Home

SE77 DeviceNet Advanced User Guide

1. Table 14 23 shows an example set of data words for PPO 4 Word mode This example will write a value of 1553 9 rpm 32 bit value is 15539 to the digital speed reference 1 Pr 01 021 to the drive Table 14 23 PPO 4 Word write requests example OUT data pex value x valu word WIRT BU sisse Bri 0 z OUT word O 0x8001 OUT word 1 0x1500 PARAMETER 21 OUT word 2 0x0000 DATA HIGH word 0 OUT word 3 Ox3CB3 DATA LOW word 15539 Table 14 24 shows an example successful write response to the write instruction illustrated above in Table 14 23 Table 14 24 PPO 4 Word write response example IN data Hex valua Function x valu werd ere re BIG 0x5001 0x1500 PARAMETER 21 0x0000 DATA HIGH word 0 Ox3CB3 DATA LOW word 15539 If the PPO 4 command is left in the data words the write will be executed on every poll 14 7 5 14 7 6 100 of the network effectively providing a continuous write Care should be taken to ensure the parameters for the write are set up before the TASK ID is changed from 0 to prevent incorrect data being written Limitations of non cyclic data Mode 1 CT Single Word CT Single Word non cyclic data uses only 1 word of data however when used with data alignment set to 32 see section Cyclic data alignment on page 35 this requires two 16 bit words a single 32 bit word When used with data alignment set to 32 only the lower 16 bits of the 32 bit word are used Us
2. What are GSD Files Data consistency Data configuration PROFIBUS DP V1 GSD compatibility table 8 Cyclic data 8 1 What is cyclic data 8 2 Data formats 8 3 Mapping conflicts 8 4 Cyclic data mapping errors 8 5 Mapping limitations 8 6 Disabling mappings 8 7 Master configuration 9 Non cyclic data 9 1 What is non cyclic data 9 2 Configuration using non cyclic data 9 3 SI PROFIBUS non cyclic overview 10 Control and status words 10 1 What are control and status words 10 2 Control word 10 3 Status word 11 Diagnostics 11 1 Overview 11 2 Drive trip display codes 12 PROFIdrive profile V4 12 1 What is PROF Idrive profile 12 2 Standard Telegram 1 12 3 Main Setpoint 12 4 Main Actual Value 12 5 PROFIdrive V4 State Machine 12 6 Normal Run Sequence 12 7 Stopping the motor using PROF Idrive 12 8 Jogging 12 9 PROFIdrive control word 12 10 PROFldrive status word 12 11 PROFIdrive PNU access 12 12 Fault Buffer 12 13 Drive Identification 12 14 Identification and Maintenance Functions 13 Advanced features 13 1 SYNC and FREEZE Mode 13 2 Inter option communication timing 13 3 Multi master operation 14 Legacy features 14 1 Network compatibility mode 14 2 PPO Types 14 3 Configuring the Profile 2 14 4 Setting the non cyclic mode non cyclic over cyclic 1
3. JOG1 was previously ON and goes into operation enabled at standstill Prerequisite Operation is enabled and Main Setpoint 0 The drive accelerates as fast as possible to jogging setpoint Pr 01 005 in the reverse direction The drive brakes as fast as possible along the RFG if JOG2 was previously ON and goes into operation enabled at standstill Network Control from the PROFIBUS DP network process control cyclic data is valid Process data invalid Last received valid process data values are retained 0 11 MENEEENENENEN 12 10 PROFIdrive status word Table 12 4 gives the description of each bit in the PROFIdrive status word Table 12 4 PROFIdrive status word bit functions Comments 1 Ready to Power supply switched on the drive is inhibited switch on E CL CR NN Ready To Operate Drive is ready to run NotReady To Drive is not ready to run Operate Enabled Operation de ind 3 ES Disabled Drive is not operational n Drive faulted and thus not operational goes into 10 No control the switch on inhibit status after acknowledgment and the fault has been removed Fault number in the fault parameter No Fault Present Drive ok Fault Present 1 1 1 0 1 oet Stop Not Coast Stop command is not active Activated 0 Coast Stop Coast Stop command is active Activated Unidrive M SI PROFIBUS User Guide 73 Issue Number 3 uogeuuojul uononpoaul Jeo
4. Inter option communication timing sssssenene 79 J Joggera na eaaa aa PME TE RNC 71 M Mappirig GrtOfs a ne eave teased a ede e 50 Mapping parameters ceci eerie feet tdeo e ER c dete 49 Mode Tananan Gouin nese a ei nO des 83 100 Mode 2 2 dias d haee debeo e b ao go bid ets 94 100 N Network compatibility mode ssssssseseeenenennenn 80 Network length u Network loss timeout error 79 Network termination crier exerit eren tee nd en ce ra en red 16 Node address ecd oot cat oto E oM eee rni Nonecyclic data edere ceat deae de ve cho ce de a Ed eed ed ce Non cyclic mode us Normal R n Sequence eae ett ee intel 67 O Option module identification 2 0 2 ee ceccceeee cence eeeeeeeeeeeeeeeeeeeseneeeeseeeeeeees 10 OVOeLVIOW at fle oeil A esc TX TIS etal eel cere nse eee eee 9 P Parameters adjusting ee heim er eden us 6 PPOM uendere EE e 81 PRO EENE EAEE rino ree tot Reb eei desea 81 PPO 3 65 82 PROA MMC 82 PPO 4 word 100 PPO 4 world mode 2525229 85 S Ld e cde dee VR ze de e eA hate 94 PPO 4 word read ineo i rene remt rra crease aeo Ere fees ATE EEE TRE 97 PPO 4 word write PRO uns 82 PPO types laotier 65 PROFIBUS DP V1 Overview cccccccccccescccessseeeeseeceeseecessseecesseeceesaeeeees 52 PROF drive V4 State Machine cccccceeceeeeeeeeeeeeeeeeeeneeeeseneeeeseeeeeeees 67 PROEIdrive control Word 2
5. Non cyclic data using the DP V1 non cyclic channel must not be confused with the non cyclic over cyclic method as used with the CT non cyclic and PPO 4 word modes DP V1 Parameter Access Non cyclic data is transmitted after all the cyclic data within the PROFIBUS DP cycle depending on the length of the non cyclic data this may take several cycles to complete Configuration using non cyclic data The SI PROFIBUS can be configured using the DP V1 Parameter Access channel non cyclic data This is useful when using a master controller to configure the drive when a drive is initialized only the node address S 01 004 needs to be set manually The master can now use the desired mode to set up the remainder of the parameters The configuration parameters for the slot in which the SI PROFIBUS is located can be accessed in S 01 ppp and MM ppp Any changes made to the configuration parameters will not take effect until the SI PROFIBUS has been reset SI PROFIBUS can be reset by writing a value of 1 to Pr MM 007 A brief interruption in PROFIBUS DP communications may be seen while the reset sequence is in progress SI PROFIBUS non cyclic overview The PROFIBUS specification allows for the standard cyclic process data and the additional acyclic parameter data to be transmitted in the same bus cycle The DP V1 message is contained within the acyclic part of the PROFIBUS DP cycle and uses the slave node address to access the parameter channel For f
6. 10923 PROFIdrive V4 State Machine The general state machine diagram V4 0 is shown in Figure 12 1 The Speed Control state machine is shown in Figure 12 2 The correct sequence of operation must be used for the state machine otherwise the message will be rejected and the entire sequence must be restarted The only exception to this rule is when moving from state S2 it is possible to bypass state S3 and jump to state S4 directly Normal Run Sequence The following sequence can be used to get the motor turning all bit values refer to the PROFIdrive control word Enable network control bit 10 1 0x0400 Remove all STOP commands bits 1 amp 2 1 0x0406 S1 to S2 Set drive to Ready bit 0 1 0x0407 S2 to S3 Enable operation bit 3 1 Ox040F S3 to S4 Enable ramp function generator bit 4 1 0x041F Unfreeze ramp function generator bit 5 1 0x043F Enable setpoint value bit 6 1 0x047F Set the main setpoint value in word 1 Pr 01 021 The motor should now accelerate to the speed set by the main setpoint value In order to stop the motor the following options are available Stop the motor using the drive ramp function set bit 0 to OFF 0x047E or Stop the motor and coast to zero speed set bit 1 to OFF 0x047D or Stop the motor using Quick stop set bit 2 to OFF 0x047B Disable drive set bit 3 to OFF 0x0477 There is a priority control hierarchy when more than the one stop
7. Auto Mappings set by PLC Custom Mappings set by drive STD Tel 1 Fixed mappings 1291439913 uonejejsul SP compatibility mode only 6 cyclic words 4 words user mappable STD Tel 1 4 peuejs Dunes Sella sJajoweled aso SP compatibility mode only SIR erts 10 cyclic words 8 words user mappable SP compatibility mode only FROT 4 words non cyclic 2 words cyclic SP compatibility mode only PROA 4 words non cyclic 6 words cyclic SP compatibility mode only 2 words cyclic SP compatibility mode only 6 words cyclic SP compatibility mode only 4 words non cyclic 10 words cyclic PPO3 ejep d4 ejep As shown in Table 6 5 only Auto Custom and STD Tel 1 are available when the SI PROFIBUS module is connected to a Unidrive M and compatibility mode Pr S 01 031 is set to Auto detect If any other telegram selection is made the drive will display an alarm of Invalid IN map and Invalid OUT map see Section 10 Diagnostics for more information z o Se 2 S Q 9 2 a Q SPJOM smeis See section 14 Legacy features for more information on the full range of Telegram selection Pr S 01 008 when in Unidrive SP compatibility mode Network loss selection 200 ms 0 to 3000 ms RW sonsouBeiq soinjyeo The network loss detection feature provides a method which detects whether the communication to the master is still present The SI PR
8. RW Num DE PT US 03 018 CU ae ee 0 to 5 01 004 0 00 000 RW Num DE PT US 03 019 CU aor ami 0 to 5 01 004 0 00 000 RW Num DE PT US 03 020 OU FUE 0to 5 01 004 0 00 000 RW Num DE PT US 03 021 OU ei uid 0 to 5 01 004 0 00 000 RW Num DE PT US 03 022 OU i cud 0 to 5 01 004 0 00 000 RW Num DE PT US 03 023 OU c Lol 0 to 5 01 004 0 00 000 RW Num DE PT US 03 024 OU ur aaa 0 to 5 01 004 0 00 000 RW Num DE PT US 03 025 CU don LE 0 to 5 01 004 0 00 000 RW Num DE PT US s 03 026 OU MM 0105 01 004 0 00 000 RW Num DE PT US 03 027 OU TA 0105 01 004 0 00 000 RW Num DE PT US 03 028 OU Pargos aon 0 to 5 01 004 0 00 000 RW Num DE PT US 24 Unidrive M SI PROFIBUS User Guide Issue Number 3 S s 03 030 Output destination 9 to 5 01 004 7 s 03 034 OVtPut destination oto 5 01 004 s 03 032 OVtPut destination 9 to 5 01 004 i E a 8 Sg 5 2 5 Menu 4 Fault values em a3 04 001 Fault value 231 to 231 4 e S 04 002 Fault value 2 231 to 231 4 0 RW Num US 88 S 04 003 Fault value 3 231 to 231 4 0 RW Num US y S 04 004 Fault value 4 231 to 231 4 0 RW Num US S 04 005 Fault value 5 231 to 231 4 0 RW Num US S 04 006 Fault value 6 231 to 231 4 0 RW Num US S 04 007 Fault value 7
9. Table 14 16 PPO 4 Word IN data structure Naa 5 Fun word pisbiz en pion B70 0 IN word 0 RESPONSE ID IN word 1 PARAMETER IN word 2 DATA HIGH word IN word 3 DATA LOW word The RESPONSE ID indicates the success or otherwise of the requested transaction Table 14 7 lists the possible RESPONSE ID codes Table 14 17 RESPONSE ID codes Description No task No non cyclic transaction active Fieldbus specific Fieldbus specific Nstimplemened Returns a 16 bit data value from the request Transfer parameter parameter value specified by TASK ID 6 or the value 16 bit successful change parameter value 16 bit specified by TASK ID 7 Returns a 32 bit data value from the request Transfer parameter parameter value specified by TASK ID 6 or the value 32 bit successful change parameter value 32 bit specified by TASK ID 8 Transfer last Returns the highest parameter for the menu parameter specified by request last parameter reference reference TASK ID 9 The previously specified TASK ID could not be completed Word 3 will return an error code to indicate the reason for the TASK ID failure see table below Error read only Target parameter specified by TASK ID 7 or TASK parameter ID 8 is read only and cannot be modified Error TASK ID could not be executed If RESPONSE ID 7 has been received the error code can be read from word 3 This will indicate the reason why
10. 231 to 231 4 0 RW Num US L S 04 008 Fault value 8 231 to 231 4 0 RW Num US 8 z S 04 009 Fault value 9 231 to 231 4 0 RW Num US 2 S 04 010 Fault value 10 231 to 231 4 0 RW Num US S S 04 011 Fault value 11 231 to 231 4 0 RW Num US 7 3 S 04 012 Fault value 12 231 to 231 4 0 RW Num US 2 S 04 013 Fault value 13 231 to 231 4 0 RW Num US E S 04 014 Fault value 14 231 to 231 4 0 RW Num US a S 04 015 Fault value 15 231 to 231 4 0 RW Num US S 04 016 Fault value 16 231 to 231 4 0 RW Num US 3 S 04 017 Fault value 17 231 to 231 4 0 RW Num US A E S 04 018 Fault value 18 231 to 231 4 0 RW Num US 3 A S 04 019 Fault value 19 231 to 231 4 0 RW Num US z 04 020 Fault value 20 231 to 231 4 0 RW Num US F E S 04 021 Fault value 21 231 to 231 4 0 RW Num US p D g 9 S 04 022 Fault value 22 231 to 231 4 0 RW Num US S 04 023 Fault value 23 231 to 231 4 0 RW Num US 3 Unidrive M SI PROFIBUS User Guide 25 Issue Number 3 pane parem S 04 024 Fault value 24 231 to 231 4 S 04 025 Fault value 25 231 to 231 4 S 04 026 Fault value 26 231 to 231 4 S 04 027 Fault value 27 231 to 231 4 S 04 028 Fault value 28 231 to 231 4 04 029 Fault value 29 231 to 231 4 S 04 030 Fault value 30 231 to 231 4 S 04 031 Fault value 31 231 to 231 4 04 032 Fault value 32 231 to 231 4 5 2 6 Menu 9 resources a ee 09 030 PCB temperature 1 128
11. GSD file uonejejsul Jeolueyoo UNIMODB8 GSD CTUDOEAS GSD uonejiejsut jeoujpe Unidrive SP UniSP SP 0672 GSD Unidrive SP with extended diagnostics UniSP extended SP OB4F GSD peuejs Dunes Unidrive Classic Unidrive M200 M300 M400 are not supported in version V01 02 00 02 or earlier Unidrive M SI PROFIBUS User Guide Issue Number 3 Unidrive Classic CTU__3345 GSD SJojouleJed seid as9 o lt 2 a D S ejep ot o o uoN SpJOM smieis pue jojju02 sonsouBeiq oueApy SAUPIIOUd xenu swa sainjeay sounjeay pul Jo uesso o A oeb 7q pa 47 8 1 8 2 Cyclic data What is cyclic data Cyclic data transfer is a method of transferring data on a regular time period often known as polled data High speed data transfer is achieved by transmitting only data bytes over the PROFIBUS DP network and using local mapping information within the SI PROFIBUS and PROFIBUS DP master controller to ensure that the correct data is sent to the correct locations The flexibility of the SI PROFIBUS means that each cyclic data OUT channel can be directed to any read write drive parameter Similarly each cyclic data IN channel can use any drive parameter as a source of data The term OUT data refers to data that is transmitted out of the master to the slave The term IN data refers to data that is returned from a slave into the master Cyclic data mapping cannot
12. SI PROFIBUS hardware version N A S 00 003 00 00 to 99 99 RO The hardware version of the option module is in the format of yy zz Serial number LS N A S 00 004 0 to 99999999 RO Serial number MS N A S 00 005 0 to 99999999 RO The module serial number is available as a pair of 32 bit values where Serial Number LS Pr S 00 004 provides the least significant 8 decimal digits and Serial Number MS Pr S 00 005 provides the most significant 8 decimal digits The reconstructed serial number is S 00 005 x 100000000 S 00 004 For example serial number 0001234567898765 would be stored as Pr S 00 005 12345 and Pr S 00 004 67898765 Module status N A S 00 006 0 to 99999999 RO This parameter displays the current status of the module All possible values are shown in the table below Value Tex Initializing Module is currently initializing Module has initialized and has found no errors A configuration error has been detected in one of the communications protocols or user program 3 Error An error has occurred preventing the firmware or user program running correctly Reset module Off 0 S 00 007 Off 0 or On 1 RW Changes to the SI PROFIBUS configuration will not take effect until the SI PROFIBUS has been reset Unidrive M SI PROFIBUS User Guide Issue Number 3 To reset the SI PROFIBUS Set Pr S 00 007 to On 1 When the sequ
13. spurious network losses may occur due to a time out occurring before the time period under normal operating conditions LN Network loss detection can be disabled by setting Pr S 01 010 to 0 It is the user s responsibility to ensure that adequate safety precautions are taken to prevent damage or injury by disabling the drive in the event of a loss of communications 34 If Pr S 01 011 is set to Send flt values the fault values entered in Pr S 04 001 to Pr S 04 032 are sent to the mapped output parameters when a network timeout error occurs If a valid PROFIBUS message is subsequently detected then the PLC output values will be written as normal e g if Pr S 03 001 20021 and Pr S 03 002 20022 and a timeout error occurs the value in Pr S 04 001 will be sent to Pr 20 021 and the value in Pr S 04 002 will be sent to Pr 20 022 as defined in the out mapping parameters If Pr S 01 011 is set to Clear output all PLC output parameter values are set to zero in the event of a network loss timeout occurring e g if Pr S 03 001 20021 and Pr S 03 002 20022 and a timeout error occurs Pr 20 021 and Pr 20 022 will be set to 0 If Pr S 01 011 is set to Hold last the last values sent by the PLC are held in the mapped output parameters in the event of a network loss timeout occurring e g if Pr S 03 001 20021 and Pr S 03 002 20022 and a timeout error occurs Pr 20 021 and Pr 20 022 will equal the last values sent by the
14. 0 For example Pr 01 021 Preset Reference 1 would be entered as 10000 0 x 10000 1 x 100 21 10121 If the parameter is greater than 99 10000 S x 10000 MM x 100 99 sub index is set to ppp 99 For example Pr 03 127 P2 Speed Feedback would be entered as 10000 0 x 10000 3 x 100 99 10399 with a sub index of 127 99 28 PROFIdrive Parameters PNU s can be accessed by placing the PNU number in the parameter index field and if the PNU data type is an array then the sub index field may also be specified 54 Unidrive M SI PROFIBUS User Guide Issue Number 3 10 10 1 10 2 Control and status words What are control and status words The control and status words allow the digital control and monitoring of the drive to be implemented using a single data word for each function Each bit in the control word has a particular function and provides a method of controlling the output functions of the drive such as run and direction Each bit in the status word provides feedback about the drive s state of health and operational condition such as drive ok drive at speed etc Control word The SI PROFIBUS control word consists of sixteen control bits some of which are reserved See Table 10 1 for the individual bit function descriptions Table 10 1 Control word bit definitions KEYPAD JOG WDOG RESET TRIP REV REMOTE b0 ENABLE To enable fieldbus control the
15. 32 bit Consistency Describes how data is transmitted between nodes on the network If data is consistent it is transmitted from node to node as a single entity Thus preventing data corruption where multiple bytes are transmitted or received individually Control word A collection of binary digits that are used to control the drive Features typically include directional controls run controls and other similar functions CT Single Word non cyclic see Mode 1 non cyclic in this section Cyclic channel An area of the PROFIBUS DP message frame used for cyclic communication to a single drive parameter Cyclic data This consists of values that are sent at regular or cyclic intervals across the network A typical use of cyclic data would be the transmission of a speed reference or a control word Data alignment By default SI PROFIBUS transmits values as 32 bits on the network It is possible by using data alignment to reduce the number of bits transmitted when sending 16 bit or smaller values on the network to 16 bit 32 bit values will still be transmitted as 32 bit values This has the advantage of reducing the volume of traffic on the network and allowing more parameters to be mapped within the SI PROFIBUS Data format Determines the quantity and function of the network data Data rate Determines the communication speed of the network the higher the value the more data can be sent across the network in the same time period Dev
16. Data word 0x9525 Stamp number 5 Data mid low byte 0x25 37 SJojouleJed soll aso TELEGRAM 6 The sixth telegram from the PROFIBUS DP master acts as the indication to the slave to send the low data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 ejep a10A9 Example telegram b11 b8 b7 b4 1001 0110 0000 0000 Data word 0x9600 Stamp number 6 z o b 2 Q 9 a g m a SpJOM snjejs sonsouBeiq When the sixth telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the low byte of the parameter value into the data byte Example response b11 b8 b7 b4 1001 0110 1101 1100 Data word 0x96DC Stamp number 6 Data low byte 0xDC 220 swa EI Seunjeoj peoue py e up HOtd Jo fuessojo SIS xepu Unidrive M SI PROFIBUS User Guide 89 Issue Number 3 14 6 2 The parameter re assembled The completed value can be assembled as follows to give the complete value as read from the parameter Speed High byte 224 Mid high byte 216 14 6 3 Writi Mid low byte 28 Low byte 0 16777216 1 65536 37 256 220 75228 7522 8 rpm ng parameters using CT Single Word To write to a 32 bit parameter using the non cyclic channel the following telegrams must be sent one telegram per network cycle to construct the final messa
17. Maintenance I amp M functions assist the user in tracking the drive s life cycle through commissioning start up parameterization diagnosis repair etc Sl PROFIBUS supports the following I amp M functions I amp MO Read Only I amp M1 Read Write I amp M2 Read Write I amp M3 Read Write I amp M4 Read Write All I amp M functions are available from masters which support this feature Unidrive M SI PROFIBUS User Guide Issue Number 3 13 13 1 13 2 13 3 Advanced features SYNC and FREEZE Mode The SI PROFIBUS supports the SYNC and FREEZE modes available with most PROFIBUS DP master controllers Cyclic data is put into groups by the PLC allowing multiple cyclic channels to be suspended and updated using the SYNC and FREEZE commands Data to the drive is controlled by the SYNC command and data from the drive controlled by the FREEZE command The SYNC command is used in conjunction with the UNSYNC command and the FREEZE command is used in conjunction with the UNFREEZE command The SYNC command will cause a single transfer of the previously grouped data and stop any more data from being received by the drive The SYNC command may be repeated while in this state to allow another single transfer of data to the drive Issuing an UNSYNC command will revert the drive to continuous cyclic update of the received data The FREEZE command will cause a single transfer of the previously grouped data and stop any more data from b
18. PPO4 12 z No error 0 Mapping expected 1 No mapping 2 Write mismatch 3 di Hole in mappings 4 SO N C mapping err 5 Duplicate error 6 n 3 Output Length mismatch 7 S 5 01 023 mapping status OUT mode and PPO 8 po Du 2 Data align w PPO 9 Og No PPO support 10 amp SP A D OUT map 11 3 OUT AND CTNC amp PPO4 12 g 01 024 Input 0 to 65535 ms RO Num ND 3 processing time a 01 025 Oulput 0 to 65535 ms RO Num ND z processing time Input A 01 026 consistency Off 0 or On 1 Off 0 RW Txt US F 2 tz Input b 01 027 consistency 0 00 000 to 4 99 999 0 00 000 RW Num US trigger eo B s 010258 _ Output Off 0 or On 1 off 0 RW Txt us 3 consistency a lt suuej Q o o o 2 lt 9 9 x pu Unidrive M SI PROFIBUS User Guide 21 Issue Number 3 Output consistency 0 00 000 to 4 99 999 0 00 000 trigger Non cyclic over cyclic None 0 CTNC 1 PPO defined 2 None 0 Auto detect 0 Reserved 1 UniSP 2 UniSP extended 3 d x Unidrive Classic 4 Compatibility mode 22 Unidrive M SI PROFIBUS User Guide Issue Number 3 5 2 3 Menu 2 Input mapping Input source 1 o 5 01 004 0 10 040 uoneuuojul Input source 2 o 5 01 004 0 02 001 uononpoaul Input source 3 o 5 01 004 0 00 000 Input source 4 o 5 01 004 0 00 000 Input source 5 o 5 01 004 0 00 000 uonejejs
19. PROFIBUS module will scan and check the PROFIBUS DP mapping parameter configuration for errors during initialization If an error is detected then the SI PROFIBUS operating status parameter Pr S 01 006 will indicate Initialized and the configuration error detected will be indicated in mapping status parameter Pr S 01 022 and S 01 023 See page 37 for full details Mapping limitations When setting mapping values care should be taken not to exceed the data size set in Pr S 01 020 and Pr S 01 021 The data size depends on the size of the mapped parameter and if data alignment is set to 16 or 32 see Table 8 2 Table 8 2 Actual data sizes Parameter size bits Actual data size bits Actual data size bits alignment 16 alignment 32 8 16 32 16 32 32 Consider the following example mapping Pr S 02 001 to a 32 bit value and S 02 002 to a 16 bit value mapping Pr S 03 001 to a 32 bit value and S 03 002 to a 32 bit value data alignment set to 16 bits Pr S 01 014 set to 16 would require the following settings to be made Pr S 01 020 3 Pr S 01 021 4 Unidrive M SI PROFIBUS User Guide Issue Number 3 8 6 Disabling mappings Any unused mapping parameters Pr S 02 001 to Pr S 02 032 and Pr S 03 001 to Pr S 03 032 should be set to 0 Having unmapped channels between valid mapped channels is not permitted and will result in a configuration error i e Pr S 01 006 will indicate First Failure or Second F
20. S Q e g a Jo Asesso 5 5 2 Single line descriptions 5 2 1 Menu 0 Set up Table 5 1 Menu 0 single line descriptions Module ID 0 to 65535 Firmware 00 00 00 00 to 99 99 99 99 Version Hardware 00 00 to 99 99 Version Serial Number LS Serial Number MS Module Initializing 0 Ok 1 Config 2 status Error 3 Module reset Off 0 or On 1 Module default 0 to 99999999 0 to 99999999 Off 0 or On 1 Menu 0 within the option module is also displayed in the drive menu 15 16 or 17 depending on which slot the option module is installed to However the functionality of all parameters remains the same Menu 0 is not available in firmware version 01 01 01 02 and previous versions 5 2 2 Menu 1 PROFIBUS set up Enable S 01 001 Profibus Off 0 or On 1 On 1 RO Bit Interface Reset Profibus Interface Default 01 003 Profibus Off 0 or On 1 Off 0 RW Bit Interface S 01 002 Off 0 or On 1 Off 0 RW Bit Profibus node 0 to 126 126 RW Num US address 01 004 Auto detect 0 12 Mbps 1 6 Mbps 2 3 Mbps 3 1 5 Mbps 4 01 005 Baud rate 500 kbps 5 187 5 kbps 6 RO Txt ND NC PT 93 75 kbps 7 45 45 kbps 8 19 2 kbps 9 9 6 kbps 10 Network OK 0 Initialization 1 S 01 006 NON Initialized 2 No network data 3 RO Txt ND NC PT Diagnosti
21. and reduces the available free mappings accordingly 14 7 1 Mapping for PPO 4 Word non cyclic data To configure an SI PROFIBUS for PPO 4 word mode non cyclic data the following steps must be performed 1 Set Pr S 01 030 to the required mode see section Non cyclic over cyclic on page 40 2 Set Pr MM 007 to ON to re initialize SI PROFIBUS 3 Save the parameters if required see the relevant drive documentation for information on saving drive parameters When the SI PROFIBUS resets it will map cyclic data IN words 0 to 3 and OUT words 0 to 3 to the PPO 4 Word protocol parameter All existing mapping parameters will be moved down by one mapping i e the previous mappings set in Pr S 02 001 and Pr S 03 001 will now appear in Pr S 02 002 and Pr S 03 002 respectively Table 14 13 shows what happens to the mapping parameters when the data format is changed from sending no cyclic data over the cyclic channel Pr S 01 030 0 to sending non cyclic data over the cyclic channel with Mode 2 non cyclic data Pr 01 030 2 Table 14 13 PPO 4 Word mode data mapping parameter Pr S 01 030 0 Pr S 01 030 2 Value Mapping Value Value Mapping Pr S 02 001 Pr 10 040 status word CS SPPON 61 051 PPO 4 Word Pr 02 001 post ramp speed ref Pr S 02 003 Not mapped Pr 02 001 post ramp speed ref Pr S 02 004 to Not mapped Not mapped Pr S 02 032 Pr S 03 001 Pr 06 042 control word Pr 61 051 PPO 4 Word Pr 01 021 digital spee
22. az oa Table 2 1 details how the wiring is used to communicate data between the master and the slaves Each signal that is communicated requires one signal wire giving a total of 66 signal wires plus a OV return sonsouBeiq Table 2 1 Traditional wiring details Number of Source Destination Description signals digital Inputs slave 1 to master status signals digital outputs control signals master to slave 1 analog output control signal digital inputs slave 2 to master status signals digital outputs control signals Seunjegj peouE py e upIdOdHd SoJnjea master to slave 2 analog output control signal swa A fieldbus topology such as PROFIBUS DP allows the same configuration to be realized using only two signal wires plus a shield This method of communication saves significantly on the amount of cabling required and can improve overall system reliability as the number of interconnections is greatly reduced Jo Auessoj9 Aoeb 7 Unidrive M SI PROFIBUS User Guide 7 Issue Number 3 Figure 2 2 shows a typical PROFIBUS DP network system transferring the same signals as given in the traditionally wired example The signals are now transmitted by converting them into a serial data stream which is received by the master as if they were connected using traditional wiring The data stream on PROFIBUS DP allows up to 64 32 input and 32 output independent values to be sent or received
23. be changed dynamically as changes to the configuration mapping parameters etc will only take effect during initialization of the SI PROFIBUS The maximum number of 16 bit mappings that is possible is 32 with only cyclic data this requires data alignment to be set to 16 see for more information The maximum number of 32 bit mappings that is possible is 16 with only cyclic data See section 8 7 Master configuration on page 51 for more information regarding the use of data alignment with 16 bit parameters Data formats The SI PROFIBUS can be configured with up to sixteen 32 bit or thirty two 16 bit cyclic IN and OUT data words IN and OUT cyclic data words are mapped using up to 32 mapping pointer parameters one for each mapping By default all drive parameters are cast as 32 bit two 16 bit words therefore thirty two 48 cyclic words gives sixteen possible drive parameters Data alignment reduces the number of cyclic words required for drive parameters of 16 bit or less to 16 bits thus allowing for thirty two possible 16 bit parameters Any 32 bit parameters mapped will still require two 16 bit words even with alignment set to 16 In addition to cyclic data non cyclic data see section 9 Non cyclic data on page 52 exchange is also possible by the following methods DP V1 parameter access mode Mode 1 CT Single Word Mode 2 PPO 4 Word The method used to map cyclic data to and from the PROFIBUS DP network is si
24. codes are described in Table 11 5 on page 63 and the output mapping error codes are described in Table 11 6 on page 63 62 Unidrive M SI PROFIBUS User Guide Issue Number 3 Table 11 5 Input mapping errors No error Description No error detected with IN cyclic data mapping configuration Too many IN objs Too many IN channels configured No mapping IN cyclic data length is O or there is no IN mapping Read mismatch Parameter read error parameter may not exist Hole in mappings IN cyclic data mapping parameters are not contiguous uoneuuojul uononpoaul N C mapping err A non cyclic data mode has been mapped more than once in the IN data mapping configuration parameters Duplicate error Two or more IN cyclic data mapping configuration parameters have been configured with the same destination parameter reference Length mismatch Mismatch in data length uonejejsul Jeoiueuoe A uonejejsut 129139913 IN MODE AND PPO Non cyclic and PPO STD Tel 1 both exist Data align w PPO Can t configure PPO when data alignment is set to 32 bits No PPO support PPO1 PPO5 not supported SP A D IN map Input Mapping can t be set by GSD file automatically in SP mode IN AND CTNC PPO4 CTNC and PPO4 not supported Table 11 6 Output mapping errors No error Description No error detected with OUT cyclic data mapping configuration Mapping exceeded To
25. command is given these priorities are shown in the general state machine diagram and summarized in Table 12 2 on page 68 Issue Number 3 uonejejsul uogeuuojul uononpoaul jeoupe 3 eoiueuoeiN uonejiejsut peuejs Dunes Sella SJojouieJeqd aso o x 9 a 2 m D ejep oio Ko uoN SpJOM snjejs pue jouoD sonsouBeiq vn argoad s 1N e peouenpy ELMIEN seJnjeoj suue Jo uesso p KoeBe xepu Table 12 2 Stop command priority Control Word Bit Stop Command 3 highest Coast stop 2 high Quick stop Pr 02 022 1 low Ramp stop Pr 02 021 0 lowest Disable Operation The deceleration rates are set in Pr 02 021 and Pr 02 022 for Ramp Stop and Quick Stop respectively 68 Unidrive M SI PROFIBUS User Guide Issue Number 3 Mechanical Safety Introduction installation information 18 POM sniejS 0 18 Electrical installation Getting started Parameters POA 031u05 dos yano dois xoino 0 HO Bulyoyms GS 0 L8 Non cyclic Cyclic data data POM 101 U00 uoneedo aiqesiq Jo payoayap INspueIS L8 Nu E S xx o S a o S o G z o g S o S o c o o Mi gt o gt ES iL o a n c N a o p 5 a it 0 18 nl Nu p
26. correctly according to the relevant safety standards Issue Number 3 uonejejsul jeouje soll S Qo o S o s ono aw Q ano sonsouBeiq pe ue py e upIHOHd SseJnjeoj SeJnjeoj foeBe swa Jo fuesso o xepu 1 4 1 5 1 6 1 7 1 8 1 9 Environmental limits Instructions regarding transport storage installation and use of the drive must be complied with including the specified environmental limits These instructions can be found in the relevant drive documentation Drives must not be subjected to excessive physical force Access Drive access must be restricted to authorized personnel only Safety regulations which apply at the place of use must be complied with Fire protection The drive enclosure is not classified as a fire enclosure A separate fire enclosure must be provided Compliance with regulations The installer is responsible for complying with all relevant regulations such as national wiring regulations accident prevention regulations and electromagnetic compatibility EMC regulations Particular attention must be given to the cross sectional areas of conductors the selection of fuses or other protection and protective ground earth connections Instructions for achieving compliance with specific EMC standards may be found in the relevant drive documentation Within the European Union all machinery in which this product is used must comply with the following dir
27. cyclic data over the cyclic channel can only be accomplished when the SI E PROFIBUS module is set up for a Unidrive SP in compatibility mode Pr S 01 031 2 or a 3 and the correct GSD file loaded The correct GSD file for the simulated drive e g E SP 0672 GSD S The term non cyclic over cyclic is used to refer to non cyclic data which is transmitted 3 g as part of the cyclic data and not using the non cyclic DP V1 channel Z S ono Table 14 8 shows how to configure the non cyclic over cyclic parameter Pr S 01 030 a for the required non cyclic mode Ei Table 14 8 Non cyclic over cyclic data modes A Text Description E None d CTNC 1 Non cyclic word CT Single Word mode 1 a PPO defined 4 Non cyclic words PPO 4 Word mode 2 2E 2 14 5 Mode 1 CT Single Word mode 25 The CT Single Word Mode 1 uses one cyclic channel for non cyclic data This non z cyclic sub protocol requires a specific sequence of four or six telegrams to implement L the parameter access Each non cyclic word or telegram is split into two bytes to ES implement the sub protocol The high byte containing the control codes for each G lt telegram and the low byte containing the data for each telegram Q Pe 8 By default cyclic data alignment is set to 32 bits the CT Single Word non cyclic channel 23 will be 32 bits wide i e uses two words and data must be transferred on the low word 9 If cyclic data alignment is set to 16 the CT Single Word non cyclic channel
28. cyclic state machine 0 16 bit Specifies whether a 16 bit or 32 bit data value is to be data written to or read from the drive If 32 BIT is set 1 32 bit telegrams 5 and 6 will be used to transfer the data additional data bytes 0 Reserved for future use Always set to 0 Indicates the success or failure of the message Failure could occur if the parameter does not exist or is a read only or write only parameter This bit will also be set if the parameter value is out of range in 16 bit mode 15 READ 0 Write Defines whether the data word is part of a READ or 1 7 Read WRITE cycle LT Setting the stamp number to 0 resets the internal non cyclic state machine Allowing a new message to be started uonejejsut Jeoiueuoe A uonejejsut 129149913 0to6 peuejs Buje SJojouleJed soll aso eyep olo o z 3 o 2 S Q 9 9 m Qa SpJOM snjejs CT Single Word non cyclic data uses only one word of data when using this with data alignment set to 32 requires two 16 bit words In this mode only the least significant word of the 32 bit word is used sonsouBeiq 14 6 Reading parameters using CT Single Word To read 32 bit parameters using the non cyclic channel the following telegrams must be transmitted to construct the final message Telegram 1 define menu number Telegram 2 define parameter number Telegram 3 request high data byte Telegram 4 request mid high data
29. has been mapped more than once in the IN data mapping configuration parameters Duplicate error Two or more IN cyclic data mapping configuration parameters have been configured with the same destination parameter reference Length mismatch Mismatch in data length IN MODE AND PPO Non cyclic and PPO STD Tel 1 both exist 9 Data align w PPO Can t configure PPO when data alignment is set to 32 bits 10 No PPO support PPO1 PPOS not supported SP A D IN map Input Mapping can t be set by GSD file automatically in SP mode Table 6 IN AND CTNC PPO4 8 Output mapping Text No error Mapping exceeded No mapping Write mismatch CTNC and PPO4 not supported error codes Description No error detected with OUT cyclic data mapping configuration Too many OUT channels configured OUT cyclic data length is 0 or there is no OUT mapping Parameter write error parameter may not exist or might be read only Hole in mappings OUT data mapping parameters are not contiguous N C mapping err A non cyclic data mode has been mapped more than once in the OUT data mapping configuration parameters Duplicate error Two or more OUT cyclic data mapping configuration parameters have been configured with the same destination parameter reference Length mismatch Mismatch in data length OUT MODE AND PPO Non cyclic and PPO STD Tel 1 both exist Data align w PPO Can t configure PPO wh
30. modulus of the active current is greater or equal to the rated active current as defined in menu 4 Refer to the drive documentation for more details Pr 10 009 In current limit Indicates that the current limits are active Pr 10 010 Pr 10 011 Regenerating Indicates that power is being transferred from the motor to the drive Regen mode Indicates that power is being transferred from the drive to the supply Dynamic brake active Indicates that the braking IGBT is active If the IGBT becomes active this parameter will remain on for at least one second Unidrive M SI PROFIBUS User Guide Issue Number 3 Dynamic brake alarm Pr 10 012 Dynamic brake alarm is set when the braking IGBT is active and the braking energy accumulator is greater than 75 Reverse direction commanded Direction commanded is set to 1 if the Pre ramp speed reference Pr 01 003 is negative and reset to 0 if the Pre ramp speed reference is zero or positive uoneuuojul uononpoau uoneJ ejsut JEoiueuoe Pr 10 013 Reverse direction running A 0 indicates forward direction and a 1 indicates reverse direction The source of this bit is Pr 02 001 for open loop mode and Pr 03 002 for RFC A and RFC S modes Supply loss Supply loss indicates that the drive has detected a supply loss from the level of the DC bus voltage This parameter can only become active if supply loss ride through or supply loss stop modes are selected In
31. monitored in the SI PROFIBUS operating status parameter Pr S 01 006 When the SI PROFIBUS is in data exchange with the PROFIBUS DP master controller Pr S 01 007 will give an indication of the number of cyclic data messages that are being processed per second All possible values of S 01 006 are given in Table 6 4 Table 6 4 SI PROFIBUS network diagnostics S 01 006 Description Network OK Network OK healthy A part of the SI PROFIBUS initialization sequence was not successful If this fault persists after a power cycle replace Intilaization the SI PROFIBUS This error may also occur if the PROFIBUS DP master is not connected The SI PROFIBUS has initialized correctly and is waiting for the Profibus DP master to initialise communications This error may also occur if the PROFIBUS DP master connection is removed Network OK healthy but no network cycles per second detected Initialized Network no data Mapping configuration fail when mappings are set by input mapping menu and output mapping menu S 01 008 gt 0 or ASCI configuration fail when mappings are set by GSD files S 01 008 0 Mapping configuration fail when mappings are set by GSD files S 01 008 0 or ASCI configuration fail when mappings are set by input mapping menu and output mapping menu S 01 008 gt 0 SI PROFIBUS does not support CTNC or PPO4 S 01 030 Third Failure 7 1 or 2 and does not support ProfiDrive V2 S 01 008 gt 2 First Failu
32. regen mode supply loss is the inverse of Pr 03 007 Not Used Reserved Pr 10 014 uoneljejsu Je2u1o9 3 Pr 10 015 v O go 3E 28 Ry 2 o 3 oO a2 8 o mo 50 o0 o lt E a a JT AU oI 2 UON SP1OM snyejs sonsoufeiq sainjeay peoue py SAUP IOUd sounjeay KfoeBe1 suue Jo fuesso o Unidrive M SI PROFIBUS User Guide 59 Issue Number 3 11 Diagnostics 11 1 Overview This section provides basic diagnostic information intended to resolve the most common problems encountered when setting up an SI PROFIBUS module on a PROFIBUS DP network A high percentage of problems reported are basic set up problem that can be avoided by using the information in this chapter Start by using the Diagnostic flow chart in Figure 11 1 Diagnostic flow chart on page 64 to determine the possible cause of a problem If after following the flow chart you are still experiencing problems please contact your supplier or local Control Techniques Drive Centre for support Support is strictly limited to the setting up and networking of the drive 11 2 Drive trip display codes If the SI PROFIBUS module detects an error during operation it will force a trip on the drive However the trip string displayed on the drive will only indicate which slot initiated the trip The exact reason for the trip will be indicated in the drive trip code parameters Pr 10 020 and Pr 10 070 Table 11 1 shows the possible trips tha
33. the TASK ID request failed see Table 14 18 Unidrive M SI PROFIBUS User Guide Issue Number 3 Table 14 18 PPO 4 Word error codes ERROR Description CODE P Invalid menu The specified menu does not exist uogeuuojul Parameter is read The specified parameter is read only and cannot only be written to 0 1 2 Value out of range The specified data value is out of range for the parameter 3 Invalid parameter 18 uononpoaul uonejejsut JeoiueuoejA The specified parameter does not exist menu Parameter error No last parameter information available uonejiejsut 129139913 14 7 3 Reading parameters using PPO 4 Word mode Figure 14 3 shows the sequence of events required to read a drive parameter using the PPO 4 Word non cyclic channel Figure 14 3 PPO 4 Word Read sequence START v v CASE RESPONSE ID 4 5 v Set OUT Word 0toO0 Specify PARAMETER in OUT Word 1 SUCCESS ERROR Read 16 bit data TASK ID could not value from IN Word 3 be executed 2Q a o a o 5 aQ U m o 3 2 oO a no oon 0 o io 3 E a o E to v Set OUT Word 2to0 Y SUCCESS Set OUT Word Read 32 bit data 3to0 value from IN Word 2 and IN Word 3 pue 041002 oioKo uoN SpJOM snjejs Y Specify TASK ID and MENU in OUT Word 0 sonsouBeiq v END OF SEQ
34. to select the direction of motor rotation When reset to 0 the drive will decelerate the motor to a controlled stop Set to 1 to allow the sequencing bit to be latched If NOT STOP is zero all latches are cleared and held at 0 Pr 06 004 must be correctly set for this to function Set to 1 to enable fieldbus control of the drive Control Word The Control Word Enable Pr 06 043 must also be set to 1 When reset to 0 the drive will operate under terminal control Set to 1 to select digital speed reference 1 Pr 01 021 and reset to 0 to select analog reference 1 Pr 01 036 REMOTE directly controls Pr 01 042 so reference selector Pr 01 014 and preset selector Pr 01 015 must both be set to 0 default for the REMOTE bit to work properly ENABLE Set to 1 to jog the motor in reverse This signal needs to be used in conjunction with the ENABLE bit This signal is overridden by a RUN RUN REV RUN FWD command Unidrive M SI PROFIBUS User Guide Issue Number 3 Description A 0 1 transition of the RESET bit will reset the drive from a trip condition If the reason for the trip is still present or another fault condition has been detected the drive will immediately trip again When resetting the drive it is recommended to check the status word to ensure that the reset was successful before attempting to re start uoneuuojul Ayoyes uolonpo qu the drive This watchdog is provided for an external k
35. will revert to 16 bits and only use a single word Unidrive M SI PROFIBUS User Guide 83 Issue Number 3 14 5 1 Mapping For CT Single Word non cyclic data To configure an SI PROFIBUS for CT Single Word mode the following steps must be performed 1 Set Pr S 01 030 to the required mode 2 Save the parameters if required 3 Set S 01 002 or Pr MM 007 to ON to reset When the SI PROFIBUS resets it will map cyclic data IN Word 0 and cyclic data OUT Word 0 to the CT Single Word protocol parameter All existing mapping parameters will be moved down by one word i e the previous mappings set in Pr S 02 001 and Pr S 03 001 will now appear in Pr S 02 002 and Pr S 03 002 etc Table 14 9 shows what happens to the mappings when the data format is changed from four cyclic words to four cyclic words with CT Single Word non cyclic data Table 14 9 CT Single Word non cyclic data mapping Mapping After format change parameter Pr S 01 030 0 Pr S 01 030 1 Value Mapping Pr S 02 001 Pr 10 040 status word Pr 61 050 CT Single Word Pr S 02 002 Pr 02 001 post ramp speed ref 10040 Pr 10 040 status word Pr S 02 003 Not mapped Pr 02 001 post ramp speed ref Pr 02 004 to Not mapped Not mapped Pr S 02 032 Pr S 03 001 6042 Pr 06 042 control word Pr 61 050 CT Single Word Pr S 03 002 1021 Pr 01 021 digital speed ref 1 6042 Pr 06 042 control word Pr S 03 003 0 Not mapped 1021 Pr 01 021 digital speed ref 1 Pr S 03
36. 0 or On 1 This parameter displays a value of On 1 to indicate that the PROFIBUS Interface has been enabled Reset PROFIBUS interface OFF 0 OFF 0 or On 1 RW Changes to the SI PROFIBUS configuration will not take effect until the SI PROFIBUS has been reset To reset the SI PROFIBUS Set Pr S 01 002 to On 1 When the sequence has been completed Pr S 01 002 will be reset to OFF 0 The SI PROFIBUS will reset using the updated configuration This sequence does NOT store the SI PROFIBUS configuration parameters in the drive or the SI PROFIBUS flash memory This parameter will change back to OFF immediately and as such the change may not be visible in the display Default PROFIBUS Interface Default OFF 0 Range oron The SI PROFIBUS option module can be set to it s factory default configuration This can be performed as follows Set Pr S 01 003 to On Reset the PROFIBUS interface by setting Pr S 01 002 to On 1 SI PROFIBUS communications will be stopped The host drive will load and store its default parameter values Default parameter values for the SI PROFIBUS will be loaded The SI PROFIBUS will reset using the default values If the host drive is defaulted see the relevant Drive User Guide for details it will also clear the current configuration for the slot SI PROFIBUS is installed to Unidrive M SI PROFIBUS User Guide Issue Number 3 SI PROFIBUS node addr
37. 0 paeds L pauoeai jou Aouanbay 10 paads 0 200 01 Jd 9 4q paom smejs J0je1eduio paads anjea fenjoy peeds jy peeds je JON 0 900 01 1d S Hq paom smeis Borjurew juiodjes S00 L0 4d 0 910 G p 11g prom o3ju09 aagoe julod jas Bor L 10 e1u L 910 S y q Pom J01 U09 uonoury dwey 9 n9e juiod jes UIEN 1 01 U09 pe 0 DJH sey anjea jenjoy aBues e ueJoJo L soyeredwioy 10113 paeds xewy Borjurew juiodjes Y 00 10 4d julod jas esje e1 Bor julod jas puemioy Bor er Ir aBueyo ou er Ir 0 d o Joyesueb6 uonounj dwey J440 esJe e1 Bof z NO esianel Bof 6 Hq pJon oguo 440 pJewuoj Bof z NO piemuo Bof 8 HG pJ0 OUOD LZ0 L0 4d ri anea jutodies uen julodjes ulew jasel 0 julodjas ujew ejqeue 9 Uq pJoM 03002 4 ezeej 0 94H ezeayun DJH 18801 0 G UG pJoM 101 U09 94M 91qeus VG PION O1 U0D Unidrive M SI PROFIBUS User Guide 70 Issue Number 3 12 7 Stopping the motor using PROFIdrive There are four methods of stopping the motor these are uoneuuojul Disable Operation control word bit 3 Drive is inhibited motor coasts down to zero speed status set to Switched On Ramp Stop control word bit 0 Motor decelerates under ramp control using deceleration rate1 Pr 02 021 drive is inhibited status set to Ready For Switching On Quick
38. 00 000 PrS 03 011 0 00 000 Pr 03 012 0 00 000 Pr 03 013 0 00 000 Pr S 03 014 0 00 000 Pr S 03 015 0 00 000 Pr S 03 016 0 00 000 Pr S 03 017 0 00 000 Pr S 03 018 0 00 000 Pr S 03 019 0 00 000 Pr S 03 020 0 00 000 Pr S 03 021 0 00 000 Pr S 03 022 0 00 000 Pr S 03 023 0 00 000 Pr S 03 024 0 00 000 Pr 03 025 0 00 000 Pr S 03 026 0 00 000 Pr S 03 027 0 00 000 Pr S 03 028 0 00 000 Pr 03 029 0 00 000 Pr S 03 030 0 00 000 Pr S 03 031 0 00 000 Pr 03 032 0 00 000 uonejejsul 129149913 aja o o N o o a v N gt Sells SJ9j9UIEJEd peueis aso Bue N ow ejep d4 A oa 16 eo z 7 o sE e S o 9 J A ae a e SpJOM Snjejs N e N sonsouBeiq N N N wo N A N a N o N A soinjyeo N co N wo e Seinjeoj foeBe1 wo wo N sue Jo Hesso xepu Unidrive M SI PROFIBUS User Guide 43 Issue Number 3 6 6 44 Module menu 4 Fault values Menu 4 contains all the fault values that are sent to the mapped output destination parameters when fault values have been configured to be sent using an action parameter Pr S 04 001 Pr S 04 002 Pr S 04 003 Pr S 04 004 Pr S 04 005 Pr S 04 006 Pr S 04 007 Pr S 04 008 Pr S 04 009 Pr S 04 010 Pr S 04 011 Pr S 04 012 Pr S 04 013 Pr S 04 014 Pr S 04 01
39. 004 to Not mapped Not mapped Pr S 03 032 If all IN or OUT mapping parameters are being used when the data format change is implemented the last mapping parameter value will be lost 14 5 2 CT Single Word protocol All parameter values for the drive must be written as signed 32 bit data values with data alignment set to 32 bits If data alignment is set to 16 the size of the mapping will depend on the size of the source or destination parameter Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read The number of decimal places of the target parameter must be known Writing a value of 1234 to a parameter with two decimal places will produce a value of 12 34 in the target parameter Similarly reading a value of 12 34 will return a 32 bit integer value of 1234 84 Unidrive M SI PROFIBUS User Guide Issue Number 3 Table 14 10 CT Single Word Bit Positions bis j a bis bm br bib v9 55 Br Jp S88 o Ber Sp pe c Bs E72 o BR e sbo ed Data Byte uoneuuojul uojonpo ju Table 14 11 CT Single Word Bit Definitions Bit Function Values Desorption id 0107 Data 0 to 255 Depending on the stamp number of the telegram this byte contains the menu parameter or data byte Indicates the stamp number of the word This shows which part of the message is currently in progress Setting the stamp number to 0 resets the internal non
40. 1 51 cerit ec i ac e ete dca 72 Unidrive M SI PROFIBUS User Guide 105 Issue Number 3 PROF Idrive PNWGCCESS x eee oie ede m ees cere anteget eest erem dole 75 PROFIdrve profile neccs nangapa rre entren keine a nna dee 65 PROFlIdrive status word s src 738 PROFIdrive V4 General State Machine Diagram 69 PROFIdrive V4 Speed Control State Machine Diagram 70 R Reading parameters using CT Single Word 85 Regenerating sss 58 Running at or below minimum speed sss 58 S Safety of personnel ieri tertie rte o cus heeded nei eee Ros 5 Set up flow chart SINGIG rec Single word mode zh Single word non cyclic data sssssssssssseeeeeeneeennen 84 SpecifiCatioh x erri ero e iceberg 9 Speed Control State Machine ssssssssssseeeeenne 70 SPURS c DL Noa a Standard Telegram 1 Ae Status e EP Status word bit f nctlons 1 6 tnter inttr erre tha rage 58 Stopping the motor using PROFlIdrive sssssseeeeees 71 SYNG m Shaver ee xc en e eren Pad 79 SYNG and FREEZE Mode 5 4 repete t i dade nen 79 T Telegrams 4 125 ie ta SEES ER C e Eb adm Terminal descriptions Li BE cu WEE U UNFREEZE ics ini ee e e vds 79 UNSYNG x5 i ta DN ee REOR TR Ld 79 V V4 0 General State Machine Diagram sssssssseeeeeee
41. 126 and 0 are reserved for system use and should not be used The addressing scheme used is at the discretion of the end user however it is recommended that nodes are numbered in order as they appear on the physical network It is not necessary to use consecutive numbers and gaps in the addressing scheme may be left to allow for future expansion Spurs The PROFIBUS DP specification allows spurs at data rates less than 1 5 Mb s At data rates below 1 5 Mb s there are specific requirements for capacitance and length of cable allowed when using spurs Control Techniques recommend that spurs are not used as extreme care is required at the design stage to avoid network problems More information on spurs can be found on the PROFIBUS website at www profibus com Minimum node to node cable length The minimum recommended node to node distance is one metre of network cable This distance is necessary to avoid multiple nodes generating a single large reflection on the network using less than one metre of cable between nodes can have serious implications for network reliability Grounding Refer to the relevant Drive User Guide for more information Issue Number 3 uoneuuojut uononpoaul Jeorueuoe A ues ENSIS uoneleiu ISI RETE solld pe gep o pK5 aga S9UeEd Sunog z 3 o i i 2 amp o 9 2 9 23a a SpJOM smeis sonsoufeiq oueApy SAUP AOYd zodi suuej s m sounjeay pul Jo Kuesso p oe q pe 5 Ge
42. 14 15 TASK ID codes i No task No non cyclic transaction required Fieldbus specific Fieldbus specific Fieldbus specific Not implemented Reserved uonejejsut 1291439913 eyep olo o a m D z o b S S Q 9 a Q m a Not implemented Reserved Read parameter value from drive Specify MENU and PARAMETER set DATA HIGH word and DATA LOW word to 0 Write 16 bit parameter value to the drive Specify MENU PARAMETER and DATA LOW word SpJOM snjejs Request parameter value sonsouBeiq Change parameter Any value in DATA HIGH word will be discarded This value 16 bit function can be used to write to 32 bit drive parameters but the range of values is limited to 16 bits peo ue py e upidOHd seJnjeoj Write 32 bit parameter value to the drive Specify MENU PARAMETER DATA HIGH word and Change parameter DATA LOW word This function can also be used to value 32 bit write to 16 bit drive parameters but if DATA HIGH word is not set to 0 a value over range error will be reported Request last Returns the last parameter for the specified menu parameter Specify MENU Values in PARAMETER DATA HIGH reference word and DATA LOW word will be discarded EXJIDIZII Jo uessojo SIS xepul Unidrive M SI PROFIBUS User Guide 95 Issue Number 3 96 Table 14 16 shows the data structure of a PPO 4 Word response which is returned by SI PROFIBUS
43. 14 Control Techniques Ltd Issue Number 3 1 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 1 2 2 2 3 24 2 5 3 1 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 5 5 1 5 2 6 1 6 2 6 3 6 4 6 5 6 6 6 7 7 1 7 2 7 3 7 4 7 5 Unidrive M SI PROFIBUS User Guide Issue Number 3 Safety information Introduction Mechanical installation Electrical installation Getting started Parameters GSD Files Contents Warnings Cautions and Notes Electrical safety general warning System design and safety of personnel Environmental limits Access Fire protection Compliance with regulations Adjusting parameters Stored charge What is PROFIBUS DP About SI PROFIBUS General specification Option module identification Conventions used in this guide General Installation Terminal descriptions PROFIBUS DP connectors PROFIBUS DP cable Cable shielding General grounding considerations Network termination Maximum network length device loading Node addressing Spurs Minimum node to node cable length Grounding Set up flow chart Single line descriptions Menus is Module menu 0 module information Module menu 1 PROFIBUS Set up Module menu 2 Input mapping Module menu 3 Output mapping Module menu 4 Fault values Module menu 9 Resources
44. 25 addressed devices on the network Perform cable tests Configure each node address on the system Pr S 01 004 Ensure all third party devices use the same data rate Perform a network scan using the master or tester See Section 4 See Section 4 See Section 4 See Section 4 See Section 4 See Section 4 Reset and save parameters Pr MM 007 On 1 amp Pr mm 000 Save parameters reset i Set mapping parameters in the drive Pr S 02 001 Pr 02 032 and Pr 03 001 Pr S 03 032 Set data size in master for each node use GSD file if required Y Map data to master program variables Start master and ensure there are no errors i A dedicated PROFIBUS DP tester is recommended Check data flow in both directions See Section 5 See Section 5 A dedicated PROFIBUS DP tester is recommended Unidrive M SI PROFIBUS User Guide Issue Number 3 See Section 5 See Section 7 See master documentation and Section 6 See master documentation See master documentation See master documentation 19 uogeuuojul uonejejsul JEorueuoe A uonejiejsut peugjs Sell4 seinjeoj peouE py e upidOdHd SeJnjeoj KfoeBe1 uononpoaiul SJojouleJed ejep o10A9 sonsouBeiq jejes jeoujer Bue aso z 3 7 o b 2
45. 4 EMERSON Industrial Automation User Guide SI PROFIBUS Part Number 0478 0011 03 Issue Number 3 X CONTROL A TECHNIQUES www controltechniques com General Information The manufacturer accepts no liability for any consequences resulting from inappropriate negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor The contents of this guide are believed to be correct at the time of printing In the interests of commitment to a policy of continuous development and improvement the manufacturer reserves the right to change the specification of the product or its performance or the content of the guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by an information storage or retrieval system without permission in writing from the publisher Environmental Statement Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle To this end we operate an Environmental Management System EMS which is certified to the International Standard ISO 14001 Further information on the EMS our Environment Policy and other relevant information is available on request or can be found at www greendrives com The
46. 4 5 Mode 1 CT Single Word mode 14 6 Reading parameters using CT Single Word 14 7 Mode 2 PPO 4 Word mode 15 Glossary of terms e ereenirreennererenntre rt nete nene aaa aaisa Unidrive M SI PROFIBUS User Guide Issue Number 3 1 1 1 Safety information Warnings Cautions and Notes WARNING A Warning contains information which is essential for avoiding a safety hazard uo ewoyu uononpo ju ertet uonejjesul Jeolueyooypy gt gt A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment ETE A Note contains information which helps to ensure correct operation of the product 1 2 Unidrive M SI PROFIBUS User Guide 5 Electrical safety general warning The voltages used in the drive can cause severe electrical shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the drive Specific warnings are given at the relevant places in this User Guide System design and safety of personnel The drive is intended as a component for professional incorporation into complete equipment or a system If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is requir
47. 5 Pr S 04 016 Pr S 04 017 Pr S 04 018 Pr S 04 019 Pr S 04 020 Pr S 04 021 Pr S 04 022 Pr S 04 023 Pr S 04 024 Pr S 04 025 Pr S 04 026 Pr S 04 027 Pr S 04 028 Pr S 04 029 Pr S 04 030 Pr S 04 031 Pr S 04 032 CO N amp oO A V N e N oo A oa o N co e N e N a N N N ow N A N a N o N J N eo N wo e wo wo N Unidrive M SI PROFIBUS User Guide Issue Number 3 6 7 Module menu 9 Resources PCB temperature 1 N A 128 C to 127 C RO PCB temperature 2 Default N A Range 128 C to 127 C Access RO Parameters Pr S 09 030 and Pr S 09 031 display the current temperature of the 2 internal thermistors within the option module Unidrive M SI PROFIBUS User Guide 45 Issue Number 3 uonejejsul uoneulojul uojonpo qu JEoupe 3 je1ueyooyy uonejejsul peuejs Dunes Sella sJajoweled aso ejep d4 z o 2 S Q 9 2 a a SpJOM smeis sonsouBeiq soinjyeo soinjeo Koebo7 sue Jo Hesso xepu 7 1 7 2 7 3 GSD Files What are GSD Files GSD files are text files that are used by the PROFIBUS DP network configuration software tools They contain information about the device timings supported features and available data formats for
48. 69 Ww Warnings Watchdog we Writing parameters using CT Single Word sess 90 Writing parameters using PPO 4 Word mode ssssssse 99 Z AIKOR 0121510 KIAI M Ies 58 106 Unidrive MSI PROFIBUS User Guide Issue Number 3 0478 0011 03
49. 8 Table 10 4 Drive status word bit functions Pr 10 001 bit 0 0 Drive not ok tripped bit O 1 Drive ok Pr 10 002 Drive active When bit 1 1 the drive is in run mode Pr 10 003 Zero speed In Open Loop mode zero speed indicates that the absolute value of the post ramp speed reference is at or below the zero speed threshold In RFC A and RFC A modes zero speed indicates that the absolute value of speed feedback is at or below the zero speed threshold Pr 10 004 Running at or below minimum speed In bipolar mode Pr 01 010 1 Pr 10 004 is the same as zero speed Pr 10 003 See above In unipolar mode Pr 10 004 is set if the absolute value of the post ramp speed reference Pr 02 001 or speed feedback Pr 03 002 is at or below minimum speed 0 5Hz or 5 rpm Minimum speed is defined by Pr 01 007 This parameter is only set if the drive is running Pr 10 005 Below set speed Only set if the drive is running at below set speed Refer to Pr 03 006 Pr 03 007 and Pr 03 009 in the drive documentation for more details Pr 10 006 At speed Only set if the drive is running at set speed Refer to Pr 03 006 Pr 03 007 and Pr 03 009 in the drive documentation Pr 10 007 Above set speed Only set if the drive is running at above set speed Refer to Pr 03 006 Pr 03 007 and Pr 03 009 in the drive documentation for more details Pr 10 008 Load reached Indicates that the
50. C to 127 C RO Num ND NC PT 09 031 PCB temperature 2 128 C to 127 C RO Num ND NC PT 26 Unidrive M SI PROFIBUS User Guide Issue Number 3 6 Parameters uoneuloJul 6 1 Menus Table 6 1 SI PROFIBUS internal menus Menu Description Module information PROFIBUS set up uojonpo qu uonejejsul JEorueuoe A Input mapping Output mapping Fault values e219 3 uonejejsul Resources S is the slot number where the module is installed The module s menu 0 is also displayed in menu 15 16 or 17 depending on which slot the module is installed to Table 6 2 below shows the location of the module s menu 0 on the drive Menu 0 is not available in firmware version 01 01 01 02 and previous versions For M200 M300 and M400 drives the module menu 0 will be displayed in drive menu 15 Table 6 2 SI PROFIBUS menu 0 locations on M700 M800 Slot number Menu 0 locations 1 15 2 16 3 17 Sells SJ9j9UIEJEd popes aso Bue ejep o10A9 z gt 7 o 2 S Q 9 2 a m P o SpJOM smeis 6 2 Module menu 0 module information 0000 sonsouBeiq SI PROFIBUS firmware version N A S 00 002 00 00 00 00 to 99 99 99 99 RO Seunjeoj peouEApy eA up dO d Seinjeoj foeBe1 The firmware version of the option module is in the format of ww xx yy zz sue Jo Hesso xepu Unidrive M SI PROFIBUS User Guide 27 Issue Number 3 28
51. Guide 79 class 2 master Issue Number 3 uogeuuojul uononpoaul Jeoiueuoe A uonejejsut uonejejsut 1291439913 Pia a o o 5 aq U E o 3 a oO a To on 0 o lt E Q o ia ejep oio Ko uoN EX PA eioud sonsoubeiq SpJOM snje sS STN Mil OALDIIOUd pue oJjuot SseJnjeoj swa jofuessojp5 Aoebe xepu 14 Legacy features 14 1 Network compatibility mode Table 14 1 Network compatibility mode Auto detect 0 Pr S 01 031 Auto detect 0 to Unidrive Classic 4 RW SI PROFIBUS provides a compatibility mode as standard Pr S 01 031 can be used to select which drive the SI PROFIBUS module is to appear as on the PROFIBUS network this only applies to the network identification and not the drive functionality Table 14 2 Compatibility mode settings Pr 1 01 031 Description Auto detect Auto detect Reserved Reserved Unidrive SP Unidrive SP mode UniSP extended Unidrive SP extended diagnostics support Unidrive Classic Unidrive Classic mode Using the compatibility mode allows the replacement of drives on a PROFIBUS DP network without having to make any changes to the master network configuration it changes the identity code of the module so that the master controller believes that a similar type drive is present for a particular node LEE When using compatibility mode ensure that the correct GSD file for the simulated drive is being used and not the actual dr
52. JOM OUD uoneuedo aiqesiq Jo payayap iinspueis pJOM OUD dojs seop DJOM 10 U00 NO PROFIdrive profile V4 Control and status words Diagnostics 5 8 0 L8 PIOM SNIS uoneJedo pS 0 18 pJOM 10 U00 uoneuedo eigesiq NEN PION OUD uoneuedo ejqeu3 UC L8 PION snieiS uo peuoiws es ee L8 Nu POM 0NUOD 440 pJOM 10 U00 NO 18 PION snieiS IuouMg 104 Apeey ZS 18 Nu pJOM 03u00 dois xoino 10 0 L8 POM 10 U00 dois yoIND ou pue dojg se09 ou 44O oe Sees See POM OUD dois jseog 2 t SL E pJOM snieiS peiqiuuj uo Buiyoymg LS uo peuojMs JeMod Advanced features Legacy features Ajuoud 1s9wo Ajuoud Mo Aoud uBiH Auoud jseu amp iH 0 L8 Glossary of terms Sjop ON e ee eco DJOM 00D dojs jseog L8 E pJOM 101 Uu00 dois 91ND POM 10 u00 dojs seog 69 Unidrive M SI PROFIBUS User Guide Issue Number 3 Figure 12 2 PROFIdrive V4 Speed Control State Machine p p x payoeas Aouanbay 1
53. OFIBUS resets an internal timer when a valid message is received from the SI PROFIBUS network if a message is not received within the specified period network loss is detected Seinjeo KfoeBe1 The network loss detection can be disabled by setting the value of Pr S 01 010 to 0 Users must then take adequate precautions in the event of a failure of the PROFIBUS Q network T g 39 aS Q Unidrive M SI PROFIBUS User Guide 33 Issue Number 3 Network loss detection is not enabled internally until cyclic data has been detected This prevents spurious network loss timeouts while the SI PROFIBUS master controller is initializing the PROFIBUS DP network Timeout action Trip 0 Trip 0 to No action 4 RW Pr S 01 011 determines the action to take when a timeout specified by Pr S 01 010 occurs All possible actions and descriptions are listed below Description 0 Trip Trip the drive 1 Send flt values Send fault values to output parameters 2 Clear output PLC output parameters will have values set to zero 3 Hold last Hold the last value in the PLC output parameters 4 No action No action with output parameters When a value of Trip is selected in Pr S 01 011 and no cyclic communications have been detected in a time period defined by Pr S 01 010 then the drive will trip displaying SlotX Error with a sub trip string of Link loss If the network loss timeout time Pr S 01 010 is reduced too far
54. OFldrive profile V4 uoneuuojul 12 1 What is PROFIdrive profile The PROFidrive profile is a non vendor specific standard for controlling drives PROFIdrive allows compatible drives from different vendors to be controlled and monitored using the same control strategy For further details of the PROF drive profile refer to the official PROFIBUS web site at www profibus com uononpoau uonejejsul JEorueuoejA The SI PROFIBUS module provides support for the Standard Drive application class 1 defined in the PROFIdrive V4 specification for speed control mode using Standard Telegram 1 SI PROFIBUS supports the following PROF Idrive features Standard Telegram 1 PROFIdrive PNU Access Drive Identification Fault Buffer Identification and Maintenance Functions 12 2 Standard Telegram 1 To select the Standard Telegrams the following sequence must be performed uonejiejsut jeoujer peuejs Dunes Sella SJojouieJeqd aso o lt 9 gt Q D m D Set Pr S 01 030 to None to disable non cyclic data over the cyclic channel Set Pr S 01 014 to 16 to set data alignment to 16 bits Set Pr S 01 008 to STD Tel 1 Pr S 01 002 or MM 007 set to On to reset the SI PROFIBUS module Check Pr S 01 006 does not display any errors see Table 6 4 on page 32 for further details Save drive parameters refer to relevant drive documentation for more information The Standard Telegram 1 mode may also be configur
55. PLC If Pr S 01 011 is set to No action then the module will not write any value to any mapped output parameters Unidrive M SI PROFIBUS User Guide Issue Number 3 Timeout event destination uoneuuojul This Slot 0 This Slot 0 to Slot4 4 RW 3 Timeout event type No Event 0 5z No Event 0 to Event4 4 4 RW Sg When a timeout occurs the SI PROFIBUS module can trigger an event defined by 2m Pr S 01 013 to a destination such as an option module installed to a different slot on the a 95 drive defined by Pr S 01 012 NOTE A g 28 This feature is not yet implemented amp NOTE If triggering an event to a different option module Pr S 01 012 must point to a slot where a compatible option module is installed to Cyclic data alignment Default 32 0 Rage eono RW Access Sella sJajoWeled aso ejep d4 By default the SI PROFIBUS uses 32 bits for each data channel even if the target parameter in the drive is a 16 bit parameter This strategy known as casting ensures that the cyclic data transmitted over the SI PROFIBUS network remains aligned with the memory locations in 32 bit PLC s When cyclic data alignment Pr S 01 014 is set to 16 bits a data channel will only use 32 bits if the target drive parameter is a 32 bit parameter If the target drive parameter is only 1 8 or 16 bits wide 16 bits will be used for that particular data channel as shown in the followin
56. Pr 01 021 preset reference 1 OUT channel 4 OUT word 4 5 Pr 3 03 004 0 02 011 Pr 02 011 acceleration rate OUT channel 5 36 OUT word 6 7 Pr 3 03 005 0 02 021 Pr 02 021 deceleration rate 1 Unidrive M SI PROFIBUS User Guide Issue Number 3 Input cyclic words 4 uoneuuojul uojonpo qu Output cyclic words 4 uonejejsul JEorueuoe A If the telegram selection Pr S 01 008 Auto 0 the number of input and output cyclic words and the input and output mappings are set by the PLC master on the network The mapping configuration parameters can still be changed on the keypad but when the module or PLC is reset or power cycled the PLC will set them up as originally configured uonejejsul 1291439913 peyeys Dunes Sella sJajoweled aso If the telegram selection Pr S 01 008 Custom 1 the number of input and output cyclic words and the input and output mappings are set by the user If the telegram selection Pr S 01 008 STD Tel 1 2 the number of input and output cyclic words and the input and output mappings are set by the PROFIdrive parameters The mapping configuration parameters can still be changed on the keypad but when the module is reset or power cycled the module will set them according to the selected telegram Pr S 01 008 The input mappings are PNU968 and PNU1001 and the output mappings are PNU967 and PNU1003 Pr S 02 001 will displ
57. Pr S 01 026 and output consistency action Pr S 01 028 are set to 0 i e default settings then the input output consistency features are disabled so that input and output data is always transferred between the master controller and the drive sainyeoy Koebo7 sue Jo fuesso o xepu Unidrive M SI PROFIBUS User Guide 39 Issue Number 3 40 If input consistency action Pr S 01 026 is set to On 1 the SI PROFIBUS module will check the value of the parameter specified by the input consistency trigger parameter Pr S 01 027 If the input consistency trigger parameter defined by Pr S 01 027 is set to a non zero value for example by a user program in an applications module this indicates to the SI PROFIBUS module that all the mapped parameters are ready to be read The module will then read the mapped parameters transfer them to the PLC and will then clear the input consistency trigger parameter to zero When the input trigger Source parameter is set to zero the SI PROFIBUS module will continue to transfer the input consistency trigger parameter previously read data to the PLC If output consistency action Pr S 01 028 is set to On 1 the SI PROFIBUS module will check the value of the parameter specified by the output consistency trigger parameter Pr S 01 029 The output consistency trigger parameter defined by Pr S 01 029 will initially be set to 1 If the output consistency trigger parameter is set to zero for example b
58. S 01 006 20 7 z S See Section 5 Pr 5 01 0085 21 7 Pa vi See Section 5 v SI PROFIBUS Is ready and waiting for the master Pr S 01 006 2 The Master Is Communicating with the SI PROFIBUS Y A network hardware tester can be used to simplify this Check wiring data rate and termination Check the drive mappings in Pr S 02 ppp and Pr S 03 ppp See Sections 7 11 12 and 13 See Section 12 5 Y v Check data size settings in Pr 01 020 and Pr 01 021 Check the master is sending data on the network Y v If data alignment is non default Pr 01 014 16 bits note data sizes will differ Check the data is reaching the drive by using the drive display to monitor values i Check the master data Sizes match the SI PROFIBUS settings Try remapping to spare menu 18 19 or 20 parameters as a test i Check the master configuration is it showing a bus error Y Check set up flowchart and double check all drive settings Before calling for support ensure you have all drive and option module parameters and firmware versions EAM C Ne End N A See Sections 7 11 12 and 13 A network monitor can be used to look at the network 64 Unidrive M SI PROFIBUS User Guide Issue Number 3 12 PR
59. SD file A file that defines the properties of a node The file contains information describing the features available on the device IN data Data that is returned from a slave device to the PROFIBUS master Long word A 32 bit data word that may be signed or unsigned Network Loss Trip A way to determine when a node has lost contact with the master Node A device on the network This may be either a device such as a drive or part of the network such as a repeater Non Cyclic Data Data that is requested or sent by the master as required This is not sent on a regular basis and generally allows access to any parameter This is useful for occasional changes or configuration purposes Main actual value This gives feedback on the running speed of the drive when using the PROF Idrive profile Main Setpoint The value used to determine the speed of the drive when using the PROF drive profile Mapping The process of linking PROFIBUS values to parameters within the drive Master The controlling device on the network generally this will include programming features Mode 1 non cyclic A method of sending non cyclic data using a single word Mode 2 non cyclic A method of sending non cyclic data using four words Unidrive M SI PROFIBUS User Guide Issue Number 3 PROFIdrive profile A standardized method of controlling drives that is independent of the manufacturer uoneuuojul Poll rate The rate at which cyclic data is sent and
60. Stop control word bit 2 Motor decelerates under ramp control using deceleration rate2 Pr 02 022 drive is inhibited status set to Switching On Inhibited Coast Stop control word bit 1 Drive is inhibited motor coasts down to zero Speed status set to Switching On Inhibited jeotueupeyy i9nPonul uonejejsul uonejiejsut jeoujer 12 8 Jogging In order to use the jogging functions the drive must be in the operational state 84 and at standstill and each of the three bits 4 5 and 6 of the control word must be set to a 0 if any of these three bits are set to a 1 and the drive is at standstill then the jogging functions are disabled and the main setpoint reference is used The three control bits 4 5 and 6 have no effect when in jog mode peuejs Dunes Sella SJojouieJeqd aso To leave jog mode both jog bits 8 and 9 must not be active and the drive must be at standstill the normal control bits 4 5 and 6 will then be active The jog direction is controlled by bit 8 forward and bit 9 reverse of the control word as illustrated in Figure 12 2 o lt 9 gt Q D m D COA The jog setpoint is set in Pr 01 005 ejep oioKo uoN If both jog forward and jog reverse setpoints are selected at the same time bits 8 and 9 are both set to a 1 then there will be no change to the jog direction i e if jog forward was previously selected then the motor will continue to jog forward and if jog reverse was
61. UENCE Table 14 19 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to read a parameter value from a drive pe ue py e upidOHd SseJnjeoj soinjeaj Jo uessojo Been Unidrive M SI PROFIBUS User Guide 97 Issue Number 3 Table 14 19 PPO 4 Word Read TASK ID and RESPONSE ID combinations poe TASK RESPONSE Message status ID ID No Task No message active Request Parameter Value 16 bit Parameter read successfully 16 bit value returned in word 3 Request Parameter Value 32 bit Parameter read successfully 32 bit value returned in words 2 and 3 Request Parameter Value 16 bit Request Last Parameter Reference Request Last Parameter Reference TASK ID 6 could not be executed Check the error code in IN word 3 for the reason why The highest parameter reference in specified menu is available in IN word 3 TASK ID 9 could not be executed Check the error code in IN word 3 for the reason why Table 14 20 shows an example set of data words for PPO 4 Word mode This example will read the value in the post ramp speed reference Pr 02 001 in the drive Table 14 20 PPO 4 Word read request example OUT data Bex value Function x valu werd bisbiz ptt bi0 bs 0 OUT word 0 0x6002 OUT word 1 0x0100 PARAMETER 1 OUT word 2 0x0000 DATA HIGH word 0 OUT word 3 0x0000 DATA LOW word 0 Table 14 21 shows an example
62. ailure 8 7 Master configuration The SI PROFIBUS mapping parameters can be automatically configured by the master controller If Pr S 01 008 is set to Auto then the Input cyclic words Pr S 01 020 Output cyclic words Pr S 01 021 Input source mappings Pr S 02 ppp and Output destination mappings Pr S 03 ppp will be set by the master controller using the parameter information specified for the cyclic configuration The Data alignment Pr S 01 014 can also be set automatically by the master controller by enabling the BitControl property of the slave device and setting the required alignment value 16BIT or 32BIT in the network configuration If there is no master controller connected to the module Pr S 01 006 will indicate Initialization 1 Unidrive M SI PROFIBUS User Guide 51 Issue Number 3 uoneuuojut uononpoau Jeoiueuoe A uonejejsut uoneljejsul Jeoupe 3 Sells SIBJOWEIEd poes aso Bue 29 9 9 z lt 9 o fo 9 o a sounjeay sonsoubeig SpJOM Snjejs KfoeBe paouenpy aAUP 4OUd soinjeo SU9 Jo esso xepu 9 1 9 2 9 3 Non cyclic data What is non cyclic data Non cyclic data allows access to any parameter without the need to use cyclic data transfers This is particularly useful when accessing many different parameters for set up or archiving of drive settings The method to use non cyclic data on the SI PROFIBUS is by using DP V1 Parameter Access
63. ains eight elements numbered from 0 to 7 of which the first element 0 contains the active fault if any The remaining elements 1 to 7 contain the acknowledged faults in reverse order of occurrence and therefore element 1 is the most recent acknowledged fault last fault and element 7 is the oldest acknowledged fault first fault Acknowledged faults are faults which have been cleared by resetting the drive when a fault is acknowledged the fault number will be placed in element 1 of the buffer any existing recorded faults will be moved up numerically one element If element 7 already contains a fault number then this will be over written with the value from position 6 the existing fault number is subsequently lost Unacknowledged faults are faults which have not been cleared currently Control Techniques drives only support one fault of this type the active fault in Pr 10 020 The PROFlIdrive fault buffer mechanism is shown in Figure 12 3 on page 77 76 Unidrive M SI PROFIBUS User Guide Issue Number 3 Figure 12 3 DP V1 Fault Buffer Fault Present Read Status Word bit 3 1 _ Acknowledged j fault moves to position 1 Any existing acknowledged faults move down one Fault position Message j Any previous amp fault in position y 7 is lost Fault Reaction M Table 12 6 Fault Buffer Associated PNU s Designation Description Fault message Incremented by one when the fault buffer changes counter uo
64. al legislation and best practice Firmware Statement This option module is supplied with the latest firmware version When retro fitting to an existing system all firmware versions should be verified to confirm the same functionality as option modules of the same type already present This also applies to products returned from a Control Techniques Service Centre or Repair Centre If there is any doubt please contact the supplier of the product The firmware version of the option module can be identified by looking at Pr MM 002 where MM is the relevant menu number for the option module slot being used See Pr MM 002 description later in this manual for more information The firmware version takes the form of ww xx yy zz seen in MM 002 REACH legislation EC Regulation 1907 2006 on the Registration Evaluation Authorisation and restriction of Chemicals REACH requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency ECHA to be a Substance of Very High Concern SVHC and is therefore listed by them as a candidate for compulsory authorisation For current information on how this requirement applies in relation to specific Control Techniques products please approach your usual contact in the first instance Control Techniques position statement can be viewed at http www controltechniques com REACH Copyright August 20
65. ay 5 00 968 PNU968 Pr S 02 002 will display 5 01 001 PNU1001 Pr S 03 001 will display 5 00 967 PNU967 and Pr S 03 002 will display 5 01 003 PNU1003 Input mapping status ejep o10A9 z o 2 S Q 9 2 g P a SpJOM smeis sonsouBeiq Output mapping status If the SI PROFIBUS network diagnostic parameter Pr S 01 006 indicates First Failure or Second Failure a mapping configuration error has been detected The reason for the error is indicated by the SI PROFIBUS input mapping status parameter Pr S 01 022 and the SI PROFIBUS output mapping status parameter Pr S 01 023 When a mapping error has been corrected reset the SI PROFIBUS module by setting Pr S 01 002 or MM 007 to On 1 The input mapping error codes are described in Table 6 7 on page 38 and the output mapping error codes are described in Table 6 8 on page 38 seJnjeoj soinyeo KfoeBe1 sue Jo Messo xepu Unidrive M SI PROFIBUS User Guide 37 Issue Number 3 38 Table 6 7 Input mapping error codes No error Description No error detected with IN cyclic data mapping configuration Too many IN objs Too many IN channels configured No mapping IN cyclic data length is 0 or there is no IN mapping Read mismatch Parameter read error parameter may not exist Hole in mappings IN cyclic data mapping parameters are not contiguous N C mapping err A non cyclic data mode
66. by the master in addition to a single channel allowing for random access to drive parameters Figure 2 2 PROFIBUS DP cable layout PROFIBUS master Analog1 Analog 2 Digital 1A Digital 1B Digital 2A Digital 2B Digital 1A wz ieubia Analog 2 Slave Number c JequinN e e S az leubiq Digital 1B Table 2 2 Data mappings for SI PROFIBUS Number of Source Destination Description network words digital Inputs slave 1 to master status signals control signals E master to slave 1 analog output control signal digital inputs slave 2 to master status signals control signals master to slave 2 analog output control signal digital outputs digital outputs Table 2 2 details the number of data words used to communicate the signals using the PROFIBUS DP network It can be seen that the resulting reduction in cabling is significant Unidrive M SI PROFIBUS User Guide Issue Number 3 2 2 2 3 2 3 1 Unidrive M SI PROFIBUS User Guide PROFIBUS DP can transfer data using two distinct modes The first of these modes is cyclic where signals are sent in predefined blocks at regular intervals This is the equivalent of the hard wired example in Figure 2 1 The second method of transfer is called non cyclic data and is used for sending values that only need to be changed occasionally or where the source or destination of the signal changes This is t
67. byte Telegram 5 request mid low data byte Telegram 6 request low data byte SoJnjeoj Seinjeo Jo uessojo SIS peoue py e upiJO d swa x pu Unidrive M SI PROFIBUS User Guide 85 Issue Number 3 14 6 1 86 Table 14 12 CT Single Word Bit Positions I se ee 3 pepe i om r wIWwlwr imsrsr sTI Constructing CT Mode 1 Single Word Read Messages Figure 14 1 CT Single Word read sequence Mode 1 Send telegram 3 to Start OUT word 0 Y Send first telegram to OUT word 0 Read IN 4 3 word O0 3 Read IN word 0 Tx Stamp No Rx Stamp No Yes v Tx Stamp No Y Rx Stamp No Store data Yes byte Tx Samp No Send next 222 telegram to Tx Stamp No Send next OUT word 0 telegram to wes esas OUT word 0 Yes Y Check status of ERR bit Cale culate 1 data value Y ERROR Check parameter exists data is in correct range and parameter j i i v is Read Write END OF SEQUENCE The following example telegrams show how to read the post ramp speed reference in rpm with one decimal places from Pr 02 001 on the drive TELEGRAM 1 The first telegram from the PROFIBUS DP master indicates a READ with stamp number 1 The data byte contains the men
68. c First failure 4 Second failure 5 Third Failure 6 Cyclic data 01 007 transfers per 0 to 9999 messages s RO Num ND NC PT second 20 Unidrive M SI PROFIBUS User Guide Issue Number 3 uoneuuojul Auto 0 Custom 1 STD Tel 1 2 Telegram STD Tel 1 4 3 STD Tel 1 8 4 01 008 Selection PPO1 5 PPO2 6 PPO3 7 Custom 1 RW Txt US pe PPOA 8 PPOS 9 2 01 010 Timeout delay 0 to 3000 ms 200ms RW Num US E Trip 0 Send flt values 1 S S 01 011 Timeout action Clear output 2 Hold last 3 Trip 0 RW Txt US 3g No action 4 S9 pL Timeout event This slot 0 Slot 1 1 Slot 2 2 A S 01 012 destination Slot 3 3 Slot 4 4 This slot 0 RW Txt US Sg Timeout event No event 0 Event 0 1 Event 1 2 No event m S41015 type Event 2 3 Event 3 4 Event 4 5 0 RW Txt Ys a S 01 014 Data alignment 32 0 or 16 1 bits 32 0 bits RW Txt US S 8 Number of 9 01 020 Input cyclic 1 to 32 4 RW Num NC PT US z words guo Number of D S 01 021 Output cyclic 1 to 32 4 RW Num NC PT US S words 2 No error 0 Too many IN objs 1 9 No mapping 2 Read mismatch 3 mo Hole in mappings 4 BG N C mapping err 5 Duplicate error 6 5 Input mapping Length mismatch 7 P 01 022 status IN mode and PPO 8 RO SEXE Data align w PPO 9 S No PPO support 10 2 SP A D IN map 11 z IN AND CTNC amp
69. d ref 1 Pr S 02 002 Pr 10 040 status word Pr S 03 002 Pr 06 042 control word Pr S 03 003 Not mapped Pr 01 021 digital speed ref 1 Pr S 03 004 to Not mapped Not mapped Pr S 03 032 If all IN or OUT mapping parameters are being used when the data format change is 94 implemented the last mapping parameter value will be lost Unidrive M SI PROFIBUS User Guide Issue Number 3 14 7 2 PPO 4 Word protocol Table 14 14 shows the data structure required on the OUT data to implement PPO 4 Word request uoneuuojul Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read Hence the number of decimal places of the target parameter must be known Writing a value of 1234 to a parameter with two decimal places will produce a value of 12 34 in the target parameter Similarly reading a value of 12 34 will return a 32 bit integer value of 1234 uononpoaul uonejejsut Jeoiueuoe A Table 14 14 PPO 4 Word OUT data structure OUTdwa 5 umetion OSOS word bez ert pros BBO OUT word 0 TASK ID 0 MENU OUT word 1 PARAMETER Reserved OUT word 2 DATA HIGH word OUT word 3 DATA LOW word The PPO 4 Word protocol is controlled by the TASK ID and RESPONSE ID the TASK ID specifies the transaction required and the remainder of the data words carry the data for the transaction Table 14 15 lists the possible TASK ID codes Table
70. d value e g the destination parameter is read only or the parameter does not exist the SI PROFIBUS will indicate a failure error in the PROFIBUS Network diagnostic parameter Pr S 01 006 The reason for the failure error will be indicated by the mapping status parameter Pr S 01 022 and S 01 023 Refer to page 37 for more details suue Jo Messo xepu Unidrive M SI PROFIBUS User Guide 49 Issue Number 3 8 3 8 4 8 5 50 Mapping conflicts Care must be taken to ensure that there are no clashes between mappings in the SI PROFIBUS cyclic OUT data and other drive parameters such as Other SI PROFIBUS cyclic OUT channels Mappings from additional option modules if installed Analog inputs Digital inputs Logic outputs Motorized pot output Comparator outputs Variable selected outputs The SI PROFIBUS will not indicate if there is a mapping conflict due to any one of the reasons listed Should a conflict occur and a parameter is written to from two or more different sources the value of this parameter will depend entirely upon the scan times for the function and the PROFIBUS DP network The result would be that a parameter may appear to be steady at a particular value on the drive display although an occasional glitch in the displayed value may be seen Internally however this value may be changing continuously between two values leading to unusual behavior in the drive Cyclic data mapping errors The SI
71. e SI PROFIBUS can be identified by 1 The label located on the topside of the option module 2 The color coding across the front of the SI PROFIBUS purple Figure 2 4 SI PROFIBUS labels SI PROFIBUS S N 1234567890 STDV39 e Il S N 1234567890 1 Topside module label 2 Underside module label Date code format The date code is split into two sections a letter followed by a number The letter indicates the year and the number indicates the week number within the year in which the option module was built The letters go in alphabetical order starting with A in 1990 B in 1991 C in 1992 etc Example A date code of X12 would correspond to week 12 of year 2014 Back up power supply The required drive can be connected to a 24 Vdc back up power supply refer to the relevant drive documentation for connection details This keeps the control electronics and option module powered up allowing the SI PROFIBUS to continue communicating with the PROFIBUS DP master controller when the main supply to the drive is switched off For every SI PROFIBUS installed allow for an extra 70 mA of supply current to be drawn from the back up supply Unidrive M SI PROFIBUS User Guide Issue Number 3 2 5 Conventions used in this guide The configuration of the host drive and option module is done using menus and parameters A menu is a logical collection of parameters that have similar functionality In the case of an option module
72. ectives 2006 42 EC Safety of machinery 2004 108 EC Electromagnetic Compatibility Adjusting parameters Some parameters have a profound effect on the operation of the drive They must not be altered without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering Stored charge The drive contains capacitors which remain charged to a potentially lethal voltage after the AC supply has been disconnected If the drive has been energized the AC supply must be isolated for at least ten minutes before work may continue Unidrive M SI PROFIBUS User Guide Issue Number 3 2 Introduction 2 1 What is PROFIBUS DP PROFIBUS DP Decentralized Peripheral is a networking system which falls into the generic category of fieldbus Fieldbuses are generally defined as industrial networking systems that are intended to replace traditional wiring systems Figure 2 1 shows the traditional cabling requirements to transfer signals between 2 slaves and a master uon nponu uonejejsut Jeoiueuoe A Figure 2 1 Traditional cable layout Hardwired master uonejejsul jeoujoer Analog Analog 2 Digital 1A a 2A Digital 2B ve ieueia I s Bep oip o sed aso alae Digital 1A Analog 1 Slave Number a JequinN AJS Digital 1B az eusa o o S es og S z 9 on
73. ed automatically by the master controller if Pr S 01 008 is set to Auto ejep oioKo uoN SpJOM snjejs pue Jouo5 sonsouBeiq Pr S 01 002 or MM 007 will automatically revert to Off after resetting Resetting will cause the SI PROFIBUS to temporary go off line from the PROFIBUS DP network vn argoad peouenpy ELMIEN LH After the PROFIdrive profile has been configured and the module reset if no configuration error is detected then the corresponding mapping parameters will be set automatically by the master controller i e Pr S 02 001 5 00 968 Pr S 02 002 5 01 001 Pr S 03 001 5 00 967 and Pr S 03 002 5 01 003 soinyeo The Standard Telegram 1 support is a mandatory requirement for Application Class 1 devices the mapping structure is shown Table 12 1 SseJnjeoj Table 12 1 Standard Telegram 1 mapping structure OUT Daia Function SU9 Jo uesso p Aoebe IN Data xepu word 0 PROFIdrive control word word 1 Main Setpoint word 0 PROFIdrive status word word 1 Main Actual Value Unidrive M SI PROFIBUS User Guide 65 Issue Number 3 12 3 12 4 66 Main Setpoint Main Setpoint is the speed reference defined in the PROFIdrive profile It is scaled such that 32768 to 32767 is 200 to 200 of the maximum speed clamp Pr 01 006 The converted value is then written to drive digital speed reference 1 Pr 01 021 The formula used for this conversion is _ Main Setpoint x Max Speed Cla
74. ed before working on any drive or option module 3 1 General Installation Installation of the various option modules is illustrated in the following diagrams Figure 3 1 Installation of an SI option module on Unidrive M200 to M400 sizes 2 to 4 12 With the option module tilted slightly backwards align and locate the two holes in the rear of the option module onto the two tabs 1 on the drive Place the option module onto the drive as shown in 2 until the module clicks into place The terminal cover on the drive holds the option module in place so this must now be replaced NOTE The above diagram is for illustration only the actual option module may be different to the one shown here NOTE Option modules can only be installed on drives that have the option module slot functionality Unidrive M SI PROFIBUS User Guide Issue Number 3 Figure 3 2 Installation of an SI option module on Unidrive M200 to M400 sizes 5 to 8 uoneuuojul uonjonpo ju jesjueyooyy uonejersur RGT 129449913 p yezs Buje ejep dA sella SJejeuieJeg aso SpJOM smeis pue joquo9 g e 3 Place the option module onto the drive as shown in 2 until the module clicks into F place The terminal cover on the drive holds the option module in place so this must I now be replaced Q 2 322 oa 25 sain
75. ed to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation commissioning start up and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and this User Guide carefully The STOP and SAFE TORQUE OFF functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SAFE TORQUE OFF function none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended behavior or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example an over speed protection device in case of failure of the speed control or a fail safe mechanical brake in case of loss of motor braking The system designer is responsible for ensuring that the complete system is safe and designed
76. eing transmitted by the drive The FREEZE command may be repeated while in this state to allow another single transfer of data from the drive Issuing an UNFREEZE command will revert the drive to continuous cyclic update of the transmitted data Inter option communication timing When more than one option module is installed to a drive communications between modules uses inter option communications Inter option communications is slower than the communications directly to the drive parameters Typical access times for direct drive menu access will be in the region of 30us per parameter a similar access using inter option communications will be in the region of 1ms per parameter When using inter option communications if parameters are sequential within the same menu then up to six parameters may be grouped in to a block this will take up to 1 ms for this block to be transferred A total of eight blocks for input and eight blocks for output are available Multi master operation The SI PROFIBUS can be used on PROFIBUS DP networks containing one or more master controllers Consult your master controller documentation for information on how to configure a multi master PROFIBUS DP network Users must ensure that in networks with multiple master devices that only one master controller is configured to access the SI PROFIBUS LH S PROFIBUS supports the simultaneous connection of one class 1 master and one Unidrive M SI PROFIBUS User
77. electronic variable speed drives manufactured by Control Techniques have the potential to save energy and through increased machine process efficiency reduce raw material consumption and scrap throughout their long working lifetime In typical applications these positive environmental effects far outweigh the negative impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment Recyclers will find the products easy to dismantle into their major component parts for efficient recycling Many parts snap together and can be separated without the use of tools while other parts are secured with conventional fasteners Virtually all parts of the product are suitable for recycling Product packaging is of good quality and can be re used Large products are packed in wooden crates while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content If not re used these containers can be recycled Polythene used on the protective film and bags from wrapping product can be recycled in the same way Control Techniques packaging strategy prefers easily recyclable materials of low environmental impact and regular reviews identify opportunities for improvement When preparing to recycle or dispose of any product or packaging please observe loc
78. en data alignment is set to 32 bits No PPO support PPO1 PPOS5 not supported SP A D OUT map Output Mapping can t be set by GSD file automatically in SP mode OUT AND CTNC PPO4 CTNC and PPOA not supported Unidrive M SI PROFIBUS User Guide Issue Number 3 Input processing time uoneuuojul 0 to 65535 RO uojonpo qu Output processing time 0 to 65535 RW uonejejsul JEorueuoejA Pr S 01 024 and Pr S 01 025 display the input and output processing times respectively The input processing time Pr S 01 024 shows the time taken from the value being sent from the drive to the value being written to the master controller in milliseconds The output processing time Pr S 01 025 shows the time taken from the value being sent from the master controller to the value being successfully written to the drive in milliseconds Default OFF 0 01027 Default OFF 0 01028 The SI PROFIBUS module provides an input output consistency feature which ensures that the data in the input or output mappings is only transferred between the SI PROFIBUS module and the master controller when the mapped parameters are ready This prevents data skew between parameters in the input output mappings uonejejsul 129139913 peuejs Dunes Sella sJajoweled aso ejep I4 z gt 7 o br S S Qo 9 2 A ae a SpJOM smeis sonsouBeiq soinjyeo If input consistency action
79. ence has been completed Pr S 00 007 will be reset to Off 0 The SI PROFIBUS will reset using the updated configuration This sequence does NOT store the SI PROFIBUS configuration parameters in the drive or the SI PROFIBUS flash memory This parameter will change back to Off 0 immediately and as such the change may not be visible on the display uoneuuojul uojonpo qu uonejejsul JEorueuoejA Default module Off 0 Off 0 or On 1 RW uonejejsul 1291439913 The SI PROFIBUS option module can be set to it s factory default configuration peyeys Dunes Sella sJa OWeled aso This can be performed as follows Set Pr S 00 008 to On 1 Reset the module by setting Pr S 00 007 to On 1 SI PROFIBUS communications will be stopped Default parameter values for the SI PROFIBUS will be loaded The SI PROFIBUS will reset using the default values If the host drive is defaulted see the drive user guide for details it will also clear the current configuration for the slot SI PROFIBUS is installed to ejep a0 z o 2 S Q 9 2 a a SpJOM smeis sonsouBeiq soinjyeo soinjeo Koebo7 sue Jo Hesso xepu Unidrive M SI PROFIBUS User Guide 29 Issue Number 3 6 3 30 Module menu 1 PROFIBUS Set up Menu 1 contains all the parameters relating to the set up of the PROFIBUS interface on the SI PROFIBUS module Enable PROFIBUS interface On 1 OFF
80. ending receiving non cyclic data see section 9 Non cyclic data on page 52 Unidrive M SI PROFIBUS User Guide Issue Number 3 Network compatibility mode Auto detect 0 Auto detect 0 to Unidrive Classic 4 RW uoneuuojul uojonpo qu SI PROFIBUS provides a compatibility mode as standard Pr S 01 031 can be used to select which drive the SI PROFIBUS module is to appear as on the PROFIBUS network this only applies to the network identification and not the drive functionality uonejejsul JEorueuoe A Table 6 10 Compatibility mode settings uonejejsul 1291439913 Description Auto detect Auto detect Reserved Reserved for future use UniSP Unidrive SP mode UniSP extended Unidrive SP mode with extended diagnostics support Bue o S a 9 Q U v E I 3 oO 2 oO g no ow 8o Unidrive Classic Unidrive Classic mode Using the compatibility mode allows the replacement of drives on a PROFIBUS DP network without having to make any changes to the master controller network configuration it changes the identity code of the module so that the master controller believes that a similar type of drive is present for a particular node 9 g When using compatibility mode ensure that the correct GSD file for the simulated drive 2 is being used and not the actual drive a This mode only changes the network to emulate the selected drive on the network 5 Changes to t
81. erence 1 OUT channel 3 OUT word 4 5 Pr 3 03 003 0 02 011 Pr 02 011 acceleration rate 1 OUT channel 4 OUT word 6 7 Pr 3 03 004 0 02 021 Pr 02 021 deceleration rate 1 OUT channel 5 OUT word 8 9 Pr 3 03 005 0 14 020 Pr 14 020 PID1 reference It is advisable to keep 16 bit parameters paired together This prevents mis alignment of cyclic data with 32 bit PLC registers when using auto mapping facilities to configure the SI PROFIBUS network By swapping the mappings for input channel 2 with input channel 3 and moving output channel 5 to output channel 2 the data channel structure will appear as shown in the table below Data channel IN channel 1 IN channel 2 Data words used IN word 0 IN word 1 Mapping for slot 3 Pr 3 02 001 Pr 3 02 002 Setting 0 10 040 0 04 020 Mapping status Pr 10 040 status word Pr 04 020 Motor load as of rated motor load IN channel 3 IN word 2 3 Pr 3 02 003 0 02 001 Pr 02 001 post ramp speed reference IN channel 4 IN word 4 Pr 3 02 004 0 14 021 Pr 14 021 PID1 feedback IN channel 5 IN word 5 Pr 3 02 005 0 14 001 Pr 14 001 PID1 output OUT channel 1 OUT word 0 Pr 3 03 001 0 06 042 Pr 06 042 control word OUT channel 2 OUT word 1 Pr 3 03 002 0 14 020 Pr 14 020 PID1 reference OUT channel 3 OUT word 2 3 Pr 3 03 003 0 01 021
82. ersists after a power cycle replace the Intilaization SI PROFIBUS This error may also occur if the PROFIBUS DP master is not connected The SI PROFIBUS has initialized correctly and is waiting for the Profibus DP master to initialise communications This error may also occur if the PROFIBUS DP master connection is removed Network no data Network OK healthy but no network cycles per second detected Mapping configuration fail when mappings are set by input mapping menu and output mapping menu S 01 008 gt 0 or ASCI configuration fail when mappings are set by GSD files S 01 008 0 Mapping configuration fail when mappings are set by GSD files Second Failure S 01 008 0 or ASCI configuration fail when mappings are set by input mapping menu and output mapping menu S 01 008 gt 0 SI PROFIBUS does not support CTNC or PPO4 S 01 030 1 or 2 and does not support ProfiDrive V2 S 01 008 2 Initialized First Failure Third Failure 11 2 4 Mapping status If the SI PROFIBUS Network Diagnostic parameter Pr S 01 006 indicates First Failure or Second Failure a mapping configuration error has been detected The reason for the error is indicated by the SI PROFIBUS input mapping status parameter Pr S 01 022 and the SI PROFIBUS output mapping status parameter Pr S 01 023 When a mapping error has been corrected reset the SI PROFIBUS module by setting MM 007 to On 1 The input mapping error
83. ess 126 S 01 004 0 to 126 RW uoneuuojul uojonpo qu Every node on a PROFIBUS DP network must be given a unique network node address To activate a change in the node address value the SI PROFIBUS must be reset Pr S 01 002 or MM 007 On Addresses 0 and 126 are reserved for system use Network baud rate uonejejsul JEorueuoe A uonejejsul 1291439913 The SI PROFIBUS will automatically detect the PROFIBUS DP network data rate and synchronize to it Pr S 01 005 will indicate the data rate that has been detected by the SI PROFIBUS A value of 0 indicates that the SI PROFIBUS has not detected any activity on the PROFIBUS DP network and is waiting for the master controller to start communicating The PROFIBUS DP data rate parameter can be changed but this will not affect the data rate at which the SI PROFIBUS communicates The data rate display will be updated peuejs Dunes Sella sJajoweled aso Oo when the SI PROFIBUS is reset Table 6 3 SI PROFIBUS data rates a Pr S 01 005 Bits s PROFIdrive PNU963 z 2 Auto detecting 3 1 3 0 7 Hi 4 5 j a p wu Joco e lo _ E 0 SI PROFIBUS network diagnostic e d o x soinjyeo S 01 006 sainjeoy foeBe1 SI PROFIBUS cyclic data rate o a3 3 o 9 N A 0 to 9999 Messages s RO xepu Unidrive M SI PROFIBUS User Guide 31 Issue Number 3 32 The PROFIBUS DP network activity can be
84. eyep a10A9 If telegrams 1 and 2 were not received correctly or an invalid parameter was specified e g parameter is write only or does not exist the PROFIBUS DP interface will set the ERROR bit to 1 b14 1 in the response The data bits will have no significance Setting the stamp number to 0 resets the internal non cyclic state machine z 7 o b 2 S Q 9 a 9 Qa SpJOM snjejs Example response b11 b8 b7 b4 1001 0010 0000 0001 Data word 0x9201 Stamp number 2 sonsouBeiq If an error is reported the non cyclic data word should be set to 0 to ensure that the non cyclic state machine is completely reset and ready for the next non cyclic READ or WRITE sequence SoJnjeoj Seinjeo Jo Auesso 5 SIS peoueA py e upiJO Sd swa x pu Unidrive M SI PROFIBUS User Guide 87 Issue Number 3 88 TELEGRAM 3 The third telegram from the PROFIBUS DP master acts as the indication to the slave to send the high data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 Example telegram CO Data word 0x9300 Stamp number 3 When the third telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the high byte of the parameter value into the data byte Example response Bt p meb bne brea f mmo 1001 0011 0000 0000 Data word 0x9300 Stamp number 3 Data hig
85. eypad or other devices where a break in the communication link must be detected The KEYPAD watchdog system can be enabled and or serviced if this bit is WDOG changed from zero to one while the control word enabled Once the watchdog is enabled it must be serviced at least once every second or an SCL trip will occur The watchdog is disabled when an SLC trip occurs and so it must be re enabled when the trip is reset uoneljeisul JeoiueuoeIN uonelejsut Jeouo9 3 15 Reserved 10 3 Status word The SI PROFIBUS status word consists of sixteen control bits some of which are reserved See Table 10 3 for the individual bit function descriptions Table 10 3 Status word bit definitions Sell 9iejs Reverse pies Brake Braking Rauener Current direction resistor IGBT 9 limit ating active 3 comman d running ded alarm active z o ME Q amp 2 o Ei E D F a Running Rated Below set at or Dave Drive load m below M OK reached SpJOM snyejs minimum nolis healthy speed The fieldbus status word is mapped directly from the drive status word Pr 10 040 speed sonsoubeiq Pr 10 040 is generated by the values of several individual drive status bits Table 10 4 shows the function indicated by each bit in the status word when set to 1 sainjeoy peoue py SAUP 4OUd sounjeay KfoeBe1 suue Jo fuesso o Unidrive M SI PROFIBUS User Guide 57 Issue Number 3 5
86. fieldbus enable signal Pr 06 043 and the AUTO bit b7 must both be set to 1 When the AUTO bit is reset to 0 the drive will revert to terminal control For safety reasons the external HARDWARE ENABLE signal must be present before the fieldbus control word can be used to start the drive This terminal is normally controlled by an external Emergency Stop circuit to ensure that the drive is disabled in an emergency situation The control word REMOTE bit directly controls the drive parameter Pr 01 042 the function of which is to select the digital speed reference as the source of the drive s speed reference When the REMOTE bit is reset to 0 the drive will revert to using the external analog speed reference The actual digital speed reference selected when REMOTE is set to 1 will be Pr 01 021 which is also the default mapping for the fieldbus speed reference However Pr 01 015 can be used to change which of the digital references is selected For further details on the drive digital speed reference please refer to the appropriate drive user guide Table 10 2 lists in detail the function of each control word bit For further in depth details about drive control words and sequencing bits please refer to the appropriate drive documentation CA When a trip occurs the drive control word MUST be set to a safe disabled state This ensures that the drive does not re start unexpectedly when it is reset This can be achieved by continu
87. g parameter Default value Pr S 02 002 0 02 001 Pr S 02 003 0 00 000 Pr S 02 004 0 00 000 Pr S 02 005 0 00 000 Pr S 02 006 0 00 000 Pr S 02 007 0 00 000 Pr S 02 008 0 00 000 Pr S 02 009 0 00 000 Pr S 02 010 0 00 000 Pr S 02 011 0 00 000 Pr S 02 012 0 00 000 Pr S 02 013 0 00 000 Pr S 02 014 0 00 000 Pr S 02 015 0 00 000 Pr S 02 016 0 00 000 Pr S 02 017 0 00 000 Pr S 02 018 0 00 000 Pr S 02 019 0 00 000 Pr S 02 020 0 00 000 Pr S 02 021 00 Pr S 02 022 0 00 000 Pr S 02 023 0 00 000 Pr S 02 024 0 00 000 Pr S 02 025 0 00 000 Pr S 02 026 0 00 000 Pr S 02 027 0 00 000 Pr S 02 028 0 00 000 Pr S 02 029 0 00 000 Pr S 02 030 0 00 000 Pr S 02 031 0 00 000 Pr S 02 032 0 00 000 42 Unidrive M SI PROFIBUS User Guide Issue Number 3 6 5 Module menu 3 Output mapping Menu 3 contains all the mapping parameters relating to the OUT channels of the module uoneuuojul The values set in each parameter are in the format of S mm ppp where S slot number of the target parameter uojonpo qu mm menu number of the target parameter ppp parameter number of the target parameter uonejejsul JEorueuoejA OUT channel Mapping parameter Default value Pr S 03 001 0 06 042 Pr S 03 002 0 01 021 Pr S 03 003 0 00 000 Pr S 03 004 0 00 000 Pr S 03 005 0 00 000 Pr S 03 006 0 00 000 Pr S 03 007 0 00 000 Pr S 03 008 0 00 000 Pr S 03 009 0 00 000 Pr S 03 010 0
88. g table pue 041002 oi oKo uoN SpJOM smeis Parameter Actual data size bits Actual data size bits size Alignment 16 bits Alignment 32 bits bits sonsouBeiq soinjyeo The following examples demonstrate setting up a network using five cyclic channels for both IN and OUT data with the cyclic data alignment first set to 32 bits and then set to 16 bits sainjeay Koebo7 Table 6 6 shows the mapping parameters where five IN and five OUT cyclic data channels are required With data alignment set to 32 bits each data channel uses 32 bits two data words so a total of ten words are required sue Jo fuesso o xepu Unidrive M SI PROFIBUS User Guide 35 Issue Number 3 Table 6 6 Mapping parameters Data channel IN channel 1 Data words used IN word 0 1 Mapping for slot 3 Pr 3 02 001 0 10 040 Mapping status Pr 10 040 status word IN channel 2 IN word 2 3 Pr 3 02 002 0 02 001 Pr 02 001 post ramp speed reference IN channel 3 IN word 4 5 Pr 3 02 003 0 04 020 Pr 04 020 Motor load as of rated motor load IN channel 4 IN word 6 7 Pr 3 02 004 0 14 021 Pr 14 021 PID1 feedback IN channel 5 IN word 8 9 Pr 3 02 005 0 14 001 Pr 14 001 PID1 output OUT channel 1 OUT word 0 1 Pr 3 03 001 0 06 042 Pr 06 042 control word OUT channel 2 OUT word 2 3 Pr 3 03 002 0 01 021 Pr 01 021 preset ref
89. ge Telegram 1 define menu number Telegram 2 define parameter number Telegram 3 send high data byte Telegram 4 send mid high data byte Telegram 5 send mid low data byte Telegram 6 send low data byte Figure 14 2 CT Single Word write sequence Start v d first telegram OUT word 0 Y v Read IN 4 Check status word 0 of ERR bit ERROR Check parameter exists and that it is Y v Tx Stamp No No Parameter a peadra me Rx_Stamp_No written OK P Yes v lt Tx_Stamp_No 6 v Yes END OF SEQUENCE The following telegrams show how to set the digital speed reference 1 Pr 01 021 to 12553 9 rpm 32 bit value is 125539 in the drive 90 Unidrive M SI PROFIBUS User Guide Issue Number 3 TELEGRAM 1 The first telegram from the PROFIBUS DP master indicates a WRITE cycle by setting the R W bit to 0 The stamp number is set to 1 The data byte contains the menu number for the parameter that is to be written to uoneuuojul Example telegram uononpoaul Bt p meb bne brea j mmo 0001 0001 0000 0001 Data word 0x1101 Stamp number 1 Menu 1 uonejejsut Jeoiueuoe A uonejiejsut 1291439913 When the first telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal t
90. geuuojul uononpoaul Jeolueyoo uonejejsul uonejiejsut jeoujper E S o o So es OF So aa Ga Fault number Contains the fault numbers of the recorded faults Element Description 0 Last unacknowledged fault Pr 10 020 1to7 Acknowledged faults in reverse order of occurrence Fault buffer scaling Defines the number of fault situations and the number of faults per situation factory set to 8 and 1 respectively NOTE The fault buffer contents are stored in internal memory and will be cleared on a module reset or power down Unidrive M SI PROFIBUS User Guide 77 Issue Number 3 vA alyosd sonsouBeiq peoue pv EINE cy SseJnjeoj soinjyeo Jo uesso p KoeBe SUS xepu 12 13 Drive Identification The PROF ldrive specification specifies certain objects that allow network tools to obtain information on the features supported by the slave SI PROFIBUS supports the following PNU s for this purpose 12 14 78 Table 12 7 Identification PNU s Designation Description 964 Drive Unit Identification Identifies the drive unit 965 Profile Identification Identifies the PROF Idrive profile version 974 Faremeter ACCESS Parameter channel request lengths Identification 975 Drive Object Identification Identifies the drive object 978 List of all DO IDs Returns a list of all axis IDs Identification and Maintenance Functions Identification and
91. h byte 0x00 0 TELEGRAM 4 The fourth telegram from the PROFIBUS DP master acts as the indication to the slave to send the mid high data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 Example telegram Sit m one Brea f beo C7 Value 1001 0100 0000 0000 Data word 0x9400 Stamp number 4 When the fourth telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the mid high byte of the parameter value into the data byte Example response b11 b8 b7 b4 1001 0100 0000 0001 Data word 0x9401 Stamp number 4 Data mid high byte 0x01 1 Unidrive M SI PROFIBUS User Guide Issue Number 3 TELEGRAM 5 The fifth telegram from the PROFIBUS DP master acts as the indication to the slave to send the mid low data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 uogeuuojul Example telegram uononpoaul Bi bisbiz bis Br 5555 1001 0101 0000 0000 Data word 0x9500 Stamp number 5 When the fifth telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the mid low byte of the parameter value into the data byte uonejejsut Jeoiueuoe A uonejiejsut 129139913 Example response peuejs Buje Bi bisbiz bis Br 5350 1001 0101 0010 0101
92. he control method and data size differences must still be considered This So mode does NOT allow direct replacement z 3 When using extended diagnostics Pr S 01 031 3 the appropriate GSD file using the ns correct PROFIBUS identification code OXOBAF must be used e g SP__OB4F GSD 8 For GSD file compatibility please refer to Table 7 1 Selecting the correct GSD file on 3 page 47 9 When the compatibility mode is set to Auto detect the SI PROFIBUS module will return the actual drive PROFIBUS ID code As of firmware V01 02 00 02 two PROFIBUS ID codes are used for Unidrive M UniM 200 300 400 uses ID code OEA5 and UniM 700 800 uses ID code ODB8 this means g there are two GSD files for Unidrive M and users must ensure the correct file is used for E the selected drive Previously only one ID code ODB8 and therefore one GSD file was t used for all Unidrive M drives E 5 Unidrive M200 M300 M400 are not supported in versions V01 02 00 02 or earlier dn Q T If the Reserved option is selected then the module will operate in Auto detect mode as Q Unidrive M SI PROFIBUS User Guide 41 Issue Number 3 6 4 Module menu 2 Input mapping Menu 2 contains all the mapping parameters relating to the IN channels of the module The values set in each parameter are in the format of S mm ppp where S slot number of the source parameter mm menu number of the source parameter ppp parameter number of the source parameter IN channel Mappin
93. he equivalent of a temporary patch lead that is removed after use About SI PROFIBUS SI PROFIBUS is a fieldbus option module that can be installed to the option module slot s in any of the following drives to provide PROFIBUS DP slave connectivity Unidrive M700 M800 Unidrive M200 M300 M400 firmware V01 03 00 or later It is possible to use more than one SI PROFIBUS or a combination of SI PROFIBUS and other option modules to add additional functionality such as extended I O gateway functionality or additional PLC features Figure 2 3 SI PROFIBUS module General specification Features The following section gives a brief overview of the functionality available within SI PROFIBUS Supported data rates bits s 12M 6 0M 3 0M 1 5M 500k 187 5k 93 75k 45 45k 19 2k 9 6k Maximum of 32 input and 32 output cyclic data words supported PROFIdrive profile V4 supported DP V1 Non cyclic data channel supported Parallel acyclic cyclic data communication The SI PROFIBUS is powered from the host drive s internal power supply Issue Number 3 uonejejsut uon nponu jeolueyoo uol e 2 Sul jeoujoer o 0 oO RE 2a U m E 3 a I a o e i a D o s lt Q a m amp pue joquog oi o o UoN sonsouBeiq ep ees pA eiyoud peoueApy e upidOHd soinjyeo sounjyeo Jo Auessoj9 AoeBe swa xepu 2 4 2 4 1 2 4 2 10 Option module identification Th
94. i1ueyoo uonejejsul uoneliejsut je ujer peuejs Dunes Sella SJojouieJeqd aso o lt 9 gt Q D E D oioKo uoN SpJOM snjejs pue jou0D sonsouBeiq va argoad peouenpy EXIF seJnjeej seJnjeoj Jo uesso p KoeBe suuej xepu Bit Quick Stop Not Activated Value Quick Stop command is not active Quick Stop Activated Switch on Inhibited Quick Stop command is active Power supply switched on the drive is inhibited Switch on Not Inhibited Warning Present Power supply switched on Not Implemented No Warning Present Speed Error Within Tolerance Not Implemented At Speed Pr 10 006 1 Speed Error Out Of Tolerance Control Requested At Speed Pr 10 006 0 The automation system is requested to accept control No Control Requested Speed Or Frequency Reached Exceeded Speed Or Frequency Not Reached o Ru 11 15 Control only possible on the device itself At Speed Pr 10 006 1 or Above Set Speed Pr 10 007 1 At Speed Pr 10 006 0 and Above Set Speed Pr 10 007 0 Reseved EE Unidrive M SI PROFIBUS User Guide Issue Number 3 12 41 PROFIdrive PNU access PROF ldrive parameters PNUs may be accessed by placing the PNU number in the Parameter Index field and any sub index value should be placed in the Sub index field of the PROF Idrive request The full list
95. ice A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves Direct data mapping Data is sent directly to the mapping parameters in the drive rather than the parameters redirecting the data to another parameter Unidrive M SI PROFIBUS User Guide 101 Issue Number 3 uoneuuojul uojonpo ju jeolueyoo uonejejsut uonejejsut 1291439913 soll 9uejs a OQ mo es og s so om a2 a Fa sainjeay semeej sonsouBel peoue py eAupldOHd S KfoeBe1 suue JO Aiesso 5 xepu 102 Double word A 32 bit word this may be signed or unsigned DPV 0 1 2 This describes the specification version of SI PROFIBUS used Grounding Earthing Describes the electrical safety or shielding connections for the module Endian format When a value uses more than eight bits to represent its value it needs to be sent in sets of eight bits bytes across the network the endian format determines the order the bytes that constitute the whole value are transmitted Event task A way to use a message or change of state to trigger a software routine FREEZE A method of preventing input state changes from being sent to the master until a FREEZE signal is sent this is used in conjunction with UNFREEZE Grounding See Earthing Groups Groups are used with the SYNC and FREEZE commands A group defines which nodes respond to a specific SYNC or FREEZE command G
96. ing non cyclic data Mode 2 PPO 4 Word Data consistency is important when using PPO4 word Mode 2 non cyclic data as each non cyclic message consists of four words If there is data skew between any of the non cyclic words this could result in the wrong data value being written to the wrong parameter The GSD file provides the PPO 4 Word which consists of four IN OUT words with consistency If non cyclic data is required and the DP V1 non cyclic channel is not used then the non cyclic CT Single Word and or the PPO 4 Word modules must be selected A total of eight different modules can be selected to configure the input and output configuration of the node Unidrive M SI PROFIBUS User Guide Issue Number 3 15 Glossary of terms Address This is the unique network identification given to a networked device to allow communication on a network When a device sends or receives data the address is used to determine the source and the destination of the message Bit A binary digit this may have the value of 1 or 0 Block mapping A method of mapping a range of consecutive parameters using only two ascending parameters This means that by using two mapping parameters up to 32 consecutive mappings may be made Byte A collection of eight binary digits that collectively store a value This may be signed or unsigned Casting The process of changing between data sizes without changing the value represented e g changing from 16 bit to
97. is required for reliable operation at high data rates this can be achieved by exposing the cable shield of each PROFIBUS DP cable and ensuring that they are clamped to the drive grounding metalwork as close as possible to the drive termination contact your supplier or local Control Techniques Drive Centre for more information Unless there are specific reasons for not grounding the network it is recommended that 4 5 4 6 all drive network connections are correctly grounded Failure to do so may reduce the noise immunity of the system If there are specific issues with grounding alternative methods of connection should be considered such as the use of fibre optic cable General grounding considerations It is essential that good grounding is provided not only for network stability but more importantly electrical safety In all instances electrical regulations should be adhered to As a guide the network cable should be grounded at least once per cabinet ideally on each drive Network termination It is very important in high speed communications networks that the network communications cable is installed with the specified termination resistor network at each end of each segment This prevents signals from being reflected back down the cable and causing interference Most ranges of connectors provide specific parts that incorporate the termination network Such connectors derive the power from the host device and if the host device is sw
98. itched off the termination will be lost To avoid this situation a separate termination device is available that is powered independently of the network devices For more information go to www profibus com Failure to terminate a network correctly can seriously affect the operation of the network 16 If the correct termination networks are not installed the noise immunity of the network is greatly reduced Each network segment must be correctly terminated Unidrive M SI PROFIBUS User Guide Issue Number 3 4 7 Maximum network length device loading The maximum number of devices that can be connected to a single PROFIBUS DP network segment is 32 this includes all nodes and any repeaters The maximum lengths of cable for a segment depend on the data rate and are shown in Table 4 2 Repeaters or fiber optic segments can be used to extend the network allowing more than 32 nodes to be connected on the network The maximum number of nodes on a single network is 125 For full details on designing and installing a PROFIBUS DP network refer to Installation 4 8 4 9 4 10 4 11 Unidrive M SI PROFIBUS User Guide 17 Guidelines for PROFIBUS DP FMS This document is available from the PROFIBUS website at www profibus com Table 4 2 PROFIBUS DP maximum network cable lengths Data rate Maximum trunk length bits s m Node addressing SI PROFIBUS has a valid address range of 1 to 125 Addresses
99. ive This mode only changes the network to emulate the selected drive on the network Changes to the control method and data size differences must still be considered This mode does NOT allow direct replacement When using extended diagnostics Pr 1 01 031 3 the appropriate GSD file using the correct PROFIBUS identification code OXOBAF must be used e g SP__OB4F GSD For GSD file compatibility please refer to Table 7 1 Selecting the correct GSD file on page 47 80 Unidrive M SI PROFIBUS User Guide Issue Number 3 14 2 PPO Types SI PROFIBUS supports all five types of Parameter Process data Object PPO defined by the PROF idrive profile V4 The PROF drive profile features four specific functions which the SI PROFIBUS translates into appropriate drive functions PROFIdrive control word Main Setpoint PROFIdrive status word Main Actual Value Each PPO mode uses a unique combination of features which are detailed in the following sections Do not confuse PPO 4 mode with Mode 2 PPO 4 word non cyclic data they are not the same 14 2 1 PPO 1 Table 14 3 PPO 1 mapping structure IN Data Function Mode 2 non cyclic data PPO 4 word Function Mode 2 non cyclic data PPO 4 word PROFIdrive status word PROF Idrive control word Main Actual Value 14 2 2 PPO 2 Table 14 4 PPO 2 mapping structure IN Data Function Mode 2 non cyclic data PPO 4 word word 4 PROFIdrive stat
100. ive M SI PROFIBUS User Guide Issue Number 3 5 2 4 Menu 3 Output mapping S 03 001 Output destination 1 0 to 5 01 004 0 06 042 03 002 Output destination 2 Oto 5 01 004 0 01 021 RW Num DE PT US 03 003 Output destination 3 O to 5 01 004 0 00 000 RW Num DE PT US 03 004 Output destination 4 Oto 5 01 004 0 00 000 RW Num DE PT US 03 005 Output destination 5 Oto 5 01 004 0 00 000 RW Num DE PT US 03 006 Output destination 6 Oto 5 01 004 0 00 000 RW Num DE PT US 03 007 Output destination 7 0 to 5 01 004 0 00 000 RW Num DE PT US 03 008 Output destination 8 0 to 5 01 004 0 00 000 RW Num DE PT US 03 009 Output destination 9 O to 5 01 004 0 00 000 RW Num DE PT US s 03 010 OU putee inanon 0105 01 004 0 00 000 RW Num DE PT US Output destination 03 011 y 0 to 5 01 004 0 00 000 RW Num DE PT US 03 012 OY n ai 0 to 5 01 004 0 00 000 RW Num DE PT US 03 013 CU see aaa ud 0 to 5 01 004 0 00 000 RW Num DE PT US Output destination 03 014 Hh 0 to 5 01 004 0 00 000 RW Num DE PT US Output destination 03 015 TE 0 to 5 01 004 0 00 000 RW Num DE PT US Output destination 03 016 i 0to 5 01 004 0 00 000 RW Num DE PT US Output destination 03 017 e 0 to 5 01 004 0 00 000
101. jeay Aoebo7 swa Jo uesso o Unidrive M SI PROFIBUS User Guide 13 Issue Number 3 Figure 3 3 Installation of an SI option module on Unidrive M600 to M810 Option module slots must be used in the following order Slot 3 Slot 2 then Slot 1 Move the option module in the direction shown 1 2 Align and insert the option module tab into the slot provided This is highlighted in the detailed view A Press down on the option module until it clicks into place 14 Unidrive M SI PROFIBUS User Guide Issue Number 3 4 Electrical installation 4 1 Terminal descriptions SI PROFIBUS has a standard 9 way female D type connector for the PROFIBUS DP network Figure 4 1 SI PROFIBUS terminals oR o Table 4 1 SI PROFIBUS D Type pin out D type Terminal Function Description RxD TxD P Positive data line B Red RxD TxD N Negative data line A Green uoneuuojut uononpogu jeynueuosW 7 eves WOESSIE uonejeisu IRETE E SJojouleJed P meo sald aso amp jep oi o 8 6 5SVISO 5V isolated use only for termination resistors 5 OV ISO O V isolated use only for termination resistors 4 CNTR P RTS line ejep 1 Shell Shield Cable shield connection Figure 4 2 D Type connections RxD TxD P Red Cable screen braided shield CNTR P OV ISO for termination only RxD TxD N Green 5 V ISO for termination only Control Techniques recommend using co
102. message on the network sonsouBeiq Termination This is used at both ends of a network segment to prevent reflections and reduce noise On PROFIBUS termination is provided by a powered network of resistors UNSYNC Used to restore outputs in a slave to normal operation following a SYNC command peoue py e upIdO amp d soinjeo UNFREEZE Used to restore inputs in a slave to normal operation following a FREEZE command sounjeay KfoeBe1 Watchdog A method used to determine if a communication system is ok A typical watchdog scheme uses a handshaking system to check both the master and slave are participating in communications suue jo Aiesso 5 Word A collection of 16 binary digits xepu Unidrive M SI PROFIBUS User Guide 103 Issue Number 3 Numerics 16 bit parameter access orahia ea a aidaa iad nnen nenne 93 2 cyclic channels only oon II Ln eite err 49 A Abort CT single word nitentem aeg 93 Above set speed a Dl adai B Below set speed e edi inet 58 C gr c Cable shield connections Ga liOns ee nei hatte ceat deo e Sepe situe dU Hx De ce PUR eet Compliance aici eiie cat merit t be Te EN ihe empires ERE ERG eed co Configuring the profile Connectors Consistency EX Control word 33 os uo ee teedi cies EE IE ocr EHE RE ERE TANIEN ERE eee CT single word protocol ccccccceceeeeeeeeeneeeeeeeeeeeeeeeeeeeeaeee
103. milar to the method used in the drive for mapping analog and digital I O The reference for the Source or target parameter is entered in the mapping parameter in the form mm ppp where mm menu number of the target source parameter ppp parameter number of the target source parameter Unidrive M SI PROFIBUS User Guide Issue Number 3 Table 8 1 SI PROFIBUS mapping parameters wee o gane Pr S 02 001 Pr S 03 001 Pr S 02 002 Pr S 03 002 Pr S 02 003 Pr S 03 003 Pr S 02 004 Pr S 03 004 Pr S 02 005 Pr S 03 005 Pr S 02 006 Pr S 03 006 Pr S 02 007 Pr S 03 007 Pr S 02 008 Pr S 03 008 Pr S 02 009 Pr S 03 009 Pr S 02 010 Pr S 03 010 Pr S 02 011 Pr S 03 011 Pr S 02 012 Pr 03 012 uoneuuojut uononpoau uonejejsut JeoiueuoejA l N o Al A we N gt uoneljejsul jeoujer Sol SJOJOWECIE d peueis aso Bue 29 Ene z 7 lt e o fe 9 o a SpJOM snjejs Pr S 03 025 Pr S 03 029 Pr S 03 030 Pr S 02 025 Pr S 02 031 Pr S 03 031 Pr S 02 032 Pr 03 032 PROFIBUS does not use decimal points For example in Open Loop mode digital speed reference 1 Pr 01 021 has units of Hertz accurate to 1 decimal place To write a value of 24 6 Hz to Pr 01 021 the value must be transmitted as 246 sonsouBeiq 12 12 25 25 Seinjeoj peoueA py eAupidOHd SeJnjeoj foeBe If a mapping parameter is set to an invali
104. mp Pr 01 021 16384 Example 1 Open loop drive The drive maximum speed clamp Pr 1 06 50 0 Hz The main setpoint value sent from the master to the drive is 13107 Giving _ 13407 x 50 0 Pr 01 021 gt 40 0Hz Example 2 Closed loop servo drive The drive maximum speed clamp Pr 1 06 1500 0 rpm The main setpoint sent from the master to the drive is 10923 Giving Pr 01 021 10923 x 1500 0 _ 4999 orpm 16384 Main Actual Value Main Actual Value is the speed feedback reference defined in the PROF drive profile It is scaled such that 32768 to 32767 is 200 of the maximum speed clamp Pr 01 006 The converted value is derived from Pr 02 001 for open loop drive operation Pr 03 002 RFC A or RFC S drive operating modes The formula used for this conversion is SF x 16384 Main Actual Value 7 i M Max Speed Clamp Where SF is the speed feedback parameter i e Pr 02 001 or Pr 03 002 depending upon the drive operating mode Example 1 Open loop drive The drive maximum speed clamp Pr 01 006 50 0 Hz The drive post ramp reference Pr 02 001 35 0 Hz Unidrive M SI PROFIBUS User Guide Issue Number 3 12 5 12 6 Unidrive M SI PROFIBUS User Guide 67 Giving _ 35 0 x 16384 MAN 50 0 11469 Example 2 RFC A RFC S drive The speed feedback Pr 03 002 1000 0 rpm The main actual value can be calculated by 16384 MAV 1000 0 x 1500 0
105. n OUT SUCCESS ERROR 16 bit data TASK ID could value written to not be parameter executed Word 3 v Specify DATA LOW WORD in OUT Word 0 v Specify TASK ID and MENU in OUT v Y SUCCESS ERROR 32 bit data value Parameter is written to parameter read only END OF SEQUENCE Table 14 22 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to write to the drive Table 14 22 PPO 4 Word write TASK ID and RESPONSE ID combinations pe nr TASK RESPONSE Message status ID ID No Task No message active Write Parameter Value 16 bit Parameter 16 bit written successfully Write Parameter Value 32 bit Parameter 32 bit written successfully Write Parameter Value 16 bit TASK ID 7 could not be executed Check the error code in IN word 3 for the reason why Write Parameter Value 32 bit TASK ID 8 could not be executed Check the error code in IN word 3 for the reason why Write Parameter Value 32 bit Unidrive M SI PROFIBUS User Guide Issue Number 3 Parameter is read only and cannot be written to 99 uoneuuojul uononpoaul Jeoiueuoe A uonejejsut uonejejsut 1291439913 soll Quels z o bt e S Q 9 a 9 m a SpJOM snjejs sonsouBeiq SoJnjeoj Seinjeoj Jo uessojo SIS peoue py e upiJO d swa x pu
106. nd is withdrawn Stop The motor decelerates under ramp control using Quick Stop deceleration rate2 Pr 02 022 inhibits the drive and go to Switching On Inhibited state Enable i Enable the drive and accelerate to the specified setpoint Operation Inhibit the drive Drive coasts down ramp function generator to zero or tracking and into the Switched On status Enable RFG Enables the ramp function generator output Ramp function generator output is set to zero Main contactor remains in the drive is not isolated from the supply drive ramps down along the current limit or at the DC bus voltage limit Disable Operation Reset RFG Unfreeze RFG Unfreezes the ramp function generator output Freezes the current setpoint from the ramp function generator Enable Selected value at the ramp function generator input is Setpoint switched in Inhibit Selected value at the ramp function generator input is Setpoint set to 0 Group signal is acknowledged at a positive edge the drive is in the fault status until the fault has been removed and then goes into switch on inhibit state Freeze RFG Fault Acknowledge No meaning Unidrive M SI PROFIBUS User Guide Issue Number 3 Prerequisite Operation is enabled and Main Setpoint 0 The drive accelerates as fast as possible to jogging setpoint Pr 01 005 in the forward direction The drive brakes as fast as possible along the RFG if
107. ng written to Example telegram st p ib bne brea bab 0001 0110 0110 0011 Data word 0x1663 Stamp number 6 Data low byte 0x63 99 When the sixth telegram has been received and processed in the slave node it will write the data Pr 01 021 12553 9 as transmitted the decimal point is automatically inserted when the data is transferred to the drive If the operation is successful the ERR bit is reset to 0 and the telegram is reflected in the non cyclic IN word Unidrive M SI PROFIBUS User Guide Issue Number 3 Example response success b11 b8 b7 b4 0001 0110 0110 0011 Data word 0x1663 Stamp number 6 Data low byte 0x63 99 If there was a problem with writing the data to the defined parameter e g parameter is read only does not exist or data is out of range the ERR bit is set to 1 uoneuuojul uononpoaul uonejejsut Jeoiueuoe A Example response success b11 b8 b7 b4 0101 0110 0110 0011 Data word 0x5663 Stamp number 6 uonejejsut 129139913 peyeys Buje 14 6 4 Abort CT Single Word non cyclic message The internal state machine that controls the non cyclic data transfer will only accept a new telegram if it contains the next expected telegram i e after accepting Telegram 2 the state machine will only respond to Telegram 3 If Telegram 4 is received it will be ignored SJojoeuleJed soll aso If an error occurs in the master controller that causes the telegrams to get out
108. nnectors approved by PROFIBUS International at all times Unidrive M SI PROFIBUS User Guide 15 Issue Number 3 z 3 o i 2 amp Q 9 23 Q m a sonsoubeig SpJOM snje s pA eiyoud oueAPY AUPIHOHd sue sounjeo SeJnjeoj Ea Jo Messo E 4 2 4 3 PROFIBUS DP connectors There are numerous manufacturers of PROFIBUS DP connectors Always ensure that any connectors used on the network are fully approved for use with PROFIBUS DP networks Some of the connector types available include built in termination that allows the network to be isolated this can be very useful when fault finding For data rates above 1 5 Mbs connectors installed with integrated inductors should be used PROFIBUS DP cable PROFIBUS DP networks can run at high data rates and require cable specifically designed to carry high frequency signals Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network Cable specifications and a list of approved manufacturers of cable for use on PROFIBUS DP networks are available on the PROFIBUS Nutzerorganization PNO website at www profibus com LH Control Techniques can only guarantee correct and reliable operation of the SI 4 4 PROFIBUS if all other equipment on the PROFIBUS DP network including the network cable has been approved by the PNO and is correctly installed Cable shielding Correct shielding of the PROFIBUS DP cable
109. o many OUT channels configured soll aso e sisjouereg ouis o x 9 gt Q 2 m D ejep No mapping OUT cyclic data length is 0 or there is no OUT mapping Write mismatch Parameter write error parameter may not exist or might be read only Hole in mappings OUT data mapping parameters are not contiguous N C mapping err A non cyclic data mode has been mapped more than once in the OUT data mapping configuration parameters Duplicate error Two or more OUT cyclic data mapping configuration parameters have been configured with the same destination parameter reference Length mismatch Mismatch in data length OUT MODE AND PPO Non cyclic and PPO STD Tel 1 both exist Data align w PPO Can t configure PPO when data alignment is set to 32 bits oioKo uoN SpJOM snjejs pue jouog sonsoubBeiq pA eiyoud No PPO support PPO1 PPOS not supported SP A D OUT map Output Mapping can t be set by GSD file automatically in SP mode OUT AND CTNC PPO4 Unidrive M SI PROFIBUS User Guide Issue Number 3 CTNC and PPO4 not supported 63 Seinjeoj foeBe peoue py e upIHO d SseJnjeoej suual Jo Messo xepu Figure 11 1 Diagnostic flow chart Remove all power wait 30 seconds re apply power If problem persists exchange module Check Pr S 01 022 referto error codes and Pr S 01 023 in the manual N i Is Pr
110. o the master controller program that the first telegram of the message has been received and understood and the second telegram can be transmitted peyeys Bue TELEGRAM 2 The second telegram from the PROFIBUS DP master also indicates a write cycle but the stamp number is now set to 2 The data byte would contain the parameter number for the parameter that is to be written to SJojouleJed soll aso Example telegram b11 b8 b7 b4 0001 0010 0001 0101 Data word 0x1215 Stamp number 2 Parameter 21 eyep a10A9 When the second telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the second telegram of the message has been received and understood and the third telegram can be transmitted z o S S Qo 9 a Q gt a SpJOM snjejs TELEGRAM 3 The third telegram from the PROFIBUS DP master has the stamp number set to 3 The data bits contain the high data byte for the parameter being written to sonsouBeiq Example telegram b11 b8 b7 b4 0001 0011 0000 0000 Data word 0x1300 Stamp number 3 Data high byte 0x00 When the third telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the third telegram of the message has been received and understood and the fourth telegram can be transmi
111. of step the master controller program should time out abort the message and reset the non cyclic state machine eyep olo o A Mode 1 non cyclic message can be abandoned by resetting the state machine This is done by setting the non cyclic word to 0 bi rss wu 559 Value 0000 0000 0000 0000 Data word 0x0000 Stamp number 0 Example telegram z o b 2 S Q 9 Q m a SpJOM snjejs 14 6 5 16 bit parameter access Normally six telegrams would be required to access drive parameters using Mode 1 non cyclic data When accessing 16 bit data only four telegrams are required If an attempt is made to read a 32 bit parameter from the drive the parameter value will be returned provided that the parameter value does not exceed signed 16 bit limits If the value is larger than a signed 16 bit value the ERR bit will be set When writing data to a 32 bit parameter the 16 bit data will be treated as a signed 16 bit data value This limits the range that can be written to a 32 bit parameter sonsouBeiq SoJnjeoj Seinjeo Jo uessojo SIS peoue py e upiJO d swa x pu Unidrive M SI PROFIBUS User Guide 93 Issue Number 3 14 7 Mode 2 PPO 4 Word mode PPO 4 word mode of non cyclic data is a simple method of accessing non cyclic data without the need for the telegrams required with Mode 1 non cyclic data and its associated overheads Mode 2 has the disadvantage of using four words of mappings
112. of supported PROF Idrive PNUs is shown in Table 12 5 Table 12 5 Supported PROFIdrive PNUs PNU Designation Data type Access Explanation PROFIBUS Node ID Unsigned16 Cae the SI PROFIBUS network node The device system number is a manufacturer specific system ID Returns the currently selected telegram uogeuuojul uononpoaul uonejejsul JEorueuoejA Device system Hutnber Visible string 16 uoneliejsut je ujper Telegram selection Unsigned16 peuejs Bune Sella SJojouieJeqd aso Fault message counter Incremented by one when the fault buffer changes Contains the fault numbers of the recorded faults see Fault Buffer Associated PNU s on page 77 Defines the number of fault situations and the number of faults per situation Unsigned16 Array n Fault number Unsigned16 Array n Fault buffer scaling Unsigned16 ejep olo o Pr S 01 005 Identifies the drive unit ejep oio Ko uoN Array n Unsigned16 Profile ID Unsigned16 Drive Unit ID Identifies the PROFIdrive profile version Directly maps to the PROF Idrive control word Directly maps to the PROFIdrive status word Parameter channel request lengths SpJOM snjejs pue Jouo5 Control Word Unsigned16 Status Word Unsigned16 sonsouBeiq Array n Parameter Access Unsigned16 Identification va argoad peouenpy EX IRE Array n Unsigned16 Array n Unsigned8 Drive Object ID Identifies
113. ously monitoring the drive status word and interlocking it with the control word By default data alignment is set to 32 and therefore the control word will be cast as 32 bit with bits 16 to 31 reserved Unidrive M SI PROFIBUS User Guide 55 Issue Number 3 uoje e Sul uoneuuojul Jeolueyooy uoneljejsu Jeou1o9 3 SpJOM snyejs Seunjeoj peoue py eAupidOdHd sounjeay KfoeBe1 suue Jo fuesso o Ayeyes soll4 peueis gep olo aso Suede uononpoaul sonsoufeiq z o e Q amp 2 te Ei ET E D F a Table 10 2 Control word bit functions Bi Funto Desr ooo O Set to 1 to enable the drive Resetting to 0 will immediately disable the drive and the motor will coast to a stop The external HARDWARE ENABLE signal must also be present before the drive can be enabled Set to 1 with ENABLE set to 1 to run the motor in the forward direction When reset to 0 the drive will decelerate the motor to a controlled stop Set to 1 to jog the motor forward This signal needs to be used in conjunction with the ENABLE bit This signal is overridden by a RUN RUN REV or RUN FWD signal Set to 1 with ENABLE set to 1 to run the motor in the reverse direction When reset to 0 the drive will decelerate the motor to a controlled stop Set to 1 to select the reverse direction Set to 0 to run in the forward direction The RUN signal is used to start and stop the motor Set to 1 to run the motor FWD REV is used
114. previously selected then the motor will continue to jog in the revese direction SpJOM snjejs pue Jouo5 The following sequence can be used to jog the motor in the forward direction Enable network control bit 10 1 0x0400 Remove all STOP commands bits 1 amp 2 1 0x0406 S1 to S2 Set drive to Ready bit 0 1 0x0407 S2 to S3 Enable operation bit 3 1 Ox040F S3 to S4 Set jog direction forward bit 821 and bit 920 0x050F or Set jog direction reverse bit 8 0 and bit 921 OxO60F Set jog setpoint value Pr 01 005 The motor should now jog at the speed set by the jog setpoint value vA agod sonsouBeiq peoue pv ERME c j sonjyeo SseJnjeoj Jo uesso p KoeBe suuej xepu Unidrive M SI PROFIBUS User Guide 71 Issue Number 3 12 9 72 PROF Idrive control word The PROFldrive control word consists of sixteen control bits some of which are reserved Table 12 3 PROFIdrive control word bit functions Valus No Ramp Stop Ramp Stop command is withdrawn The motor decelerates under ramp control using Ramp Stop deceleration rate1 Pr 02 021 inhibits the drive and go to Ready For Switching On state No Coast Coast Stop command is withdrawn Stop Voltage disconnected inhibit the drive output stage Main contactor is de energized if available and the drive goes into the Switching On Inhibited status Motor coasts down Coast Stop No Quick Quick Stop comma
115. rable mapping using word 10 Pr S 03 004 to Pr S 03 020 word 10 word 12 word 13 word 12 word 13 82 Unidrive M SI PROFIBUS User Guide Issue Number 3 14 3 Configuring the Profile To configure the profile to the required PPO mode use the following sequence uoneuuojul Set Pr S 01 014 to 16 to enable data alignment Set Pr S 01 008 to the required PPO profile PPO1 to PP05 5 to 9 Configure the mapping parameters as required Set mm 000 to Save parameters or 1000 and press the reset button 01 002 or Pr MM 007 set to On to reset SI PROFIBUS Check Pr S 01 006 doesn t indicate a fault see Table 6 4 on page 32 for further details Save the drive parameters refer to the relevant drive documentation for more jeoueyoay UOROMPOAUL uonejejsut uonejiejsut 1291439913 information Pr S 01 002 or Pr MM 007 will automatically reset to Off when the process is complete 29 a5 LE After the PROFIdrive profile has been configured and the module reset if no a configuration error is detected then the corresponding mapping parameters will be set S automatically by the master controller E If the PROFIdrive profile has been configured after settings have already been made to 3 the cyclic data mapping parameters the first two or three mapping parameters 19 depending upon the PPO type chosen will be over written 20 Oo 14 4 Setting the non cyclic mode non cyclic over cyclic S w Sending non
116. re Second Failure Telegram selection S 01 008 If the telegram selection Pr S 01 008 Auto 0 the number of input and output cyclic words and the input and output mappings are set by the PLC master on the network The mapping configuration parameters can still be changed on the keypad but when the module or PLC is reset or power cycled the PLC will set them up as originally configured If the telegram selection Pr S 01 008 Custom 1 the number of input and output cyclic words and the input and output mappings are set by the user If the telegram selection Pr S 01 008 STD Tel 1 2 the number of input and output cyclic words and the input and output mappings are set by the PROFIdrive parameters The mapping configuration parameters can still be changed on the keypad but when the module is reset or power cycled the module will set them according to the selected telegram Pr S 01 008 Unidrive M SI PROFIBUS User Guide Issue Number 3 The input mappings are PNU968 and PNU1001 and the output mappings are PNU967 and PNU1003 Pr S 02 001 will display 5 00 968 PNU968 Pr 02 002 will display 5 01 001 PNU1001 Pr 03 001 will display 5 00 967 PNU967 and Pr 03 002 will display 5 01 003 PNU1003 Table 6 5 shows all the possible values of the Telegram selection Pr S 01 008 uoneuuojul uojonpo qu Table 6 5 All values for Telegram selection Description uonejejsul Jeolueyoo
117. received on the network PPO Modes Different operational modes within the PROF Idrive profile PPO 4 mode is not the same as Mode 2 PPO 4 Word mode non cyclic data uononpoaul PPO 4 Word non cyclic mode see Mode 2 non cyclic in this section This is not the same as PPO4 mode uonejejsut Jeoiueuoe A Response ID The response code of the message received when using PPO4 word non cyclic communication uonejejsut 1291439913 Scan rate See Poll rate in this section Segment An electrically separate part of the network Each segment requires correct termination to ensure reliable operation Due to electrical limitations the maximum number of devices on a segment is limited to 32 Shielding A connection to provide additional noise immunity on a network cable Slave A device on the PROFIBUS network such as a drive or sensor A slave device will only respond to messages from a master soll els Status word A value that denotes the status of the drive Each bit within the word will have a specific meaning SYNC A method of preventing output state changes from being actioned by the slave until a SYNC signal is sent this is used in conjunction with UNSYNC Task ID The code used to describe the purpose of a message using PPO 4 word non cyclic communication 1 a Q mo es og 9 z9 Sm a2 a Fa Telegram A message used within Mode 1 non cyclic data communication This term is sometimes used to represent a generic
118. sage is shown in Table 9 1 uonejejsut jeouje r Table 9 1 Single message parameter limitation Maximum number of parameters 1650 0 az Read 20 20 Write 12 10 9 3 1 DP V1 Parameter channel Drive parameters and PROF Idrive PNU s can be accessed using the PROFIdrive Parameter Channel the global slot number 0 and slot sub index 47 This is illustrated in Figure 9 1 Soll S DP V1 slot numbers 1 and 2 are also allowed when the DP V1 slot index 47 for the I amp M function DP V1 slot must be zero eyep LUE The PROF Idrive PNU s and amp M functions will be accessible using functions available in the master z E rn lt Q ES Q e 3 Q a soinjeay soinjeay sonsouBel ISDJOM Snjels peouE py e upldOHd d foeBe1 Jo Asesso 5 Unidrive M SI PROFIBUS User Guide 53 Issue Number 3 Figure 9 1 DP V1 Parameter Channel DPV1 Slot DPV1 Slot index PROFidrive index PROFIdrive PNU sub index PROFIdrive PNU 900 to 999 Slot parameter 40000 S MM PPP Slot parameter sub index PROF Idrive PNU 60000 to 65535 I amp M Sub index The parameter channel requires a parameter index and subindex to access parameters Drive parameters can be accessed by placing the result of the equations If the parameter is 99 or less 10000 S x 10000 MM x 100 ppp in the parameter Index field of the PROF Idrive request the sub index field is always set to
119. seeeeseeeeeeeeeeeees Current limit Cyclic data D Data aligriment conie ee a BA E e Data configuration Data formats Data mapping errors Device loadirnig 5o te e E eitis eee ei e Ie m A ERES Diagnostics Ms Disabling cyclic data channels cccccccceeeeeeeeeeeeeeeeeeeeeteeeeeseeeeeeseneeeeees Disabling mappings iea na e e E R EE enne DP V1 Drive Identification nisciun ida DP V4iFaulBuffer 2 anre te Lr ee aoe eaten DP V1 Identification and Maintenance Functions DP V1 Parameter ACCESS nennen nnne nennen DP V1 PROFIdrive PNU access sssssseseeeeeeeneene nennen DP V1 Standard Telegram 1 DP V1 State Machine Drive active E Drive Identification araoe cite rni ees DTV PO PINOUL MM UE Dynamic brake active sesssssssssssseseseeee nnne nennen nnne nennen E Electrical installation 2 rne nee cie eee einn cn de eterne 15 Electrical safety Environmental limits 104 Unidrive MSI PROFIBUS User Guide Issue Number 3 F Fault Butters os eod Ae aite ta eA 76 Formate Meet nce ed t Te cee eaves genet tees 48 FREEZE 55 4 a poteet eet e tb d EG eid aab Dole te edes 79 G Getting started 5 5 o ate n Reed 18 Glossary of terms e rn wins eh ine EP ee ed EN 101 GSD compatibility 13 ertt dic e etri ree 47 H Hardware enable 5 sive ged ali et nee eee ated 55
120. successful read response to the read instruction illustrated above The value returned is 15284 which equates to 1528 4 rpm Table 14 21 PPO 4 Word read response example IN data bias value Function x valu we i551 oTi etos Sr 0 Il RESPONS 0x6002 Ein 0x0100 PARAMETER 1 0x0000 DATA HIGH word 0 Ox3BB4 DATA LOW word 15284 It is important that the correct module is selected from the GSD file to ensure that the 98 PPO 4 word mode block is consistent otherwise data skew may occur If the OUT data words 0 and 1 are left at the same value the target parameter will be read or written to depending on the TASK ID on every data cycle If the PPO 4 command is left in the data words the read will be executed on every poll of the network effectively providing a continuous read Care should be taken to ensure the parameters for the read are set up before the TASK ID is changed from 0 to prevent incorrect data in the returned value Unidrive M SI PROFIBUS User Guide Issue Number 3 14 7 4 Writing parameters using PPO 4 Word mode Figure 14 4 shows the sequence of events required to write to a drive parameter using the PPO 4 Word non cyclic channel Figure 14 4 PPO 4 Word write sequence 0to 0 v Set OUT Word Specify PARAMETER in OUT Word 1 v CASE RESPONSE 4 J5 v Word 2 v Specify DATA HIGH WORD i
121. t will be displayed on the drive when a problem is detected with the SI PROFIBUS or when the SI PROFIBUS initiates a trip Table 11 1 Possible drive trip conditions Trip Description The drive has detected that an option module is present but is unable to SIGPSHIE communicate with it due to a hardware fault SlotX Error User trip generated by the SI PROFIBUS SlotX Not This trip will occur if a drive slot was previously configured with an option module installed but on power up no option module was detected This trip will occur if a drive slot was previously configured with an option module but on power up a different option module was detected Replacing a SI SlotX Different PROFIBUS module with another one will not initiate this trip The trip will also occur if a SI PROFIBUS module is installed to a previously unused slot 60 Unidrive M SI PROFIBUS User Guide Issue Number 3 11 2 1 Module error codes If the SI PROFIBUS detects an error during operation it will force a drive trip Table 11 2 shows all the possible SI PROFIBUS error codes uoneuuojul Table 11 2 SI PROFIBUS error codes Value Text Description uononpoaul 200 No trip No trip 201 SW fault Software fault 02 2 BG overrun Background task overrun 203 FW invalid Invalid firmware 204 Drv unknown Unknown drive type 205 Drv unsupported Unsupported drive type 206 Mode unknown Unknown mode 207 Mode unsupported Unsupported mode 208 FLASH corr
122. the SI PROFIBUS device Drive icon files are also supplied for use with the SI PROFIBUS configuration software GSD files are available from your supplier local Control Techniques Drive Centre or the Control Techniques website www controltechniques com Data consistency There is a potential problem with data skew when transferring blocks of data to and from a PROFIBUS DP master controller Data skew happens when a value is spread across multiple words when this occurs it is possible that only half of the correct value reaches the destination Consider the following example The PLC has a value of OXFFFFFFFF to send to the drive The drive currently has a value of 0x00000000 in a 32 bit parameter The master controller sends the word without consistency The drive receives one 16 bit word and now has the value OxOOOOFFFF The drive receives the next 16 bit word and now has the value OxFFFFFFFF To prevent data skew PROFIBUS DP has a feature known as data consistency Consistent data defines a block of data words that must ALL be updated before ANY of the new data values are transmitted Consequently the message sent over the PROFIBUS DP network will have a true representation of the required data Some PLCs have special functions available to transfer blocks of consistent data to a PROFIBUS DP master controller and guarantee that data skew cannot occur Data configuration The GSD file describes the modules of input or output
123. the drive object List of all DO IDs Returns a list of all axis IDs soinjyeo RO RO RO RO RO RO Indicates a value corresponding to the actual PROFIBUS network Baud rate Actual Baud rate Unsigned16 RO detected as defined by the PROF Idrive specification not the same as RO RO WO RO RO RO RO seJnjeoj swa Jo uesso p KoeBe xepu Unidrive M SI PROFIBUS User Guide 75 Issue Number 3 PNU Designation Datatype Access Explanation Each PNU in the range contains an array of PNUs and drive parameters available Only PNU980 is used and contains an array of parameters starting with the PROFIdrive PNUs excluding PNU980 Defined parameters Array n 989 followed by the drive parameters Unsigned16 The array elements are assigned in increasing sequence and consecutively If an element contains a value of zero then the end of the list has been reached The array elements are read starting at 0 in increments of 59 elements Unsigned16 Unsigned32 Unsigned16 Unsigned32 Actual value Control Techniques specific Setpoint It is beyond the scope of this manual to provide information on the PROFIBUS DP V1 message frame and PROFIdrive PNUs For more information please refer to the PROFIBUS web site www profibus com or contact your local Control Techniques Drive Centre 12 12 Fault Buffer The fault buffer provides a list of acknowledged and unacknowledged faults the buffer cont
124. the parameters relating to the set up of the option module will appear in menu 15 16 or 17 depending on which slot the module is installed in and the set up of the option slot identifiers Pr 11 056 the internal menus of the option module will appear before menu 0 and after menu 41 For M200 M300 and M400 drives the module set up parameters will appear in menu 15 The method used to determine the menu or parameter is as follows PrS mm ppp Where S signifies the option module slot number and mm ppp signifies the menu and parameter number of the option module s internal menus and parameters If the option module slot number is not specified then the parameter reference is for a drive parameter Prmm ppp Where mm signifies the menu allocated to the option module set up menu and ppp signifies the parameter number Pr mm 000 Signifies parameter number 000 in any drive menu Unidrive M SI PROFIBUS User Guide 11 Issue Number 3 eoueyooyy Ms uonejejsut uonejejsul jeoujoe 9 s Bep oip o sed aso d o o So o8 s sO o az Ga sonsouBeiq peo ue py e upidOHd soinjeo seJnjeoj Jo Gesso AoeBe suuej xepu 3 Mechanical installation A Before installation or removal of an option module from any drive ensure the AC supply has been disconnected for at least 10 minutes and refer to section 1 Safety information on page 5 If using a DC bus supply ensure this is fully discharg
125. tted suuej EI Seunjeoj peoue py e up HOtd Jo uessojo SIS xepu Unidrive M SI PROFIBUS User Guide 91 Issue Number 3 92 TELEGRAM 4 The fourth telegram from the PROFIBUS DP master has the stamp number set to 4 The data bits contain the mid high data byte for the parameter being written to Example telegram b11 b8 b7 b4 0001 0100 0000 0001 Data word 0x1401 Stamp number 4 Data mid high byte 0x01 1 When the fourth telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the fourth telegram of the message has been received and understood and the fifth telegram can be transmitted TELEGRAM 5 The fifth telegram from the PROFIBUS DP master has the stamp number set to 5 The data bits contain the mid low data byte for the parameter being written to Example telegram b11 b8 b7 b4 0001 0101 1110 1010 Data word 0x15EA Stamp number 5 Data mid low byte OxEA 234 When the fifth telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the fifth telegram of the message has been received and understood and the sixth telegram can be transmitted TELEGRAM 6 The sixth telegram from the PROFIBUS DP master has the stamp number set to 6 The data bits contain the low data byte for the parameter that is bei
126. tting started This section is intended to provide a generic guide for configuring SI PROFIBUS with a master controller Figure 5 1 is intended as a basic guide but it does detail the stages that are required to achieve a functioning network It is recommended that all of this chapter is read before attempting to configure a system Due to the large number of PLCs masters that support PROFIBUS DP only generic details can be provided Support is available through your supplier or local Control Techniques Drive Centre Before contacting your supplier or local Control Techniques Drive Centre for support please read of this manual to check that you have configured all parameters correctly Before calling please ensure you have the following information readily to hand A list of all parameters in SI PROFIBUS The drive firmware version see the relevant Drive User Guide The SI PROFIBUS firmware version 18 Unidrive M SI PROFIBUS User Guide Issue Number 3 Set up flow chart Figure 5 1 Set up flow chart N Connect all drives together using approved cable connectors repeaters Y Ensure all segments correctly terminated and termination powered 4 Ensure segment lengths are no longer than the maximum limits 4 Ensure a minimum node to node cable distance of 1m Ensure no more than 32 devices per segment including repeaters p Ensure there are no more than 1
127. u number of the parameter that is to be read Example telegram b11 b8 b7 b4 1001 0001 0000 0010 Data word 0x9102 Stamp number 1 Menu 2 When the first telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word back to the PLC This is the signal to the master controller program that the first telegram of the message has been received and understood the second telegram can now be transmitted Unidrive M SI PROFIBUS User Guide Issue Number 3 Example response b11 b8 b7 b4 1001 0001 0000 0010 Data word 0x9102 Stamp number 1 uoneuuojul uononpoau If a telegram produces an error at any point in the sequence the reply to the master will have the error bit ERR set to a 1 uonejejsut Jeoiueuoe A TELEGRAM 2 The second telegram from the PROFIBUS DP master also indicates a READ cycle but the stamp number is now 2 The data byte would contain the parameter number for the parameter that is to be read uonejejsut 1291439913 peyeys Buje Example telegram Bt Bibi bbs Bri 5350 Value 1001 0010 0000 0001 Data word 0x9201 Stamp number 2 Parameter 1 SJojouleJed soll aso When the second telegram has been received and processed in the slave it is mirrored in the non cyclic IN word This is the signal to the master controller program that the second telegram of the message has been received and the third telegram can now be transmitted
128. ul jeoiueuoelA Input source 6 o 5 01 004 0 00 000 Input source 7 o 5 01 004 0 00 000 uonejejsut je uje Input source 8 o 5 01 004 0 00 000 Input source 9 o 5 01 004 0 00 000 popes Bue Input source 10 0 to 5 01 004 0 00 000 Input source 11 0 to 5 01 004 0 00 000 SJojouleJed Input source 12 0 to 5 01 004 0 00 000 Input source 13 0 to 5 01 004 0 00 000 S94 aso Input source 14 0 to 5 01 004 0 00 000 Input source 15 0 to 5 01 004 0 00 000 ejep o10A9 Input source 16 0 to 5 01 004 0 00 000 Input source 17 0 to 5 01 004 0 00 000 Input source 18 0 to 5 01 004 0 00 000 Input source 19 0 to 5 01 004 0 00 000 nput source 20 0 to 5 01 004 0 00 000 pue J0Jju02 9ioKo uoN Input source 21 0 to 5 01 004 0 00 000 SpJOM Sn138 s nput source 22 0 to 5 01 004 0 00 000 Input source 23 0 to 5 01 004 0 00 000 sonsouBeiq nput source 24 0 to 5 01 004 0 00 000 nput source 25 0 to 5 01 004 0 00 000 nput source 26 0 to 5 01 004 0 00 000 nput source 27 0 to 5 01 004 0 00 000 peo ue py e upldO d soinjeo nput source 28 0 to 5 01 004 0 00 000 nput source 29 0 to 5 01 004 0 00 000 nput source 30 0 to 5 01 004 0 00 000 SeJnjeoj KfoeBe1 nput source 31 0 to 5 01 004 0 00 000 nput source 32 0 to 5 01 004 0 00 000 SU9 Jo fuesso o xepu Unidr
129. upt Corrupted NV Flash 209 Dbase init Database initialization error 210 FS init File system initialization error 211 Memory alloc Memory allocation error 212 Filesystem File system error uonejejsut Jeoiueuoe A uonejejsut e2J129 3 Buje an a mo a o a U m o 3 v a o a mo on 0 214 Load configuration Error while loading 216 TOdw Watchdog timeout 217 eCMP eCMP comms failure e E 220 TO eCMP slot 3 Slot 3 eCMP timeout eB 221 TO eCMP slot 4 Slot 4 eCMP timeout gt 11 2 2 PROFIBUS error code If the SI PROFIBUS module detects a PROFIBUS error during operation it will force a drive trip Table 11 3 shows the possible SI PROFIBUS error codes Table 11 3 SI PROFIBUS error codes sonsoubeig Description No trip No trip Link loss Network link lost Invalid data Invalid Fieldbus specific data VPC3 stack VPC3 stack error peo ue py SALP AOUd soinjyeo sounjeay foeBe suual Jo Hesso xepul Unidrive M SI PROFIBUS User Guide 61 Issue Number 3 11 2 3 SI PROFIBUS network diagnostic The operating status of the SI PROFIBUS module can be viewed in the network diagnostic parameter Pr S 01 006 All possible values of this parameter are described in Table 11 4 Table 11 4 SI PROFIBUS operating status Description Network OK Network OK healthy A part of the SI PROFIBUS initialization sequence was not successful If this fault p
130. urther details of the SI PROFIBUS functionality refer to the official PROFIBUS website at www profibus com The following services will be supported Class 1 Master Read and Write Class 2 Master Read and Write Class 2 Master Initiate Connection Class 2 Master Abort Connection A class 1 master must be in data exchange with the slave before it can perform a request via the DP V1 channel A class 2 master must initiate the connection with the slave before sending the DP V1 message likewise it must then abort the connection when it is no longer required LT S PROFIBUS supports the simultaneous connection to one class 1 master and one 52 class 2 master Unidrive M SI PROFIBUS User Guide Issue Number 3 SI PROFIBUS supports the following features DP V1 Parameter Access PROFIdrive PNU Access see section 12 11 PROFIdrive PNU access on page 75 Fault Buffer see section 12 12 Fault Buffer on page 76 Drive Identification see section 12 13 Drive Identification on page 78 Identification and Maintenance Functions see section 12 14 dentification and Maintenance Functions on page 78 uoneuuojul uononpoaul uonejejsul JEorueuoejA The maximum DP V1 message length is restricted to 128 bytes including the four bytes of the DP V1 header and the four bytes of the PROFIdrive request this leaves a maximum of 120 bytes for the parameter data the maximum number of parameters that can be read or written in a single mes
131. us word Main Actual Value Main Setpoint Function Mode 2 non cyclic data PPO 4 word word 4 PROFIdrive control word Main Setpoint User configurable mapping using Pr S 02 004 to Pr S 02 007 Unidrive M SI PROFIBUS User Guide Issue Number 3 User configurable mapping using Pr S 03 004 to Pr S 03 007 81 uoneuuojul uononpoaul uonejejsut JeoiueuoejA uonejiejsut 1291439913 peueis ago S9eueled Sumoo Sol ejep olo o z o b S S Q 9 a Q m gt a swa EI Seunjeoj sonsoubeiq SpJOM Snyejs peoue py e upIHOtd Jo uessojo SIS xepu 14 2 3 PPO 3 Table 14 5 PPO 3 mapping structure OUT Data word 0 PROFIdrive control word word 1 Main Setpoint Function word 0 PROFIdrive status word word 1 Main Actual Value 14 2 4 PPO 4 Table 14 6 PPO 4 mapping structure IN Data Function PROFIdrive status word Main Actual Value OUT Data Function PROFIdrive control word Main Setpoint User configurable mapping using Pr S 02 003 to Pr S 02 006 User configurable mapping using Pr S 03 003 to Pr S 03 006 14 2 5 PPO 5 Table 14 7 PPO 5 mapping structure IN Data Function Mode 2 non cyclic data PPO 4 word OUT Data Function Mode 2 non cyclic data PPO 4 word PROFIdrive status word Main Actual Value PROFldrive control word Main Setpoint User configurable mapping using Pr S 02 004 to Pr S 02 020 User configu
132. words that may be combined to configure the input and output configuration for a specific node The complete input and output configuration for the node is built by adding the required modules until all of the node s inputs and outputs are defined LUE module consists of a block of input or output data Put simply this is a logical collection of data words The number of input or output words configured in the drive must match the number of input or output words defined in the master controller if the master has eight IN and four OUT words the drive must use the same settings to communicate correctly The SI PROFIBUS module uses Pr S 01 020 and Pr S 01 021 to independently set the number of input and output words respectively LH The definition of a data word is 16 bits By default SI PROFIBUS casts all data as long 46 words double words 32 bits data alignment can be used to reduce this size see section S 01 014 on page 35 for more information Unidrive M SI PROFIBUS User Guide Issue Number 3 7 4 PROFIBUS DP V1 To use the DP V1 features in the module the drive must be configured in the master controller as a DPV1 slave 7 5 GSD compatibility table Table 7 1 can be used to determine which GSD file should be used Table 7 1 Selecting the correct GSD file Simulated drive Unidrive M700 M800 Unidrive M200 M300 M400 Compatibility mode Pr S 01 031 Auto detect Auto detect uoneuuojul uononpoaul
133. y a user program in an applications module this indicates to the SI PROFIBUS module that all the mapped parameters are ready to be written to The module will then write the data from the master controller into the mapped parameters and will then set the output trigger Source parameter to 1 When the output consistency trigger parameter is set to 1 it indicates to the SI PROFIBUS module that the mapped parameters are not ready to be written to and therefore any new data from the master controller will not be written to the mapped parameters in the drive until the output consistency trigger parameter is again set to zero Non cyclic over cyclic None 0 None 0 to PPO defined 2 RW Sending non cyclic data over the cyclic channel can only be accomplished when the SI PROFIBUS module is set up for a Unidrive SP in compatibility mode Pr S 01 031 UniSP or UniSP extended and the correct GSD file used for the simulated drive e g SP 0672 GSD The term non cyclic over cyclic is used to refer to non cyclic data which is transmitted as part of the cyclic data and not using the non cyclic DP V1 channel The table below shows how to configure the non cyclic over cyclic parameter Pr S 01 030 for the required non cyclic mode Table 6 9 Non cyclic over cyclic modes Description CTNC 1 Non cyclic word CT Single Word mode 1 PPO defined 4 Non cyclic words PPO 4 Word mode 2 For more information on s

SE77 DeviceNet Advanced User Guide

Contents

Download Pdf Manuals

Related Search

Related Contents