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SM Profibus-DP

1. Use a tie wrap to clamp the exposed Profibus DP cable 18mm screen to the Earthing Clamp minimum SM Profibus DP Advanced User Guide 7 Issue Number 1 www controltechniques com Maximum Network Length The maximum number of nodes that can be connected to a single Profibus DP network segment is 32 nodes The maximum lengths of cable for a segment depend on the data rate and are shown in Figure 3 3 Repeaters can be used to extend the network to allow more than 32 nodes to be connected and or to extend the maximum length of the Profibus DP network For full details on designing and installing a Profibus DP network refer to Installation Guidelines for Profibus DP FMS This document is available from the Profibus web site at www profibus com Table 3 3 Profibus DP Maximum Network Lengths7 Data Rate Maximum Trunk Data Rate Maximum Trunk bit s Length m bit s Length m SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Getting Started Full explanations of the cyclic data functions and supported data formats are given in Chapter 5 Non cyclic data and node configuration using non cyclic data are described in Chapter 7 EGE The Unidrive SP must be fitted with firmware V0 10 00
2. 72 00 to 72 99 Menu 70 to 70 00 to 70 99 71 00 to 71 99 75 73 00 to 73 99 74 00 to 74 99 75 00 to 75 99 Menu 100 to 100 00 to 100 99 101 00 to 101 99 102 00 to 102 99 Menu 105 103 00 to 103 99 104 00 to 104 99 105 00 to 105 99 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 13 5 3 14 Table 5 1 Unidrive SP 32 bit Parameters Menu 32 bit Parameters Menu 130 to 130 00 to 130 99 131 00 to 131 99 132 00 to 132 99 Menu 135 133 00 to 133 99 134 00 to 134 99 135 00 to 135 99 Menu 160to 160 00 to 160 99 161 00 to 161 99 162 00 to 162 99 Menu 165 163 00 to 163 99 164 00 to 164 99 165 00 to 165 99 Parameters in menus 15 16 and 17 are only 32 bit if one of the intelligent encoder modules is fitted in the appropriate Unidrive SP slot Profibus DP Data Formats Default 5 Range 0 to 228 Access RW The SM Profibus DP module can be configured with up to 32 cyclic IN and OUT data words IN and OUT cyclic data words are mapped using 10 mapping parameters each with a block mapping mode see section 10 4 available for the additional data words CT Single Word or PPO 4 Word modes of non cyclic data using cyclic data can also be enabled The Profibus DP Data Format is specified as NNPP where NN is the non cyclic data mode and PP is the number of cyclic data words
3. 5 3 1 5 Cyclic Words Only Default This data format provides five 16 bit cyclic data words with no non cyclic data channel The total data length is 10 bytes To select this data format set MM 05 5 This data format is selected by default Table 5 4 Mapping for 5 Cyclic Data Words Data Word Slot 1 Slot 2 Slot 3 Default Mapping Status IN Word 0 15 10 16 10 17 10 10 40 status word See section IN Words 1 2 15 11 16 11 17 11 2 01 post ramp speed reference IN Word 3 15 12 16 12 17 12 4 20 motor load as of rated load IN Word 4 15 13 16 13 17 13 0 not mapped SM Profibus DP Advanced User Guide 15 Issue Number 1 www controltechniques com 5 3 2 5 3 3 5 3 4 16 Table 5 4 Mapping for 5 Cyclic Data Words Data Word Slot 1 Slot 2 Slot 3 Default Mapping Status OUT Word 0 15 20 16 20 17 20 6 42 control word See section OUT Word 1 2 15 21 16 21 17 21 1 21 digital speed reference 1 OUT Word 3 4 15 22 16 22 17 22 4 08 torque reference 5 Cyclic Words with CT Single Word Mode 1 Non Cyclic Data This data format provides five 16 bit cyclic data words plus an additional word for CT Single Word Mode 1 non cyclic data See section 7 1 The total data length is 12 bytes To select this data format set MM 05 105 Table 5 5 Mapping for 5 Cyclic Data Words with CT Single Word Non Cyclic Data Data Word Slot 1 Slot 1 Slot 1 Defaul
4. 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 7 2 CT Single Word Read Sequence Start WRITE v Send first telegram to OUT word 0 Y lpn TN Creek satus ERROR e o Check paramter exists and that it is Tx Stamp_No Jno Song next Parameler a Reaaniite Rx_Stamp_No telegram written OK Parameter Yes y A eooo O Tx_Stamp_No No 6 4 Yes END OF SEQUENCE The following example telegrams show how to set the digital speed reference 1 1 21 to 12553 9 rpm 32 bit value is 125539 in the Unidrive SP 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 O e y en ne f a f o E Value on on o n Data word 0x1101 Stamp number 1 Menu 1 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 to the master controller program that the first telegram of the message has been received and understood and the second telegram can be transmitted TELEGRAM 2 The second te
5. 16 51 Range 17 51 Access The full version of the SM Profibus DP module firmware version can be read for the corresponding slot This manual was written for SM Profibus DP modules fitted with V0 01 00 firmware The table below shows how to construct the full firmware version from these values Table 9 2 SM Profibus DP Firmware Version Major Minor Firmware Version Version Version SM Profibus DP Advanced User Guide 45 Issue Number 1 www controltechniques com 9 3 9 4 Profibus DP Node Address Default 0 Range 1 to 125 Access RW Every node on a Profibus DP network must be given a unique network node address If two or more nodes are assigned the same address they will attempt to transmit at the same time leading to corrupt messages on the Profibus DP network The SM Profibus DP module must be reset to make a change of node address take effect If an invalid node address is set the SM Profibus DP module will reject the configured address default to 125 and set the Profibus DP node address MM 03 to 125 Profibus DP Data Rate Default Range Access The SM Profibus DP module will automatically detect the Profibus DP network data rate and synchronise to it For this reason the data rate is controlled by the Profibus DP master controller MM 04 will indicate the data rate that has been detected by the SM Profibus DP module EQ The Profibus DP Data Rat
6. Reserved SM Profibus DP Mapping Conflicts SM Profibus DP Trip Codes Minor Firmware Version SM Profibus DP Advanced User Guide 63 Issue Number 1 www controltechniques com
7. 32 bit Digital speed reference 1 32 bit Torque reference 9 16 bit Block mapping of 9 16 bit words to Unidrive SP parameters 19 15 to 19 23 SM Profibus DP Advanced User Guide Issue Number 1 6 32 bit Block mapping of 6 32 bit words to Unidrive SP parameters 20 31 to 20 36 53 www controltechniques com Table 10 3 OUT Data Block Mapping Example Mapping Target Data Width Description Parameter Parameter Not mapped Not mapped Not mapped Table 10 4 OUT Data Block Mapping Data Structure Example Data Word Target Parameter Data Word Target Parameter Word 0 Word 12 19 22 Word 1 2 Word 13 19 23 Word 3 4 Word 14 15 20 31 Word 5 Word 16 17 20 32 Word 6 Word 18 19 20 33 Word 7 Word 20 21 20 34 Word 8 Word 22 23 20 35 Word 9 Word 24 25 20 36 Word 10 Word 26 Not mapped Word 11 Word 27 Not mapped Ee When mapping to a 32 bit parameter one word will contain the high data word and the 10 5 54 other word will contain the low data word The order in which the data words are received depends on the Endian Format used by the SM Profibus DP module Refer to section 10 3 for more details Direct Data Mapping Default OFF 0 Range OFF 0 or ON 1 Access RW By default MM 10 to MM 29 are used as pointers to specify the destination parameter for OUT data received from the master controller and the source p
8. IN Word 3 DATA LOW WORD The RESPONSE ID indicates the success or otherwise of the requested transaction Table 7 8 lists the possible RESPONSE ID codes Table 7 8 RESPONSE ID Codes RESPONSE Function Description ID 0 No Task No non cyclic transaction active ji Fieldbus Specific Refer to 2 Fieldbus Specific Refer to 3 Not Implemented Transfer Parameter Returns a 16 bit data value from the Request Parameter 4 Value 16 bit Value specified by TASK ID 6 or the successful Change Parameter Value 16 bit specified by TASK ID 7 Transfer Parameter Returns a 32 bit data value from the Request Parameter 5 Value 32 bit Value specified by TASK ID 6 or the successful Change Parameter Value 32 bit specified by TASK ID 8 6 Transfer Last Parameter Returns the highest parameter for the menu specified by Reference Request Last Parameter Reference TASK ID 8 The previously specified TASK ID could not be completed 7 Error TASK ID Could Word 3 will return an error code to indicate the reason for Not Be Executed the TASK ID failure See Table 7 9 PPO 4 Word Error Codes 8 Error Read Only Target parameter specified by TASK ID 7 or TASK ID 8 is lf RESPONSE ID 7 has been received the error code can be read from Word 3 Parameter read only and cannot be modified This will indicate the reason why the TASK ID request failed Table 7 9 PPO 4 Word Error Codes ERROR CODE Invalid Men
9. 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 TASK ID 6 could not be executed Check the error code in IN Word 3 for the reason why Request Last Parameter Reference The highest parameter reference in specified menu is available in IN Word 3 Request Last Parameter Reference TASK ID 9 could not be executed Check the error code in IN Word 3 for the reason why Table 7 11 shows an example set of data words for PPO 4 Word mode This example will read the value in the post ramp speed reference 2 01 in the Unidrive SP Table 7 11 PPO 4 Word Read Request Example QUT Data Hex Value Word ECAA pied OUT Word 0 0x6002 TASK ID 6 MENU 2 OUT Word 1 0x0001 PARAMETER 1 OUT Word 2 0x0000 DATA HIGH WORD 0 OUT Word 3 0x0000 DATA LOW WORD 0 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Table 7 12 shows an example successful read response to the read instruction illustrated above The value returned is 15284 which equates to 1528 4 rpm Table 7 12 PPO 4 Word Read Response Example Function IN Data Word Hex Value EEH IN Word 0 0x5002 ee MENU 2 IN Word 1 0x0001 PARAMETER 1 IN Word 2 0x0000 DATA HIGH WORD 0 IN Word 3 0x3BB4 DATA LOW WORD 15284
10. and Mapping Status will indicate 4 Refer to section 9 6 Menu 82 Local Option Module Parameter Access The menu used to configure the SM Profibus DP module depends on the slot in the Unidrive SP where the SM Profibus DP module is fitted Menu 82 can be used to ensure that the Profibus DP configuration parameters can be accessed without necessarily knowing in which Unidrive SP slot the SM Profibus DP module is fitted When a Menu 82 parameter is accessed from Profibus DP the SM Profibus DP module will re direct it to the menu in the Unidrive SP that is associated with the slot where the SM Profibus DP module is fitted Table 10 6 Local Slot Configuration Parameter Access Parameter SM Profibus DP SM Profibus DP SM Profibus DP module in Slot 1 module in Slot 2 module in Slot 3 82 01 82 51 15 01 15 51 16 01 16 51 17 01 17 51 Menu 82 parameters are only accessible from the Profibus DP network using explicit or non cyclic data Restore SM Profibus DP Defaults 15 30 Default OFF 0 16 30 Range OFF 0 or ON 1 17 30 Access RW If the SM Profibus DP module detects that the Unidrive SP has been restored to default values it will over write the slot configuration parameters with the Profibus DP default values If the stored values in the Unidrive SP are for a different type of fieldbus interface the SM Profibus DP module will trip SLx DF with Error Code 70 It will over write the
11. module clicks into place Figure 2 1 Installing The SM Profibus DP Module 2 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 2 2 Removing The SM Profibus DP Module To remove the SM Profibus DP module from the slot press both clips inwards A and lift the module away B from the Unidrive SP Figure 2 2 Removing The SM Profibus DP Module N SM Profibus DP Advanced User Guide 3 Issue Number 1 www controltechniques com 3 2 Electrical Installation SM Profibus DP Module The SM Profibus DP module has a standard 9 way female D type connector for the Profibus DP network Figure 3 1 SM Profibus DP Module Front View The terminal functions are given in the Table 3 1 Table 3 1 SM Profibus DP Module Connector D type Function Terminal Description RxTxB Positive data line RxTxA Negative data line 5V ISO 5V isolated use only for termination resistors OV ISO OV isolated use only for termination resistors 1 Shell Shield Cable screen connection Control Techniques strongly recommends that Profibus certified connectors are used These connectors accept 2 Profibus DP cables and have 4 screw terminals inside one for each data connection They also have a screen clamp arrangement to ensure good screen continuity and help to keep the noise immunity of the Profibus DP network Profibus DP Connections The SM Profibus DP module has been designed to accep
12. parameter values with the Profibus DP default values but will NOT store these values in the Unidrive SP MM 30 specifies whether the default values should be written to the SM Profibus DP FLASH memory If MM 30 is set to ON the default values will be written into the SM Profibus DP module FLASH memory The full sequence of events to restore default settings for a SM Profibus DP module fitted in slot 3 is as follows 1 Set 17 00 to 1233 to restore European defaults to the Unidrive SP 2 Profibus DP communications will be stopped 3 The Unidrive SP will load and store its default parameter values SM Profibus DP Advanced User Guide 55 Issue Number 1 www controltechniques com 10 8 4 The SM Profibus DP module will overwrite all 17 PP parameters with Profibus DP default values 5 If 17 30 is set to ON 1 the Profibus DP default parameter values will be stored in the SM Profibus DP module FLASH memory 6 The SM Profibus DP module will reset and re initialise using the default values Restore Previous SM Profibus DP Configuration Name Upload from SM Profibus DP FLASH Memory Default OFF 0 Range OFF 0 or ON 1 Access RW If Profibus DP configuration parameters have been stored in the SM Profibus DP module FLASH memory these values can be restored to the Unidrive SP When the parameter values have been uploaded to the Unidrive SP the SM Profibus DP module will reset and re configure using the updated
13. 2 Define parameter number Telegram 3 Request high data byte Telegram 4 Request mid high data byte Telegram 5 Request mid low data byte Telegram 6 Request low data byte SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Figure 7 1 CT Single Word Read Sequence Start Send telegram 3 to READ OUT word 0 Yy Send first telegram Y to OUT word 0 Read IN _ word0 _ Vv Read IN ___ y word 0 _ Tx_Stamp_No No Rx_Stamp_No Y Yes Tx_Stamp_No No Yy Rx_Stamp_No Store data Yes byte X Send next Tx_Stamp_No No y telegram to y Send next 2 Tx_Stamp_No No Yes OUT word 0 6 H telegram to OUT word 0 Y Yes Check status 0 y of ERR bit Calculate 1 data value v ERROR Check paramter exists data is in correct range and parameter is_ ______ Read Write END OF SEQUENCE The following example telegrams show how to read the post ramp speed reference in rpm with 2 decimal places from 2 01 in the Unidrive SP TELEGRAM 1 The first telegram from the Profibus DP master indicates a READ cycle and the stamp number is 1 The data byte would contain the menu number for the parameter that is to be read ee U S b2 E nepe Eob
14. 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 third 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 A 0008 008 0 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 third telegram of the message has been received and understood and the sixth telegram can be transmitted SM Profibus DP Advanced User Guide 33 Issue Number 1 www controltechniques com 7 1 5 34 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 being written to O e y en e a y o OE evan f oe E E O 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 1 21 12553 9 as transmitted The decimal point is automatically inserted when the data is transferred to the Unidrive S
15. ID 7 could not be executed Check the Value 16 bit error code in IN Word 3 for the reason why Request Parameter TASK ID 8 could not be executed Check the Value 32 bit error code in IN Word 3 for the reason why Request Parameter Parameter is read only and cannot be Value 32 bit written to Table 7 14 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 1 21 to in the Unidrive SP Table 7 14 PPO 4 Word Write Request Example OUT Data raion Word m o A OUT Word 0 0x8001 TASK ID 8 MENU 1 OUT Word 1 0x0015 PARAMETER 21 OUT Word 2 0x0001 DATA HIGH WORD 1 OUT Word 3 0x3CB3 DATA LOW WORD 15539 Hex Value Table 7 15 shows an example successful write response to the write instruction illustrated above Table 7 15 PPO 4 Word Write Response Example IN Word 0 0x5001 es eke MENU 1 IN Word 1 0x0015 PARAMETER 21 IN Word 2 0x0000 DATA HIGH WORD 0 IN Word 3 0x3CB3 DATA LOW WORD 15539 Fieldbus Specific TASK IDs The PPO 4 Word non cyclic data is derived from the Variable Speed Drive Profile for Profibus DP TASK IDs 2 3 and 4 are specific to Profibus DP and are not used in the SM Profibus DP module Profibus DP Set up using Non Cyclic Data The SM Profibus DP module can also be configured using Explicit Data CT Single Word or PPO 4 Word non cyclic data The co
16. Table 5 2 Valid Profibus DP Data Formats MM 05 Non cyclic Mode Cyclic Words 1 to 32 None 100 to 131 CT Single Word 200 to 228 PPO 4 Word Data is mapped to and from Unidrive SP parameters using 10 mapping parameters each for IN and OUT cyclic data The number of words used for each parameter depends on the data size of the source IN or destination OUT parameter Ifa channel is mapped to a 32 bit parameter see section 5 2 in the Unidrive SP or a UT70 module 2 words will be used for the data value For all other Unidrive SP parameters 1 word will be used For example 1 21 digital speed ref 1 is a 32 bit double word parameter and is mapped by default settings to OUT words 1 and 2 By default the SM Profibus DP module uses the big endian data format so OUT word 1 will contain the high data word and OUT word 2 will contain the low data word Refer to section section 10 3 for more details SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 The method used to map data to and from the Profibus DP network is similar to the method used in Unidrive SP for mapping analogue and digital inputs and outputs The reference for the source or target parameter is entered in the mapping parameter in the form MMPP where MM menu number of the target source parameter and PP parameter number of the target source parameter Table 5 3 SM Profibus DP Module Mapping Parmae
17. become active Figure 6 2 Control Word Logic Diagram Drive Enable 929 Sequencer AND e gt oaa Hardware Enable Enable Stop Key 6 29 6 12 y Fii C La LAT Defined Stop Condition Drive Trip OR See 6 12 d Not Stop 1 6 39 Run Forward 6 30 hg LAT o OR Run Reverse XOR Sequencer AND 6 32 TMR Run LAT oo OR OR L__ LAT Enable Seq Latching J 6 40 Reverse OR Select Forward Reverce 112 6 33 Jog 6 31 Jog Select AND MIN w413 Motor Stopped 22 SM Profibus DP Advanced User Guide www controltechniques com Issue Number Some example Unidrive SP control word values are given in the table below Table 6 2 Example Profibus DP Control Words Control Word Hex Control Action Word Dec 0x0000 Control word disabled Unidrive SP will operate under terminal control 0x0080 Disabled 0x0081 Enabled stopped 0x0183 Enabled run fwd digital speed ref 0x0189 Enabled run rev digital speed ref 0x0083 Enabled run fwd analogue speed ref 0x0089 Enabled run rev analogue speed ref 0x01A1 Enabled run fwd digital speed ref 0x01B1 Enabled run rev digital speed ref 0x00A1 Enabled run fwd analogue speed ref 0x00B1 Enabled run rev analogue speed ref 0x0085 gt 0x0087 133 gt 135 Enabled jog gt Enabled jog fwd 0x0085 gt 0x008D 135 gt 141 Enabled jog gt Enabled jog rev Not yet implemented Trip Unidrive SP 0x2080 Reset Unidrive SP into fi
18. line Braided Shield Screen 1 Shell Cable screen Profibus DP networks 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 is available on the Profibus Nutzerorganisation PNO web site at at www profibus com EXE Control Techniques can only guarantee correct and reliable operation of the SM SM Profibus DP Advanced User Guide Profibus DP module if all other equipment installed on the Profibus DP network including the network cable has been approved by the PNO Issue Number 1 www controltechniques com 3 4 Profibus DP Network Termination It is very important in high speed communications networks that the network communications cable is fitted with the specified termination resistor network at each end of the cable This prevents signals from being reflected back down the cable and causing interference Erbic termination connectors are available from ERNI These terminals illustrated in Figure 3 3 have the termination resistor network built in and only a single pair of terminals for the data wires Siemens connectors have a built in switch that allows the termination resistor network to be enabled or disabled as required Figure 3 3 Profibus DP Network Termina
19. or later for use with the SM 4 1 Profibus DP module Unidrive SP has 3 slots available for option modules and each slot has a dedicated menu of configuration parameters Figure 4 1 Unidrive SP Slot Arrangement The SM Profibus DP module can be fitted to any slot and each slot has a corresponding menu of parameters When referring to a specific parameter for any slot e g Profibus DP Node Address the parameter will be referred to as MM 03 Table 4 1 Slot Configuration Menu Libra Wizard Libra does not currently have any wizards specified although it is intended to include wizards at a later date SM Profibus DP Advanced User Guide 9 Issue Number 1 www controltechniques com 4 2 4 3 4 4 Basic Communications Quick Start The SM Profibus DP module can be configured using the keypad to establish basic Profibus DP communications The instructions below assume that the SM Profibus DP module is located in slot 3 Power up the Unidrive SP and ensure that 0 50 is set to L2 Set the node address 17 03 as required Set MM 00 to 1000 and press RESET to store the configuration in the Unidrive SP The SM Profibus DP module will reset and use the updated configuration parameters from the Unidrive SP and configure itself accordingly Table 4 2 Basic Configuration Settings Recommended Setting Node Address 17 03 1 to 125 Data Format 17 05 5 Profibus DP Node Address Default 0 Range 1
20. take effect until the SM Profibus DP module has been reset To reset an SM Profibus DP module in slot 3 1 Set 17 32 to ON 2 When the reset sequence has been completed 17 32 will be reset to OFF 3 The SM Profibus DP module will re initialise using the updated Profibus DP configuration CA This sequence does NOT store the Profibus DP parameters in the Unidrive SP or the SM Profibus DP FLASH memory 4 8 Reset All option Modules It is possible to reset all of the option modules fitted on a Unidrive SP at the same time To reset all Unidrive SP option modules Set MM 00 to 1070 Press the red RESET button on the Unidrive SP EXE This sequence does NOT store the Profibus DP parameters in the Unidrive SP or the SM Profibus DP FLASH memory See section for details about storing Profibus DP configuration parameters 12 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 5 5 1 Cyclic Data OUT data and IN data describe the direction of data transfer as seen by the Profibus DP master controller What is Cyclic Data Cyclic data is a method of data transfer that must be set up during network configuration but is transmitted automatically once configuration is complete The high speed data transfer is achieved by transmitting only data bytes over the Profibus DP network and relying on local mapping information within the SM Profibus DP module and Profibus DP master controller to
21. threshold defined by 3 05 Running At Or Below Minimum Speed In bipolar mode 1 10 1 10 04 is the same as Zero Speed 10 03 See above In unipolar mode 10 04 is set if the absolute value of the post ramp speed reference 2 01 or speed feedback 3 02 is at or below minimum speed 0 5Hz or minimum speed 5rpm Minimum speed is defined by 1 07 This parameter is only set if the Unidrive SP is running Below Set Speed Only set if the Unidrive SP is running Refer to 3 06 3 07 and 3 09 in the Unidrive SP Advanced User Guide At Speed Only set if the Unidrive SP is running Refer to 3 06 3 07 and 3 09 in the Unidrive SP Advanced User Guide Above Set Speed Only set if the Unidrive SP is running Refer to 3 06 3 07 and 3 09 in the Unidrive SP Advanced User Guide Load Reached Indicates that the modulus of the active current is greater or equal to the rated active current as defined in menu 4 Refer to the Unidrive SP Advanced User Guide for more details In Current Limit Indicates that the current limits are active Regenerating In Open Loop Closed Loop Vector and Servo modes Regenerating indicates that power is being transferred from the motor to the Unidrive SP In Regen mode Regenerating indicates that power is being transferred from the supply to the Unidrive SP Dynamic Brake Active Indicates that the braking IGBT is active If the IGBT becomes active this parame
22. torque reference 1 21 digital speed reference 1 Not mapped Not mapped 17 23 Not mapped 4 08 torque reference 17 24 to 17 29 Not mapped Not mapped 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 WARNING SM Profibus DP Advanced User Guide 35 Issue Number 1 www controltechniques com 7 2 2 PPO 4 Word Protocol 36 Decimal point information is inserted automatically when the data value is written to the Unidrive SP 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 2 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 Table 7 5 shows the data structure required on the OUT data to implement PPO 4 Word request Table 7 5 PPO 4 Word OUT Data Structure oba TC Fumetion OOOO OSOS wod besz m J aro OUT Word 0 0000 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 REQUEST ID The TASK ID specifies the transaction required and the remainder of the data words carry the data for the transaction Table 7 6 lists the possible RESPONSE ID codes Table 7 6 TASK ID Codes TASK ID Function Descripti
23. 07 Cyclic OUT Slot 2 Channel 9 16 27 Comparator 2 Output 12 27 Cyclic OUT Slot 3 Channel 0 17 20 Variable Select 1 Output 12 11 Cyclic OUT Slot 3 Channel 1 17 21 Variable Select 2 Output 12 31 Cyclic OUT Slot 3 Channel 2 17 22 PID Output 14 16 Cyclic OUT Slot 3 Channel 3 17 23 Cyclic OUT Slot 1 Channel 0 15 20 Cyclic OUT Slot 3 Channel 4 17 24 Cyclic OUT Slot 1 Channel 1 15 21 Cyclic OUT Slot 3 Channel 5 17 25 Cyclic OUT Slot 1 Channel 2 15 22 Cyclic OUT Slot 3 Channel 6 17 26 Cyclic OUT Slot 1 Channel 3 15 23 Cyclic OUT Slot 3 Channel 7 17 27 SM Profibus DP Advanced User Guide 17 Issue Number 1 www controltechniques com 5 5 5 6 5 7 Table 5 8 Unidrive SP Destination Parameters Function Mapping Function Mapping Parameter Parameter Cyclic OUT Slot 1 Channel 4 15 24 Cyclic OUT Slot 3 Channel 8 17 28 Cyclic OUT Slot 1 Channel 5 15 25 Cyclic OUT Slot 3 Channel 9 17 27 Cyclic OUT Slot 1 Channel 6 15 26 If a numerical parameter is written to from two different sources the value of this parameter will depend entirely upon the scan times for the analogue or digital input and the Profibus DP network Further confusion may be caused due to the update rate of the display A parameter may appear to be steady at a particular value but an occasional glitch in the displayed value may be seen Internally this value may be changing continuously between 2 values leading to unusual behaviour from the Unidrive SP Cycl
24. 52 Data Endian Format Name Profibus DP Data Endian Format Default OFF Range OFF 0 or ON 1 Access RW All UT70 parameters and some Unidrive SP parameters are 32 bit double word parameters while most Unidrive SP parameters are 16 bit word parameters However when data is sent over the Profibus DP network it is transmitted as 8 bit bytes Therefore when a 32 bit double word or 16 bit word data value is split into four or two 8 bit bytes it is important that the receiving node reconstructs the received 8 bit bytes correctly to arrive at the 32 bit or 16 bit data value that was originally transmitted The order in which 8 bit bytes are transmitted is known as the Data Endian Format Data 16 bit Value 32 bit Value Endian Format Byte Order Word Order Byte Order High byte first Big 0 High byte first High word first Mid high byte second Low byte second Low word second Mid low byte third Low byte fourth Low byte first Little 1 Low byte first Low word first Mid low byte second High byte second High word second Mid high byte third High byte fourth For example 1 21 digital speed ref 1 is a 32 bit double word parameter and is mapped by default settings to OUT words 1 and 2 By default the SM Profibus DP module uses the big endian data format so OUT word 1 will contain the high data word and OUT word 2 will contain the low data word Most Profibus DP master controllers use t
25. 6 bit Description Status word 32 bit Post ramp speed reference 32 bit parameter in Unidrive SP 16 bit Motor load as or rated speed 8 16 bit Block mapping of 8 16 bit words to Unidrive SP parameters 18 11 to 18 18 5 32 bit Block mapping of 5 32 bit words to Unidrive SP parameters 20 21 to 20 25 Not mapped Not mapped Not mapped Table 10 2 IN Data Block Mapping Data Structure Example Data Word Target Parameter Word 0 Data Word Target Parameter Word 12 13 20 21 Word 1 2 Word 14 15 20 22 Word 3 Word 16 17 20 23 Word 4 Word 18 19 20 24 Word 5 Word 20 21 20 25 Word 6 Word 22 Not mapped Word 7 Word 23 Not mapped Word 8 Word 24 Not mapped Word 9 Word 25 Not mapped Word 10 Word 26 Not mapped Word 11 10 4 2 OUT Data Word 27 Not mapped OUT refers to cyclic data as seen by the Profibus DP master controller Hence OUT data is data that is being transmitted from the Profibus DP master controller to the Unidrive SP Consider a Unidrive SP with the following configuration e Slot 1 UT70 module e Slot 2 UT70 module Slot 3 SM Profibus DP module configured for Data Format 28 Table 10 3 OUT Data Block Mapping Example Mapping Parameter Target Parameter Data Width 16 bit Control word Description
26. 7 2 4 Writing Parameters Using PPO 4 Word The diagram below shows the sequence of events required to write to a Unidrive SP parameter using the PPO 4 Word non cyclic channel Figure 7 4 PPO 4 Word Write Sequence START y Y v Set al ven 0 CASE 8 RESPONSE ID y 4 J5 7 Specify PARAMETER in OUT Word 1 y SUCCESS 16 bit data ERROR Specify DATA HIGH Value wittten to TASK ID could WORD in OUT not executed Word 2 parameter PE y y SPee PATA TOW SUCCESS ERROR Word 3 32 bit data value Parameter is written to parameter read only y Specify TASK ID Pl and MENU in OUT Word 0 Yy y END OF SEQUENCE Table 7 13 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to write to the should be expected Table 7 13 PPO 4 Word Write TASK ID and RESPONSE ID Combinations Function TASK ID RESPONSE Message Status ID No Task No message active Request Parameter 3 Value 16 bit Parameter 16 bit written successfully Request Parameter k 5 Value 32 bit Parameter 32 bit written successfully SM Profibus DP Advanced User Guide 39 Issue Number 1 www controltechniques com 7 3 7 4 40 Table 7 13 PPO 4 Word Write TASK ID and RESPONSE ID Combinations Function TASK ID RESPONSE Message Status ID Request Parameter TASK
27. Noh yelc 104 the IN data mapping configuration parameters MM 10 to Mapping Error MM 19 SM Profibus DP Advanced User Guide 47 Issue Number 1 www controltechniques com Table 9 5 Generic Mapping Error Codes Error Mapping Status Description Configuration Read An error has occurred reading the IN data mapping E 110 configuration parameters MM 10 to MM 19 from the rror P Unidrive SP One or more parameters specified in the IN data mapping Invalid Source 111 configuration MM 10 to MM 19 is outside of the allowed Parameter range for Profibus DP The allowable parameter range is from 0 00 to 199 99 One or more parameters specified in the IN data mapping p configuration MM 10 to MM 19 cannot be used as a Read Mismatch 112 source parameter for IN data The parameter may not exist or is a write only parameter Hole In IN Data Ra IN data mapping parametr ENID to gees are not Mapping Configuration contiguous t is not possi e have an un use parameter in the middle of the polled cyclic data Too Many IN Data After expanding ranges of block mappings more than 32 IN 120 Objects Mapped mappings are defined 3 Total size of all IN data mappings has exceeded the total size Mapping Over Length 124 of the polled cyclic data Register Mode Objects 122 More than 10 cyclic polled IN data words have been selected Exceeded with Register Mode Multiple Non Cyclic Mapping Error A non cycli
28. O 2 OUT Data Word OUT Word 0 OUT Word 1 PPO 4 Word Non Cyclic data OUT Word 2 See section 7 2 OUT Word 3 OUT Word 4 Profibus DP Control Word OUT Word 5 Main Setpoint OUT Word 6 OUT Word 7 OUT Word 8 OUT Word 9 wea ee Word PPO 4 Word Non Cyclic data See section 7 2 IN Word 4 Profibus DP Status Word IN Word 5 Main Actual Value IN Word 6 IN Word 7 IN Word 8 IN Word 9 10 10 3PPO 3 OUT Data Word OUT Word 0 Profibus DP Control Word OUT Word 1 Main Setpoint IN Word 0 Profibus DP Status Word IN Word 1 Main Actual Value SM Profibus DP Advanced User Guide 59 Issue Number 1 www controltechniques com 10 10 4PPO 4 OUT Data Word OUT Word 0 Profibus DP Control Word OUT Word 1 Main Setpoint OUT Word 2 OUT Word 3 OUT Word 4 OUT Word 5 IN Data Word IN Word 0 Profibus DP Control Word IN Word 1 Main Actual Value IN Word 2 IN Word 3 IN Word 4 IN Word 5 10 10 5PPO 5 Owa OOOO O OMO Word PPO 4 Word Non Cyclic data See section 7 2 OUT Word 4 Profibus DP Control Word OUT Word 5 Main Setpoint OUT Word 6 OUT Word 7 OUT Word 8 OUT Word 9 OUT Word 10 OUT Word 11 OUT Word 12 OUT Word 13 wea SOOO O OU Word PPO 4 Word Non Cyclic data See section 7 2 IN Word 4 Profibus DP Status Word IN Word 5 Main Actual Value IN Word 6 IN Word 7 60 SM Profibus DP Advanc
29. P If the operation is successful the ERR bit is reset to 0 and the telegram is reflected in the non cyclic IN word vme on o o o o a 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 C m p en ne f a O o O ve m m gt Data word 0x56XX Stamp number 6 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 If an error occurs in the master controller that causes the telegrams to get out of step the master controller program should time out abort the message and reset the non cyclic state machine A Mode 1 non cyclic message can be be abandoned by resetting the state machine This is done be setting the non cyclic word to 0 C e f een f ons Brea f eo 0000 0000 0000 0000 Data word 0x0000 Stamp number 0 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 7 2 Mode 2 PPO 4 Word Mode The PPO 4 Word Format Mode 2 of non cyclic data uses 4 cyclic or polled data words for non cyclic data This allows any Unidrive SP parameter to accessed using a
30. S CONTROL ZY TECHNIQUES Advanced User Guide SM Profibus DP Unidrive SP Part Number 0471 0008 Issue Number 1 www controltechniques com Safety Information The solutions module and its associated drive are intended as components for professional incorporation into complete equipment or systems 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 mechanical equipment that can cause injury Close attention is required 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 and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and User Guide carefully Careful consideration must be given to the functions of the drive and solutions module which might result in a hazard either through their intended functions e g auto start or through incorrect operation due to a fault or trip e g stop start forward reverse maximum speed loss of communications link In any application where a malfunction of the drive or solutions module could lead to damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk To ensure mechanical safety additional safety
31. T Eepo M I 200 i 00S Oe i Se 5 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 and the second telegram can be transmitted 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 read O e f en ne a f o O value on o o o Data word 0x9201 Stamp number 2 Parameter 1 SM Profibus DP Advanced User Guide 29 Issue Number 1 www controltechniques com 30 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 understood and the third telegram can be transmitted 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 The data bits will have no significance Data word 0xD2XX Stamp number 2 If an error is reported it is recommended that the non cyclic data word is set to 0 to ensure that the non cyclic st
32. Unidrive SP to be implemented using a single data word Each bit in the control word has a particular function and provides a method of controlling the output functions of the Unidrive SP RUN FWD JOG TRIP etc with a single data word EQ The Unidrive SP Control Word 6 42 must be enabled by setting Control Word Enable 6 43 to 1 When the Control Word is enabled the source of the control signals ENABLE RUN FWD JOG etc is selected using the AUTO bit ae oe a EE WDOG r e s e e a a Keak Aian A a STOP For safety reasons the external HARDWARE ENABLE signal terminal 31 must be present connected to 24V terminal 22 before the fieldbus control word can be used to start the Unidrive SP Typically this terminal is controlled by the external Emergency Stop circuit to ensure that the Unidrive SP is disabled in an emergency situation To select external fieldbus control set the AUTO bit to 1 This selects the Control Word 6 42 as the source for the control functions of the Unidrive SP When AUTO is reset to 0 the Unidrive SP will revert to terminal control To select the Profibus DP speed reference set the REMOTE bit to 1 As the REMOTE bit directly controls 1 42 this will select the digital speed reference as the main speed reference for the Unidrive SP When REMOTE is reset to 0 the Unidrive SP will revert to using the external analogue speed reference By default the Digital Speed Reference will be 1 21 which is
33. also the default mapping for the fieldbus speed reference The actual Digital Speed Reference selected when REMOTE is set to 1 will depend on the setting of the Digital Speed Reference Selector 1 15 Table 6 1 Unidrive SP Control Word Bit Functions Function Description Set to 1 to enable the Unidrive SP Resetting to 0 will immediately disable the ENABLE Unidrive SP and the motor will coast to stop The external HARDWARE ENABLE signal must also be present before the Unidrive SP can run Set to 1 with ENABLE set to 1 to run the motor in the forward direction When RUN FWD reset to 0 the Unidrive SP will decelerate the motor to a controlled stop before the PWM output stack is disabled Set to 1 to jog the motor JOG must be set BEFORE setting RUN FWD or RUN REV to enable the Unidrive SP The direction is specified by RUN FWD and RUN REV The motor can also be jogged by using the RUN and FWD REV bits instead of RUN FWD and RUN REV 20 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Table 6 1 Unidrive SP Control Word Bit Functions Bit Function RUN REV Description Set to 1 with ENABLE set to 1 to run the motor in the reverse direction When reset to 0 the Unidrive SP will decelerate the motor to a controlled stop before the PWM output stack is disabled FWD REV Set to 1 to select the reverse direction when operating with a RUN and DIRECTION signal Set to 0 to run i
34. alues will NOT be stored in the Unidrive SP The Profibus DP configuration parameters can also be stored in the FLASH memory on the SM Profibus DP module If the Unidrive SP is replaced the Profibus DP configuration parameters can be restored to the Unidrive SP Saving Unidrive SP Parameters To store Unidrive SP parameters 1 Set MM 00 to 1000 2 Press the red RESET button SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 The Unidrive SP will store all parameters except Menu 20 but the operation of the SM Profibus DP module will not be affected Changes made to the Profibus DP configuration parameters will not take effect until the SM Profibus DP module is reset 5 7 2 Storing Parameters to Profibus DP FLASH Memory To store the Profibus DP configuration parameters in the FLASH memory in the SM Profibus DP module in slot 3 1 Set 17 31 to ON 2 Set MM 00 to 1000 3 Press the red RESET button The Unidrive SP will store its parameters and Profibus DP communication will be halted immediately The Profibus DP configuration parameters will be saved within the SM Profibus DP module FLASH memory The SM Profibus DP module will then reset and re initialise using the updated configuration parameter values SM Profibus DP Advanced User Guide 19 Issue Number 1 www controltechniques com 6 Control and Status Words 6 1 Unidrive SP Control Word The Control Word allows the digital control of the
35. arameter of IN data to be transmitted to the master controller When Direct Data Mapping is enabled MM 10 to MM 29 are used as the actual destination and source parameters for OUT data and IN data respectively Hence OUT data values arriving from the PLC will be written directly into MM 20 to MM 29 EQ CT Single Word and PPO 4 Word non cyclic data modes cannot be used when Direct Data Mapping mode is enabled When Direct Data Mapping mode is enabled all mapping parameters MM 10 to MM 29 will be reset to 0 Table 10 5 Direct Data Mapping Configurations wos MM 38 ney Description 0 The first 10 OUT words will be written directly to MM 20 to MM 29 and the first 10 IN words will be read directly from 0 Oto 10 MM 10 to MM 19 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 10 6 10 7 Table 10 5 Direct Data Mapping Configurations MM 39 MM 40 11 to 32 Cyclic data is limited to 10 IN and 10 OUT cyclic data words Network Status will indicate 3 and Mapping Status will indicate 0 11 to 32 122 or 222 Refer to section 9 6 MM 05 MM 38 Description 100 to 131 Non cyclic data cannot be used in Direct Data Mapping mode 200 to 228 Network Status will indicate 3 and Mapping Error Code will indicate 2 Refer to section 9 6 Direct Data Mapping mode cannot be used with pre defined Parameter Process Objects Network Status will indicate 3
36. ata length is 40 bytes To select this data format set MM 05 216 Table 5 7 Mapping for 16 Cyclic Data Words with PPO 4 Word Non Cyclic Data IN Word 4 9 Not mapped OUT Word 5 9 0 not mapped Data Word Slot 1 Slot 1 Slot 1 Default Mapping Status IN Word 0 3 15 10 16 10 17 10 90 51 Mode 2 non cyclic data IN Word 4 15 11 16 11 17 11 10 40 status word See section IN Word 5 6 15 12 16 12 17 12 2 01 post ramp speed reference IN Word 7 15 13 16 13 17 13 4 20 motor load as of rated motor load SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Table 5 7 Mapping for 16 Cyclic Data Words with PPO 4 Word Non Cyclic Data Data Word Slot 1 Slot 1 Slot 1 Default Mapping Status 15 14 to 16 14 to 17 14 to IN Word 8 19 415 19 16 19 17 19 0 not mapped OUT Word 0 3 15 20 16 20 17 20 90 51 Mode 2 non cyclic data OUT Word 4 15 21 16 21 17 21 6 42 control word See section OUT Word 5 6 15 22 16 22 17 22 1 21 digital speed reference 1 OUT Word 7 8 15 23 16 23 17 23 4 08 torque reference 15 24 to 16 24 to 17 24 to 15 29 16 29 17 29 Block mapping can be used to map the remaining un used data words to Unidrive SP or UT70 parameters See section 10 4 5 3 5 Parameter Process Data Objects PPOs Five Parameter Process Data Objects are fully supported by
37. ata skew between any of the non cyclic words this could result is the wrong data value being written to the wrong parameter The GSD file provides the PPO 4 Word module which consists of 4 IN OUT words with consistency Data Format Specification SM Profibus DP Advanced User Guide 41 Issue Number 1 www controltechniques com 8 3 8 3 1 42 Data Configuration The flexibility of the SM Profibus DP module allows 2372 different data formats to be configured and used Obviously this is too many formats to list in the GSD file so each data format can be configured using up to 8 different modules This reduces the number of modules that must be defined in the GSD file to 76 modules The total number of cyclic IN and OUT data words configured in the master and the SM Profibus DP module must be the same to establish communications over Profibus DP network If non cyclic data is required the non cyclic CT Single Word and or the PPO 4 Word modules must be selected A total of 8 different modules can be selected to configure the data format required Using Data Format Parameter MM 05 The Data Format parameter takes the form of MM 05 NNCC where NN non cyclic mode CC number of cyclic data words e If non cyclic data is required select the module for the desired non cyclic mode Ifthe data format is specified using MM 05 the number of IN and OUT cyclic data words will be equal e For 1 to 16 cycli
38. ate machine is completely reset and ready for the next non cyclic READ or WRITE sequence 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 Bt bree pines Taree Taso vme o o O o O o 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 O e p en ne O a O o O Value o o o 0000 Data word 0x9300 Stamp number 3 Data high 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 C m f en Tiree O a bso vwe o o o O o 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 high byte of the parameter value into the data byte Data word 0x9401 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Stamp number 4 Data high byte 0x01 1 TELEGRAM 5 The fifth telegram from the Profibus DP master acts as the indicat
39. c data mode has been mapped more than once in the OUT data mapping configuration parameters MM 20 to MM 29 Configuration Read Error An error has occurred reading the OUT data mapping configuration parameters MM 20 to MM 29 from the Unidrive SP Invalid Destination Parameter One or more parameters specified in the OUT data mapping configuration MM 20 to MM 29 is outside of the allowed range for Profibus DP The allowable parameter range is from 0 00 to 199 99 Write Mismatch One or more parameters specified in the OUT data mapping configuration MM 20 to MM 29 cannot be used as a destination parameter for OUT data The parameter may not exist or is a read only parameter This error will also occur if an attempt is made to map OUT data to the configuration parameters of a fieldbus option in another slot unless that fieldbus module is configured in Register Mode i e MM 09 ON 1 Hole In OUT Data Mapping Configuration OUT data mapping parameters MM 20 to MM 29 are not contiguous It is not possible have an un used parameter in the middle of the polled cyclic data Duplicate Mapping Error Two or more OUT data mapping comfiguration parameters MM 20 to MM 29 have been configured wit the same destination parameter reference Too Many OUT Data Objects Mapped After expanding ranges of block mappings more than 32 OUT mappings are defined Mapping Over Length Total s
40. c words simply choose the IN module with the appropriate number of IN words Repeat for the OUT module For 17 to 32 cyclic words choose 2 IN modules so that the total number of IN words from both modules is correct Repeat for the OUT modules e If consistency is required ensure that selected modules are listed as having consistency enabled Table 8 2 Data Format IN OUT Cyclic Non Cyclic MM 05 Words Mode Consistency Possible Modules 5 IN Words 5 OUT Words 16 IN Words 14 IN Words 16 OUT Words 14 OUT Words CT Single Word 9 IN Words Consistency 9 OUT Words Consistency CT Single Word 6 IN Words 12 IN Words 6 OUT Words 12 OUT Words PPO 4 Word PPO 4 Word 10 IN Words 10 IN Words PPO 4 Word 16 IN Words Consistency PPO 4 Word 8 IN Words Consistency 16 OUT Words Consistency 8 OUT Words Consistency CT Single Word CT Single Word SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 8 3 2 Using PPO Format Parameter MM 38 When a PPO is selected the data format is pre defined by the PROFIDRIVE profile Simply select the required PPO module with or without consistency Table 8 3 PPO Selected Consistency Modules MM 38 PPO 1 PPO 2 PPO 3 Consistency PPO 4 PPO 5 COnsistency For further details about selecting PPOs refer to section 10 10 8 3 3 User defined Data Formats MM 39 and MM 40 The number
41. can be fitted to any one of the three expansion slots in the Unidrive SP The SM Profibus DP module uses a 16 bit processor and is capable of communicating at 12 Mbit s currently the fastest data rate available for Profibus DP Figure 1 1 Unidrive SP Option Module The SM Profibus DP module is powered from the Unidrive SP internal power supply The Unidrive SP can be connected to a back up power supply This keeps the control electonics and option modules powered up allowing the SM Profibus DP module to continue communicating with the Profibus DP master controller when the main supply to the Unidrive SP is switched off Product Conformance Certificate The SM Profibus DP module has been submitted to the Profibus Nutzerorginization PNO to be tested for full Profibus DP Conformance Certification Overview Specification Supported data rates bit s 12M 6 0M 3 0M 1 5M 500k 187 5k 93 25k 19 2k 9 6k 1 to 32 input output cyclic data words supported Parameter Process Objects PPOs fully supported CT Single Word or PPO 4 Word mode non cyclic data channel optional SM Profibus DP Advanced User Guide 1 Issue Number 1 www controltechniques com 2 Mechanical Installation The Unidrive SP must be disconnected from the mains supply before installing or removing the Advanced User Guide module 2 1 Installing The SM Profibus DP Module Locate the SM Profibus DP module into the required slot and press down until the
42. d MUST be set to a safe disabled state This ensures that the Unidrive SP does not re start unexpectedly when it is reset This can be achieved by continuously monitoring the Unidrive SP status word and interlocking it with the Control Word SM Profibus DP Advanced User Guide 21 Issue Number www controltechniques com Figure 6 1 below shows the key for the Unidrive SP control word sequencing logic diagram Figure 6 2 on page 22 Figure 6 1 Control Word Logic Diagram Key Input Latch iar Output 1 If Enable is 0 Output follows Input Reset 2 If Enable is 1 Output is always 0 if Reset is active ci 3 If Enable is 1 and Reset is 0 Output latches and stays at 1 if Input is 1 Enable Input1 Exclusive OR gate with timer XOR Output 1 Output is the exclusive OR of Input1 and Input 2 Input2 TMR 2 If both Input1 and Input2 become active Output becomes 0 after delay of 60ms Toggle Input Tos Output 1 Output changes state on each non active to active transition on Input Minimum Jog Time Input MIN Output 1 When Input becomes active Output remains active while Input is active and then remains active for a further 100ms 2 Jog must be active before the Sequence Run is active for the Jog function to
43. devices such as electro mechanical interlocks may be required The drive must not be used in a safety critical application without high integrity protection against hazards arising from a malfunction General Information The manufacturer accepts no liability for any consequences resulting from inappropriate negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive Drive with the motor The contents of this guide are believed to be correct at the time of printing In the interests of a 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 contents of this 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 Drive software version This product is supplied with the latest version of user interface and machine control software If this product is to be used in a new or existing system with other Drives there may be some differences between their software and the software in this product These differences may cause this product to function differently This may also apply to Drives returned from a Control Tech
44. e parameter can be changed from the Unidrive SP keypad 46 but this will not affect the data rate at which the SM Profibus DP module communciates The Data Rate display will be updated when the Profibus DP network is re initialised 1 indicates that the SM Profibus DP module has not detected any activity on the Profibus DP network and is waiting for the master controller to start communciating Table 9 3 Profibus DP Data Rates MM 04 bit s MM 04 bit s Auto detecting 12M 6 0M 3 0M 1 5M 500k SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 9 5 9 6 Profibus DP Network Status 15 06 N A 16 06 3 to 9999 17 06 RO The Profibus DP network activity can be monitored in the Profibus DP Network Status parameter MM 06 When the SM Profibus DP module is communicating successfully with the Profibus DP master controller the Profibus DP Network Status will give an indication of the number of data messages per second that are being processed Table 9 4 Profibus DP Network Status Codes MM 06 Parameter Description Network Healthy Indicates the number of successful network cycles per second Indicates that the Profibus DP master has established communications with the SM Profibus DP module If Network Status changes briefly to 1 and returns to 0 the slave configuration does not match the configuration in the master controller Network Healthy N
45. ed User Guide www controltechniques com Issue Number 1 IN Data Word IN Word 8 IN Word 9 IN Word 10 IN Word 11 IN Word 12 IN Word 13 SM Profibus DP Advanced User Guide Issue Number 1 www controltechniques com 61 11 Quick Reference 11 1 Complete Parameter Reference Table 11 1 Slot 1 Slot 2 Slot 3 Default Description Module ID Code Major Firwmare Version Node Address Data Rate Data Format Network Status 200 Network Loss Trip Timeout OFF 0 Endian Format Select OFF 0 Direct Data Mapping Enable IN Mapping 0 IN Mapping 1 IN Mapping 2 IN Mapping 3 IN Mapping 4 IN Mapping 5 IN Mapping 6 IN Mapping 7 IN Mapping 8 IN Mapping 9 OUT Mapping 0 OUT Mapping 1 OUT Mapping 2 OUT Mapping 3 OUT Mapping 4 OUT Mapping 5 OUT Mapping 6 OUT Mapping 7 OUT Mapping 8 OUT Mapping 9 Restore SM Profibus DP Defaults Store to SM Profibus DP FLASH Memory Reset SM Profibus DP Module N ere oOo oO O OF o O CO CO CO oj o Restore Previous Configuration from SM Profibus DP FLASH memory Reserved Serial Number Reserved PPO Selected IN Cyclic Data Words 62 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Table 11 1 Slot 1 Slot 2 Slot 3 Default Description OUT Cyclic Data Words
46. eldbus control disabled 0x2000 Reset Unidrive SP into terminal control 6 2 Unidrive SP Status Word The status word returns the status of multiple functions within the Unidrive SP e g At Speed Zero Speed Drive Healthy etc and provides a quick method of checking the current status of the Unidrive SP The status word is mapped to polled data as 10 40 10 08 10 07 10 06 10 05 10 04 10 03 10 02 10 01 The table below shows the function indicated by each bit in the status word when set to 1 A bit set to 0 indicates that the condition is false Table 6 3 Unidrive SP Status Word Bit Functions Bk Parameter Despo Cd Drive Healthy Indicates the Unidrive SP is not in the trip state If the Auto reset feature is being used this bit is not reset until all auto resets have been attempted and the next trip occurs Drive Active Indicates that the output stage of the Unidrive SP is active SM Profibus DP Advanced User Guide 23 Issue Number 1 www controltechniques com 24 Table 6 3 Unidrive SP Status Word Bit Functions Bit Parameter Description Zero Speed In Open Loop mode Zero Speed indicates that the absolute value of the post ramp speed reference 2 01 is at or below the zero speed threshold defined by 3 05 In Closed Loop and Servo modes Zero Speed indicates that the absolute value of speed feedback 3 02 is at or below the zero speed
47. ensure that the correct data is sent to the correct locations This method relies on the master controller program writing and reading data values to and from the registers allocated to the node during network configuration and the source and destination of IN and OUT data being set up correctly in the Unidrive SP The flexibility of the SM Profibus DP module means that each cyclic data OUT channel can be directed to any read write Unidrive SP parameter Similarly each cyclic data IN channel can use any Unidrive SP parameter as a source of data EQ The cyclic data mapping cannot be changed dynamically as changes to the mapping 5 2 parameters will only take effect during initialisation of the SM Profibus DP module i e after a reset or at power up 32 bit Parameters If a 32 bit parameter is mapped as a source or destination parameter two polled or cyclic 16 bit data words will be allocated affecting the mapping between the Profibus DP master controller registers and Unidrive SP parameters Some Unidrive SP and UT70 parameters are 32 bit parameters The table below lists all 32 bit parameters that can be set as target parameters for cyclic or polled data Table 5 1 Unidrive SP 32 bit Parameters Menu 32 bit Parameters Menu 1 Menu 2 Menu 3 Menu 4 Menu 5 Menu 7 Menu 11 Menu 15 15 19 15 35 Menu 16 16 19 16 35 Menu 17 17 19 17 35 Menu 20 21 to 20 40 Menu 21 21 02 21 04 21 08
48. essed Table 4 5 Profibus DP Network Status Codes MM 06 Parameter Description gt 0 Network Healthy Indicates the number of successful network cycles per second Indicates that the Profibus DP master has established Network Health communications with the SM Profibus DP module 0 Y If Network Status changes briefly to 1 and returns to 0 the slave No Data Transfer 2 oN as configuration does not match the configuration in the master controller SM Profibus DP Advanced User Guide 11 Issue Number 1 www controltechniques com Table 4 5 Profibus DP Network Status Codes MM 06 Parameter Description Indicates that the SM Profibus DP module has initialised correctly 1 Initialised and is waiting for the Profibus DP master to initialise communications Indicates that part of the SM Profibus DP module initialisation sequence was not successful If this fault persists after a power cycle replace the SM Profibus DP module Internal Hardware k Failure Configuration Indicates that there is an invalid setting in the SM Profibus DP 3 Error module configuration parameters If a configuration error or network error is detected the Unidrive SP may trip Refer to section for details about the Unidrive SP trip display 4 7 Resetting the SM Profibus DP Module Default 0 OFF Range 0 OFF to 1 ON Access RW Changes to the Profibus DP configuration in menu 15 16 and 17 parameters will not
49. fibus DP Advanced User Guide Issue Number www controltechniques com a 32 32 Oanoauntkr Bp BP on N 8 1 8 2 8 3 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 10 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 10 10 11 11 1 GSD Files What are GSD Files Data Consistency Data Configuration Diagnostics Module ID Code SM Profibus DP Firmware Version Profibus DP Node Address Profibus DP Data Rate Profibus DP Network Status Profibus DP Mapping Conflicts Unidrive SP Trip Display Codes SM Profibus DP Trip Code Advanced Features Profibus DP Network Loss Trip UT70 Parameters Data Endian Format Block Mapping Direct Data Mapping Menu 82 Local Option Module Parameter Access Restore SM Profibus DP Defaults Restore Previous SM Profibus DP Configuration Custom Profibus DP Data Formats PPO Types Quick Reference Complete Parameter Reference SM Profibus DP Advanced User Guide Issue Number 1 www controltechniques com 41 41 41 42 45 45 45 46 46 47 47 49 50 51 51 51 52 52 54 55 55 56 56 57 62 62 1 Introduction Unidrive SP parameters are denoted in this manual by MM PP where MM refers to 1 1 1 2 1 3 the menu number and PP refers to the parameter number within that menu Please refer to the Unidrive SP manual for full parameter definitions SM Profibus DP Module for Unidrive SP The SM Profibus DP module for Unidrive SP is an option module that
50. he big endian format by default and many also allow the little endian to be selected However some older PLCs are known to use little endian format and do not offer any facility to select big endian format Contact the manufacturer of the master controller to be find out which endian format is used Block Mapping The Unidrive SP provides 10 mapping parameters each for IN data and OUT data However the SM Profibus DP module is capable of more than 10 words of IN and OUT data so block mapping is provided to allow these additional words to be mapped Block mapping can only be used when mapping data to Unidrive SP user parameters in 18 PP 19 PP and 20 PP and UT70 parameters If successive mapping parameters are mapped to different higher parameters within the same Unidrive SP user menu or UT70 PLC parameter menu the mappings will be interpreted as indicating a range of parameters IN Data IN refers to data as seen by the Profibus DP master controller Hence IN data is data that is being transmitted from the Unidrive SP to the Profibus DP master controller Consider a Unidrive SP with the following configuration e Slot 1 UT70 module e Slot 2 UT70 module SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Slot 3 SM Profibus DP module configured for Data Format 28 Table 10 1 IN Data Block Mapping Example Mapping Parameter Target Parameter Data Width 1
51. ic Data Mapping Errors The SM Profibus DP module will scan and check the Profibus DP mapping parameter configuration for errors during initialisation i e after reset If an error is detected the Profibus DP Network Status parameter MM 06 will indicate 3 and the mapping error detected will be indicated in Profibus DP Mapping Conflict parameter MM 49 See section 9 6 for full details Disabling Data Channels If any data words are not being used in an application the un used mapping parameters should be set to 0 Although the data word will still be transmitted over the Profibus DP network any incoming data value will be discarded Unmapped data words being passed back to the Profibus DP master controller will be set to 0 Storing Profibus DP Configuration Parameters Name Store to SM Profibus DP FLASH Memory Default OFF Range OFF 0 to ON 1 Access RW Menu 15 16 and 17 parameters are stored in the Unidrive SP The SM Profibus DP module will always use these values during initialisation to configure itself so if a new SM Profibus DP module is fitted it will communicate using the same settings as the previous SM Profibus DP module If the stored values in the Unidrive SP are for a different type of option module the SM 5 7 1 18 Profibus DP module will trip the Unidrive SP on SLx dF The slot configuration parameters will be set to the default values for Profibus DP but the default v
52. ic sub protocol for Unidrive SP requires a specific sequence of 6 words or telegrams to implement the parameter access Each non cyclic word or telegram is split into 2 bytes to implement the sub protocol with the high byte containing the control codes for each telegram and the low byte containing the data for each telegram Mapping For CT Single Word Non Cyclic Data To configure an SM Profibus DP module in slot 3 for CT Single Word Mode non cyclic data the following steps must be performed 1 Select a data format that supports CT Single Word mode Refer to section 5 3 for full details 2 Set 17 05 to the the required mode 3 Set 17 32 to ON to reset and reconfigure the SM Profibus DP module When the SM Profibus DP module re initialises it will map polled data IN Word 0 and OUT Word 0 to the CT Single Word protocol parameter 90 50 All existing mapping parameters will be moved down by 1 word i e the previous mapping set in 17 10 and SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 17 20 will now appear in 17 11 and 17 21 The table below shows what happens to the mappings when the data format is changed from 5 Polled Words to 5 Polleds Words with Mode 1 Non Cyclic Data Table 7 2 CT Single Word Non Cyclic Data Mapping apping Before Format Change 17 05 5 After Format Change 17 05 105 M Parameter 17 10 Mapping 10 40 status word Value Mapping 90 50 CT Sing
53. ion 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 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 A E a Data word 0x9505 Stamp number 5 Data high byte 0x25 37 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 a ve on oo 0000000 Data word 0x9600 Stamp number 6 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 A E a E Data word 0x96DC Stamp number 6 Data low byte 0xDC 220 Speed High byte 224 Mid high byte 216 Mid low byte 28 Low byte 0 16777216 1 65536 37 256 220 75228 7522 8 rom SM Profibus DP Advanced User Guide 31 Issue Number 1 www controltechniques com 7 1 4 Writing Parameters Using CT Single Word 32 To write to parameters using the non cyclic channel the following telegrams must be sent on each network cycle to construct the final message
54. ize of all OUT data mappings has exceeded the total size of the polled cyclic data Register Mode Objects Exceeded 48 www controltechniques com More than 10 cyclic polled OUT data words have been selected with Register Mode SM Profibus DP Advanced User Guide Issue Number 1 9 7 Unidrive SP Trip Display Codes If the SM Profibus DP module detects an error during operation it will force a trip on the Unidrive SP However the trip code displayed on the Unidrive SP will only indicate which slot initiated the trip and not the exact reason for the trip The table below shows the possible trip codes that will be displayed on the Unidrive SP when a problem is detected with the SM Profibus DP module or when the SM Profibus DP module inititiates a trip Table 9 7 Unidrive SP Trip Display Codes Slot Where Trip Was Initiated aaa Description Hardware Unidrive SP has detected that an option module is Fault present but is unable to communicate with it paar Not used by SM Profibus DP module imeout Error User trip generated by the SM Profibus DP module Not Fitted SM Profibus DP module was disconnected while operational or SM Profibus DP module has crashed This trip will also occur if a Unidrive SP slot is configured for a SM Profibus DP module but the module is not fitted in the slot Different The slot configuration parameters stored in the Fitted Unidrive SP are not valid Profibus DP configuration parameters This trip wil
55. kew when transferring blocks of data to a Profibus DP master controller If the the PLC operating system interrupts the transfer of data to the Profibus DP master controller there is a possibility that the master controller will send a Profibus DP message containing a mixture of new and old data values This effect is known as data skew To prevent data skew Profibus DP has a feature know as Data Consistency Consistent Data defines a block or data words that must ALL be updated in the Profibus DP master controller before ANY of the new data values are transmitted Consequently the message sent over the Profibus DP network will have all old or all new data values Some PLCs have special functions implemented within their operating systems to transfer blocks of consistent data to a Profibus DP master controller and guarantee that data skew cannot occur For example the Siemens S7 range of PLCs requires the use of SFC14 and SFC15 to transfer data to a blocks of consistent registers Using CT Single Word Non Cyclic Data CT Single Word non cyclic data uses only 1 word of data so there are no problems with consistency The GSD file provides the CT Single Word module which consists of 1 IN OUT word without consistency Using PPO 4 Word Non Cyclic Data Data consistency is important when using PPO4 Word Mode 2 non cyclic data as each non cyclic message consists of 4 words If there is d
56. l also occur when a SM Profibus DP module is fitted to a previously un used slot SM Profibus DP Advanced User Guide 49 There are some additional error codes that are specific to the SM Profibus DP module These are listed in section 9 6 Table 9 6 SM Profibus DP Module Specific Mapping Error Codes Mapping ay Error Status Description Configuration No data format has been selected Data Format MM 05 ae 30 Parameter Process Object MM 38 and Profibus DP IN and OUT Cyclic Words MM 39 and MM 40 are all set to 0 The pre defined PPOs 1 to 5 cannot be used when direct data mapping is enabled PPO Error 31 PPO and Data 32 PPOs can only be selected if the Data Format parameter MM 05 Format Error is set to 0 Issue Number 1 www controltechniques com 9 8 50 SM Profibus DP Trip Code 15 50 Default N A 16 50 Range 0 to 255 17 50 Access RO If the Profibus DP module detects an error during operation it will force a trip the Unidrive SP and update the Profibus DP Error Code parameter The table below shows the Profibus DP Trip Codes Table 9 8 SM Profibus DP Trip Codes User Control Word Trip Description Hardware Initialisation Error The Profibus DP module could not complete the initialisation procedure Configuration Error An invalid configuration has been detected Refer to MM 49 for Configuration Error Code Configuratio
57. le Word parameter 17 11 2 01 post ramp speed reference 10 40 status word 17 12 4 20 motor load as of rated load 2 01 post ramp speed reference 17 13 Not mapped 4 20 motor load as of rated load 17 14 to 17 19 17 20 Not mapped 6 42 control word Not mapped 90 50 CT Single Word parameter 17 21 1 21 digital speed reference 1 6 42 control word 17 22 4 08 torque reference 1 21 digital speed reference 1 17 23 Not mapped 4 08 torque reference 17 24 to 17 29 Not mapped Not mapped 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 7 1 2 CT Single Word Protocol All parameter values for Unidrive SP must be written as signed 32 bit data values Decimal point information is inserted automatically when the data value is written to the Unidrive SP 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 2 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 Pes a Tes Tae eT READ ERR Resenea S257 Samp Number SS SAS eS SS ee e E E a Data Byte SM Profibus DP Advanced User Guide 27 Issue Number 1 www contro
58. legram 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 C 0008 0010000 ro Data word 0x1215 SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Stamp number 2 Parameter 21 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 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 O e f en ne f a O o OE EEN E OE ily EO E O E 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 transmitted 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 Be tee pitas bree e300 value on oo 0000 000 Data word 0x1401 Stamp number
59. les 9 IN Words 9 OUT Words CT Single Word CT Single Word 16 IN Words 16 OUT Words 9 IN Words Consistency 9 IN Words Consistency 9 OUT Words Consistency 9 OUT Words Consistency PPO 4 Word 7 IN Words 13 IN Words 7 OUT Words 13 OUT Words SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 9 1 Diagnostics The information from the parameters described below should always be noted before contacting Control Techniques for technical support Module ID Code Module ID Code 15 01 Default N A 16 01 Range 0 to 499 17 01 Access RO 9 2 The Module Code indicates the type of module that is fitted in the corresponding slot The table below shows the modules available for Unidrive SP Table 9 1 Option Module ID Codes Module Code Module Type Category 0 None fitted None 101 Resolver Position Feedback 102 Intelligent Encoder Position Feedback 103 DriveLink 201 I O Expansion 301 SM Applications Plus 302 SM Application 403 Profibus DP 407 DeviceNet Position Feedback I O Expansion Applications Module Applications Module Fieldbus Fieldbus SM Profibus DP Firmware Version Name SM Profibus DP Firmware Major Version 15 02 Default N A 16 02 00 00 to 99 99 Range 17 02 Access RO Name SM Profibus DP Firmware Minor Version 15 51 Default
60. ltechniques com Table 7 3 CT Single Word Format Function Values 0 to 255 Description Depending on the stamp number of the telegram this byte contains the menu or parameter number or high data or low data byte Stamp number 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 cyclic state machine 32 BIT 16 bit data 32 bit data 0 1 Specifies whether a 16 bit or 32 bit data value is to be written to or read from the Unidrive SP All data values for Unidrive SP will be returned as 32 bit values Reserved 0 Reserved for future use Always set to 0 ERR 0 Data OK 1 Error 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 READ 0 Write 1 Read Defines whether the data word is part of a READ or WRITE cycle DG X don t care Generally these bits should be set to 0 If a message is aborted part way through the non cyclic OUT word should be reset to 0 This will reset the non cyclic state machine and allow the message sequence to be restarted 7 1 3 Reading Parameters Using CT Single Word To read parameters using the non cyclic channel the following telegrams must be transmitted to construct the final message Telegram 1 Define menu number 28 Telegram
61. n Changed Network Loss No new messages have been received for the specified Network Loss Trip Time FLASH Transfer Error The Profibus DP module was unable to upload the configuration parameters from its FLASH memory to the Unidrive SP SM Profibus DP Module Overtemperature When the temperature inside the SM Profibus DP module exceeds 90 degrees the SM Profibus DP module will switch the Unidrive SP to full speed If the temperature exceeds 100 degress the SM Profibus DP module will trip the Unidrive SP Internal Software Fault If this fault is seen cycle the power to the Unidrive SP If fault persists replace the SM Profibus DP module SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 10 10 1 Advanced Features Profibus DP Network Loss Trip Default 200 Range 0 to 3000 Access RW The SM Profibus DP module resets an internal timer when a valid message is received from the Profibus DP network The trip is triggered when no new messages are received before the timer times out The trip is not enabled internally until polled or cyclic data has been detected This prevents spurious network loss trip while the Profibus DP master controller is initialising the Profibus DP network Figure 10 1 Profibus DP Network Loss Trip Messages 15 07 per sec 16 07 17 07 Time ms Communications P FCE SP stop here trips here As the trip dela
62. n the forward direction The RUN signal is used to start and stop the motor Set to 1 to run the motor when operating with a RUN and DIRECTION signal FWD REV is used to select the direction of motor rotation When reset to 0 the Unidrive SP will decelerate the motor to a controlled stop before the PWM output stack is disabled Set to 1 to allow the sequencing bit to be latched If NOT STOP is zero all latches are cleared and held at 0 Set to 1 to enable the Unidrive SP Control Word The Control Word Enable 6 43 must also be set to 1 When reset to 0 the Unidrive SP will operate under under terminal control REMOTE Set to 1 to select digital speed reference 1 1 21 and reset to 0 to select Analogue Reference 1 1 36 REMOTE directly controls 1 42 so Reference Selector 1 14 and Preset Selector 1 15 must both be set to 0 default for the REMOTE bit to work properly Reserved A 0 1 transition of the RESET bit will reset the Unidrive SP from a trip condition If the reason for the trip is still present for another fault condition has been detected the Unidrive SP will immediately trip again When resetting the Unidrive SP it is recommended to check the status word to ensure that the reset was successful before attempting to re start the Unidrive SP KEYPAD WDOG Reserved for use with external keypad modules Reserved EXE When a trip occurs the Unidrive SP control wor
63. nfiguration parameters for the slot in which the SM Profibus DP module is located can be accessed as 82 PP Changes made to the SM Profibus DP module configuration will not take effect until the module has been reset The SM Profibus DP module can be reset by writing a value of 1 to 82 32 A brief interruption in Profibus DP communications may be seen while the reset sequence is in progess SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 8 2 8 2 1 8 2 2 GSD Files What are GSD Files GSD files are text files that are used by Profibus DP network configuration software tools They contain information about the device timings features supported and available data formats for the Profibus DP device GSD files are available from your local Control Techniques Drive Centre Table 8 1 Generic EDS Files Drive GSD File PNO Certified Unidrive CTU_3345 GSD Yes Mentor II CTM_3345 GSD No Commander SE CTSE04FA GSD Yes Unidrive SP CTSM0672 GSD Pending Drive icon files are also supplied for use with the Profibus DP configuration software being used GSD files must usually be installed into the software package being used to configure a Profibus DP network Refer to the software documentation for instructions on how to install GSD files Control Techniques cannot provide specific technical support for any of these software packages Data Consistency There is a potential problem with data s
64. niques Service Centre If there is any doubt contact a Control Techniques Drive Centre Copyright 8 March 2002 Control Techniques Drives Ltd Issue Code 1 Hardware UT73 Issue 01 00 Firmware V0 01 00 1 1 1 2 1 3 2 1 2 2 3 1 3 2 3 3 3 4 3 5 3 6 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 5 1 5 2 5 3 5 4 5 5 5 6 5 7 6 1 6 2 7 1 7 2 7 3 7 4 Contents Introduction SM Profibus DP Module for Unidrive SP Product Conformance Certificate Overview Specification Mechanical Installation Installing The SM Profibus DP Module Removing The SM Profibus DP Module Electrical Installation SM Profibus DP Module Profibus DP Connections Profibus DP Cable Profibus DP Network Termination Profibus DP Cable Screen Connections Maximum Network Length Getting Started Libra Wizard Basic Communications Quick Start Profibus DP Node Address Profibus DP Data Rate Profibus DP Data Format Profibus DP Network Status Resetting the SM Profibus DP Module Reset All option Modules Cyclic Data What is Cyclic Data 32 bit Parameters Profibus DP Data Formats Unidrive SP Mapping Conflicts Cyclic Data Mapping Errors Disabling Data Channels Storing Profibus DP Configuration Parameters Control and Status Words Unidrive SP Control Word Unidrive SP Status Word Non Cyclic Data Mode 1 CT Single Word Mode Mode 2 PPO 4 Word Mode Fieldbus Specific TASK IDs Profibus DP Set up using Non Cyclic Data SM Pro
65. o Data Transfer Indicates that the SM Profibus DP module has initialised correctly Initialised and is waiting for the Profibus DP master to initialise communications Indicates that part of the SM Profibus DP module initialisation sequence was not successful If this fault persists after a power cycle replace the SM Profibus DP module Internal Hardware Failure Configuration Indicates that there is an invalid setting in the SM Profibus DP Error module configuration parameters Profibus DP Mapping Conflicts 15 49 Default 0 16 49 Range 0 to 255 17 49 Access RO If the Profibus DP Network Status parameter MM 06 indicates 3 a mapping configuration error has been detected The reason for the error is indicated by the Profibus DP Mapping Status parameter MM 49 When an mapping error has been corrected reset the SM Profibus DP module by setting MM 32 to ON 1 Table 9 5 Generic Mapping Error Codes Mapping Status No Error Detected No error detected with IN or OUT data mapping configuration Description Direct Data Mapping Non cyclic data cannot be used when direct data mapping is Error enabled Invalid Non Cyclic An invalid non cyclic data mode has been selected Mode Multiple Non Cyclic Only 1 non cyclic mode can be used More than one has Modes been mapped in the IN and OUT mapping parameters A non cyclic data mode has been mapped more than once in Multiple
66. of IN words is specified in MM 39 and the number of OUT words is specified by MM 40 See section 10 9 for more details e If non cyclic data is required specify the CT Single Word module and or PPO 4 Word module If CT Single Word mode is used this will account for 1 IN and 1 OUT word of the cyclic words specified in MM 39 and MM 40 If PPO 4 Word mode is used this will account for 4 IN and 4 OUT words of the cyclic data words specified in MM 39 and MM 40 For IN words specifiy up to 3 IN modules such that the total number of specified IN data words is equal to the cyclic words remaing when non cyclic data has been accounted for e For OUT words specifiy up to 3 OUT modules such that the total number of specified IN data words is equal to the cyclic words remaing when non cyclic data has been accounted for Table 8 4 IN Words Non Cyclic Non Cyclic IN Cyclic MM 39 Mode Words Words Consistency Possible Modules 5 IN Words 5 OUT Words CT Single Word 11 IN Words 11 OUT Words 12 IN Words Consistency 6 IN Words Consistency 12 OUT Words Consistency 6 OUT Words Consistency PPO 4 Word 12 IN Words 11 IN Words 12 OUT Words 10 OUT Words None CT Single Word SM Profibus DP Advanced User Guide 43 Issue Number 1 www controltechniques com Table 8 5 OUT Words Non Cyclic Non Cyclic OUT Cyclic Consistene MM 40 Mode Words Words y None Possible Modu
67. oltechniques com Issue Number 1 4 5 Table 4 3 Profibus DP Data Rates Profibus DP Data Format 5 0 to 228 RO The default data format is 5 Cyclic Words Each cyclic data channel is mapped to a Unidrive SP parameter with default mappings as shown in the table below Table 4 4 Default Data Mapping Cyclic Word Data Width Data Word Default Mapping Status IN Channel 0 Word 0 10 40 status word IN Channel 1 Word 1 2 2 01 post ramp speed reference IN Channel 2 Word 3 4 20 motor Load as of rated load IN Channel 3 Word 4 Not mapped OUT Channel 0 Word 0 6 42 control word OUT Channel 1 Word 1 2 1 21 digital speed reference 1 OUT Channel 2 Word 3 4 4 08 torque reference Other data formats are also supported For further details see section 5 3 If a cyclic data channel is mapped to a Unidrive SP 32 bit parameter it will use two 16 bit data words to transfer the data Refer to section 5 2 for a list of 32 bit parameters 4 6 Profibus DP Network Status Name Profibus DP Network Status 15 06 N A 16 06 3 to 9999 17 06 RO The Profibus DP network activity can be monitored in the Profibus DP Network Status parameter MM 06 When the SM Profibus DP module is communicating successfully with the Profibus DP master controller the Profibus DP Network Status will give an indication of the number of data messages per second that are being proc
68. on No Task No non cyclic transaction required Fleldbus Specific Fleldbus Specific Fleldbus Specific Not Implemented Reserved Not Implemented Reserved Request Parameter Read parameter value from Unidrive SP q Value Specify MENU and PARAMETER set DATA HIGH WORD and DATA LOW WORD to 0 Write 16 bit parameter value to Unidrive SP Change Parameter Specify MENU PARAMETER and DATA LOW WORD f Value 16 bit Any value in DATA HIGH WORD will be discarded This function can be used to write to 32 bit Unidrive SP parameters but the range of values is limited to 16 bits Write 32 bit parameter value to Unidrive SP Gh nge Parameter Specify MENU PARAMETER DATA HIGH WORD and g DATA LOW WORD This function can be used to write to Value 32 Bip 16 bit Unidrive SP parameters but if DATA HIGH WORD is not set to 0 a value over range error will be reported Request Last Parameter Returns the last parameter for the specified menu q Reference Specify MENU Values in PARAMETER DATA HIGH WORD and DATA LOW WORD will be discarded SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Table 7 7 shows the data structure of a PPO 4 Word response that will be returned by a SM Profibus DP module on the IN data Table 7 7 PPO 4 Word IN Data Structure IN Data Word IN Word 0 b11 b8 RESPONSE ID 0000 IN Word 1 PARAMETER IN Word 2 DATA HIGH WORD
69. parameter values This feature allows a pre configured SM Profibus DP module to be fitted to a Unidrive SP without losing the Profibus DP configuration If the SM Profibus DP module is unable to upload the configuration parameters to the Unidrive SP or configuration parameters have never been stored in the SM Profibus DP FLASH memory the Unidrive SP will trip SLx ER with a Trip Code of 70 When MM 33 is set to ON the Profibus DP module will transfer the configuration parameters from its FLASH memory to the Unidrive SP over writing the existing values in the Unidrive SP The full sequence of events for restoring values from a SM Profibus DP module fitted in slot 3 is as follows 1 Set 17 33 to ON 2 Profibus DP communications will be stopped 3 The SM Profibus DP module will overwrite all 17 PP parameters with the Profibus DP values stored in its internal FLASH memory 4 17 33 will be reset to OFF 5 The SM Profibus DP module will reset and re initialise using the default values Des This procedure will NOT store the updated Unidrive SP parameters 10 9 56 Custom Profibus DP Data Formats Name Profibus DP IN Cyclic Words 15 39 Default 16 39 Range 17 39 15 40 Access Profibus DP OUT Cyclic Words Default 16 40 Range 17 40 Access www controltechniques com SM Profibus DP Advanced User Guide Issue Number 1 If the number of cyclic words i
70. r Process Objects please refer to the Profibus web site at www profibus com The data formats of the PPOs are shown in Table 10 8 Table 10 8 PPO Formats PPO Mode MM 38 Total Words Mapping dependant Non Cyclic Mode Mapping dependant Cyclic Words Specified by MM 39 and MM 40 6 PPO 4 Word 10 PPO 4 Word None None PPO 4 Word The data mapping for the first 2 IN and OUT cyclic data words in each PPO is fixed and cannot be changed However if a PPO has additional cyclic data words included these IN and OUT words can be mapped as normal using the IN and OUT data mapping parameters See section 5 3 EX 4 single mapping parameter will map 2 cyclic words if the target parameter specified is a 32 bit parameter See section 5 2 for a list of 32 bit parameters SM Profibus DP Advanced User Guide 57 Issue Number 1 www controltechniques com When a PPO data word has fixed mapping the corresponding mapping parameter will indicate 1 This shows that the word is in use for a PPO and the mapping cannot be modified When a PPO is selected existing mappings are over written by the PPO fixed mappings The table below shows the change in a set of mapping parameters when the SM Profibus DP module configuration is changed from 10 Cyclic Words with PPO 4 Word Mode 2 non cyclic data to PPO 5 The actual data format over the Profibus DP remains the same but the mapping for the first 6
71. s specified using the Profibus DP Data Format parameter MM 05 the number of IN and OUT cyclic words will be the same See section 5 3 MM 389 and MM 40 will alsways display the current number of IN and OUT cyclic data words being used When the Profibus DP Data Format MM 05 and the PPO Type MM 38 are both set to 0 the number of IN and OUT data words can be specified separately in MM 39 and MM 40 respectively This allows different numbers of IN and OUT cyclic data words to be specified CT Single Word or PPO 4 Word non cyclic data can also be enabled by mapping IN and OUT words to the appropriate source destination parameter Table 10 7 Customised Non Cyclic Channel Mapping Source Destination Non Cyclic Description Parameter Mode P CT Single Word 1 IN and 1 OUT word must be assigned for use as the CT Single Word non cyclic channel 4 IN and 4 OUT words must be assigned for use as the PPO 4 Word PPO 4 Word non cyclic channel 10 10 PPO Types Parameter Process Data Object PPO Default Range Access All defined Parameter Process Data Objects PPOs are supported by the SM Profibus DP module Each PPO defines the IN and OUT data format so it is not possible to have different IN and OUT PPOs configured at the same time Full details about supported aspects of the PROFIDRIVE profile will be included in later versions of this manual For further details about the PROFIDRIVE profile and Paramete
72. single combination of data words 7 2 1 Mapping For PPO 4 Word Non Cyclc Data To configure an SM Profibus DP module in slot 3 for PPO 4 Word Mode non cyclic data the following steps must be performed 1 Select a data format that supports PPO 4 Word mode Refer to section 5 3 2 Set 17 05 to the the required mode 3 Set 17 32 to ON to reset and reconfigure the SM Profibus DP module When the SM Profibus DP module re initialises it will map IN Words 0 to 3 and OUT Words 0 to 3 to the PPO 4 Word protocol parameter 90 51 All existing mapping parameters will be moved down by 1 channel i e the previous mappings set in 17 10 and 17 20 will now appear in 17 11 and 17 21 respectively The table below shows what happens to the mappings when the data format is changed from 10 Polled Words MM 05 10 to 10 Polleds Words with Mode 2 Non Cyclic Data HMM 05 210 Table 7 4 PPO 4 Word Mode Mapping Mapping Before Format Change 17 05 10 After Format Change 17 05 210 Parameter Value Mapping Value Mapping 17 10 10 40 status word 90 51 PPO 4 Word parameter 2 01 post ramp speed 17 11 reference 10 40 status word 4 20 motor load as of rated 2 01 post ramp speed load reference 4 20 motor load as of rated load 17 12 17 13 Not mapped 17 14 to 17 19 17 20 6 42 control word 90 51 PPO 4 Word parameter 17 21 1 21 digital speed reference 1 6 42 control word 17 22 4 08
73. t Mapping Status IN Word 0 90 50 CT Mode 1 non cyclic data IN Word 1 10 40 status word See section IN Word 2 3 2 01 post ramp speed reference IN Word 4 4 20 motor load as of rated load IN Word 5 0 not mapped OUT Word 0 90 50 CT Mode 1 non cyclic data OUT Word 1 6 42 control word See section OUT Word 2 3 1 21 digital speed reference 1 OUT Word 4 5 4 08 torque reference 10 Cyclic Words Only This data format provides ten 16 bit cyclic data words with no non cyclic data channel The total data length is 20 bytes To select this data format set MM 05 10 Table 5 6 Mapping for 10 Cyclic Data Words Data Word Slot 1 Slot 2 Slot 3 Default Mapping Status IN Word 0 15 10 16 10 17 10 10 40 status word See section IN Word 1 2 15 11 16 11 17 11 2 01 post ramp speed reference IN Word 3 15 12 16 12 17 12 4 20 motor load as of rated motor load 15 13 to 16 13 to 17 13 to 15 19 16 19 17 19 OUT Word 0 15 20 16 20 17 20 6 42 control word See section OUT Word 1 2 15 21 16 21 17 21 1 21 digital speed reference 1 OUT Word 3 4 15 22 16 22 17 22 4 08 torque reference 15 23 to 16 23 to 17 23 to 15 29 16 29 17 29 16 Cyclic Words with PPO 4 Word Mode 2 Non Cyclic Data This data format provides sixteen 16 bit cyclic data words plus an additional 4 words for PPO 4 Word Mode 2 non cyclic data See section 7 2 The total d
74. t the Erbic vertical range of Profibus DP connectors from ERNI The grey connector Part No 103658L can be used on all nodes in the middle of the Profibus DP network and a special yellow termination connector Part No 103659L containing the necessary Profibus DP termination resistor network is also available Some Siemens connectors may also be used with the SM Profibus DP module Suitable connectors are Part No 6GK1500 OF COO and Part No 6GK1500 0EA00 For futher details visit the Profibus web site at www profibus com and search for Network Components EX Other companies also make PNO certified Profibus DP connectors but the mechanical design of some connectors may make them incompatible with Unidrive SP and the SM Profibus DP module SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 3 3 Figure 3 2 illustrates a Profibus DP connection using an Erbic connector from ERNI See section 3 3 Figure 3 2 Profibus DP Network Connections OF KOJ LOF OJ W E D e o e o o Illustrated connector is Erbic Part No 103658L Profibus DP Cable Profibus DP cable has a single twisted pair with overall screening Profibus DP has a specified colour code and it is strongly recommended that this code is maintained Table 3 2 Profibus DP Cable Colour Codes Data Signal Terminal Description Red TxRxB 3 Positive data line Green TxRxA 8 Negative data
75. ter will remain on for at least one second Dynamic Brake Alarm Dynamic Brake Alarm is set when the braking IGBT is active and the braking energy accumulator is greater than 75 Direction Commanded Direction Commanded is set to 1 if the Pre ramp Speed Reference 1 03 is negative and reset to 0 if the Pre ramp Speed Reference is zero or positive Direction Running In Open Loop mode Direction Running is set to 1 if the Post ramp Speed Reference 2 01 is negative and reset to 0 if the Post ramp Speed Reference is zero or positive In Closed Loop Vector and Servo modes Direction Running is set to 1 if the Speed Feedback 3 02 is negative and reset to 0 if the Speed Feedback is zero or positive SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 Table 6 3 Unidrive SP Status Word Bit Functions Bit Parameter Description Mains Loss In Open Loop Closed Loop Vector and Servo modes Mains Loss indicates that the drive has detected mains loss from the level of the DC link voltage This parameter can only become active if mains loss ride through or mains loss stop modes are selected Refer to 6 03 in the Unidrive SP Advanced User Guide the for more details In Regen mode Mains Loss is the inverse of 3 07 Refer to the Unidrive SP Advanced User Guide the for more details Not Used Reserved SM Profibus DP Advanced User Guide 25 Issue Number 1 www con
76. ters Mapping Parameter OUT Mapping Parameter Slot 1 Slot 2 Slot 3 Channel Sjot 4 Slot 2 Slot 3 oO oO Co N oy BY oj N CO CO N ol BY oj N oO Block Mapping can be used to map several words to consecutive Unidrive SP parameters Full details about block mapping can be found in section 10 4 If a mapping parameter is set to an invalid value e g destination parameter is read only or parameter does not exist the SM Profibus DP module will indicate Mapping Error in the Network Status parameter MM 06 The reason for the mapping error will be indicated by the Mapping Error Status parameter MM 49 Refer to section 5 6 for more details When the Data Format is configured using MM 05 the SM Profibus DP module will communicate using the same number of data words for IN and OUT data It is however possible to configure the SM Profibus DP module to communicate with different numbers of IN and OUT cyclic data words Refer to section 10 9 for full details EX The cyclic data channels do not use decimal points For example in Open Loop mode the Unidrive SP digital speed reference 1 1 21 has units of Hertz accurate to 1 decimal place To write a value of 24 6Hz to 1 21 the value must be transmitted as 246 The following sections show some example data formats that can be selected and the parameter mapping that will apply by default to each format
77. the SM Profibus DP module Refer to section 10 10 for full details about these PPOs 5 4 Unidrive SP Mapping Conflicts Care must be taken to ensure that there are no clashes with the mapping of the analogue and digital inputs within the Unidrive SP The SM Profibus DP module will not indicate if there is a conflict with Unidrive SP mapping parameters This only applies to analogue and digital inputs and OUT data on the Profibus DP network The table below shows the parameters that need to be checked for possible mapping conflicts OUT Word 9 19 0 not mapped Table 5 8 Unidrive SP Destination Parameters Function Mapping Function Mapping Parameter Parameter Analogue Input 1 7 10 Cyclic OUT Slot 1 Channel 7 15 27 Analogue Input 2 7 14 Cyclic OUT Slot 1 Channel 8 15 28 Analogue Input 3 7 18 Cyclic OUT Slot 1 Channel 9 15 29 Digital Input 1 8 21 Cyclic OUT Slot 2 Channel 0 16 20 Digital Input 2 8 22 Cyclic OUT Slot 2 Channel 1 16 21 Digital Input 3 8 23 Cyclic OUT Slot 2 Channel 2 16 22 Digital Input 4 8 24 Cyclic OUT Slot 2 Channel 3 16 23 Digital Input 5 8 25 Cyclic OUT Slot 2 Channel 4 16 24 Digital Input 6 8 26 Cyclic OUT Slot 2 Channel 5 16 25 Logic Output 1 9 10 Cyclic OUT Slot 2 Channel 6 16 26 Logic Output 2 9 20 Cyclic OUT Slot 2 Channel 7 16 27 Motorised Pot Output 9 25 Cyclic OUT Slot 2 Channel 8 16 28 Comparator 1 Output 12
78. tion fot Illustrated connector is Erbic Part No 103659L Failure to terminate a network correctly can seriously affect the operation of the network If the correct termination resistors are not fitted the noise immunity of the network is greatly reduced If too many termination resistor networks are fitted on a Profibus DP network the network will be over loaded resulting in reduced signal levels This may cause nodes to miss some bits of information resulting in transmission errors being reported If network overload is excessive the signal levels may be so low that nodes cannot detect any network activity at all SM Profibus DP Advanced User Guide www controltechniques com Issue Number 1 3 5 Profibus DP Cable Screen Connections The electrical noise immunity of the Profibus DP network can be increased if the screens of the Profibus DP cables are earthed at every Unidrive SP on their external surfaces before they enter the connector This precaution is recommended unless there are specific reasons for avoiding earthing This can be achieved by exposing the cable screen of each Profibus DP cable and clamping them to the Earthing Bracket of the Unidrive SP using a tie wrap Provided that the exposed length of cable screen is at minimum of 18mm as shown in Figure 3 4 the tie wrap will ensure a good earth connection for the Profibus DP cable screen Figure 3 4 Profibus DP Cable Screen Arrangement
79. to 125 Access RW Every node on a Profibus DP network must be given a unique network node address If two or more nodes are assigned the same address they will attempt to transmit at the same time leading to corrupt messages on the Profibus DP network The SM Profibus DP module must be reset to make a change of node address take effect If an invalid node address is set the SM Profibus DP module will reject the configured address default to 125 and set the Profibus DP node address MM 03 to 125 Profibus DP Data Rate Default Range Access The SM Profibus DP module will automatically detect the Profibus DP network data rate and synchronise to it For this reason the data rate is controlled by the Profibus DP master controller MM 04 will indicate the data rate that has been detected by the SM Profibus DP module EQ The Profibus DP Data Rate parameter can be changed from the Unidrive SP keypad 10 but this will not affect the data rate at which the SM Profibus DP module communciates The Data Rate display will be updated when the Profibus DP network is re initialised 1 indicates that the SM Profibus DP module has not detected any activity on the Profibus DP network and is waiting for the master controller to start communciating Table 4 3 Profibus DP Data Rates 1 Auto detecting 5 187 5k 0 12M 6 93 75k 1 6 0M 7 45 45k SM Profibus DP Advanced User Guide www contr
80. troltechniques com Non Cyclic Data CT Mode Single Word non cyclic data is available on the SM Profibus DP module This method uses an additional cyclic data word to implement the Single Word protocol to access any Unidrive SP parameter PPO 4 Word non cyclic data is also available on the SM Profibus DP module This method uses 4 cyclic data words to access any Unidrive SP parameter EXE As non cyclic data control is implemented entirely in the Profibus DP master controller 7 1 26 the method used will depend entirely on the type of master controller used For this reason Control Techniques is unable to offer any specific technical support with implementing non cyclic data transfer for any particular Profibus DP scanner and PLC combination The Unidrive SP Profibus DP module provides several data formats that allow CT Mode Single Word or PPO 4 Word modes to be used Refer to section 5 3 for more details Table 7 1 SM Profibus DP Module Non Cyclic Data Modes Non Cyclic Mode Format Disabled None Mode 1 CT Single Word Mode 2 PPO 4 Word The non cyclic data channel does not use decimal points For example in Open Loop mode digital speed reference 1 1 21 has units of Hertz accurate to 1 decimal place To write a value of 24 6Hz to 1 21 the value must be transmitted as 246 Mode 1 CT Single Word Mode The CT Single Word Format Mode 1 of non cyclic data uses one word for non cyclic data The non cycl
81. u Description The specified menu does not exist Parameter Is Read Only The specified parameter is read only and cannot be written to Value Out Of Range The specified data value is out of range for the parameter Invalid Parameter SM Profibus DP Advanced User Guide Issue Number 1 The specified parameter does not exist 37 www controltechniques com 7 2 3 Reading Parameters Using PPO 4 Word The diagram below shows the sequence of events required to read a Unidrive SP parameter using the PPO 4 Word non cyclic channel Figure 7 3 PPO 4 Word Read Sequence 38 START Set OUT Word 0 to0 y Specify PARAMETER in OUT Word 1 Set OUT Word 2to0 Set OUT Word 3to0 y Specify TASK ID and MENU in OUT Word 0 y y 9 CASE z RESPONSE ID 4 5 v Yy SUCCESS ERROR Read 16 bit data TASK ID could not value from IN Word 4 executed SUCCESS Read 32 bit data value from IN Word 3 and IN Word 4 END OF SEQUENCE Table 7 10 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to read a parameter value from a Unidrive SP Table 7 10 PPO 4 Word Read TASK ID and RESPONSE ID Combinations Function TASK ID No Task RESPONSE ID Message Status No message active Request Parameter Value
82. words in PPO5 mode are fixed Table 10 9 CT Single Word Non Cyclic Data Mapping Mapping Parameter 17 10 Before Format Change 17 05 210 After Format Change 17 05 0 17 38 5 Value Mapping PPO 4 Word non cyclic data Value 1 Mapping PPO 4 Word non cyclic data 17 11 10 40 status word Profibus DP status word 17 12 2 01 post ramp speed ref Profibus DP speed feedback 17 13 4 20 motor load as of rated load 4 20 motor load as of rated load 17 14 14 01 PID output 14 01 PID output 17 15 4 01 motor current 4 01 motor current 17 15 to 17 19 17 20 Not mapped PPO 4 Word non cyclic data Not mapped PPO 4 Word non cyclic data 17 21 6 42 control word Profibus DP control word 17 22 1 21 digital speed ref 1 Profibus DP speed reference 17 23 4 08 torque reference 4 08 torque reference 17 24 14 10 PID loop P gain 14 10 PID loop P gain 17 25 to 17 29 10 10 1PPO 1 Not mapped Not mapped Swa O O O Word PPO 4 Word Non Cyclic data See section 7 2 OUT Word 4 Profibus DP Control Word OUT Word 5 Main Setpoint a fm Word PPO 4 Word Non Cyclic data See section 7 2 IN Word 4 Profibus DP Status Word IN Word 5 Main Actual Value 58 www controltechniques com SM Profibus DP Advanced User Guide Issue Number 1 10 10 2PP
83. y time is reduced the network loss trip will occur more quickly in the event of a network loss event However if the network loss trip time is reduced too far spurious network loss trips may occur due to time out occurring before the next message has chance to arrive The minimum network loss trip time that can be set depends entirely on the number of messages per second being received under normal operation As a rough guide the network loss trip time should be set such that a minimum of 4 messages will be received in the specified time period under normal operating conditions The Network Loss trip can be disabled by setting 15 07 16 07 or 17 07 to 0 but the Unidrive SP will continue to operate using the last received values in the case of a network loss Itis the User s responsibility to ensure that adequate safety precautions EQN are taken to prevent damage or injury in the event of a communications network loss 10 2 UT70 Parameters SM Profibus DP modules fitted with V0 01 00 firwmare do not currently allow direct access to UT70 parameters This feature will be implemented in future versions of firmware If the Profibus DP mapping is configured to read and write data from and to menu 18 19 and 20 user parameters in the Unidrive SP this will allow the UT70 to access the data being transmitted over the Profibus DP network SM Profibus DP Advanced User Guide 51 Issue Number 1 www controltechniques com 10 3 10 4 10 4 1

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