Movidrive mdx61b инструкция по эксплуатации

Drive Technology  Drive Automation  System Integration  Services
Manual
MOVIDRIVE® MDX61B
Fieldbus Interface DFS12B
PROFIBUS DP-V1 with PROFIsafe
Edition 07/2009
11647817 / EN
SEW-EURODRIVE—Driving the world
1 General Information ............................................................................................... 6
1.1 How to use the documentation ...................................................................... 6
1.2 Structure of the safety notes .......................................................................... 6
1.3 Rights to claim under limited warranty ........................................................... 7
1.4 Exclusion of liability ........................................................................................ 7
1.5 Copyright........................................................................................................ 7
2 Safety Notes ........................................................................................................... 8
2.1 Other applicable documentation .................................................................... 8
2.2 General safety notes for bus systems............................................................ 8
2.3 Safety functions ............................................................................................. 8
2.4 Hoist applications ........................................................................................... 8
2.5 Product names and trademarks ..................................................................... 8
2.6 Disposal ......................................................................................................... 8
3 Introduction ............................................................................................................ 9
3.1 Content of this manual ................................................................................... 9
3.2 Additional documentation............................................................................... 9
3.3 Characteristics ............................................................................................... 9
3.3.1 Access to all information ...................................................................... 9
3.3.2 Monitoring functions........................................................................... 10
3.3.3 Diagnostics ........................................................................................ 10
3.3.4 Fieldbus monitor ................................................................................ 10
4 Integrated Safety Technology ............................................................................. 11
4.1 Safety concept DFS12B in combination with DCS21B ................................ 11
4.2 Safety concept of MOVIDRIVE® B without DCS21B option ........................ 12
4.2.1 Limitations.......................................................................................... 12
4.2.2 Schematic representation of the safety concept
taking MOVIDRIVE® B as example ................................................... 13
5 Safety Requirements............................................................................................ 14
6 Assembly and Installation Notes ........................................................................ 15
6.1 Installing the DFS12B option card in MOVIDRIVE® MDX61B ..................... 15
6.2 Installing DFS12B / DCS21B option cards in MOVIDRIVE® MDX61B ........ 16
6.2.1 Before you start ................................................................................. 17
6.2.2 Basic procedure for installing/removing an option card
(MDX61B, sizes 1 - 6)........................................................................ 18
6.3 Connection and terminal description of the DFS12B option ........................ 19
6.4 PROFIBUS connection ................................................................................ 20
6.4.1 Connecting MOVIDRIVE® to PROFIBUS .......................................... 20
6.4.2 Baud rates greater than 1.5 MBaud................................................... 20
6.5 Shielding and routing bus cables ................................................................. 21
6.6 Bus termination ............................................................................................ 21
6.7 Setting the PROFIBUS station address ....................................................... 22
6.8 Operation indicators of the DFS12B option.................................................. 23
6.8.1 PROFIBUS LEDs............................................................................... 23
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
3
7 Project Planning and Startup .............................................................................. 24
7.1 Validity of the GSD file for DFS12B ............................................................. 24
7.2 Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file .. 24
7.2.1 GSD file for PROFIBUS DP-V1 ......................................................... 24
7.2.2 Project planning procedure ................................................................ 25
7.2.3 DP configurations for MOVIDRIVE® MDX61B................................... 25
7.3 Setting the MOVIDRIVE® MDX61B inverter ................................................ 28
7.4 Configuring PROFIsafe with STEP 7 ........................................................... 29
7.4.1 Description of F parameters............................................................... 30
7.4.2 Safety diagnostics using PROFIBUS DP-V1 ..................................... 32
7.5 Procedure for starting up DFS12B with MOVIDRIVE® MDX61B................. 33
7.5.1 Preliminary work ................................................................................ 33
7.5.2 Switching on MOVIDRIVE® MDX61B with DC 24 V or AC 400 V ..... 33
8 PROFIBUS DP Operating Characteristics.......................................................... 35
8.1 Data exchange between PROFIBUS master and DFS12B option............... 35
8.1.1 Mapping the DFS12B in the address range of the PLC..................... 36
8.1.2 F periphery DB of PROFIsafe option DFS ......................................... 37
8.2 Controlling the MOVIDRIVE® MDX61B inverter .......................................... 39
8.2.1 Control example for SIMATIC S7 with MOVIDRIVE® MDX61B ........ 40
8.2.2 PROFIBUS DP timeout (MOVIDRIVE® MDX61B)............................. 40
8.2.3 Fieldbus timeout response (MOVIDRIVE® MDX61B)........................ 40
8.3 Parameter setting via PROFIBUS DP.......................................................... 41
8.3.1 Structure of the 8-byte MOVILINK® parameter channel .................... 41
8.3.2 Reading a parameter via PROFIBUS DP (READ)............................. 43
8.3.3 Writing a parameter via PROFIBUS DP (WRITE) ............................. 44
8.3.4 Parameter setting procedure with PROFIBUS DP............................. 45
8.3.5 Parameter data format ....................................................................... 46
8.3.6 Return codes for parameter setting ................................................... 46
8.3.7 Special cases..................................................................................... 47
9 Functions of PROFIBUS DP-V1........................................................................... 49
9.1 Introduction to PROFIBUS DP-V1 ............................................................... 49
9.1.1 Class 1 master (C1 master) ............................................................... 50
9.1.2 Class 2 master (C2 master) ............................................................... 50
9.1.3 Data sets (DS) ................................................................................... 50
9.1.4 DP-V1 services .................................................................................. 51
9.1.5 DP-V1 alarm handling........................................................................ 51
9.2 Characteristics of SEW inverters ................................................................. 52
9.3 Structure of the DP-V1 parameter channel .................................................. 53
9.3.1 Parameterization procedure via data set 47 ...................................... 55
9.3.2 DP-V1 master processing sequence ................................................. 56
9.3.3 Addressing connected inverters......................................................... 57
9.3.4 MOVILINK® parameter requests ....................................................... 57
9.3.5 PROFIdrive parameter requests ........................................................ 62
9.4 Configuring a C1 master .............................................................................. 67
9.4.1 Operating mode (DP-V1 mode) ......................................................... 67
9.4.2 Example program for SIMATIC S7 .................................................... 67
9.4.3 Technical data DP-V1 for MOVIDRIVE® DFS12B............................. 67
9.4.4 Error codes of the DP-V1 services..................................................... 68
4
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
10 Operation of MOVITOOLS® MotionStudio ......................................................... 69
10.1 Communication via PROFIBUS DP/DP-V1.................................................. 69
10.1.1 Communication via C2 master......................................................... 69
10.1.2 Additionally required hardware and software................................... 70
10.1.3 Parameterize C2 master with SIMATIC NET................................... 71
10.1.4 Configuring communication via PROFIBUS .................................... 74
10.1.5 Communication parameters for PROFIBUS DP/DP-V1................... 76
10.2 Executing functions with the units ................................................................ 77
10.2.1 Parameterizing units in the parameter tree...................................... 77
10.2.2 Reading/changing unit parameters .................................................. 77
10.2.3 Starting up units (online) .................................................................. 78
11 Error Diagnostics ................................................................................................. 79
11.1 Diagnostic procedures ................................................................................. 79
12 Technical Data ...................................................................................................... 82
12.1 DFS12B option for MOVIDRIVE® MDX61B................................................. 82
13 Index ...................................................................................................................... 83
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
5
General Information
How to use the documentation
1
1
General Information
1.1
How to use the documentation
Handbuch
The documentation is an integral part of the product and contains important information
on operation and service. The documentation is written for all employees who assemble,
install, startup, and service this product.
1.2
Structure of the safety notes
The safety notes in this documentation are structured as follows:
Pictogram
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
•
Pictogram
Example:
Measure(s) to prevent the danger.
Signal word
Meaning
Consequences if
disregarded
DANGER
Imminent danger
Severe or fatal injuries
WARNING
Possible dangerous situation
Severe or fatal injuries
CAUTION
Possible dangerous situation
Minor injuries
NOTICE
Possible damage to property
Damage to the drive system or its
environment
INFORMATION
Useful information or tip.
Simplifies the handling of the
drive system.
General danger
Specific danger,
e.g. electric shock
6
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
General Information
Rights to claim under limited warranty
1.3
1
Rights to claim under limited warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the documentation. Read the documentation before you start working with the unit!
Make sure that the documentation is available to persons responsible for the system and
its operation as well as to persons who work independently on the unit. You must also
ensure that the documentation is legible.
1.4
Exclusion of liability
You must observe this documentation and the documentation of the connected units
from SEW-EURODRIVE to ensure safe operation and to achieve the specified product
characteristics and performance requirements. SEW-EURODRIVE assumes no liability
for injury to persons or damage to equipment or property resulting from non-observance
of the operating instructions. In such cases, any liability for defects is excluded.
1.5
Copyright
© 2008 - SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the unauthorized duplication, modification, distribution, and use
of this document, in whole or in part.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
7
Safety Notes
Other applicable documentation
2
2
Safety Notes
2.1
Other applicable documentation
2.2
•
Only electrical specialists are allowed to perform installation and startup observing
relevant accident prevention regulations and the "MOVIDRIVE® MDX60B/61B"
operating instructions:
•
Read through this manual carefully before you commence installation and startup of
the DFS12B option.
•
As a prerequisite to fault-free operation and fulfillment of warranty claims, you must
adhere to the information in the documentation.
General safety notes for bus systems
This communication system allows you to match the MOVIDRIVE® inverter to the
specifics of your application. As with all bus systems, there is a danger of invisible,
external (as far as the inverter is concerned) modifications to the parameters which give
rise to changes in the unit behavior. This may result in unexpected (not uncontrolled)
system behavior.
2.3
Safety functions
The MOVIDRIVE® MDX61B inverters may not perform safety functions without higherlevel safety systems. Use higher-level safety systems to ensure protection of equipment
and personnel.
For safety applications, refer to the information in the following publications.
•
Safe disconnection for MOVIDRIVE® B
Use only those components in safety applications that were explicitly designed and
delivered for this purpose by SEW-EURODRIVE.
2.4
Hoist applications
MOVIDRIVE® MDX60B/61B is not designed for use as a safety device in hoist
applications.
Use monitoring systems or mechanical protection devices as safety equipment to avoid
possible damage to property or injury to people.
2.5
Product names and trademarks
The brands and product names contained within this manual are trademarks or
registered trademarks of the titleholders.
2.6
Disposal
Observe the applicable national regulations.
Dispose of the individual materials (electronics scrap, plastic, etc.) separately in
accordance with the country-specific regulations in force.
8
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Introduction
Content of this manual
3
Introduction
3.1
Content of this manual
3
This user manual describes how to:
3.2
•
Install the DFS12B PROFIBUS DP-V1 with PROFIsafe option card in the
MOVIDRIVE® MDX61B inverter.
•
Start up MOVIDRIVE® with the PROFIBUS fieldbus system.
•
Configure the PROFIBUS using GSD files
•
Operate MOVITOOLS® MotionStudio via PROFIBUS.
Additional documentation
For information on how to easily and effectively connect MOVIDRIVE® B to the
PROFIBUS DP-V1 fieldbus system, you should request the following additional
publications about fieldbus technology:
•
"MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile" manual
•
"MOVIDRIVE® B" system manual
•
"MOVIDRIVE® MDX 61B Safety Module DCS21B/31B Option" manual
The MOVIDRIVE® Fieldbus Unit Profile manual and the MOVIDRIVE® B system manual
provide a description of the fieldbus parameters and their coding, as well as an
explanation of the various control concepts and application options in the form of brief
examples.
The MOVIDRIVE® fieldbus unit profile manual provides a list of all parameters of the
drive inverter that can be read and written via the different communication interfaces
such as system bus, RS485 and via the field bus interface.
3.3
Characteristics
The MOVIDRIVE® MDX61B inverter enables you to use the DFS12B PROFIBUS DPV1 option with PROFIsafe to connect to higher-level automation systems via
PROFIBUS thanks to its powerful, universal fieldbus interface.
3.3.1
Access to all information
MOVIDRIVE® MDX61B offers digital access to all drive parameters and functions via
the PROFIBUS interface. The drive inverter is controlled using fast, cyclic process data.
You can use this process data channel to enter setpoints such as the setpoint speed,
ramp generator time for acceleration/deceleration, etc. as well as trigger various drive
functions such as enable, control inhibit, normal stop, rapid stop, etc. At the same time
you can also use this channel to read back actual values from the drive inverter, such
as actual speed, current, unit status, error number or reference signals.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
9
Introduction
Characteristics
3
3.3.2
Monitoring functions
Using a fieldbus system requires additional monitoring functions for the drive
technology, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop
concepts. You can, for example, adapt the monitoring functions of MOVIDRIVE®
specifically to your application. You can determine, for instance, which of the drive
inverter’s fault responses should be triggered in the event of a bus error. A rapid stop is
meaningful for many applications, although this can also be achieved by 'freezing' the
last setpoints so the drive continues operating with the most recently valid setpoints
(such as with a conveyor belt). As the range of functions for the control terminals is also
guaranteed in fieldbus mode, you can continue to implement rapid stop concepts using
the terminals of the drive inverter, irrespective of the fieldbus used.
3.3.3
Diagnostics
The MOVIDRIVE® inverter offers numerous diagnostic options for startup and service.
For example, you can use the integrated fieldbus monitor to control setpoint values sent
from the higher-level controller as well as the actual values. The integrated Web server
allows you to access the diagnostic values using a standard browser.
3.3.4
Fieldbus monitor
Furthermore, you are supplied with a variety of additional information about the status
of the fieldbus interface. The fieldbus monitor function in conjunction with the
MOVITOOLS® MotionStudio PC software offers you an easy-to-use diagnostic tool for
setting all drive parameters (including the fieldbus parameters) and for displaying the
fieldbus and device status information in detail.
10
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Integrated Safety Technology
Safety concept DFS12B in combination with DCS21B
4
Integrated Safety Technology
4.1
Safety concept DFS12B in combination with DCS21B
4
•
The PROFIsafe fieldbus interface DFS12B is equipped with an integrated CAN interface. The DFS12B option separates safe communication and sends it safely to the
DCS21B option via CAN interface.
•
The following requirements are fulfilled by means of a 2-channel redundant system
structure of the DCS21B safety component with suitable monitoring mechanisms:
– SIL3 according to EN 61508
– Category 4 according to EN 954-1
– Performance level e according to EN ISO 13849-1
When the system detects a fault, the system responds by reverting to a safe status.
This makes the safety function available in the form of failsafe inputs and outputs
connected to a higher-level safety controller via PROFIsafe communication. The
inputs/outputs of the DCS21B are neither evaluated locally nor processed logically.
This takes place in the higher-level safety-relevant PLC.
•
When using the DCS21B option, you can disable the DC 24 V input "safe stop" at
X17 of the MOVIDRIVE® inverter and in this way disconnect the drive safely. In this
context, observe the following safety concept of the MOVIDRIVE® inverter and all
safety notes, conditions and installation regulations in this publication.
INFORMATION
FCPU
PD
PROFIsafe
PROFIsafe
PD
Inverter
safety-oriented
PROFIBUS/
PROFINET
connection
PROFIsafe
Standard
CPU
Master
The safety function of MOVIDRIVE® B is only permitted for applications up to
category 3 according to EN 954-1 (see certificate).
MOVIDRIVE B
+ DCS21B
62315AEN
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
11
Integrated Safety Technology
Safety concept of MOVIDRIVE® B without DCS21B option
4
4.2
Safety concept of MOVIDRIVE® B without DCS21B option
•
In case of danger, any potential risk related to a machine must be eliminated as
quickly as possible. Standstill with restart prevention is generally the safe condition
for preventing dangerous movements.
•
The MOVIDRIVE® MDX60B/61B inverter is characterized by the optional connection
of an external fail-safe, prototype examined safety relay (safety category 3 according
to EN 954-1). The safety relay disconnects all active elements (disconnection of the
safety-relevant 24 V power supply of the output stage control) that generate the pulse
trains to the power output stage (IGBT) when a connected control device (E-STOP
button with latching function) is activated.
•
Disconnecting the DC 24 V at the positive and negative poles ensures that the supply
voltages required for operating the inverter and consequently for generating a rotating field of pulse patterns (which allow the generation of a rotating field) are safely
interrupted. Automatic restart is prevented in this way.
•
Instead of galvanic separation of the drive from the power supply by means of relays
or switches, the disconnection of the DC 24 V supply described here safely prevents
the control of the power semiconductors in the drive inverter. This process
disconnects the rotating field generation for the respective motor. The individual
motor cannot develop any torque in this state even though the mains voltage is still
present.
•
The requirements for the safety relay are clearly defined in the following sections and
must be strictly observed.
Using a suitable external circuit via a safety relay with
– approval for at least safety category 3
– disconnection for at least safety category 3
allows for operating the MOVIDRIVE® MDX60B/61B inverter with safe
disconnection according to stop category 0 or 1 (to EN 60204-1) and ensures
protection against restart according to safety category 3 (to EN 954-1).
4.2.1
Limitations
INFORMATION
12
•
If the DC 24 V link voltage is safely disconnected at the positive pole only, no
test pulses must be applied to this pole in disconnected condition.
•
Important: The safety concept is only suitable for performing mechanical
work on system/machine components.
•
Important: A system/machine-specific risk analysis must be carried out by
the system/machine manufacturer and taken into account for the use of the
MOVIDRIVE® B inverter.
•
Danger of fatal injury: When the 24 V voltage supply is disconnected, mains
supply voltage is still present on the drive inverter’s DC link.
•
Important: If work is carried out on the electrical section of the drive system,
the supply voltage must be disconnected using an external maintenance
switch.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Integrated Safety Technology
Safety concept of MOVIDRIVE® B without DCS21B option
4
Schematic representation of the safety concept taking MOVIDRIVE® B as example
S24V
24V
[4]
24V
int.
SNT
NV
S0V24
24V
int.
[5]
MOVIDRIVE®B
SNT
HV
24V
GND
[1]
Uz+
Uz-
[3]
S0V24
S VI 24
24V ext./
24V int.
24V
ext.
GND
4.2.2
[6]
[2]
SNT
[7]
[17]
CAN
RS485
[9]
Binary
IN
[8]
[16]
Binary
OUT
[10]
Analog
IN
Uz+
[15]
[11]
PWM
Analog
OUT
M
[14]
[13 ]
Uz-
[12]
L1 L2 L3
61519AXX
[1] High-voltage switch-mode power supply
[2] Low-voltage switch-mode power supply
[3] Safety relay (external) approved for at least category 3 according to EN 954-1
[4] Safety-relevant DC 24 V voltage supply
[5] Safety switched-mode power supply unit (SNT)
[6] Electrical isolation
[7] Safety circuit
[8] Feedback to the central processing unit: Voltage supply for output stage control OK (not in safety circuit)
[9] Voltage supply for control of power transistors
[10] DC 24 V safety switched-mode power supply disconnected / brake applied (not in safety circuit)
[11] Motor
[12] Power section
[13] Temperature detection
[14] Position detection
[15] Pulse width modulated signals for output stage
[16] Central processing unit
[17] Fieldbus interface
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
13
Safety Requirements
Safety concept of MOVIDRIVE® B without DCS21B option
5
5
Safety Requirements
INFORMATION
For information on the safety-relevant conditions, refer to the following documents:
14
•
"MOVIDRIVE® MDX60B/61B Safe Disconnection - Conditions" manual
•
"MOVIDRIVE® MDX61B Safety Module DCS21B/31B Option" manual
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Assembly and Installation Notes
Installing the DFS12B option card in MOVIDRIVE® MDX61B
6
6
Assembly and Installation Notes
This chapter provides information on the assembly and installation of the DFS12B
PROFIBUS DP-V1 option card with PROFIsafe in MOVIDRIVE® MDX61B.
6.1
Installing the DFS12B option card in MOVIDRIVE® MDX61B
INFORMATION
Only SEW-EURODRIVE engineers are allowed to install or remove option cards
for MOVIDRIVE® MDX61B size 0.
Users may only install or remove option cards for MOVIDRIVE® MDX61B sizes 1
to 6.
Plug the DFS12B PROFIBUS DP-V1 option with PROFIsafe into fieldbus slot [1].
Only use connectors and cables approved for PROFIBUS when cabling.
[1]
64280AXX
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
15
Assembly and Installation Notes
Installing DFS12B / DCS21B option cards in MOVIDRIVE® MDX61B
6
6.2
Installing DFS12B / DCS21B option cards in MOVIDRIVE® MDX61B
INFORMATION
•
The DCS21B option can only be used in combination with the DFS12B fieldbus interface. In this case, the DCS21B option must be plugged in the expansion slot, and the DFS12B option in the fieldbus slot.
•
The DCS21B option can only be used for MOVIDRIVE® MDX61B sizes 1 to 6
but not for size 0.
•
The prefabricated cable DAE34B (part number 1821 307 3) serves for CAN bus
connection between the X86 terminal of DCS21B and X31 of option DFS12B.
The scope of delivery of the DCS21B option includes the DAE34B cable.
MOVIDRIVE® MDX61B
DCS21B
DFS12B
DCS21B/31B
X86
DAE34B
64281AXX
16
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Assembly and Installation Notes
Installing DFS12B / DCS21B option cards in MOVIDRIVE® MDX61B
6.2.1
6
Before you start
Observe the following notes before installing or removing an option card:
•
Disconnect the inverter from the power. Switch off the DC 24 V and the power supply
voltage.
•
Take appropriate measures to protect the option card from electrostatic charge (use
discharge strap, conductive shoes, etc.) before touching it.
•
Before installing the option card, remove the keypad and the front cover (see
MOVIDRIVE® MDX60B/61B operating instructions, chapter "Installation").
•
After having installed the option card, replace the keypad and the front cover (see
MOVIDRIVE® MDX60B/61B operating instructions, chapter "Installation").
•
Keep the option card in its original packaging until immediately before you are ready
to install it.
•
Hold the option card by its edges only. Do not touch any of the components.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
17
Assembly and Installation Notes
Installing DFS12B / DCS21B option cards in MOVIDRIVE® MDX61B
6
6.2.2
Basic procedure for installing/removing an option card (MDX61B, sizes 1 - 6)
2.
1.
2.
1.
3.
3.
3.
4.
4.
60039AXX
1. Remove the two retaining screws holding the card retaining bracket. Pull the card
retaining bracket out evenly from the slot (do not twist!).
2. Remove the 2 retaining screws from the black cover plate on the card retaining
bracket. Remove the black cover plate.
3. Position the option card onto the retaining bracket so that the three retaining screws
fit into the corresponding bores on the card retaining bracket.
4. Insert the retaining bracket with the installed option card into the slot, pressing
slightly so it is seated properly. Secure the card retaining bracket with the two
retaining screws.
5. To remove the option card, follow the instructions in reverse order.
18
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Assembly and Installation Notes
Connection and terminal description of the DFS12B option
6.3
6
Connection and terminal description of the DFS12B option
Part number
Fieldbus interface option DFS12B PROFIBUS with PROFIsafe: 1820 963 7
INFORMATION
The DFS12B option is only possible with MOVIDRIVE® MDX61B, not with
MOVIDRIVE® MDX60B.
•
Front view of
DFS12B
DFS12B
The DFS12B option must be plugged into the fieldbus slot.
Description
DIP switch
Terminal
LED RUN (red/yellow/green)
LED BUS FAULT (red/yellow/green)
Function
Shows the current status of the DFS12B option.
Shows the status of the PROFIBUS connection.
RUN
BUS
FAULT
X31
GND
X31: CAN connection
X31:1
X31:2
X31:3
CAN High
CAN low
DGND
X30: PROFIBUS connection
X30:1
X30:2
X30:3
X30:4
X30:5
X30:6
X30:7
X30:8
X30:9
N.C.
N.C.
RxD/TxD-P
CNTR-P
DGND (M5V)
VP (P5V/100 mA)
N.C.
RxD/TxD-N
N.C.
ADDRESS: DIP switch for setting
the PROFIBUS station address
20
21
22
23
24
25
26
AS
Significance: 1
Significance: 2
Significance: 4
Significance: 8
Significance: 16
Significance: 32
Significance: 64
Auto setup for gateway operation (no function)
CL
X30
CH
9
5
6
1
20
21
22
23
24
25
26
AS
0 1
62967AXX
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
19
Assembly and Installation Notes
PROFIBUS connection
6
6.4
PROFIBUS connection
Connection to the PROFIBUS network is made using a 9-pin D-sub connector according
to IEC 61158. The T-bus connection must be made using a plug with the corresponding
configuration.
[2]
1
6
9
5
RxD/TxD-P
RxD/TxD-N
CNTR-P
DGND (M5V)
VP (P5V/100mA)
N.C.
3
8
4
5
6
9
[3]
[1]
Figure 1: Assignment of 9-pin D-sub connector to IEC 61158
61500AXX
[1] 9-pin D-sub connector
[2] Signal line, twisted
[3] Conductive connection over a large area is necessary between plug housing and
the shield
6.4.1
Connecting MOVIDRIVE® to PROFIBUS
As a rule, the DFS12B option is connected to the PROFIBUS system using a shielded
twisted-pair cable. Observe the maximum supported transmission rate when selecting
the bus connector.
The twisted-pair cable is connected to the PROFIBUS connector X30 at X30: 3
(RxD/TxD-P) and X30:8 (RxD/TxD-N). Communication takes place via these two
contacts. The RS485 signals RxD/TxD-P and RxD/TxD-N must all be connected to the
same contacts in all PROFIBUS stations. Otherwise, no communication is possible via
the bus medium.
The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic adapter
(reference = X30:5) via X30:4 (CNTR-P).
6.4.2
Baud rates greater than 1.5 MBaud
The DFS12B option with baud rates > 1.5 MBaud can only be operated with special 12MBaud PROFIBUS connectors.
20
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Assembly and Installation Notes
Shielding and routing bus cables
6.5
6
Shielding and routing bus cables
The PROFIBUS interface supports RS485 transmission technology and requires the
cable type A to IEC 61158 specified as the physical medium for PROFIBUS. This cable
must be a shielded, twisted-pair cable.
Correct shielding of the bus cable attenuates electrical interference that can occur in
industrial environments. Take the following measures to optimally shield bus cables:
•
Manually tighten the mounting screws on the connectors, modules, and equipotential
bonding conductors.
•
Use only connectors with a metal housing or a metallized housing.
•
Connect the shielding in the connector over a wide surface area.
•
Apply the shielding of the bus cable on both ends.
•
Route signal and bus cables in separate cable ducts. Do not route them parallel to
power cables (motor leads).
•
Use metallic, grounded cable racks in industrial environments.
•
Route the signal cable and the corresponding equipotential bonding close to each
other using the shortest possible route.
•
Avoid using plug connectors to extend bus cables.
•
Route the bus cables closely along existing grounding surfaces.
CAUTION
In case of fluctuations in the ground potential, a compensating current may flow via the
bilaterally connected shield that is also connected to the protective earth (PE). Make
sure you supply adequate equipotential bonding in accordance with relevant VDE
regulations in such a case.
6.6
Bus termination
The DFS12B option is not provided with bus terminating resistors. This enables the bus
system to be put into operation more easily and reduces the number of error sources.
If the DFS12B option is located at the start or end of a PROFIBUS segment and only
one PROFIBUS cable is connected to the DFS12B, you have to use a connector with
integrated bus terminating resistor.
Switch on the bus terminating resistors for this PROFIBUS connector.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
21
Assembly and Installation Notes
Setting the PROFIBUS station address
6
6.7
Setting the PROFIBUS station address
Set the PROFIBUS station address using DIP switches 20 - 26 on the DFS12B option.
MOVIDRIVE® supports the address range 1 to 125.
DFS12B
RUN
BUS
FAULT
X31
GND
CL
X30
CH
9
5
6
1
20
21
22
23
24
25
26
AS
0 1
The default setting for the PROFIBUS station address is 4:
20 → Significance: 1 × 0 = 0
21 → Significance: 2 × 0 = 0
22 → Significance: 4 × 1 = 4
23 → Significance: 8 × 0 = 0
24 → Significance: 16 × 0 = 0
25 → Significance: 32 × 0 = 0
26 → Significance: 64 × 0 = 0
62968AXX
Any change made to the PROFIBUS station address during ongoing operation does not
take effect immediately. The change only comes into effect when the inverter is switched
on again (power supply + +24 V OFF / ON). The inverter displays the current station
address in fieldbus monitor parameter P093 Fieldbus address (display with DBG60B or
MOVITOOLS® MotionStudio / parameter tree).
DFS12B
RUN
BUS
FAULT
X31
GND
CL
X30
CH
9
5
6
1
20
21
22
23
24
25
26
AS
0 1
Example: Setting the PROFIBUS station address 17
20 → Significance: 1 × 1 = 1
21 → Significance: 2 × 0 = 0
22 → Significance: 4 × 0 = 0
23 → Significance: 8 × 0 = 0
24 → Significance: 16 × 1 = 16
25 → Significance: 32 × 0 = 0
26 → Significance: 64 × 0 = 0
62969AXX
22
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Assembly and Installation Notes
Operation indicators of the DFS12B option
6.8
Operation indicators of the DFS12B option
6.8.1
PROFIBUS LEDs
6
The PROFIBUS interface DFS12B option card has 2 LEDs that indicate the current
status of the DFS12B option and the PROFIBUS system.
DFS12B
RUN
BUS
FAULT
62970AXX
RUN LED
The RUN LED indicates that the bus electronics are operating correctly
States of the
RUN LED
Cause of error
Remedy
Green
•
PROFIBUS hardware OK.
-
Orange
•
The card is booting.
-
Off
•
Hardware defect in the bus
electronics.
•
Switch the unit on again. Consult SEW service
if the error occurs again.
Flashes
2 Hz
•
PROFIBUS address is set higher
than 125 or to 0.
•
•
Use parameter P093 Fieldbus address to
check the address set with the DIP switches.
Reset the inverter.
•
The inverter is restarting.
Flashes
1 Hz
BUS-FAULT LED
•
No error, only display.
The BUS FAULT LED indicates PROFIBUS-DP errors.
Status of the
BUS FAULT LED
Cause of error
Remedy
Red
•
Connection to the PROFIBUS
DP master has failed.
Unit does not detect PROFIBUS
baud rate.
Bus interruption.
PROFIBUS-DP master not in
operation.
•
•
•
•
•
•
Off
•
Unit is currently exchanging data
with the PROFIBUS DP master
(data exchange).
-
Flashes
•
Unit has detected the baud rate,
but is not addressed by the
PROFIBUS DP master.
Unit was not configured in
PROFIBUS DP master or configured incorrectly.
•
•
•
•
Check the PROFIBUS DP connection on
the unit.
Check the project planning of the PROFIBUS DP master.
Check all cables in your PROFIBUS DP
network.
Check the PROFIBUS address setting on
the DFS12B and in the project planning
software of the PROFIBUS DP master.
Check the configuration of the PROFIBUS
DP master.
Use the GSD file SEW_600C.GSD with the
designation MOVIDRIVE-DFS for
configuration.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Project Planning and Startup
Validity of the GSD file for DFS12B
0
7
Project Planning and Startup
This section provides you with information on project planning for the DP master and
startup of the drive inverter for fieldbus operation.
INFORMATION
Current versions of the GSD files for the DFS12B option are available on the SEW
homepage (www.sew-eurodrive.com) under the heading "Software". Once you have
downloaded and unpacked the software, you will have two directories for the operating
modes PROFIBUS DP and PROFIBUS DP-V1.
7.1
Validity of the GSD file for DFS12B
PROFIBUS option
DFS12B074 firmware option 1:
MOVIDRIVE® MDX61B
DFS12B
SEW_600C.GSD
INFORMATION
Do not edit or amend the entries in the GSD file. SEW-EURODRIVE assumes no
liability for malfunctions of the inverter caused by a modified GSD file.
7.2
Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
A GSD file is provided for project planning for the PROFIBUS DP master. Copy this file
into a special directory of your project planning software.
Refer to the relevant project planning software manuals for details on the procedure.
7.2.1
GSD file for PROFIBUS DP-V1
Use the GSD fileSEW_600C.GSD from the "DPV1" directory if you want to use the
parameter setting options of PROFIBUS DP-V1 in addition to the standard PROFIBUS
DP communication to control the drive inverter.
This GSD file corresponds to GSD revision 5.2.
24
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Project Planning and Startup
Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
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The GSD files are assigned the name for PROFIBUS DP-V1 for easier identification and
are displayed in a special subdirectory in the project planning software for the PROFIBUS DP-V1 master (see the following figure).
11867AEN
7.2.2
Project planning procedure
Proceed as follows for project planning for MOVIDRIVE® with PROFIBUS DP interface:
1. Install (copy) the GSD file according to the requirements of your project planning software. Once the file has been installed properly, the device appears next to the slave
stations with the designation MOVIDRIVE+DFS12B.
2. Add the interface module under the name MOVIDRIVE-DFS to the PROFIBUS
structure and assign the station address.
3. Select the process data configuration required for your application (see page 25).
4. Enter the I/O or peripheral addresses for the configured data widths.
After project planning, you can start PROFIBUS DP. The red BUS FAULT LED indicates
the status of the project planning (OFF = project planning OK).
7.2.3
DP configurations for MOVIDRIVE® MDX61B
The drive inverter must be given a specific DP configuration by the PROFIBUS DP
master to define the type and number of input and output data used for transmission.
You have the option of
•
Controlling the drive using process data
•
Reading and writing all drive parameters using the parameter channel
•
Using a data exchange medium of your choice between IPOSplus® and the controllor.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
0
MOVIDRIVE® inverters make it possible to have different DP configurations for
exchanging data between the PROFIBUS DP master and the inverter. The following
table provides additional information about all possible DP configurations for the
MOVIDRIVE® range. The "Process data configuration" column shows the name of the
configuration. The texts will also be displayed as selection list within the project planning
software for the PROFIBUS DP master. The DP configurations column shows which
configuration data is sent to the inverter when the PROFIBUS DP connection is being
established.
Process data
configuration
Meaning / notes
DP configurations
Slot 1
(F-module)
26
Slot 2
(ParamChannel)
Slot 3 (PD
channel)
1 PD
MOVIDRIVE® control via 1 process data word
0x00
0x00
0xC0 0xC0 0xC0
2 PD
MOVIDRIVE® control via 2 process data words
0x00
0x00
0xC0 0xC1 0xC1
3 PD
MOVIDRIVE® control via 3 process data words
0x00
0x00
0xC0 0xC2 0xC2
4 PD
MOVIDRIVE® control via 4 process data words
(PD4-PD10 can only be used with IPOSplus®)
0x00
0x00
0xC0 0xC3 0xC3
5 PD
MOVIDRIVE® control via 5 process data words
(PD4-PD10 can only be used with IPOSplus®)
0x00
0x00
0xC0 0xC4 0xC4
6 PD
MOVIDRIVE® control via 6 process data words
(PD4-PD10 can only be used with IPOSplus®)
0x00
0x00
0xC0 0xC5 0xC5
7 PD
MOVIDRIVE® control via 7 process data words
(PD4-PD10 can only be used with IPOSplus®)
0x00
0x00
0xC0 0xC6 0xC6
8 PD
MOVIDRIVE® control via 8 process data words
(PD4-PD10 can only be used with IPOSplus®)
0x00
0x00
0xC0 0xC7 0xC7
9 PD
MOVIDRIVE® control via 9 process data words
(PD4-PD10 can only be used with IPOSplus®)
0x00
0x00
0xC0 0xC8 0xC8
10 PD
MOVIDRIVE® control via 10 process data words
(PD4-PD10 can only be used with IPOSplus®)
0x00
0x00
0xC0 0xC9 0xC9
Param + 1 PD
MOVIDRIVE® control via 1 process data word
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC0 0xC0
Param + 2 PD
MOVIDRIVE® control via 2 process data words
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC1 0xC1
Param + 3 PD
MOVIDRIVE® control via 3 process data words
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC2 0xC2
Param + 4 PD
MOVIDRIVE® control via 4 process data words
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC3 0xC3
Param + 5 PD
MOVIDRIVE® control via 5 process data words
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC4 0xC4
Param + 6 PD
MOVIDRIVE® control via 6 process data words
Parameter setting via 8 byte parameter channel
(PD4-PD10 can only be used with IPOSplus®)
0x00
0xC0 0x87 0x87
0xC0 0xC5 0xC5
Param + 7 PD
MOVIDRIVE® control via 7 process data words
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC6 0xC6
Param + 8 PD
MOVIDRIVE® control via 8 process data words
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC7 0xC7
Param + 9 PD
MOVIDRIVE® control via 9 process data words
Parameter setting via 8 byte parameter channel
0x00
0xC0 0x87 0x87
0xC0 0xC8 0xC8
Param + 10 PD
MOVIDRIVE® control via 10 process data words
Parameter setting via 8 byte parameter channel
(PD4-PD10 can only be used with IPOSplus®)
0x00
0xC0 0x87 0x87
0xC0 0xC9 0xC9
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Project Planning and Startup
Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
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INFORMATION
The DFS12B option does not support the "Compact identifier formats" coding.
Only use the setting "Integrity over entire length" for data transmission.
Data integrity
Consistent data is data that has to be transmitted between the programmable controller
and the drive inverter as one block at all times and must never be transmitted separately.
Data integrity is especially important for the transmission of positioning values or
complete positioning tasks. Inconsistent transmission may contain data from different
program cycles of the automation device. This would lead to undefined values being
transmitted to the drive inverter.
For PROFIBUS DP, data communication between the programmable controller and
drive engineering devices is usually carried out with the setting "Data integrity over
entire length".
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Project Planning and Startup
Setting the MOVIDRIVE® MDX61B inverter
0
7.3
Setting the MOVIDRIVE® MDX61B inverter
The following settings are required for simple fieldbus operation.
11638AXX
However, to control the MOVIDRIVE® MDX61B inverter via PROFIBUS, you must first
switch the drive inverter to control signal source (P101) and setpoint source (P100) =
FIELDBUS. The FIELDBUS setting means the drive inverter parameters are set for control and setpoint entry via PROFIBUS. MOVIDRIVE® MDX61B then responds to the
process output data transmitted from the master programmable controller.
The parameters of MOVIDRIVE® MDX61B can be set straight away via PROFIBUS
without any further settings once the PROFIBUS option card has been installed. For
example, all parameters can be set by the master programmable controller after being
switched-on.
Activation of the control signal source and setpoint source FIELDBUS is signaled to the
machine controller using the "Fieldbus mode active" bit in the status word.
For safety reasons, you must also enable MOVIDRIVE® MDX61B at the terminals for
control via the fieldbus system. Consequently, you must wire and program the terminals
in such a way that the inverter is enabled via the input terminals. The simplest way of
enabling the drive inverter at the terminals is, for example, to connect the DIØØ (function
/CONTROLLER INHIBIT) input terminal to a DC +24 V signal and to program input
terminals DIØ1 – DIØ3 to NO FUNCTION.
28
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Project Planning and Startup
Configuring PROFIsafe with STEP 7
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7.4
Configuring PROFIsafe with STEP 7
Configuring the
PROFIsafe
properties
•
For using the safety functions of the DFS12B/DCS21B combination, you must
configure an "F-module I/O (8 byte)" in slot 1.
•
Mark slot 1 and delete the entry "Slot not used". Next, move the "F-module I/O
(8 byte)" entry [2] to slot 1 [1].
[2]
[1]
65657AEN
•
You can set the parameters for the PROFIsafe properties (see figure below) in the
hardware configuration. Make a double-click on the "F-module I/O (8 byte) module"
in slot 1 [1]
12149AEN
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Configuring PROFIsafe with STEP 7
0
7.4.1
Description of F parameters
The DFS12B option passes the PROFIsafe protocol information to the DCS21B option
(X86 terminal) via CAN bus (X31 terminal). The safety-relevant PROFIsafe protocol
evaluation is performed in the DSC21B option.
INFORMATION
For more detailed information, refer to the "MOVIDRIVE® MDX61B Safety Module
DCS21B/31B Option" manual.
When the fieldbus or network systems starts up, the bus master sends the safetyrelevant parameters in an F parameter block to the PROFIsafe option DCS21B of
MOVIDRIVE® B. A plausibility test then checks them in the option. The PROFIsafe
option only exchanges data with bus master after positive confirmation for this F
parameter block has been received. Below is a list of the safety-relevant parameters
which are passed on to the PROFIsafe option DCS21B.
Depending on the bus system being used, the following parameters are available:
PROFIsafe F parameters
Bus system
PROFIBUS DP-V1
"F_SIL"
parameter
F_Check_SeqNr
Not installed
F_SIL
Fix
F_CRC_Length
Fix
F_Par_Version
Fix
F_Source_Add
Fix
F_Dest_Add
Variable
F_WD_Time
Variable
This parameter allows F stations to check if the safety category matches that of the F
host. Depending on the risk, different safety circuits with different safety classes SIL 1
to SIL 3 (SIL = Safety Integrity Level), apply in these safety-relevant cases.
The DCS21B option supports the following setting:
•
"F_CRC_Length"
parameter
F_SIL = SIL 3
Depending on the length of the F user data (process values) and the PROFIsafe version,
the length of the required CRC check value varies. This parameter communicates the
anticipated length of the CRC2 key in the safety telegram to the F component.
The DCS21B option handles user data that is less than 12 bytes in length, so that with
PROFIsafe V2, a 3 byte CRC is used.
The DCS21B option supports the following setting:
•
"F_Par_Version"
parameter
30
F_CRC_Length = 3 byte CRC (only with PROFIsafe V2)
This parameter identifies the PROFIsafe version supported by the DCS21B option. Only
PROFIsafe V2 is supported when using MOVIDRIVE® B.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Project Planning and Startup
Configuring PROFIsafe with STEP 7
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"F_Source_Add"
parameter
The PROFIsafe addresses are used for unique identification of the source
(F_Source_Add) and destination (F_Dest_Add). The combination of source and target
address must be unique across the network and all stations. Depending on the master
configuration, the source address F_Source_Add is automatically provided by STEP7.
Values ranging from 1 to 65534 can be entered in parameter F_Source_Add.
You cannot directly edit this parameter in STEP7-HW Config.
"F_Dest_Add"
parameter
The PROFIsafe address of the DCS21B option that was previously set using
MOVISAFE® Assist is entered in this parameter.
Values ranging from 1 to 65534 can be entered in parameter F_Dest_Add.
INFORMATION
For more detailed information, refer to the "MOVIDRIVE® MDX61B Safety Module
DCS21B/31B Option" manual.
"F_WD_Time"
parameter
This parameter defines a monitoring time in the DCS21B option.
A valid safety telegram must arrive from the F-CPU within this monitoring time. Otherwise the DCS21B option reverts to safe status.
Select a monitoring time of a sufficient length so that communication can tolerate
telegram delays, but also sufficiently short enough for your safety application to run
without restriction.
You can enter the F_WD_Time parameter in steps of 1 ms, ranging from 1 ms to 10 s
for the DCS21B option.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Configuring PROFIsafe with STEP 7
0
7.4.2
Safety diagnostics using PROFIBUS DP-V1
The status of PROFIsafe communication and error messages of the safety module of
the DFS12B option are transmitted to the PROFIBUS DP master via status PDU in
accordance with the PROFIBUS DP-V1 standard.
The following figure shows how diagnostic data is organized for PROFIsafe
communication via slot 1. The F module for the DFS safety module is configured in
slot 1.
Byte 11 is used for transmitting diagnostic messages. These are defined in the
PROFIsafe specifications.
Bytes 12 and 13 transmit the status and error status of the DFS safety module to the
higher-level PROFIBUS DP master.
The figure below shows the structure of diagnostic data for PROFIBUS DP-V1:
Status block
Bytes 1 - 6
Byte 7
Byte 8
Byte 9
Byte 10
Byte 11
Byte 12
Byte 13
6 bytes
Standard diagnostics
Header
Status
Type
Slot
Number
Status
Specifier
Diag User
Data 0
Diag User
Data 1
Diag User
Data 2
...
0x07
0x81
0x00
0x00
PROFIsafe
F-State 1
↑
↑
↑
↑
↑
↑
7 bytes
modulespecific
diagnostics
0x81 =
Status block
with status
message
0x00 =
Slot 1
(F-channel)
no DP-V1
specifier
PROFIsafe
diagnostic
information
in accordance with
PROFIsafe
profile V2.0
Cyclical F_State
of the DFS option
Diagnostic
messages of the
PROFIsafe layer
The table below shows the diagnostic messages of the PROFIsafe layer:
Byte 11
Diagnostic text
(German)
Diagnostic text
(English)
Kein Fehler
---
40hex /
64dec
F_Dest_Add stimmt nicht überein
Mismatch of F_Dest_Add
41hex /
65dec
F_Dest_Add ist ungültig
F_Dest_Add not valid
42hex /
66dec
F_Source_Add ist ungültig
F_Source_Add not valid
43hex /
67dec
F_WD_Time ist 0 ms
F_WD_Time is 0 ms
44hex /
68dec
F_SIL Level größer max SIL Level
F_SIL exceeds SIL f. application
45hex /
69dec
Falsche F_CRC_Length
F_CRC_Length does not match
46hex /
70dec
Falsche F-Parameter Version
F-Parameter set incorrect
47hex /
71dec
Fehler im CRC1-Wert
CRC1-Fault
0hex / 0dec
INFORMATION
For more information on the meaning and remedy of error messages, refer to the
manuals on the PROFIBUS master manual.
32
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Project Planning and Startup
Procedure for starting up DFS12B with MOVIDRIVE® MDX61B
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7.5
Procedure for starting up DFS12B with MOVIDRIVE® MDX61B
The following sections describe the startup procedure for MOVIDRIVE® MDX61B with
the DFS12B option step-by-step.
7.5.1
Preliminary work
Step 1: Install the required software
1. FTDI driver for USB11A programming interface
•
•
Connect USB11A to the PC. Windows hardware detection will install the required
FTDI driver.
You can download the FTDI driver from the software ROM 7 or from www.seweurodrive.com.
2. GSD file: SEW_600C.GSD
3. MOVITOOLS® MotionStudio as of version 5.50
Step 2: Install units
1. Install MOVIDRIVE® MDX61B according to the operating instructions:
•
•
•
•
•
Supply system cable
Motor cable
Braking resistance
DC 24 V backup voltage
You can download the FTDI driver from the software ROM 7 or from www.seweurodrive.com.
2. Install the PROFIBUS and connect the DFS12B option to the PROFIBUS. Ensure
PROFIBUS termination.
7.5.2
Switching on MOVIDRIVE® MDX61B with DC 24 V or AC 400 V
Step 1: Configure MOVIDRIVE® MDX61B
1. Start MOVITOOLS® MotionStudio and create a new project.
Enter a project name and assign the USB11A programming interface according to
the serial COM interface.
•
•
If the USB11A programming interface is connected to the PC for the first time,
Windows hardware detection will install the required FTDI driver.
If USB11A is not recognized, check the assignment to the COM interface. The
matching COM port is marked by "USB"
2. Connect the PC with MOVIDRIVE® using the USB11A programming interface.
3. Perform a unit scan. To do so, select the unit by clicking the left mouse button. Then
click the right mouse button and choose [Startup] / [Parameter tree] from the context
menu.
4. Set the P100 setpoint source and P101 control source parameters to "Fieldbus".
5. For simple control via fieldbus, you can set the binary inputs to "No function" using
parameters P601 to P608.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Procedure for starting up DFS12B with MOVIDRIVE® MDX61B
0
6. Check the parameter setting for the process data (P87x). The parameters for status
word and control word must be set. Set the P876 PO data enable parameter to "Yes".
Step 2: Configure PROFIBUS
1. Start the control manufacturer’s software to configure the hardware (e.g. STEP 7HWKONFIG).
2. If the GSD file is not installed, install the GSD file SEW_600C.GSD now (see section
"Preliminary work" on page 33).
3. Configure the PROFIBUS as described in this manual.
•
•
•
Assign the PROFIBUS address (DIP switch and STEP 7 configuration)
Configure the process data
Load the configuration into the controller
4. The BUS FAULT LED of the DFS12B option goes off when PROFIBUS is
successfully configured. Process data is now being exchanged.
5. Extend the control program and establish the process data exchange with
MOVIDRIVE® B.
6. Start MOVITOOLS® MotionStudio and create a new project.
Run the MOVITOOLS® MotionStudio via serial communication with USB11A or
PROFIBUS (see section 10). Connect the PC with MOVIDRIVE® B for this purpose.
7. Perform a unit scan.
8. Select MOVIDRIVE®, make a right mouse click and choose [Diagnostic] / [Bus
monitor] from the context menu. Check whether process data exchange between
controller and MOVIDRIVE® B is working properly.
9. Switch on the supply voltage and enable MOVIDRIVE® B at the terminals (DI00=1).
Activate unit enable by setting control word 1 = 0x0006.
If MOVIDRIVE® B remains in "No Enable" condition, check the terminal assignment
(parameter group P60x) and apply DC 24 V to more binary inputs if required.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
PROFIBUS DP Operating Characteristics
Data exchange between PROFIBUS master and DFS12B option
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PROFIBUS DP Operating Characteristics
This section describes the basic characteristics of the drive inverter with PROFIBUS DP.
8.1
Data exchange between PROFIBUS master and DFS12B option
Standard
CPU
FCPU
DP-Master
Data is exchanged between PROFIBUS master and DFS12B option via PROFIBUS DP,
which at the same time represents the "gray channel" for the safety-relevant application.
This means the transmitted DP telegrams contain standard information of conventional
operation with MOVIDRIVE® B at PROFIBUS DP as well as the PROFIsafe safety telegram. Depending on the configuration, the maximum available expansion level enables
the exchange of PROFIsafe safety data, the parameter channel, and the process data
between PROFIBUS DP master and DFS12B as shown in the following figure.
PROFIBUS DP
"gray channel"
PD
PROFIsafe
Param
PROFIsafe
Param
PD
PROFIBUS
DP-Slave
Ffunction
DFS
Standard
function
safety-oriented
DFS
61064AEN
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Data exchange between PROFIBUS master and DFS12B option
0
8.1.1
Mapping the DFS12B in the address range of the PLC
The user data information transmitted using PROFIBUS-DP is mapped in the input and
output address range in the controller. The standard CPU uses the standard user data
(process data and 8-byte parameter channel) for processing purposes. The PROFIsafe
data can only be used by the F-CPU. The figures below refer to the following PROFIBUS
configuration:
E address
A address
F module I/O (8 + 4 byte)
0 - 11
0 - 11
Param (4 words)
284 - 291
284 - 291
3 PD (3 words)
292 - 297
292 - 297
For the safety-relevant function, 64 input and output bits are available in the F-CPU.
32 bits of them represent the control word and the status word of the DCS21B option.
Other 32 bits represent the position values of the DCS21B option.
The following figure shows the input data in the input address range of the PLC.
PROFIBUS user data DFS >> Master
12 Byte PROFIsafe
8 Byte Param
3 PD
PLC input address range
EB0 EB1 EB2 EB3 EB4 EB5 EB6 EB7 EB8 EB9 EB10 EB11
PEB 284...291
4 input word
parameter channel
Bit: 0........................................31
Position value DCS21B
PEB 292...297
3 process
input words
PROFIsafe layer
Status word DCS21B
65648AEN
The following figure shows the data of the DCS21B option in the output address range
of the PLC.
Control word DCS21B
Position value DCS21B
Bit: 0........................................31
PROFIsafe layer
4 output words
parameter channel
AB0 AB1 AB2 AB3 AB4 AB5 AB6 AB7 AB8 AB9 AB10 AB11
PAB 284...291
3 process
output words
PAB 292...297
PLC output address range
12 Byte PROFIsafe
8 Byte Param
3 PD
PROFIBUS user data master >> DFS
65649AEN
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
PROFIBUS DP Operating Characteristics
Data exchange between PROFIBUS master and DFS12B option
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8.1.2
F periphery DB of PROFIsafe option DFS
During compilation in the HW Config tool (HWCONFIG), the system automatically
generates an F periphery DB for every PROFIsafe option DFS. The F periphery DB
provides users with an interface in which they can evaluate or control variables in the
safety program.
The symbolic name consists of the invariable prefix "F", the start address of the F
periphery, and the name entered in the object properties during configuration for the F
periphery (e.g. F00008_198).
The following table shows the F periphery DB of PROFIsafe option DFS:
Address
User-controllable
variables
Variables
that can
be
evaluated
Symbol
Data
type
Function
Preset
DBX0.0
'F00008_198.PASS_ON'
Bool
1 = activate passivation
0
DBX0.1
'F00008_198.ACK_NEC'
Bool
1 = acknowledgment required for
reintegration with DFS
1
DBX0.2
'F00008_198.ACK_REI'
Bool
1 = acknowledgment for reintegration
0
DBX0.3
'F00008_198.IPAR_EN'
Bool
Variable for resetting parameters
(not supported by PROFIsafe
option DFS)
0
DBX2.0
'F00008_198.PASS_OU
T'
Bool
Run passivation
1
DBX2.1
'F00008_198.QBAD'
Bool
1 = substitute values are output
1
DBX2.2
'F00008_198.ACK_REQ'
Bool
1 = acknowledgment required for
reintegration
0
DBX2.3
'F00008_198.IPAR_OK '
Bool
Variable for resetting parameters
(not supported by PROFIsafe
option DFS)
0
DBB3
'F00008_198.DIAG'
Byte
Service information
PASS_ON
This variable lets you activate passivation of the PROFIsafe option DFS. Provided that
PASS_ON = 1, the F periphery is passivated.
ACK_NEC
After a fault has been corrected, the PROFIsafe option DFS is reintegrated, depending
on ACK_NEC.
•
ACK_NEC = 0: automatic reintegration occurs
•
ACK_NEC = 1: automatic reintegration occurs following acknowledgement by the
user
CAUTION
It is only permissible to set the variable ACK_ NEC = 0 if automatic reintegration is safe
for the process in question.
•
ACK_REI
Check if automatic reintegration is permissible for the process in question.
In order to reintegrate PROFIsafe option DFS after the fault has been corrected, user
acknowledgement with positive edge of variable ACK_REI is required. Acknowledgement is only possible if variable ACK_REQ = 1.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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PROFIBUS DP Operating Characteristics
Data exchange between PROFIBUS master and DFS12B option
0
ACK_REQ
The F control system sets ACK_REQ = 1 after all faults in the data exchange with
PROFIsafe option DFS have been corrected. After successful acknowledgement, the F
control system sets ACK_REQ = "0".
PASS_OUT
Indicates whether PROFIsafe option DFS has been passivated. Substitute values are
output
QBAD
Fault in the data exchange with PROFIsafe option DFS. Indicates passivation. Substitute values are output
DIAG
For service information purposes, the variable DIAG supplies non-failsafe information
about faults that have occurred in the F control system. For further information, refer to
the relevant F control system manual.
Input and output data
INFORMATION
For more detailed information, refer to the "MOVIDRIVE® MDX61B Safety Module
DCS21B/31B Option" manual.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
PROFIBUS DP Operating Characteristics
Controlling the MOVIDRIVE® MDX61B inverter
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Controlling the MOVIDRIVE® MDX61B inverter
8.2
The drive inverter is controlled via the process data channel which is up to 10 I/O words
in length. These process data words are reproduced in the I/O and/or peripheral area of
the controller, for example when a programmable logic controller is used as the PROFIBUS DP master. As a result, they can be addressed in the usual manner.
PA 3
PA 2
PA 1
[1]
PA 1
PA 2
PA 3
PA 10
[1]
PE 1
PE 2
PE 3
PE 10
[2]
PW160
PW158
PW156
PW154
PW152
PW150
PW148
MOVIDRIVE® B
PW160
PW158
PW156
PW154
PW152
PW150
PW148
PE 3
PE 2
PE 1
Figure 2: Mapping PROFIBUS data in the PLC address range
[1]
8 byte MOVILINK® parameter channel
[2]
PLC address range
PI1 - PI10
Process input data
PO1 - PO10
Process output data
58688AXX
INFORMATION
For more information about controlling via the process data channel, in particular
regarding the coding of the control and status word, refer to the Fieldbus Unit Profile
manual.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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PROFIBUS DP Operating Characteristics
Controlling the MOVIDRIVE® MDX61B inverter
0
8.2.1
Control example for SIMATIC S7 with MOVIDRIVE® MDX61B
The drive inverter is controlled via SIMATIC S7 depending on the selected process data
configuration, either directly via load and transfer commands or via the special system
functions SFC 14 DPRD_DAT and SFC15 DPWR_DAT.
In principle, S7 data lengths of 3 bytes or more than 4 bytes must be transmitted using
system functions SFC14 and SFC15.
Consequently, the data in the following table applies:
8.2.2
Process data configuration
STEP -7 access via
1 PD
Load / transfer commands
2 PD
Load / transfer commands
3 PD
System functions SFC14/15 (6 bytes long)
6 PD
System functions SFC14/15 (12 bytes long)
10 PD
System functions SFC14/15 (20 bytes long)
Param + 1 PD
Parameter channel: System functions SFC14/15 (8 bytes long)
Process data: Load / transfer commands
Param + 2 PD
Parameter channel: System functions SFC14/15 (8 bytes long)
Process data: Load / transfer commands
Param + 3 PD
Parameter channel: System functions SFC14/15 (8 bytes long)
Process data: System functions SFC14/15 (6 bytes long)
Param + 6 PD
Parameter channel: System functions SFC14/15 (8 bytes long)
Process data: System functions SFC14/15 (12 bytes long)
Param + 10 PD
Parameter channel: System functions SFC14/15 (8 bytes long)
Process data: System functions SFC14/15 (20 bytes long)
PROFIBUS DP timeout (MOVIDRIVE® MDX61B)
If the data transfer via PROFIBUS DP is faulty or interrupted, the response monitoring
time in MOVIDRIVE® B elapses (if configured in the PROFIBUS DP master). The BUS
FAULT LED lights up or flashes to indicate that no new user data is being received. At
the same time, MOVIDRIVE® B performs the error response selected with P831 Fieldbus timeout response.
P819 Fieldbus timeout displays the response monitoring time specified by the PROFIBUS DP master during the PROFIBUS DP startup. The timeout can only be changed
via the PROFIBUS DP master. Although modifications made using the keypad or
MOVITOOLS® are displayed, they do not have any effect and are overwritten when
PROFIBUS DP is next started up.
8.2.3
Fieldbus timeout response (MOVIDRIVE® MDX61B)
Parameter P831 Fieldbus timeout response is used to set the error response that is
triggered via the fieldbus timeout monitoring function. The setting made here must
correspond to the setting in the master system (S7: response monitoring).
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
PROFIBUS DP Operating Characteristics
Parameter setting via PROFIBUS DP
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8.3
Parameter setting via PROFIBUS DP
In the PROFIBUS DP system, the parameters are accessed via the 8-byte MOVILINK®
parameter channel. This parameter channel offers extra parameter services in addition
to the conventional READ and WRITE services.
INFORMATION
Parameterization of the inverter via PROFIBUS DP parameter channel can only be
used with MOVIDRIVE® MDX61B.
The PROFIBUS DP parameter channel does not provide data access to the
parameters of inverters that are installed on the SBus.
8.3.1
Structure of the 8 byte MOVILINK® parameter channel
PROFIBUS DP enables access to the inverter drive parameters via the "parameter
process data object" (PPO). This PPO is transmitted cyclically and contains the process
data channel [2] and a parameter channel [1] that can be used to exchange acyclical
parameter values.
[1]
[2]
[1]
[2]
53492AXX
[1] Parameter channel
[2] Process data channel
The following table shows the structure of the 8 byte MOVILINK® parameter channel.
Basic structure:
•
1 management byte
•
1 index word
•
1 reserved byte
•
4 data bytes
Byte 0
Management
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Subindex
(reserved)
Index high
Index low
MSB data
Data
Data
LSB data
Parameter index
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
4-byte data
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PROFIBUS DP Operating Characteristics
Parameter setting via PROFIBUS DP
0
Management of
the 8-byte
MOVILINK®
parameter
channel
The entire procedure for setting parameters is coordinated using management byte 0 .
This byte provides important service parameters of the service performed, such as
•
Service identifier
•
Data length
•
Design
•
Status
The following table shows that bits 0, 1, 2 and 3 contain the service identifier, and define
which service is performed. Bits 4 and bit 5 specify the data length in bytes for the
WRITE service; it should be set to 4 bytes for all SEW drive inverters.
7 / MSB
6
5
4
3
2
1
0 / LSB
Service identifier
0000 = No service
0001 = READ parameter
0010 = WRITE parameter
0011 = WRITE parameter volatile
0100 = READ minimum
0101 = READ maximum
0110 = READ default
0111 = READ scale
1000 = READ attribute
Data length
00 = 1 byte
01 = 2 bytes
10 = 3 bytes
11 = 4 bytes (must be set)
Handshake bit
Must be changed on every new task in cyclical transmission.
Status bit
0 = No error during execution of service
1 = Error during execution of service
Bit 6 is used as handshake between controller and inverter. It triggers execution of the
transmitted service in the inverter. In PROFIBUS DP, the parameter channel is
transmitted cyclically with the process data. For this reason, the implementation of the
service in the inverter must be triggered by edge control using handshake bit 6. For this
purpose, the value of this bit is altered for each new service that is to be executed. The
inverter uses the handshake bit to signal whether the service has been executed or not.
The service was executed if the handshake bit received in the control is identical with
the transmitted handshake bit. Status bit 7 indicates whether it was possible to execute
the service properly or if errors occurred.
Index addressing
42
Byte 2: Index high and byte 3: Index low determines the parameter that is to be read or
written via the fieldbus system. The parameters of an inverter are addressed with a
uniform index regardless of the fieldbus system which is connected. Byte 1 should be
viewed as reserved and must always be set to 0x00.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
PROFIBUS DP Operating Characteristics
Parameter setting via PROFIBUS DP
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Data range
As shown in the following table, the data is contained in byte 4 through byte 7 of the
parameter channel. This means up to 4 bytes of data can be transmitted per service.
The data is always entered with right-justification; that is, byte 7 contains the least
significant data byte ( LSB data) whereas byte 4 is the most significant data byte ( MSB
data).
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Management
Subindex
Index high
Index low
MSB data
Data
Data
LSB data
High byte 1
Low byte 1
High byte 2
Low byte 2
High word
Low word
Double word
Incorrect service
execution
The status bit in the management byte is set to signal that a service has been executed
incorrectly. If the received handshake bit is identical to the transmitted handshake bit,
the inverter has executed the service. If the status bit now signals an error, the error
code is entered in the data range of the parameter telegram. Bytes 4 through 7 provide
the return code in a structured format (see the chapter "Return codes of parameter
setting" on page 46).
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Management
Subindex
Index high
Index low
Error class
Error code
Add. code
high
Add. code
low
Status bit = 1: Incorrect service execution
8.3.2
Reading a parameter via PROFIBUS DP (READ)
Due to the cyclical transfer of the parameter channel, to execute a READ service via the
8 byte MOVILINK® parameter channel, the handshake bit may only be changed if the
complete parameter channel has been set up for the specific service. As a result, adhere
to the following sequence when reading a parameter:
1. Enter the index of the parameter to be read in byte 2 (index high) and byte 3 (index
low).
2. Enter the service identifier for the READ service in the management byte (byte 0).
3. Transfer the READ service to the inverter by changing the handshake bit.
Since this is a read service, the sent data bytes (bytes 4 to 7) and the data length (in the
management byte) are ignored and do not need to be set. This means they need not be
set.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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PROFIBUS DP Operating Characteristics
Parameter setting via PROFIBUS DP
0
The inverter now processes the READ service and sends the service confirmation back
by changing the handshake bit.
7 / MSB
6
5
4
3
2
1
0 / LSB
0
0/11)
X2)
X2)
0
0
0
1
Service identifier
0001 = READ parameter
Data length
Not relevant for READ service
Handshake bit
Must be changed on every new task in cyclical transmission.
Status bit
0 = No error during execution of service
1 = Error during execution of service
1) Bit value is changed
2) Not relevant
The above table shows how a READ service is coded in the management byte. The data
lenght is irrelevant. You only need to enter the service identifier for the READ service.
This service is now activated in the inverter when the handshake bit changes. For
example, it would be possible to activate the READ service with the management byte
coding 01hex or 41hex.
8.3.3
Writing a parameter via PROFIBUS DP (WRITE)
Due to the cyclical transfer of the parameter channel, to execute a WRITE service via
the 8 byte MOVILINK® parameter channel, the handshake bit may only be changed if
the complete parameter channel has been set up for the specific service. Observe the
following sequence when writing a parameter:
1. Enter the index of the parameter to be written in byte 2 (index high) and byte 3 (index
low).
2. Enter the data to be written in bytes 4 through 7.
3. Enter the service identifier and the data length for the WRITE service in the management byte (byte 0).
4. Transfer the WRITE service to the inverter by changing the handshake bit.
The inverter now processes the WRITE service and sends the confirmation back by
changing the handshake bit.
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PROFIBUS DP Operating Characteristics
Parameter setting via PROFIBUS DP
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The following table shows how a WRITE service is coded in the management byte. The
data length is 4 bytes for all parameters of SEW inverters. This service is now
transmitted to the inverter when the handshake bit changes. Consequently, a WRITE
service on the SEW inverter always has the management byte coding 32hex or 72hex.
7/MSB
6
5
4
3
2
1
0/LSB
0
0/11)
1
1
0
0
1
0
Service identifier
0010 = WRITE parameter
Data length
11 = 4 bytes
Handshake bit
Must be changed on every new task in cyclical transmission.
Status bit
0 = No error during execution of service
1 = Error during execution of service
1) Bit value is changed
8.3.4
Parameter setting procedure with PROFIBUS DP
Using the WRITE service as an example, the following figure represents a process of
setting parameters between the controller and the inverter via PROFIBUS DP. To
simplify the sequence, the following figure only shows the management byte of the
parameter channel.
The parameter channel is only received and returned by the inverter while the control is
preparing the parameter channel for the WRITE service. The service is not activated
until the moment when the handshake bit is changed (in this example, when it changes
from 0 to 1). The inverter now interprets the parameter channel and processes the
WRITE service, but continues to answer all telegrams with handshake bit = 0. The
executed service is acknowledged with a change of the handshake bit in the response
telegram of the inverter. The controller now detects that the received handshake bit is
once again the same as the one which was sent. It can now prepare another parameter
setting procedure.
Controller
PROFIBUS DP(V0)
Inverter (slave)
--
00110010XXX...
→
←
00110010XXX...
--
Parameter channel is received, but
not evaluated
Parameter channel is
prepared for the WRITE
service
Handshake bit is changed
and the service is
transmitted to the inverter
Service confirmation is
received as the send and
receive handshake bits are
the same again
--
01110010XXX...
→
←
00110010XXX...
--
--
01110010XXX...
→
←
00110010XXX...
--
←
01110010XXX...
--
--
01110010XXX...
→
WRITE service is performed,
handshake bit is changed
Parameter channel is received, but
not evaluated
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Parameter setting via PROFIBUS DP
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8.3.5
Parameter data format
When parameters are set via the fieldbus interface, the same parameter coding is used
as with the serial RS485 interfaces and/or the system bus.
The data formats and ranges of values for the individual parameters can be found in the
publication "MOVIDRIVE® Fieldbus Unit Profile with Parameter List".
8.3.6
Return codes for parameter setting
Elements
In the event of an incorrect parameter setting, the inverter sends back various return
codes to the master which set the parameters. These codes provide detailed information
about what caused the error. Generally, these return codes are structured. The inverter
distinguishes between the following elements:
•
Error class
•
Error code
•
Additional code
These return codes are described in detail in the Fieldbus Communications Profile
manual and are not included in this documentation. However, the following special
cases can occur in connection with PROFIBUS:
Error class
The error class element provides a more exact classification of the error type.
MOVIDRIVE® supports the following error classes defined in accordance with
EN 50170(V2):
Class (hex)
Designation
Meaning
1
vfd state
Status error of the virtual field device
2
application reference
Error in application program
3
definition
Definition error
4
resource
Resource error
5
service
Error during execution of service
6
access
Access error
7
ov
Error in the object list
8
other
Other error (see section "Additional code" on page 47)
The error class is generated by the communication software of the fieldbus interface if
there is an error in communication. However, this does not apply to error class 8, Other
error. Return codes sent from the inverter system are all included in Error class 8 = Other
error. The error can be identified more precisely using the additional code element.
Error code
46
The error code element allows for a more detailed identification of the error cause within
the error class and is generated by the communications software of the fieldbus
interface in the event of faulty communication. For Error class 8 = Other error, only Error
code = 0 (Other error code) is defined. In this case, detailed identification is made using
the additional code.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
PROFIBUS DP Operating Characteristics
Parameter setting via PROFIBUS DP
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Additional code
8.3.7
The additional code contains the return codes specific to SEW dealing with incorrect
parameter settings of the inverter. These codes are returned to the master under Error
class 8 = Other error. The following table shows all possible codings for the additional
code.
Add. code
high (hex)
Add. code
low (hex)
Meaning
00
00
No error
00
10
Illegal parameter index
00
11
Function/parameter not implemented
00
12
Read access only
00
13
Parameter lock is active
00
14
Factory setting is active
00
15
Value for parameter too large
00
16
Value for parameter too small
00
17
Required option card missing for this function/parameter
00
18
Error in system software
00
19
Parameter access only via RS-485 process interface to X13
00
1A
Parameter access only via RS-485 diagnostics interface
00
1B
Parameter is access-protected
00
1C
Controller inhibit required
00
1D
Invalid value for parameter
00
1E
Factory setting was activated
00
1F
Parameter was not saved in EEPROM
00
20
Parameter cannot be changed with enabled output stage
Special cases
Special return
codes
Errors in the parameter settings that cannot be identified either automatically by the
application layer of the fieldbus system or by the system software of the inverter are
treated as special cases. The following is a list of errors that can occur depending on the
fieldbus interface used:
•
Incorrect coding of a service via parameter channel
•
Incorrect length specification of a service via parameter channel
•
Internal communication error
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
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Parameter setting via PROFIBUS DP
0
Incorrect service
code in the
parameter
channel
Incorrect code was specified in the management byte or reserved byte during parameter
setting via the parameter channel. The following table shows the return code for this
special case.
Error class:
Code (dec)
Meaning
5
Service
Error code:
5
Illegal parameter
Add. code high:
0
-
Add. code low:
0
-
Remedy
Check bits 0 and 1 in the parameter channel.
Incorrect length
specification in
parameter
channel
A data length other than 4 data bytes was specified in a READ or WRITE service during
parameter setting via the parameter channel. The following table displays the return
codes.
Code (dec)
Meaning
Error class:
6
Access
Error code:
8
Type conflict
Add. code high:
0
-
Add. code low:
0
-
Remedy
Check bits 4 and 5 for the data length in the management byte of the parameter channel.
Both bits must be set to 1.
Internal
communication
error
The return code listed in the following table is sent back if a communication error has
occurred within the system. The parameter service transferred via the fieldbus may not
have been performed and has to be repeated. If this error occurs again, switch off the
inverter completely and then back on again so it is re-initialized.
Code (dec)
Remedy
48
Meaning
Error class:
6
Access
Error code:
2
Hardware fault
Add. code high:
0
-
Add. code low:
0
-
Repeat the READ or WRITE service. If the error occurs again, briefly disconnect the
inverter from the power supply and switch it on again. If the error persists, consult the
SEW Service.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Functions of PROFIBUS DP-V1
Introduction to PROFIBUS DP-V1
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9
Functions of PROFIBUS DP-V1
This section provides you with information about the PROFIBUS DP-V1 functions.
9.1
Introduction to PROFIBUS DP-V1
This section describes the functions and terms used for operating SEW inverters at
PROFIBUS DP-V1. Refer to the PROFIBUS user organization or visit
www.profibus.com for detailed technical information on PROFIBUS DP-V1.
The PROFIBUS DP-V1 specification introduced new acyclical READ / WRITE services
as part of the PROFIBUS DP-V1 expansions. These acyclical services are inserted into
special telegrams during ongoing cyclical bus operation and therefore ensure
compatibility between PROFIBUS DP (version 0) and PROFIBUS DPV1 (Version 1).
The acyclical READ/WRITE services can be used to exchange larger data quantities
between master and slave (inverter) than it would be possible to transfer in the cyclical
input or output data using the 8-byte parameter channel, for example. The advantage of
the acyclical data exchange via DP-V1 lies in the minimum load on the cyclical bus
operation since DP-V1 telegrams are only added to the bus cycle if required.
The DP-V1 parameter channel provides the user with 2 options:
•
The higher-level controller can access all the device information of the SEW DP-V1
slaves. This means that cyclical process data and unit settings can be read, stored
in the controller and modified in the slave.
•
It is also possible to route the service and startup tool MOVITOOLS® MotionStudio
via the DP-V1 parameter channel instead of using a proprietary RS485 connection.
Once you have installed the MOVITOOLS® MotionStudio software, you can access
detailed information in the folder ...SEWMOVITOOLSFieldbus.
The main features of PROFIBUS DP-V1 are explained below.
C1-Master
C2-Master
C2-Master
Cyclic OUT Data
Param
PD
Param
PD
PROFIBUS DP-V1
Cyclic IN Data
Acyclic DP-V1
C2-Services
Acyclic DP-V1
C1-Services
Acyclic DP-V1
C2-Services
SEW
Drive
58617AXX
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Introduction to PROFIBUS DP-V1
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9.1.1
Class 1 master (C1 master)
The PROFIBUS DP-V1 network differentiates between various master classes. The C1
master essentially performs the cyclical data exchange with the slaves. A typical C1
master is a control system, such as a PLC, that exchanges cyclical process data with
the slave. If the DP-V1 function has been activated via the GSD file, the acyclical
connection between C1 master and slave is established automatically when the cyclical
connection of the PROFIBUS DP-V1 is being established. Only one C1 master can be
operated in a PROFIBUS DP-V1 network.
9.1.2
Class 2 master (C2 master)
The C2 master itself does not perform cyclical data exchange with the slaves. Examples
for a typical C2 master are visualization systems or temporary installed programming
devices (Notebook / PC). The C2 master uses exclusively acyclic connections for
communication with the slaves. The acyclic connections between C2 master and slave
are established by the Initiate service. The connection is established once the Initiate
service has been performed successfully. An established connection enables cyclical
data exchange with the slaves using READ or WRITE services. Several C2 masters can
be active in a DP-V1 network. The number of C2 connections, established simultaneously for a slave, is determined by the slave. SEW inverters support two parallel C2
connections.
9.1.3
Data sets (DS)
The user data transported via a DP-V1 service are collected in data sets. Each data set
is represented uniquely by its length, a slot number and an index. The structure of data
set 47 is used for DP-V1 communication with the SEW inverter. This data set is defined
as the DP-V1 parameter channel for drives as of V3.1 in the PROFIdrive profile drive
engineering of the PROFIBUS user organization. Different procedures for accessing
parameter data in the inverter are provided via this parameter channel.
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Introduction to PROFIBUS DP-V1
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9.1.4
DP-V1 services
The DP-V1 expansions offer new services, which can be used for acyclical data
exchange between master and slave. The system distinguishes between the following
services:
9.1.5
C1 master
Connection type: MSAC1 (master/slave acyclical C1)
READ
Read data set
WRITE
Write data set
C2 master
Connection type: MSAC2 (master/slave acyclical C2)
INITIATE
Establish C2 connection
ABORT
Disconnect C2 connection
READ
Read data set
WRITE
Write data set
DP-V1 alarm handling
In addition to the acyclical services, the DP-V1 specification also defines extended
alarm handling. Alarm handling now distinguishes between different alarm types. As a
result, unit-specific diagnostics cannot be evaluated in DP-V1 operation using the
"DDLM_SlaveDiag" DP-V0 service. DP-V1 alarm handling has not been defined for
drive engineering as an inverter does not usually transfer its status information via cyclical process data communication.
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Characteristics of SEW inverters
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9.2
Characteristics of SEW inverters
The SEW fieldbus interfaces to PROFIBUS DP-V1 have the same communication
features for the DP-V1 interface. The drives are usually controlled via a C1 master with
cyclical process data in accordance with the DP-V1 standard. This C1 master (usually
a PLC) can also use an 8-byte MOVILINK® parameter channel during cyclical data
exchange to perform the parameter services with DFS12B. The READ and WRITE
services give the C1 master access to connected stations via the DP-V1 C1 channel.
Two additional C2 channels can be connected in parallel to these parameter channels.
The first C2 master as a visualization device, for example could use these channels to
read parameter data, and a second C2 master in the form of a notebook could use them
to configure the drive using the MOVITOOLS® software.
C2-Master
C1-Master
C2-Master
Acyclic DP-V1
C1 Services
DP:
8 Byte Param
PROFIBUS DP-V1
Acyclic DP-V1
C2 Services
C2 Parameter Buffer
C2 Parameter Buffer
SEW PROFIBUS
DP-V1 Interface
Cyclic IN/Out
C1 Parameter Buffer
PD
DP Parameter Buffer
DP:
Acyclic DP-V1
C2 Services
cyclic
Process Data
Parameter Buffer
Drive System
Figure 3: Parameter setting channels for PROFIBUS DP-V1
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Structure of the DP-V1 parameter channel
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9.3
Structure of the DP-V1 parameter channel
Generally, the parameter setting of the drives to the PROFIdrive DP-V1 parameter
channel of profile version 3.0 is implemented via data set 47. The Request ID entry is
used to distinguish between parameter access based on PROFIdrive profile or via SEWMOVILINK® services. The following table shows the possible codes of the individual
elements. The data set structure is the same for PROFIdrive and MOVILINK® access.
PROFIdrive
DP-V1
Parameter Channel
READ/WRITE DS47
SEW MOVILINK®
53125AXX
The following MOVILINK® services are supported:
•
8-byte MOVILINK® parameter channel with all the services supported by the inverter
such as
–
–
–
–
READ parameter
WRITE parameter
WRITE parameter volatile
etc.
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Structure of the DP-V1 parameter channel
0
The following PROFIdrive services are supported:
•
Reading (request parameter) individual parameters of the type double word
•
Writing (change parameter) individual parameters of the type double word
Field
Data type
Values
Request
reference
Unsigned8
0x00
0x01 - 0xFF
Reserved
Request ID
Unsigned8
0x01
0x02
0x40
Request parameter (PROFIdrive)
Change parameter (PROFIdrive)
SEW MOVILINK® service
Response ID
Unsigned8
Response (+):
0x00
0x01
0x02
0x40
Reserved
Request parameter (+) (PROFIdrive)
Change parameter (+) (PROFIdrive)
SEW MOVILINK® service (+)
Response (-):
0x81
0x82
0xC0
Request parameter (-) (PROFIdrive)
Change parameter (-) (PROFIdrive)
SEW MOVILINK® service (-)
Axis
Unsigned8
0x00 - 0xFF
Number of axes 0 - 255
No. of
parameters
Unsigned8
0x01 - 0x13
1 - 19 DWORDs (240 DP-V1 data bytes)
Attribute
Unsigned8
0x10
Value
For SEW MOVILINK® (Request ID = 0x40):
0x00
No service
0x10
READ parameters
0x20
WRITE parameter
0x30
WRITE Parameter volatile
0x40 ... 0xF0 Reserved
54
No. of elements
Unsigned8
0x00
0x01 - 0x75
For parameters that are not indexed
Quantity 1 - 117
Parameter
Number
Unsigned16
0x0000 - 0xFFFF MOVILINK® parameter index
Subindex
Unsigned16
0x0000
SEW: always 0
Format
Unsigned8
0x43
0x44
Double word
Error
No. of Values
Unsigned8
0x00 - 0xEA
Quantity 0 - 234
Error Value
Unsigned16
0x0000 - 0x0064 PROFIdrive error codes
0x0080 + MOVILINK® Additional Code Low
For SEW MOVILINK® 16 Bit error value
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Structure of the DP-V1 parameter channel
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9.3.1
Parameterization procedure via data set 47
Parameters are accessed with the combination of the DP-V1 services WRITE and
READ. The parameter setting order is transferred to the slave using the WRITE.req,
followed by slave-internal processing.
The master now sends a READ.req to pick up the parameter setting response. The
master repeats the READ.req if the READ.res from the slave is negative. As soon as the
parameter processing in the inverter is concluded, it answers with a positive response
READ.res. The user data now contain the parameter setting response of the parameter
setting order that was previously sent with WRITE.req (see the following figure). This
mechanism applies to both a C1 and a C2 master.
Master
Parameter
Request
PROFIBUS-DP-V1
WRITE.req DS47
with data (parameter request)
Slave (Drive)
Parameter
Request
WRITE.res
without data
READ.req DS47
without data
Parameter
Processing
READ.res(-)
without data
READ.req DS47
without data
Parameter
Response
READ.res(+)
with data (parameter response)
Parameter
Response
53126AXX
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Structure of the DP-V1 parameter channel
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9.3.2
DP-V1 master processing sequence
If the bus cycles are very short, the request for the parameter response arrives before
the inverter has concluded parameter access in the device. This means that the
response data from the inverter is not yet available. In this case, the inverter sends a
negative answer with the Error_Code _1 = 0xB5 (status conflict) to the DP-V1 level.
The DP-V1 master must then repeat the request with the READ.req header until it
receives a positive answer from the inverter.
Send Write request
with parameter data
Check Write.
response
Write.response
negative
Write.response
positive
Send DS_Read.req
with parameter data
Read.
response
status
conflict?
yes
no
Other error
or timeout
yes
no
Parameter transfer ok,
data available
Parameter transfer
aborted with ERROR
53127AEN
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Structure of the DP-V1 parameter channel
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9.3.3
Addressing connected inverters
The structure of the DS47 data set defines an axis element. This element is used to
reach multi-axis drives that are operated via one PROFIBUS interface. The axis element
addresses one of the devices connected via the PROFIBUS interface. This mechanism
can be used, for example, by the SEW MQP bus modules for MOVIMOT® or UFP for
MOVITRAC® 07.
Addressing a
MOVIDRIVE® B
inverter at
PROFIBUS DP-V1
With the setting Axis = 0, the parameter of the drive inverters can be accessed directly.
Since there are no drive devices connected to MOVIDRIVE®, access with Axis > 0 is
returned with an error code.
C1-Master
C2-Master
C2-Master
Cyclic OUT Data
Param
PD
Param
PD
Cyclic IN Data
Acyclic DP-V1
C1 Services
PROFIBUS DP-V1
Acyclic DP-V1
C2 Services
Acyclic DP-V1
C2 Services
Axis = 0
Axis = 0
Axis = 0
61537AXX
Figure 4: Addressing a MOVIDRIVE® B inverter directly via PROFIBUS DP-V1 with Axis = 0.
9.3.4
MOVILINK® parameter requests
The MOVILINK® parameter channel of SEW inverters is directly mapped in the structure
of data set 47. The Request ID 0x40 (SEW MOVILINK® service) is used for the
exchange of MOVILINK® parameter setting orders. Parameter access with MOVILINK®
services usually takes place according to the structure described below. The typical
telegram sequence is used for data set 47.
Request ID:
0x40 SEW MOVILINK® service
The actual service is defined by the data set element Attribute in the MOVILINK®
parameter channel. The high nibble of this element corresponds to the service nibble in
the management byte of the DP parameter channel.
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Structure of the DP-V1 parameter channel
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Example for
reading a
parameter via
MOVILINK®
The following tables show an example of the structure of the WRITE.request and
READ.res user data for reading an individual parameter via the MOVILINK® parameter
channel.
Sending a parameter request
The following table shows the coding of the user data for the WRITE.req service
specifying the DP-V1 header. The WRITE.req service is used to transfer the parameter
setting request to the inverter. The firmware version is read.
Service:
WRITE.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
10
10 byte user data for parameter request
Byte
Field
Value
Description
0
Request reference
0x01
Individual reference number for the parameter setting
request is mirrored in the parameter response.
1
Request ID
0x40
SEW MOVILINK® service
2
Axis
0x00
Axis number; 0 = Single axis
3
No. of parameters
0x01
1 parameter
4
Attribute
0x10
MOVILINK® service "READ parameter"
5
No. of elements
0x00
0 = access to direct value, no subelement
6, 7
Parameter Number
0x206C
MOVILINK® index 8300 = "Firmware version"
8, 9
Subindex
0x0000
Subindex 0
Query parameter response
The table shows the coding of the READ.req USER DATA including the DP-V1 header.
Service:
READ.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
240
Maximum length of response buffer in the DP-V1 master
Positive MOVILINK® parameter setting response
The table shows the READ.res USER DATA with the positive response data of the
parameter setting request. The parameter value for index 8300 (firmware version) is
returned as an example.
Service:
58
READ.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
10
10 byte user data in response buffer
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Structure of the DP-V1 parameter channel
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Byte
Field
Value
Description
0
Response reference
0x01
Mirrored reference number from the parameter setting
request
1
Response ID
0x40
Positive MOVILINK® response
2
Axis
0x00
Mirrored axis number; 0 for single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x43
Parameter format: Double word
5
No. of values
0x01
1 value
6, 7
Value Hi
0x311C
Higher-order part of the parameter
8, 9
Value Lo
0x7289
Lower-order part of the parameter
Decoding:
0x 311C 7289 = 823947913 dec
>> firmware version 823 947 9.13
Example for
writing a
parameter via
MOVILINK®
The following tables show the sequence of the WRITE and READ services for volatile
writing of the value 12345 to IPOSplus® variable H0 (parameter index 11000) as an
example. The MOVILINK® service WRITE Parameter volatile is used for this purpose.
Send 'WRITE parameter volatile' request
Service:
WRITE.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
16
16-byte user data for order buffer
Byte
Field
Value
Description
0
Request reference
0x01
Individual reference number for the parameter setting
request is mirrored in the parameter response.
1
Request ID
0x40
SEW MOVILINK® service
2
Axis
0x00
Axis number; 0 = Single axis
3
No. of parameters
0x01
1 parameter
4
Attribute
0x30
MOVILINK® service "WRITE parameter volatile"
5
No. of elements
0x00
0 = access to direct value, no subelement
6, 7
Parameter Number
0x2AF8
Parameter index 11000 = "IPOS variable H0"
8, 9
Subindex
0x0000
Subindex 0
10
Format
0x43
Double word
11
No. of values
0x01
Change 1 parameter value
12, 13
Value HiWord
0x0000
Higher-order part of the parameter value
14, 15
Value LoWord
0x0BB8
Lower-order part of the parameter value
After sending this WRITE.request, the WRITE.response is received. If there was no
status conflict in processing the parameter channel, a positive WRITE.response occurs.
Otherwise, the status fault is located in Error_code_1.
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Structure of the DP-V1 parameter channel
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Query parameter response
The table shows the coding of the WRITE.req USER DATA including the DP-V1 header.
Field
Value
Description
Function_Num
READ.req
Slot_Number
X
Slot_Number not used
Index
47
Index of the data set
Length
240
Maximum length of response buffer in the DP master
Positive response to "WRITE Parameter volatile"
Negative
parameter
response
60
Service:
READ.response
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
4
4 byte user data in response buffer
Byte
Field
Value
Description
0
Response reference
0x01
Mirrored reference number from the parameter setting
request
1
Response ID
0x40
Positive MOVILINK® response
2
Axis
0x00
Mirrored axis number; 0 for single axis
3
No. of parameters
0x01
1 parameter
The following table shows the coding of a negative response of a MOVILINK® service.
Bit 7 is entered in the Response ID if the response is negative.
Service:
READ.response
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
8
8 byte user data in response buffer
Byte
Field
Value
Description
0
Response reference
0x01
Mirrored reference number from the parameter setting
request
1
Response ID
0xC0
Negative MOVILINK® response
2
Axis
0x00
Mirrored axis number; 0 for single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x44
Error
5
No. of values
0x01
1 error code
6, 7
Error value
0x0811
MOVILINK® return code
e.g. error class 0x08, Add. code 0x11
(see section "MOVILINK® configuration return codes for
DP-V1" on page 61)
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MOVILINK®
configuration
return codes for
DP-V1
The following table shows the return codes that are returned by the SEW DP-V1
interface if an error occurs during DP-V1 parameter access.
MOVILINK®
return code (hex)
Description
0x0810
Invalid index, parameter index does not exist in the unit
0x0811
Function/parameter not implemented
0x0812
Read access only
0x0813
Parameter lock activated
0x0814
Factory setting is active
0x0815
Value for parameter too large
0x0816
Value for parameter too small
0x0817
Required option card not installed
0x0818
Error in system software
0x0819
Parameter access only via RS-485 process interface
0x081A
Parameter access only via RS-485 diagnostics interface
0x081B
Parameter is access-protected
0x081C
Controller inhibit is required
0x081D
Invalid value for parameter
0x081E
Factory setting was activated
0x081F
Parameter was not saved in EEPROM
0x0820
Parameter cannot be changed with output stage enabled / reserved
0x0821
Reserved
0x0822
Reserved
0x0823
Parameter may only be changed at IPOS program stop
0x0824
Parameter may only be changed when auto setup is deactivated
0x0505
Incorrect coding of management and reserved byte
0x0602
Communication error between inverter system and fieldbus interface
0x0502
Timeout of secondary connection (e.g. during reset or with Sys-Fault)
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Structure of the DP-V1 parameter channel
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9.3.5
PROFIdrive parameter requests
The PROFIdrive parameter channel of SEW inverters is directly mapped in the structure
of data set 47. Parameter access with PROFIdrive services usually takes place
according to the structure described below. The typical telegram sequence is used for
data set 47. PROFIdrive only defines the two request IDs
Request ID:0x01request parameter (PROFIdrive)
Request ID:0x02change parameter (PROFIdrive)
This means there is restricted data access in comparison with the MOVILINK® services.
INFORMATION
The request ID = 0x02 = change parameter (PROFIdrive) results in remanent write
access to the selected parameter. Consequently, the internal flash/EEPROM of the
inverter is written with each write access. Use the MOVILINK® service "WRITE
Parameter volatile" if parameters must be written cyclically at short intervals. With this
service, you only alter the parameter values in the RAM of the inverter.
Example for
reading a
parameter via
PROFIdrive
The following tables show an example of the structure of the WRITE.request and
READ.res user data for reading an individual parameter via the MOVILINK® parameter
channel.
Sending a parameter request
The following table shows the coding of the user data for the WRITE.req service
specifying the DP-V1 header. The WRITE.req service is used to transfer the parameter
setting request to the inverter.
Service:
62
WRITE.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
10
10 byte user data for parameter request
Service:
WRITE.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
10
10 byte user data for parameter request
Byte
Field
Value
Description
0
Request reference
0x01
Individual reference number for the parameter setting request is
mirrored in the parameter response.
1
Request ID
0x01
Request parameter (PROFIdrive)
2
Axis
0x00
Axis number; 0 = Single axis
3
No. of parameters
0x01
1 parameter
4
Attribute
0x10
Access to parameter value
5
No. of elements
0x00
0 = access to direct value, no subelement
6, 7
Parameter Number
0x206C
MOVILINK® index 8300 = "Firmware version"
8, 9
Subindex
0x0000
Subindex 0
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Structure of the DP-V1 parameter channel
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Query parameter response
The table shows the coding of the READ.req USER DATA including the DP-V1 header.
Service:
READ.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
240
Maximum length of response buffer in the DP-V1 master
Positive PROFIdrive parameter response
The table shows the READ.res user data with the positive response data of the
parameter setting request. The parameter value for index 8300 (firmware version) is
returned as an example.
Service:
READ.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
10
10 byte user data in response buffer
Byte
Field
Value
Description
0
Response reference
0x01
Mirrored reference number from the parameter setting
request
1
Response ID
0x01
Positive response for "Request Parameter"
2
Axis
0x00
Mirrored axis number; 0 = Single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x43
Parameter format: Double word
5
No. of values
0x01
1 value
6, 7
Value Hi
0x311C
Higher-order part of the parameter
8, 9
Value Lo
0x7289
Lower-order part of the parameter
Decoding:
0x 311C 7289 = 823947913 dec
>> firmware version 823 947 9.13
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Structure of the DP-V1 parameter channel
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Example for
writing a
parameter via
PROFIdrive
The following tables show an example of the structure of the WRITE and READ services
for the remanent writing of the internal setpoint n11 (see section "Example for writing a
parameter via MOVILINK®", page 59). The PROFIdrive Change parameter service is
used for this purpose.
Send "WRITE parameter" request
Service:
WRITE.request
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
16
16-byte user data for order buffer
Byte
Field
Value
Description
0
Request reference
0x01
Individual reference number for the parameter setting
request is mirrored in the parameter response.
1
Request ID
0x02
Change parameter (PROFIdrive)
2
Axis
0x01
Axis number; 0 = Single axis
3
No. of parameters
0x01
1 parameter
4
Attribute
0x10
Access to parameter value
5
No. of elements
0x00
0 = access to direct value, no subelement
6, 7
Parameter Number
0x2129
Parameter index 8489 = P160 n11
8, 9
Subindex
0x0000
Subindex 0
10
Format
0x43
Double word
11
No. of values
0x01
Change 1 parameter value
12, 13
Value HiWord
0x0000
Higher-order part of the parameter value
14, 15
Value LoWord
0x0BB8
Lower-order part of the parameter value
After sending this WRITE.request, the WRITE.response is received. If there was no
status conflict in processing the parameter channel, a positive WRITE.response occurs.
Otherwise, the status fault is located in Error_code_1.
Query parameter response
The table shows the coding of the WRITE.req user data including the DP-V1 header.
Field
Value
Description
Slot_Number
X
Slot_Number not used
Index
47
Index of the data set
Length
240
Maximum length of response buffer in the DP-V1 master
Function_Num
64
READ.req
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Functions of PROFIBUS DP-V1
Structure of the DP-V1 parameter channel
I
9
0
Positive response to "WRITE parameter"
Negative
parameter
response
Service:
READ.response
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
4
4 byte user data in response buffer
Byte
Field
Value
Description
0
Response reference
0x01
Mirrored reference number from the parameter
setting request
1
Response ID
0x02
Positive PROFIdrive response
2
Axis
0x01
Mirrored axis number; 0 = Single axis
3
No. of parameters
0x01
1 parameter
The following table shows the coding of a negative response of a PROFIdrive service.
Bit 7 is entered in the Response ID if the response is negative.
Service:
READ.response
Description
Slot_Number
0
Random, (is not evaluated)
Index
47
Index of the data set; constant index 47
Length
8
8 byte user data in response buffer
Byte
Field
Value
Description
0
Response reference
0x01
Mirrored reference number from the parameter setting
request
1
Response ID
0x810x82
Negative response for "Request parameter", negative
response for "Change Parameter"
2
Axis
0x00
Mirrored axis number; 0 = Single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x44
Error
5
No. of values
0x01
1 error code
6, 7
Error value
0x0811
MOVILINK® return code
e.g. error class 0x08, Add. code 0x11
(see section "MOVILINK® configuration return codes for
DP-V1" on page 61)
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Structure of the DP-V1 parameter channel
0
PROFIdrive
return codes for
DP-V1
66
The following table shows the coding of the error number in the PROFIdrive DP-V1
parameter response according to PROFIdrive profile V3.1. This table applies if you use
the PROFIdrive services "Request Parameter" and/or "Change Parameter".
Error no.
Meaning
Used for
0x00
Invalid parameter number.
Access to non-existent parameters
0x01
Parameter value cannot be
changed
An attempt was made to change a parameter value that
cannot be changed
0x02
Minimum or maximum value
exceeded
An attempt was made to change a value to one that is
outside of the limit values
0x03
Incorrect subindex
Access to non-existent subindex
0x04
No assignment
Access with subindex to parameter that is not indexed
0x05
Incorrect data type
An attempt was made to change a replace a value with one
that does not correspond to the data type of the parameter
0x06
Setting not permitted (can
only be reset)
An attempt was made to set a value to one larger than 0
where this is not permitted
0x07
Description element cannot
be changed
Access to description element that cannot be changed
0x08
Reserved
(PROFIdrive Profile V2: PPO write query for IR not available)
0x09
Description does not exist
Access to description that is not accessible (parameter value
exists)
0x0A
Reserved
(PROFIdrive Profile V2: incorrect access group)
0x0B
No operation priority
An attempt was made to change a parameter without change
rights
0x0C
Reserved
(PROFIdrive Profile V2: incorrect password)
0x0D
Reserved
(PROFIdrive Profile V2: text cannot be read in cyclic data
transfer)
0x0E
Reserved
(PROFIdrive Profile V2: name cannot be read in cyclic data
transfer)
0x0F
No text assignment
available
Access to text assignment that is not accessible (parameter
value exists)
0x10
Reserved
(PROFIdrive Profile V2: no PPO write)
0x11
Request cannot be
executed due to the
operating mode
Access is currently not possible and the reason is not
explained
0x12
Reserved
(PROFIdrive Profile V2: other error)
0x13
Reserved
(PROFIdrive Profile V2: data cannot be read in cyclic
exchange)
0x14
Incorrect value
An attempt was made to change a value to one that is in the
permitted range but is not permitted due to other long-term
reasons (parameter with specified individual values)
0x15
Response is too long
The length of the current response exceeds the maximum
transmittable length
0x16
Invalid parameter address
Invalid value or value that is not valid for this attribute, number of elements, parameter number, subindex or a combination of these factors.
0x17
Incorrect format
Write request: Invalid format or parameter data format that is
not supported
0x18
Number of values is not
consistent
Write request: Number of values of parameter data does not
correspond to the number of elements in the parameter
address
0x19
Axis does not exist
Access to an axis that does not exist
up to 0x64
Reserved
-
0x65 - 0xFF
Depends on the
manufacturer
-
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Functions of PROFIBUS DP-V1
Configuring a C1 master
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9.4
Configuring a C1 master
A special GSD file SEW_600C.GSD is required for configuring a DP-V1 C1 master. This
file activates the DP-V1 functions of the DFS12B option. The functions of the GSD file
and the DFS12B firmware must correspond with one another. When you implement the
DP-V1 functions, SEW-EURODRIVE provides you with two GSD files (see page 24 for
PROFIBUS DP-V1).
9.4.1
Operating mode (DP-V1 mode)
The DP-V1 operating mode can usually be activated during project planning for a C1
master. All DP slaves, which have the DP-V1 functions enabled in their GSD files and
which support DP-V1, will then be operated in DP-V1 mode. Standard DP slaves will still
run via PROFIBUS DP. This ensures mixed mode for DP-V1 and DP-capable modules.
Depending on the master functionality, a DP-V1 capable station, that was configured
using the DP-V1 GSD file, can run in the "DP" operating mode.
9.4.2
Example program for SIMATIC S7
The STEP 7 code stored in the GSD file shows how parameters are accessed via the
STEP 7 system function modules SFB 52/53. You can copy the STEP 7 code and
import/compile it as a STEP 7 source.
INFORMATION
The MOVILINK® parameter channel sample program is available from the SEW
homepage (www.sew-eurodrive.de) under "Software". This example is a special and
free service that demonstrates only the basic approach to generating a PLC program.
SEW is not liable for the contents of the sample program.
9.4.3
Technical data DP-V1 for MOVIDRIVE® DFS12B
GSD file for DP-V1:
SEW_600C.GSD
Module name for project planning:
MOVIDRIVE DFS12 (DP-V1)
Number of parallel C2 connections:
2
Supported data set:
Index 47
Supported slot number:
Recommended: 0
Manufacturer code:
10A hex (SEW-EURODRIVE)
Profile ID:
0
C2 response timeout
1s
Max. length C1 channel:
240 bytes
Max. length C2 channel:
240 bytes
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Configuring a C1 master
0
9.4.4
Error codes of the DP-V1 services
This table shows possible error codes of DP-V1 services that may occur in the event of
an error in the communication on DP-V1 telegram level. This table is relevant if you want
to write your own parameter assignment block based on the DP-V1 services because
the error codes are reported directly back on the telegram level.
Bit:
7
6
5
4
Error_Class
Error_Class (from DPV1 specification)
3
3
2
0
Error_Code
Error_Class (from DP-V1
specification)
DP-V1 parameter channel
0x0 - 0x9 hex = reserved
0xA = application
0x0 = read error
0x1 = write error
0x2 = module failure
0x3 to 0x7 = reserved
0x8 = version conflict
0x9 = feature not supported
0xA to 0xF = user specific
0xB = access
0x0 = invalid index
0xB0 = No data block Index 47 (DB47);
parameter requests are not supported
0x1 = write length error
0x2 = invalid slot
0x3 = type conflict
0x4 = invalid area
0x5 = state conflict
0xB5 = Access to DB 47 temporarily not
possible due to internal processing status
0x6 = access denied
0x7 = invalid range
0xB7 = WRITE DB 47 with error in the DB 47
header
0x8 = invalid parameter
0x9 = invalid type
0xA to 0xF = user specific
0xC = resource
0x0 = read constraint conflict
0x1 = write constraint conflict
0x2 = resource busy
0x3 = resource unavailable
0x4 - 0x7 = reserved
0x8 - 0xF = user specific
0xD - 0xF = user specific
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Operation of MOVITOOLS® MotionStudio
Communication via PROFIBUS DP/DP-V1
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Operation of MOVITOOLS® MotionStudio
10.1
Communication via PROFIBUS DP/DP-V1
10.1.1 Communication via C2 master
Overview
The figure shows the network with a direct PROFIBUS communication via C2 master:
[2]
EURODRIVE
[3]
[1]
EURODRIVE
64621AXX
[1] C2 master (as PC with installed softnet DP driver and installed PROFIBUS master card)
[2] C1 master
[3] Units (examples) with DP-V1 capable PROFIBUS interfaces
C2 master
C2 master [1] can be a PC, for example, which you can use as diagnostic and
visualization PC.
For this purpose, the PC has to be equipped wtih additional hardware and software as
described in the next section.
Function
The C2 master [1] sends parameter requests from MOVITOOLS® MotionStudio to the
PROFIBUS interfaces in the units [3] via PROFIBUS (acyclic C2 services). In this case,
SIMATIC S7 [2] does not perform any routing.
Advantage
The C2 master works independently of the C1 master. This means you can establish a
communication with your units even when the C1 master fails.
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Communication via PROFIBUS DP/DP-V1
0
10.1.2 Additionally required hardware and software
Requirement
INFORMATION
If you run and configure PROFIBUS stations in your network, you need additional hardware and software from Siemens.
Required
hardware
Required
software
Starting up
hardware and
software
•
Note the prerequisites regarding license rights for Siemens software products used.
•
Observe the documentation provided by Siemens for the hardware and software
products used.
The following table shows the PROFIBUS master cards available from Siemens:
Designation of the PROFIBUS master card
Order number
Type of PROFIBUS master card
SIMATIC NET CP5611
6GK1561-1AA00
PCI card for PCs
SIMATIC NET CP5512
6GK1561-2AA00
PCMCIA card (32-bit card bus) for notebooks
The following table shows the software available from Siemens:
Designation of the software
Order number
Type of software
SIMATIC NET PB Softnet-DP
Edition 2007
6GK1704-5DW00-3AE1
Driver package
Do the following to install the additionally required hardware and software:
1. Observe the documentation provided by Siemens for the hardware and software
products used.
2. Install the PROFIBUS master card.
3. Install the software.
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Operation of MOVITOOLS® MotionStudio
Communication via PROFIBUS DP/DP-V1
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10.1.3 Parameterize C2 master with SIMATIC NET
SIMATIC NET
versions and
operating system
INFORMATION
The following description might deviate slightly (in part due to the language) depending
on the SIMATIC NET version and the operating system in use.
This concerns the display and designations in windows as well as designations in the
menu path of the start menu.
Starting SIMATIC
NET and setting
the PG/PC
interface
Do the following to start SIMATIC NET:
1. From the Start menu of Windows, start the program "Set PG/PC Interface" under the
following menu item:
The "Set PG/PC interface" window opens:
12098AEN
2. Set the access path of the application as shown in the figure.
INFORMATION
If you cannot set the access path because the "Access point of the the application"
selection field is disabled, the reason is the following:
You have opened the "Set PG/PC interface" program from SIMATIC STEP 7 and have
therefore occupied the access path.
•
Start the "Set PG/PC Interface" program from the Windows Start menu.
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0
Parameterizing a
C2 master
Proceed as follows to configure a C2 master:
1. In the "Set PG/PC interface", click on the [Properties] button. This opens the
"Properties" window.
12097AEN
2. If a C1 master is active, disable the "PG/PC is the only master on the bus" check box.
3. Assign the PC a free address that is not yet reserved by other stations (masters or
slaves).
4. Set the baud rate (transmission speed) matching your PROFIBUS network. If you
operate a C1 master, set the baud rate of the C1 master.
5. Select "DP" as the profile or set the bus timing according to the existing PROFIBUS
network.
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Operation of MOVITOOLS® MotionStudio
Communication via PROFIBUS DP/DP-V1
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Check the
parameters of the
PROFIBUS
stations
Do the following to check the parameters of the PROFIBUS stations:
1. Close the "Properties" window to return to the "Set PG/PC interface" window.
2. Click the [Diagnostics] button.
This opens the "SIMATIC NET diagnostics" window.
12096AEN
3. Check the parameters you have set. To do so, click on [Test].
If your parameter setting is valid, "OK" will be displayed.
4. To have all bus stations displayed, click on [Read].
5. Make sure that all bus stations were parameterized correctly.
6. Open the MOVITOOLS® MotionStudio engineering software.
7. Set the communication parameters in MOVITOOLS® MotionStudio. Refer to the next
section "Configuring communication via PROFIBUS".
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10.1.4 Configuring communication via PROFIBUS
Requirements
INFORMATION
The following steps describe only how you configure PROFIBUS communication in
MOVITOOLS® MotionStudio.
•
Configuring a
communication
channel via
PROFIBUS
First make all the required settings in the project planning software. Refer to the
previous section "Configuring C2 master with SIMATIC NET".
Proceed as follows to configure PROFIBUS communication:
1. Make sure that all the required settings have been made in the project planning
software.
2. Start MOVITOOLS® MotionStudio and create a project following the instructions
described in the section "First Steps".
3. Click on "Configure communication plugs" [1] in the toolbar.
64620AXX
[1]
"Configure communication plugs" icon
Doing so will open the "Configure communication plugs" window.
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Operation of MOVITOOLS® MotionStudio
Communication via PROFIBUS DP/DP-V1
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4. From the list [1], select "PROFIBUS" as the communication type.
64619AEN
[1]
"Communication type" selection list
[2]
"Activate" check box
[3]
[Edit] button
In the example, "PROFIBUS" is activated as the communication type for the first
communication channel [2].
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0
5. Click [Edit] [3] in the right section of the window.
12095AEN
6. Select the "Start automatically" control field if you want to launch the PROFIBUS
server every time the SEW Communication Server is started.
7. Click the [Restart server] button to start the PROFIBUS server.
Windows displays the activated PROFIBUS server using the following ICON in the
status bar:
10.1.5 Communication parameters for PROFIBUS DP/DP-V1
The following table describes the communication parameters for the PROFIBUS
DP/DP-V1 communication channel:
76
Communication parameters
Description
Note
PROFIBUS server
Select the "Start automatically"
control field if you want to launch
the PROFIBUS server every time
the SEW Communication Server
is started.
The Windows status bar displays
the active PROFIBUS server
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Operation of MOVITOOLS® MotionStudio
Executing functions with the units
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10.2
Executing functions with the units
10.2.1 Parameterizing units in the parameter tree
The parameter tree displays all unit parameters arranged in folders.
You can manage the unit parameters using the context menu or toolbar. The following
chapter describes how to read or change unit parameters.
10.2.2 Reading/changing unit parameters
To read or change unit parameters, proceed as follows:
1. Switch to the required view (project view or network view).
2. Select the communication mode:
•
•
Click the [Switch to online mode] button [1] if you want to read or change
parameters directly on the unit.
Click the [Switch to offline mode] button [2] if you want to read or change
parameters in the project.
64337AXX
3. Select the unit you want to set parameters for.
4. Open the context menu and select the [Parameter tree] command.
This opens the "Parameter tree" view on the right section of the screen.
5. Expand the "Parameter tree" up to the node you require.
12079AEN
6. Double-click to display a particular group of unit parameters.
7. Press the enter key to finalize any changes you make to numerical values in the input
fields.
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Executing functions with the units
0
10.2.3 Starting up units (online)
To startup units (online), proceed as follows:
1. Switch to the network view.
2. Click the [Switch to online mode] button [1].
64354AXX
3. Select the unit you want to startup.
4. Open the context menu and select the command [Diagnostics] / [UFx Gateway
Configurator].
The Gateway Configurator opens.
INFORMATION
78
•
For detailed information about the unit parameters, refer to parameter list for the
unit.
•
For detailed information about how to use the startup wizard, refer to the
MOVITOOLS® MotionStudio online help.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Error Diagnostics
Diagnostic procedures
11
Error Diagnostics
11.1
Diagnostic procedures
11
The diagnostic procedures described in the following section demonstrate the fault
analysis methods for the following problems:
•
Diagnostic problem 1: Inverter does not work on PROFIBUS-DP
•
Diagnostic problem 2: Inverter cannot be controlled using the PROFIBUS DP master
For more information dealing specifically with the inverter parameter settings for various
fieldbus applications, refer to the MOVIDRIVE® Communication and Fieldbus Unit
Profile manual.
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11
Error Diagnostics
Diagnostic procedures
Diagnostic problem 1: Inverter does not work on PROFIBUS.
Initial status:
• Inverter is connected to PROFIBUS
• Inverter configured in PROFIBUS master and bus communication active
↓
Is the bus connector plugged in?
no →
[A]
OFF →
[B]
ON →
[C]
yes
↓
Response of the BUS FAULT LED?
FLASHES
↓
Inverter detects baud rate (P092 Baud rate fieldbus). However it was not
configured, or was configured incorrectly, in the PROFIBUS master.
↓
Check the configured bus address and the one set using the DIP switches
(P093 Fieldbus address)
↓
no →
Are the bus addresses the same?
[D]
yes
↓
You may have configured an incorrect unit type or defined the configuration
incorrectly.
↓
Delete the project planning for the inverter from the DP network.
↓
Perform project planning for the inverter again, choosing the unit designation
"MOVIDRIVE-DFS12".
To simplify the project planning process, use a predefined configuration (for
example, "Param + 3PD"). Do not change any of the preset configuration
data.
Assign the address range for your control system.
↓
Load the configuration into the DP master and start the bus communication
again.
[A]
Check the bus cabling.
[B]
Inverter is currently exchanging data cyclically with the PROFIBUS master.
P090 PD configuration displays the configuration that the inverter is controlled with via PROFIBUS.
↓
Bus communication is functioning properly (for problems with controlling or
setpoint selection via PROFIBUS DP, continue with Diagnostic problem
2).
[C]
Inverter does not detect the baud rate (P092 Baud rate fieldbus)!
↓
Check the bus cabling.
[D]
80
Modify the bus addresses.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Error Diagnostics
Diagnostic procedures
11
Diagnostic problem 2:
Inverter cannot be controlled using the PROFIBUS DP master.
Initial status:
• Bus communication with inverter OK (BUS FAULT LED off)
• Inverter running with 24 V (no supply voltage)
↓
The problem is either caused by incorrect parameter settings in the inverter or a
faulty control program in the PROFIBUS master.
↓
Use P094 to P097 (setpoint description PO1 to PO3) to check whether the
setpoints sent by the controller are received correctly.
To do so, send a setpoint other than 0 as a test in each output word.
↓
Setpoints received?
yes →
[A]
no
↓
Check that the correct settings have been made for the following drive parameters:
• P100 SETPOINT SOURCE
FIELDBUS
•
P101 CONTROL SIGNAL SOURCE FIELDBUS
•
P876 ENABLE PO DATA
YES
↓
Settings OK?
no →
[B]
yes
↓
The problem may be caused by your control program in the DP master.
↓
Check that the address used in the program is the same as the address for project
planning.
Note that the inverter requires consistent data and access must take place within
the control program, if necessary, via special system functions (for example,
SIMATIC S7, SFC 14 / 15).
[A]
Setpoints are transferred.
Check whether the drive inverter has been enabled at the terminals.
[B]
Correct the settings.
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
81
kVA
12
i
f
n
Technical Data
DFS12B option for MOVIDRIVE® MDX61B
P Hz
12
Technical Data
12.1
DFS12B option for MOVIDRIVE® MDX61B
DFS12B option (MOVIDRIVE® MDX61B)
Part number
1820 963 7
Power consumption
P=3W
PROFIBUS protocol
options
PROFIBUS DP and DP-V1 according to IEC 61158
Automatic baud rate
detection
9.6 kBaud - 12 MBaud
Connection technology
•
•
Bus termination
Not integrated, implement using suitable PROFIBUS plug with
terminating resistors that can be switched on.
Station address
1 to 125, can be set using DIP switches
GSD file name
SEW_600C.GSD
DP ID number
600C = 24588hex
Application-specific
parameter-setting data
(Set-Prm-UserData)
•
•
•
DP configurations for
DDLM_Chk_Cfg
•
•
•
•
•
•
•
•
•
•
82
Via 9-pin D-sub connector
Pin assignment acc. to IEC 61158
Length: 9 bytes
Hex parameter settings 00,00,00,06,81,00,00,01,01 = DP diagnostics
alarm = OFF
Hex parameter settings 00,00,00,06,81,00,00,01,00 = DP diagnostics
alarm = ON
F0hex = 1 process data word (1 I/O word)
F1hex = 2 process data words (2 I/O words)
F2hex = 3 process data words (3 I/O words)
0hex, F5hex = 6 process data words (6 I/O words)
0hex, F9hex = 10 process data words (10 I/O words)
F3hex, F0hex = parameter channel + 1 process data word (5 I/O words)
F3hex, F1hex = parameter channel + 2 process data words (6 I/O words)
F3hex, F2hex = parameter channel + 3 process data words (7 I/O words)
F3hex, F5hex = parameter channel + 6 process data words (10 I/O
words)
F3hex, F9hex = parameter channel +10 process data words (14 I/O
words)
Diagnostics data
•
•
Max. 8 bytes
Standard diagnostics: 6 bytes
Tools for startup
•
•
PC program MOVITOOLS® MotionStudio
DBG60B keypad
F address
See page 31
Ambient temperature
0 - 55 °C
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
Index
A
Additional code ...................................................47
Assembly and installation notes ..........................15
Installing and removing an option card .........18
B
Baud rate ..................................................... 20, 82
Bus termination ...................................................21
C
C1 master
Configuration ................................................67
Characteristics of SEW inverters ........................52
Communication ...................................................69
Communication error, internal .............................48
Communication via PROFIBUS DP/DP-V1
Additionally required hardware and
software ........................................................70
Communication parameters for
PROFIBUS DP/DP-V1 ..................................76
Communication via C2 master .....................69
Configuring C2 master with SIMATIC NET ..71
Configuring communication via PROFIBUS .74
Configuration
C1 master .....................................................67
Configuring PROFIsafe with STEP 7 ..................29
Configuring the PROFIsafe properties .........29
Description of F parameters .........................30
Connection
DFS12B option .............................................19
Connection technology .......................................82
Control example ..................................................40
Controlling ...........................................................39
D
Data exchange with the DFS12B option .............35
Data exchange with the PROFIsafe
option DFS
F periphery DB of the PROFIsafe
option DFS ....................................................37
Data format parameter ........................................46
Description of F parameters
Parameter "F_CRC_Length" ........................30
Parameter "F_Dest_Add" .............................31
Parameter "F_PAR_Vision" ..........................30
Parameter "F_SIL" ........................................30
Parameter "F_Source_Add" .........................31
Parameter "F_WD_Time" .............................31
DFS12B ..............................................................82
Connection ...................................................19
Operation indicators .....................................23
Terminal description .....................................19
DFS12B operation indicators ..............................23
Diagnostics
Error ..............................................................79
Diagnostics with the PROFIsafe option DFS
Error states of the PROFIsafe option DFS
Safety diagnostics using PROFINET .....32
DP ...................................................................... 25
DP configuration ................................................. 82
DP ident number ................................................ 82
E
Error class .......................................................... 46
Error code .......................................................... 46
Error codes of the DP-V1 services ..................... 68
Error diagnostics ................................................ 79
Example program
SIMATIC S7 ................................................. 67
Exclusion of liability .............................................. 7
Executing ........................................................... 77
Executing functions with the units
Parameterizing units in the parameter tree .. 77
Reading/changing unit parameters .............. 77
Starting up units (online) .............................. 78
F
Functions
PROFIBUS DP-V1 ....................................... 49
G
General information .............................................. 6
General notes
Exclusion of liability ........................................ 7
Rights to claim under limited warranty ........... 7
Structure of the safety notes .......................... 6
GSD file .............................................................. 82
for PROFIBUS DP-V1 .................................. 24
Validity for DFS12B ..................................... 24
I
Ident number ...................................................... 82
incorrect execution of a service .......................... 43
Index addressing ................................................ 42
Installing ....................................................... 15, 16
Installing and removing an option card .............. 18
Internal communication error ............................. 48
L
LEDs .................................................................. 23
Length specification ........................................... 48
O
Operating characteristics at PROFIBUS DP ...... 35
Operation ........................................................... 69
P
Parameter
Data format .................................................. 46
Read ............................................................ 43
Write ............................................................ 44
Parameter channel
Data range ................................................... 43
Management ................................................ 42
Structure ...................................................... 41
Parameter channel data range ........................... 43
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
83
Index
Parameter channel management ........................42
Parameter setting
Procedure .....................................................45
Return codes ................................................46
via PROFIBUS DP ........................................41
Parameter-setting data .......................................82
Part number ........................................................82
Pin assignment PROFIBUS ................................20
Procedure ...........................................................33
PROFIBUS
LEDs .............................................................23
PROFIBUS DP
Operating characteristics ..............................35
Parameter setting .........................................41
Parameter setting procedure ........................45
Timeout .........................................................40
PROFIBUS DP-V1
Alarm handling ..............................................51
Functions ......................................................49
Services ........................................................51
Structure of the parameter channel ..............53
PROFIBUS pin assignment ................................20
Project .................................................................24
Project planning procedure .................................25
Protocol options ..................................................82
T
Terminal description
DFS12B option ............................................ 19
Timeout
PROFIBUS DP ............................................ 40
W
WRITE ................................................................ 44
Write parameter ................................................. 44
R
READ ..................................................................43
Read parameter ..................................................43
Return codes for parameter setting ....................46
Rights to claim under warranty .............................7
S
Safety concept
Limitations ....................................................12
Schematic representation .............................13
Safety notes
Diagnostics ...................................................10
Fieldbus monitor ...........................................10
General safety notes for bus systems ............8
Hoist applications ...........................................8
Monitoring functions .....................................10
Other applicable documentation .....................8
Service coding ....................................................48
Service execution, incorrect ................................43
Setting .................................................................28
SEW inverters, characteristics ............................52
Shielding .............................................................21
Shielding and routing bus cables ........................21
SIMATIC S7
Example program .........................................67
Simatic S7 ...........................................................40
Station address ...................................................82
Settings .........................................................22
Structure of the parameter channel ....................41
Structure of the safety notes .................................6
84
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFS12B PROFIBUS with PROFIsafe
SEW-EURODRIVE—Driving the world
SEW-EURODRIVE
Driving the world
SEW-EURODRIVE GmbH & Co KG
P.O. Box 3023
76642 Bruchsal/Germany
Phone +49 7251 75-0
Fax +49 7251 75-1970
[email protected]
www.sew-eurodrive.com

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