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SE77 DeviceNet Advanced User Guide

1. v Check the master configuration is it showing a bus error sa n e94 SAUPIJOYA peoueApy Y Check set up flowchart and double check all drive settings 39U919 9 Before calling for support ensure you have all drive and option module parameters and firmware versions JO Messo SM PROFIBUS DP User Guide 57 Issue Number 6 www carlogavazzi com ac 10 2 10 3 10 4 10 5 58 Module ID code 403 SM PROFIBUS DP Pr MM 01 0 to 499 RO The module ID code indicates the type of module fitted in to the slot corresponding to menu MM The module ID code for SM PROFIBUS DP is 403 SM PROFIBUS DP firmware version N A 00 00 to 99 99 RO SM PROFIBUS DP firmware minor version zz The full version of the SM PROFIBUS DP firmware can be read for the SM PROFIBUS DP The full version is assembled by combining the major version xx yy and the minor version zz as follows xx yy zz SM PROFIBUS DP node address Default 126 Range 0 to 126 Access RW Each node on a PROFIBUS DP network must be given a unique network node address The SM PROFIBUS DP must be re initialised to make a change of node address take effect Addresses 0 and 126 are reserved for system use and should not be used SM PROFIBUS DP data rate Default Range Access The SM PROFIBUS DP will automatically detect the PROFIBUS DP
2. v Set OUT Word 0to0 v Specify PARAMETER in OUT Word 1 v v CASE RESPONSE ID 4 5 v v v Set OUT Word 2to0 v Set OUT Word 3to0 v Specify TASK ID and MENU in OUT Word 0 Table 8 12 shows the possible TASK ID and RESPONSE ID combinations that may be SUCCESS Read 16 bit data value from ERROR TASK ID could not IN Word 4 executed SUCCESS Read 32 bit data value from IN Word 3 and IN Word 4 END OF SEQUENCE Seen when attempting to read a parameter value from a drive Table 8 12 PPO 4 Word Read TASK ID and RESPONSE ID combinations Function No Task TASK ID RESPONSE ID Message status No message active Request Parameter Value 16 bit Parameter read successfully 16 bit value returned in word 3 Request Parameter Value 32 bit Parameter read successfully 32 bit value returned in words 2 and 3 Request Parameter Value 16 bit 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 8 13 shows an example set of data word
3. Table 1 1 D Type connections D type Terminal Function Description RxD TxD P Positive data line B Red RxD TxD N _ Negative data line A Green 8 6 5V ISO 5V isolated use only for termination resistors 5 OV ISO OV isolated use only for termination resistors 4 CNTR P RTS line 1 Shell Shield Cable shield connection Carlo Gavazzi recommend that approved PROFIBUS DP connectors are used at all times SM PROFIBUS DP connectors There are many manufacturers of PROFIBUS DP connectors Always ensure that any connectors used on the network are fully approved for use with PROFIBUS DP Some of the connector types available include built in termination that allows the network to be isolated this can be very useful when fault finding For data rates above 1 5Mbs connectors fitted with integrated inductors should be used SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Figure 4 3 PROFIBUS DP Connector JUE 44644 ME H gt 4 3 PROFIBUS DP cable PROFIBUS DP networks can run at high data rates and require cable specifically designed to carry high frequency signals Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network Cable specifications and a list of approved manufacturers of cable for use on PROFIBUS DP networks are available on the PROFIBUS Nutzerorganization PNO we
4. SAVING iue i SECURE DISABLE i RUE BOR EE halts Serial number nre teen ta Ernie need e eren er pn da exorare da SOUP TOW Chirac heaters cts este ps ees eden eed sea gt SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Shield 2435 M Adee gt Single SM Applications seeet tette gg Single Word nefisten ebbe thao eor rta Eb A MAE etia eed EI Single word mode cooococcccoccoonooccononononononnconnonnonononnnoncnn nooo nennen nnne nnne 2 Single word non cyclic data El Solutions Module identification a Specification i sua Leo tt OH ERES Sg Spurs zz Status codes ES Status word weet R3 Status word bit f nictions csi e ERR je Serra eda 2 Storing parameters sssssssssseseeeenenne nete gm SYNG UL M UI MA E E ze 38 T Taskid Codes iaa 2g Task trigger g E Telegrams B Terminal descriptions sirrane ieie ee ti ae rdiet deri dte o A 7 n Termination 2 3 2 eee Abn aaa ee d o Trip display codes umi aa e ec a de cxi dede foe men ce ted 8 U 9 UNFREEZE coarse ae tu uet rd ena TOR ted i UNSYNC 0 ed e c emos diee ue cmi Mica ears a V g Virtual parameter reference ssssssssssssssessseeeeeenne enne w a 2 Q Warthihgs oa 8 Word order iii ile ire Hie ERU dies S o Z a e A M Kn amp 3 2E 85 U z e m 3 9 E 8 Q E Ed 3 9 E E SM PROFIBUS DP User Guide 93 Issue Number 6 w
5. 3 7 o E Q s Q o 3 Q 3 a JO Hesso 11 7 11 8 Parameters Pr MM 10 to Pr MM 29 are all 16 bit parameters each data channel will be reduced to 16 bits when Data compression is enabled Hence a maximum of 10 data words can be specified in Pr MM 05 or Pr MM 39 and Pr MM 40 Table 11 8 Direct data mapping configurations data compression ON The first 10 OUT channels will be written directly to Pr MM 10 to Pr MM 19 and the first 10 IN channels will be read directly from Pr MM 20 to Pr MM 29 1 to 10 100 to 109 Non cyclic data cannot be used in direct data mapping mode The SM 200 to 206 PROFIBUS DP operating status parameter Pr MM 49 will indicate 3 and 300 to 3098 mapping error code Pr MM 50 will indicate 2 Custom SM PROFIBUS DP data formats SM PROFIBUS DP IN cyclic words Default Range Access SM PROFIBUS DP OUT cyclic words Default Range Access If the number of cyclic words is specified using the data format parameter Pr MM 05 the number of input and output cyclic words will be the same See section 7 2 Data formats on page 29 Pr MM 39 and Pr MM 40 will always display the current number of input and output cyclic data words being used When the data format Pr MM 05 and the PPO Type Pr MM 38 are both set to 0 the number of input and output data words can be specified separately in Pr MM 39 and Pr MM 40 respectively This allows different numbers of input
6. If an SL dF trip is not seen after the first power up the Solutions Module is not fitted properly to the drive Power down the drive remove and re fit the Solutions Module 11 Check that Menu 15 parameters are now available 12 Check that Pr 15 01 shows the correct code for the SM PROBIBUS DP 403 13 Power the drive down and back up The Solutions Module is now ready for programming If the Solutions Module is changed for another the drive will trip as in step 9 Follow the 14 above procedure 14 If the checks in steps 11 and 12 fail either the Solutions Module is not fully inserted or it is faulty If a trip code is now present refer to Chapter 10 Diagnostics on page 56 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Safety Information A Mechanical Introduction B A installation Electrical installation Getting j Ey GSD Files Cyclic data Non cyclic Control and status words Diagnostics Advanced PROFldrive Features profile Quick reference Glossary Of Terms 15 SM PROFIBUS DP User Guide Issue Number 6 www carlogavazzi com ac 4 4 1 4 2 16 Electrical installation SM PROFIBUS DP terminal descriptions The SM PROFIBUS DP has a standard 9 way female D type connector for the PROFIBUS DP network Figure 4 1 SM PROFIBUS DP terminals RxD TxD P Green CNTR P OV ISO for termination only RxD TxD N Red 5V ISO for termination only
7. i e the previous mapping set in Pr MM 10 and Pr MM 20 will now appear in Pr MM 11 and Pr MM 21 The table below shows what happens to the mappings when the data format is changed from 4 cyclic words to 4 cyclic words with CG Single Word non cyclic data Table 8 2 CG Single Word non cyclic data mapping Mapping Value Mapping Pr MM 10 Pr 10 40 status word Pr 61 50 CG Single Word Pr MM 11 Pr 2 01 post ramp speed ref Pr 10 40 status word Pr MM 12 Not mapped Pr 2 01 post ramp speed ref Pr MM 13 to Pr MM 19 Pr MM 20 Pr 6 42 control word Pr 61 50 CG Single Word Pr MM 21 Pr 1 21 digital speed ref 1 Pr 6 42 control word Not mapped Not mapped uoneuuoju uoneljejsui uonejeisur JeoiueuoeA jeoujoe y peuejs fumes eyep sa n 894 ejes uononpoaul Sei4 aso ejep ooo sonsouBeiq z o E rn lt Q 5 Q e a 3 a Pr MM 22 Not mapped Pr 1 21 digital speed ref 1 Pr MM 23 to Pr MM 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 SM PROFIBUS DP User Guide 35 Issue Number 6 www carlogavazzi com ac alyoJd 299491919 SAUPIJOYA peoue py JO Hesso 8 3 2 CG Single Word protocol All parameter values for the drive must be written as signed 32 bit data values with data compression off If data compression is turned on the size of t
8. Pr MM 11 Map to 2026 as the end for the block mapping a Pr MM 20 Map to 2028 as the start for the block mapping 8 Pr MM 21 Map to 2031 as the end for the block mapping gt o 25 cs This will map parameters Pr 20 21 to Pr 20 26 and Pr 20 28 to Pr 20 31 giving a total of 8 2 10 mappings using only 4 of the mapping parameters as shown in Table 11 2 a 3 m amp 2 3 S S 8 o o I lt Q SM PROFIBUS DP User Guide 67 Issue Number 6 www carlogavazzi com ac Figure 11 2 Block Mapping Expansions Input Mappings mm 10 mm 19 mappings expanded UI LLL P P UP P P P Output Mappings mm 20 mm 29 2028 mappings 2031 expanded VY 9 EF 49 Ay 4 bhp LLLL L 77 LLG Ley 7 7 fy LLLLLL Ly A LLLLLLLLL Using block mapping this can be extended to a maximum of 32 input and 32 output mappings when only cyclic data is used If non cyclic data is required in addition to cyclic data this reduces to 31 words input and output for mode 1 non cyclic data and 28 words input and output for mode 2 non cyclic data Block mapping can also be used when mapping data to the PLC registers in an SM Applications If it is required to map to individual parameters within the same menu ensure that the target registers are listed in descending order see section 11 5 1 Avoiding block mapping 11 5 1 Avoid
9. Pr MM 35 Serial Number uonejejsul Jeoupe 3 Pr MM 36 Pr MM 37 Reserved Section 12 4 on Pr MM 38 page 78 PPO selected peuejs Bumeo Pr MM 39 Pr MM 40 Pr MM 41 Pr MM 42 Pr MM 43 Pr MM 44 Pr MM 45 Pr MM 46 Pr MM 47 Pr MM 48 Section 11 7 on IN cyclic data words page 70 OUT cyclic data words Sei4 aso Reserved ejep ooo gep oJ OJ OF OF OF OJ OQ OF ajaj o o o Section 10 8 on page 60 Section 10 10 on page 63 Section 10 3 on page 58 Pr MM 49 Cyclic data mapping status z 5 7 o Q s Q o 3 a 3 a Pr MM 50 SM PROFIBUS DP error codes Pr MM 51 Minor firmware version Someed sonsouBeiq SAUPIJOYA peoueapy 92u919Jo1 JNO sua JO Hesso 85 SM PROFIBUS DP User Guide Issue Number 6 www carlogavazzi com ac Table 13 2 SM PROFIBUS DP virtual parameter reference Cross reference Section 11 7 on page 70 Section 11 7 on page 70 Section 11 7 on page 70 Section 10 11 on page 63 Parameter Default Description Pr 61 01 Parameter 1 00 Shortcut Pr 61 20 Course and turns position feedback Pr 61 21 Turns and fine position feedback Pr 61 35 Serial number Pr 61 40 SM Applications event task trigger lowest slot Pr 61 41 Section 11 7 SM Applications event task trigger slot 1 Pr 61 42 on page 70 SM Applications event task trigger slot 2 Pr 61 43
10. The SM PROFIBUS DP will reset and re initialise using the default values Storing SM PROFIBUS DP parameters backup OFF OFF 0 to ON 1 RW Option slot parameters are stored in the host drive memory and SM PROFIBUS DP will always use these values during initialisation to configure itself If a new SM PROFIBUS DP is fitted to the same slot it will communicate using the same settings as the previous SM PROFIBUS DP Using Pr MM 31 it is possible to store the configuration as a backup copy in the SM PROFIBUS DP module This allows the module to contain a backup copy of it s configuration that may be restored using Pr MM 33 See Section 11 10 This is of particular use when setting up a module to send to site as a replacement or as a method of keeping a backup copy of the SM PROFIBUS DP settings that may be used in the event of a drive failure If the stored values in the drive are for a different type of Solutions Module the drive will trip with a slot error The slot configuration parameters will be set to default values for SM PROFIBUS DP but the default values will NOT be stored in the drive To store SM PROFIBUS DP parameters in the SM PROFIBUS DP FLASH backup copy Set Pr MM 31 to 1 Set Pr MM 00 to 1000 Press the red RESET button The drive will perform a drive save and additionally copy the settings from the slot menu associated with the SM PROFIBUS DP and copy them in the SM PROFIBUS DP local FLASH memo
11. The directions specified in Table 5 2 relate to the data direction as seen by the master SM PROFIBUS DP operating status N A 3 to 9999 RO The PROFIBUS DP network activity can be monitored in the SM PROFIBUS DP operating status parameter Pr MM 06 When the SM PROFIBUS DP is communicating successfully with the PROFIBUS DP master controller Pr MM 06 will give an indication of the number of cyclic data messages that are being processed per second This parameter is also available in menu 0 on the Variflex Pr 00 53 Table 5 3 PROFIBUS DP operating status codes Pr MM 06 Parameter Description Network healthy Indica he number of processed cyclic messages per second Indica hat the PROFIBUS DP master has established Network healthy communications with the SM PROFIBUS DP If operating status no data transfer changes briefly to 1 and returns to 0 the slave configuration does not match the configuration in the master controller Indicates that the SM PROFIBUS DP has initialised correctly and Initialised is waiting for the PROFIBUS DP master to initialise communications Indicates that part of the SM PROFIBUS DP initialisation sequence was not successful If this fault persists after a power cycle replace the SM PROFIBUS DP Internal hardware failure Indicates that there is an invalid setting in the SM PROFIBUS DP Configuration error configuration parameters Parameters Pr MM 49 and Pr MM 50 wil
12. To store drive parameters Set Pr MM 00 to 1000 Press the red RESET button The drive will store all parameters except Menu 20 but the operation of the SM PROFIBUS DP will not be affected Changes made to the SM PROFIBUS DP configuration parameters will not take effect until the SM PROFIBUS DP is reset SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 6 1 6 2 6 2 1 6 2 2 SM PROFIBUS DP User Guide 27 GSD Files What are GSD Files GSD files are text files that are used by the PROFIBUS DP network configuration software tools They contain information about the device timings features supported and available data formats for the PROFIBUS DP device Drive icon files are also supplied for use with the PROFIBUS DP configuration software GSD files are available from your supplier local Carlo Gavazzi drive centre or the Carlo Gavazzi website www carlogavazzi com ac Data consistency There is a potential problem with data skew when transferring blocks of data to and from a PROFIBUS DP master controller Data skew happens when a value is spread across multiple words when this occurs it is possible that only half of the correct value reaches the destination Consider the following example The PLC has a value of OxFFFFFFFF to send to the drive The drive currently has a value of 0x00000000 in a 32 bit parameter The master sends the word without consistency The drive receives one 16 bit
13. eror 4 2 al ERE 25 Configuring th profile 2 c bale a et aide 78 Conformance Connections CONNECIONS needed A ica Consistency c ic eka ewe NI MR I Cei dee e aan eei A A A EE AAA ees Control word de Control word bit functions ccccnnocococnnnccnonononcnonccnnonononononccnononononnnnnccnnnns 53 CG single word protocol c oooccccoccccicoccccnoccccnonacanonancnnono non nono ncnnnnn nc naar cnc nana canns 36 Current limit Custom data formats Cyclic data sio Lise di roo D Data compression Data endian format Data formal enero ree eroe ER PA REM ree tooo on sents Data mapping 3 2 a ca re cene ruben eee eh reci ee Er a E DUE o da Data mapping errors sssssssssssssseseeeeeeeeneneeee nennen nnne SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Data r le s scene ec de EE vet a UE E Eee PEE DEus 24 58 Dataitates s N ET er okie Pao E IL RU 24 gg Device loading iii Debbie e SE ect eae ec Gd da ei da 21 EI Diagnostic flow chart sss 57 Diagnostics e 3 Direct data Mapping seios eerie in diia 69 a Disabling cyclic data channels ssssssssseeneeennnnn 33 Sg Disabling mappings 93 yz Drive active 54 gs Drive healthy 54 22 A nus Sex pe hM cete 16 m D Type connections usen eie mete tec aid 16 gm D Type pin out as a amp Dual SM App
14. 1 Ready ENABLE JOG and RUN reset to 0 Read and cache Pr 1 06 for speed reference calculations Enable operation ENABLE set to 1 JOG and RUN reset to O Select STOP RAMP mode Set Pr 6 0171 Set preset ref 1 to 0 Set Pr 1 2170 Select preset ref Set Pr 1 1473 Select preset ref 1 Set Pr 1 1571 Disable ramps Set Pr 2 02 0 Ramp function generator enabled output ENABLE and RUN set to 1 Set preset ref 1 to 0 Set Pr 1 2170 Enable ramps Set Pr 2 0271 uomeljejsul JeoiueuoelN uoneljejsur jeoujoe 3 peueis Bumeo Ramp function generator acceleration enabled ENABLE and RUN set to 1 Set preset ref 1 to 0 Set Pr 1 2170 Set Ramp Hold Set Pr 2 03 1 Operating status ENABLE and RUN set to 1 Convert MAIN SETPOINT to Hz or rpm and set Pr 1 21 Release ramp hold Set Pr 2 03 0 Inhibit operation active ENABLE JOG and RUN reset to 0 Select STOP RAMP mode Set Pr 6 0171 OFF 1 active stage 1 ENABLE set to 1 JOG and RUN reset to 0 Select STOP RAMP mode Set Pr 6 0171 ejep Sei4 aso ejep ooo OFF 1 active stage 2 ENABLE reset to 0 OFF 2 active ENABLE reset to 0 Select COAST mode Set Pr 6 01 0 OFF 3 active stage 1 ENABLE set to 1 JOG and RUN reset to O Select RAMP WITH DC INJECTION mode Set Pr 6 01 2 OFF 3 active stage 2 ENABLE reset to 0 Fault JOG and RUN reset to 0 Select STOP RAMP mode Set Pr 6
15. 4 20 motor load as of IN channel 2 IN word 4 5 Pr 17 12 rated motor load IN channel 3 IN word 6 7 Pr 17 13 Pr 14 21 PID feedback IN channel 4 IN word 8 9 Pr 17 14 Pr 14 01 PID output OUT channel 0 OUT word 0 1 Pr 17 20 Pr 6 42 control word OUT channel 1 OUT word 2 3 Pr 17 21 Pr 1 21 digital speed ref 1 OUT channel 2 OUT word 4 5 Pr 17 22 Pr 2 11 acceleration ramp OUT channel 3 OUT word 6 7 Pr 17 23 Pr 2 21 deceleration ramp OUT channel 4 OUT word 8 9 Pr 17 24 Pr 14 20 PID reference When data compression is enabled MM 34 ON a data channel will only use 32 bits if the target drive parameter is a 32 bit parameter If the target drive parameter is only 1 8 or 16 bits wide 16 bits will be used for that particular data channel In the example above the input data will use 6 words and the output data will 8 words Pr MM 05 can now be set to 8 Itis advisable to keep 16 bit parameters paired together This prevents mis alignment of cyclic data with 32 bit PLC registers when using auto mapping facilities to configure the PROFIBUS DP network By swapping the mappings for input channel 1 with input channel 2 and moving output channel 4 to output channel 1 the data channel structure 66 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 will appear as shown in Table 11 3 Table 11 3 compressed cyclic data channel mapping uoneuuoju Ajejes Da
16. 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 Example response failure st arar eras bb gt 5950 0101 0110 0110 0011 Data word 0x5663 Stamp number 6 Abort CG 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 abandoned by resetting the state machine This is done by setting the non cyclic word to 0 Example telegram st p bz res Brea f bmo 0000 0000 0000 0000 Data word 0x0000 Stamp number 0 16 bit parameter access Normally 6 telegrams would be required to access drive parameters using mode 1 non cyclic data When accessing16 bit data only 4 telegrams are required If an attempt is made to read a 32 bit parameter from the drive the parameter value will be returned provided that the parameter value does not exceed signed 16 bit limits If the value is larger than a signed
17. DP data formats for more details LESE The definition of a data word is 16 bits By default the SM PROFIBUS DP casts all data 28 as long words double words 32 bits data compression can be used to reduce this size see section 11 4 Cyclic data compression for more information SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 7 1 7 2 Cyclic data What is cyclic data Cyclic data transfer is a method of transferring data on a regular time period often known as polled data High speed data transfer is achieved by transmitting only data bytes over the PROFIBUS DP network and using local mapping information within the SM PROFIBUS DP and PROFIBUS DP master controller to ensure that the correct data is sent to the correct locations The flexibility of the SM PROFIBUS DP means that each cyclic data OUT channel can be directed to any read write drive parameter Similarly each cyclic data IN channel can use any drive parameter as a source of data The term OUT data refers to data that is transmitted out of the master to the slave The term IN data refers to data that is returned from a slave into the master Cyclic data mapping cannot be changed dynamically as changes to the mapping parameters will only take effect during initialisation of the SM PROFIBUS DP The maximum number of 16 bit mappings that is possible is 32 with only cyclic data 31 with CG Single Word mode 1 non cyclic data and 28 wi
18. OUT data 0 OUT word 0 TASK ID MENU OUT word 1 PARAMETER Reserved 239491919 JO Hesso OUT word 2 DATA HIGH word OUT word 3 DATA LOW word SM PROFIBUS DP User Guide 45 Issue Number 6 www carlogavazzi com ac The PPO 4 Word protocol is controlled by the TASK ID and RESPONSE ID The TASK ID specifies the transaction required and the remainder of the data words carry the data for the transaction The table below lists the possible TASK ID codes Table 8 8 TASK ID codes TASK ID Function No task Description No non cyclic transaction required Fieldbus specific Fieldbus specific Fieldbus specific Not implemented Reserved Not implemented Reserved Request parameter value Read parameter value from drive Specify MENU and PARAMETER set DATA HIGH word and DATA LOW word to 0 Change parameter value 16 bit Write 16 bit parameter value to the drive Specify MENU PARAMETER and DATA LOW word Any value in DATA HIGH word will be discarded This function can be used to write to 32 bit drive parameters but the range of values is limited to 16 bits Change parameter value 32 bit Write 32 bit parameter value to the drive Specify MENU PARAMETER DATA HIGH word and DATA LOW word This function can also be used to write to 16 bit drive parameters but if DATA HIGH word is not set to 0 a value over range error will be reported Request last parameter
19. SM Applications event task trigger slot 3 Pr 61 50 Section 8 3 on CG single word mode 1 non cyclic data mapping page 35 parameter Section 8 5 on PPO 4 Word mode 2 non cyclic data mapping Pr 61 51 page 44 parameter NOTE Some drive firmware versions will hide un used or reserved parameters 86 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 14 Glossary Of Terms ejes uoneuuoju Address This is the unique network identification given to a networked device to allow communication on a network When a device sends or receives data the address is used to determine the source and the destination of the message uononpoaul Bit A binary digit this may have the value of 1 or 0 uoneljejsul JeoiueuoeA Block mapping A method of mapping a range of consecutive parameters using only two ascending parameters This means that by using two mapping parameters up to 32 consecutive mappings may be made uoneljejsut Jeoupe 3 Byte A collection of 8 binary digits that collectively store a value This may be signed or unsigned peuejs Bumeo Casting The process of changing between data sizes without changing the value represented e g changing from 16 bit to 32 bit Sei4 aso Compression By default SM PROFIBUS DP transmits values as 32 bits on the network It is possible by using compression to reduce the number of bits transmitted when sending 16 bit
20. and output cyclic data words to be specified CG Single Word or PPO 4 Word non cyclic data can also be enabled by mapping input and output words to the appropriate source destination parameter Table 11 9 Customised non cyclic channel mapping Source dostination Non cyclic mode Description parameter y P Pr 61 50 Mode 1 CG 1 IN and 1 OUT word must be assigned for use as the E Single Word CG Single Word non cyclic channel Mode 2 PPO 4 4 IN and 4 OUT words must be assigned for use as the Pret Word PPO 4 Word non cyclic channel Restore SM PROFIBUS DP defaults OFF 0 OFF 0 or ON 1 RW SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 11 9 If the host drive is defaulted see the drive user guide for details it will also clear the current configuration for the slot SM PROFIBUS DP is fitted to Setting Pr MM 30 to 1 additionally clears the backup copy of the SM PROFIBUS DP configuration stored in the module See Section 11 9 for more details This can be performed as follows Set Pr MM 30 to 1 Set Pr MM 00 to 1233 to restore European defaults 1244 for USA defaults PROFIBUS DP communications will be stopped The host drive will load and store its default parameter values Default parameter values for the SM PROFIBUS DP will be loaded in Pr MM PP parameters SM PROFIBUS DP default parameter values will be stored in the backup copy in SM PROFIBUS DP FLASH memory
21. cyclic data What is non cyclic data Non cyclic data allows access to any parameter without the need to use cyclic data transfers This is particularly useful when accessing many different parameters for set up or archiving of drive settings There are two methods of using non cyclic data on the SM PROFIBUS DP Mode 1 CG Single Word and Mode 2 PPO 4 Word mode Mode1 CG Single Word mode uses an additional data word to implement the CG Single Word protocol allowing access any drive parameter Mode 2 PPO 4 Word mode uses 4 data words to access any drive parameter See section 8 5 Mode 2 PPO 4 Word mode for more information Setting the non cyclic mode Table 8 1 shows how to configure the data mode Pr MM 05 for the required non cyclic mode The value in this parameter is formed using 3 digits the most significant of these determines the non cyclic mode The two least significant digits CC determine the number of cyclic words for both IN and OUT data Table 8 1 SM PROFIBUS DP non cyclic data modes Non cyclic mode Value For Mode Pr MM 05 Disabled None Mode 1 CG Single Word Mode 2 PPO 4 Word Figure 8 1 shows the relationship between the value entered in Pr MM 05 and the cyclic and non cyclic data set up Figure 8 1 Non cyclic data words PrMM 39 Number Of Input Words 04 PrMM 40 Number Of Output Words gt 04 No non cyclic
22. data Mode 1 Single Word Mode 2 PPO 4 Word SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 8 3 Mode 1 CG Single Word mode The CG Single Word Mode 1 uses one cyclic channel for non cyclic data This non cyclic sub protocol requires a specific sequence of 4 or 6 telegrams to implement the parameter access Each non cyclic word or telegram is split into 2 bytes to implement the sub protocol The high byte containing the control codes for each telegram and the low byte containing the data for each telegram By default cyclic data compression is disabled the CG Single Word non cyclic channel will be 32 bits wide i e uses 2 words and data must be transferred on the low word If cyclic data compression is enabled the CG Single Word non cyclic channel will revert to 16 bits and only use 1 word 8 3 1 Mapping For CG Single Word non cyclic data To configure an SM PROFIBUS DP for CG Single Word mode the following steps must be performed 1 SetPr MM 05 to the required mode See section 8 2 Setting the non cyclic mode for more information 2 Set Pr MM 32 to ON to reset SM PROFIBUS DP 3 Save the parameters if required see section 5 8 Saving parameters to the drive for more information When the SM PROFIBUS DP re initialises it will map cyclic data IN Word 0 and OUT Word 0 to the CG Single Word protocol parameter Pr 61 50 All existing mapping parameters will be moved down by 1 word
23. e ee SM PROFIBUS DP node address E SM PROFIBUS DP data rate ssssssseeeeee SM PROFIBUS DP data format sssssseeenenee SM PROFIBUS DP operating status 25 Re initialising the SM PROFIBUS DP 1 26 Saving parameters to the drive c oocoonccccinoccccnoccccononcnnononcnnon non non nc nannncnn 26 GSD Fl iii idad 27 Whatare GSD Files icons 27 Data consistency i Data configuration iia Ie hee irit eie te reri es 28 www carlogavazzi com ac 7 1 7 2 7 3 7 4 7 5 7 6 8 1 8 2 8 3 8 4 8 5 8 6 9 1 9 2 9 3 10 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 10 10 10 11 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11 11 12 Cyclic data miii ie 29 What is cyclic data 29 Data to MaS ocio iii 29 SM PROFIBUS DP Mapping conflicts 32 Cyclic data mapping errors c ooccconcccconocccconanccconancncnnnnn nono n cn conan canon nn nnann cn 32 Mapping limitations sess 33 Disabling mappings coooccccnoccccnnonccconnccnonancnnonon conan conca o conca cnn nan cn nana 33 Non cyclic data coo aa 34 What is non cyclic data oocooncoccinccccnncccccnooccnononcnconnoncnnrncnnnnr nc nnnnnnnnnnnns 34 Setting the non cyclic mode 94 Mode 1 CG Single Word mode EOD Reading parameters using CG Single Word dl Mode 2 PPO 4 Word mode sese 44 SM PROFIBUS DP configuration using non cyclic dat
24. error is reported the non cyclic data word should be set to 0 to ensure that the non cyclic state machine is completely reset and ready for the next non cyclic READ or WRITE sequence uomeljejsul JeoiueuoeN 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 uoneljejsut eouyoa 3 payejs Bumeo Example telegram mi biz T wes IN 5399 1001 0011 0000 0000 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 eyep 9ipo 2 seid aso eyep Example response Brera wires bree E359 E Data word 0x9300 Stamp number 3 Data high byte 0x00 0 z o E rn lt Q 5 Q e 3 a 3 a sonsouBeiq 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 sa n 894 SAUPIJOYA peoueApy Example telegram st j ar bres prea 5950 1001 0100 0000 0000 Data word 0x9400 Stamp number 4 239491919 When the fourth telegram has been received and processed in the slave n
25. mapping O Pr MM 21 OUT cyclic mapping 1 Pr MM 22 OUT cyclic mapping 2 Pr MM 23 Pr MM 24 Pr MM 25 Pr MM 26 Pr MM 27 Pr MM 28 OUT cyclic mapping 8 Pr MM 29 OUT cyclic mapping 9 Pr MM 30 Section 11 8 0n Restore SM PROFIBUS DP defaults page 70 84 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 N o k IN cyclic mapping 1 IN cyclic mapping 2 IN cyclic mapping 3 Section 7 2 on IN cyclic mapping 4 page 29 IN cyclic mapping 5 IN cyclic mapping 6 IN cyclic mapping 7 IN cyclic mapping 8 oj o oj oj ol ojojo o OUT cyclic mapping 3 Section 7 2 on OUT cyclic mapping 4 page 29 OUT cyclic mapping 5 OUT cyclic mapping 6 OUT cyclic mapping 7 oO OJ CO CO CO CO o Table 13 1 SM PROFIBUS DP parameter reference Pr MM 31 Default Cross reference Section 11 9 on page 71 Description Store to SM PROFIBUS DP FLASH memory Pr MM 32 Section 5 7 on page 26 Re initialise SM PROFIBUS DP This will automatically change back to O after re initialisation uoneuuoju uononpoaul Ajejes Pr MM 33 Section 11 10 on page 72 Restore previous configuration from SM PROFIBUS DP FLASH memory Section 11 4 on page 66 Section 10 11 on page 63 uomeljejsul JeoiueuoeN Pr MM 34 Cyclic data compression enable
26. of 24 6Hz to Pr 1 21 the value must be transmitted as 246 Block mapping can be used to map several words to consecutive drive parameters When the data format is configured using Pr MM 05 the SM PROFIBUS DP will communicate using the same number of data words for IN and OUT data It is however possible to configure the SM PROFIBUS DP to communicate with different numbers of IN and OUT cyclic data words Refer to section 11 7 Custom SM PROFIBUS DP data formats on page 70 for full details 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 will indicate a mapping error in the operating status parameter Pr MM 06 The reason for the mapping error will be indicated by the mapping status parameter Pr MM 49 Refer to section 10 8 SM PROFIBUS DP mapping status on page 60 for more details The following sections show some example data formats that can be selected and the parameter mapping that will apply by default to each format SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 7 2 1 2 cyclic channels only default compression off This data format provides two cyclic data channels with no non cyclic data The total data length is 4 words in and 4 words out uoneuuoju Ajejes To select this data format set Pr MM 05 4 This data format is selected by default Table 7 3 Mapping for 4 cyclic data words uononpoaul Dat
27. ssssssssssss 6 Environmental limits m Compliance with regulations ssssssseeeeeenne 7 Dy oye ET 7 Adjusting parameters droite tente natn oinnia idas 7 Introduction iier teen nets 8 What lssPROFIBUS DR 5 2 roseis eret REED EIER 8 What is SM PROFIBUS DP sssssseeeeeneemeeemeemeemeeneenen 10 General Specification caia 10 Solutions Module identification oonnoniinnnninnoncnnninnacannccanocannrccnanananc 11 Mechanical installation 12 Solutions Module slots eterne andan 12 Installation eee rr terree ire e ee ee Una ene a EE Face 12 Electrical installation eessssss 16 SM PROFIBUS DP terminal descriptions ssssesssss 16 SM PROFIBUS DP connectors essen 16 PROFIBUS DP cable oihil reto 17 Variflex SM PROFIBUS DP shield connections 419 General grounding considerations mel PROFIBUS DP network termination 1120 Maximum network length device loading sssssussss 21 Node addressing 5 reete etd 21 Spurs x Minimum node to node cable length sssssees 21 Getting started eerte Conventions used in this guide oooonocccinnccccnnoccconoccnnononcnnonancnnonncnannncnn Set up flow chart isisisi bere epi D REL
28. the server does not support block transfer or parameters were not legal 220 Too many OUT data objects mapped After expanding ranges of block mappings too many OUT cyclic data channels configured 221 Mapping over length Total size of all OUT cyclic data mappings has exceeded the total size of the cyclic data 39U919 9 1 sonsouBeiq Lo oo dE 28 0 ao o Ru o an o Ww 2 e o m t z o c o 8 5 pue ouoy SAUPIJOYA p vueapy 222 Register mode objects exceeded SM PROFIBUS DP User Guide Issue Number 6 More than 10 cyclic OUT data channels have been selected with direct data mapping mode 61 www carlogavazzi com ac JO Hesso Additional error codes are also available with the SM PROFIBUS DP These are listed in Table 10 4 Table 10 4 SM PROFIBUS DP specific mapping error codes Mapping status Description Configuration No data format has been selected Data format Pr MM 05 joel Parameter Process Object Pr MM 38 and PROFIBUS DP IN and OUT cyclic words Pr MM 39 and Pr MM 40 are all set to 0 The pre defined PPOs 1 to 5 cannot be used when direct data PPO error mapping is enabled PPO and data PPOs can only be selected if the data format parameter Pr MM 05 format error is set to 0 Data compression PPOs can only be selected if data compression Pr MM 34 is disabled with PPO enabled 10 9 Drive trip display codes If
29. 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 Example telegram Bree Terres brea ba 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 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 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 uoneuuoju Ajejes Example telegram uononpoau 0001 0100 0000 0001 Data word 0x1401 Stamp number 4 Data mid high byte 0x01 1 When the fourth telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the fourth telegram of the message has been received and understood and the fifth telegram can be transmitted uomeljejsul JeoiueuoeN jeoujoe 3 uoneljejsur peuejs Bumeo TELEGRAM 5 The fifth telegram from the PROFIBUS DP master has the stamp number set to 5 The data bit
30. word O ejep ooo Start y Send first telegram y to OUT word O Read IN 4 34 word 0 q 7 eyep v Read IN 4 v word 0 4 Tx Stamp No Rx Stamp No Yes z o E rn lt Q 5 Q e a 3 a SpJOM SNJE S Y Tx Stamp No Y Rx Stamp No Store data Yes byte Y Send next POET telegram to Tx Sian No Send next OUT word 0 E P telegram to 0 Yes 51 OUT word 0 Y Yes Check status Y Calculate 1 data value v ERROR Check parameter exists data is in correct range and parameter i i v is Read Write END OF SEQUENCE sonsouBeiq sa n 894 SAUPIJOYA peoueapy 239491919 JO Hesso SM PROFIBUS DP User Guide 37 Issue Number 6 www carlogavazzi com ac TELEGRAM 1 The first telegram from the PROFIBUS DP master indicates a READ with stamp number 1 The data byte contains the menu number of the parameter that is to be read Example telegram sr AR Ja e O o 1001 0001 0000 0010 Data word 0x9102 Stamp number 1 Menu 2 When the first telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word back to the PLC This is the signal to the master c
31. word and now has the value 0x0000FFFF The drive receives the next 16 bit word and now has the value OXFFFFFFFF To prevent data skew PROFIBUS DP has a feature known as data consistency Consistent data defines a block of data words that must ALL be updated before ANY of the new data values are transmitted Consequently the message sent over the PROFIBUS DP network will have a true representation of the required data Some PLCs have special functions available to transfer blocks of consistent data to a PROFIBUS DP master controller and guarantee that data skew cannot occur Limitations of non cyclic data Mode 1 CG Single Word with GSD CG Single Word non cyclic data uses only 1 word of data however when used without data compression see section 11 4 Cyclic data compression this requires 2 x 16 bit words a single 32 bit word The GSD file version 1 3 onwards supports CG Single Word mode 1 with and without compression When used without compression only the lower 16 bits of the 32bit word are used Using non cyclic data Mode 2 PPO 4 Word Data consistency is important when using PPO4 word mode 2 non cyclic data as each non cyclic message consists of 4 words If there is data skew between any of the non cyclic words this could result in the wrong data value being written to the wrong parameter The GSD file provides the PPO 4 Word which consists of 4 IN OUT words with consistency Issue Number
32. 0171 Set RESET to 1 when ACK bit is set to 1 Switch on inhibit No change Drive running inching active JOG and RUN set to 1 FWD REV is set to 1 if INCH2 b9 is set to 1 reset to 0 if INCH1 b8 is set to 1 Inching pause monitoring SM PROFIBUS DP User Guide Issue Number 6 www carlogavazzi com ac JOG FWD REV and RUN reset to 0 83 sa n 894 ENTIER peoue pv 9o5ueJgjoJ sonsouBeiq z 3 7 o E Q s Q o a 3 a JO Hesso 13 Quick reference 13 4 Complete parameter reference Table 13 1 lists all the SM PROFIBUS DP set up parameters that are required to configure the module Table 13 1 SM PROFIBUS DP parameter reference Default Cross reference Description Section 10 2 on Pr MM 01 page 58 Module ID code Section 10 3 on page 58 Section 5 3 on page 24 Section 5 4 on page 24 Section 7 2 on page 29 Section 10 7 on page 59 Pr MM 02 Major firmware version Pr MM 03 Node address Pr MM 04 Data rate Pr MM 05 Data format Pr MM 06 Operating status Section 11 1 on page 64 Section 11 3 on page 65 Pr MM 07 Network loss trip time out Pr MM 08 Endian format select Section 11 6 on page 69 Pr MM 09 Direct data mapping enable Pr MM 10 IN cyclic mapping O Pr MM 11 Pr MM 12 Pr MM 13 Pr MM 14 Pr MM 15 Pr MM 16 Pr MM 17 Pr MM 18 Pr MM 19 IN cyclic mapping 9 Pr MM 20 OUT cyclic
33. 1 0 open load Main switch OFF contactor OFF 3 active Stage 2 OFF 1 active Stage 2 10 02 0 10 02 0 Unidrive SP ema Unidrive SP not active not active 10 02 0 drive not active pa Enable La Enable drive output eration STATUS operation enabled b2 1 gt INCH1 or INC2 b8 or b9 1 and Ramp function Ramp function generator inhibited b4 1 generator output emmm mun Ramp function generator stopped b5 0 Setpoint inhibited b6 0 Stop ramp function lt a 1 generator b5 0 Y INCH setpoint to speed controller Supplementary setpoint to current controller Drive running Inching active Enable ramp function generator b5 1 INCH1 or INCH2 gt OFF b8 or b9 0 p Inhibit Y mmn setpoint b6 0 Inching pause monitoring INCH1 or INCH2 ON AA accel enabled Enable setpoint Speed 0 and b6 1 Current 0 Operating Status Speed set speed b10 1 AN SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Table 12 3 PROFIdrive State Machine Control States In Detail Voltage switched off Control word update Pr 6 42 None Other actions Not ready for switch on None uoneuuoju ejes uononpoaul Ready to switch on AUTO set to 1 All other bits reset to 0 Pr 6 43 set to
34. 13 20020 Lainate Tel 39 02 931 761 Fax 39 02 931 763 01 infoGgavazziacbv it Gavazzi Automation Sdn Bhd No 1 Jalan Pendidik U1 31 Sek U1 Hicom Glenmarie Industrial Park 40150 Shah Alam Selangor MALAYSIA Tel 460 3 5569 4212 Fax 60 3 5568 0004 sales gavazzi asia com Carlo Gavazzi BV NETHERLANDS Wijkermeerweg 23 NL 1948 NT Beverwijk Tel 31 251 22 9345 Fax 31 251 22 60 55 info carlogavazzi nl Carlo Gavazzi AS NORWAY Melkeveien 13 N 3919 Porsgrunn Tel 47 35 93 0800 Fax 47 35 93 08 01 gavazzi corlogavazzi no Carlo Gavazzi Lda PORTUGAL Rua dos Jer nimos 38 B P 1400 212 Lisboa Tel 351 21 361 7060 Fox 4351 21 362 13 73 carlogavazzi carlogavazzi pt Carlo Gavazzi SA SPAIN Avda Iparraguirre 80 82 E 48940 Leioa Bizkaia Tel 34 94 480 4037 Fax 34 94 480 10 61 govazzi carlogavazzi sa es Carlo Gavazzi AB SWEDEN Nattvindsgatan 1 S 65221 Karlstad Tel 46 54 85 1125 Fax 46 54 85 11 77 gavazzi carlogavazzi se Carlo Gavazzi AG SWITZERLAND Verkauf Schweiz Vente Suisse Sumpfstrasse 32 Tel 41 41 747 4535 Fax 41 41 740 45 40 verkauf_vente carlogavazzi ch Carlo Gavazzi Inc USA 750 Hastings Lane USA Buffalo Grove IL 60089 Tel 1 847 465 6100 Fax 1 847 465 7373 sales carlogavazzi com Carlo Gavazzi Industri A S Hadsten DENMARK Tel 45 89 60 6100 Inductive and Capacitive Proximity Sensors in full metal and plastic housings Photoelectr
35. 16 bit value the ERR bit will be set When writing data to a 32 bit parameter the 16 bit data will be treated as a signed 16 bit data value This limits the range that can be written to a 32 bit parameter Mode 2 PPO 4 Word mode PPO 4 word mode of non cyclic data is a simple method of accessing non cyclic data without the need for the telegrams required with mode 1 non cyclic data and it s associated overheads Mode 2 has the disadvantage of using 4 words of mappings and reduces the available free mappings accordingly SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 8 5 4 Mapping for PPO 4 Word non cyclic data To configure an SM PROFIBUS DP for PPO 4 word mode non cyclic data the following steps must be performed 1 Set Pr MM 05 to the required mode see section 8 2 Setting the non cyclic mode 2 Set Pr MM 32 to ON to re initialise SM PROFIBUS DP 3 Save the parameters if required see section 5 8 Saving parameters to the drive for more information uoneuuoju Ajejes uononpoaul When the SM PROFIBUS DP re initialises it will map IN words 0 to 3 and OUT words 0 to 3 to the PPO 4 Word protocol parameter Pr 61 51 All existing mapping parameters will be moved down by 1 mapping i e the previous mappings set in Pr MM 10 and Pr MM 20 will now appear in Pr MM 11 and Pr MM 21 respectively Table 8 6 shows what happens to the mappings when the data format is changed from 10 cyclic words Pr MM 05 10 to 10 cycl
36. 6 www carlogavazzi com ac uoneuuoju uomeljejsul JeoiueuoeN uoneljejsur peueis soinjeo4 SAUPIJOYA peoueApy 289491919 uononpoaul 7 o a 2 o o lt 2 S o m y sonsouBeiq ejes jeoujo9 y Bumeo pue jo3ju02 oioKo UuoN JO Hesso 6 3 Data configuration The GSD file describes the modules of input or output words that may be combined to configure the input and output configuration for a specific node The complete input and output configuration for the node is built by adding the required modules until all of the node s inputs and outputs are defined LE A module consists of a block of input or output data Put simply this is a logical collection of data words If non cyclic data is required the non cyclic CG Single Word and or the PPO 4 Word modules must be selected A total of 8 different modules can be selected to configure the input and output configuration of the node The number of input or output words configured in the drive must match the number of input or output words defined in the master if the master has 8 in and 4 out words the drive must use the same settings to communicate correctly SM PROFIBUS DP uses Pr MM 05 to set the number of input and output words 16 bit where there are the same number of input and output words alternatively Pr MM 39 and Pr MM 40 may be used to independently set the number of input and output words See section 11 7 Custom SM PROFIBUS
37. 9 will be reset to 0 When data compression is OFF the number of data words specified in Pr MM 05 must be an even number If an odd number is specified the appropriate parameter will be set to specify the next lowest even number of data words i e a value of 7 in Pr MM 05 will only handle 6 data words or 3 data channels This will not however change the value in Pr MM 05 Non cyclic data cannot be used when direct data mapping mode is enabled Table 11 7 Direct data mapping configurations data compression OFF PWWUS Demi 2 2 to 10 The first 10 IN channels will be written directly to Pr MM 10 to Pr MM 19 and the first 10 OUT channels will be read directly from Pr MM 20 to Pr MM 29 100 to 109 Non cyclic data cannot be used in direct data mapping mode The SM 200 to 206 PROFIBUS DP operating status parameter Pr MM 49 will indicate 3 and 300 to 309 mapping error code Pr MM 50 will indicate 2 LESE With data compression turned off each direct mapping will use 32 bits 2 channels of mappings on the network This will revert to 16 bit 1 channel when turned on For 32 bit mappings a maximum of 5 in and 5 out mappings may be used with data compression turned on SM PROFIBUS DP User Guide 69 Issue Number 6 www carlogavazzi com ac uoneuuoju uoneljejsui uonejeisur JeoiueuoeN jeoujoe 3 peuejs Bumeo soinjee4 AUPIIOUd PEER 299491919 uononpoaul selld aso ejep ooo sonsouBeiq ejes z
38. CARLO GAVAZZI 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 with the motor The contents of this guide are believed to be correct atthe time of printing In the interests of a commitment to a policy of continuous development and improvement Carlo Gavazzi 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 Copyright O September 2005 Issue Code 6 1 1 1 2 1 3 1 4 1 5 1 6 1 7 2 1 2 2 2 3 2 4 3 1 3 2 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 6 1 6 2 6 3 SM PROFIBUS DP User Guide Issue Number 6 Contents Safety Information eene 6 Warnings Cautions and Notes oooocconoccccnnocccononcncononcnnonancn nana na non ncnnannnno 6 Electrical safety general warning ooococncocccinoccccnoncccnnonnccnnnanonannnccnnnncncnno 6 System design and safety of personnel
39. E Used to restore inputs in a slave to normal operation following a FREEZE command BOUdIOJOI Watchdog A method used to determine if a communication system is healthy A typical watchdog scheme uses a handshaking system to check both the master and slave are participating in communications Jo fuesso o9 Word A collection of 16 binary digits SM PROFIBUS DP User Guide 89 Issue Number 6 www carlogavazzi com ac Numerics 16 bit parameter access ocooocccccooccccnooncncnonacononnncnnanccnnnanncannnnn cn nana cnn nnnnnnannes 44 2 cyclic channels only x S CYCliG channels n icr dede eie ce cela E VERE DR Reseau 5 cyclic chanriels aii deer tpi eee eerie tne 8 cyclic channels with PPO 4 word sssssseeeee 32 A Abort CG single word x 03 eat e iie dee genit 44 Above set Speed 2 5 gae deni ee eive he ete iie pea end 54 Actual data sizes eee umet de ier ter aA 66 At speed Auxiliary Auxiliary SUPPLY 3 cite cce tee a eto e ne cse ka t gar eec e ge arate 11 Avoiding block mapping 4 ds 68 B Backup s ries LR LEM N ese seats Backup supply Below set speed Block mapping s Byte orders ead e ud eie IDA E del da ae icd 03 Cl ii EEA EEE E EENE E T E 17 Cable shield connections eeeeeesesssssseeee eene 18 19 Cautions Certificate m Complete parameter reference ssssssssssssseeeeeeeenen 84 Compliance ES 7 Configuration
40. EISU uonelleisu lomo Uoneuuojul JEoupe 3 jeoiueuoeiN Sei4 aso ejep ooo SseJnjeej ENTIER peoue pv 239491919 ejes Bumeo z 5 7 o E Q s Q o 3 Q 3 a sonsouBeiq JO Hesso Figure 12 1 PROFIdrive State Machine Diagram ES Voltage switched off Switch on a STATUS Switch on inhibit inhibit b6 1 Voltage ON OFF1 b From every drive status P A STATUS not ready Not ready for La for switch on b6 1 mimm Switch on STATUS control requested b9 1 Fault 10 01 0 Stop Unidrive SP Control word basic status STATUS fault Inhibit operation XXXX X1XX XXXX X110 b3 1 b3 0 Ready to STATUS ready to itch on switch on b0 1 14 Fault Fault removed STATUS operation mimm acknowledge inhibited b2 0 i b7 Operation inhibited Main contactor ON Start delay time STATUS ready b1 1 From every drive active Enable operation From every drive active status b3 1 status OFF1 b0 0 or OFF3 OFF2 delay time expired b2 0 b1 0 Stop drive as Open load OFF 1 active la Inhibit setpoint fast as poss 42 OFF 3 active OFF 2 active q contactor Stage 1 make 0 STATUS Stage 1 STATUS OFF3 b5 0 OFF2 b4 0 Speed 0 Speed 0 Current 0 Current 0 STATUS not Keep 0 ready b
41. Setpoint word 1 OUT Data Function PROFIdrive control word Main Setpoint User configurable mapping using Pr MM 22 to Pr MM 25 OUT Data Function Mode 2 non cyclic data PPO 4 word PROFIdrive control word Main Setpoint User configurable mapping using Pr MM 23 to Pr MM 29 word 11 word 12 77 www carlogavazzi com ac uomeljeisul JeoiueuoeN uoneljejsur jeoujoe 3 peueis sa n 894 ENTIER peoue pv 39491919 sell aso ejep ooo sonsouBeiq Bumeo z 3 7 o E Q s Q o 3 a 3 a JO Hesso 12 4 Configuring the Profile To configure the profile to the required PPO mode follow the instructions below Set Pr MM 05 to 0 to disable normal data format Set Pr MM 34 to ON to enable data compression Set Pr MM 38 to the required PPO type number 1 to 5 Depending upon the PPO type chosen configure the mapping parameters as required see Section 12 3 Pr MM 32 set to ON to re initialise SM PROFIBUS DP Check Pr MM 06 is not a value of 3 see section 10 for further details Perform a drive save by setting Pr MM 00 to 1000 and pressing reset SM PROFIBUS DP Pr MM 32 will automatically reset to OFF Re initialising will cause the SM PROFIBUS DP to temporary go off line from the PROFIBUS network Data compression must be turned on to use PPO modes LEE Once the PROFidrive profile has been configured the corresponding mapping p
42. a 51 Control and status words eee 52 What are control and status words ssessssseeee 52 Control Word ON 52 Status worden ainiai ar ne et e Eee E er E ened 54 Diagnostics i enne eerte 56 Diagnostic flow chart 257 Mod le ID Code a n erret e vetet in rrr ierat 58 SM PROFIBUS DP firmware version esseene 58 SM PROFIBUS DP node address SM PROFIBUS DP data rate SM PROFIBUS DP data format 59 SM PROFIBUS DP operating status ooooococonoccccncccccconoccnnonancnnnnncananancnn 59 SM PROFIBUS DP mapping status coooococcnocccconococononcccconaccncnnncananancnn 60 Drive trip display codes SM PROFIBUS DP error codes SM PROFIBUS DP serial number Advanced Features esee SM PROFIBUS DP network loss trip eseen 64 SYNC and FREEZE Mode m SM PROFIBUS DP data endian format sssssssssss Cyclic data compression ooooccconocccccnocccononcncononcnnono cnn nono ncn nana nnn nan cn nannn cn Variflex Block mapping sa ainai pr a aderarea ea aaae kdai Direct data mappirig aaa rebel Custom SM PROFIBUS DP data formats ER Restore SM PROFIBUS DP defaults sssssssssees Storing SM PROFIBUS DP parameters backup 71 Restore previous SM PROFIBUS DP configuration i Menu 60 Local Solutions a
43. a SM PROFIBUS DP fitted in slot MM is as follows Set Pr MM 33 to ON PROFIBUS DP communications will be stopped The SM PROFIBUS DP will overwrite all Pr MM PP parameters with the values stored in its internal FLASH memory Pr MM 33 will be reset to OFF The SM PROFIBUS DP will reset and re initialise using the restored values ME This procedure will NOT store the updated host drive parameters and a drive save will 11 11 72 be required to update the drive memory Failure to do this will result in SM PROFIBUS DP resorting to previously stored parameters in the drive FLASH following a power down Menu 60 Local Solutions access Menu 60 allows a PROFIBUS DP master to adjust parameters on an SM PROFIBUS DP module independently of the slot number the module is fitted to The required SM PROFIBUS DP node is accessed using it s PROFIBUS DP address in conjunction with menu 60 To change a parameter on SM PROFIBUS a non cyclic message should be sent to the node using menu 60 as the destination Table 11 10 Local slot configuration parameter access Paramet SM PROFIBUS DP in SM PROFIBUS DP in SM PROFIBUS DP in rameter slot 1 slot 2 slot 3 Pr 60 01 Pr 60 51 Pr 15 01 Pr 15 51 Pr 16 01 Pr 16 51 Pr 17 01 Pr 17 51 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 uoneuuoju Ajejes Menu 60 parameters are only accessible from the PROFIBUS DP network using non cyclic data access
44. a method of controlling the output functions of the drive such as run and direction Each bit in the status word provides feedback about the drive s state of health and operational condition such as drive healthy drive at speed etc Control word The SM PROFIBUS DP control word consists of 16 control bits some of which are reserved See Table 9 1 for the individual bit function descriptions Table 9 1 Control word bit definitions BIS SI ORA E A BRETT ECN BS 1n 7889 3 Emu peep BEES S m ee ON RU wo So M Rev Rev Pwo wo feas To enable fieldbus control the fieldbus enable signal Pr 6 43 and the auto bit bit7 must both be set to 1 When the AUTO bit is reset to 0 the drive will revert to terminal control For safety reasons the external HARDWARE ENABLE signal must be present before the fieldbus control word can be used to start the drive This terminal is normally controlled by an external Emergency Stop circuit to ensure that the drive is disabled in an emergency situation The control word REMOTE bit directly controls the drive parameter Pr 1 42 the function of which is to select the digital speed reference as the source of the drive s speed reference When the REMOTE bit is reset to O the drive will revert to using the external analog speed reference The actual digital speed reference selected when REMOTE is set to 1 will be Pr 1 21 which is also the default mapping for the fieldbus speed referenc
45. a word Parameter Default mapping status IN word 0 1 Pr MM 10 Pr 10 40 status word uonejjesul EolUByoa N IN word 2 3 Pr MM 11 Pr 2 01 post ramp speed reference OUT word O 1 Pr MM 20 Pr 6 42 control word OUT word 2 3 Pr MM 21 Pr 1 21 digital speed reference 1 uonelejsut Jeoupe 3 7 2 2 3 cyclic channels with Mode 1 non cyclic data compression off This data format provides three cyclic data channels plus an additional channel for Mode 1 CG Single Word non cyclic data The total data length is 8 words in and 8 words out To select this data format set Pr MM 05 106 Table 7 4 Mapping for 3 cyclic channels with CG Single Word non cyclic data payejs Bumeo Data word Parameter Default mapping status IN word 0 1 Pr MM 10 Pr 61 50 CG Single Word IN word 2 3 Pr MM 11 Pr 10 40 status word IN word 4 5 Pr MM 12 Pr 2 01 post ramp speed reference IN word 6 7 Pr MM 13 0 not mapped OUT word O 1 Pr MM 20 Pr 61 50 CG Single Word OUT word 2 3 Pr MM 21 Pr 6 42 control word OUT word 4 5 Pr MM 22 Pr 1 21 digital speed reference 1 OUT word 6 7 Pr MM 23 0 not mapped Q 0 o zm 9 o 3 lt S 5 a 1 S pue ouoo oioKo UoN 7 2 3 5 cyclic channels only compression off This data format provides five cyclic data channels with no non cyclic data channel The total data length is 10 words in and 10 words out To select this data format set Pr MM 05 10 Tabl
46. ac 2 Introduction 2 1 What Is PROFIBUS DP PROFIBUS DP is a networking system that falls into the generic category of fieldbus Fieldbuses are generally defined as industrial networking systems that are intended to replace traditional wiring systems Figure 2 1 shows the traditional cabling requirements to transfer signals between 2 slaves and a master Figure 2 1 Traditional cable layout Hardwired master Analogue 1 Analogue 2 Digital 1A bak Digital 28 Digital 1A ve Ienbia nalogue2 N gt Analogue 1 X Slave Number JequinN 9 e S Digital 1B az leu6iq Table 2 1 details how the wiring is used to communicate data between the master and the slaves Each signal that is communicated requires one signal wire giving a total of 66 signal wires plus a OV return Table 2 1 Traditional wiring details Number of Source Destination Description signals digital Inputs slave 1 to master status signals digital outputs master to slave 1 control signals analogue output master to slave 1 control signal digital inputs slave 2 to master status signals digital outputs master to slave 2 control signals analogue output master to slave 2 control signal A fieldbus topology such as PROFIBUS DP allows the same configuration to be realised using only 2 signal wires plus a screen This method of communication saves signif
47. apped SM PROFIBUS DP mapping conflicts Care must be taken to ensure that there are no clashes between mappings in the SM PROFIBUS DP cyclic OUT data and other drive parameters such as other SM PROFIBUS DP cyclic OUT channels mappings from additional SM modules if fitted Unidrive SP only analog inputs digital inputs logic outputs motorised pot output comparator outputs variable selected outputs The SM PROFIBUS DP will not indicate if there is a conflict with any of the above Should a conflict occur and a parameter is written to from two or more different sources the value of this parameter will depend entirely upon the scan times for the function and the PROFIBUS DP network The result would be that a parameter may appear to be steady at a particular value on the drive display although an occasional glitch in the displayed value may be seen However internally this value may be changing continuously between 2 values leading to unusual behavior from the drive Cyclic data mapping errors The SM PROFIBUS DP will scan and check the PROFIBUS DP mapping parameter configuration for errors during initialisation If an error is detected the PROFIBUS DP operating status parameter Pr MM 06 will indicate 3 and the mapping error detected will be indicated in mapping status parameter Pr MM 49 See section 10 8 SM PROFIBUS DP mapping status on page 60 for full details SM PROFIBUS DP User Guide www carlog
48. arameter This bit will also be set if the parameter value is out of range in 16 bit mode 0 Write Defines whether the data word is part of a READ or 1 Read WRITE cycle ERR ME Setting the stamp number to 0 resets the internal non cyclic state machine Allowing a new message to be started ETE CG Single Word non cyclic data uses only 1 word of data when using this without data compression this requires 2 x 16 bit words If mode 1 is used with compression turned off only the least significant word of the 32 bit word is used 36 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 8 4 Reading parameters using CG Single Word To read 32 bit parameters using the non cyclic channel the following telegrams must be transmitted to construct the final message uoneuuoju ejes Telegram 1 define menu number Telegram 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 UORRIIEISU ononpouul Jeojueyooy uoneljejsut Jeoupe 3 Table 8 5 CG Single Word Bit Positions Rs bi W bz 0 w 5 READ ERR EA Siamp Number A p o DEBE Data Byte peuejs Bumeo sell aso 8 4 14 Constructing CG Mode 1 Single Word Read Messages Figure 8 2 CG Single Word read sequence mode 1 Send telegram 3 to OUT
49. arameter atameter Rx_Stamp_No written OK P telegram v E Tx_Stamp_No 6 Y Yes END OF SEQUENCE Yes 239491919 JO Hesso SM PROFIBUS DP User Guide 41 Issue Number 6 www carlogavazzi com ac 42 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 Example telegram sr f tere wires bree ba 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 telegram from the PROFIBUS DP master also indicates a write cycle but the stamp number is now set to 2 The data byte would contain the parameter number for the parameter that is to be written to mr biz T wes a 96 0001 0010 0001 0101 Data word 0x1215 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
50. arameter will display a value of 1 and will be locked only the user configurable mapping parameters will be editable see Section 12 3 If the PROFIdrive profile has been configured after settings have already been made to the cyclic data mapping parameters the first 2 or 3 mapping parameters depending upon the PPO type chosen will be over written and locked out 12 5 PROFIdrive control word The PROFldrive control word consists of 16 control bits some of which are reserved Table 12 1 PROFIdrive control word bit functions 78 Function Description Ready Voltage connected to the converter i e main contactor on if available the drive goes into the switch on inhibit status DC bus is charged the drive is inhibited Shutdown returns to status not ready to switch on ramps down along the ramp function generator ramp or along the DC bus voltage limit At Speed 0 and Current 0 voltage is disconnected main contactor off if available Operating es All OFF 2 commands are withdrawn condition Voltage disconnected inhibit the drive output stage Main OFF2 contactor is de energized if available and the drive goes into the switch on inhibit status Motor coasts down Operating condition All OFF 3 commands are withdrawn Fast stop If necessary remove operating inhibit fastest possible OFF3 deceleration at Speed 0 or Current 0 inhibit the drive and go to switch on inhibit state Operatio
51. avazzi com ac Issue Number 6 7 5 Mapping limitations When setting mapping values care should be taken not to exceed the data size set in Pr MM 05 or Pr MM 39 and Pr MM 40 The data size depends on the size of the mapped parameter and if data compression is turned on or not see Table 7 7 Table 7 7 Actual data sizes Parameter size bits Actual data size bits compression on Actual data size bits compression off Consider the following example mapping Pr MM 10 to a 32 bit value and MM 11 to a 16 bit value mapping Pr MM 20 to a 32 bit value and MM 21 to a 32 bit value data compression turned on Pr MM 34 set to on would require the following settings Pr MM 39 3 and Pr MM 40 4 If the size of the input and output mappings is identical then the value may be set in Pr MM 05 7 6 Disabling mappings Any unused mapping parameters Pr MM 10 to Pr MM 19 and Pr MM 20 to Pr MM 29 should be set to 0 Having unmapped channels between valid mapped channels is not permitted and will result in a configuration error i e Pr MM 06 will indicate 3 SM PROFIBUS DP User Guide 33 Issue Number 6 www carlogavazzi com ac uoneuuoju uomeljejsul JeoiueuoeN uoneljejsur jeoujoe 3 peueis sa n 894 SAUPIJOYA peoueApy 239491919 ejes uononpoau Bumeo 0 0 o m D o 3 lt S 5 a 1 S sonsouBeiq pue J03ju02 oioKo uoN JO Hesso 8 1 8 2 34 Non
52. b site at www profibus com LE Carlo Gavazzi can only guarantee correct and reliable operation of the SM PROFIBUS DP if all other equipment on the PROFIBUS DP network including the network cable has been approved by the PNO and is correctly installed Unless there are specific reasons for not grounding the network it is recommended that all drive network connections are correctly grounded Failure to do so may reduce the noise immunity of the system If there are specific issues with grounding alternative methods of connection should be considered such as the use of fibre optic cable SM PROFIBUS DP User Guide 17 Issue Number 6 www carlogavazzi com ac uoneuuoju MESES vonerejsul peueis seJnjeej SAUPIJOYA peoueApy 39491919 uononpoaul eyep 9i 2 seid aso sonsouBeiq Ayes ISDEM jeoiueuoeiN Bumeo z 2 9 lt 2 S Q o F1 S9 m a JO Hesso 4 4 Variflex SM PROFIBUS DP shield connections Grounding of the network cable should be performed as close as possible to the termination of the cable This may be achieved by clamping to the nearest ground point or using an optional bracket contact your supplier or local drive centre for more information Unless there are specific reasons for not grounding the network it is recommended that all drive network connections are correctly grounded Failure to do so may reduce the noise immunity of the system If there are specific issues with ground
53. ber gt a lt S J3 o D TU z O m e 2 o 39U919 9 The serial number is a loaded into the SM PROFIBUS DP during manufacture and cannot be changed It contains the last 6 digits of the 10 digit serial number of the label JO Messo SM PROFIBUS DP User Guide 63 Issue Number 6 www carlogavazzi com ac 11 11 1 Advanced Features SM PROFIBUS DP network loss trip 200 0 to 3000 RW Network loss trip provides a method on the drive to ensure that communication with the master is still present The SM PROFIBUS DP resets an internal timer when a valid message is received from the PROFIBUS DP network if a message is not received within the specified period the network loss trip is triggered When the SM PROFIBUS DP forces the trip the trip display on the drive will be SLx Er where x is the slot number where the trip originated The SM PROFIBUS DP error code parameter Pr MM 50 will show 65 when a network loss trip has occurred ETE The network loss trip is not enabled internally until cyclic data has been detected This prevents spurious network loss trips while the PROFIBUS DP master controller is initialising the PROFIBUS DP network Figure 11 1 Network Loss Trip Trip Occurs Here v Messages Per Second Healthy Drive Trip Time Set In Pr MM 07 LL gt Communications If the network loss trip time is reduced too far spurious network loss trips may occu
54. ccess iM Multi master operation oooonnocccnnnccccnonccconanncconnrncnnnnnn nono nn connn carne nc nannn cn 75 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 12 12 1 12 2 12 3 12 4 12 5 12 6 12 7 12 8 12 9 13 13 1 14 SM PROFIBUS DP User Guide Issue Number 6 PRO TY POS ite mde A Configuring the Profile cean aaeoa a e adera anria aa enne PROF Idrive control word coooooccccoccccononccconanccconancc nono no nono n cn nonnn canon nnnnnncn PROFIdrive status word EIA c a gie e det ies alee Main Actual Valle c ic dnce PROFldrive state diagram Quick reference iii a eke 84 Complete parameter reference cccececceeeeeeeeeeceeeeneeeteseeeeeeeeeeseaeees 84 Glossary Of Terms eene 87 jp Cc anaE 90 www carlogavazzi com ac 1 Safety Information 1 1 Warnings Cautions and Notes A Warning contains information which is essential for avoiding a safety hazard WARNING A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment ai CE Note contains information which helps to ensure correct operation of the product 1 2 Electrical safety general warning The voltages used in the drive can cause severe electrical shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to t
55. ch are reserved See the table below for the individual bit function descriptions Not Mains Direction Direction Brake Brake Reden Current Used Loss Running Set Alarm Active 9 Limit OA AO A Bo ML UA ea Load Above Set AtSet Below Set Running Zero Drive Drive Reached Speed Speed Speed At Speed Speed Active Healthy The fieldbus status word is mapped directly from the drive status word Pr 10 40 Pr 10 40 is generated by the values of several individual drive status bits Table 9 3 shows the function indicated by each bit in the status word when set to 1 Table 9 3 Drive status word bit functions Parameter Pr 10 01 Description Drive healthy Indicates the drive is not in the trip state Pr 10 02 Drive active Indicates that the output stage of the drive is active Pr 10 03 Zero speed In Open Loop mode zero speed indicates that the absolute value of the post ramp speed reference is at or below the zero speed threshold Pr 10 04 Running at or below minimum speed In bipolar mode Pr 1 10 1 Pr 10 04 is the same as zero speed Pr 10 03 See above In unipolar mode Pr 10 04 is set if the absolute value of the post ramp speed reference Pr 2 01 or speed feedback Pr 3 02 is at or below minimum speed 0 5Hz or 5rpm Minimum speed is defined by Pr 1 07 This parameter is only set if the drive is running Pr 10 05 Below set speed Only set if the drive is running at below set speed Refer t
56. d Reserved TRIP Set to 1 to trip the drive at any time The trip display on drive will be CL bit and the trip code will be 35 AUTO b7 has no effect on this function The trip cannot be cleared until TRIP is reset to 0 A 0 1 transition of the RESET bit will reset the drive from a trip condition If the reason for the trip is still present or another fault condition has been detected the drive will immediately trip again When resetting the drive it is recommended to check the status word to ensure that the reset was successful before attempting to re start the drive KEYPAD WDOG This watchdog is provided for an external keypad or other devices where a break in the communication link must be detected The watchdog system can be enabled and or serviced if this bit is changed from zero to one whilst the control word enabled Once the watchdog is enabled it must be serviced at least once every second or an SCL trip will occur The watchdog is disabled when an SLC trip occurs and so it must be re enabled when the trip is reset Reserved SM PROFIBUS DP User Guide 53 Issue Number 6 www carlogavazzi com ac payejs seJnjee 4 SAUPIJOYA peoueApy 39U919 9 1 Sei4 GSO eyep I sonsouBeiq Dunes z 3 7 Oo E E S 9 o El ES E D El 2 JO iesso o 9 3 54 Status word The SM PROFIBUS DP status word consists of 16 control bits some of whi
57. den by a RUN RUN REV or RUN FWD signal uonejejsul Jeolueyoo uonejejsul uononpoaul aes e911 9913 RUN REV Set to 1 with ENABLE set to 1 to run the motor in the reverse direction When reset to 0 the drive will decelerate the motor to a controlled stop FWD REV Set to 1 to select the reverse direction Set to 0 to run in the forward direction The RUN signal is used to start and stop the motor RUN Set to 1 to run the motor FWD REV is used to select the direction of motor rotation When reset to 0 the drive will decelerate the motor to a controlled stop NOT STOP Set to 1 to allow the sequencing bit to be latched If NOT STOP is zero all latches are cleared and held at 0 Pr 6 04 must be correctly set for this to function AUTO Set to 1 to enable fieldbus control of the drive Control Word The Control Word Enable Pr 6 43 must also be set to 1 When reset to 0 the drive will operate under terminal control REMOTE Set to 1 to select digital speed reference 1 Pr 1 21 and reset to 0 to select analog reference 1 Pr 1 36 REMOTE directly controls Pr 1 42 so reference selector Pr 1 14 and preset selector Pr 1 15 must both be set to O default for the REMOTE bit to work properly JOG REV Set to 1 to jog the motor in reverse This signal needs to be used in conjunction with the ENABLE bit This signal is overridden by a RUN RUN REV RUN FWD command Reserve
58. des on page 63 is detected the drive may trip Refer to section 10 9 Drive trip display codes on page 62 for details about the drive trip display 10 8 SM PROFIBUS DP mapping status SM PROFIBUS DP mapping status 0 0 to 255 RO If the SM PROFIBUS DP operating status parameter Pr MM 06 indicates 3 a mapping configuration error has been detected The reason for the error is indicated by the SM PROFIBUS DP mapping status parameter Pr MM 49 When a mapping error has been corrected re initialise the SM PROFIBUS DP by setting Pr MM 32 to ON 1 Table 10 3 Generic mapping error codes Mapping Error Description status 0 No error detected No error detected with IN or OUT cyclic data mapping configuration Direct data mapping Non cyclic data cannot be used when direct data mapping is error enabled An invalid non cyclic data mode has been selected in Pr Invalid non cyclic mode MM 05 Invalid mode value The value entered in Pr MM 05 is not supported Multiple non cvclic A non cyclic data mode has been mapped more than once in 104 pe y the IN data mapping configuration parameters Pr MM 10 to Pr mapping error MM 19 Configuration read An error has occurred reading the IN cyclic data mapping 110 9 mor configuration parameters Pr MM 10 to Pr MM 19 from the drive One or more parameters specified in the IN cyclic data 111 Invalid source mapping configuration Pr MM 10 t
59. drive to continuous cyclic update of the received UORRIIEISU ononpowul Jeolueyooy uoneljejsu Jeoupe 3 data The FREEZE command will cause a single transfer of the previously grouped data and 20 stop any more data from being transmitted by the drive The FREEZE command may be Hl a repeated while in this state to allow another single transfer of data from the drive ee Issuing an UNFREEZE command will revert the drive to continuous cyclic update of the o transmitted data D 11 3 SM PROFIBUS DP data endian format Default OFF a Range OFF 0 or ON 1 z Access RW 2 When data is sent over the PROFIBUS DP network it is transmitted as 8 bit bytes E Therefore when a 32 bit word or 16 bit word is transmitted it is split into four or two 8 bit S bytes It is important that the receiving node reconstructs the received 8 bit bytes in the 3 correct order to arrive at the 32 bit or 16 bit data value that was originally transmitted g this order is known as the Data Endian Format a Data 16 bit value 32 bit value endian Pr MM 08 format Byte order Word order Byte order sonsouBeiq High byte first 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 Low byte first Low word first Mid low byte second High byte second High word second Mid high byte third High byte fourth soinjes4 AUPIIOUd PEE Little Mos
60. e However Pr 1 15 can be used to change which of the digital references is selected For further details on the drive digital speed reference please refer to the appropriate drive User Guide Table 9 2 lists in detail the function of each control word bit For further in depth details about drive control words and sequencing bits please refer to the appropriate drive User and Advanced User Guides LE When a trip occurs the drive control word MUST be set to a safe disabled state This 52 ensures that the drive does not re start unexpectedly when it is reset This can be achieved by continuously monitoring the drive status word and interlocking it with the control word SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 By default data compression is off and therefore the control word will be cast as 32 bit with bits 16 31 reserved Table 9 2 control word bit functions Function ENABLE Description Set to 1 to enable the drive Resetting to O will immediately disable the drive and the motor will coast to a stop The external HARDWARE ENABLE signal must also be present before the drive can be enabled uoneuuoju RUN FWD Set to 1 with ENABLE set to 1 to run the motor in the forward direction When reset to 0 the drive will decelerate the motor to a controlled stop JOG FWD Set to 1 to jog the motor forward This signal needs to be used in conjunction with the ENABLE bit This signal is overrid
61. e TASK ID 9 Error TASK ID could not be executed The previously specified TASK ID could not be completed Word 3 will return an error code to indicate the reason for the TASK ID failure see table below If RESPONSE ID 7 has been received the error code can be read from word 3 Error read only parameter Target parameter specified by TASK ID 7 or TASK ID 8 is read only and cannot be modified This will indicate the reason why the TASK ID request failed see Table 8 11 Table 8 11 PPO 4 Word error codes ERROR CODE Invalid menu 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 menu The specified parameter does not exist Parameter error SM PROFIBUS DP User Guide Issue Number 6 No last parameter information available 47 www carlogavazzi com ac uoneljejsut Jeoupe 3 peueis soJnjee4 SAUPIJOYA peoueApy 95u98J9joJ Sei4 aso ejep ong sonsouBeiq Bumeo z o E rn lt Q 5 Q o 3 a 3 a JO Hesso 8 5 3 Reading parameters using PPO 4 Word mode The diagram below shows the sequence of events required to read a drive parameter using the PPO 4 Word non cyclic channel Figure 8 4 PPO 4 Word Read sequence START
62. e 7 5 Mapping for 5 cyclic channels sonsouBeiq soJnjee 4 SAUPIJOYA peoueApy Data word Parameter Default mapping status IN word 0 1 Pr MM 10 Pr 10 40 status word IN word 2 3 Pr MM 11 Pr 2 01 post ramp speed reference Pr MM 12 to Pr IN word 4 9 MM 14 0 not mapped OUT word O 1 Pr MM 20 Pr 6 42 control word OUT word 2 3 Pr MM 21 Pr 1 21 digital speed reference 1 Pr MM 22 to Pr MM 24 95u98J9joJ OUT word 4 9 0 not mapped JO Hesso SM PROFIBUS DP User Guide 31 Issue Number 6 www carlogavazzi com ac 7 2 4 8 cyclic channels with Mode 2 non cyclic data compression off 7 3 7 4 32 This data format provides eight cyclic data channels plus an additional 4 words for Mode 2 PPO 4 Word non cyclic data See section 8 5 Mode 2 PPO 4 Word mode on page 44 The total data length is 20 words in and 20 words out To select this data format set Pr MM 05 216 Table 7 6 Mapping for 8 cyclic channels with PPO 4 Word non cyclic data Data word Parameter Default mapping status IN word 0 3 Pr MM 10 Pr 61 51 Mode 2 non cyclic data IN word 4 5 Pr MM 11 Pr 10 40 status word IN word 6 7 Pr MM 12 Pr 2 01 post ramp speed reference Pr MM 13 to Pr MM 19 OUT word 0 3 Pr MM 20 Pr 61 51 Mode 2 non cyclic data OUT word 4 5 Pr MM 21 Pr 6 42 control word OUT word 6 7 Pr MM 22 Pr 1 21 digital speed reference 1 OUT word 8 19 Pr oor Fr 0 not mapped IN word 8 19 0 not m
63. ehaviour or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example an over speed protection device in case of failure of the speed control or a fail safe mechanical brake in case of loss of motor braking 6 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 1 4 Environmental limits Instructions in the Variflex User Guideregarding transport storage installation and use of the drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force uo JeWOJU 1 5 Compliance with regulations The installer is responsible for complying with all relevant regulations such as national wiring regulations accident prevention regulations and electromagnetic compatibility EMC regulations Particular attention must be given to the cross sectional areas of conductors the selection of fuses or other protection and protective earth ground connections uolonpo qu uonejejsul Jeolueyoo The Variflex User Guide contains instructions for achieving compliance with specific EMC standards uonejiejsul jeoujer Within the European Union all machinery in which this product is used must comply with the following directives 98 37 EC Safety of mach
64. en loop mode and Pr 3 02 for closed loop and servo modes Pr 10 14 uononpoaul Mains loss Mains loss indicates that the drive has detected a mains loss from the level Pr 10 15 ofthe DC bus voltage This parameter can only become active if mains loss ride through or mains loss stop modes are selected Refer to Pr 6 03 in the drive Advanced User Guide for more details Not Used Reserved uonejejsul JEorueuoejA uonejejsul 8919913 peuejs Buya s l 4 aso eJep oip o z 3 7 o E E S 2 o El ES E D El 2 sonsouBeiq seJnjee 4 SAUPIJOYA peoueApy 39u 194 1 JO iesso o9 SM PROFIBUS DP User Guide 55 Issue Number 6 www carlogavazzi com ac 10 Diagnostics This section provides basic diagnostic information intended to enable resolution of the most common problems encountered when setting up a SM PROFIBUS DP on a PROFIBUS DP network A high percentage of problems reported are basic set up problems that can be avoided by using the following pages Start by using the flow chart on the following page to determine the possible cause of a problem If after following the flow chart you are still experiencing problems please contact your supplier or local drive centre for support Please note that support will be limited to the setting up and networking of the drive 56 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 10 1 Diagnostic flow chart uo
65. er value into the data byte SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Example response Ajejes st bz bros wrb 5950 Data word 0x96DC Stamp number 6 Data low byte OxDC 220 uoneuuoju uononpoau 8 4 2 The parameter re assembled The completed value can be assembled as follows to give the complete value as read from the parameter uomeljejsul JeoiueuoeN uonelejsut Jeoupe 3 Speed High byte 22 Mid high byte 216 Mid low byte 28 Low byte 0 16777216 1 65536 37 256 220 20 75228 E 7522 8 rpm B 8 4 3 Writing parameters using CG Single Word To write to a 32 bit parameter using the non cyclic channel the following telegrams must be sent on each network cycle to construct the final message sell aso 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 ejep ooo eyep Telegram 6 send low data byte z o E rn lt Q 5 Q e 3 a 3 a Figure 8 3 CG Single Word write sequence Start sonsouBeiq v Send first telegram to OUT word 0 AMES AA v Read IN Check status ERROR word O0 e of ERR bit Check parameter exists and that it is a Read Write soinjeo4 SAUPIJOYA peoueApy v Y Tx Stamp No Send next P
66. es that are being processed per second SM PROFIBUS DP User Guide 59 Issue Number 6 www carlogavazzi com ac uoneuuoju uomeljejsul JeoiueuoeN uoneljejsur jeoujoe 3 peueis soinjeo4 SAUPIAOUd peoueApy QOUdIBJoI Ajejes uononpoau sald IS Bumoo ejep ono sonsouBeiq z 3 7 o E Q s Q o 3 Q 3 a JO Messo Pr MM 06 Table 10 2 PROFIBUS DP operating status codes Parameter Network Healthy Indica Description he number of processed cyclic messages per second Network Healthy No Data Transfer Indica communications with the SM PROFIBUS DP If operating status changes briefly to 1 and returns to 0 the slave configuration does not match hat the PROFIBUS DP master has established the configuration in the master controller Initialised Indica is waiting communications es that the SM PROFIBUS DP has initialised correctly and or the PROFIBUS DP master to initialise Internal Hardware Failure Indica sequence cycle es that part of the SM PROFIBUS DP initialisation was not successful If this fault persists after a power replace the SM PROFIBUS DP Configuration Error Indica configuration parameters es that there is an invalid setting in the SM PROFIBUS DP If a mapping configuration error see section 10 8 SM PROFIBUS DP mapping status or network error see section 10 10 SM PROFIBUS DP error co
67. he drive Specific warnings are given at the relevant places in this User Guide 1 3 System design and safety of personnel The drive is intended as a component for professional incorporation into complete equipment or a system If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is 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 this User Guide carefully The STOP and SECURE DISABLE functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SECURE DISABLE function none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions The Variflex does not have a secure disable feature Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended b
68. he mapping will depend on the size of the source or destination parameter Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read The number of decimal places of the target parameter must be known Writing a value of 1234 to a parameter with 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 8 3 CG Single Word Bit Positions ss Pa ws uz wn bu w T 5 READ ERR Rmsewed sz SampNumer EE ee ES A Data Byte Table 8 4 CG Single Word Bit Definitions Function Values Description Depending on the stamp number of the telegram this Data 010 259 byte contains the menu parameter or data byte Indicates the stamp number of the word This shows Stamp which part of the message is currently in progress number Setting the stamp number to 0 resets the internal non cyclic state machine Specifies whether a 16 bit or 32 bit data value is to be 16 bit data written to or read from the drive If 32 BIT is set 32 bit data telegrams 5 and 6 will be used to transfer the additional data bytes 32 BIT Reserved Reserved for future use Always set to 0 Indicates the success or failure of the message Failure 0 Data OK could occur if the parameter does not exist or is a read 1 Error only or write only p
69. here are no more than 125 y addressed devices See Section 4 on the network y A dedicated SM PROFIBUS DP tester Is recommended z 5 7 o E Q s Q o 3 Q 5 a Configure each node address on the system See Section 5 SM PROFIBUS DP MM 03 sonsouBeiq y Ensure all third party devices use See Section 5 the same data rate soJ1njee 4 SAUPIJOYA peoueApy Y A dedicated Perform a network SM PROFIBUS DP scan using the tester Is master or tester recommended AA Set data size on See Section 5 node MM 05 39U 194 1 AA Reset and save parameters y MM 32 1 8 See Section 5 MM 00 1000 et JO Hesso SM PROFIBUS DP User Guide 23 Issue Number 6 www carlogavazzi com ac 5 3 5 4 SM PROFIBUS DP node address Default 126 Range 0 to 126 Access RW Every node on a PROFIBUS DP network must be given a unique network node address The SM PROFIBUS DP must be reset to make a change of node address take effect This parameter is also available in menu 0 on the Variflex Pr 00 52 Addresses 0 and 126 are reserved for system use SM PROFIBUS DP data rate Default Range Access The SM PROFIBUS DP will automatically detect the PROFIBUS DP network data rate and synchronise to it Pr MM 04 will indicate the data rate that has been detected by the SM PROFIBUS DP This parameter is a
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71. ic words with Mode 2 non cyclic data Pr MM 05 210 uoneljejsul JeoiueuoeN uoneljejsut eouyoa 3 Table 8 6 PPO 4 Word mode data mapping Mapping Value Mapping Pr 17 10 Pr 10 40 status word Pr 61 51 PPO 4 Word Pr 17 11 Pr 2 01 post ramp speed ref Pr 10 40 status word Pr 17 12 Not mapped Pr 2 01 post ramp speed ref Pr 17 13 to Pr 17 19 Pr 17 20 Pr 6 42 control word Pr 61 51 PPO 4 Word Pr 17 21 Pr 1 21 digital speed ref 1 Pr 6 42 control word Pr 17 22 Not mapped Pr 1 21 digital speed ref 1 Pr 17 23 to Pr 17 29 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 selld aso Not mapped Not mapped ejep ooo Not mapped Not mapped z o E rn lt Q 5 Q e 3 e 3 a 8 5 2 PPO 4 Word protocol The table below shows the data structure required on the OUT data to implement PPO 4 Word request sonsoubeiq soJnjee 4 SAUPIJOYA peoueapy Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read Hence the number of decimal places of the target parameter must be known Writing a value of 1234 to a parameter with 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 8 7 PPO 4 Word OUT data structure
72. icantly on the amount of cabling required and can improve overall system reliability as the number of interconnections is greatly reduced 8 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Figure 2 2 shows a typical PROFIBUS DP network system transferring the same signals as given in the traditionally wired example The signals are now transmitted by converting them into a serial data stream which is received by the master as if they were connected using traditional wiring The data stream on SM PROFIBUS DP allows up to 64 32 input and 32 output independent values to be sent or received by the master in addition to a single channel allowing for random access to drive parameters Figure 2 2 PROFIBUS DP cable layout uoneuuoju Ajejes uononpoJju PROFIBUS master Analogue 1 Analogue 2 Digital 1A Digital ie d Digital 2A Digital 2B uomeljejsul JeoiueuoeIN uoneljejsut eouyoa 3 Bumeo peueis selld aso ejep ong Digital 1A vz reubia Analogue 2 N Slave Number 1 z JequinN eA e S az e161g z 3 7 o lt Q s Q o 3 e m 2 a Digital 1B sonsouBeiq Table 2 2 Data mappings for SM PROFIBUS DP Number of Source Destination Description network words sa n 894 SAUPIJOYA peoueApy digital Inputs slave 1 to master status signals digital outputs master to slave 1 control signals analogue output mas
73. inery 89 336 EEC Electromagnetic Compatibility 1 6 Motor Ensure the motor is installed in accordance with the manufacturer s recommendations Ensure the motor shaft is not exposed peuejs Bumeo S94 GSO eJep OIA Standard squirrel cage induction motors are designed for single speed operation If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be fitted with a protection thermistor If necessary an electric forced vent fan should be used z 7 o lt 2 Ss o fe mi 3 2 o J a The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied upon It is essential that the correct value is entered in the motor rated current parameter Pr 0 06 in Variflex This affects the thermal protection of the motor sonsouBeiq 1 7 Adjusting parameters Some parameters have a profound effect on the operation of the drive They must not be altered without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering sa n e94 SAUPIJOYA peoueApy 39U919 9 1 JO Hesso SM PROFIBUS DP User Guide 7 Issue Number 6 www carlogavazzi com
74. ing alternative methods of connection should be considered such as the use of fibre optic cable 4 5 General grounding considerations It is essential that good grounding is provided not only for network stability but more importantly electrical safety In all instances electrical regulations should be adhered to As a guide the network cable should be grounded at least once per cabinet ideally on each drive 18 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 4 6 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 each segment This prevents signals from being reflected back down the cable and causing interference paves ones oy nponuy oReuuoyuI Bumeo SIDE Peseta Ayeyes selld GSO ejep ooo z 3 7 o bi 2 Q e 3 e 3 a eoue1ojo1 SeJuE94 sonsouBbel omupI4OYd pooueapy S s JO Hesso SM PROFIBUS DP User Guide 19 Issue Number 6 www carlogavazzi com ac Figure 4 4 Network Termination doxes DEONONO Most ranges of connectors provide specific parts that incorporate the termination network Such connectors derive the power from the host device and if the host device is switched off the termination will be lost To avoid this situation a separate termination device is available that is powered independently of the net
75. ing block mapping 68 In the above section block mapping was used to define mapping ranges In order to avoid this the target parameters should be entered in descending order This means that SM PROFIBUS DP will not recognise a range of parameters and only 2 parameters will be mapped Table 11 5 Non block data mapping example Mapping Mapping parameter value Pr MM 10 Map to Pr 20 04 Pr MM 11 Map to Pr 20 01 Pr MM 12 to Pr MM 19 Motmapped Description SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Table 11 5 Non block data mapping example Mapping Mapping Description parameter value Pr MM 20 Map to Pr 20 35 Pr MM 21 Map to Pr 20 31 Pr 17 22 to Pr 17 29 Not mapped Table 11 6 Non block data structure example Data word Target parameter Data word Target parameter IN word O 1 Menu Pr 20 04 OUT word O 1 Pr 20 35 IN word 2 3 Menu Pr 20 01 OUT word 2 3 Pr 20 31 IN word 4 9 Not mapped OUT word 4 9 Not mapped 11 6 Direct data mapping Default OFF 0 Range OFF 0 or ON 1 Access RW By default Pr MM 10 to Pr MM 29 are used as pointers to specify the source or destination parameters of the mappings When direct data mapping is enabled Pr MM 10 to Pr MM 29 are used as the actual destination and source parameters for output and input data respectively When direct data mapping mode is enabled all mapping parameters Pr MM 10 to Pr MM 2
76. is intended as a guide only and is provided to detail the stages that are required to achieve a functioning network It is recommended that all of this chapter is read before attempting to configure a system In order to use SM PROFIBUS DP with Variflex requires SM PROFIBUS DP firmware version 3 00 00 or later Due to the large number of PLCs masters that support PROFIBUS DP details will not be provided for a specific master or PLC Generic support is available through your supplier or local drive centre NOTE Before contacting your supplier or local drive centre for support ensure you have read 5 1 22 Chapter 10 Diagnostics on page 56 of this manual and check you have configured all parameters correctly Ensure the following information is available before calling A list of all parameters in SM PROFIBUS DP The drive firmware version see the drive User Guide The system file version of SM Applications if applicable see the SM Applications User Guide Conventions used in this guide The configuration of the host drive and Solutions Module is done using menus and parameters A menu is a logical collection of parameters that have similar functionality In the case of a Solutions Module the parameters will appear in menu 15 for the Variflex The menu is determined by the number before the decimal point and the parameter by the number following the decimal point The method used to determine the menu or parameter i
77. itten successfully 16 bit ite Parameter Value TASK ID 7 could not be executed Check the error code in IN word 3 for the reason why 32 bit ite Parameter Value TASK ID 8 could not be executed Check the error code in IN word 3 for the reason why 32 bit ite Parameter Value Parameter is read only and cannot be written to Table 8 16 shows an example set of data words for PPO 4 Word mode This example will write a value of 1553 9 rpm 32 bit value is 15539 to the digital speed reference 1 Pr 1 21 to the drive 50 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Table 8 16 PPO 4 Word write request example QUT data Hex value OUT word 0 0x8001 TASK ID 8 0 MENU 1 OUT word 1 0x0015 PARAMETER 21 0 OUT word 2 0x0001 DATA HIGH word 0 OUT word 3 Ox3CB3 DATA LOW word 15539 Table 8 17 shows an example successful write response to the write instruction illustrated above in Table 8 16 Table 8 17 PPO 4 Word write response example IN word O 0x5001 Cee uo ejesu uonelejsul uoneuuoju Jeoiueuoe jeoujoe 3 peuejs Bumeo ejes uononpoau IN word 1 0x0015 PARAMETER 21 IN word 2 0x0000 DATA HIGH word 0 IN word 3 Ox3CB3 DATA LOW word 15539 If the PPO 4 command is left in the data words the write will be executed on every poll 8 6 of the network effectively providing a continuous write Care sh
78. k 9 6k Maximum of 32 input and 32 output cyclic data words supported Parameter Process Objects PPOs fully supported non cyclic data channel supported The SM PROFIBUS DP is powered from the host drive s internal power supply Solutions Module identification The SM PROFIBUS DP can be identified by 1 The label located on the underside of the Solutions Module 2 The colour coding across the front of the SM PROFIBUS DP purple SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Figure 2 4 SM PROFIBUS labels Solutions Module name uoneuuoju Ajejes SM PROFIBUS DP Customer Issue 2 00 STDJ41 and date code Hardware HELL A HU I issue number Ser No 3000005001 Serial number uononpoJju uomeljejsul JeoiueuoeN 2 4 4 Date code format The date code is split into two sections a letter followed by a number uonelejsut Jeoupe 3 The letter indicates the year and the number indicates the week number within the year in which the Solutions Module was built The letters go in alphabetical order starting with A in 1990 B in 1991 C in 1992 etc peuejs Bumeo Example A date code of L35 would correspond to week 35 of year 2002 2 4 2 Product conformance certificate The SM PROFIBUS DP has been awarded PROFIBUS conformance certification by the PROFIBUS Nutzerorginization PNO A copy of the certificate is available from your supplier or local drive centre Sei4 aso eje
79. l contain additional information If a mapping configuration error see section 10 8 SM PROFIBUS DP mapping status or network error see section 10 10 SM PROFIBUS DP error codes is detected the drive may trip SM PROFIBUS DP User Guide 25 Issue Number 6 www carlogavazzi com ac uoneuuoju uomeljejsul JeoiueuoeN uoneljejsur jeoujoe 3 payejs sa n 894 SAUPIJOYA peoueApy 289491919 uononpoaul selld aso ejep ooo sonsouBeiq Ajejes Buiye5 z 5 7 o Q s Q e e 3 a JO Hesso 5 7 Re initialising the SM PROFIBUS DP 0 OFF 0 OFF to 1 ON RW Changes to the SM PROFIBUS DP configuration in menu 15 16 and 17 parameters will not take effect until the SM PROFIBUS DP has been re initialised To re initialise SM PROFIBUS DP 1 Set Pr MM 32 to ON 2 When the sequence has been completed Pr MM 32 will be reset to OFF 3 The SM PROFIBUS DP will re initialise using the updated configuration LE This sequence does NOT store the SM PROFIBUS DP configuration parameters in the 5 8 26 drive or the SM PROFIBUS DP FLASH memory This will change back to 0 immediately and as such the change may not be visible on the display Saving parameters to the drive On the Variflex to avoid loss of the configured settings when the drive is powered down it is necessary to write 1000 to Pr MM 00 followed by pressing the reset button to perform a drive save
80. lications etttt ttt 74 gE Dynamic brake active vicio d Db e e d 55 E Electrical installation tri e te de ds 16 2 Electrical safety 1 ioci e e iei ret ag ete t 6 o Endian format mimica 65 3 Environmental limits 7 E Error P ErrOR CODES E 63 Ei Event task reason codes cccccccnccccncnnncnnccncncnnnonononononononononononononononononononnnnno 75 S Event task trigger 1 2 2 da m ee Ress 74 S F Firmware version se rore b ede ee e i d e e e pee ill 58 E O cepe onn ton t teo eme 29 9 FREEZE id EC eee VE eee ias 65 g G 3 General information 5 ertt t hber ehe a 2 a Getting started E E Glossary of terms 2 E GSD i O A LATI bi H ge Hardware enable icit opa seen de edd 52 E 3 og l U ID Code oci AA ERAT 58 3 m L a Local Solutions access ninm rrt eigen reri ies 73 2 M Mapping CoHflicts erra iere trei dee neds 8 Mapping error codes o Mapping errors nn g Mapping parameters Ps 2 Mapping status s incendie cepta cet rues cce Re e ee Ra de Re eid Q Mapping to SM Applications oooocconnoccconocccconoccconnnnnnonnnna non non nono ncnnnnn conan 73 E Menu 60 g Mode 1 T SM PROFIBUS DP User Guide 91 Issue Number 6 www carlogavazzi com ac Mode 2 diede ssec cer eI MEL dias uds 27 44 M lti mastet ener nr erre err een ro EH rer ea E Ere EHE E Ee 75 N Network length eroe tee tod e led Mc uds 21 Network l ss trip oio ete ba 64 Network termination inciertas eterna
81. lso available in menu 0 on the Variflex Pr 00 53 A 1 indicates that the SM PROFIBUS DP has not detected any activity on the PROFIBUS DP network and is waiting for the master controller to start communicating LE The PROFIBUS DP data rate parameter can be changed but this will not affect the data 5 5 rate at which the SM PROFIBUS DP communicates The data rate display will be updated when SM PROFIBUS DP is re initialised Table 5 1 SM PROFIBUS DP data rates Pr MM 04 bit s Pr MM 04 bit s Auto detecting 12M 6 0M 3 0M 1 5M 500k SM PROFIBUS DP data format Default 4 Ranges 0 32 100 131 amp 200 to 228 Access RW The default data format is 4 cyclic words each cyclic data channel is mapped to a drive parameter The default mappings are shown in Table 5 2 LEE The maximum number of 16bit data words that is possible is 32 with only cyclic data 31 24 with mode 1 non cyclic data and 28 with PPO4 word mode SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 5 6 Table 5 2 Default data mapping Cyclic word Data word Default mapping status IN channel 0 word O 1 Pr 10 40 status word IN channel 1 word 2 3 Pr 2 01 post ramp speed reference OUT channel 0 word O 1 Pr 6 42 control word OUT channel 1 word 2 3 Pr 1 21 digital speed reference 1 Other data formats are also supported For further details see section 7 2 Data formats on page 29
82. mapping Data is sent directly to the mapping parameters in the drive rather than the parameters redirecting the data to another parameter Double word A 32 bit word this may be signed or unsigned SM PROFIBUS DP User Guide 87 Issue Number 6 www carlogavazzi com ac 88 DPV 0 1 2 This describes the version of PROFIBUS DP used Earthing Describes the electrical safety or screening connections for the module Endian format When a value uses more than 8 bits to represent it s value it needs to be sent in sets of 8 bits bytes across the network the endian format determines the order the bytes that constitute the whole value are transmitted Event task A special way to use a message or change of state to trigger a software routine FREEZE A method of preventing input state changes from being sent to the master until a FREEZE signal is sent this is used in conjunction with UNFREEZE Groups Groups are used with the SYNC and FREEZE commands A group defines which nodes respond to a specific SYNC or FREEZE command GSD file A file that defines the properties of a node The file contains information describing the features available on the device IN data Data that is returned from a slave device to the PROFIBUS master Long word A 32bit data word that may be signed or unsigned Network Loss Trip A method to determine when a node has lost contact with the master Node A device on the network This may be either a de
83. methods For more details see Section 8 1 WARNING WARNING uononpoaul If the number of mappings exceeds 10 block mapping should be used See Section 11 14 for additional details uomeljejsul JeoiueuoelA uonelejsut Jeoupe 3 peueis Bumeo Sei4 aso ejep ooo z 5 7 o E Q s Q o 3 Q 3 a SpJOM SNJE S sonsouBeiq soinjeo4 AUP IOUd PEE BOUdIOJOI JO Hesso SM PROFIBUS DP User Guide 73 Issue Number 6 www carlogavazzi com ac 12 12 1 12 2 PROFIdrive profile Compatibility The PROFldrive profile is available on Variflex drives What is PROFIdrive profile The PROFlIdrive profile is a non vendor specific standard for controlling drives PROFldrive allows compatible drives from different vendors to be controlled and monitored using the same control strategy For further details of the PROFIdrive profile refer to the official PROFIBUS web site at www profibus com LEE SM PROFIBUS DP must be fitted with V1 00 03 firmware or later to support the 12 3 PROFlIdrive profile PPO Types SM PROFIBUS DP supports all five types of process data object PPO defined by the PROFldrive profile The PROFldrive profile features 4 specific functions which the SM PROFIBUS DP translates in to appropriate drive functions PROFIdrive control word Main Setpoint PROFIdrive status word Main Actual Value Each PPO mode uses a unique combination of featu
84. n Enable the drive and accelerate to the specified set point Inhibit the drive Drive coasts down ramp function generator to zero or tracking and into the ready status refer to control word bit 0 Inhibit operation SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 12 6 11 15 Function Operating condition Table 12 1 PROFIdrive control word bit functions Description Inhibit ramp function generator Enable ramp function generator Ramp function generator output is set to zero Main contactor remains in the drive is not isolated from the supply drive ramps down along the current limit or at the DC bus voltage limit Stop ramp function generator Enable setpoint Freeze the current set point from the ramp function generator Selected value at the ramp function generator input is switched in Inhibit setpoint Acknowledge Selected value at the ramp function generator input is set to O Group signal is acknowledged at a positive edge the drive is in the fault status until the fault has been removed and then goes into switch on inhibit state No meaning INCH1 ON Prerequisite Operation is enabled and Main Setpoint 0 The drive accelerates as fast as possible to inching setpoint in the forward direction INCH1 OFF INCH2 ON The drive brakes as fast as possible if INCH1 was previously ON and with Speed 0 and Current 0 goes into the stat
85. ned value ejep ooo z o E rn lt Q 5 Q o 3 a 3 a eoue1ojo1 SeJuE94 nsouDel enuplJOsd peouerpy si JO Hesso SM PROFIBUS DP User Guide 49 Issue Number 6 www carlogavazzi com ac 8 5 4 Writing parameters using PPO 4 Word mode Figure 8 5 shows the sequence of events required to write to a drive parameter using the PPO 4 Word non cyclic channel Figure 8 5 PPO 4 Word write sequence START v Set OUT Word 0to0 v Specify PARAMETER in OUT Word 1 Y Specify DATA HIGH WORD in OUT Word 2 v Specify DATA LOW WORD in OUT Word 3 v Specify TASK ID and MENU in OUT Word 0 v CASE RESPONSE 4 15 v i 16 bi SUCCESS ERROR value written to not be parameter executed data TASK ID could v v written to parameter read only SUCCESS ERROR 32 bit data value Parameter is END OF SEQUENCE Table 8 15 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to write to the drive Table 8 15 PPO 4 Word write TASK ID and RESPONSE ID combinations Function No Task TASK ID RESPONSE ID Message status No message active 16 bit ite Parameter Value Parameter 16 bit written successfully 32 bit ite Parameter Value Parameter 32 bit wr
86. network data rate and synchronise to it Pr MM 04 will indicate the data rate that has been detected by the SM PROFIBUS DP SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 A 1 indicates that the SM PROFIBUS DP has not detected any activity on the PROFIBUS DP network and is waiting for the master controller to start communicating Table 10 1 PROFIBUS DP data rates Pr MM 04 bit s Pr MM 04 bit s Auto detecting 12M 6 0M 3 0M 1 5M 500k LEE The PROFIBUS DP data rate parameter can be edited but this will not affect the data rate at which the SM PROFIBUS DP communicates The data rate will be set automatically when the PROFIBUS DP network is re initialised 10 6 SM PROFIBUS DP data format 4 0 32 100 131 amp 200 to 228 RW The default data format is 4 cyclic words Each cyclic data channel is mapped to a drive parameter with default mappings as shown in the table below ETE The maximum number of 16bit data words that is possible is 32 in and out with only cyclic data 31 in and out with mode 1 non cyclic data and 28 in and out with PPO4 word mode 10 7 SM PROFIBUS DP operating status N A 3 to 9999 RO The operating status of the SM PROFIBUS DP can be viewed in the operating status parameter Pr MM 06 When the SM PROFIBUS DP is communicating successfully with the PROFIBUS DP master controller Pr MM 06 will give an indication of the number of cyclic data messag
87. neuuoju ejes PO Ae SNO lt Is Pr MM 06 gt gt M0 See Section 5 x Remove all power TON N P dd wait 30 seconds Y i IN re apply power O a M05 P V If problem persists pi exchange module PP d See Section 5 N x Check parameter JM SN MM 49 and MM 50 Y AS Pr MMN referto error gt 3 A See Section 5 codes in the i i manual SS ye N SM PROFIBUS DP The Master Is Is ready and waiting Communicating for the master with the MM 06 1 SM PROFIBUS DP uononpoaul uoneljejsul JeoiueuoelN uoneljejsut Jeoupe 3 peuejs Bumeo y y Sei4 aso A HiatWork Check wirin hardware tester id Check the drive data rate and i can be used to mappings in See Section 7 simplify this termination MM 10 MM 29 y y ejep ooo Check data size Check the master A network monitor See Section 7 settings in MM 05 is sending data on can be used to and Section 11 8 MM 39 and MM 40 the network look at the network v y Check the data is reaching the drive by using the drive display to monitor values If data t compression is on See Section 11 5 34 note data Sizes will differ z 3 7 o E Q s Q o 3 Q 3 a v v Check the master data sizes match the SM PROFIBUS settings Try remapping to spare menu 18 19 or 20 parameters as a test sonsouBeiq
88. non cyclic communication Scan rate See Poll rate in this section uoneljejsut Jeoupe 3 Screening A connection to provide additional immunity to noise used on a network cable peuejs Bumeo Segment An electrically separate part of the network Each segment requires correct termination to ensure reliable operation Due to electrical limitations the maximum number of devices on a segment is limited to 32 Seid aso Slave A device on the PROFIBUS network such as a drive or sensor A slave device will only respond to messages from a master ejep ooo Status word A value that denotes the status of the drive Each bit within the word will have a specific meaning SYNC A method of preventing output state changes from being actioned by the slave until a SYNC signal is sent this is used in conjunction with UNSYNC Task ID The code used to describe the purpose of a message using PPO 4 word non cyclic communication z 3 7 o E Q s Q o 3 a 3 a Telegram A message used within mode 1 non cyclic data communication This term is some times used to represent a generic message on the network sonsouBeiq Termination This is used at both ends of a network segment to prevent reflections and reduce noise On PROFIBUS termination is provided by a powered network of resistors SseJnjeej SAUPIJOYA peoueApy UNSYNC Used to restore outputs in a slave to normal operation following a SYNC command UNFREEZ
89. ns cover Module into the Variflex peuejs Bumeo e Pz1 0 4 N m 3 5 Ib in selld aso ejep ono z 3 7 Oo lt 2 S Q o a S9 m 2 a sonsouBeiq sa n 894 SAUPIJOYA peoueApy a9U919 9 JO Hesso SM PROFIBUS DP User Guide 13 Issue Number 6 www carlogavazzi com ac 6 Re fit the terminal cover to the drive by reversing the procedure shown in Figure 3 1 Figure 3 1 and Figure 3 5 7 Connect the AC supply to the drive A To allow a Solutions Module to be fitted to Variflex a protective cover must be removed to allow access to the PCB edge connector See Figure 3 1 on page 13 This protective cover provides protection from direct contact of the PCB edge connector by the user When this cover is removed and a Solutions Module fitted the Solutions Module provides the protection from direct contact by the user If the Solutions Module is then removed this PCB edge connector becomes exposed The user is required to provide protection in this case to protect against direct contact of this PCB edge connector 9 When a Solutions Module is fitted to a Variflex for the first time as the drive is powered up the drive will trip on SL dF Press the STOP RESET button to clear the trip The Variflex automatically save the Solutions Module identity details to memory which will avoid any future SL dF trips 10 To access the advanced parameters refer to the Variflex Getting Started Guide
90. o Pr 3 06 Pr 3 07 and Pr 3 09 in the drive User Guide for more details Pr 10 06 At speed Only set if the drive is running at set speed Refer to Pr 3 06 Pr 3 07 and Pr 3 09 in the drive User Guide Pr 10 07 Above set speed Only set if the drive is running at above set speed Refer to Pr 3 06 Pr 3 07 and Pr 3 09 in the drive User Guide for more details Pr 10 08 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 drive Advanced User Guide for more details Pr 10 09 In current limit Indicates that the current limits are active Pr 10 11 Dynamic brake active Indicates that the braking IGBT is active If the IGBT becomes active this parameter will remain on for at least one second Pr 10 12 Dynamic brake alarm Dynamic brake alarm is set when the braking IGBT is active and the braking energy accumulator is greater than 75 Pr 10 13 Direction commanded Direction commanded is set to 1 if the Pre ramp speed reference Pr 1 03 is negative and reset to 0 if the Pre ramp speed reference is zero or positive SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Table 9 3 Drive status word bit functions aes Parameter Description uoneuuoju Direction running A 0 indicates forward direction and a 1 indicates reverse direction The Source of this bit is Pr 2 01 for op
91. o Pr MM 19 is outside of parameter the allowed range for PROFIBUS DP The allowable parameter range is from Pr 0 00 to Pr 199 99 60 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Mapping status Table 10 3 Generic mapping error codes Description 112 Read mismatch One or more parameters specified in the IN cyclic data mapping configuration Pr MM 10 to Pr MM 19 cannot be used as a source parameter for IN data The parameter may not exist 113 Hole in IN data mapping configuration IN cyclic data mapping parameters Pr MM 10 to Pr MM 19 are not contiguous It is not possible to have an un used parameter in the middle of the cyclic data 115 Inter option communications error A request to set up an inter option communications block failed Either the server does not support block transfer or parameters were not legal uoneuuoju ejes uomeljejsul JeoiueuoeN uononpoaul 120 Too many IN data objects mapped After expanding ranges of block mappings too many IN cyclic data channels configured 121 Mapping over length Total size of all IN cyclic data mappings has exceeded the total size of the cyclic data 122 204 Register mode objects exceeded Multiple non cyclic mapping error More than 10 cyclic IN data channels have been selected with direct data mapping mode A non cyclic data mode has been mapped more than once in the OUT cyclic data ma
92. ode the node will mirror the stamp number in the non cyclic IN word and load the mid high byte of the parameter value into the data byte JO Hesso SM PROFIBUS DP User Guide 39 Issue Number 6 www carlogavazzi com ac 40 Example response st bz bites wrb bo Data word 0x9401 Stamp number 4 Data mid high byte 0x01 1 TELEGRAM 5 The fifth telegram from the PROFIBUS DP master acts as the indication to the slave to send the mid low data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 Example telegram st f biz wires bree E359 E 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 Example response st sz wes bree Data word 0x9525 Stamp number 5 Data mid low 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 Example telegram 1001 0110 0000 0000 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 paramet
93. ontroller program that the first telegram of the message has been received and understood the second telegram can now be transmitted Example Response sr n Jas ea o 1001 0001 0000 0010 Data word 0x9102 Stamp number 1 If a telegram produces an error at any point in the sequence the reply to the master will have the error bit ERR set to a 1 TELEGRAM 2 The second telegram from the PROFIBUS DP master also indicates a READ cycle but the stamp number is now 2 The data byte would contain the parameter number for the parameter that is to be read Example telegram 1001 0010 0000 0001 Data word 0x9201 Stamp number 2 Parameter 1 When the second telegram has been received and processed in the slave it is mirrored in the non cyclic IN word This is the signal to the master controller program that the second telegram of the message has been received and the third telegram can now be transmitted If telegrams 1 and 2 were not received correctly or an invalid parameter was specified e g parameter is write only or does not exist the PROFIBUS DP interface will set the ERROR bit to 1 b14 1 in the response The data bits will have no significance Setting the stamp number to 0 resets the internal non cyclic state machine 38 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Example response Ajejes 1001 0010 0000 0001 Data word 0x9201 Stamp number 2 uoneuuoju uononpoaul If an
94. or smaller values on the network to 16 bit 32 bit values will still be transmitted as 32 bit values This has the advantage of reducing the volume of traffic on the network and allowing more parameters to be mapped within SM PROFIBUS DP ejep ooo Consistency Describes how data is transmitted between nodes on the network If data is consistent it is transmitted from node to node as a single entity Thus preventing data corruption where multiple bytes are transmitted or received individually Control word A collection of binary digits that are used to control the drive Features typically include directional controls run controls and other similar functions z 3 7 o E Q s Q o 3 a 3 a CG Single Word non cyclic see mode 1 non cyclic in this section sonsoubeiq Cyclic data This consists of values that are sent at regular or cyclic intervals across the network A typical use of cyclic data would be the transmission of a speed reference or a control word soinjeo4 SAUPIJOYA PSUBAPY Data format Determines the quantity and function of the data sent and received across the network Data rate Determines the communication speed of the network the higher the value the more data can be sent across the network in the same time period 95u9J9joJ Device A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves JO fuesso o9 Direct data
95. ould be taken to ensure the parameters for the write are setup before the TASK ID is changed from 0 to prevent incorrect data being written SM PROFIBUS DP configuration using non cyclic data The SM PROFIBUS DP can be configured using CG Single Word or PPO 4 Word non cyclic data This is useful when using a master controller to configure the drive when a drive is initialised only the node address MM 03 and the data mode MM 05 needs to be set manually The master can now use PPO 4 Word mode to setup the remainder of the parameters The configuration parameters for the slot in which the SM PROFIBUS DP is located can be accessed as Pr 60 PP Any changes made to the configuration parameters will not take effect until the SM PROFIBUS DP has been reset The SM PROFIBUS DP can be reset by writing a value of 1 to Pr 60 32 A brief interruption in PROFIBUS DP communications may be seen while the reset sequence is in progress SM PROFIBUS DP User Guide 51 Issue Number 6 www carlogavazzi com ac eyep soJnjee 4 SAUPIJOYA peoue py 289491919 selld aso ejep ooo sonsouBeiq z o E rn lt Q 5 Q e a 3 a JO Hesso 9 9 1 9 2 Control and status words What are control and status words The control and status words allow the digital control and monitoring of the drive to be implemented using a single data word for each function Each bit in the control word has a particular function and provides
96. p Pr 1 06 1500 rpm The main setpoint sent from the master to the drive is 10923 Giving 10923 x 1500 Pr 1 21 1000 i 16384 E 12 8 Main Actual Value Main Actual Value is the speed feedback reference defined in the PROFIdrive profile It is scaled such that 32768 to 32767 is 200 to 200 of the maximum speed clamp Pr 1 06 The converted value is derived from Pr 2 01 for open loop drive operation Pr 3 02 closed loop or servo drive operating modes The formula used for this conversion is SF x 16384 Main Actual Value HISP ee Max Speed Clamp Where SF is the speed feedback parameter i e Pr 2 01 or Pr 3 02 depending upon the drive operating mode Example 1 Open loop drive The drive maximum speed clamp Pr 1 06 50Hz The drive post ramp reference Pr 2 01 35 Hz Giving Mav 39 16384 _ 44469 50 Example 2 Closed loop servo drive The drive maximum speed clamp Pr 1 06 1500 rpm The main setpoint sent from the master to the drive is 10923 Giving _ 1250 x 16384 _ MAV 3000 1000rpm 12 9 PROFldrive state diagram The following pages contain the state machine diagram and state descriptions for the PROFldrive control and status words Figure 12 1 shows how the current next and previous states are determined Refer to section 12 5 and section 12 6 for full details about the PROF Idrive control and status words SM PROFIBUS DP User Guide 81 Issue Number 6 www carlogavazzi com ac peueis UONEH
97. p ouo z 5 7 o E Q s Q o 3 Q 3 a eoue1ojo1 SeJuE94 sonsouBbel enuplJOsd pooueapy s JO Hesso SM PROFIBUS DP User Guide 11 Issue Number 6 www carlogavazzi com ac Mechanical installation Solutions Module slots 3 3 1 A Before installing the Solutions Module refer to Chapter 1 Safety Information on page 6 Variflex One Solutions Module slot is available on Variflex See Figure 3 2 and Figure 3 6 respectively 12 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 3 2 Installation 1 Before installing a Solutions Module in any drive ensure the AC supply has been disconnected for at least 10 minutes 2 Check that the exterior of the Solutions Module is not damaged and the multiway connector on the underside of the module is free from dirt and debris 3 Do not install a damaged or dirty Solutions Module in the drive 4 Remove the terminal cover from the drive as shown in Figure 3 1 Figure 3 1 and uoneuuoju Ajejes uononpoaul Figure 3 5 ir 5 Position the drive connector of the Solutions Module over the appropriate connector z E of the drive and push downwards until it locks into place Make any wiring 8 connections as appropriate gm Ensure that the plastic tab which covers the drive s Solutions Module connector is E removed before fitting any option See Figure 3 1 FE Figure 3 1 Removing the Variflex terminal Figure 3 2 Fitting and removing a Solutio
98. peueis SseJnjeej SAUPIJOYA peoue py BOUdIOJOI Ajejes uononpoaul Bumeo 9 0 o m D o 3 lt S 5 a v S sonsouBeiq pue jouog oioKo uoN JO Hesso The SM PROFIBUS DP data format is specified as NCC where NN is the non cyclic data mode and CC is the number of cyclic data words Table 7 1 Valid PROFIBUS DP data formats Pr MM 05 Non cyclic mode Cyclic words 1 to 32 None 100 to 131 CG Single Word 200 to 228 PPO 4 Word The method used to map data to and from the PROFIBUS DP network is similar to the method used in the drive for mapping analog and digital I O The reference for the Source or target parameter is entered in the mapping parameter in the form MMPP where MM menu number of the target source parameter PP parameter number of the target source parameter Table 7 2 SM PROFIBUS DP mapping parameters IN channel Mapping parameter OUT channel Mapping parameter Pr MM 10 Pr MM 20 Pr MM 11 Pr MM 21 Pr MM 12 Pr MM 22 Pr MM 13 Pr MM 23 Pr MM 14 Pr MM 24 Pr MM 15 Pr MM 25 Pr MM 16 Pr MM 26 Pr MM 17 Pr MM 27 Pr MM 18 Pr MM 28 Pr MM 19 Pr MM 29 o o oj CO N O aj A oj N O CO N O aj AB oj N gt LH A cyclic data channel does not use decimal points For example in Open Loop mode 30 digital speed reference 1 Pr 1 21 has units of Hertz accurate to 1 decimal place To write a value
99. pping configuration parameters Pr MM 20 to Pr MM 29 210 Configuration read error An error has occurred reading the OUT cyclic data mapping configuration parameters Pr MM 20 to Pr MM 29 from the drive 211 Invalid destination parameter One or more parameters specified in the OUT cyclic data mapping configuration Pr MM 20 to Pr MM 29 is outside of the allowed range for PROFIBUS DP The allowable parameter range is from Pr 0 00 to Pr 199 99 uonejejsul jeoujoe 3 212 Write mismatch One or more parameters specified in the OUT cyclic data mapping configuration Pr MM 20 to Pr 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 is configured in register mode i e Pr MM 09 ON 1 213 Hole in OUT data mapping configuration OUT data mapping parameters Pr MM 20 to Pr MM 29 are not contiguous It is not possible to have an unused parameter in the middle of the cyclic data 214 Duplicate mapping error Two or more OUT cyclic data mapping configuration parameters Pr MM 20 to Pr MM 29 have been configured with the same destination parameter reference 215 Inter option communications error A request to set up an inter option communications block failed Either
100. r due to time out occurring before the next message has chance to arrive 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 A The network loss trip can be disabled by setting Pr MM 07 to O In this case the drive will continue to operate using the last received values It is the user s responsibility to ensure that adequate safety precautions are taken to prevent damage or injury by disabling the drive in the event of a loss of communications 64 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 11 2 SYNC and FREEZE Mode The SM PROFIBUS DP supports the SYNC and FREEZE modes available with most PROFIBUS DP master controllers uoneuuoju Ajejes Cyclic data is put into groups by the PLC allowing multiple cyclic channels to be suspended and updated using the SYNC and FREEZE commands Data to the drive is controlled by the SYNC command and data from the drive controlled by the FREEZE command The SYNC command is used in conjunction with the UNSYNC command and the FREEZE command is used in conjunction with the UNFREEZE command The SYNC command will cause a single transfer of the previously grouped data and stop any more data from being received by the drive The SYNC command may be repeated while in this state to allow another single transfer of data to the drive Issuing an UNSYNC command will revert the
101. rce a trip on the drive and update the error code parameter Pr MM 50 Table 10 6 shows the SM 55 PROFIBUS DP error codes E th zh Table 10 6 SM PROFIBUS DP error codes Sg Error code Description A A Indicates that the trip was not caused by the SM PROFIBUS DP 23 0 No error detected It is possible to trip the drive externally via various Sz communication channels 20 52 User g werd The TRIP bit has been set in the drive control word Hl aa 3 An invalid configuration has been detected Refer to Pr MM 49 61 Configuration error for mapping error codes o f T o 65 Network loss No new messages have been received for the specified network 7 loss trip time 8 70 FLASH transfer The SM PROFIBUS DP was unable to upload the configuration m error parameters from its FLASH memory to the drive EI 74 SM PROFIBUS DP If the temperature inside the SM PROFIBUS DP exceeds 82 C amp overtemperature the SM PROFIBUS DP will trip the drive bi z Inter option Communications time out has occurred but SM PROFIBUS DP 3 80 communication Sior Is unable to determine the reason for the error o 81 Communication 9 error to slot 1 3 EESTI 2 82 Communication m error to slot 2 a Lm ra 83 Communication i error to slot 3 s o 98 Internal watchdog error Internal error Cycle power to the drive to reset from this trip If L Internal software trip persists replace the SM PROFIBUS DP T 99 i error amp 3 10 11 SM PROFIBUS DP serial num
102. reference Returns the last parameter for the specified menu Specify MENU Values in PARAMETER DATA HIGH word and DATA LOW word will be discarded Table 8 9 shows the data structure of a PPO 4 Word response that will be returned by a SM PROFIBUS DP Table 8 9 PPO 4 Word IN data structure IN data word IN word O RESPONSE ID b11 b10 b8 b7 b0 0 IN word 1 PARAMETER IN word 2 DATA HIGH word IN word 3 46 DATA LOW word SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 The RESPONSE ID indicates the success or otherwise of the requested transaction The table below lists the possible RESPONSE ID codes Table 8 10 RESPONSE ID codes RESPONSE ID Function No task Description No non cyclic transaction active Fieldbus specific Fieldbus specific Not implemented uoneuuoju Ajejes uomeljejsul JeoiueuoeA uononpoaul Transfer parameter value 16 bit Returns a 16 bit data value from the request parameter value specified by TASK ID 6 or the successful change parameter value 16 bit specified by TASK ID 7 Transfer parameter value 32 bit Returns a 32 bit data value from the request parameter value specified by TASK ID 6 or the successful change parameter value 32 bit specified by TASK ID 8 Transfer last parameter reference Returns the highest parameter for the menu specified by request last parameter referenc
103. res which are detailed in the following sections Do not confuse PPO 4 mode with Mode 2 PPO 4 word non cyclic data they are not the same 12 3 1 PPO 1 mapping structure 76 IN Data Function OUT Data Function Mode 2 non cyclic data Mode 2 non cyclic data PPO 4 word PPO 4 word PROFIdrive status word PROFIdrive control word Main Actual Value Main Setpoint SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 12 3 2 PPO 2 mapping structure Mode 2 non cyclic data PPO 4 word PROFIdrive status word Main Actual Value User configurable mapping using Pr MM 13 to Pr MM 16 12 3 3 PPO 3 mapping structure Function PROFIdrive status word Main Actual Value word 0 word 1 12 3 4 PPO 4 mapping structure IN Data Function PROF Idrive status word Main Actual Value User configurable mapping using Pr MM 12 to Pr MM 15 12 3 5 PPO 5 mapping structure IN Data Function Mode 2 non cyclic data PPO 4 word PROFIdrive status word Main Actual Value User configurable mapping using Pr MM 13 to Pr MM 19 word 11 word 12 SM PROFIBUS DP User Guide Issue Number 6 OUT Data Function Mode 2 non cyclic data PPO 4 word uoneuuoju uononpoau ejes PROFIdrive control word Main Setpoint User configurable mapping using Pr MM 23 to Pr MM 26 OUT Data word O PROFIdrive control word Main
104. ry Drive parameters are NOT stored in the SM PROFIBUS DP SM PROFIBUS DP User Guide 71 Issue Number 6 www carlogavazzi com ac peueis uonepesui uonelleisu on oppo i Uoneuuojul leonaj jeoiueuoeiN Sei4 aso ejep ooo ESPE AUPIHONd MES 299491919 ejes Bumeo z 3 7 o E Q s Q o 3 a 3 a sonsouBeiq JO Hesso 11 10 Restore previous SM PROFIBUS DP configuration Upload from SM PROFIBUS DP FLASH memory OFF 0 OFF 0 or ON 1 RW If valid configuration parameters have previously been stored in the SM PROFIBUS DP FLASH memory these values can be restored to the host settings for SM PROFIBUS DP When the configuration parameter values have been uploaded to the host drive the SM PROFIBUS DP will reset and re configure using the updated parameter values This feature allows a pre configured SM PROFIBUS DP to be fitted to a host drive without losing the SM PROFIBUS DP configuration If the SM PROFIBUS DP is unable to upload the configuration parameters to the host drive or configuration parameters have never been stored in the SM PROFIBUS DP FLASH memory the drive will trip with a slot error and set the error code Pr MM 49 to 70 When Pr MM 33 is set to ON the SM PROFIBUS DP will transfer the configuration parameters from its FLASH memory to the host drive over writing the existing values in the host drive The full sequence of events for restoring values from
105. s 20 Node address acacia te tete n i dere Non cyclic data Non cyclic data modes oooooococccccoccccnooacccononcnconnoncnnnnancnnnnanonn cnn nana nnnnnnnncnnanos 34 Nonescyclic mode Guti tadas 34 O Operatirig Status vom dois 25 59 Operating status codes oooocconocccccnonccconoccnnononcnonnncnnono cnn nono cnn nana nc nnnnn nc nannnnnnns 25 OV6IVIOW i citi A A lA EA AS 10 P Parameter reference oen ceret dne t ni in en ena a Raga dna gus 84 Parameters adjusting peda oed 7 PPO 4 word PPO word error Codes ue che decies ede etre athena 47 PPO 4 Word MOG nni mere Recte tees eei cest siete e ra E Cre YR THERE 44 PPO 4wordiread 1 nn nea ert d tA EE Eh a tte da a dd 48 PPO 4 word write rnc ce ee ent Goa ee eren aia 50 PPO types C die dadas Probe MS iia NR PROF Idrive control word sessirnar ane iaa a PROEldrive profile oiii rire titt dn ee dece pede PROFldrive state diagram wid PROF ldrive status word 5 cce cu decies cenae xni da te e Re veda Q Quiclkereference 4 ai dee 84 R Reason codes inre eerie data HT T re n ri eese D dee 75 Regenerating 5 Re initialise 2 ote te rrt eres tr dee Rec i ar ee irr a d dee RES 26 Response ID codes ssssssssssessseseeeee nennen nennen tnnt nnns nne 47 Restore configuration Restore defaults 0 Running at or below minimum speed ssssee 54 S Safety of personnel
106. s as follows Pr mm xx signifies the menu corresponding to the Solution Module and any parameter Pr mm 01 signifies the menu corresponding to the Solution Module and a specific parameter where 01 may be any valid parameter number Pr xx 00 signifies any menu and parameter number 00 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 5 2 Set up flow chart Figure 5 1 Set up flow chart uoneuuoju Ayoyes ht Y Connect all drives together using approved cable See Section 4 connectors Set mapping repeaters parameters in the E drive MM 10 See Section 7 y MM 29 uononpoaul Ensure all LLL segments correctly y terminated and See Section 4 termination Set data size in See master powered master for each x node use GSD file JOcumentation uogje e sul Jeolueyooy if required and Section 6 v jeoujoe 3 Ensure segment lengths are no longer than the See Section 4 maximum limits Map data to See master masterprogram documentation variables Y Y Buiye5 Ensure a minimum node to node See Section 4 cable distance of 1m Start master and See master ensure there are d ti no errors ocumentation Y Y Ensure no more than 32 devices y y per segment See Section 4 including repeaters Check data flow in See master both directions documentation selld aso Y ejep d4 Ensure t
107. s contain the mid low data byte for the parameter being written to sell aso Example telegram st es eras bb gt 5950 0001 0101 1110 1010 Data word 0x15EA Stamp number 5 Data mid low byte OxEA 234 When the fifth telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the fifth telegram of the message has been received and understood and the sixth telegram can be transmitted ejep ooo z o E rn lt Q 5 Q e a 3 a sonsouBeiq 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 SseJnjeej SAUPIJOYA peoue py Example telegram 0001 0110 0110 0011 Data word 0x1663 Stamp number 6 Data low byte 0x63 99 When the sixth telegram has been received and processed in the slave node it will write the data Pr 1 21 12553 9 as transmitted The decimal point is automatically inserted when the data is transferred to the drive If the operation is successful the ERR bit is reset to 0 and the telegram is reflected in the non cyclic IN word BOUdIOJOI JO Hesso SM PROFIBUS DP User Guide 43 Issue Number 6 www carlogavazzi com ac 8 4 4 8 4 5 8 5 44 Example response success 0001 0110 0110 0011 Data word 0x1663 Stamp number
108. s for PPO 4 Word mode This example will read the value in the post ramp speed reference Pr 2 01 in the drive 48 www carlogavazzi com ac SM PROFIBUS DP User Guide Issue Number 6 Table 8 13 PPO 4 Word read request example 0 uoneuuoju ejes OUT word 0 0x6002 TASK ID 6 MENU 2 OUT word 1 0x0001 PARAMETER 1 0 OUT word 2 0x0000 DATA HIGH word 0 OUT word 3 0x0000 DATA LOW word 0 uononpoau uomeljejsul JeoiueuoeN Table 8 14 shows an example successful read response to the read instruction illustrated above The value returned is 15284 which equates to 1528 4 rpm Table 8 14 PPO 4 Word read response example 0 IN word O 0x5002 ERUNT uoneljejsut Jeoupe 3 peuejs Bumeo IN word 1 0x0001 PARAMETER 1 IN word 2 0x0000 DATA HIGH word 0 IN word 3 0x3BB4 DATA LOW word 15284 sell aso It is important that the correct module is selected from the GSD file to ensure that the PPO 4 word mode block is consistent otherwise data skew may occur If the OUT data words 0 and 1 are left at the same value the target parameter will be read or written to depending on the TASK ID on every data cycle If the PPO 4 command is left in the data words the read will be executed on every poll of the network effectively providing a continuous read Care should be taken to ensure the parameters for the read are setup before the TASK ID is changed from 0 to prevent incorrect data in the retur
109. sed The addressing scheme used is at the discretion of the end user however it is recommended that nodes are numbered in order as they appear on the physical network It is not necessary to use consecutive numbers and gaps in the addressing scheme may be left to allow for future expansion Spurs The PROFIBUS DP specification allows spurs at data rates less than 1 5Mbits s At data rates below 1 5Mbits s there are specific requirements for capacitance and length of cable allowed when using spurs Carlo Gavazzi recommend that spurs are not used as extreme care is required at the design stage to avoid network problems More information on spurs can be found on the PROFIBUS web site at www profibus com Minimum node to node cable length The minimum recommended node to node distance is 1 metre of network cable This distance is necessary to avoid multiple nodes generating a single large reflection on the network using less than 1 metre of cable between nodes can have serious implications for network reliability SM PROFIBUS DP User Guide 21 Issue Number 6 www carlogavazzi com ac a voreres rompo UOReuuojur peueis sa n 894 SAUPIJOYA peoueApy 239491919 ejes sella GSO Bumeo ANERER eo1ueyosn ejep ooo z 3 7 o 2 S Q e 3 Q 3 a sonsouBeiq JO Hesso Getting started This section is intended to provide a generic guide for setting up SM PROFIBUS DP and a master controller Figure 5 1 on page 23
110. t PROFIBUS DP master controllers use big endian format by default many also support little endian however some older PLCs do not offer the facility to select big endian format BOUdIOJOI JO Hesso SM PROFIBUS DP User Guide 65 Issue Number 6 www carlogavazzi com ac 11 4 Cyclic data compression Cyclic data compression enable Default OFF 0 Range OFF 0 or ON 1 Access RW By default the SM PROFIBUS DP uses 32 bits for each data channel even if the target parameter in the drive is a 16 bit parameter This strategy known as casting ensures that the cyclic data transmitted over the PROFIBUS DP network is kept aligned with memory locations in 32 bit PLCs Table 11 1 references the actual sizes of the mapped data with and without data compression Table 11 1 Actual data sizes Parameter Size bits Actual Data Size bits Actual Data Size bits Compression on Compression off Table 11 2 shows an example set of mapping parameters where 5 IN and 5 OUT cyclic data channels are required With data compression disabled each data channel uses 32 bits 2 data words so a total of 10 words are required Pr MM 05 10 Table 11 2 Example cyclic data channel mapping with compression off Data words Mapping used for slot 3 IN channel 0 IN word O 1 Pr 17 10 Pr 10 40 status word Data channel Setting Mapping status IN channel 1 IN word 2 3 Pr 17 11 Pr 2 01 post ramp speed ref Pr
111. ta words Mapping Data channel used for slot 3 Setting Mapping status z IN channel 0 IN word O Pr 17 10 Pr 10 40 status word amp 2 IN channel 1 IN word 1 Pr47 11 Pr 420 motor RUE DO 5 rated motor load IN channel 2 IN word 2 3 Pr 17 12 Pr 2 01 post ramp speed ref El S IN channel 3 IN word 4 Pr 17 13 Pr 14 21 PID feedback 2 IN channel 4 IN word 5 Pr 17 14 Pr 14 01 PID output OUT channel 0 OUT word 0 Pr 17 20 Pr 6 42 control word El F OUT channel 1 OUT word 1 Pr 17 21 Pr 14 20 PID reference z of OUT channel 2 OUT word 2 3 Pr 17 22 Pr 1 21 digital speed ref 1 SE OUT channel 3 OUT word 4 5 Pr 17 23 Pr 2 11 acceleration ramp 20 OUT channel 4 OUT word 6 7 Pr 17 24 Pr 2 21 deceleration ramp Hl odo 2 11 5 Variflex Block mapping E On SM PROFIBUS DP there are 10 mapping parameters available for both input and amp output mappings If more than 10 mappings are required then block mapping must be 9 used to achieve this Block mapping is configured by placing ascending parameters S within the same menu in to consecutive mapping parameters Consider the example in a Table 11 4 ES o 2 Block mapping is only available when using Pr 18 xx Pr 19 xx Pr 20 xx and on the PLC E registers within SM Applications 5 g Table 11 4 Block Mapping Example 8 Mapping n 3 parameter Mapping value Description gt Pr MM 10 Map to 2021 as the start for the block mapping 8
112. ter to slave 1 control signal digital inputs slave 2 to master status signals digital outputs master to slave 2 control signals 39491919 analogue output master to slave 2 control signal Table 2 2 details the number of data words used to communicate the signals using the PROFIBUS DP network It can be seen that the resulting reduction in cabling is significant JO Hesso PROFIBUS DP can transfer data using two distinct modes The first of these modes is cyclic where signals are sent in predefined blocks at regular intervals This is the equivalent of the hard wired example above in Figure 2 1 SM PROFIBUS DP User Guide 9 Issue Number 6 www carlogavazzi com ac 2 2 2 3 2 3 1 2 4 10 The second method of transfer is called non cyclic data and is used for sending values that only need to be changed occasionally or where the source or destination of the signal changes This is the equivalent of a temporary patch lead that is removed after use What is SM PROFIBUS DP The SM PROFIBUS DP is a fieldbus Solutions Module that can be fitted to the expansion slot s in any of the following drives to provide PROFIBUS DP slave connectivity Variflex Figure 2 3 SM PROFIBUS DP General specification Features The following section gives a brief overview of the functionality available within SM PROFIBUS DP Supported data rates bit s 12M 6 0M 3 0M 1 5M 500k 187 5k 93 75k 45 45k 19 2
113. th PPO4 Word mode 2 This requires data compression to be enabled see section 11 4 Cyclic data compression for more information The maximum number of 32 bit mappings that is possible is 16 with only cyclic data 15 with CG Single Word mode 1 non cyclic data and 14 with PPO4 Word mode 2 See section 11 4 Cyclic data compression for information on using data compression with 16 bit parameters Data formats The SM PROFIBUS DP can be configured with up to 16 32 bit or 32 16 bit cyclic IN and OUT data words IN and OUT cyclic data words are mapped using 10 mapping pointer parameters one for each mapping To utilise the full range of 32 cyclic IN and OUT data words the block mapping mode must be used By default all drive parameters are cast as 32 bit 2 x 16 bit words therefore 32 cyclic SM PROFIBUS DP User Guide 29 words gives 16 possible drive parameters Data compression reduces the number of cyclic words required for drive parameters of 16 bit or less to 16 bits thus allowing for 32 possible 16 bit parameters Any 32 bit parameters mapped will still require 2 x 16 bit words even with compression turned on In addition to cyclic data non cyclic data see section 8 1What is non cyclic data on page 34 exchange is also possible by using either Mode 1 CG single word mode Mode 2 PPO 4 Word mode Issue Number 6 www carlogavazzi com ac uoneuuoju uomeljejsul JeoiueuoeN uoneljejsur jeoujoe y
114. the SM PROFIBUS DP detects an error during operation it will force a trip on the drive However the trip code displayed on the drive will only indicate which slot initiated the trip The exact reason for the trip will be indicated in the SM PROFIBUS DP error code parameter Pr MM 50 Table 10 5 shows the possible trip codes that will be displayed on the drive when a problem is detected with the SM PROFIBUS DP or when the SM PROFIBUS DP initiates a trip Table 10 5 Drive trip display codes Trip HS Hardware The drive has detected that a Solutions Module is fault present but is unable to communicate with it Watchdog time out Error User trip generated by the SM PROFIBUS DP Not used by SM PROFIBUS DP This trip will occur if a drive slot is configured for a Not fitted SM PROFIBUS DP but a different module is fitted in the slot The slot configuration parameters stored in the drive are not valid SM PROFIBUS DP configuration parameters This trip will also occur when an SM PROFIBUS DP is fitted to a previously un used slot Different module fitted ETE Variflex will show SL Er without a slot number 62 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 10 10 SM PROFIBUS DP error codes Default N A uoneuuoju Ajejes Range 0 to 255 uononpoaul Access RO If the SM PROFIBUS DP detects an error during operation it will fo
115. the switch on inhibit status after acknowledgment and the fault has been removed Fault numbers in the fault parameter Fault free No OFF2 OFF2 No OFF3 OFF2 command present OFF3 Switch on inhibit OFF2 command Present Re close only with DFF1 and then ON No switch on inhibit Alarm Drive still operational alarm in service parameter no acknowledge No alarm Control requested Alarm not preset or alarm has disappeared again The automation system is requested to accept control Local operation Speed or Current reached Control only possible on the device itself Actual value comparison value setpoint set via the parameter number Below set Speed or Current 11 15 Reserved 12 7 Main setpoint Main setpoint is the speed reference defined in the PROF Idrive profile It is scaled such that 32768 to 32767 is 200 to 200 of the maximum speed clamp Pr 1 06 The converted value is then written to drive digital speed reference Pr 1 21 The formula used for this conversion is Main Setpoint x Max Speed Clamp Pr 1 21 XS C T I Example 1 Open loop drive The drive maximum speed clamp Pr 1 06 50Hz The main setpoint value sent from the master to the drive is 13107 Giving 13107 x 50 Pr 1 21 a638 40 0Hz 80 SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Example 2 Closed loop servo drive The drive maximum speed clam
116. us operation enabled Prerequisite Operation is enabled and Main Setpoint 0 The drive accelerates as fast as possible to inching setpoint in the reverse direction INCH2 OFF Network control The drive brakes as fast as possible if INCH2 was previously ON and with Speed 0 and Current 0 goes into the status operation enabled Control from the PROFIBUS DP network process cyclic data is valid 0 No control Reserved Process data invalid Last received valid process data values are retained PROFIdrive status word Table 12 3 gives the description of the function of each bit in the PROFIdrive status word Table 12 2 PROFIdrive status word bit functions Bit Value Function Description Ready to switch on Power supply switched on the drive is inhibited Not ready to Switch on Ready Refer to Control word bit 0 Not ready Operating condition No action Refer to Control word bit 3 SM PROFIBUS DP User Guide Issue Number 6 79 www carlogavazzi com ac uoneuuoju uomeljejsul JeoiueuoelN uoneljejsur jeouje 3 peueis soJnjee 4 ENTIER peoue pv 239491919 uononpoaul Sei4 aso ejep ooo sonsouBeiq Ajejes Bumeo z 3 7 o Q s Q e 3 a 3 a JO Hesso Function Fault Table 12 2 PROFIdrive status word bit functions Description Drive faulted and thus not operational goes into
117. vice such as a drive or part of the network such as a repeater Non Cyclic Data Data that is requested or sent by the master as required This is not sent on a regular basis and generally allows access to any parameter This is useful for occasional changes or configuration purposes Main actual value This gives feedback on the running speed of the drive when using the PROFlIdrive profile Main set point The value used to determine the speed of the drive when using the PROFIdrive profile Mapping The process of linking PROFIBUS values to parameters within the drive Master The controlling device on the network generally this will include programming features Mode 1 non cyclic A method of sending non cyclic data using a single word Mode 2 non cyclic A method of sending non cyclic data using 4 words PROFidrive profile A standardised method of controlling drives that is independent of the manufacturer SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 Poll rate The rate at which cyclic data is sent and received on the network uoneuuoju Ajejes PPO Modes Different operational modes within the PROFIdrive profile PPO 4 mode is not the same as mode 2 PPO 4 Word mode non cyclic data uononpoaul PPO 4 Word non cyclic mode see Mode 2 non cyclic in this section This is not the same as PPO4 mode uomeljejsul JeoiueuoeN Response ID The response code of the message received when using PPO4 word
118. work devices For more information go to www profibus com productguide html and enter bus termination Failure to terminate a network correctly can seriously affect the operation of the network 4 7 If the correct termination networks are not fitted the noise immunity of the network is greatly reduced Each network segment must be correctly terminated Maximum network length device loading The maximum number of devices that can be connected to a single PROFIBUS DP network segment is 32 this includes all nodes and any repeaters The maximum lengths of cable for a segment depend on the data rate and are shown in Table 4 2 Repeaters or fibre optic segments can be used to extend the network allowing more than 32 nodes to be connected and or to extend the maximum length of the PROFIBUS DP network The maximum number of nodes on a single network is 125 For full details on designing and installing a PROFIBUS DP network refer to Installation 20 Guidelines for PROFIBUS DP FMS This document is available from the PROFIBUS web site at www profibus com SM PROFIBUS DP User Guide www carlogavazzi com ac Issue Number 6 4 8 4 9 4 10 Table 1 2 PROFIBUS DP maximum network lengths Data rate Maximum trunk Data rate Maximum trunk bit s length m bit s length m Node addressing SM PROFIBUS DP has a valid address range of 1 to 125 Addresses 126 and 0 are reserved for system use and should not be u
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