i
P94PFB01A
Contents
1 Safety Information ........................................................................................................................................1
1.1
Warnings, Cautions and Notes .......................................................................................................11.1.1
General ...........................................................................................................................1
1.1.2
Application ......................................................................................................................1
1.1.3
Installation ......................................................................................................................1
1.1.4
Electrical Connection ......................................................................................................2
1.1.5
Operation ........................................................................................................................2
2 Introduction ..................................................................................................................................................3
2.1
Fieldbus Overview .........................................................................................................................3
2.2
Module Specification .....................................................................................................................3
2.3
Module Identification Label ............................................................................................................3
3 Installation ....................................................................................................................................................4
3.1
Mechanical Installation ..................................................................................................................4
3.2
PROFIBUS DP Connector ................................................................................................................5
3.3
Electrical Installation ......................................................................................................................63.3.1
Cable Types ....................................................................................................................6
3.3.2
Network Limitations ........................................................................................................6
3.3.3
Connections and Shielding ..............................................................................................7
3.3.4
Network Termination ......................................................................................................7
4 Commissioning .............................................................................................................................................8
4.1
Overview .......................................................................................................................................8
4.2
Configuring the Network Master ....................................................................................................84.2.1
Master Support Files .......................................................................................................8
4.2.2
PROFIBUS-DP Master Setup Procedure ...........................................................................8
4.3
Configuring the PositionServo PROFIBUS DP Module ......................................................................94.3.1
Connecting .....................................................................................................................9
4.3.2
Connect to the Drive with MotionView OnBoard ...............................................................9
4.3.3
Setting the Network Protocol...........................................................................................10
4.3.4
PROFIBUS-DP Node Settings ...........................................................................................11
4.3.5
Node Address .................................................................................................................12
4.3.6
Baud / Data Rate ............................................................................................................12
4.3.7
Data Mapping .................................................................................................................12
4.3.8
Re-Initialising ..................................................................................................................13
4.3.9
Non-Module Parameter Settings .....................................................................................13
5. Cyclic Data Access .......................................................................................................................................14
5.1
What is Cyclic Data? ......................................................................................................................14
5.2
Channel Data Sizes ........................................................................................................................14
5.3
Mapping Cyclic Data ......................................................................................................................155.3.1
Data IN (Din) Channels ....................................................................................................15
5.3.2
Data OUT (Dout) Channels ...............................................................................................16
Page 1: ...PositionServo PROFIBUS DP Communication Module Communications Interface Reference Guide ...
Page 2: ... of the drive 2008 AC Technology Corporation No part of this documentation may be copied or made available to third parties without the explicit written approval of AC Technology Corporation All information given in this documentation has been carefully selected and tested for compliance with the hardware and software described Nevertheless discrepancies cannot be ruled out AC Tech does not accept...
Page 3: ... 7 3 3 4 Network Termination 7 4 Commissioning 8 4 1 Overview 8 4 2 Configuring the Network Master 8 4 2 1 Master Support Files 8 4 2 2 PROFIBUS DP Master Setup Procedure 8 4 3 Configuring the PositionServo PROFIBUS DP Module 9 4 3 1 Connecting 9 4 3 2 Connect to the Drive with MotionView OnBoard 9 4 3 3 Setting the Network Protocol 10 4 3 4 PROFIBUS DP Node Settings 11 4 3 5 Node Address 12 4 3 6...
Page 4: ...ty Accel Limit 21 7 Drive Control and Status 22 7 1 Overview 22 7 2 Control BITs 22 7 2 1 Software Enable Disable 22 7 2 2 Drive Reset Cold Boot 22 7 2 3 Suspend Motion 22 7 2 4 Stop Motion 23 7 3 Status Word 23 7 3 1 Status Flags Register 23 7 3 2 Extened Status Bits 24 8 Advanced Features 25 8 1 Module Firmware 25 8 2 Node Address Lock 25 8 3 PROFIBUS Status 25 8 4 PROFIBUS DP Timeout Action 26 ...
Page 5: ...en installing the drive controllers in machines commissioning i e the starting of operation as directed is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98 37 EC Machinery Directive EN 60204 must be observed Commissioning i e starting drive as directed is only allowed when there is compliance to the EMC Directive 89 336 EEC The drive controllers m...
Page 6: ... adapt the controller to your application as described in the documentation DANGER After the controller has been disconnected from the supply voltage do not touch the live components and power connection until the capacitors have discharged Please observe the corresponding notes on the controller Do not continuously cycle input power to the controller more than once every three minutes Close all p...
Page 7: ...ule Specification Auto detection of data rates Supported baudrates 12Mbps 6Mbps 3Mbps 1 5Mbps 500kbps 187 5kbps 93 75kbps 45 45kbps 19 2kbps 9 6kbps Scalable amount of input and output process data channels maximum of 12 in either direction Parameter access data channel 2 3 Module Identification Label Figure 1 illustrates the labels on the PositionServo PROFIBUS DP communications module The Positi...
Page 8: ...re Option Bay 1 With the aid of a flat head screw driver gently pry up the Option Bay 1 cover plate and remove Fit the 6 way pin header into the module before fitting the module into the drive Install the PROFIBUS DP Module into the drive Replace the two COMM module screws that secure Option Bay 1 Using a phillips head screwdriver replace the GROUND screw as illustrated in Figure 2 Figure 2 Instal...
Page 9: ... Data Ground 6 5V 5V Output Supply 7 N C No Connection 8 RxD TxD N Data Line A Green 9 N C No Connection 5 4 3 2 1 9 8 7 6 Figure 3 PROFIBUS DP Connector NOTE The PositionServo PROFIBUS DP module is equipped with a D sub type connector Always ensure that any connectors used on the network are fully approved for use with PROFIBUS DP Some available connector types have built in termination that allo...
Page 10: ...te used Refer to Table 3 Minimum of 1 meter of cable between nodes Use fiber optic segments to Extend networks beyond normal cable limitations Overcome different ground potential problems Overcome very high electromagnetic interference Spurs or T connections are only acceptable by the PROFIBUS DP specification when operating at data rates of 1 5Mbps or less however it is strongly advised not to us...
Page 11: ...BUS DP uses active powered termination Therefore it is strongly recommended that stand alone active termination units are used to maintain the integrity of the network If the PositionServo is used to provide network termination in the event of a power loss to the drive network termination will also be lost PROFIBUS DP network PROFIBUS DP M aster Term ination A B PositionServo PROFIBUS DP Option M ...
Page 12: ...ce and additional files may be available for alternative languages and will be named differently For example for manufacturers where English is not the primary language it may be possible to obtain GSD and GSE files where the GSD file is written in the native home language and the GSE file will is written in English etc The PositionServo GSD files are available on the CD ROM that ships with the dr...
Page 13: ...he drive Open the PC s web browser Enter the drive s default IP address 192 168 124 120 in the browser s Address window The authentication screen may be displayed if the PC does not have Java RTE version 1 4 or higher If so to remedy this situation download the latest Java RTE from http www java com When MotionView has finished installing a Java icon entitled MotionView OnBoard will appear on your...
Page 14: ..._192 168 124 120 indicates that the drive B04402200450 with IP address 192 168 124 120 is connected 4 3 3 Setting the Network Protocol In the left hand node tree of MotionView OnBoard click on the Communications folder Using the drop down menu select PROFIBUS DP as the requied fieldbus selection Figure 7 Fieldbus Selection The Important Message box to REBOOT is displayed because the Communication ...
Page 15: ...1 P94PFB01A Commissioning Figure 8 REBOOT Message 4 3 4 PROFIBUS DP Node Settings To access the PositionServo PROFIBUS DP node settings click on the PROFIBUS DP folder icon Figure 9 PROFIBUS DP Settings ...
Page 16: ...data rate of the network to which it has been connected 4 3 7 Data Mapping The PositionServo PROFIBUS DP module has support for up to 12 cyclic data channels in both directions Cyclic data configuration is described in full in section 5 The default mapping for PositionServo PROFIBUS DP is 4 Data IN links and 2 Data OUT links the configuration is shown in Table 4 Table 4 Default Mapped Cyclic Data ...
Page 17: ...to the drive 4 3 9 Non Module Parameter Settings In addition to configuring the PROFIBUS DP option module and depending upon the application there may be several drive based parameters that will need to be set using MotionView or an Indexer program or via the PROFIBUS parameter access channel Such as PID34 Drive Mode VAR_DRIVEMODE PID37 Reference VAR_REFERENCE PID29 Enable switch funtion VAR_ENABL...
Page 18: ...s necessary to program the network master with the amount of IN and OUT cyclic data used for each slave device that it is associated with This process is simplified with the use of GSD support files refer to paragraph 4 2 2 PROFIBUS DP Master Setup Procedure for details The amount of cyclic data configured in each PositionServo PROFIBUS DP module must be equal to the amount configured in the netwo...
Page 19: ...ble 5 lists the default mapping source data for IN data being sent from the drive to the network master Table 5 IN Data Din Mappings PID Din Channel Default Format Function PID298 Channel 1 mapping 54 Integer VAR_STATUS PID299 Channel 2 mapping 215 Float VAR_APOS PID300 Channel 3 mapping 7 Float VAR_VELOCITY_ACTUAL PID301 Channel 4 mapping 188 Float VAR_PHCUR PID302 Channel 5 mapping 116 Integer V...
Page 20: ...able 6 lists the default mapping destinations for OUT going data being sent from the network master Table 6 OUT Data Dout Mappings PID Dout Channel Default Format Function PID286 Channel 1 mapping 52 Integer VAR_ENABLE PID287 Channel 2 mapping 139 Float VAR_IREF PID288 Channel 3 mapping 102 Integer VAR_V2 PID289 Channel 4 mapping 103 Float VAR_V3 PID290 Channel 5 mapping 104 Integer VAR_V4 PID291 ...
Page 21: ...2 1 Acyclic Modes The Acyclic mode can be set in the MVOB Communications PROFIBUS DP folder by clicking on the down arrow t next to PROFIBUS DP Acyclic Mode and selecting the mode from the pull down menu Figure 15 Select PROFIBUS Acyclic Mode Or PID310 can be used to select the required Acyclic mode Refer to section 6 3 for details on type of acyclic mode The acronym 8BAD indicates 8 Byte Acyclic ...
Page 22: ...clic data and is reflected in the total channel data size Care should also be taken in selecting the correct module from the GSD file when configuring the network master Changes made to PID310 will only take effect after re initialising the drive 6 3 Modes 1 2 8BAD Format The 8BAD format of acyclic parameter data access is a simple method that utilises 8 bytes of cyclic data which can be placed ei...
Page 23: ...nse to the request message bit set by module to indicate the data in message is valid or acknowledgment for write access 0 if bit 7 of Byte 0 is set and the exception number is higher than 0 5 1 Module is processing the master s request Any data being sent to the master at this time is invalid 0 valid reply 6 reserved 7 Toggle bit Handshake Master toggles this bit to indicate a new message The old...
Page 24: ... 1 Read Velocity Accel Limit PID76 VAR_ACCEL_LIMIT 1000 default value This first example provides a valid send receive transmission and an invalid send receive transmission for a read operation from PID76 Valid Transmission SEND message consisting of Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x01 0x00 or 0x80 0x00 0x4C 0x00 0x00 0x00 0x00 Read Toggle PID 76 Data RECEIVE response cons...
Page 25: ...0x00 0x4C 0x00 0x00 0x00 0x00 Write Toggle PID 76 Data 1500 RECEIVE response consisting of Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x05 0x10 or 0x90 0x00 0x4C 0x00 0x00 0x05 0xDC Write Valid response PID 76 Data 1500 Invalid Transmission SEND message trying to write to a read only PID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x01 0x00 or 0x80 0x03 0x4A 0x00 0x00 0x05...
Page 26: ...itionServo that can be written to through cyclic or acyclic communications Some of the most commonly used ones are listed as follows for a complete list of drive control functions see the Programming Manual 7 2 1 Software Enable Disable PID52 Enable Default N A Range 0 1 Access WO Type Integer This is the VAR_ENABLE function 0 disable 1 enable This function is the default mapping for cyclic Data O...
Page 27: ...ode or system or DSP at any fault 4 Set if drive has a valid source code 5 Set if motion completed and target position is within specified limits 6 Set when scope is triggered and data collected 7 Set if motion stack is full 8 Set if motion stack is empty 9 Set if byte code halted 10 Set if byte code is running 11 Set if byte code is set to run in step mode 12 Set if byte code is reached the end o...
Page 28: ... is not present 9 10 Reserved 11 Regen circuit is on Drive regeneration circuit is active Drive will be dissipating power through the braking resistor if fitted 12 20 Reserved 21 Set if homing operation in progress Drive executing Pre defined homing function refer to section 2 15 PS Programming Manual PM94M01 22 Set if system homed Drive completed Pre defined homing function refer to section 2 15 ...
Page 29: ...ioning and or network fault recovery it is not always desirable Enabling the Node Address Lock will prevent the accidental changing of the node address by preventing the master from writing to it Figure 16 Node Address Lock 8 3 PROFIBUS Status PID408 Node Status Word Default N A Range 0 10 Access RO Type Integer This is the VAR_PBUS_STATUS function Table 13 Node Status Word Bit Function Descriptio...
Page 30: ...uration folder PID413 Timeout Actions Default N A Range 0 0xFFFFFF Access RO Type Integer This is the VAR_TIMEOUT_ACTION_CFG function Table 14 Timeout Configuration BITs Function Description 0 Module Timeout Used to activate the module drive timeout action 1 Reserved 2 Master Monitor Timeout Used to activate the master monitoring timeout action 3 Reserved 4 Data Exchange Timeout Used to activate t...
Page 31: ...is is the VAR_PBUS_MASTER_TIMEOUT_VAL function This parameter displays the Monitoring Watchdog Time in seconds set by the network master during the parameterization phase 8 4 3 Data Exchange Timeout Action Data Exchange Timeout 200 PROFIBUS DP Timeout Action Module Timeout Action No Action t Master Monitor Timeout Action No Action t Data Exchange Timeout Action No Action t No Action Fault Data Exc...
Page 32: ...trols data from the drive Din The FREEZE command will cause a single update of the previously grouped Din data In the next data cycle the drive transfers frozen data to the master The Din data will not be updated until the next FREEZE command is received next snapshot taken or the FREEZE mode is cancelled by an UNFREEZE command Issuing an UNFREEZE command will revert the drive to a continuous cycl...
Page 33: ...ng Table 17 Troubleshooting Symptom Possible Cause Remedy No communications from the option module Module is not initialised Check the drive to module connection Check PID408 Status Word BIT 0 Incorrect PROFIBUS DP settings Check the configuration using MotionView Improper wiring Check wiring between the PROFIBUS DP network and communication module Ensure that the terminal block is properly seated...
Page 34: ...ress 126 RW 4 3 5 Node Address PID284 OUT Data Size 2 RW 5 2 Channel Data Sizes PID285 IN Data Size 4 RW 5 2 Channel Data Sizes PID298 309 Data IN Mapping RW 5 3 1 Data IN Din Channels PID286 297 Data OUT Mapping RW 5 3 2 Data OUT Dout Channels PID310 Acyclic Mode 0 RW 6 2 1 Acyclic Modes PID408 Node Status Word N A RO 8 3 PROFIBUS Status PID409 Master Monitor Timeout N A RO 8 4 2 Master Monitor T...
Page 35: ...AC Technology Corporation 630 Douglas Street Uxbridge MA 01569 Sales 800 217 9100 Service 508 278 9100 www lenze actech com P94PFB01A ...
