 31 In other words the active setpoints are not updated until the new Sync command has been received The servo controllers quit Sync mode when the Unsync control command is issued MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface DE Leet D E O F T A Gef Se Be a a Temporary storage 1500 1 min 1500 1 min lf a oo E 7 i i 1 1 mi 1500 1 mii 1500 1 mi Active setpoint 1500 p mg min A PROFIBUS DP 00141AEN Fig 31 Simultaneous activation of the new setpoints with the Sync command The Freeze control command switches the addressed slaves into Freeze Mode The present status of the inputs actual values is frozen when in this mode Fig 32 UN ILI RODRIG O MOVIDYN AFP11A PROFIBUS Option PCB 27 E The PROFIBUS DP Interface CER No ELN WRA EL ooo
43. ctet 226 Octet 227 Octet 228 Octet 229 Octet 230 Reserved N of parameters Index High Index Low Data MSB Data Data Data LSB Index High Index Low il Index High Index Low Data MSB Data Data Data LSB 4 Byte e 1 38 parameters gt 1st parameter gt 38th parameter The PROFIBUS FMS ES Interface 00162AEN The Download Parameter Block object is only handled locally on the fieldbus option pcb and is defined as shown in Table 14 Index 996 Object code 7 Simple variable Data type index 10 Octet string Length 230 Local address Password Access groups Access rights Write all Name 16 Extension length Table 14 Description of the Download Parameter Block object With the WRITE service to the Download Parameter Block object a parameterization mechanism is started in the fieldbus option pcb that successively transmits to the servo controller all the parameters in the user data area of the object After successfully processing the Download Parameter Block i e all parameters transferred from the FMS master have been written the Write service is ended with a positive Write Response In the event of an error a negative Write Response is returned In this event the return code will contain more precise details about the type of error and in addition
44. d is for setting the address via the bus interface This feature is however not supported by the MOVIDYN The address 127 is reserved for the broadcast service Fig 6 shows how the station address is set with the DIP switches Significance on _ E Significance 1 x 0 oi Significance 2 x 0 o Mm Significance 4 x 1 gt H Significance 8 x 0 wd Significance 16 x 0 nE Significance 32 x 0 of Significance 64 x 0 FMS DP gt B DP Address Fig 6 Setting the PROFIBUS station address MOVIDYN AFP11A PROFIBUS Option PCB 0 0 4 0 0 0 0 4 condition as delivered 00082AEN RODRIG 11 Assembly Installation Instructions LA E CG On DRI It is not possible to change the PROFIBUS station address via the DIP switches while the servo controller is running If the station address is changed the new station address will only be effective after the servo controller has been switched off mains supply and 24V supply ON OFF and then switched on again The station address set on the servo controller can be displayed in the fieldbus monitor parameter P073 Fieldbus Address see Fig 7 093 Fieldbus Address 4 00084AEN Fig 7 Displaying the current PROFIBUS station address 2 8 Setting the Bus Parameters The default value setting for the bus parameters depends on the protocol option used For straight PRO
45. e data i 8 byte data 00163AEN Fig 53 Structure of the Universal Write object The Universal Write object is only handled locally on the fieldbus option pcb and is defined as shown in Table 15 Index 997 Object code 7 Simple variable Data type index 10 Octet string Length 10 Local address Password Access groups Access rights Write all Name 16 Extension length Table 15 Description of the Universal Write object 4 2 7 Universal Read Functionality Objects The Universal Read objects form the counterpart to Universal Write The Universal Read objects permit reading of any parameter independent of the object list being used The execution of a Universal Read takes place using both the Universal Read Pointer and Universal Read Data objects The fieldbus index read pointer to be read by the servo controller is first entered in the Universal Read Pointer object using the FMS service Write The value of the drive parameter is then read via the Universal Read Data object with the FMS service Read To avoid having to rewrite the read pointer after each operation when reading a consecutive series of parameters the Universal Read MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS FMS ES Interface also has an auto increment function where the read pointer Universal Read Pointer object is incremented by a specified am
46. e way PROFIBUS FMS is defined in DIN 19245 Part 2 PROFIBUS DP PROFIBUS DP Decentralized Periphery is mainly used for communication with decentralized peripherals e in the sensor actuator area where short system reaction times are required The main task of PROFIBUS DP is the fast cyclic data exchange between central automation units PROFIBUS master and decentralized peripherals among them servo controllers PROFIBUS DP is defined in DIN E 19245 Part 3 PROFIBUS FMS and PROFIBUS DP can generally be operated on a joint transmission medium If a joint transmission medium is used however the units which are to communicate directly with each other must be able to understand the same protocol option MOVIDYN Combislave With the AFP 11 PROFIBUS option pcb the MOVIDYN Servo Controller as Combislave unit supports both PROFIBUS FMS and PROFIBUS DP This allows the servo controller to be controlled via PLC and PROFIBUS DP for example while at the same time a visualization system can read out and display on a PC screen actual values from the servo controller using PROFIBUS FMS Of course the servo controller may be controlled and parameterized using only PROFIBUS DP or only PROFI BUS FMS too MOVIDYN and PROFIBUS The servo controller unit profile for PROFIBUS mode i e the way the servo controller operates and responds when in PROFIBUS mode is independent of the type of fieldbus and thus consistent for all fieldbus types Th
47. er 1032 via Universal Read data 1032 Read_999 4 Data of parameter 1032 4 Reading parameter 1033 via Universal Read data 1033 Read_999 Data of parameter 1033 etc 00165AEN Fig 55 Universal Read service with auto increment function 4 2 7 1 Universal Read Pointer Object The Universal Read Pointer object contains within its 4 data bytes both the fieldbus index to be read as a read pointer as well as the number used in auto increment mode Fig 56 shows the structure of this object Octet1 Octet2 Octet3 Octet4 Example Octet1 Octet2 Octet3 Octet4 Index Index Increment value High Low High Low 04hex 04hex OOhex O1hex Index 00 00 Auto increment OFF Index 1025 Auto increment 1 0001 1 00 02 2 etc i 00166AEN Fig 56 Structure of the Universal Read Pointer parameter When the auto increment mode is active increment value greater than 0 the index is increased after reading the Universal Read Data object by the predefined increment value The default value of this object is Index 1000dec Auto increment 0 OFF The auto increment value is generally treated as having no sign i e the value is generally added The Universal Read Pointer object is only handled locally on the fieldbus option pcb and is defined as shown in Table 16 MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS FMS ES Interface
48. ervices send RAC Receive Acknowledge Request Counter Number of parallel unconfirmed services receive Table 19 Flow control counters 4 3 1 7 Control Interval Times ACI CCI These CRL entries specify the time intervals used in the monitoring of a communications link i e the servo controller checks whether any data was transferred during the specified time interval If this is not the case communication is aborted The time interval applies to both cyclic Cyclic Control Interval CCl as well as acyclic links Acyclic Control Interval ACI 4 3 1 8 Protocol Data Unit Size max PDU Size This CRL entry indicates the maximum size of the protocol data unit max PDU size It comprises four entries as per table 20 Abbreviation Meaning Send HiPrio Maximum size of the protocol data unit for high priority send messages Send LoPrio Maximum size of the protocol data unit for low priority send messages Rec HiPrio Maximum size of the protocol data unit for high priority receive messages Rec LoPrio Maximum size of the protocol data unit for low priority receive messages Table 20 Maximum PDU size 4 3 1 9 Supported FMS Services Features Supported This CRL entry specifies which services the MOVIDYN Servo Controller supports in the relevant communications relationship 4 3 2 Communications Relationship Lists of the Servo Controller The following tables show the individual communications relationships supported by the MOVI
49. g examples The MOVIDYN Parameter List contains a list of all the servo controller parameters that can be read or written via the various communications interfaces such as the RS 232 RS 485 and via the fieldbus interface MOVIDYN AFP11A PROFIBUS Option PCB ee oe Contents Important ENEE ES H 1 Juttel Dote SEENEN EO ok ee a 6 2 Assembly Installation Instructions 8 2 1 Scope of Delivery 8 2 2 Supported Servo Controller Types 8 2 3 Fitting the Option PCB 8 2 4 Pin ASsigQnMent 2 425 reet eda EE Ra ee Pe ha es 9 2 5 Screening and Laying of the Bus Cables 10 2 6 Bus Termination a eios e ba Ge we ea a a Be a A 10 2 7 Setting the Station Address 11 2 8 Setting the Bus Parameters e 12 2 9 Display Elementen EE EELER a RA Ee eee E 12 2 10 Commissioning the Servo Controller o oo oo 13 3 The PROFIBUS DP Interface o e 4 4 4 2 o 15 3 1 Configuration of the DP Interface 2 co o e 15 3 1 1 Description of the Configuration Data 16 3 1 2 Configuring for 1 Process Data Word 1 PD 0 0 000002 o 17 3 1 3 Configuring for 2 Process Data Words 2PD 0 000000 o 17 3 1 4 Configuring for 3 Process Data Words 3 PD o o o 18 3 1 5 Configuring for 1 PD Parameter Channel 0 o o e 19 3 1 6 Configuring for 2 PD Parameter Channel 19 3 1 7 Configuring for 3 PD Parameter Channel 20 3
50. he PROFIBUS option pcb the MOVIDYN Servo Controller can be immediately parameterized via the PROFIBUS system without any further manual intervention This means for example that after switching on the servo controller all parameters can be downloaded directly from the higher level control To control the servo controller via PROFIBUS however it must first be switched to the appropriate setpoint source This is possible using the parameter P110 Setpoint Source FIELDBUS The factory setting for this parameter is ANALOGUE INPUT Using the parameter FIELDBUS the servo controller is programmed to accept setpoints from the PROFIBUS MOVIDYN now responds to process data sent from the higher level control The activation of the FIELDBUS setpoint source mode is signalled to the higher level control by the Fieldbus Mode Active bit in the status word For safety reasons the servo controller must also be enabled on the terminal side to permit control via the fieldbus system The terminals are therefore to be wired or programmed in such a way that the servo controller is enabled via the input terminals The easiest way of enabling the servo controller on the terminal side is for example to connect input terminal X21 5 CONTROLLER INHIBIT function to a 24V signal and program input terminals X21 6 8 to NO FUNCTION An example of the commissioning procedure for the MOVIDYN Servo Controller with a fieldbus interface is given on the following page
51. he bus system To set these process data configurations the servo controller supports a number of different codes for the Cfg_Data identifier byte The process data configuration is allocated based on the amount of input and output data A valid DP configuration sent from the DP master to the servo controller must conform to the following conventions MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP Interface The amount of input or output data must correspond to the contents of Table 2 The number of input bytes and output bytes must be the same Length of the input output data Meaning 2 bytes or 1 word 1 process data word 4 bytes or 2 words 2 process data words 6 bytes or 3 words 3 process data words 10 bytes or 5 words 1 process data words parameter channel 12 bytes or 6 words 2 process data words parameter channel 14 bytes or 7 words 3 process data words parameter channel Table 2 Possible data lengths of the DP configuration and their interpretation The servo controller interprets the length of the DP configuration passed to it as shown in Table 2 The six different process data configurations for PROFIBUS DP are described below 3 1 2 Configuring for 1 Process Data Word 1 PD Control of the MOVIDYN Servo Controller using only one process data word requires for example that the Cfg_Data identifier byte is coded as shown in Fig 12 This code must be sent to the servo controller by
52. he return code for this special case Code dec Meaning Error class 5 Service Error code 5 Illegal parameter Add code high 0 Add code low 0 Table 29 Return code in the case of incorrect service coding via the parameter channel Error rectification Check bits 0 2 in the management byte of the parameter channel Only the entries 001 pin for the READ service and 010bin for the WRITE service are permitted 5 2 Incorrect Specification of the Data Length in the Parameter Channel When parameterizing via the parameter channel a data length not equal 4 data bytes was specified in the READ or WRITE service Table 30 shows the return code Code dec Meaning Error class 6 Access Error code 8 Type conflict Add code high 0 Add code low 0 Table 30 Return code for incorrect length in the parameter channel length 4 Error rectification Check bit 4 and bit 5 for the data length in the management byte of the parameter channel Both bits must be 1 MOVIDYN AFP11A PROFIBUS Option PCB Parameter Adjustment ei Return Codes The return code shown in Table 31 is returned if a communications error has occurred between the option pcb and the servo controller system It may be that the parameter adjustment service transferred via fieldbus was not performed and should be repeated If this error recurs the servo controller must be switched off and then on again to reinitialize the uni
53. information which is either generated by the master or by the DP slave itself MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface The bits which are controlled by the master are generally set to zero by the DP slave In the following the individual status bits will be discussed in greater detail Octet 1 station status 1 MSB 716 5 4 3 2 1 RG LSB Bit no Diag Station_Non_Existent Diag Station_Not_Ready Diag Cfg_Fault Diag Ext_Diag Diag Not_Supported Diag Invalid_Slave_Response _ Diag Prm_Fault Diag Master_Lock This bit is only set by the DP master The MOVIDYN servo controller sets this bit permanently at zero 00137AEN Fig 27 Coding of the octet Station Status 1 to DIN E 19245 Part 3 The individual bits have the following meaning in accordance with DIN E 19245 Part 3 Bit 7 Diag Master_Lock The servo controller as DP slave sets this bit permanently at zero This bit is set by the DP master class 1 if the address in octet 4 is not equal FFhex and not equal to its own address It indicates that the MOVIDYN Servo Controller was parameterized by adifferent master with the DDLM Set_Prm service Bit 6 Diag Prm_Fault This bit is set by the MOVIDYN Servo Controller as DP slave if the last parameter message DDLM_Set_Prm was incorrect e g incorrect length incorrect Ident Number etc Bit 5 Diag Invalid_S
54. is allows the user to develop his drive applications independent of a particular fieldbus or change to another bus system e g the open standardized INTERBUS S AFI 11 option sensor actuator bus MOVIDYN offers digital access to all drive parameters and functions via the PROFIBUS interface The servo controller is controlled by the high speed cyclic process data This process data channel provides the facility to specify setpoints such as setpoint speeds ramp generator times for acceleration and deceleration etc as well as various drive functions such as enable controller inhibit stop rapid stop etc to be triggered This channel can also be used to read back actual values from the servo controller such as actual speed current unit status error number or reference messages MOVIDYN AFP11A PROFIBUS Option PCB Introduction ES ep de el E o0 AA P Visualization Ele ee EEE PROFIBUS DP master PROFIBUS FMS master 7 Digital 1 0 Analogue 1 0 PROFIBUS DP FMS Fig 1 PROFIBUS DP and or FMS with MOVIDYN 0062AEN Whereas process data are generally exchanged in cycles the drive parameters can be read and written acyclically via the READ and WRITE se
55. lave_Response The servo controller as DP slave sets this bit permanently at zero This bit is set by the DP master if an invalid response was received from the MOVIDYN Servo Controller Bit 4 Diag Not_Supported This bit is set by the MOVIDYN Servo Controller as DP slave if a function was requested which is not supported by the servo controller Bit 3 Diag Ext_Diag This bit is set by the MOVIDYN Servo Controller as DP slave It indicates that a diagnostic entry has been made in the unit related diagnosis section see octet 8 Unit related Diagnosis Bit 2 Diag Cfg_Fault This bit is set by the MOVIDYN Servo Controller as DP slave if the configuration data last received by the master do not correspond to the configuration data supported by the MOVIDYN Servo Controller FUROR 23 MOVIDYN AFP11A PROFIBUS Option PCB ES The PROFIBUS DP Interface Caray Ne SAAN UROA DRL 24 Bit 1 Diag Station_Not_Ready This bit is set by the MOVIDYN Servo Controller as DP slave if the servo controller is not ready for data exchange yet Bit 0 Diag Station_Non_Existent The servo controller as DP slave sets this bit permanently at zero This bit is set by the DP master if the MOVIDYN Servo Controller cannot be accessed via the bus If this bit is set the diagnostic bits in the master contain the status of the last diagnostic message of the servo controller or
56. ler with the station address 8 and the CREF 7 CREF Type ATTR LSAP RSAP RADR SCC RCC SAC RAC ACI CCI 3 MSAZ D NIL 25 8 1 0 0 0 0 max PDU Size Features supported Supported FMS services Send HiPrio O 00 0000 80 33 06 Head ren Write req Phys Read req Phys Write req Send LoPrio 241 t OV long Rec HiPrio 0 Get OV long req Rec LoPrio 241 Table 28 Example of a master CRL for an acyclic master slave link MOVIDYN AFP11A PROFIBUS Option PCB ara EVA RODNE 53 EN Parameter Adjustment Return Codes CIA CAA WRA DRI 54 5 Parameter Adjustment Return Codes If parameters are adjusted incorrectly different return codes are sent back from the servo controller to the parameterizing master providing detailed information about the cause of the error These return codes are generally structured according to DIN 19245 Part 2 A distinction is made between the following elements error class error code additional code These return codes are described in detail in the Fieldbus Profile User Manual and are not part of this documentation However the following special cases can arise in connection with a PROFIBUS FM S DP 5 1 Incorrect Service Code in the Parameter Channel An incorrect service was specified when parameterizing the servo controller via the parameter channel Only the READ and WRITE services are supported Table 29 shows t
57. ll drive parameters are described as communications objects More precise information about object descriptions can be found in Section 4 2 The MOVIDYN Servo Controller supports both the short as well as the long form of the FMS service Get OV 4 1 6 Status With the FMS service Status the FMS master can check the logical communications status of the AFP 11 option of the MOVIDYN Servo Controller The Local Detail attribute is not supported by the servo controller 4 1 7 Read With the FMS service Read the FMS master can read all the communications objects drive parameters of the MOVIDYN Servo Controller All drive parameters as well as their codes are listed in detail in the documentation MOVIDYN Parameter List 4 1 8 Write With the FMS service Write the FMS master can write all the drive parameters of the MOVIDYN If a drive parameter is assigned an invalid value e g value too high the servo controller generates a Write Error Response giving the precise cause of the error see Section Return Codes MOVIDYN AFP11A PROFIBUS Option PCB ara es RORE 37 D The PROFIBUS FMS Interface Ee E CG On DRI 4 2 Object List With the FMS services Read and Write the FMS master can access all the communications objects defined in the object list All drive parameters that can be accessed via the bus system are described as communications objects in
58. nicate with the DP slaves it has to be given some important information regarding the DP interface of the connected slave In addition to data relating to the type and amount of I O data to be transferred it also requires additional information regarding the identity of each DP slave 3 1 Configuration of the DP Interface To be able to define the type and amount of UO data to be transferred the DP master has to pass a certain configuration to the servo controller The MOVIDYN Servo Controller can generally be operated using six different configurations You have the option of only controlling the servo controller by exchanging process data or in addition to controlling the servo controller via process data of reading or writing parameters using an additional parameter channel at the same time Fig 10 provides a schematic representation of the exchange of data between the programmable automation unit DP master and the MOVIDYN Servo Controller DP slave using process data and parameter channels A pi pipa CZ i Parameter channel Process data channel S e e SS Z SS H Parameter channel Process data channel 00086AEN Fig 10 Communication via PROFIBUS DP When commissioning the DP master you will have t
59. nowledgement by toggling the handshake bit Fig 41 shows how the WRITE service is coded in the management byte The data length for all SEW servo controllers is 4 bytes Transfer of this service to the servo controller is by toggling the handshake bit A WRITE service to SEW servo controllers therefore generally has the management byte code 32hex Or 72hex MOVIDYN AFP11A PROFIBUS Option PCB ara EIA RODNE 33 E The PROFIBUS DP Interface o UN MN E ez DRI Byte 0 Management 7 6 5 4 3 2 1 0 0 044 1 GANG __ Service identifier 010 Write Reserved Data length 11 4 byte Handshake bit must be toggled for each new service Status bit 0 correct execution of service 1 faulty execution of service 0 1 bit value is toggled 00151 AEN Fig 41 Coding of the WRITE service in the management byte 3 7 4 Sequence of Parameter Adjustment via PROFIBUS DP Using the WRITE service as an example Fig 42 shows the parameterizing sequence between control system and servo controller on PROFIBUS DP To simplify the sequence only the manage ment byte of the parameter channel is shown in Fig 42 While the controller sets up the parameter channel for the Write service the servo controller simply receives and returns the parameter channel The service is first activated when the handshake bit
60. o specify which configuration is going to be used to operate the servo controller This configuration is then transferred to the servo controller when the DP master is started up using the DDLM_Chk_Cfg service The servo controller checks the transferred configuration data for plausibility before going into data exchange mode RODRIG MOVIDYN AFP11A PROFIBUS Option PCB 15 E The PROFIBUS DP Interface g gt g WRO DRI 16 The configuration data are coded in accordance with DIN E 19245 Part 3 and are discussed in the next section 3 1 1 Description of the Configuration Data DIN E 19245 Part 3 describes the format of the configuration data Fig 11 shows the Cfg_Data identifier byte which according to DIN E 19245 Part 3 is used to describe which I O data are to be transferred between master and slave using PROFIBUS DP In addition to specifying the data length in bits 0 3 you have to use bits 4 and 5 to define whether the transfer involves input and or output data Bit 6 indicates whether the data are to be transferred in byte or word format and bit 7 is used to specify the consistency with which the data are to be handled by the bus system For example position values of the MOVIDYN Servo Controller should be transferred in a consistent manner i e it has to be ensured that contiguous data are also transferred together and not for example that the least signific
61. ode is normally returned as external diagnostic information in one byte octet 7 normally contains the value 02hex length 2 bytes and octet 8 contains the error code from the servo controller the codes for which can be found in the MOVIDYN Parameter List documentation 3 5 Sync and Freeze Mode In addition to the cyclic exchange of data where the DP master addresses all slave stations in turn the DP master also has the ability to send various control commands to all slaves or just a group of slaves multicast functions These control commands permit event driven synchronization of the DP slaves The Sync control command switches the servo controllers into Sync Mode The active setpoint values are frozen when in this mode The DP master now has enough time to send the new process output data setpoints to those stations currently in Sync mode Fig 31 La La fie 2 0 d i Be HRE Tem porary storage 1500 1 min 1500 1 min 1500 1 min Active setpoint 0 1 min p 0 1 min 0 1 min p PROFIBUS DP e Y 00140AEN Fig 30 Sending setpoints to the servo controllers and saving them temporarily When a new Sync command is issued all servo
62. ount each time the Universal Read Data object is read This number is set together with the read pointer and stored in the Universal Read Pointer object Fig 54 shows an example of how Universal Read works without the auto increment function Control system MOVIDYN Master Slave 1 Writing the Universal Read pointer parameter with data Index 1031 increment value 0 auto increment OFF WRITE_998 1031 0 OK 2 Reading parameter 1031 via Universal Read data Read_999 Data of parameter 1031 7 3 Writing the Universal Read pointer parameter with data Index 1032 increment value 0 auto increment OFF L WRITE_998 1032 0 OK 4 Reading parameter 1032 via Universal Read data Read_999 Data of parameter 1032 etc 00164AEN Fig 54 Universal Read service without auto increment function FUROR MOVIDYN AFP11A PROFIBUS Option PCB 47 D The PROFIBUS FMS Interface CAM C SIA ODRI A Led Fig 55 shows an example of how Universal Read works using the auto increment function Control system MOVIDYN Master Slave 1 Writing the Universal Read pointer parameter with data tags Index 1031 increment value 1 auto increment ON mead pointer WRITE_998 1031 1 OK 2 Reading parameter 1031 via Universal Read data 1031 Read_999 an Data of parameter 1031 3 Reading paramet
63. rds 2 Pl 993 3 process input Reading three process input data words PD1 PD2 PD3 with FMS service Read data words 3 Pl Table 5 Functionality of the process data objects In straight PROFIBUS FMS mode an FMS master can control the MOVIDYN Servo Controller via the process data channel using the communications objects listed in Table 5 The process output data are transferred during this process to the appropriate process output data object by the Write service Process input data are read by the Read service into the relevant process input data object Whereas the process input data objects can generally only be read the process output data objects have both Read and Write access So in mixed mode DP FMS for example the process output data sent by the DP master can be read and visualized by the FMS master The data consistency required for the exchange of data via PROFIBUS FMS is achieved by providing the appropriate communications objects for each process data length With a process data length of 3 for example process data exchange will only be consistent with the objects 3 PI and 3 PO Fig 44 shows the various ways of accessing communications objects in mixed mode DP FMS RODRIG MOVIDYN AFP11A PROFIBUS Option PCB 39 D The PROFIBUS FMS Interface PROFIBUS DP master PROFIBUS FMS master DA i i Visualization a O mi Read access
64. red up again mains supply and 24V supply ON OFF however the min Tspr default value will again be operative Index 994 Object code 7 Simple variable Data type index 10 Octet string Length 1 byte Local address Password Access groups Access rights Read all Write all Nam e 16 Extension length _ Table 12 Description of the Min Tsdr object 2 FUROR MOVIDYN AFP11A PROFIBUS Option PCB 43 D The PROFIBUS FMS Interface Caray Ne SAAN SU ROD 44 Note Changing min Tsor can cause major malfunctions across the entire PROFIBUS network and should therefore only be done by PROFIBUS experts As a rule the default setting according to DIN 19245 which is set using the DIP switch on the option pcb is more than adequate These DIN 19245 default values guarantee stable operation of the PROFIBUS network 4 2 4 DP Station Diagnosis Object The diagnostic messages of the servo controller in DP mode are stored in this object The DP master can retrieve these diagnostic data using the DP service DDLM_SlaveDiag An FMS master can retrieve these diagnostic messages via this communications object using the FMS service Read Table 13 provides a definition of this communications object Index 995 Object code 7 Simple variable Data type index 10 Octet string Length 6 bytes Local
65. results if you adopt the following measures O Hand tighten the fixing screws of plugs modules and equipotential bonding conductors Only use plugs with metal or metal plated housings Connect the screening in the plug over as large an area as possible Connect the screening at both ends of the bus cable Do not lay signal and bus cables parallel to power cables motor cables but wherever possi ble in separate cable conduits In an industrial environment use metallic earthed cable trays Run signal cables and the associated equipotential bonding conductor as close as possible to each other using the shortest route Avoid extending bus cables through the use of connectors e Hun the bus cables close to existing earthed surfaces Note In the event of fluctuations in the earth potential a circulating current may flow through any screening which may be connected at both ends and connected to the earth potential PE In this case ensure there is adequate equipotential bonding in accordance with the relevant DIN VDE provisions 2 6 Bus Termination If the MOVIDYN Servo Controller is at the beginning or the end of a PROFIBUS segment connection to the PROFIBUS network as a rule is not via a T bus with an incoming and outgoing PROFIBUS cable but directly with only one PROFIBUS cable To avoid interferences on the bus system caused by reflections etc the PROFIBUS segment must be terminated with bus terminating resisto
66. rovide the Return Code in a structured format see the section Return Codes Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Management Reserved Index High Index Low Error class Error code A WEE Sy Status bit 1 faulty execution of service Fig 39 Structure of the parameter channel in the event of faulty execution of service 00149AEN 3 7 2 Reading a Parameter via PROFIBUS DP Read When executing a READ service via the parameter channel the handshake bit should not be toggled until the entire parameter channel has been set up accordingly for the service in question as the parameter channel is transferred on a cyclic basis Adhere to the following sequence of operations to read a parameter 1 Enter the index of the parameter to be read in byte 2 Index High and byte 3 Index Low 2 Enter the Service identifier for the Read service in the management byte byte 0 3 Transfer the Read service to the servo controller by toggling the handshake bit MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface As this is a Read service the transferred data bytes bytes 4 7 and the data length in the management byte are ignored and therefore do not need to be entered The servo controller now processes the Read service and returns the acknowledgement by toggling the handshake bit Byte 0 Management o jon x x o o E 001 Read
67. rs on the physically first and last stations Fig 4 As the bus terminating resistors can be connected on the AFP 11 option pcb of the servo controller it is not necessary to use a type D connector with integrated terminating resistors MOVIDYN AFP11A PROFIBUS Option PCB Assembly Installation Instructions Bus termination Digital I O Analogue 1 0 PROFIBUS DP FMS Fig 4 Bus termination at the beginning and end of a PROFIBUS segment 00080AEN Set the appropriate DIP switch on the option pcb see Fig 5 to the on position in order to connect the bus terminating resistors in accordance with DIN 19245 Part 3 The bus termination for cable type A is implemented in accordance with DIN E 19245 Part 3 on off Bus termination on connected off not connected O Fig 5 Activating the bus terminating resistors 2 7 Setting the Station Address on off VP R 390 Ohm R 220 Ohm Ry 390 Ohm DGND 00081AEN The PROFIBUS station address is set with the DIP switches on the option pcb PROFIBUS supports the address range from 0 125 The address 126 is reserved for PROFIBUS DP an
68. rvices or the parameter channel This exchange of parameter data enables applications where all major drive parameters are stored in the higher level automation unit to be implemented thus avoiding manual adjustment of parameters on the servo controller itself which can be very time consuming The PROFIBUS option pcb is designed so that all fieldbus specific settings such as the station address or the default parameters can be made on the option pcb by means of a hardware switch These manual settings enable the servo controller to be integrated into the PROFIBUS environment and switched on in a very short space of time Parameters can be set fully automatically by the higher level PROFIBUS master parameter download This forward looking version offers the benefits of a shorter commissioning period for the plant as well as simpler documentation of the application program as all major drive parameter data can now be recorded directly in the control program The use of a fieldbus system in drive technology requires additional monitoring functions such as fieldbus timeout or special emergency stop concepts The monitoring functions of the MOVIDYN can be matched to the specific application for which it is to be used This feature enables you for instance to specify which fault response the servo controller should trigger if an error should occur in the bus A rapid stop will be practical for many applications but it is also possible to freeze the
69. seconds 791 FIELDBUS TIMEOUT s 0 20 Fig 25 A fieldbus timeout period of 200ms configured in the DP master 00135AEN RODRIG MOVIDYN AFP11A PROFIBUS Option PCB 21 E The PROFIBUS DP Interface LA E CG On DRI When the timeout period expires the servo controller invokes the fault response specified before hand in parameter P792 Timeout Response This means the response of the servo controller when the bus goes down can be adapted to that of the drive application For example conveyor belts can continue to run at the most recent valid setpoint speed or brought to a stop very quickly Expiry of the timeout period is indicated on the option pcb by the red BUS ERROR LED At the same time the servo controller also indicates an error in the 7 segment display which is displayed as Error Fieldbus Timeout in the MD_SHELL user interface on your PC Fig 25 Depending on the specified fault response the servo controller may have to be reset to restore its normal status For a detailed description of the servo controller s timeout behaviour please refer to the Fieldbus Unit Profile User Manual Note Parameter P791 Fieldbus Timeout can only be set through the timeout period which is configured in the DP master for the whole DP system Manual setting of this parameter with the MD_SHELL user interface has no effect any setting would be overwritten when PROFIBUS DP is
70. sing the Sync and Freeze commands The Sync command enables you to activate the setpoints on all drives simulta neously Similarly the Freeze command permits the actual values from all the drives on the bus system to be read in at the same time 3 6 Control via PROFIBUS DP The servo controller is controlled via the process data channel which can be one two or three I O words in length These process data words are for example when a programmable logic controller is being used as DP master stored in the I O or peripherals area of the control system and can thus be addressed in the usual manner Fig 34 While the process input data actual values are being read e g using the Load command in the case of Simatic S5 the process output data setpoints can be sent using the Transfer commands Referring to Fig 34 Example 1 shows the syntax for handling the process input and output data of the MOVIDYN Servo Controller The factory setting for the process data channel is shown as a comment L Iw 50 Load PD1 status word 1 L IW 52 Load PD2 speed actual value L IW 54 Load PD3 no function L KH 0006 T OW 50 Write 6hex to PD1 control word 1 enable L KF 1500 T OW 52 Write 1500 dec to PD2 speed setpoint 300 1 min L KH 0000 T OW 54 Write 0 hex to PD3 no function sent value without effect Example 1 Controlling the servo controller via the process data MOVIDYN AFP11A PROFIBUS Option PCB
71. ster and DP slave must have an individual identification number assigned to them by the PROFIBUS User Group so that the units connected to the bus can be uniquely identified When the PROFIBUS DP master is started it compares the Ident Numbers of the connected DP units with those specified by the user User data transfer is activated once the DP master has ascertained that the connected station addresses and unit types Ident Numbers agree with those specified This process provides a high degree of security against configuration errors SE gg AR MOVIDYN Ident number 510014 or 20736 yo 00134AEN Fig 24 Ident Number of the MOVIDYN family The Ident Number is defined as an unsigned 16 bit number Unsigned16 The PROFIBUS User Group has specified the Ident Number 5100hex 20736dec for the MOVIDYN range of servo controllers Fig 24 3 3 Watchdog Timer Each DP slave must have a watchdog timer so it can detect a failure of the DP master or the communications link If no data are transferred between the DP master and DP slave within the specified timeout period the slave must automatically switch its outputs to a safe state The MOVIDYN Servo Controller maps the timeout period which is defined when the DP master is configured to parameter P791 Fieldbus Timeout Fig 25 This parameter consequently reflects the currently configured timeout period If the watchdog timer is not active the parameter will have a value of 650 00
72. t 5 3 Internal Communications Error Code dec Meaning Error class 6 Access Error code 2 Hardware Fault Add code high 0 Add code low 0 Table 31 Return code if an internal communications error has occurred Error rectification Repeat the READ or WRITE service If the error recurs you should briefly disconnect the servo controller from the mains supply and then switch it on again If the error persists consult the SEW Service Department FUROR MOVIDYN AFP1 1A PROFIBUS Option PCB 55 EN Technical Data 6 Technical Data Technical data for the AFP 71 option For use with MOVIDYN 51 and higher Profibus protocol options PROFIBUS FMS to DIN 19245 Part 2 PROFIBUS DP to DIN E 19245 Part 3 Mixed mode PROFIBUS FMS DP Combislave Auto baud detect for 9 6 kBaud 19 2 kBaud 93 75 kBaud 187 5 kBaud 500 kBaud 1500 kBaud Connection technology 9 pin type D connectors Pin assignment to DIN 19245 Part 1 Bus termination Connectable for cable type A up to 1500kBaud to DIN E 19245 Part 3 Station address 0 125 settable via DIP switch Default bus parameter Min Tspr for FMS DP and DP mode selectable via DIP switch Name of DDB file SEW_5100 GSD DP Ident Number 5100hex 20736dec DP configurations for DDLM_Chk_Cfg FOhex 1 process data word 1 UO word Fl hex 2 process data words 2 I O words F2hex 3 process data words 3
73. t is the local service access point of the MOVIDYN Servo Controller where the message crosses the interface between layer 2 and layer 7 Consequently the RSAP Remote Service Access Point as seen by the MOVIDYN Servo Controller is the service access point of the FMS master where the message crosses the interface between layer 2 and layer 7 of the FMS master As the servo controller does not know the ASAP it is entered automatically only as the link is being established The CRL for the servo controller therefore contains the entry All MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS FMS ES Interface 4 3 1 5 Station Address of the FMS Master RADR The station address of the FMS master wishing to communicate with the servo controller via this communications relationship is entered in the RADR Remote Address field As the address of the FMS master can change it is only entered as the link is established The CRL for the servo controller therefore contains the entry All 4 3 1 6 Flow Control Counters SCC RCC SAC RAC The flow control counters indicate the maximum number of services running in parallel Table 19 shows the meaning of the individual CRL entries Abbreviation Meaning SCC Send Confirmed Request Counter Number of parallel confirmed services send RCC Receive Confirmed Request Counter Number of parallel confirmed services receive SAC Send Acknowledged Request Counter Number of parallel unconfirmed s
74. the MOVIDYN Servo Controller and the FMS master are stored in the Communications Relationship List CRL You will need these CRL data to configure an FMS master that is to communicate with the MOVIDYN Servo Controller via PROFIBUS FMS AS RODRIG MOVIDYN AFP11A PROFIBUS Option PCB 49 D The PROFIBUS FMS Interface Ee DRI 4 3 1 CRL Definition The communications relationship lists for the PROFIBUS FMS contain various elements of definition which are briefly discussed below For a more detailed explanation please refer to DIN 19245 Part 2 4 3 1 1 Communications Reference CREF All the links contained in the Communications Relationship List are numbered sequentially with a Communications Reference CREF In accordance with the sensor actuator profile the CRL for the MOVIDYN Servo Controller contains the Communications References CREF2 to CREF10 These CREFs represent the logical communications links from the point of view of the MOVIDYN Servo Controller The CREFs in the CRL of the servo controller have no significance as far as configuring on the FMS master is concerned as they describe the communications relationships from the point of view of the servo controller The FMS master defines its communications relationships in its own CRL 4 3 1 2 Link Type TYPE The TYPE field in the CRL defines the type of link between two PROFIBUS stations A distinction is generally
75. the initial value resp 3 4 2 Data in Octet 2 Station Status 2 Fig 29 shows the coding of octet Station Status 2 in accordance with DIN E 19245 Part 3 Station status 2 comprises information which is generated either by the master or the DP slave itself The bits which are controlled by the master are generally set to zero by the DP slave In the following the individual status bits will be discussed in greater detail Octet 2 station status 2 MSB LSB Bitno 7 16151413121110 L Diag Prm_Req _ Diag Stat_Diag This bit is set permanently at zero Diag WD_On Diag Freeze_Mode Diag Sync_Mode reserviert Diag Deactivated This bit is only set by the DP master The MOVIDYN Servo Controller sets this bit permanently at zero 00138AEN Fig 28 Coding of the octet Station Status 2 to DIN E 19245 Part 3 The individual bits have the following meaning in accordance with DIN E 19245 Part 3 Bit 7 Diag Deactivated The servo controller as DP slave sets this bit permanently at zero This bit is set by the DP master if the MOVIDYN Servo Controller was identified as non acti ve in the DP slave parameter set and taken off the cyclic processing Bit 6 Reserved Bit 5 Diag Sync_Mode This bit is set by the servo controller as soon as it has received the Sync command Bit 4 Diag Freeze_Mode This bit is set by the servo controller as soon as it has recei
76. the static object list All objects in the static object list are addressed via a fieldbus index Table 3 shows the structure of the object list of the MOVIDYN Servo Controller Normally the whole object list is always generated when the servo controller is switched on To also be able to guarantee full access to all parameters via PROFIBUS FMS if additional drive param eters are added in the future the generated object list is larger than the number of drive parameters implemented Access to objects that cannot be directly mapped to a drive parameter is rejected with a negative response The index area is divided into two logical areas The drive parameters are addressed with indices from 1000dec The parameter index can be obtained from the SEW manual MOVIDYN Parameter List Indices below 1000dec are handled directly by the PROFIBUS option pcb Fieldbus index decimal Name of the communications object 988 1 process output data word 1 PO 989 2 process output data words 2 PO 990 3 process output data words 3 PO 991 1 process input data word 1 Pl 992 2 process input data words 2 Pl 993 3 process input data words 3 Pl 994 Min Tsdr 995 DP station diagnosis data SlaveDiag 996 Download Parameter Block 997 Universal Write parameter 998 Universal Read pointer 999 Universal Read parameter 1000 Parameter index Drive parameter for MOVIDYN Parameter index see SEW documentation MO
77. tion on commissioning and controlling the MOVIDYN Servo Controller please refer to the Fieldbus Unit Profile User Manual documentation SEN 5 HESE E 14 MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface 3 The PROFIBUS DP Interface PROFIBUS DP Decentralized Periphery is the speed optimized PROFIBUS option designed in particular for fast data exchange at the sensor actuator level DP is used by central automation systems e g programmable logic controllers to communicate with decentralized peripherals such as sensors and actuators among them servo controllers via a fast serial link Data exchange with these decentralized units is mainly cyclic The central control system sends new process output data to all slaves in a message and reads in all process input data from the slaves sensors actuators in the same message The considerable increase in speed of PROFIBUS DP compared to PROFIBUS FMS is primarily due to the fact that DP has no application layer layer 7 and I O data are transferred between the master and a slave in a single message cycle A maximum of 246 bytes of I O data can be transferred between the DP master and a DP slave Normally however shorter data blocks of up to 32 bytes are used to increase efficiency still further Consequently the exchange of data via PROFIBUS DP can be seen as a straight process communications procedure To enable the DP master to commu
78. to zero Bit 4 and bit 5 contain the data length in bytes for the Write service which in the case of SEW servo controllers should normally be set to 4 bytes MSB Byte 0 Management LSB sr o s a 3 2 1 0 __ _ Service identifier 000 no service 001 Read 010 Write reserved Data length 00 1 byte 01 2 bytes 10 3 bytes 11 4 bytes Handshake bit must be toggled for each new service Status bit 0 correct execution of service 1 faulty execution of service 00147AEN Fig 37 Structure of the management byte Bit 6 is used as a handshake between controller and servo controller It initiates the execution of the transferred service in the servo controller As the parameter channel is transferred in each cycle with the process data particularly with PROFIBUS DP execution of the service in the servo controller must be edge controlled using the handshake bit 6 The value of this bit is therefore toggled each time a new service is to be executed The servo controller uses the handshake bit to signal whether the service has been executed or not The service is executed as soon as the controller notices that Kell the received and transmitted handshake bits correspond Status bit 7 indicates whether the service JAVA was executed properly or produced an error URODRIVE MOVIDYN AFP11A PROFIBUS Option PCB 31 E The PROFIBUS DP Interface
79. uctions DP mode a When the servo controller is being commissioned or accelerating The servo controller has not been set to data exchange mode by the DP master yet b The timeout period has elapsed the servo controller was not addressed by the DP master FMS mode There is no active FMS link between the FMS master and the servo controller Mixed mode FMS DP A combination of the above On Off DP mode The servo controller is in data exchange mode FMS mode There is an active FMS link between the FMS master and the servo controller Mixed mode FMS DP Combination of the above On On On flickering Off The servo controller is being parameterized via PROFIBUS DP or FMS Read Write access operations Off On Hardware fault on the AFP 11 option pcb Flashing at Flashing at Hardware fault on the AFP 11 option pcb approx 1Hz approx 1Hz Flashing at On Check the firmware version of the control pcb basic unit approx 1 Hz Table 1 Meaning of the visual signals of the RUN and BUS ERROR LEDs The option pcb has two LEDs for status and fault indication of the option pcb and the connected bus system Fig 2 Table 1 shows the meaning of the visual signals of these LEDs While the green LED RUN indicates the operational status of the option pcb the red LED BUS ERROR indicates the status of the PROFIBUS connection 2 10 Commissioning the Servo Controller After installing t
80. ved the Freeze command Bit 3 Diag WD_On This bit is set by the MOVIDYN Servo Controller if the watchdog timer is on MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface Bit 2 This bit is permanently set to one by the MOVIDYN Servo Controller Bit 1 Diag Stat_Diag If the MOVIDYN Servo Controller sets this bit the DP master must pick up diagnostic data until this bit is cleared again Bit 0 Diag Prm_Req This bit is set by the MOVIDYN Servo Controller if it needs to be parameterized and configur ed again This bit remains set until the servo controller has been parameterized with DDLM_Set_Prm 3 4 3 Data in Octet 3 Station Status 3 Fig 29 shows the coding of octet Station Status 3 in accordance with DIN E 19245 Part 3 In station status 3 presently only bit 7 is relevant at the moment Bits 0 6 are reserved Octet 3 Station Status 3 MSB LSB Bitno 17 6 5 4 3 2 1 0 reserved Diag Ext_Diag_Overflow 00139AEN Fig 29 Coding of the octet Station Status 3 to DIN E 19245 Part 3 The individual bits have the following meaning in accordance with DIN E 19245 Part 3 Bit 7 Diag Ext_Diag_ Overflow If this bit is set more diagnostic information is present than specified in Ext_Diag_Data This bit is generally set to zero by the MOVIDYN Servo Controller Bits 6 0 Reserved 3 4 4 DP Master Address in Octet 4 In this octet
81. ver complete length 00092AEN Fig 16 Configuration data example for setting 3 input output words 3PD Fig 17 shows the communication between the automation unit DP master and the MOVIDYN Servo Controller via three process data words The higher level control system could use this configuration for example to send the process output data Control Word 1 Speed Setpoint Process Ramp and read in the process input data Status Word 1 Speed Actual Value and Apparent Current Actual Value see SEW documentation Fieldbus Unit Profile User Manual MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface E CC IR HERE CH P61 nis eos 00093AXX Fig 17 Control of the servo controller via 3 process data words 3 1 5 Configuring for 1 PD Parameter Channel Control of the MOVIDYN Servo Controller using one process data word and an additional parameter channel requires two identifier bytes to be defined Identifier byte 1 contains the code for the parameter channel identifier byte 2 contains the code for a single process data word Fig 18 shows how these two identifier bytes are coded These codes must be sent to the servo controller by the
82. xD TxD P receive send data P B B 4 CNTR P repeater control signal TTL 5 DGND data reference potential M 5V OC 6 VP supply voltage plus P5 V 7 not assigned 8 RxD TxD N receive send data N AA 9 DGND data reference potential M 5V Connector housing Screen of the twisted two wire cable 00079 AEN Fig 3 FUROR MOVIDYN AFP11A PROFIBUS Option PCB 9 Assembly Installation Instructions g PASAN VRE 10 The MOVIDYN Servo Controller is connected to the PROFIBUS system via a twisted screened two wire cable The connection of the two wire cable to the PROFIBUS connector is via pin 8 AAT and pin 3 B B These two contacts are used for communication The RS 485 signals A A and B B must be contacted the same on all PROFIBUS stations as otherwise communication via the bus will not be possible Via pin 4 CNTR P the PROFIBUS option pcb supplies a TTL control signal for a repeater reference pin 9 2 5 Screening and Laying of the Bus Cables The AFP 11 PROFIBUS option pcb supports RS 485 transmission technology and requires as a physical medium a screened two wire twisted pair cable cable type A specified for PROFIBUS in accordance with DIN 19245 Part 3 see Appendix Technically correct screening of the bus cable absorbs the electrical interference that can occur in an industrial environment You will achieve the best screening
83. yclically and in addition to the process data channel contains a parameter channel through which acyclic parameter values can be transferred Fig 35 Fig 36 shows the structure of the parameter channel It generally consists of a management byte an index word a reserved byte and four data bytes MOVIDYN AFP11A PROFIBUS Option PCB The PROFIBUS DP ES Interface SS gt Param eter channel l Process data channel H Parameter channel l Process data channel 00145AEN Fig 35 Parameter process data object for PROFIBUS DP Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Management Reserved Index high Index low Data MSB Data Data Data LSB Management Reserved Parameter index 4 byte data 00146AEN Fig 36 Structure of the parameter channel 3 7 1 1 Management of the Parameter Channel The entire parameter adjustment procedure is co ordinated using byte 0 Management This byte makes important parameters such as service identifier data length version and status of the executed service available Fig 37 shows that bits 0 1 and 2 contain the service identifier in other words they define which service is to be executed Bit 3 is currently reserved and should generally remain set
84. yte MSB 111141110 0 lo l1 H Flrx 24 dec Input output Word structure Consistency over complete length Data length 3 words 00090AEN Fig 14 Configuration data example for setting 2 input output words 2PD Fig 15 shows the communication between the automation unit DP master and the MOVIDYN Servo Controller via two process data words The higher level control system could use this configuration for example to send the process output data Control Word 1 and Speed Setpoint to the servo controller and read in the process input data Status Word 1 and Speed Actual Value see SEW documentation Fieldbus Unit Profile User Manual cs A gt 00091AXX Fig 15 Control of the servo controller via 2 process data words 3 1 4 Configuring for 3 Process Data Words 3 PD Control of the MOVIDYN Servo Controller using three process data words requires that the Cfg_Data identifier byte is coded as shown in Fig 16 This code must be sent to the servo controller by the DP master when PROFIBUS DP is started so that the DP master and DP slave can exchange three process data words Cfg_Data identifier byte MSB 1111110101011 pn z Five 242 0c Data length 3 words Input output Word structure Consistency o

MOVIDYN® Servo Controller AFP11A

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MOVIDYN&reg; Servo Controller AFP11A

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MOVIDYN® Servo Controller AFP11A