SCA06 - Profibus DP Manual
Contents
1. The servoconverter SCA06 can communicate from 2 to 16 input output words I O and this quantity can be programmed through parameter P0922 The first four I O words have pre defined functions whose formats and functions are described below 5 1 INPUT WORDS INPUT SLAVE gt MASTER 5 1 1 1st Status Word Word that indicates the equipment status providing information about licenses faults etc The format of this word depends on the type of data profile programmed in P0741 P0741 O PROFldrive status word described by the PROFldrive specification as per P0968 P0741 1 Manufacturer specific status word of the SCA06 as described below 14 Function Energized Power Reserved Limit switch counterclockwise Limit switch sagwa Reserved Safety function active Table 5 1 Functions of the bits for the specific status word of the SCA06 Description ot O and 1 Reserved 0 Drive disabled Enabled 1 Drive enabled itis driving the motor according to the control mode O No fault in the drive aut 1 Drive in fault status O No power onthe power circuit or in undervoltage ower Energized 1 Power circuit of the drive fully energized ready to enable lui 0 STOP function inactive Stop 1 STOP function active 0 Safety stop function STO inactive afety Stop Active 1 Safety stop function STO inactive 0 No alarm Alarm 1 Drive with some active alarm Bino 78 0 No limit switch clockwise signal2. ri switch clockwise active 1 Limit switch clockwise signal was activated O No limit switch counterclockwise signal ja switch counterclockwise 1 Limit switch counterclockwise signal was activated active z5 WUWEFWNW alo gt la o A wo N J Y W o DIS W I m as DIC W o 5 1 2 2nd Motor Speed Word that indicates the motor speed The speed scale depends on the type of data profile programmed in P0741 P0741 O PROFldrive speed proportional to maximum speed as described in P0741 P0741 1 Manufacturer specific motor speed of the SCA06 where the value 7FFFh 32767 corresponds to 18750 rom Negatives values represent the motor spinning counterclockwise NOTE In this word it is indicated the instant speed value without filter For this reason it is normal the oscillation of the value read around the operation point SCA06 21 5 1 3 3rd Torque Current Word that indicates the torque current proportional to the equipment current that generates torque The indication is done in ampere A with one decimal place resolution Example If the current value is 4 7A the value read via network will be 47 5 1 4 4th Present Control Mode It indicates which control mode is selected for the equipment Function iS EE EEE oO 3 8 e 2 E a 5 O Table 5 2 Functions of the bits for the control mode of the SCA06 SSS Bts oo o O ies 777777 Bits 3 0 It defines p
3. ID DO ID Nr of Parameters Attribute Nr of Elements Parameter Number Sub index Format Number of Values Value Response data header Parameter value only for parameter reading responses orin Value 1 orerror code case of error Table 6 1 Request data structure Request Reference Request ID DOD Nr of Parameters n Nr of Elements Parameter Number Number Senda une E index Repeated n times according to the number of accessed parameters Number of Values Repeated n times according to the number of accessed parameters A number between 1 and 255 that will be retransmitted in the response telegram It represents the type of request made to the slave 1 Parameter reading 2 Parameter modification 0 The number of parameters accessed in the reguest 10h request of the parameter value For parameters of the array type it represents the number of elements accessed in the parameter For the SCA06 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 O or 1 The number of a drive valid parameter the most significant byte is transmitted first 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
4. direction The reference writing does also depend on the bit 6 of the PROFldrive control word P0967 fthis parameter is changed the slave will assume the new configuration only when there is no cyclic communication with the master 0742 PROFIBUS READING 5 0743 PROFIBUS READING 6 0744 PROFIBUS READING 7 0745 PROFIBUS READING 8 0746 PROFIBUS READING 9 0747 PROFIBUS READING 10 0748 PROFIBUS READING 11 0749 PROFIBUS READING 12 0750 PROFIBUS READING 13 O 0751 PROFIBUS READING 14 0752 PROFIBUS READING 15 0753 PROFIBUS READING 16 Range O to 1249 Default O disabled Properties DP Description These parameters allow programming the content of the input words 5 to 16 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 E Programming If for instance one wants to read from the SCAO6 servoconverter 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 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 the parameter P0003 has the value 4 7A the value supplied via the n
5. 765 SCA06 16 E Programming Input Output slave master master slave Control Mode Feedback 84 Control Mode Reading Profibus 11 11 Wiring Profibus 1 Reading Profibus 13 Reading Profibus 15 Reading Profibus 16 Fixed 4 0 51 0 61 0 7V0 15 0 16 0 Programmable NOTE O The format of the control status speed reference and motor speed words depends on the parameter P0741 programming If this parameter is changed the slave will assume the new configuration only when there is no cyclic communication with the master P0944 DRIVE FAULT COUNTER Range Oto 1 Default Properties RO DP Description It is a Profibus DP communication specific parameter defined by the PROFldrive standard to indicate the number of faults occurred in the drive If any fault indication occurs at the equipment this counter will be incremented For the SCA06 servoconverter only one fault at a time is registered thus this counter has a maximum value of 1 The value O zero indicates that the drive is not in fault status The parameter content is reset together with the drive reset P0947 FAULT NUMBER Range O to 65535 Default Properties RO DP Description It is a Profibus DP communication specific parameter defined by the PROFldrive standard to indicate the fault occurred in the SCA06 servoconverter If any fault occurs in the equipment this parameter will have the code of the occurred f
6. 9 E g a gt 5 5 E a o O JOG 1 ON Enable Setpoint Fault Acknowledge No Coast Stop Z o N EL Table 4 4 Parameter P0967 bit functions to 0 OFF gt If enabled it stops and disables the drive N OFF 1 ON gt It allows the inverter enabling it 1 0 Coast Stop gt It disables the drive o Coast Stop Coast Stop 1 No coast Stop gt It allows the drive enabling it 2 O If enabled it executes the Fast Stop command and disables the drive o Quick Stop Quick Stop 1 It allows the inverter drive i O It disables the drive nable Operation 1 It enables the drive Not used for SCA06 nable Ramp Generator Reserved it6 O It resets the speed reference able Setpoint 1 It uses the speed reference received via the Profibus DP network ault Acknowledge 0 51 If in a fault condition it executes the fault reset OG 1 ON it10 ontrol By PLC its 11t015 Reserved zolz WOW vim o m w alo alo v sg o c oln om w wW o DIO W NOTE V The speed direction reversion can be done by sending a negative value to the speed reference P0968 PROFIDRIVE STATUS WORD Range 0000h to FFFFh Default Properties RO DP Description It is a Profibus DP communication specific parameter defined by the PROFldrive standard with the drive status word via the Profibus DP interface when the PROFldrive data profile is selected at P0741 SCA06 19 leg Programming The sp
7. ERMINATING RESISTOR cccecssceceeeeeeeeeneeeeeeeeeeeeeneeseeesseeeneneeseeesseeseueseeeeenseeseeeeesnoes 11 Bel GSD FILE aaa AGARAN NGANGA sai se Gai si ia E a e i a a 11 4 PROGRAMMING AABANG 12 4 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION 1010 aaa 12 P0202 OPERATING MODE ss AA 12 P0662 ACTION FOR COMMUNICATION ERROR 12 P0740 PROFIBUS DP COMMUNICATION STATUS 70 00000 nauuna ann naa ann eso ANA KKK NA KKK AA aa KAANAK 13 P0741 PROFIBUS DATA PROFILE 1 AA 13 P0742 PROFIBUS READING 5 naaawa aaa anona aa KKK NN KKK NNN SAKAL NANANA 14 P0743 PROFIBUS READING 6 aaa ane aa nn 14 P0744 PROFIBUS READING H7 ssi sos AA AA 14 P0745 PROFIBUS READING H8 si sos ese aaa annana aaa aa ananasas aa ananasas anna anas 14 P0746 PROFIBUS READING 9 naaawa aaa namam nan KAN aaa annan a saaa aa annaaa aaa aa anas aaa aa anas 14 P0747 PROFIBUS READING 10 0 AA 14 P0748 PROFIBUS READING 11 cscccceeeceeeeeeeeeeeeeeeeeeeneeeeeeeseeenenseeeeeseeeeeesseceenseesseeneeseeenee 14 P0749 PROFIBUS READING 12 12000 anan 14 P0750 PROFIBUS READING 13 2220 0 anna AA 14 P0751 PROFIBUS READING 14 2 aaa aaa namamana nan aaa KKK NN 14 P0752 PROFIBUS READING 15 maana aaa namamana nee NAN KKK AA aaa aa KKK AASNNK SAK aa anas aaa aa ananasas 14 P0753 PROF
8. IBUS READING 16 2 aaa aaa nn maana nan aaa KKK AA NNN SAK KANAL LLSNNS AKALA 14 P0754 PROFIBUS WRITING B5 200 naaa AA 15 P0755 PROFIBUS WRITING E 0011a nA 15 P0756 PROFIBUS WRITING 87 cccceesseceeeeeeeeeeeeeeeeeeeeeeeeeneeseeeeseeenenaeseeeseeseeeseeeeenseesseneesenenee 15 P0757 PROFIBUS WRITING 8 2 0100 maana AA 15 P0758 PROFIBUS WRITING 9 2 000a namana an AA KA 15 P0759 PROFIBUS WRITING 10 200aaa aaa na maana nan KNA KAN LLANA LLANA 15 SCA06 3 eq Contents P0760 PROFIBUS WRITING 11 we ccicscsscesccesccssatsscssscasscisensscesscavesascasccosscsssaseccasccssesaccasscasssresass 15 P0761 PROFIBUS WRITING 12 13s 15 P0762 PROFIBUS WRITING 1 Sis 2 sinikassina nassassikss ass snss sausi a k s is sascasccosscnssanecaasccssessccasscassesreses 15 P0763 PROFIBUS WRITING 1 sA AA 15 P0764 PROFIBUS WRITING 4H15 2 55iniaikanika asssausi kasko ik sni ss sai koa is ss a ins a i a is ina ss ss ass ks asas nnna 15 P0765 PROFIBUS WRITING 16332 sausus ssnauss ass ass aka sk ass ass ass as sa sa is a as a i ad sia si ai 15 P0918 PROFIBUS ADDRESS L z ssiuniak ssina nsssassk sau a sk sssa k sasas is as a k s s ss asa casacos cosa ss aka sak a iai 16 P0922 SELECTION OF THE CONFIGURATION TELEGRAM 0 200000000000a nananana na aaa ass nanana 16 P0944 DRIVE FAULT COUNTER 111122200 AGA ATA AA AG 17 P0947 FAULT NUMBER zii s i
9. Motors Automation Energy Transmission amp Distribution Coatings Profibus DP SCAO6 User s Manual E EDER San Do E Profibus DP User s Manual Series SCA06 Language English Document Number 10001227142 00 Publication Date 12 2012 eq Contents CONTENTS CONTENTS m iii ii ii i i ii i ij i i i i i i i i ii 3 ABOUT THIS MANUAL ABAKA 5 ABBREVIATIONS AND DEFINITIONS 11117000 AA 5 NUMERICAL REPRESENTATION 000 2200 5 1 INTRODUCTION TO THE PROFIBUS DP PROTOCOL sss sos ssssssesseesessa 6 1 1 PROFIBUS DP NETWORK 0010 6 1 2 PROFIBUS DP PROTOCOL VERSIONS 1 ra 6 1 3 DEVICE TYPES IN A PROFIBUS DP NETWORK 22 6 1 4 PHYSICAL LAY ER ANAKAN a aaa aa 6 1 5 APPLICATION PROFILE PROFIDRIVE 1 aa 7 2 PROFIBUS DP COMMUNICATION ACCESSORY aaa 8 2 EC OB AA AA AA AA AA AA 8 2 2 CONNECTOR PINOUT cccceececceeeeeeeeeeseeeeeeeeeeseeeseeeeeeneeseeeseeeneueeeeeeeeseennaeeeeeseessenseeeeenes 8 23 INDICATIONS msanansannnuninskanansandansandanana a nnn adis a s alia a ananasai ana a si a aaa 8 24 IDIP SWITCHES NGANGA 8 3 INSTALLATION IN THE PROFIBUS DP NETWORK aaa 10 3 1 BAUD RATES aa ARA ve sanis aaa aaa ka a i a 10 3 2 ADDRESSING kap NA ABA ANAKAN i i aa aa a sai 10 ci CABLE issanaidnsnaskuknanosicsis E AA AA aaa a me 10 3 4 CONNECTORS mna AINA nds sd ka ias a ia ia aaa a a D aaa os duda 10 3 5 CONNECTION TO THE NETWORK 00 10 3 6 T
10. NTRODUCTION TO THE PROFIBUS DP PROTOCOL A general overview of Profibus DP protocol describing the main characteristics and functions are presented next 1 1 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 users and members More information regarding the technology as wellas 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 htto Avww profibus com 1 2 PROFIBUS DP PROTOCOL VERSIONS The Profibus DP protocol defines a series of functions fo
11. activated if the network connector already has the terminating resistors SCA06 9 3 INSTALLATION IN THE PROFIBUS DP NETWORK The Profibus DP network such as several industrial communication networks for being many times applied in 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 SCA06 Profibus DP interface has automatic baud rate detection according to what has 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 PO963 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 SCAO6 Profibus DP address is configure
12. ault The value O zero indicates that the drive is not in fault status SCA06 17 leg Programming P0963 PROFIBUS BAUD RATE DETECTION Range 0 9 6kbit s Default 1 19 2 kbit s 2 93 75kbit s 3 187 5 kbit s 4 500 kbit s 5 N o detectada 6 1500 kbit s 7 3000 kbit s 8 6000 kbit s 9 12000 kbit s 10 Reservado 11 45 45 kbit s Properties RO DP 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 P0964 DRIVE IDENTIFICATION Range O to 65535 Default Properties RO DP Description It is a Profibus DP communication specific parameter defined by the PROFldrive standard to indicate information about the drive This parameter has 5 sub indices with information on the drive but the sub indices 1 to 4 are accessible only using the acyclic access to parameters defined by the PROFldrive profile Other interfaces access only the sub index O Sub index O Manufacturer 367 Sub index 1 Drive Unit Type 4 Sub index 2 Version software Equipment firmware version P0023 Sub index 3 Firmware Date year Firmware elaboration year in yyyy format Sub index 4 Firmware Date day month Firmware elaboration day and month in ddmm format P0965 PROFIDRIVE PROFILE IDENTIFICATION Range O to 65535 Default Properties RO DP Description It is a Profibus DP comm
13. d 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 in 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 a165 O 30 pi m 110 fm Cable diameter 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 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 connected to the network Each repeater must also be included as a device connected to the segment even not occupying a network address SCAO6 10 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 Figure 3 1 Connection example in a Profibus DP network The Profibus DP
14. ddressing 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 SCAO6 servoconverter 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 of the parameter to the drive SCA06 26 meg Profibus DP Network Operation 2 When receiving the telegram the SCA06 will 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 Request data header Parameter Address Parameter value only for parameter modification requests Valet oo O Request Reference Request
15. dification 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 000Fh text not available only value 0016h incorrect access to the parameter 0017h unknown format 0018h incorrect number of values 6 2 5 Data Structure for 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 O Index 48 With the telegrams described in the section 6 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
16. ecific functions in this word follow the defined by the PROFldrive specification Each bit of this word corresponds to one state Control Reguested Reserved Warning Present Switching On Inhibited Quick Stop Not Active Coast Stop Not Active 1 15 10 EE EA EE ES EEE E Function Fault Present Operation Enabled Ready To Operate Ready To Swtich On Table 4 5 Parameter P0968 bit functions it O O The drive cannot be enabled eady To Swtich On 1 Drive can be enabled no safety stop it1 0 No commands received from the master to operate the equipment eady To Operate 1 Commands received from the master allow enabling the drive power is on it 2 O The drive is disabled peration Enabled 1 Drive enabled and able to receive the command to release the ramp t3 O The drive is not in a fault condition Fault Present 1 The drive is in a fault condition it 4 0 The drive is disabled oast Stop Not Active 1 The drive is enabled i O The drive is with a Fast Stop command active uick Stop Not Active 1 Fast Stop command is not active at the drive STOP function WO o o W Ow Q Ow o i Not used for SCA06 witching On Inhibited O No alarm arning Present 1 The drive has an active alarm it 8 O The drive is operating in local mode ontrol Requested 1 Drive control is via Profibus DP interface is 10 to 15 gsw a Ow o SCA06 20 5 I O WORDS WITH SPECIFIC FUNCTION
17. esseeseseesesennes 24 6 1 PROFIBUS DP V0 1 1 aa GAAN 24 6 1 1 Cy Clie Dalai us 24 6 1 2 SYNG FREEZE La AA 24 6 2 PROFIBUS PPNTA NGANGA 24 6 2 1 Available Services for Acyclic Communication aaa aaa nanana waa awa sasas sea ae 24 6 2 2 Data Addressing JIE 25 6 2 3 Reading Writing DP V1 TelegramS aaa ana wanna NN NN N NAA sasas KKK NN ANAKAN ANN NNK NAA sea 25 6 2 4 Data Structure for Parameter Access PROF ldrive u maaawa naan waa awan wana aa aaa 26 6 2 5 Data Structure for Parameter Access WEG aan anan aaa anna anna ease sasas aaa 28 7 FAULTS AND ALARMS RELATED TO THE PROFIBUS DP COMMUNICATION 29 A138 F38 PROFIBUS DP INTERFACE IN CLEAR MODE 1 1 000 ossos aaa annan anas 29 A139 F39 PROFIBUS DP INTERFACE OFFLINE 111 aaa 29 A140 F40 PROFIBUS DP MODULE ACCESS ERROR 00 aa 29 SCA06 4 ABOUT THIS MANUAL This manual provides the necessary information for the operation of the SCA06 servoconverter using the Profibus DP Interface This manual must be used together with the SCA06 User s Guide ABBREVIATIONS AND DEFINITIONS DP Decentralized Periphery EIA Electronic Industries Alliance I O 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 SCA06 5 eg Introduction to the Profibus DP Protocol 1 I
18. etwork will be 47 These parameters are used only if the equipment is programmed at the parameter P0922 to use the options 5 to 16 configuration telegrams 105 to 116 Up to 16 words to 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 The words 3 and 4 when programmed represent the current and control mode for servomotor ai O zero disables the reading in the word The number of input words however keeps the same as programmed at P0922 0754 PROFIBUS WRITING 5 0755 PROFIBUS WRITING 6 0756 PROFIBUS WRITING 7 0757 PROFIBUS WRITING 8 0758 PROFIBUS WRITING 9 0759 PROFIBUS WRITING 10 0760 PROFIBUS WRITING 11 0761 PROFIBUS WRITING 12 0762 PROFIBUS WRITING 13 0763 PROFIBUS WRITING 14 0764 PROFIBUS WRITING 15 0765 PROFIBUS WRITING 16 Range O to 1249 Default O disabled Properties DP Description These parameters allow programming the content of the output words 5 to 16 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 ramp for STOP function value in the SCA06 servoconverter one must program the value 105 in one of these parameters because the parameter P0100 is the one where this informa
19. h data inside the segment is being accessed Profibus Network f Slot O Dos L a S Index 254 Index 254 Index 254 Figure 6 1 Acyclic Data Addressing 6 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 il ag Header Function Slot Index Ph 5Fh 0 47 n bytes SCA06 25 Data Unit DU Pa Aalay a ni Header Function Slot Index Size End 5Fh 0 47 0 A Data Unit DU Negative Response galv p Header Function Error Decode Error Code 1 Error Code 2 End slave gt master DEh 428 Ka ve Reading Telegram DS Read Data Unit DU a a Header Function Slot Index Size End 5Eh 0 47 240 Data Unit DU Positive response Response slave gt master Header Function Slot Size Data End 5Eh 0 47 n n bytes Data Unit DU Negative Response Header Function Error Decode Error Code 1 Error Code 2 End slave gt master DEh 128 XX XX Each telegram field can assume the following values Function 5Fh Writing request positive response for writing 5Eh Reading request positive response for reading DFh Negative response for writing DEh Negative response for reading O it is the standard slot for accessing the drive parameters according to PROFldrive 47 lt is the standard index for accessing the drive parameters accordi
20. his 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 SCA06 11 eg Programming 4 PROGRAMMING Next the SCA06 servoconverter parameters related to the Profibus DP communication will be presented 4 1 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 P0202 OPERATING MODE Value 1 Torque Mode Default 2 Range 2 Speed Mode 3 Reserved 4 Ladder Mode 5 CANopen 6 Profibus DP Properties CFG Description This parameter defines the operating mode of the SCAO6 servoconverter In order to control de equipment via Profibus DP network it s necessary to use mode 6 Profibus DP In cases this mode is programmed commands and references for the product operation will be provided by cyclic data via Profibus DP network NOTE O Thecontrol of the equipment through the objects for drives is only possible for operating mode 6 but the Profibus DP communication can be used in any operating mode The Profibus DP interface allows speed and torque control of the SCA06 servoconverter To perform positioning functions the Ladder operating mode must be used developing a Ladder application program and using
21. in It defines the format for the writing parameter For the SCAO6 parameters the value 42h 16 bit word must be used 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 6 2 Response data structure Request Reference Mirror Response ID DO ID Mirror Nr of Parameters n Number of Values Repeated n times according to the number of accessed Value 2 or error code parameters SCA06 27 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 DO Id 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 16bit 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 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 mo
22. ions is presented below 6 1 PROFIBUS DP VO 6 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 SCA06 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 P0922 must also be configured at the network master using a master configuration tool and the SCAO6 GSD file selecting one of the available modules described in the GSD file 6 1 2 SYNC FREEZE The SCA06 servoconverter 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 refere
23. nce values received by each slave are frozen Values received later by the slave are stored but will only be updated after the reception of a new 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 a new FREEZE command be received or after the UNFREEZE command which cancels this function 6 2 PROFIBUS DP V1 In addition to the services defined by the first version of the Profibus DP specification DP VO where it is mainly defined how to perform the exchange of cyclic data for equipment control and monitoring the SCAO6 servoconverter 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 6 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 MS1 Data acyclic reading DS Read Data acyclic writing DS Write SCAO6 24 Communication between class 2 master and slave MS2 nitiates the connec
24. 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 SCA06 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 only be enabled ON position if the equipment is 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 T
25. ng to PROFidrive 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 O bytes Reading request 240 bytes lt 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 according 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 Beh access error modification in read only parameter B7h access error incorrect values for parameter access B8h access error invalid parameter number C3h Resource error Response not available for the reading request Error Code 2 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 6 2 4 Data Structure for Parameter Access PROFIdrive The SCA06 servoconverter makes available the access to the inverter entire parameter list through the acyclic data according to the PROFldrive specification According to the specification the access to the global parameters is achieved through the following a
26. 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 F39 will in this case be signalized through the HMI depending on the P0662 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 A140 F40 PROFIBUS DP MODULE ACCESS ERROR Description It indicates error in the access to the Profibus communication module data Actuation It acts when the SCAO6 control board is not able to read information from the Profibus DP communication module SCA06 29 meg Fault
27. r 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 to 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 SCA06 servoconverter 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 messages Typically represented by an engineering or configuration tool used for network commissioning or maintenance The SCA06 servoconverter operates as a slave in the Profibus DP network 1 4 PHYSICAL LAYER There are different network transmission types to allow communication in a Profibus network each one with suitable features according
28. rence Word that allows programming the reference for the torque current of the servoconverter The reference is programmed in ampere A with one decimal place resolution Example when sending the value 47 the drive will take a reference equal to 4 7A 5 2 4 4th Control Mode Allows programming the equipment control mode Function Reserved Control Mode Table 5 4 Functions of the bits for the control mode of the SCA06 CP ca QC CFP Bits 3 O It defines the present control mode of the equipment Control mode O Torque mode 1 Speed mode Other values are reserved Bis 15 4 NOTE O The Profibus DP interface allows speed and torque control of the servoconverter SCAO6 To perform positioning functions the Ladder operating mode must be used developing a Ladder application program and using the user s parameter as interface with the network master to control and monitor the equipment For the option P0922 2 the control mode will be programmed for speed while for P0922 3 the control mode will be programmed for torque For the other options the control mode will depend on the value programmed in this word SCA06 23 6 PROFIBUS DP NETWORK OPERATION The SCA06 servoconverter with Profibus 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 vers
29. resent control mode of the equipment Control Mode O Torque mode 1 Speed mode 3 Position mode Bits 15 4 5 2 OUTPUT WORDS OUTPUT MASTER gt SLAVE 5 2 1 1st Control Word Word that allows sending command to the equipment Only used by the SCAO6 if the operating mode is set for Profibus DP P0202 6 The format of this word depends on the type of data profile programmed in P0741 P0741 O PROFldrive control word described by the PROFldrive specification as per P0967 P0741 1 Manufacturer specific control word of the SCA06 as described below Function Reserved Reserved Reserved Fault Reset o Activate STOP I o Table 5 3 Functions of the bits for specific control word of the SCA06 Bits Values Reserved it 2 0 No STOP function ctivate STOP 1 Activates STOP function it3 0 Disable drive Reserved t7 0 No function q olom gt ww ault Reset O gt 1 Resets the equipment faults its 15 8 Reserved SCAO6 22 5 2 2 2nd Speed Reference Word for programming the motor speed reference The reference scale depends on the type of data profile programmed in P0741 P0741 O PROFldrive speed proportional to maximum speed as described in P0741 P0741 1 Manufacturer specific motor speed of the SCA06 where the value 7FFFh 32767 corresponds to 18750 rpm Negatives values represent the motor spinning counterclockwise 5 2 3 3rd Torque Refe
30. rofibus interface initialization error 2 Offline 3 Configuration data error 4 Parameterization data error 5 Clear mode 6 Online Properties RO Description It allows identifying if the Profibus DP interface board is properly installed besides indicating the status of the communication with the network master Table 4 2 Parameter P0740 values Value Description The Profibus interface is not installed in SCA06 1 Profibus interface A problem was identified during the Profibus interface initialization initialization error 2 Offline The Profibus interface is installed and properly configured but no cyclic communication is established 3 Configuration data error Data received in the I O configuration telegram are notin accordance with the configurations done through the parameter P0922 4 Parameterization data Data received in the parameterization telegram does not have valid format values 5 Clear mode During data exchange with the master the slave received a command to enter the clear mode 6 Online O data exchange between the slave and Profibus network master is successfully running P0741 PROFIBUS DATA PROFILE Range O PROFidrive Default 1 1 Manufacturer Properties DP 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 3 Parameter PO741 options Op
31. s and Alarms Related to the Profibus DP Communication The message of alarm A140 or fault F40 will in this case be signalized through the HMI depending on the P0662 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 DP 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 SCA06 30 WEG Equipamentos El tricos S A Jaragu do Sul SC Brasil Fone 55 47 3276 4000 Fax 55 47 3276 4020 S o Paulo SP Brasil Fone 55 11 5053 2300 Fax 55 11 5052 4212 automacao weg net www weg net
32. sususisnisk ss ass ssassk ins ss ass scn sk ss is akas sakas a si i a asi sa si 17 P0963 PROFIBUS BAUD RATE DETECTION 2c cecccsseesseeeeeeeeeseeeesseeeeeeeeseseeseeneeeseoesseeeeeneeses 18 P0964 DRIVEIDENTIFICATION BANA 18 P0965 PROFIDRIVE PROFILE IDENTIFICATION 0 2000000 ananasai KKK KKK aaa esses KAN KKK NA KNA sa sea 18 P0967 PROFIDRIVE CONTROL WORD 0 200 00070000 nna aaa asas KKK NA KK ENNA NAN KKK NE ass asa sea aaa ass sea AA NAAN NAAN 19 P0968 PROFIDRIVE STATUS WORD 0 0000000000 0840440 nNN KKK NON ANU asa NAN KN ANU KKK ANN KNA asa ass NAN sea 19 5 I O WORDS WITH SPECIFIC FUNCTION ssscseceeceeceseessesnssnenscnceceeoeeseseeseseenes 21 5 1 INPUT WORDS INPUT SLAVE gt MASTER 220000000 000 nan t nas ana KKK aaa NAA KNA KNA NAN KNA asa ss 21 5 1 1 Ast Status Word ANT sausaine ai aki au ska aa asi ask lai kaa 21 5 1 2 2nd Motor SDe6d L AANGAL 21 5 1 3 3rd Torque GUAN AN ANA NANANA 22 5 1 4 4th Present Control Mode 22 73aaaa awa aa aaa man sea aaa NAN aa NAA NANANA NN NAA KAN aso NANANA ANAN ANAK NAAN 22 5 2 OUTPUT WORDS OUTPUT MASTER gt SLAVE 2 200 000 0a nananana aaa aaa sasas asas aaa ses 22 5 21 St Control WON NAAN AA 22 52 2 2nd Speed Referene epa ANG ANNA AA 23 5 2 3 grd Torque Reference AA GAGANA ANA AA 23 5 24 4th Control Modes aa AGANG ARA 23 6 PROFIBUS DP NETWORK OPERATION ssssscsssceceeceseenensnaennnscncec
33. tion Description O 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 control word P0968 PROFldrive 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 SCA06 servoconverter The description of each word is done in the item 5 SCA06 13 leg Programming Speed for PROFldrive 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 positive speed limit programmed through P0134 Value via Profibus 0000h O decimal Speed O rpm Value via Profibus 4000h 16384 decimal gt Speed maximum speed P0134 Intermediary speed values in rpm can be obtained using this scale For instance if P0134 is programmed for 1800 rpm and the motor speed value read via Profibus is 2048 0800 h in order to obtain the value in rpm the following calculation must be done 16384 gt 1800 rpm 2048 gt speed in rom Speed in rpm 1800 x 2048 16384 Speed in rom 225 rpm The same calculation applies for the transmission of speed reference values Negative speed values indicate reverse speed
34. tion 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 Telegram End sp LE ter so DA sa Fc psp ssae cofres ED XX 68h x Xx 68h x xx x xx x xx x 16h 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 Code DSAP 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 6 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 whic
35. tion 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 any parameter with the value 5 0s the value programmed via the network must be 50 These parameters are used only if the equipment is programmed at the parameter P0922 to use the options 5 to 16 configuration telegrams 105 to 116 Up to 16 words to be written by the network master can be made available according to the selected option SCA06 15 meg Programming The first two output words are fixed and represent the control and the speed reference The words 3 and 4 when programmed represent the current reference and control mode for servomotor NOTE O The value O 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 are not saved in non volatile memory Thus if the equipment is tumed off and on again these parameters will return to their original value P0918 PROFIBUS ADDRESS Range 1 to 126 Default 1 Properties DP 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 9 If this parameter is changed the slave
36. to the demands of different application types The main transmission modes are RS485 this is the most used transmission type for Profibus network It provides high transmission rates simple installation and low cost MBP 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 SCA06 6 eg Introduction to the Profibus DP Protocol The Profibus DP accessory of the SCAO6 servoconverter 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 Profibus network The purpose of this specification is to facilitate the integration of drives in a Profibus network The Profibus DP interface for SCA06 servoconverter 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 SCA06 7 ueg Profibus DP Comm
37. unication Accessory 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 ECO3 WEG part number 11842414 Composed by the Profibus DP V1 communication module and an installation guide It supports DP V1 acyclic messages NOTE V The Profibus DP communication module only can be connected to slot 2 of SCAO6 servoconverter 2 2 CONNECTOR PINOUT The Profibus DP V1 communication module has one connector DB9 to the Profibus network with the following pinout Pa TEN RxD TxD positive red Request To Send O V isolated for the RS485 circuit output 5 V isolated for the RS485 circuit output ET RxD TxD negative green fe NOTE V The DB9 connector frame is connected to the servoconverter protective earth 2 3 INDICATIONS The alarms faults and status indications are done through the device HMI and parameters 2 4 DIP SWITCHES E At each segment 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 SCA06 8 meg Profibus DP Communication Accessory activated both switches to the ON position to enable the resistor The DIP switches should not be
38. unication specific parameter defined by the PROFldrive standard to indicate the profie and profile version used by the drive For the SCA06 servoconverter this parameter has a fixed value that can be divided in two bytes high portion and low portion of the 16 bit word where each byte has the following value Byte 1 high byte profile number 3 PROFldrive Byte 2 low byte profile version 41 PROFldrive Profile Version 4 1 The value showed in the parameter is 809 which represents the decimal value concatenating the two bytes SCA06 18 leg Programming P0967 PROFIDRIVE CONTROL WORD Range 0000h to FFFFh Default 0000h Properties DP Description It is a Profibus DP communication specific parameter defined by the PROFldrive standard with the inverter control word via the Profibus DP interface when the PROFldrive data profile is selected at P0741 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 via Profibus DP on parameter P0202 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 Bs Do EO Function Reserved a Enable Ramp a Generator Enable Operation No Quick Stop E ON 10
39. user s parameters as the interface with the network master to control and monitor the equipment P0662 ACTION FOR COMMUNICATION ERROR Range O Cause Alam Default O 1 Cause Fault 2 Cause alarm and execute STOP 3 Cause alarm and disable drive Properties CFG Description This parameter allows selecting which action must be executed by the equipment in case it is controlled via network and a communication error is detected Table 4 1 Options for the parameter P0662 Option Description 1 Cause Fault Instead of alarm a communication error causes a fault on the equipment and it is necessary to reset the faults so as to retum to normal operation 2 Execute STOP The alarm will be indicated together with the execution ofthe STOP command It is necessary to reset the faults or disable the drive for L the servo to exit this condition 3 Disable drive The alarm will be indicated together with the execution of the KAG a The followings events are considered communication errors Serial Communication RS232 RS485 Alarm A00128 Fault F00028 timeout of the serial interface SCA06 12 E Programming Profibus DP communication Alarm A138 Fault F38 equipment received command to operate in clear mode Alarm A139 Fault F39 equipment went into offline status Alarm A140 Fault F40 Profibus interface access error P0740 PROFIBUS DP COMMUNICATION STATUS Range O Inactive Default 1 P
40. will assume the new configuration only when there is no cyclic communication with the master P0922 SELECTION OF THE CONFIGURATION TELEGRAM Range 2 Standard Telegram 1 2 I O words Default 2 Valores 3 Telegram 103 3 I O words 4 Telegram 104 4 I O words 5 Telegram 105 5 I O words 6 Telegram 106 6 I O words 7 Telegram 107 7 I O words 8 Telegram 108 8 I O words 9 Telegram 109 9 I O words 10 Telegram 110 10 I O words 11 Telegram 111 11 I O words 12 Telegram 112 12 I O words 13 Telegram 113 13 I O words 14 Telegram 114 14 I O words 15 Telegram 115 15 I O words 16 Telegram 116 16 I O words Properties DP 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 16 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 P0742 up to P0
41. 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 SCA06 28 eg Faults and Alarms Related to the Profibus DP Communication 7 FAULTS AND ALARMS RELATEDTO THE PROFIBUS DP COMMUNICATION A138 F38 PROFIBUS DP INTERFACE IN CLEAR MODE 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 F38 will in this case be signalized through the HMI depending on the P0662 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 F39 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
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