How To Use An Mpc 32M On A Fieldbus

Transcription

1 LXM32M Profibus DP-V1 module Fieldbus manual V1.05,

2 Important information LXM32M Important information This manual is part of the product. Carefully read this manual and observe all instructions. Keep this manual for future reference. Hand this manual and all other pertinent product documentation over to all users of the product. Carefully read and observe all safety instructions as well as chapter "2 Before you begin - safety information". Some products are not available in all countries. Please consult the latest catalog for information on the availability of products. Subject to technical modifications without notice. All details provided are technical data which do not constitute warranted qualities. Most of the product designations are registered trademarks of their respective owners, even if this is not explicitly indicated. 2 Profibus DP-V1 module

3 LXM32M Table of contents Table of contents Important information 2 Table of contents 3 About this manual 5 Further reading 6 1 Introduction Fieldbus devices on the Profibus DP network 7 2 Before you begin - safety information Qualification of personnel Intended use Hazard categories Basic information Standards and terminology 12 3 Basics Profibus technology Profibus transmission technology Network topology Transmission technology in the network Device identification Data structure Profibus DP-V0 communication Parameter channel and process data channel Structure of the transmit data Structure of the receive data Parameter channel Handshake via the "Mode Toggle" bit Profibus DP-V1 communication 27 4 Installation Installation of the module Electrical installation 34 5 Commissioning Prerequisites for commissioning Configuration tool for the master Settings with the configuration tool of the master 39 Profibus DP-V1 module 3

4 Table of contents LXM32M 5.3 "First Setup" Starting operation on the network 45 6 Operation Operating states Indication of the operating state Changing the operating state Operating modes Indicating and monitoring the operating mode Starting and changing an operating mode Overview of operating modes Operating mode Jog Operating mode Electronic Gear Operating mode Profile Torque Operating mode Profile Velocity Operating mode Profile Position Operating mode Homing Operating mode Motion Sequence PLC as a fieldbus master 61 7 Diagnostics and troubleshooting Fieldbus communication error diagnostics Error messages Synchronous errors Asynchronous errors 66 8 Glossary Units and conversion tables Length Mass Force Power Rotation Torque Moment of inertia Temperature Conductor cross section Terms and Abbreviations 71 9 Index 73 4 Profibus DP-V1 module

5 LXM32M About this manual About this manual Source manuals Source CAD data Corrections and suggestions Work steps Making work easier This manual applies to the module Profibus DP-V1 for LXM32M, module identification PDP. The information provided in this manual supplements the product manual. The latest versions of the manuals can be downloaded from the Internet at: For easier engineering, CAD data (drawings or EPLAN macros) are available for download from the Internet at: We always try to further optimize our manuals. We welcome your suggestions and corrections. Please get in touch with us by If work steps must be performed consecutively, this sequence of steps is represented as follows: Special prerequisites for the following work steps Step 1 Specific response to this work step Step 2 If a response to a work step is indicated, this allows you to verify that the work step has been performed correctly. Unless otherwise stated, the individual steps must be performed in the specified sequence. Information on making work easier is highlighted by this symbol: Sections highlighted this way provide supplementary information on making work easier. Parameters SI units Inverted signals Glossary In text sections, parameters are shown with the parameter name, for example _IO_act. A list of the parameters can be found in the product manual in the chapter Parameters. SI units are the original values. Converted units are shown in brackets behind the original value; they may be rounded. Example: Minimum conductor cross section: 1.5 mm 2 (AWG 14) Inverted signals are represented by an overline, for example STO_A or STO_B. Explanations of special technical terms and abbreviations. Profibus DP-V1 module 5

6 About this manual LXM32M Index List of keywords with references to the corresponding page numbers. Further reading Recommended literature for further reading Profibus Specification (FMS, DP, PA); Profibus User Organization Popp, M: The New Rapid Way to Profibus DP; available via PNO Profibus User Association; Order No Profibus User Association Profibus international on the Internet The Profidrive specification is a part of IEC Profibus-Nutzerorganisation e.v. (PNO) Profibus User Association Haid-und-Neu-Str. 7 D Karlsruhe 6 Profibus DP-V1 module

7 L N LXM32M 1 Introduction 1 Introduction 1 Profibus is a serial fieldbus which allows you to network products from different manufacturers without the need for special interface adaptation. 1.1 Fieldbus devices on the Profibus DP network Different products with Profibus interface can be operated in the same fieldbus segment. Profibus DP provides a common basis for interchanging commands and data between the network devices. Figure 1: Fieldbus products on the network Settings Networking the product The following settings can be made via the fieldbus: Reading and writing parameters Monitoring inputs and outputs Diagnostics and error monitoring functions The product is connected to a Profibus DP network via a two-wire cable (RS-485 technology). The product operates as a slave, data is interchanged with the product with the master-slave method. In the case of this family of devices, the parameter address corresponds to the index. The value of the subindex is 0. Profibus DP-V1 module 7

8 1 Introduction LXM32M 8 Profibus DP-V1 module

9 LXM32M 2 Before you begin - safety information 2 Before you begin - safety information Qualification of personnel The information provided in this manual supplements the product manual. Carefully read the product manual before using the product. Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product. In addition, these persons must have received safety training to recognize and avoid hazards involved. These persons must have sufficient technical training, knowledge and experience and be able to foresee and detect potential hazards that may be caused by using the product, by changing the settings and by the mechanical, electrical and electronic equipment of the entire system in which the product is used. All persons working on and with the product must be fully familiar with all applicable standards, directives, and accident prevention regulations when performing such work. 2.2 Intended use The functions described in this manual are only intended for use with the basic product; you must read and understand the appropriate product manual. The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements and the technical data. Prior to using the product, you must perform a risk assessment in view of the planned application. Based on the results, the appropriate safety measures must be implemented. Since the product is used as a component in an entire system, you must ensure the safety of persons by means of the design of this entire system (for example, machine design). Operate the product only with the specified cables and accessories. Use only genuine accessories and spare parts. The product must NEVER be operated in explosive atmospheres (hazardous locations, Ex areas). Any use other than the use explicitly permitted is prohibited and can result in hazards. Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. Profibus DP-V1 module 9

10 2 Before you begin - safety information LXM32M 2.3 Hazard categories Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are attached to the product that alert you to potential hazards. Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories. DANGER DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury. WARNING WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage. CAUTION CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage. NOTICE NOTICE indicates a potentially hazardous situation, which, if not avoided, can result in equipment damage. 10 Profibus DP-V1 module

11 LXM32M 2 Before you begin - safety information 2.4 Basic information LOSS OF CONTROL WARNING The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop, overtravel stop, power outage and restart. Separate or redundant control paths must be provided for critical functions. System control paths may include communication links. Consideration must be given to the implication of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines. 1) Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death or serious injury. 1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems. Profibus DP-V1 module 11

12 2 Before you begin - safety information LXM32M 2.5 Standards and terminology Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the pertinent standards. In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc. Among others, these standards include: IEC 61800: "Adjustable speed electrical power drive systems" IEC 61158: "Digital data communications for measurement and control Fieldbus for use in industrial control systems" IEC 61784: "Industrial communication networks Profiles" IEC 61508: "Functional safety of electrical/electronic/programmable electronic safety-related systems" Also see the glossary at the end of this manual. 12 Profibus DP-V1 module

13 LXM32M 3 Basics 3 Basics Profibus technology Profibus transmission technology The Profibus specification defines three Profibus versions that can be used for time-critical and complex communication tasks: Profibus FMS Profibus PA Profibus DP Profibus FMS Profibus PA Profibus DP Profibus FMS (FMS: Fieldbus Message Specification) is a universal, flexible solution for communication tasks in general automation technology. For example, Profibus FMS is used for communication between manufacturing cells. Profibus PA (PA: Process Automation) is used in process technology application, for example, process automation. In the case of networks with Profibus PA, data communication and power supply for sensors and actuators is possible via the bus. Therefore, Profibus PA can be used in explosive atmospheres (hazardous locations, Ex areas). Profibus DP (DP: Decentralized Periphery) is the fast Profibus version which is specially designed for communication in production processes and for building automation. Features of Profibus DP include simple networking of new products in the bus and high transmission rates. Profibus DP-V1 module 13

14 3 Basics LXM32M Network topology A Profibus network consists of one or more masters (active bus devices) and slaves (passive bus devices). The bus devices are connected via a network cable. 1 1 Master Slaves Figure 2: Devices on the fieldbus network (1) Both ends of the fieldbus must be terminated with a terminating resistor. Master Slave The master controls the data traffic on the network. Examples of masters: Automation devices, for example, PLCs PCs Programming devices Slaves receive commands and supply data to the master. Examples of slaves: Input/output modules Drive systems Sensors and actuators Transmission technology in the network RS-485 technology Profibus networks can be set up with optical fiber cables or with RS-485 technology. RS-485 is a simple method of transmission via two-wire twisted-pair cables. This technology allows for transmission rates between 9.6 kbit/s and 12 MBit/s. 14 Profibus DP-V1 module

15 LXM32M 3 Basics Device identification GSD file Ident number Slave address The specific features of a Profibus product are described in the Generic Station Description file (GSD file). The GSD file is provided by the manufacturer of the product and must be read using the configuration tool of the master. The GSD file contains information on the operation of the product on the Profibus network. Manufacturer information Device class (Ident number) Supported baud rates Time intervals for monitoring times Settings of inputs and outputs The GSD file for this product is available for download from the Internet. A master device uses the Ident number to identify the device class of the connected slave. The Ident number is a unique number assigned to each device class by the Profibus user organization. Each device on the network must be assigned a unique address between 1 and 126; slaves normally use the address range The master (normally address ) can communicate with each slave via this address. Details on setting the address can be found in chapter "5 Commissioning". Profibus DP-V1 module 15

16 3 Basics LXM32M 3.2 Data structure The data frame with transmit and receive data and the byte, word and double-word values are shown in hexadecimal notation. Hexadecimal values are indicated as such by means of an "h" behind the numerical value, for example, "31 h". Decimal values have no special identification. Note the different counting format of bits (right to left) and bytes (left to right). Bit Byte = 8 Bit Byte 1 Word Double word 1 Word = 2 Byte 2 3 High-Byte Low-Byte 1 Double word = 4 Byte 4 5 Low-Word 6 7 High-Word Figure 3: General data structure from bit to double word Byte sequence Profibus: Big Endian Format There are two types of byte sequence: Little Endian / Intel format and Big Endian / Motorola format. In the case of the Big Endian format, the bytes are transmitted consecutively from 0 to 7. In the case of the Little Endian format, low-byte / high-byte and lowword / high-word are transmitted in a reversed way. Profibus data is transmitted in Big Endian Format. Numerical values greater than a byte are handled as in the decimal system. 16 Profibus DP-V1 module

17 LXM32M 3 Basics 3.3 Profibus DP-V0 communication Profibus DP-V0 provides functionality for cyclic communication, station-specific, module-specific and channel-specific diagnostics and various alarm types for diagnostics as well as processes for hot-plugging bus devices. Profibus DP-V0 fulfills the following tasks: Cyclic communication Processes for hot-plugging bus devices Station-specific diagnostics Module-specific diagnostics Channel-specific diagnostics Master-slave relationship The master cyclically writes transmit data to the slaves and reads the receive data provided by the slaves (MS0). Receive and transmit data for one slave are transmitted as one unit in one cycle. MC 1 1 Master class 1 Slave 1 Slave 2 Slave n Command processing: Transmit data and receive data Figure 4: Cyclic communication (MS0) (1) Cyclic communication starts at slave 1 and ends at slave n, the cycle restarts at slave 1. The master sends a command to the product (slave) to start operating modes and functions, execute a motion command or request information from the slave. The slave executes the command and acknowledges it with a confirmation. The exchange of data follows a fixed pattern: Transmit data to the slave: The master places a command in the transmit data memory. From there, it is transmitted to the slave and executed. Receive data from the slave: The slave acknowledges the command in the receive data. If the command was correctly executed, the master receives an acknowledgement without an error message. The master device can send a new command as soon as it has received acknowledgement concerning the current command. Profibus DP-V1 module 17

18 3 Basics LXM32M Commands Acknowledgement information and error messages are included in the transmitted data in bit-coded form. The master receives current receive data from the slave device with every cycle. The acknowledgement information allows the master to distinguish the response to a previously transmitted command from status information from the slave. The slave also the acknowledgement mechanism to recognize a new command. The master transmits control commands and action commands with the transmit data. After a control command the master receives a feedback message from the slave indicating whether the slave was able to successfully execute the command and complete processing. In the case of an action command, the slave only signals whether it was possible to successfully start an action or a motion command. The master must then continuously monitor for completion of the processing command by evaluating the receive data of the slave. 18 Profibus DP-V1 module

19 LXM32M 3 Basics Parameter channel and process data channel Parameter channel Process data channel Drive profile Communication between master and slave follows the data frame of the Profidrive profile of the PNO user organization. The content of the data does not correspond to the Profidrive profile. The data frame consists of n bytes. If the profile uses a cyclic parameter channel, 8 bytes are used for parameter transmission, the following bytes (bytes 9... n) transmit the process data. The master can request a parameter value from the slave or change a parameter value via the parameter channel. Each parameter can be uniquely addressed via the index and subindex. The process data channel is used for realtime data exchange, for example the current position or the current velocity. Transmission is very fast because the data is sent without additional administration data and data transmission acknowledgement from the recipient is not required. The master can control the operating states of the slave via the process data channel, for example: Enabling and disabling the power stage Starting and terminating operating modes Triggering a "Quick Stop" / resetting a "Quick Stop" Resetting an error message Changing operating states and activating operating modes must be done separately. An operating mode can only be activated if the operating state of the drive is 6 Operation Enabled. NOTE: Changes of the operating mode and the acceleration values only become active when the motor is at a standstill. Acceleration values are accepted in the process data channel during movements, but the value is only applied during the next motion command. Other parameter values can be changed while the operating mode is active. The product supports the following drive profiles: Profile 104: "Drive Profile Lexium 1" (vendor-specific) Profile 105: "Drive Profile Lexium 2" (vendor-specific) NOTE: The structure of the transmit data and the receive data in the case of an alarm is described in chapter "7.2 Error messages", page 65. Profile 104 "Drive Profile Lexium 1" Profil 105: "Drive Profile Lexium 2" Profile with 26 bytes Profile with 10 bytes Maximum functionality Reduced functionality Inconsistent data transmission Consistent data transmission Profibus DP-V1 module 19

20 3 Basics LXM32M Structure of the transmit data The transmit data is used to transmit requests of the master to the slave. 1 2 PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12 PZD13 PZD14 PZD ParCh dmcontrol RefA32 RefB32 ACC Optional Data DEC Figure 5: Transmit data "Drive Profile Lexium 1", profile PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD dmcontrol RefA32 RefB32 Optional Data Figure 6: Transmit data "Drive Profile Lexium 2", profile 105 (1) Parameter channel (2) Process data channel ParCh dmcontrol RefA32, RefB32 ACC, DEC Optional Data Parameters can be read or written via "ParCh", see chapter " Parameter channel". The word "dmcontrol" is used to set the operating state and the operating mode. See chapters "6.1.2 Changing the operating state" and "6.2.2 Starting and changing an operating mode" for a detailed description of the bits. The two double words "RefA32" and "RefB32" are used to set two values for the operating mode. The meaning depends on the operating mode; it is described in the chapters on the individual operating modes. The two double words "ACC" and "DEC" are used to set the values for the acceleration ramp and the deceleration ramp. The acceleration ramp corresponds to the parameter RAMP_v_acc, the deceleration ramp corresponds to the parameter RAMP_v_dec. "Optional Data" is used to append additional parameters to the profile that can be selected by the user (mapping). See chapter "5.2 Configuration tool for the master" for additional information on mapping. 20 Profibus DP-V1 module

21 LXM32M 3 Basics Structure of the receive data The receive data is used to transmit information from the slave to the master. 1 2 PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PZD11 PZD12 PZD13 PZD14 PZD ParCh driveinput motionstat mfstat drivestat _p_act _v_act _I_act Optional Data Figure 7: Receive data "Drive Profile Lexium 1", profile 104 Figure 8: Receive data "Drive Profile Lexium 2", profile PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD ModeError driveinput motionstat mfstat drivestat Optional Data (1) Parameter channel (2) Process data channel ParCh drivestat mfstat Parameters can be read or written via "ParCh", see chapter " Parameter channel". The current operating state is indicated with the "drivestat" word. For a detailed description of the bits, see chapter "6.1.1 Indication of the operating state". The word "mfstat" is used to indicate the current operating mode. For a detailed description of the bits, see chapter "6.2.1 Indicating and monitoring the operating mode". Profibus DP-V1 module 21

22 3 Basics LXM32M motionstat The word "motionstat" is used to provide information on the motor and profile generator. bit Meaning Reserved 6 MOTZ: Motor at a standstill 7 MOTP: Motor movement in positive direction 8 MOTN: Motor movement in negative direction 9 PWIN: Motor within position window 10 Reserved 11 TAR0: Profile generator at standstill 12 DEC: Profile generator decelerates 13 ACC: Profile generator accelerates 14 CNST: Profile generator moves at constant velocity 15 Reserved driveinput The word "driveinput" is used to indicate the status of the digital signal inputs. bit Signal Factory setting 0 DI0 Signal input function Freely Available 1 DI1 Signal input function Reference Switch (REF) 2 DI2 Signal input function Positive Limit Switch (LIMP) 3 DI3 Signal input function Negative Limit Switch (LIMN) 4 DI4 Signal input function Freely Available 5 DI5 Signal input function Freely Available Reserved _p_act _v_act _I_act ModeError Optional Data The double word "_p_act" indicates the actual position. The value corresponds to the parameter _p_act. The double word "_v_act" indicates the actual velocity. The value corresponds to the parameter _v_act. The word "_I_act" is used to provide information on the total motor current. The value corresponds to the parameter _I_act. The word "ModeError" is used to provide the vendor-specific error code that caused the ModeError to be set. The ModeError bit relates to MT-dependent parameters. The value corresponds to the parameter _ModeError. "Optional Data" is used to append additional parameters to the profile that can be selected by the user (mapping). See chapter "5.2 Configuration tool for the master" for additional information on mapping. 22 Profibus DP-V1 module

23 LXM32M Parameter channel 3 Basics The master can request a parameter value from the slave or change a parameter value via the parameter channel. Each parameter can be uniquely addressed via the index and subindex. Byte Ctrl Index Subindex PV Figure 9: Parameter channel Ctrl Byte "Ctrl" contains the request to read or write a parameter. The transmit data contains the information whether a parameter is to be read or written. The receive data contains the information whether the read request or the write request were successful. Transmit data: Ctrl 00h 10h 20h 30h Function No request Read request Write request (word) Write request (double word) Receive data: Ctrl 00h 10h 20h 70h Function Request not yet completed Read request or write request successfully completed (word) Read request or write request successfully completed (double word) Error message Only one request can be processed at a time. The slave provides the response until the master sends a new request. If a response includes parameter values, the slave responds with the current value in the case of a repetition. NOTE: Read requests are only executed by the slave if the value changes from 00 h to 10 h. Write requests requests are only executed by the slave if the value changes from 00 h to 20 h or to 30 h. Subindex The byte "Subindex" must be set to the value 00 h. Index The word "Index" contains the parameter address. See the product manual for a list of the parameters. Profibus DP-V1 module 23

24 3 Basics LXM32M PV Example: Reading a parameter The double word "PV" contains the parameter value. In the case of a read request, the value in the transmit data has no significance. The receive data contains the parameter value. In the case of a write request, the transmit data contains the value to be written to the parameter. The receive data contains the parameter value. If a read request or a write request were not successful, the double word "PV" contains the error number of the error. In the example, the program number of the product is read from the parameter _prgnodev. The parameter _prgnodev has the parameter address 258 (01 h 02 h). The parameter value read has the decimal value which corresponds to 01 h 64 h 40 h. Transmit data: Ctrl Subindex Index PV 10h 00h 01h 02h 00h 00h 00h 00h Receive data: Ctrl Subindex Index PV 20h 00 h 01h 02h 00h 01h 64h 40h Example: Writing of an invalid parameter In this example, the value of a non-existent parameter is to be changed. The parameter has the parameter address 101 (00 h 65 h). The value of the parameters is to be changed to 222 (DE h). Before the slave can accept a new request, the value 00 h must first be transmitted in byte "Ctrl". Since the slave cannot address the parameter, a synchronous error message is transmitted with the receive data. Byte "Ctrl" is set to 70 h. Double word "PV" is set to the error number (error number 1101 h: Parameter does not exist). Transmit data: Ctrl Subindex Index PV 30h 00h 00h 65h 00h 00h 00h DEh Receive data: Ctrl Subindex Index PV 70h 00h 00h 65h 00h 00h 11h 01h See chapter "7.2.1 Synchronous errors" for additional information on synchronous errors. See the product manual for information on the error numbers. 24 Profibus DP-V1 module

25 LXM32M 3 Basics Handshake via the "Mode Toggle" bit Mode Toggle The "Drive Profile Lexium" uses synchronous communication. In the case of synchronous communication, the master waits for a response from the slave prior to new actions. Synchronous communication is controlled by means of the appropriate bits in the transmit data and the receive data: Transmit data: In the word "dmcontrol" by means of the bit "Mode Toggle" Receive data: In the byte "mfstat" by means of the bit "ModeError" and the bit "Mode Toggle" Example 1: Positioning The master starts a movement at point in time t 0. At points in time t 1, t 2..., the master checks the responses from the slave. It waits for the end of movement. The end of the movement is detected when bit "x_end" = 1. Master Slave t 0 t 1 t 2 t 3 Mode Toggle 1 Mode Toggle x_end 2 3 Figure 10: Mode Toggle Handshake (1) Master starts positioning: Bit "Mode Toggle" = 1 (2) Slave signals "positioning is running": Bit "Mode Toggle" = 1, bit "x_end" = 0 (3) Slave signals "movement terminated": Bit "x_end" = 1. Example 2: Short-distance positioning The master starts a very short distance movement at point in time t 0. The duration of the movement is shorter than the request cycle of the master. At point in time t 1 the movement is already finished. Bit "x_end" does not allow the master to detect whether the movement is already finished or has not yet been started. However, it can identify the current state with the "Mode Toggle" bit. Master Slave t 0 t 1 t 2 Mode Toggle 1 Mode Toggle x_end 2 3 Figure 11: Mode Toggle Handshake, short-distance movement Profibus DP-V1 module 25

26 3 Basics LXM32M (1) Master starts movement: Bit "Mode Toggle" = 1. (2) Slave signals "movement active": Bit "Mode Toggle" = 1 and bit "x_end" = 0. (3) Slave signals "movement terminated": Bit "x_end" = Profibus DP-V1 module

27 LXM32M 3 Basics 3.4 Profibus DP-V1 communication Cyclic communication Acyclic communication The Profibus DP-V1 protocol is an extension to the Profibus DP-V0 protocol. In addition to cyclic communication, Profibus DP-V1 allows for acyclic communication between master and slave. Acyclic communication is slower than cyclic communication, however, it enables the change of parameters during operation. The product supports acyclic communication as per Profibus specification for MS0 communication, see Figure 4. The product supports acyclic communication for DP-V1 as per Profibus specification for MS1 and MS2 communication. The following services are available for acyclic communication: Service Master class 1 Master class 2 READ Read data set Read data set WRITE Write data set Write data set INITIATE - Connect to master C2 ABORT - Terminate connection to master C2 Acyclic communication: Elements Structure of acyclic communication: Master class 2 only: establish connection (INITIATE) Master sends WRITE Request with data (parameter request) Slave confirms write request with WRITE Response. No data is transmitted. Master sends READ Request. No data is transmitted. Slave confirms read request with READ Response. Depending on the request, several READ Request / READ Response cycle without data transmission may be required before the slave can provide the data with a READ Response. Master class 2 only: termination of connection (ABORT). When acyclic communication is finished, the master class 1 starts the next cycle. The following items are defined for acyclic communication: Profibus DP-V1 module 27

28 3 Basics LXM32M REQUEST REFERENCE Data type Unsigned 8 Value 00h: Reserved 01h... FFh REQUEST ID Unsigned 8 01h: Request Parameter 02h: Change Parameter RESPONSE ID Unsigned 8 Response (+) 00h: Reserved 01h: Request Parameter (+) 02h: Change Parameter (+) AXIS Unsigned 8 01h NO. OF PARAMETERS Unsigned 8 Response (-) 81h: Request Parameter (-) 82h: Change Parameter (-) ATTRIBUTE Unsigned 8 00h: Reserved 01h: Value NO. OF ELE- MENTS PARAMETER NUMBER Unsigned 8 Unsigned 16 01h...17h: DWORD (240 data bytes) 00h: Special Function 01h... EAh: Quantity h: Reserved 0001h... FFFFh: Parameter Index SUBINDEX Unsigned h (Drive Profile Lexium) FORMAT Unsigned 8 42h: WORD 43h: DWORD 44h: ERROR NO. OF VAL- UES ERROR NUM- BER Unsigned 8 00h... EAh: Quantity Unsigned h h Error codes Acyclic communication: Example Header and payload data is transmitted during communication. Example 1: Send write request for parameter WRITE Request Description Slot_Number 0 Drive Profile Lexium: 0 Index 47 Index (Drive Profile Lexium: 47) Length bytes payload Table 1: Header for WRITE Request 28 Profibus DP-V1 module

29 LXM32M 3 Basics Byte 0 REQUEST REFER- ENCE Valu e 01h Description 1 REQUEST ID 01h Request Parameter 2 AXIS 01h Axis 1 3 NO. OF PARAME- TERS 01h Reference number for parameter request 1 parameter is transmitted 4 ATTRIBUTE 10h Parameter value (access) 5 NO. OF ELE- MENTS 6, 7 PARAMETER NUMBER 00h Access to direct value (>0: sub-elements) 0104h Firmware version (1.2) 8 SUBINDEX 0000h Subindex: In drive profile Lexium 0 Table 2: Payload for WRITE Request Example 2: Send READ Request for parameter READ Request Description Slot_Number 0 Drive Profile Lexium: 0 Index 47 Index (Drive Profile Lexium: 47) Length bytes of payload (maximum length of a response buffer of a DP-V1 master) Table 3: Header for READ Request Example 3: Positive READ Response for parameter READ Response Description Slot_Number 0 Drive Profile Lexium: 0 Index 47 Index (Drive Profile Lexium: 47) Length bytes of payload (maximum length of a response buffer of a DP-V1 master) Table 4: Header for READ Response Profibus DP-V1 module 29

30 3 Basics LXM32M Byte 0 RESPONSE REF- ERENCE Valu e 01h Description Mirrored reference number of parameter request 1 RESPONSE ID 01h Positive response for requested parameter 2 AXIS 01h Mirrored axis number (axis 1) 3 NO. OF PARAME- TERS 01h 1 parameter is transmitted. 4 FORMAT 42h Parameter format (WORD) 5 NO. OF VALUES 01h Access to 1 value 6, 7 VALUE xxxxh Value of the parameter Table 5: Payload to READ Response Acyclic MS1 communication In the case of MS1 communication, a master class 1 is in charge of both cyclic and acyclic communication. MC Master class 1 Slave 1 Slave 2 Slave n Acyclic MS2 communication Figure 12: Acyclic communication with a master class 1 (MC1) (1) Cyclic communication starts at slave 1 and ends at slave n. (2) MC1 (master class 1) starts acyclic communication, with salve 2 in the example. After acyclic communication, the next cycle begins with slave 1. In the case of MS2 communication, a master class 1 is in charge of cyclic communication. The master class 1 can start an acyclic communication cycle after a cyclic communication cycle. When the master calls 1 has completed communication, the token is passed on to the master class 2 (MC2) which starts acyclic communication. When acyclic communication of the master class 2 is finished, the token is passed back to the MC1 which starts a new cyclic communication cycle. 30 Profibus DP-V1 module

31 LXM32M 3 Basics MC MC 2 1 Master class 1 Slave 1 Slave 2 Slave n Master class 2 Figure 13: Acyclic communication with a master class 1 (MC1) and a master class 2 (MC2) (1) Cyclic communication starts at slave 1. (2) MC1 (master class 1) can start an acyclic communication cycle. The token is passed to MC2 (master class 2). (3) MC2 (master class 2) starts acyclic communication, with salve 2 in the example. (4) When the MC2 has terminated communication, the token is passed on to the MC1 (master class 1). MC1 (master class 1) begins the next cycle with slave 1. Profibus DP-V1 module 31

32 3 Basics LXM32M 32 Profibus DP-V1 module

33 LXM32M 4 Installation 4 Installation 4 WARNING SIGNAL AND DEVICE INTERFERENCE Signal interference can cause unexpected responses of the device. Install the wiring in accordance with the EMC requirements. Verify compliance with the EMC requirements. Failure to follow these instructions can result in death, serious injury or equipment damage. 4.1 Installation of the module DESTRUCTION DUE TO ESD NOTICE Electrostatic discharge (ESD) can cause immediate or later destruction of the module or the device. Use suitable ESD measures (IEC ) when handling the module. Do not touch any internal components. Failure to follow these instructions can result in equipment damage. Install the module according to the instructions in the product manual. Description Fieldbus module Profibus DP (module identification PDP) with DE9 D-SUB connection (female) Order no. VW3A3607 Profibus DP-V1 module 33

34 4 Installation LXM32M 4.2 Electrical installation D-Sub connection D9 D-SUB female connector with UNC 4-40 thread. Tightening torque [Nm] (lb in) 0.4 (3.54) Cable specifications Shield: Twisted Pair: PELV: Required, both ends grounded Required Required Cable composition: 6*0.34 mm 2 (6*AWG 22) Max. cable length: See Table 6. The maximum length depends on the baud rate and the signal propagation delay. The higher the baud rate, the shorter the bus cable needs to be. Special features: - The maximum cable length depends on the baud rate and the signal propagation delay. The higher the baud rate, the shorter the bus cable needs to be. Baud rate [kbaud] Table 6: The cable length depends on the baud rate Max. cable length [m] Use equipotential bonding conductors, see product manual. Use pre-assembled cables to reduce the risk of wiring errors. Verify that wiring, cables and connected interfaces meet the PELV requirements. Terminating resistor Both ends of the entire bus system must be terminated with a terminating resistor, see Figure 2. Use Profibus connectors with integrated terminating resistors at both ends of the bus system. The diagram below shows the terminating resistor combination. 34 Profibus DP-V1 module

35 LXM32M 4 Installation VP 390Ω RxD/TxD-P 220Ω RxD/TxD-N 390Ω 0VDC Figure 14: Terminating resistor Profibus If the device is at the end of the network, use a Profibus connector with terminating resistor. Pin assignment Slot Figure 15: Pin assignment Pin Signal Meaning Color I/O 6 VP Supply voltage - O 3 RxD/TxD-P Data wire B Red RS485 level, I/O 8 RxD/TxD-N Data wire A Green RS485 level, I/O 9 - Reserved RTS Transmit request - RS485 level, O 5 0VDC Reference potential - - Connecting Profibus Use only approved Profibus connectors. The Profibus connectors are suitable for connecting the bus signal. Connect the Profibus signals as per Figure 15. If the device is at the end of the network, use a Profibus connector with terminating resistor. Fasten the cables to the cable guide. The cable guide is not a strain relief. Profibus DP-V1 module 35

36 4 Installation LXM32M 36 Profibus DP-V1 module

37 LXM32M 5 Commissioning 5 Commissioning 5 This chapter describes how to commission the product. LOSS OF CONTROL WARNING The product is unable to detect an interruption of the network link if connection monitoring is not active. Verify that connection monitoring is on. The shorter the time for monitoring, the faster the detection of the interruption. Failure to follow these instructions can result in death, serious injury or equipment damage. UNINTENDED OPERATION WARNING Do not write values to reserved parameters. Do not write values to parameters unless you fully understand the function. Run initial tests without coupled loads. Verify correct word order for fieldbus communication. Do not establish a fieldbus connection unless you have fully understood the communication principles. Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage. Profibus DP-V1 module 37

38 5 Commissioning LXM32M 5.1 Prerequisites for commissioning The following components are required for commissioning: Product with fieldbus interface GSD file (can be downloaded from the Internet at: ) Product manual and fieldbus manual Profibus master Carefully read and understand the manuals before commissioning and follow the safety instructions! Using the library considerably facilitates controlling the device. The library is available for download from the Internet Profibus DP-V1 module

39 LXM32M 5 Commissioning 5.2 Configuration tool for the master Profile selection DP-V0 or DP-V1 Deactivating alarms for DP-V1 Mapping of optional data The GSD file must be read with the configuration tool of the master. The device is then known to the network. The configuration tool of the master lets you select the profile to be used. See chapter "3.3.1 Parameter channel and process data channel" for the supported profiles. The configuration tool of the master lets you select whether to access the devices as Profibus DP-V0 or as Profibus DP-V1. The configuration tool of the master lets you deactivate alarms if the device is operated as Profibus DP-V1 and the alarm function is not required. The configuration tool of the master lets you set the additional parameters to be transmitted in the "Optional Data" of the transmit and receive data. NOTE: It is possible to map up to 8 optional parameters; the total length of the data frame must not exceed 40 bytes Settings with the configuration tool of the master The GSD file is selected from a list. Figure 16: Selection of the GSD file The installed modules are shown. The drive profiles "Drive Profile Lexium 1" and "Drive Profile Lexium 2" can only be used in slot 1. The additional parameters (optional data) can only be used in slots The example shows the drive profile "Drive Profile Lexium 1" in slot 1. Profibus DP-V1 module 39

40 5 Commissioning LXM32M Figure 17: Modules in slots The setting "Diagnostic Interrupt" lets you activate and deactivate the diagnostics function. By default, the diagnostics function is active. Figure 18: Activating/deactivating the diagnostics function The following screenshot shows you how to map additional parameters (optional data). 40 Profibus DP-V1 module

41 LXM32M 5 Commissioning Figure 19: Selection of additional data (optional data) Selection of additional output data; example shows 32 bit parameter Figure 20: Mapping output data; example shows 32 bit parameter Selection of additional input data; example shows 32 bit parameter Profibus DP-V1 module 41

42 5 Commissioning LXM32M Figure 21: Mapping input data; example shows 32 bit parameter Overview of the properties of the "Drive Profile Lexium 1". 42 Profibus DP-V1 module

43 LXM32M 5 Commissioning Figure 22: Properties of the "Drive Profile Lexium 1" Profibus DP-V1 module 43

44 5 Commissioning LXM32M 5.3 "First Setup" The GSD file is read by the master. The device is then known to the network. A "First Setup" is required when the controller supply is switched on for the first time or after the factory settings have been restored. After the initialization of the device, the Profibus interface must be configured. You must assign a unique network address (node address) to each device. The transmission rate (baud rate) on the network is detected automatically; it must be the same for all devices on the network. Enter the network address. The network address is stored in the parameter PBadress (PbAD). It is also possible to set the network address by means of the Profibus DP-V0 service "Change Station Address" (Set_Slave_Add). The transmission rate can be read via the parameter_pbbaud (Pbbd). 44 Profibus DP-V1 module

45 LXM32M 5 Commissioning 5.4 Starting operation on the network Connection monitoring Steps for troubleshooting Operation on the network is started via a master. This master can be a PLC or a PC with the appropriate application software that allows you to send commands and receive data. Activating the watchdog at the master starts monitoring of the Profibus data links to the slaves. In special cases, the monitoring function can be deactivated for a single slave only via the configuration tool of the master. Test all functions that are relevant for your system. Run initial tests without coupled loads. Also check the response of the system to power outage. If the slave does not send a response, check the following: Did you switch on the product and start the master for operation on the network? Are all cable connections ok (electrically and mechanically)? Did you set the correct address and baud rate? See chapter "7 Diagnostics and troubleshooting", page 63 for additional information. Profibus DP-V1 module 45

46 5 Commissioning LXM32M 46 Profibus DP-V1 module

47 LXM32M 6 Operation 6 Operation 6 UNINTENDED OPERATION WARNING Do not write values to reserved parameters. Do not write values to parameters unless you fully understand the function. Run initial tests without coupled loads. Verify correct word order for fieldbus communication. Do not establish a fieldbus connection unless you have fully understood the communication principles. Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage. The chapter "Operation" describes the basic operating states, operating modes and functions of the product. Using the library considerably facilitates controlling the device. The library is available for download from the Internet. Profibus DP-V1 module 47

48 6 Operation LXM32M 6.1 Operating states Indication of the operating state Fieldbus: with "drivestat" In the process data channel, status information is transmitted via the receive data (slave to master). The current operating state is indicated with the "drivestat" word. drivestat 15 X_ERR X_END X_ADD QS 9 RF 8 HALT 7 WARN 6 ERROR STATE 2 STATE 1 STATE 0 STATE Figure 23: Structure of drivestat Bit Name Meaning STATE Current operating state (binary coded) Reserved 6 ERROR An error has occurred (error classes ) 7 WARN A warning has occurred (error class 0) 8 HALT "Halt" is active 9 RF Homing valid 10 QS "Quick Stop" is active Reserved 13 X_ADD1 Operating mode-specific information 14 X_END Operating mode terminated 15 X_ERR Operating mode terminated with error 48 Profibus DP-V1 module

49 LXM32M 6 Operation Changing the operating state Fieldbus: with "dmcontrol" In the process data channel, transmit data (master to slave) is used to make settings to the slave. Bits of the word "dmcontrol" are used to set the operating state. dmcontrol 15 CU 14 CH 13 SH FR 10 QS 9 EN 8 DS 7 MT 6 5 ACTION ACTION 4 MODE 3 MODE 2 MODE 1 MODE 0 MODE Figure 24: Structure dmcontrol bits bit Name Meaning Operating state 8 DS Disabling the power stage 6 Operation Enabled -> 4 Ready To Switch On 9 EN Enabling the power stage 4 Ready To Switch On -> 6 Operation Enabled 10 QA Perform "Quick Stop" 6 Operation Enabled -> 7 Quick Stop Active 11 FR Perform "Fault Reset" 7 Quick Stop Active -> 6 Operation Enabled 9 Fault -> 4 Ready To Switch On 12 - Reserved Reserved 13 SH Execute "Halt" 6 Operation Enabled 14 CH Clear "Halt" 6 Operation Enabled 15 CU Resume operating mode interrupted by "Halt" 6 Operation Enabled In the case of an access, the bits respond to a 0->1 change to trigger the corresponding function. If a request for changing the operating state is not successful, this request is ignored. There is no error response. Ambivalent bit combinations are treated in accordance with the following priority list (highest priority bit 8, lowest priority bit 14 and bit 15): Bit 8 (disable power stage) prior to bit 9 (enable power stage) Bit 10 ("Quick Stop") prior to bit 11 ("Fault Reset") Bit 13 (execute "Halt") prior to bit 14 (clear "Halt") and bit 15 (resume operating mode interrupted by "Halt") In the case of an error of error class 2 or error class 3, a "Fault Reset" can only be performed when bit 9 (enable power stage) is no longer set. Profibus DP-V1 module 49

50 6 Operation LXM32M 6.2 Operating modes UNINTENDED OPERATION WARNING Note that any changes to the values of these parameters are executed by the drive controller immediately on receipt of the data set. Verify that the system is free and ready for movement before changing these parameters. Failure to follow these instructions can result in death, serious injury or equipment damage. If operating mode, reference position and reference velocity are simultaneously transmitted via the process data channel, the data must be consistent. Therefore, operating mode data is only evaluated if MT(bit 7) has been toggled. "Mode Toggle" means that since the last transmission a change from 0 to 1 or from 1 to 0 has been detected for this bit. MT (bit 7) is mirrored in the receive data set which allows the master to determine that the data has been accepted by the slave. For more information on the toggle flag see chapter "3.3.2 Handshake via the "Mode Toggle" bit", page Profibus DP-V1 module

51 LXM32M 6 Operation Indicating and monitoring the operating mode The word "mfstat" is used to indicate the current operating mode. mfstat CAP CAP2 0 9 CAP1 1 8 CAP1 0 7 MT 6 ME 5 DE 4 MODE 3 MODE 2 MODE 1 MODE 0 MODE Figure 25: Structure mfstat Bit Name Description MODE Indicates the current operating mode Value 01h: Profile Position Value 03h: Profile Velocity Value 04h: Profile Torque Value 06h: Homing Value 1Fh: Jog Value 1Eh: Electronic Gear Value 1Dh: Motion Sequence 5 DE The "DE" bit relates to parameters that are independent of "Mode Toggle" (MT). The "DE" bit is set if a data value in the process data channel is invalid. 6 ME The "ME" bit relates to parameters that are dependent on "Mode Toggle" (MT). The "ME" bit is set if a request from a master (starting an operating mode) was rejected. 7 MT Handshake via "Mode Toggle" CAP1 Bit 0 and bit 1 of parameter _Cap1Count CAP2 Bit 0 and bit 1 of parameter _Cap2Count Reserved Profibus DP-V1 module 51