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PROFIdrive USER MANUAL

1. Byte Description Station Status 1 MSB 7 LSB 0 X X X X X X X Bit N Value Description Diag Station Non Existent Set by Master reset by Slave 0 X SA E Slave not found 1 X Diag Station_Not_Ready Set by Slave Slave not ready for data exchange o Diag Cfg Fault Set by Slave 2 X Received configuration data does not match original configuration data Diag Ext_Diag Set by Slave 3 X i SE ap Diagnostic entry present in slave specific diagnostic area Diag Not_Supported Set by Slave 4 X i Service not supported by slave 5 X Diag Invalid Slave Response Set by Master reset by Slave Invalid response by slave Diag Prm_Fault Set by Slave 6 X Invalid parameter or parameter value Diag Master Lock Set by Master reset by Slave 7 X Slave is parameterised by another master Station Status 2 MSB 7 LSB 0 A A A A 1 A A 1 SR Bit N Value Description Diag Prm Reg Set by Slave 0 X e D Slave reguires re configuration and re parameterisation 1 X Diag Stat_Diag Set by Slave Static diagnosis Slave temporarily unable to provide valid data 2 1 Always set to 1 by slave 48 79 PROFIdrive Z SANTERNO USER MANUAL 3 x Diag WD On Set by Slave Watchdog on Diag Freeze Mode Set by
2. Bit Name Value Proceed to STATE Description Proceed to READY TO OPERATE ON Switched on condition voltage at the power converter i e the main contact if any is closed Emergency OFF stop by the selected deceleration ramp OFF 1 0 Proceed to OFF1 ACTIVES proceed further to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 Continue operation OFF2 inactive 1 OFF All Coast Stop OFF2 commands are withdrawn O Emergency OFF Coast stop 0 Proceed to OFF2 ACTIVE proceed further to SWITCH ON INHIBIT 1 Continue operation OFF3 inactive All Quick Stop OFF3 commands are withdrawn Emergency stop stop according to fastest possible deceleration mode Quick stop 2 OFF3 Proceed to OFF3 ACTIVE proceed further to SWITCH ON INHIBIT 0 Ensure motor and driven machine can IN WARNING be stopped using this stop mode OPERATION Proceed to ENABLE OPERATION 3 ENABLE Enable electronics and pulses the drive then runs up to the setpoint 0 Inhibit operation Proceed to OPERATION INHIBIT Normal operation 4 SE proceed to RAMP FUNCTION GENERATOR ENABLE OUTPUT 0 Stop according to selected stop type Normal operation 1 Proceed to RAMP FUNCTION GENERATOR ENABLE a FR ACCELERATOR 0 Halt ramping Ramp Function Generator output held 1 Normal operation Proceed to OPERATING RAMP IN Force Ramp Function Generator input to zero 6 ZERO 0 The function of this bit may
3. e at www elettronicasanterno com e from an Elettronica Santerno s representative 8 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 3 4 COMPATIBILITY The PROFIdrive communications board is compatible with all master stations that support the PROFIBUS DP protocol 3 5 DELIVERY CHECK The option package for the PROFIdrive communications board contains e Anybus S Profibus PROFIdrive V2 interface e Installation CD ROM with User Manual and GSD configuration file 9 79 USER MANUAL PROFIdrive Z SANTERNO 4 QUICK START UP GUIDE 4 1 OVERVIEW This chapter presents the steps to take during the start up of the PROFIdrive communications board For more detailed information see sections MECHANICAL AND ELECTRICAL INSTALLATION and PROGRAMMING elsewhere in this manual AN WARNING oe safety instructions given in this manual and the Hardware Manual of 4 2 PLC CONFIGURATION This chapter contains a configuration example of a SIEMENS PLC of the SIMATIC S7 300 series e Install the PROFIdrive GSD file e g 0401 DPVO GSD mm uy HW Config Configuring hardware Staton PLC view Help Del Ju Customize Ctrl Alt E Edit Catalog Profile Profile Standard e Update Catalog PROFIBUS DP E SIMATIC 300 E SIMATIC 400 Im SIMATIC PC Based Control 300 400 8 SIMATIC PC Station K PROFIBUS DP slaves for SIMATIC S7 M7 and C distributed rack Installs new GSE fil
4. Response 43 94 03 100 00 00 06 8C 03 37 34 15 00 00 00 00 00 00 00 00 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 1676 Dec 68C Hex Subindex 03 PZD3 Parameter Number 916 Dec 394 Hex Response Transfer parameter value array 2nd byte reserved Subsequent response frames Resp XX XX Ia xx xx Ia xx xx xx xx xx xx 00 OB xx xx xx xx xx xx PZD3 Value of Drive Parameter M026 40 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 7 DP VI COMMUNICATION 7 1 OVERVIEW This chapter describes the PROFIBUS messaging used in the communication with the drive when the PROFIdrive board is in DP V1 mode 7 2 PROFIBUS DP The PROFldrive board supports the PROFIBUS DP protocol according to EN 50170 standard PROFIBUS DP is a distributed I O system which enables the master to use a large number of peripheral modules and field devices The data transfer is mainly cyclic the master reads the input information from the slaves and sends the output information back to the slaves The PROFIBUS DP protocol uses so called PPOs Parameter Process Data Objects in cyclic communication See Figure 6 for the different PPO types and their composition 7 3 SERVICE ACCESS POINTS The services of the PROFIBUS Data Link Layer Layer 2 are used by PROFIBUS DP through Service Access Points SAPs Precisely defined
5. 1 3 WHAT THIS MANUAL CONTAINS This manual contains information on the wiring configuration and use of the PROFIdrive communications board Safety instructions are featured in the first few pages of this manual Overview contains a short description of the PROFIBUS protocol and the PROFIdrive communications board a delivery checklist and information on the manufacturer s warranty Quick start up guide contains a short description of how to set up PROFIdrive communications board Mechanical installation contains placing and mounting instructions for the module Electrical installation contains wiring bus termination and earthing instructions Programming explains how to program the master station and the drive before the communication through the adapter module can be started DP VO communication contains a description of how data is transmitted through the PROFIdrive communications board using the PROFIBUS DP DP VO protocol DP V1 communication contains a description of how data is transmitted through the PROFIdrive communications board using the DP V1 extension of the PROFIBUS DP protocol Fault tracing explains how to trace faults with the status LEDs on the PROFIdrive communications board PROFIBUS parameters presents the PROFIBUS Profile specific parameters Definitions and abbreviations explains definitions and abbreviations concerning the PROFIBUS protocol family Technical data contains information on physical dimensions co
6. 23 24 0 65536 Fail safe PZD7 25 26 0 65536 Fail safe PZD8 27 28 0 65536 Fail safe PZD9 29 30 0 65536 Fail safe PZD10 The extended Parameter Data bytes are configured via the PROFIBUS network configuration tool The functions are defined in the GSD file SAP 62 Chk Cfg SAP 62 selects the PPO type to be used The table below gives the Hex values that must be sent to the drive to select the PPO type Cfg Data Configuration Data Type Octet String Length 4 to 28 PPO Type Hex Values Description Length in Bytes 1 F3 Fl PKW 2 PZD words 12 2 F3 F5 PKW 4 6 PZD words 20 3 Fl PKW 2 PZD words 4 4 F5 PKW 6 PZD words 12 5 F3 F9 PKW 10 PZD words 28 22 79 PROFIdrive PA USER MANUAL A GRUPPO CARRARO SAP 60 Slave_Diag This SAP gives diagnostic information on the slave station Diag Data Diagnostic Data Type Octet String Length 6 Standard 2 Extended Diagnosis Byte Value Description Station Status 1 MSB 7 LSB 0 A A A A A A A A Bit N Value Description Diag Station Non Existent Set by Master reset by Slave 0 X dd S Slave not found 1 X Diag Station_Not_Ready Set by Slave Slave not ready for data exchange 0 B8h Diag Cfg_Fault Set by Slave 2 X Received configuration data does not match original configuration data Diag Ext Diag Set by
7. 3 Diag Master_Add The address of the master that parameterised this slave 4 5 Ident_Number for Sinus Penta 0401h 6 Ext Diag Data The number of bytes reserved for Extended Diagnosis including this byte Fixed to 2 7 Ext Diag Data Bit 0 Communication temporarily lost Bit 1 Communication permanently lost Bit 2 7 Not used SAP 0 Data_Exchange Allows the master to send output data to a slave station and to simultaneously request input data from the same station Outp_Data Output Data Type Octet String Length 4 to 28 depending on the selected PPO Type Inp_Data Input Data Type Octet String Length 4 to 28 depending on the selected PPO Type USER MANUAL Z SANTERNO 6 5 PPO MESSAGE TYPES identification Setara Parameter Process data Freely mappable area PROFIdrive P000805 B EI DW1 1 DW1 2 DW1 3 DW3 1 DW3 2 DW3 3 DW5 1 DW5 2 DW5 3 DW7 1 OUT area IN area Type 1 Type 2 Type 3 Type 4 Types telat Figure 4 PPO message types OUT area Data sent from Master to Slave control data IN area Data sent from Slave to Master actual data Parameter Identification ID Parameter Identification IND Index for Arrays VALUE Parameter Value Max 4 bytes PKW Parameter ID Value 26 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO Process Data CW Control
8. 12 and below Meaning Value DUO Function number See Table 8 below DU Slot number 1 Drive parameter access DU2 Index 47 0x2F DU3 Data length Depends on type of message DU4 DUn PROFIdrive data Figure 8 PROFIBUS SD2 telegram 58 79 PROFIdrive GRUPPO CARRARO Z SANTERNO Value Meaning 0x48 Idle REQ RES 0x51 Data transfer REA RES 0x56 Resource manager REQ 0x57 Initiate REA RES 0x58 Abort REQ Ox5C Alarm REQ RES Ox5E Read REQ RES Ox5F Write REQ RES OxD1 Data transfer negative response OxD7 Initiate negative response OxDC Alarm negative response OxDE Read negative response OxDF Write negative response Table 8 DP V1 function numbers byte DUO USER MANUAL Byte Meaning and value DUO Function number OxDF Error Write OxDE Error Read DUT Error Decode 0x80 DP V1 PROFldrive Always 128 DP V1 codes DU2 Error Code_1 Error class error code see Table 10 below DU3 Error Code 2 Always 0 Table 9 DP V1 error response 59 79 USER MANUAL Z SANTERNO PROFIdrive MSB 7 LSB 0 x x x x xix x Bits 5 7 Bits 0 4 Error Class and Meaning Error Code and Meaning 0 9 Reserved 10 OxOA Application Read error Write error Module failure 7 Rese
9. 17 79 USER MANUAL PROFIdrive Z SANTERNO RO45 Drive Profile selection This parameter selects the control mode for the slave as described in the table below Start Stop Command Reference Depends on the PROFIdrive profile the 0 PROFIdrive Depends on the PROFIdrive profile reference value 16384 4000h corresponds to the rated speed of the motor 1 Vendor Specific 1 Depends on the PROFIdrive profile A direct reference is sent 1 means 1 rpm The eight low bits in the CONTROL 2 Vendor Specific 2 WORD correspond to the eight digital A direct reference is sent 1 means 1 rpm inputs in the control terminal board Any parameter changes take effect only after the module is restarted 5 4 CONTROL LOCATIONS Sinus Penta drives can receive control information from multiple sources including digital inputs analogue inputs the drive control panel and a communication module e g PROFIdrive board Sinus Penta drives allow the user to separately determine the source for each type of control information Start Stop Direction Reference Fault Reset etc In order to give the fieldbus master station the most complete control over the drive the communication module must be selected as source for this information See the user documentation of the drive for information on the selection parameters 18 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 6 DP VO COMMUNICATION 6 1 OVERVIEW This ch
10. E 2 OUT area IND VALUE CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 S amp INarea ID IND VALUE SW ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 a amp PKW DW21 DW2 2 DW2 3 DW4 1 DW4 2 DW4 3 DW6 1 DW6 2 DW6 3 DW8 1 Tyee1 fy Ji tt pr Type 2 DP VO Type 3 DP V1 Kc lili Lu EES Type 5 Type 6 P000807 B Figure 6 PPO message types OUT area Data sent from Master to Slave control data IN area Data sent from Slave to Master actual data Parameter Identification ID Parameter Identification IND Index for Arrays VALUE Parameter Value Max 4 bytes PKW Parameter ID Value 51 79 USER MANUAL PROFIdrive Z SANTERNO Process Data CW Control Word see Table 4 SW Status Word see Table 5 REF Reference ACT Actual Value PZD Process Data application specific DW Data Word 7 6 THE CONTROL WORD AND THE STATUS WORD The Control Word PROFIBUS Parameter 967 is the principal means for controlling the drive from a fieldbus system It is sent by the fieldbus master station to the drive the adapter module acting as a gateway The drive switches between its states according to the bit coded instructions on the Control Word and returns status information to the master in the Status Word PROFIBUS Parameter 968 The contents of the Control Word and the Status Word are detailed in Table 4 and Table 5 respectively see the drive documentat
11. For further information on PROFIBUS refer to the above mentioned standards 7 79 USER MANUAL PROFIdrive Z SANTERNO GRUPPO CARRARO 3 3 THE PROFlidrive COMMUNICATIONS BOARD The PROFldrive communications board is an optional device for the inverters of the Sinus PENTA series which enables the connection of the drive to a PROFIBUS network The drive is considered as a slave on the PROFIBUS network Through the PROFIdrive communications board it is possible to e give control commands to the drive Start Stop Run enable etc e feed a motor speed or torque reference to the drive e give a process actual value or a process reference to the PID controller of the drive e read status information and actual values from the drive e change drive parameter values e reseta drive fault The PROFIBUS commands and services supported by the PROFIdrive communications board are discussed in sections DP VO COMMUNICATION and DP V1 COMMUNICATION Please refer to the user documentation of the drive as to which commands are supported by the drive The adapter module is mounted into an option slot on the motor control board of the drive See the Hardware Manual of the drive for module placement options Configuration of the master station requires a type definition GSD file For DP VO communication the 0401DPVO GSD file is required For DP V1 communication the 0401DPV1 GSD file is required These files are available e on the installation CD Rom
12. Mode enabled Not supported 5 0 6 0 Reserved To be parameterised with 0 7 0 45 79 USER MANUAL PA E o PROFIdrive r GRUPPO CARRARO Prm Data Parameter Data Extended Type Octet String Length 23 Header byte MSB 7 LSB 0 0 0 0 1 0 0 0 0 Bit N Value Description 0 0 Fail safe mode Defines the action taken when the PLC is switched from RUN to STOP mode 00 STOP default 1 0 01 LAST SPEED 02 USE FAIL SAFE The values of the PZDs are defined by bytes 11 30 in the Prm_ Data telegram 2 0 Control zero mode Defines the action taken if a PROFIBUS telegram containing only zeros is received 00 USE FRAME default Note that with this setting the drive might not be stopped if it is running since 10 10h 3 0 also bit 10 Remote Command in the control word default is zero However the other PZDs may still be updated but have the value zero 01 IGNORE Operation mode Determines which control status word 4 1 and reference actual values are used 00 PROFIDRIVE i e Generic drive profile 01 VENDOR SPECIFIC default With this setting e Fail safe mode STOP equals LAST SPEED e The control word is forwarded unchanged to the 5 0 drive if the drive has a parameter for selection of operation mode i e communication profile e Make sure that the operation modes of the PROFldrive c
13. Parameter value updated 2nd byte reserved The slave returns the code of the latest acknowledged fault 3210h The fault codes are according to the DRIVECOM standard See also the User s Manual of the drive for drive specific fault codes The implementation of the PROFIdrive profile in the PROFldrive communications board supports the storage of the active and the five latest occurred different faults in the fault buffer The fault codes can be accessed by PROFIdrive parameter 947 see Table 15 The value zero indicates no fault 38 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO Example 6 Configuring the process data written to the drive PROFIBUS parameter 915 can be used to define which data is written cyclically to a drive parameter as application specific process data In the example below the value of drive parameter P009 Speed Ramp 1 Acceleration Time address 609 261h is selected to be taken from PZD3 The parameter will continue to be updated with the contents of PZD3 in each Request frame until a different selection is made Subindex IND defines which process data word the required data is taken from Parameter Value selects the drive parameter to which that word is mapped Request Change parameter value array Parameter Number 915 Dec 393 Hex Subindex 03 PZD3 Parameter Value 609 Dec 261 Hex CW REF PZD3 PZD4 PZD5 PZD6 Request 173 93 103 100 00 00 02 161 04 7F 34 1
14. Proceed to OFF3 ACTIVE proceed further to SWITCH ON INHIBIT 0 Ensure motor and driven machine can IN WARNING be stopped using this stop mode OPERATION Proceed to ENABLE OPERATION 3 ENABLE Enable electronics and pulses the drive then runs up to the setpoint 0 Inhibit operation Proceed to OPERATION INHIBIT Normal operation 4 SE proceed to RAMP FUNCTION GENERATOR ENABLE OUTPUT 0 Stop according to selected stop type Normal operation 1 Proceed to RAMP FUNCTION GENERATOR ENABLE a FR ACCELERATOR 0 Halt ramping Ramp Function Generator output held 1 Normal operation Proceed to OPERATING RAMP IN Force Ramp Function Generator input to zero 6 ZERO 0 The function of this bit may depend on the ramp NOTE parameter settings of the drive See the drive documentation AN 28 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO Fault reset if an active fault exists O I Proceed to SWITCH ON INHIBIT RESET The group signal is acknowledged with a positive edge 0 Continue normal operation 8 9 Not used 10 1 Fieldbus control enabled REMOTE Control Word 0 or Reference 0 CMD e Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled 1 Communication active the watchdog counter is reset Fault A070 FieldBus Watchdog trips if Sinus Penta 1 is not sent any Control Word with bit 11 1 within the time
15. Slave 3 A 5 i i p Diagnostic entry present in slave specific diagnostic area Diag Not Supported Set by Slave 4 X Service not supported by slave 5 X Diag Invalid Slave Response Set by Master reset by Slave Invalid response by slave Diag Prm Fault Set by Slave 6 X Invalid parameter or parameter value Diag Master Lock Set by Master reset by Slave 7 X Slave is parameterised by another master 23 79 USER MANUAL PA ERNO PROFIdrive r GRUPPO CARRARO Station Status 2 MSB 7 LSB 0 A 0 A A A 1 A A Bit N Value Description Diag Prm Reg Set by Slave 0 X Ka Slave reguires re configuration and re parameterisation Diag Stat Diag Set by Slave 1 X Static diagnosis Slave temporarily unable to provide valid 1 B8h data 2 1 Always set to 1 by slave 3 x Diag WD On Set by Slave Watchdog on Diag Freeze Mode Set by Slave 4 A Freeze command received by slave Diag Sync Mode Set by Slave 5 X l Sync command received by slave 6 0 Reserved 7 X Diag Deactivated Set by Master reset by Slave Slave is inactive 24 79 PROFIdrive PE s E o USER MANUAL r GRUPPO CARRARO Station Status 3 MSB 7 LSB 0 A Oo 0 0 0 0 0 0 Bit N Value 0 0 1 0 3 B8h 2 0 3 0 Reserved 4 0 5 0 6 0 7 X Diag Ext Diag Overflow Set by slave
16. Slave 4 A Freeze command received by slave Diag Sync Mode Set by Slave 5 X Sync command received by slave 6 0 Reserved 7 X Diag Deactivated Set by Master reset by Slave Slave is inactive Station Status 3 MSB 7 LSB 0 X 0 0 0 0 0 0 Bit N Value Description 5 0 0 1 0 2 0 3 0 Reserved 4 0 5 0 6 0 7 X Diag Ext_Diag_Overflow Set by Slave 3 Diag Master_Add The address of the master that parameterised this slave 4 5 Ident_Number for Sinus Penta 0401h Header Byte 7 Status Type Status Message 0x81 8 Slot Number 0x00 9 Specifier 0x00 Communication Diagnostics MSB 7 LSB 0 10 0 0 0 0 0 X XO Bit N Value Description 0 X Communication temporarily lost X Communication permanently lost 49 79 USER MANUAL PROFIdrive SANTERNO GRUPPO CARRARO Reserved NIAI BR oOo ny SAP 0 Data_Exchange Allows the master to send output data to a slave station and to simultaneously request input data from the same station Outp_Data Output Data Type Octet String Length 4 to 28 depending on the selected PPO Type Inp_Data Input Data Type Octet String Length 4 to 28 depending on the selected PPO Type 50 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 7 5 PPO MESSAGE TYPES Parameter Process data identification Fixed area Freely mappable area P 7 DW1 1 DW1 2 DW1 3 DW3 1 DW3 2 DW3 3 DW5 1 DW5 2 DW5 3 DW7 1
17. Word see Table 4 SW Status Word see Table 5 REF Reference ACT Actual Value PZD Process Data application specific DW Data Word 6 6 THE CONTROL WORD AND THE STATUS WORD The Control Word PROFIBUS Parameter 967 is the principal means for controlling the drive from a fieldbus system It is sent by the fieldbus master station to the drive the adapter module acting as a gateway The drive switches between its states according to the bit coded instructions on the Control Word and returns status information to the master in the Status Word PROFIBUS Parameter 968 The contents of the Control Word and the Status Word are detailed in Table 4 and Table 5 respectively see the drive documentation for information on the drive specific bits The drive states are presented in the PROFIBUS State Machine Figure 5 6 7 REFERENCES References are 16 bit words containing a sign bit and a 15 bit integer A negative reference indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive reference Sinus Penta drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g PROFIdrive board In order to have the drive controlled through PROFIBUS the communication module must be defined as the source for control information e g Reference In Vendor Specific modes a direct ref
18. be mapped to PZD out of memory 7Ah Multiple PZD map Parameter cannot be mapped to PZD multiple PZD write 7Bh Manufacturer specific 81h 82h Control word bit map Cannot map Control word bit parameter 933 937 e g double mapping of bits 83h Manufacturer specific 8Bh 8Ch Set torque mode error Cannot change mode to TORQUE frequency is used 90h Illegal Request ID The request ID of the response is illegal 8Dh Manufacturer specific FFh Table 14 PROFIdrive Parameter Request error codes Parameter data transfer examples The following examples show how parameter data is transferred using the DP V1 mechanisms READ and WRITE AN NOTE Only the Data unit part of the SD2 telegram is presented in the examples See Figure 8 Example 1a Reading a drive parameter To determine the parameter number and subindex for drive parameter reading check for the parameter address in the drive software manual and divide it by 100 MO26 Output Current Active RT ss Address Bee Function The integer part is the parameter number PNU the remaining part decimal part is the subindex IND For example reading parameter M026 Output Current address 1676 from the drive Parameter number is 16 10h and subindex is 76 48h 64 79 PROFIdrive GRUPPO CARRARO Z SANTERNO DP V1 Write request Read parameter value Function number Slot number Index D
19. con Confirmation ind Indication reg Reguest res Response Actual Value ACT Istwert Request Label Response Label AK Auftragskennung Antwortkennung ALI Application Layer Interface Communication Reference CR Kommunikationsreferenz Kommunikationsbeziehung Decentralised Periphery DP Dezentrale Peripherie DP ALI Application Layer Interface for DP DP V1 PROFIBUS DP Extensions to the EN 50170 standard including e g acyclic data exchange FDL Fieldbus Data Link FMS Fieldbus Message Specification Manufacturer Specific Interface FSU Firmenspezifischer Umsetzer Main Actual Value HIW Hauptistwert Main Reference HSW Hauptsollwert ISW see ACT KR KB see CR A Process Automation i Prozessautomatisierung Process Data PD Prozessdaten Parameter Identification PS Parameter Kennung Parameter Identification Value PKW Parameter Kennung Wert Parameter Number PNU Parameternummer Parameter Process Data Object PPO Parameter Prozessdaten Objekt Parameter Value PWE Parameter Wert PZD see PD 76 79 PROFIdrive Z SANTERNO USER MANUAL Process Data Object PZDO Prozessdatenobjekt SAP Service Access Point sow Sallwert SPM Sr clues STW Se ZSW Se 77 19 USER MANUAL PROFIdrive Z SANTERNO 11 TECHNICAL DATA 11 1 PROFIdrive COMMUNCATIONS BOARD Mounting Into the option slot B on the control board of the drive Degree of protection IP20 Ambient conditions The applicable ambient cond
20. functions are assigned to individual SAPs For further information on Service Access Points refer to the manual of the PROFIBUS master PROFIdrive The PROFIBUS Profile for Adjustable Speed Drives version 2 0 or the EN 50170 standard 7 4 COMMUNICATION START UP The following Service Access Points SAPs are used to initiate DP communication SAP no Short Name Name 0 Default Data Exch Transfer Input and Output Data 51 Server SAP Acyclic Read Write 61 Set Prm Send Parameter Data 62 Chk Cfg Check Configuration Data 60 Slave Diag Read Slave Diagnostic Information 41 79 USER MANUAL PROFIdrive Z SANTERNO SAP 61 Set Prm This SAP is used in the parameterisation of the drive Prm Data Parameter Data Standard Type Octet String Length 8 Byte Value Description Station Status MSB 7 LSB 0 Bit N Value Description 0 0 0 Reserved 2 0 0 B8h 3 1 WD On 1 Watchdog on Free Reg i 1 Slave is requested to process in freeze mode 5 1 Sync Reg 1 Slave is requested to process in SYNC mode 6 0 Unlock Reg 00 Min TSDR and slave related parameters can be overwritten 10 Slave locked for other masters 7 1 Lock reg All parameters can be carried over xl Slave released for other masters Watchdog Factors 1 and 2 set by the PROFIBUS master 1 2 WdFactorl x WdFactor
21. used in the parameterisation of the drive Prm Data Parameter Data Standard Type Octet String Length 8 Byte Value Description Station Status MSB 7 LSB 0 1 0 1 1 1 0 0 0 Bit N Value Description 0 0 0 Reserved 2 0 0 B8h 3 1 WD On 1 Watchdog on 4 1 Free Reg 1 Slave is requested to process in freeze mode Sync_Req 5 1 Slave is requested to process in SYNC mode 0 Unlock Reg 00 Min TSDR and slave related parameters can be overwritten 10 Slave locked for other masters 7 1 Lock_req All parameters can be carried over xl Slave released for other masters Watchdog Factors 1 and 2 set by the PROFIBUS master 1 2 WdFactorl x WdFactor2 x 10 ms monitoring time of the slave to verify that the master is still active Minimum Station Delay Respond Time 3 OBh Time after which a slave station is allowed to send response frames to the master Calculated by multiplying the Hex value with tBit time required for transmitting one bit 4 5 0401h Vendor Identification for the Sinus Penta drive 0401h 6 OOh Group Identification Reserved 20 79 PROFIdrive PE E o USER MANUAL r GRUPPO CARRARO Prm Data Parameter Data Extended Type Octet String Length 23 Station Status MSB 7 LSB 0 0 0 0 1 0 0 0 0 Bit N Value Descriptio
22. 0 bit 10 1 CW bit 0 0 bit 1 1 bit 251 bit 1021 CW bit 0 1 bit 10 1 CW bit 3 1 bit 10 1 CW bit 451 bit 10 1 CD CW bit 6 0 bit 10 1 Enable on SW bit 0 0 SW bit 0 1 SW bit t 1 SANTERNO GRUPPO CARRARO Ready to switch on Ready A p CW bit 2 0 bit 10 1 OFFS Active SW bit 520 n f 0 T Load contactor open Ready to switch on Ready A B Fault SW bit 3 1 CW bit 7 1 RFG enabled output CW bit 5 1 bit 10 1 RFG Acc enabled CW bit 6 1 bit 10 1 Outputing Operating status frequency bit 10 1 Figure 7 The PROFIdrive state machine PROFIdrive Ready to switch on Ready A P D CW bit 1 0 bit 10 1 OFF2 Active SW bit 420 P000801 B PROFIdrive 5 DP V1 Read write Request Sequence A read write service on a drive parameter is illustrated below Master PROFIdrive DP V1 Write request DB4 GRUPPO CARRARO USER MANUAL P000808 B Slave Parameter request NS Parameter request TE PROF Idrive Write response without data Read request DB47 without data Read response without data Read reguest DB47 without data Read response Parameter response with data N a gt gt N Parameter j p processing lt E H Parameter response The messaging employs DP V1 data units The PROFldrive parameter request is contained within the DP V1 reques
23. 00C ET 200L ET 200M 1 ES PROFIdrive comm boar ET 2005 FT 2ANI I Slot Module D Order number lAddress Address Comment gt FEO Tune FER LRG LET PRE LRI Press F1 to get Help Figure 3 Setting the PPO type baud rate and node number 12 79 PROFIdrive USER MANUAL Z SANTERNO GRUPPO CARRARO 4 3 MECHANICAL AND ELECTRICAL INSTALLATION e Set the node address using the rotary switches on the module If the node address is set by software set the switches to the 01 position e Set the bus termination switch to the desired position e Insert the PROFIdrive communications board into its specified slot in the drive SLOT B e Fasten the three screws e Plug the fieldbus connector to the module More detailed information is given in the Option Boards for Fieldbus section in the Sinus Penta s Installation Instructions manual 4 4 DRIVE CONFIGURATION e Power up the drive e Some parameters must be adjusted to activate the communication Refer to the Programming Instructions of the drive for information on the communication settings Set parameters C140 and C143 to FIELDBUS and parameter RO45 DP Selection to VENDOR SPECIFIC or GENERIC according to PLC hardware configuration e If the configuration is correct set also RO21 to Disable in the RO2x Expansion Board Settings Menu RO2x RO4x PROFIdrive Settings Menu should appear in the parameter list of the drive e If t
24. 0801 B 31 79 USER MANUAL PROFIdrive Z SANTERNO 6 9 PARAMETER HANDLING IN CYCLIC COMMUNICATION DP In cyclic PROFIBUS DP communication parameter data is transferred in PPO message types 1 2 and 5 see Figure 4 The Parameter Identification part consists of eight bytes see below P000806 B Parameter Identification Process Data CW REF ID no VALUE SW be PD1 PD2 Ce ea EE A dee eg N 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Request Label Response Label Parameter Number PNU Reguest Signal Not used 0 The Reguest Label is used by the master when transmitting data to the slave while the Response Label is used by the slave as a positive or negative acknowledgement The tables below show the Reguest Response functions Reguest labels from Master to Slave Response labels Reguest Function Ackn Ackn 0 No task 0 Request parameter value 1 2 7 2 Change parameter value word 1 7 8 Change parameter value double word 3 2 7 8 not supported 4 Request description element not supported 3 7 5 Change description element not supported 3 7 8 6 Request parameter value array 4 5 7 8 7 Change parameter value array word 4 7 8 Change parameter value array double word 8 7 8 not supported 9 Request number of array elements 6 7 32 79 PROFIdrive USER MANUAL Z SANTERNO GRUPPO CARRARO Response label Ac
25. 2 x 10 ms monitoring time of the slave to verify that the master is still active Minimum Station Delay Respond Time 3 OBh Time after which a slave station is allowed to send response frames to the master Calculated by multiplying the Hex value with tBit time required for transmitting one bit 4 5 0401h Vendor Identification for the Sinus Penta drive 0401h 6 0Oh Group Identification 42 79 PROFIdrive PE ERNO USER MANUAL r GRUPPO CARRARO DPV1 Status 1 MSB 7 LSB 0 A A 0 0 X X X Bit N Value Description Dis Start Control Disable Start Bit Control 0 X 0 Start bit monitoring in receiver enabled 1 Start bit monitoring in receiver disabled Dis Stop Control Disable Stop Bit Control 1 X 0 Stop bit monitoring in receiver enabled 1 Stop bit monitoring in receiver disabled WD Base Watchdog time base 7 2 X 0 10 ms 1 1ms 3 0 Reserved 4 0 Publisher_Enabled 0 Slave not operated in DXB Publisher mode 5 X 1 Slave operated in DXB Publisher mode Not supported 6 0 Fail Safe Not supported DPV1_Enable 7 X 0 Slave operated in DP mode 1 Slave operated in DP V1 mode 43 79 USER MANUAL PA E o PROFIdrive r GRUPPO CARRARO DPVI Status 2 MSB 7 LSB 0 X X X X X X 0 X Bit N Value Description Chk_Cfg Mode 0 X 0 Chk Cfg according to EN 50170 default state 1 User spec
26. 5 00 00 00 100 00 00 00 00 Response 43 93 03 00 00 00 02 61 03 37 34 15 00 00 00 00 00 00 00 00 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 609 Dec 261 Hex Subindex 03 PZD3 Parameter Number 915 Dec 393 Hex Response Transfer parameter value array 2nd byte reserved Subsequently the contents of PZD3 in each Request frame are written to drive parameter 12 02 CONSTANT SPEED 1 until a different selection is made 39 79 USER MANUAL PROFIdrive Z SANTERNO Example 7 Configuring the process data read from the drive PROFIBUS Parameter No 916 can be used to define which data is read cyclically from the drive as application specific process data In the example below drive parameter M026 Output Current address 1676 68Ch is selected to be transmitted by the drive as PZD3 The selection is in force until it is superseded by another selection Subindex IND defines which process data word the required data is transmitted in and Parameter Value defines which drive parameter is mapped to that word Request Change parameter value array Parameter Number 916 Dec 394 Hex Subindex 03 PZD3 Parameter Value 1676 Dec 68C Hex CW REF PZD3 PZD4 PZD5 PZD6 Request 73 94 03 00 100 100 06 8C 104 7F 34 15 100 100 00 00 00 00 00 00
27. 6 The Control Word PROFIBUS Parameter 967 i ooooWoWoooooooW W W manakala 54 Table 7 The Status Word PROFIBUS Parameter O 55 Table 8 DP V1 function numbers byte DUO eenn 59 Table 9 DP V ARTE 59 Table 10 DP V1 error response Error codes byte DU2 ooocooWoo Wo W Wo WWomm W mannnnnnankanaaannnnn 60 Table 11 PROFIdrive Request header 61 Table 12 PROFIdrive Response header 62 Table 13 Datatypes for Format field oim o we1eo denada nahan NN an NN 62 Table 14 PROFIdrive Parameter Request error codes o ooooooWooooooWo W Wo W Wmannnnnnnkakkannnnn 64 Table 15 PROFIdrive profile specific parameters ooooWoWo Woo m W J J menanamkan 73 3 79 USER MANUAL PROFIdrive Z SANTERNO 1 INTRODUCTION 1 1 INTENDED AUDIENCE The manual is intended for the people who are responsible for commissioning and using a PROFIdrive communications board The reader is expected to have a basic knowledge of electrical fundamentals electrical wiring practices and how to operate the drive 1 2 BEFORE YOU START lt is assumed that the drive is installed and ready to operate before starting the installation of the extension module In addition to conventional installation tools have the drive manuals available during the installation as they contain important information not included in this manual The drive manuals are referred to at various points of this document
28. AL PA o PROFIdrive r GRUPPO CARRARO Par no Parameter name Alternative settings Be setting RO25 NODE ADDRESS Oto 126 3 12000 12 Mbit s 6000 6 Mbit s 3000 3 Mbit s 1500 1 5 Mbit s 93 93 75 kbit s 45 45 45 kbit s WER Cp 19 19 2 kbit s 9 9 6 kbit s Read only 1 PPO 1 2 PPO 2 3 PPO 3 1 PPO TYPE 4 PPO 4 5 PPO 5 6 PPO 6 1 PPO 1 Read only RO26 PZD3 OUT See description below 0 RO27 PZD4 OUT See description below 0 RO33 PZD10 OUT See description below 0 RO34 PZD3 IN See description below 0 RO35 PZD4 IN See description below 0 RO43 PZD10 IN See description below 0 RO44 DP Communication Mode 0 DP VO 1 DP V1 0 DP VO R045 DP Selection 0 PROFIdrive 1 Vendor Specific 1 2 Vendor MI Vendor Space Specific 2 P Table 3 The PROFIdrive board configuration parameters 1 value is automatically updated Read only AN oe RO25 NODE ADDRESS Each device on the PROFIBUS network must have a unique node number This parameter is used to define a node number for the drive it is connected to if the node address selection switches are set to the zero position When the node address selector switches are used to define the node address node address selectors not in zero position this parameter indicates the set node address 16 79 Set also the Parameter data extended to ensure proper operation of the PROFIdrive communications board with the drive PROFIdrive USER MANUAL GRU
29. IER lt 93 75 1875 500 1500 3000 6000 12000 kbit s Line A m 1200 1000 400 200 100 100 100 Topology Multi drop Profibus FC TWO WAY connectors are recommended Serial communication type Asynchronous half Duplex Transfer rate 9 6 kbit s 19 2 kbit s 45 45 kbit s 93 75 kbit s 187 5 kbit s 500 kbit s 1 5 Mbit s 3 Mbit s 6 Mbit s or 12 Mbit s automatically detected by PROFIdrive communications board Protocol PROFIBUS DP 79 79
30. PPO CARRARO Z SANTERNO BAUD RATE Indicates the communication speed detected in kbit s 12000 12 Mbit s 6000 6 Mbit s 3000 3 Mbit s 1500 1 5 Mbit s 500 500 kbit s 187 187 5 kbit s 93 93 75 kbit s 45 45 45 kbit s 19 19 2 kbit s 9 9 6 kbit s PPO TYPE This parameter indicates the detected PPO message type for the PROFIBUS communication See Figure 4 and Figure 6 in sections DP VO COMMUNICATION and DP V1 COMMUNICATION respectively for the supported PPO message types RO26 PZD3 OUT This parameter represents process data word 3 of the PPO type received by the drive over the PROFIBUS network The content is defined by a decimal number Its range and description are given in the Fieldbus Configuration Menu in the Programming Instructions and the application software manuals for the Sinus Penta drive RO27 PZD4 OUT to RO33 PZD10 OUT See parameter PZD3 OUT RO34 PZD3 IN Process data word 3 of the PPO type sent from the drive to the PROFIBUS network The content is defined by a decimal number Its range and description are given in the Fieldbus Configuration Menu in the Programming Instructions and the application software manuals for the Sinus Penta drive RO35 PZD4 IN to RO41 PZD10 IN See parameter PZD3 IN RO44 Drive Profile Communication Mode This parameter selects the PROFIBUS protocol version DP VO or DP V1 NOTE For DP VO 0401DPVO GSD file must be used For DP V1 0401DPV1 GSD file must be used
31. SANTERNO GRUPPO CARRARO Elettronica Santerno S p A Strada Statale Selice 47 40026 Imola BO Italy Tel 39 0542 489711 Fax 39 0542 489722 www elettronicasanterno com sales elettronicasanterno it USER MANUAL PROFIdrive Z SANTERNO O TABLE OF CONTENTS 0 TABLE OF CONTENTS saicsccsccicsscicssstetastecsitevesccocsctecseeteseacedestessdeseessesescetcssceedseseoasecssvevescevesssecossscosees 2 0 1 ele UE ac vedic A AN BNN BBB usia ws uan 3 0 2 bes 3 Te INTRODUCTION NEE 4 1 1 INTENDED AUDIEN GE GE A 1 2 BEFORE YOU S AR ur 4 1 3 WHAT THIS MANUAL CONTAINS oooooocoWoWoWooW nana aan 4 1 4 TERMS USED IN THIS MANUALE 5 1 4 1 Communication Module adsense NEE meme Na aah 5 1 4 2 Data Sets and Data Words 5 1 4 3 PROF Idrive Communications Board Wo Wen 5 1 4 4 Parameter EE 5 1 5 FURTHER INFORMATION sebatas ahlak E 5 2 SAFETY INSTRUCTIONS desi sni anna maan aakankan 6 21 ONAA A 6 2 2 GENERAL SAFETVINSTRUCTIONS 6 3 e E ATTEN 7 3 1 DESCRIPTION eea E a E e EE E a E E a Ee 7 3 2 PROFIBUS STANDARD 7 3 3 THE PROFIdrive COMMUNICATIONS BOARD 8 3 4 COMPATIBILITY 0cccccccceeeccseeeeccceeeeeeceeeeeeesseeeecseeeeessseeeseeseseeeseseeeeeeseeeeesssseeeessseeeeseueeeeeeeseeaeeeees 9 3 5 DELIVERY ie e 9 4 QUICK START UP GUIDE oo oom 10 4 1 OVERVIEW conan E ee 10 4 2 PLC CONFIGURATION oooooWoWW nenen rataan naa aan 10 4 3 MECHANICAL AND ELECTRICAL INSTALLATION
32. ameter OK The Format Number of Values and Values fields are repeated for other parameters 62 79 Table 12 PROFIdrive Response header Code Type 0x00 Reserved 0x01 0x36 Standard data types 0x37 Ox3F Reserved 0x40 Zero 0x41 Byte 0x42 Word 0x43 Double word 0x44 Error 0x45 OxFF Reserved Table 13 Data types for Format field PROFIdrive 5 USER MANUAL GRUPPO CARRARO Error Meaning Used at 0Oh Impermissible parameter number Access to unavailable parameter Olh Parameter value cannot be Change access to a parameter value that cannot be changed changed 02h Low or high limit exceeded Change access with value outside the limits 03h Invalid subindex Access to unavailable subindex 04h No array Access with subindex to non indexed parameter 05h Incorrect data type Change access with value that does not match the data type of the parameter 06h Setting not permitted can only be Change access with value unequal to 0 reset when this is not permitted 07h Description element cannot be Change access to a description changed element that cannot be changed 09h No description data available Access to unavailable description parameter value is available OBh No operation priority Change access rights without rights to change parameters OFh No text array available Access to text array th
33. andard and the PROFIdrive communications board a delivery checklist and warranty information 3 2 PROFIBUS STANDARD PROFIBUS is an open serial communication standard that enables data exchange between all kinds of automation components There are three main variations of PROFIBUS e PROFIBUS FMS Fieldbus Message Specification e PROFIBUS DP Decentralised Periphery e PROFIBUS PA Process Automation The PROFIdrive communications board supports the PROFIBUS DP protocol including its DP V1 extension The physical transmission medium of the bus is a twisted pair cable according to the RS 485 standard The maximum length of the bus cable is 100 to 1200 metres depending on the selected transmission rate see the Technical Data chapter Up to 31 nodes can be connected to the same PROFIBUS network segment without the use of repeaters With repeaters it is possible to connect 127 nodes including repeaters and master station to the network In PROFIBUS communication the master station usually a programmable logic controller PLC polls the nodes which respond and take the actions requested by the master It is also possible to send a command to several nodes at the same broadcast in this case the nodes do not send a response message to the master The PROFIBUS protocol family is specified in the IEC 61158 standard The communication with a drive is defined in the PROFldrive Profile The PROFIBUS Profile for Adjustable Speed Drives
34. apter describes the PROFIBUS messaging used in the communication with the drive when the PROFldrive board is in DP VO mode 6 2 PROFIBUS DP The PROFldrive board supports the PROFIBUS DP protocol according to EN 50170 standard PROFIBUS DP is a distributed I O system which enables the master to use a large number of peripheral modules and field devices The data transfer is mainly cyclic the master reads the input information from the slaves and sends the output information back to the slaves The PROFIBUS DP protocol uses so called PPOs Parameter Process Data Objects in cyclic communication See Figure 4 for the different PPO types and their composition 6 3 SERVICE ACCESS POINTS The services of the PROFIBUS Data Link Layer Layer 2 are used by PROFIBUS DP through Service Access Points SAPs Precisely defined functions are assigned to individual SAPs For further information on Service Access Points refer to the manual of the PROFIBUS master PROFIdrive The PROFIBUS Profile for Adjustable Speed Drives version 2 0 or the EN 50170 standard 6 4 COMMUNICATION START UP The following Service Access Points SAPs are used to initiate DP communication SAP no Short Name Name 0 Default Data Exch Transfer Input and Output Data 61 Set Prm Send Parameter Data 62 Chk Cfg Check Configuration Data 60 Slave Diag Read Slave Diagnostic 19 79 USER MANUAL SAP 61 Set Prm PROFIdri This SAP is
35. arameter address in the drive software manual and divide it by 100 The resulting guotient integer part is the parameter number PNU and the remaining part decimal number is the subindex IND For example write parameter POO9 Speed Ramp 1 Acceleration Time address 609 as 100 64h Parameter number is 6 06h and subindex is 9 09h Function number Slot number Index Data length Reguest reference Request ID 02h Change Axis Number of parameters Attribute 10h Vaue Number of elements Parameter index Subindex Format 42h Word Number of values Value DP DP SE 01 2F OE 01 02 01 01 10101 00 06 00 09 42 01 00 64 Header Trailer DP V1 Command PROFldrive V3 Parameter Channel 68 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO Responses to DP V1 Write request Function number Slot number Index Data length Request reference mirrored Response ID Axis mirrored Number of parameters DP 5F 01 2F 0601 02 01 0 Header PROFIdrive V3 Parameter Channel DP Trailer DP V1 Response 69 79 USER MANUAL PROFIdrive Z SANTERNO 8 FAULT TRACING 8 1 LED INDICATIONS The PROFIdrive communications board is equipped with four diagnostic LEDs The description of the LEDs is below Name Colour Function Flashing 1 Hz Error in c
36. at is not available parameter value is available 11h Request cannot be executed Access is temporarily not possible for reasons that are not specified in because of operating mode detail 14h Value impermissible Change access with a value that is within limits but is not permissible for other long term reasons parameter with defined single values 15h Response too long The length of the current response exceeds the maximum transmittable length 16h Parameter address Illegal value or value that is not supported for the attribute number impermissible of elements parameter number or subindex or a combination 17h Ilegal format Write request Illegal format or format of parameter data that is not supported 18h Number of values inconsistent Write request Number of values of parameter data does not match number of elements at the parameter address 65h Manufacturer specific FFh 65h Vendor specific error Vendor specific error 66h Request not supported Request not supported 67h Communication error Request cannot be completed because of communication error 68h Manufacturer specific 6Dh 6Eh Non volatile error Failure during write to non volatile memory 6Fh Time out error Request aborted because of timeout 63 79 USER MANUAL PROFIdrive Z SANTERNO 70h Manufacturer specific 77h 78h PZD map failure Parameter cannot be mapped to PZD size mismatch or non existent 79h PZD memory failure Parameter cannot
37. ata length Request reference Request ID 01h Request Parameter Axis Number of Parameters Attribute 10h Value Number of elements Parameter index Subindex USER MANUAL DP 5F 01 2F OA 01 01 01 01 10 Header 01 00 10 00 48 DP Trailer DP V1 Command PROFldrive V3 Parameter Channel 65 79 USER MANUAL PROFIdrive Z SANTERNO Positive Read response to DP V1 Read request Function number Slot number Index Data Length Response reference mirrored Response ID Axis Number of parameters Format 42h Word Number of values Parameter value DP se o 2F 08 01 01 01 01 42 01 Dr Header Trailer DP V1 Response PROFldrive V3 Parameter Channel 66 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO Negative response to PROFIdrive Read request Function number Slot number Index Data length Response reference mirrored Response ID Axis mirrored Number of parameters Format 44h Error Number of values PROFldrive error code DP eee ou 81 01 01 44 lo Pie Header Trailer DP V1 Response PROFIdrive V3 Parameter Channel 67 79 USER MANUAL PROFIdrive Z SANTERNO Example 2a Writing a drive parameter To determine the parameter number and subindex for drive parameter writing check for the p
38. dbus 0 No Control Requested No Control By PLC 10 to 15 Not used gt gt 30 79 Table 5 The Status Word PROFIBUS Parameter 968 NOTE The upper case boldface text refers to the states shown in Figure 5 When the ENABLE contact in the terminal board opens this contact is required for the NOTE operation of the Sinus Penta the state allocated to bit 6 SWITCH ON INHIBIT ACTIVATED is enabled PROFIdrive Voltage switched off ABCD CW bit 420 Ready A B p CW bit 0 0 bit 10 1 OFF1 Active n f 0 150 SW bit 1 0 Switch on inhibit Not ready for switch on Ready for switch on Hu Enable operation From any state Enable off CW bit 050 bit 10 1 CW bit 0 0 bit 1 1 bit 251 bit 1021 CW bit 0 1 bit 10 1 CW bit 3 1 bit 10 1 CW bit 451 bit 10 1 CD CW bit 6 0 bit 10 1 Enable on SW bit 0 0 SW bit 0 1 SW bit t 1 GRUPPO CARRARO Ready to switch on Ready A p CW bit 2 0 bit 10 1 OFF3 Active SW bit S 0 n f 0 T Load contactor open Ready to switch on Ready A B Fault SW bit 3 1 CW bit 7 1 RFG enabled output CW bit 5 1 bit 10 1 RFG Acc enabled CW bit 6 1 bit 1021 Outputing Operating status freguency bit 10 1 Figure 5 The PROFIdrive state machine USER MANUAL Ready to switch on Ready A P p CW bit 1 0 bit 1021 OFF2 Active SW bit 420 P00
39. depend on the ramp NOTE parameter settings of the drive See the drive documentation AN 53 79 USER MANUAL PROFIdri Fault reset if an active fault exists O 1 Proceed to SWITCH ON INHIBIT RESET The group signal is acknowledged with a positive edge 0 Continue normal operation 8 9 Not used 10 1 Fieldbus control enabled REMOTE Control Word 0 or Reference 0 E Retain last Control Word and Reference CMD 0 Control Word 0 and Reference O Fieldbus control enabled 11 Communication active the watchdog counter is reset Fault A070 FieldBus Watchdog trips if Sinus Penta is not sent any Control Word with bit 11 1 within 1 AN NOTE the timeout set in parameter R016 To disable this fault set parameter RO16 to 0 NOTE The counter starts only when the drive receives the first Control Word with bit 11 1 WATCHDOG Inactive communication once activated the watchdog counter increases up to the value set in RO16 12 to 15 Not used Table 6 The Control Word PROFIBUS Parameter 967 NOTE The upper case boldface text refers to the states shown in Figure 7 Bit Name Value STATE Description 1 READY TO SWITCH ON KE 0 NOT READY TO SWITCH ON 1 READY TO OPERATE 0 OFF1 ACTIVE 2 RDY REF 1 1 ENABLE OPERATION drive follows setpoint 0 DISABLE OPERATION 1 FAULT 3 TRIPPED 1 0 No fau
40. drive parameter writing check for the parameter address in the drive software manual and divide it by 100 The resulting quotient integer part is the parameter number PNU and the remaining part decimal number is the subindex IND For example write parameter POO9 Speed Ramp 1 Acceleration Time address 609 as 100 64h Parameter number is 6 06h and subindex is 9 09h Request Change parameter value array Parameter Number 06h Subindex O9h Parameter Value 100 Dec 64 Hex CW REF PZD3 PZD4 PZD5 PZD6 Request 70 06 109 100 00 00 00 164 04 7F 34 15 00 00 00 100 00 00 00 00 Response 40 06 09 00 00 00 00 64 03 37 34 15 100 00 00 100 00 00 00 00 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 Dec 64 Hex Subindex 09h Parameter Number 06h Response Transfer parameter value array 2nd byte reserved 36 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO Example 3 Reading a PROFIdrive parameter word In this example PROFIBUS Parameter No 918 is used to read the station number of the slave Request Parameter value read Parameter Number 918 Dec 396 Hex Read main Param Value CW REF Request 00 00 00 00 04 7F 34 15 en 00 00 00 02 03 137 34 15 SCH Param Value SW ACT Parameter Number 918 Dec 396 Hex Response Parameter value updated The slave retur
41. e 15G0010B1e PROFIdrive COMMUNICATIONS BOARD USER MANUAL Installation and Programming Instructions Updated on 24 06 08 R 00 i English e This manual is integrant and essential to the product Carefully read the instructions contained herein as they provide important hints for use and maintenance safety e This device is to be used only for the purposes it has been designed to Other uses should be considered improper and dangerous The manufacturer is not responsible for possible damages caused by improper erroneous and irrational uses e Elettronica Santerno is responsible for the device in its original setting e Any changes to the structure or operating cycle of the device must be performed or authorized by the Engineering Department of Elettronica Santerno e Elettronica Santerno assumes no responsibility for the consequences resulting by the use of non original spare parts e Elettronica Santerno reserves the right to make any technical changes to this manual and to the device without prior notice If printing errors or similar are detected the corrections will be included in the new releases of the manual e Elettronica Santerno is responsible for the information contained in the original version of the Italian manual e The information contained herein is the property of Elettronica Santerno and cannot be reproduced Elettronica Santerno enforces its rights on the drawings and catalogues according to the law
42. e module For DP VO communication the 0401DPVO GSD file is required For DP V1 communication the 0401DPV1 GSD file is required These files are available e on the installation CD Rom e at www elettronicasanterno com e from an Elettronica Santerno s representative Please refer to the master station documentation for more information 5 3 PROFIBUS CONNECTION CONFIGURATION The detailed procedure of activating the module for communication with the drive is dependent on the drive type Normally a parameter must be adjusted to activate the communication See the drive documentation As communication between the drive and the PROFIdrive board is established several configuration parameters are copied to the drive These parameters shown below in Table 5 must be checked first and adjusted if necessary The alternative selections for these parameters are discussed in more detail below the table NOTE The new settings take effect only when the module is powered up the next time or when the module receives a Reset command from the drive Data transfer rates supported The PROFldrive board supports the following PROFIBUS communication speeds 9 6 kbit s 19 2 kbit s 45 45 kbit s 93 75 kbit s 187 5 kbit s 500 kbit s 1 5 Mbit s 3 Mbit s 6 Mbit s 12 Mbit s The PROFldrive board automatically detects the communication speed and PPO type used 15 79 USER MANU
43. en only read 927 can be written 1 Parameters can be written and read default Control rights process data PZD Value Mode 928 R W Unsigned 16 0 PZD part is disabled i e Receipt of new PZD data is ignored 1 PZD part is enabled default Selected PPO type Value PPO Type Configuration 1 PPO F3h Flh 929 R Unsigned16 E FO F3h F5h 3 PPO3 Flh 4 PPO4 F5h 5 PPO5 F3h F9h 6 PPO6 F9h Selected operation mode Value Mode 930 R Unsigned 16 1 Speed control mode Control word and status word for frequency speed used Speed control mode Control word and status 8001h word for torgue used 71 79 USER MANUAL Z SANTERNO PROFldrive 933 R W Unsigned16 Selection switch for Control word bit 11 Value Control word bit 0 None 1to5 Vendor specific 1 to 5 The meaning of vendor specific bits is defined by the drive application program See WATCHDOG Control Word bit 11 Table 4 or Table 6 For the correct operation of the AN NOTE WATCHDOG this parameter must be set to 2 947 Array 64 Unsigned16 Fault code coded according to DRIVECOM profile see Sinus Penta s Programming Instructions manual Subindex Contents 1 Active Fault 9 Last ackn Fault 17 Second last ackn Fault 25 Third last ackn Fault 33 Fourth last ackn Fault 41 Fifth last ackn Fault 953 Unsigned16 Last alarm meaning is vendor specific 954 Unsigned16 Second last alarm 955 U
44. er Nibble Set of 4 bits Object Dictionary Local storage of all Communication Objects recognised by a device Object List List of all accessible objects Parameter Value that can be accessed as Object e g variable constant signal Parameter Number Parameter address Parameter Process Data Object Special object that contains Parameter and Process Data Process Data Data that contains Control Word and Reference value or Status Word and Actual value May also contain other user definable control information Profile Adaptation of the protocol for certain application field e g drives 74 79 PROFIdrive USER MANUAL Z SANTERNO GRUPPO CARRARO Request Label Coded information specifying the required service for the parameter part sent from master to slave Response Label Coded information specifying the required service for the parameter part sent from slave to master Passive bus participant In PROFIBUS terminology slave stations or slaves are also Slave called passive stations Also referred to as node Status Word 16 bit word from slave to master with bit coded status messages Warning Signal caused by an existing alarm which does not lead to tripping of the device 75 79 USER MANUAL PROFIdri 10 2 PROFIBUS ABBREVIATIONS The bold face text is the original German term
45. er dei LTE 70 81 LEDINDIGATIONS si ena endank esken dras Dana Taman Bs 70 9 PROFIDRIVE PARAMETERS eeorornnvrnnennnennnennnennnennnennnennnennnennnennnennnnnnnennnennnennnennnennnnnnnennnennnennsennnee 71 10 DEFINITIONS AND ABBREVIATIONS esoovevevevennenennvevnenenennennnnnnenenenennennnnnnunennnnenennnnnnuneuneneneesene 74 10 1 PROFIBUS DEFINITIONS oom 74 10 2 PROFIBUS ABBREVIATIONS sunne anti dana aa aan aman 76 11 TECHNICAL DATA WE 78 11 1 PROFIdrive COMMUNCATIONS BOARD 78 11 2 PROFIBUS UNK 79 0 1 Figures Figure 1 Installing the PROFldrive GSD file oooooooooWo W Woman 10 Figure 2 Selecting the operation mode Kie serie anon asas aan aa 11 Figure 3 Setting the PPO type baud rate and node number 12 Figure 4 PPO message ups Eege AER AE EE 26 Figure 5 The PROFIdrive state machine 31 Figure 6 PPO message types Hanan sana asean aan ee sen an Bana 51 Figure 7 The PROFIdrive state machine 56 Figure 8 PROFIBUS SD telegram aman nana ANN SNN AN 58 0 2 Tables Table 1 Generic drive profile PROFIdrive with PPO Type 1 oooooooooo W W W nana 13 Table 2 Vendor specific 1 profile with PPO Type 2 oooooooooco Wo W Woooo W W W nanas 14 Table 3 The PROFIdrive board configuration parameters Wo Woomo mo W Womyanlkkannnnnan 16 Table 4 The Control Word PROFIBUS Parameter 967 ii ooooWo WoooooW W W nanas 29 Table 5 The Status Word PROFIBUS Parameter O 30 Table
46. erence is sent 1 means 1 rpm If C028 Minimum Motor Speed is other than 0 the value can also have a negative sign In PROFldrive mode the speed reference REF in hexadecimal 0 4000h corresponds to 0 motor rated speed 27 79 USER MANUAL 6 8 Z SANTERNO PROFIdrive ACTUAL VALUES Actual Values are 16 bit words containing information on the operation of the drive The functions to be monitored are selected by a drive parameter The scaling of the integers sent to the master as Actual Values depends on the selected function refer to the drive documentation In PROFIdrive mode the actual speed ACT in hexadecimal 0 4000h corresponds to 0 motor rated speed Bit Name Value Proceed to STATE Description Proceed to READY TO OPERATE ON Switched on condition voltage at the power converter i e the main contact if any is closed Emergency OFF stop by the selected deceleration ramp OFF 1 0 Proceed to OFF1 ACTIVES proceed further to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 Continue operation OFF2 inactive 1 OFF All Coast Stop OFF2 commands are withdrawn O Emergency OFF Coast stop 0 Proceed to OFF2 ACTIVE proceed further to SWITCH ON INHIBIT 1 Continue operation OFF3 inactive All Quick Stop OFF3 commands are withdrawn Emergency stop stop according to fastest possible deceleration mode Quick stop 2 OFF3
47. es in the system and updates the contents of the catalog 4 Figure 1 Installing the PROFIdrive GSD file 10 79 PROFIdrive A USER MANUAL DA SANTERNO GRUPPO CARRARO e Select the operation mode PROFIDRIVE i e Generic or Vendor Specific Correctly set Penta parameter RO45 Properties DP slave General Parameter Assignment Parameter Name Fail Safe mode Operation mode Vendor specific Control zero mode Use data Cut Off time 0 no cutoff Failsafe PZD1 Failsafe PZD2 Failsafe PZD3 Failsafe PZD4 Failsafe PZD5 Failsafe PZD6 Failsafe PZD Failsafe PZD8 Failsafe PZD9 Failsafe PZD10 gt Hex Parameter Change Value Cancel Help Figure 2 Selecting the operation mode 11 79 USER MANUAL PM PROFIdrive DAM SANTERNO e Set the PPO type baud rate and node number mn 2 F gt t HW Config SIMATIC 300 1 Configuration SinusPenta 02 Ol Station Edit Insert PLC View Options Window Help e x Disi s 3 a s nn Ef Sei PROFIBUS DP mg Additional Field Devices I O Drives ES PROFIdrive comm board DPVO Universal module PPO Type 1 ES PPO Type 2 ES PPO Type ES PPO Type 4 ES PPO Type 5 ES IN Di6xDC24v ABSDP DPV1 4 DO16xDC24v 05A m General IR Ala 2Bit Ta Encoders Ao2x1 2Bit PLC Hm Gateway Compatible PROFIBUS DP Slaves Closed Loop Controller Configured Stations CP 342 5 as DP Master DP AS i DP PA Link ENCODER ET 2008 ET 2
48. he node address is to be set by software set the required address at parameter R025 4 5 PARAMETER SETTING EXAMPLES Drive parameter Setting C140 Selection of Command Source 1 3 Field Bus C143 Selection of Reference Source 1 6 Field Bus RO25 Slave Address 37 RO45 Selection of drive profile 0 PROFIdrive aa MODULE TYPE PROFIBUS DP i BAUDRATE 12000 PPO type PPO1 Read only or automatically detected Not visible Example Table 1 Generic drive profile PROFldrive with PPO Type 1 13 79 USER MANUAL PROFIdrive Z SANTERNO The PROFldrive communications board uses data consistent communication meaning that the whole data frame is transmitted during a single program cycle Some PLCs handle this internally but others must be programmed to transmit data consistent telegrams For example Siemens Simatic S7 requires the use of special functions SFC15 and SFC14 The start stop commands and reference are according to the PROFIdrive profile See the PROFIBUS state machine Figure 5 The reference value 16384 4000h corresponds to the rated speed of the motor parameter C016 in forward and reverse directions Drive parameter Setting C140 Selection of Command Source 1 3 Field Bus C143 Selection of Reference Source 1 6 Field Bus RO25 Slave Address og RO45 Selection of Drive Profile 1 Vendor Specific 1 RO26 PZD3 OUT 1 Digi
49. ific evaluation of Chk Cfg 1 0 Reserved To be parameterised with 0 Enable Update Alarm 2 X 0 Enable Update Alarm disabled 1 Enable Update Alarm enabled Not supported 8 Enable Status Alarm 3 X 0 Enable Status Alarm disabled 1 Enable Status Alarm enabled Not supported Enable Manufacturer Specific Alarm 4 X 0 Enable Manufacturer Specific Alarm disabled 1 Enable Manufacturer Specific Alarm enabled Not supported Enable Diagnostics Alarm 5 X 0 Enable Diagnostics Alarm disabled 1 Enable Diagnostics Alarm enabled Not supported Enable Process Alarm 6 X 0 Enable Process Alarm disabled 1 Enable Process Alarm enabled Not supported Enable Pull Plug Alarm 7 X 0 Enable Pull Plug Alarm disabled 1 Enable Pull Plug Alarm enabled Not supported 44 79 PROFIdrive PE ERNO USER MANUAL A GRUPPO CARRARO DPV1_Status 3 MSB 7 LSB 0 0 0 A A A A A Bit N Value Description 0 X Alarm_Mode Limits the number of active alarms 1 x 0 1 alarm of each type 1 2 alarms in total 2 4 alarms in total 3 8 alarms in total 2 X 4 12 alarms in total 5 16 alarms in total 6 24 alarms in total 7 32 alarms in total 9 Prm_Structure 3 X 0 Prm telegram according to EN 50170 1 Prm telegram in structure form DPV2 extension Not supported IsoM Reg Isochron Mode Request 4 X 0 Isochron Mode disabled 1 Isochron
50. ion for information on the drive specific bits The drive states are presented in the PROFIBUS State Machine Figure 7 7 7 REFERENCES References are 16 bit words containing a sign bit and a 15 bit integer A negative reference indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive reference Sinus Penta drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g PROFIdrive board In order to have the drive controlled through PROFIBUS the communication module must be defined as the source for control information e g Reference In Vendor Specific modes a direct reference is sent 1 means 1 rpm If C028 Minimum Motor Speed is other than 0 the value can also have a negative sign In PROFldrive mode the speed reference REF in hexadecimal 0 4000h corresponds to 0 Motor Rated Speed 52 79 PROFIdrive 7 8 Z SANTERNO USER MANUAL GRUPPO CARRARO ACTUAL VALUES Actual Values are 16 bit words containing information on the operation of the drive The functions to be monitored are selected by a drive parameter The scaling of the integers sent to the master as Actual Values depends on the selected function refer to the drive documentation In PROFIdrive mode the actual speed ACT in hexadecimal 0 4000h corresponds to 0 motor rated speed
51. is chapter states the general safety instructions that must be followed when installing and operating the PROFldrive communications board The material in this chapter must be studied before attempting any work on or with the unit In addition to the safety instructions given below read the complete safety instructions of the specific drive you are working on 2 2 GENERAL SAFETY INSTRUCTIONS i WARNING All electrical installation and maintenance work on the drive should be carried out by qualified electricians The drive and adjoining equipment must be properly earthed Do not attempt any work on a powered drive After switching off the mains always allow the intermediate circuit capacitors 5 minutes to discharge before working on the frequency converter the motor or the motor cable It is good practice to check with a voltage indicating instrument that the drive is in fact discharged before beginning work The motor cable terminals of the drive are at a dangerously high voltage when mains power is applied regardless of motor operation There can be dangerous voltages inside the drive from external control circuits even when the drive mains power is shut off Exercise appropriate care when working on the unit Neglecting these instructions can cause physical injury or death 6 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 3 OVERVIEW 3 1 DESCRIPTION This chapter contains a short description of the PROFIBUS st
52. itions specified for the drive in its Installation Instructions manual are in effect Hardware settings Rotary switches for node address selection address range 00 to 99 DIP switch for bus termination selection Software settings e Input Output User Parameter data Diagnostics format e Maximum cyclic I O data size 28 bytes in max 28 bytes out max 56 bytes total e Maximum acyclic I O data size 240 bytes in max 240 bytes out max 480 bytes total e Maximum User Parameter data Diagnostics length 26 bytes Connectors e 34 pin parallel bus connector e 9 pin female DSUB connector Current consumption e 350 mA max 5 V supplied by the control board of the drive General e Estimated min lifetime 100 000 h e All materials UL CSA approved e Complies with EMC standards EN 50081 2 and EN 50082 2 78 79 PROFIdrive PA ERNO USER MANUAL A GRUPPO CARRARO 11 2 PROFIBUS LINK Compatible devices All devices compatible with the PROFIBUS DP protocol Size of the link 127 stations including repeaters 31 stations and 1 repeater per segment Medium Shielded twisted pair RS 485 cable Profibus bus Cable Type A approved e Termination built in the module e Specifications Line A P t arameter PROFIBUS DP Unit 135 to 165 Impedance 3 to 20 MHz Q Capacitance lt 30 pF m Resistance lt 110 Q km Wire gauge gt 0 64 mm Conductor area gt 0 34 mm2 Maximum bus length E
53. knowledgement from Slave to Master Ackn Function No response Transfer parameter value word Transfer parameter value double word not supported Transfer description element not supported Transfer parameter value array word Transfer parameter value array double word not supported NON KINI Transfer number of array elements Task cannot be executed followed by error number 0 Illegal parameter number 1 Parameter value cannot be changed 2 Lower or upper limit violated 3 Erroneous subindex No array Incorrect data type Setting not allowed can only be reset Descriptive element cannot be changed 9 Descriptive data not available 11 No parameter change rights 15 Text array not available 17 Task cannot be executed due to operating status e g parameter is currently read only 18 Other error 101 Vendor specific error 102 Request not supported 103 Request cannot be completed due to communication error 110 Failure during write to non volatile memory 111 Request aborted due to time out 120 Parameter cannot be mapped to PZD size mismatch or non existent 121 Parameter cannot be mapped to PZD end of memory 122 Parameter cannot be mapped to PZD multiple PZD write 130 Cannot map Control Word bit parameter 933 937 e g double mapping of bits 140 Cannot change mode to TORQUE frequency is used 4 5 6 7 8 No pa
54. l EE Decimal No 2h 2 393h 915 12 R W 6 7 6 9h 9 2h 2 394h gh aa 3 R W 6 7 7 9h 9 396h 0 918 R W 1 2 3 Oh 1 9h 9 11h 17 3B3h 19h 947 25 R 6 5 21h 33 29h A1 3CBh Oh 971 R W 1 2 4 34 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO Example 1 Reading a drive parameter To determine the parameter number and subindex for drive parameter reading check for the parameter address in the drive software manual and divide it by 100 M026 Output Current Active ID Address ut Function The integer part is the parameter number PNU the remaining part decimal part is the subindex IND For example reading parameter M026 Output Current address 1676 from the drive Parameter number is 16 10h and subindex is 76 48h Request Read parameter value array Parameter Number 10h Subindex 48h CW REF PZD3 PZD4 PZD5 PZD6 Request 60 10 148 00 00 00 00 00 04 7F 34 15 00 00 00 00 00 00 00 00 Response 40 10 48 00 00 00 00 64 03 37 34 15 100 00 00 00 00 00 00 00 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 Dec 64 Hex Subindex 48h Parameter Number 10h Response Change parameter value array 2nd byte reserved 35 79 USER MANUAL PROFIdrive Z SANTERNO Example 2 Writing a drive parameter or data set To determine the parameter number and subindex for
55. lt OFF2 Coast Stop inactive 4 FF 2 STA buete 0 OFF2 Coast Stop ACTIVE 1 OFF3 Quick Stop inactive FF TA I OFF 3 3 0 TOFF3 Quick Stop ACTIVE 54 79 PROFIdrive N USER MANUAL GRUPPO CARRARO SWC ON INHIB 1 SWITCH ON INHIBIT ACTIVE 0 SWITCH ON INHIBIT NOT ACTIVE 7 ALARM 1 Warning Alarm 0 No Warning Alarm 1 OPERATING Actual speed eguals reference value 8 AT SETPOINT i e is within tolerance limits 0 Actual speed differs from reference value is outside tolerance limits Control Requested Control By PLC 1 at least one between Selection of Command Source C140 C142 9 REMOTE and Selection of Reference Source C143 C146 is sent from Fieldbus 0 No Control Requested No Control By PLC 10 to Not used 15 gt gt Table 7 The Status Word PROFIBUS Parameter 968 NOTE The upper case boldface text refers to the states shown in Figure 7 When the ENABLE contact in the terminal board opens this contact is required for the NOTE operation of the Sinus Penta the state allocated to bit 6 SWITCH ON INHIBIT ACTIVATED is enabled 55 79 USER MANUAL Voltage switched off ABCD CW bit 420 Ready A B p CW bit 0 0 bit 10 1 OFF1 Active n fj 0 I 0 SW bit 1 0 56 79 JI Switch on inhibit Not ready for switch on Ready for switch on Hu Enable operation From any state Enable off CW bit 05
56. n Fail safe mode Defines the action taken when the PLC 0 0 is switched from RUN to STOP mode 00 STOP default 01 LAST SPEED 1 0 02 USE FAIL SAFE The values of the PZDs are defined by bytes 11 30 in the Prm Data telegram Control zero Mode Defines the action taken if a PROFIBUS telegram containing only zeros is received 2 0 00 USE FRAME default Note that with this setting the drive might not be stopped if it is running since also bit 10 Remote Command in the control word 8 10h is zero However the other PZDs may still be default 3 0 updated but have the value zero 01 IGNORE Operation mode Determines which control status word 4 1 and reference actual values are used 00 PROFIDRIVE i e Generic drive profile O1 VENDOR SPECIFIC default With this setting e Fail safe mode STOP equals LAST SPEED e The control word is forwarded unchanged to the 5 0 drive if the drive has a parameter for the selection of the operation mode i e communication profile e Make sure that the operation modes of the PROFIdrive communications board and the drive match 6 0 Reserved 7 0 9 10 0 65536 Cut off time out in milliseconds 11 12 0 65536 Fail safe PZD1 CW 13 14 0 65536 Fail safe PZD2 REF 15 16 0 65536 Fail safe PZD3 21 79 USER MANUAL PROFIdri 17 18 0 65536 Fail safe PZD4 19 20 0 65536 Fail safe PZD5 21 22 0 65536 Fail safe PZD6
57. nfigurable settings and connectors of the module and the specification of the PROFIBUS link 4 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 1 4 TERMS USED IN THIS MANUAL 1 4 1 COMMUNICATION MODULE Communication Module is a name for a device e g a fieldbus adapter through which the drive is connected to an external communication network e g a fieldbus The communication with the module is activated with a drive parameter 1 4 2 DATA SETS AND DATA WORDS Each data set consists of three 16 bit words i e data words The Control Word sometimes called the Command Word and the Status Word References and Actual Values see sections DP VO COMMUNICATION and DP V1 COMMUNICATION are types of data words the contents of some data words are user definable 1 4 3 PROFIDRIVE COMMUNICATIONS BOARD The PROFIdrive communications board is one of the optional fieldbus boards available for the inverters of the Sinus PENTA series The PROFIdrive communications board is a device through which a Sinus PENTA drive is connected to a PROFIBUS network 1 4 4 PARAMETER A parameter is an operating instruction for the drive Parameters can be read and programmed with the drive control panel or through the PROFIdrive communications board 1 5 FURTHER INFORMATION Further information is available on the World Wide Web from www profibus com 5 79 USER MANUAL PROFIdrive Z SANTERNO 2 SAFETY INSTRUCTIONS 2 1 OVERVIEW Th
58. ns its station number 2 amp l Example 4 Writing a PROFIdrive parameter word In this example current parameter settings are saved to the FLASH memory of the drive This is done by setting the value of PROFIBUS Parameter No 971 3CBh to 1 Note that the drive always observes the Control Word CW and Reference REF bytes The values shown below are examples Request Parameter value read Parameter Number 971 Dec 3CB Hex Write Pare Param Value CW REF Request 00 00 00 01 04 7F 34 15 el 00 00 00 00 03 137 34 15 IT EC Param Value SW ACT Parameter Number 971 Dec 3CB Hex Response Parameter value updated 37 79 USER MANUAL PROFIdrive Z SANTERNO Example 5 Reading a PROFIdrive parameter array In this example PROFIBUS Parameter No 947 is used to read the code of the latest acknowledged fault As shown in Table 15 parameter 947 is of the array type with subindexes 1 9 17 and 25 Reguest Parameter value read Parameter Number 947 Dec 3B3 Hex Subindex Latest acknowledged fault Read Param Value CW REF Request 63 2 09 a 00 00 oo 00 04 17F 34 15 Response 43 09 00 00 32 10 03 137 34 15 Param Value SW ACT Subindex Latest acknowledged fault Parameter Number 947 Dec 3B3 Hex Response
59. nsigned16 Third last alarm 956 Unsigned16 Fourth last alarm 957 AAA A ai Unsigned16 Fifth last alarm 961 Octet String4 Hardware configuration manufacturer specific ID of the drive bit 0 3 Fan Control bit 4 7 Voltage Class Drive Size as shown in the Product Name bit 8 15 and Type page of the IDP Menu see Sinus Penta s Programming Instructions manual 72 79 PROFIdrive 5 USER MANUAL GRUPPO CARRARO Baud rate 0 12 Mbit s 1 6 Mbit s 2 3 Mbit s 3 1 5 Mbit s 4 500 kbit s 963 R Unsigned16 5 187 5 kbit s 6 93 75 kbit s 7 45 45 kbit s 8 19 2 kbit s 9 9 6 kbit s 255 Invalid baud rate 964 R TE Identification number of this device sr 0401h Profile number of this device 0302h 965 R Octet String2 Profile Version 3 2 967 R Unsigned 16 Control word CW 968 R Unsigned16 Status word SW Load parameter record Value Description 970 R W Unsigned16 0 No action Restore factory settings 1 The parameter must do o zero to one transition and the motor must be stopped Save parameter records Value Description 971 R W Unsigned16 0 No action Save the drive parameters to non volatile 1 memory The parameter must do o zero to one transition and the motor must be stopped Table 15 PROFldrive profile specific parameters 73 79 USER MANUAL PROFIdri 10 DEFINITIONS AND ABBREVIATIONS 10 1 PROFIBUS DEFINITIONS Ac
60. ommunications board and the drive match 6 0 Reserved 7 0 11 12 0 65536 Cut off time out in milliseconds 13 14 0 65536 Fail safe PZD1 CW 15 16 0 65536 Fail safe PZD2 REF 17 18 0 65536 Fail safe PZD3 19 20 0 65536 Fail safe PZD4 46 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 21 22 0 65536 Fail safe PZD5 23 24 0 65536 Fail safe PZD6 25 26 0 65536 Fail safe PZD7 27 28 0 65536 Fail safe PZD8 29 30 0 65536 Fail safe PZD9 31 32 0 65536 Fail safe PZD10 The extended Parameter Data bytes are configured via the PROFIBUS network configuration tool The functions are defined in the GSD file SAP 62 Ch k_Cfg SAP 62 selects the PPO type to be used The table below gives the Hex values that must be sent to the drive to select the PPO type Cfg Data Configuration Data Type Octet String Length 4 to 28 PPO Type Hex Values Description Length in Bytes F3 Fl PKW 2 PZD words 12 2 F3 F5 PKW 6 PZD words 20 3 Fl PKW 2 PZD words 4 4 F5 PKW 6 PZD words 12 5 F3 F9 PKW 10 PZD words 28 6 F9 PKW 10 PZD words 20 47 79 USER MANUAL SAP 60 Slave Diag Z SANTERNO PROFIdrive This SAP gives diagnostic information on the slave station Diag Data Diagnostic Data Type Octet String Length 6 Standard 2 Extended Diagnosis
61. onfiguration Internal configuration mismatch Flashing 2 Hz Error in User Parameter data The length contents of the User Parameter data set during initialisation of the ERROR Red module is not equal to the length contents set during configuration of the network Check that the selected DP mode matches the GSD file used see configuration parameter RO44 DP Communication Mode Flashing 4 Hz Error in initialisation of the PROFIBUS communication ASIC Off No diagnostics present Lit Module is On Line and data exchange is possible On Li G n Line reen Off Module is not On Line Lit Module is Off Line and no data exchange is possible Off Li Red us Off Module is not Off Line Green Lit Link functional Host Indication Red Lit Link lost permanently Flashing Link lost temporarily 70 79 PROFIdrive Z SANTERNO USER MANUAL GRUPPO CARRARO 9 PROFIDRIVE PARAMETERS Parameter R W Data type Description 915 R W Array 10 Unsigned16 Assignment PZD1 to PZD10 in PPO write 916 R W Array 10 Unsigned16 Assignment PZD1 to PZD10 in PPO read Node address 918 RAW Unsignedit Writing this parameter will change the node address if the rotary switches have the setting 0 Module start required 919 R Octet String4 Device system number Operator control rights parameter identification PKW Value Mode ed R W Unsigned 16 0 Parameters cannot be writt
62. oooooooooWoooW oo 13 4 4 DRIVE CONFIGURATION oo oooooooocWooooo Woo Women nana nana 13 4 5 PARAMETER SETTING EXAMPLES ooooooooWoWoWoWoWooW Wan 13 5 PROGRAMMING E 15 5 1 OVERVIEWas geesde Sea dees BE RN NN 15 5 2 CONFIGURING THE SYSTEM 15 5 3 PROFIBUS CONNECTION CONFIGURATION c ccccececccceesecccceeecccscueeccescueeccssuusecessuecessunesessannes 15 5 4 CONTROL LOCATIONS ewe seed one dibilas Senter NN Ee EES en 18 6 DP VO COMMUNICATION sisiseiiiosssietsevscssessevesecsciecossscssevecsevieseetcssevescevicdeetcsectessevedeevecevescesevecserecees 19 6 1 OVERVIEW Scheels eee aan EE 19 6 2 PROFIBUS DR ea chee ea aa aa A E 19 6 3 SERVICE ACCESS PONTS 19 6 4 COMMUNICATION START UR 19 6 5 PPO MESSAGE dE 26 6 6 THE CONTROL WORD AND THE STATUS WORD i vrvrrnnnnnvrrnnnnnsrnnnnnnsrnnnnvnsrnnnnnsnennnvnnsennnvnssenervssenner 27 6 7 REFERENCES AN 27 6 8 ACTUAL VALUES EEN 28 6 9 PARAMETER HANDLING IN CYCLIC COMMUNICATION DPI 32 7 DP V1 COMMUNICATION EE 41 7 1 OVERVIEW s aera e Ee EE UNA On Can sa 41 7 2 PROFIBUS PP 41 7 3 SERVICE ACCESS EN KE 41 7 4 COMMUNICATION START UR 4 7 5 PPO MESSAGE NPS NRS 51 PROFIdrive PA ERNO USER MANUAL A GRUPPO CARRARO 7 6 THE CONTROL WORD AND THE STATUS WORD arnnnnnnnnnnnnrrrrrnrrnnnnnnnnerererrrnnnrnnnnrnerrerrrrrrnnnnnneessner 52 7 75 REFERENCES snekre eh nusa mah nahan desiderte 52 7 8 ACTUAL VALUES m re en Sana aan nina EN BN NN an AN NB Haa 53 8 Z IT
63. out set in parameter RO16 OTE VATENDOG AN To disable this fault set parameter RO16 to 0 The counter starts only when the drive receives the first Control Word with bit 11 1 Inactive communication once activated the watchdog counter increases up to the value set in RO16 12 to 15 Not used Table 4 The Control Word PROFIBUS Parameter 967 AN NOTE The upper case boldface text refers to the states shown in Figure 5 Bit Name Value STATE Description 0 RDY ON 1 READY TO SWITCH ON 0 NOT READY TO SWITCH ON 1 RDY RUN 1 1 READY TO OPERATE 0 OFF1 ACTIVE 9 RDY REF 1 1 ENABLE OPERATION drive follows setpoint 0 DISABLE OPERATION 1 FAULT 3 TRIPPED 1 0 No fault OFF2 Coast Stop inactive 4 OFF 2 STA pie 0 OFF2 Coast Stop ACTIVE 1 OFF3 Quick Stop inactive 5 OFF 3 STA I ate 0 OFF3 Quick Stop ACTIVE 20 79 USER MANUAL PROFIdri SWITCH ON INHIBIT ACTIVE SWC ON INHIB G fter SWITCH ON INHIBIT NOT ACTIVE Warning Alarm No Warning Alarm ALARM OPERATING Actual speed eguals reference value AT SETPOINT i e is within tolerance limits Actual speed differs from reference value is outside tolerance limits O 0 CH Control Reguested Control By PLC 1 at least one between Selection of Command Source C140 C142 REMOTE and Selection of Reference Source C143 C146 is sent from Fiel
64. rameter change rights for PKW interface 9 Parameter data signal word not supported 10 Parameter data signal double word not supported The allocation of drive parameters and PROFIdrive parameters to the Parameter Identification part of the PPO type is shown below The Index column corresponds to the parameter number PNU in the ID part of Parameter Identification The Sub index column corresponds to the IND part of Parameter Identification The Example No column refers to the examples on the following pages 33 79 PROFIdrive USER MANUAL P z o D GRUPPO CARRARO Drive parameters 2 35 to 17 41 Index Sub index Dedi Request Label SE 2 35 235 2 36 236 Var gie KS 17 41 1741 Write access depends on drive parameter type or operation mode The complete PROFIdrive parameter list for the PROFIdrive communications board can be found as a separate chapter elsewhere in this manual AN judi Continuous cyclic writing of PROFIdrive parameters should be avoided as the values of these parameters are stored in the flash memory of the PROFIdrive board The estimated lifetime of the flash memory is 1 000 000 program erase cycles and continuous writing will cause the memory to fail prematurely PROFIdrive parameters R E Index Sub index SE Reguest Labe
65. rved Feature not supported 0 15 User specific 11 OxOB Access 0 1 2 3 8 Version conflict 9 1 0 Invalid index 1 Write length error 2 Invalid slot 3 Type conflict 4 Invalid area 5 State conflict 6 Access denied 7 Invalid range 8 Invalid parameter 9 Invalid type 10 15 User specific 12 OxOC Resource O Read constraint conflict 1 Write constraint conflict Resource busy Resource unavailable 7 Reserved 2 3 4 8 15 User specific 13 15 User specific 60 79 Table 10 DP V1 error response Error codes byte DU2 PROFIdrive PA ERNO USER MANUAL r GRUPPO CARRARO S Byte Field s Description Range Word Request Unique identification set by the master 1 255 Byte Reference Changed for each new request Request ID Request type for the issued block Request Byte Parameter 01h Change Parameter 02h Axis To be set to O or 1 0 255 Byte No of Number of parameters that are present 1 37 Byte Parameters in the request Attribute Type of object being accessed Value 10h Byte Description 20h NOTE Text is not supported Text 30h No of Number of array elements accessed or O 1 234 Byte Byte Elements length of string accessed Set to O if non array parameters are used Parameter Address of the parameter that is being accessed 1 65535 Word Word Index 0 is allo
66. t as data Likewise the DP V1 response contains the PROFldrive parameter response as data A write request Function number 5Fh see Table 8 below is first sent containing the parameter request If the write request is valid the PROFIdrive board acknowledges it with DPV1 write response code 5Fh with no data The master will then send a read request If the PROFldrive board is still busy performing the internal parameter request it will return a negative response with the DP V1 error code B5h State conflict In this case the read request will be repeated by the master until the PROFIdrive board has the PROFldrive response data ready If the write request is invalid a negative response is returned with a DP V1 error code see Table 10 57 79 USER MANUAL PROFIdrive Z SANTERNO PROFIBUS SD2 Telegram for SAP 51 The Read Write service uses a variable length PROFIBUS SD2 telegram shown below DP Header DP Trailer SD LE LEr FCS ED 68h x x Ss XX 16h SD Start Delimiter LE Length LEr Length repeated DA Destination Address SA Source Address FC Function Code DSAP Destination Service Access Point SSAP Source Service Access Point DU Data Unit for DP services FCS Frame Checking Sequence ED End Delimiter Data Unit DP V1 Command Response PROFldrive V3 Parameter Channel DUO DU DU2 Reguest Response header see Table 11 and Table
67. tal Inputs RO27 PZD4 OUT 4 Torque Reference RO28 PZD5 OUT 5 PID Reference RO28 PZD6 OUT 6 PID Feedback RO34 PZD3 IN M026 Motor Current RO35 PZD4 IN M009 Torque Output RO36 PZD5 IN MO28 Power Output RO37 PZD6 IN M029 Vbus DC h MODULE TYPE PROFIBUS DP it BAUDRATE 12000 ZS PPO type PPO2 Read only or automatically detected Not visible Example Table 2 Vendor specific 1 profile with PPO Type 2 From the PLC programming point the Vendor Specific profile is similar to the Generic profile as shown in the first example The start stop commands are according to the PROFldrive profile see Figure 5 On the other hand a direct reference is sent 1 means 1 rpm If CO28 Minimum Motor Speed is other than 0 the value can also have a negative sign The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively 14 79 PROFIdrive USER MANUAL GRUPPO CARRARO Z SANTERNO 5 PROGRAMMING 5 1 OVERVIEW This chapter gives information on configuring the PROFIBUS master station and the drive for communication through the PROFldrive communications board 5 2 CONFIGURING THE SYSTEM After the PROFIdrive communications board has been mechanically and electrically installed according to the instructions given in previous chapters the master station and the drive must be prepared for communication with th
68. wed by RPBA 01 Subindex Addresses the first array element of the 0 65535 Word Word parameter or the beginning of a string access or the text array or the description element that is being accessed Format See Table 12 See Table 12 Byte Number of Number of values following 0 234 Byte Values Values The values of the request In case of odd number of See bytes a zero byte is appended to ensure the word Format structure of the telegram field Only if Request ID is 02h Change Parameter The Format Number of Values and Values fields are repeated for other parameters Table 11 PROFldrive Request header 61 79 USER MANUAL PA ERNO PROFIdrive r GRUPPO CARRARO Field s Description Range Response Mirrored from the request 1 255 Reference Response Response from the slave In case any requested services Request Param OK 01h ID fail a not acknowledged NAK response will be Request Param NAK 81h indicated Change Param OK 02h Change Param NAK 82h Axis To be set to 1 0 255 No of Number of parameters that are present in the response 1 37 Parameters Format See Table 13 See Table 13 Number of Number of values following 0 234 Values Values The values of the request In case of odd number of bytes a zero byte is appended to ensure the word structure of the telegram Only if Response ID is 01h Request Par
69. yclic Communication Communication in which messages are sent only once on reguest Array Parameter consisting of data fields of egual data type Broadcast Non acknowledged message from master to all bus participants compare Multicast Command Word See Control Word Communication Object Any object of a real device that can be communicated with variable program data range etc Stored locally in the Object Dictionary Control Word 16 bit word from master to slave with bit coded control signals sometimes called the Command Word Cyclic Communication Communication in which Parameter Process Data Objects are sent cyclically at pre defined intervals Device Class Classification according to the number of profile functions included in the device Drivecast Broad and Multicast a special message frame for drives Fault Event that leads to tripping of the device GSD Fil ASCll format device description file in a specified form disi Each device active amp passive stations on PROFIBUS has to have its own GSD File Index Access reference for Objects in PROFIBUS Information Report Non acknowledged message from master to one or all groups of bus participants Control system with bus initiative In PROFIBUS terminology master stations are also Master called active stations Multicast Mae message from master to one group of bus participants Name Symbolic name of a paramet

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