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Control Techniques Profibus-DP, User Manual

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Control Techniques Profibus-DP User Manual Download Page 18

 

18 Issue 

Number: 

 

 

3 

5.3 Profibus-DP 

Data 

Formats 

The Unidrive Profibus-DP interface will auto-detect the data format 
required during network initialisation.  Consistency can be selected 
when the master controller is configured. 

Non-cyclic 

mode 

Cyclic 
words 

Consistency Comments 

1 3 Full 

1 3 None 

These modes are supported by 
Mentor II and Commander SE 

1 

3 

Full 

8 bytes with full consistency, 
available for backwards 
compatibility with older modules 

5.4 Mapping 

Parameters 

on 

Unidrive 

The mapping for the cyclic data channels on the Unidrive Profibus-DP 
interface can be set from the Unidrive keypad using #20.PP 
parameters. 

The mapping method is similar to the method used for mapping 
analogue inputs and outputs.  The value entered in the mapping 
parameter takes the form MMPP, where MM = menu number of the 
target parameter and PP = parameter number of the target parameter.  

NOTE 

#20.01 to #20.20, and #20.50 are all reserved for Profibus-DP set-up 
and configuration, and should not be used in DPL programs. 

The default mapping values are shown in the table below. 

Cyclic 

Channel 

Mapping 

Parameter 

Default Mapping Status 

IN Word 0 

---- 

Reserved for the non-cyclic data 

IN Word 1 

#20.07 

#90.11, fieldbus status word 

IN Word 2 

#20.03 

#2.01, post-ramp speed reference 

IN Word 3 

#20.04 

#4.02, torque-producing current 

OUT Word 0 

---- 

Reserved for the non-cyclic data 

OUT Word 1 

#20.06 

#90.11, fieldbus control word 

OUT Word 2 

#20.01 

#1.21, digital speed reference 1 

OUT Word 3 

#20.02 

#4.08, torque reference 

NOTE 

If a mapping parameter is set to an invalid value, e.g. destination 
parameter is read only, or parameter does not exist, the Unidrive will 
reset the mapping parameter (#20.PP) to its default value. 

If a cyclic channel is not required, setting the mapping value to -1 will 
disable it.  The data word will still be transmitted over the network, but 
the data value will not be written to any Unidrive parameter. 

Summary of Contents for Profibus-DP

Page 1: ...User Guide Profibus DP Option Module For Unidrive Part Number 0460 0075 Issue Number 3 ...

Page 2: ...rking on or near the motor or its driven equipment and to prevent potential damage to equipment users and operators all necessary precautions must be taken if operating the Drive in this mode The Stop and Start inputs of the Drive should not be relied upon to ensure safety of personnel If a safety hazard could exist from unexpected starting of the Drive an interlock should be installed to prevent ...

Page 3: ...ngth 4 4 Getting Started 4 4 1 Basic Communications Quick Start 4 4 2 Profibus DP Node Address 4 4 3 Profibus DP Data Rate 4 4 4 Data Format 4 4 5 Network Status 4 4 6 Network Loss Trip 4 4 7 Initialising Set up Changes 4 5 Cyclic Data 4 5 1 What is Cyclic Data 4 5 2 What is Data Consistency 4 5 3 Profibus DP Data Formats 4 5 4 Mapping Parameters on Unidrive 4 5 5 Internal 32 Bit Parameters on UD7...

Page 4: ...Data Rate 4 8 6 Network Status 4 8 7 No Data Transfer 4 8 8 Unidrive Trip Codes 4 9 Advanced Features 4 9 1 Network Loss Trip 4 9 2 Unidrive Sequencing Mode 3 4 9 3 Drive Reset Using The Profibus DP Network 4 9 3 1 Reset Without DPL Code 4 9 3 2 Reset Using CT Mode Non Cyclic Communications 4 9 3 3 Reset Using DPL Code 4 9 4 Non Cyclic Parameter Store 4 9 5 Endian Format 4 9 6 EVENT Task Trigger o...

Page 5: ...e There is no provision for a back up 24V power supply 1 2 Product Conformance Certification The Unidrive Profibus DP interface with V2 05 00 firmware V2 08 00 system file and V5 0 GSD file was submitted to the PROFIBUS Nutzerorganisation for conformance testing All tests were successful and the PROFIBUS Nutzerorganisation awarded full Profibus Conformance Certification Profibus Certificate No Z00...

Page 6: ...ion Warning The Unidrive must be disconnected from the mains supply before installing or removing an option module 2 1 Unidrive 1 Slide the option module into the Unidrive 2 Push the option module into the Unidrive until it clicks into place ...

Page 7: ... 5 0V ISO 0V Isolated 6 VDC 5V line for termination resistors Shell Screen Cable braided screen connection 3 2 Profibus DP Data Connections Specifically designed connectors are available for use on Profibus DP networks that accept 2 Profibus DP cables into colour coded screw terminals and plug directly into a 9 way Profibus DP D type connector A screen clamp is also included to ensure good screen ...

Page 8: ...cted from the Unidrive Profibus DP interface Further details are available from the ERNI web site at www erni com The ERNI connector can only be fitted to D type connector A on the Unidrive Profibus DP interface as shown in the diagram below A B D C 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 Cable Screen Clamp A B B ERNI ERbic Profibus Connector with vertical cable outlet Part No 103658 A B A A terminati...

Page 9: ...solated This connector allows 2 cables to be connected to the same connector and does not break the network if disconnected from the Unidrive Profibus DP interface Further details are available from the Siemens web site at www siemens de The Siemens connector can be fitted to either Profibus DP D type connector A or B on the Unidrive Profibus DP interface A B D C 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 ...

Page 10: ... pin 3 on a Commander SE Profibus DP interface connector Profibus DP networks like most fieldbus systems run at high data rates and consequently require cable specifically designed to carry high frequency signals Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network Cable specifications and a complete list of approved manufacturers of ...

Page 11: ...rtical cable outlet Part No 103658 A B A B Cable screen clamp 3 5 Profibus DP Network Termination The termination resistor network is not fitted internally on the Unidrive Profibus DP interface It is the installer s responsibility to ensure that both ends of each section of network cable are correctly terminated The termination resistor network required is shown in the diagram below 5V 0V ISO B A ...

Page 12: ... 5 6 7 8 9 Cable Screen Clamp B ERNI ERbic Profibus Connector with vertical cable outlet Part No 103658 A B A 3 5 2 Siemens Connector The termination resistor network is fitted in the Siemens connector The resistors can be switched in or out of the circuit as required using the Termination Resistor Enable Switch A B D C 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 B OFF Siemens RS485 Profibus Connector Par...

Page 13: ...peaters Section 1 max 31 stations 1 repeater 2 3 29 30 31 61 60 Repeater 33 32 Repeater 62 63 Repeater 90 91 89 93 92 94 121 120 122 33 Rt Rt Rt Rt Rt Rt Rt NOTE Terminating resistors Rt MUST be installed at BOTH ends of each network segment The maximum length of cable for each segment is determined by the data rate at which the network must operate The table below gives a summary of the maximum s...

Page 14: ...alise and configure itself with the new node address The data format and consistency are automatically detected when the master controller initialises the network Function Unidrive Recommended Setting Node Address 20 05 1 to 125 Data Rate Not displayed The data rate is automatically detected on Profibus DP networks Network Loss Trip 20 11 48 4 2 Profibus DP Node Address Unidrive 20 05 Every node m...

Page 15: ...without consistency is the same data format as used on Mentor II and Commander SE Each cyclic data word is mapped to a Unidrive parameter with default mappings as shown in the table below Cyclic Channel Default Mapping Status IN Word 0 Non cyclic data word IN Word 1 Status word IN Word 2 Post ramp speed reference IN Word 3 Motor active current OUT Word 0 Non cyclic data word OUT Word 1 Control wor...

Page 16: ...s been reset See section 4 7 4 7 Initialising Set up Changes UD70 17 PP and Profibus DP 20 PP configuration parameters are only read during the initialisation sequence of the UD70 This prevents corruption of the configuration while parameters are being edited When parameters have been configured the UD70 must be reset to implement any changes made to the configuration parameters To reset from the ...

Page 17: ...nidrive parameter Similarly each cyclic data IN channel can use any Unidrive parameter as a source of data NOTE The mapping configuration cannot be changed dynamically as the UD70 must be reset before changes to the mapping become active 5 2 What is Data Consistency If a data format is selected that requires full data consistency this guarantees that the data on the Profibus is not updated with th...

Page 18: ...ter number of the target parameter NOTE 20 01 to 20 20 and 20 50 are all reserved for Profibus DP set up and configuration and should not be used in DPL programs The default mapping values are shown in the table below Cyclic Channel Mapping Parameter Default Mapping Status IN Word 0 Reserved for the non cyclic data IN Word 1 20 07 90 11 fieldbus status word IN Word 2 20 03 2 01 post ramp speed ref...

Page 19: ... will contain the data high word upper 16 bits of the 32 bit register and channel 2 contains the data low word lower 16 bits of the 32 bit register The 32 bit registers are addressed as parameters in menu 70 to menu 73 See table below To map a cyclic channel to one of these registers the parameter reference must be entered in the appropriate mapping parameter Registers Parameter Reference _P00 _P9...

Page 20: ...gue and digital inputs within the Unidrive The Unidrive Profibus DP interface will not indicate any conflict of mapping parameters This only applies to analogue and digital inputs and OUT data on the Profibus DP network If a numerical parameter is written to from two different sources the value of this parameter will depend entirely upon the sca n times for the analogue or digital input and the Pr...

Page 21: ...igured to use the default Wire Proof PLC sequencing mode 6 04 4 If PLC mode is selected 6 04 3 the control word mapping is slightly different Refer to section 9 2 for details The Control Word is an efficient way of remotely controlling the motion of a Unidrive Each bit in the control word has a particular function and provides a method of controlling the function of the Unidrive RUN JOG etc with a...

Page 22: ... cleared until the TRIP bit b4 has been reset to 0 Parameters 18 31 to 18 33 are general user parameters and do not have mask bits Bit Function Description 0 ENABLE Set to 1 to put the Unidrive in READY mode The hardware ENABLE must also be present The RUN FWD JOG and RUN REV bits will have no effect unless the ENABLE bit is set to 1 The Unidrive outputs are disabled immediately when the ENABLE bi...

Page 23: ...example control words for Wire Proof PLC mode are given in the table below b15 b12 b11 b8 b7 b4 b3 b0 Value Action 0000 0010 0000 0000 0x0200 Drive disable 0001 1110 0000 0001 0x1E01 Enabled stopped 0001 1110 0000 0011 0x1E03 Enabled run fwd 0001 1110 0000 1001 0x1E09 Enabled run rev 0001 1110 0000 1101 0x1E0C Enabled jog rev 5 9 Fieldbus Status Word for Unidrive The status word is an efficient wa...

Page 24: ...11 10 12 Dynamic brake alarm 12 10 13 Direction commanded 13 10 14 Direction running 14 10 15 Mains Loss 15 Not used 5 10 Disabling Cyclic Data Channels Set the appropriate channel mapping parameter to 1 and reset the Unidrive Profibus DP Interface If an application only requires 2 cyclic data channels the remaining channel can be disabled This means that the data received from that channel will n...

Page 25: ...s not use decimal points For example the digital speed reference 1 1 21 has units of Hertz accurate to 1 decimal place To write a value of 24 6Hz to 1 21 the value must be transmitted as 246 6 1 CT Single Word Format The CT Single Word Format of non cyclic data uses one word for non cyclic data The non cyclic sub protocol requires a specific sequence of 4 words or telegrams to implement the parame...

Page 26: ...l non cyclic sate machine 12 13 Not Used These should be set to 0 14 ERR 0 Data OK 1 Error Indicates the success or failure of the message Failure could occur if the parameter does not exist or is a read only or write only parameter 15 R W 0 Write 1 Read Defines whether the data word is part of a READ or WRITE cycle is in progress NOTE X don t care Generally these bits should be set to 0 If a mess...

Page 27: ...word 0 Tx_Stamp_No Rx_Stamp_No Send next telegram to OUT word 0 Tx_Stamp_No 4 No Yes Send telegram 3 to OUT word 0 Store data byte Yes No Yes No The following example telegrams show how to read the data value from 3 02 in the Unidrive TELEGRAM 1 The first telegram from the master indicates a READ cycle and the stamp number is 1 The data byte would contain the menu number for the parameter that is ...

Page 28: ...d in this telegram and should be set to 0 Bit b15 b12 b11 b8 b7 b4 b3 b0 Value 1XXX 0011 XXXX XXXX Data word 0x8300 Stamp number 3 Data high byte XX When the third telegram has been received and processed in the slave node the node will mirror the stamp number in the non cyclic IN word and load the high byte of the parameter value into the data byte Bit b15 b12 b11 b8 b7 b4 b3 b0 Value 10XX 0011 0...

Page 29: ...b4 b3 b0 Value 1XXX 0100 1101 1100 Data word 0x84DC Stamp number 4 Data low byte 0xDC Speed feedback high data byte 256 low data byte 0x05 0x100 0xDC 0x05DC 1500 rpm 6 1 2 Writing parameters using Mode 1 To write to parameters using the non cyclic channel the following telegrams must be sent on each network cycle to construct the final message Telegram 1 Define menu number Telegram 2 Define parame...

Page 30: ... 2 The data byte contains the parameter number for the parameter that is to be written to Bit b15 b12 b11 b8 b7 b4 b3 b0 Value 0XXX 0010 0001 0101 Data word 0x0215 Stamp number 2 Parameter 21 When the second telegram has been received and processed in the slave node it is mirrored in the non cyclic IN word This is the signal to the master controller program that the second telegram of the message ...

Page 31: ...b7 b4 b3 b0 Value 01XX 0100 XXXX XXXX Data word 0x4400 Stamp number 4 6 2 Profibus DP Set up using Non Cyclic Data The Unidrive Profibus DP interface can also be configured via the non cyclic data channel Menu 20 in the Unidrive contains the parameter values currently being used and these can be modified as required Cyclic data mapping parameters can be edited via the non cyclic data but changes m...

Page 32: ...on of the node Param Description 20 14 Option ID Code Indicates the fieldbus type flavour and hardware version See section 8 1 20 15 Software Version Vxx yy Indicates the firmware version fitted to the Profibus DP interface See section 8 2 20 50 Fieldbus Diagnostic Indicates the number of message being processed by the Unidrive Profibus DP See section8 6 17 02 System File Version See section 8 3 A...

Page 33: ...installing GSD files Control Techniques cannot offer specific technical support on any of the software packages available for configuring Profibus DP networks NOTE A device cannot be included in the configuration for a Profibus DP network without an associated GSD file 7 2 Unidrive GSD File A GSD file is available for the Unidrive Profibus DP interface and can be obtained from your local Control T...

Page 34: ...set to have full data consistency or no data consistency The first cyclic data word is always the control word Non cyclic mode Cyclic words Consistency Comments 1 3 Full 1 3 None These modes are supported by Mentor II and Commander SE 1 3 Full 8 bytes with full consistency available for backwards compatibility with older modules When the master initialises the network it will transmit the configur...

Page 35: ...d communications option module can be read from 20 14 on the Unidrive display This number is shown in the form XYZ where X is the fieldbus type Y is the fieldbus flavour and Z is the hardware revision level 20 14 Fieldbus Type Fieldbus Flavour Hardware Revision 100 1 Profibus 0 DP 0 UD73A Issue 1 and UD73B Issue 1 8 2 Firmware Version Unidrive 20 15 The version of firmware fitted to the Profibus D...

Page 36: ...0 V2 04 00 0 V2 07 03 or later V2 05 00 0 V2 08 00 Certified by the PROFIBUS Nutzerorganisation PNO NOTE System files can be downloaded using the WINFLASHER utility which can be obtained from you local Drive Centre 8 4 Node Address Unidrive 20 05 Every Profibus DP node must be assigned a unique node address If two or more nodes have the same address this will cause a conflict when the master attem...

Page 37: ...ame parameter as a cyclic OUT channels 8 8 Unidrive Trip Codes The trip codes listed below may be caused by the Profibus DP interface Other trips may occur if a DPL program is loaded For a full list of UD70 trips refer to the UD70 User Guide Trip Code Error tr52 This code indicates that the trip originated from the setting of bit 4 in the control Word tr56 The UD70 does not contain the correct ope...

Page 38: ...per sec Sample points 20 11 Unidrive trips on tr60 As can be seen from the diagram the actual time from network loss to Unidrive trip will range from 20 11 ms to 2 20 11 ms If the trip time is set too low spurious network loss trips may be seen The actual network loss trip time depends entirely on the number of messages per second being received under normal operation As a rough guide the network ...

Page 39: ...Unidrive The motor will coast to rest if it is running when the Unidrive is disabled JOG the jog bit must be set along with the appropriate run and direction signals To reset the Unidrive using the Profibus DP network use the non cyclic channel to set 10 38 to 100 The Unidrive will clear 10 38 back to 0 and reset See Unidrive manual for more information Some example control word values for the Uni...

Page 40: ...18 0 9 05 9 15 0 9 09 9 19 0 0 9 06 9 16 0 00 9 10 9 20 10 33 By default 10 33 is directly controlled by digital input 2 This must be disabled by setting the mapping parameter for digital input 2 8 13 to another value If the terminal reset function is required in addition to a fieldbus reset function logic function 1 or 2 can be configured as an OR function of the fieldbus and terminal reset signa...

Page 41: ...0 01 is set The DPL program will also be reset and the INITIAL task will run when the reset sequence ins complete NOTE If a run time program error occurs in the UD70 the DPL program will stop and the master controller will not be able to reset the Unidrive using the Profibus DP network In this case the Unidrive node can only be reset using non cyclic data to access 10 38 9 4 Non Cyclic Parameter S...

Page 42: ...d use the first byte received as the low byte of the data word NOTE With firmware V2 05 00 and earlier the bytes for the non cyclic data word are NOT swapped To use non cyclic data in little endian data mode the bytes for each non cyclic telegram must be swapped BEFORE they are transferred to the Profibus 9 6 EVENT Task Trigger on UD70 The EVENT task is a high priority task in the UD70 that can be...

Page 43: ... connected to the same lines Commander SE Unidrive and Mentor II Profibus DP interfaces can all operate on multi master networks but each device can only be assigned to one of the master devices Consult the supplier of your master controller for more details about implementing multi master Profibus DP networks ...

Page 44: ...irmware Version XXYY where the firmware version is VXX YY ZZ Read only 20 50 Fieldbus Diagnostic Read only 17 02 System File Version Read only 17 14 0 Network Loss Trip Enable 17 19 0 UD70 Store and Reset 20 08 0 Reserved 20 09 0 Reserved 20 10 0 Reserved 20 12 0 Reserved 20 16 0 Reserved 20 17 0 Reserved 20 18 0 Reserved 20 19 0 Reserved 20 20 0 Reserved 10 2 Profibus DP Data Formats Non cyclic m...

Page 45: ...RUN FWD or RUN REV bit also set to jog the motor in the appropriate direction The Unidrive will ramp the motor to the normal speed or stop when the JOG bit is reset to 0 depending on the status of the RUN FWD and RUN REV bits 3 RUN REV Set to 1 to run the motor in the reverse direction When reset to 0 the Unidrive will decelerate the motor to stop before the outputs are disabled 4 TRIP Set to 1 to...

Page 46: ...meter Description 0 10 01 Drive healthy 1 10 02 Drive running 2 10 03 Zero speed 3 10 04 Running at or below min speed 4 10 05 Below set speed 5 10 06 At speed 6 10 07 Above set speed 7 10 08 Load reached 8 10 09 In current limit 9 10 10 Regenerating 10 10 11 Dynamic brake active 11 10 12 Dynamic brake alarm 12 10 13 Direction commanded 13 10 14 Direction running 14 10 15 Mains Loss 15 X Not used ...

Page 47: ...perating system for the detected hardware Download the system file IBSPROFI SYS If the trip persists ensure that the UD73A and UD70 boards inside the module are properly clipped together This should only be attempted by suitably qualified personnel tr57 An illegal operating system call has been made e g WRNET CTNet commands cannot be used with Profibus DP tr60 This trip indicates that loss of the ...

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