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Profibus Actuator Control Profibus DP Option Card Installation Manual

1. z 3 SICHER opm LK4 D O N omg LK3 e Y p 1 er d Links shown o E xl a in Terminate eom position nnnnnnopnli Vm E ni a A UY lt p sa SK5 U SK7 SK10 SK8 Fig 18 Dual Highway Active Termination Links for SR mode 26 of 66 Publication S420E V3 0 Issue 01 05 Input and Output Signals 5 THE ACTUATOR CYCLIC DATA SIGNALS The Profibus DP Module Mk2 allows the actuator to be controlled by and to report data to a suitable host device using Profibus DP protocol This section explains the data signals that are presented during cyclic VO data exchange and their meaning in relation to the actuator functionality The register locations used for the data exchange is given later in this manual This section also gives information on the other control inputs available for moving the actuator PLC Actuator Outputs Commands N P p Pal Fa S Inputs Feedback N Profibus DP RS485 data highway 8 Fig 19 Input and Output Data Direction L Outputs are defined as signals originating at the PLC and operating the actuator controls L Inputs are defined as signals originating at the actuator and fed back to the PLC over th
2. o inter processor comms Flash Green PLC comms not present 4 Diagnostic Solid Green Data being exchanged with PLC Solid Red Fatal Error Flash Green After solid green shows comms lost 6 4 Dual Highway Dual Channel SR Mode When using the Simple or RedCom Dual Channel card the mode for communication has to be selected between SR System Redundancy and FR Flying Redundancy This is chosen during parameterisation by the GSD file values or by using a parameterisation utility such as FDT or PDM L Redundancy The default setting for redundancy is SR mode In SR mode there are two highways and a redundantly configured PLC The two channels on the card both use the same address One channel is in Primary mode whilst the other is in Backup mode The card is waiting for a communication message on the channel that is in Primary mode and the two channels will switch their mode whilst searching for comms There is no definition between Channel 1 and Channel 2 to determine which is in Primary mode The two channels will both try to adopt Primary mode When using either the Simple or the RedCom dual channel card in SR mode the following must be set up L Address The two channels share the same common address With IQ and IQT actuators the address can be set using the IrDA communication link 44 of 66 Publication S420E V3 0 Issue 01 0
3. ef J sue 5 om LK2 D O N LK o fs __ Links shown d in Terminate a loan le position EN fon VT naninita g E IT LIDI LITT SK SK5 i570 SK7 T SK10 Fig 16 Single Highway Active Termination Links 24 of 66 Publication S420E V3 0 Issue 01 05 Single and Dual Data Highway Configurations 4 7 2 Dual Highway The most common application of the Dual channel card is for Dual Highways in SR System Redundancy applications If FR Flying Redundancy is being used then a similar connection at the actuator applies but only one channel will require termination at the end of the highway The choice between Simple and RedCom compliant redundancy does not affect the connection options PLC Host Data Tom Highway 1 Channel c Channel lt Data Highway 2 Actuator 2B In Out 2A In Out Txd Rxd P Terminator 1B In Out 1A In Out a Actuator Txd Rxd P diia Txd Rxd N T
4. The Interface card must be correctly profiled and loaded with the appropriate connectors to match the IQ IQT actuator The illustration Fig 4 shows the IQ IQT version of the PFU The links for the bias resistors are shown in the not terminated position With the IQ IQT actuator the remote inputs are always present they are conditioned by the PFU and there is an option to include Digital Outputs from relay contacts If the PFU is required to operate the 4 digital outputs that can be controlled from the card then the Extra Relay Indication card associated with these outputs must be fitted into the actuator The following table describes the wiring harnesses and their function in the IQ and IQT actuator 24V power supply input from actuator Profibus Fieldbus connection Remote Digital Input connections Digital Output connections Data Logger Information Analogue Input connection Note Requires Extra Relay Indication board to be fitted Only available on Single Channel module 3000 900 or 6000 900 To restore the card to its factory defaults and the associated default parameter settings LK1 on the Interface card should be fitted and the power cycled see Fig 6 11 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 3 2 Inside a Q actuator The PFU is fitted in the option board position in thi
5. 7 3 DOD mn i EE A i MN nd fn _ Co AI E UP EM EPROM i E i Wo U il m O 00000000 A LK1 m m L n p Te s e A I n O jo O00000 Damm UO U e Su gl ELI ank SK5 Uili SK7 SKB ie SK10 Fig 6 The Profibus Mk2 Interface card showing the position of LK1 NIC removed 13 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual This page is intentionally blank 14 of 66 Publication S420E V3 0 Issue 01 05 Single and Dual Data Highway Configurations 4 SINGLE AND DUAL DATA HIGHWAY CONFIGURATIONS 4 1 Profibus Data Highway The rules governing the installation and connection of a Profibus DP highway should be observed at all times to produce a successful installation The highway does not allow power to be transferred and the Profibus module is powered from the actuator itself The module can only report data when the actuator is powered up iy IBI n hn T B o T Terminator OV 2 OV Profibus DP highway Screened cable Fig 7 Typical Profibus DP Data Highway The data highway must be terminated with a proper active termination network at each end of a segment To ensure successful operation the highway itself should not use tapped spur or stub connection
6. Txd Rxd N Terminator 2B In Out 2A In Out Fig 17 Dual Highway SR Mode Connections The connection of the actuator to the highway uses terminals 1A 1B in and out terminals on highway 1 and 2A 2B in and out terminals on highway 2 the terminal numbers depend on the actuator type and are indicated on the actuator wiring diagram The highways should be arranged so as to eliminate 25 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual any stub connections The last actuator on the highway should have the termination resistors connected by linking the highway 1B terminal to the highway 1 Terminator terminal and fitting the internal links LK1 and LK2 in the Terminate position and by linking the highway 2B terminal to the highway 2 Terminator terminal and fitting the internal links LK3 and LK4 in the Terminate position Take care to ensure that the correct polarity is observed on the data highway connection E Data line 1B is positive with respect to data line 1A when the PFU is transmitting a 1 L Data line A is also called TxD RxD N Ll Data line B is also called TxD RxD P Both the Dual card options default to System Redundancy this allows two separate highways to be used When the RedCom compliant version is used the card uses RedCom extensions t
7. 66 Close Contactor counts R 4 bytes Open Contactor count R 4byes gt BIN Parameterisation Date 8 ASCII BOEECIM character string dd mm yy 8 byte Note Only readable by V1 comms on Simple Dual and HedCom Dual modules 57 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 7 2 1 Actuator Tag Data Parameter 20 This parameter allows the Profibus card to hold a tag name for the actuator up to 12 characters long 7 2 2 Software Versions Parameter 21 and 22 Parameter 21 holds the Interface card software version in the form MXXX and parameter 22 holds the Profibus network interface card software version in the form PNIC X XX 7 2 3 Field Interface Type Parameter 24 This parameter reports the type of network interface card fitted It will read 02 for a Profibus card 7 2 4 Permit GSD Parameterisation Parameter 25 If the Profibus card has been set up using FDT or PDM it may be desirable to prevent any of parameters 1 to 19 from being altered by the GSD file during normal start up or on a power cycle If the actuator is switched off then back on the standard Profibus start up routine will impose the parameter values set in the GSD file for the device This parameter allows the card to be set to ignore the GSD parameterisation routine If it is set to 1 then the GSD Parameterisation is permitted The default value is 1 7 2 6 Control Outputs Parameter 26 to 29
8. LI Acyclic Communications accessed Parameters Actuator Tag data Permit GSD Parameterisation Multiport Number of ports Multiport Active ports Parameterisation date 65 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual rotori htop www rotork com 66 of 66 UK Head Office Rotork Controls Ltd Bath England BA1 3JQ Tel 44 0 1225 733 200 Fax 44 0 1225 333 467 e mail mail rotork co uk Publication S420E V3 0 Issue 01 05 USA Head Office Rotork Controls Inc 675 Mile Crossing Blvd Rochester New York 14624 USA Tel 1 716 328 1550 Fax 1 716 328 5848 e mail info rotork com
9. L Valve Position The current valve position is reported as an Integer Value in the range 0 to 1000 0 3E8 hex representing the percentage position to 0 1 resolution The IQ and IQT actuator automatically scales the valve position value reported from the setting of the limit switches The Q actuator requires the valve to be stroked fully between the closed and open limit switches for the value to be automatically scaled This scaling is retained in EEPROM when the actuator power is removed If Limited Range Positioning is invoked by setting the appropriate parameters then the reported valve position 0 to 100 follows the limited range of valve travel L Temperature The actuator internal temperature is reported e as a 2 s compliment integer value in the range 32767 to 432767 C A value of 0 is 0 C 32767 7FFF hex is 32767 C 65535 FFFF hex is 1 C and 32768 8000 hex is 32767 C 41 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual E Analogue Input The current value of the analogue input is reported as an Integer Value in the range 0 to 1000 0 3E8 hex representing the percentage value to 0 196 resolution The input may be 0 to 5V or 0 to 20mA d c from an externally powered field transmitter the actuator does not provide the power for the transmitter The input must be calibrated during the set up of the PFU using the Analogue Input Max parameter Apply a 100
10. Parameter 26 allows the actuator to be controlled using the same values as in the ACTCON register described in section 5 1 2 Parameter 27 allows the actuator to be positioned using parameter 26 and 27 to set the position to go to as in the POS DV register refer to section 5 1 3 Parameter 28 allows the multiport actuator to be positioned for control as with the PORTCM register as described in section 5 1 5 Parameter 29 allows the relay outputs of an IQ or IQT to be controlled as described in section 5 1 4 and also allows the values in the contactor start counters to be reset to zero and the data logger to be reset Resetting the data logger clears all the values currently stored in the memory on the main board and also the values in the historical torque and starts counters Parameter 29 Parameter29 NIN Bt 49 15 12 i jio f4 9 3 J2 0 Reset Clear Clear Function Reserved data close open Reserved logger counter counter DO4 DO3 DO2 DO1 control control control control 7 2 7 Actuator Feedback Data parameter 30 to 36 These 7 parameters replicate the data reported in the cyclic registers described in section 5 2 and 5 3 and also allow for the calibration of the Analogue input 58 of 66 Publication S420E V3 0 Issue 01 05 Parameters IDATA1 and IDATA2 Actuator status IDATA3 and IDATA4 Actuator status TORQUE Torque feedback 35 Calibrate Analogue Input Parameter 35 is used to set the sc
11. o qmeemmmee m DT e 1 to 000Ah 4 oe I 0 120 0 to 0078 h 43 j OpenToqueSet R 0 120 0t00078h p p Torque at 096 open direction R 0 120 0t00078h 0 Torque at 1096 open direction RU 0 120 0t00078h O Torque at 2096 open direction RU 0 120 0t00078h 0 Torque at 30 open direction R 0 120 0t00078h 0 Torque at 4096 open direction R 0 120 0t00078h 0 Torque at 50 open direction R 0 120 0t00078h 0 Torque at 6096 open direction R 0 120 0t00078h 0 Torque at 70 open direction R 0 120 0t00078h O Torque at 80 open direction RU 0 120 0t00078h 0 Torque at 90 open direction RU 0 120 0t00078h 0 Torque at 100 open direction R 0 120 0t00078h 0 Torque at 096 close direction R 0 120 0t00078h O Torque at 10 close direction RU 0 120 0t00078h 0 Torque at 20 close direction R 0 120 0t00078h 0 Torque at 30 close direction R 0 120 0t00078h 0 Torque at 40 close direction R 0 120 0t00078h O 60 Torque at 50 close direction R 0 120 0t00078h 0 Torque at 60 close direction R 0 120 0t00078h 0 Torque at 70 close direction R 0 120 0t00078h 0 Torque at 80 close direction R 0 120 0t00078h 0 Torque at 90 close direction RU 0 120 0t00078h O Torque at 10096 close direction R 0 12096 0 to 0078 h
12. The Profibus DP Module Mk2 cyclically reports over the network a comprehensive data set relating to the status of the valve actuator and card settings as indicated in the table below The conventional contact indications are also available from the actuator limit switches and indication contacts Status Feedback IQ IQT actuator stat Register Name IDATA1 0 Register O Bit 0 Actuator Moving IDATA1 1 Register 0 Bit 1 Close Limit IDATA1 2 Register 0 Bit 2 Open Limit v IDATA1 3 Register 0 Bit 3 Running Closed v v v IDATA1 4 Register O Bit 4 Running Open v v v IDATA1 5 Register 0 Bit 5 Remote selected v v v IDATA1 6 Register 0 Bit 6 Local Stop selected v v v IDATA1 7 Register 0 Bit 7 Local selected v v v IDATA2 O Register O Bit 8 Thermostat Tripped v v v IDATA2 1 Register 0 Bit 9 Monitor Relay v v v IDATA2 2 Register O Bit 10 Valve Obstructed v v v IDATA2 3 Register 0 Bit 11 Valve Jammed v v v IDATA2 4 Register 0 Bit 12 Valve Moving by Hand v v v IDATA2 5 Register O Bit 13 Moving Inhibited v v v IDATA2 6 Register 0 Bit 14 Position Control Enabled v v v IDATA2 7 Register O Bit 15 Watchdog Recovery v v v IDATA3 0 Register 1 Bit 0 Battery Low v v x IDATA3 1 Register 1 Bit 1 Open Interlock input v v x IDATA3 2 Register 1 Bit 2 Close Interlock input v v x IDATA3 3 Register 1 Bit 3 DI 1 v v x IDATA3 4 Register 1 Bit 4 DI 2 v v x IDATA3 5 Register 1 Bit 5 DI 3 v vl x IDATA3 6 Hegister 1 Bit 6 DI 4 v v x IDATA3 7 Register
13. 1 Bit 7 Slow Mode D v O IDATA4 0 Register 1 Bit 8 GSD Configuration Permitted v v v IDATA4 1 Register 1 Bit 9 Reserved v v v IDATA4 2 Register 1 Bit 10 Control Contention v v v IDATA4 3 Register 1 Bit 11 Partial Stroke in Progress v v v IDATA4 4 Register 1 Bit 12 Part Stroke Error v v v IDATA4 5 Register 1 Bit 13 Primary 0 or Backup 1 v v v IDATA4 6 Register 1 Bit 14 1 or 2 Channels Available v v v IDATA4 7 Register 1 Bit 15 SR 0 or FR 1 mode v v v Note This bit is reported when within the slow mode band but does not affect the actuator 34 of 66 Publication S420E V3 0 Issue 01 05 5 2 1 35 of 66 n Input and Output Signals Digital Inputs from All Actuator Types Actuator Moving Whenever the actuator position is changing due to the motor running Close Limit Open Limit Running Closed Running Open or in the case of the IQ or IQT if the output drive is moving this bit will be set true 1 This data bit indicates that the actuator has reached the closed position The limit switch should be set slightly within the actual valve stroke to allow for torque seating or overshoot on closing without damaging the valve The data bit will remain true 1 even if the position is passed through or exceeded This data bit indicates that the actuator has reached the open position The limit switch should be set slightly within the actual valve stroke to allow for torque seating or overshoot on opening without
14. 27 P B Tx Power Supply Common Fig 15 Single Highway Analogue Connections With the single channel option the actuator is connected to only one highway and an additional input is provided for measuring and reporting an analogue variable The connection of the actuator to the highway uses terminals 1A and 1B in and out terminals the terminal numbers depend on the actuator type and are indicated on the actuator wiring diagram The highway should be arranged so as to eliminate any stub connections The last actuator on the highway should have the termination resistor connected by linking the highway 1B terminal to the Terminator terminal and fitting the internal links LK1 and LK2 in the Terminate position Take care to ensure that the correct polarity is observed on the data highway connection all the 1A terminals must be used on one data line and all the 1B terminals on the other 23 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual E Data line 1B is positive with respect to data line 1A when the PFU is transmitting a 1 L Data line A is also called TxD RxD N Ll Data line B is also called TxD RxD P If an analogue input is being used it is connected to the analogue input terminals The Profibus card caters for both current and voltage analogue signals There is no power supply on the card for the analogue transmitter and an external power supply must be used to power it E For
15. Close A digital command to cause the actuator to close to the fully closed position as indicated by the Close limit switch Under correct operation the actuator stops either when the close limit switch is reached when the torque exceeds the value set and the close limit switch has been reached or a new command is sent over the network Many IQ multi turn actuators are set to open until the open limit switch is reached and close until the closing on torque switch trips but it is dependant on the type of valve The IQT and Q normally operate 90 degree valves use stop bolts on the actuator or gearbox and stop when these are reached The control room indication is always taken from the end of travel limit switch settings 29 of 66 Stop With no other command present this digital command causes an actuator motor that is running to stop Emergency Shut Down A digital command that causes the actuator to drive to its Emergency position There are settings within the actuator to determine if this is a closed open or stay put action Analogue Position Demand This function is only available over the Profibus DP network To initiate Analogue Position Control the ACTCON register Position Enable bit must be set to 1 and all other bits to 0 enabling Position mode and a value must be written the Position DV register range 0 100 0 resolution 0 1 the valve will open to the appropriate amount and stop in that position within the deadband settin
16. Highways two communication ports Channel 1 is Primary on power up Default communication method is SR mode Both channel have the same address VO cyclic Commands to Backup channel are ignored Reports the status of Primary and Backup to the Master Configuration and Parameterisation changes only over the Primary channel D U DU D D DUCO 19 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 4 4 Redundant Systems RedCom Redundancy The RedCom Dual Channel Profibus DP Mk2 Option Card version has two redundant communications channels Like the Simple card the RedCom card supports two types of redundant operation and the details are as described in Profibus Guideline 2 212 Specification Slave redundancy The two modes are L SR System Redundancy One common slave address LJ FR Flying Redundancy Two slave addresses offset by 64 The Rotork Profibus DP Mk2 RedCom Dual Channel Option Card obeys the Profibus REDCOM Specification for Redundant Communications This includes 3 bytes of Extended Diagnostics for RedState Not all PLC systems can accept these diagnostic messages As with the Simple Redundant card there are two basic considerations when looking at redundant systems protection against the failure of the connecting cable and protection against failure of the device Most systems consider cable protection to be the most important and this is termed SR or oystem Redundancy T
17. Process Device Manager this tool requires an EDD Electronic Device Description file The Profibus DP Module Mk2 supports both these utilities The list of parameters that can be accessed by these tools is as below In addition these tools will allow the actuator to be controlled and monitored by the tools as they support the display of the registers containing feedback status and output commands The size of the parameter is listed together with the ability to Read R or Write W to the parameter using one of these utilities E i No 21 MIC software version R 4bye eg M204 22 PNIC software version R i2bye eg PNIC 1 20 23 Reserved o Z 24 23 Reserved 24 Field Interface type 00 to FF 02 R 25 Permit GSD Parameterisation R W 1 Permit GSD 1 26 Actuator digital control RW OO000toFFFF 0 27 Actuator Position control RW 0O0000toFFFF 0 28 Multiportposiion control RW O0000toFFFF 0 29 Additional Control Flags 1 R W OO000toFFFF 0 30 Inputdata IDATA1 2 R O0000toFFFF 0000 31 inputdatalDATAJ4 R O000toFFFF 0000 56 of 66 Publication S420E V3 0 Issue 01 05 Parameters s Write 0000 to 0078h 0000 to OSE8 h pews reo 0000 to FFFF e peme UNA 0000 to FFFF eee let 0000 to 03E8 BEN i O TN RN 1to 000A h m quee e P i ms 2 to 000A h 0 to OSFF h
18. Stroke Multiport Position amp Relay output DO 1 Relay output DO 2 Relay output DO 3 Relay output DO 4 KKKKK QL QL LNA Local Actuator Controls Open Close Stop Direct Hard Wired Inputs Open Close Stop Maintain Emergency Shut Down Network Disable Open Interlock active prevents opening Close Interlock active prevents closing SSN Note Requires Extra Relay Indication board to be fitted Push to Run action only Maintained action not available if analogue positioning is used Network Disable not available on Q range actuator Multiport functions require a multiport actuator not described in this manual 28 of 66 Publication S420E V3 0 Issue 01 05 Input and Output Signals The Profibus DP network commands will operate the actuator provided Local Local Stop Remote selector is in Remote On IQ or IQT actuators Profibus commands are not inhibited by the Inhibit DI 4 input parameter setting and DI 4 condition No interlock is active on IQ or IQT actuators There is no standing hard wired control input active No alarm condition prevents it from moving Open A digital command to cause the actuator to open to the fully open position as indicated by the Open limit switch Under correct operation the actuator stops either when the open limit switch is reached when the torque exceeds the value set and the open limit switch has been reached or a new command is sent over the network
19. all devices as Diagnostic Request Set Parameterisation Check Configuration Set Configuration Diagnostic Request Data Exchange After a successful Diagnostic Request the Set Parameterisation Telegram is sent from the PLC The Set Parameter message contains the user defined Parameter Data Unit DU of a minimum of 7 bytes max 244 bytes The first 7 bytes are mandatory and fixed The following bytes contain the parameter values to be set and these are derived from the GSD file and the values in it The response is a short acknowledgement E5 with no data field if the Parameterisation is accepted The Profibus DP Module Mk2 GSD contains 19 configurable parameter registers sent in a 23 byte string The first 3 bytes are Profibus Specific the next 19 relate to the configurable parameters and the 23 is reserved for future use With the IQ and IQT actuator some of the parameters can be altered by using the infra red communications link and the setting tool All of them can be altered by the values in the GSD file or by a V communication tool such as PDM or FDT when the appropriate files are provided It is possible to lock out parameterisation by GSD in the more sophisticated uses of this card This facility is there to ensure that V1 FDT or PDM parameterisation is not lost on a power cycle Care must be exercised with access to these parameter registers as they can alter the complete performance of the actuator This section of the manual describ
20. always reported over the network and they can be used to report associated plant inputs instead of controlling the actuator The register should be considered in its binary format using the low order byte The number has the binary form x x x x y y v y requiring 8 bits Each bit in the high order nibble x x9x x either enables or disables the associated input for control of the actuator The bits in the low order nibble y y y y determines if the input reports a closed contact as a 1 or an open contact as a 1 Only when the input is a 1 as set by the mask and the contact state will the actuator respond to the input if it is also set to control the actuator To allow an input to act as a control signal its associated bit in the high order nibble must be set to a 1 in the mask To allow a closed contact to be reported as a 1 then its associated bit in the low order nibble must be set to 1 in the mask Disable ESD input as command Enable ESD input as command e xe pt Disable Stop Maintain input as command Enable Stop Maintain input as command psf x pt Disable Close input as command Enable Close input as command af x po Disable Open input as command Enable Open input as command v 0 Report closed contact on ESD input as 0 Report closed contact on ESD input as 1 2 wv fo Report closed contact on Stop Maintain input as 0 1 Report closed contact on Stop Maintain input as 1 af Y
21. comms 47 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual Flash Green Solid Green Solid Red Flash Red 4 Diagnostic Fatal Error PLC comms not present Data being exchanged with PLC After solid green shows comms lost On Red In data exchange mode with PLC EX nanus aera E PL Not in data exchange mode On Red LI Channel 2 RTS line 6 7 Basic Operation on Start up Off Whenever a field device is powered up and it is found by the PLC it will go through the standard Profibus procedure of Parameterisation and Configuration before commencing Data Exchange This exchange can include altering the address if the device has an address of 126 and the master supports address changes master class 2 1 The first message master sends a DIAG req telegram 2 The response should be a DIAG res with diagnostic data attached 3 If this is correct a Set Parameter telegram is sent with the parameterisation data attached 4 The response should be a Short Ack message 5 If a correct response is received a Check Config telegram is sent 6 The response should be a Short Ack message 7 If this is correct a DIAG req telegram is sent 8 The response should be a DIAG res with diagnostic data attached 9 If DIAG is not reporting an error data exchange commences The Parameterisation data is extracted from the GSD file for the particular address of the slave device The
22. damaging the valve The data bit will remain true 1 even if the position is passed through or exceeded Whenever the actuator motor contactor used to drive the actuator in the closing direction is energised this bit will be true 1 Whenever the actuator motor contactor used to drive the actuator in the opening direction is energised this bit will be true 1 Remote Selected This bit is true 1 when the actuator three position remote local Local Stop Local Selected Thermostat stop local selector is in the Remote position The selector must be in this position for Profibus control to be permitted The actuator three position selector passes from Local to Remote or Remote to Local through the Local Stop position The switch can also be placed in Local Stop When the switch is in the Local Stop position this bit will be true 1 Remote control of the actuator is not possible when the selector is in this position This bit is true 1 when the actuator three position remote local stop local selector is in the Local position Remote control of the actuator is not possible when the selector is in this position If the temperature of the motor windings rises above the thermostat trip value the thermostat contact will open and this signal will be present 1 There are no adjustments for the temperature at which the thermostat trip operates The motor will be stopped if the thermostat trips Only once the motor has cooled down and
23. fit its mating part on the circuit board If the operation is to fit a PFU for the first time then the necessary wiring looms must be added to the internal wiring harness of the actuator The actuator wiring diagram shows the connectors and harnesses used The wiring harnesses are fitted inside the actuator before attempting to fit the PFU Once the looms are in place connect them to the PFU then fit the PFU to the actuator main board connector Once the module is fitted the actuator should be re assembled and in the case of the IQ or IQT the battery replaced The PFU must not be split between its Network Interface Card and the Interface card Only complete assemblies should be fitted or exchanged If at any time it is necessary to reset the card to its supplied default values the Network Interface card should be removed and a shorting link applied to LK1 The Interface card must then be put back in the actuator and the mains power cycled The Network Interface card must then be re assembled onto the interface board and the pair refitted into the actuator LK1 is usually used as a mechanical connection link between the top and bottom boards
24. in an IQ or IQT actuator These outputs are referred to as S5 S8 in the standard actuator documentation when there is no Profibus DP Module in the actuator The resulting outputs can be used for operating other equipment such as a pump or indication light The IQ IQT actuator is not able to control these relays directly from the main board when the PFU is fitted They will maintain their last state if power is removed from the actuator On restoration of power the relays will be reset to their de energised condition and the coils will report 0 Hard Wired Open and Close These commands operate the actuator in the same way Hard Wired Stop as the open and close commands sent over the Profibus highway The hard wired stop input acts as a change of state input If the actuator is moving opening the Stop input will stop the actuator If the Stop input is already open and a Profibus command is sent to the actuator the Profibus command will be initiated To stop the actuator the hard wired input must be closed and opened again Hard Wired ESD Network Disable The hard wired ESD may be set to causes the Controls Priority actuator to drive to its Emergency position Alternately the input can be used to disable Profibus network control The function of the input is determined by the parameterisation set into the PFU Since there are three potential sources for control inputs the actuator and Profibus DP Module Mk2 assign a priority for
25. mode the position data relates to the reduced portion of the valve stroke This is sometimes used where the valve is required to have a 0 position or 100 position that is not the same as the fully closed position or fully open position These parameters define the actual limited range of valve travel that will be used for the position reporting and control by the positioner Valve Stroke Position Minimum Setting Position Maximum Setting Fig 28 Limited Range Position Control and Reporting Note that the digital open and close commands will still make the valve travel over its full stroke The special case analogue commands of 0 and 100 that would otherwise cause the actuator to travel to the limit switch or torque off positions are inhibited if values other than 0 and 100 are set in these parameters The values inserted relate to the maximum total valve travel between closed and open and represent the point in the full stroke which will now be used for the limited stroke 0 and 100 values 7 1 2 Deadband and Hysteresis Parameter 3 and 4 When using position control by sending a value to the Actuator Position DV setpoint there are a number of parameter registers used to tune the position controller and reduce the possibility of damage to the actuator These two registers are set to prevent hunting around the setpoint due to high inertia of the valve They will require adjustment for each specific application In addition the Motion In
26. or perform a Partial Stroke and at the same time cancels any other command set The bit written changes any output states already set to the new value Only one bit may be written in a command If more than one bit is set then the whole register is ignored 31 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual ACTCON Register Bit 6 15 Reserved Part Stroke Position ESD Open Close Stop Enable 5 1 3 Profibus Control using the POS_DV register The analogue position control function requires two registers to be set E A desired position value to move the valve to should be placed in the POS_DV register L The ACTCON register must be set to Position mode 0010 hex POS DV Register Register value 0 to 1000 0 to 3E8 Position demand 0 0 to 100 0 of valve travel When the ACTCON register with Position mode set is sent the actuator will position to the value set in the POS DV register and any other commands that are currently being carried out will be cancelled If the POS DV register is set to 096 and limited range positioning is not being used the actuator will operate as though a close command had been sent Similarly if the POS DV register is set to 10096 under these conditions the actuator will interpret the instruction as an open command Note that when limited range positioning is used and the actuator is in the fully closed position a POS DV value of 0 or when the actuato
27. overshoot The deviation from the setpoint at which slow mode is adopted is set in the associated parameter When slow mode is in use this bit will be true 1 The IQ and Q actuators also report this bit but these actuators do not have a slow mode capability Publication S420E V3 0 Issue 01 05 Input and Output Signals 5 2 4 Digital Inputs Reporting the Profibus Card Condition E GSD Parameterisation Permitted If the actuator and card is being parameterised using either the FDT or PDM programmes and the associated device description files then the ability to alter the card parameters by the GSD may need to be removed The status of this bit shows if during parameterisation after connection or power up the the settings in the GSD file will be used or the existing settings will be retained When the bit is true 1 GSD parameterisation is permitted On start up of the card following connection to the bus the PLC will conduct a sequence of events including setting the Configuration of the card and then adjusting the card Parameters The configuration will be the one selected for this particular card when it was commissioned onto the Profibus highway see later The parameterisation will be in accordance with the values in the GSD file associated with the specific actuator It is possible to set the card so that GSD parameterisation is ignored this then allows the actuator to be powered off and on again without resetting any parameter val
28. status of the contact connected to the actuator hard wired Open terminals The input can be used to control the actuator or simply to report the status of a plant feedback signal The function is set in the Auxiliary Input Mask parameter which determines whether the bit is reported as true 1 for a closed contact or an open contact and whether the input Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 5 2 3 38 of 66 E E Digital Input DI 2 Digital Input DI 3 Digital Input DI 4 controls the actuator or not Note that the input is always reported even when it is also controlling the actuator Applicable to IQ and IQT actuators only This bit reports the status of the contact connected to the actuator hard wired Close terminals The input can be used to control the actuator or simply to report the status of a plant feedback signal The function is set in the Auxiliary Input Mask parameter which determines whether the bit is reported as true 1 for a closed contact or an open contact and whether the input controls the actuator or not Note that the input is always reported even when it is also controlling the actuator Applicable to IQ and IQT actuators only This bit reports the status of the contact connected to the actuator hard wired Stop Maintain terminals The input can be used to control the actuator or simply to report the status of a plant feedback signal The function is se
29. those occasions when two or more commands are applied simultaneously In addition for the IQ and IQT actuator the remote control hard wired inputs can be used as discrete input signals to report the status of other devices or as control inputs The associated Auxiliary Input Mask parameter must be set for the IQ or IQT to select the required function In the case of the hard wired input for ESD this can be configured either as an ESD DI 4 signal or as a Profibus Command Inhibit to prevent network control signals from moving the actuator 30 of 66 Publication S420E V3 0 Issue 01 05 Input and Output Signals High Priority Low Priority Local Stop Local Close Hard Wired Close Profibus Close Local Open Hard Wired Open Profibus Open Hard Wired ESDO Hard Wired Stop Profibus StopO Profibus ESDO OG Profibus Position Profibus Part StrokeG Mechanically interlocked to prevent both at the same time The IQ IQT can be set so that Local Stop has a higher priority than ESD Only one Profibus command is permitted at a time If a Profibus command is applied whilst Hard Wired Stop is present stop is cancelled Fig 20 IQ and IQT Controls Priorities In the case of the Q actuator the control selection is slightly different because the actuator uses a different control circuit The Local Controls have a higher priority than hard wired or Profibus contro
30. using the ACTCON Register 31 5 1 3 Profibus Control using the POS DV register i 32 5 1 4 The IQ S contacts Profibus DO s controlled by the O STAT register 32 5 1 5 Multiport Position Selection using the PORTOM register Future 33 5 1 6 Profibus Network Control Disable feature cccccceecsssseeeeeeeeeeeeeeeeeeeeeeeeeeaas 33 5 2 Digital Input Status Feedback iei ena cuu tueri esa Eig dee P eres ii 34 5 2 1 Digital Inputs from All Actuator Types 35 5 2 2 Digital Inputs from IQ and IQT Actuator i 37 5 2 3 Digital Inputs from IQ F Actator odit cvi lie 38 5 2 4 Digital Inputs Reporting the Profibus Card Condition 39 3 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 5 3 Actuator Analogue Input Feedback ee rire 41 5 4 Configuring the Registers to be Exchanged in Cyclic Communication 42 6 PROFIBUS DP COMMUNICATION 1 Leerree ree rennen hann n ana 43 6 1 Electrical SpeCiiC tmd 43 6 2 PE OUO CON L a 43 6 3 Single Highway Single Channel ccccccssssssseeeeeeeeeceeseneeeeeeeeeoensnseeeeseooensneeeeeeseeoes 43 6 4 Dual Highway Dual Channel SR Mode ccccccsee
31. value in parameter 15 in the GSD file 17 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 4 3 1 Flying Redundancy Slave to Master Connection Primary Master Backup Master Primary Backup Fig 10 Profibus DP Mk2 Flying Redundancy Connection With FR Flying Redundancy the aim is to protect against a failure of the Profibus Interface The data highway is considered to be more reliable than the connection interface There is a single data highway and both the Profibus card inputs are connected to it The card must be set to FR mode and it then adopts a fixed offset of 64 between the set address used for primary communication and the backup communication address When the card is powered on Channel 1 will be the Primary channel If the card does not enter Configuration Mode within 1 second because there is no Master present then Channel 2 will take over as Primary once again if there is no communication within 1 second then it will revert to Channel 1 and now it will wait 2 seconds before Channel 2 assumes Primary status The switch over time will increase by a factor of 2 each time until it reaches its maximum of 32 seconds It will continue to switch channels using a 32 second switch over time until one channel receives PLC messages In the event of a failure of the Primary channel the Backup automatically changes to use the Primary address Hence for all control pur
32. voltage inputs connect I P A to the positive signal and analogue Common to the negative signal from the transmitter cl For current inputs connect I P A to I P B to insert the conditioning resistor The current input positive is to I P A and I P B whilst the current input negative is connected to the analogue Common Active termination resistors are included on the Profibus card The jumper links LK1 and LK2 on the PNIC board are used to select the inclusion of these resistors cl Fit LK1 and LK2 as shown to provide pull apart active termination to the network at this actuator and L Link Terminals Terminator and Profibus A to add end of line termination
33. when the contact input is closed irrespective of the Aux Mask setting In addition the logging of torque and motor contactor starts count can be inhibited if the data logger is turned off DI4 ESD Data Logger enabled DI4 Network disable Data Logger enabled DI4 ESD Data Logger disabled DI4 Network disable Data Logger disabled 3 0011 hex 7 1 13 Redundancy FR SR Mode and Simple RedCom Mode Parameter 15 When using either type of dual channel card there are two methods for redundancy that can be used Flying Redundancy where the two channels have addresses 64 apart and System Redundancy where they have the same address The first bit of this parameter selects the type of redundancy to be used In addition the way that data is reported can be altered and the second bit selects either Simple redundancy where there is no extended diagnostics message or fully RedCom compliant redundancy that includes the RedCom extended diagnostics messages Function Function N SH and Simple two highways and no extended diagnostics FR and Simple one highway and no extended diagnostics SH and RedCom two highways plus extended diagnostics FR and RedCom one highway plus extended diagnostics 3 0011 hex 7 1 14 Part Stroke Position Parameter 16 This parameter sets the position to travel to when a Partial Stroke command is carried out The partial stroke can be initiated from either the open or the closed positio
34. 1 until the actuator position changes by 296 or more Attempting to restart the actuator to move towards the obstruction even if the obstruction no longer exists is not possible the actuator will not restart The actuator must be electrically reversed away from the obstruction before attempting to continue in the original direction Valve Jammed This bit will be true 1 if the actuator is stationary at the end of travel and fails to move away from the seat of the valve when a network command requests it to do so The actuator will trip on excessive torque due to the valve being jammed in the seat The PFU fails to see movement and reports this status after the time set in the associated parameter during the PFU set up The bit will remain true 1 until the actuator position changes by 296 or more Attempting to restart the actuator to move out of the seated position is not possible The actuator must be reversed before it will run in the same direction again The jammed seat must first be released manually before electrical control is attempted The problem may be overcome by adjusting the actuator torque setting which is designed to provide extra power on leaving the seated position 36 of 66 Valve Moving by Hand The manual movement of the valve is reported as true 1 if the actuator is moved by the handwheel away from the last position The percentage of travel required to trip the indication is set in the associated parame
35. 1 compliant RedCom redundancy included both FR and SR modes GSD EDD DTM device description files available Supports Siemens PDM and FDT applications Address changes by master class 2 IR link IQ and IQT only FDT or PDM Zero internal stub length Mounted within the double sealed actuator enclosure All card settings are non intrusive and can be made over the data highway D U D D DDU UL The Profibus DP Module circuits do not impinge on the actuator control electronics the actuator itself remains fully self protecting The module performs the tasks of network interface actuator data collection and the issuing of actuator commands to open stop close perform an ESD operation or move to a set position Electrical EA Compartment Motor j Handwheel _ o gt T Dal BAN N IQ range s x M rotore Il 3 A 7 x Local Controls Terminal Cover e N MT r m4 Local Controls m E oe e SS l IQT range T HO Terminal Cover cR i b T N M om Electrical hb Compartment Local Controls Electrical SES E Compartment Q range y Handwheel Terminal Cover Fig 1 The Profibus DP Module Mk2 Option Card Actuator Compatibility 7 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Opti
36. 3077F single pair 2 core cable which meets the minimum requirement Information on Belden cable may be found on the Belden web site www belden com i a er Belden 3077F aQXm Data Pair Screen Impedance 135upto 65ohmatafrequenoyof 3 to 20 MHz Cable capacitance lt 30 pF per metre O Core diameter gt 0 34 mm2 corresponds to AWG 22 S O Cable type Twisted pair cable 1x2 or 2x2 or 1x4 lines S Resistance lt 110 ohm perkm S Signal attenuation Max 9db over total length oflinesection O Shielding Copper shielding braid or shielding braid and shielding foil Fig 13 Typical Profibus Type A cable The terminals to which the wires connect in the each actuator type will be different and the actuator wiring diagrams must be consulted to establish the connections 4 6 Termination Network In order to operate correctly all Profibus segments must be terminated at each end in an active network termination circuit The Profibus DP Mk2 card includes the necessary components to allow an active termination to be connected In order to connect the termination network it is necessary to add a link to the actuator terminals and also fit two internal jumpers to the circuit card per highway The section 4 7 below for details where to fit the links in the various options of the card TxD RxD P TxD RxD N B Link 390
37. 390 VP DGND 220 9V LoL L1 d N N Fig 14 Termination for Profibus highway 22 of 66 Publication S420E V3 0 Issue 01 05 Single and Dual Data Highway Configurations 4 7 inter connecting the Highway and Setting up the Profibus Card The Profibus Mk2 variants allow for different highway connections The single channel can be used for simple highways and where there is an analogue transmitter connected it will also return the value from the transmitter signal The dual channel both Simple and RedCom compliant is used for redundant highway applications where the highway integrity SR mode or the physical connection is important FR mode 4 7 1 Single Highway with Analogue Input PLC Host Actuator A Data Highway Txd Rxd P Txd Rxd N Terminator 1B In r Actuator H L2 Fit L1 and L2 on the last actuator I Out H L1 Analogue T 4 20 mA UP A X gt npu
38. 4 are time values in seconds for timeout Actuator Type 0 Don t know default 6 1Q 8 IQT 9 EH 10 Skilmatic 11 Lo 19 Reseved Open and 300 secs 812C hex ub 3 Q Lc NR the deadband lower the hysteresis or the hysteresis greater than the deadband causes the hysteresis to be set to 0 1 IQ Setting tool only allows 0 0 to 9 9 deadband to be set On Redcom Dual Channel cards the default is 2 0002 hex These parameters set up the response the actuator will take to various control and network actions There are three GSD files one for a single channel card one for a simple dual channel and one for a RedCom dual channel card They all contain the same number of parameter settings L Single Channel Card GSD file RTRK0845 L Simple Dual Channel Card GSD file RTRC0845 L RedCom Dual Channel Card GSD file RTRR0845 50 of 66 Publication S420E V3 0 Issue 01 05 UOO 7 1 1 Limited Range Position Minimum and Maximum Parameter 1 and 2 These parameter registers are used to define the positions in the range of valve travel that will be reported as 0 to 100 if it the whole travel from the closed position to the open position is not used In addition the position demand setpoint output value will also be modified to follow this limited range It is possible to make the position data reported and the position controller relate to a reduced span of actual valve travel In this
39. 5 Profibus Communication directly with the actuator and the IQ setting tool For all actuator variants the address can be set over the highway using a Class 2 master cl Baud Rate This is selected by the PLC both channels adopt the same baud rate L Slave Configuration One of the 10 configurations for the slave must be chosen Both channels will use the same configuration setting Configuration can only be carried out on the Primary channel E Basic Parameterisation The basic parameters such as deadband and motion inhibit time can be set using either the GSD file or a suitable PDM or FDT utility The default settings will be suitable for most systems Both channels will adopt the same settings Parameterisation can only be carried out on the Primary channel IDATA4 Bit 5 indicates the channel status and will show if the channel in communication is the Primary or Backup R S Master PLC Standby PLC Highway 1 Highway 2 Primary Backup address n address n Profibus Card Fig 24 System Redundancy Two highway redundancy SR Mode e Both channels have the same slave address e When the card is powered on Channel 1 will be the Primary channel After power up the card will seek a master to communicate with by alternating the channel 1 and 2 between Primary and Secondary mode The switch over time increases with each change to a maximum of 32 seconds The card will continue to switch ch
40. E PROFIBUS DP MK2 OPTION CARD 11 3 1 Insice aniiQ orl0T aciuatori idea 11 42 Inside a GQ actuators aa a ra 12 3 3 Replacing or Fitting a Profibus DP Mk2 Option Card 13 4 SINGLE AND DUAL DATA HIGHWAY CONFIGURATIONS 15 AN Profibus Data HIODW AV iier eee oeuf aue cem eii Ea cec Ec a fas ce DE ev ian 15 4 2 Segmented Single Highway System riesi 16 4 3 Redundant Systems Simple Redundancy c cceeeeeeeee cernere 17 4 3 1 Flying Redundancy Slave to Master Connection 18 4 3 2 System Redundancy Slave to Master Connection sssssss 19 4 4 Redundant Systems RedCom Redundancy eese ceeeeeeeeeeeee 20 4 4 1 Extended Diagnostic Messages for RedCom 21 MEE CIO C NR TRE 22 46 Temmmnaluon NeUWOLVCK ecco eres eoe ea Eo goose ai 22 4 7 inter connecting the Highway and Setting up the Profibus Card 23 4 7 1 Single Highway with Analogue Input sseeeeseeeeeereeeeennn 23 A2 RU Nalsic Pec e 25 5 THE ACTUATOR CYCLIC DATA SIGNALS e eee 27 5 1 Control OUIDUIS coii dnb aana Fees Geor cue nume Dalee Cc uo Dia a iude 27 cm Mere PHONY E SUUM 30 5 1 2 Profibus Control
41. Profibus Actuator Control Profibus DP Option Card Installation Manual Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual Note 1 Throughout this manual the Profibus DP Module Mk2 may simply be referred to as the module or the Profibus module Note 2 The information in this manual relates to the following firmware release Profibus Network Interface Card software version PNIC 1 20 single and 1 40 Simple dual and RedCom dual Actuator Interface Card software version M207 Note 3 The Profibus DP Module MK2 described in this manual is suitable for inclusion in Rotork IQ IQT and Q range actuators As we are continually developing our products their design is subject to change without notice O The contents of this document are copyright and must not be reproduced without the written permission of Rotork Controls Ltd The name Rotork is a registered trademark Windows is a registered trademark by Microsoft Corporation Profibus is a registered trademark by PROFIBUS Nutzerorganisation e V Germany 2 of 66 Publication S420E V3 0 Issue 01 05 Contents Contents Glossary Of EEUU NES 5 Abbreviations o iion aa edad vo aiar 5 1 INTRODUCTION ella 7 MEE CI 0 eene 8 2 PROFIBUS DP MK2 OPTION CARD PROPERTIES 9 2 41 Mechanical properties canili 9 2 2 Electrical Properlies cilea 10 2 3 Operatlon dnd Storage inii ine ni Doe tiec a lai 10 3 FITTING TH
42. ale of the Analogue Input Apply a 10096 signal and write any value to the parameter the current value will then be reported as 10096 The scaling is retained in EEPROM when the actuator power is removed 7 2 8 Multiport feedback and Setup Parameter 37 to 39 When the Profibus card is used in a multiport actuator it is necessary to set up the controls using parameter 39 This allows the number of active ports to be set Parameter 37 reports the current position of the valve as described in section 5 3 multiport position Parameter 38 is used to set up the actuator to match the multiport valve The value in this register sets the number of ports that will be used up to the maximum of 10 If the valve has 6 ports but only 4 are active then the value should be set to 6 Permissible values are 2 10 Parameter 39 selects which of the 10 or fewer ports is active The binary bit set in the register indicates that the port is to be used This allows for unequal spacing of the ports on the valve to be catered for The example below shows how the 4 active ports to be used are spaced amongst the 6 positions Bt i15 14 13 t2 t t0 9 8 7 6 eit te a TEE Active Tx D Tx x x Ta x Ta CE Ta Note that port 1 is always active 7 2 9 Configure Data Exchange Parameter 40 The data to be exchanged during normal cyclic data exchange is determined by the Configuration set during start up of communication between the PLC and the Profibus car
43. annels using a 32 second switch over time until one channel receives PLC messages It may be necessary for the PLC to wait until the correct channel is in Primary mode before communications is started If the Primary channel fails the Backup will automatically adopt Primary status and wait for messages from the second master The Backup channel can be used for exchanging data but any commands to move the actuator directed to the backup channel will be ignored If a configuration message is sent to the Backup channel that is different to the one sent to the Primary it will be accepted but not carried out 45 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 6 5 Single Highway Dual Channel FR Mode On either the Simple or RedCom dual channel card the mode for communications may be set to FR Flying Redundancy in some cases This will require the card s GSD file to be changed or the parameter value altered by a PDM or FDT utility LJ Redundancy SR is the default mode it must be altered for FR mode In FR mode there is one highway and a single PLC can be used The two channels on the card use addresses offset by 64 One channel is in Primary mode and uses the base address whilst the other is in Backup mode using the base address plus 64 As with SR mode the card is waiting for a communication message on the channel that is in Primary mode and the two channels will switch their mode whilst sear
44. association between the GSD to be used and the address is made in the master during the configuration of the network on the master a table is created The association can also be defined in a Master 2 and sent to a Master 1 by the master to master comms Most masters 1 devices permit the same device type as described in the GSD to have different GSD files so allowing the GSD to be edited Editing the GSD file guarantees that a device coming on line after having been switched off will have the correct settings If FDT or PDM changes the same parameters as those installed by a GSD then the GSD values will replace those set by the FDT or PDM when the device is switched off and on again or the PLC is powered off and back on unless GSD parameterisation is not permitted See section 5 4 for information on the Configurations allowed Fig 27 Profibus Start Up Sequence 48 of 66 Publication S420E V3 0 Issue 01 05 Ready to reply to PLC Not ready to respond Master sends DIAG req telegram to slave Correct DIAG res received Master sends Set Parameter Correct Response received Master sends Check Config Correct Response received Master sends Diag req telegram to slave Correct Diag res received Diag is reporting error No Data Exchange Parameters 7 PARAMETERS 7 1 Parameters set by GSD and DP V1 Communication Profibus defines a power on reset sequence for
45. ave highway single or dual half duplex Profibus DP VO and DP V1 module is a slave cyclic and acyclic messaging Profibus Card Properties 2 PROFIBUS DP MK2 OPTION CARD PROPERTIES 2 1 Mechanical properties The PFU comprises two printed circuit boards connected together and the assembly is fitted inside the actuator electrical housing Profibus Chip Network Interface Card Termination Jumper links Interface Card Fig 3 The Profibus dual highway module showing the NIC and Interface Card IQ actuator E Network Interface Card The small printed circuit board carries the Profibus DP RS485 highway connections and protection circuits There are two versions of the Network Interface Card one for a single highway and a second for two highways Simple or RedCom Dual RedCom has two highway configurations 2 highways for SR mode or one highway with two network interface connections for FR use cl Interface Card The larger motherboard is profiled to suit the actuator into which it fits The IQ actuator assembly is shown It carries the processor memory components and power supplies for the module The primary connection to the actuator circuits is by a multipin connector on the Interface Card that due to its physical shape may only be fitted in the correct polarisation Internal wiring harnesses connect to the Interface Card for other signals and options within the actuator The Network Interface Card carries the P
46. been identified If the actuator cover is opened there are several LED s on the circuit board that are used to indicate communication activity These indicate both the communication between the Profibus highway and the card and the communication within the cards two main processors 43 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual LED 4_ o _ LEDS NV f NI dia LED 2 pL ff ff ff f T E mm lc annah me Sk5 5172 SK7 SK10 SK8 Fig 23 Single Channel Profibus card LED positions On Red In data exchange mode with PLC Channel 1 Data Exchange Off Not in data exchange mode On Red Ready to reply to PLC AE erie Ne Off Not ready to respond o LL BB
47. ching for comms There is no definition between Channel 1 and Channel 2 to determine which is in Primary mode The two channels will both try to adopt Primary mode The difference here is that the PLC can communicate with the backup using a different address When using either type of dual channel card in FR mode the following must be set up LJ Address U Baud Rate The two channels have address offset by 64 Setting the base address will set the offset address With IQ and IQT actuators the address can be set using the IrDA communication link directly with the actuator and the IQ setting tool For all actuator variants the address can be set over the highway using a Class 2 master This is selected by the PLC both channels adopt the same baud rate LJ Slave Configuration One of the 10 configurations for the slave must be chosen Both channels will use the same configuration setting Configuration can only be carried out on the Primary channel E Basic Parameterisation The basic parameters such as deadband and motion inhibit FR time can be set using either the GSD file or a suitable PDM or FDT utility The default settings will be suitable for most systems Both channels will adopt the same settings Parameterisation can only be carried out on the Primary channel IDATA4 Bit 5 indicates the channel status and will show if the channel in communication is the Primary or Backup Master PLC Standby PLC Highway 1 P
48. d In setting up the card from the PLC one of the 10 possible Configuration will have been chosen refer to section 5 4 Parameter 40 shows which of the 10 possible configurations has been chosen and allows the choice to be verified It cannot be changed except by the choice entered during the configuration stage 7 2 10 Data Logger Information Parameter 42 to 67 The Profibus card makes available some of the IQ and IQT data logged information from parameters in the data base The data available is updated shortly after the actuator stops moving provided the actuator selector is in the Remote position and can be read from the appropriate parameters 59 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual E Close Torque Set Parameter 42 the actuator setting for the maximum generated torque value permitted when the actuator is moving towards the closed position is recorded in this register L Open Torque Set Parameter 43 the actuator setting for the maximum generated torque value permitted when the actuator is moving towards the open position is recorded in this register L Torque at x when opening Parameter 44 to 54 there is a set of parameters that each record the last value for the torque generated when the actuator is moving from closed to open and reaches a particular position x The parameters contain 11 values of torque generated in 1096 position increments between 0 and 100 of val
49. date 15 07 04 Changed 9 Loss of Bus Comms 9 Alarms Miscellaneous Actuator type IQ Changed Field interface type Profibus Initial value MIC software version PNIC software version Auxiliary input mask OxDF Initial value ESD DI4 Net disable ESD DIA Initial value Limited range position minimum 96 Initial value Limited range position maximum 100 96 Initial value Deadband 50 0 1 Initial value Hysteresis 20 0 1 Initial value Motion inhibit time 5 S Initial value Slow mode range 5 96 Initial value Partial stroke position 90 Initial value Partial stroke limit Open limit Initial value Partial stroke timeout 300 S Initial value Profibus fault mode Action on loss of comms No action Initial value Communications fault timer 255 S Initial value Communications lost position 96 Initial value Manual movement travel 10 Initial value 5b lll b Ale a Km 8 Af ES TT Fig 31 Rotork EDD running in the Siemens PDM application As with FDT the parameters and the control and review of actuator information can all be carried out in PDM using the EDD device description file 62 of 66 Publication S420E V3 0 Issue 01 05 Setting Up a Card 8 2 Setting up an IQ or IQT with the Setting Tool The IQ and IQT actuator includes an infra red communication port for setting the actuator performance limit switches and so on This communication link can be used to set some but not all of the PFU parameters The parameters should st
50. dbus that is correctly terminated in its characteristic impedance Each Segment can include up to 32 devices Communications Profibus Field Unit Random Access Memory Read Only Memory Remote Terminal Unit Software Installation Guideline for Profibus DP FMS Specification Slave Redundancy Specification for Profibus Device Description and Device Integration EDD Specification for Profibus Device Description and Device Integration FDT Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual This page is intentionally blank 6 of 66 Publication S420E V3 0 Issue 01 05 Introduction 1 INTRODUCTION The Rotork Profibus DP Actuator Control option card PFU has been certified by the PNO as compliant with specifications IEC61158 and EN50170 The card supports both Profibus DP VO cyclic and Profibus DP V1 acyclic messages Three versions are available single channel simple dual channel and RedCom dual channel The Simple dual channel card does not include the Redstate diagnostics whilst the RedCom dual channel card fully supports RedCom Redundant Communication extensions to the V1 protocol as specified by PNO for systems using either FR Flying redundancy or SH System redundancy configurations The inclusion of acyclic message capability V1 allows for system maintenance and asset management tools to be used Electronic data sheets are available in GSD EDD and DTM formats Profibus DP VO and DP V
51. e Profibus network Cyclic Data Exchange Output Registers Input Registers ACTCON IDATA1 IDATA2 POS DV IDATA3 IDATA4 O_STAT TORQUE PORTCM POSITN TEMPER ANALOG PORTST The actual registers exchanged during normal cyclic data exchange will depend on the Configuration set for the card Section 5 4 contains information on the Configuration options available 5 1 Control Outputs The Profibus DP Module Mk2 can be used to control the actuator and position the valve The valve may be moved fully closed fully open or to an intermediate position Additionally the actuator can make the valve adopt an Emergency Shut Down position The actuator may also be operated from its local controls or by hard wired direct contact inputs in the case of the IQ and IQT the Auxiliary Input Mask must be correctly set 27 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual As well as controlling the actuator the PFU can also be used to operate 4 discrete output relays when fitted to an IQ IQT actuator with the relay card fitted The control commands have three potential sources E Profibus DP network generated commands L Actuator Local Controls Ll Direct contact input controls The full list of commands is shown in the table The actuator types show whether the command is applicable to that actuator type Profibus over the network Open Close Stop Emergency Shut Down Analogue Position Demand Partial
52. e cards two main processors LED 3 n4 I x LED 1 ne bod I aM EE Leps Qi MU ui e eal nnnnnnnnnmnj y alk SK5 S SK7 SK10 Fig 26 Dual Channel Profibus card LED positions On Red In data exchange mode with PLC CAN date renege Off Not in data exchange mode On Red Ready to reply to PLC USARE bids Off Not ready to respond a limamnisesssorneania Flash Red Inter processor comms running p Off No inter processor
53. el on the card that is able to move the valve Primary or to a channel that is prevented from operating the valve Backup When the communication is to the Primary Profibus DP channel the bit will be off 0 With a single channel card this bit will always indicate Primary and be 0 With a dual card set to FR mode the card there is only one highway and the card uses two addresses one per channel If the communication is directed to the address for the backup channel this bit will be set to 1 and if it is to the address for the primary channel it will be set to O With a dual card set to SR mode only one address is used but there are two highways If the communication is direct on the highway connected to the backup channel of the card then the bit will be set to 1 if the highway is connected to the primary channel the bit will be set to O Valve control can only be achieved if this bit reports as a 0 E 1 or 2 Channels Available This bit indicates the condition of the second channel on a dual channel card It will be true 1 if both channels are available and working on the card It does not indicate the status of the connection or highway to the second channel On a single channel card it will always report O If there is a fault on the second channel of a dual channel card it will report 0 indicating that the second channel is not working correctly L SRorFR Mode This bit indicates the addressing mode chosen for the card W
54. eports Not all PLC s are RedCom compliant so some are unable to understand these messages and as a consequence will mark the device as having an Error If this is the case either reconfigure the Profibus card to be Simple or disable the PLC s diagnostics package that is looking at the extended diagnostics A RedCom Dual Channel card can be altered to a Simple Dual Channel card or vice versa by entering the appropriate value in parameter 15 in the GSD file The extended diagnostics is contained in 3 bytes in the diagnostic message and is reported by the Primary slave only Specifier 5 Function in i 4 Hed State 1 State of Primary slave Hed State 2 otate of Back Up slave Hed State 3 Not used The information in the Red State bytes is as below 7 e s 4e 2 1 0 Description it set This slave is the Back up Ls This slave is the Primary Bit No There is a Hardware defect This slave is in Data Exchange mode Master State Clear Baud rate found Toh started hold timer active set if a change of channel is iminent po Reserved 21 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 4 5 Cable Types The network must be connected using a suitable cable Two conductors plus a shield are required and there is a Profibus specification for the cable Type A cable should be used for all new installations Amongst the cable manufacturers Belden have the PVC jacketed
55. es each variable parameter and should be used for reference when using the parameterisation tools The parameters that may be set by the GSD exchange or V1 comms are Default Value No Minimum 0000 0064 hex 0000 hex Maximum 0000 0064 hex 0064 hex 3 Deadband 0 0 25 596 5 096 Parameter Description Value Range 0000 OOFF hex 0014 hex Slow Mode Range 0 10096 0000 0064 hex 0005 hex 0000 OOFF hex 0005 hex 7 Manual Movement Travel 0 100 1096 0000 0064 hex 000A hex Valve Jammed Time 0 255 sec 5 sec 0000 OOFF hex 0005 hex 49 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual ii ad Default Watchdog Timeout 0 255 sec 10 sec 0000 OOFF hex 000A hex Action on Loss of Comms 0 Nothing No Action 1 Open 3 Close 0 Nothing 5 Stop 0000 hex 7 Position Any other value Off 0000 0064 hex 0000 hex RNC E EMF 3 0000 OOFF hex OOFF hex Ew eee diremo Toga 0000 OOFF hex 000F hex ESD DI4 Net Disable DI 4 is ESD 0 or 2 ESD and and Data logger disable DI 4 is Net Disable 1 or 3 Data Data Logger is enabled 0 or 1 Logger Data Logger is disabled 2 or 4 enabled Bit 0 EDS Net disable 0 Bit 1 data logger en disable 0000 hex and Simple RedCom mode Bit 1 Simple 0 RedCom 1 0000 hex 0001 0063 hex 005A hex Part Stroke Limit and timeout Bit 15 is 0 for close limit and 1 for open limit Bits 0 1
56. etting Tool 1 11cceeeee e cree rennen nnn 63 4 of 66 Publication S420E V3 0 Issue 01 05 Contents 8 3 Maintenance and Repair uiuere lele 64 8 4 Records Glossary of Terms Address Fieldbus Field Unit Interoperability Master Slave Profibus DP Profibus DP VO and DP V1 PNO HedCom Node RS485 Segment Abbreviations Comms PFU RAM ROM RTU SW References Profibus Guideline 2 112 Profibus Guideline 2 212 Profibus Guideline 2 152 Profibus Guideline 2 162 5 of 66 The unique address for a node on the fieldbus range 0 126 The digital two way multi drop Profibus DP communication link The Profibus option card fitted to the actuator The capability for a device from one manufacturer to interact with that of another manufacturer on a fieldbus network without loss of functionality The method of communication used by the Profibus DP Module The fieldbus requires a Profibus master to control the data exchange on the highway The communication protocol used on the highway The cyclic VO and acyclic V1 versions of the protocol supported by the Rotork module Profibus Nutzerorganisation Profibus User Group Germany Dual redundant system as defined in PNO 2 212 A single device on the fieldbus The electrical properties of the data highway as defined by the IEC 61158 standard copper conductors 2 wire twisted pair A section of an RS485 fiel
57. ffset by 64 The Simple Dual Channel card is suitable for all PLC s where redundant highways are being used This option does not report the extended diagnostic bytes relating to the card s redundant status These two connection options allow for redundancy protection against either a failure of the highway SR mode or failure of the card interface channel FR mode Most dual channel systems use two highways and one connection to each so the most common use for this card is in SR mode The functionality and provisions of the card are identical to the RedCom version except in the way the card reports its status on the highway There are a number of PLC systems including older PLC s that do not have the ability to use the RedCom system and as a consequence they are likely to report errors when connect to a RedCom compliant card If the PLC does not support the RedCom standard then the Simple Redundant card must be used Control System Master Profibus Profibus Primary Slave Backup Slave Interface Card Actuator Redundant Slave Fig 9 Profibus DP Mk2 Simple Dual Redundant Option Block Diagram The Profibus DP Mk2 Simple Dual Channel card includes Ul Two Profibus Connections Channel 1 and Channel 2 L Selectable FR SR mode LJ No Extended Diagnostics A Simple Dual Channel card can be altered to a RedCom Dual Channel card or vice versa by entering the appropriate
58. g If a subsequent digital command to open or close the valve is issued from any source this will take priority over the analogue position command Once the setpoint is reached the positioning controller is switched off but whilst the Profibus outputs are being written the positioner is continuously being updated A new value in the Position DV register will cause a new position to be adopted and a new bit set in the ACTCON register will cancel positioning mode Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual Q n n E E 5 1 1 Partial Stroke Provided limited range positioning is not invoked the values 0 and 100 written to the Position DV register produce a special case output where the command is revised so as to fully close the valve to its tight shut off position 0 and fully open the valve 100 The actuator will move the valve to an intermediate position and back to the start position provided it is at the correct end of travel position when the command is issued The end to start from and the amount of travel are selected during parameterisation Multiport Position On multiport actuators the port to move to can be selected using this command The actuator will move directly to the selected port Valves with up to 10 ports can be controlled Relay Output DO1 to DO4 These 4 commands are used to energise and de energise the internal relays on the additional relay board
59. he alternate connection using only a single cable but with two Profibus connections is termed FR or Flying Redundancy With FR systems there are two Profibus interfaces on the slave but only one slave so protection against failure of the Profibus interface is included SR and FR are described in more detail in the previous section Control System Master Profibus Profibus N Red lt Red Extensions Extensions Primary Slave Backup Slave Interface Card Actuator Redundant Slave Fig 12 Profibus DP Mk2 RedCom Dual Redundant Option Block Diagram The Profibus DP Mk2 RedCom Dual Channel card includes Two Profibus Connections Channel 1 and Channel 2 RedCom link between the two connections Redundancy extensions to the V1 protocol No loss of data during switching Selectable FR SR mode Status reported in Extended Diagnostics data D U D D DO 20 of 66 Publication S420E V3 0 Issue 01 05 Single and Dual Data Highway Configurations 4 4 1 Extended Diagnostic Messages for RedCom The Redundancy Extensions to the standard V1 protocol allow the two channels to communicate between themselves to establish correct operation of the highway if there is a failure both the Simple and RedCom versions of the card do this In addition to these there are extra Extended Diagnostic messages that are reported to the PLC as part of the RedCom system that the Dual RedCom card r
60. hen reporting as O the bit indicates that one address is being used On a single channel card only one address is permitted On a dual channel card a single address is used when two Profibus DP highways are used and the System Redundancy is employed If the bit reports as 1 then the card must be dual channel and the redundancy is using two addresses for Flying Redundancy configuration 40 of 66 Publication S420E V3 0 Issue 01 05 Input and Output Signals 5 3 Actuator Analogue Input Feedback The Profibus DP Module Mk2 makes available over the network a number of analogue variables These contain information about the valve and actuator If the single highway with analogue input variant of the Profibus DP Module Mk2 is used one associated plant measurement is also available IQ IQT 0 120 TORQUE 0 78 hex 0 120 Actuator Instantaneous Torque 0 1000 0 3E8 hex 0 100 32 68 65535 8000 FFFF hex POSITN Valve Position 32767 to 1 C TEMPER 0 0 hex 0 C Temperature C 1 32767 0001 7FFF hex 1 to 32767 C 0 1000 ANALOG 0 3E8 hex Analogue Input 0 100 1 10 1 A hex PORTST Position 1 to 10 Multiport position Note Requires the Single Highway Analogue Input Profibus DP Module Mk2 L Torque The currently developed torque value is reported as an Integer Value in the range 0 to 120 0 78 hex representing the percentage of actuator rated torque generated
61. hibit Timer is used to ensure the actuator does not carry out an excessive number of starts in a given period E Deadband The control used for the positioner is proportional only The PFU will run the actuator to the desired position and then it stops As the actuator and valve combination have some inertia there is a possibility that the desired position may be overrun and the positioner will then reverse the direction of travel to make the valve adopt the desired position This overshoot and return may continue for a number of cycles and is known as hunting the valve and actuator combination will hunt around the setpoint if the inertia is high To prevent this from happening there is a Deadband setting whereby once the actuator enters the deadband the motor will be stopped For example a 5 deadband will cause the motor to be stopped once the actual position is within 5 of the desired position The inertia will then bring the actual position nearer the desired position 51 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual The deadband is the allowable error around the setpoint E Hysteresis In addition to the deadband a second setting hysteresis further refines the performance of the position controller The positioner will run the actuator towards the setpoint DV until the actual position is within the deadband minus the hysteresis setting This has the effect of instructing the actuator to stop whe
62. hown they will normally be a Primary and Backup pair and communication will occur directly between them SR mode is the default for all dual Profibus cards The Profibus card has two communication channels and both have the same slave address As with the FR mode when the card is powered on Channel 1 will be the Primary channel If the card does not enter Configuration Mode within 1 second because there is no Master present then Channel 2 will take over as Primary once again if there is no communication within 1 second then it will revert to Channel 1 and now it will wait 2 seconds before Channel 2 assumes Primary status The switch over time will increase by a factor of 2 each time until it reaches its maximum of 32 seconds It will continue to switch channels using a 32 second switch over time until one channel receives PLC messages In the event of a failure of the Primary channel the Backup automatically changes to become Primary and communication will be established with the Second master on the second highway The Backup channel can be used for exchanging data but any commands to move the actuator directed to the backup channel will be ignored If a configuration message is sent to the Backup channel that is different to the one sent to the Primary it will be ignored The data exchanged between the Master and the Primary includes information on the status of the device and hence the availability of a Backup should the Primary fail Two Data
63. ill be checked with a utility such as FDT or PDM to ensure optimum actuator and network compatibility The diagram illustrates the access route through the actuator menu screens to reach the settings that affect the PFU E Note that the Od function must be set to OP if it is not then the card will not be able to control the actuator The parameters that may be set by using the Setting Tool and the infra red link are listed below The available range for the deadband setting when using the setting tool is less than the range found using the configuration tools Note Parameters may only be altered by the IR link if the actuator control knob is set to the Local or Local Stop position Parameter Menu Beseniti n Bande Default ve core P 9 Value 0 Limited Range Position Minimum 100 da Limited Range Position Maximum i 100 100 3 Fd Deadband 0 0 9 996 5 096 6 Ft Motion Inhibit Time 0 255 sec 9 Sec 10 FA Action on Loss of Comms Nothing No Action Stop Nothing Close Open Position 11 FF Comms Lost Position 0 0 100 0 0 096 13 PF Aux Input Mask 0 255 00 FF hex 15 OF PA Address 0 126 126 Note When altered the new value will only take effect after the actuator power has been cycled twice Note that changes to the address by the IR link have to be transmitted across two boundaries the actuator main board and the Profibus interface card and hence two actuator power cycles are req
64. ition Parameter 16 ii 55 7 1 15 Part Stroke Limit and Timeout Parameter 17 56 7 1 16 Actuator type Parameter T8 ii noia esa pecus 56 7 2 Parameters viewed and set by DP V1 Communication ssus 56 7 2 1 Actuator Tag Data Parameter 20 i 58 7 2 2 Software Versions Parameter 21 and 22 i 58 7 2 3 Field Interface Type Parameter 24 iii 58 7 2 4 Permit GSD Parameterisation Parameter 25 58 7 2 6 Control Outputs Parameter 26 to 29 cccccssssssseeeeeeeeeeeessseeeeeeesssaeasseeeneees 58 7 2 7 Actuator Feedback Data parameter 30 to 36 58 7 2 8 Multiport feedback and Setup Parameter 37 to 39 59 7 2 9 Configure Data Exchange Parameter 40 sess 59 7 2 10 Data Logger Information Parameter 42 to 67 59 7 2 11 Parameterisation Date Parameter 68 i 60 7 9 helurnito Deraulis oni iore oinline 60 8 SETTING UP AND MAINTAINING THE PROFIBUS MODULE 61 8 1 Using a Network Configuration Tool ecce ee ieeeeeeeerr e leen eene nennum nnmnnn 61 9 13 EDT Piel DeViCe TOOL codices epe uiua tatem a castum t arent niit 61 8 1 2 PDM Process Device Matiager iie ia ira 62 8 2 Setting up an IQ or IQT with the S
65. k2 card profiled for the Q actuator Digital Outputs from relay contacts are not supported from the Q actuator nor is the ability to report the status of the remote control inputs as Digital Inputs The following table shows the wiring harnesses that must be fitted and the function of each loom for the Q range actuator 24V power supply input from actuator Profibus Fieldbus connection Limit switches Analogue Input connection Potentiometer Note Only available on Single Channel module In a Q actuator there is a direct connection from PL2 on the Interface Card to SK5 of the actuator main board To restore the card to its factory defaults and the associated default parameter settings LK1 on the Interface card should be fitted and the power cycled see Fig 6 12 of 66 Publication S420E V3 0 Issue 01 05 Fitting the Profibus card 3 3 Replacing or Fitting a Profibus DP Mk2 Option Card The PFU should be replaced or fitted only in a suitable environment The actuator must be made electrically safe before opening any covers and in the case of an IQ or IQT it is advisable to disconnect the internal battery The electrical housing cover should be removed and the existing PFU carefully unplugged from its main connector Once removed from the main connector the wiring loom connectors should be removed The replacement board is fitted in the reverse order to removal The wiring harnesses are polarised so that only the correct one will
66. ls and the hard wired and Profibus controls share the same priority level LJ If the Stop Maintain hard wired input is closed to provide maintained action on the other contact inputs to the actuator then position control via Profibus cannot be used L The recommended connection is to use only an open and close buttons or contacts and push to run mode where the actuator only moves whilst the contact is closed LJ Ifa Profibus and hard wired input are both present the control priority is set by the actuator priority setting High Priority Low Priority Local Stop Local Close Hard Wired Close Local Open Hard Wired Open Hard Wired ESD Profibus CloseOG Hard Wired Stop Maintain Profibus ESDO Profibus OpenO Profibus Position GO Profibus Stop Mechanically interlocked to prevent both at the same time The action depends on the Actuator Control Priority setting Only one Profibus command is permitted at a time A Profibus Position command must not be applied whilst Hard Wired Maintain is present A Profibus Stop command is not possible if Hard Wired Maintain is present Fig 21 Q Controls Priorities 5 1 2 Profibus Control using the ACTCON Register A single register is provided to allow the digital control of the actuator Writing to the individual bits in the register causes the actuator to open close stop ESD adopt Positioning mode
67. n it is nearer the DV The actuator will not restart unless it overshoots and runs outside the deadband or a new command places the new desired position outside the deadband The Hysteresis is the amount of movement inside the deadband permitted before the motor stops 0 Setpoint DV 50 100 Valve Stroke Position MV 50 Position Minimum Setting Position Maximum Setting 4796 48 49 50 51 52 53 Esmu OCoo0o0o00000000s s s s L Hysteresis Hysteresis Hysteresis 1 Deadband Deadband Deadband 3 Fig 29 Deadband and Hysteresis settings 7 1 3 Slow Mode Range Parameter 5 This parameter register is only applicable to IQT actuators The Slow Mode Range sets the deviation between the setpoint and current position in positioning mode inside which the actuator motor will slow to minimum speed If the setpoint DV is 5096 and the setting for this parameter is 1096 then when the actuator moves within the range 4096 to 6096 the motor will adopt low speed The actuator does not use slow mode for digital Open Close commands 7 1 4 Motion Inhibit Timer Parameter 6 The Motion Inhibit Timer setting is the period that must elapse between consecutive starts of the actuator motor when in positioning mode The idle period will prevent the actuator motor from exceeding its rated number of starts per hour In addition when tuning the valve positioner the setting can be used to allow the plant dynamics to stabilise between valve movemen
68. n of the valve The target position can be any value in the range 1 99 where 1 96 is near the closed position Note that the desired value to which the actuator is required to move must be outside the deadband setting 55 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 7 1 15 Part Stroke Limit and Timeout Parameter 17 This parameter is used to set two values The most significant bit in the register is used to determine the starting position which can be either the open position 1 or closed position 0 for the valve The remaining 7 bits are used to set the time limit before which the required position set by parameter 16 must be achieved if the test is successful 15 0 otart test from closed position Start test from open position 0 7FFF hex Time to complete 0 32676 seconds 7 1 16 Actuator type Parameter 18 This parameter allows the identification of the type of actuator in which the PFU is fitted This can be useful on some systems to allow the correct display and controls to be enabled 7 2 Parameters viewed and set by DP V1 Communication The Profibus DP Module Mk2 supports V1 acyclic communication as well as VO cyclic messages These parameters can be accessed in a number of ways including using standard Profibus tools and the specialist device description files associated with them E FDT Field Device Tool this utility requires a DTM Device Type Manager file E PDM
69. ng link from LK1 The link LK1 must not be fitted under normal operating conditions The position of the link is shown in section 3 figure 6 60 of 66 Publication S420E V3 0 Issue 01 05 Setting Up a Card 8 SETTING UP AND MAINTAINING THE PROFIBUS MODULE In most applications the majority of the default settings in the Profibus DP Module Mk2 will be suitable for the operation of the valve and need not be altered However in every case it will be necessary to alter the address since the default should never be used within a live system the default value is 126 8 1 Using a Network Configuration Tool The Profibus DP Module caters for two configuration tools FDT and PDM 8 1 1 FDT Field Device Tool This utility uses DTM device description files and a suitable FDT utility to act as a container A typical configuration screen is illustrated below P PACTware File Edit View Device Extras Windows Help Dede Bett ES HOST PC E lt PROFldtm gt PROFidtm DPY1 Ratork Profibus 2 Rotark Pr Identification i lt 126 Rotork Profibus 2 gt F Device tag i Device ID ok Actuator tag data MOI 234 NC Actuator type Parameterization date 4 ES Field interface type MIC software version PHIC software version Setup ausillary Inputs Aurian input mask 255 11111111 Ie ESD DIA aw Network disable Limit range position Minimum o Maximum Actuator response D eadband IRDX E lt 25 5 Hysteresi
70. o m P IDATA1 amp IDATA2 IDATAS amp IDATAS V v v v v v Y v Hv v pina TORQUE v v a v v a v x penso el quee Ii 2c e Ie E ue INE unge Jue TEMPER c Jue se Ive Dye e e X xe we s NEM TESE LO C dee File 42 of 66 Publication S420E V3 0 Issue 01 05 Profibus Communication 6 PROFIBUS DP COMMUNICATION 6 1 Electrical Specification Line Electrical Specification RS485 two wire half duplex 6 2 Protocol Profibus DP Cyclic VO and Acyclic V1 communication Supported Baud Rates 9k6 19k2 45k45 93k75 187k5 500k 1M5 Data Speed Baud EXE 19k2 45k45 93k75 187k5 500k m Maximum Slave Response Delay Time mS 6 3 Single Highway Single Channel When using a single channel version the following must be set up L Address With IQ and IQT actuators the address can be set using the IrDA communication link directly with the actuator and the IQ setting tool For all actuator variants the address can be set over the highway using a Class 2 master L Baud Rate This is selected by the PLC LJ Slave Configuration One of the 10 configurations for the slave must be chosen cl Basic Parameterisation The basic parameters such as deadband and motion inhibit time can be set using either the GSD file or a suitable PDM or FDT utility The default settings will be suitable for most systems Communication will be established automatically between the PLC and the card once the correct GSD has
71. o the standard DP V1 protocol to permit redundancy to be used in a controlled manner The host system should be able to support V1 messages and RedCom if it cannot then the Simple redundant option should be used Active termination resistors are included on the Profibus card The jumper links LK1 to LK4 on the PNIC board are used to select the inclusion of these resistors E Fit LK1 LK2 LK3 and LK4 as shown to provide pull apart active termination to the network at this actuator and L Link Terminals Terminator 1 and Profibus 1A and Terminator 2 to Profibus 2A to add end of line termination
72. on Card Installation Manual 1 1 General The Profibus DP Module Mk2 has three versions n n E The two dual channel versions have the same physical assembly but are configurable to include the necessary extra messages for RedCom systems PLC s that cannot accept the extended diagnostic messages from RedCom slaves should use the Simple Dual channel card The reporting of RedCom Single Channel Profibus DP plus one analogue input channel Simple Dual Channel independent isolated Profibus DP highways for redundant systems that do not support full RedCom RedCom Dual Channel independent isolated Profibus DP highways for RedCom compliant systems extended diagnostics can be selected from the GSD file Fig 2 The Types of Profibus DP Module Mk2 Option Card 8 of 66 Profibus DP Highway Analogue a J st E re on al Input Single Profibus DP Highway Analogue Input Profibus DP Highway 1 Profibus DP cassetta Highway 2 ee he ee cap OT Profibus DP Highway 1 Profibus DP is ant di Highway 2 RedCom Dual Profibus DP Highway Connections Communication Media Publication S420E V3 0 Issue 01 05 M Rig gt RE SARAI RS485 2 wire Master Sl
73. on Card Installation Manual 4 2 Segmented Single Highway System Bus Master Segment 1 Repeater B Terminator Segment 2 Repeater Powered Active se SO Terminator Bw Segment 3 ee Fig 8 Profibus Single Channel Data Highway Topology The data highway may be connected as several segments coupled by repeaters The repeaters or actuator slaves will require termination components if they are on the end of the segment Alternately separately powered active termination devices can be used so that when the actuator is switched off the bus performance is not affected Maximum number of devices participating 127 addresses from 0 to 126 0 is usually the PLC in the exchange of data Maximum number of devices per ee nae ee nae repeaters Museums sedile EN50170 specifies a maximum of 4 repeaters between 9 any two devices Some manufacturers of repeaters allow more than this number 16 of 66 Publication S420E V3 0 Issue 01 05 Single and Dual Data Highway Configurations 4 3 Redundant Systems Simple Redundancy The Simple Dual Channel Profibus DP Mk2 Option Card version has two redundant communications channels Like the RedCom version this card supports two types of redundant operation L SR System Redundancy One common slave address LJ FR Flying Redundancy Two slave addresses o
74. or will complete any command in process the default setting Open 1 The actuator will open the valve Close 3 The actuator will close the valve Stop 5 The actuator stops Position 7 The actuator will adjust the valve position to the setting given in the Comms Lost Position parameter 11 DOLO 7 1 9 Comms Lost Position Parameter 11 The setting in this parameter determines the position in the range 0 to 100 that the actuator will move to if the Profibus network communications stops being received provided the Action on Loss of Comms parameter 10 is set to Position No action will be taken unless the communications stops for a period equal or greater than the setting in the Comms Fault Timer parameter 12 7 1 10 Comms Fault Timer Parameter 12 Parameter 12 the Comms Fault Timer setting determines the number of seconds that network communication must be absent before the setting for the Fault Mode will be carried out 53 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 7 1 11 Auxiliary Input Mask Parameter 13 This parameter relates to the IQ and IQT actuators only and allows the auxiliary inputs open stop close ESD to be set to control the actuator or simply report their status In addition it allows the sense of the input open or closed contact that is reported as true 1 to be set Actuator control always requires a true 1 input signal The status of the inputs is
75. ort number to go to In addition during parameterisation the number of ports and number of active ports must be set L A desired port value to move the valve to should be placed in the PORTCM register L The CONFIG must be set to 10 for a multiport actuator PORTCM Register Register value 1 to 10 1 to A hex Position demand Port 1 to Port 10 The actuator will move directly to the port selected in the register each time the value is changed If the actuator is set to Local and moved by the local controls when returned to remote the positioning the PORTOM register will be adopted The valve can have up to 10 ports and the number of active ports can be selected There are two parameters available to make these settings 5 1 6 Profibus Network Control Disable feature It is possible to set the IQ or IQT ESD DI 4 input so that the IQ IQT actuator ignores open stop close ESD and position control signals sent over the Profibus network If the ESD DI 4 Net Disable parameter is set to Active then when the ESD input is connection is made i e 24 volts applied to ESD Profibus control is not allowed This feature is independent of the Auxiliary mask setting When the ESD DI 4 Net Disable parameter is set to active no ESD will be available This feature is not included in a standard Q range actuator 33 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 5 2 Digital Input Status Feedback
76. po Report closed contact on Close input as 0 1 Report closed contact on Close input as 1 of Y po Report closed contact on Open input as 0 1 Report closed contact on Open input as 1 The following examples show how the Auxiliary Input Mask settings can be applied ESI pigeat Bit SI slgauiean Bit E a px Enable Enable Enable Enable hvert Invert Invert Invert DI 4 DI 3 DI 2 DI 1 ESD Stop a ie ee DS Ss x Example 1 Example 2 Example 3 54 of 66 Publication S420E V3 0 Issue 01 05 Parameters E Example 1 The default value of 15 0000 1111 binary or OF hex makes all 4 inputs report closed contacts as true 1 and none of the inputs will operate the actuator c Example 2 The value 255 1111 1111 binary or FF hex makes all 4 inputs report closed contacts as true 1 and all the inputs control the actuator in their predefined way E Example 3 The value O 0000 0000 binary or 00 hex makes all 4 inputs report open contacts as true 1 and none of the inputs will operate the actuator 7 1 12 ESD DI 4 Net Disable and Data Logger Disable Parameter 14 In the IQ IQT actuator this input determines the mode of operation for the ESD DI 4 remote input The input can be used either to disable control of the actuator from the network or to act as an ESD digital input When this setting is made Active the input will disable network control of the IQ IQT
77. poses the Master only uses the Primary address The Backup address can be used for exchanging data but any commands to move the actuator directed to the backup address will be ignored If a configuration message is sent to the Backup address that is different to the one sent to the Primary address it will accepted but not actioned The data exchanged between the Master and the Primary includes information on the status of the device and hence the availability of a Backup should the Primary fail Single Data Highway two communication ports Channel 1 is Primary on power up Default method is SR mode to achieve FR the associated parameter must be altered Fixed offset of 64 between Primary and Backup addresses Backup automatically adopts Primary address if Primary fails VO cyclic Commands to Backup ignored Reports the status of Primary and Backup to the Master Configuration and Parameterisation changes only over the Primary address D U D D DDU UL 18 of 66 Publication S420E V3 0 Issue 01 05 Single and Dual Data Highway Configurations 4 3 2 System Redundancy Slave to Master Connection First Master Primary Primary Backup Backup Second Master Fig 11 Profibus DP Mk2 System Redundancy Connection With SR System Redundancy there are two data highways and the aim of the redundancy is to secure communication with the actuator even if one of the highways fails Although two masters are s
78. r is in the fully open position a PS DV value of 100 are not acted upon 5 1 4 The IQ S contacts Profibus DO s controlled by the O STAT register The IQ IQT actuator has four S contact outputs that may be configured to report the status of the actuator with signals such as Open Limit Closed Limit etc These are identified as S1 to S4 In addition an optional additional relay board can be fitted with four more relays The status of these relays is then adjusted by Profibus commands on outputs DO 1 to DO 4 in the O STAT register Writing a 1 in the appropriate location energises the relay and 0 de energises the relay Note that these relays are latching and if energised will not change state when the actuator power is removed On restoration of power the relays will be reset to their de energised condition IQ or IQT with Additional Relay Output board fitted Actuator Main gt 81 84 Board mx PFU x DO 1 to DO 4 Output Board Fig 22 IQ and IQT relay outputs DO 1 to DO 4 32 of 66 Publication S420E V3 0 Issue 01 05 Input and Output Signals O STAT Register Bit 4 15 5 1 5 Multiport Position Selection using the PORTCM register Future The multiport actuator position selection requires the Configuration see section 5 4 to be set to Configuration 10 and a value to be set into the PORTCM register corresponding to the desired p
79. rement for the PFU Repairs should not be attempted on the module The Network Interface Card and Interface Card are a pair and should never be separated Replacing the complete PFU assembly with a new replacement device should rectify any failure Static sensitive devices are used in the PFU it is therefore mandatory to observe anti static precautions when handling or working on the unit 64 of 66 Publication S420E V3 0 Issue 01 05 Setting Up a Card 8 4 Records In order that a replacement can be easily introduced in the event of a device failure it is very important to record and keep safe all the settings made for the variable registers The table lists all the registers that must be checked and set up for each Profibus Module on a network The data should be recorded for each module Note Make a note of all changes to register settings to ensure that in the case of a failure the replacement device can be swiftly set to the correct values L GSD accessed Parameters ot Device Address 1 Limited Range Position Minimum 2 Limited Range Position Maximum 3 Deadband 4 Hysteresis 5 Slow Mode Range 6 Motion Inhibit Time 7 Manual Movement Travel 8 Valve Jammed Time 9 Watchdog Timeout 10 Action on Loss of Comms 11 Comms Lost Position 12 Comms Fault Timer 13 Aux Input Mask 14 ESD DI 4 Net Disable 15 FR SR mode and Simple RedCom redundancy 16 Part Stroke position 17 Part Stroke Limit and timeout 18 Actuator Type
80. rimary Backup address n address 64 n Profibus Card Fig 25 Flying Redundancy One highway redundancy 46 of 66 Profibus Communication FR Mode e Primary is offset from Backup address by 64 e When the card is powered on Channel 1 will be the Primary channel After power up the card will seek a master to communicate with by alternating the channel 1 and 2 between Primary and Secondary mode The switch over time increases with each change to a maximum of 32 seconds The card will continue to switch channels using a 32 second switch over time until one channel receives PLC messages The channel addresses alternate at this point The PLC need not wait for a particular channel to be in Primary mode before starting communications If the Primary channel fails the Backup will automatically adopt Primary address and wait for messages from the master The Backup channel address can be used for exchanging data but any commands to move the actuator directed to the backup address will be ignored If a configuration message is sent to the Backup address that is different to the one sent to the Primary it will be accepted but not carried out 6 6 Dual Channel Indication LEDs If the actuator cover is opened there are several LED s on the circuit board that are used to indicate communication activity These indicate both the communication between the Profibus highway and the card and the communication within th
81. rofibus connector and termination and biasing resistors this couples to the wiring harness routed to the terminal compartment of the actuator Power for the Network Interface Card is taken from the Interface Card and the whole assembly is powered from the actuator All the connectors are polarised to prevent incorrect insertion 9 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual 2 2 Electrical Properties The PFU connects directly to the Interface Card of the actuator The PFU does not sit in the main control path for the actuator and does not affect the actuator control integrity An EPROM stored program controls the processor on the module the software can be updated by replacing this chip The Profibus DP fieldbus data highway connections are fully isolated from the actuator electronics 2 3 Operation and Storage The PFU is designed to be stored in the actuator and operated within the same environment as the actuator The constraints are Ll Operating temperature 40 C to 70 C Ll Storage temperature 50 C to 85 C L Relative Humidity 5 to 95 lt 50 C non condensing 10 of 66 Publication S420E V3 0 Issue 01 05 Fitting the Profibus card 3 FITTING THE PROFIBUS DP MK2 OPTION CARD 3 1 Inside an IQ or IQT actuator The PFU is suitable for fitting into IQ Mk2 actuators with 3000 or 5000 series wiring diagrams and IQT with 6000 or 7000 series wiring diagrams The connec
82. s The connection should be made in and out of each actuator in a daisy chain arrangement on separate terminals to eliminate any internal stubs cabling inside the actuator The length of the highway and number of devices connected will vary from project to project The standard permits up to 32 devices to be connected on a section though one of these will be the PLC If more devices are needed up to the maximum addressable of 126 then repeaters may be added as required Up to 9 repeaters can be used on a single highway provided no more than 4 are between any two devices Maximum Segment Length 1 2 km 1 2 km actuators segment Note The PLC or Repeater module will be one device Max 32 devices segment Since the data passes over a single 2 wire cable there are periods between messages when no devices are actively driving the lines In order to ensure that data continues to flow correctly after these periods it is advisable to ensure the lines are biased to suitable voltage levels during the time the line is idle The PFU contains active termination circuits that ensure suitable levels are maintained on the line even with no device transmitting To select these termination components the appropriate internal links must be fitted A simple termination resistor is also included and can be connected by linking the appropriate terminals refer to the actuator wiring diagram 15 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Opti
83. s Exit NE 2h 5x Motion inhibit tima Bee E 1 3 255 sec Slow mode range Ex AE 100 Part stroke Part stroke position Bx 3E et 100 Limit close open fr 3E Timeout M sec ES 32 b sec Loss of bus comme Position Ing IE 100 X Action Mo Action Es Fault Timer bsec e M 255 sec Alarms Manual movement travel ox IE 100 x lt q gt Valve jammed time sec X 255 sec al va 5 Watchdog timeout Mosc x 255 sec i Fig 30 Rotork DTM running in Pactware FDT 61 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual The settings for the parameters and the control and review of actuator information can all be carried out in the FDT container using the DTM When loading the files there is a prompt to choose single or dual channel cards though both drivers can be loaded 8 1 2 PDM Process Device Manager This utility uses EDD device description files and the PDM programme from Siemens A typical configuration screen is illustrated below SIMATIC PDM DEMO Profibus Mk2 Single Project dan test C Program Files SIEMENS SIMATIC NCM S 7 projXdan test File Device View Options Help S dl DI N Profibus Mk2 Single Rotork Profibus 2 Single Parameter Value Identification 9 Setup Auxillary Inputs Identification 000000 9 Limited range positioning 3 Actuator Response Actuator tag data MOV1234 Changed 53 Part Stroke Parameterisation
84. s actuator Only one option board may be fitted at any one time The necessary internal components must also be present in this case a potentiometer and auxiliary limit switches at end of travel must be fitted to the actuator The illustration Fig 5 shows the Q version of the circuit board The links for the bias resistors are shown in the not terminated position ALAIN U SK3 CON SK9 SK11 SK10 Fig 5 The Profibus M
85. signal and write a value to the parameter the current value will then be reported as 100 The scaling is retained in EEPROM when the actuator power is removed LJ Multiport Position On multiport actuators the current number of the port selected is reported as an integer in the range 1 to 10 1 A hex 5 4 Configuring the Registers to be Exchanged in Cyclic Communication In the start up routine for Profibus communication the card firstly enters parameterisation mode and adjusts the card parameters according to the GSD file settings Next the card enters configuration mode where the configuration settings in the GSD file are used to determine the registers to be exchanged with the PLC during the normal cyclic messaging The configuration stage allows for the tailoring of the registers to be exchanged to allow the system to be tuned to improve data throughput If certain information or controls are not required by the PLC then they may be left out of data exchange by choosing the appropriate configuration Both the PLC and the card must be aware of the configuration chosen for successful data exchange The Profibus DP Module Mk2 has 10 possible configurations as indicated in the table The default value is Configuration 1 The PLC must send a Check Configuration message during start up to confirm the Configuration to be used e _ CMCNCB M CECNLN aren Ye Y Y Y 1Y 1 Y 15 oueurs E60 v x v 1 17 1 1 D 3 16 Bits each C
86. sseeeseeeesseeeseeeesseeeeeeenseeeeseoeesseessenaes 44 6 5 Single Highway Dual Channel FR Mode e ceeeeeeeeeeee ere eeeenrnen 46 66 Dual Channel Indication LEDS aree eoe uu aa 47 6 7 Basic Operation on Start Up iioii rae C01 reg E On eid avr EU Eod Eee R dew ea ede va exo dex arb oa mnnn 48 7 PARAME ERS 22 I ce ccv cog PEuE anioni 49 7 1 Parameters set by GSD and DP V1 Communication cc ceesseeeeeee 49 7 1 1 Limited Range Position Minimum and Maximum Parameter 1 and 2 51 7 1 2 Deadband and Hysteresis Parameter 3 and 4 i 51 7 1 3 Slow Mode Range Parameter 5 i 52 7 1 4 Motion Inhibit Timer Parameter 6 ccccccccsseeeeeeeeeeseeseeeseeseeeeseeeeeeseeeeeeens 52 7 1 5 Manual Movement Travel Parameter 7 sees 53 7 1 6 Valve Jammed Time Parameter 8 io 53 7 1 7 Watchdog Timeout Parameter 9 ii 53 7 1 8 Action on Loss of Comms Parameter 10 53 7 1 9 Comms Lost Position Parameter 11 i 53 7 1 10 Comms Fault Timer Parameter 12 esses 53 7 14 11 Auxiliary Input Mask Parameter 13 54 7 1 12 ESD DI 4 Net Disable and Data Logger Disable Parameter 14 55 7 1 13 Redundancy FR SR Mode and Simple RedCom Mode Parameter 15 55 7 1 14 Part Stroke Pos
87. t in the Auxiliary Input Mask parameter which determines whether the bit is reported as true 1 for a closed contact or an open contact and whether the input controls the actuator or not Note that the input is always reported even when it is also controlling the actuator Applicable to IQ and IQT actuators only This bit reports the status of the contact connected to the actuator hard wired ESD terminals The input can be used to control the actuator or simply to report the status of a plant feedback signal The function is set in the Auxiliary Input Mask parameter which determines whether the bit is reported as true 1 for a closed contact or an open contact and whether the input controls the actuator or not Note that the input is always reported even when it is also controlling the actuator A configuration feature also allows DI 4 to be set to act as a Disable Fieldbus Control input In this mode when the input is made irrespective of the Auxiliary Mask setting the actuator cannot be controlled over the network This can be useful during plant commissioning to prevent unwanted valve movement Digital Inputs from IQT Actuator Slow Mode Applicable to IQT actuators only In positioning mode when the IQT actuator approaches its setpoint the motor automatically switches to slow mode and the actuator runs at a lower speed This allows any developed inertia to be dissipated and a better positional accuracy to be achieved without
88. tatus of the internal battery is monitored and should it fall below a critical level this signal will become true 1 The battery is used to power the circuits used to keep track of the valve position when the actuator mains power is switched off This battery is used only when the actuator has no power feed and the valve is actually moved Applicable to IQ and IQT actuators only The input contact to the Open Interlock is monitored by the PFU Whenever the input contact is closed this bit will be true 1 If the actuator is not using the interlock function then this input can be used as a digital status feedback for a plant signal not associated with the actuator If the interlock circuit is being used then permission must be granted before the actuator can be opened and the presence of this bit will indicate that opening is permitted and permission is granted Applicable to IQ and IQT actuators only The input contact to the Close Interlock is monitored by the PFU Whenever the input contact is closed this bit will be true 1 If the actuator is not using the interlock function then this input can be used as a digital status feedback for a plant signal not associated with the actuator If the interlock circuit is being used then permission must be granted before the actuator can be closed and the presence of this bit will indicate that closing is permitted and permission is granted Applicable to IQ and IQT actuators only This bit reports the
89. ter during PFU set up The bit will remain true 1 until the actuator is moved electrically by either the local controls or a network command Moving Inhibited This bit will be true 1 when the Motion Inhibit Timer is active or the Interrupter Timer is active IQ IQT only or both are active Publication S420E V3 0 Issue 01 05 E Input and Output Signals The Motion Inhibit Timer is used in position control to prevent the actuator from exceeding its prescribed number of starts per hour or to reduce the effects of hunting during closed loop control The Interrupter Timer in the IQ IQT can be used over part or the entire actuator stroke to slow down the effective speed of valve travel When under network control the control signal does not need to be re applied when this bit is true as the control action will continue once the time has elapsed Position Control Enabled This bit will be true 1 when a Position command is being actioned This data can be used to indicate that positioning mode has control of the actuator L Watchdog Recovery The PFU watchdog automatically resets the processor if it is 5 2 2 n n n 37 of 66 tripped This bit will be true 1 following a watchdog trip for the time period set in the associated watchdog timeout parameter Digital Inputs from IQ and IQT Actuator Battery Low Open Interlock Close Interlock Digital Input DI 1 Applicable to IQ and IQT actuators only The s
90. the thermostat has reset itself can a new Remote Host or Local command to move the actuator be carried out A setting on the actuator main board allows the ESD command to override the thermostat The bit will remain set at logic 1 until the motor cools down and the thermostat resets itself Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual n Monitor Relay This signal is true 1 when actuator remote control is not available The actuator Monitor Relay status is a composite signal for several alarms This signal will be set true if the actuator selector is in Local or Local Stop not in Remote or if the thermostat trips The mains supply is also monitored and if one of the three phases is lost this bit is set If the actuator is operated from a single phase supply and this is lost then communications with the actuator will also be lost Where a 3 phase supply is used if the phase associated with the control circuits is lost then communications with the actuator will be lost Valve Obstructed This bit will be true 1 if the actuator stops in mid travel when not expected to do so after receiving a command to move If the actuator torque exceeds the trip value set during commissioning then the motor will stop and motion will cease The reason for the actuator stopping will be the high torque due to an obstruction and not a Stop signal or reaching the desired setpoint position The bit will remain true
91. tions and fitting in an IQT is similar to that for an IQ and the following information effectively relates to both actuator types The PFU is normally located in the first option board slot inside the IQ IQT electrical housing using connection SK1 In addition the PFU can be fitted inside IQ Mk1 actuators in certain cases I O oma Ni NL Wi _ O sk iff ff f DIT rem SK5 I SK7 SK10 ska Fig 4 The Profibus Mk2 card profiled for the IQ or IQT actuator
92. ts 52 of 66 Publication S420E V3 0 Issue 01 05 Parameters 7 1 5 Manual Movement Travel Parameter 7 Manual Movement Travel sets the amount of valve travel not under motor action that is permitted before being considered Manual Movement The setting must be sufficiently large to cover over run of position control due to valve inertia Too small a setting will result in Manual Movement alarms each time the valve is positioned particularly if the deadband is small 7 1 6 Valve Jammed Time Parameter 8 Parameter 8 sets the time delay that must elapse without any actuator movement before deciding the Valve Jammed status bit must be set Valve Jammed is only announced if the actuator is asked to move and fails to respond when it should The time must be long enough to ensure that the valve is not moving at all 7 1 7 Watchdog Timeout Parameter 9 If the watchdog trips to reset the processor the Watchdog Recovery data bit is set The data bit will automatically reset to 0 after the time period set in this parameter register 7 1 8 Action on Loss of Comms Parameter 10 This parameter is used in conjunction with Parameter 11 Comms Lost Position and 12 Comms Fault Timer The Action on Loss of Comms parameter defines the actuator action that will result after the time set for the Comms Fault Timer parameter 12 if there is no network communication activity detected by the PFU The action may be E Nothing 0 No action actuat
93. ues L Control Contention If an incorrect value is transmitted in the ACTCON register then there will be no control action and this bit will be true 1 until a valid ACTCON value is received Only one bit may be set in the ACTCON register at a time E Partial Stroke in Progress When the actuator is performing a partial stroke this bit is true 1 Once the action is complete the bit is reset 0 If the partial stroke is interrupted by a new command then the bit will be reset E Part Stroke Error In order to perform a partial stroke of the valve the starting position is specified as either the open limit or the close limit If the actuator is commanded to perform a partial stroke when it is not in the correct starting position or when it is in a mid position this error is generated and the bit will be set 1 There is a timer associated with Partial Stroke that is set during parameterisation to a value long enough to cover a successful part stroke operation from end to mid position and back to the end If the actuator fails to complete the partial stroke within the time set then this bit will be true 1 Once set the Part Stroke Error bit will be reset to 0 when the actuator next moves at least 296 by either a manual or automatic operation 39 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual LJ Backup or Primary Channel This bit is used to indicate if the Profibus communication is to a chann
94. uired before the new address becomes effective If the address is changed using a Class 2 master directly on the Profibus link then the new address becomes effective immediately The actuator power must be cycled once to make the correct address appear in the actuator window 63 of 66 Publication S420E V3 0 Issue 01 05 Profibus DP Mk2 Option Card Installation Manual Position Display 4 Position Display Torque Password L CR gt RI L R2 L R3 L R4 L A1 gt A2 gt A3 gt A4 gt A5 gt A6 gt A7 gt A8 gt A9 ESD ESD ESD ESD ESD Maintained 2 wire External Conditional action contact t stat override override local control interlocks control type bypass interlocks local stop control OE gt Ol gt OF gt Od gt OP gt OJ gt Or gt OS Extra CPT Folomatic Remote Bus Interrupter Setting Power indication remote control system timer tool local loss contacts control source option control inhibit must be must be must be ON set to OP ON 4 PA gt PB gt PF gt PP Address Baud rate Aux I P Parity setting Range mask 01 FF 4 FI gt Fr gt FL gt FH gt Fd gt gt FA gt FF Set point Set point Low set High set Position Action Action signal signal point 0 point control on loss on loss type range position 100 deadband of signal of signal limit pos limit position 4 R5 Etc Fig 32 Setting tool menu structure and PFU settable parameters 8 3 Maintenance and Repair There is no periodic service requi
95. ve travel L Torque at x when closing Parameter 55 to 65 there is a set of parameters that each record the last value for the torque generated when the actuator is moving from open to closed and reaches a particular position x The parameters contain 11 values of torque generated in 1096 position increments between 10096 and 096 of valve travel E Motor Starts Closing Direction Parameter 66 contains the total number of times the motor contactor to close the valve has been operated The counter can be reset to zero using parameter 29 LI Motor Starts Opening Direction Parameter 67 contains the total number of times the motor contactor to open the valve has been operated The counter can be reset to zero using parameter 29 7 2 41 Parameterisation Date Parameter 68 This parameter can be set to contain information showing the date when the card was set up The format for the entry should be DD MM YY This parameter does not automatically update and must be set manually 7 3 Return to Defaults The card may be restored to the default settings for the configuration parameters if necessary To carry out this procedure will require the board to be fitted with a suitable shorting link on LK1 and the power to the card to be cycled LJ Switch the actuator off LI Access the interface card and fit a shorting link across LK1 L With the card in the actuator switch the power on and off LI Access the interface card and remove the shorti

Profibus Actuator Control Profibus DP Option Card Installation Manual

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