CFW 500 Profibus DP User`s Manual
Contents
1. 16 P0698 VALUE FOR ANALOG OUTPUTS u uu uu 16 P0740 PROFIBUS DP COMMUNICATION STATUS 17 P0741 PROFIBUS DATA PROFILE U u 17 P0742 PROFIBUS READING 3 meenus Ane rnn uu nni anue auien pau Esn niania edana o inania niae 18 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net P0743 PROFIBUS READING 4 esasan aa goiana sa ana aaraa nitrides Aasaia asais aiaia 18 P0744 PROFIBUS READING t 5 18 P0745 PROFIBUS READING FG iss cssiicccciscesstedvececaesteus ccsewteccustansdeviearsacvensscestenaveascetscsauesstesseusies 18 P0746 PROFIBUS READING f7 a U U UU UI UU II IT asas sassa saasbusausawsawsaqa 18 P0750 PROFIBUS WRITING 3 uu u u uu annaa raana areae 19 P0751 PROFIBUS WRITING 4 codec 192. 11 P0223 FORWARD REVERSE SELECTION LOCAL SITUATION 11 P0224 RUN STOP SELECTION LOCAL SITUATION 11 P0225 JOG SELECTION LOCAL SITUATIOLN 11 P0226 FORWARD REVERSE SELECTION REMOTE SITUATION 11 P0227 RUN STOP SELECTION REMOTE SITUATION 11 P0228 JOG SELECTION REMOTE nnn 11 P0313 COMMUNICATION ERROR ACTION Uu uu 11 0680 STATUS 12 P0681 MOTOR SPEED 13 BITS J Q 13 P0684 PROFIBUS DP CONTROL 14 P0685 PROFIBUS DP SPEED REFERENCE u u uu 14 0695 DIGITAL OUTPUT SETTING UU Ju 2 iness ashusassassuskua 15 P0696 VALUE 1 FOR ANALOG OUTPUTS U uu uu 16 P0697 VALUE 2 FOR ANALOG OUTPUTS
3. 8 2 1 PLUG IN MODULE 500 8 2 2 CONNECTORPINOUT L UI 8 2 3 3 1222 vesntancdeasdeucis svvdeasusdvwsussavdanceatwacuedescoasssceacavetedssstuccsous 8 2 4 8 3 INSTALLATION IN THE PROFIBUS DP NETWORK 9 3 1 BAUD RAT a E a E 9 3 2 ADDRESSING u a 2 a a aa A eeeeeeseeeeeaaaeeseeeseeaeeuseeseeeseeeeensaeeseeseesneeneesseeees 9 3 35 CABLES u E E A E 9 3 4 o O 0 C uu AA T 9 3 5 CONNECTION TO THE 9 3 6 TERMINATING 10 3 7 GSD FIDE uuu uu u uu uuu 10 4 PROGRAMMING S Sauna aaa aaa sas 11 4 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION 11 P0105 157 200 RAMP 11 P0220 LOCAL REMOTE SELECTION u 11 P0221 SPEED REFERENCE SELECTION LOCAL 11 P0222 SPEED REFERENCE SELECTION REMOTE SITUATION
4. Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Request Reference mirror A mirror of the value received in the request telegram Response ID It represents the type of response sent by the slave 1 Successful parameter reading 2 Successful parameter modification 129 Parameter reading with error 130 Parameter modification with error Mirror Mirror of the value received in the request telegram Nr of Parameters n The number of parameters accessed in the request Format It defines the format of the accessed parameter 42h 16 bit word 44h Parameter access error Number of values The number of values read from the parameter or the number of error codes from the parameter access Value read from the parameter the most significant byte is transmitted first Error code In case of parameter illegal access error in reading or writing of any of the parameters the code of the type of found error will be indicated 0000h parameter does not exist 0001h modification of read only parameter 0002h parameter value out of the limits 0003h indicated sub index does not exist 0004h parameter not of the array type 0005h incorrect format for the parameter 0009h description not available only value OOOFh text not available only value 0016h incorrect access to the parameter 001 7h unknown format 0018h incorrect number of values 5 2 5 Data Structure fo
5. 500 kbit s 5 Not detected 6 1500 kbit s 7 3000 kbit s 8 6000 kbit s 9 12000 kbit s 10 Reserved 11 45 45 kbit s Properties RO DP Access groups via HMI NET Description It is a Profibus DP communication specific parameter defined by the PROFldrive standard to indicate the baud rate detected by the Profibus DP interface Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net P0967 PROFIDRIVE CONTROL WORD Range 0000h to FFFFh Default 0000h Properties DP Access groups via HMI NET Description It Profibus DP communication specific parameter defined by the PROFldrive standard with the inverter control word via the Profibus DP interface when the PROFIdrive data profile is selected at 0741 This parameter can only be changed via Profibus DP interface For the other sources HMI CAN etc it behaves like a read only parameter In order that the commands written in this parameter be executed it is necessary to program the drive to be commanded CANopen DeviceNet Profibus DP This programming is done by means of parameters P0105 and P0220 to P0228 The specific functions in this word follow the defined by the PROFldrive specification Each bit of this word corresponds to a command that can be executed by the drive ON Function Generator Reserved No Quick Stop Enable Operation i m 5 X E X
6. JOG 1 ON Enable Setpoint Fault Acknowledge No Coast Stop Enable Ramp Table 4 7 Parameter P0967 bit functions Bit 0 0 OFF gt If enabled it stops and disables the drive ON OFF 1 ON gt It allows the inverter enabling B it 1 0 Coast Stop gt It disables the drive No Coast Stop Coast Stop 1 No coast Stop gt It allows the drive enabling Bit 2 0 If enabled it executes the Fast Stop command and disables the drive No Quick Stop Quick Stop 1 It allows the inverter drive Note When the control type P0202 is or VVW the use of this function is not recommended it3 0 It disables the drive nable Operation 1 It enables the drive i 0 It disables the drive via deceleration ramp nable Ramp Generator 1 It enables the speed ramp forthe drive Reserved ees Enable Setpoint 1 It uses the speed reference received via the Profibus DP network Fault Acknowledge 1 If in a fault condition it executes the fault reset Bit 8 0 It disables the JOG function Bit 10 0 The drive goes to the LOCAL situation Control By PLC 1 The inverter goes to the REMOTE situation Note The local and remote command sources depend on the options programmed at the parameters P0220 to P0228 Bis 1110 15 NOTE The speed direction reversion can be done by sending negative value to the speed reference Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ct
7. CFW500 depends on the format of the configuration telegram programmed through the parameter P0922 It is possible to communicate from 2 to 10 input words and the same number of output words The contents of these words depend on the setting of the parameters P0741 to P0757 The same programming done at the parameter PO922 must also be configured at the network master using a master configuration tool and the CFW500 GSD file selecting one of the available modules described in the GSD file 5 1 2 SYNC FREEZE The CFW500 frequency inverter supports the SYNC UNSYNC and FREEZE UNFREEZE commands These are global commands that the master can send to all the network slaves allowing simultaneous update of I O data in the network equipments The SYNC UNSYNC commands act on the master output data When receiving a SYNC command the command and speed reference values received by each slave are frozen Values received later by the slave are stored but will only be updated after the reception of anew SYNC command or after the UNSYNC command which cancels this function The FREEZE UNFREEZE commands act in a similar form as the SYNC but their action is associated to the master input data When receiving a FREEZE command variable and status values of each slave are frozen These values remain fixed until new FREEZE command be received or after the UNFREEZE command which cancels this function 5 2 PROFIBUS DP V1 In addition to the services
8. P0752 PROFIBUS WRITING 5 u uu uuu uu asi ui dastendecereessaes teases 19 P0753 PROFIBUS WRITING tg6 J J 19 754 PROFIBUS WRITING 7 2 u usuu usus aus ss assssas sassa 19 P0755 PROFIBUS WRITING 8 u rinapi 19 0918 PROFIBUS ADDRESS uu su ullu uu uuu l u napra iiaa 19 P0922 SELECTION OF THE CONFIGURATION 20 P0963 PROFIBUS BAUD RATE 20 P0967 PROFIDRIVE CONTROL 21 P0968 PROFIDRIVE STATUS WORD U 22 5 PROFIBUS DP NETWORK OPERATIONN 23 s PROFIBUS DP VO iiss cccesesvcecsescsccssceseenscnssccsssassesscosseeds cancussscsecevetscosceedacstedsceessedsecncesisess 23 57 1 7 Gyclie Data a EAA E EE EA E AE E E T 23 1 2 7SYNG EREEZE Du aa WAWA ia
9. at the drive i 0 The drive enabling is allowed witching On Inhibited 1 The drive operation is blocked indicating a special condition that prevents the equipment operation Bit 7 0 No alarm Warning Present 1 The drive has an active alarm Reserved Bit 9 0 The driveis operating in local mode Control Requested 1 The drive is operating in remote mode B 18101915 o omolo w od w 0 B Q B O Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 PROFIBUS DP NETWORK OPERATION The CFW500 frequency inverter with Proflous DP communication accessory operates as a slave in the network and supports the network services of DP VO and DP V1 communication protocols Information about the inverter operation using the services specified on these versions is presented bellow 5 1 PROFIBUS DP VO 5 1 1 Cyclic Data The communication via cyclic data allows the data transfer in two directions Input data Data transmitted from the slave to the master for monitoring the status and the variables of each slave Output data Data transmitted from the master to the slave for control and transmission of operation data to the equipment These data are transmitted in regular time periods defined by the baud rate number of slaves in the network and the amount of data exchanged with each slave The number of input output I O words available for the
10. must also be included as a device connected to the segment even not occupying a network address It is recommended that the connection of all the devices present in the Profibus DP network be made coming from the main bus Generally the Profibus network connector itself has an input and an output for the cable allowing the connection to be taken to the other network points Derivations from the main bus are not recommended especially for baud rates higher or equal to 1 5Mbits s Profibus DP Master Repeater Figure 3 1 Connection example Profibus DP network The Profibus DP network cables must be laid separately and far away if possible from the power cables All the drives must be properly grounded preferably at the same ground point The Profibus cable shield must also be grounded The CFW500 Profibus board connector itself already has a connection with the protective ground and therefore makes the connection of the shield to the ground when the Profibus cable is connected to the drive However a better connection implemented by clamps that connect the shield to a ground point is also recommended 3 6 TERMINATING RESISTOR At each segment of the Profibus DP network it is necessary to enable a terminating resistor at the end points of the main bus The use of specific Profibus network connectors with a switch to enable the resistor is recommended which must
11. E SELECTION SOURCE 0221 SPEED REFERENCE SELECTION LOCAL SITUATION 0222 SPEED REFERENCE SELECTION REMOTE SITUATION 0223 FORWARD REVERSE SELECTION LOCAL SITUATION 0224 RUN STOP SELECTION LOCAL SITUATION 0225 JOG SELECTION LOCAL SITUATION 0226 FORWARD REVERSE SELECTION REMOTE SITUATION 0227 RUN STOP SELECTION REMOTE SITUATION 0228 JOG SELECTION REMOTE SITUATION These parameters are used in the configuration of the command source for the CFW500 frequency inverter local and remote situations In order that the device be controlled through the Profibus DP interface the options CANopen DeviceNet Profious DP available in these parameters must be selected The detailed description of these parameters is found in the CFW500 programming manual 0313 COMMUNICATION ERROR ACTION Range O Inactive Default 1 1 Disable via Run Stop 2 Disable via General Enable 3 Change to Local 4 Change to Local keeping commands and reference 5 Causes a Fault Properties CFG Access groups via HMI NET Description It allows the selection of the action to be executed by the device if it is controlled via network and a communication error is detected Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table 4 1 P0313 options Options Desritin No action is taken and the drive remains in the existing status 1 Disable via Run St
12. NET Description It allows the control of the digital outputs by means of the network interfaces Serial CAN etc This parameter cannot be changed via HMI Each bit of this parameter corresponds to the desired value for one digital output In order to have the correspondent digital output controlled according to this content it is necessary that its function be programmed for PO695 Content at parameters P0275 to P0279 Function 5 2 E E 9 N 8 Q lt Q DO3 setting DO2 setting DO1 setting Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table 4 4 P0695 parameter bit functions 22 tes Bit 0 0 DO1 output open Bit 1 0 DO2 output open Bit 2 0 DO3 output open DO4 setting 1 DO4 output closed DO5 setting 1 DO5 output closed Bits 5 to 15 NOTE Some of the digital outputs may not be available depending on the plug in module P0696 VALUE 1 FOR ANALOG OUTPUTS P0697 VALUE 2 FOR ANALOG OUTPUTS P0698 VALUE FOR ANALOG OUTPUTS Range 32768 to 32767 Default 0 Properties Access groups via NET Description They allow the control of the analog outputs by means of network interfaces Serial CAN etc These parameters cannot be changed via HMI The value written in these parameters is used as the analog output value providing that the function for the desired analog o
13. ODE Description It indicates that the slave has received from the network master the command to enter the Clear mode Actuation The indication occurs if during the cyclic communication the Profibus DP network master sends to the network a global telegram telling the slaves that they must leave the operation mode and enter the Clear mode The conditions for the transmission of this command depend on the network master but it normally indicates a special operation condition such as during the programming of the master The message of alarm A138 or fault F238 will in this case be signalized through the HMI depending on the P0313 programming In case of alarm the indication will automatically disappear if a new telegram to leave this mode is received Possible Causes Correction Verify the network master status making sure it is in execution RUN mode A139 F239 PROFIBUS DP INTERFACE OFFLINE Description It indicates an interruption in the communication between the Profibus DP network master and the drive The Profibus communication interface changed to the offline state Actuation It acts when for any reason an interruption in the communication between the drive and the Profibus DP network master occurs after the cyclic communication has been initiated The time programmed for this detection is received through the parameterization telegram sent by the master The message of alarm A139 or fault F239 will in this case be signal
14. P module is fitted properly in the slot 3 Hardware errors caused by the improper handling or installation of the accessory can cause this error If possible test it by replacing the communication accessory Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
15. Profibus DP CFW500 User s Manual of EGS Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Profibus DP User s Manual Series CFW500 Language English Document Number 10002253408 00 Publication Date 06 2013 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net CONTENTS CONTENTS 3 ABOUT THIS MANUA D LU cas duwcue caitnntwacninecauenent cians anasntnn sins vnsenancussensunntauasuanacesssassavandpenbenk 5 ABBREVIATIONS AND DEFINITIONS l I u u u u uu 5 NUMERICAL REPRESENTATION 5 1 INTRODUCTION TO THE PROFIBUS DP PROTOCOQLL 6 1 1 PROFIBUS DP 6 1 2 PROFIBUS DP PROTOCOL VERSIONS uu uu 6 1 3 DEVICE TYPES IN A PROFIBUS DP NETWORK uu 6 1 4 PHYSICAL LAYER 5 aaa Siussatuwskakanukuscuuwaakawwsssaaasa 6 1 5 APPLICATION PROFILE PROFIDRIVE 7 2 PROFIBUS DP COMMUNICATION ACCESSORY
16. as i a A asses 23 5 2 PROFIBUS DP V1 u uu l i ha a u 23 5 2 1 Available Services for Acyclic Communication 23 5 2 2 Data Addressing 24 5 2 3 Reading Writing DP V1 Telegrams 24 5 2 4 Data Structure for Parameter Access 25 5 2 5 Data Structure for Parameter Access WEQ 27 6 FAULTS AND ALARMS RELATED TO THE PROFIBUS DP COMMUNICATION 28 A138 F238 PROFIBUS DP INTERFACE IN CLEAR MODE 28 A139 F239 PROFIBUS DP INTERFACE OFFLINE 28 A140 F240 PROFIBUS DP MODULE ACCESS ERROR 28 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net ABOUT THIS MANUAL This manual provides the necessary information for the operation of the CFW500 frequency inverter using the Profibus DP Interface This manual must be used together with the CFW500 User s Guide ABBREVIATIONS AND DEFINITIONS DP Decentralized Periph
17. be read by the network master can be made available according to the selected option The first two input words are fixed and represent the status and the motor speed Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 0 zero disables the reading the word The number of input words however keeps the same as programmed at P0922 0750 PROFIBUS WRITING 3 0751 PROFIBUS WRITING 4 0752 PROFIBUS WRITING 5 0753 PROFIBUS WRITING 6 0754 PROFIBUS WRITING 7 0755 PROFIBUS WRITING 8 Range 0101199 Default 0 disabled Properties DP Access groups via HMI NET Description These parameters alow programming the content of the output words 3 a 8 output master sends to the drive Using these parameters it is possible to program the number of another parameter whose content must be made available at the network master output area If for instance one wants to write the acceleration ramp value in the CFW500 frequency inverter one must program the value 100 in one of these parameters because the parameter 0100 is the one where this information is programmed It is worthwhile to remind that the value written in any parameter is represented with a 16 bit word Even if the parameter has decimal resolution the value is transmitted without the indication of the decimal places E g if one wishes to program the parameter P0100 with the value 5 05 the valu
18. been configured for the network master and therefore it is not necessary to configure this option It is possible to observe the baud rate detected by the board at the parameter 963 3 2 ADDRESSING Every device in a Profibus DP network master or slave is identified through a network address This address must be different for each device The CFW500 Profibus DP address is configured through the parameter P0918 3 3 CABLE It is recommended that the installation be carried out with a type A cable whose characteristics are described n the table 3 2 The cable has a pair of wires that must be shielded and twisted in order to guarantee higher immunity against electromagnetic interference Table 3 2 Type A cable properties 135 165 Q 30 pf m 110 Qm Cable diameter Wire cross section 3 4 CONNECTORS Several connector types can be used for the network connection of the equipment from simple screw connectors up to very specific connector types for the Profibus network The connector used the CFW500 Profibus DP accessory is presented at item 3 4 3 5 CONNECTION TO THE NETWORK The Profibus DP protocol by using the RS 485 physical medium allows the connection of up to 32 devices per segment without the use of repeaters By using repeaters up to 126 addressable equipments can be Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net connected to the network Each repeater
19. bles the drive interrupting the supply for the motor 1 It enables the drive allowing the motor operation it2 0 To run the motor in a direction opposed to the speed reference peed direction 1 Torun the motor in the direction indicated by the speed reference t3 0 It disables the JOG function uree ss it 4 o The drive goes to the Local mode 0 The drive uses the first ramp values in 100 P0101 as the motor acceleration and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in P0102 and 103 as the motor acceleration and deceleration ramp times Bit 6 0 It does not execute the quick stop command Quick stop 1 executes the quick stop command Note This function is not allowed with control types P0202 or VVW Bit 7 0 No function Fault reset 1 If in a fault condition then it executes the reset Bits 8 to 15 gt SG S19 z 8 P0685 PROFIBUS DP SPEED REFERENCE Range 32768 to 32767 Default 0 Properties Access groups via NET Description It allows programming the motor speed reference via the Profibus DP interface This parameter can only be changed via CANopen DeviceNet Profibus DP interface For the other sources HMI etc it behaves like a read only parameter Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net In order that the reference w
20. control word P0968 PROFIdrive status word The speed reference and motor speed words for this profile are described next 1 Manufacturer The control status speed reference and motor speed words have values and functions specific for CFW500 frequency inverter The description of each word is done in the following parameters P0680 Status word 0681 Motor Speed 13 Bits P0684 Control word 0685 Speed reference Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Speed for PROFIdrive profile If the used profile is the PROFldrive both the speed reference and the motor speed must be indicated as a value proportional to the drive maximum speed programmed through P0134 Value via Profibus 0000h O decimal Speed 0 Hz Value via Profibus 4000h 16384 decimal Speed maximum speed P0134 Intermediary speed values rom can be obtained using this scale For instance if P0134 is programmed for 30 Hz and the motor speed value read via Profibus is 2048 0800 h in order to obtain the value in Hz the following calculation must be done 16384 gt 30 Hz 2048 gt speed in Hz Speed in Hz 30 x 2048 16384 Speed in Hz 3 75 Hz The same calculation applies for the transmission of speed reference values Negative speed values indicate reverse speed direction For the reference writing in the drive the values are converted and written in th
21. de Destination Service Access Point SSAP Source Service Access Point DU Data unit size 1 to 244 Data Unit for DP services FCS Telegram checking byte Frame Checking Sequence ED Telegram end delimiter End Delimiter In this telegram it matters to describe the data structure in the DU field where the form to access the drive parameters is defined The other fields follow the defined by the Profibus specification and normally are controlled by the network master 5 2 2 Data Addressing In the functions for reading and writing via acyclic data these data are addressed with a numbering indicating which slot and index are being accessed The slots can be used to address different physical segments of an equipment a modular equipment for instance or even logical segments inside a single equipment The index indicates which data inside the segment is being accessed Profibus Network t Slot 0 ss E Css l fot l Index 254 Index 254 Index 254 Figure 5 1 Acyclic Data Addressing 5 2 3 Reading Writing DP V1 Telegrams In the Profibus DP protocol the writing DS_Write and reading DS_Read DP V1 telegrams used to access the parameters have the following structure Writing Telegram DS_Write Data Unit DU Request Function Slot Index Size Request master gt slave 5Fh 0 47 n Data Eha n bytes Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation n
22. de to the slave 1 Parameter reading 2 Parameter modification Nr of Parameters The number of parameters accessed in the request Attribute 10h request of the parameter value Nr of Elements For parameters of the array type it represents the number of elements accessed in the parameter For the CFW500 only a few parameters specified by the PROFldrive specification have this format the other parameters are always formed by a single value and therefore this field must be set in or 1 The number of a drive valid parameter the most significant byte is transmitted first Sub index For parameters of the array type it represents the array element starting from which the access will be made the most significant byte is transmitted first For parameters formed by a single item this field must be set in 0 It defines the format for the writing parameter For the CFW500 parameters the value 42h 16 bit word must be used Number of Values The number of values to be written defined in the number of elements Value to write in the parameter the most significant byte is transmitted first Table 5 2 Response data structure Request Reference mirror Response ID Rees elec kia hestin DO ID mirror No of Parameters n Parameter value only for Number of Values Repeated n times according parameter reading responses orin Value 1 or error code to the number of accessed case of error Value 2 or error code 7 Parameters
23. defined by the first version of the Profibus DP specification where it is mainly defined how to perform the exchange of cyclic data for equipment control and monitoring the CFW500 frequency inverter with the Profibus DP communication accessory also supports the DP V1 additional services for acyclic communication Using these services it id possible to read write drive parameters using DP V1 acyclic function both by the network master class 1 master and by a commissioning tool class 2 master 5 2 1 Available Services for Acyclic Communication The device supports the following services for acyclic communication in the Profibus DP network Communication between class 1 master and slave 51 Data acyclic reading DS_Read Data acyclic writing DS_Write Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Communication between class 2 master and slave MS2 Initiates the connection Initiate Data acyclic reading DS_Read Data acyclic writing DS_Write Aborts the connection Abort DP V1 requests use an SD2 type Profibus DP telegram with variable data length This type of telegram has the following fields Telegram Header Data Unit Telegram End SD Telegram start delimiter Start Delimiter LE Telegram length from the DA field to the DU Length LEr Telegram length repetition Length repeat DA Destination Address SA Source Address FC Function Co
24. e driveis notin alarm condition Alarm condition 1 The driveis in alarm condition Note The alarm number can be read by means of the parameter P0048 Present Alarm Bit 8 0 The motoris stopped Motor Running 1 The drive running the motor at the set point speed or executing either the acceleration or the deceleration ramp Bit 9 0 General Enable is not active Active General Enable 1 General Enable is active and the drive is ready to run the motor 10 Bit 0 The motor is running in the reverse direction Speed direction 1 The motor is running in the forward direction Bit 11 0 Inactive JOG function Bit 12 0 Drive in Local mode nm Bit 13 0 No Undervoltage Manual Automatic 1 PID in Automatic mode 0 The driveis notin a fault condition Bit15 Fault condition 1 The drive has detected a fault Note The fault number be read by means of the parameter P0049 Present Fault P0681 MOTOR SPEED IN 13 BITS Range 32768 to 32767 Default Properties RO Access groups via HMI NET Description It allows monitoring the motor speed This word uses 13 bit resolution with signal to represent the motor rated frequency P0403 P0681 0000h 0 decimal motor speed 0 P0681 2000h 8192 decimal motor speed rated frequency Intermediate or higher speed values in rom be obtained by using this scale E g 60Hz rated frequency if the value read is 2048 0800h then to obtain the
25. e parameter P0685 The reference writing does also depend on the bit 6 of the PROFldrive control word P0967 If this parameter is changed the slave will assume the new configuration only when there is no cyclic communication with the master P0742 PROFIBUS READING 3 P0743 PROFIBUS READING 4 P0744 PROFIBUS READING 5 P0745 PROFIBUS READING 6 P0746 PROFIBUS READING 7 Range 0101199 Default 0 disabled Properties DP Access groups via HMI NET Description These parameters allow programming the content of the input words 3 a 83 to 10 input drive sends to the master By using these parameters it is possible to program the number of another parameter whose content must be made available at the network master input area If for instance one wants to read from the CFW500 frequency inverter the motor current in Amps one must program the value 3 in one of these parameters because the parameter P0003 is the one that contains this information It is worthwhile to remind that the value read from any parameter is represented witha 16 bit word Even if the parameter has decimal resolution the value is transmitted without the indication of the decimal places E g if the parameter POOOS has the value 4 7A the value supplied via the network will be 47 These parameters are used only if the equipment is programmed at the parameter 922 to use the options 3 to 8 configuration telegrams 103 to 108 Up to 8 words to
26. e programmed via the network must be 50 These parameters are used only if the equipment is programmed at the parameter 922 to use the options 3 to 8 configuration telegrams 103 to 108 Up to 8 words to be written by the network master can be made available according to the selected option The first two output words are fixed and represent the control and the speed reference NOTE 7 The value 0 zero disables the writing in the word The number of input words however keeps the same as programmed at P0922 The written parameters using these words not saved in non volatile memory Thus if the equipment is turned off and on again these parameters will return to their original value P0918 PROFIBUS ADDRESS Range 110126 Default 1 Properties DP Access groups via NET Description It allows programming the slave address in the Profibus DP network It is necessary that each of the equipments in the network has an address different from the others NOTE If this parameter is changed the slave will assume the new configuration only when there is cyclic communication with the master Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net P0922 SELECTION OF THE CONFIGURATION TELEGRAM Range 2 Standard Telegram 1 2 I O words Default 2 Valores 3 Telegram 103 8 I O words 4 Telegram 104 4 I O words 5 Telegram 105 5 I O wo
27. ery EIA Electronic Industries Alliance Input Output SAP Service Access Point NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 1 INTRODUCTION TO THE PROFIBUS DP PROTOCOL A general overview of Profious DP protocol describing the main characteristics and functions are presented next 11 PROFIBUS DP NETWORK The term Profibus is used to describe a digital communication system that can be used in several application areas It is an open and standardized system defined by the IEC 61158 and IEC 61784 standards which comprises from the used physical medium to data profiles for certain sets of equipments In this system the DP communication protocol was developed with the purpose of allowing a fast cyclic and deterministic communication between masters and slaves Among the several communication technologies that can be used in this system the Profibus DP technology describes a solution that typically is composed by the DP protocol RS485 transmission medium and application profiles used mainly in applications and equipments with emphasis in manufacturing automation Nowadays there is an organization named Profibus International responsible for keeping updating and publishing the Profibus technology among use
28. et Data Unit DU car mes 5Fh 0 47 0 Data Unit DU N egative Response Header Function Error Decode Error Code 1 Error Code 2 End slave gt master D h 128 bs xx Reading Telegram DS_Read i Data Unit DU oques Header Function Slot Index Size End master gt slave 5Eh 0 47 240 Data Unit DU Positive Response Function Slot Index Size Request slave gt master 0 47 Data cna n bytes Negative R Data Unit DU Header Function Error Decode Error Code 1 Error Code 2 End slave gt master DEh 128 Each telegram field can assume the following values 5Fh Writing request positive response for writing Reading request positive response for reading DFh Negative response for writing DEh Negative response for reading 0 t is the standard slot for accessing the drive parameters according to PROFldrive 47 It is the standard index for accessing the drive parameters according to PROFldrive Size Number of bytes for reading and writing Writing request n bytes according to the number of bytes in the request telegram Positive response for writing 0 bytes Reading request 240 bytes It requests the maximum number of reading bytes because the size of the slave response is variable Positive response for reading n bytes according to the number of bytes in the response telegram Error Code 1 Error code accordin
29. f the parameter to the drive Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 When receiving the telegram the CFW500 wil test the data consistency in order to know if the request is valid If errors in the request format are not found it will respond positively to the request telegram and initiate the data treatment 3 After receiving writing telegram positive response reading DP V1 telegrams DS_Read must be sent in order to obtain the response to the request performed previously If the request has not been processed yet the drive will respond a reading error This reading must be repeated until the drive responds with valid data The fields with the request and response data contain the structure where the parameters accessed at the drive are defined In this access as defined by the PROFldrive the request and response data have the following structure Table 5 1 Request data structure Request Reference Request ID lia PDO Ne of Parameters 3 Parameter address Attribute Nr of Elements Repeated n times according Parameter Number to the number of accessed parameters Parameter value only for Number of Values Repeated n times according parameter modification requests to the number of parameters in the header Request Reference A number between 1 and 255 that will be retransmitted in the response telegram Request ID represents the type of request ma
30. g to the problem found in the request BOh access error invalid slot B2h access error invalid index B5h access error modification not allowed for the parameter B6h access error modification in read only parameter B7h access error incorrect values for parameter access access error invalid parameter number Resource error Response not available for the reading request Error Code 2 Wis a Request Data Variable size field of the writing request DS_Write which contains the data for accessing the drive parameters Response Data Variable size field of the reading response DS_Read which contains the result of the access to the drive parameters 5 24 Data Structure for Parameter Access PROFlidrive The CFW500 frequency inverter makes available the access to the inverter entire parameter list through the acyclic data according to the PROFidrive specification According to the specification the access to the global parameters is achieved through the following addressing Slot O Index 47 Through this slot and index one must use the structure to access the parameters defined in the PROFldrive specification in order to perform readings and modifications of the CFW500 frequency inverter parameters This access uses the following mechanism 1 Either the reading or the modification of parameters must begin with a writing DP V1 telegram DS_Write at the slot O index 47 with the request o
31. iautomation net P0968 PROFIDRIVE STATUS WORD Range 0000h to FFFFh Default Properties RO DP Access groups via HMI NET Description It is a Profibus DP communication specific parameter defined by the PROFidrive standard with the drive status word the Profibus DP interface when the PROFldrive data profile is selected at P0741 The specific functions in this word follow the defined by the PROFldrive specification Each bit of this word corresponds to one state Function Se ee Se ee ee ee ieee O 2 9 Switching Inhibited Fault Present D gt Ready Operate Reserved Warning Present Operation Enabled Quick Stop Not Active Coast Stop Not Active Ready To Swtich On Table 4 8 Parameter P0968 bit functions S S eady On 1 Commands received from the master allow enabling the drive it 1 0 No commands received from the master to operate the equipment 1 Commands received from the master allow enabling the drive 0 The driveis disabled peration Enabled 1 Drive enabled and able to receive the command to release the ramp i 0 The drive is notin a fault condition ault Present 1 The drive is in a fault condition 0 The drive is disabled oast Stop Not Active 1 The drive is enabled i 0 The drive is with a Fast Stop command active uick Stop Not Active 1 Fast Stop command is not active
32. ized through the HMI depending on the P0313 programming In case of alarm the indication will automatically disappear at the moment when the cyclic communication is reestablished NOTE When energizing the equipment the Profibus DP interface will be initialized in the offline state The error indication however will be done only if a transition from online to offline occurs Possible Causes Correction Verify whether the network master is configured correctly and operating normally Search for short circuit or bad contact in the communication cables Make sure the cables are not changed or inverted Verify whether termination resistors with correct values were installed only at the extremes of the main bus Verify the entire network installation cable passage grounding 140 240 PROFIBUS DP MODULE ACCESS ERROR Description It indicates error in the access to the Profibus communication module data Actuation It acts when the CFW500 control board is not able to read information from the Profibus DP communication module Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net The message of alarm A140 or fault F240 wil in this case be signalized through the HMI depending on the P0313 programming It is necessary to cycle the power of the drive so that a new attempt to access the Profibus DP module is done Possible Causes Correction Verify whether the Profibus D
33. ment of the Profibus DP network it is necessary to enable terminating resistors at both end points of the main bus For this purpose the Profibus DP communication module has two DIP switches that can be activated both switches to the ON position to enable the resistor The DIP switches should not be activated if the network connector already has the terminating resistors Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 INSTALLATIONIN THE PROFIBUS DP NETWORK The Profibus DP network such as several industrial communication networks for being many times applied aggressive environments with high exposure to electromagnetic interference requires that certain precautions be taken in order to guarantee a low communication error rate during its operation Recommendations to perform the product connection in this network are presented next 3 1 BAUD RATES The Profibus DP protocol defines several baud rates that can be used from 9 6 kbit s up to 12Mbit s The maximum allowed transmission line length depends on the used baud rate and this correlation is showed on the table 3 1 Table 3 1 Baud rate x segment length Baud Rate Segment Length kbit s m 9 6 19 2 45 45 93 75 1200 187 5 1000 50 0 1500 200 3000 6000 12000 100 All equipments in the network must use the same baud rate The CFW500 Profibus DP interface has automatic baud rate detection according to what has
34. messages Typically represented by an engineering or configuration tool used for network commissioning or maintenance The CFW500 frequency inverter operates as a slave in the Profibus DP network 1 4 PHYSICALLAYER There are different network transmission types to allow communication in a Profibus network each one with suitable features according to the demands of different application types The main transmission modes are R8485 this is the most used transmission type for Profibus network It provides high transmission rates simple installation and low cost this is specified mainly for applications in chemical and petrochemical industries for communication in safety areas The transmission rate is defined at 31 25 kbit s with the possibility of feeding the devices from the communication bus Optical Fiber this is used mainly in applications where high electromagnetic interference immunity and or great distances connections are required Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net The Profibus DP accessory of the CFW500 frequency inverter provides an RS485 interface for network connection 1 5 APPLICATION PROFILE PROFIDRIVE Complementary to the Profibus protocol specification the PROFldrive specification elaborated and kept by the Profibus International basically describes a set of parameters and services common for the drive type equipments in a Profibu
35. o A stop command with deceleration ramp is executed and the 5 2 motor stops according to the programmed deceleration ramp drive is disabled by removing the General Enabling the 3 Change to Local The drive commands change to Local The drive commands change to Local but the status of the enabling and speed reference commands received via network are kept providing that the drive has been programmed to use in Local mode the commands via HMI or 3 wire start stop and speed reference via either HMI or electronic potentiometer Instead of an alarm the communication error causes an drive 5 Causes a Fault fault so that a drive fault reset becomes necessary in order to restore normal operation The following events are considered communication errors 4 Change to Local keeping commands and reference Profibus DP communication 138 alarm F238 fault command received to enter clear mode 139 alarm F239 fault device goes to 140 alarm F240 fault Profious DP interface access error The actions described in this parameter are executed by means of the automatic writing ofthe selected actions in the respective bits of the interface control words Therefore in order that the commands written in this parameter be effective it is necessary that the device be programmed to be controlled via the used network interface with exception of option Causes a Fault which blocks the equipment even if i
36. only be enabled ON position if the equipmentis the first or the last element of the segment The DIP switches present in the communication module also can be used to enable the termination resistors It is important to emphasize that in order to be possible to disconnect the element from the network without impairing the bus it becomes interesting the use of active terminations which are elements that have only the termination function Therefore any drive of the network can be disconnected from the bus without impairing the termination 3 7 GSD FILE Each element of the Profibus DP network has an associated configuration file with the GSD extension This file describes the characteristics of each equipment and it is used by the Profibus DP network master configuration tool During the master configuration the GSD configuration file supplied with the equipment must be used It is necessary to connect the protective earth to the GND signal in the plug module Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 PROGRAMMING Next the CFW500 frequency inverter parameters related to the Profibus DP communication will be presented 41 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Read only parameter CFG Parameter that can be changed only with a stopped motor DP Parameter visible on the HMI if the product has the Profibus interface installed 0105 151 2 RAMP SELECTION 0220 LOCAL REMOT
37. ows identifying if the Profibus DP interface board is properly installed besides indicating the status of the communication with the network master Table 4 5 Parameter PO740 values The Profibus interface is not installed in CFW500 initialization error 2 Offline The Profibus interface is installed and properly configured but no cyclic communication established 3 Configuration data error Data received the I O configuration telegram notin accordance with the configurations done through the parameter P0922 4 Parameterization data Data received in the parameterization telegram does not have error valid format values 5 Clear mode During data exchange with the master the slave received a Peeves i command to enter the clear mode 6 Online O data exchange between the slave and Profibus network OO s mee sseessuyumm P0741 PROFIBUS DATA PROFILE Range 0 PROFidrive Default 1 1 Manufacturer Properties DP Access groups via HMI NET Description It allows selecting the data profile for the control speed reference status and motor speed words during the I O data exchange with the network master Table 4 6 Parameter PO741 options 0 PROFidrive The control status speed reference and motor speed words have values and functions according to what is described by the PROFldrive specification The description of each word is done in the following parameters P0967 PROFIdrive
38. r Parameter Access WEG Besides the structure for the access to the parameters according to the PROFldrive specification it is also possible to use a simplified structure for the access to the parameters through the following addressing Slot 0 Index 48 With the telegrams described in the section 4 2 3 it is possible to get access to the parameters using the following mechanism Parameter modification the modification of parameters is performed with a writing telegram DS_Write with 4 data bytes were the two first represent the parameter number and the two last represent the parameter content always with the most significant byte transmitted first The response to the writing telegram indicates whether or not the modification was successful Parameter reading for the reading of parameters first a writing telegram DS_Write with 2 data bytes representing the parameter number must be sent After this telegram has been successfully sent a reading telegram DS_Read must be sent and the response will have 2 data bytes with the parameter content The reading telegrams as well as the writing telegrams are able to report errors in the parameter requests according to the codes described for the Error Code 1 field Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 FAULTS AND ALARMS RELATED TO THE PROFIBUS DP COMMUNICATION A138 F238 PROFIBUS DP INTERFACE IN CLEAR M
39. rds 6 Telegram 106 6 I O words 7 Telegram 107 7 I O words 8 Telegram 108 8 I O words Properties DP Access groups via HMI NET Description It allows selecting which configuration telegram is used by the drive during the Profibus DP network initialization This telegram defines the format and quantity of input output data exchanged with the network master During the network master configuration by using the GSD file it is possible to select the desired data module for the exchange of cyclic data between the master and the slave It is possible to exchange from 2 to 8 input output I O words 16 bits each depending on the selected option The value programmed in this parameter must coincide with the module selected by the network master configuration tool The content of the first two input output words is pre defined The other words are programmable through the parameters 742 up to P0755 slave master master gt slave Status Word Control Word N Fixed Programmable 4 60 7V0 81 0 NOTE The format of the control status speed reference and motor speed words depends on the parameter P0741 programming Ifthis parameter is changed the slave will assume the new configuration only when there is no cyclic communication with the master P0963 PROFIBUS BAUD RATE DETECTION Range 0 9 6 kbit s Default 1 19 2 kbit s 2 98 75kbit s 3 187 5 kbit s 4
40. ritten in this parameter be used it is necessary that the drive be programmed to use the speed reference CANopen DeviceNet Profiobus DP This programming is achieved by means of parameters P0221 and P0222 This word uses a 13 bit resolution with signal to represent the motor rated frequency P0403 0685 0000h 0 decimal speed reference 0 P0685 2000h 8192 decimal speed reference rated frequency P0403 Intermediate or higher reference values can be programmed by using this scale E g 60Hz rated frequency to obtain a speed reference of 30 Hz one must calculate 60 Hz gt 8192 80 Hz gt 13 bit reference 13 bit reference 30 x 8192 60 13 bit reference 4096 gt Value corresponding to 30 Hz 13 bit scale This parameter also accepts negative values to revert the motor speed direction The reference speed direction however depends also on the control word P0684 bit 2 setting Bit 2 1 and P0685 gt 0 reference for forward direction Bit 2 1 and P0685 lt 0 reference for reverse direction Bit 2 and P0685 gt 0 reference for reverse direction Bit 2 and P0685 lt O reference for forward direction NOTE The values transmitted over the network have a scale limitation allowing to program a speed reference of 4 times the synchronous speed of the motor at most P0695 DIGITAL OUTPUT SETTING Range 0000h to 001Fh Default 0000h Properties Access groups via HMI
41. rs and members More information regarding the technology as well as the complete protocol specification can be obtained with this organization or with one of the regional associations or competence centers associated to the Profibus International 1 2 PROFIBUS DP PROTOCOL VERSIONS The Profibus DP protocol defines a series of functions for exchanging data between master and slave The set of functions can be divided in different functional levels in the following versions DP VO It is the first version of the protocol which mainly defines functions perform cyclic data exchange between master and slave DP V1 It is an extension of the functions defined in the first version it defines particularly how to perform the exchange of acyclic data between master and slave besides the cyclic data DP V2 It defines a set of advanced functions such as communication between slaves and isochronous communication mode The CFW500 frequency inverter supports the services of the DP VO and DP V1 versions 1 3 DEVICE TYPES IN A PROFIBUS DP NETWORK Three different types of equipment are specified in a Profibus network Slaves They are passive stations in the network which only answer to the requests made by the master Class 1 Master It is responsible for the cyclic data exchange Typically represented by the PLC or process or plant control software Class 2 Master It allows the communication in the Profibus DP network through acyclic
42. s network The purpose of this specification is to facilitate the integration of drives Profibus network The Profibus DP interface for CFW500 frequency inverter was developed in accordance with the PROFldrive specification Thus several of the parameters communication words and data access services of the drive are described in accordance with this specification Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 PROFIBUS DP COMMUNICATION ACCESSORY The following Profibus DP accessory is needed in order to enable the device communication in a Profibus DP network Information about the installation of this module can be found in the guide that came with the accessory 2 1 PLUG IN MODULE CFW500 CPRO part number 11769750 Composed by the Profibus DP V1 communication module and installation guide t supports DP V1 acyclic messages 2 2 CONNECTOR PINOUT The Profibus DP V1 communication module has two connectors to the Profibus network each one with the following pinout Request To Send OV isolated for the RS485 circuit 5V isolated for the RS485 circuit RxD TxD negative green RxD TxD positive red ive NOTE 9 connector frame is connected to the frequency inverter protective earth 23 INDICATIONS The alarms faults and status indications are done through the device HMI and parameters 2 4 DIP SWITCHES Tr At each seg
43. speed in Hz one must calculate 8192 gt 60 Hz 2048 gt Frequency in Hz Frequency in Hz 60 x 2048 8192 Frequency in Hz 30 Hz Negative values in this parameter indicate that the motor is running in the reverse direction Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net NOTE The values transmitted over the network have a scale limitation allowing a maximum of 4 times the synchronous speed of the motor with saturation in 32767 or 32768 P0684 PROFIBUS DP CONTROL WORD Range 0000h to FFFFh Default Properties Access groups via HMI NET Description It device Profibus DP interface control word This parameter can be changed CANopen DeviceNet Profiobus DP interface For the other sources HMI etc it behaves like a read only parameter In order to have those commands executed it is necessary to program the equipment to be controlled via CANopen DeviceNet Profibus DP This programming is achieved by means of parameters PO105 and P0220 to P0228 Each bit of this word represents a command that can be executed Function Reserved Fault reset Quick stop Second ramp LOC REM Speed direction General enable Run Stop Table 4 3 PO684 parameter bit functions r 0 It stops the motor with deceleration ramp atop 1 The motor runs according to the acceleration ramp until reaching the speed reference value 0 It disa
44. t is not controlled by network This programming is achieved by means of parameters P0220 to P0228 P0680 STATUS WORD Range 0000h to FFFFh Default Properties RO Access groups via HMI NET Description It allows the device status monitoring Each bit represents a specific status Function 13 12 cr 1 5 518 D Fault condition PID Automatic Speed direction Active General Motor Running Alarm condition In configuration Second ramp Active fast stop Reserved Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table 4 2 P0680 parameter bit functions Bits Oto 3 Bit 4 0 The fast stop command is not active Bit 5 0 The drive is configured to use the first ramp values programmed 100 and P0101 as the motor Second ramp acceleration and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in P0102 and P0103 as the motor acceleration and deceleration ramp times Bit 6 0 The drive is operating normally In configuration mode 1 The drive is in the configuration mode It indicates a special condition during which the drive cannot be enabled Executing the self tuning routine Executing the oriented start up routine Executing the HMI copy function Executing the flash memory card self guided routine There is a parameter setting incompatibility There is no power at the drive power section Bit 7 0 Th
45. utput be programmed for P0696 P0697 P0698 value at the parameters P0251 P0254 P0257 The value must be written a 15 bit scale 7FFFh 82767 to represent 100 of the output desired value i e P0696 0000h 0 decimal analog output value 0 P0696 7FFFh 32767 decimal analog output value 100 90 The showed example was for 696 but the same scale is also used for the parameters 0697 PO698 For instance to control the analog output 1 via serial the following programming must be done Choose a parameter from P0696 0697 P0698 to be the value used by the analog output 1 For this example we are going to select P0696 Program the option PO696 value as the function for the analog output 1 in P0254 Using the network interface write in PO696 the desired value for the analog output 1 between 0 and 100 according to the parameter scale NOTE For CFW500 frequency inverter the analog output 3 represents the frequency output FO 2 For the actual output resolution refer to the product manual Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net P0740 PROFIBUS DP COMMUNICATION STATUS Range O Inactive Default 1 Profibus interface initialization error 2 Offline 3 Configuration data error 4 Parameterization data error 5 Clear mode 6 Online Properties RO Access groups via HMI NET Description It all
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