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13

Appendix B PKW0 telegram

ID 441687.04

WE KEEP THINGS MOVING

Operation manual

50

13

Appendix B PKW0 telegram

13.1

PKW0 mechanism

When PPO type 1 or 2 is selected during configuration of PROFIBUS DP, the 
"parameter ID value (PKW0)" routine defined in PROFIDRIVE is available for 
parameter communication. However, not all parameters, displays and actions of 
the inverter can be accessed. Excluded are parameters with a number greater 
than 255, a length greater than 32 bits (text parameters) or indexed parameters 
with an index greater than 19. The axis is selected via 

A11.1

 as shown below.

A11.1

 = 0  Axis 1 or 2 depending on PNU

A11.1

 = 1 (=2/3)  Axis 13 or 4 depending on PNU 

A11.1

 itself can be accessed via: 

PNU

dez

   =  1000 + 20 * 0 + 1 = 1001

Subindex = 11.

In the old PROFIDrive profile version 2, only 11 bits were provided for a parameter 
number. That severely restricted the available address area. Fourth-generation 
STÖBER Antriebstechnik inverters locate their parameters in the area of the PNU 
between 1000

dec

 to 1999

dec

. To be able to offer downwards compatibility, the old 

PKW0 routine is still available with the same addresses. The entire scope of 
parameters available today with the various data types cannot be imaged on this, 
however. Specification of parameter number and subindex for the access via 
PROFIBUS can be created from the coordinates of the particular parameter in the 
menu of the inverter. The following rules apply:

The letters of the menu coordinates apply to the following numbers

The parameters from the groups B.. to G.. exist once in axis 1 and then again in 
axis 2. The menu only contains one coordinate. For access via PROFIBUS, the 
parameter numbers for the parameters for axis 1 are selected from 1000 to 1499 
and for axis 2 starting at 1500.

Information

The PKW0 mechanism described here is compatible with the 4th 
generation of STÖBER inverters.

PNU

dec

= 1000 + 20 * letter of the menu coor 500 for axis 2 

(used to be parameter record 2) + 1 * index

Subindex

dec

= Counting value of the menu coordinate

A B C

D

E

F

G H

I

J

K

L

M

N

O

P

Q

R

S

T

U

V

W

X

Y

Z

0

1

2 3 4 5 6 7 8 9

10

11 12 13 14 15

16

17 18

19

20

21 22 23 24

25

Содержание PROFIBUS

Страница 1: ...PROFIBUS Operation manual Fundamentals Configuration Parameters V 5 6 H or later 09 2013 en ...

Страница 2: ...e 7 2 5 Installation and connection 8 2 6 Service 8 2 7 Disposal 8 2 8 Presentation of notes on safety 9 3 Mounting 10 3 1 Install in MDS 5000 or SDS 5000 10 3 2 Installation in the FDS 5000 13 4 Electrical installation 16 4 1 Setup 16 4 2 Cable specifications 17 4 3 Connection of the bus cables to the inverter 18 5 Fundamentals of PROFIBUS 19 5 1 PROFIdrive profil version 3 19 5 2 Comparison of t...

Страница 3: ...PZD area 30 9 Control with control and status bits 31 10 Switchable scaling 32 11 Parameter Overview 33 11 1 PROFIDRIVE parameter 33 11 2 PROFIBUS parameter mapping PKW1 33 11 3 List of the primary communication parameters 35 11 4 List of quick location of parameters 40 12 Appendix A 41 12 1 General characteristics 41 12 2 Parameter jobs and responses 41 12 3 DPV1 telegram sequences 46 12 3 1DPV1 ...

Страница 4: ...5000 includes the following manuals Manual Contents ID Latest versiona Commissioning Instructions Reinstallation replacement function test 442297 V 5 6 H Projecting manual Installation and connection 442273 V 5 6 H Operating manual Set up the inverter 442285 V 5 6 H a At the time of publication You can find all versions at www stoeber de Products Doc Center Manual Contents ID Latest versiona Commi...

Страница 5: ...esitate to contact us at telephone 49 0 7231 582 1187 or E Mail applications stoeber de To make getting started with our software easier we offer courses Contact our training center at electronics stoeber de If you have questions about the documentation please contact E mail electronics stoeber de If you have questions about training sessions please contact E mail training stoeber de Manual Conten...

Страница 6: ...mentation is purely a product description It does not represent promised properties in the sense of warranty law 2 1 Component part of the product The technical documentation is a component part of a product Since the technical documentation contains important information always keep it handy in the vicinity of the device until the machine is disposed of If the product is sold disposed of or rente...

Страница 7: ...tood and complied with 2 4 Transportation and storage Inspect the delivery for any transport damage immediately after you receive it Notify any damage to the transport company immediately Do not operate the product if damaged Store the device in a dry and dust free room if you do not install it immediately Activity Possible occupational qualifications Transportation and storage Worker skilled in s...

Страница 8: ...ainst restart 3 Check that voltage is not present 4 Earth and short circuit 5 Cover adjacent live parts Afterwards you can carry out the work 2 6 Service Repairs must only be performed by STÖBER ANTRIEBSTECHNIK GmbH Co KG Send faulty devices with a fault description to STÖBER ANTRIEBSTECHNIK GmbH Co KG Abteilung VS EL Kieselbronner Str 12 75177 Pforzheim Germany GERMANY 2 7 Disposal Please comply ...

Страница 9: ...means that minor injury may occur if the stated precautionary measures are not taken WARNING Warning means that there may be a serious danger of death if the stated precautionary measures are not taken DANGER Danger means that serious danger of death exists if the stated precautionary measures are not taken Information indicates important information about the product or a highlighted portion of t...

Страница 10: ...DS 5000 WARNING Danger of injury death and property damage due to electric shock Before installing accessories turn off all voltage supplies Then wait 5 minutes for the DC link capacitors to discharge Never begin with accessory installation until after this CAUTION Danger of property damage due to electrostatic discharge among others Provide suitable protective measures while handling open PCBs e ...

Страница 11: ...EEP THINGS MOVING 11 3 2 Remove the punched out metal section with the pliers 3 Remove the screws from the option PCB 4 Stick the sub D plug connector of the PCB through the plate from below 5 Secure the PCB to the plate with the screw in step 3 ...

Страница 12: ...EP THINGS MOVING Operation manual 12 6 Insert the option PCB in the inverter so that the gold contacts slide into the black terminal block 7 Secure the plate to the inverter with the mounting screws You have installed the accessory ...

Страница 13: ...installation until after this CAUTION Danger of property damage due to electrostatic discharge among others Provide suitable protective measures while handling open PCBs e g ESD clothing environment free of dirt and grease Do not touch the contact surfaces You will need the following tools to install the DP 5000 TX10 Torx screwdriver Pliers Hexagon socket wrench 4 5 mm Installing the DP 5000 in an...

Страница 14: ...Remove the screws from the option PCB 4 Stick the sub D plug connector of the PCB through the plate from below 5 Secure the PCB to the plate with the screws from step 3 6 Stick the option PCB in the inverter so that the gold contacts slide into the black terminal block ...

Страница 15: ...Mounting Operation manual ID 441687 04 WE KEEP THINGS MOVING 15 3 7 Secure the plate to the inverter with the mounting screws You have installed the accessory ...

Страница 16: ...y one for every repeater used The maximum number of masters and slaves over the entire bus system is 126 The maximum line length depends on the baud rate being used The table below gives you the maximum permissible lengths for one segment and for all segments We strongly recommend NOT using stub lines in the setup This is only permitted during commissioning This bus system is usually set up with s...

Страница 17: ... described in PROFIBUS literature Wave resistance 135 to 165 Ω at a measuring frequency of 3 to 20 MHz Cable capacity 30 pF per meter Core cross section 0 34 mm Loop resistance 110 Ohm per km Signal attenuation Max of 9 dB over the entire length of the line segment Shielding Braided copper shield or braided shield and foil shield Use of other types of cables is not recommended since then only slow...

Страница 18: ... switch on the bus terminating resistors Information To ensure that bus termination functions correctly the power supply may not be allowed to fail on the stations with circuited terminating resistors To bypass the risk of a complete bus failure when the last station malfunctions active bus terminating components can be used The inverters in the device series MDS 5000 and SDS 5000 with a separate ...

Страница 19: ...for variable speed drives PROFIDrive version 2 Today PROFIBUS communication is the standard for drive technology In addition to the PROFIBUS standard the PROFIDrive profile specifies uniform device reactions and access procedures for the drive data One of the new functions of version 3 is the parameter channel which uses the DP V1 services of the acyclic communication STÖBER ANTRIEBSTECHNIK offers...

Страница 20: ...verters and an appropriate master required The use of these services does not interfere with the operation of the other stations When an older controller is used which does not support acyclic services operation with cyclic data PZD and PKW can be used Fig 5 1 Schematic setup with different types of STÖBER inverters PROFIBUS Standard Properties New Features Meaning for FDS 5000 MDS 5000 DP V0 Cycl...

Страница 21: ...nged between a class 1 master C1 and the drive controller with cyclic communication Such data include for example reference and actual values and control and status information A routine for parameter communication of the familiar PKW channel as with the FDS 4000 can be implemented within the cyclic communication There is always exactly one C1 master in each PROFIBUS setup This master reads the GS...

Страница 22: ...he speed of PROFIBUS 5 3 2 User data communication The process data channel is used for high speed transmission of data which are used for controlling and monitoring the running process and which require a particularly short transmission time When the bus system is configured the selection of the PPO type specifies whether the cyclic parameter channel is to be used and how many bytes the process d...

Страница 23: ...or has failed See parameter E54 option module 1 Flashing Off PROFIBUS master stopped bus for more than 25 s PLC in stop or has failed or bus cable no longer connected see parameter A84 PROFI Baud Off Flashing Device is ready and is waiting for the PROFIBUS master to start or When this state does not change although the PROFIBUS master has already attempted to establish a connection this means that...

Страница 24: ... is in the state of cyclic data communication with this station 2 Wait for Param Station is waiting to be parameterized by the PROFIBUS master 3 Bus Failure Error on PROFIBUS 4 Acyc Initiate 1 An acyclic connection has been established 5 Acyc Initiate 2 A second acyclic connection has been established 6 MDS configured Station has been configured by the PROFIBUS master 7 Driver Error Error in the P...

Страница 25: ...e master side using configuration software This software must read the device master data files GSD files from all stations The GSD files are like electronic data sheets which contain the information on the PROFIBUS characteristics such as supported baud rates supported modules and so on They are provided by the manufacturer for each PROFIBUS device The GSD file for the devices of the 5th generati...

Страница 26: ...e particular CPU supports DPV1 see the CPU characteristics under the hardware manager 7 2 1 The HW config To link in the GSD file in the STEP 7 open the menu Extras Neue GSD Datei einbinden Then display the GSD in the device catalog under Extras Katalog Aktualisieren This must done only once After this the inverter appears at the position as shown on the screen in the hardware catalog HW Config in...

Страница 27: ...SFC Calls for data consistency To ensure data consistency on the bus SIEMENS requires that SFCs 14 and 15 be used for data lengths longer than a double word Direct accesses to the IO area via L PAW or L PEW are then NOT permitted The SFCs must be called once per slave Fig 7 2 SIEMENS SFC s 14 15 ...

Страница 28: ...nel PKW0 The Devices of the 5th generation of STÖBER inverters provide five different PPO types to choose from for the establishment of this user data structure To be able to use the functionality of process data transmission the applicable blocks must be activated by the PC software POSITool This is done by selecting a suitable application in user prompted commissioning and then downloading it to...

Страница 29: ...93 PZD Setpoint Len 205C 0 Specifies the total data length in bytes which is to be accepted by PROFIBUS for the selected setting in A90 and A91 The value corresponds to the sum of the data lengths of the correctly set parameters which can be mapped on PZD If no value or wrong values are entered in A90 and A91 the value 0 appears here i e no data are accepted by PROFIBUS A94 PZD ActValue Mapping Tx...

Страница 30: ...his example 2 byte When the parameters A90 A94 are set as described here the data are automatically mapped by the inverter from and to the parameters Parameter Value Description Length Byte A90 0 A180 Device control byte 1 A90 1 I211 Motion control byte 1 A90 2 I210 Control word command posi 2 A90 3 I213 Target position 4 A90 4 I230 Override 2 Parameter Value Description Length Byte A90 0 E200 Dev...

Страница 31: ... Control with control and status bits The control and status words depend on their use and the STÖBER template used The demands on the control word differ for the individual applications e g command positioning fast reference value etc and can be found in the particular application documentation ...

Страница 32: ...standard or with the native raw resolution of the 5th generation of STÖBER inveters The scaling can be set with the parameter A100 With A100 0 all values are scaled as standard With A100 1 the raw values are transferred to PROFIBUS In this case there is no scaling to user defined or physical units and the values are forwarded in the internal inverter format instead This relieves the main processor...

Страница 33: ...n the parameter number area from 2000hex to 5FFFhex PNU Sub index Parameter name STÖBER address Data type Value meaning 918hex 0 Node address A83 5 Bus address 964hex 0 Device Identification Manufacturer 6 U16 267dez STÖBER 964hex 1 Device Identification Device type 6 U16 4D44hex ASCII MD for MDS 5000 964hex 2 Device Identification Version 6 U16 0500hex V 5 00 964hex 3 Device Identification Firmwa...

Страница 34: ...nd subindex Parameter number PNU 2000hex 200hex group A 0 B 1 row Subindex Element number for record or array e g A00 0 start A00 1 progress A00 2 result Axis Number of the physical axis Values between 0 and 3 can be used here when the table contains global the same memory location is addressed in every axis A B C D E F G H I J K L M N O P Q R S T U V W X Y Z 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Страница 35: ...ted If the power is turned off while the action is running this causes incomplete storage After the device starts up again the fault ConfigStartERROR parameters lost appears on the display Only several 1000 storage procedures are possible per Paramodul When this limit has almost been reached result 14 is indicated after the storage procedure When this happens replace Paramodul as soon as possible ...

Страница 36: ... reference values control bits which are sent by the PLC to the device via PROFIBUS Example When A90 0 A180 is entered this means that the first byte length of A180 which is received by the bus is transferred to parameter A180 Subsequent data are transferred in the same way to the entered parameters It is absolutely necessary that the length of the entered parameters be known Axes Global Data type...

Страница 37: ...yte length of E200 which is transferred by the bus contains the contents of parameter E200 The subsequent data are transferred via the bus in the same way It is absolutely necessary that the length of the entered parameters be known Axes Global Data type 7 Value see above PNU 205Ehex Subindex 6 A95 PZD ActValue Mapping The source parameters are entered in A94 A95 which contain the actual values st...

Страница 38: ...lues and whole numbers for the representation scaling of process data values during transmission via PZD channel Regardless of this setting the representation is always the whole number via PKW channel and the non cyclic parameter channel CAUTION When 0 integer is parameterized scaled values the runtime load increases significantly and it may become necessary to increase A150 cycle time to avoid t...

Страница 39: ...ue and also the value 0 mean that monitoring is inactive This is recommended while the inverter is being commissioned on PROFIBUS and for service and maintenance work Monitoring should only be activated for the running process during which a bus master cyclically sends process data to the inverter The monitoring time must be adapted to the maximum total cycle time on PROFIBUS plus a sufficient res...

Страница 40: ... 2200hex 23FFhex C 2400hex 25FFhex D 2600hex 27FFhex E 2800hex 29FFhex F 2A00hex 2BFFhex G 2C00hex 2DFFhex H 2E00hex 2FFFhex I 3000hex 31FFhex J 3200hex 33FFhex K 3400hex 35FFhex L 3600hex 37FFhex M 3800hex 39FFhex N 3A00hex 3BFFhex O 3C00hex 3DFFhex P 3E00hex 3FFFhex Q 4000hex 41FFhex R 4200hex 43FFhex S 4400hex 45FFhex T 4600hex 47FFhex U 4800hex 49FFhex V 4A00hex 4BFFhex W 4C00hex 4DFFhex X 4E0...

Страница 41: ...taneous access to different parameters e g HMI screens There are no cyclic parameter jobs in contrast to PKW0 of DP V0 12 2 Parameter jobs and responses This chapter provides detailed information on the organization of the protocol of the PKW1 standard which is only required when no SIMATIC S7 controller is used with our FB50 A parameter job consists of three areas Job header ID for the job and th...

Страница 42: ...equest read parameter 02hexChange parameter Telegram portion Byte Function Info Job header 0 Job reference 1 Job ID 2 Axis 3 Number of parameters Fixed at 1 1 Parameter address 4 Attribut 5 Number of elements Fixed at 1 6 7 Parameter number 8 9 Subindex 1st parameter value only for writing 10 Format 11 Number of values 12 bis xx Values Telegram portion Byte Function Info Response header 0 Job refe...

Страница 43: ...rameter value for multiple parameter jobs Number of parameters 1 for simple jobs Value range 1 to 37 restricted by DP V1 telegram length Parameter address Attribute Type of object which is being accessed 10hex Value 20hex Description not implemented 30hex Text not implemented Number of elements Number of array elements which are being accessed Value range 0 1 to 117 restricted by DP V1 telegram le...

Страница 44: ...er 16 04hex Integer 32 05hex Unsigned 8 06hex Unsigned 16 07hex Unsigned 32 08hex Floating Point 11 Double 17 Posi 64 28 String 8 29 String 16 30 String 80 31 U8 Array64 40 Zero 41 Byte 42 Word 43 Double word standard 44 Error Error number Meaning Use for Additional info 00hex Illegal parameter number Access to a non existent parameter 0 01hex Parameter value cannot be changed Modification access ...

Страница 45: ...r 0 11hex Job cannot be executed due to operating state Access is not possible for temporary reasons which are not specified further 0 65hex Wrong job ID 66hex Internal communication failed Example no configuration loaded 67hex Reserved 77hex Access not permitted by user level 79hex Scaling error 7Chex Value in definition gap see selection 7Dhex Collision with other values 83hex Error in pre read ...

Страница 46: ... the read response correspond to the parameter response Fig 12 1 Telegram sequence via DPV1 Master Slave Parameter job Write req DB47 with data parameter job Parameter job Write res without data Read req DB47 without data Read res with data parameter response Parameter response Parameter response Parameter processing DPV1 Read res without data Read req DB47 without data ...

Страница 47: ... response in the DPV1 read response Meaning and use of the elements in the DPV1 header Function_Num ID for DPV1 service read write error Slot_Number DPV1 In the request Addressing of a real or virtual module on the slave In the response Echoed PROFIDrive No evaluation DPV1 Write Header Function_Num 5Fhex write Slot_Number Index 47 Length data DPV1 Data length Parameter job DPV1 Write Header Functi...

Страница 48: ...ted by the slave PROFIDrive Echoing of the length from the write request Errors In case an error occurs a DPV1 read or write request is answered with an error response 4 DPV1 error response Error_Decode DPV1 ID to be interpreted like Error_Code1 2 PROFIDrive Always 128 DPV1 codes Error_Code_1 DPV1 Division into error class 4 bits and error code 4 bits PROFIDrive Use of certain numbers Error_Code_2...

Страница 49: ...hex invalid slot 3hex type conflict 4hex invalid area 5hex state conflict B5hex Access to DB47 temporarily impossible due to internal processing state 6hex access denied 7hex invalid range B7hex Write DB47 with error in DB47 header 8hex invalid parameter 9hex invalid type Ahex to Fhex user specific Chex resource 0hex read constrain conflict 1hex write constrain conflict 2hex resource busy 3hex res...

Страница 50: ...area of the PNU between 1000dec to 1999dec To be able to offer downwards compatibility the old PKW0 routine is still available with the same addresses The entire scope of parameters available today with the various data types cannot be imaged on this however Specification of parameter number and subindex for the access via PROFIBUS can be created from the coordinates of the particular parameter in...

Страница 51: ...Fig 13 1 Organization of job identifier and PNU The devices of the 5th generation of STÖBER inverters respond to the same bit positions with the response ID The response ID remains unchanged until the current job is finished The job ID must be maintained constant as long as this has not occurred The inverter deletes all response bytes together with the response ID 0 With response ID 2 the paramete...

Страница 52: ... Upper or lower value limit has been exceeded Modification access with value outside the value limits Subindex 03hex Wrong subindex Access to a non existent subindex Subindex 04hex No array Access with subindex to a non indexed parameter 0 05hex Wrong data type Modification access with value which does not match the data type of the parameter 0 11hex Job cannot be executed due to operating state A...

Страница 53: ...er identification subindex and reserved byte 3 2 Byte 0 1 2 3 4 5 6 7 Hex value 00 00 00 00 xx xx xx xx Wait until the input bit of the inverter has the response identification 0 In addition mask out bits 4 to 7 and check they are set to 0 The PNU of the last task could still occupy the other bits and byte 1 The waiting time depends on the bus cycle time number of subscribers 3 Byte 0 1 2 3 4 5 6 ...

Страница 54: ...10 65907393 eMail info stoeber cn www stoeber cn STOBER DRIVES INC 1781 Downing Drive Maysville KY 41056 Fon 1 606 7595090 Fax 1 606 7595045 eMail sales stober com www stober com STOBER DRIVES LTD Upper Keys Business Village Keys Park Road Hednesford Cannock WS12 2HA Fon 44 1543 458 858 Fax 44 1543 448 688 E Mail mail stober co uk www stober co uk STOBER Japan P O Box 113 002 6 chome 15 8 Hon koma...

Страница 55: ...ronner Str 12 75177 PFORZHEIM GERMANY Tel 49 7231 582 0 Fax 49 7231 582 1000 E Mail mail stoeber de 24 h service hotline 49 180 5 786 323 Technische Änderungen vorbehalten Errors and changes excepted ID 441687 04 09 2013 441687 04 www stober com ...

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