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Communication

Table 14. Response error codes

Byte

Value and meaning

ErrorCode

0xDF (Error Write)

0xDE (Error Read)

ErrorDecode 0x80 (PNIORW) ErrorCode1 decoded according to

Table 15.

ErrorCode2 is ‘0’

0x81 (PNIO) ErrorCode1 and ErrorCode2 decoded
according to

Table 15.

ErrorCode1

Error class and error code (see

Table 15.

below).

ErrorCode2

Not described here

Summary of Contents for RETA-02

Page 1: ...ABB Drives User s Manual Ethernet Adapter Module RETA 02 ...

Page 2: ......

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Page 5: ...ve 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 to discharge for 5 minutes 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...

Page 6: ...Safety instructions 6 ...

Page 7: ...g 13 Providing feedback on ABB Drives manuals 13 Overview Overview 15 Modbus TCP 15 PROFINET IO 15 The RETA 02 Ethernet Adapter module 16 Compatibility 17 Delivery check 17 Warranty and liability information 18 Quick start up guide Overview 19 Mechanical installation 19 Electrical installation 19 Drive configuration 19 Network configuration 20 Communication 21 Modbus TCP configuration 21 PROFINET ...

Page 8: ...unication profiles 51 The PROFIdrive communication profile 52 The Control Word and the Status Word 52 References 52 Actual values 54 The ABB Drives communication profile 60 The Control Word and the Status Word 60 References 60 Actual values 62 Communication Overview 69 Protocols 69 Modbus TCP 70 Register read and write 70 Register mapping 70 PROFINET IO 73 Overview 73 Introduction to PROFINET IO 7...

Page 9: ... I M 90 PROFIdrive profile specific parameters 93 Diagnostic and alarm mechanism 97 Fault buffer mechanism 100 Diagnostics LED indications 103 Led patterns 105 Definitions and abbreviations PROFINET IO definitions 107 Technical data RETA 02 109 Ethernet link 110 ...

Page 10: ...Table of contents 10 ...

Page 11: ...mportant 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 information on the wiring configuration and use of the RETA 02 Ethernet Adapter module Safety instructions are featured in the first few pages of this manual Overview contains a short description of the Ethernet protocols and the RETA ...

Page 12: ...ons concerning the PROFINET IO product family Technical data contains information on physical dimensions configurable settings and connectors of the module and the specification of the Ethernet link Terms used in this manual Communication Module Communication Module is a name for a device e g a fieldbus adapter through which the drive is connected to an external communication network e g a fieldbu...

Page 13: ... service inquiries Address any inquiries about the product to your local ABB representative quoting the type code and serial number of the unit in question A listing of ABB sales support and service contacts can be found by navigating to www abb com drives and selecting Drives Sales Support and Service network Product training For information on ABB product training navigate to www abb com drives ...

Page 14: ...Introduction 14 ...

Page 15: ...us TCP Specification 1 0 The supported Modbus commands are listed in chapter Communication The Modbus TCP protocol allows the RETA 02 module to be used as an Ethernet bridge to control the drive The RETA 02 module supports eight simultaneous IP connections Further information can be obtained from www modbus org PROFINET IO PROFINET IO uses traditional Ethernet hardware and software to define a net...

Page 16: ...the drive to a Ethernet network The drive is considered as a slave on the Ethernet network Through the RETA 02 Ethernet 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 t...

Page 17: ...rt multiple sub slots per slot Delivery check The option package for the RETA 02 Ethernet Adapter module contains Ethernet Adapter module type RETA 02 two screws M3x10 this manual Ethernet connector X1 see chapter Electrical installation Diagnostic LEDs See chapter Diagnostics DIP switch for selecting intranet IP address Fixing screw GND frame Top view Side view RETA 02 PROFIBUS ADAPTER CHASSIS X1...

Page 18: ...n 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 spec...

Page 19: ...SLOT1 for ACS800 Fasten the two screws Electrical installation Connect the Ethernet network cable RJ 45 connector to the RETA 02 module Standard CAT 5 UTP or STP cables can be used Avoid parallel runs with power e g motor cables Drive configuration Power up the drive In Modbus TCP mode the MODULE STATUS LED should be green If the network cable is connected to an active network the green LINK ACTIV...

Page 20: ...o enable communication through the Ethernet network the module needs a valid IP address There are numerous ways of setting the module IP address see chapter Network configuration One way to set the static IP address is to use the panel of the drive Set IP address to bus configuration parameters 51 04 51 07 subnet mask to parameters 51 08 51 11 and gateway address to parameters 51 12 51 15 if neces...

Page 21: ...For more detailed information on modifying the protocol specific settings see chapter Drive configuration Modbus TCP configuration Modbus TCP is based on data registers which hold IO and parameter values See chapter Communication for register mapping and supported function codes PROFINET IO configuration Install the RETA 02 GSDML file e g GSDML V2 0 ABBDrives RETA02 yyyymmdd xml where yyyy year mm...

Page 22: ...t of the inputs and outputs are freely configurable parameters The first four of them can be mapped either with the bus configuration parameters or the initial record data of the PLC The last four inputs and outputs can be mapped only with the initial record data of the PLC In this example the bus configuration parameters are used to map the first four and initial record data the last four of the ...

Page 23: ...Figure 4 Adding RETA 02 Vendor object to configuration Right click the device object and open the Object Properties menu Through this menu it is possible to change the device name in the hardware configuration Note The DCP configuration tool like Step7 must be connected to the Ethernet network to be able to set the name of the device Figure 5 RETA 02 object properties ...

Page 24: ...us Configuration parameters as the source for the input and output parameters 1 4 through the Properties menu of the Vendor Object PPO6 Configure the last four inputs and outputs If Stop Action selection is set to Fail safe values configure them as well Figure 7 Properties menu of the Vendor Object PPO6 ...

Page 25: ...ET IO 51 02 COMM RATE 0 Auto negotiation 51 03 DHCP 0 Disabled 51 04 51 07 IP ADDRESS 10 0 0 6 51 08 51 11 SUBNET MASK 255 255 255 0 51 12 51 15 GW ADDRESS 0 0 0 0 51 16 PROTOCOL 1 PROFINET IO 51 18 OUTPUT 1 4001 Gain for PID 51 19 OUTPUT 2 2202 Accel time 1 51 20 OUTPUT 3 2203 Decel time 1 51 21 OUTPUT 4 3401 Process variable 51 22 INPUT 1 103 Frequency 51 23 INPUT 2 104 Current 51 24 INPUT 3 106...

Page 26: ...ial record data After installing the GSD file drag and drop the RETA 02 PROFIdrive object to the PROFINET IO System Also drag and drop the Std Tgm 1 4 PZD to the configuration Figure 8 Adding PROFIdrive object to configuration Right click the device object and open the Object Properties menu Through this menu it is possible to change the device name in the hardware configuration Assign device name...

Page 27: ...he inputs and outputs has to be done through the Properties menu of the corresponding PZD Input 1 could be for example 103 Frequency Figure 10 Properties menu of a PZD After mapping the inputs and outputs they are visible also in the bus configuration parameters 18 24 The mapping cannot be ...

Page 28: ... 02 COMM RATE 0 Auto negotiation 51 03 DHCP 0 Disabled 51 04 51 07 IP ADDRESS 10 0 0 6 51 08 51 11 SUBNET MASK 255 255 255 0 51 12 51 15 GW ADDRESS 0 0 0 0 51 16 PROTOCOL 1 PROFINET IO 51 18 OUTPUT 1 Read only 4001 Gain for PID 51 19 OUTPUT 2 Read only 2202 Accel time 1 51 20 OUTPUT 3 Read only 2203 Decel time 1 51 21 OUTPUT 4 Read only 3401 Process variable 51 22 INPUT 1 Read only 103 Frequency 5...

Page 29: ...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 Set the IP ...

Page 30: ...Mechanical installation 30 ...

Page 31: ...rcuits to the inputs and outputs of the drive General cabling instructions Arrange the network cable as far away from the motor cables as possible Avoid parallel runs Use bushings at cable entries Ethernet connection The network cable is connected to the RJ45 connector X1 on the RETA 02 module Standard CAT 5 UTP and CAT 5 STP recommended cables can be used In case CAT 5 STP is used the cable shiel...

Page 32: ...Electrical installation 32 ...

Page 33: ...t Stop Direction Reference Fault Reset etc In order to give the fieldbus master station the most complete control over the drive the communication module must be selected as source for this information 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 Please refer to th...

Page 34: ...HCP disabled 1 DHCP enabled 1 DHCP enabled 4 IP address 1 0 255 0 5 IP address 2 0 255 0 6 IP address 3 0 255 0 7 IP address 4 0 255 0 8 Subnet mask 1 0 255 0 9 Subnet mask 2 0 255 0 10 Subnet mask 3 0 255 0 11 Subnet mask 4 0 255 0 12 GW address 1 0 255 0 13 GW address 2 0 255 0 14 GW address 3 0 255 0 15 GW address 4 0 255 0 0 16 Protocol 0 Modbus TCP 1 PROFINET IO 0 Modbus TCP 17 Modbus timeout...

Page 35: ...Drive configuration 35 23 Input 2 0 65535 0 24 Input 3 0 65535 0 25 Input 4 0 65535 0 26 In Out 1 4 src 0 Initial record data 1 Bus configuration parameters 2 Disable 2 ...

Page 36: ...hernet interface 3 DHCP The Dynamic Host Configuration Protocol DHCP is an Internet protocol for automating the configuration of computers that use TCP IP DHCP can be used to automatically assign IP addresses to deliver TCP IP stack configuration parameters such as the subnet mask and default router and to provide other configuration information 0 Auto negotiate 1 100 Mbit s full duplex 2 100 Mbit...

Page 37: ...fourth octet is defined by the DIP switch See chapter Network configuration 8 Subnet mask 1 9 Subnet mask 2 10 Subnet mask 3 11 Subnet mask 4 Subnet masks are used for splitting networks into subgroups or subnets A subnet mask is a binary pattern that is matched up with the IP address to turn part of the address field into a field for subnets These parameters define the four octets of the subnet m...

Page 38: ...n is activated Modbus timeout is the sum of communication fault time and the time defined here 18 Output 1 19 Output 2 20 Output 3 21 Output 4 When Modbus TCP protocol is in use these parameters define the output from master to drive data words or drive parameters that are updated more frequently Writing to and reading from the Modbus TCP register corresponding to the parameter is faster When PROF...

Page 39: ...e to master data words or drive parameters Output PZD Output 1 PZD3 Output 2 PZD4 Output 8 PZD10 0 Not used 1 99 Data set area of the drive 1 Data set 1 word 1 2 Data set 1 word 2 3 Data set 1 word 3 4 Data set 2 word 1 5 Data set 2 word 2 99 Data set 33 word 3 101 9999 Parameter area of the drive Format x xyy where x x actual signal group or parameter group yy actual signal or parameter index E g...

Page 40: ... according to the table below Inputs from 4 to 10 are defined separately in the PLC The contents are defined by a decimal number in the range of 0 to 65535 as follows Input PZD Input 1 PZD3 Input 2 PZD4 Input 8 PZD10 0 Not used 1 99 Data set area of the drive 1 Data set 1 word 1 2 Data set 1 word 2 3 Data set 1 word 3 4 Data set 2 word 1 5 Data set 2 word 2 99 Data set 33 word 3 101 9999 Parameter...

Page 41: ...ler or by using the RETA 02 configuration parameters described above Initial record data has a parameter that can be used to select the source in similar way 0 Initial record data IO Controller assigns input and output 1 4 values 1 RETA 02 configuration parameters 18 25 are used 2 Disable Use Input Output 1 4 parameter source selection parameter of the initial record data to select the source for ...

Page 42: ...Drive configuration 42 ...

Page 43: ...cts the data transfer rate used in the network Note PROFINET IO uses only 100 Mbit s in Full duplex mode The network configuration of the RETA 02 can be done using several methods The following flowchart shows the sequence in which different settings are read The table below gives detailed information on each different configuration methods ...

Page 44: ...IP switches 0 Use DHCP DHCP server timeout Bus config parameters 0 Configuration received Use stored settings Use configuration from DHCP server Use 192 168 0 xxx xxx DIP setting No No No No No Yes Yes Yes Yes Yes Wait for config through Gleaning or DCP protocols ...

Page 45: ...start up Only for intranet use IP address 192 168 0 xxx Subnet mask 255 255 255 0 Gateway 0 0 0 0 where xxx stands for a value between 1 and 254 and is selected by DIP switch S1 Example DIP settings DHCP BOOTP Automatically receive the configuration from a DHCP server A DHCP server is required on the network Intranet IP address S1 actuator positions Selected by software OFF oooooooo ON 12345678 19...

Page 46: ... d IP address The arp s command will store the IP and MAC addresses in the PC ARP table When the ping command is executed the PC will send the message to the module using the MAC address The module changes its IP address to the given one The MAC address of the module can be found on a label on the RETA 02 module DCP Discoveryand Configuration Protocol The DCP protocol is used for setting the IP ad...

Page 47: ...Step7 If some of the other methods is used to change the IP address the module must be restarted to enable any changes Duplicate IP address detection RETA 02 has a duplicate IP address detection mechanism when using Modbus TCP If the module detects another device on the network which has the same IP address it lids the Network status led in red and starts to blink the Module status led in red In P...

Page 48: ...Network configuration 48 ...

Page 49: ...based language called GSDML RETA 02 has a GSD file which is available from www profinet com www abb com or your local ABB representative The filename is GSDML Vx x ABB RETA02 yyyymmdd xml The GSD file describes vendor specific features and PROFIdrive specific features of the adapter Vendor specific features can be used e g in ABB Drives communication profile PROFIdrive mode supports a set of servi...

Page 50: ...Master configuration 50 ...

Page 51: ... Communication profiles are ways of conveying control commands Control word Status word references and actual values between the master station and the drive With the RETA 02 module the PROFINET IO network may employ either the PROFIdrive profile or the ABB Drives profile The following sections describe the Control word the Status word references and actual values for the PROFIdrive and ABB Drives...

Page 52: ... Table 6 respectively see the drive documentation for information on the drive specific bits The drive states are presented in the PROFIdrive State Machine Figure 11 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 A...

Page 53: ...00 of Nominal Speed or Maximum Reference depending on the drive type NOMINAL REF MIN NOMINAL REF1 0 0 ABSOLUTE LIMIT or 1 63 0 4000 REF1 0 4000 REF1 0 4000 REF1 0 4000 REF1 0 4000 REF1 0 REF MIN REF1 0 REF MIN REF MIN Reference range for ACS550 Reference range for ACS800 ABSOLUTE LIMIT or 1 63 0 4000 ...

Page 54: ...by a drive parameter Scaling The actual speed ACT in hexadecimal 0 4000h corresponds to 0 100 of Nominal Speed or Maximum Reference depending on the drive type NOMINAL REF MIN NOMINAL ACT1 0 0 ABSOLUTE LIMIT ACT1 0 4000 ACT1 0 4000 ACT1 0 4000 ACT1 0 4000 ACT1 0 REF MIN ACT1 0 REF MIN REF MIN Actual value range for ACS550 Actual value range for ACS800 ABSOLUTE LIMIT ...

Page 55: ...0 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_ ENABLE 1 Proceed to ENABLE OPERATION 0 Inhibit operation Proceed to OPERATION INHIBIT 4 RAMP_OUT_ ZERO 1 Normal operation Proceed to RAMP FUNCTION GENERATOR ENABLE OUTPUT 0 Stop acc...

Page 56: ...nal by drive parameters 0 Continue normal operation 8 INCHING_1 Inching 1 Not supported by all drive types 9 INCHING_2 Inching 2 Not supported by all drive types 10 REMOTE_ CMD 1 Fieldbus control enabled 0 Control Word 0 or Reference 0 Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled 11 to 15 Drive specific Bit Name Value Proceed to STATE Description ...

Page 57: ...A 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STA 1 OFF3 inactive 0 OFF3 ACTIVE 6 SWC_ON_INHIB 1 SWITCH ON INHIBIT ACTIVE 0 SWITCH ON INHIBIT NOT ACTIVE 7 ALARM 1 Warning Alarm 0 No Warning Alarm 8 AT_SETPOINT 1 OPERATING Actual value equals reference value i e is within tolerance limits 0 Actual value differs from reference value is outside tolerance limits 9 REMOTE 1 Drive control location REMOTE 0 Dr...

Page 58: ...Communication profiles 58 11 to 15 Drive specific Bit Name Value STATE Description ...

Page 59: ...3 1 C D CW Bit5 0 OPERATION ENABLE SW Bit2 1 SW Bit5 0 from any state from any state Emergency Stop OFF3 CW Bit2 0 n f 0 I 0 OFF3 ACTIVE Emergency Stop OFF2 CW Bit1 0 SW Bit4 0 OFF2 ACTIVE RFG ENABLE OUTPUT RFG ENABLE ACCELERATION OPERATING B B C D CW Bit4 0 CW Bit4 1 CW Bit5 1 D CW Bit6 0 A C CW Bit6 1 SW Bit8 1 D from any state Fault SW Bit3 1 FAULT CW Bit7 1 ON CW xxxx xxxx xxxx x111 CW Control...

Page 60: ...tatus Word are detailed in Table 7 and Table 8 respectively The drive states are presented in the ABB Drives profile state machine Figure 12 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 con...

Page 61: ...arameters See the drive documentation for further information REF MAX REF MIN REF MAX REFx 0 0 ABSOLUTE LIMIT or 1 63 20000 REF1 20000 REF1 20000 REFx 0 REF MIN REFx 0 REF MIN REF MIN Reference range for ACS550 Reference range for ACS800 ABSOLUTE LIMIT or 1 63 20000 REF2 10000 REF2 10000 REF1 20000 REF2 10000 REF1 20000 REF2 10000 ...

Page 62: ... values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See the drive documentation for further information NOMINAL REF MIN NOMINAL ACT1 0 0 ABSOLUTE LIMIT ACT1 20000 ACT1 20000 ACTx 0 REF MIN ACTx 0 REF MIN REF MIN Actual value range for ACS550 Actual value range for ACS800 ABSOLUTE LIMIT ACT2 10000 ACT2 10000 ACT1 20000 ACT2 10000 ACT1 20000 ACT2 10...

Page 63: ...N INHIBITED 2 OFF3_ CONTROL 1 Continue operation OFF3 inactive 0 Emergency stop stop within time defined by drive parameter Proceed to OFF3 ACTIVE proceed to SWITCH ON INHIBITED Warning Ensure motor and driven machine can be stopped using this stop mode 3 INHIBIT_ OPERATION 1 Proceed to OPERATION ENABLED Note Run enable signal must be active see drive documentation If the drive is set to receive t...

Page 64: ...This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Continue normal operation 8 to 9 Reserved 10 REMOTE_ CMD 1 Fieldbus control enabled 0 Control Word 0 or Reference 0 Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled Reference and deceleration acceleration ramp are locked 11 EXT_CTRL_ LOC 1 Se...

Page 65: ...D 0 OPERATION INHIBITED 3 TRIPPED 1 FAULT 0 No fault 4 OFF_2_STA 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STA 1 OFF3 inactive 0 OFF3 ACTIVE 6 SWC_ON_ INHIB 1 SWITCH ON INHIBITED 0 7 ALARM 1 Warning Alarm 0 No warning alarm 8 AT_ SETPOINT 1 OPERATING Actual value equals reference is within tolerance limits i e in speed control speed error is 10 max of nominal motor speed 0 Actual value differs from re...

Page 66: ...d in both directions of rotation 0 Actual frequency or speed within supervision limit 11 EXT_CTRL_ LOC 1 External Control Location EXT2 selected 0 External Control Location EXT1 selected 13 to 14 Reserved 15 1 Communication error detected by fieldbus adapter module 0 Fieldbus adapter communication OK Bit Name Value STATE Description ...

Page 67: ...FF2 CW Bit1 0 SW Bit4 0 B B C D CW Bit4 0 CW xxxx x1xx xxx1 1111 CW xxxx x1xx xx11 1111 D CW Bit6 0 A C CW xxxx x1xx x111 1111 SW Bit8 1 D from any state Fault SW Bit3 1 CW Bit7 1 CW xxxx x1xx xxxx x111 CW xxxx x1xx xxxx 1111 and SW Bit12 1 CW Control Word SW Status Word n Speed I Input Current RFG Ramp Function Generator f Frequency ABB Drives Communication Profile SWITCH ON INHIBITED NOT READY T...

Page 68: ...Communication profiles 68 ...

Page 69: ...ed in the communication with the drive Protocols The RETA 02 module supports the Modbus TCP protocol according to Modbus TCP Specification 1 0 and the PROFINET IO protocol Protocol can be selected with a parameter PROTOCOL Selection parameter 51 16 PROTOCOL Communication protocol 0 Modbus TCP 1 PROFINET IO ...

Page 70: ...er addresses Some parameters never allow writing e g actual signals some allow writing only when the drive is stopped e g set up variables and some can be modified at any time e g actual reference values Note Some of the drive parameters are not accessible via fieldbus These are e g 32 bit parameters Register mapping The drive parameters are mapped to the 4xxxx area as follows In this mapping the ...

Page 71: ...d in a cyclic interval Updating of parameter registers happens at a slower interval Parameter 4GGPP GG PP Data sets Each data set consists of 3 data words For example Data word 2 3 refers to the 3rd word in data set 2 40001 40096 00 Data sets 01 Data word 1 1 02 Data word 1 2 03 Data word 1 3 04 Data word 2 1 05 Data word 2 2 06 Data word 2 3 07 Data word 3 1 94 Data word 32 1 95 Data word 32 2 96...

Page 72: ...nimum and maximum limits Parameter is read only Function code Name Description Modbus class 03 Read holding registers Reads the binary contents of the holding registers 4X references in the slave 0 06 Preset single register Presets a value into a single holding register 4X reference 1 16 10h Preset multiple registers Presets values into a sequence of holding registers 4X references 0 23 17h Read W...

Page 73: ... for acyclic operations The Real Time RT channel is used for cyclic data transfer and alarms The third channel Isochronous Real Time IRT channel is used e g in motion control applications not implemented in RETA 02 PROFINET IO devices are structured in slots sub slots which can contain modules and submodules correspondingly Device can have almost any number of slots and sub slots and they can be v...

Page 74: ...her functional modules and sub modules which are described in the GSD file can be assigned to slot 1 and its sub slots In Vendor mode Slot 0 Device access point DAP Slot 1 sub slot 1 Vendor object PPO types Slot 1 sub slot 1 Acyclic parameter access MAP PAP In PROFIdrive mode Slot 0 Device access point Slot 1 Drive Object Slot 1 sub slot 1 Acyclic parameter access MAP PAP Slot 1 sub slot 2 Standar...

Page 75: ...ter has three different PPO types which differ only by the amount of freely configurable inputs and outputs Type 3 Type 4 Process data CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD3 SW ACT PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 Fixed area Freely mappable area OUT area Data sent from Master to Slave control data IN area Data sent from Slave to Master actual data Process Data CW Control Word SW S...

Page 76: ... Control Word the Status Word References and Actual Values see the chapter Communication profiles Acyclic parameter access mechanism Acyclic parameter access mechanism can be used to access PROFIdrive parameters drive parameters and the Identification Maintenance functions Note Acyclic parameter access mechanism can have delays up to two seconds and thus should not be used for time critical data P...

Page 77: ...l parameter request it will return a negative response with the error code 0xB5 State conflict In this case the read request will be repeated by the master until the RETA 02 has the PROFIdrive response data ready If the write request is invalid a negative response is returned with an error code Master Record Data Object Slave Parameter processing Parameter request Parameter response PROFIdrive Wri...

Page 78: ...s not evaluated by the parameter manager and a valid Parameter Access Point PAP should be used to access record data The PAP is located in subslot 1 of the slot 1 Base Mode Parameter Access Global The slot and subslot fields in the Record Data Object request header are not evaluated by the parameter manager The DO ID is used instead and it should have either value 0x00 or 0x01 RDREC WRREC BOOL REQ...

Page 79: ... described further below Table 13 Ethernet frame structure Dest addr and the Src addr are the destination and the source of the communication relationship The addresses are in hexadecimal format e g 00 30 11 02 57 AD Ether type is 0x800 for non real time communication IP and UDP fields contain the IP address of the source and the destination as well as the communication ports and length of the mes...

Page 80: ...rorCode 0xDF Error Write 0xDE Error Read ErrorDecode 0x80 PNIORW ErrorCode1 decoded according to Table 15 ErrorCode2 is 0 0x81 PNIO ErrorCode1 and ErrorCode2 decoded according to Table 15 ErrorCode1 Error class and error code see Table 15 below ErrorCode2 Not described here ...

Page 81: ...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 unavaila...

Page 82: ... 0x80 UI8 Operation Read or Write operation Write 0x08 Read 0x09 UI8 Block length Length of the block 0 0xFFFF UI16 ARUUID Identifier time low time mid time high and version clock node UI32 UI16 UI16 Octet 2 Octet 6 API Application Process Identifier Device Access Point 0x0000 PROFIdrive 0x3A00 UI32 Slot Slot of the Module Access Point MAP PAP 0x01 UI16 Subslot Subslot of the Module Access Point M...

Page 83: ...e below for more details Additional value 1 response only Field for transferring additional data UI16 Additional value 2 response only Field for transferring additional data UI16 Padding 24 bytes for request 20 bytes for response Data block Used only with write request and read response ...

Page 84: ...Description 0x20 Text 0x30 Byte No of Elements Number of array elements accessed or length of string accessed Set to 0 if non array parameters are used 0 1 234 Byte Parameter Index group Address of the PROFIdrive parameter that is being accessed Also 0 is allowed by RETA 02 Parameter group of the drive when accessing drive parameters 1 65535 Word Subindex parameter Addresses the first array elemen...

Page 85: ...quest In case of odd number of bytes a zero byte is appended to ensure the word structure of the telegram See Format field Only if Request ID is 0x02 Change Parameter The Format Number of Values and Values fields are repeated for other parameters ...

Page 86: ...be set to 1 0 255 No of Parameters Number of parameters that are present in the response 1 37 Format See Table 21 See Table 21 Number of Values Number of values following 0 234 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 0x01 Request Parameter OK The Format Number of Values and Values fi...

Page 87: ...al to 0 when this is not permitted 0x07 Description element cannot be changed Change access to a description element that cannot be changed 0x09 No description data available Access to unavailable description parameter value is available 0x0B No operation priority Change access rights without rights to change parameters 0x0F No text array available Access to text array that is not available parame...

Page 88: ... which does not exist 0x65 0xFF Manufacturer specific 0x65 Vendor specific error Vendor specific error 0x66 Request not supported Request not supported 0x67 Communication error Request cannot be completed because of communication error 0x6F Time out error Request aborted due to time out 0x78 PZD map failure Parameter cannot be mapped to PZD size mismatch or non existent 0x79 PZD memory failure Par...

Page 89: ...r 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 04 100 1204 0x04B4 Write request Read parameter value 01 01 B0 2F 0A 05 01 01 01 10 01 00 04 00 B4 Command PROFIdrive Parameter Channel Subindex Parameter in...

Page 90: ...ation tool like DTM Tool or using the Record data object s read request 01 01 B0 2F 08 05 01 01 01 42 01 05 64 Response PROFIdrive Parameter Channel 01 01 B0 2F 08 05 81 01 01 44 01 00 14 Response PROFIdrive Parameter Channel Parameter value Number of values Format 0x42 Word Number of parameters DO ID Response ID Response reference mirrored Data length Index Subslot number Slot number PROFIdrive e...

Page 91: ...Communication 91 Structure of the I M functions is described in the following tables Function Record Data Index I M 0 0xAFF0 I M 1 0xAFF1 I M 2 0xAFF2 I M 3 0xAFF3 I M 4 0xAFF4 ...

Page 92: ...ision counter 2 bytes Number of revision Profile ID 2 bytes PROFIdrive 0x3A00 Profile specific type 2 types No profile specific type 0x0000 I M version 2 types Version is 1 1 0x0101 Supported I M functions 2 types I M0 I M4 are supported 0x0017 Content Size Description Header 10 bytes TAG_FUNCTION 32 bytes The function or task of the drive can be described here TAG_LOCATION 22 bytes The location o...

Page 93: ...54 bytes Security code for identifying sessions and changes Para meter Mode R W Data type Description 915 V P R Array 10 Unsigned16 Assignment PZD1 to PZD10 in setpoint telegram 916 V P R Array 10 Unsigned16 Assignment PZD1 to PZD10 in actual value telegram 919 V P R Visible String16 Device system number 922 P R Unsigned16 Telegram selection 923 P R Array n Unsigned16 List of all parameters for si...

Page 94: ...de 944 V P R Unsigned16 Fault message counter 945 V P R Array 64 Unsigned16 Fault code Channel Error Type table 23 Note The drive may limit the actual number of faults recorded Subindex Contents 0 Active fault 8 Last ackn fault 16 Second last ackn fault 24 Third last ackn fault 32 Fourth last ackn fault 40 Fifth last ackn fault 946 V P R Array n Unsigned16 Fault code list Fault code list contains ...

Page 95: ...Second last alarm 955 V P R Unsigned16 Third last alarm 956 V P R Unsigned16 Fourth last alarm 957 V P R Unsigned16 Fifth last alarm 964 V P R Array 6 Unsigned16 Device identification Subindex Contents 0 Manufacturer 1 Device type 2 Version 3 Firmware date year 4 Firmware date day month 5 Number of Drive Objects DO 965 P R Octet String2 Profile number of this device 0329h Profile 3 Version 41 967 ...

Page 96: ...ation Subindex Contents 0 Manufacturer 1 DO type 2 Version 3 Firmware date year 4 Firmware date day month 5 PROFIdrive DO type class 0x0001 Axis 6 PROFIdrive DO sub class 1 Application class 7 Drive Object ID 0x0001 976 V P R W Unsigned16 Load device parameter set Value Description 0 No action 1 Changes parameters to factory settings The parameter must do a zero to one transition and the motor mus...

Page 97: ...255 0x00 980 P R Array n Unsigned16 Number list of defined PROFIdrive parameters 989 P R Array n Unsigned16 Number list of defined PROFIdrive parameters 61000 V P R VisibleString24 Name of station 61001 V P R Unsigned32 IP of station 61002 V P R Array 6 Unsigned8 MAC of station 61003 V P R Unsigned32 Default gateway of station 61004 V P R Unsigned32 Subnet mask of station Read and or Write Support...

Page 98: ...ed from the system or if it is modified OB86 indicates if there is a failure or event in the distributed periphery If the CPU calls a device that is not accessible the OB122 is called Table 21 Alarm notification Attribute Description BlockHeader AlarmType PROFINET specific alarm type API 0x3A00 PROFIdrive profile SlotNumber Slot number of the Drive Object DO SubslotNumber Subslot number of the sub...

Page 99: ...upply 3130 3220 0x9003 DC_OVERV DC link overvoltage 0x9004 POWER_ELEC Power electronics 2211 2212 2300 2310 2312 2340 3381 5410 5441 5442 5481 5482 7110 7114 0x9005 OVERTEMP Overtemperature electronic device 4110 4210 4280 4310 0x9006 EARTH Earth ground fault 2330 0x9007 MOTOR_OVR Motor overload 7121 7122 0x9008 FB Fieldbus system 0x9009 SAFETY Safety channel 0x900A FEEDBACK feedback 5210 0x900B I...

Page 100: ...r fault code and fault time can be accessed simultaneously with only one subindex The mechanism consists of six PROFIdrive parameters PNU944 Fault message counter PNU945 PROFIdrive fault codes presented in the table above PNU946 Fault code list converts fault numbers to fault codes PNU947 Fault numbers according to DRIVECOM profile PNU948 Fault time PNU952 Fault situation counter ...

Page 101: ...ub index Actual fault situation n 0 4210 0 9005 TimeX 0 0 0 0 1 0 0 0 2 0 0 0 3 0 0 0 4 0 0 0 5 0 0 0 6 0 0 0 7 Fault situation n 1 0 7510 0 900B TimeY 8 0 0 0 9 0 0 0 10 0 0 0 11 0 0 0 12 0 0 0 13 0 0 0 14 0 0 0 15 Fault situation n 7 0 0 0 56 0 0 0 57 0 0 0 58 0 0 0 59 0 0 0 60 0 0 0 61 0 0 0 62 0 0 0 63 ...

Page 102: ...9 The rows of the fault buffer are represented by the parameter sub indices Fault messages are entered into the buffer in the sequence they are detected Each line in the fault buffer represents a fault message which is a part of a fault situation Fault situation lasts from a detection of a fault to its acknowledgement Faults that are detected during an active fault are included to the fault situat...

Page 103: ... Green Off No power or IP address Flashing green Waiting for connections Steady green At least one Modbus TCP connection is open against the module Flashing red Connection timed out No message has been received within configured time Steady red Duplicate IP address Module Status Red Green Steady green Normal operation Flashing red Minor fault e g communication with application lost but recoverable...

Page 104: ...ection with IO controller established RUN mode Module Status Red Green Off Module not powered or initialized Steady green Module initialized Flashing green pattern 1 Diagnostic data available Flashing green pattern 2 Used by a configuration tool to identify the device with a blink Steady red Permanent host communication lost Flashing red pattern 1 Configuration error Flashing red pattern 2 No IP a...

Page 105: ...2 1500 1250 Lit ms ms Pattern 3 ms 1750 2000 Lit Pattern 4 ms 2250 2500 Lit ms Pattern 5 2750 3000 Lit 1000 500 250 750 Lit 1500 1250 Lit 1000 500 250 750 Lit 1500 1250 Lit 1750 2000 Lit 1000 500 250 750 Lit 1500 1250 Lit 1750 2000 Lit 2250 2500 Lit 1000 500 250 750 Lit ...

Page 106: ...Diagnostics 106 ...

Page 107: ...trol signals sometimes called the Command Word Cyclic Communication Communication in which Parameter Process Data Objects are sent cyclically at predefined intervals Device Class Classification according to the number of profile functions included in the device Fault Event that leads to tripping of the device GSD File ASCII format device description file in a specified form Each device active pass...

Page 108: ...tus Word and Actual value May also contain other user definable control information Profile Adaptation of the protocol for certain application field e g drives Request Label Coded information specifying the required service for the parameter part sent from master to slave Response Label Coded information specifying the required service for the parameter part sent from slave to master Slave Passive...

Page 109: ...nditions The applicable ambient conditions specified for the drive in its Hardware Manual are in effect Settings Parameters set through the drive 8 way DIP switch for intranet IP address selection 95 mm 34 mm 20 mm 62 mm RETA 01 PROFIBUS ADAPTER CHASSIS X1 NETWORK S1 IP ADDRESS NOT USED LINK ACTIVITY MODULE STATUS NETWORK STATUS GND 1 2 3 4 5 6 7 8 ON ...

Page 110: ...es with EMC standards EN 50081 2 and EN 50082 2 Ethernet link Compatible devices Ethernet standard IEEE 802 3 and 802 3u devices Medium 10base TX or 100base TX Termination Internal Wiring CAT 5 UTP CAT 5 FTP or CAT 5 STP Recommended Connector RJ 45 Maximum segment length 100 m Topology Bus star Serial communication type Half and full Duplex Transfer rate 10 100 Mbps Carrier protocol TCP IP Applica...

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Page 112: ...ologies Drives Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Fax 262 780 5135 ABB Beijing Drive Systems Co Ltd No 1 Block D A 10 Jiuxianqiao Beilu Chaoyang District Beijing P R China 100015 Telephone 86 10 5821 7788 Fax 86 10 5821 7618 Internet www abb com 3AFE68895383 Rev A EN EFFECTIVE 16 07 2007 ...

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