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SE77 DeviceNet Advanced User Guide

1. SUCCESS Read 16 bit data value from IN Word 3 ERROR TASK ID could not be executed SUCCESS Read 32 bit data value from IN Word 2 and IN Word 3 END OF SEQUENCE Table 8 13 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to read a parameter value from a drive Table 8 13 PPO 4 Word Read TASK ID and RESPONSE ID combinations Function TASK ID RESPONSE ID Message status No Task 0 No message active Request Parameter Value 16 bit 4 Parameter read successfully 16 bit value returned in word 3 uoneuuojul uoneljejsut JeoiueuoeIN ETGEN peueis 2129 SpJOM smeis Request Parameter Value 32 bit Parameter read successfully 32 bit value returned in words 2 and 3 Request Parameter Value 16 bit TASK ID 6 could not be executed Check the error code in IN word 3 for the reason why Request Last Parameter Reference The highest parameter reference in specified menu is available in IN word 3 uononpoau sonsouBeiq jeoujoe 3 Dumec gep sel opo GSO z o 3 7 o lt a 5 Q fo 2 o 2 a peouerpy SALPIJO YA Request Last Parameter Reference SM PROFIBUS DP V1 User Guide Issue Number 10 TASK ID 9 could not be executed Check the error code in IN word 3 for the reason why 47 www
2. recent rennen 12 Electrical installation ENEE En 13 Terminal descriptions i19 PROFIBUS DP connectors 9 PROFIBUS DP table enee here bee e erede teas 14 Cable shielding i 5 2255 a er e d c eee 14 General grounding considerations 14 Network termination 14 Maximum network length device loading zb Node addressing vicio e a ende edd 15 TEE 15 Minimum node to node cable length sssesees 15 Getting started eese Conventions used in this guide ssssssseee Minimum software versions required ssesseeeseeesrieserriesrresrerreerreesen Set up flow chart misotrol nio b chr ES hA ch LES Node address 7 Ine EA Data format a ita Network operating status Re initializing the SM PROFIBUS DP V1 Re initialize all Solutions Modules A Saving parameters to the drive Network compatibility mode sssssssseenenmne ELTER AE What are GSD Files sss 23 Data Consiste ee 23 Data Configuration cutre eR pes to e Xe 24 GSD compalibility 5 A rin coe epic ete denuo oos Sk 24 GSD compatibility flowchart sssssssseeeeenn 25 www controltechniques com 7 1 7 2 7 3 7 4 7 5 7 6 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 9 1 9 2 9 3 10 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 10 10 10 11 11 11 1 1
3. 2129 The following example telegrams show how to read the post ramp speed reference in rpm with one decimal places from Pr 2 01 on the drive TELEGRAM 1 The first telegram from the PROFIBUS DP master indicates a READ with stamp number 1 The data byte contains the menu number of the parameter that is to be read z o E 7 o lt a 5 Q fo 2 o 2 a SpJOM SNJE S Example telegram st p mem eres Brea Ces 1001 0001 0000 0010 Data word 0x9102 Stamp number 1 Menu 2 sonsouBeiq seinjeoj peouEA py SAUPIJOYA When the first telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word back to the PLC This is the signal to the master controller program that the first telegram of the message has been received and understood the second telegram can now be transmitted Example response st f ez res Brea Ces 1001 0001 0000 0010 Data word 0x9102 Stamp number 1 239U9 9 9 Jo Hesso If a telegram produces an error at any point in the sequence the reply to the master will have the error bit ERR set to a 1 SM PROFIBUS DP V1 User Guide 37 Issue Number 10 www controltechniques com TELEGRAM 2 The second telegram from the PROFIBUS DP master also indicates a READ cycle but the stamp number is now 2 The data byte would contain the parameter number for the parameter that is to be read Example telegram st p mem res
4. www controltechniques com 1 1 1 Safety information Warnings Cautions and Notes WARNING A Warning contains information which is essential for avoiding a safety hazard E gt A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment EM A Note contains information which helps to ensure correct operation of the product 1 2 Electrical safety general warning The voltages used in the drive can cause severe electrical shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the drive Specific warnings are given at the relevant places in this User Guide System design and safety of personnel The drive is intended as a component for professional incorporation into complete equipment or a system If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation Commissioning start up and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and this User Guide c
5. Inter option communications error SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 A request to set up an inter option communications block failed Either the server does not support block transfer or parameters were not legal 59 394919191 Jo Hesso Table 10 11 Mapping error codes Mapping status Error Description Too many OUT data objects After expanding ranges of block mappings too many mapped OUT cyclic data channels configured 220 Total size of all OUT cyclic data mappings has 221 Mapping over length exceeded the total size of the cyclic data Register mode objects More than ten cyclic OUT data channels have been 222 exceeded selected with direct data mapping mode 10 8 Drive trip display codes If the SM PROFIBUS DP V1 detects an error during operation it will force a trip on the drive However the trip code displayed on the drive will only indicate which slot initiated the trip The exact reason for the trip will be indicated in the SM PROFIBUS DP V1 error code parameter Pr MM 50 Table 10 12 shows the possible trip codes that will be displayed on the drive when a problem is detected with the SM PROFIBUS DP V1 or when the SM PROFIBUS DP V1 initiates a trip Table 10 12 Drive trip display codes Description Hardware The drive has detected that a Solutions Module is fault present but is unable to communicate with it Error User trip gen
6. Module error code Se Module serial number ooooncccccccccccnocanancnona conocia nana n nono non nc no eee ro bleshootirig reci den indi ld eel dd PROFIdrive profile V4 eeeeeeeeeess 63 What is PROF Idrive profile oooooooconnococonncccnnnccccnnococonanccncnnaccnnnrncnnnnno 63 Standard Tele gram 1 hie ees Main Setpoint e det ANEN AER Decet Main Actual Valle iii ida PROFIdrive V4 State Machine Sa Normal Run Sequence sss eene nnne nnne nnns Stopping the motor using PROFlIdrive ssessssseses 69 Jogging iia eb edet PROFIdrive control word PROFIdrive status word AEN PROFIdrive PNU access cccccococoocccnccononononononcnononnoncononcnnnononononnccnnnnnnnnnns Fault Bunter e E Drive Identification Identification and Maintenance Functions oooccccccnccccoooccnnccononancnnncnono 74 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 12 12 1 12 2 12 3 12 4 12 5 12 6 12 7 12 8 12 9 12 10 12 11 12 12 12 13 12 14 12 15 13 13 1 13 2 13 3 13 4 13 5 13 6 13 7 13 8 14 14 1 14 2 14 3 14 4 15 SM PROFIBUS DP V1 User Guide Issue Number 10 Advanced features wld Network loss trip Lo SYNC and FREEZE Mode AANEREN 76 Data endian format 2 nente terere denia 76 Inter option communicatio
7. variable selected outputs E o The SM PROFIBUS DP V1 will not indicate if there is a mapping conflict due to any one a of the reasons listed Should a conflict occur and a parameter is written to from two or more different sources the value of this parameter will depend entirely upon the scan 0 times for the function and the PROFIBUS DP network The result would be that a a parameter may appear to be steady at a particular value on the drive display although an occasional glitch in the displayed value may be seen However internally this value zE may be changing continuously between two values leading to unusual behavior from E E the drive o8 7 4 Cyclic data mapping errors SeJnjeoj KfoeBe1 The SM PROFIBUS DP V1 module will scan and check the PROFIBUS DP mapping parameter configuration for errors during initialisation If an error is detected then the SM PROFIBUS DP V1 operating status parameter Pr MM 06 will indicate 3 and the configuration error detected will be indicated in mapping status parameter Pr MM 49 See section 10 7 Mapping status for full details 95u98J9jJeJ suo Jo Hesso SM PROFIBUS DP V1 User Guide 29 Issue Number 10 www controltechniques com 7 5 7 6 Mapping limitations When setting mapping values care should be taken not to exceed the data size set in Pr MM 05 or Pr MM 39 and Pr MM 40 The data size depends on the size of the mapped parameter and if data compression is turned on or n
8. Mode 2 PPO 4 Word mode PPO 4 word mode of non cyclic data is a simple method of accessing non cyclic data without the need for the telegrams required with Mode 1 non cyclic data and its associated overheads Mode 2 has the disadvantage of using four words of mappings and reduces the available free mappings accordingly Mapping for PPO 4 Word non cyclic data To configure an SM PROFIBUS DP V1 for PPO 4 word mode non cyclic data the following steps must be performed 1 Set Pr MM 05 to the required mode see section 7 2 Data formats on page 26 2 Set Pr MM 32 to ON to re initialize SM PROFIBUS DP V1 3 Save the parameters if required see section 5 10 Saving parameters to the drive for more information When the SM PROFIBUS DP V1 re initializes it will map cyclic data IN words 0 to 3 and OUT words 0 to 3 to the PPO 4 Word protocol parameter Pr 61 51 All existing mapping parameters will be moved down by one mapping i e the previous mappings set in Pr MM 10 and Pr MM 20 will now appear in Pr MM 11 and Pr MM 21 respectively Table 8 7 shows what happens to the mapping parameters when the data format is changed from 10 cyclic words Pr MM 05 10 to 10 cyclic words with Mode 2 non cyclic data Pr MM 05 210 Table 8 7 PPO 4 Word mode data mapping Mapping Before format change Pr 17 05 10 After format change Pr 17 05 210 parameter Value Mapping Value Mapping Pr 17 10 Pr 10 40 status word Pr 61 51 PPO 4 Word Pr 17
9. The appropriate GSD file for the drive must also be used in the master controller e g for Unidrive SP the file is SP__OB4F GSD For GSD compatibility please refer to section 6 5 GSD compatibility flowchart on page 25 22 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 6 1 6 2 6 2 1 6 2 2 SM PROFIBUS DP V1 User Guide 23 GSD Files What are GSD Files GSD files are text files that are used by the PROFIBUS DP network configuration Software tools They contain information about the device timings supported features and available data formats for the PROFIBUS DP device Drive icon files are also supplied for use with the PROFIBUS DP configuration software GSD files are available from your supplier local Control Techniques Drive Centre or the Control Techniques website www controltechniques com Data consistency There is a potential problem with data skew when transferring blocks of data to and from a PROFIBUS DP master controller Data skew happens when a value is spread across multiple words when this occurs it is possible that only half of the correct value reaches the destination Consider the following example The PLC has a value of OXFFFFFFFF to send to the drive The drive currently has a value of 0x00000000 in a 32 bit parameter The master sends the word without consistency The drive receives one 16 bit word and now has the value 0x0000FFFF The drive receives the ne
10. The letters go in alphabetical order starting with A in 1991 B in 1992 C in 1993 etc Example A date code of T27 would correspond to week 27 of year 2010 2 4 2 Unidrive SP Digitax ST Affinity and Mentor MP The required drive can be connected to a 24Vdc back up power supply terminals 1 and 2 This keeps the control electronics and Solutions Module powered up allowing the SM PROFIBUS DP V1 to continue communicating with the PROFIBUS DP master controller when the main supply to the drive is switched off For every SM PROFIBUS DP V1 installed allow for an extra 70mA of supply current to be drawn from the back up supply EXE This feature is only available on the Unidrive SP Digitax ST Affinity and Mentor MP SM PROFIBUS DP V1 User Guide 11 Issue Number 10 www controltechniques com uonejjesu uoneuuojul jEoiueuoe uoneljejsu eoujoa 3 eyep OND M UON n o m zi o 9 a o vA e1youd peo ueApy SAUPIJO HA 299U9 9 9 uononponu sonsouBeiq Q o 3 2 e o 2 a Jo Hesso Mechanical installation A Before installing or removing a Solutions Module in any drive ensure the AC supply has been disconnected for at least 10 minutes and refer to Chapter 1 Safety information on page 6 If using a DC bus supply ensure this is fully discharged before working on any drive or Solutions Module 3 1 General Installation The installation of a Solutions Module is illustrated in
11. X Su V03 0200 Use DP VO drive specific GSD file Drive Type GSD File Unidrive SP CTSP0672 GSD GP20 CTGP0672 GSD Affinity CTAF 0672 GSD Digitax ST CTDI0672 GSD Commander SK CTSK0672 GSD Note Issue 2 hardware only supports SM PROFIBUS versions earlier than V 03 02 00 E MP gt lt Digitax ST No Commander No Advanced features Legacy Quick Glossary of features reference terms bh Extended diagnostics CA gt gt Extended diagnostics N Extended diagnostics Set MM 41 3 and use GSD file SP OB4F GSD No Set MM 41 0 and use GSD file sp 0672 GSD Set MM 41 3 and use GSD file MP OBAF GSD Set MM 41 0 and use GSD file MP__0672 GSD Set MM 41 3 and use GSD file ST__0B4F GSD Set MM 41 0 and use GSD file ST 0672 GSD Set MM 41 3 and set mm a1 3 ana use GSD file AF__0B4F GSD Set MM 41 0 and use GSD file AF__0672 GSD Set MM 41 3 and use GSD file SK__0B4F GSD so No Set MM 41 0 and a p cb use GSD file sk __0672 GSD Change drive to SP ST MP SK or Affinity 25 SM PROFIBUS DP V1 User Guide Issue Number 10 www controltechniques com 7 1 7 2 Cyclic data What is cyclic data Cyclic data transfer is a method of transferring data on a regular time period often known as polled data High speed data transfer is achieve
12. 4 EMERSON Industrial Automation User Guide SM PROFIBUS DP V1 Solutions Module for Unidrive SP Commander SK Affinity Digitax ST e Mentor MP Part Number 0471 0008 10 Issue Number 10 EN CONTROL xx TECHNIQUES www controltechniques com General Information The manufacturer accepts no liability for any consequences resulting from inappropriate negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor The contents of this guide are believed to be correct at the time of printing In the interests of commitment to a policy of continuous development and improvement the manufacturer reserves the right to change the specification of the product or its performance or the content of the guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by an information storage or retrieval system without permission in writing from the publisher Environmental Statement Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle To this end we operate an Environmental Management System EMS which is certified to the International Standard ISO 14001 Further information on the EMS our Environment Polic
13. 9 s Sp az oc Drive faulted and thus not operational goes into the switch on Fault inhibit status after acknowledgment and the fault has been removed Fault numbers in the fault parameter Fault free 0 1 No OFF2 1 No OFF3 Switch on inhibit Re close only with OFF1 and then ON No switch on inhibit Alarm 7 Not implemented 0 No alarm 8 0 Reserved Control requested Local operation Control only possible on the device itself sonsouBeiq peoueA py SALPIJO YA JD Aoeba7 1 1 The automation system is requested to accept control 95u9J9jeJ Speed or Actual value comparison value Setpoint set via the Current reached parameter number Below set Speed or Current 11 15 0 Reserved Jo Hesso SM PROFIBUS DP V1 User Guide 91 Issue Number 10 www controltechniques com 13 6 13 7 92 Main Setpoint Main Setpoint is the speed reference defined in the PROFIdrive profile It is scaled such that 32768 to 32767 is 200 to 200 of the maximum speed clamp Pr 1 06 The converted value is then written to drive digital speed reference 1 Pr 1 21 The formula used for this conversion is _ Main Setpoint x Max Speed Clamp Pr 1 21 Soe gage Example 1 Open loop drive The drive maximum speed clamp Pr 1 06 50Hz the main Setpoint value sent from the master to the drive is 13107 Giving _ 13107 x 50 Pr 1 21 16384 40 0H
14. AoeBa7 suo Jo Hesso uononpoaul sonsouBeiq jeoujoe 3 Q e 3 e m 3 a 12 12 Menu 60 Local Solutions access Menu 60 provides a method of allowing a PROFIBUS DP master to adjust parameters on the SM PROFIBUS DP V1 module independently of the slot number the module is installed to The SM PROFIBUS DP V1 node is accessed using its PROFIBUS DP address in conjunction with menu 60 To change a parameter on SM PROFIBUS a non cyclic message should be sent to the node using menu 60 as the destination Table 12 20 Local slot configuration parameter access SM PROFIBUS DP V1 SM PROFIBUS DP V1 SM PROFIBUS DP V1 in slot 1 in slot 2 in slot 3 Pr 60 01 Pr 60 51 Pr 15 01 Pr 15 51 Pr 16 01 Pr 16 51 Pr 17 01 Pr 17 51 Commander SK only Parameter A Menu 60 parameters are only accessible from the PROFIBUS DP network using non cyclic data access methods For more details see section 8 1 What is non cyclic data 12 13 Mapping to SM Applications parameters SM PROFIBUS DP V1 can read and write data directly to and from internal registers in an SM Applications module The mapping parameters are shown in Table 12 21 Table 12 21 SM Applications parameters Lowest SM SM Applications parameters Application Slot _Pxx PLC Registers Pr 70 xx Pr 100 xx Pr 130 xx Pr 160 xx _Qxx PLC Registers Pr 71 xx Pr 101 xx Pr 131 xx Pr 161 xx _Rxx PLC Registers Pr 72 xx Pr 102 xx Pr 132 xx Pr 162 x
15. Internal error Flash transfer error The SM PROFIBUS DP V1 was unable to upload the configuration parameters from its flash memory to the drive uoneljejsut Eupen leouje 3 Invalid fieldbus specific data SM PROFIBUS DP V1 has detected an invalid data record E g the stored I amp M data has an invalid checksum ETGEN SM PROFIBUS DP V1 overtemperature If the temperature inside the SM PROFIBUS DP V1 exceeds 82 C the SM PROFIBUS DP V1 will trip the drive Inter option communication error An inter option communications time out has occurred but SM PROFIBUS DP V1 is unable to determine the reason for the error Communication error to slot 1 Communication error to slot 2 Communication error to slot 3 Not Commander SK Direct communications between the SM PROFIBUS DP V1 and an SM Applications in another slot has timed out Firmware incompatible The hardware revision level does not support the installed firmware version If DP V1 functionality is required then replace the module with a DP V1 compatible module If DP V1 functionality is not required then install firmware version V03 01 01 or earlier Internal watchdog error 10 10 Internal software error Module serial number Table 10 15 Module serial number Internal error Cycle power to the drive to reset from this trip If trip persists replace the SM PROFIBUS DP V1 The serial number is
16. PROFIBUS DP communications will be stopped The host drive will load and store its default parameter values Default parameter values for the SM PROFIBUS DP V1 will be loaded SM PROFIBUS DP V1 default parameter values will be stored in the backup copy in SM PROFIBUS DP V1 flash memory The SM PROFIBUS DP V1 will reset and re initialise using the default values Storing SM PROFIBUS DP V1 parameters backup Table 12 18 Store to SM PROFIBUS DP V1 flash memory OFF OFF 0 to ON 1 RW Option slot parameters are stored in the host drive memory and SM PROFIBUS DP V1 will always use these values during initialisation to configure itself If a new SM PROFIBUS DP V1 is installed to the same slot it will communicate using the same settings as the previous SM PROFIBUS DP V1 Using Pr MM 31 it is possible to store the parameter configuration as a backup copy in the SM PROFIBUS DP V1 module This allows the module to contain a backup copy of its configuration that may be restored using Pr MM 33 See section 12 11 Restore previous SM PROFIBUS DP V1 configuration This is of particular use when setting up a module to send to site as a replacement or as a method of keeping a backup copy of the SM PROFIBUS DP V1 settings that may be used in the event of a drive failure If the stored values in the drive are for a different type of Solutions Module the drive will 82 trip with a slot error The slot configuration parameters
17. Switching On Inhibited state Enable the drive and accelerate to the specified setpoint Disable Operation Enable RFG Inhibit the drive Drive coasts down ramp function generator to zero or tracking and into the Switched On status Enables the ramp function generator output Reset RFG Unfreeze RFG Ramp function generator output is set to zero Main contactor remains in the drive is not isolated from the supply drive ramps down along the current limit or at the DC bus voltage limit Unfreezes the ramp function generator output Freeze RFG Enable Setpoint Freezes the current setpoint from the ramp function generator Selected value at the ramp function generator input is switched in Inhibit Setpoint Fault Acknowledge Selected value at the ramp function generator input is set to 0 Group signal is acknowledged at a positive edge the drive is in the fault status until the fault has been removed and then goes into switch on inhibit state No meaning JOG1 ON Prerequisite Operation is enabled and Main Setpoint 0 The drive accelerates as fast as possible to jogging setpoint Pr 1 05 in the forward direction JOG1 OFF JOG2 ON The drive brakes as fast as possible along the RFG if JOG1 was previously ON and goes into operation enabled at standstill Prerequisite Operation is enabled and Main Setpoint 0 The drive accelerates as fast as possible to joggin
18. block mapping should be used See section 12 6 Block mapping on page 78 12 13 1Single SM Applications installed Consider a Unidrive SP with the following configuration Slot 1 Vacant Slot 2 SM Applications module Slot 3 SM PROFIBUS DP V1 module If a parameter read request comes over PROFIBUS DP to read Pr 71 08 this will be re directed to the SM Applications module in the lowest slot number slot 2 and the value in _Q08 will be returned If a parameter read request comes over PROFIBUS DP to read Pr 131 08 this will be sent straight to the SM Applications module in slot 2 and the value in _Q08 will be returned If a parameter read request comes over PROFIBUS DP to read Pr 101 08 this will be sent straight to the SM Applications module in slot 1 As there is no SM Applications module installed in slot 1 an error message will be returned indicating that the parameter does not exist 12 13 2Dual SM Applications installed Consider a Unidrive SP with the following configuration Slot 1 SM Applications module Slot 2 SM Applications module Slot 3 SM PROFIBUS DP V1 module If a parameter read request comes over PROFIBUS DP to read Pr 71 08 this will be re directed to the SM Applications module in the lowest slot number slot 1 and the value in _Q08 will be returned If a parameter read request comes over PROFIBUS DP to read Pr 131 08 this will be sent straight to the SM Applications module in
19. e upldOMd 9ou9J9jo1 suo Jo fuesso o SM PROFIBUS DP V1 User Guide 57 Issue Number 10 www controltechniques com 10 7 58 Table 10 9 PROFIBUS DP operating status codes Pr MM 06 Parameter Description Network ok Indicates the number of processed cyclic messages per second Indicates that the PROFIBUS DP master has established communications with the SM PROFIBUS DP V1 If operating status changes briefly to 1 and returns to 0 the slave configuration does not match the configuration in the master controller Indicates that the SM PROFIBUS DP V1 has initialized correctly Initialised and is waiting for the PROFIBUS DP master to initialize communications Indicates that part of the SM PROFIBUS DP V1 initialisation sequence was not successful If this fault persists after a power cycle replace the SM PROFIBUS DP V1 Configuration Indicates an invalid setting in the SM PROFIBUS DP V1 Error configuration parameters Network ok No Data Transfer Internal Hardware Failure If a mapping configuration error or network error is detected the drive may trip Refer to section 10 8 Drive trip display codes on page 60 for details about the drive trip display Mapping status Table 10 10 SM PROFIBUS DP V1 mapping status 0 0 to 255 RO If the SM PROFIBUS DP V1 operating status parameter Pr MM 06 indicates a value of 3 a mapping configuration error has been detected The reason for th
20. 1 When reset to 0 the drive will operate under terminal control REMOTE Set to 1 to select digital speed reference 1 Pr 1 21 and reset to 0 to select analog reference 1 Pr 1 36 REMOTE directly controls Pr 1 42 so reference selector Pr 1 14 and preset selector Pr 1 15 must both be set to O default for the REMOTE bit to work properly JOG REV Set to 1 to jog the motor in reverse This signal needs to be used in conjunction with the ENABLE bit This signal is overridden by a RUN RUN REV RUN FWD command Reserved Reserved TRIP Set to 1 to trip the drive at any time The trip display on drive will be CL bit and the trip code will be 35 AUTO b7 has no effect on this function The trip cannot be cleared until TRIP is reset to 0 A 0 1 transition of the RESET bit will reset the drive from a trip condition If the reason for the trip is still present or another fault condition has been detected the drive will immediately trip again When resetting the drive it is recommended to check the status word to ensure that the reset was successful before attempting to re start the drive KEYPAD WDOG This watchdog is provided for an external keypad or other devices where a break in the communication link must be detected The watchdog system can be enabled and or serviced if this bit is changed from zero to one while the control word enabled Once the watchdog is enabled it must be serviced at l
21. 1 or 0 Block mapping A method of mapping a range of consecutive parameters using only two ascending parameters This means that by using two mapping parameters up to 32 consecutive mappings may be made See section 12 6 Block mapping on page 78 for more information Byte A collection of eight binary digits that collectively store a value This may be signed or unsigned Casting The process of changing between data sizes without changing the value represented e g changing from 16 bit to 32 bit Compression By default SM PROFIBUS DP V1 transmits values as 32 bits on the network It is possible by using data compression to reduce the number of bits transmitted when sending 16 bit or smaller values on the network to 16 bit 32 bit values will still be transmitted as 32 bit values This has the advantage of reducing the volume of traffic on the network and allowing more parameters to be mapped within the SM PROFIBUS DP V1 Consistency Describes how data is transmitted between nodes on the network If data is consistent it is transmitted from node to node as a single entity Thus preventing data corruption where multiple bytes are transmitted or received individually Control word A collection of binary digits that are used to control the drive Features typically include directional controls run controls and other similar functions CT Single Word non cyclic see Mode 1 non cyclic in this section Cyclic channel An area of the
22. 2 e E E Q D E a Ino 52 Table 9 2 control word bit functions Function ENABLE Description Set to 1 to enable the drive Resetting to O will immediately disable the drive and the motor will coast to a stop The external HARDWARE ENABLE signal must also be present before the drive can be enabled RUN FWD Set to 1 with ENABLE set to 1 to run the motor in the forward direction When reset to 0 the drive will decelerate the motor to a controlled stop JOG FWD Set to 1 to jog the motor forward This signal needs to be used in conjunction with the ENABLE bit This signal is overridden by a RUN RUN REV or RUN FWD signal RUN REV Setto 1 with ENABLE set to 1 to run the motor in the reverse direction When reset to 0 the drive will decelerate the motor to a controlled stop FWD REV Set to 1 to select the reverse direction Set to O to run in the forward direction The RUN signal is used to start and stop the motor RUN Set to 1 to run the motor FWD REV is used to select the direction of motor rotation When reset to 0 the drive will decelerate the motor to a controlled stop NOT STOP Set to 1 to allow the sequencing bit to be latched If NOT STOP is zero all latches are cleared and held at 0 Pr 6 04 must be correctly set for this to unction AUTO Set to 1 to enable fieldbus control of the drive Control Word The Control Word Enable Pr 6 43 must also be set to
23. 24 as long words double words 32 bits data compression can be used to reduce this size see section 12 5 Cyclic data compression for more information GSD compatibility For Profibus DP V1 features to be available to the PLC the appropriate DP V1 GSD file must be installed and the drive configured in the master PLC as a DPV1 slave If a DP VO GSD file is installed then the DP V1 features of SM PROFIBUS DP V1 will not be available SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Safety information GSD compatibility flowchart 6 5 1 can be used to determine which GSD file should be used The flowchart in Figure 6 ity flowchart Figure 6 1 SM PROFIBUS hardware and GSD file compatibil introduction Mechanical Electrical installation installation Extended diagnostics SS p No p b f PROFIBUS D n es lt ionali Bie gi gt cN Mentor MP gt W gt No gt E 2 P gt p Be SM PROFIBUS NS Yes q F hardware issue OY Getting WIR Cyclic Non cyclic Control and started MATES data data status words d CK gt SM PROFIBUS N H gt 4 Ee 2 firmware V 03 02 03 CM gt lt Q orlater 4 A P ww i PROFIdrive Diagnostics profile V4 im Unidrive SP Update SM PROFIBUS module to hardware issue 3 Update SM PROFIBUS module firmware No N p M PROFIBUS N firmware earlier than gt
24. 8 3 PROFIBUS DP V1 Compatibility The additional features that PROFIBUS DP V1 provide are only available on drives installed with SM PROFIBUS DP V1 with firmware V03 02 00 or later sonsouBeiq peoueA py e upIHO d DESEE When the network compatibility mode is used Pr MM 41 1 or 2 DP V1 functionality and the PROFIdrive V4 profiles will not be available 95u98J9joeJ In order to use the DP V1 features the appropriate DP V1 GSD file must be installed in the master PLC Jo Hesso SM PROFIBUS DP V1 User Guide 31 Issue Number 10 www controltechniques com 8 4 PROFIBUS DP V1 Overview The PROFIBUS DP V1 specification allows for the standard cyclic process data as defined in the DP VO specification and the additional acyclic parameter data to be transmitted in the same bus cycle The DP V1 message is contained within the acyclic part of the PROFIBUS DP cycle and uses the slave node address to access the parameter channel For further details of the PROFIBUS DP V1 functionality refer to the official PROFIBUS website at www profibus com The following services will be supported Class 1 Master Read and Write Class 2 Master Read and Write Class 2 Master Initiate Connection Class 2 Master Abort Connection A class 1 master must be in data exchange with the slave before it can perform a request via the DP V1 channel A class 2 master must initiate the connection with the slave before sending the DP V1 message li
25. A SAVING ci ihe haste ni rn n E ei T eens SECURE DISABLE SAFE TORQUE OFF Serial number iaa aida Setup TOW Chat taotum beso drei re E LEE Ii Single SM Applications sssssesssseseeeseeseneeerennenen nnne nnne SINGIG oro e Single word mode H Single word non cyclic data ooococonoccconococcnonaccnonancnconancnnonncnnano ca nano cnn naar cnn Solutions Module identification saseda aia i 2 Specification o Speed Control State Machine So Spurs is 53 Standard Telegram livianas t ET ga Status word E Status word bit functions 3 Stopping the motor using PROF drive EN 3 Storing parameters A PES Supported PROFldrive PNUS eene 39 Ad TEE 22 T z Task id Cde Sheanar rero rin ne rnm a re rene er rU ditare Task trigger Telegrams Terminal descriptions oocoonccconnicinncccononcccnoncccnnanoconnnn ca nnnrcn crac BK la e WEE Trip display COd S dere er ERR ees U Se A e re tre lepide aire tercii fia 3 2 te TEEN Unidrive SP control word E UNSYNG 5 en cene eie ot bed n eb o a aen eb etai e ete ta V V4 0 General State Machine Diagram cocccinnccccinocccononccconancnconancn none ncn conan Virtual parameter reference sssssssssssseseeneeeeeeeener enn SM PROFIBUS DP V1 User Guide 107 Issue Number 10 www controltechniques com Ww Warnings Watchdog Word order EE Writing parameters using CT Single Word Writ
26. Abort CT single word cooooccconocccccnocaconoccncononcncnnnncnnonononnnnn cc nnnn nc naar rra nennen 43 ADOVE SEUS EE 53 Actual EEN 77 At speed Ai Avoiding block mapping coooccccccoccconacccononcconononononno cono cnn nnnn nn cnnn rca nana ncn nana 80 B Backup aE ea ax 82 BelowW s t speed nose ne ede ti id id 53 Byle Orde T O A dads 76 C iS CEDE Cable shield connections ertet itn ati Cautions oo eee eee Complete parameter reference Compliance ssss Configuration error ze tede eot A ER ger Configuring the profile ooo eben RD eene Connections Connectors Consistency COMENES O EE Control Word iiie eode bebe fleo bees be dta Control word bit functions zs CT single word protocol 2 ie ee E eder E Ce th e OE Rep eta Current UE Custom data formats ocoococcccinoccccnoocccononcnnonncnnonnnnnnnnn conca o cnn nan cra nann rca nnne Cyclic dada LC D Data Compression 2 ete teda A e DR LE Sedes 7T Data endian format nennen nnne 76 Data format BIC Nuet le NEE 19 Data Mapping errors ui aabt 29 Data rate 18 56 Data rates 57 Device loading 2 15 Diagnostic flow chart eene ee eee eret un 62 Diagnostics oie get ene eb E Re Resta 55 Direct dataxmapplng 5 einer ta ia 80 104 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Disabling cyclic data channels oco
27. Control States In Detail Voltage switched off Control word update Pr 6 42 None Other actions Supply voltage disconnected Not ready for switch on None Supply voltage connected drive is inhibited Ready to switch on AUTO set to 1 All other bits reset to 0 Pr 6 43 set to 1 Ready ENABLE JOG and RUN reset to 0 Read and cache Pr 1 06 for speed reference calculations uoneuuojul uoneljejsut jeoiueuoeIA uononpoaul Enable operation ENABLE set to 1 JOG and RUN reset to O Select STOP RAMP mode Set Pr 6 01 1 Set preset ref 1 to 0 Set Pr 1 21 0 Select preset ref Set Pr 1 14 3 Select preset ref 1 Set Pr 1 15 1 Disable ramps Set Pr 2 02 0 ETGEN eou093 Ramp function generator enabled output ENABLE and RUN set to 1 Set preset ref 1 to 0 Set Pr 1 21 0 Enable ramps Set Pr 2 02 1 Ramp function generator acceleration enabled ENABLE and RUN set to 1 Set preset ref 1 to 0 Set Pr 1 21 0 Set Ramp Hold Set Pr 2 03 1 Operating status ENABLE and RUN set to 1 Convert MAIN SETPOINT to Hz or rpm and set Pr 1 21 Release ramp hold Set Pr 2 03 0 Inhibit operation active ENABLE JOG and RUN reset to 0 Select STOP RAMP mode Set Pr 6 01 1 OFF 1 active stage 1 ENABLE set to 1 JOG and RUN reset to O Select STOP RAMP mode Set Pr 6 01 1 OFF 1 active stage 2 ENABLE reset to 0 None OFF 2 active ENABLE rese
28. DP V1 module is reset LE On drives with multiple option module slots the applications menu 20 may be saved if 20 an SM Applications module is installed menu 20 is stored in the SM Applications module s memory See the SM Applications documentation for more information SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 5 11 Network compatibility mode Table 5 10 Network compatibility mode 0 SM PROFIBUS DP V1 0 to 3 uoneuuojul RW A backwards compatibility mode has been added in SM PROFIBUS DP V1 firmware V03 01 00 and later Pr MM 41 can be used to allow the SM PROFIBUS DP V1 module to appear as either a Unidrive Classic Mentor Il or a Commander SE this only applies to the network and not the control status words and parameter sizes The module must be configured to match the existing network settings of the drive it is replacing including any parameter mappings uononpoaul uoneljejsu JeoiueuoeN Table 5 11 Compatibility mode settings Pr MM 41 Description SM Profibus DP V1 default Unidrive Classic Mentor II uoneljejsut Jeoupe 3 Dags Commander SE Extended Diagnostics using PROFIBUS ID 0x0B4F so RES Using the compatibility mode allows the replacement of drives on a PROFIBUS DP network without having to make any changes to the master network configuration it changes the identity code of the module so that the master believes that a different d
29. Description 110 Configuration read error An error has occurred reading the IN cyclic data mapping configuration parameters from the drive Pr MM 10 to Pr MM 19 Invalid source parameter One or more parameters specified in the IN cyclic data mapping configuration Pr MM 10 to Pr MM 19 is outside of the allowed range for PROFIBUS DP The allowable parameter range is from 0 00 to 199 99 Read mismatch One or more parameters specified in the IN cyclic data mapping configuration Pr MM 10 to Pr MM 19 cannot be used as a source parameter for IN data The parameter may not exist Hole in IN data mapping configuration IN cyclic data mapping parameters are not contiguous Pr MM 10 to Pr MM 19 It is not possible to have an unused parameter in the middle of the cyclic data uoneuuojul uoneljejsut Eupen uomeljejsur uononpoaul jeouioe 3 Inter option communications error A request to set up an inter option communications block failed Either the server does not support block transfer or parameters were not legal Too many IN data objects mapped After expanding ranges of block mappings too many IN cyclic data channels configured Mapping over length Total size of all IN cyclic data mappings has exceeded the total size of the cyclic data Register mode objects exceeded More than ten cyclic IN data channels have been selected with direct data mapping mode Multiple no
30. E E EN D E a Jo Hesso 54 Table 9 4 Drive status word bit functions Parameter Pr 10 10 Description Regenerating Unidrive SP Affinity Commander SK and Digitax ST Indicates that power is being transferred from the motor to the drive Mentor MP only Indicates that power is being transferred from the drive to the supply Regen mode Unidrive SP only Indicates that power is being transferred from the Unidrive SP to the supply Pr 10 11 Dynamic brake active Indicates that the braking IGBT is active If the IGBT becomes active this parameter will remain on for at least one second Pr 10 12 Dynamic brake alarm Dynamic brake alarm is set when the braking IGBT is active and the braking energy accumulator is greater than 75 Pr 10 13 Direction commanded Direction commanded is set to 1 if the Pre ramp speed reference Pr 1 03 is negative and reset to 0 if the Pre ramp speed reference is zero or positive Pr 10 14 Direction running A 0 indicates forward direction and a 1 indicates reverse direction The Source of this bit is Pr 2 01 for open loop mode and Pr 3 02 for closed loop and servo modes Pr 10 15 Mains loss Not Mentor MP Mains loss indicates that the drive has detected a mains loss from the level of the DC bus voltage This parameter can only become active if mains loss ride through or mains loss stop modes are selected Refer to Pr 6 03 in the drive Advanced User Gu
31. Figure 3 1 Figure 3 1 Installing a Solutions Module The Solutions Module connector is located on the underside of the module 1 Push this into the Solutions Module slot located on the drive until it clicks into place 2 Note that some drives require a protective tab to be removed from the Solutions Module slot For further information refer to the appropriate drive documentation 12 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 4 Electrical installation g BS 4 1 Terminal descriptions The SM PROFIBUS DP V1 has a standard 9 way female D type connector for the PROFIBUS DP network uononpoaul Figure 4 1 SM PROFIBUS DP V1 terminals JEoiueuoe 8911399 3 3 a S 2 o 3 E a EI D a ES o El 9 5 a 2 Ed P aQ mo oo SO 22 ye o Figure 4 2 SM PROFIBUS DP V1 D Type pin out RxD TxD P Red Cable screen braided shield CNTR P OV ISO for termination only SpJOA SEI pue jouog RxD TxD N Green 5V ISO for termination only sonsouBeiq Table 4 1 D Type connections D type Terminal Function Description RxD TxD P Positive data line B Red RxD TxD N Negative data line A Green pA eioud peo ueApy SAUPIJO YA SseJnjeoj 5V ISO 5V isolated use only for termination resistors 0V ISO OV isolated use only for termination resistors CNTR P RTS line Shield Cable shield connection se njea AoeBa7 Control
32. I amp M data has an invalid checksum SM PROFIBUS DP V1 overtemperature If the temperature inside the SM PROFIBUS DP V1 module exceeds 82 C SM PROFIBUS DP V1 will trip the drive Inter option communication error An inter option communication time out has occurred but SM PROFIBUS DP V1 is unable to determine the reason for the error Communication error to slot 1 Communication error to slot 2 Communication error to slot 3 Communications between the SM PROFIBUS DP V1 module and an SM Applications module in another slot has timed out Firmware incompatible The hardware revision level does not support the installed firmware version If DP V1 functionality is required then replace the module with a DP V1 compatible module If DP V1 functionality is not required then install an earlier firmware version 03 01 01 or earlier Internal watchdog error 100 Internal software error www controltechniques com Internal error Cycle power to the drive to reset from this trip If trip persists replace the SM PROFIBUS DP V1 SM PROFIBUS DP V1 User Guide Issue Number 10 15 Glossary of terms Address This is the unique network identification given to a networked device to allow communication on a network When a device sends or receives data the address is used to determine the source and the destination of the message Bit A binary digit this may have the value of
33. PROFIBUS DP data rate parameter can be changed but this will not affect the data 56 rate at which the SM PROFIBUS DP V1 communicates The data rate display will be updated when SM PROFIBUS DP V1 is re initialized SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Table 10 6 Network data rate status Auto detecting 12M 6 0M 3 0M 1 5M 500k 187 5k 93 75k 45 45k 19 2k 9 6k uoneuuojul 1 uononpoau uoneljejsut Jeolueyooypy jeoujoe 3 ol CO N ol o A WwW N gt lo ETGEN 10 5 Data format Table 10 7 Data format 4 0 32 100 131 amp 200 to 228 RW The default data format is four cyclic words each cyclic data channel is mapped to a drive parameter LESE The maximum number of 16 bit data words that is possible is thirty two in and out with only cyclic data thirty one in and out with Mode 1 non cyclic data and twenty eight in and out with PPO4 word mode o yO Do 58 9 s 0 az oc 10 6 Operating status Table 10 8 Operating status N A 3 to 9999 sonsoubeig RO The operating status of the SM PROFIBUS DP V1 can be viewed in the operating status parameter Pr MM 06 When the SM PROFIBUS DP V1 is communicating successfully with the PROFIBUS DP master controller Pr MM 06 will give an indication of the number of cyclic data messages that are being processed per second sounjea seJnjeaj yano KoeBe1 peoueApy
34. SM PROFIBUS DP V1 network node address Telegram selection Unsigned16 Returns the currently selected telegram Fault message counter Unsigned16 Incremented by one when the fault buffer changes Fault number Array n Unsigned16 Contains the fault numbers of the recorded faults see Table 11 8 Fault Buffer Associated PNUS on page 74 Fault buffer scaling Array n Unsigned16 Defines the number of fault situations and the number of faults per situation Drive Unit ID Array n Unsigned16 Identifies the drive unit Profile ID Unsigned16 Identifies the PROFldrive profile version Control Word Unsigned16 Directly maps to the PROFIdrive control word Status Word Unsigned16 Directly maps to the PROFldrive status word Parameter Access Identification Array n Unsigned16 Parameter channel request lengths Drive Object ID Array n Unsigned16 Identifies the drive object List of all DO IDs Array n Unsigned8 Returns a list of all axis IDs Defined parameters list Array n Unsigned16 Each PNU in the range contains an array of PNUs and drive parameters available Only PNU980 is used and contains an array of parameters starting with the PROFIdrive PNUs excluding PNU980 989 followed by the drive parameters The array elements are assigned in increasing sequence and consecutively If an element contains a value of ze
35. Switching On Inhibited Coast Stop control word bit 1 Drive is inhibited motor coasts down to zero speed status set to Switching On Inhibited UYOREIIEISU ononpowul Jeolueyooy uoneljejsut Jeoupe 3 11 8 Jogging In order to use the jogging functions the drive must be in the operational state 84 and at standstill and each of the three bits 4 5 and 6 of the control word must be set to a 0 if any of these three bits are set to a 1 and the drive is at standstill then the jogging functions are disabled and the main setpoint reference is used The three control bits 4 5 and 6 have no effect when in jog mode To leave jog mode both jog bits 8 and 9 must not be active and the drive must be at standstill the normal control bits 4 5 and 6 will then be active ejep oioKo UuoN The jog direction is controlled by bit 8 forward and bit 9 reverse of the control word as illustrated in Figure 11 2 ETE The jog setpoint is set in Pr 1 05 o yO Do 58 9 s gt 0 az oc If both jog forward and jog reverse setpoints are selected at the same time bits 8 and 9 are both set to a 1 then there will be no change to the jog direction i e if jog forward was previously selected then the motor will continue to jog forward and if jog reverse was previously selected then the motor will continue to jog in the revese direction sonsouBeiq The following sequence can be used to jog the motor in the forward direct
36. a loaded into the SM PROFIBUS DP V1 during manufacture and cannot be changed It contains the last six digits of the ten digit serial number on the label 10 11 be used Troubleshooting In order to assist in configuring the network the Diagnostic flow chart on page 62 could SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 61 n o m E o 9 a a soinjea 3949319191 sonsoubeig Q e 3 e m 3 a peoueapy SAMPIJOYA Jo Hesso 62 Remove all power wait 30 seconds re apply power If problem persists exchange module Check Pr MM 49 and Pr MM 50 manual Figure 10 1 Diagnostic flow chart Is Pr MM 06 gt gt 0 x See Section 5 Js Pr wus 2 See Section 5 N Za 4 Y As Pr MM 06 refer to error 3 codes in the E See Section 5 Y SM PROFIBUS DP V1 Is ready and waiting for the master Pr MM 06 1 The Master Is Communicating with the SM PROFIBUS DP V1 Y y A network hardware tester can be used to simplify this Check wiring data rate and termination Check the drive mappings in Pr MM 10 Pr MM 29 See Sections 7 11 12 and 13 See Section 12 5 Y y Check data size settings in Pr MM 05 Pr MM 39 and Pr MM 40 Check the master is sending data on the network Y y If data compression is on Pr MM 34 note data sizes wil
37. and Quick Stop 66 respectively SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Safety information Figure 11 1 PROFIdrive V4 General State Machine Diagram Mechanical Introduction installation Dou enges pJOM JONUOD doe om HO Buroyms oe PJOM 10u00 uonesado ejqesiq 10 Dateien IInspueis Electrical installation Getting GSD started Files P410M IONUOD uonesedo aiqesiq JO pajoaJap Uispueg pJOM 10u09 dog jseog Control and status words Cyclic Non cyclic data data Diagnostics profile V4 PION ONUOD do mp PIOM 10u09 N 9 0 18 SL EN TTT TTC PION snieis uoneuedo pe 18 PION uo uonejedo eigesia pJOM ouo uoneJedo alqeuz Dou SMIS UO Pepe CS pJOM OUD PIOM SMEIS uO Bulysymg 404 peas ZS 0 18 SL UNTIIIDIIINIITITI PION 007 PION OUOD doe yomo dos yamno ou JO pue doe seog ou 440 PIOM KO dog seog Dou snieis Peiiqiuur uo Butuows Le UO Dous 19MOd del dE Advanced features Quick reference Legacy features Ajuoudjsewo SOp ON Auoud mo7 e Ajuoud uBiH e Aysoud sauf PJOM 10u00 dog 1se02 0 18 SL ee Be DJOM OJJUOD dois mp 40 0 18 SL BEI INI PION KO dog seog Glossary of terms SM PROFIBUS DP V1 User Guide Issue Number 10 www controltechniques com Figure 11 2 PROFIdrive V4 Speed Control State Machine peedsivy peeds je JON 0 10jeJeduio peeds 90 01 4d OF 31d prom steig
38. bit error code in IN word 3 for the reason why ite Parameter Value TASK ID 8 could not be executed Check the 32 bit error code in IN word 3 for the reason why vA ao Peouerpy SALPIJO YA sa n e9 ite Parameter Value Parameter is read only and cannot be 32 bit written to 952u9J9jeJ Jo Hesso SM PROFIBUS DP V1 User Guide 49 Issue Number 10 www controltechniques com Table 8 17 shows an example set of data words for PPO 4 Word mode This example will write a value of 1553 9 rpm 32 bit value is 15539 to the digital speed reference 1 Pr 1 21 to the drive Table 8 17 PPO 4 Word write request example OUT data Hex value word a at wine SE OUT word 0 0x8001 TASK ID 8 MENU 1 OUT word 1 0x1500 PARAMETER 21 0 OUT word 2 0x0000 DATA HIGH word 0 OUT word 3 Ox3CB3 DATA LOW word 15539 Table 8 18 shows an example successful write response to the write instruction illustrated above in Table 8 17 Table 8 18 PPO 4 Word write response example RESPONSE IN word O 0x5001 ID 5 IN word 1 0x1500 PARAMETER 21 IN word 2 0x0000 DATA HIGH word 0 IN word 3 Ox3CB3 DATA LOW word 15539 If the PPO 4 command is left in the data words the write will be executed on every poll 50 of the network effectively providing a continuous wri ite Care should be taken to ensure the parameters for the write are setup before the
39. controltechniques com 95u9J9jeJ Jo Hesso Table 8 14 shows an example set of data words for PPO 4 Word mode This example will read the value in the post ramp speed reference Pr 2 01 in the drive Table 8 14 PPO 4 Word read request example OUT data Hex value OUT word 0 0x6002 0 MENU 2 OUT word 1 0x0100 PARAMETER 1 0 OUT word 2 0x0000 DATA HIGH word 0 OUT word 3 0x0000 DATA LOW word 0 Table 8 15 shows an example successful read response to the read instruction illustrated above The value returned is 15284 which equates to 1528 4 rpm Table 8 15 PPO 4 Word read response example 0 IN word 0 0x5002 E eeu IN word 1 0x0100 PARAMETER 1 IN word 2 0x0000 DATA HIGH word 0 IN word 3 0x3BB4 DATA LOW word 15284 It is important that the correct module is selected from the GSD file to ensure that the PPO 4 word mode block is consistent otherwise data skew may occur If the OUT data words 0 and 1 are left at the same value the target parameter will be read or written to depending on the TASK ID on every data cycle If the PPO 4 command is left in the data words the read will be executed on every poll of the network effectively providing a continuous read Care should be taken to ensure the parameters for the read are setup before the TASK ID is changed from 0 to prevent incorrect data in the returned value 48 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number
40. cyclic data words Refer to section 12 8 Custom data formats for full details seinjeoj peouEA py SAUPIJO YA SeJnjeoj KfoeBe1 If a mapping parameter is set to an invalid value e g destination parameter is read only or parameter does not exist the SM PROFIBUS DP V1 will indicate a configuration error in the operating status parameter Pr MM 06 The reason for the configuration error will be indicated by the mapping status parameter Pr MM 49 Refer to section 10 7 Mapping status for more details 95u9J9jeJ suo Jo Auesso o The following sections show some example data formats that can be selected and the parameter mapping that will apply by default to each format SM PROFIBUS DP V1 User Guide 27 Issue Number 10 www controltechniques com 7 2 1 Two cyclic channels only default compression off This data format provides two cyclic data channels with no non cyclic data The total data length is four words in and four words out To select this data format set Pr MM 05 4 This data format is selected by default Table 7 3 Mapping for four cyclic data words Data word Parameter Default mapping IN word 0 1 Pr MM 10 Pr 10 40 status word IN word 2 3 Pr MM 11 OUT word O 1 Pr MM 20 OUT word 2 3 Pr MM 21 Pr 2 01 post ramp speed reference Pr 6 42 control word Pr 1 21 digital speed reference 1 7 2 2 Three cyclic channels with Mode 1
41. digital I O The reference for the Source or target parameter is entered in the mapping parameter in the form MM PP where uoneljejsu Eupen uomteieu Jeoupe 3 MM menu number of the target source parameter PP parameter number of the target source parameter Table 7 2 SM PROFIBUS DP V1 mapping parameters IN channel Mapping parameter OUT channel Mapping parameter Pr MM 10 Pr MM 20 Pr MM 11 Pr MM 21 Pr MM 12 Pr MM 22 Pr MM 13 Pr MM 23 Pr MM 14 Pr MM 24 Pr MM 15 Pr MM 25 Pr MM 16 Pr MM 26 Pr MM 17 Pr MM 27 Pr MM 18 Pr MM 28 Pr MM 19 Pr MM 29 So peueijs aso Bumeo o o 1919 ejep oioKo UoN SpJOM smeis pue ouoy o CO di O aj BY WwW N gt oj CO Jl O aj A oj N gt sonsouBeiq LE A cyclic data channel does not use decimal points For example in Open Loop mode digital speed reference 1 Pr 1 21 has units of Hertz accurate to 1 decimal place To write a value of 24 6Hz to Pr 1 21 the value must be transmitted as 246 Block mapping can be used to map several words to consecutive drive parameters Full details about block mapping can be found in section 12 6 Block mapping When the data format is configured using Pr MM 05 the SM PROFIBUS DP V1 will communicate using the same number of data words for IN and OUT data It is however possible to configure the SM PROFIBUS DP V1 to communicate with different numbers of IN and OUT
42. message is not received within the specified period the network loss trip is triggered If the trip is generated by SM PROFIBUS DP V1 the trip display on the drive will be SLx Er where x is the slot number where the trip originated The SM PROFIBUS DP V1 error code parameter Pr MM 50 will show 65 when a network loss trip has occurred LEE The network loss trip is not enabled internally until cyclic data has been detected This prevents spurious network loss trips while the PROFIBUS DP master controller is initialising the PROFIBUS DP network Figure 12 1 Network Loss Trip Trip Occurs Here y Messages Per Second Healthy Drive Trip Time Set In Pr MM 07 Communications If the network loss trip time is reduced too far spurious network loss trips may occur due to a time out occurring before the next message has chance to arrive The network loss trip time should be set such that a minimum of four messages will be received in the specified time period under normal operating conditions The network loss trip can be disabled by setting Pr MM 07 to O It is the user s responsibility to ensure that adequate safety precautions are taken to prevent damage or injury by disabling the drive in the event of a loss of communications SM PROFIBUS DP V1 User Guide 75 Issue Number 10 www controltechniques com uoneuuojul uoneljejsut JeoiueuoeIN ETGEN mm o m E o 9 a a eoueJejoel seumeej Ssounjeoj K
43. network configuration it changes the identity code of the module so that the master believes that a similar type drive is present for a particular node o yO Do E 9 s 0 az oc When using the compatibility mode the drive can only act within the limitations of the drive it is simulating i e four IN words and four OUT words sonsouBeiq LESE When using compatibility mode ensure that the correct GSD file for the simulated drive is being used and not the actual drive Unidrive SP Digitax ST Mentor MP Affinity Commander SK Depending on the application an SM Applications module may be needed to account for any changes between the functionality of the two drives i e any changes between the control and status words Seinjeoj peouEA py SAUPIJOYA sounjeay oeBe1 or Mentor II on the network Changes to the control method and data size differences OG This mode only changes the network to emulate the Commander SE Unidrive Classic must still be considered This mode does NOT allow direct replacement 2999 91 IND When using extended diagnostics Pr MM 41 3 the appropriate GSD file using the correct PROFIBUS identification code 0x0B4F must be used e g SP__OB4F GSD For GSD file compatibility please refer to Figure 6 1 SM PROFIBUS hardware and GSD file compatibility flowchart on page 25 DS When the network compatibility mode is used Pr MM 41 1 or 2 both the DP V1 functionality and the
44. number of cyclic words for both IN and OUT data SeJnjeoj KfoeBe1 Table 8 2 Non cyclic over cyclic data modes Non cyclic mode Value For Mode Format Pr MM 05 Disabled None Mode 1 CT Single Word Mode 2 PPO 4 Word 2999 91 IND suo Jo Hesso Figure 8 2 shows the relationship between the value entered in Pr MM 05 and the cyclic and non cyclic data set up SM PROFIBUS DP V1 User Guide 33 Issue Number 10 www controltechniques com 8 6 Figure 8 2 Non cyclic data words Pr MM 05 Pr MM 39 Number of Input Words 04 Pr MM 40 Number of Output Words 04 No non cyclic data Mode 1 Single Word Mode 2 PPO 4 Word Mode 1 CT Single Word mode The CT Single Word Mode 1 uses one cyclic channel for non cyclic data This non cyclic sub protocol requires a specific sequence of four or six telegrams to implement the parameter access Each non cyclic word or telegram is split into two bytes to implement the sub protocol The high byte containing the control codes for each telegram and the low byte containing the data for each telegram By default cyclic data compression is disabled the CT Single Word non cyclic channel 8 6 1 34 will be 32 bits wide i e uses two words and data must be transferred on the low word If cyclic data compression is enabled the CT Single Word non cyclic channel will revert to 16
45. placing ascending parameters within the same menu into consecutive mapping parameters Consider the example in Table 12 8 Block mapping is only available when using Pr 18 xx Pr 19 xx Pr 20 xx and on the PLC registers within SM Applications 78 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Table 12 8 Block Mapping Example Mapping uoneuuoJul parameter Mapping value Description Pr MM 10 Map to 2021 as the start for the block mapping gt Pr MM 11 Map to 2026 as the end for the block mapping g Pr MM 20 Map to 2028 as the start for the block mapping S Pr MM 21 Map to 2031 as the end for the block mapping 2 This will map parameters Pr 20 21 to Pr 20 26 and Pr 20 28 to Pr 20 31 giving a total of 2 g ten mappings using only four of the mapping parameters as shown in Figure 12 2 23 5090 Figure 12 2 Block Mapping Expansions Fm 38 Input Mappings mm 10 mm 19 mappings expanded Output Mappings mm 20 mm 29 mappings expanded Using block mapping this can be extended to a maximum of 32 input and 32 output mappings when only cyclic data is used If non cyclic data is required in addition to cyclic data this reduces to 31 words input and output for Mode 1 non cyclic data and 28 words input and output for Mode 2 non cyclic data Block mapping can also be used when mapping data to the PLC re
46. slot 2 and the value in _Q08 will be returned If a parameter read request comes over PROFIBUS DP to read Pr 101 08 this will be sent straight to the SM Applications module in slot 1 and the value in _Q08 will be returned EE This feature can only be used on drives that support multiple SM Applications modules 12 14 EVENT task trigger in SM Applications Table 12 22 SM Applications EVENT task trigger The SM Applications has four EVENT tasks available for use in DPL programs and the SM PROFIBUS DP V1 can be configured to trigger one of these tasks SM PROFIBUS DP V1 User Guide 85 Issue Number 10 www controltechniques com uoneuuojul uoneljejsut Eupen ETGEN ejep oioKo UuoN n o m E o 9 a a EX DESIT M SAUDI AOU eoueJejel selnjea KfoeBe1 suo Jo Hesso uononpoaul sonsouBeiq Kayes jeoujoe y Q e 3 e m 3 a An EVENT task is triggered when the trigger parameter is actually written to and the value written 1 to 4 determines which task is actually triggered The task trigger parameter can be written to using cyclic or non cyclic data Table 12 23 EVENT task trigger parameters Trigger parameter Pr 61 40 No action EVENT EVENT1 EVENT2 Value written to trigger parameter EVENT3 Pr 61 41 No action EVENT task in slot 1 EVENT task in slot 1 EVENT2 task in slot 1 EVENTS task in slot 1 Pr 61 42 No action EVENT task in
47. to specify the source or destination parameters of the mappings When direct data mapping is enabled Pr MM 10 to Pr MM 29 are used as the actual destination and source parameters for output and input data respectively If direct data mapping mode is enabled all mapping parameters Pr MM 10 to Pr MM 29 will be reset to 0 When data compression is OFF the number of data words specified in Pr MM 05 must be an even number If an odd number is specified the appropriate parameter will be set to specify the next lowest even number of data words i e a value of 7 in Pr MM 05 will only handle six data words or three data channels This will not however change the value in Pr MM 05 Non cyclic data cannot be used when direct data mapping mode is enabled Table 12 12 Direct data mapping configurations data compression OFF Cem Description id 2to 10 The first 10 IN channels will be written directly to Pr MM 10 to Pr MM 19 and the first 10 OUT channels will be read directly from Pr MM 20 to Pr MM 29 100 to 109 Non cyclic data cannot be used in direct data mapping mode The SM 200 to 206 PROFIBUS DP V1 operating status parameter Pr MM 49 will indicate 3 and 300 to 309 mapping error code Pr MM 50 will indicate 2 80 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 LH With data compression turned off each direct mapping will use 32 bits two channels of mappings on the network This will revert to 16 b
48. xx Menu corresponding to the Solution Module and any parameter Pr xx 00 signifies parameter number 00 in any menu Minimum software versions required Table 5 1 Minimum software versions required for use with SM PROFIBUS Product Software Version SM PROFIBUS Version Unidrive SP V01 06 00 or later V01 00 00 or later Affinity V01 00 00 or later V03 00 00 or later Digitax ST V01 00 00 or later V03 00 00 or later Commander SK V01 06 00 or later V03 00 00 or later Mentor MP V01 02 00 or later V03 02 00 or later SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 5 3 Set up flow chart Figure 5 1 Set up flow chart Connect all drives together using approved cable connectors repeaters y Ensure all segments correctly terminated and termination See Section 4 powered y Ensure segment lengths are no longer 1 than the maximum See Section 4 limits y Ensure a minimum P node to node cable See Section 4 distance of 1m y Ensure no more than gt 32 devices per segment See Section 4 including repeaters y Ensure there are no more than 125 y addressed devices on See Section 4 the network y See Section 4 Set data size on node Pr MM 05 l Reset and save parameters Pr MM 32 1 amp Pr xx 00 1000 reset i Set mapping parameters in the drive Pr MM 10 Pr MM 29 y Set dat
49. 0 9 31q pue c yq p 3q PIOM Jo QUOD 9 2 juiodjes Bor uonounJj L 9 ug 10 G 4q 10 y ug Pio jo u02 dwey 31398 JUIOdJaS UIEN 0 40je1ouac ANJLA jenjov 92Ue19J0 UIYHM 10119 peeds 92ue49 0 JO jno 10410 paads Q esca 8 Hq PIOM snje s jurodjes SO L 4d SO L 1d jurodjes asiaral Bop jurodjes psemioy Bor er Ir 33O esianas ol Z NO es1e a1 Bof 6 ug prom Joj00 ebueyo ou er Wr 0 33O psemioy Bol z dio NO piemioy Bof 8 3q PIOM 01 U09 10jeJ9uag uonounj duey O93 S Y JojeJedulog 40413 paads enjeA enjoy aBues eguesajo xeu Borjurew yulodjas ILEL 4d anjea JULOAJOS ule jurodjes urew Jasa 0 jurodjes ureui ojqeue 9 ug pJoM 103005 DAN 97091 0 94M 9z0aJun SY pom 101 U09 944 39891 0 94M lqeu y ug PIOM Jo3u05 SM PROFIBUS DP V1 User Guide 68 Issue Number 10 www controltechniques com 11 7 Stopping the motor using PROFIdrive There are four methods of stopping the motor these are uoneuuojul Disable Operation control word bit 3 Drive is inhibited motor coasts down to zero speed status set to Switched On Ramp Stop control word bit 0 Motor decelerates under ramp control using deceleration rate1 Pr 2 21 drive is inhibited status set to Ready For Switching On S Quick Stop control word bit 2 Motor decelerates under ramp control using deceleration rate2 Pr 2 22 drive is inhibited status set to
50. 0 04 Running at or below minimum speed In bipolar mode Pr 1 10 1 Pr 10 04 is the same as zero speed Pr 10 03 See above In unipolar mode Pr 10 04 is set if the absolute value of the post ramp speed reference Pr 2 01 or speed feedback Pr 3 02 is at or below minimum speed 0 5Hz or 5rpm Minimum speed is defined by Pr 1 07 This parameter is only set if the drive is running Pr 10 05 Below set speed Only set if the drive is running at below set speed Refer to Pr 3 06 Pr 3 07 and Pr 3 09 in the drive documentation for more details Pr 10 06 At speed Only set if the drive is running at set speed Refer to Pr 3 06 Pr 3 07 and Pr 3 09 in the drive documentation uoneuuojul uoneljejsut Eupen ETGEN D 4 E H E El a a seinjeoj peouEA py SAUPIJO YA Pr 10 07 Above set speed Only set if the drive is running at above set speed Refer to Pr 3 06 Pr 3 07 and Pr 3 09 in the drive documentation for more details Pr 10 08 Load reached Indicates that the modulus of the active current is greater or equal to the rated active current as defined in menu 4 Refer to the drive documentation for more details Pr 10 09 In current limit Indicates that the current limits are active SM PROFIBUS DP V1 User Guide Issue Number 10 www controltechniques com 53 239U9 9 9 uononpoaul sonsouBeiq jeoujoe 3 z o 7 o lt R E e
51. 1 0011 0000 0000 Data word 0x1300 Stamp number 3 Data high byte 0x00 When the third telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the third telegram of the message has been received and understood and the fourth telegram can be transmitted TELEGRAM 4 The fourth telegram from the PROFIBUS DP master has the stamp number set to 4 The data bits contain the mid high data byte for the parameter being written to Example telegram sr JA aras b Ces 0001 0100 0000 0001 Data word 0x1401 Stamp number 4 Data mid high byte 0x01 1 When the fourth telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the fourth telegram of the message has been received and understood and the fifth telegram can be transmitted TELEGRAM 5 The fifth telegram from the PROFIBUS DP master has the stamp number set to 5 The data bits contain the mid low data byte for the parameter being written to Example telegram weesen bree o E Data word 0x15EA Stamp number 5 Data mid low byte OxEA 234 When the fifth telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the fifth telegram of the message has been received a
52. 1 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11 11 12 11 13 11 14 Cyclic data 5 ici 26 What is cyclic data 26 Data TO MaS civic ii ads tds 26 Mapping Conflict Gai 29 Cyclic data mapping errors oooocccinoccccnncccconannncnono canon ncnnnnnncnnnnnncnnnnncnnnnnns 29 Mappitig limitations oi hve irren cert ENEE he Be d er ee 30 Disabling mappings coooccconoccccnnooccnonananononcnnonan conan nn ccoo conca n ca nnnn nc nana 30 Non cyclic date ccoo tn 31 What is non cyclic data oocoonccccnnccccnocccccnonccnononcnnononcnnnnancncnnn nc nnnnnnnnnnnns 31 Configuration using non cyclic data 20 31 PROFIBUS DP V1 Compatibility CN PROFIBUS DP V1 Overview eee 2 32 Setting the non cyclic mode non cyclic over cyclic 33 Mode 1 CT Single Word mode ssnssossseseseessesesennssensssresernssrnsserrnserns 34 Reading parameters using CT Single Word 96 Mode 2 PPO A Word mode 44 Control and status words eee 51 What are control and status words cccccnnnccocccnncconoconncnnnncnnnanononnncnon 51 CONTO WOTG EE 51 Stats EOS Rete N e oer OT 53 Diagnostics nic 55 Mod le ID Code viciado 55 Module firmware version PROFIBUS DP node address Network data rate S Data TEE Operating Status scada Mapping status Drive trip display codes
53. 1 2006 PLe EN 954 1 1997 Category 3 The SAFE TORQUE OFF function may be used in a safety related application The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards Environmental limits Instructions regarding transport storage installation and use of the drive must be complied with including the specified environmental limits These instructions can be found in the relevant drive documentation Drives must not be subjected to excessive physical force Compliance with regulations The installer is responsible for complying with all relevant regulations such as national wiring regulations accident prevention regulations and electromagnetic compatibility EMC regulations Particular attention must be given to the cross sectional areas of conductors the selection of fuses or other protection and protective ground earth connections Instructions for achieving compliance with specific EMC standards may be found in the relevant drive documentation Within the European Union all machinery in which this product is used must comply with the following directives 2006 42 EC Safety of machinery 2004 108 EC Electromagnetic Compatibility Motor Ensure the motor is installed in accordance with the manufacturer s recommendations Ensure the motor shaft is not exposed Standard squirrel cage induction motors are designed for single speed operat
54. 1 21 digital speed ref 1 Pr 6 42 control word Pr MM 22 Not mapped Pr 1 21 digital speed ref 1 Pr MM 23 to Pr MM 29 uo euoJul uononpoaul Not mapped Not mapped uoneljejsut JeoiueuoeIN uo ejjesu jeoujoe 3 Not mapped Not mapped If all IN or OUT mapping parameters are being used when the data format change is implemented the last mapping parameter value will be lost 8 6 2 CT Single Word protocol All parameter values for the drive must be written as signed 32 bit data values with data compression off If data compression is turned on the size of the mapping will depend gep sai Dees ouo aso 8umeo on the size of the source or destination parameter 2129 Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read The number of decimal places of the target parameter must be known Writing a value of 1234 to a parameter with two decimal places will produce a value of 12 34 in the target parameter Similarly reading a value of 12 34 will return a 32 bit integer value of 1234 z o E 7 lt a 5 Q fo 2 o 2 o SpJOM smeis Table 8 4 CT Single Word Bit Positions bis bib wi b WW wu 59 T 5 ASA AA sonsouBeiq Seinjeoj peouEA py SAUPIJOYA SeJnjeo KfoeBe1 IND 239U9 9 9 suo Jo Hesso SM PROFIBUS DP V1 User Guide 35 Issue Number 10 www controlte
55. 10 8 8 4 Writing parameters using PPO 4 Word mode Figure 8 6 shows the sequence of events required to write to a drive parameter using the PPO 4 Word non cyclic channel uoneuuojul Figure 8 6 PPO 4 Word write sequence START uononpoaul v Y Y Set OUT Word CASE OOO RESPONSE 41517 uoneljejsu JeoiueuoeIN v Specify PARAMETER in OUT Word 1 Y SUCCESS ERROR 16 bit data TASK ID could value written to not be parameter executed jeoujoe 3 ETGEN v Specify DATA HIGH WORD in OUT Word 2 peueis Dumec Y Y SUCCESS ERROR 32 bit data value Parameter is written to parameter read only Y Specify DATA LOW WORD in OUT Word 3 gep sel og GSO Specify YASK ID and MENU in OUT Word 0 Y END OF SEQUENCE 219 Table 8 16 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to write to the drive Table 8 16 PPO 4 Word write TASK ID and RESPONSE ID combinations z o E 7 o lt a 5 Q fo 2 o 2 o SpJOM sn e s sonsouBeiq Function TASKID RESPONSE Message status ID No Task No message active e iod y Value Parameter 16 bit written successfully E e y DES Parameter 32 bit written successfully ite Parameter Value TASK ID 7 could not be executed Check the 16
56. 10 Configuration read error An error has occurred reading the OUT cyclic data mapping configuration parameters Pr MM 20 to Pr MM 29 from the drive Invalid destination parameter One or more parameters specified in the OUT cyclic data mapping configuration Pr MM 20 to Pr MM 29 is outside of the allowed range for PROFIBUS DP The allowable parameter range is from Pr 0 00 to Pr 199 99 Write mismatch One or more parameters specified in the OUT cyclic data mapping configuration Pr MM 20 to Pr MM 29 cannot be used as a destination parameter for OUT data The parameter may not exist or is a read only parameter This error will also occur if an attempt is made to map OUT data to the configuration parameters of a fieldbus option in another slot unless that fieldbus is configured in register mode i e Pr MM 09 ON 1 uoneljejsut Jeolueyooypy ETGEN Hole in OUT data mapping configuration OUT data mapping parameters Pr MM 20 to Pr MM 29 are not contiguous It is not possible to have an unused parameter in the middle of the cyclic data Duplicate mapping error Two or more OUT cyclic data mapping configuration parameters Pr MM 20 to Pr MM 29 have been configured with the same destination parameter reference n o t zi o 9 a o eou093 Q e 2 e m 3 a Inter option communications error A request to set up an inter option communications block failed Either the s
57. 11 Pr 2 01 post ramp speed ref Pr 10 40 status word Pr 17 12 Not mapped Pr 2 01 post ramp speed ref Pr 17 13 to Pr 17 19 Pr 17 20 Pr 6 42 control word Pr 61 51 PPO 4 Word Pr 17 21 Pr 1 21 digital speed ref 1 Pr 6 42 control word Pr 17 22 Not mapped Pr 1 21 digital speed ref 1 Pr 17 23 to Pr 17 29 Not mapped Not mapped Not mapped Not mapped If all IN or OUT mapping parameters are being used when the data format change is 44 implemented the last mapping parameter value will be lost SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 8 8 2 PPO 4 Word protocol Table 8 8 shows the data structure required on the OUT data to implement PPO 4 Word request Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read Hence the number of decimal places of the target parameter must be known Writing a value of 1234 to a parameter with two decimal places will produce a value of 12 34 in the target parameter Similarly reading a value of 12 34 will return a 32 bit integer value of 1234 Table 8 8 PPO 4 Word OUT data structure OUT data word OUT word O We H TASK ID b10 b8 b7 b0 MENU OUT word 1 PARAMETER Reserved OUT word 2 DATA HIGH word OUT word 3 DATA LOW word The PPO 4 Word protocol is controlled by the TASK ID and RESPONSE ID the TASK ID specifies t
58. F Idrive Parameter Channel PROF Idrive DP V1 PNU Sub index Slot Index PROF Idrive PNU 900 to 999 uonelejsut Jeoupe 3 0 to 65535 47 Drive Parameters 10000 MMPP gep sai Dees ouo aso Bumeo 2129 The parameter channel requires a parameter index and subindex to access parameters Drive parameters can be accessed by placing the result of the equation 10000 MM 100 PP in the parameter Index field of the PROFIdrive request the sub index field is always set to 0 For example Pr 1 21 Preset Reference 1 would be entered as 10000 1 100 21 10121 PROFIdrive Parameters PNUs can be accessed by placing the PNU number in the parameter index field and if the PNU data type is an array then the sub index field may also be specified z o 3 rn lt a 5 Q fo 2 o 2 a SpJOM sn e s sonsouBeiq 8 5 Setting the non cyclic mode non cyclic over cyclic The term non cyclic over cyclic is used to refer to non cyclic data which is transmitted as part of the cyclic data and not using the non cyclic DP V1 channel seinjeoj peouEA py SAUPIJO YA Table 8 2 shows how to configure the data mode Pr MM 05 for the required non cyclic mode The value in this parameter is formed using three digits the most significant of these determines the non cyclic mode The two least significant digits CC determine the
59. OM sn e s seinjeoj peouEA py SAUPIJO YA eoueJejel selnjea AoeBa7 suo Jo Hesso uononpoaul sonsouBeiq Dumec gep sel opo GSO z o 3 7 o lt a 5 Q fo sl 2 o gt a IND Table 8 10 shows the data structure of a PPO 4 Word response that will be returned by SM PROFIBUS DP V1 Table 8 10 PPO 4 Word IN data structure IN data word IN word O RESPONSE ID b11 b10 b8 b7 b0 0 IN word 1 PARAMETER IN word 2 DATA HIGH word IN word 3 DATA LOW word The RESPONSE ID indicates the success or otherwise of the requested transaction Table 8 11 lists the possible RESPONSE ID codes Table 8 11 RESPONSE ID codes RESPONSE ID Function No task Description No non cyclic transaction active Fieldbus specific Fieldbus specific Not implemented Transfer parameter value 16 bit Returns a 16 bit data value from the request parameter value specified by TASK ID 6 or the successful change parameter value 16 bit specified by TASK ID 7 Transfer parameter value 32 bit Returns a 32 bit data value from the request parameter value specified by TASK ID 6 or the successful change parameter value 32 bit specified by TASK ID 8 Transfer last parameter reference Returns the highest parameter for the menu specified by request last parameter reference TASK ID 9 Error TASK ID could not be executed The previously spec
60. P network system transferring the same signals as given in the traditionally wired example The signals are now transmitted by converting them into a serial data stream which is received by the master as if they were connected using traditional wiring The data stream on SM PROFIBUS DP V1 allows up to 64 32 input and 32 output independent values to be sent or received by the master in addition to a single channel allowing for random access to drive parameters Figure 2 2 PROFIBUS DP cable layout PROFIBUS master uoneuuojul uononponu uoneljejsut Eupen Analog 1 Analog 2 Digital 1A Digital 1B Digital 2A Digital 2B uoneljejsut eoujoa 3 Digital 1A ve Eug le o 3 e m 2 a Analog 1 ER Analog 2 N n o m zi o 9 a o Slave Number JequinN eAe S az Eug Digital 1B sonsouBeiq Table 2 2 Data mappings for SM PROFIBUS DP V1 Number of network Source Destination Description words seinjeoj peouEApy SAUPIJO YA digital Inputs slave 1 to master status signals digital outputs master to slave 1 control signals analog output master to slave 1 control signal sounjeay KfoeBe1 digital inputs slave 2 to master status signals digital outputs master to slave 2 control signals analog output master to slave 2 control signal 90uoJ9Jol IND Table 2 2 details the number of data words used to communicate the si
61. PROF Idrive V4 profiles will not be available suo jo Hesso SM PROFIBUS DP V1 User Guide 87 Issue Number 10 www controltechniques com 13 2 PPO Types SM PROFIBUS DP V1 supports all five types of Parameter Process data Object PPO defined by the PROFIdrive profile V2 The PROFIdrive profile features four specific functions which the SM PROFIBUS DP V1 translates into appropriate drive functions PROFIdrive control word Main Setpoint PROFidrive status word Main Actual Value Each PPO mode uses a unique combination of features which are detailed in the following sections Do not confuse PPO 4 mode with Mode 2 PPO 4 word non cyclic data they are not the same 13 2 1 PPO 1 Table 13 3 PPO 1 mapping structure IN Data Function OUT Data Function Mode 2 non cyclic data Mode 2 non cyclic data PPO 4 word PPO 4 word PROFIdrive status word PROFIdrive control word Main Actual Value Main Setpoint 13 2 2 PPO2 Table 13 4 PPO 2 mapping structure IN Data Function OUT Data Function Mode 2 non cyclic data PPO 4 word PROF Idrive status word Main Actual Value User configurable mapping using Pr MM 13 to Pr MM 16 Mode 2 non cyclic data PPO 4 word PROFIdrive control word Main Setpoint User configurable mapping using Pr MM 23 to Pr MM 26 13 2 3 PPO3 Table 13 5 PPO 3 mapping structure OUT Data word 0 PROF Idrive status word word 0 PROFIdri
62. Profibus DP message frame used for cyclic communication to a single drive parameter Cyclic data This consists of values that are sent at regular or cyclic intervals across the network A typical use of cyclic data would be the transmission of a speed reference or a control word Data format Determines the quantity and function of the network data Data rate Determines the communication speed of the network the higher the value the more data can be sent across the network in the same time period Device A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves User Guide 101 Issue Number 10 www controltechniques com uo ejjesu uoneuuojul JEoiueuoe ETGEN eoueJejel selnjea se njea AoeBa7 suue JO Aiesso 5 uononpoaul g D be o 2 9 o jeoujoe 3 peoueA py SALPIJO YA Ino 102 Direct data mapping Data is sent directly to the mapping parameters in the drive rather than the parameters redirecting the data to another parameter Double word A 32 bit word this may be signed or unsigned DPV 0 1 2 This describes the specification version of PROFIBUS DP used Earthing Describes the electrical safety or shielding connections for the module Endian format When a value uses more than eight bits to represent its value it needs to be sent in sets of eight bits bytes across the network the endian format determines the order the by
63. SF is the speed feedback parameter i e Pr 2 01 or Pr 3 02 depending upon the Si drive operating mode EE 20 Example 1 Open loop drive 2 a lt The drive maximum speed clamp Pr 1 06 50Hz es The drive post ramp reference Pr 2 01 35 Hz 3 Giving 2 mav 39 18384 _ 11469 Example 2 Closed loop servo drive 95u9J9jJoeJ The drive maximum speed clamp Pr 1 06 1500 rpm The main setpoint sent from the master to the drive is 10923 Q Ed Giving B _ 1250 x 16384 _ MAV 3000 1000rpm SM PROFIBUS DP V1 User Guide 65 Issue Number 10 www controltechniques com 11 5 11 6 PROFIdrive V4 State Machine The PROFldrive profile V4 0 state machine is implemented for all DP V1 Standard Telegrams the operation of the state machine differs between the V2 0 of the PPO telegrams and the V4 0 of the DP V1 Standard Telegrams This section relates to the V4 0 state machine only for information on the V2 0 state machine see section 13 8 PROFldrive V2 state machine diagram The general state machine diagram V4 0 is shown Figure 11 1 The Speed Control state machine is shown in Figure 11 2 The correct sequence of operation must be used for the state machine otherwise the message will be rejected and the entire sequence must be restarted The only exception to this rule is when moving from state S2 it is possible to bypass state S3 and jump to state S4 directly Normal Run Sequence The following sequence can be
64. TASK ID is changed from 0 to prevent incorrect data being written www controltechniques com SM PROFIBUS DP V1 User Guide Issue Number 10 9 1 9 2 Control and status words What are control and status words The control and status words allow the digital control and monitoring of the drive to be implemented using a single data word for each function Each bit in the control word has a particular function and provides a method of controlling the output functions of the drive such as run and direction Each bit in the status word provides feedback about the drive s state of health and operational condition such as drive ok drive at speed etc Control word The SM PROFIBUS DP V1 control word consists of sixteen control bits some of which are reserved See Table 9 1 for the individual bit function descriptions Table 9 1 Control word bit definitions aa OA EA A AA se A S jee e NOT FWD RUN E e i To enable fieldbus control the fieldbus enable signal Pr 6 43 and the auto bit bit7 must both be set to 1 When the AUTO bit is reset to 0 the drive will revert to terminal control For safety reasons the external HARDWARE ENABLE signal must be present before the fieldbus control word can be used to start the drive This terminal is normally controlled by an external Emergency Stop circuit to ensure that the drive is disabled in an emergency situation The control word REMOTE bit directly controls the drive para
65. Techniques recommend using connectors approved by Profibus International at all times 4 2 PROFIBUS DP connectors There are many manufacturers of PROFIBUS DP connectors Always ensure that any connectors used on the network are fully approved for use with PROFIBUS DP Some of the connector types available include built in termination that allows the network to be isolated this can be very useful when fault finding For data rates above 1 5Mbs connectors installed with integrated inductors should be used 92ueJojo1 IND sue Jo Jesso SM PROFIBUS DP V1 User Guide 13 Issue Number 10 www controltechniques com 4 3 PROFIBUS DP cable PROFIBUS DP networks can run at high data rates and require cable specifically designed to carry high frequency signals Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network Cable specifications and a list of approved manufacturers of cable for use on PROFIBUS DP networks are available on the PROFIBUS Nutzerorganization PNO web site at www profibus com LE Contro Techniques can only guarantee correct and reliable operation of the SM 4 4 PROFIBUS DP V1 if all other equipment on the PROFIBUS DP network including the network cable has been approved by the PNO and is correctly installed Cable shielding Correct shielding of the PROFIBUS DP cable is required for reliable operation at high data rates this can be achieved by e
66. a guide only and is provided to detail the stages that are required to achieve a functioning network It is recommended that all of this chapter is read before attempting to configure a system Due to the large number of PLCs masters that support PROFIBUS DP only generic details can be provided Support is available through your supplier or local Control Techniques Drive Centre Before contacting your supplier or local Control Techniques Drive Centre for support 5 1 5 2 16 ensure you have read Chapter 10 Diagnostics on page 55 of this manual and check you have configured all parameters correctly Ensure the following information is available before calling A list of all parameters in SM PROFIBUS DP V1 The drive firmware version see the relevant drive user guide The SM Profibus DP V1 firmware version Conventions used in this guide The configuration of the host drive and Solutions Module is done using menus and parameters A menu is a logical collection of parameters that have similar functionality In the case of a Solutions Module the parameters will appear in menu 15 for the Commander SK and in menu 15 16 or 17 for the Unidrive SP Affinity Mentor MP and Digitax ST depending on the slot the module is installed in The menu is determined by the number before the decimal point and the parameter by the number following the decimal point The method used to determine the menu or parameter is as follows Pr MM
67. a size in master for each node use GSD file if required y Map data to master program variables y A dedicated PROFIBUS DP Perform cable tests tester is recommended Start master and ensure there are no errors y Configure each node address on the system E SM PROFIBUS DP V1 See Section 5 Pr MM 03 y Ensure all third party devices use the same See Section 5 data rate y Check data flow in both directions A dedicated Perform a network scan PROFIBUS DP using the master or tester is tester recommended SM PROFIBUS DP V1 User Guide Issue Number 10 www controltechniques com See Section 5 See Section 5 See Section 7 See master documentation and Section 6 See master documentation See master documentation See master documentation 17 uo ejjesu uoneuuojul Jeolueyooy uoneljejsut eouyoa 3 n o m zi o 9 a a seJnjeoj sa n e9 AoeBa7 39U9 9 9 uononpoaul sonsouBeiq Kayes aso UNED ooh Q o bel e 3 a PeoueApy SAUPIJO YA Jo Hesso 5 4 5 5 Node address Table 5 2 PROFIBUS DP node address Default 126 Range 0 to 126 Access RW Every node on a PROFIBUS DP network must be given a unique network node address To activate a change in the node address value the SM PROFIBUS DP V1 must be re initialized Pr MM 32 ON This parameter
68. arameters using the non cyclic channel the following telegrams must be transmitted to construct the final message Telegram 1 define menu number Telegram 2 define parameter number Telegram 3 request high data byte Telegram 4 request mid high data byte Telegram 5 request mid low data byte Telegram 6 request low data byte Table 8 6 CT Single Word Bit Positions wis bi wi bz bn 0 ws 5 Ap a EFC ONE GRO 36 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 8 7 1 Constructing CT Mode 1 Single Word Read Messages Figure 8 3 CT Single Word read sequence Mode 1 uoneuuojul Send telegram 3 to pan OUT word 0 v Send first telegram Y to OUT word O Read IN word 0 uononpoaul v Read IN v word 0 Tx Stamp No Rx Stamp No Yes uonelejsu Eupen v Tx Stamp No Y Rx Stamp No Store data Yes byte jeoujoe 3 ETGEN Send next telegram to v Send next OUT word 0 Tx Stamp No telegram to OUT word O v Tx Stamp No 2 Yes 6 y Yes Check status Y of ERR bit Calculate 1 data value peueis Dumec Y ERROR Check parameter exists data is in correct range and parameter gt i i v is Read Write END OF SEQUENCE gep sel ag GSO
69. arefully None of the drive functions isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SAFE TORQUE OFF SECURE DISABLE function on Unidrive SP and Digitax ST none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions The SAFE TORQUE OFF SECURE DISABLE function is only available on Unidrive SP and Digitax ST The Commander SK Affinity and Mentor MP drives do not have either of these features Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended behavior or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example a fail safe mechanical brake in case of loss of motor braking SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 1 4 1 5 1 6 1 7 The SAFE TORQUE OFF function has been approved by BGIA as meeting the requirements of the following standards for the prevention of unexpected starting of the drive EN 61800 5 2 2007 SIL 3 EN ISO 13849
70. bits and only use a single word Mapping For CT Single Word non cyclic data To configure an SM PROFIBUS DP V1 for CT Single Word mode the following steps must be performed 1 Set Pr MM 05 to the required mode See section 7 2 Data formats on page 26 for more information 2 Set Pr MM 32 to ON to reset See section 5 9 SM PROFIBUS DP V1 re initialize on page 20 3 Save the parameters if required see section 5 10 Saving parameters to the drive for more information When the SM PROFIBUS DP V1 re initializes it will map cyclic data IN Word O and cyclic data OUT Word 0 to the CT Single Word protocol parameter Pr 61 50 All existing mapping parameters will be moved down by one word i e the previous mappings set in Pr MM 10 and Pr MM 20 will now appear in Pr MM 11 and Pr MM 21 Table 8 3 shows what happens to the mappings when the data format is changed from four cyclic words to four cyclic words with CT Single Word non cyclic data SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Table 8 3 CT Single Word non cyclic data mapping Mapping Before format change Pr MM 05 4 After format change Pr MM 05 104 parameter Value Mapping Value Mapping Pr MM 10 Pr 10 40 status word Pr 61 50 CT Single Word Pr MM 11 Pr 2 01 post ramp speed ref Pr 10 40 status word Pr MM 12 Not mapped Pr 2 01 post ramp speed ref Pr MM 13 to Pr MM 19 Pr MM 20 Pr 6 42 control word Pr 61 50 CT Single Word Pr MM 21 Pr
71. brea NN 1001 0010 0000 0001 Data word 0x9201 Stamp number 2 Parameter 1 When the second telegram has been received and processed in the slave it is mirrored in the non cyclic IN word This is the signal to the master controller program that the second telegram of the message has been received and the third telegram can now be transmitted NOTE If telegrams 1 and 2 were not received correctly or an invalid parameter was specified e g parameter is write only or does not exist the PROFIBUS DP interface will set the ERROR bit to 1 b14 1 in the response The data bits will have no significance Setting the stamp number to O resets the internal non cyclic state machine Example response st f ez res Brea NN 1001 0010 0000 0001 Data word 0x9201 Stamp number 2 If an error is reported the non cyclic data word should be set to 0 to ensure that the 38 non cyclic state machine is completely reset and ready for the next non cyclic READ or WRITE sequence TELEGRAM 3 The third telegram from the PROFIBUS DP master acts as the indication to the slave to send the high data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 Example telegram st Y ar wires bree eo Data word 0x9300 Stamp number 3 When the third telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the hig
72. chniques com Issue Number 10 7 2 4 Eight cyclic channels with Mode 2 non cyclic data compression off This data format provides eight cyclic data channels plus an additional four words for Mode 2 PPO 4 Word non cyclic data See section 8 8 Mode 2 PPO 4 Word mode The total data length is twenty words in and twenty words out To select this data format set Pr MM 05 216 Table 7 6 Mapping for eight cyclic channels with PPO 4 Word non cyclic data Data word Parameter Default mapping IN word 0 3 Pr MM 10 Pr 61 51 Mode 2 non cyclic data IN word 4 5 Pr MM 11 Pr 10 40 status word IN word 6 7 Pr MM 12 Pr 2 01 post ramp speed reference IN word 8 19 Pr MM 13 to Pr MM 19 0 not mapped uoneuuojul uononpoaul uonejejsul JeoiueuoeIN jeoujoe 3 OUT word 0 3 Pr MM 20 Pr 61 51 Mode 2 non cyclic data OUT word 4 5 Pr MM 21 Pr 6 42 control word OUT word 6 7 Pr MM 22 Pr 1 21 digital speed reference 1 OUT word 8 19 Pr MM 23 to Pr MM 29 0 not mapped ETGEN selly peueijs aso Bumeo 7 3 Mapping conflicts Care must be taken to ensure that there are no clashes between mappings in the SM PROFIBUS DP V1 cyclic OUT data and other drive parameters such as other SM PROFIBUS DP V1 cyclic OUT channels mappings from additional SM modules if installed Not Commander SK analog inputs digital inputs a E E NIDAD Sg logic outputs Za e motorized pot output fs az comparator outputs a
73. chniques com Table 8 5 CT Single Word Bit Definitions Function Values 0 to 255 Description Depending on the stamp number of the telegram this byte contains the menu parameter or data byte Indicates the stamp number of the word This shows which part of the message is currently in progress Setting the stamp number to 0 resets the internal non cyclic state machine 32 BIT 16 bit data 32 bit data 0 1 Specifies whether a 16 bit or 32 bit data value is to be written to or read from the drive If 32 BIT is set telegrams 5 and 6 will be used to transfer the additional data bytes Reserved Reserved for future use Always set to 0 ERR 0 Data OK 1 Error Indicates the success or failure of the message Failure could occur if the parameter does not exist or is a read only or write only parameter This bit will also be set if the parameter value is out of range in 16 bit mode 0 Write 1 Read Defines whether the data word is part of a READ or WRITE cycle LE Setting the stamp number to 0 resets the internal non cyclic state machine Allowing a new message to be started DS CT Single Word non cyclic data uses only one word of data when using this without data compression this requires two 16 bit words If Mode 1 is used with compression turned off only the least significant word of the 32 bit word is used 8 7 Reading parameters using CT Single Word To read 32 bit p
74. command is active Power supply switched on the drive is inhibited uoneuuojul uoneljejsut Jeolueyooypy ETGEN uolonpo qu jeoujoe 3 Switch on Not Inhibited Warning Present Power supply switched on Not Implemented No Warning Present Speed Error Within Tolerance Not Implemented At Speed Pr 10 06 1 Speed Error Out Of Tolerance Control Requested At Speed Pr 10 06 0 The automation system is requested to accept control No Control Requested Speed Or Frequency Reached Exceeded Control only possible on the device itself At Speed Pr 10 06 1 or Above Set Speed Pr 10 07 1 11 15 0 Speed Or Frequency Not Reached Reserved SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 At Speed Pr 10 06 0 and Above Set Speed Pr 10 07 O 71 n o m zi o 9 a o vA auod peouenpy BO ZE sa n ea 39U9 9 9 sonsouBeiq Q e 2 9 m 3 a Jo Hesso 11 11 PROFIdrive PNU access PROFIdrive parameters PNUs may be accessed by placing the PNU number in the Parameter Index field and any sub index value should be placed in the Sub index field of the PROFIdrive request The full list of supported PROFIdrive PNUs is shown in Table 11 7 Table 11 7 Supported PROFIdrive PNUs Designation Profibus Node ID Data type Unsigned16 Access Explanation Returns the
75. concccconnccccnoncccconacanonanccnonnncn cono ncnnnnnncananos Disabling mappirigs ia a ida Din da g DP V1 Drive Identification cc cccccccessecccesssccsseteessandenssnseessnsessseeeneses NISSEN DP V1 Identification and Maintenance Functions Y 3 DP V1 Parameter ACCeSS 1 d da aids DP V1 PROF ldrive PNU access ooooooocccccccccoconcconocononononononcccononancnnncccnanannnnns g DP V1 Standard Telegram 1 DP V1 Standard Telegram 1 4 cyclic words DP V1 Standard Telegram 1 8 cyclic words uoneljejsut Jeolueyoopy DP V1 State Machirie 5 ds aneeshatti eee nthe ian BE OO im Drive Identification e zg DAD dE me sc A Pe et uM i N Lu SE D Type connectiorns x inc go aa ertet es D TY PE pin Out nyc en Ente ee e E ERE eene Dynamic brake active sssssssssssssssese eene E Electrical installation c Rc eA a ede Electrical safety iia bu De ex p et METRE dein Endian format E Environmental limits 5 tert ctn aere re eee d ri ea desees SS EMON a aa A T rU lke g E EMOS x rea ee dub ee D p ER iratis aS Event task reason codes ccooocccccoccccconcccnnonncnnnonccnnonncn cnn cnn n nan cnn nannnnnnannnannnns S Event task trigger essent tnnt S g Fault Buffer a br all D a ean a Fault Buffer Associated PNUs zi g Firmware version sscseete tette tette tnter 3 desti ae c EE a RI EE gt G S a Getting started EEN G
76. cononcccnnonccnnnarncn cnn ncnnnnncnnnanc carne cnn 7 PPO 1 88 BRO vi bes esce ce amete co le i Eid Ea 88 ior ERES 64 88 PPO A c 64 89 PPO 4 Word 5 iac hd eb hi ia 23 PPO 4 word error codes 46 PPO 4 word mode 44 PPO 4 word adicta e e eec e t rdc eR e EO dad 47 PPO 4 word Write brennen LER lal Pede 49 al Gg RA ee a eel e de e dee ere tesi Problems a rs sh tots tab e eer T ME ke te PROFIBUS DP V1 Compatibility seen PROFIdrive V2 State Machine PROFIdrive V4 State Machine d PROFlIdrive control word AA PROFIdrive control word bit functions ooooconccccinocccconocccnonancncnnaconananccnnnnos 70 PROFIdrive PNU access PROFldrive profile PROFIdrive status word PROFldrive status word bit functions 71 PROFIdrive V4 General State Machine Diagram n 67 PROFIdrive V4 Speed Control State Machine Diagram 68 106 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Q Quick reference it Ad J g R S Reading parameters using CT Single Word 3 REASON codes minaresinin anaidia ne g Ee ENEE WEE S ET Re initialise all Solutions Modules El 7 Response ID codes E Restore configuration ias 38 Restore defa lts J erret canas diia Sm Running at or below minimum speed sssssseeeen a g S SE Safety of personnel i or cte SRL
77. d To write to a 32 bit parameter using the non cyclic channel the following telegrams must be sent one telegram per network cycle to construct the final message Telegram 1 define menu number Telegram 2 define parameter number Telegram 3 send high data byte Telegram 4 send mid high data byte Telegram 5 send mid low data byte Telegram 6 send low data byte SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Figure 8 4 CT Single Word write sequence Start uoneuuojul v d first telegram OUT word O v v Read IN 4 Check status word 0 4 34 of ERR bit uononpoaul ERROR Check parameter exists and that it is a Read Write parameter v v Tx Stamp No Parameter Rx Stamp No written OK Yes uoneljejsut Eupen Y e Tx_Stamp_No 6 Y Yes END OF SEQUENCE jeoujoe 3 ETGEN The following telegrams show how to set the digital speed reference 1 Pr 1 21 to 12553 9 rpm 32 bit value is 125539 in the Unidrive SP TELEGRAM 1 The first telegram from the PROFIBUS DP master indicates a WRITE cycle by setting the R W bit to 0 The stamp number is set to 1 The data byte contains the menu number for the parameter that is to be written to gep sai peueis ouo GSO Bumeo 2129 Example telegram st Un
78. d by transmitting only data bytes over the PROFIBUS DP network and using local mapping information within the SM PROFIBUS DP V1 and PROFIBUS DP master controller to ensure that the correct data is sent to the correct locations The flexibility of the SM PROFIBUS DP V1 means that each cyclic data OUT channel can be directed to any read write drive parameter Similarly each cyclic data IN channel can use any drive parameter as a source of data The term OUT data refers to data that is transmitted out of the master to the slave The term IN data refers to data that is returned from a slave into the master Cyclic data mapping cannot be changed dynamically as changes to the configuration mapping parameters etc will only take effect during initialisation of the SM PROFIBUS DP V1 The maximum number of 16 bit mappings that is possible is 32 with only cyclic data 31 with CT Single Word Mode 1 non cyclic data and 28 with PPO4 Word Mode 2 This requires data compression to be enabled see section 12 5 Cyclic data compression for more information The maximum number of 32 bit mappings that is possible is 16 with only cyclic data 15 with CT Single Word Mode 1 non cyclic data and 14 with PPO4 Word Mode 2 See section 12 5 Cyclic data compression for information on using data compression with 16 bit parameters Data formats The SM PROFIBUS DP V1 can be configured with up to sixteen 32 bit or thirty two 16 bit cyclic IN and OUT
79. data words IN and OUT cyclic data words are mapped using ten mapping pointer parameters one for each mapping To utilize the full range of thirty two cyclic IN and OUT data words the block mapping mode must be used see section 12 6 Block mapping By default all drive parameters are cast as 32 bit two 16 bit words therefore thirty two 26 cyclic words gives sixteen possible drive parameters Data compression reduces the number of cyclic words required for drive parameters of 16 bit or less to 16 bits thus allowing for thirty two possible 16 bit parameters Any 32 bit parameters mapped will still require two 16 bit words even with compression turned on In addition to cyclic data non cyclic data see section 8 1 What is non cyclic data exchange is also possible by the following methods DP V1 parameter access mode Mode 1 CT single word mode Mode 2 PPO 4 Word mode SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 For Modes 1 and 2 operation the SM PROFIBUS DP V1 data format is specified as NNCC where NN is the non cyclic data mode and CC is the number of cyclic data S words Table 7 1 Valid PROFIBUS DP data formats Pr MM 05 Non cyclic mode Cyclic words 1 to 32 None uononpoaul 100 to 131 CT Single Word 200 to 228 PPO 4 Word The method used to map data to and from the PROFIBUS DP network is similar to the method used in the drive for mapping analog and
80. e IE brea Ces 0001 0001 0000 0001 Data word 0x1101 Stamp number 1 Menu 1 z o E 7 o lt a 5 Q fo 2 o 2 o SpJOM smeis When the first telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the first telegram of the message has been received and understood and the second telegram can be transmitted sonsouBeiq TELEGRAM 2 The second telegram from the PROFIBUS DP master also indicates a write cycle but the stamp number is now set to 2 The data byte would contain the parameter number for the parameter that is to be written to Seinjeoj peouEA py SAUPIJOYA Example telegram MI CR Brea NN 0001 0010 0001 0101 Data word 0x1215 Stamp number 2 Parameter 21 eoueJejel selnjea AoeBa7 suo Jo Hesso When the second telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the second telegram of the message has been received and understood and the third telegram can be transmitted SM PROFIBUS DP V1 User Guide 41 Issue Number 10 www controltechniques com 42 TELEGRAM 3 The third telegram from the PROFIBUS DP master has the stamp number set to 3 The data bits contain the high data byte for the parameter being written to Example telegram st ara pire br 5950 000
81. e error is indicated by the SM PROFIBUS DP V1 mapping status parameter Pr MM 49 When a mapping error has been corrected re initialize the SM PROFIBUS DP V1 by setting Pr MM 32 to ON 1 The mapping error codes are described in Table 10 11 Table 10 11 Mapping error codes Mapping status Description No error detected with IN or OUT cyclic data mapping No error detected configuration Non cyclic data cannot be used when direct data Direct data mapping error mapping is enabled Invalid li d An invalid non cyclic data mode has been selected in nvalid non cyclic mode b MM 05 Invalid mode value The value entered in Pr MM 05 is not supported After expanding ranges of block mappings too many Configuration erfor OUT cyclic data channels configured Total size of all OUT cyclic data mappings has PPO error exceeded the total size of the cyclic data More than ten cyclic OUT data channels have been BES ane date Freen selected with direct data mapping mode Data compression disabled After expanding ranges of block mappings too many with PPO OUT cyclic data channels configured A non cyclic data mode has been mapped more than once in the IN data mapping configuration parameters Pr MM 10 to Pr MM 19 Multiple non cyclic mapping error SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Table 10 11 Mapping error codes Mapping status Error
82. e initialise using the updated configuration LESE This sequence does NOT store the SM PROFIBUS DP V1 configuration parameters in 5 9 the drive or the SM PROFIBUS DP V1 flash memory This will change back to O immediately and as such the change may not be visible on the display Re initialize all Solutions Modules To re initialize all Solutions Modules installed on a drive Unidrive SP Affinity and Digitax ST Set Pr xx 00 to 1070 e Reset the drive Mentor MP e Set Pr xx 00 to 1070 or SAVE Reset the drive Commander SK Set Pr xx 00 not Pr 0 00 to 1070 Reset the drive On Commander SK to reset the option module using the keypad one of the configurable parameters Pr 61 to Pr 70 must be used For example setting Pr 71 to 1 00 and Pr 61 to 1000 will set the value 1000 in Pr 1 00 LESE This sequence does NOT store the SM PROFIBUS DP V1 configuration parameters in 5 10 the drive or the SM PROFIBUS DP V1 flash memory Saving parameters to the drive To avoid loss of the configured settings when the drive is powered down it is necessary to store the parameters in the drive s memory To store the drive parameters refer to the relevant drive documentation The drive will store all the drive parameters except applications menu 20 but the operation of the SM PROFIBUS DP V1 will not be affected Any changes made to the SM PROFIBUS DP V1 configuration parameters mapping etc will not take effect until the SM PROFIBUS
83. eaning INCH1 ON Prerequisite Operation is enabled and Main Setpoint 0 The drive accelerates as fast as possible to inching Setpoint in the forward direction INCH1 OFF 90 The drive brakes as fast as possible if INCH1 was previously ON and with Speed 0 and Current 0 goes into the status operation enabled SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Table 13 8 PROFIdrive control word bit functions Function Description uoneuuojul Prerequisite Operation is enabled and Main Setpoint 0 The drive INCH2 ON accelerates as fast as possible to inching Setpoint in the reverse direction The drive brakes as fast as possible if INCH2 was previously ON INCH2 OFF and with Speed 0 and Current 0 goes into the status operation uononpoaul enabled Network Control from the PROFIBUS DP network process cyclic data is control valid uonejejsut Eupen Process data invalid Last received valid process data values are No control retained uoneljejsu Jeoupe 3 13 5 PROFIldrive status word Table 13 9 gives the description of the function of each bit in the PROFIdrive status word Table 13 9 PROFIdrive status word bit functions Function Description Ready to switch on Power supply switched on the drive is inhibited Not ready to switch on Ready Refer to Control word bit 0 Not ready No action Operating condition o yO Qo 58
84. east once every second or an SCL trip will occur The watchdog is disabled when an SLC trip occurs and so it must be re enabled when the trip is reset Reserved SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 9 3 Status word The SM PROFIBUS DP V1 status word consists of sixteen control bits some of which are reserved See Table 9 3 for the individual bit function descriptions Table 9 3 Status word bit definitions Not Mains Direction Direction Brake Brake Regen Current Used Loss Running Set Alarm Active 9 Limit AAA AA Load Above Gei A Get Below Gei Running Zero Drive Drive Reached Speed Speed Speed At Speed Speed Active ok The fieldbus status word is mapped directly from the drive status word Pr 10 40 Pr 10 40 is generated by the values of several individual drive status bits Table 9 4 shows the function indicated by each bit in the status word when set to 1 Table 9 4 Drive status word bit functions Parameter Pr 10 01 Description bit 0 0 Drive not ok tripped bit 0 1 Drive ok Pr 10 02 Drive active When bit 1 1 the drive is in run mode Pr 10 03 Zero speed In Open Loop mode zero speed indicates that the absolute value of the post ramp speed reference is at or below the zero speed threshold In Closed Loop and Servo modes zero speed indicates that the absolute value of speed feedback is at or below the zero speed threshold Pr 1
85. eplace traditional wiring systems Figure 2 1 shows the traditional cabling requirements to transfer signals between 2 slaves and a master Figure 2 1 Traditional cable layout Hardwired master Analog 1 Analog 2 Digital 1A Digital 1B Digital 2A Digital 28 vz eg Analog 1 Analog 2 N Slave Number JequinN anels az eg Table 2 1 details how the wiring is used to communicate data between the master and the slaves Each signal that is communicated requires one signal wire giving a total of 66 signal wires plus a OV return Table 2 1 Traditional wiring details Number of s Source Destination Description signals digital Inputs slave 1 to master status signals digital outputs master to slave 1 control signals analog output master to slave 1 control signal digital inputs slave 2 to master status signals digital outputs master to slave 2 control signals analog output master to slave 2 control signal A fieldbus topology such as PROFIBUS DP allows the same configuration to be realized using only two signal wires plus a shield This method of communication saves significantly on the amount of cabling required and can improve overall system reliability as the number of interconnections is greatly reduced 8 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Figure 2 2 shows a typical PROFIBUS D
86. er controller documentation for information on how to configure a multi master PROFIBUS DP network Users must ensure that in networks with multiple master devices that only one master controller is configured to access the SM PROFIBUS DP V1 LE SM Profibus DP V1 supports the simultaneous connection of one class 1 master and 86 one class 2 master SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 13 Legacy features uoneuuojul 13 4 Network compatibility mode Table 13 1 Network compatibility mode 0 SM Profibus 0to3 RW uononpoaul uoneljejsut JeoiueuoeIN A backwards compatibility mode has been added in SM PROFIBUS DP V1 firmware V03 01 00 and later Pr MM 41 can now be used to allow the SM PROFIBUS DP V1 module to appear as either a Unidrive Classic Mentor Il or a Commander SE this only applies to the network and not the control status words and parameter sizes The module must be configured to match the existing network settings of the drive it is replacing including any parameter mappings uoneljejsut Jeoupe 3 Table 13 2 Compatibility mode settings Pr MM 41 Description SM Profibus DP default Unidrive Classic Mentor II ejep ooh Commander SE Extended diagnostics using PROFIBUS ID 0x0B4F eyep OND M UON Using the compatibility mode allows the replacement of drives on a PROFIBUS DP network without having to make any changes to the master
87. erated by the SM PROFIBUS DP V1 This trip will occur if a drive slot was previously configured with an options module but on power up no options module was detected Not installed The slot configuration parameters stored in the drive Different are not valid SM PROFIBUS DP V1 configuration module parameters installed This trip will also occur if an SM PROFIBUS DP V1 module is installed to a previously unused slot Commander SK will show SL Er without a slot number 10 9 Module error code Table 10 13 Module error code Default N A Range 0 to 255 Access RO If the SM PROFIBUS DP V1 detects an error during operation it will force a trip on the drive and update the error code parameter Pr MM 50 Table 10 14 shows the possible SM PROFIBUS DP V1 error codes 60 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Table 10 14 SM PROFIBUS DP V1 error codes Error code No error detected Description Indicates that the SM PROFIBUS DP V1 module is ok It is possible to trip the drive externally via various communication channels User control word trip The TRIP bit has been set in the drive control word Configuration error An invalid configuration has been detected Refer to Pr MM 49 for mapping error codes uoneuuojul uononpoaul Network loss No new messages have been received for the specified network loss trip time Critical link failure
88. erver does not support block transfer or parameters were not legal Too many OUT data objects mapped After expanding ranges of block mappings too many OUT cyclic data channels configured Mapping over length Total size of all OUT cyclic data mappings has exceeded the total size of the cyclic data Register mode objects exceeded SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 More than ten cyclic OUT data channels have been selected with direct data mapping mode 99 aoualajal Seinjeoj peouEA py SAUPIJO YA suo Jo Hesso sonsouBeiq omo 14 4 Error codes Table 14 5 SM PROFIBUS DP V1 error codes Error code No error detected Description Indicates that the SM PROFIBUS DP V1 module is ok It is possible to trip the drive externally via various communication channels User control word trip The TRIP bit has been set in the drive control word Configuration error An invalid module configuration has been detected Refer to Pr MM 49 for mapping error codes Network loss No new messages have been received for the specified network loss trip time Critical link failure Internal error Flash transfer error The SM PROFIBUS DP V1 was unable to upload the configuration parameters from its flash memory to the drive Invalid fieldbus specific data SM PROFIBUS DP V1 has detected an invalid data record E g the stored
89. essed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the mid low byte of the parameter value into the data byte sonsouBeiq Sseinjeoj peouEA py SAUPIJOYA Example response st f n on bree ba Data word 0x9525 Stamp number 5 Data mid low byte 0x25 37 eoueJejel seumeej KfoeBe1 suo Jo Hesso SM PROFIBUS DP V1 User Guide 39 Issue Number 10 www controltechniques com 8 7 2 8 7 3 40 TELEGRAM 6 The sixth telegram from the PROFIBUS DP master acts as the indication to the slave to send the low data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 Example telegram st mem E Brea Ces 1001 0110 0000 0000 Data word 0x9600 Stamp number 6 When the sixth telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the low byte of the parameter value into the data byte Example response sr JP bres brea Ces 1001 0110 1101 1100 Data word 0x96DC Stamp number 6 Data low byte OxDC 220 The parameter re assembled The completed value can be assembled as follows to give the complete value as read from the parameter Speed High byte 22 Mid high byte 216 Mid low byte 2 Low byte 0 16777216 1 65536 37 256 220 75228 7522 8 rpm Writing parameters using CT Single Wor
90. foeBe1 suo Jo Hesso uononpoaul sonsouBeiq jeoujoe 3 Q e 2 e m 3 a pasueapy SAUDI AOU 12 2 12 3 76 SYNC and FREEZE Mode The SM PROFIBUS DP V1 supports the SYNC and FREEZE modes available with most PROFIBUS DP master controllers Cyclic data is put into groups by the PLC allowing multiple cyclic channels to be suspended and updated using the SYNC and FREEZE commands Data to the drive is controlled by the SYNC command and data from the drive controlled by the FREEZE command The SYNC command is used in conjunction with the UNSYNC command and the FREEZE command is used in conjunction with the UNFREEZE command The SYNC command will cause a single transfer of the previously grouped data and stop any more data from being received by the drive The SYNC command may be repeated while in this state to allow another single transfer of data to the drive Issuing an UNSYNC command will revert the drive to continuous cyclic update of the received data The FREEZE command will cause a single transfer of the previously grouped data and stop any more data from being transmitted by the drive The FREEZE command may be repeated while in this state to allow another single transfer of data from the drive Issuing an UNFREEZE command will revert the drive to continuous cyclic update of the transmitted data Data endian format Table 12 2 Data endian format Default OFF Range OFF 0 or ON 1 Access RW W
91. g setpoint Pr 1 05 in the reverse direction JOG2 OFF Network control The drive brakes as fast as possible along the RFG if JOG2 was previously ON and goes into operation enabled at standstill Control from the PROFIBUS DP network process cyclic data is valid No control Reserved www controltechniques com Process data invalid Last received valid process data values are retained SM PROFIBUS DP V1 User Guide Issue Number 10 11 10 PROFIdrive status word Table 11 6 gives the description of each bit in the PROFIdrive status word Table 11 6 PROFIdrive status word bit functions Function Ready to switch on Comments Power supply switched on the drive is inhibited Not ready to switch on Ready To Operate Power supply switched off Drive is ready to run Not Ready To Operate Operation Enabled Drive is not ready to run Drive is operational Operation Disabled Fault Present Drive is not operational Drive faulted and thus not operational goes into the Switch on inhibit status after acknowledgment and the fault has been removed Fault number in the fault parameter No Fault Present Coast Stop Not Activated Drive ok Coast Stop command is not active Coast Stop Activated Quick Stop Not Activated Coast Stop command is active Quick Stop command is not active Quick Stop Activated Switch on Inhibited Quick Stop
92. gisters in an SM Applications If it is required to map to individual parameters within the same menu ensure that the target registers are listed in descending order see section 12 6 1 Avoiding block mapping SM PROFIBUS DP V1 User Guide 79 Issue Number 10 www controltechniques com SpJOM smeis eoueJejel seunmeej FD KfoeBe1 suo Jo Hesso pue ouoy sonsouBeiq ESTA M SAUDI AOU IND 12 6 1 Avoiding block mapping In the above section block mapping was used to define mapping ranges In order to avoid this the target parameters should be entered in descending order This means that SM PROFIBUS DP V1 will not recognize a range of parameters and only two parameters will be mapped Table 12 9 Non block data mapping example Mapping Mapping parameter value Pr MM 10 Map to Pr 20 04 Pr MM 11 Map to Pr 20 01 Pr MM 12 to Pr MM 19 Pr MM 20 Map to Pr 20 35 Pr MM 21 Map to Pr 20 31 Pr 17 22 to Pr 17 29 Description Not mapped Not mapped Table 12 10 Non block data structure example Data word Target parameter Data word Target parameter IN word O 1 Menu Pr 20 04 OUT word O 1 Pr 20 35 IN word 2 3 Menu Pr 20 01 OUT word 2 3 Pr 20 31 IN word 4 9 Not mapped OUT word 4 9 Not mapped 12 7 Direct data mapping Table 12 11 Direct data mapping enable Default OFF 0 Range OFF 0 or ON 1 Access RW By default Pr MM 10 to Pr MM 29 are used as pointers
93. gnals using the PROFIBUS DP network It can be seen that the resulting reduction in cabling is significant suo Jo uesso o PROFIBUS DP can transfer data using two distinct modes The first of these modes is cyclic where signals are sent in predefined blocks at regular intervals This is the equivalent of the hard wired example in Figure 2 1 SM PROFIBUS DP V1 User Guide 9 Issue Number 10 www controltechniques com 2 2 2 3 2 3 1 10 The second method of transfer is called non cyclic data and is used for sending values that only need to be changed occasionally or where the source or destination of the signal changes This is the equivalent of a temporary patch lead that is removed after use What is SM PROFIBUS DP V1 The SM PROFIBUS DP V1 is a fieldbus Solutions Module that can be installed to the expansion slot s in any of the following drives to provide PROFIBUS DP slave connectivity Unidrive SP Commander SK Affinity Digitax ST Mentor MP With the exception of the Commander SK drive it is possible to use more than one SM PROFIBUS DP V1 or a combination of SM PROFIBUS DP V1 and other Solution Modules to add additional functionality such as extended I O gateway functionality or additional PLC features Figure 2 3 SM PROFIBUS DP V1 General specification Features The following section gives a brief overview of the functionality available within SM PROFIBUS DP V1 Supported data rates b
94. h byte of the parameter value into the data byte Example response sr Y wes sns prea Ces 1001 0011 0000 0000 Data word 0x9300 Stamp number 3 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Data high byte 0x00 0 TELEGRAM 4 The fourth telegram from the PROFIBUS DP master acts as the indication to the slave to send the mid high data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 uoneuuojul uononpoaul Example telegram Si ibi bbs IL 1001 0100 0000 0000 Data word 0x9400 Stamp number 4 uoneljejsu Eupen uomteieu Jeoupe 3 When the fourth telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the mid high byte of the parameter value into the data byte Example response st f tere wires f a E99 E Data word 0x9401 Stamp number 4 Data mid high byte 0x01 1 TELEGRAM 5 The fifth telegram from the PROFIBUS DP master acts as the indication to the slave to send the mid low data byte from the requested parameter The data byte is not used in this telegram and should be set to 0 gep sai Dees op aso 8umeo 2129 z o E 7 o lt a 5 Q fo 2 o 2 a SpJOM sn e s Example telegram st ees wes bree so Data word 0x9500 Stamp number 5 When the fifth telegram has been received and proc
95. he transaction required and the remainder of the data words carry the data for the transaction Table 8 9 lists the possible TASK ID codes Table 8 9 TASK ID codes TASK ID Function No task Description No non cyclic transaction required Fieldbus specific Fieldbus specific Fieldbus specific Not implemented Reserved Not implemented Reserved Request parameter value Read parameter value from drive Specify MENU and PARAMETER set DATA HIGH word and DATA LOW word to 0 Change parameter value 16 bit Write 16 bit parameter value to the drive Specify MENU PARAMETER and DATA LOW word Any value in DATA HIGH word will be discarded This function can be used to write to 32 bit drive parameters but the range of values is limited to 16 bits Change parameter value 32 bit Write 32 bit parameter value to the drive Specify MENU PARAMETER DATA HIGH word and DATA LOW word This function can also be used to write to 16 bit drive parameters but if DATA HIGH word is not set to 0 a value over range error will be reported Request last parameter reference SM PROFIBUS DP V1 User Guide Issue Number 10 www contro Returns the last parameter for the specified menu Specify MENU Values in PARAMETER DATA HIGH word and DATA LOW word will be discarded 45 Itechniques com uonejejsu uonejejsut uoneuuojul Jeolueyooy jeoujoe 3 peueis 2129 SpJ
96. hen data is sent over the PROFIBUS DP network it is transmitted as 8 bit bytes Therefore when a 32 bit word or 16 bit word is transmitted it is split into four or two 8 bit bytes It is important that the receiving node reconstructs the received 8 bit bytes in the correct order to arrive at the 32 bit or 16 bit data value that was originally transmitted this order is known as the Data Endian Format and is shown in Table 12 3 Table 12 3 Data endian format Data 16 bit value 32 bit value endian Pr MM 08 format Byte order Word order Byte order High byte first High byte first High word first Mid high byte second Low byte second Low word second Mid low byte third Low byte fourth Low byte first Low byte first Low word first Mid low byte second High byte second High word second Mid high byte third High byte fourth Little Most PROFIBUS DP master controllers use big endian format by default many also support little endian however some older PLCs do not offer the facility to select big endian format SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 12 4 12 5 Inter option communication timing When more that one Solutions Module is installed to a drive not Commander SK communications between modules uses inter option communications Inter option communications is slower than the communications directly to the drive parameters Typical access times for direct drive menu access will be
97. ide for more details Unidrive SP only In regen mode mains loss is the inverse of Pr 3 07 Refer to the Unidrive SP Advanced User Guide for more details Not Used Reserved SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 10 Diagnostics This section provides basic diagnostic information intended to enable resolution of the most common problems encountered when setting up a SM PROFIBUS DP V1 on a PROFIBUS DP network A high percentage of problems reported are basic set up problems that can be avoided by using the information in this chapter Start by using the Diagnostic flow chart on page 62 to determine the possible cause of a problem If after following the flow chart you are still experiencing problems please contact your supplier or local Control Techniques Drive Centre for support Please note that support will be limited to the setting up and networking of the drive 10 1 Module ID code Table 10 1 Module ID code 403 SM PROFIBUS DP V1 0 to 499 RO The module ID code indicates the type of module installed in to the slot corresponding to menu MM The module ID code for SM PROFIBUS DP V1 is 403 10 2 Module firmware version Table 10 2 SM PROFIBUS DP V1 firmware major version xx yy N A 00 00 to 99 99 RO Table 10 3 SM PROFIBUS DP V1 firmware minor version zz Unidrive SP Sizes 1 to 6 Unidrive SPM Mentor MP The software version of the Solutions Modules can be identified by loo
98. ific meaning SYNC A method of preventing output state changes from being actioned by the slave until a SYNC signal is sent this is used in conjunction with UNSYNC Task ID The code used to describe the purpose of a message using PPO 4 word non cyclic communication g D be o 2 9 o Telegram A message used within Mode 1 non cyclic data communication This term is sometimes used to represent a generic message on the network Termination This is used at both ends of a network segment to prevent reflections and reduce noise On PROFIBUS termination is provided by a powered network of resistors peouerpy SALPIJO YA sounjeo sounjeay AoeBa7 UNSYNC Used to restore outputs in a slave to normal operation following a SYNC command IND UNFREEZE Used to restore inputs in a slave to normal operation following a FREEZE command 239U9 9 9 Watchdog A method used to determine if a communication system is ok A typical watchdog scheme uses a handshaking system to check both the master and slave are participating in communications suue jo Aiesso 5 Word A collection of 16 binary digits User Guide 103 Issue Number 10 www controltechniques com Numerics 16 bit parameter access ocooooccccnocccccoonccnnonncononnnnnnanncnnnnnnnnnnan E iaaa 44 2 cyclic channels only E er e eu TEE 5 6yclic channels 3 uec e HO Ce dada AER 8 cyclic channels with PPO 4 word ssssssseene 29 A
99. ified TASK ID could not be completed Word 3 will return an error code to indicate the reason for the TASK ID failure see table below Error read only parameter Target parameter specified by TASK ID 7 or TASK ID 8 is read only and cannot be modified If RESPONSE ID 7 has been received the error code can be read from word 3 This will indicate the reason why the TASK ID request failed see Table 8 12 Table 8 12 PPO 4 Word error codes ERROR CODE Invalid menu Description The specified menu does not exist Parameter is read only The specified parameter is read only and cannot be written to Value out of range The specified data value is out of range for the parameter Invalid parameter menu The specified parameter does not exist Parameter error No last parameter information available 46 www controltechniques com SM PROFIBUS DP V1 User Guide Issue Number 10 8 8 3 Reading parameters using PPO A Word mode Figure 8 5 shows the sequence of events required to read a drive parameter using the PPO 4 Word non cyclic channel Figure 8 5 PPO 4 Word Read sequence START v Set OUT Word 0to0 v Specify PARAMETER in OUT Word 1 v v CASE RESPONSE ID 4 5 v v Y Set OUT Word 2to0 v Set OUT Word 3to0 y Specify TASK ID and MENU in OUT Word 0
100. in the region of 30us per parameter a similar access using inter option communications will be in the region of 1ms per parameter When using inter option communications if parameters are sequential within the same menu then up to six parameters may be grouped in to a block this will take up to 1ms for this block to be transferred A total of eight blocks for input and eight blocks for output are available Cyclic data compression Table 12 4 Cyclic data compression enable Default OFF 0 Range OFF 0 or ON 1 Access RW By default the SM PROFIBUS DP V1 uses 32 bits for each data channel even if the target parameter in the drive is a 16 bit parameter This strategy known as casting ensures that the cyclic data transmitted over the PROFIBUS DP network is kept aligned with memory locations in 32 bit PLCs When cyclic data compression is enabled MM 34 ON a data channel will only use 32 bits if the target drive parameter is a 32 bit parameter If the target drive parameter is only 1 8 or 16 bits wide 16 bits will be used for that particular data channel This is shown in Table 12 5 Table 12 5 Actual data sizes Parameter Size bits Actual Data Size bits Actual Data Size bits Compression on Compression off The following examples demonstrate setting up a network using five cyclic channels for both IN and OUT data with the cyclic data compression first disabled and then enabled Tab
101. ing device on the network generally this will include programming features Mode 1 non cyclic A method of sending non cyclic data using a single word Mode 2 non cyclic A method of sending non cyclic data using four words User Guide www controltechniques com Issue Number 10 PROFidrive profile A standardized method of controlling drives that is independent of the manufacturer uoneuuojul Poll rate The rate at which cyclic data is sent and received on the network PPO Modes Different operational modes within the PROFIdrive profile PPO 4 mode is not the same as Mode 2 PPO 4 Word mode non cyclic data uononpoaul PPO 4 Word non cyclic mode see Mode 2 non cyclic in this section This is not the same as PPO4 mode uoneljejsut Eupen Response ID The response code of the message received when using PPO4 word non cyclic communication uoneljejsut Jeoupe 3 Scan rate See Poll rate in this section Segment An electrically separate part of the network Each segment requires correct termination to ensure reliable operation Due to electrical limitations the maximum number of devices on a segment is limited to 32 Shielding A connection to provide additional noise immunity on a network cable Slave A device on the PROFIBUS network such as a drive or sensor A slave device will only respond to messages from a master Status word A value that denotes the status of the drive Each bit within the word will have a spec
102. ing parameters using PPO 4 Word mode Z Zero speed 108 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 0471 0008 10
103. ing will cause the SM PROFIBUS DP V1 to temporary go off line from the PROFIBUS DP network SM PROFIBUS DP V1 User Guide 63 Issue Number 10 www controltechniques com LESE Once the PROF Idrive profile has been configured the corresponding mapping parameter will display a value of 1 and will be locked only the user configurable mapping parameters will be editable The Standard Telegram 1 support is a mandatory requirement for Application Class 1 devices the mapping structure is shown Table 11 1 Table 11 1 Standard Telegram 1 mapping structure OUT Data word 0 PROFldrive status word word 0 PROF Idrive control word word 1 Main Actual Value word 1 Main Setpoint In addition to the Standard Telegram 1 SM PROFIBUS DP V1 provides two other profiles with either four or eight cyclic words possible Table 11 2 shows the profile with four cyclic words and Table 11 3 shows the profile with eight cyclic words Table 11 2 Standard Telegram 1 plus four cyclic words mapping structure IN Data Function OUT Data Function PROFldrive status word PROF Idrive control word Main Actual Value Main Setpoint User configurable User configurable mapping using mapping using Pr MM 12 to Pr MM 15 Pr MM 22 to Pr MM 25 Table 11 3 Standard Telegram 1 plus eight cyclic words mapping structure IN Data Function OUT Data Function PROF lIdrive status word PROF ldrive control word Main Actual Value Main Setpoint User configurable Use
104. ion Enable network control bit 10 1 0x0400 Remove all STOP commands bits 1 amp 2 1 0x0406 S1 to S2 Set drive to Ready bit 0 1 0x0407 S2 to S3 Enable operation bit 3 1 0x040F S3 to S4 Set jog direction forward bit 8 1 and bit 9 0 Ox050F or Set jog direction reverse bit 8 0 and bit 9 1 OxO60F Set jog setpoint value Pr 1 05 The motor should now jog at the speed set by the jog setpoint value vA a1yord senjeaj seinjeej xoi KoeBe1 peoueapy ELMETO F 95u9J9jeJ suo Jo Hesso SM PROFIBUS DP V1 User Guide 69 Issue Number 10 www controltechniques com 11 9 PROFIdrive control word The PROFldrive control word consists of sixteen control bits some of which are reserved Table 11 5 PROFIdrive control word bit functions Function No Ramp Stop Description Ramp Stop command is withdrawn Ramp Stop No Coast Stop The motor decelerates under ramp control using deceleration rate1 Pr 2 21 inhibits the drive and go to Ready For Switching On state Coast Stop command is withdrawn Coast Stop No Quick Stop Voltage disconnected inhibit the drive output stage Main contactor is de energized if available and the drive goes into the Switching On Inhibited status Motor coasts down Quick Stop command is withdrawn Quick Stop Enable Operation The motor decelerates under ramp control using deceleration rate2 Pr 2 22 inhibits the drive and go to
105. ion If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be installed with a protection thermistor If necessary an electric forced vent fan should be used The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied upon It is essential that the correct value is entered in the motor rated current parameter This affects the thermal protection of the motor Adjusting parameters Some parameters have a profound effect on the operation of the drive They must not be altered without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering SM PROFIBUS DP V1 User Guide 7 Issue Number 10 www controltechniques com UonEuuout uoye eysul Eupen ETGEN o yO Do 58 9 s Sp az oc seinjeoj peouEA py SAUPIJOYA eoueJejoel seumeej KfoeBe1 suo Jo Hesso uononpoaul sonsouBeiq jeoujoe 3 2 Introduction 2 1 What is PROFIBUS DP PROFIBUS DP Decentralized Peripheral is a networking system that falls into the generic category of fieldbus Fieldbuses are generally defined as industrial networking Systems that are intended to r
106. is also available in menu 0 on the Commander SK Pr 00 52 Addresses 0 and 126 are reserved for system use Network data rate Table 5 3 PROFIBUS DP data rate Default Range Access The SM PROFIBUS DP V1 will automatically detect the PROFIBUS DP network data rate and synchronize to it Pr MM 04 will indicate the data rate that has been detected by the SM PROFIBUS DP V1 This parameter is also available in menu 0 on the Commander SK Pr 00 53 A value of 1 indicates that the SM PROFIBUS DP V1 has not detected any activity on the PROFIBUS DP network and is waiting for the master controller to start communicating LEE The PROFIBUS DP data rate parameter can be changed but this will not affect the data 18 rate at which the SM PROFIBUS DP V1 communicates The data rate display will be updated when SM PROFIBUS DP V1 is re initialized Table 5 4 Network data rate status Auto detecting 12M 6 0M 3 0M 1 5M 500k 187 5k 93 75k 45 45k 19 2k 9 6k 1 o CO N ol Oo A Ww N o SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 5 6 Data format Table 5 5 PROFIBUS DP data format 4 0 to 32 100 to 131 200 to 228 RW The default data format is four cyclic words each cyclic data channel is mapped to a drive parameter The default mappings are shown in Table 5 6 LEO The maximum number of 16 bit data words that is possible is 32 with on
107. it one channel when turned on For 32 bit mappings a maximum of five IN and five OUT mappings may be used with data compression turned on Parameters Pr MM 10 to Pr MM 29 are all 16 bit parameters each data channel will be reduced to 16 bits when data compression is enabled Hence a maximum of ten data words can be specified in Pr MM 05 or Pr MM 39 and Pr MM 40 Table 12 13 Direct data mapping configurations data compression ON Primas Description The first 10 OUT channels will be written directly to Pr MM 10 to Pr MM 19 and the first 10 IN channels will be read directly from Pr MM 20 to Pr MM 29 1to10 uoneuuojul uoneljejsut Eupen 100 to 109 Non cyclic data cannot be used in direct data mapping mode 200 to 206 The SM PROFIBUS DP V1 operating status parameter Pr MM 49 will indicate 300 to 3098 the value 3 and mapping error code Pr MM SO will indicate the value 2 12 8 Custom data formats Table 12 14 IN cyclic words Default Range Access Table 12 15 OUT cyclic words Default Range Access If the number of cyclic words is specified using the data format parameter Pr MM 05 the number of input and output cyclic words will be the same See section 7 2 Data formats Pr MM 39 and Pr MM 40 will always display the current number of input and output cyclic data words being used When the data format Pr MM 05 and the PPO Type Pr MM 38 are both set to 0 the number of input data words ca
108. its s 12M 6 0M 3 0M 1 5M 500k 187 5k 93 75k 45 45k 19 2k 9 6k Maximum of 32 input and 32 output cyclic data words supported PROFldrive profiles V2 and V4 supported Non cyclic data channel supported Parallel acyclic cyclic data communication The SM PROFIBUS DP V1 is powered from the host drive s internal power supply SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 2 3 2 Main differences between DP VO and DP V1 The main differences between DP VO and DP V1 supported by SM PROFIBUS DP V1 are PROFIdrive profile V4 support which consists of Standard Telegram 1 PROFIdrive PNU Access Drive Identification Fault Buffer Identification and Maintenance Functions Non cyclic data channel access 2 4 Solutions Module identification The SM PROFIBUS DP V1 can be identified by 1 The label located on the underside of the Solutions Module 2 The color coding across the front of the SM PROFIBUS DP V1 purple Figure 2 4 SM PROFIBUS DP V1 labels Solutions Module T Customer and date code sy ES DP V1 STDT27 fRoHSi Approval H compliant Issue 03 00 Hardware III III Issue Ser No 3000005001 number Serial number 2 4 1 Date code format The date code is split into two sections a letter followed by a number The letter indicates the year and the number indicates the week number within the year in which the Solutions Module was built
109. kewise it must then abort the connection when it is no longer required LE SM PROFIBUS DP V1 supports the simultaneous connection to one class 1 master 32 and one class 2 master SM PROFIBUS DP V1 supports the following features DP V1 Parameter Access PROFIdrive PNU Access see section 11 11 PROFldrive PNU access Fault Buffer see section 11 12 Fault Buffer Drive Identification see section 11 13 Drive Identification Identification and Maintenance Functions see section 11 14 Identification and Maintenance Functions The maximum DP V1 message length is restricted to 128 bytes including the four bytes of the DP V1 header and the four bytes of the PROFIdrive request this leaves a maximum of 120 bytes for the parameter data the maximum number of parameters that can be read or written in a single message is shown in Table 8 1 Table 8 1 Single message parameter limitation Maximum number of parameters SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 8 4 1 DP V1 Parameter Access Drive parameters and PROFIdrive PNUs can be accessed using the PROFIdrive Parameter Channel the global slot number 0 and slot sub index 47 This is illustrated in Figure 8 1 uoneuuojul DP V1 slot numbers 1 and 2 are also allowed uononpoaul LESE The PROFIdrive PNUs will be accessible using functions available in the master Figure 8 1 DP V1 Parameter Channel uoneljejsu Jeolueyooypy PRO
110. king at Pr 15 02 or Pr 16 02 or Pr 17 02 and Pr 15 51 or Pr 16 51 or Pr 17 51 Menu 15 16 or 17 is Solutions Module slot dependent with menu 17 being the lowest position nearest the control terminal connections The software version takes the form of xx yy zz where Pr 15 02 or Pr 16 02 or Pr 17 02 displays xx yy and Pr 15 51 or Pr 16 51 or Pr 17 51 displays zz e g for software version 01 01 00 on a module in the middle Solutions Module slot Pr 16 02 will display 1 01 and Pr 16 51 will display 0 Unidrive SP Size 0 Digitax ST Unidrive ES Affinity The software version of the Solutions Modules can be identified by looking at Pr 15 02 or Pr 16 02 and Pr 15 51 or Pr 16 51 Menu 15 or 16 is Solutions Module slot dependent with menu 15 Unidrive SP size O and Digitax ST or menu 16 Unidrive ES and Affinity being the position nearest the control terminal connections SM PROFIBUS DP V1 User Guide 55 Issue Number 10 www controltechniques com uoneuuojul uoneljejsut JeoiueuoeN ETGEN ejep oioKo uoN o m zi o 9 a a Seinjeoj peoueApy SALPIJO YA eouelejal seunjeel foeBe1 suo Jo Hesso uononpoaul sonsoubeig jeouioe 3 Q e bel sk m 3 a IND 10 3 10 4 The software version takes the form of xx yy zz where Pr 15 02 or Pr 16 02 displays xx yy and Pr 15 51 or Pr 16 51 displays zz e g for software version 01 01 00 on a module in the middle Solutions M
111. l differ Check the data is reaching the drive by using the drive display to monitor values i i Check the master data Sizes match the SM PROFIBUS DP V1 settings Try remapping to spare menu 18 19 or 20 parameters as a test i Check the master configuration is it showing a bus error Check set up flowchart and double check all drive settings Before calling for support ensure you have all drive and option module parameters and firmware versions See Sections 7 11 12 and 13 A network monitor can be used to look at the network SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 11 PROFIdrive profile V4 uoneuuojul 11 1 What is PROFIdrive profile The PROFldrive profile is a non vendor specific standard for controlling drives PROFIdrive allows compatible drives from different vendors to be controlled and monitored using the same control strategy For further details of the PROFIdrive profile refer to the official PROFIBUS web site at www profibus com uononpoaul uoneljejsut Eupen This section relates to the PROFIdrive profile V4 for information on legacy support of the PROFlIdrive profile V2 refer to section 13 Legacy features The SM PROFIBUS DP V1 module provides support for the Standard Drive application class 1 defined in the PROFIdrive V4 specification for speed c
112. le 12 6 shows the mapping parameters where five IN and five OUT cyclic data channels are required With data compression disabled each data channel uses 32 bits two data words so a total of ten words are required Pr MM 05 10 SM PROFIBUS DP V1 User Guide TT Issue Number 10 www controltechniques com uoneuuojul uoneljejsu Eupen uomeljejsur o yO Do 528 9 s Sp az oc EX DESIT M SAUDI AOU eoueJejel seumeej KfoeBe1 suo Jo Hesso uononpoaul sonsouBeiq jeoujoe 3 Table 12 6 Example cyclic data channel mapping with compression off Data channel IN channel O Data words used IN word O 1 Mapping for slot 3 Pr 17 10 Setting Mapping status Pr 10 40 status word IN channel 1 IN word 2 3 Pr 17 11 Pr 2 01 post ramp speed ref IN channel 2 IN word 4 5 Pr 17 12 Pr 4 20 motor load as of rated motor load IN channel 3 IN word 6 7 Pr 17 13 Pr 14 21 PID feedback IN channel 4 OUT channel 0 IN word 8 9 OUT word O 1 Pr 17 14 Pr 17 20 Pr 14 01 PID output Pr 6 42 control word OUT channel 1 OUT word 2 3 Pr 17 21 Pr 1 21 digital speed ref 1 OUT channel 2 OUT word 4 5 Pr 17 22 Pr 2 11 acceleration ramp OUT channel 3 OUT word 6 7 Pr 17 23 Pr 2 21 deceleration ramp OUT channel 4 OUT word 8 9 Pr 17 24 Pr 14 20 PID reference It is advisable to keep 16 bit parame
113. lossary of terms SS ER SE GSD compatibility g i H Hardware enable miosina ideada eds 28 E o l ge ID COdG E c Identification PNUS sss d SE Inter option communication timing oooonnncccnnncccnnnoccconanaccnanonononnn co nananccnnnnns Q J ef Jogging E as 9 L Local solutioris a6Cess tt ene bete e e bed eec 2 tad SM PROFIBUS DP V1 User Guide 105 Issue Number 10 www controltechniques com Mapping conflicts e iioi uertit it eo HY v ER Eee dn 29 Mapping error codes 3 cap a a 98 Mapping eO s iere eet lc fat wie ee ea eee eee 29 Mapping parameters 27 Mapping status 58 Mapping to SM Applications essseesieeeeeeeeeieeeeeeeeenteserrnttnrsernntenrnnsrnnnesrnnnt 84 Ment bO cuicos th DL BEC elei e e inen 81 84 Mode 1 Mode 2 Multi master rct erecto erc eene t e c Ee ee re n VER Foros 86 N Network compatibility mode 87 Network length spenn ran aD Nase ES 15 Network loss trip i dece eret er i e He e e ee npo e 75 NI 14 Node address 5d ee te tere ta tee o e n tede E Non cyclic data Noncscyclic modesina ttt ne p t eec uri e den ee p dts 33 Normal Run Sequence suonissa eene eene nnne sene 66 O t RTE 19 57 Operating status codes ssssssssessssseeeeeesereeneeeee nnne 19 98 A A deut oet oi ga ea ede Ree ce dE Te Dave uen Hei Ue cade dee 10 P Parameter reference eiecit e beet 96 Parameters adjusting oconicccnnnccccnnnc
114. ly cyclic data 31 with Mode 1 non cyclic data and 28 with PPO4 word mode Table 5 6 Default data mapping Cyclic word Data word Default mapping status IN channel 0 word O 1 Pr 10 40 status word IN channel 1 word 2 3 Pr 2 01 post ramp speed reference OUT channel 0 word O 1 Pr 6 42 control word OUT channel 1 word 2 3 Pr 1 21 digital speed reference 1 Other data formats are also supported For further details see section 7 2 Data formats on page 26 The directions specified in Table 5 6 relate to the data direction as seen by the master 5 7 Network operating status Table 5 7 Network operating status N A 3 to 9999 RO The PROFIBUS DP network activity can be monitored in the SM PROFIBUS DP V1 operating status parameter Pr MM 06 When the SM PROFIBUS DP V1 is communicating successfully with the PROFIBUS DP master controller Pr MM 06 will give an indication of the number of cyclic data messages that are being processed per second This parameter is also available in menu 0 on the Commander SK Pr 00 54 Table 5 8 Network operating status codes Pr MM 06 Parameter Description Network ok Indicates the number of processed cyclic messages per second Indicates that the PROFIBUS DP master has established N iwark 6k a communications with the SM PROFIBUS DP V1 If operating data transfer status changes briefly to 1 and returns to 0 the slave configuration does not match the configurati
115. meter Pr 1 42 the function of which is to select the digital speed reference as the source of the drive s speed reference When the REMOTE bit is reset to O the drive will revert to using the external analog speed reference The actual digital speed reference selected when REMOTE is set to 1 will be Pr 1 21 which is also the default mapping for the fieldbus speed reference However Pr 1 15 can be used to change which of the digital references is selected For further details on the drive digital speed reference please refer to the appropriate drive user guide Table 9 2 lists in detail the function of each control word bit For further in depth details about drive control words and sequencing bits please refer to the appropriate drive documentation LE When a trip occurs the drive control word MUST be set to a safe disabled state This ensures that the drive does not re start unexpectedly when it is reset This can be achieved by continuously monitoring the drive status word and interlocking it with the control word By default data compression is off and therefore the control word will be cast as 32 bit SM PROFIBUS DP V1 User Guide 51 with bits 16 to 31 reserved Issue Number 10 www controltechniques com uoneuuojul uoneljejsut JeoiueuoeIN ETGEN D 4 E E H El a a seinjeoj peouEA py SAUPIJOYA eoueJejel selnjea AoeBa7 suo Jo Hesso uononpoaul sonsouBeiq jeoujoe 3 z o 7 o lt S
116. mitted after all the cyclic data within the PROFIBUS DP cycle depending on the length of the non cyclic data this may take several cycles to complete 8 1 2 Mode CT Single Word This mode uses an additional data word to implement the CT Single Word protocol allowing access any drive parameter See section 8 6 Mode 1 CT Single Word mode for more information 8 1 3 Mode 2 PPO 4 Word This mode uses four data words to access any drive parameter See section 8 8 Mode 2 PPO 4 Word mode for more information gep sai Dees ouo aso Bumeo 2129 z o E 7 lt a 5 Q fo 2 o Fl o SpJOM smeis 8 2 Configuration using non cyclic data The SM PROFIBUS DP V1 can be configured using the DP V1 Parameter Access channel CT Single Word or PPO 4 Word non cyclic data This is useful when using a master controller to configure the drive when a drive is initialized only the node address MM 03 and the data mode MM 05 need to be set manually The master can now use the desired mode to setup the remainder of the parameters The configuration parameters for the slot in which the SM PROFIBUS DP V1 is located can be accessed as Pr 60 PP Any changes made to the configuration parameters will not take effect until the SM PROFIBUS DP V1 has been reset SM PROFIBUS DP V1 can be reset by writing a value of 1 to Pr 60 32 A brief interruption in PROFIBUS DP communications may be seen while the reset sequence is in progress
117. moved N b0 1 Switch on alarm acknowledge b7 Main contactor ON Start delay time STATUS ready b1 1 Enable operation From b3 1 OFF3 b2 0 Stop drive as fast as poss Ee STATUS Stage 1 OFF3 b5 0 Speed 0 Current 0 every Unidrive SP active status Open load al contactor STATUS OFF2 b4 0 STATUS not ready b1 0 Main switch OFF OFF 1 active Stage 2 Keep 0 lopen load 13 contactor 10 02 0 Unidrive SP not active Ramp function generator output free b4 1 Stop ramp function generator b5 0 H Ramp function generatoi enabled output Enable ramp function generator b5 1 Inhibit setpoint Ramp function b6 0 generato accel enabled Enable setpoint b6 1 www controltechniques com 10 02 0 Unidrive SP not active Unidrive SP not active Enable Unidrive SP output STATUS operation enabled b2 1 INCH1 or INC2 b8 or b9 1 and Ramp function generator inhibited b4 1 Ramp function generator stopped b5 0 Setpoint inhibited b6 0 INCH setpoint to speed controller Inching active Supplementary setpoint to current controller INCH1 or INCH2 OFF b8 or b9 0 Inching pause monitoring Speed 0 and Current 0 INCH1 or INCH2 ON Speed set speed b10 1 SM PROFIBUS DP V1 User Guide Issue Number 10 Table 13 10 PROFIdrive V2 State Machine
118. n be specified in Pr MM 39 and the number of output words in Pr MM 40 This allows different numbers of input and output cyclic data words to be specified CT Single Word or PPO 4 Word non cyclic data can also be enabled by mapping input and output words to the appropriate source destination parameter Table 12 16 Customized non cyclic channel mapping i Non cyclic mode Description parameter Pr 61 50 Mode 1 CT one IN and one OUT word must be assigned for use as Single Word the CT Single Word non cyclic channel Pr 61 51 Mode 2 PPO 4 four IN and four OUT words must be assigned for use as d Word the PPO 4 Word non cyclic channel SM PROFIBUS DP V1 User Guide 81 Issue Number 10 www controltechniques com uonejejsut Jeoupe 3 o m zi o 9 a a soinjyeaj PEN M SAUDI AOU eoueJejoel selnjea AoeBa7 suo Jo Hesso uononpoaul sonsouBeiq Q e 3 e m 3 a IND 12 9 12 10 Restore defaults Table 12 17 Restore defaults OFF 0 OFF 0 or ON 1 RW If the host drive is defaulted see the drive user guide for details it will also clear the current configuration for the slot SM PROFIBUS DP V1 is installed to Setting Pr MM 30 to 1 additionally clears the backup copy of the SM PROFIBUS DP V1 configuration stored in the module This can be performed as follows Set Pr MM 30 to 1 Load drive default parameters refer to relevant drive documentation for more information
119. n cyclic mapping error A non cyclic data mode has been mapped more than once in the OUT cyclic data mapping configuration parameters Pr MM 20 to Pr MM 29 Configuration read error An error has occurred reading the OUT cyclic data mapping configuration parameters from the drive Pr MM 20 to Pr MM 29 Invalid destination parameter One or more parameters specified in the OUT cyclic data mapping configuration is outside of the allowed range for PROFIBUS DP Pr MM 20 to Pr MM 29 The allowable parameter range is from 0 00 to 199 99 SpJOM smeis Write mismatch One or more parameters specified in the OUT cyclic data mapping configuration Pr MM 20 to Pr MM 29 cannot be used as a destination parameter for OUT data The parameter may not exist or is a read only parameter This error will also occur if an attempt is made to map OUT data to the configuration parameters of a fieldbus option in another slot unless that fieldbus is configured in register mode i e Pr MM 09 ON 1 se1njeoj sonsoubeig pue ouoy pe ue py SAMPIJOYA Hole in OUT data mapping configuration OUT data mapping parameters are not contiguous Pr MM 20 to Pr MM 29 It is not possible to have an unused parameter in the middle of the cyclic data Duplicate mapping error Two or more OUT cyclic data mapping configuration parameters Pr MM 20 to Pr MM 29 have been configured with the same destination parameter reference
120. n timing sssssese 77 Cyclic data compression oooocccnocccconocacononcnnonancnnonncn nono ncn nono nn ccoo nnnnnnncn 7T Block mapping Direct data mapping nrc rite etre cech da Custom data formats acne i eor din der interea Restore defaults indicio en AEN Storing SM PROFIBUS DP V1 parameters backup Restore previous SM PROFIBUS DP V1 configuration M Menu 60 Local Solutions access seee Mapping to SM Applications parameters ssseesesss EVENT task trigger in SM Applications Ls Multi master operation ooooonnocccnnnccccnoncccononccconanncnnnnnc non n nn conan canon ncnnnnncn Legacy features mccnonccncncnnnanccnnnnnannrrnnnnna cnn rn nn arras 87 Network compatibility mode ooooocoonnccconnccccnnocccconoccnconancnnonancnnonn ca nannn cnn 87 PPO TYDES hit e epp t E ES e b ee tenes Configuring the Profile bee PROF Idrive control word c oooocccccccocccocnnacncnoncc nana nano nan c oran corona narco nn nana nannn no 90 PROF Idrive status word c ooooocicocococccocnnanncnnn conca nan nonononan cnn anno cnn nc nro 91 Main SStpolM senesine ee iii 92 Main Actual Value eerte nnne nn nnne enn ras 92 PROFldrive V2 state machine diagram ssssssssss 93 Quick reference iia 96 Complete parameter reference ssssssssseee 96 Operating status codes Mapping error codes ET Error COMES e
121. nation device is available that is powered independently of the network devices For more information go to www profibus com Failure to terminate a network correctly can seriously affect the operation of the network 14 If the correct termination networks are not installed the noise immunity of the network is greatly reduced Each network segment must be correctly terminated SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 4 7 Maximum network length device loading The maximum number of devices that can be connected to a single PROFIBUS DP network segment is 32 this includes all nodes and any repeaters The maximum lengths of cable for a segment depend on the data rate and are shown in Table 4 2 uoneuuojul Repeaters or fiber optic segments can be used to extend the network allowing more than 32 nodes to be connected on the network The maximum number of nodes on a single network is 125 uononpoaul For full details on designing and installing a PROFIBUS DP network refer to Installation Guidelines for PROFIBUS DP FMS This document is available from the PROFIBUS web site at www profibus com EolUByoa Table 4 2 PROFIBUS DP maximum network lengths Data rate bits s Maximum trunk length m 891139913 oues POE uonejeisu ep sai p ouo aso 8umeo eyep OND UON 4 8 Node addressing SM PROFIBUS DP V1 has a valid address range of 1 to 125 Addresses 126 a
122. nd 0 are reserved for system use and should not be used The addressing scheme used is at the discretion of the end user however it is recommended that nodes are numbered in order as they appear on the physical network It is not necessary to use consecutive numbers and gaps in the addressing scheme may be left to allow for future expansion 4 9 Spurs The PROFIBUS DP specification allows spurs at data rates less than 1 5Mbits s At data rates below 1 5Mbits s there are specific requirements for capacitance and length of cable allowed when using spurs Control Techniques recommend that spurs are not used as extreme care is required at the design stage to avoid network problems More information on spurs can be found on the PROFIBUS web site at www profibus com o yO Do 58 9 s 0 az oc sonsouBeiq Seinjeoj peouEA py SAUPIJO YA 4 10 Minimum node to node cable length The minimum recommended node to node distance is one metre of network cable This distance is necessary to avoid multiple nodes generating a single large reflection on the network using less than one metre of cable between nodes can have serious implications for network reliability SeJnjeoj KfoeBe1 IND 95u9J9jeJ suo Jo Hesso SM PROFIBUS DP V1 User Guide 15 Issue Number 10 www controltechniques com Getting started This section is intended to provide a generic guide for setting up SM PROFIBUS DP V1 and a master controller Figure 5 1 is intended as
123. nd understood and the sixth telegram can be transmitted SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 TELEGRAM 6 The sixth telegram from the PROFIBUS DP master has the stamp number set to 6 The data bits contain the low data byte for the parameter that is being written to uoneuuojul Example telegram 8i iz bbs EL 0001 0110 0110 0011 Data word 0x1663 Stamp number 6 Data low byte 0x63 99 When the sixth telegram has been received and processed in the slave node it will write the data Pr 1 21 12553 9 as transmitted the decimal point is automatically inserted when the data is transferred to the drive If the operation is successful the ERR bit is reset to 0 and the telegram is reflected in the non cyclic IN word UOREIIEISU ononpowul JEoiueuoe N uonelejsut Jeoupe 3 Example response success st wes wes bree 5959 Data word 0x1663 Stamp number 6 Data low byte 0x63 99 If there was a problem with writing the data to the defined parameter e g parameter is read only does not exist or data is out of range the ERR bit is set to 1 gep sai peueis op aso 8umeo 2129 Example response success st ara em bb Ces 0101 0110 0110 0011 Data word 0x5663 Stamp number 6 z o El 7 o lt a 5 Q fo 2 o 2 o SpJOM smeis sonsouBeiq 8 7 4 Abort CT Single Word non cyclic message The internal state machine tha
124. ned Refer to section 13 4 PROFldrive control word on page 90 and section 13 5 PROFldrive status word on page 91 for full details about the PROFIdrive control and status words LE This section is included for information on the superseded PROFlarive profile V2 new SM PROFIBUS DP V1 User Guide 93 installations should use the PROFIdrive profile V4 described in section 11 PROFldrive profile V4 on page 63 Issue Number 10 www controltechniques com uoneuuojul uoneljejsut Eupen uomeljejsur eyep OND M UON n o m zi o 9 a a soueJejas I se njea Aoeba7 suo Jo Hesso uononpoaul sonsouBeiq jeouioe 3 Q o 2 e 3 a peoueApy SALPIJO YA IND 94 Figure 13 1 PROFIdrive V2 State Machine Diagram Voltage S hed off Voltage ON Inhibit operation STATUS operation inhibited b2 0 Operation inhibited From every Unidrive SP active status OFF1 b0 0 or delay time expired OFF 1 active Stage 1 Speed 0 Current 0 Inhibit setpoint make 0 KM Ready to switch on ON STATUS switch on inhibit b6 1 OFF1 b0 0 From every Unidrive SP status STATUS not ready for switch on b6 1 STATUS control requested b9 1 ady for Fault 10 01 0 Stop Unidrive SP Control word basic status XXXX X1XX XXXX X110 STATUS fault b3 1 STATUS ready to switch on b0 1 Fault re
125. nformation on how this requirement applies in relation to specific Control Techniques products please approach your usual contact in the first instance Control Techniques position statement can be viewed at http www controltechniques com REACH Copyright July 2010 Control Techniques Ltd Issue Number 10 1 1 1 2 1 3 1 4 1 5 1 6 1 7 2 1 2 2 2 3 2 4 3 1 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 6 1 6 2 6 3 6 4 6 5 SM PROFIBUS DP V1 User Guide Issue Number 10 Contents Safety information eee 6 Warnings Cautions and Notes oooooococonocccconoccnconocononnncononnncananoncnnanancnnnnns 6 Electrical safety general warning sssssseeen 6 System design and safety of personnel sessssssssssss 6 Environmental limits sii Compliance with regulations ooooonncccnnncccnnnccccnoncccnnnaccnnnnncnnnnrncnannn cnn 7 Dy oye EE 7 Adjusting parameters iernii riina arnai ea aeaaea EA a eiaa 7 Introduction eerte tenens 8 What is PROFIBUS DP ENEE 8 What is SM PROFIBUS DP V1 00 0 ecceecceeceereeeeeereeeeneeeeeeeeeeetneeeeeaees 10 General Specification Ti eed hn 10 Solutions Module identification oo nnoncnnnnninininnnnnnonancanocaninccnnannnancnnno 11 Mechanical installation 12 General Installation
126. nge for SM PROFIBUS DP V1 The allowable parameter range is from Pr 0 00 to Pr 199 99 Read mismatch One or more parameters specified in the IN cyclic data mapping configuration Pr MM 10 to Pr MM 19 cannot be used as a source parameter for IN data The parameter may not exist 115 Hole in IN data mapping configuration Inter option communications error IN cyclic data mapping parameters Pr MM 10 to Pr MM 19 are not contiguous It is not possible to have an unused parameter in the middle of the cyclic data A request to set up an inter option communications block failed Either the server does not support block transfer or parameters were not legal 98 www controltechniques com SM PROFIBUS DP V1 User Guide Issue Number 10 Table 14 4 Mapping error codes Mapping status Error Description 120 Too many IN data objects mapped After expanding ranges of block mappings too many IN cyclic data channels configured 121 Mapping over length Total size of all IN cyclic data mappings has exceeded the total size of the cyclic data 122 Register mode objects exceeded More than ten cyclic IN data channels have been selected with direct data mapping mode uoneuuojul uononpoaul 204 Multiple non cyclic mapping error A non cyclic data mode has been mapped more than once in the OUT cyclic data mapping configuration parameters Pr MM 20 to Pr MM 29 2
127. non cyclic data compression off This data format provides three cyclic data channels plus an additional channel for Mode 1 CT Single Word non cyclic data See section 8 6 Mode 1 CT Single Word mode The total data length is eight words in and eight words out To select this data format set Pr MM 05 106 Table 7 4 Mapping for three cyclic channels with CT Single Word non cyclic data Data word Parameter Default mapping IN word 0 1 Pr MM 10 Pr 61 50 CT Single Word IN word 2 3 Pr MM 11 Pr 10 40 status word IN word 4 5 Pr MM 12 Pr 2 01 post ramp speed reference IN word 6 7 Pr MM 13 0 not mapped OUT word O 1 Pr MM 20 Pr 61 50 CT Single Word OUT word 2 3 Pr MM 21 Pr 6 42 control word OUT word 4 5 Pr MM 22 Pr 1 21 digital speed reference 1 OUT word 6 7 Pr MM 23 0 not mapped 7 2 3 Five cyclic channels only compression off This data format provides five cyclic data channels with no non cyclic data channel The total data length is ten words in and ten words out To select this data format set Pr MM 05 10 Table 7 5 Mapping for five cyclic channels Data word Parameter Default mapping IN word O 1 Pr MM 10 Pr 10 40 status word IN word 2 3 Pr MM 11 Pr 2 01 post ramp speed reference IN word 4 9 Pr MM 12 to Pr MM 14 0 not mapped OUT word O 1 Pr MM 20 Pr 6 42 control word OUT word 2 3 Pr MM 21 Pr 1 21 digital speed reference 1 OUT word 4 9 Pr MM 22 to Pr MM 24 0 not mapped 28 SM PROFIBUS DP V1 User Guide www controlte
128. ns event task trigger slot 1 page 85 SM Applications event task trigger slot 2 SM Applications event task trigger slot 3 vA ao peouerpy SALPIJO YA Section 8 6 on page 34 CT single word Mode 1 non cyclic data mapping parameter Pr 61 50 Section 8 8 on page 44 PPO 4 Word Mode 2 non cyclic data mapping Pr 61 51 parameter soinjeo Not applicable to Commander SK NOTE Some drive firmware versions will hide unused or reserved parameters 92u919Jo1 omo suo Jo Hesso 97 SM PROFIBUS DP V1 User Guide Issue Number 10 www controltechniques com 14 2 Operating status codes Table 14 3 PROFIBUS DP operating status codes Pr MM 06 Parameter Network ok Description Indicates the number of processed cyclic messages per second Network ok No Data Transfer Indicates that the PROFIBUS DP master has established communications with the SM PROFIBUS DP V1 If operating status changes briefly to 1 and returns to 0 the slave configuration does not match the configuration in the master controller Initialised Indicates that the SM PROFIBUS DP V1 has initialized correctly and is waiting for the PROFIBUS DP master to initialize communications Internal Hardware Failure Indicates that part of the SM PROFIBUS DP V1 initialisation sequence was not successful If this fault persists after a power cycle replace the SM PROFIBUS DP V1 m
129. odule 14 3 Configuration Error Indicates that there is an invalid setting in the configuration parameters of the SM PROFIBUS DP V1 module Mapping error codes Table 14 4 Mapping error codes Mapping status No error detected Description No error detected with IN or OUT cyclic data mapping configuration Direct data mapping error Non cyclic data cannot be used when direct data mapping is enabled Invalid non cyclic mode An invalid non cyclic data mode has been set in Pr MM 05 Invalid mode value The value entered in Pr MM 05 is not supported Configuration error After expanding ranges of block mappings too many OUT cyclic data channels configured PPO error Direct data mapping cannot be selected when using a PPO mode PPO and data format error Data format cannot be specified when using a PPO mode Data compression disabled with PPO Data compression must be ON when using a PPO mode Multiple non cyclic mapping error A non cyclic data mode has been mapped more than once in the IN data mapping configuration parameters Pr MM 10 to Pr MM 19 Configuration read error An error has occurred reading the IN cyclic data mapping configuration parameters Pr MM 10 to Pr MM 19 from the drive Invalid source parameter One or more parameters specified in the IN cyclic data mapping configuration Pr MM 10 to Pr MM 19 is outside of the allowed ra
130. odule slot Unidrive ES and Affinity or for Unidrive SP size 0 and Digitax ST the Solutions Module slot nearest the incoming supply terminals Pr 16 02 will display 1 01 and Pr 16 51 will display 0 Commander SK Sizes B to D and 2 to 6 The software version of the Solutions Module can be identified by looking at Pr 15 02 and Pr 15 51 The software version takes the form of xx yy zz where Pr 15 02 displays xx yy and Pr 15 51 displays zz e g for software version 01 01 00 Pr 15 02 will display 1 01 and Pr 15 51 will display 0 The full version of the SM PROFIBUS DP V1 firmware can be assembled by combining the major version xx yy and the minor version zz as follows xx yy zz PROFIBUS DP node address Table 10 4 PROFIBUS DP node address 126 0 to 126 RW Each node on a PROFIBUS DP network must be given a unique network node address The SM PROFIBUS DP V1 must be re initialized to make a change of node address active Addresses 0 and 126 are reserved for system use and should not be used Network data rate Table 10 5 Network data rate The SM PROFIBUS DP V1 will automatically detect the PROFIBUS DP network data rate and synchronise to it Pr MM 04 will indicate the data rate that has been detected by the SM PROFIBUS DP V1 A value of 1 indicates that the SM PROFIBUS DP V1 has not detected any activity on the PROFIBUS DP network and is waiting for the master controller to start communicating CA The
131. ol Techniques drives only support one fault of this type the active fault in Pr 10 20 The PROFIdrive fault buffer mechanism is shown in Figure 11 3 Figure 11 3 DP V1 Fault Buffer Fault Present Read Status Word bit 3 1 o yO go 53 28 2 gs no Acknowledged fault moves to position 1 sonsouBeiq Any existing acknowledged faults move down one position vA a1yord peouenpy KASETO E Fault Message s 1N e 4 y Any previous fault in position of 7 is lost pe se njea AoeBa7 Fault Reaction 2099 91 IND sue Jo Hesso SM PROFIBUS DP V1 User Guide 73 Issue Number 10 www controltechniques com Table 11 8 Fault Buffer Associated PNUs Designation Description Fault message counter Incremented by one when the fault buffer changes Fault number Contains the fault numbers of the recorded faults Element Description 0 Last unacknowledged fault Pr 10 20 1to7 Acknowledged faults in reverse order of occurrence Fault buffer scaling Defines the number of fault situations and the number of faults per situation factory set to 8 and 1 respectively NOTE The fault buffer contents are stored in internal memory and will be cleared on a module reset or power down 11 13 Drive Identification The PROFIdrive specification specifies certain objects that allow network tools to obtain information on the features supported by the slave SM PROFIBUS DP V1 sup
132. on for more information Pr MM 32 will automatically reset to OFF when the process is complete LESE Once the PROFIdrive profile has been configured the corresponding mapping parameter will display a value of 1 and will be locked only the user configurable mapping parameters will be editable If the PROFIdrive profile has been configured after settings have already been made to the cyclic data mapping parameters the first two or three mapping parameters depending upon the PPO type chosen will be over written and locked out SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 89 uo ejjesu uoneuuojul JEoiueuoe uonelejsut Jeoupe 3 n o m zi o 9 a a seinjeoj peouEA py SAUPIJOYA soueJajas EI Aoeba7 suo Jo Hesso uononpoaul sonsouBeiq Q e 3 e m 3 a IND 13 4 PROFIdrive control word The PROFldrive control word consists of sixteen control bits some of which are reserved Table 13 8 PROFIdrive control word bit functions Function Description Ready Voltage connected to the converter i e main contactor on if available the drive goes into the switch on inhibit status The DC bus is charged the drive is inhibited Operating condition Shutdown returns to status not ready to switch on ramps down along the ramp function generator ramp or along the DC bus voltage limit At Speed 0 and Current 0 voltage is disconnected main contact
133. on in the master controller Indicates that the SM PROFIBUS DP V1 has initialized correctly Initialised and is waiting for the PROFIBUS DP master to initialize communications Internal hardware Indicates that part of the SM PROFIBUS DP V1 initialisation failure sequence was not successful If this fault persists after a power cycle replace the SM PROFIBUS DP V1 Indicates an invalid setting in the SM PROFIBUS DP V1 Configuration error configuration parameters Parameters Pr MM 49 and Pr MM 50 will contain additional information If a mapping configuration error see section 10 7 Mapping status or network error see section 10 9 Module error code is detected the drive may trip SM PROFIBUS DP V1 User Guide 19 Issue Number 10 www controltechniques com uoneuuojul uoneljejsut Jeo1ueyooypy ETGEN eou093 Dagje so KIT SpJOM STEI Seinjeoj peouEApy SAUPIJO YA eoueJejel selnjea AoeBa7 suo Jo Hesso uononpoaul sonsouBeiq m SO 22 sc o pue ouo IND 5 8 Re initializing the SM PROFIBUS DP V1 Table 5 9 SM PROFIBUS DP V1 re initialize 0 OFF 0 OFF to 1 ON RW Changes to the SM PROFIBUS DP V1 configuration in menu 15 16 and 17 parameters will not take effect until the SM PROFIBUS DP V1 has been re initialized To re initialize SM PROFIBUS DP V1 Set Pr MM 32 to ON When the sequence has been completed Pr MM 32 will be reset to OFF e The SM PROFIBUS DP V1 will r
134. onpoaul sonsouBeiq jeoujoe 3 Q e 3 e 3 a peouerpy SAUPIJO YA IND 6 3 Data configuration The GSD file describes the modules of input or output words that may be combined to configure the input and output configuration for a specific node The complete input and output configuration for the node is built by adding the required modules until all of the node s inputs and outputs are defined LE A module consists of a block of input or output data Put simply this is a logical collection of data words If non cyclic data is required and the DP V1 non cyclic channel is not used then the non cyclic CT Single Word and or the PPO 4 Word modules must be selected A total of eight different modules can be selected to configure the input and output configuration of the node The number of input or output words configured in the drive must match the number of input or output words defined in the master if the master has eight IN and four OUT words the drive must use the same settings to communicate correctly The SM PROFIBUS DP V1 module uses Pr MM 05 to set the number of input and output words 16 bit where there are the same number of input and output words alternatively Pr MM 39 and Pr MM 40 may be used to independently set the number of input and output words See section 12 8 Custom data formats for more details LE The definition of a data word is 16 bits By default SM PROFIBUS DP V1 casts all data 6 4
135. ontrol mode using Standard Telegram 1 uoneljejsut Jeoupe 3 LE SM PROFIBUS DP V1 must be installed with V01 00 03 firmware or later to support the legacy PROFIdrive profile V2 see section 13 Legacy features and V03 02 00 to support the DP V1 PROFIdrive profile V4 features SM PROFIBUS DP V1 supports the following PROFIdrive features Standard Telegram 1 PROFIdrive PNU Access Drive Identification Fault Buffer Identification and Maintenance Functions 11 2 Standard Telegram 1 This telegram is equivalent to the PPO3 mode in the legacy PROF drive profile see section 13 2 3 PPO 3 To select the Standard Telegrams for DP V1 the following sequence must be performed Set Pr MM 05 to 0 to disable normal data format Set Pr MM 34 to ON to enable data compression Set Pr MM 38 to the required number 6 for Standard Telegram 1 eyep OND M UON o yO Do 58 9 s 0 az oc sonsouBeiq LZ VEJTII peouenpy TRA 7 for Standard Telegram 1 with four cyclic words 8for Standard Telegram 1 with eight cyclic words Configure the mapping parameters as required Pr MM 32 set to ON to re initialise SM PROFIBUS DP V1 Check Pr MM 06 is not a value of 3 see section 10 Diagnostics for further details Save drive parameters refer to relevant drive documentation for more 239U9 9 9 Jo Hesso information Pr MM 32 will automatically revert to OFF after re initialising Re initialis
136. or off if available All OFF 2 commands are withdrawn OFF2 Operating condition Voltage disconnected inhibit the drive output stage Main contactor is de energized if available and the drive goes into the switch on inhibit status Motor coasts down All OFF 3 commands are withdrawn OFF3 Operation Fast stop If necessary remove operating inhibit fastest possible deceleration at Speed 0 or Current 0 inhibit the drive and go to Switch on inhibit state Enable the drive and accelerate to the specified setpoint Inhibit operation Operating condition Inhibit the drive Drive coasts down ramp function generator to zero or tracking and into the ready status refer to control word bit 0 Inhibit ramp function generator Enable ramp function generator Ramp function generator output is set to zero Main contactor remains in the drive is not isolated from the supply drive ramps down along the current limit or at the DC bus voltage limit Stop ramp function generator Enable Setpoint Freeze the current setpoint from the ramp function generator Selected value at the ramp function generator input is switched in Inhibit Setpoint Acknowledge Selected value at the ramp function generator input is set to 0 Group signal is acknowledged at a positive edge the drive is in the fault status until the fault has been removed and then goes into switch on inhibit state No m
137. oss reference Section 5 8 on Description Re initialize SM PROFIBUS DP V1 This will uoneuuojul Pr MM 32 automatically change back to O after re page 20 initialisation Section 12 11 on page 83 Restore the previous parameter configuration Pr MM 33 from SM PROFIBUS DP V1 flash memory uononpoaul Section 12 5 on Pr MM 34 page 77 Cyclic data compression enable Section 10 10 on page 61 Pr MM 35 Serial Number uoneljejsut jeoiueuoeIN Section 13 2 on Pr MM 38 page 88 PPO selected Pr MM 39 Pr MM 40 jeoujoe 3 Section 12 8 on IN cyclic data words page 81 ETGEN OUT cyclic data words SM PROFIBUS DP V1 Network compatibility mode Section 13 1 on Pr MM 41 page 87 Section 10 7 on Pr MM 49 page 58 Mapping status Section 10 9 on Pr MM 50 page 60 SM PROFIBUS DP V1 error codes Section 10 2 on Pr MM 51 page 55 Minor firmware version Table 14 2 Parameter Pr 61 01 Pr 61 20 Pr 61 21 SM PROFIBUS DP V1 virtual parameter reference Default Description Parameter Pr 01 00 shortcut Coarse and turns position feedback Cross reference Section 10 10 on page 61 Turns and fine position feedback o yO Do 528 9 s gt 0 az oc Pr 61 35 Serial number Pr 61 40 Pr 61 41 Pr 61 42 Pr 61 43 SM Applications event task trigger lowest slot sonsouBeiq Section 12 14 on SM Applicatio
138. ot see Table 7 7 Table 7 7 Actual data sizes Parameter size bits Actual data size bits Actual data size bits compression on compression off Consider the following example mapping Pr MM 10 to a 32 bit value and MM 11 to a 16 bit value mapping Pr MM 20 to a 32 bit value and MM 21 to a 32 bit value data compression turned on Pr MM 34 set to ON would require the following settings Pr MM 39 3 PrMM 40 4 If the size of the input and output mappings are identical then Pr MM 05 can be used to set the mapping length Disabling mappings Any unused mapping parameters Pr MM 10 to Pr MM 19 and Pr MM 20 to Pr MM 29 should be set to 0 Having unmapped channels between valid mapped channels is not permitted and will 30 result in a configuration error i e Pr MM 06 will indicate 3 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 8 Non cyclic data uo euoJul 8 1 What is non cyclic data Non cyclic data allows access to any parameter without the need to use cyclic data transfers This is particularly useful when accessing many different parameters for set up or archiving of drive settings There are three methods of using non cyclic data on the SM PROFIBUS DP V1 DP V1 Parameter Access Mode 1 CT Single Word Mode 2 PPO 4 Word UOREIIEISU ononpowul Jeolueyooy uoneljejsut Jeoupe 3 8 1 1 DP V1 Parameter Access Non cyclic data is trans
139. ports the following PNUS for this purpose Table 11 9 Identification PNUs Designation Description Drive Unit Identification Identifies the drive unit Profile Identification Identifies the PROFldrive profile version Parameter Access Identification Parameter channel request lengths Drive Object Identification Identifies the drive object List of all DO IDs Returns a list of all axis IDs 11 14 Identification and Maintenance Functions Identification and Maintenance I amp M functions assist the user in tracking the drive s life cycle through Commissioning start up parameterization diagnosis repair etc SM PROFIBUS DP V1 supports the following I amp M functions 1 amp MO Read Only 18M1 Read Write 18M2 Read Write 18M3 Read Write 18M4 Read Write All I amp M functions are available from masters which support this feature CE When the network compatibility mode is used Pr MM 41 1 or 2 DP V1 functionality and the PROFIdrive V4 profiles will not be available 74 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 12 Advanced features 12 1 Network loss trip Table 12 1 Network loss trip time out 200 ms 0 to 3000 ms RW The network loss trip provides a method on the drive to ensure that communication with the master is still present The SM PROFIBUS DP V1 resets an internal timer when a valid message is received from the PROFIBUS DP network if a
140. r and set the error code Pr MM 49 to 70 When Pr MM 33 is set to ON the SM PROFIBUS DP V1 will transfer the configuration parameters from its flash memory to the host drive over writing the existing values in the host drive The full sequence of events for restoring values from a SM PROFIBUS DP V1 installed in slot MM is as follows Set Pr MM 33 to ON PROFIBUS DP communications will be stopped The SM PROFIBUS DP V1 will overwrite all Pr MM PP parameters with the values stored in its internal flash memory Pr MM 33 will be reset to OFF The SM PROFIBUS DP V1 will reset and re initialise using the restored values LESE This procedure will NOT store the updated host drive parameters and a drive save will be required to update the drive memory If a drive save is not done then this will result in SM PROFIBUS DP V1 resorting to previously stored parameters in the drive flash memory on the next power up LEE The SM PROFIBUS DP V1 will restore its configuration parameters to the menu of SM PROFIBUS DP V1 User Guide 83 parameters associated with the slot that it is installed in If an SM PROFIBUS DP V1 is moved from a slot on a drive it can be re installed in any slot on another drive and will pass its configuration to the drive Issue Number 10 www controltechniques com uoneuuojul uoneljejsut JeoiueuoeIN ETGEN ejep oipoKo uoN n o m E o 9 a a soinyeaj DESIT M SAUDI AOU eoueJejel selnjea
141. r configurable mapping using mapping using Pr MM 12 to Pr MM 19 Pr MM 22 to Pr MM 29 11 3 Main Setpoint Main Setpoint is the speed reference defined in the PROFIdrive profile It is scaled such that 32768 to 32767 is 200 to 200 of the maximum speed clamp Pr 1 06 The converted value is then written to drive digital speed reference 1 Pr 1 21 The formula used for this conversion is _ Main Setpoint x Max Speed Clamp Pr 1 21 e34 64 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Example 1 Open loop drive The drive maximum speed clamp Pr 1 06 50Hz uo euoJul The main setpoint value sent from the master to the drive is 13107 Giving El _ 13107 x 50 _ g Pr 1 21 7 116384 40 0Hz 55 sS a Example 2 Closed loop servo drive Sg The drive maximum speed clamp Pr 1 06 1500 rpm Si m SZ The main setpoint sent from the master to the drive is 10923 2 8 Giving pr 1 21 10923 x 1500 _ 1000rpm 16384 11 4 Main Actual Value Main Actual Value is the speed feedback reference defined in the PROFIdrive profile It is scaled such that 32768 to 32767 is 200 to 200 of the maximum speed z clamp Pr 1 06 The converted value is derived from 2 E Pr 2 01 for open loop drive operation gt Pr 3 02 closed loop or servo drive operating modes go The formula used for this conversion is z SF x 16384 Lis Main Actual Value Max Speed Clamp E 3 Where
142. rive is present for a particular node gep sel PAO q ejep oioKo uoN When using the compatibility mode the correct GSD file for the simulated drive must be used and not the SM Profibus DP V1 GSD file o yO Do 528 9 s 0 az oc LESE When the network compatibility mode is used Pr MM 41 1 or 2 DP V1 functionality and the PROFIdrive V4 profiles will not be available sonsouBeiq Depending on the application an SM Applications module may be needed on the drive to account for any changes between the functionality of the two drives i e any changes between the control and status words drive to emulate the Commander SE Unidrive Classic or Mentor Il PROFIBUS DP network identification code the drive functionality and operation is not emulated Changes to the control method and data size differences must still be considered This mode does NOT allow direct replacement H When the network compatibility mode is used Pr MM 44 1 or 2 this only changes the Seinjeoj peouEA py SAUPIJOYA When using extended diagnostics Pr MM 41 3 the appropriate GSD file using the correct PROFIBUS identification code OXOBAF must be used e g SP__0B4F GSD 5 11 1 Extended diagnostics With the release of V03 02 03 firmware SM PROFIBUS DP V1 has the option of using an additional 8 bytes of extended diagnostics this extended diagnostics information is appended to the normal diagnostics message sent from the d
143. rive to the master and is shown in the table overleaf SeJnjeoj KfoeBe1 IND 95u9J9jeJ suo Jo Hesso SM PROFIBUS DP V1 User Guide 21 Issue Number 10 www controltechniques com Table 5 12 Extended diagnostics frame 0 1 3 MSB LSB LSB Status Word d Module Pr 10 40 Warning Word Module ID Code Trip Code bO Pr 10 01 b1 Pr 10 02 b2 Pr 10 03 b3 Pr 10 04 b4 Pr 10 05 b5 Pr 10 06 b6 Pr 10 07 b0 Pr 10 16 b7 Pr 10 08 b1 Pr 10 17 b8 Pr 10 09 b2 Pr 10 18 b9 Pr 10 10 b3 to b15 Reserved b10 Pr 10 11 b11 Pr 10 12 b12 Pr 10 13 b13 Pr 10 14 b14 Pr 10 15 b15 Reserved Pr 10 20 Pr MM 01 Pr MM 50 The values returned are in hexadecimal format ELSE The module ID byte order is reversed compared to the status and warning words Example For an over temperature trip on the SM PROFIBUS DP V1 module the active trip code will be CA converting to decimal gives the trip code 202 SL1 Err the module ID code will be 9301 transposing the byte order and converting to decimal gives the code 403 and the module trip code will be 4A 74 in decimal In order to use the extended diagnostic frame the module needs to be configured to use the PROFIBUS identification code OxOBAF this is achieved by setting Pr MM 41 to a value of 3 and re initialising the module Pr MM 32 ON A drive save should be performed if this value is to be retained after a power cycle
144. ro then the end of the list has been reached The array elements are read starting at 0 in increments of 59 elements It is beyond the scope of this document to provide information on the Profibus DP V1 message frame and PROFIdrive PNUs For more information please refer to the Profibus web site www profibus com or contact your local Control Techniques Drive Centre 72 www controltechniques com SM PROFIBUS DP V1 User Guide Issue Number 10 11 12 Fault Buffer The fault buffer provides a list of acknowledged and unacknowledged faults the buffer contains eight elements numbered from 0 to 7 of which the first element 0 contains the active fault if any The remaining elements 1 to 7 contain the acknowledged faults in reverse order of occurrence and therefore element 1 is the most recent acknowledged fault last fault and element 7 is the oldest acknowledged fault first fault Acknowledged faults are faults which have been cleared by resetting the drive when a fault is acknowledged the fault number will be placed in element 1 of the buffer any existing recorded faults will be moved up numerically one element uoneuuojul uononpoaul feres u01e 18 sul EolUByoa N If element 7 already contains a fault number then this will be over written with the value from position 6 the existing fault number is subsequently lost uomeljeisur Jeoue 3 Unacknowledged faults are faults which have not been cleared currently Contr
145. s for improvement When preparing to recycle or dispose of any product or packaging please observe local legislation and best practice Software Statement This Solutions Module SM is supplied with the latest software version When retro fitting to an existing system all software versions should be verified to confirm the same functionality as Solutions Modules of the same type already present This also applies to products returned from a Control Techniques Service Centre or Repair Centre If there is any doubt please contact the supplier of the product The software version of the Solutions Module can be identified by looking at Pr MM 02 and Pr MM 51 where MM is the relevant menu number for the Solutions Module slot being used See Pr MM 02 and Pr MM 51 description later in this manual for more information The software version takes the form of xx yy zz where Pr MM 02 displays xx yy and Pr MM 51 displays zz e g for software version 01 01 00 Pr MM 02 will display 1 01 and Pr MM 51 will display 0 REACH legislation EC Regulation 1907 2006 on the Registration Evaluation Authorisation and restriction of Chemicals REACH requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency ECHA to be a Substance of Very High Concern SVHC and is therefore listed by them as a candidate for compulsory authorisation For current i
146. slot 2 EVENT task in slot 2 EVENT2 task in slot 2 EVENTS task in slot 2 Pr 61 43 No action EVENT task in slot 3 EVENT task in slot 3 EVENT2 task in slot 3 EVENTS task in slot 3 The specified EVENT task will be triggered in the SM Applications module installed in the lowest slot number on the drive When an EVENT task runs in the SM Applications module the reason code parameter Pr 90 12 to Pr 90 15 for EVENT to EVENTS respectively will indicate why the event task was triggered The reason codes are given in Table 12 24 More information can be found in the SM Applications Modules and Motions Processors User Guide Table 12 24 EVENT task reason codes SM DeviceNet SM PROFIBUS DP V1 SM CANopen SM INTERBUS SM CAN If cyclic data is used to trigger an EVENT task in an SM Applications module it is best to map the last OUT cyclic data word to the EVENT task trigger parameter as cyclic data is written to destination parameters in the order in which it is received this guarantees that all received cyclic data will have been written to the target parameters BEFORE the EVENT task runs in the SM Applications module LE This feature can only be used on drives with multiple option slots and that support the 12 15 SM Applications module Multi master operation The SM PROFIBUS DP V1 can be used on PROFIBUS DP networks containing one or more master controllers Consult your mast
147. t controls the non cyclic data transfer will only accept a new telegram if it contains the next expected telegram i e after accepting Telegram 2 the state machine will only respond to Telegram 3 If Telegram 4 is received it will be ignored If an error occurs in the master controller that causes the telegrams to get out of step the master controller program should time out abort the message and reset the non cyclic state machine Seinjeoj peouEA py SAUPIJOYA A Mode 1 non cyclic message can be abandoned by resetting the state machine This is done by setting the non cyclic word to 0 sounjeay AoeBa7 Example telegram st p Pr ems Brea NN 0000 0000 0000 0000 Data word 0x0000 Stamp number 0 239U9 9 9 suo Jo Hesso SM PROFIBUS DP V1 User Guide 43 Issue Number 10 www controltechniques com 8 7 5 8 8 8 8 1 16 bit parameter access Normally six telegrams would be required to access drive parameters using Mode 1 non cyclic data When accessing 16 bit data only four telegrams are required If an attempt is made to read a 32 bit parameter from the drive the parameter value will be returned provided that the parameter value does not exceed signed 16 bit limits If the value is larger than a signed 16 bit value the ERR bit will be set When writing data to a 32 bit parameter the 16 bit data will be treated as a signed 16 bit data value This limits the range that can be written to a 32 bit parameter
148. t to 0 Select COAST mode Set Pr 6 0120 OFF 3 active stage 1 ENABLE set to 1 JOG and RUN reset to O Select RAMP WITH DC INJECTION mode Set Pr 6 01 2 OFF 3 active stage 2 ENABLE reset to 0 None Fault JOG and RUN reset to O Select STOP RAMP mode Set Pr 6 0171 Set RESET to 1 when ACK bit is set to 1 Switch on inhibit No change None Drive running inching active JOG and RUN set to 1 FWD REV is set to 1 if INCH2 b9 is set to 1 reset to 0 if INCH1 b8 is set to 1 Inching pause monitoring SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 JOG FWD REV and RUN reset to 0 95 n o m zi o 9 a a seinjeoj peouEA py SAUPIJOYA sounjeay Aoeba7 239U9 9 9 sonsouBeiq Q o 3 e 3 a Jo Hesso 14 Quick reference 14 1 Complete parameter reference Table 14 1 lists all the SM PROFIBUS DP V1 set up parameters that are required to configure the module Table 14 1 SM PROFIBUS DP V1 parameter reference Pr MM 01 Default Cross reference Section 10 1 on page 62 Description Module ID code Pr MM 02 Section 10 2 on page 55 Major firmware version Pr MM 03 Section 5 4 on page 18 Node address Pr MM 04 Section 5 5 on page 18 Data rate Pr MM 05 Section 7 2 on page 26 Data format Pr MM 06 Section 10 6 on page 57 Operating stat
149. ters paired together This prevents mis alignment of cyclic data with 32 bit PLC registers when using auto mapping facilities to configure the PROFIBUS DP network By swapping the mappings for input channel 1 with input channel 2 and moving output channel 4 to output channel 1 the data channel structure will appear as shown in Table 12 7 Table 12 7 Compressed cyclic data channel mapping Data channel IN channel O Data words used IN word O Mapping for slot 3 Pr 17 10 Setting Mapping status Pr 10 40 status word IN channel 1 IN word 1 Pr 17 11 Pr 4 20 motor load as of rated motor load IN channel 2 IN word 2 3 Pr 17 12 Pr 2 01 post ramp speed ref IN channel 3 IN word 4 Pr 17 13 Pr 14 21 PID feedback IN channel 4 OUT channel 0 IN word 5 OUT word 0 Pr 17 14 Pr 17 20 Pr 14 01 PID output Pr 6 42 control word OUT channel 1 OUT word 1 Pr 17 21 Pr 14 20 PID reference OUT channel 2 OUT word 2 3 Pr 17 22 Pr 1 21 digital speed ref 1 OUT channel 3 OUT word 4 5 Pr 17 23 Pr 2 11 acceleration ramp OUT channel 4 12 6 OUT word 6 7 Block mapping Pr 17 24 Pr 2 21 deceleration ramp On SM PROFIBUS DP V1 there are ten mapping parameters available for both input and output mappings If more than ten mappings are required then block mapping must be used to achieve this Block mapping is configured by
150. tes that constitute the whole value are transmitted Event task A way to use a message or change of state to trigger a software routine FREEZE A method of preventing input state changes from being sent to the master until a FREEZE signal is sent this is used in conjunction with UNFREEZE Grounding See Earthing Groups Groups are used with the SYNC and FREEZE commands A group defines which nodes respond to a specific SYNC or FREEZE command GSD file A file that defines the properties of a node The file contains information describing the features available on the device IN data Data that is returned from a slave device to the PROFIBUS master Long word A 32 bit data word that may be signed or unsigned Network Loss Trip A way to determine when a node has lost contact with the master Node A device on the network This may be either a device such as a drive or part of the network such as a repeater Non Cyclic Data Data that is requested or sent by the master as required This is not sent on a regular basis and generally allows access to any parameter This is useful for occasional changes or configuration purposes Main actual value This gives feedback on the running speed of the drive when using the PROFldrive profile Main Setpoint The value used to determine the speed of the drive when using the PROFIdrive profile Mapping The process of linking PROFIBUS values to parameters within the drive Master The controll
151. us Pr MM 07 Section 12 1 on page 75 Network loss trip time out Pr MM 08 Section 12 3 on page 76 Endian format select Pr MM 09 Pr MM 10 Pr MM 11 N o A Pr MM 12 Pr MM 13 Pr MM 14 Pr MM 15 Pr MM 16 Pr MM 17 Pr MM 18 Pr MM 19 Pr MM 20 0 0 0 0 0 0 0 0 Pr MM 21 Pr MM 22 o Pr MM 23 Pr MM 24 Pr MM 25 Pr MM 26 Pr MM 27 Pr MM 28 Pr MM 29 Pr MM 30 opojojojojojo o Section 12 7 on page 80 Section 7 2 on page 26 Section 7 2 on page 26 Section 12 9 on page 82 Direct data mapping enable IN cyclic mapping 0 IN cyclic mapping 1 IN cyclic mapping 2 IN cyclic mapping 3 IN cyclic mapping 4 IN cyclic mapping 5 IN cyclic mapping 6 IN cyclic mapping 7 IN cyclic mapping 8 IN cyclic mapping 9 OUT cyclic mapping 0 OUT cyclic mapping 1 OUT cyclic mapping 2 OUT cyclic mapping 3 OUT cyclic mapping 4 OUT cyclic mapping 5 OUT cyclic mapping 6 OUT cyclic mapping 7 OUT cyclic mapping 8 OUT cyclic mapping 9 Restore SM PROFIBUS DP V1 defaults Pr MM 31 96 Section on page 82 www controltechniques com Store to SM PROFIBUS DP V1 flash memory SM PROFIBUS DP V1 User Guide Issue Number 10 Table 14 1 SM PROFIBUS DP V1 parameter reference Default Cr
152. used to get the motor turning all bit values refer to the PROFIdrive control word Enable network control bit 10 1 0x0400 Remove all STOP commands bits 1 amp 2 1 0x0406 S1 to S2 Set drive to Ready bit O 1 0x0407 S2 to S3 Enable operation bit 3 1 Ox040F S3 to S4 Enable ramp function generator bit 4 1 0x041F Unfreeze ramp function generator bit 5 1 0x043F Enable setpoint value bit 6 1 0x047F Set the main setpoint value in word 1 Pr 1 21 The motor should now accelerate to the speed set by the main setpoint value In order to stop the motor the following options are available Stop the motor using the drive ramp function set bit 0 to OFF 0x047E or Stop the motor and coast to zero speed set bit 1 to OFF 0x047D or Stop the motor using Quick stop set bit 2 to OFF 0x047B Disable drive set bit 3 to OFF 0x0477 There is a priority control hierarchy when more than the one stop command is given these priorities are shown in the general state machine diagram and summarized in Table 11 4 Table 11 4 Stop command priority Priority Control Word Bit Stop Command Coast stop Quick stop Pr 2 22 Ramp stop Pr 2 21 Disable Operation LESE When the network compatibility mode is used Pr MM 41 1 or 2 DP V1 functionality and the PROFIdrive V4 profiles will not be available LUE The deceleration rates are set in Pr 2 21 and Pr 2 22 for Ramp Stop
153. ve control word word 1 Main Actual Value word 1 Main Setpoint 88 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 13 2 4 PPO 4 Table 13 6 PPO 4 mapping structure IN Data Function PROF Idrive status word Main Actual Value 13 2 5 PPO 5 User configurable mapping using Pr MM 12 to Pr MM 15 Table 13 7 PPO 5 mapping structure IN Data Function Mode 2 non cyclic data PPO 4 word PROFIdrive status word Main Actual Value word 11 word 12 word 13 13 3 User configurable mapping using Pr MM 13 to Pr MM 19 Configuring the Profile OUT Data Function PROFIdrive control word Main Setpoint User configurable mapping using Pr MM 22 to Pr MM 25 OUT Data Function Mode 2 non cyclic data PPO 4 word PROFIdrive control word Main Setpoint User configurable mapping using Pr MM 23 to Pr MM 29 word 11 word 12 word 13 To configure the profile to the required PPO mode use the following sequence Set Pr MM 05 to 0 to disable normal data format Set Pr MM 34 to ON to enable data compression Set Pr MM 38 to the required PPO type number 1 to 5 Configure the mapping parameters as required Pr MM 32 set to ON to re initialise SM PROFIBUS DP V1 Check Pr MM 06 is not a value of 3 see section 10 Diagnostics on page 55 for further details Save the drive parameters refer to relevant drive documentati
154. will be set to default values for SM PROFIBUS DP V1 but the default values will NOT be stored in the drive To store SM PROFIBUS DP V1 parameters in the SM PROFIBUS DP V1 backup flash memory Set Pr MM 31 to 1 Save drive parameters refer to relevant drive documentation for more information The drive will perform a drive save and copy the settings from the slot menu associated with the SM PROFIBUS DP V1 into the SM PROFIBUS DP V1 local flash memory SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 Drive parameters are NOT stored in the SM PROFIBUS DP V1 12 11 Restore previous SM PROFIBUS DP V1 configuration Table 12 19 Upload from SM PROFIBUS DP V1 flash memory OFF 0 OFF 0 or ON 1 RW If valid configuration parameters have previously been stored in SM PROFIBUS DP V1 flash memory these values can be restored to the host drive parameters settings of the SM PROFIBUS DP V1 When the configuration parameter values have been uploaded to the host drive the SM PROFIBUS DP V1 will reset and re configure using the updated parameter values This feature allows a pre configured SM PROFIBUS DP V1 to be installed to a host drive without losing the SM PROFIBUS DP V1 configuration If the SM PROFIBUS DP V1 is unable to upload the configuration parameters to the host drive or configuration parameters have never been stored in the SM PROFIBUS DP V1 flash memory the drive will trip with a slot erro
155. x _Sxx PLC Registers Pr 73 xx Pr 103 xx Pr 133 xx Pr 163 xx _Txx PLC Registers Pr 74 xx Pr 104 xx Pr 134 xx Pr 164 xx _Uxx PLC Registers Pr 75 xx Pr 105 xx Pr 135 xx Pr 165 xx Direct to Direct to Direct to slot 1 slot 2 slot 3 Local Configuration Parameters Pr 81 xx Pr 111 xx Pr 141 xx Pr 171 xx Timer Function Parameters Pr 85 xx Pr 115 xx Pr 145 xx Pr 175 xx Digital UO Parameters Pr 86 xx Pr 116 xx Pr 146 xx Pr 176 xx Status Parameters Pr 88 xx Pr 118 xx Pr 148 xx Pr 178 xx General Parameters Pr 90 xx Pr 120 xx Pr 150 xx Pr 180 xx Fast Access Parameters Pr 91 xx Pr 121 xx Pr 151 xx Pr 181 xx If the SM PROFIBUS DP V1 is configured to map data to Pr 70 xx to Pr 91 xx parameters data will be exchanged with the SM Applications module installed in the lowest slot number This method is convenient to use if there is only one SM Applications module installed to the drive as it guarantees that data will always be written to and read from the SM Applications module even if it is moved to a different slot If however two or more SM Applications modules are installed it is best to map directly to the required slot using the direct slot menu as shown in Table 12 21 Mapping to SM Applications modules is not possible on drives with one option slot such as Commander SK 84 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 A If the number of mappings exceeds ten
156. xposing the cable shield of each PROFIBUS DP cable and ensuring that they are clamped to the drive grounding metalwork as close as possible to the drive termination contact your supplier or local Control Techniques Drive Centre for more information Unless there are specific reasons for not grounding the network it is recommended that 4 5 4 6 all drive network connections are correctly grounded Failure to do so may reduce the noise immunity of the system If there are specific issues with grounding alternative methods of connection should be considered such as the use of fibre optic cable General grounding considerations It is essential that good grounding is provided not only for network stability but more importantly electrical safety In all instances electrical regulations should be adhered to As a guide the network cable should be grounded at least once per cabinet ideally on each drive Network termination It is very important in high speed communications networks that the network communications cable is installed with the specified termination resistor network at each end of each segment This prevents signals from being reflected back down the cable and causing interference Most ranges of connectors provide specific parts that incorporate the termination network Such connectors derive the power from the host device and if the host device is switched off the termination will be lost To avoid this situation a separate termi
157. xt 16 bit word and now has the value OxFFFFFFFF To prevent data skew PROFIBUS DP has a feature known as data consistency Consistent data defines a block of data words that must ALL be updated before ANY of the new data values are transmitted Consequently the message sent over the PROFIBUS DP network will have a true representation of the required data Some PLCs have special functions available to transfer blocks of consistent data to a PROFIBUS DP master controller and guarantee that data skew cannot occur Limitations of non cyclic data Mode 1 CT Single Word with GSD CT Single Word non cyclic data uses only 1 word of data however when used without data compression see section 12 5 Cyclic data compression this requires two 16 bit words a single 32 bit word When used without compression only the lower 16 bits of the 32 bit word are used Using non cyclic data Mode 2 PPO 4 Word Data consistency is important when using PPO4 word Mode 2 non cyclic data as each non cyclic message consists of four words If there is data skew between any of the non cyclic words this could result in the wrong data value being written to the wrong parameter The GSD file provides the PPO 4 Word which consists of four IN OUT words with consistency Issue Number 10 www controltechniques com uoneuuojul uonelejsut Jeo1ueyooypy ETGEN ejep oioKo UuoN n o m zi o 9 a a eoueJejel seumeej se njea AoeBa7 suo Jo Hesso uon
158. y and other relevant information is available on request or can be found at www greendrives com The electronic variable speed drives manufactured by Control Techniques have the potential to save energy and through increased machine process efficiency reduce raw material consumption and scrap throughout their long working lifetime In typical applications these positive environmental effects far outweigh the negative impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment Recyclers will find the products easy to dismantle into their major component parts for efficient recycling Many parts snap together and can be separated without the use of tools while other parts are secured with conventional fasteners Virtually all parts of the product are suitable for recycling Product packaging is of good quality and can be re used Large products are packed in wooden crates while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content If not re used these containers can be recycled Polythene used on the protective film and bags from wrapping product can be recycled in the same way Control Techniques packaging strategy prefers easily recyclable materials of low environmental impact and regular reviews identify opportunitie
159. z Example 2 Closed loop servo drive The drive maximum speed clamp Pr 1 06 1500 rpm the main Setpoint sent from the master to the drive is 10923 Giving _ 10923 x 1500 _ Pr 1 21 46384 1000rpm Main Actual Value Main Actual Value is the speed feedback reference defined in the PROFIdrive profile It is scaled such that 32768 to 32767 is 200 to 200 of the maximum speed clamp Pr 1 06 The converted value is derived from Pr 2 01 for open loop drive operation Pr 3 02 closed loop or servo drive operating modes The formula used for this conversion is SF x 16384 Main Actual Value Max Speed Clamp Where SF is the speed feedback parameter i e Pr 2 01 or Pr 3 02 depending upon the drive operating mode Example 1 Open loop drive The drive maximum speed clamp Pr 1 06 50Hz The drive post ramp reference Pr 2 01 35 Hz Giving _ 35 x 16384 MAV 50 11469 SM PROFIBUS DP V1 User Guide www controltechniques com Issue Number 10 13 8 Example 2 Closed loop servo drive The drive maximum speed clamp Pr 1 06 1500 rpm The main Setpoint sent from the master to the drive is 10923 Giving 1250 x 16384 MAV 7 3000 1000rpm PROFIdrive V2 state machine diagram The following pages contain the state machine diagram and state descriptions for the legacy PROFIdrive profile V2 control and status words Figure 13 1 shows how the current next and previous states are determi

SE77 DeviceNet Advanced User Guide

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