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EN / RPBA-01 User's Manual

1. Bit Name Value Proceed to STATE Description 0 ON 1 Proceed to READY TO OPERATE OFF 1 O Emergency OFF stop by the selected deceleration ramp Proceed to OFF1 ACTIVE proceed further to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 OFF2 1 Continue operation OFF2 inactive O Emergency OFF coast to stop Proceed to OFF2 ACTIVE proceed further to SWITCH ON INHIBIT 2 OFF3 1 Continue operation OFF3 inactive O Emergency stop stop according to fastest possible deceleration mode Proceed to OFF3 ACTIVE proceed further to SWITCH ON INHIBIT Warning Ensure motor and driven machine can be stopped using this stop mode 3 OPERATION 1 Proceed to ENABLE OPERATION ENABLE Inhibit operation Proceed to OPERATION INHIBIT 4 RAMP OUT 1 Normal operation ZERO Proceed to RAMP FUNCTION GENERATOR ENABLE OUTPUT O Stop according to selected stop type 5 RAMP HOLD 1 Normal operation Proceed to RAMP FUNCTION GENERATOR ENABLE ACCELERATOR O Halt ramping Ramp Function Generator output held DP V1 communication 74 Bit Name Value Proceed to STATE Description RAMP_IN_ ZERO 1 Normal operation Proceed to OPERATING 0 Force Ramp Function Generator input to zero Note The function of this bit may depend on the ramp parameter settings of the drive See the drive documentation RESET 0 1 Fault reset if an a
2. T Data unit DP V1 Command Response PROFIdrive V3 Parameter Channel Request Response header E DEA des BL m Tabis dolo below 2988 Byte Meaning Value DUO Function number See Table 15 below DU1 Slot number 1 Drive parameter access DU2 Index 47 Ox2F DU3 Data length Depends on type of message DU4 DUn PROFldrive data Figure 14 PROFIBUS SD2 telegram DP V1 communication 81 Table 15 DP V1 function numbers Value Meaning 0x48 Idle REQ RES 0x51 Data transport REQ RES 0x56 Resource manager REQ 0x57 Initiate REQ RES 0x58 Abort REQ 0x5C Alarm REQ RES Ox5E Read REQ RES Ox5F Write REQ RES OxD1 Data transport negative response OxD7 Initiate negative response OxDC Alarm negative response OxDE Read negative response OxDF Write negative response Table 16 DP V1 error response Byte Meaning and value DUO Function number OxDF Error Write OxDE Error Read DU1 Error_Decode 0x80 DP V1 PROFldrive Always 128 DP V1 codes DU2 Error_Code_1 Error class error code see Table 17 below DU3 Error_Code_2 Always 0 DP V1 communication 82 Table 17 DP V1 error response Error codes MSB X X X X X X X LSB Error class Meaning Error code 0 9 Reserved 10 0x0A Application 0 Read error
3. Group Identification DP V1 communication 65 DPV1_Status_1 MSB x 0 x 0 0 x x LSB Dis Start Control Disable Stop Bit Control 0 Start bit monitoring in receiver enabled 1 Start bit monitoring in receiver disabled pis Stop Control Disable Stop Bit Control 0 Stop bit monitoring in receiver enabled 1 Stop bit monitoring in receiver disabled WD Base Watchdog time base 0 10 ms 1 1ms Reserved Publisher Enabled 0 Slave not operated in DXB Publisher mode 1 Slave operated in DXB Publisher mode Not supported Fail_Safe Not supported DPV1_Enable 0 Slave operated in DP mode 1 Slave operated in DP V1 mode DP V1 communication 66 8 DPV1 Status 2 MSB X X X X X X X LSB Chk_Cfg_Mode 0 Chk_Cfg according to EN 50170 default state 1 User specific evaluation of Chk_Cfg Reserved To be parameterised with 0 Enable Update Alarm 0 Enable Update Alarm disabled 1 Enable Update Alarm enabled Not supported u Enable Status Alarm 0 Enable Status Alarm disabled 1 Enable Status Alarm enabled Not supported Enable Manufacturer Specific Alarm 0 En
4. Parameter Identification Process Data CW REF ID IND VALUE SW ied PD1 PD2 15 714 13 12 TL 1059 8 22 5 4 32 0 9 Request Label Response Label Parameter Number PNU Request Signal Not used 20 The Request 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 Request Response functions Request labels from Master to Slave Request Function Response labels Ackn Ackn No task Request parameter value Change parameter value word Change parameter value double word Request description element not supported Change description element not supported Request parameter value array Change parameter value array word Change parameter value array double word Request number of array elements N 00 00 al oo loo o N lolala Joo Im O olala B wo lw gt Jo N IS IN IN IN JN IN NIN 1 DP VO communication 52 Response label Acknowledgement from Slave to Master Ackn Function 0 No response Transfer parameter value word Transfer parameter value double word Transfer description element Transfer parameter value array word Transfer parameter value array double word Transfer number of array elements
5. 3AFE64504215 REVFEN EFFECTIVE 20 06 2005 Ak ED ED P EP ED ABB Oy AC Drives P O Box 184 FIN 00381 HELSINKI FINLAND Telephone 358 10 22 11 Fax 358 10 22 22681 Internet http www abb com ABB Inc Automation Technologies Drives amp Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Fax 262 780 5135
6. MSBIX X X X X X X LSB Diag Station Non Existent Set by Master reset by Slave Slave not found Diag Stagion Not Ready Set by Slave Slave not ready for data exchange Diag Cfg Fault Set by Slave Received configuration data does not match original config data Diag Ext Diag Set by Slave Diagnostic entry present in slave specific diagnostic area Diag Not Supported Set by Slave Service not supported by slave Diag Invalid Slave Response Set by Master reset by Slave Invalid response by slave Diag Prm Fault Set by Slave Invalid parameter or parameter value Diag Master Lock Set by Master reset by Slave Slave is parameterised by another master Station Status 2 MSBX 0O x x x 1 x LSB Diag Prm_Req Set by Slave Slave requires re configuration and re parameterisation Diag Stat_Diag Set by Slave Static diagnosis Slave temporarily unable to provide valid data Always set to 1 by slave Diag WD_On Set by Slave Watchdog on Diag Freeze_Mode Set by Slave Freeze command received by slave Diag Sync_Mode Set by Slave Sync command received by slave Reserved Diag Deactivated Set by Master reset by Slave Slave is inactive DP V1 communication 70 Diag_Data Diagnostic Data Type Octet String Length 6 Standard 2 Exten
7. nominal speed of the motor parameter 99 08 in forward and reverse directions Quick start up guide ABB DRIVES profile Vendor specific with PPO Type 2 DP VO 25 Drive parameter Setting ACS800 ACS550 10 01 EXT1 STRT STP DIR COMM CW COMM 10 02 EXT2 STRT STP DIR COMM CW COMM 11 02 EXT1 EXT2 SELECT COMM CW COMM 11 03 EXT REF1 SELECT COMM REF COMM 16 01 RUN ENABLE COMM CW COMM 16 04 FAULT RESET SEL COMM CW COMM 98 02 COMM MODULE LINK FIELDBUS 98 02 COMM PROT SEL EXT FBA 98 07 COMM PROFILE ABB DRIVES 51 01 MODULE TYPE PROFIBUS DP 51 02 NODE ADDRESS 4 51 03 BAUDRATE 1500 51 04 PPO TYPE PPO2 51 05 PZD3 OUT 1202 CONST SPEED 1 51 06 PZD3 IN 104 CURRENT 51 07 PZD4 OUT 2501 CRIT SPEED SEL 51 08 PZD4 IN 105 TORQUE 51 09 PZD5 OUT 2502 CRIT SPEED 1 LO 51 10 PZD5 IN 106 POWER 51 11 PZD6 OUT 2503 CRIT SPEED 1 HI 51 12 PZD6 IN 107 DC BUS VOLTAGE 51 21 DP MODE 0 51 27 FBA PAR REFRESH REFRESH Read only or automatically detected Example Quick start up guide 26 From the PLC programming point the ABB DRIVES profile is similar to the Generic profile as shown in the first example The start stop commands and reference are according to the ABB DRIVES profile See the drive manuals for more information If REF is used the reference value 20000 decimal corresp
8. o O1 Go DO gt 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 4 No array 5 ncorrect data type 6 Setting not allowed can only be reset 7 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 No parameter change rights for PKW interface Parameter data signal word Parameter data signal double word DP VO communication 53 The allocation of data sets drive parameters and PROFldrive 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 Iden
9. 1 Write error 2 Module failure 3 7 Reserved 8 Version conflict 9 Feature not supported 10 15 User specific 11 0x0B Access 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 0x0C Resource 0 Read constraint conflict 1 Write constraint conflict 2 Resource busy 3 Resource unavailable 4 7 Reserved 8 15 User specific 13 15 User specific DP V1 communication Table 18 PROFldrive Request header 83 m 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 0 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 Note Text is not supported Description 20h Text 30h No of Number of array elements accessed or 0 1 234 Byte Elements length of string accessed Set to 0 if non array parameters are used Parameter Address of the parameter that is being 1 65535 Word Index accessed 0 is allowed by RPBA 01 Subindex Addresses the first array eleme
10. 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 RPBA 01 automatically detects the communication speed and PPO type used Table 5 The RPBA 01 configuration parameters Par Parameter name Alternative settings Default no setting 1 MODULE TYPE Read only PROFIBUS DP 2 NODE ADDRESS 0 to 126 3 3 BAUD RATE 12000 12 Mbit s 6000 6 Mbit s 1500 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 Read only 4 PPO TYPE 1 1 PPO 1 2 PPO 2 3 PPO 3 1 PPO 1 4 PPO 4 5 PPO 5 6 PPO 6 Read only 5 PZD3 OUT 0 to 32767 with format xxyy where 0 xx Parameter Group and yy Parameter Index See description below PZD3 IN See PZD3 OUT above PZD4 OUT See PZD3 OUT above PZD4 IN See PZD3 OUT above Programming 35 19 PZD10 OUT See PZD3 OUT above 0 20 PZD10 IN See PZD3 OUT above 0 21 DP MODE 0 DPVO 1 DPV1 0 27 FB PAR REFRESH REFRESH DONE DONE 1 The value is automatically updated Read only Note Set also the extended Parameter Data see page 67 to ensure proper operation of the RPBA 01 with the drive 1 MODULE TYPE This parameter shows the module type as detected by the drive The value cannot be adjusted by the user If this pa
11. Parameter Wert see PD Process Data Object Prozessdatenobjekt Service Access Point Reference Sollwert Request Signal Spontanmeldung Control Word Steuerwort Status Word Zustandswort Definitions and abbreviations 111 Technical data RPBA 01 Enclosure 34 mm CD m area XA m E 1 E LE d 2 q s3 Senne oo p xz oo 20 62 mm mm Mounting Into the option slot on the control board of the drive Degree of protection IP20 Ambient conditions The applicable ambient conditions specified for the drive in its Hardware Manual are in effect Hardware settings Rotary switches for node address selection address range 00 to 99 DIP switch for bus termination selection Technical data 112 Software settings 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 Maximum User Parameter data Diagn
12. Set by Slave Diag Master_Add The address of the master that parameterised this slave Ident_Number for RPBA 01 0812h Ext_Diag_Data The number of bytes reserved for Extended Diagnosis including this byte Fixed to 2 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 DP VO communication PPO message types OUT area IN area Type 1 Type 2 Type 3 Type 4 Type 5 45 Parameter Process data identification Fixed area _ Freely mappable area a DW1 1 DW1 2 DW1 3 DW3 1 DW3 2 DW3 3 DW5 1 DW5 2 DW5 3 DW7 1 IND VALUE CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 ID IND VALUE SW ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PKW DW2 1 DW2 2 DW2 3 DW4 1 DW4 2 DW4 3 DW6 1 DW6 2 DW6 3 DW8 1 OUT area Data sent from Master to Slave control data IN area Data sent from Slave to Master actual d
13. mechanically and electrically installed according to the instructions in previous chapters the master station and the drive must be prepared for communication with the module Configuration of the master station requires a type definition GSD file For DP VO communication the file is available from www profibus com or an ABB representative the filename is ABB 0812 GSD For DP V1 communication the type definition GSD file is available from an ABB representative the filename is ABB10812 GSD Please refer to the master station documentation for more information 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 RPBA 01 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 Programming 34 Note The new settings take effect only when the module is powered up the next time or when the module receives a Fieldbus Adapter parameter refresh command from the drive Data transfer rates supported The RPBA 01 supports the following PROFIBUS communication speeds 9 6 kbit s
14. see chapter A on CD m rpaas Fixing screw amp aa GND frame DIP switch for _SL selecting bus he termination o sa AR o Rotary node iii oo address aS selection switches oo ate Diagnostic LEDs Top view See chapter Side view Fault tracing Figure 1 The construction of the PROFIBUS link and the RPBA 01 Adapter module Compatibility The RPBA 01 is compatible with all master stations that support the PROFIBUS DP protocol Delivery check The option package for the RPBA 01 PROFIBUS DP Adapter module contains e PROFIBUS DP Adapter module type RPBA 01 two screws M3x10 e this manual Overview 18 Warranty and liability information The manufacturer warrants the equipment supplied against defects in design materials and workmanship for a period of twelve 12 months after installation or twenty four 24 months from date of manufacturing whichever first occurs The local ABB office or distributor may grant a warranty period different to the above and refer to local terms of liability as defined in the supply contract The manufacturer
15. 0 65536 Fail safe PZD3 17 18 0 65536 Fail safe PZD4 19 20 0 65536 Fail safe PZD5 21 22 0 65536 Fail safe PZD6 23 24 0 65536 Fail safe PZD7 DP VO communication 42 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 F1 4 PKW 2 PZD words 12 2 F3 F5 4 PKW 6 PZD words 20 3 F1 0 PKW 2 PZD words 4 4 F5 0 PKW 6 PZD words 12 5 F3 F9 4 PKW 10 PZD words 28 6 F9 0 PKW 10 PZD words 20 DP VO communication 43 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 Description 0 Station_Status_1 Diag Station_Non_Existent Set by Master reset by Slave Slave not found Diag Stagion_Not_Ready Set by Slave Slave not r
16. Mp err 29 General cabling instructions llle 29 Busxermiliellori s ee e A sr en M eius 29 Node SEIECIION sn ser Se eee LTD eS eee be oer Rhe a do M eae e 30 PROFIBUS connection ses v are lat e Ede Ex 31 Programming ss 0 De ah AERE QURE a ee eee 33 DNA predetto e o tests seam E ERE de 33 Configuring the system aae oor x teer trace ub Ee xen ac OCA CR ORI een 33 PROFIBUS connection configuration 00 0c eee eee 33 Control locations a rer 37 DP VO communication ooo eee ees 39 OVOIVIBW X cuo tse da a co ote hata hui gee ee Ae ar ra a Aaah oh ana ta lato do fla 39 PROFIBUS DP a crn SE s Ut E ERR QUE OD AOR e d a Rice ee S 39 Service Access Points aaa aaa a a a a 39 Communication start up aaaea ae een nenn 40 PPO message typeS aan Cae ee Oe PER ERE Ea 45 The Control Word and the Status Word 46 References gt a S eoe obra eng a PA EX Ses aec de tte dp 46 Aobdal Wal Se a at Baal ur inia ha Euh Ge Ar Shri E oss Ea ce 46 Parameter handling in cyclic communication DP 51 DP V1 communication ccr nnn nnn 63 OVEIVIEW X Auer ed B oos A 63 PROFIBUS DP e uersus e ss a e EE nds 63 Service Access Points llli 63 Communication start up 22 2222 nennen nennen nenn 64 PPO message typeS uv x coa age EPI ers 71 The Control Word and the Status Word 72 Table of contents
17. 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 DP V1 communication 87 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 DP V1 communication 88 Parameter data transfer examples The following examples show how parameter data is transferred using the DP V1 mechanisms READ and WRITE Note Only the Data unit part of the SD2 telegram is presented in the examples See Figure 14 on page 80 Example 1a Reading a drive parameter To determine the parameter number and subindex for drive parameter reading multiply the parameter number by one hundred and then convert it to hexadecimal The low byte is the subindex IND and the high byte is the parameter index PNU For example drive parameter number 12 04 corresponds to 12 04 x 100 1204 4B4h DP V1 Write request Read parameter value Function number Slot number Index Data length Request reference Request ID 01h Request Parameter Axis Number of parameters Attribute 10h Value Number of elements Parameter index ae Subindex DP 5F 01 2F 0A 05 01 01 01 10 01 00 04 00 B4 DP
18. ROTErENEOS ie TRE E SAA Pues ee PEER 72 AetlualiValuss uns ccd Eee Er ns 72 DP V1 read write request sequence 00 ce eee eee 78 Parameter data transfer examples 000 cece eee eee 88 Fault trac ing oio oe ee Sc eae ee ini eee ee ea utu go 99 LE D undicalors topos m tate earths e sl E Le 99 PROFIdrive parameters 000 cee ene eens 101 Definitions and abbreviations ees 107 PROFIBUS definitions 4i sk eem Ree Rei RR 107 PROFIBUS abbreviations 222er in 109 Technical data 2 2 2 eu 111 RPBA 01 uisi d so drea ur da awe e iiri RR A ae des 111 PROFIBUS INK 2255452222 ea M EUR I EE Ld ens 113 Table of contents 10 Table of contents 11 Introduction Intended audience The manual is intended for the people who are responsible for commissioning and using an RPBA 01 PROFIBUS DP Adapter module The reader is expected to have a basic knowledge of electrical fundamentals electrical wiring practices and how to operate the drive Before you start It 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 What this manual contains This manual contains informatio
19. for because of operating mode reasons that are not specified in 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 DP V1 communication 86 16h Parameter address Illegal value or value that is not impermissible supported for the attribute number of elements parameter number or sub index or a combination 17h Illegal 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 FF 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 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 be mapped to PZD out of memory 7Ah Multiple PZD map
20. header DP V1 Command PROFIdrive V3 Parameter Channel trailer DP V1 communication 89 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 ex Parameter value DP 5E 01 2F 08 05 01 01 01 42 01 05 64 DP header DP V1 Response PROF Idrive V3 Parameter Channel trailer 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 Num PROFIdrive error code DP 5E 01 2F 08 05 81 01 01 44 01 00 14 DP header DP V1 Response PROFIdrive V3 Parameter Channel trailer DP V1 communication 90 Example 1b Reading 3 drive parameters In this example three parameters 12 04 12 05 and 12 06 are read using one telegram DP V1 Write request Read parameter value Function number Slot number Index Data length Request reference Request ID 01h Request Parameter Axis Number of parameters Attribute 10h Value Number of elements Parameter index Subindex DP 5F 01 2F 16 06 01 01 03 10 01 00 04 00 B4 header DP V1 Command PROFIdrive V3 Parameter Channel 10101 00
21. is not responsible for any costs resulting from a failure if the installation commissioning repair alternation or ambient conditions of the drive do not fulfil the requirements specified in the documentation delivered with the unit and other relevant documentation units subjected to misuse negligence or accident units comprised of materials provided or designs stipulated by the purchaser In no event shall the manufacturer its suppliers or subcontractors be liable for special indirect incidental or consequential damages losses or penalties If you have any questions concerning your ABB drive please contact the local distributor or ABB office The technical data information and specifications are valid at the time of printing The manufacturer reserves the right to modifications without prior notice Overview 19 Quick start up guide Overview This chapter presents the steps to take during the start up of the RPBA 01 PROFIBUS DP Adapter Module For more detailed information see the chapters Mechanical installation Electrical installation and Programming elsewhere in this manual WARNING Follow the safety instructions given in this manual and the Hardware Manual of the drive PLC configuration Install the RPBA 01 GSD file e g ABB_0812 GSD ES HW Config Configuring hardware Station PLC View Options Help D ki E Customize Ctrl Alt E Edit Catalog Profile Update Catalog Inst
22. stations on PROFIBUS has to have its own GSD File Access reference for Objects in PROFIBUS Non acknowledged message from master to one or all groups of bus participants Definitions and abbreviations 108 Master Multicast Name Nibble Object Dictionary Object List Parameter Parameter Number Parameter Process Data Object Process Data Profile Request Label Response Label Slave Status Word Control system with bus initiative In PROFIBUS terminology master stations are also called active stations Non acknowledged message from master to one group of bus participants compare Broadcast Symbolic name of a parameter Set of 4 bits Local storage of all Communication Objects recognised by a device List of all accessible objects Value that can be accessed as Object e g variable constant signal Parameter address Special object that contains Parameter and Process Data Data that contains Control Word and Reference value or Status Word and Actual value May also contain other user definable control information Adaptation of the protocol for certain application field e g drives Coded information specifying the required service for the parameter part sent from master to slave 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 called passive s
23. 04 0085 Par Channel continued 10101 00 04 00 B6 DP Par Channel continued trailer DP V1 communication 91 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 EN Parameter value DP 5F 01 2F 10 06 01 01 03 42 01 01 90 header DP V1 Response PROF Idrive V3 Parameter Channel 42 01 03 84 Par Channel cont d 42 01 01 F4 pP Par Channel cont d trailer The values 190h 400 384h 900 and 1F4h 500 are returned Example 2a Writing a drive parameter To determine the parameter number and subindex for drive parameter reading multiply the parameter number by one hundred and then convert it to hexadecimal The low byte is the subindex IND and the high byte is the parameter index PNU For example drive parameter number 12 02 corresponds to 12 02 x 100 1202 4B2h DP V1 communication 92 Function number Slot number Index Data length Request reference Request ID 02h Change Axis Number of parameters Attribute 10h Value Number of elements Parameter index Subindex Format 42h Word Number of values Ei SER Value DP 5F 01 2F 0E 07 0201 01 10 0100 04 00 B2 42 01 02 58 pP header DP V1 Command PROF Idrive V3 Parameter Channel t
24. 15 Dec 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 DP VO communication Example 7 Configuring the process data read from the drive PROFIBUS Parameter No 916 can be used to define which data I Change parameter value array is read cyclically from the drive as application specific process data 61 In the example below drive parameter 1 04 CURRENT 68h 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 Parameter Number 916 Dec Subindex 03 PZD3 Parameter Value 104 Dec CW REF PZD3 PZD4 PZD5 PZD6 Req 73 94 03 00 00 00 00 68 04 7F 34 15 00 00 00 00 00 00 00 00 Resp 43 94 03 00 00 00 00 68 03 37 34 15 00 00 00 00 00 00 00 00 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 104 Dec Subindex 03 PZD3 Parameter Number 916 Dec Response Transfer parameter value array 2nd byte reserved Subseq
25. 954 R Unsigned16 Second last alarm 955 R Unsigned16 Third last alarm 956 R Unsigned16 Fourth last alarm 957 R Unsigned16 Fifth last alarm 958 R Unsigned16 Sixth last alarm not supported 959 R Unsigned16 Seventh last alarm not supported 960 R Unsigned16 Eighth last alarm not supported 961 R Octet String4 Hardware configuration manufacturer specific ID of the drive PROF Idrive parameters 104 Para meter R W Data type Description 963 Unsigned16 Detected baud rate 0 12 Mbit s 1 6 Mbit s 2 3 Mbit s 3 1 5 Mbit s 4 500 kbit s 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 Unsigned16 Identification number of this device 0812h 965 Octet String2 Profile number of this device 0302h Profile 3 Version 2 967 Unsigned16 Control word CW 968 Unsigned16 Status word SW 970 R W Unsigned16 Load parameter record Value Description 0 No action 1 Restore factory settings The parameter must do a zero to one transition and the motor must be stopped 971 R W Unsigned16 Save parameter record Value Description 0 No action 1 Save the drive parameters to non volatile memory The parameter must do a zero to one transition and the motor must be stopped PROF Idrive parameters 105 Par
26. ABB Drives User s Manual PROFIBUS DP Adapter Module RPBA 01 PROFIBUS DP Adapter Module RPBA 01 User s Manual SAFE 64504215 REVFEN EFFECTIVE 20 06 2005 2005 ABB Oy All Rights Reserved Safety instructions Overview This chapter states the general safety instructions that must be followed when installing and operating the RPBA 01 PROFIBUS DP Adapter module 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 General safety instructions A 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 appropr
27. Control Word SW Status Word n Speed OW xxxx xxxx xxxx x110 l Input Current CW Bit3 0 RFG Ramp Function SERDV TG Generator OPERATION SWITCH ON SW BitO 1 f FERIEN INHIBIT SW Bit2 0 Station from any state e pited ON CW xxxx xxxx xxxx x111 El gt READY TO Main contactor ON FAULT f OPERATE SW Bit1 1 SW Bit3 1 from any state CW Bit7 1 OFF1 CW Bit0 0 Y a gt OFF1 y from any state from any state ACTIVE SW Bit1 0 Emergency Stop Emergency Stop N Enable operation OFF3 CW Bit2 0 OFF2 CW Bit1 0 n 0 1 0 CW Bit3 1 OFF3 OFF2 ACTIVE SW Bit5 0 ACTIVE SW Bit4 0 BCD Y A Main contactor OFF CW Bit4 0 gt d CD ENABLE OPERATION SW Bit2 1 A lt CW Bit4 0 Bit5 0 Bit6 0 CW Bit5 0 CW Bit4 1 gt Inching 1 or2 ON 5 SEDE CW Bit8 1 or Bit9 1 OUTPUT INCHING 1 B q or CW Bit6 0 CW Bit5 1 INCHING 2 gt ACTIVE REG ENABLE Inching 1 or 2 OFF ACCELERATION CW Bit8 0 or Bit9 0 C lt gt condition CW Bit6 1 Inching pause rising edge OPERATING T n 0 or f 0 and 0 of the bit 5 SW Bit8 1 and inching pause expired SW Bit6 1 PROFIdrive Figure 9 The PROFldrive state machine DP VO communication 51 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 6 The Parameter Identification part consists of eight bytes see below
28. DDRESS Quick start up guide 23 Parameter setting examples Generic drives profile PROFIdrive with PPO Type 1 DP VO Drive parameter Setting ACS800 ACS550 10 01 EXT1 STRT STP DIR COMM CW COMM 11 03 EXT REF1 SELECT COMM REF COMM 16 01 RUN ENABLE COMM CW COMM 16 04 FAULT RESET SEL COMM CW COMM 98 02 COMM MODULE LINK FIELDBUS 98 02 COMM PROT SEL EXT FBA 98 07 COMM PROFILE GENERIC 51 01 MODULE TYPE PROFIBUS DP 51 02 NODE ADDRESS 3 51 03 BAUDRATE 12000 51 04 PPO type PPO1 51 21 DP MODE 0 51 27 FBA PAR REFRESH REFRESH Read only or automatically detected The RPBA 01 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 Quick start up guide 24 Siemens Simatic S7 requires the use of special functions SFC15 and SFC14 fore SFC15 Write Consistent Data to a Standard DP Slave DPWR DAT M2 0 lt qEN W 16 100 P M 10 0 B YTE 4 eee SFC14 Read Consistent Data of a Standard DP 31avRET_YAL ys2 DPRD DAT P M 32 0 B RECORD TTE 4 W 16 100 The start stop commands and reference are according to the PROFldrive profile See the PROFIBUS state machine on page 77 The reference value 16384 4000h corresponds to the
29. 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 Hex zd PZD PROFIdrive parameter enabled size in size in Type Values bytes bytes 1 F3 F1 Acyclic Parameter Read 8 4 2 F3 F5 Acyclic Parameter Read 8 12 3 F1 Acyclic Parameter Read Write 0 4 4 F5 Acyclic Parameter Read Write 0 12 5 F3 F9 Acyclic Parameter Read 8 20 6 F9 Acyclic Parameter Read Write 0 20 PKW Parameter Kennung Wert Parameter ID Value PZD Prozef3daten Process data With PPO1 PPO2 and PPOS reading writing parameters is only possible cyclically through the Parameter Identification PKW channel With PPO3 PPO4 or PPOG acyclic parameter reading writing is available via the DP V1 parameter read write service The PPO type can be changed during runtime However the RPBA 01 will go offline while the configuration is being updated DP V1 communication SAP 60 Slave_Diag This SAP gives diagnostic information on the slave station 69 Diag_Data Diagnostic Data Type Octet String Length 6 Standard 2 Extended Diagnosis Byte Description 0 Station_Status_1
30. PBA 01 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 parameters 945 and 948 see Table 22 on page 101 The value zero indicates no fault The subindexes of these parameters are related to each other i e parameter 945 with subindex 1 relates to subindex of parameter 948 DP VO communication 60 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 12 02 CONSTANT SPEED 1 4B2h 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 Subindex 03 PZD3 Parameter Value 1202 Dec CW REF PZD3 PZD4 PZD5 PZD6 Req 73 93 03 00 00 00 04 B2 04 7F 34 15 00 00 00 00 00 00 00 00 Resp 43 93 03 00 00 00 04 B2 03 37 34 15 00 00 00 00 00 00 00 00 UV SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 1202 Dec Subindex 03 PZD3 Parameter Number 9
31. Status Word n Speed OW xxxx xxxx xxxx x110 l Input Current CW Bit3 0 RFG Ramp Function ER Generator OPERATION SWITCH ON sw Bito 1 fee INHIBIT SW Bit2 0 Besen from any state hibited ON CW xxxx xxxx xxxx x111 Edi READY TO Main contactor ON FAULT f OPERATE SW Bit1 1 SW Bit3 1 from any state CW Bit7 1 OFF1 CW Bit0 0 Y x OFF1 from any state from any state ACTIVE SW Bit1 0 Emergency Stop Emergency Stop A Enable operation OFF3 CW Bit2 0 OFF2 CW Bit1 0 n 0 1 0 CW Bit3 1 OFF3 OFF2 ACTIVE SW Bit5 0 ACTIVE SW Bit4 0 BCD Y una Main contactor OFF CW Bit4 0 gt lt CD ENABLE OPERATION SW Bit2 1 f A 1 CW Bit4 0 Bit5 0 Bit6 0 CW Bit5 0 CW Bit4 1 gt Inching 1 or 2 ON D a QUTFUT INCHING 1 B d or CW Bit6 0 CW Bit5 1 INCHING 2 gt ACTIVE Figure 13 The PROFIBUS state machine DP V1 communication 78 DP V1 read write request sequence A read write service on a drive parameter is illustrated below Master DP V1 Slave PROFIdrive Write request DB47 E Parameter request Parameter request us x NM Write response P f i without data IR Read request DB47 ie T without data amp Parameter a Read response y processing a without data nn eT al PROF Idrive Be Read response Ze E Parameter response with data Parameter response The messaging employs DP V1 data unit
32. ZD10 71 Parameter channel PKW DW2 1 DW2 2 DW2 3 DW4 1 DW4 2 DW4 3 DW6 1 DW6 2 DW6 3 DW8 1 Figure 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 Process Data CW Control Word see Table 11 SW Status Word see Table 12 REF Reference ACT Actual Value PZD Process Data application specific DW Data Word 10 PPO message types DP VO DP VO DP V1 DP V1 DP VO DP V1 DP V1 communication 72 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 Tables 11 and 12 respectively see the drive documentation for information on the drive specific bits The drive states are presented in the PROFIBUS State Machine Figure 13 Refe
33. a R W Data type Description meter 972 R W Unsigned16 Software reset Value 0 1 The parameter must do a zero to one transition and the motor must be stopped Description No action Re boot PROFIBUS module Read and or Write Support depends on drive type PROFldrive parameters 106 PROF lIdrive parameters 107 Definitions and abbreviations PROFIBUS definitions Acyclic Communication Array Broadcast Command Word Communication Object Control Word Cyclic Communication Device Class Drivecast Fault GSD File Index Information Report Communication in which messages are sent only once on request Parameter consisting of data fields of equal data type Non acknowledged message from master to all bus participants compare Multicast See Control Word Any object of a real device that can be communicated with variable program data range etc Stored locally in the Object Dictionary 16 bit word from master to slave with bit coded control signals sometimes called the Command Word Communication in which Parameter Process Data Objects are sent cyclically at pre defined intervals Classification according to the number of profile functions included in the device Broad and Multicast a special message frame for drives Event that leads to tripping of the device ASCII format device description file in a specified form Each device active amp passive
34. a 220 ohm 1 4 W resistor between the A and B lines Bus termination OFF Bus termination ON ON ON Figure 2 Bus termination switch Node selection Use the rotary node address selectors on the module to select the node address number The node address number is a decimal number ranging from 01 to 99 The left selector represents the first digit and the right selector the second digit The node address can be changed during operation but the module must be re initialised for changes to take effect Note When 00 is selected the node number is defined by a parameter in the fieldbus parameter group of the drive 10x 1x 907 907 eo vw c Y u p u p 9 gx 9 GN Figure 3 Node selectors Electrical installation 31 PROFIBUS connection The bus cable is connected to connector X1 on the RPBA 01 The connector pin allocation described below follows the PROFIBUS standard T eee o 9 6 X1 Description Not used Not used Data positive Conductor 1 in twisted pair RTS Request To Send GND lsolated ground BUS 5V Isolated 5V DC voltage supply c0 BA O N gt UJ Not used CO 10 A Data negative Conductor 2 in twisted pair 9 Not used Housing SHLD PROFIBUS cable shield Internally connected to GND BUS via an RC filter and direc
35. able Manufacturer Specific Alarm disabled 1 Enable Manufacturer Specific Alarm enabled Not supported Enable Diagnostic Alarm 0 Enable Diagnostic Alarm disabled 1 Enable Diagnostic Alarm enabled Not supported Enable_Process_Alarm 0 Enable_Process_Alarm disabled 1 Enable Process Alarm enabled Not supported Enable_Pull_Plug_Alarm 0 Enable_Pull_Plug_Alarm disabled 1 Enable Pull Plug Alarm enabled Not supported 9 DPV1 Status 3 MmB0 0 0 x x x X LSB Alarm Mode Limits the number of active alarms 0 1 alarm of each type 1 2 alarms in total 2 4 alarms in total 3 8 alarms in total 4 12 alarms in total 5 16 alarms in total 6 24 alarms in total 7 32 alarms in total Prm_Structure 0 Prm telegram according to EN 50170 1 Prm telegram in structure form DPV2 extension Not supported u soM Req Isochron Mode Request 0 Isochron Mode disabled 1 Isochron Mode enabled Not supported Reserved To be parameterised with 0 DP V1 communication 67 Prm_Data Parameter Data Extended Type Octet String Length 23 10 10h default Header byte MsB 0 0 0 1 00 0 0 LSB Fail safe mode Defines the action taken when the PLC is switched from RUN to STOP mode 00 STOP default 01 LAST SPEED 02 USE FAIL SAFE The values of the PZDs are defined by bytes 11 30 in the Prm Data t
36. all HW Updates Install New GSD Import Station GSD Installs new GSD Files in the system and updates the contents of the catalog Quick start up guide 20 Select the operation mode PROFIDRIVE i e Generic or VENDOR SPECIFIC i e ABB Drives Properties DP slave x General Parameter Assignment E Station parameters 3 Device specific parameters HE Fail Safe mode Operation mode endor specific Control zero mode gnore dat E Cut Off time 0 no cut off 30 amp Failsafe PZD1 1150 amp Failsafe PZD2 Failsafe PzD3 H Failsafe P2D4 E Failsafe PZDS E Failsafe PZD6 E Failsafe PZD7 amp Failsafe PZD8 amp Failsafe PZD9 amp Failsafe P2D10 Hex parameter assignment Cancel Hep Quick start up guide 21 e Set the PPO type baud rate and node number ES HW Config SIMATIC 300 1 Station Edit Insert PLC View Options Window Help olala S Sl sols ED 88 ve A SIMATIC 300 1 Configuration PPOSDEMO Profle Standard E PROFIBUS DP PROFIBU 2 1 Additional Field Devices ag 3 ABB Dr HE Drives Gg ABB Drives NPBA 12 ma ABB Drives RPBA 01 Universal module PPO Type 1 PPO Type 2 UL DIN6xDC24 DI16xDC244 PPO Type 3 DO16xDC24 0 54 PPO Type 4 DO16xDC24 0 54 dj PPO Type 5 a ABB Drives RPBA 01 jy ACS160 PDP C3 v 5 Gate
37. ameter 12 06 until a different selection is made DP V1 communication 97 Example 5 Determining the source of process data read from the drive PROFIBUS Parameter No 916 394h can be used to define which data is read cyclically from the drive as application specific process data In the example below the parameter is used to determine which drive parameter the contents of PZD3 are taken from Subindex IND defines which process data word the required data is transmitted in DP V1 Write request Function number Slot number Index Data length Request reference Request ID 01h Read Axis Number of parameters Attribute 10h Value Number of elements Parameter index PX ug Subindex DP 5F 01 2F 0A 0B 01 0 0 10 01 03 94 00 03 DP header pp v1 Command PROF ldrive V3 Parameter Channel trailer DP V1 Read response Function number Slot number Index Data length Request reference mirrored Response ID Axis mirrored Number of parameters Format 42h Word Number of values PEN ee Value or error values DP 5E 01 2F 08 0B 01 0 01 42 01 04 B5 DP header DP V1 Response PROFldrive V3 Parameter Channel trailer Value indicates the source of PZD3 as drive param 12 05 4B5h DP V1 communication 98 DP V1 communication 99 Fault tracing LED indications The RPBA 01 module is equipped with three diagnostic LEDs The description of th
38. ata Parameter Identification ID Parameter Identification IND Index for Arrays VALUE Parameter Value Max 4 bytes PKW Parameter ID Value Process Data CW Control Word see Table 7 SW Status Word see Table 8 REF Reference ACT Actual Value PZD Process Data application specific DW Data Word Figure 6 PPO message types DP VO communication 46 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 Tables 7 and 8 respectively see the drive documentation for information on the drive specific bits The drive states are presented in the PROFIBUS State Machine Figure 9 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 ABB drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a commun
39. bit 14 See parameter 933 for coding 937 R W Unsigned16 Selection switch for Control word bit 15 See parameter 933 for coding 939 R W Unsigned16 Selection switch for Status word bit 11 Value Module Status word bit 0 None 1 to 3 Vendor specific 1 to 3 The meaning of vendor specific bits is defined by drive application program 940 R W Unsigned16 Selection switch for Status word bit 12 See parameter 939 for coding 941 R W Unsigned16 Selection switch for Status word bit 13 See parameter 939 for coding 942 R W Unsigned16 Selection switch for Status word bit 14 See parameter 939 for coding PROFlIdrive parameters 103 Para R W Data type Description meter 943 R W Unsigned16 Selection switch for Status word bit 15 See parameter 939 for coding 945 R Array 64 Unsigned16 Fault code coded according to DRIVECOM profile 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 947 R Array 64 Unsigned16 Fault number Subindex Contents See parameter 945 948 R Array 64 Unsigned16 Time difference Seconds since the last fault occured Subindex Contents See parameter 945 952 R W Unsigned16 Number of faults occured Writing a zero clears the value 953 R Unsigned16 Last alarm
40. ctive fault exists Proceed to SWITCH ON INHIBIT Continue normal operation INCHING 1 Inching 1 See the drive documentation for information INCHING 2 Inching 2 See the drive documentation for information REMOTE _ CMD Fieldbus control enabled Control Word lt gt 0 or Reference lt gt 0 Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled 11 Vendor specific bit as defined by PROF Idrive parameter 933 12 Vendor specific bit as defined by PROFIdrive parameter 934 13 Vendor specific bit as defined by PROFIdrive parameter 935 14 Vendor specific bit as defined by PROF Idrive parameter 936 15 Vendor specific bit as defined by PROFIdrive parameter 937 DP V1 communication 75 Table 12 The Status Word PROFIBUS Parameter 968 The upper case boldface text refers to the states shown in Figure 13 Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWITCH ON O NOT READY TO SWITCH ON 1 RDY RUN 1 READY TO OPERATE O OFF1 ACTIVE 2 RDY_REF 1 ENABLE OPERATION O DISABLE OPERATION 3 TRIPPED 1 FAULT O No fault 4 OFF_2 STA 1 OFF2 inactive O OFF2 ACTIVE 5 OFF 3 STA 1 OFF3 inactive O OFF3 ACTIVE 6 SWC_ON_INHIB 1 SWITCH ON INHIBIT ACTIVE O SWITCH ON INHIBIT NOT ACTIVE 7 ALARM 1 Warning Alarm 0 No Warni
41. d subindex is B2 m Parameter Value 100 Dec CW REF PZD3 PZD4 PZD5 PZD6 Req 70 04 B2 00 00 00 00 64 04 7F 34115 00 00 00 00 00 00 00 00 Resp 40 04 B2 00 00 00 00 64 03 37 34115 00 00 00 00 00 00 00 00 1 Parameter Number 04h PZD4 SW ACT Parameter Value 100 Dec Subindex B2h Response Transfer parameter value array PZD3 PZD5 PZD6 2nd byte reserved DP VO communication 57 Example 3 Reading a PROF Idrive 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 IND Param Value CW REF Request 13 96 00 00 00 00 00 00 04 7F 34 15 Response 13 96 00 00 00 00 00 02 03 37 34 15 IND Param Value SW ACT Read Parameter Number 918 Dec Response Parameter value updated The slave returns its station number 2 DP VO communication 58 Example 4 Writing a PROFldrive 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 C
42. ded For more information see the drive documentation Mechanical installation 28 Mechanical installation 29 Electrical installation Overview This chapter contains general cabling instructions instructions for setting module node address number and bus termination e instructions for connecting the module to the PROFIBUS DP network Wait five minutes to ensure that the capacitor bank of the drive is discharged Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive WARNING Before installation switch off the drive power supply General cabling instructions Arrange the bus cables as far away from the motor cables as possible Avoid parallel runs Use bushings at cable entries Bus termination The DIP switch on the front of the RPBA 01 module is used to switch on bus termination Bus termination prevents signal reflections from the cable ends Bus termination must be set to ON if the module is the last or first module on the network When using PROFIBUS specific D sub connectors with built in termination the RPBA 01 termination must be switched off Electrical installation 30 Note The built in termination circuitry of the RPBA 01 is of the active type so the module has to be powered for the termination to work If the module needs to be switched off during operation of the network the bus can be terminated by connecting
43. ded Diagnosis Byte Description 2 Station_Status_3 MSsBBx 0 0 0 0 0 0 10 sB Reserved 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 RPBA 01 0812h 6 Header Byte 7 Status Type Status Message 0x81 8 Slot Number 0x00 9 Specifier 0x00 10 Communication Diagnostic MsB0 0 0 0 0 0 xx LsB Communication temporarily lost Communication permanently lost Reserved 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 DP V1 communication PPO message types OUT area IN area Type 1 Type 2 Type 3 Type 4 Type 5 Type 6 Parameter Process data identification Fixed Freel bl a ixed area reely mappable are p DW1 1 DW1 2 DW1 3 DW3 1 DW3 2 DW3 3 DW5 1 DW5 2 DW5 3 DW7 1 IND ID IND VALUE CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 VALUE SW ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 P
44. e The RPBA 01 PROFIBUS DP Adapter module is an optional device for ABB drives which enables the connection of the drive to a PROFIBUS network The drive is considered as a slave on the PROFIBUS network Through the RPBA 01 PROFIBUS DP Adapter module it is possible to give control commands to the drive Start Stop Run enable etc feed a motor speed or torque reference to the drive give a process actual value or a process reference to the PID controller of the drive read status information and actual values from the drive change drive parameter values reset a drive fault The PROFIBUS commands and services supported by the RPBA 01 PROFIBUS DP Adapter module are discussed in the chapters 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 file is available from www profibus com or an ABB representative the filename is ABB 0812 GSD For DP V1 communication the type definition GSD file is available from an ABB representative the filename is ABB10812 GSD Overview 17 Electrical installati PROFIBUS Slave Bus connector X1 master stations
45. e Access Points SAPs are used to initiate DP communication SAP no Short Name Name O 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 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 0 B8h Station Status 1 0 1 11 0 0 0 Reserved WD_On 1 Watchdog on Freeze Req 1 Slave is requested to process in freeze mode Sync Req 1 Slave is requested to process in SYNC mode 00 Min TSDR and slave related Unlock Req Es may be overwritten 10 Slave locked for other masters All parameters can be carried over x1 Slave released for other masters Lock Req 1 2 Watchdog Factors 1 and 2 set by the PROFIBUS master WdFactor1 x WdFactor2 x 10 ms monitoring time of the slave to verify that the master is still active 3 OBh Minimum Station Delay Respond Time Time after which a slave station is allowed to send response frames to the master Calculated by multiplying the Hex value with tg time required for transmitting one bit 4 5 0812h Vendor Identification for the RPBA 01 0812h 6 00h Group Identification DP VO communication 41 R
46. e LEDs is below ERROR an Off line o On line Name Colour Function Flashing 1 Hz Error in configuration Internal configuration mismatch Flashing 2 Hz Error in User Parameter data The length contents of the User Parameter data set during initialisation of the module is not equal Red to the length contents set during configuration of the network Check that the selected DP mode matches the GSD file used see configuration parameter 21 DP MODE on page 37 Flashing 4 Hz Error in initialisation of the PROFIBUS communication ASIC Off No diagnostics present ERROR Lit Module is On Line and data exchange is Green possible Off Module is not On Line Lit Module is Off Line and no data exchange is Red possible Off Module is not Off Line Off Line On Line Fault tracing 100 ERROR Wo M Off line e e On line Name Colour Function c 2 Green Lit Link functional S Lit Link lost permanently 0 Red 2 Flashing Link lost temporarily Fault tracing 101 PROF Idrive parameters Table 22 PROFldrive profile specific parameters Para R W Data type Description meter 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 918 R W Unsigned16 Node address Writing this
47. e 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 Programming 38 Programming 39 DP VO communication Overview This chapter describes the PROFIBUS messaging used in the communication with the drive when the RPBA 01 module is in DP VO mode PROFIBUS DP The RPBA 01 module 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 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 PROF Idrive The PROFIBUS Profile for Adjustable Speed Drives version 2 0 or the EN 50170 standard DP VO communication 40 Communication start up The following Servic
48. eady for data exchange Diag Cfg_Fault Set by Slave Received configuration data does not match original configuration data Diag Ext_Diag Set by Slave Diagnostic entry present in slave specific diagnostic area Diag Not_Supported Set by Slave Service not supported by slave Diag Invalid_Slave_Response Set by Master reset by Slave Invalid response by slave Diag Prm_Fault Set by Slave Invalid parameter or parameter value Diag Master_Lock Set by Master reset by Slave Slave is parameterised by another master 1 Station Status 2 x Ox Ix x 1 x x Diag Prm Req Set by Slave Slave requires re configuration and re parameterisation Diag Stat Diag Set by Slave Static diagnosis Slave temporarily unable to provide valid data Always set to 1 by slave Diag WD On Set by Slave Watchdog on Diag Freeze Mode Set by Slave Freeze command received by slave Diag Sync Mode Set by Slave Sync command received by slave Reserved Diag Deactivated Set by Master reset by Slave Slave is inacive DP VO communication 44 Diag_Data Diagnostic Data Type Octet String Length 6 Standard 2 Extended Diagnosis Byte Description 2 Station_Status_3 x 0 0 0 0 0 0 0 Reserved Diag Ext_Diag_Overflow
49. elegram 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 also bit 10 Remote Command in the control word is zero However the other PZD s may still be updated but have the value zero 01 IGNORE Operation mode Determines which control status word and reference actual values are used 00 PROFIDRIVE i e Generic drive profile 01 VENDOR SPECIFIC i e ABB Drives profile default With this setting Fail safe mode STOP equals LAST SPEED the control word is forwarded unchanged to the drive if the drive has a parameter for selection of operation mode i e communication profile make sure that the operation modes of the RPBA 01 and the drive match Reserved 11 12 0 65536 Cut off time out in milliseconds O Cut off disabled 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 21 22 0 65536 Fail safe PZD5 23 24 0 65536 Fail safe PZD6 25 26 0 65536 Fail safe PZD7 DP V1 communication 68 27 28 0 65536 Fail safe PZD8 29 30 0 65536 Fail safe PZD9 31 32 0 65536 Fail safe PZD10 The extended Parameter
50. erence 0 Fieldbus control enabled 11 Drive specific See the drive documentation for to information 15 Table 8 The Status Word PROFIBUS Parameter 968 The upper case boldface text refers to the states shown in Figure 9 Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWITCH ON O NOT READY TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE O OFF1 ACTIVE 2 RDY_REF 1 ENABLE OPERATION O DISABLE OPERATION 3 TRIPPED 1 FAULT O No fault DP VO communication 49 Bit Name Value STATE Description 4 OFF_2 STA 1 OFF2 inactive O OFF2 ACTIVE 5 OFF 3 STA 1 OFF3 inactive O OFF3 ACTIVE 6 SWC_ON_INHIB 1 SWITCH ON INHIBIT ACTIVE O SWITCH ON INHIBIT NOT ACTIVE 7 ALARM 1 Warning Alarm O0 No Warning Alarm 8 AT_SETPOINT 1 OPERATING Actual value equals reference value i e is within tolerance limits O Actual value differs from reference value is outside tolerance limits 9 REMOTE 1 Drive control location REMOTE O Drive control location LOCAL 10 ABOVE_LIMIT 1 Actual frequency or speed value equals or is greater than supervision limit O Actual frequency or speed value is within supervision limit 11 Drive specific to 15 DP VO communication 50 SWITCH ON INHIBIT MAINS OFF Power ON OFF1 CW Bit0 0 gt State Machine NOT READY eh TO SWITCH ON sw Bito 0 CW
51. eserved Prm_Data Parameter Data Extended Type Octet String Length 23 10h default Header byte 0 0 01 0 0 0 0 NE Fail safe mode Defines the action taken when the PLC is switched from RUN to STOP mode 00 STOP default 01 LAST SPEED 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 00 USE FRAME default Note that with this setting the drive might not be stopped if itis running since also bit 10 Remote Command in the control word is zero However the other PZD s may still be updated but have the value zero 01 IGNORE Operation mode Determines which control status word and reference actual values are used 00 PROFIDRIVE i e Generic drive profile 01 VENDOR SPECIFIC i e ABB Drives profile default With this setting Fail safe mode STOP equals LAST SPEED the control word is forwarded unchanged to the drive if the drive has a parameter for selection of operation mode i e communication profile make sure that the operation modes of the RPBA 01 and the drive match Reserved 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
52. eters Table 20 Data types for Format field 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 DP V1 communication 85 Table 21 PROFldrive Parameter Request error codes Error Meaning Used at 00h Impermissible parameter number Access to unavailable parameter 01h Parameter value cannot be Change access to a parameter value changed that cannot be 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 Change access with value unequal to 0 be 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 that is not available parameter value is available 11h Request cannot be executed Access is temporarily not possible
53. iate care when working on the unit Neglecting these instructions can cause physical injury or death Safety instructions Safety instructions Table of contents Safety INSUWUCTIONS 22 2 A er id d dus 5 e Me ooo ee re E Eee 5 General safety instructions 2532 3 35 s ww eee wee See rw a 5 Table of contents vovv e 7 Introduction 3 2 ce eee Sar as Se Ree eee D ut 11 Intended audience 2 nme 11 Belore YOU Starts ad Sune en T daro Pd IEEE aba ia Gee 11 What this manual contains sn 11 Terms used in this manual ellen 13 Further Tories e teer d t EN SIE 13 Overview Nass anne en else 15 OVEIVIEW Se a baud a a a ee 15 PROFIBUS standard 2 zu iter a RR CELE REE SOG RES 15 The RPBA 01 PROFIBUS DP Adapter module 16 Compatibilty ss 3 5 dca et wea ed ean he ceca wale ee 17 Delivery check us o dc ae as isn Bae dew n 17 Warranty and liability information llle 18 Quick start up guide cc Lek eee ee eee RE E 19 OVENIEW DP 19 PLEC configuration i ee ii AREA a SEES EE LE Cu 19 Mechanical and electrical installation 21 Dnve coniguraloriusa e vexat RA 21 Parameter setting examples 0 0 0 0 cece eee eens 23 Table of contents 8 Mechanical installation cee eee eee 27 MONING eoe a anche d DR ada TREAT 27 Electrical installation ER A ar EX IiMERER 29 OVEIVIEW a CE ved Ree en Ah wees oim aie Det dia ee
54. ication module e g RPBA 01 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 the Vendor Specific mode the scaling of the integer received from the master as Reference is drive specific See its programming manual for available control source selections and Reference scaling factors In PROF Idrive mode the speed reference REF in hexadecimal 0 4000h corresponds to O motor nominal speed 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 DP VO communication 47 master as Actual Values depends on the selected function refer to the drive documentation In PROF Idrive mode the actual speed ACT in hexadecimal 0 4000h corresponds to O motor nominal speed Table 7 The Control Word PROFIBUS Parameter 967 The upper case boldface text refers to the states shown in Figure 9 Bit Name Value Proceed to STATE Description 0 ON 1 Proceed to READY TO OPERATE OFF 1 O Emergency OFF stop by the selected deceleration ramp Proceed to OFF1 ACTIVE proceed further to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 OFF2 1 Continue operation OFF2 inactive O Emergency OFF coast to stop Proceed t
55. l communication standard that enables data exchange between all kinds of automation components There are three main variations of PROFIBUS PROFIBUS FMS Fieldbus Message Specification PROFIBUS DP Decentralised Periphery and PROFIBUS PA Process Automation The RPBA 01 PROFIBUS DP Adapter module 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 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 PROF Idrive Profile The PROFIBUS Profile for Adjustable Speed Overview 16 Drives For further information on PROFIBUS refer to the above mentioned standards The RPBA 01 PROFIBUS DP Adapter modul
56. n on the wiring configuration and use of the RPBA 01 PROFIBUS DP Adapter module Safety instructions are featured in the first few pages of this manual Overview contains a short description of the PROFIBUS protocol and the RPBA 01 PROFIBUS DP Adapter module a delivery checklist and information on the manufacturer s warranty Quick start up guide contains a short description of how to set up the RPBA 01 PROFIBUS DP Adapter module Mechanical installation contains placing and mounting instructions for the module Electrical installation contains wiring bus termination and earthing instructions Introduction 12 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 RPBA 01 module using the PROFIBUS DP DP VO protocol DP V1 communication contains a description of how data is transmitted through the RPBA 01 module using the DP V1 extension of the PROFIBUS DP protocol Fault tracing explains how to trace faults with the status LEDs on the RPBA 01 module 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 configurable settings and connectors of the module and the s
57. ng Alarm 8 AT_SETPOINT 1 OPERATING Actual value equals reference value i e is within tolerance limits O Actual value differs from reference value 7 is outside tolerance limits 9 REMOTE 1 Drive control location REMOTE O Drive control location LOCAL 10 ABOVE_LIMIT 1 Actual frequency or speed value equals or is greater than supervision limit O Actual frequency or speed value is within supervision limit DP V1 communication 76 Bit Name Value STATE Description 11 Vendor specific bit as defined by PROF Idrive parameter 939 See the drive documentation 12 Vendor specific bit as defined by PROF Idrive parameter 940 See the drive documentation 13 Vendor specific bit as defined by PROFIdrive parameter 941 See the drive documentation 14 Vendor specific bit as defined by PROF Idrive parameter 942 See the drive documentation 15 Vendor specific bit as defined by PROF Idrive parameter 943 See the drive documentation DP V1 communication T RFG ENABLE A Inching 1 or 2 OFF ACCELERATION CW Bit8 0 or Bit9 0 C q condition CW Bit6 1 Inching pause rising edge OPERATING n 0 or f 0 and I 0 of the bit 5 SW Bit8 1 and inching pause expired gt gt 17 lt SWITCH ON INHIBIT SW Bit6 1 Power ON OFF1 CW Bit0 0 PROFIBUS gt State Machine NOT READY ABCD TO SWITCH ONL SW Bit0 0 CW Control Word SW
58. nt of the 0 65535 Word parameter or the beginning of a string access or the text array or the description element that is being accessed Format See Table 20 See Table 20 Byte Number of Number of values following 0 234 Byte Values Values The values of the request In case of See odd number of bytes a zero byte is Format appended to ensure the word structure field of the telegram Only if Request ID is 02h Change Parameter The Format Number of Values and Values fields are repeated for other parameters DP V1 communication 84 Table 19 PROFldrive Response header Field s Description Range Response Mirrored from the request 1 255 Reference Response Response from the slave In case any Request Param OK 01h ID requested services fail a not Request Param NAK 81h acknowledged NAK response will be Change Param OK 02h indicated Change Param NAK 82h Axis To be setto 1 0 255 No of Number of parameters that are present 1 37 Parameters in the response Format See Table 20 See Table 20 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 Parameter OK The Format Number of Values and Values fields are repeated for other param
59. o OFF2 ACTIVE proceed further to SWITCH ON INHIBIT 2 OFF3 1 Continue operation OFF3 inactive O Emergency stop stop according to fastest possible deceleration mode Proceed to OFF3 ACTIVE proceed further to SWITCH ON INHIBIT Warning Ensure motor and driven machine can be stopped using this stop mode 3 OPERATION 1 Proceed to ENABLE OPERATION ENABLE Inhibit operation Proceed to OPERATION INHIBIT 4 RAMP OUT 1 Normal operation ZERO Proceed to RAMP FUNCTION GENERATOR ENABLE OUTPUT O Stop according to selected stop type 5 RAMP HOLD 1 Normal operation Proceed to RAMP FUNCTION GENERATOR ENABLE ACCELERATOR O Halt ramping Ramp Function Generator output held DP VO communication 48 Bit Name Value Proceed to STATE Description 6 RAMP_IN_ 1 Normal operation Proceed to OPERATING ZERO O Force Ramp Function Generator input to zero Note The function of this bit may depend on the ramp parameter settings of the drive See the drive documentation T RESET 0 gt 1 Fault reset if an active fault exists Proceed to SWITCH ON INHIBIT O Continue normal operation INCHING 1 Inching 1 See the drive documentation for information INCHING 2 Inching 2 See the drive documentation for information 10 REMOTE _ 1 Fieldbus control enabled CMD O Control Word lt gt 0 or Reference lt gt 0 Retain last Control Word and Reference Control Word O and Ref
60. onds to the speed or frequency set by parameter 11 05 EXT REF1 MAXIMUM in the forward and reverse directions If REF2 is used whether the limit 11 08 EXT REF2 MAXIMUM corresponds to 20000 or 10000 is dependent on the drive type and or the application macro selected The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively Quick start up guide 27 Mechanical installation A Mounting WARNING Follow the safety instructions given in this manual and in the Hardware Manual The RPBA 01 is to be inserted into its specific position in the drive The module is held in place with plastic retaining clips and two screws The screws also provide the earthing of the I O cable shield connected to the module and interconnect the GND signals of the module and the control board of the drive On installation of the module the signal and power connection to the drive is automatically made through a 34 pin connector Mounting procedure Insert the module carefully into its position inside the drive until the retaining clips lock the module into position Fasten the two screws included to the stand offs e Set the bus termination switch of the module to the required position Note Correct installation of the screws is essential for fulfilling the EMC requirements and for proper operation of the module Note Make sure the drive is properly groun
61. ontrol Word CW and Reference REF bytes The values shown below are REF 34 115 examples Request Parameter value write Parameter Number 971 Dec IND Param Value Cw Wn Request 23 CB 00 00 00 00 00 01 04 7F rite Response 13 CB 00 00 00 00 00 00 03 37 34 15 IND Param Value Parameter Number 971 Dec SW Response Parameter value updated ACT DP VO communication 59 Example 5 Reading a PROFldrive parameter array In this example PROFIBUS Parameter No 945 is used to read the code of the latest acknowledged fault As shown in Table 22 on page 103 parameter 945 is of the array type with subindexes 1 9 17 and 25 Request Request parameter value array Parameter Number 945 Dec Subindex Latest acknowledged fault Param Value CW REF Request 63 B1 09 00 00 00 00 00 04 7F 34 15 Read Response 4 09 00 00 00 23 00 03 37 34 15 lt lt pal Value sw ACT m Latest acknowledged fault Parameter Number 945 Dec Response Transfer parameter value array 2nd byte reserved The slave returns the code of the latest acknowledged fault 2300h 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 R
62. ostics length 26 bytes Connectors 34 pin parallel bus connector 9 pin female DSUB connector Current consumption 350 mA max 5 V supplied by the control board of the drive General Estimated min lifetime 100 000 h All materials UL CSA approved e Complies with EMC standards EN 50081 2 and EN 50082 2 Technical data PROFIBUS I ink 113 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 e Termination built in the module e Specifications Parameter Line A non Unit PROFIBUS DP DIN 19245 Part 1 Impedance 135 to 165 100 to 130 W 3 to 20 MHz f gt 100 kHz Capacitance lt 30 lt 60 pF m Resistance lt 110 Q km Wire gauge gt 0 64 gt 0 53 mm Conductor area gt 0 34 gt 0 22 mm Maximum bus length a rate 9375 187 5 500 1500 3000 6000 12000 Line A m 1200 1000 400 200 100 100 100 Line B m 1200 600 200 Topology Multi drop 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 RPBA 01 Protocol PROFIBUS DP Technical data 114 Technical data
63. parameter will change the node address if the rotary switches have the setting 0 Module re start required 919 R Octet String4 Device system number 927 R W Unsigned16 Operator control rights parameter identification PKW Value Mode 0 Parameters cannot be written only read 927 can be written 1 Parameters can be written and read default 928 R W Unsigned16 Control rights process data PZD Value Mode 0 PZD part is disabled i e Receipt of new PZD data is ignored 1 PZD part is enabled default 929 R Unsigned16 Selected PPO type Value PPO type Configuration 1 PPO1 F3h F1h 2 PPO2 F3h F5h 3 PPO3 F1h 4 PPO4 F5h 5 PPO5 F3h F9h PROFldrive parameters 102 Para R W Data type Description meter 930 R W Unsigned16 Selection switch for operation mode Value Mode 1 Speed control mode Control word and status word for frequency speed used 8001h Speed control mode Control word and status word for torque used 933 R W Unsigned16 Selection switch for Control word bit 11 Value Module Control word bit 0 None 1 to 5 Vendor specific 1 to 5 The meaning of vendor specific bits is defined by drive application program 934 R W Unsigned16 Selection switch for Control word bit 12 See parameter 933 for coding 935 R W Unsigned16 Selection switch for Control word bit 13 See parameter 933 for coding 936 R W Unsigned16 Selection switch for Control word
64. pecification of the PROFIBUS link Introduction 13 Terms used in this manual Communication Module Communication Module is aname 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 Data Sets and Data Words Each data set consists of three 16 bit words ie data words The Control Word sometimes called the Command Word and the Status Word References and Actual Values see the chapters DP VO communication and DP VT communication are types of data words the contents of some data words are user definable RPBA 01 PROFIBUS DP Adapter module The RPBA 01 PROFIBUS DP Adapter module is one of the optional fieldbus adapter modules available for ABB drives The RPBA 01 is a device through which an ABB drive is connected to a PROFIBUS network Parameter A parameter is an operating instruction for the drive Parameters can be read and programmed with the drive control panel or through the RPBA 01 module Further information Further information is available on the World Wide Web from www profibus com Introduction 14 Introduction 15 Overview Overview This chapter contains a short description of the PROFIBUS standard and the RPBA 01 PROFIBUS DP Adapter module a delivery checklist and warranty information PROFIBUS standard PROFIBUS is an open seria
65. railer Slot number Slot number Index Data length Request reference mirrored Response ID Axis mirrored Ale Number of parameters pp E01 2F 04 07 02 01 01 pp PROFIdrive V3 trailer header pp DP VT Response Parameter Channel DP V1 communication 93 Example 2b Writing 2 drive parameters In this example the values 300 12Ch and 500 1F4h are written to drive parameters 12 02 4B2h and 12 03 4B3h respectively using one telegram Function number Slot number Index Data length Request reference Request ID 02h Change Parameter Axis Number of parameters Attribute 10h Value Number of elements Parameter index els Subindex DP header 5F 01 2F 14 08 02 01 02 10 01 00 04 00 B2 DP V1 Command PROF Idrive V3 Parameter Channel 10 01 00 04 00 B3 Par Channel continued 42 01 01 2C Par Channel cont d 42 01 01 F4 pP Par Channel cont d trailer Tee Welle Number of values Format 42h Word DP V1 communication 94 Slot number Slot number Index Data length Request reference mirrored Response ID Axis mirrored Br Number of parameters 2F 04 5E 01 08 02 01 02 55 PROF Idrive V3 trailer Parameter Channel DP header pp v1 Response Example 3 Reading a PROFldrive parameter In this example PROFIBUS parameter No 918 396h is u
66. rameter is undefined the communication between the drive and the module has not been established 2 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 3 BAUD RATE Indicates the communication speed detected in kbit s 12000 6000 3000 1500 500 187 93 45 19 9 12 Mbit s 6 Mbit s 3 Mbit s 1 5 Mbit s 500 kbit s 187 5 kbit s 93 75 kbit s 45 45 kbit s 19 2 kbit s 9 6 kbit s Programming 36 4 PPO TYPE This parameter indicates the detected PPO message type for the PROFIBUS communication See Figures 6 and 10 in the chapters DP VO communication and DP VT communication respectively for the supported PPO message types 5 PZD3 OUT This parameter represents process data word 3 ofthe PPO type received by the drive over the PROFIBUS network The content is defined by a decimal number in the range of 0 to 32767 as follows 0 not used 1 99 data set area of the drive 101 9999 parameter area of the drive 10000 32767 not supported by the drive The data set area is allocated as follows data set 1 word 1 data set 1 word 2 data se
67. rences 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 ABB drives can receive control information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g RPBA 01 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 the Vendor Specific mode the scaling of the integer received from the master as Reference is drive specific See its programming manual for available control source selections and Reference scaling factors In PROF Idrive mode the speed reference REF in hexadecimal 0 4000h corresponds to 0 motor nominal speed 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 DP V1 communication 73 master as Actual Values depends on the selected function refer to the drive documentation In PROF Idrive mode the actual speed ACT in hexadecimal 0 4000h corresponds to O motor nominal speed Table 11 The Control Word PROFIBUS Parameter 967 The upper case boldface text refers to the states shown in Figure 13
68. ring the process data written to the drive PROFIBUS parameter No 915 393h 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 12 06 4B6h 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 DP V1 communication 96 DP V1 Write request Function number Slot number Index Data length Request reference Request ID 02h Change Axis Number of parameters Attribute 10h Value Number of elements Parameter index Subindex Format 42h Word Number of values EE Value DP 5F 01 2F 0E OA 02 01 01 10 01 03 93 00103 42 01 04 B6 DP header DP V1 Command PROFIdrive V3 Parameter Channel trailer DP V1 Read response Function number Slot number Index Data length Request reference mirrored Response ID Axis mirrored Number of parameters Format 42h Word Number of values zm Value or error values DP 5E 01 2F 08 OA 01 0 0 42 101 00 68 DP header DP V1 Response PROFldrive V3 Parameter Channel trailer Subsequently the contents of PZD3 in each Request frame are written to drive par
69. rive parameter or data set To determine the parameter number and subindex for drive parameter reading multiply the parameter number by one hundred and then convert it to hexadecimal The low byte is the subindex IND and the high byte is the parameter number PNU For example reading parameter 84 11 INPUT 1 from the drive 84 11 x 100 8411 20DBh Parameter number is 20 and subindex is DB Request Read parameter value array Parameter Number 20h Subindex DBh CW REF PZD3 PZD4 PZD5 PZD6 Req 60 20 DB 00 00 00 00 00 04 7F 34 15 00 00 00 00 00 00 00 00 Resp 40 20 DB 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 Dec Subindex DBh Parameter Number 20h Response Change parameter value array 2nd byte reserved DP VO communication 56 Example 2 Writing a drive parameter or data set Request Change parameter value array Parameter Number 04h Subindex B2h To determine the parameter number and subindex for drive parameter writing multiply the parameter number by one hundred and then convert it to hexadecimal The low byte is the subindex IND and the high byte is the parameter number PNU For example write parameter 12 02 CONSTANT SPEED 1 12 02 x 100 1202 04B2h Parameter is 04 an
70. s The PROFIdrive parameter request is contained within the DP V1 request as data Likewise the DP V1 response contains the PROFIdrive parameter response as data A write request Function number 5Fh see Table 15 below is first sent containing the parameter request If the write request is valid the RPBA 01 acknowledges it with DP V1 write response code 5Fh with no data The master will then send a read request If the RPBA 01 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 DP V1 communication 79 request will be repeated by the master until the RPBA 01 has the PROFIdrive response data ready If the write request is invalid a negative response is returned with a DP V1 error code see Table 17 DP V1 communication 80 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 SD DA SA FC DSA SSA DU FCS ED 68h x x 68h xx xx x XX XX X 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
71. sed to read the station number of the slave DP V1 Write request Reading a PROFIdrive parameter Function number Slot number Index Data length Request reference Request ID Axis Number of parameters Attribute Number of elements Parameter index EN E Subindex DP 5F 01 2F OA 09 01 01 0 10 00 03 96 00 00 DP header DP V1 Command PROF ldrive V3 Parameter Channel trailer DP V1 communication 95 DP V1 Read response Function number Slot number Index Data length Request reference mirrored Response ID Axis mirrored Number of parameters 3559 42h Word u of values alle or error values DP 5E 01 2F 08 09 01 01 0 L 01 E 00 pP header DP V1 Response PROFIdrive V3 Parameter Channel trailer The slave returns the code of the latest acknowledged fault 2300h 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 PROFldrive profile in the RPBA 01 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 parameters 945 947 and 948 see Table 22 on page 101 The value zero indicates no fault The subindexes of these parameters are related to each other i e parameter 945 with subindex 1 relates to subindex of parameter 947 and 948 Example 4 Configu
72. t 1 word 3 data set 2 word 1 data set 2 word 2 data set 2 word 3 oo AJ OJ N gt data set 3 word 1 99 data set 33 word 3 The parameter area is allocated as follows Parameter number with format xxyy where xx is the parameter group number 1 to 99 and yy is the parameter number index inside the group 01 to 99 Programming 37 6 PZD3 IN Process data word 3 ofthe PPO type sent from the drive to the PROFIBUS network The content is defined by a decimal number in the range of 0 to 32767 See parameter PZD3 OUT for description of decimal number allocation 7 to 20 PZD4 OUT to PZD10 IN See parameters PZD3 OUT and PZD3 IN 21 DP MODE Selects the PROFIBUS protocol version DP VO or DP V1 Note For DP VO GSD file version 1 or 2 ABB 0812 GSD must be used For DP V1 GSD file version 3 or higher ABB10812 GSD must be used 27 FBA PAR REFRESH Any parameter changes take effect only after the module is restarted Alternatively this parameter can be set to REFRESH The parameter will automatically revert to DONE Control locations ABB drives can receive control information from multiple sources including digital inputs analogue inputs the drive control panel and a communication module e g RPBA 01 ABB 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 giv
73. t up The following Service Access Points SAPs are used to initiate DP communication SAP no Short Name Name 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 0 Default SAP Data Exch Transfer Input and Output Data 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 0 B8h Station Status MsB 1 0 1 1 1 0 0 0 sb Reserved WD On 1 Watchdog on Freeze Req 1 Slave is requested to process in freeze mode Sync Req 1 Slave is requested to process in SYNC mode 00 Min TSDR and slave related Unlock Req Fe may be overwritten 10 Slave locked for other masters All parameters can be carried over x1 Slave released for other masters Lock Req Watchdog Factors 1 and 2 set by the PROFIBUS master WdFactor1 x WdFactor2 x 10 ms monitoring time of the slave to verify that the master is still active 3 OBh Minimum Station Delay Respond Time Time after which a slave station is allowed to send response frames to the master Calculated by multiplying the hex value with tg time required for transmitting one bit 4 5 0812h Vendor Identification for the RPBA 01 0812h 6 00h
74. tations Also referred to as node 16 bit word from slave to master with bit coded status messages Definitions and abbreviations Warning 109 Signal caused by an existing alarm which does not lead to tripping of the device PROFIBUS abbreviations The text in italics is the original German term con Ind req res ACT AK ALI CR DP DP ALI DP V1 FDL FMS FSU HIW HSW Confirmation Indication Request Response Actual Value Istwert Request Label Response Label Auftragskennung Antwortkennung Application Layer Interface Communication Reference Kommunikationsreferenz Kommunikationsbeziehung Decentralised Periphery Dezentrale Peripherie Application Layer Interface for DP PROFIBUS DP Extensions to the EN 50170 standard including e g acyclic data exchange Fieldbus Data Link Fieldbus Message Specification Manufacturer Specific Interface Firmenspezifischer Umsetzer Main Actual Value Hauptistwert Main Reference Hauptsollwert Definitions and abbreviations 110 ISW KR KB PA PD PKE PKW PNU PPO PWE PZD PZDO SAP SOW SPM STW ZSW see ACT see CR Process Automation Prozessautomatisierung Process Data Prozessdaten Parameter Identification Parameter Kennung Parameter Identification Value Parameter Kennung Wert Parameter Number Parameternummer Parameter Process Data Object Parameter Prozessdaten Objekt Parameter Value
75. tification The Sub index column corresponds to the IND part of Parameter Identification The Example No column refers to the examples on the following pages Data set area Range Example Index Sub index Decimal Request Label No Oh 1h 1 Oh 2h 2 R W 6 7 1 2 Oh 63h 99 Drive parameters Index Sub index Range Request Label Example Decimal No Oh 65h 101 Oh 66h 102 R W 6 7 1 2 27h OFh 9999 Write access depends on drive parameter type or operation mode DP VO communication 54 PROFIdrive parameters Index Sub index Range Request Label Example Decimal No 2h 2 3h 3 393h 915 R W 6 7 6 9h 9 2h 3h 3 394h 916 R W 6 7 7 9h 9 396h Oh 918 R W 1 2 3 4 Oh 1 9h 9 11h 17 3B3h 947 R 6 5 19h 25 21h 33 29h 41 3CCh Oh 972 R W 1 2 3 4 The complete PROFIdrive parameter list for the RPBA 01 can be found as a separate chapter elsewhere in this manual Note Continuous cyclic writing of PROFIdrive parameters should be avoided as the values of these parameters are stored in the flash memory of the RPBA 01 The estimated lifetime of the flash memory is 1 000 000 program erase cycles and continuous writing will cause the memory to fail prematurely DP VO communication 55 Example 1 Reading a d
76. tly to CHGND 5V and GND BUS are used for bus termination Some devices like optical transceivers RS485 to fibre optics might require external power supply from these pins RTS is used in some equipment to determine the direction of transmission In normal applications only the line A line B and shield are used Electrical installation 32 PROFIBUS wiring example The PROFIBUS cable shields are directly earthed at all nodes In the example below a recommended Siemens 6ES7 972 OBA12 0XA0 connector not included in the delivery is connected to the RPBA 01 module The cable is a standard PROFIBUS cable consisting of a twisted pair and screen Siemens 6ES7 972 0BA12 0XA0 connector an d 4n KIN WN e Xlo E Xlo 0000000000000 0000000000000 RPBA 01 RPBA 01 oO o0 PROFIBUS MASTER ee ee Pe et d Figure 4 Connection diagram for the standard PROFIBUS cable Note Further information on PROFIBUS wiring is available from the publication PROFIBUS RS 485 IS User and Installation Guideline www profibus com order no 2 262 Electrical installation 33 Programming Overview This chapter gives information on configuring the PROFIBUS master station and the drive for communication through the RPBA 01 PROFIBUS DP Adapter module Configuring the system After the RPBA 01 PROFIBUS DP Adapter module has been
77. uent response frames Resp XX XX XX XX XX XX XX XX XX XX XX XX 00 OB xx XX XX XX XX XX PZD3 Value of Drive Parameter 1 04 rn DP VO communication 62 DP VO communication 63 DP V1 communication Overview This chapter describes the PROFIBUS messaging used in the communication with the drive when the RPBA 01 module is in DP V1 mode PROFIBUS DP The RPBA 01 module 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 10 for the different PPO types and their composition 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 PROF Idrive The PROFIBUS Profile for Adjustable Speed Drives version 3 1 or the EN 50170 standard DP V1 communication 64 Communication star
78. way a PLC I Compatible PROFIBUS DP CiR Object Eee eo us CH B Address Q Address 44 PPO Type 5 256 263 256 263 EN 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 0 position e Set the bus termination switch to the desired position Insert the RPBA 01 into its specified slot in the drive SLOT2 for ACS550 SLOT1 for ACS800 Fasten the two screws Plug the fieldbus connector to the module Drive configuration Power up the drive The detailed procedure of activating the drive for communication with the module is dependent on the drive type Normally a parameter must be adjusted to activate the communication Refer to the Firmware Manual of the drive for Quick start up guide 22 information on the communication settings With an ACS550 drive set parameter 98 02 COMM MODULE LINK to EXT FBA With an ACS800 set parameter 98 02 COMM MODULE LINK to FIELDBUS and parameter 98 07 COMM PROFILE to ABB DRIVES or GENERIC according to PLC hardware configuration If the configuration is correct parameter group 51 should appear in the parameter list of the drive and show the status of the bus configuration parameters If the node address is to be set by software set the required address at parameter 51 02 NODE A

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