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Startup behaviour

The channels automatically change between the startup_primary and startup_waiting
states until the master starts the communication with the actuator. In the
startup_primary state, the actuator waits with the primary slave address for the master
to start the communication. The cycle starts with 2 s, this time is doubled after each
cycle to max. 32 s.

Change over

The actuator does not decide autonomously on change-over. The master detects a
loss of communication of the primary channel and may initiate change-over using a
parameter telegram (parameter command PrmCmd). The former backup channel
becomes the new primary channel.

Parameter command

Apart from the change-over commands, different parameters for the configuration
of the Profibus DP-V2 redundancy are transmitted using the PrmCmd parameter
command.

For Profibus DP-V2, the parameter command is part of the parameter telegram which
is sent to the actuator on startup of the communication.

Table 33: Structure of the PrmCmd parameter command

Remark

Bit

Byte

0

1

2

3

4

5

6

7

Block length (= 0x08)

0

0

0

1

0

0

0

0

1

Structure type (= 0x02,
PrmCmd parameter com-
mand for DP-V2 redund-
ancy

0

1

0

0

0

0

0

0

2

Slot

0

0

0

0

0

0

0

0

3

Specifier

Reserved

Sequence number

4

Function

Res

Primary Re-
quest

Stop
MSAC1S

Start
MSAC1S

Check Prop-
erties

Res

Master State
Clear

Res

5

Properties

Primary
Req_MS0_MS1
used

Start/ Stop
MSAC1S
used

Address
Change

Address Off-
set64

Reserved

6

Output Hold Time high

7

Output Hold Time low

8

Output Hold Time

In the event of change-over, the outputs will not be changed during this time (time
base = 10 ms)

Address Offset64/ Ad-

ress Change

Change-over between flying redundancy and system redundancy

AddressOffset64 = 1 and AddressChange = 1, > Flying redundancy is selected

AddressOffset64 = 0 and AddressChange = 1, > System redundancy is selected

Extended diagnostic

For activated Profibus DP-V2 redundancy, the primary channel of the actuator sends
a high priority response telegram; after that, the master reads the extended diagnostic
data Red_Status (Status_Type = 0x9F) with the new states.

When transmitting the PrmCmd parameter command via the master, the actuator
responds with Prm_Cmd_Ack (Status_Type = 0x9E).

With Red_Status/ Prm_Cmd_Ack, the actuator signals both the status of the primary
and of the backup channel.

47

Actuator controls
AC(V) 01.2/AC(V)ExC 01.2 Profibus DP

Description of the data interface

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Содержание AC(V) 01.2

Страница 1: ...Actuator controls AC V 01 2 AC V ExC 01 2 Profibus DP Device integration Manual...

Страница 2: ...mode 7 2 4 Bus access 7 2 5 Functionality 8 2 6 Protective functions 8 2 7 Device types 9 3 Commissioning 9 3 1 Introduction 10 3 2 Parameter setting 11 3 3 Bus address slave address 11 3 4 Configuri...

Страница 3: ...with time stamp 53 5 Description of the Profibus DP board 53 5 1 Indications indication and diagnostic LEDs 55 6 Corrective action 55 6 1 Troubleshooting 56 6 2 Diagnostics 58 7 Technical data 58 7 1...

Страница 4: ...the device surface must be excluded at any time since they will lead to propagating brush discharges and therefore to ignition of a potentially explosive atmosphere This also applies to fireproof coat...

Страница 5: ...ently hazardous situation with a high level of risk Failure to observe this warning results in death or serious injury Indicates a potentially hazardous situation with a medium level of risk Failure t...

Страница 6: ...ning of hot surfaces e g possibly caused by high ambient temperatures or strong direct sunlight Electrical voltage Hazardous voltage Warning of electric shock At some devices the warning sign addition...

Страница 7: ...central control devices such as a PLC or PC communicate via a fast serial connection with peripheral field devices such as input output devices valves and actuators Data exchange among these field de...

Страница 8: ...ssages are transmitted with Hamming Distance HD 4 Watchdog timer at DP slaves Access protection for the inputs outputs of DP slaves Sync and Freeze Process data exchange monitoring with configurable t...

Страница 9: ...ect station addresses were connected to the bus This ensures a high security against configuration errors The PNO manages the ID numbers together with the device master data GSD AUMA actuators with ac...

Страница 10: ...me base 1 ms Connection monitoring time of the Profibus DP communication TWD 1 or 10 ms depending on WD_Base x WD factor 1 x WD factor 2 MinTSDR Minimum response time of the actuator in TBit ID no ID...

Страница 11: ...ice with the address 126 default value may be connected to Profibus DP A new bus address may be assigned to the actuator using the SAP 55 Service Access Point Set Slave Address For redundant version a...

Страница 12: ...ration telegram to each DP slave If parameters and configuration are correct the DP slave enters the Data Exchange mode to exchange process data between controls and slave Then the DP master can contr...

Страница 13: ...n Fahrbefehl ber die Drucktaster der Ortssteuerstelle oder den Feldbus in Richtung AUF durchgef hrt Fieldbus OPEN oder Fieldbus SETPOINT Prozessabbild Ausgang Dieses Bit bleibt auch bei Fahrpausen ges...

Страница 14: ...Intermediate pos 3 Intermediate position 4 reached Intermediate pos 4 34 Bit Intermediate pos 4 Intermediate position 5 reached Intermediate pos 5 35 Bit Intermediate pos 5 Intermediate position 6 re...

Страница 15: ...an option to generate the 115 V AC supply for the customer IE 24 V AC 65 Bit 24 V AC internal The 24 V DC auxiliary voltage e g for supply of the control outputs is outside the supply voltage limits 2...

Страница 16: ...multaneously or Remote CLOSE Remote OPEN and Remote SETPOINT simultaneously or that the max value for a setpoint position has been exceeded setpoint position 1 000 Wrong oper cmd 98 Bit Wrong operatio...

Страница 17: ...nput AIN 1 129 u16 Input AIN 1 Analogue input 2 Input AIN 2 130 u16 Input AIN 2 Torque in direction CLOSE unit in Torque CLOSE 131 u16 Torque CLOSE Torque in direction OPEN unit in Torque OPEN 132 u16...

Страница 18: ...ose DP V2 time stamp of End position CLOSED signal activated Text 1 enable DP V2 time stamp of End position OPEN signal deactivated Text 0 disable 4 TS End Position Open DP V2 time stamp of End positi...

Страница 19: ...MERGENCY behaviour The actuator quits the Fail Safe state as soon as valid telegrams with the data length 0 are received Furthermore the Global Control Clear GC Clear master telegrams can also be used...

Страница 20: ...er 10 Octets Manufacturer specific I M Block 2 Octets MANUFACTURER_ID 20 Octets ORDER_ID 16 Octets SERIAL_NUMBER 2 Octets HARDWARE_REVISION 4 Octets SOFTWARE_REVISION 2 Octets REVISION_COUNTER 2 Octet...

Страница 21: ...the master controls to read the state of the slave actuator 4 1 1 Process representation input default process representation Grey bits are collective signals They contain the results of a disjunctio...

Страница 22: ...22 Actuator controls Description of the data interface AC V 01 2 AC V ExC 01 2 Profibus DP...

Страница 23: ...cannot be operated from REMOTE The actuator can only be operated via the local controls 1 22 Bit Not ready RE MOTE Not ready REMOTE 3 In bytes 13 and 14 no signals are active all bits are set to 0 0...

Страница 24: ...rque sw CLOSED 7 No signal 0 Bytes 3 and 4 Actual position Byte 3 high byte byte 4 low byte If a position transmitter potentiometer RWG EWG or MWG is installed in the actuator bytes 3 and 4 are used t...

Страница 25: ...als are invalid Contains the result of a disjunction OR operation of all bits of byte 23 Failure 1 16 Bit Failure NAMUR failure 6 In all bits of byte 23 no signals are active all bits are set to 0 0 C...

Страница 26: ...gnal 0 Intermediate position 6 reached 1 36 Bit Intermediate pos 6 Intermediate pos 6 5 No signal 0 Intermediate position 7 reached 1 37 Bit Intermediate pos 7 Intermediate pos 7 6 No signal 0 Interme...

Страница 27: ...ion commands were received simultaneously via Profibus DP e g Remote OPEN and Remote CLOSE simultaneously or Remote CLOSE Remote OPEN and Remote SETPOINT simultan eously or that the max value for a se...

Страница 28: ...ption Value Prm Text Def GSD file Designation process representation Bit Incorrect configuration i e the current setting of the actu ator controls is invalid 1 72 Bit Configuration error Configuration...

Страница 29: ...e warning CLOSE ex ceeded 1 125 Bit Torque wrn CLOSE Torque wrn CLOSE 4 No signal 0 Warning Limit value for Torque warning OPEN exceeded 1 124 Bit Torque wrn OPEN Torque wrn OPEN 5 No signal 0 Warning...

Страница 30: ...ning Loss of signal analogue input 1 1 91 Bit Wrn input AIN 1 Wrn input AIN 1 3 No signal 0 Collective signal 15 Internal warning 1 70 Bit Internal warn ing Internal warning 4 No internal warning 0 Wa...

Страница 31: ...Bit No signal reserved 0 No signal reserved 1 No signal reserved 2 No signal reserved 3 No signal reserved 4 No signal reserved 5 No signal reserved 6 Collective signal 03 Contains the result of a dis...

Страница 32: ...0 The safety function indications via fieldbus are for information only and must not be used as part of a safety function The I O signals of the SIL module must be used for this purpose 1 Byte 26 Out...

Страница 33: ...le operating time for an operation OPEN CLOSE exceeded 1 63 Bit Operat time warning Op time warning 7 No signal 0 Byte 28 Out of specification 4 Table 23 Byte 28 Out of specification 4 Description Val...

Страница 34: ...fieldbus status Table 25 Byte 31 Status fieldbus Description Value Prm Text Def GSD file Designation process representation Bit Channel 1 is the active operation command channel 1 99 Fieldbus Channel...

Страница 35: ...tive1 4 No signal 0 No signal reserved 4 No signal reserved 5 No signal reserved 6 No signal reserved 7 The safety function indications via fieldbus are for information only and must not be used as pa...

Страница 36: ...cription Value Designation process representation Bit Operation command in direction OPEN 1 Fieldbus OPEN 0 No command 0 Operation command in direction CLOSE 1 Fieldbus CLOSE 1 No command 0 36 Actuato...

Страница 37: ...bit 2 Fieldbus SETPOINT Condition Position transmitter potentiometer RWG EWG or MWG installed in the actuator If the setpoint is 0 per mil the actuators runs to the end position CLOSED it runs to the...

Страница 38: ...her intermediate position In this case the actuator continues running until the selected intermediate position has been reached Example Operation from position 5 to 7 without stopping at position 6 Ta...

Страница 39: ...p at any position CW 0x90 Position 1 is approached in clockwise direction CW CW Position 1 0x91 Position 2 is approached in clockwise direction CW CW Position 2 0x92 Position 3 is approached in clockw...

Страница 40: ...1 The digital outputs Fieldbus DOUT 1 DOUT 6 of the fieldbus interface can be used as commands for the output contacts For this the outputs of the output contacts have to be assigned with the signals...

Страница 41: ...om the cyclic DP V0 process data exchange the Profibus DP V1 services can establish an additional acyclic communication via the fieldbus Actuator controls with activated Profibus DP V1 services grant...

Страница 42: ...edundant behaviour according to AUMA redundancy This redundancy type can be selected if the DCS does not support Profibus DP V2 redundancy according to Profibus DP guideline 2 212 but a redundant stru...

Страница 43: ...tiated both via the active and the passive channel Automatic change over to another channel is performed if either the communication of the active channel fails or if Fail Safe telegrams telegrams wit...

Страница 44: ...nel Changing channels does not result in a loss of data If neither of the channels exchange process data with the controls or if both channels receive Fail Safe telegrams telegrams with the data lengt...

Страница 45: ...nnels exchange process data with the controls or if both channels receive Fail Safe telegrams telegrams with the data length 0 or Global Control Clear GC Clear telegrams the set failure behaviour or E...

Страница 46: ...DP V1 services of the engineering stations DPM2 master class 2 are only supported by the primary channel Furthermore a distinction is made between two configuration types within the Profibus DP V2 re...

Страница 47: ...e type 0x02 PrmCmd parameter com mand for DP V2 redund ancy 0 1 0 0 0 0 0 0 2 Slot 0 0 0 0 0 0 0 0 3 Specifier Reserved Sequence number 4 Function Res Primary Re quest Stop MSAC1S Start MSAC1S Check P...

Страница 48: ...in events within the actuator can be marked with a time stamp The event is sent to the master using an alarm signal the master then reads the event with time stamp from the actuator Figure 5 Time sync...

Страница 49: ...mp are part of the AUMA user parameters transmitted to the actuator during communication startup The time stamp is activated via byte 2 of the parameters Table 35 Parameters of the time stamp Remark B...

Страница 50: ...am indicating the precise time when the time event was sent Table 37 Clock Value telegram Remark Bit Byte 0 1 2 3 4 5 6 7 Clock_value of Time_Event TE Seconds 2 31 0 since1 1 1900 0 00 00 or if value...

Страница 51: ...ange 100 to 115 6 Number of indications within the data re cord value range 1 17 7 Type of data record Permanently assigned to 0x0D Delta_Trigger_Discrete 1 0 1 1 0 0 0 0 8 Read time stamped data The...

Страница 52: ...f value 0x9DFF4400 since 7 2 2036 6 28 16 7 8 9 10 Split seconds 2 31 0 unit 1 2 32 seconds 11 12 13 14 Time stamp and redundancy Time stamped data is only sent via the primary channel During a channe...

Страница 53: ...rofibus channel 1 active green CH1 Communication via channels 1 2 yellow DX2 Data Exchange channel 2 yellow BA2 Option for redundancy Illuminated in green if Profibus channel 2 is active DX1 If the LE...

Страница 54: ...his state only Figure 8 Status LEDs RES RESET green DBG DEBUG green CAN CAN red RES Illuminated in green after Reset phase 3 3 V voltage supply is ok DBG Blinking in green after Reset phase 5 V voltag...

Страница 55: ...k cable connection Wait Prm No communication between slave and master Possible causes and remedies Configuration data incorrect Correct configuration in master Configuration data not yet sent Send con...

Страница 56: ...ofibus DP interface is waiting for correct parameter data Wait Prm The Profibus DP interface is waiting for correct configuration data Wait Cfg The Profibus DP interface is currently exchanging data w...

Страница 57: ...s DP V2 SR DP V2 SR Redundancy activated according to Profibus DP V2 FR DP V2 FR General Profibus DP redundancy AUMA redundancy I AUMA redundancy I AUMA redundancy II AUMA redundancy II DP V1 function...

Страница 58: ...ces during operation without affecting other devices is possible Network topology Twisted screened copper cable according to IEC 61158 Transmission medium EIA 485 RS 485 Profibus DP interface Possible...

Страница 59: ...indication directional Torque switches OPEN CLOSED Limit switches OPEN CLOSED Manual operation by handwheel or via local controls Analogue 2 and digital 4 customer inputs Process representation input...

Страница 60: ...8 Appendix 8 1 Proposed wiring diagram for external sensors 2 wire technology 60 Actuator controls Appendix AC V 01 2 AC V ExC 01 2 Profibus DP...

Страница 61: ...8 2 Proposed wiring diagram for external sensors 3 wire technology 61 Actuator controls AC V 01 2 AC V ExC 01 2 Profibus DP Appendix...

Страница 62: ...8 3 Proposed wiring diagram for external sensors 4 wire technology 62 Actuator controls Appendix AC V 01 2 AC V ExC 01 2 Profibus DP...

Страница 63: ...length Description Data type 4 bytes Logical value BOOL 2 4 6 8 bytes Bit string BS8 16 32 64 4 bytes Process data DRVCMD4 2 bytes Value from the value list enum 1 2 4 bytes Integer values I8 16 32 2...

Страница 64: ...7 Dansk 18 19 Suomi 20 21 Svenska 22 Ti ng Vi t 23 24 Eesti keel 25 Hrvatski 26 Lietuvi 27 Latvie u 28 Norsk 29 Sloven ina 30 Sloven ina 31 Srpski 32 33 Bahasa Indonesia 34 Bahasa Indonesia 35 0 MM DD...

Страница 65: ...ess Parameters Type No Data length 60 bytes _ ORDER NO ACTUATOR _ R Order no actuator S20 4 1 _ SERIAL NO ACTUATOR _ R Serial no actuator S20 4 2 TPA R Wiring diag actuator S20 4 3 Table 47 Version De...

Страница 66: ...Setting value Default Access Parameters Type No Data length 12 bytes 0 Function not active 1 R W Torque by pass enum 10 1 1 Function active Min 0 0 1 s 0 R W Torque by pass s U16 10 2 Max 50 0 1 s 0 F...

Страница 67: ...R W Self retaining Remote II enum 12 2 1 OPEN 2 CLOSE 3 OPEN and CLOSE 4 OPEN CL w o STOP Table 54 Profibus DP Setting value Default Access Parameters Type No Data length 4 bytes Min 0 126 R W DP1 sl...

Страница 68: ...tp U16 PRM_5116 Max 240 rpm Min 4 0 s 5 6 R W Target op time at setp U16 PRM_5139 Max 268 0 s Min 0 0 mA 0 0 R W Low limit target value U16 PRM_4957 Max 20 0 mA Min 0 0 mA 20 0 R W High limit target v...

Страница 69: ...al loss beh enum 15 1 1 Immediately active 0 STOP 0 R W Failure operation enum 15 2 1 CLOSE 2 OPEN 3 Approach position 4 Execute last CMD 1 Fieldbus interface 4 R W Source enum 15 3 2 I O interface 4...

Страница 70: ...By pass timer enum 16 8 1 On 0 Off 0 R W By pass operat profile enum 16 9 1 On 0 Off 0 R W By pass Interlock enum 16 10 1 On 0 Off 0 R W By pass Local STOP enum 16 11 1 On Min 0 0 1 s 10 R Delay time...

Страница 71: ...a length 6 bytes 0 Function not active 0 R W Duty type monitoring enum 23 1 1 Function active Min 10 min 15 R W Perm run time U16 23 2 Max 60 min Min 1 1200 R W Permissible starts U16 23 3 Max 1800 Ta...

Страница 72: ...num 66 1 1 End position test 0 OPEN 1 R W PVST behaviour enum 66 2 1 CLOSE Min 0 0 1 100 R W PVST stroke U16 66 3 Max 1000 0 1 Min 10 0 1 s 600 R W PVST monitoring Mmss01 66 4 Max 3000 0 1 s Min 1 0 1...

Страница 73: ...84 NAMUR funct check 83 NAMUR out of spec 85 NAMUR mainten req 79 Fault 78 Warning 80 Not ready REMOTE 554 Operation pause active 560 Start stepping mode 603 Actuator running 539 Running LOCAL 540 Ru...

Страница 74: ...T abort Table 67 Profibus Setting value Default Access Parameters Type No Data length 4 bytes 0 None 0 R W Redundancy enum 35 1 1 DP V2 SR 4 DP V2 FR 2 AUMA redundancy I 3 AUMA redundancy II 0 Tx acti...

Страница 75: ...Handwheel switch enum 36 3 1 NC 2 NO 0 Function not active 0 R Heater monitor enum 36 4 1 Function active Min 600 0 1 s 3000 R Heating sys mon time U32 36 5 Max 36000 0 1 s Table 70 MWG Setting value...

Страница 76: ...Nm Min 0 Nm 20 R Low limit T OPEN U16 37 19 Max 65535 Nm Min 0 Nm 100 R High limit T OPEN U16 37 20 Max 65535 Nm Min 100 150 R W Speed EMCY OPEN U16 PRM_5057 Max 200 Table 71 Potentiometer Setting val...

Страница 77: ...V DC ext enum 41 2 1 Function active 0 Function not active 1 R W Monitor 24 V DC cust enum 41 3 1 Function active 0 Function not active 1 R Monitor 24 V AC enum 41 4 1 Function active 0 Function not a...

Страница 78: ...Min 0 0 1 R Actual position U16 44 4 Max 1000 0 1 Min 0 0 1 R Torque U16 44 5 Max 1000 0 1 0 Power Off R Operation mode enum 44 6 1 EMCY stop 2 Off 3 Service 4 Local 5 Interlock 6 EMERGENCY 7 Remote 8...

Страница 79: ...de Setting value Default Access Parameters Type No Data length 8 bytes Min 0 R On time U32 53 1 Max 3600 Min 0 R No mot starts h U32 53 2 Max 3600 Min 0 R Incorrect dir rotation BOOL PRM_5241 Max 1 Ta...

Страница 80: ...x 126 0 12 Mbit s R DP1 baud rate enum 56 2 1 6 Mbit s 2 3 Mbit s 3 1 5 Mbit s 4 500 kbit s 5 187 5 kbit s 6 93 75 kbit s 7 45 45 kbit s 8 19 20 kbit s 9 9 6 kbit s 15 Not available 0 Baud search R DP...

Страница 81: ...R DP2 GC clear enum 56 5 1 GC Clear active 0 Data length 0 inactive R DP2 data length 0 enum 56 6 1 Data length 0 active 0 GC Freeze inactive R DP2 GC freeze enum 56 7 1 GC Freeze active 0 GC Sync in...

Страница 82: ...57 11 1 Activated 0 Tx active channel 0 R Behaviour Tx enum 57 12 1 Tx both channels Table 86 FO Setting value Default Access Parameters Type No Data length 28 bytes 0 Chanel deactivated R FOC level...

Страница 83: ...M_5227 Max 4294967295 s Min 0 s R Operating hours MMSS01 PRM_5068 Max 4294967295 s Min 0 s R Motor starts U32 59 2 Max 4294967295 s Min 0 R Max starts h U32 PRM_5226 Max 4294967295 Min 0 R Mean torque...

Страница 84: ..._5225 Max 4294967295 s Min 0 s R Operating hours U32 PRM_5067 Max 4294967295 s Min 0 s R Motor starts U32 60 2 Max 4294967295 s Min 0 R Max starts h U32 PRM_5224 Max 4294967295 Min 0 R Mean torque val...

Страница 85: ...in 100 C R Max vibration I32 PRM_5061 Max 150 C R W Reset operating data I16 60 21 Table 89 Event report Setting value Default Access Parameters Type No Data length 10 bytes Min 0 548 R File size even...

Страница 86: ...23 SIL status 24 Collective signal 25 25 Collective signal 26 26 Collective signal 27 27 Collective signal 28 28 FOC status 29 ER service 1 30 ER service 2 31 ER service 3 0 Function not active 0 R L...

Страница 87: ...63 3 1 On Table 93 Hardware equipment Setting value Default Access Parameters Type No Data length 46 bytes 0 Not available 1 R LC target enum 64 1 1 Available 0 Not available 0 R LC enum 64 2 1 Availa...

Страница 88: ...and loop 2 Red for line and loop 0 Not available 0 R Redundancy enum 64 21 1 Red for line and loop 2 Red for line and loop 0 Not available 0 R MWG target enum 64 17 1 Available 0 Not available 0 R MW...

Страница 89: ...89 Actuator controls AC V 01 2 AC V ExC 01 2 Profibus DP...

Страница 90: ...90 Actuator controls AC V 01 2 AC V ExC 01 2 Profibus DP...

Страница 91: ...Multiport valve function 38 O Operation 4 Output data 35 P Parameters tables 63 Parameter setting 10 Process alarm 51 Process representation input 21 process representation output 35 Profibus DP V1 in...

Страница 92: ...er GmbH Co KG P O Box 1362 DE 79373 Muellheim Tel 49 7631 809 0 Fax 49 7631 809 1250 info auma com www auma com Y004 942 003 en 1 20 For detailed information on AUMA products refer to the Internet www...

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