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PROFIBUS DP

Deutschmann Automation GmbH & Co. KG

38

UNIGATE

®

Feldbus-Gateway UNIGATE

®

CM - PROFIBUS V. 1.6

23.6.17

13.2.4 Data exchange

After the Master, in the diagnostic, detects that the Slave is ready for data exchange, it sends

data exchange telegrams. Either the Master stores the data in the input/output direction in the
address area specified during project planning or the control program must fetch or retrieve the
data using specific function blocks.

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Содержание UNIGATE CM - PROFIBUS

Страница 1: ...Instruction Manual Universal Fieldbus Gateway UNIGATE CM PROFIBUS Deutschmann Automation GmbH Co KG www deutschmann com wiki deutschmann de ...

Страница 2: ...Manual Art Nr V4009E ...

Страница 3: ...s at the UNIGATE CM 15 5 2 Buffer sizes at the UNIGATE CM 15 5 3 Framing Check 15 6 The Debug interface 16 6 1 Overview of the Debug interface 16 6 2 Starting in the Debug mode 16 6 3 Communication parameter for the Debug interface 16 6 4 Possibilities with the Debug interface 16 6 5 Commands of the Debug interface 16 7 Mode of operation of the system 18 7 1 General explanation 18 7 2 Interfaces 1...

Страница 4: ...ANopen termination 27 10 Error handling 28 10 1 Error handling at UNIGATE CM 28 10 1 1 Error on the Extension 29 11 Installation guidelines 30 11 1 Installation of the module 30 11 1 1 Mounting 30 11 1 2 Removal 30 11 2 Wiring 30 11 2 1 Connection systems 30 11 2 1 1 Power supply 30 11 2 1 2 Equipotential bonding connection 31 11 2 2 PROFIBUS DP communication interface 31 11 2 2 1 Bus line with co...

Страница 5: ...error byte 45 14 3 1 10 SDO Obj Mapping 45 14 3 1 11 Slave mode 47 14 3 1 12 CAN Baud rate and address 47 14 3 1 13 PROFIBUS Ident Nr Gerätetausch V2862 47 14 3 1 14 Starting phase 48 14 3 1 15 Data cycle time 48 14 3 2 Layer 2 11Bit 48 14 3 3 Universal L2 11Bit 49 14 3 4 Universal L2 11Bit with COB ID used 50 14 3 5 Universal L2 11 29Bit 50 14 3 6 Universal L2 11 29Bit with COB ID used 52 14 3 7 ...

Страница 6: ...NIGATE CM PROFIBUS DP V 1 6 23 6 17 16 12 Shield connection 58 16 13 Project planning 58 16 14 Literature 58 17 Servicing 59 17 1 Returning a device 59 17 2 Downloading PC software 59 18 Annex 60 18 1 Explanations of the abbreviations 60 18 2 Hexadecimal table 61 ...

Страница 7: ...in the publication is however reviewed regularly Necessary amendments are incorporated in the following editions We would be pleased to receive any improvement proposals which you may have Copyright Copyright C Deutschmann Automation GmbH Co KG 1997 2017 All rights reserved This document may not be passed on nor duplicated nor may its contents be used or disclosed unless expressly permitted Violat...

Страница 8: ...y with the following requirements Scope of application Requirement applicable to Emitted interference Interference immunity Industry EN 55011 cl A 2007 EN 61000 6 2 2005 1 3 Note installation guidelines The module complies with the requirements if you 1 comply with the installation guidelines described in the User Manual when installing and oper ating the module 2 also follow the rules below on in...

Страница 9: ...ive Consequently the module does not have a Declaration of Conformity in relation to the EU Machinery Directive 2 2 EU Machinery Directive The EU Machinery Directive stipulates the requirements applicable to a machine The term machine is taken to mean a totality of connected parts or fixtures see also EN 292 1 Para graph 3 1 The module is a part of the electrical equipment of the machine and must ...

Страница 10: ...PROFIBUS DP Slave It can be operated by any standard compliant PROFIBUS Master The module CM PROFIBUS DP essentially consists of the following hardware components Electrically isolated RS485 interface to the PROFIBUS DP PROFIBUS ASIC Microprocessor 89C51RE2 RAM and EPROM Serial interface RS232 RS485 and RS422 Electrically isolated interface to CANopen Conceptual In the further course of this manua...

Страница 11: ...23 6 17 UNIGATE Feldbus Gateway UNIGATE CM PROFIBUS V 1 6 11 Deutschmann Automation GmbH Co KG Introduction 3 1 UNIGATE CM software flow chart ...

Страница 12: ... Co KG 12 UNIGATE Feldbus Gateway UNIGATE CM PROFIBUS V 1 6 23 6 17 3 2 UNIGATE block diagram The following picture shows a typical UNIGATE module design 3 3 UNIGATE CM application diagram The following graph shows a typical connection scheme ...

Страница 13: ...The test mode is set by bringing the switches S4 and S5 in position E All other switches will not be taken into consideration for the setting of the test mode Now the Gateway has to be restarted with these settings by a short disconnection from the power supply In the test mode the Gateway always operates with the settings 9600 baud no parity 8 databits and 1 stopbit The test mode may be helpful t...

Страница 14: ... in the data exchange mode so that a data exchange between the CANopen side of the Gateway and the Fieldbus is possible As long as the Gateway is not in the configuration test firmware update or debug mode the data exchange mode is active In the data exchange mode the Gateway will execute the downloaded Script UniversalScript_CM ScriptName Universalscript Deutschmann CM ...

Страница 15: ...at is capable for Script For it please check in the Protocol Developer under Device Control Hardware 5 3 Framing Check The length of the stop bit received by the Gateway is checked through the function Framing Check Here the stop bit generated by the Gateway is always long enough so that connected participants can evaluate the stop bit Please be aware that the function Framing Check becomes effect...

Страница 16: ...ce With it a step by step pro cessing of a Script monitoring jumps and decisions and looking at memory areas is possible Moreover breakpoints can be set It basically possesses all characteristics a software develop ment tool is typically supposed to have However it is also possible to carry out a Scrip update via this interface From Script version 27 on you can also output data with the Script com...

Страница 17: ...V 1 6 17 Deutschmann Automation GmbH Co KG The Debug interface If debugging is redirected to the application no script or command that wants to carry out com munication via the application interface is supported These are e g SendRS and ReceiveSomeCharRS ...

Страница 18: ...variable maximum value in this case Parameters 8 Bytes no user parameters Configuration data max 16 Bytes dependant on configuration Diagnosis max 8 Bytes 1 user diagnostic byte error code Contrary to this default setting these parameters can be altered through special Script com mands The commands can be found in the Protocol under Bus specific PROFIBUS Set Profibus Config Data Set Profibus Param...

Страница 19: ...erformance of the Script is favorable 8 3 What can you do with a Script device Our Script devices are in the position to process a lot of commands In this case a command is always a small firmly outlined task All commands can be put into classes or groups A group of commands deals with the communication in general This group s commands enable the Gate way to send and receive data on the serial sid...

Страница 20: ... by the Protocol Developer is carried out in a way that existing commands will not be overwritten Generally a new command is inserted in front of the one where the cursor is positioned Of course the commands can also be written by means of the keyboard or already written commands can also be modified 8 7 Accuracies of the baud rates The baud rate of the serial interface is derived from the process...

Страница 21: ...at the Debug interface provided that the Protocol Developer has been started on the PC Sending and receiving data at the RS interface Sending and receiving data at the Fieldbus interface Tasks controlled via internal clock 1 ms e g flashing of an LED Processing of the Script From experience approximately 0 5 ms can be calculated for each Script line This value confir med itself again and again in ...

Страница 22: ...out it does not affect the device s function or quality It can be put in again without problems 9 2 Connectors 9 2 1 Connector to the external device RS interface The serial interface is available at the plug accessible on the upper side of the device Pin assignment X1 3 pole and 4 pole screw type plug connector Pin No Name Function 1 Rx 232 Receive signal 2 Tx 232 Transmit signal 3 AP GND Applica...

Страница 23: ...on 9 2 3 CANopen interface connector The accessible plug at the top rear is the CANopen interface Pin assignment X6 4 pole connector Pin No Name Function C1 CAN GND CAN Ground C2 CAN L Dominant Low C3 Reserved Reserved please do not wire C4 CAN H Dominant High 9 2 4 PROFIBUS DP connector The plug labeled PROFIBUS for the connection to PROFIBUS is available on the front side of the device Pin assig...

Страница 24: ...flash one short flash approximately 200ms followed by a long off phase approximately 1000 ms LED double flash a sequence of two short flashes approximately 200ms separated by an off phase approximately 200ms The sequence is finished by a long off phase LED triple flash approximately 1000 ms a sequence of three short flashes approxi mately 200ms separated by an off phase approximately 200ms The seq...

Страница 25: ...ns in Configuration Test or Update Mode green red flashing UNIGATE is in test mode red flashing UNIGATE is in configuration mode error see error table chapter 28 1 1 red bright CL basis stopped PC connection with Ext Board active Firmware update see chapter 12 9 3 2 LEDs 1 2 4 8 Error No Select ID If these 4 LEDs flash and LED State simultaneously lights red the error number is displayed in binary...

Страница 26: ...here must be a bus termination at this Gateway In order to do this the termination switch is set to posi tion ON The resistor 150 integrated in the Gateway is activated In all other cases the switch remains in position OFF Please refer to the general RS485 literature for further information on the subject of bus termina tions If the integrated resistor is used please allow for the fact that this a...

Страница 27: ...ure for further information on the subject of bus termination Note To activate or deactivate the bus termination please remove the bus connector and care fully set the switch to the desired position 9 4 4 Rotary coding switches High Low PROFIBUS ID With these two switches the Gateway s PROFIBUS ID 00 7D is set in hexadecimal notation Please refer to the Annex for a conversion table from decimal to...

Страница 28: ...e For user defined errors the flash frequency is 0 5 hertz The error is displayed as long as defined by Set Warning Time In the configuration mode these displays are not valid and only meant for internal use LED8 LED4 LED2 LED1 Error no resp ID Error description System error 2x sec Error description with Uni versal Script CM Delivery status User error 1x sec 0 0 0 0 0 Reserved 0 0 0 1 1 Hardware f...

Страница 29: ...alue afterwards in Hex stands for the error number The error number can be evaluated in the Protocol Developer Help under Appendix Return codes ExtErr is for a more detailed fault localization The script source code can be searched with the following number ExtErr 030 10 1 1 Error on the Extension An error on the extension will be signaled through red flashing of the Power State LED The LED of the...

Страница 30: ...annel may also be mounted vertically so that the module is mounted turned through 90 11 2 Wiring 11 2 1 Connection systems The following connection systems must resp may be used when wiring the module Standard screw type plug connection power supply RS 9 pin D SUB plug connector PROFIBUS DP a In the case of standard screw type terminals one lead can be clamped per connection point It is best to th...

Страница 31: ...supply lines with the aim of ensuring an EMC compliant design of your system 11 2 4 General information on line routing Inside and outside of cabinets In order to achieve EMC compliant routing of the lines it is advisable to split the lines into the fol lowing line groups and to lay these groups separately Group A shielded bus and data lines e g for PROFIBUS DP RS232C and printers etc shielded ana...

Страница 32: ...uppression in the higher frequency band is by connecting the shields at both ends The shield may also be connected at one end only in exceptional cases However this then achieves only an attenuation of the lower frequencies Connecting the shield at one end may be more favorable if it is not possible to lay an equipotential bonding line analogue signals a few mV resp mA are to be transmitted foil s...

Страница 33: ...LSS BaudIdx 4 The switch position DD serves for the Firmware Update of the ext board The gateway will start in this mode when the switches S4 and S5 are in position D during start up of the gateway Then the follwing messsage appears If you want to download a new firmware for the expansion board press the FDT Firmware Download button within 10 seconds Within 10 seconds the firmware update can be st...

Страница 34: ...zation since it is determined in Octet 8 of the parameterization telegram whether it is a DPV0 or a DPV1 Slave A DPV1 Slave can also be operated at a DPV0 Master if the DPV1 functions remain turned off 13 1 2 DPV2 Die DPV2 enlargement consists of the following functions 1 Isochron Mode IsoM It means the clock synchronous behavior of a bus system This function is optional for a DPV2 Slave and is ac...

Страница 35: ...d in one octet Otherwise you must use as many octets as the number of different bytes words you wish to use and which cannot be combined in one octet If the module detects during the check that the maximum permitted input output data lengths have been exceeded it signals incorrect configuration to the Master during a subsequent diag nostic scan It is then not ready for useful data communication 13...

Страница 36: ...iguration data does not correspond Diag ext_diag Slave has external diagnostic data Diag not supported Requested function is not supported in the Slave Diag invalid_slave_response sets Slave permanently to 0 Diag prm_fault Incorrect programming identification number etc Diag master_lock sets Master Slave has been programmed by another Master Octet 10 Diag Prm_req Slave must be reprogrammed Diag St...

Страница 37: ...o carry out an adaptation at DPV1 Now the 3 bytes 0x81 0x00 0x00 have been inserted in front of the actual error message in order to be compatible with DPV1 masters With it a DPV1 master identifies our gateway s error as status message now This results in a different representation of our gateway error in PROFIBUS At DPV0 the error number is transmitted in unmodified form as 1 byte external diagno...

Страница 38: ...nge After the Master in the diagnostic detects that the Slave is ready for data exchange it sends data exchange telegrams Either the Master stores the data in the input output direction in the address area specified during project planning or the control program must fetch or retrieve the data using specific function blocks ...

Страница 39: ...ble depending on the firmware version of the UNIGATE that the Universal Script will get lost and must be played in again The Script can be found on the Deutschmann Support DVD in the folder Software ProtocolDeveloper Example Universal UniversalScript CM 14 1 Implemented protocols Transport protocols at the CM interface CANopen Mapping Layer 2 11Bit Universal L2 11Bit Universal L2 11Bit with COB ID...

Страница 40: ...niversal L2 11Bit COB ID Universal L2 11 29Bit Universal L2 11 29Bit COB ID L2 11Bit Tgl FBlen CM Profile CM Slave Mode CM CAN Baudrate CM CAN Field bus ID CM COB ID used 1 16 CM COB ID used 16 16 14 2 2 Possibilities on the fieldbus side CM Transport protocol Fieldbus Parameter CANopen Mapping Layer 2 11Bit Universal L2 11Bit Universal L2 11Bit COB ID Universal L2 11 29Bit Universal L2 11 29Bit C...

Страница 41: ...able from the corresponding busses The Mapping works in both directions from the Master to the Slave as well as reverse Example That way it can be defined that the 2nd byte of the COB ID201 CANopen participant is transfered into the Profibus data as 7th byte At present 256 mappings are possible 128 Tx and 128 Rx Mappings The data is transferred as PDOs only You can setup maximum of 16 Tx and 16 Rx...

Страница 42: ... times to different positions in the fieldbus However a maximum of 8 mappings per PDO may be entered At the mapping from fieldbus to CANopen several mappings can be configured for each Profibus byte There the total number of these mul tiple mappings must not exceed 31 If possible for the PDO mappings only COB IDs from the range 181H 580H should be used see DS301 specification for CANopen 14 3 1 2 ...

Страница 43: ...me factor states how often the answer of the slave may be missing before the master assumes a failure of the slave These settings are available from Gateway software revision 1 1 on 14 3 1 3 Displaying the node guarding states The node guard mapping is used to represent the node guard states of the single slaves to the PROFIBUS Always 8 slaves are represented in one byte so exactly one bit of info...

Страница 44: ...rent message sas well as the number of the received EMCY messages and the node ID of the sender of the message can be shown in the fielbus output data of the gateway With the control byte the next message can be recalled If the data of the EMCY message is shown in the bus data the new data in the PROFIBUS is already visible with the toggle of the data Setting of the emergency messages These settin...

Страница 45: ...ay If the RTR function is used at least 1 Rx PDO has to be mapped Furthermore the amount of mapped Rx PDOs must not exceed 50 since otherwise it will result in an overrun This setting is available from Gateway software revision 2 3 on 14 3 1 9 Gateway error byte The Gateway s current error state itselfcan be shown in the fieldbus as well as the other values of the node guarding or the slave data S...

Страница 46: ...selected as large as the receive data length that is mai mally to be expected Otherwise data that exceeds the set length is cut off If the size Data Len Request is the same or larger than the receive data length then the actual data length comes back as Data Len Response Data from the FB Master PLC Data to the FB Master PLC Request Response FB Idx In Data Hex Description FB Idx In Data Hex Desript...

Страница 47: ...de ID only in Slave mode can be set via WINGATE 14 3 1 13 PROFIBUS Ident Nr Gerätetausch V2862 The Ident Number is 3218h If you want to replace a UNIGATE CM device in an existing project with a V2862 UNIGATE CO M ProfibusDP you can change back the Ident Number to the old Version 2862h via this parameter As a result you can keep the old GSD file and you don t have to change the project Note The con...

Страница 48: ... to the fieldbus or the other way round depends on the following parameters Amount of Mappings Length of the configured fieldbus data Amount of COB IDs used at the Mappings Amount of changed fieldbus data between two transmissions Amount of mapped bytes in a COB ID Baud rate in the fieldbus or CAN On account of the large amount of parameters and their interdependence a formula for the calcu lation...

Страница 49: ... with COB ID 181 and the data content 11 88 in the first frame and A1 A8 in the second frame has been sent to the fieldbus Example for sending a message from fieldbus to CAN COB ID should be 182 data content 0x01 0x04 SPS Out in Hex 01 82 01 02 03 04 No further configuration like trigger bytes or fieldbus length byte are possible There is no diagnostic output for the fieldbus status on the CAN sid...

Страница 50: ... All others are filtered not processed If the value 0000 is displayed in the first entry CM COB ID used 1 16 it will also be reacted to messages with COB ID NULL If in one of the other entries CM COB ID used 2 16 16 the value is NULL it is considered the end of the list and all subsequent entries will not be processed Example In this example only the COB ID s 0000 hex 0181 hex 0201 hex and 0080 he...

Страница 51: ... 00 02 03 01 02 03 00 00 00 00 00 Data display on the fieldbus side SPS receives from CAN 29 Bit Mode 1 Byte number of received data from CAN Low Nibble Bit 7 MSB 1 29Bit Frame received Bit 6 RTR Bit 5 0 not used 2 Byte COB ID High Byte 3 Byte COB ID 4 Byte COB ID 5 Byte COB ID Low Byte 6 Byte Data n 7 Byte Data n 1 8 Example 1 Line MSB 1 29 Bit Frame 8 Payload COB ID 181 Payload 11 88 Example 2 L...

Страница 52: ... Change In many cases however this can not be used as the criterion e g whenever the same data is to be sent For this reason the user can set control of transmission via a trigger byte fieldbus data exchange On Trigger In this mode the gateway always sends and only then when the trigger byte is changed Accordingly the application program in the control in Normal mode cannot detect whether the gate...

Страница 53: ...or the usual conditions not condensing 9 Storage transport temperature 40ºC 85ºC 10 Atmospheric pressure during operation during transport 795 hPa 1080 hPa 660 hPa 1080 hPa 11 Installation altitude 2000 m 4000 m Unrestricted Restricted Ambient temperature 40ºC 12 Relative humidity Max 80 No condensation no corrosive atmosphere 14 External power supply 10 33 V DC Standard power supply unit to DIN 1...

Страница 54: ...lave Master slave 4 Number of users Transmitters Receivers 32 32 1 1 32 32 32 32 5 Cable length Maximum Baud rate dependent 1200 m 93 75 kBd 1200 m 187 5 kBd 1000 m 500 kBd 400 m 1 5 MBd 200 m 1 5 MBd 100 m 15 m no 1200 m 93 75 kBd 1200 m 312 kBd 500 m 625 kBd 250 m 1300 m 50 kBd 1300 m 100 kBd 640 m 200 kBd 310 m 500 kBd 112 m 1 MBd 40 m 6 Bus topology Line Point to point Line Line 7 Data rate Ma...

Страница 55: ... Automation GmbH Co KG Technical data Table Technical data of the interfaces at the module 10 Transmit range SPACE Voltage level Logic level 0 2 0 2 V 0 3 15 V 0 0 2 0 2 V 0 0 5 0 05 V 0 11 Transmit pause MARK Voltage level Logic level 1 5 5 V 1 3 15 V 1 1 5 5 V 1 1 5 3 V 1 ...

Страница 56: ...ay PROFIBUS cable this cable is generally already installed on site 10 33 V DC power supply DIN 19240 Type file or GSD file and user manual a sample file as well as the user manual can be orde red separately or downloaded free of charge from our homepage at www deutschmann de 16 3 Installation The UNIGATE CM PROFIBUS DP module features protection type IP20 and is thus suitable for switch cabinet u...

Страница 57: ...otary switch is set to 7E 126 on the PROFIBUS side PROFIBUS ID the gateway operates with a PROFIBUS address that is stored in the EEROM In the state of delivery this address is set to 126 and can only be changed by a PROFIBUS master via the PROFIBUS itself The address 126 is reserved in the PROFIBUS for this purpose that means that a slave with this address can never carry out a data exchange but ...

Страница 58: ... process device Please also read the manual for the process device when commissioning the process device 16 11 Connecting the supply voltage Please connect 10 33 DC voltage to the terminals provided for this 16 12 Shield connection Earth the top hat rail onto which the module has been snapped 16 13 Project planning Use any project planning tool for project planning If the required GSD file was not...

Страница 59: ... to midday and from 1 pm to 4 pm Friday from 8 am to midday CET Deutschmann Automation GmbH Co KG Carl Zeiss Straße 8 D 65520 Bad Camberg Germany Central office and sales department 49 6434 9433 0 Technical Support 49 6434 9433 33 Fax sales department 49 6434 9433 40 Fax Technical Support 49 6434 9433 44 E mail Technical Support support deutschmann de 17 1 Returning a device If you return a device...

Страница 60: ... screw plug connector PL Board only without DIN rail module and without housing cover PD Board only without DIN rail module and with housing cover AG Gateway installed in a die cast aluminum housing EG Gateway installed in a stainless steel housing IC Product group IC IC design DIL32 IO8 Option I O8 16 Script memory expanded to 16KB 5V Operating voltage 5V 3 3V Operating voltage 3 3V Fieldbus ASI ...

Страница 61: ... UNIGATE IC for the respective product PBDPX PROFIBUS DP version X see comparison table UNIGATE IC for the respective product PBDPV0 PROFIBUS DPV0 PBDPV1 PROFIBUS DPV1 RS Serial RS232 485 422 18 2 Hexadecimal table Hex Decimal Binary 0 0 0000 1 1 0001 2 2 0010 3 3 0011 4 4 0100 5 5 0101 6 6 0110 7 7 0111 8 8 1000 9 9 1001 A 10 1010 B 11 1011 C 12 1100 D 13 1101 E 14 1110 F 15 1111 ...

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