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ABB RPBA-01, User Manual

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ABB RPBA-01 User Manual Download Page 80

DP-V1 communication

80

PROFIBUS SD2 telegram for SAP 51

The Read/Write service uses a variable-length PROFIBUS SD2 
telegram shown below.

Figure 14.  PROFIBUS SD2 telegram

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

Data unit

DP-V1 Command/Response

PROFIdrive V3 Parameter Channel

DU0

DU1

DU2

DU3

Request/Response header 

(see Table 

18

/

19

 below)

Data

Byte

Meaning

Value

DU0

Function number

See Table 

15

 below

DU1

Slot number

1 = Drive parameter access

DU2

Index

47 (0x2F)

DU3

Data length

(Depends on type of message)

DU4…DUn

PROFIdrive data

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

Summary of Contents for RPBA-01

Page 1: ...ABB Drives User s Manual PROFIBUS DP Adapter Module RPBA 01 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 2: ...Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 3: ...PROFIBUS DP Adapter Module RPBA 01 User s Manual 3AFE 64504215 REV F EN EFFECTIVE 20 06 2005 2005 ABB Oy All Rights Reserved Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 4: ...Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 5: ...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...

Page 6: ...Safety instructions 6 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 7: ...is manual 13 Further information 13 Overview 15 Overview 15 PROFIBUS standard 15 The RPBA 01 PROFIBUS DP Adapter module 16 Compatibility 17 Delivery check 17 Warranty and liability information 18 Quick start up guide 19 Overview 19 PLC configuration 19 Mechanical and electrical installation 21 Drive configuration 21 Parameter setting examples 23 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr c...

Page 8: ...cations 37 DP V0 communication 39 Overview 39 PROFIBUS DP 39 Service Access Points 39 Communication start up 40 PPO message types 45 The Control Word and the Status Word 46 References 46 Actual Values 46 Parameter handling in cyclic communication DP 51 DP V1 communication 63 Overview 63 PROFIBUS DP 63 Service Access Points 63 Communication start up 64 PPO message types 71 The Control Word and the ...

Page 9: ...data transfer examples 88 Fault tracing 99 LED indications 99 PROFIdrive parameters 101 Definitions and abbreviations 107 PROFIBUS definitions 107 PROFIBUS abbreviations 109 Technical data 111 RPBA 01 111 PROFIBUS link 113 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 10: ...Table of contents 10 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 11: ... 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 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 deliver...

Page 12: ...he 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 conf...

Page 13: ...rs DP V0 communication and DP V1 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 instruc...

Page 14: ...Introduction 14 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 15: ... 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 log...

Page 16: ...ange 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 V0 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 S...

Page 17: ...OFIBUS DP Adapter module contains PROFIBUS DP Adapter module type RPBA 01 two screws M3x10 this manual Bus connector X1 see chapter Electrical installation Diagnostic LEDs See chapter Fault tracing PROFIBUS master Slave stations ABB Drive ABB Drive Rotary node address selection switches DIP switch for selecting bus termination Fixing screw GND frame Top view Side view Phone 800 894 0412 Fax 888 72...

Page 18: ...mbient 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 consequentia...

Page 19: ... 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 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 20: ...Quick start up guide 20 Select the operation mode PROFIDRIVE i e Generic or VENDOR SPECIFIC i e ABB Drives Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 21: ... 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 Manu...

Page 22: ... 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 ADDRESS Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email...

Page 23: ...rams For example 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 PA...

Page 24: ...p commands and reference are according to the PROFIdrive profile See the PROFIBUS state machine on page 77 The reference value 16384 4000h corresponds to the nominal speed of the motor parameter 99 08 in forward and reverse directions Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 25: ...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...

Page 26: ...nce value 20000 decimal corresponds 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...

Page 27: ...tion 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 bus termination switch of the module to the required position Note Correct installation of t...

Page 28: ...Mechanical installation 28 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 29: ...trol circuits to the inputs and outputs of the drive 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 O...

Page 30: ... 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 parame...

Page 31: ... used 8 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 directly 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 I...

Page 32: ...OFIBUS cable consisting of a twisted pair and screen 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 profibus website order no 2 262 X1 4 3 2 1 A B A B SHLD PROFIBUS RPBA 01 X1 4 3 2 1 MASTER B A A B A B GND SHLD RPBA 01 Siemens 6ES7 972 0BA12 0XA0 connector ...

Page 33: ...B_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 t...

Page 34: ...1 configuration parameters Par no Parameter name Alternative settings Default setting 1 MODULE TYPE Read only PROFIBUS DP 2 NODE ADDRESS 0 to 126 3 3 BAUD RATE 1 12000 12 Mbit s 6000 6 Mbit s 3000 3 Mbit s 1500 1 5 Mbit s 500 500 kbit s 187 187 5 kbit s 93 93 75 kbit s 45 45 45 kbit s 19 19 2 kbit s 9 9 6 kbit s Read only 1500 4 PPO TYPE 1 1 PPO 1 2 PPO 2 3 PPO 3 4 PPO 4 5 PPO 5 6 PPO 6 Read only ...

Page 35: ...d 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 19 PZD10 OUT See PZD3 OUT above 0 20 PZD10 IN See PZD3 OUT above 0 21 DP MODE 0 DPV0 1 DPV1 0 27...

Page 36: ...ange of 0 to 32767 as follows 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 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 1 data set 1 word 1 2 ...

Page 37: ... 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 informa...

Page 38: ...Programming 38 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 39: ...he 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 ...

Page 40: ...ime of the slave to verify that the master is still active 3 0Bh 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 tBit time required for transmitting one bit 4 5 0812h Vendor Identification for the RPBA 01 0812h 6 00h Group Identification Reserved Sync_Req Unlock_Req Lock_Req Freeze_Req...

Page 41: ...tion 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 PRO...

Page 42: ...the drive to select the PPO type 25 26 0 65536 Fail safe PZD8 27 28 0 65536 Fail safe PZD9 29 30 0 65536 Fail safe PZD10 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 Phon...

Page 43: ...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 x 0 x x x 1 x x Diag Prm_Req Set by Slave Slave requires re configuration and re parameterisation Diag Stat_Diag Set by S...

Page 44: ...sis including this byte Fixed to 2 7 Ext_Diag_Data Bit 0 Communication temporarily lost Bit 1 Communication permanently lost Bit 2 7 Not used 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 Diag_Data Diagnostic Data Type Octet String Length 6 Standard 2 Extended Diagnos...

Page 45: ...W2 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 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 7 SW Status Word see Table 8 REF Reference ACT Actual Value PZD Process D...

Page 46: ...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 in...

Page 47: ...eration OFF2 inactive 0 Emergency OFF coast to stop Proceed to OFF2 ACTIVE proceed further to SWITCH ON INHIBIT 2 OFF3 1 Continue operation OFF3 inactive 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 ...

Page 48: ...g 1 See the drive documentation for information 9 INCHING_2 Inching 2 See the drive documentation for information 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 See the drive documentation for information Bit Name Value STATE Description 0 RDY_ON 1 READY...

Page 49: ...rence 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 Drive control location LOCAL 10 ABOVE_LIMIT 1 Actual frequency or speed value equals or is greater than supervision limit 0 Actual frequency or speed value is within supervision limit 11 to 15 Drive specific Bit Name Value STATE Description P...

Page 50: ...t2 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 Word SW Status Word n Speed I Input Cur...

Page 51: ...ve Request Function Response labels Ackn Ackn 0 No task 0 1 Request parameter value 1 2 7 2 Change parameter value word 1 7 8 3 Change parameter value double word 2 7 8 4 Request description element not supported 3 7 5 Change description element not supported 3 7 8 6 Request parameter value array 4 5 7 8 7 Change parameter value array word 4 7 8 8 Change parameter value array double word 5 7 8 9 R...

Page 52: ...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 mismatc...

Page 53: ...rresponds to the IND part of Parameter Identification The Example No column refers to the examples on the following pages Data set area Index Sub index Range Decimal Request Label Example No 0h 1h 1 R W 6 7 1 2 0h 2h 2 0h 63h 99 Drive parameters Index Sub index Range Decimal Request Label Example No 0h 65h 101 R W 6 7 1 2 0h 66h 102 27h 0Fh 9999 Write access depends on drive parameter type or oper...

Page 54: ...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 PROFIdrive parameters Index Sub index Range Decimal Request Label Example No 393h 2h 915 2 R W 6 7 6 3h 3 9h 9 394h 2h 916 2 R W 6 7 7 3h 3 9h 9 396h 0h 918 R W 1 2 3 4 3B3h 0h 947 1 R 6 5 9h 9 11h 17 19h 25 21h 33 29h 41 3CCh 0h 972 R W 1 2 3...

Page 55: ... 84 11 INPUT 1 from the drive 84 11 100 8411 20DBh Parameter number is 20 and subindex is DB 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 CW REF Parameter Number 20h Request Read parameter value array Subindex DBh PZD3 PZD4 PZD5 PZD6 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 Dec Parameter Number 20h Response C...

Page 56: ...ONSTANT SPEED 1 12 02 100 1202 04B2h Parameter is 04 and subindex is B2 Req 70 04 B2 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00 Resp 40 04 B2 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00 Parameter Value 100 Dec CW REF Parameter Number 04h Request Change parameter value array Subindex B2h PZD3 PZD4 PZD5 PZD6 SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 Dec Parameter Number 04h Respo...

Page 57: ... slave returns its station number 2 Read 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 Param Value CW REF IND Parameter Number 918 Dec Request Parameter value read Response Parameter value updated Parameter Number 918 Dec IND Param Value SW ACT Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 58: ...t the drive always observes the Control Word CW and Reference REF bytes The values shown below are examples Write Request 23 CB 00 00 00 00 00 01 04 7F 34 15 Response 13 CB 00 00 00 00 00 00 03 37 34 15 Param Value CW REF IND Parameter Number 971 Dec Request Parameter value write Response Parameter value updated Parameter Number 971 Dec IND Param Value SW ACT Phone 800 894 0412 Fax 888 723 4773 We...

Page 59: ...ve 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 Read Request 63 B1 09 00 00 00 00 00 04 7F 34 15 Response 43 B1 09 00 0...

Page 60: ...is taken from Parameter Value selects the drive parameter to which that word is mapped 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 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 Parameter Value 1202 Dec CW REF Parame...

Page 61: ...meter Value defines which drive parameter is mapped to that word Subsequent response frames 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 Resp xx xx xx xx xx xx xx xx xx xx xx xx 00 0B xx xx xx xx xx xx Parameter Value 104 Dec CW REF Parameter Number 916 Dec Request Change parameter value array Subindex 03 PZD3 PZD3...

Page 62: ...DP V0 communication 62 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 63: ...he 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...

Page 64: ...r2 10 ms monitoring time of the slave to verify that the master is still active 3 0Bh 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 tBit time required for transmitting one bit 4 5 0812h Vendor Identification for the RPBA 01 0812h 6 00h Group Identification Reserved Sync_Req Unlock_Re...

Page 65: ... 1 1 ms Dis_Stop_Control Disable Stop Bit Control 0 Stop bit monitoring in receiver enabled 1 Stop bit monitoring in receiver disabled 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 Phone 800 894 0412 Fax 888 723 4773 Web www clr...

Page 66: ...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 0 0 0 x x x x x 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 al...

Page 67: ... 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 th...

Page 68: ...c 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 27 28 0 65536 Fail safe PZD8 29 30 0 65536 Fail safe PZD9 31 32 0 65536 Fail safe PZD10 Cfg_Data Configuration Data Type Octet String Length 4 to 28 PPO Type Hex Values PROFIdrive parameter enable...

Page 69: ... 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 MSB LSB x 0 x x x 1 x x Diag Prm_Req Set by Slave Slave requires re configuration and re parameterisation Diag Stat_Diag Set by Slave...

Page 70: ...Specifier 0x00 10 Communication Diagnostic 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 Diag_Data Diagnostic Data Type Octet String Length 6 Standard 2 Extended Diagnosis Byte Description Diag Ext_Diag_Overflow Set by Slave Reserved x 0 0 0 0 0 0 0 MSB LSB Reserved C...

Page 71: ...6 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 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 D...

Page 72: ...d 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 ...

Page 73: ...peration OFF2 inactive 0 Emergency OFF coast to stop Proceed to OFF2 ACTIVE proceed further to SWITCH ON INHIBIT 2 OFF3 1 Continue operation OFF3 inactive 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...

Page 74: ...the drive documentation for information 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 Vendor specific bit as defined by PROFIdrive parameter 933 12 Vendor specific bit as defined by PROFIdrive parameter 934 13 Vendor specific bit as defined by PROFIdrive parameter 935 14 Ve...

Page 75: ...3 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 Drive control location LOCAL 10 ABOVE_LIMIT 1 Actua...

Page 76: ...ocumentation 13 Vendor specific bit as defined by PROFIdrive parameter 941 See the drive documentation 14 Vendor specific bit as defined by PROFIdrive parameter 942 See the drive documentation 15 Vendor specific bit as defined by PROFIdrive parameter 943 See the drive documentation Bit Name Value STATE Description Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 77: ... 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 Word SW Status Word n Speed I Input Curre...

Page 78: ...BA 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 Master DP V1 Slave Parameter processing Parameter request Parameter response PROFIdrive Write request DB47 Write res...

Page 79: ... 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 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 80: ... FC Function Code DSAP Destination Service Access Point SSAP Source Service Access Point DU Data Unit for DP services FCS Frame Checking Sequence ED End Delimiter Data unit DP V1 Command Response PROFIdrive V3 Parameter Channel DU0 DU1 DU2 DU3 Request Response header see Table 18 19 below Data Byte Meaning Value DU0 Function number See Table 15 below DU1 Slot number 1 Drive parameter access DU2 In...

Page 81: ... RES 0xD1 Data transport negative response 0xD7 Initiate negative response 0xDC Alarm negative response 0xDE Read negative response 0xDF Write negative response Byte Meaning and value DU0 Function number 0xDF Error Write 0xDE Error Read DU1 Error_Decode 0x80 DP V1 PROFIdrive Always 128 DP V1 codes DU2 Error_Code_1 Error class error code see Table 17 below DU3 Error_Code_2 Always 0 Phone 800 894 04...

Page 82: ... 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 x x x x x x x x MSB LSB Phone 800 894 0412...

Page 83: ...essed Set to 0 if non array parameters are used 0 1 234 Byte Parameter Index Address of the parameter that is being accessed 0 is allowed by RPBA 01 1 65535 Word Subindex Addresses the first array element of the parameter or the beginning of a string access or the text array or the description element that is being accessed 0 65535 Word Format See Table 20 See Table 20 Byte Number of Values Number...

Page 84: ...ber of parameters that are present in the response 1 37 Format See Table 20 See Table 20 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 01h Request Parameter OK The Format Number of Values and Values fields are repeated for other parameters ...

Page 85: ...7h Description element cannot be changed Change access to a description element that cannot be changed 09h No description data available Access to unavailable description parameter value is available 0Bh No operation priority Change access rights without rights to change parameters 0Fh No text array available Access to text array that is not available parameter value is available 11h Request canno...

Page 86: ...ported Request not supported 67h Communication error Request cannot be completed because of communication error 68h 6Dh Manufacturer specific 6Eh Non volatile error Failure during write to non volatile memory 6Fh Time out error Request aborted because of timeout 70h 77h Manufacturer specific 78h PZD map failure Parameter cannot be mapped to PZD size mismatch or non existent 79h PZD memory failure ...

Page 87: ...ific 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 FFh Manufacturer specific Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 88: ...e 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 4B4h DP V1 Write request Read parameter value DP header 5F 01 2F 0A 05 01 01 01 10 01 00 04 00 B4 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel Subindex Parameter index Number of elements Attribu...

Page 89: ...railer DP V1 Response PROFIdrive V3 Parameter Channel Parameter value Number of values Format 42h Word Number of parameters Axis Response ID Response reference mirrored Data length Index Slot number Function number PROFIdrive error code Number of values Format 44h Error Number of parameters Axis mirrored Response ID Response reference mirrored Data length Index Slot number Function number Phone 80...

Page 90: ... 10 01 00 04 00 B4 DP V1 Command PROFIdrive V3 Parameter Channel 10 01 00 04 00 B5 Par Channel continued 10 01 00 04 00 B6 DP trailer Par Channel continued Subindex Parameter index Number of elements Attribute 10h Value Number of parameters Axis Request ID 01h Request Parameter Request reference Data length Index Slot number Function number Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Em...

Page 91: ...subindex IND and the high byte is the parameter index PNU For example drive parameter number 12 02 corresponds to 12 02 100 1202 4B2h DP header 5F 01 2F 10 06 01 01 03 42 01 01 90 DP V1 Response PROFIdrive V3 Parameter Channel 42 01 03 84 Par Channel cont d 42 01 01 F4 DP trailer Par Channel cont d Parameter value Number of values Format 42h Word Number of parameters Axis Response ID Response refe...

Page 92: ...ameter Channel Subindex Number of elements Attribute 10h Value Number of parameters Axis Request ID 02h Change Request reference Parameter index Value Format 42h Word Number of values Data length Index Slot number Function number Response ID Request reference mirrored Axis mirrored Data length Index Slot number Slot number Number of parameters Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com...

Page 93: ...V1 Command PROFIdrive V3 Parameter Channel 10 01 00 04 00 B3 Par Channel continued 42 01 01 2C Par Channel cont d 42 01 01 F4 DP trailer Par Channel cont d Subindex Parameter index Number of elements Attribute 10h Value Number of parameters Axis Request ID 02h Change Parameter Request reference Data length Index Slot number Function number Value Number of values Format 42h Word Phone 800 894 0412 ...

Page 94: ...ve V3 Parameter Channel DP header 5F 01 2F 0A 09 01 01 01 10 00 03 96 00 00 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel Response ID Request reference mirrored Axis mirrored Data length Index Slot number Slot number Number of parameters Attribute Axis Request ID Request reference Number of parameters Subindex Number of elements Parameter index Data length Index Slot number Function num...

Page 95: ...ess 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 Subin...

Page 96: ...01 01 42 01 00 68 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Subindex Number of elements Attribute 10h Value Number of parameters Axis Request ID 02h Change Request reference Parameter index Value Format 42h Word Number of values Data length Index Slot number Function number Number of parameters Response ID Request reference mirrored Axis mirrored Value or error values Format 42h Wo...

Page 97: ...e source of PZD3 as drive param 12 05 4B5h DP header 5F 01 2F 0A 0B 01 01 01 10 01 03 94 00 03 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel DP header 5E 01 2F 08 0B 01 01 01 42 01 04 B5 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Attribute 10h Value Axis Request ID 01h Read Request reference Number of parameters Subindex Number of elements Parameter index Data length Inde...

Page 98: ...DP V1 communication 98 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 99: ...equal to the length contents set during configuration of the network Check that the selected DP mode matches the GSD file used see configuration parameter 21 DP MODE on page 37 Flashing 4 Hz Error in initialisation of the PROFIBUS communication ASIC Off No diagnostics present On Line Green Lit Module is On Line and data exchange is possible Off Module is not On Line Off Line Red Lit Module is Off ...

Page 100: ...ation Green Lit Link functional Red Lit Link lost permanently Flashing Link lost temporarily Name Colour Function Off line ERROR Host Indication On line Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 101: ...art 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 ...

Page 102: ...13 See parameter 933 for coding 936 R W Unsigned16 Selection switch for Control word 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 applicati...

Page 103: ... 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 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 ...

Page 104: ... 967 R Unsigned16 Control word CW 968 R 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 t...

Page 105: ...n 0 No action 1 Re boot PROFIBUS module The parameter must do a zero to one transition and the motor must be stopped Read and or Write Support depends on drive type Para meter R W Data type Description Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 106: ...PROFIdrive parameters 106 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 107: ...bit coded control signals sometimes called the Command Word Cyclic Communication Communication in which Parameter Process Data Objects are sent cyclically at pre defined intervals Device Class Classification according to the number of profile functions included in the device Drivecast Broad and Multicast a special message frame for drives Fault Event that leads to tripping of the device GSD File A...

Page 108: ...hat contains Parameter and Process Data Process Data Data that contains Control Word and Reference value or Status Word and Actual value May also contain other user definable control information Profile Adaptation of the protocol for certain application field e g drives Request Label Coded information specifying the required service for the parameter part sent from master to slave Response Label C...

Page 109: ...plication Layer Interface CR Communication Reference Kommunikationsreferenz Kommunikationsbeziehung DP Decentralised Periphery Dezentrale Peripherie DP ALI Application Layer Interface for DP DP V1 PROFIBUS DP Extensions to the EN 50170 standard including e g acyclic data exchange FDL Fieldbus Data Link FMS Fieldbus Message Specification FSU Manufacturer Specific Interface Firmenspezifischer Umsetz...

Page 110: ...ter Kennung Wert PNU Parameter Number Parameternummer PPO Parameter Process Data Object Parameter Prozessdaten Objekt PWE Parameter Value Parameter Wert PZD see PD PZDO Process Data Object Prozessdatenobjekt SAP Service Access Point SOW Reference Sollwert SPM Request Signal Spontanmeldung STW Control Word Steuerwort ZSW Status Word Zustandswort Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr co...

Page 111: ...0 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 95 mm 34 mm 20 mm 62 mm Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 112: ...t max 480 bytes total Maximum User Parameter data Diagnostics 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 Complies with EMC standards EN 50081 2 and EN 50082 2 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr...

Page 113: ...r 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 Parameter Line A PROFIBUS DP Line B DIN 19245 Part 1 Unit Impedance 135 to 165 3 to 20 MHz 100 to 130 f 100 kHz W Capacitance 30 60 pF m Resistance 110 Ω km Wire gauge 0 64 0 53 mm Conductor area 0 34 0 22 mm2 Transfer rate...

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