ER41 / ER24
PROFINET Manual
08/2017
www.blemo.com
2
ER41, ER24
The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither BLEMO nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of
the information contained herein. If you have any suggestions for improvements or amendments or have
found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or mechanical,
including photocopying, without express written permission of BLEMO.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use BLEMO software or approved software with our hardware products may result in injury,
harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2017 BLEMO. All rights reserved.
3
ER41, ER24
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
Chapter 1
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
Chapter 2
Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
2.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
2.2
Common Additional Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
Identification and Maintenance Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
I&M Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
2.3
PROFIdrive Parameters Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
PROFIdrive Profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
Parameter Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
PROFIdrive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
PROFIdrive Parameter Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
2.4
iPar Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
iPar Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
Chapter 3
Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
Firmware and Description File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
Installation of the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
Cable Routing Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
Chapter 4
Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
4.1
Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
[DEVICE NAME] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
[IP mode] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41
Table of Contents
[IP Module] ( ) ( ) ( ) ( ) ( ) . . . . . . . . . . . . . . . . . . . . . . .
[IP Mask] ( ) ( ) ( ) ( ) ( ) . . . . . . . . . . . . . . . . . . . . . . . . .
[IP Gate] ( ) ( ) ( ) ( ) ( ) . . . . . . . . . . . . . . . . . . . . . . . . .
[Actual IP] . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Actual mask] . . . . . . . . . . . . . . . . . . . . . . . .
[Actual gate.] . . . . . . . . . . . . . . . . . . . . . . .
[Ethernet Error Code] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[EnableWebserver] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[PPO profile used] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[MAC @] ( ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IP Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Additional Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[iPar Activation]( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[iPar Autosave Act] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[iPar Autosave Timer] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[iPar Error Response] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[iPar Local Conf] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[iPar Status] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[iPar Error Code] ( ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
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4.3
Embedded Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
62
Embedded Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
63
Home Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
Network Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
4.4
Communication Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
70
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
Functional Profiles Supported by the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
72
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
CIA402 Operating State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
74
Description of Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
Cmd Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
78
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
79
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
80
[CIA402 State Reg] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82
Sequence for a Drive Powered by the Power Stage Supply . . . . . . . . . . . . . . . . . . . . . . . . .
83
Sequence for a Drive with Separate Control Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
84
Sequence for a Drive with Mains Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
Telegram 100, 101, 102, 106, 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
Configuring Drive with a Siemens© S7-300. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
91
Configuration of Drive with the Telegram 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
Configuring a Drive with the Telegram 101, 102, 106, or 107 . . . . . . . . . . . . . . . . . . . . . . . .
93
Parameters Management with the Telegram 100, 101, 102, 106, 107 . . . . . . . . . . . . . . . . .
94
Telegram 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
96
Command Word and Operating State Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97
Reference Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
100
4.5
Fieldbus Integration Tutorial. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
101
Fieldbus Integration Tutorial. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
101
Chapter 5
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
105
5.1
Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
Configuring Communication Error Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
5.2
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
107
Configuring the Control Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
108
Configuration of the Drive for Operation in I/O Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode. . . . . . . . .
110
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode. . . . . . . . . .
111
Chapter 6
Diagnostic and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
113
Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
114
Connection for Fieldbus Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
Fieldbus Function Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
117
Communication Interruption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
118
Monitoring of Communication Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
Control-Signal Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
122
Glossary
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
123
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ER41, ER24
Safety Information
Important Information
NOTICE
PLEASE NOTE
Qualification Of Personnel
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, or maintain it. The following special messages may appear throughout this
documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
No responsibility is assumed by BLEMO for any consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid hazards involved. These persons must
have sufficient technical training, knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the settings and by the mechanical,
electrical and electronic equipment of the entire system in which the product is used. All persons working
on and with the product must be fully familiar with all applicable standards, directives, and accident
prevention regulations when performing such work.
6
ER41, ER24
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
Only appropriately trained persons who are familiar with and understand the contents of this manual
and all other pertinent product documentation and who have received safety training to recognize and
avoid hazards involved are authorized to work on and with this drive system. Installation, adjustment,
repair and maintenance must be performed by qualified personnel.
The system integrator is responsible for compliance with all local and national electrical code
requirements as well as all other applicable regulations with respect to grounding of all equipment.
Many components of the product, including the printed circuit boards, operate with mains voltage. Do
not touch. Use only electrically insulated tools.
Do not touch unshielded components or terminals with voltage present.
Motors can generate voltage when the shaft is rotated. Prior to performing any type of work on the
drive system, block the motor shaft to prevent rotation.
AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused
conductors of the motor cable.
Do not short across the DC bus terminals or the DC bus capacitors or the braking resistor terminals.
Before performing work on the drive system:
Disconnect all power, including external control power that may be present.
Place a Do Not Turn On label on all power switches.
Lock all power switches in the open position.
Wait 15 minutes to allow the DC bus capacitors to discharge. The DC bus LED is not an indicator
of the absence of DC bus voltage that can exceed 800 Vdc.
Measure the voltage on the DC bus between the DC bus terminals (PA/+, PC/-) using a properly
rated voltmeter to verify that the voltage is <42 Vdc
If the DC bus capacitors do not discharge properly, contact your local BLEMO representative. Do
not repair or operate the product.
Install and close all covers before applying voltage.
Failure to follow these instructions will result in death or serious injury.
WARNING
UNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.
Carefully install the wiring in accordance with the EMC requirements.
Do not operate the product with unknown or unsuitable settings or data.
Perform a comprehensive commissioning test.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Intended Use
This product is a drive for three-phase synchronous and asynchronous motors and intended for industrial
use according to this manual.The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical data.Prior to using the product, you
must perform a risk assessment in view of the planned application. Based on the results, the appropriate
safety measures must be implemented.Since the product is used as a component in an entire system, you
must ensure the safety of persons by means of the design of this entire system (for example, machine
design). Any use other than the use explicitly permitted is prohibited and can result in hazards. Electrical
equipment should be installed, operated, serviced, and maintained only by qualified personnel.
Product Related Information
Read and understand these instructions before performing any procedure with this drive.
Damaged products or accessories may cause electric shock or unanticipated equipment operation.
7
ER41, ER24
DANGER
ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION
Do not use damaged products or accessories.
Failure to follow these instructions will result in death or serious injury.
WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the potential failure modes of control paths and,
for critical control functions, provide a means to achieve a safe state during and after a path failure.
Examples of critical control functions are emergency stop, overtravel stop, power outage and restart.
Separate or redundant control paths must be provided for critical control functions.
System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
Observe all accident prevention regulations and local safety guidelines (1).
Each implementation of the product must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTICE
DESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
Before switching on and configuring the product, verify that it is approved for the mains voltage
Failure to follow these instructions can result in equipment damage.
Contact your local BLEMO sales office if you detect any damage whatsoever.
(1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition),
Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed
Drive Systems.
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ER41, ER24
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ER41, ER24
Step Action
1 Go to the BLEMO home page www.blemo.com.
2
In the Search box type the reference of a product or the name of a product range.
Do not include blank spaces in the model number/product range.
To get information on grouping similar modules, use asterisks (*).
3
If you entered a reference, go to the Product Datasheets search results and click on the reference that
interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on the
product range that interests you.
4
If more than one reference appears in the Products search results, click on the reference that interests
you.
5 Depending on the size of your screen, you may need to scroll down to see the data sheet.
6
To save or print a data sheet as a .pdf file, click Download XXX product datasheet.
At a Glance
Document Scope
Validity Note
About the Book
The purpose of this document is to:
Show you how to install the PROFINET fieldbus module on the drive.
Show you how to configure the drive to use PROFINET fieldbus.
NOTE: Read and understand this document and all related documents (see below) before
installing,operating, or maintaining the drive.
This documentation is valid for the ER41 / ER24 drives.
The technical characteristics of the devices described in this document also appear online. To access this
information online:
The characteristics that are presented in this manual should be the same as those characteristics that
appear online. In line with our policy of constant improvement, we may revise content over time to improve
clarity and accuracy. If you see a difference between the manual and online information, use the online
information as your reference.
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ER41, ER24
Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive information on all our products
on www.blemo.com
Standards and Terminology
The technical terms, terminology, and the corresponding descriptions in this manual normally use the
terms or definitions in the relevant standards.
In the area of drive systems this includes, but is not limited to, terms such as error, error message, failure,
fault, fault reset, protection, safe state, safety function, warning, warning message, and so on.
Among others, these standards include:
IEC 61800 series: Adjustable speed electrical power drive systems
IEC 61508 Ed.2 series: Functional safety of electrical/electronic/programmable electronic safety-related
EN 954-1 safety of machinery - Safety related parts of control systems
EN ISO 13849-1 & 2 safety of machinery - Safety related parts of control systems.
IEC 61158 series: Industrial communication networks - Fieldbus specifications
IEC 61784 series: Industrial communication networks - Profiles
IEC 60204-1: Safety of machinery - Electrical equipment of machines – Part 1: General requirements
11
ER41, ER24
Topic
Page
Hardware Overview
12
Software Overview
13
Chapter 1
Presentation
What Is in This Chapter?
This chapter contains the following topics:
12
ER41, ER24
Presentation
Hardware Overview
General
The PROFINET CARD is a dual port PROFINET fieldbus module that can be used in a PROFINET
industrial fieldbus. The PROFINET CARD also offers an embedded Web server (in five languages) which
offers comfortable displaying and commissioning functions directly from a standard web browser.
The figure shows the hardware presentation of the PROFINET CARD dual port PROFINET fieldbus
module:
13
ER41, ER24
Application
Transport
Network
Link
PROFINET / IP services
TCP/UDP
IP
Ethernet
PROFINET RT
− −
Ethernet
Software Overview
Simplified TCP/IP Model
PROFINET Fieldbus Module Features Overview
The table provides the basic software overview according to the simplified TCP/IP model:
Presentation
Presentation
14
ER41, ER24
15
ER41, ER24
Section
Topic
Page
2.1
Introduction
16
2.2
Common Additional Features
17
2.3
PROFIdrive Parameters Channel
20
2.4
iPar Service
27
Chapter 2
Basics
What Is in This Chapter?
This chapter contains the following sections:
Basics
16
ER41, ER24
Section 2.1
Introduction
Introduction
PROFINET
Modbus TCP
PROFINET and Ethernet Features
Web Server
PROFINET RT extends Ethernet by an advanced industrial protocol management as an application
layer for automation applications. In this way, Ethernet protocol is suited for industrial control.
PROFINET relies on TCP and UDP for non-RT information.
Products from different manufacturers can be networked by using a PROFINET-compliant switch.
The Modbus application layer is standard. Many of the manufacturers are already implementing this
protocol. Many have already developed a Modbus TCP/IP connection and numerous products are
currently available. With the simplicity of its protocol and the fast Ethernet throughput data rate of
100 Mbit/s, Modbus TCP/IP achieves excellent performance.
The product supports the following functions:
Automatic IP address assignment via DHCP and DCP
Support of MRP (Media Redundancy Protocol)
Automatic configuration data via iPar-Server
Commissioning via DTM-based PC software
Support of LLDP (Link Layer Discovery Protocol)
Diagnostics and configuration via integrated Web server
The standard Web server provides access to the following pages:
Drive monitor
Data viewer/editor
Save and restore configuration
Network parameters
iPar client settings
Administration
TCP/UIP statistics
Modbus statistics
Basics
17
ER41, ER24
Topic
Page
Identification and Maintenance Data
18
I&M Record
19
Section 2.2
Common Additional Features
What Is in This Section?
This section contains the following topics:
Basics
18
ER41, ER24
Identification and Maintenance Data
Overview
Identification & maintenance (I&M) is established through PNO
Supports the user during various scenarios of the device life cycle, such as:
Configuration
Commissioning
Repair and update
Operation and visualization
NOTE: These fields are read only (index AFF0 hex).
The access to the identification & maintenance data can be achieved using the PROFINET mechanisms
(IEC 611458-6).
Basics
19
ER41, ER24
Champ
Number of
Bytes
Value
Description
HEADER_MANUF_SPEC
10 bytes
(string)
Manufacturer-specific field
MANUFACTURER_ID
2 bytes
01 hex, 29 hex
129 hex: BLEMO
ORDER_ID
20 bytes
Identification object ID 1
Commercial name of the drive
SERIAL_NUMBER
16 bytes
Serial number
C1P1, C1P2, C1P3, C1P4
HARDWARE_REVISION
2 bytes
10 hex, 00 hex
−
SOFTWARE_REVISION
4 bytes
’V’, A, B, C
A = MSB of software version
B = LSB of software version
C = MSB of software revision
REVISION_COUNTER
2 bytes
xx hex, yy hex
Rev xy
PROFILE_ID
2 bytes
−
Defined by the PNO (3A00...3AFF,
PROFIdrive)
PROFILE_SPECIFIC_TYPE
2 bytes
−
Profile specific number
IM_VERSION
2 bytes
01 hex, 02 hex
Version I&M: 1.2
IM_SUPPORTED
2 bytes
00 hex, 01 hex
Managed index I&M [gs56] I&M0
I&M Record
Description
The table provides the details of I&M record:
Basics
20
ER41, ER24
Topic
Page
PROFIdrive Profile
21
Parameter Structure
22
PROFIdrive Parameters
24
PROFIdrive Parameter Access
25
Section 2.3
PROFIdrive Parameters Channel
What Is in This Section?
This section contains the following topics:
Basics
21
ER41, ER24
ER41
ER41
PROFIdrive Profile
Overview
When operated with the PROFIdrive profile, the drive parameters are organized as defined by PNU
numbering and addressing modes. However, for people who are familiar with the ER41 und ER24
parameters, this addressing mode keeps the native structure of the device (based on Modbus
addressing). PNU is numbered from 0...65535 and each PNU represents a parameter (from single type
as words to complex data structure or arrays). PROFIdrive parameters from PNU 900 ...PNU 999 are
standardized, they are described below. All others PNUs are manufacturer-specific.
In the case of this drive, parameters can be separated in two groups:
Standardized PNUs (900...999)
Drive parameters which are gathered in a single PNU entry point: PNU1000.It is also possible to access
the parameters using the Modbus address as PNU for each parameter (1001...59999) and Modbus
address as subindex.
PROFIdrive Based on PROFINET
When the drive is operated in PROFIdrive profile, the parameter management takes benefit of the
PROFINET acyclic messaging features. With PROFINET, it is possible to exchange messages of variable
length between the controller and the supervisor. These messages come in addition of the periodic data
exchange.
Basics
22
ER41, ER24
DU
Byte Nr
Request
Function code
0
−
Slot_num
1 0: global parameters
Index 2
47: Reserved for PROFIdrive
Length
3 Length of PROFIdrive parameter channel frame
Data
4...5
PROFIdrive parameter channel frame: check
PNU number + attribute
10 hex
PWE
+ Sub index
20 hex
PBE
+ Sub index
30 hex
Text
+ Sub index
Parameter Structure
PROFIdrive Telegram
PROFIdrive Parameter Structure
The table describes the PROFIdrive header:
A parameter is defined with its PNU number from 1...65535.
Each parameter consists of 3 main areas:
PWE: the value
PBE: describes the parameter attributes
Text area
The access to the 3 different areas of a parameter is specified by the attribute field of the parameter
request.
The following diagram summarizes the parameter model (For more information, refer to the profile drive
technology V4 standard).
The parameters and their sub parts are identified as follows:
Detail of the PBE Attribute
The diagram describes the PBE attribute:
Basics
23
ER41, ER24
Parameter Property
Drive Implementation
Example
PNU number
1000 −
Sub index
Modbus address
CMD address: 8501
PWE
Value of the parameter 0...65535
−
PBE
Describes an array of 65535 words
Constant
Text −
Drive parameter
Drive Parameters
Each drive parameter can be represented according to the PNU standard structure. Drive parameters are
part of the PNU 1000 or can be accessed using the Modbus address as PNU number.
The table provides the possible values of a parameter according to the PNU properties:
Basics
24
ER41, ER24
PNU
Sub -ID
Definition
Data Type
R/W
Comments
900 −
Controller > DO PNU900
contains the cyclical frame
if supervisor handles the
DO
−
R
Control telegram.
Image of PZD
907 −
Controller < DO
PNU900 contains the
cyclical frame if supervisor
handles the DO
−
R
Status telegram.
Image of PZD
922 −
Telegram selection
UINT R
1,100,101,102,106,107
927 −
Operation priority
UINT
R/W
Enables control
928 −
Control priority
UINT R
=1
930 −
Operating mode
UINT R
=1
944 −
Error message counter
UINT R
The value of PNU944 is incremented
each time an error is detected (+1 for
each new detected error)
947 −
Error number
UINT R
This parameter contains the error code
value (error code = error number) of an
error detected by the drive.
963 −
Actual baud rate
UNIT R
Current baud rate
964
−
Drive unit identification
0 Manufacturer ID
−
R
Defined by PNO (PROFINET
organization)
1 Drive unit
String R
This UNIT contains the value xx
commercial catalog number (character
string)
2 Version (drive)
−
R
This parameter contains the firmware
version of the host drive XXyy version, IE
3 Firmware date (year)
INT R −
4 Firmware date (day/month)
INT R
This parameter contains the firmware
date (day/month)
Sub index 5 and 6 are not available.
965 −
Profile identification
number
UINT R
Profile identification numbers:
Byte 1 = 03: PROFIdrive
Byte 2 = 40: V4.01
980...989
−
Number list of defined
parameter (mandatory
parameter + PNU1000)
UINT R −
PROFIdrive Parameters
PROFIdrive Standard Parameters
Parameters 900 to 999 are defined in accordance with the PROFIdrive profile.
The table describes the required parameters:
Basics
25
ER41, ER24
Byte n+1
Byte n
Request header
Request reference = 01
Request ID = 02
Axis = 01 hex
Number of parameters = 01
Parameter number
Attribute = 10 hex *
Number of elements = 01
PNU number = 3E8 hex
Sub index = 2329 hex (9001) ACC Modbus address
Parameter value
Format = 42 hex
Amount values = 01
Value = 50 (ACC is set to 5 s)
*refers to field value (PWE), 20 hex refers to the description field (PBE) and 30 hex to the text field.
Byte n+1
Byte n
Response header
Request reference = 01
Request ID = 02
Axis = 01 hex
Number of parameters = 01
Byte n+1
Byte n
Request data
Request reference = 01
Request ID = 01
Axis = 01 hex
Number of parameters = 01
Attribute = 10 hex *
Number of elements = 01
PNU number = 3E8 hex
Sub index = C81 hex (3201) ETA Modbus address
*refers to field value (PWE), 20 hex refers to the description field (PBE) and 30 hex to the text field.
Byte n+1
Byte n
Response header
Request reference = 01
Request ID = 01
Axis = 01 hex
Number of parameters = 01
Response data
Format = 42 hex *
Number of elements = 01
PNU value = xxxx hex (value of ETA)
*format 42 hex specified that the returned value is a WORD.
PROFIdrive Parameter Access
Parameters Requests
There are 2 types of request:
Request parameter (parameters are PNU number, attribute, and sub index)
Change parameter (parameters are PNU number, attribute, and sub index)
These requests are able to manage one or more parameters or several attributes of one parameter. In
order to access to a specific attribute of a parameter, the request header contains: the PNU, the sub index,
and an attribute. This attribute defines whether the request mentions the value, the description area, or the
text area.
Parameter Reading
Request
Response
NOTE: byte 41 hex, word 42 hex, standard integer 03 hex, double word 43 hex.
Parameter Writing
Request
Response
Basics
26
ER41, ER24
Byte n+1
Byte n
Request header
Request reference = 01
Request ID = 82*
Axis = 01 hex
Number of parameters = 01
Parameter number
Format = error 44 hex *
Number of values
Value
0x00: Impermissible PNU
0x01: Cannot change value
0x02: Low or high limit exceeded + sub index
0x03: Sub index detected error + sub index
0x04: No array
0x05: Incorrect data type
0x06: Setting not permitted + sub index
0x07: Cannot change description + sub index
0x09: No description
0x0B: No operation priority
0x0F: No text array available
0x11: Cannot execute the request. Reason not specified
0x14: Value impermissible
0x15: Response too long
0x16: Parameter address impermissible
0x17: Illegal format
0x18: Number of values inconsistent
0x19: Axis/DO nonexistent
0x20: Cannot change text
0x65: Invalid request reference
0x66: Invalid request ID
0x67: Invalid axis number / DO-ID
0x68: Invalid number of parameters
0x69: Invalid attribute
0x6B: Request too short
*for all negative responses the ID equals to response code or 80 hex.
Request for Negative Response
The table lists the items of a negative response:
With the sub index in addition to the detected error value, the total length of the answer is 10 bytes.
Basics
27
ER41, ER24
iPar Service
Description
Section 2.4
iPar Service
The PROFINET fieldbus module is compliant with iPar server function.
This is managed by the function block FB24 IPARSERV.
The purpose of this function is to save (upload) the parameters (iParameter) of any PROFIBUS DP slave,
PROFINET I/O device, or module within the same host controller that is maintaining the GSD-based
parameters and diagnosis messages.
This allows, for example, fast device replacement due to maintenance or repair.
The function block can restore (download) the iParameter set to the component upon its request.
The figure shows the universal-Parameter-Server principle.
Per upload request, the function block reads the data record with the iParameter out of the drive, creates
a data block, and stores the data record therein.
Per download request, the function block uses the data block and writes down a data record to the drive.
The FB is instantiated once per component. It must be started within OB1 and additionally in OB 100 (the
start-up OB).
With PROFINET I/O, a device sends a request to save or restore iParameter set to the host controller via
a new alarm, called upload & retrieval (User structure identifier = 0x8201).
With a PROFINET I/O device, the function block FB 24 must additionally be started within OB 56 (the
update alarm OB).
To configure the iPar function, it is necessary to use the diagnostic address of the slot 0 present on the
device.
Basics
28
ER41, ER24
Function Name
Code
Description
Comments
Dec
Hex
Read Multiple Register
03
03 hex
Read multiple register
Maximum PDU length: 63 words
Write Single Register
06
06 hex
Write single register
−
Diagnostic
08
08 hex
Diagnostic
−
Write multiple register
16
10 hex
Write multiple register
Maximum PDU length: 63 words
Read device Identification
43
2B hex
Schneider identification
(subfunction 14/0E hex)See the table below
Select Support device replacement without exchangeable medium to activate the iPar function.
The answer of the iPar request is stored in a data block. The size of the array shall be set to 8192.
Modbus TCP Settings
The Modbus channel is only used for commissioning tools and for the embedded Web server (Unit ID 251:
Fieldbus module, unit ID 248: Variable speed drive).
Basics
29
ER41, ER24
Byte(s)
Meaning
With the PROFINET CARD PROFINET Module
0 Function code = 2B hex
2B hex
1 Type of MEI
0E hex
2 ReadDeviceId code
01 hex
3 Degree of conformity
02 hex
4 Number of additional frames
00 hex
5 Next object ID
00 hex
6 Number of objects
3
for basic
4
for regular or extended
7 Object 1 ID
00
8 Length of object 1 (A)
13
9...21
Value of object 1 (A ASCII character)
BLEMO
22
Object 2 ID
01 hex = Product Code
23
Length of object 2 (B)
11 (for the following example only)
24...23+B
Value of object 2 (B ASCII characters)
(1)
Example: ATVxxxxxxxx
24+B
Object 3 ID
02 hex = Major.Minor revision
25+B
Length of object 3 (C)
4
26+B...29+B
Value of object 3 (C ASCII characters)
Example: 0201 for version 2.1
30+B
Object 4 ID
06 hex = Application name
(2)
For regular
and extended
31+B
Length of object 4 (D)
8 (for the following example only)
32+B...31+B+D
Value of object 4 (D ASCII
characters)
(1)
Example: Machine 4
(1)
The length of this field is variable. Use the Length of object X field associated with it to determine the length.
(2)
In the case of the drive, this data item corresponds to [DEVICE NAME].
The response to a drive identification request does not cause an exception response
The following table provides the details of device identification
Basics
30
ER41, ER24
31
ER41, ER24
Topic
Page
Hardware Presentation
32
Firmware and Description File
33
Installation of the Module
34
Electrical Installation
35
Cable Routing Practices
36
Chapter 3
Hardware Setup
What Is in This Chapter?
This chapter contains the following topics:
Hardware Setup
32
ER41, ER24
Item
Description
Comment
A Port A
RJ45 connector
B Port B
RJ45 connector
Hardware Presentation
PROFINET Fieldbus Module
The figure shows a PROFINET fieldbus module with 2 RJ45 connectors:´
Hardware Setup
33
ER41, ER24
Firmware and Description File
Compatibility
The PROFINET CARD option module version 1.2 and higher is compliant with all ER41 / ER24 product
range. The associated GSDML is named as the following example:
GSDML-V2.3-Schneider-ATV6xx-20140612.xml
The files are available on www.blemo.com.
Hardware Setup
34
ER41, ER24
Step Action
1
Ensure that the power is off.
2
Locate the fieldbus module slot (A) on the bottom of the control part.
3
Add the corresponding sticker on the LED front panel of the drive.
4
Insert the module.
5
Check that the module is correctly inserted and locked mechanically in the drive.
Step Action
1
Ensure that the power is off.
2
Press the strip.
3
Remove the module while maintaining the strip pressed,
Installation of the Module
Before Starting
Check that the module catalog number marked on the label is the same as that on the delivery note
corresponding to the purchase order.
Remove the fieldbus module from its packaging and check that it has not been damaged in transit.
Insertion of the Fieldbus Module
The table provides the procedure for insertion of the PROFINET option module in the drive:
1 Slot A
Removal of the Fieldbus Module
The table provides the procedure for removal of the PROFINET option module from the drive:
Hardware Setup
35
ER41, ER24
Pin
Signal
Meaning
1 Tx+
Ethernet transmit line +
2 Tx-
Ethernet transmit line –
3 Rx+
Ethernet receive line +
4
− −
5
− −
6 Rx-
Ethernet receive line –
7
− −
8
− −
Electrical Installation
Pin Layout
The PROFINET CARD option module is equipped with 2 RJ45 female sockets for the PROFINET
connection.
Cable Specification
The table provides the pin out details of each RJ45 connector:
Cable specifications are as follows:
Minimum Cat 5e,
Use equipotential bonding conductors (100 BASE-TX, category 5e or industrial Ethernet fast connect)
Connector RJ45, no crossover cable
Shield: both ends grounded
Twisted-pair cable
Verify that wiring, cables, and connected interfaces meet the PELV requirements.
Maximum cable length per segment = 100 m (328 ft) / 6 plugs
Hardware Setup
36
ER41, ER24
Ring topology
Cable Routing Practices
Installation Topology
The PROFINET CARD option module, with its 2 RJ45 connector, enables several wiring solutions:
Daisy chain and/or Star topology
The ring topology can only be used with a media redundancy protocol (MRP) capable managed device.
The bus watchdog shall be increased when using MRP function in order to avoid triggering untimely
[Fieldbus Com Interrupt] .
37
ER41, ER24
Section
Topic
Page
4.1
Basic Settings
38
4.2
Additional Settings
53
4.3
Embedded Web Server
62
4.4
Communication Profile
70
4.5
Fieldbus Integration Tutorial
101
Chapter 4
Software Setup
What Is in This Chapter?
This chapter contains the following sections:
38
ER41, ER24
Software Setup
Topic
Page
Introduction
39
[DEVICE NAME] (
)
40
[IP mode] ( )
41
[IP Module] ( ) (
) (
) (
) ( ) 42
[IP Mask] ( ) (
) (
) ( ) ( )
43
[IP Gate] ( ) (
) (
) ( ) ( )
44
[Actual IP]
45
[Actual mask]
46
[Actual gate.]
47
[Ethernet Error Code] (
)
48
[EnableWebserver] (
)
49
[PPO profile used] (
)
50
[MAC @] ( )
51
IP Parameter Settings
52
Section 4.1
Basic Settings
What Is in This Section?
This section contains the following topics:
39
ER41, ER24
Software Setup
Introduction
Overview
Access
The parameters are described according to the graphic display terminal. These settings are also possible
from commissioning software or from the PROFINET embedded Web server.
The parameters are accessible in the [Communication] ( )/[Comm Parameters] ( ),
[Profinet] ( ) menu.
Software Setup
40
ER41, ER24
Settings
Code Value
Description
−
− −
Maximum 16 characters
[DEVICE NAME] ( )
About This Parameter
This parameter defines the name of the device.
Access
Possible Settings
This is a read/write parameter
The parameter numbers are from 3340...3347
The table presents the parameter settings:
Software Setup
41
ER41, ER24
Settings
Code Value
Description
[Fixed]
0
Manually type the IP address.
[DHCP]
2
Automatically gets the IP address from the DHCP server.
[DCP]
3
Automatically gets the IP address from the DCP server.
[IP mode] ( )
About This Parameter
Access
Possible Settings
This parameter is used to select the IP address assignment method.
This is a read/write parameter
The parameter number is 64250.
The table presents the parameter settings:
Software Setup
42
ER41, ER24
Settings
Code Value
Description
[0.0.0.0]
0...255
First byte of IP address.
0...255
Second byte of IP address
0...255
Third byte of IP address
0...255
Fourth byte of IP address
Factory setting: 0.0.0.0
[IP Module] ( ) ( ) ( ) ( ) ( )
About This Parameter
This parameter can be edited only when IP mode is set to fixed address.
Access
Possible Settings
This is a read/write parameter
The parameter number for IPC1 is 64212
The parameter number for IPC2 is 64213
The parameter number for IPC3 is 64214
The parameter number for IPC4 is 64215
The table presents the parameter settings:
Software Setup
43
ER41, ER24
Settings
Code
Value
Description
[255.255.254.0]
0...255
First byte of IP mask.
0...255
Second byte of IP mask.
0...255
Third byte of IP mask.
0...255
Fourth byte of IP mask.
Factory setting: 0.0.0.0
[IP Mask] ( ) ( ) ( ) ( ) ( )
About This Parameter
This parameter can be edited only when IP mode is set to fixed address.
Access
Possible Settings
This is a read/write parameter
The parameter number for IPM1 is 64216
The parameter number for IPM2 is 64217
The parameter number for IPM3 is 64218
The parameter number for IPM4 is 64219
The table presents the parameter settings:
Software Setup
44
ER41, ER24
Settings
Code Value
Description
[0.0.0.0]
0...255
First byte of IP gateway
0...255
Second byte of IP gateway
0...255
Third byte of IP gateway
0...255
Fourth byte of IP gateway
Factory setting: 0.0.0.0
[IP Gate] ( ) ( ) ( ) ( ) ( )
About This Parameter
This parameter can be edited only when IP mode is set to fixed address.
Access
Possible Settings
This is a read/write parameter
The parameter number for IPG1 is 64220
The parameter number for IPG2 is 64221
The parameter number for IPG3 is 64222
The parameter number for IPG4 is 64223
The table presents the parameter settings:
Software Setup
45
ER41, ER24
Settings
Code Value
Description
[0.0.0.0]
0...255
First byte of IP address
0...255
Second byte of IP address
0...255
Third byte of IP address
0...255
Fourth byte of IP address
Factory setting: 0.0.0.0
[Actual IP]
About This Parameter
Access
Possible Settings
This parameter can be accessed only when IP mode is set to fixed address.
This is the current IP setting taken into account by the drive.
This is a read-only parameter
The parameter number for IPA1 is 64252
The parameter number for IPA2 is 64253
The parameter number for IPA3 is 64254
The parameter number for IPA4 is 64255
The table presents the parameter settings:
Software Setup
46
ER41, ER24
Settings
Code
Value
Description
[0.0.0.0]
0...255
First byte of IP mask
0...255
Second byte of IP mask
0...255
Third byte of IP mask
0...255
Fourth byte of IP mask
Factory setting: 0.0.0.0
[Actual mask]
About This Parameter
This parameter can be accessed only when IP mode is set to fixed address.
This is the current IP setting taken into account by the drive.
Access
Possible Settings
This is a read-only parameter
The parameter number for IPS1 is 64256
The parameter number for IPS2 is 64257
The parameter number for IPS3 is 64258
The parameter number for IPS4 is 64259
The table presents the parameter settings:
Software Setup
47
ER41, ER24
Settings
Code Value
Description
[0.0.0.0]
0...255
First byte of IP gateway
0...255
Second byte of IP gateway
0...255
Third byte of IP gateway
0...255
Fourth byte of IP gateway
Factory setting: 0.0.0.0
[Actual gate.]
About This Parameter
Access
Possible Settings
This parameter can be accessed only when IP mode is set to fixed address.
This is the current IP setting taken into account by the drive.
This is a read-only parameter
The parameter number for IPT1 is 64260
The parameter number for IPT2 is 64261
The parameter number for IPT3 is 64262
The parameter number for IPT4 is 64263
The table presents the parameter settings:
Software Setup
48
ER41, ER24
Settings
Code
Value
Description
− −
0
No error detected
1 PROFINET I/O timeout
2 Network overload
3 Loss of Ethernet carrier
9 Duplicated IP address.
10
No valid IP.
12
IPAR unconfigured state
13
IPAR unrecoverable error detected
17
Application I/O configuration error detected
[Ethernet Error Code] ( )
About This Parameter
This parameter displays the Ethernet error codes. This parameter can be accessed in [Display] (
), [Communication map] ( ), [PROFINET DIAG] ( ) menu
Access
Possible Settings
This is a read-only parameter
The parameter number is 64270
The table presents the parameter settings:
Software Setup
49
ER41, ER24
Settings
Code
Value
Description
− −
0
No Web services.
1
Web server enabled
Factory setting: 1
[EnableWebserver] ( )
About This Parameter
This parameter is used to enable Web services.
Access
Possible Settings
This is a read/write parameter.
The parameter number is 64264.
The table presents the parameter settings:
Software Setup
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ER41, ER24
Settings
Code
Value
Description
[UnCG]
0
UNCFG
[1]
1
Profidrive
[100]
100
Device specific
[101]
101
Device specific
[102]
102
Device specific
[106]
106
Device specific
[107]
107
Device specific
Factory setting: 0
[PPO profile used] ( )
About This Parameter
This parameter is used to select the actual profile for the device.
Access
Possible Settings
This is a read parameter
The parameter number is 6665
The table presents the parameter settings:
Software Setup
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ER41, ER24
Settings
Code Value
Description
[xx-xx-xx-XX-XX-XX]
− xx-xx-xx-XX-XX-XX
Left port MAC address is +1.
Right port MAC address is + 2.
[MAC @] ( )
About This Parameter
Access
Possible Settings
This parameter displays the MAC address of the device.
This is a read-only parameter
The table presents the parameter settings:
Software Setup
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ER41, ER24
IP Parameter Settings
Assigning IP Parameters
The drive needs three IP parameters:
The drive IP address.
The subnet mask.
The gateway IP address.
When the [IP mode] ( ) is set to [Fixed] ( ), you can directly type the IP address using the
graphic display terminal or using the commissioning software.
When the [IP mode] ( ) is set to [DHCP] ( ), you can get IP address from a DHCP server
(correspondence between the device name and the IP addresses
When the [IP mode] ( ) is set to [DCP] ( ), you can use DCP (Discovery control protocol)
protocol to discover PROFINET devices.
Entering IP Parameters in the Terminal
In the [Communication] ( )/[Comm Parameters] ( )/, [Profinet] ( ) menu, enter the
following IP parameters:
[IP Module] ( ) ( ) ( ) ( )
[IP Mask] ( ) ( ) ( ) ( ),
[IP Gate] ( ) ( ) ( ) ( ).
Turn off the drive and then back on again (control voltage if a separate power supply is being used),
otherwise the IP parameters are not taken into account.
If this address is modified, the new IP address entered is displayed. This IP address will be effective the
next time the drive is turned on.
Case of Manual Switching of [IP mode] ( )
When switching [IP mode] ( ) to [DCP] ( )
IP settings are no longer editable
Turn off the drive supply and then back on again, including the control voltage if a separate power supply
is being used
The new configuration is applied, the device is waiting for IP settings from the PROFINET controller
When switching [IP mode] ( ) to [Fixed] ( )
IP settings become editable
Set IP settings with valid values
Turn off the drive and then back on again, including the control voltage if a separate power supply is
being used
The new configuration is applied
NOTE: If the IP settings are not valid, the drive triggers [Fieldbus Error] ( ) after the next power-on.
When switching [ IP mode] ( ) to [DHCP] ( )
IP settings are no longer editable.
Set the device name with a valid value.
Turn off the drive and then back on again, including the control voltage if a separate power supply is
being used.
The new configuration is applied, the device is waiting for IP settings from DHCP server.
NOTE: If the device name is not valid, the drive triggers [Fieldbus Error] ( ) after the next power-
on.
Case of Automatic Switching of [IP Mode] ( ) to [DCP] ( )
The following condition should be fulfilled:
The device has a station name configured and validated
The device is connected to a PROFINET controller
The PROFINET controller has the station name in its own configuration
The settings are in local configuration of the PROFINET controller
If the all above mentioned conditions are fulfilled:
[IP mode] ( ) is automatically set to [DCP] ( )
IP settings are replaced by the one set in local PROFINET controller
The new configuration is applied immediately
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ER41, ER24
Topic
Page
Introduction
54
[iPar Activation]( )
55
[iPar Autosave Act] ( )
56
[iPar Autosave Timer] ( )
57
[iPar Error Response] ( )
58
[iPar Local Conf] ( )
59
[iPar Status] ( )
60
[iPar Error Code] ( )
61
Section 4.2
Additional Settings
What Is in This Section?
This section contains the following topics:
Software Setup
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ER41, ER24
Introduction
Overview
Access
The parameters are described according to the graphic display terminal. These settings are also possible
from commissioning software or from the PROFINET embedded Web server.
The parameters are accessible in the [Communication] ( )/[Comm Parameters] ( ),
[Profinet] ( ) menu.
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ER41, ER24
Settings
Code Value
Description
[No]
[Yes]
0
1
Indicates that the iPar service is disabled.
Indicates that the iPar service is enabled.
[iPar Activation]( )
About This Parameter
This parameter is used to enable the iPar service.
Access
Possible Settings
This is a read/write parameter
The parameter number is 64274.
The table presents the parameter settings:
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ER41, ER24
Settings
Code Value
Description
[No]
0
Indicates that the iPar autosave service is disabled
[Yes]
1
Indicates that the iPar autosave service is enabled
Factory setting: 0
[iPar Autosave Act] ( )
About This Parameter
This parameter is used to enable the iPar autosave service.
Access
Possible Settings
This is a read/write parameter
The parameter number is 64275.
The table presents the parameter settings:
Software Setup
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ER41, ER24
Settings
Code Value
Description
−
− 0
1...9999 min
No autosave
iPar service is saved after specified interval of time.
Factory setting: 10 min
[iPar Autosave Timer] ( )
About This Parameter
This parameter is used to set the interval for periodic saving of the iPar service.
Access
Possible Settings
This is a read/write parameter
The parameter number is 64278.
The table presents the parameter settings:
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ER41, ER24
Settings
Code Value
Description
[No]
0
Indicates that the iPar error handling is disabled
[Yes]
1
Indicates that the iPar error handling is enabled
Factory setting: 1
[iPar Error Response] ( )
About This Parameter
This parameter is used to enable the iPar error handling.
Access
Possible Settings
This is a read/write parameter
The parameter number is 64277.
The table presents the parameter settings:
Software Setup
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ER41, ER24
Settings
Code Value
Description
[No]
0
Indicates that the drive configuration is downloaded from the iPar server at
[Yes]
1
power-on of the drive.
Indicates that the drive configuration is available locally in the drive.
Factory setting: 0
[iPar Local Conf] ( )
About This Parameter
This parameter is used to select local or server configuration.
Access
Possible Settings
This is a read/write parameter
The parameter number is 64276.
The table presents the parameter settings:
Software Setup
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ER41, ER24
Settings
Code
Value
Description
[Idle State]
(
)
0
Idle state
[Init] ( )
1
Initialization
[Configuration]
( )
2
Configuration
[Ready]
( )
3
Ready
[Operational]
( )
4
Operational
[Not Configured]
( )
5
Not configured
[Unrecoverable Error]
(
)
6
Unrecoverable error state
[iPar Status] ( )
About This Parameter
This parameter displays the iPar service status. This parameter can be accessed in [Display] ( ),
[Communication map] ( ), [PROFINET DIAG] ( ) menu.
Access
Possible Settings
This is a read-only parameter
The parameter number is 64279.
The table presents the parameter settings:
Software Setup
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ER41, ER24
Settings
Code
Value
Description
[0]
( ) 0 No error
[1] ( ) 1
Stored configuration is not ok
[2] ( ) 2
No configuration file on the IPAR server or configuration is not compatible.
(Served configuration is not ok)
[3] ( ) 3
Connection error to the IPAR configuration file on the server.
[4] ( ) 4
Writing error the configuration file to the server.
Factory settings: 0
[iPar Error Code] ( )
About This Parameter
This parameter displays the error code. This parameter can be accessed in [Display] ( ),
[Communication map] ( ), [PROFINET DIAG] ( ) menu.
Access
Possible Settings
This is a read-only parameter
The parameter number is 64280.
The table presents the parameter settings:
Software Setup
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Topic
Page
Embedded Web Server
63
Home Page
64
Display
65
Network Setup
68
Diagnostics
69
Section 4.3
Embedded Web Server
What Is in This Section?
This section contains the following topics:
Software Setup
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ER41, ER24
Home
Monitoring
Drive monitor
Data Viewer/Editor
Save and restore
Network setup
Network parameters
iPar client settings
Administration
Diagnostics
TCP/IP statistics
Modbus statistics
Embedded Web Server
Overview
Connection to the Web Server
The PROFINET CARD provides an integrated Web server which allows several functions like:
displaying, parameter settings, and diagnostics. This chapter describes the services provided by this
Web server.
The Web server can be accessed from standard browsers like Internet Explorer or Firefox.
In the following example, the drive has received the IP address 10.0.0.5:
First connect the computer to the drive by typing http:// followed by the drive IP address. You have to
enter the User Name and a Password.
The factory setting for the user name is USER and the password is also USER .
Once connected, the Web server home page is displayed.
Access Rights - Password and User Names
Web read password: Access to the different pages requires a user access level. This is the first level
of password, you can display and access to all the pages of the Web server, but not modify data.
User name: USER (factory setting)
Password: USER (factory setting)
Web write password: Access to data or settings change, an administrator access level is required.
Password: USER (factory setting)
Web Server Site Map
It contains:
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ER41, ER24
Home Page
Overview
Note About Java Applets
The home page or Home menu includes a Languages submenu that contains a link to the different
available language page.
Each link in the Languages submenu sends the user to the home page in the chosen language and
configures the web browser to open the HTML pages located in the corresponding directory. (example: the
http://10.0.0.5 directory becomes the standard directory in the case of English).
The Web server downloads java programs called applets to your computer. These applets communicate
with the drive using Modbus services (on port 502), establishing one or more connections between the
computer and the drive. Until an applet has been fully transmitted from the drive to the browser, a gray
rectangle appears in the place reserved for it in the page.
The applet associated with the web pages displays the communication with the drive. When the drive no
longer responds to requests to update the data, the message “Link down” is displayed in one field and all
the other field contents are emptied.
The description of each page indicates the data refresh period requested by the applet loaded on the
computer. The refresh period actually observed depends on:
The performance of the computer on which the web browser is running,
The communication system response time,
The amount of data to be refreshed on the page.
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Display
Monitoring Menu
Drive Monitor Page
The Monitoring menu contains the following items:
Drive Monitor
Data viewer/editor
Save and restore configuration
The figure shows the Drive Monitor page:
The state displayed in the ER41 und ER24 Status field corresponds to the display on the graphic
display terminal. A delay may be noticed between the displays on the Web server and the display
terminal. This delay depends on the performance of the computer used to display the pages using a web
browser and the communication system performance.
The motor speed displayed on the Motor Speed (RPM) gauge is calibrated according to the drive and
motor settings.
The LI... Gives the state of the drive terminal
DI1...DI6, DI11...DI16: Logical inputs
R1...R6: Relay outputs
AI1...AI5: Analog inputs
DO11...DO12: Analog/digital output
Green LED indicates that the logical input is active.
Red LED indicates that logical output is active
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Data Viewer/ Editor Page
The figure shows the Data viewer/editor page:
This page is used to display the drive parameters and to modify their values.
The parameters are arranged in groups, and are consistent with the keypad and user manuals.
The display mode for each value depends on the nature of the parameter:
To display the values, click the Start animation button.
To modify the parameter value, click the Write value if selected row button then select the parameter to
modify.
It is only possible to modify the parameter values after entering the Write password, for details, refer to
Access Rights - Password and User Name (see page 63).
Click the Password button to enter this password. An entry field then appears in the parameter table, and
also a Cancel button, for canceling the password entry. After entering the password, press the Enter key
so that it is taken into account by the web browser.
The unit for the physical values is displayed in the Unit column.
The registers (bit fields) are displayed in hexadecimal format (xxxx hex).
Signed values are displayed as such.
When the value of a parameter cannot be modified, the following window appears:
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ER41, ER24
Save and Restore Configuration Page
The figure shows the Save and restore configuration page:
This page is used to save on the local computer (save Backup.cfg file) and restore from the local
computer the drive parameters by using the embedded Web server. Restore operation is possible when
the motor is stopped.
Software Setup
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ER41, ER24
Network Setup
Network Setup Menu
The Network Setup menu contains the following items:
Network Parameters
iPar Client Settings
Administration
Network Parameters Page
The figure shows the Network Parameters page:
IPar Client Settings Page
This page displays the main parameters used by the PROFINET CARD PROFINET module iPar function
and is used to configure these parameters.
The figure shows iPar Client Settings page:
Administration Page
This page is used to modify the Web read and the Web write password, for details, refer to Access Rights
- Password and User Name (see page 63).
The figure shows the Administration page:
Software Setup
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ER41, ER24
Diagnostics
Diagnostic Menu
TCP/IP Statistics Page
The Diagnostics Menu contains the following items:
TCP/IP Statistics
Modbus Statistics
This page gives detailed information about the Ethernet status and settings.
The figure shows the TCP/IP Statistics page:
Modbus Statistics
This page gives detailed information about the Modbus server.
The figure shows the Modbus Statistics page:
Software Setup
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Topic
Page
Definition of a Profile
71
Functional Profiles Supported by the Drive
72
Functional Description
73
CIA402 Operating State Diagram
74
Description of Operating States
75
Summary
77
Cmd Register
78
Stop Commands
79
Assigning Control Word Bits
80
[CIA402 State Reg]
81
Starting Sequence
82
Sequence for a Drive Powered by the Power Stage Supply
83
Sequence for a Drive with Separate Control Stage
84
Sequence for a Drive with Mains Contactor Control
86
Telegram 100, 101, 102, 106, 107
87
Configuring Drive with a Siemens© S7-300
91
Configuration of Drive with the Telegram 100
92
Configuring a Drive with the Telegram 101, 102, 106, or 107
93
Parameters Management with the Telegram 100, 101, 102, 106, 107
94
Telegram 1
95
State Diagram
96
Command Word and Operating State Word
97
Reference Frequency
100
Section 4.4
Communication Profile
What Is in This Section?
This section contains the following topics:
Software Setup
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Definition of a Profile
Types of Profiles
Communication Profile
Functional Profile
Application Profile
Interchangeability
There are 3 types of profile:
Communication profiles
Functional profiles
Application profiles
A communication profile describes the characteristics of a bus or network:
Cables
Connectors
Electrical characteristics
Access protocol
Addressing system
Periodic exchange service
Messaging service
...
A communication profile is unique to a type of fieldbus (such as Modbus, PROFIBUS DP, and so on) and
is used by different types of devices.
A functional profile describes the behavior of a type of device:
Functions
Parameters (such as name, format, unit, type, and so on.)
Periodic I/O variables
State chart
...
A functional profile is common to all members of a device family (such as variable speed drives, encoders,
I/O modules, displays, and so on).
They can feature common or similar parts. The standardized (IEC 61800-7) functional profiles of variable
speed drives are:
CiA402
PROFIDRIVE
CIP
DRIVECOM has been available since 1991.
CiA402 device profile for drives and motion control represents the next stage of this standard development
and is now part of the IEC 61800-7 standard.
Some protocols also support the Open DeviceNet Vendor Association profile (ODVA).
Application profile defines the services to be provided by the devices on a machine. For example, CiA DSP
417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device definitions.
The aim of communication and functional profiles is to achieve interchangeability of the devices connected
via the fieldbus.
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Functional Profiles Supported by the Drive
I/O Profile
CiA402 Profile
Using the I/O profile simplifies PLC programming.
The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function.
The I/O profile for the drive can also be used when controlling via a fieldbus.The drive starts up as soon as
the run command is sent.15 bits of the control word (bits 1...15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
The terminals
The Modbus control word
The CANopen control word
Ethernet Modbus TCP embedded
The fieldbus module control word
The I/O profile is supported by the drive itself and therefore in turn by all the communication ports
(integrated Modbus, CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet fieldbus modules).
The drive only starts up following a command sequence.
The control word is standardized.
5 bits of the control word (bits 11...15) can be assigned to a function.
The CiA402 profile is supported by the drive itself and therefore by all the communication ports (Modbus,
CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet).
The drive supports the velocity mode of CiA402 profile.
In the CiA402 profile, there are two modes that are specific to the drive and characterize commands and
references value management:
Separate [Separate] ( )
Not separate [Not separ.] ( ),
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ER41, ER24
Functional Description
Introduction
Drive operation involves two main functions, which are illustrated in the diagrams below.
CiA402
ER41 und
ER24 Drive
The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in
brackets are the CANopen addresses of the parameter).
The following figure shows the control diagram for drive operation:
Simplified diagram for speed control in Velocity mode:
These diagrams translate as follows for the ER41 und ER24 drive.
The following figure shows the control diagram for drive operation:
Simplified diagram for speed control in Velocity mode:
Software Setup
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ER41, ER24
CIA402 Operating State Diagram
State Diagram
After switching on and when an operating mode is started, the product goes through a number of operating
states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions. The operating states are internally monitored and influenced by monitoring functions.
The following figure shows the CIA402 state diagram:
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ER41, ER24
Operating State
Description
1 on
Not ready
to switch
Initialization starts. This is a transient state invisible to the communication network.
2 - Switch
on
disabled
The power stage is not ready to switch on.
The drive is locked, no power is supplied to the motor.
For a separate control stage, it is not necessary to supply the power.
For a separate control stage with mains contactor, the contactor is not closed.
The configuration and adjustment parameters can be modified.
3 - Ready to
switch on
The power stage is ready to switch on and awaiting power stage supply mains.
For a separate control stage, it is not necessary to supply the power stage, but the
system expects it in order to change to state 4 - Switched on.
For a separate control stage with mains contactor, the contactor is not closed.
The drive is locked, no power is supplied to the motor.
The configuration and adjustment parameters can be modified.
4 - Switched
on
Power stage is switched on.
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is locked, no power is supplied to the motor.
The power stage of the drive is ready to operate, but voltage has not yet been
applied to the output.
The adjustment parameters can be modified.
If a configuration parameter is modified, the drive returns to the state 2 - Switch
on disable .
5 - Operation
enabled
Power stage is enabled. The drive is in running state
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is unlocked, power is supplied to the motor.
The drive functions are activated and voltage is applied to the motor terminals.
If the reference value is zero or the Halt command is applied, no power is supplied
to the motor and no torque is applied. To perform [Auto tuning] , the drive
must be in state 5 - Operation enabled.
The adjustment parameters can be modified.
The configuration parameters cannot be modified.
NOTE: The command 4 - Enable operation must be taken into consideration
only if the channel is valid. In particular, if the channel is involved in the command
and the reference value, transition 4 is possible only after the reference value has
been received once.
The reaction of the drive to a Disable operation command depends on the
value of the [SwitchOnDisable Stp] parameter:
If the [SwitchOnDisable Stp] parameter is set to 0, the drive changes
to operating state 4 - Switched on and stops in freewheel stop.
If the [SwitchOnDisable Stp] parameter is set to 1, the drive stops on
ramp and then changes to operating state 4 - Switched on.
Description of Operating States
Drive Operating State
The operating state of the drive changes depending on whether the control word [Cmd Register]
, is sent or an event occurs (an error detection, for example).
The drive operating state can be identified by the value of the status word [CIA402 State Reg] .
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Operating State
Description
6 - Quick stop active
The drive performs a fast stop and remains locked in the operating state 6-Quick
stop active. Before restarting the motor, it is required to go to the operating state
2-switch on disabled.
During fast stop, the drive is unlocked and power is supplied to the motor.
The configuration parameters cannot be modified.
The condition for transition 12 to state 2 - Switch on disabled depends on the
value of the parameter
Quick stop mode (QStd):
If the Quick stop mode parameter has the value FST2, the drive stops according
to the fast stop ramp and then changes to state 2 - Switch on disabled .
If the Quick stop mode parameter has the value FST6, the drive stops according
to the fast stop ramp and then remains in state 6 - Quick stop active until:
A Disable voltage command is received or
The STOP key is pressed or
A freewheel stop command via the digital input of the terminal.
7 - Fault reaction
active
Transient state during which the drive performs an action corresponding to the
selected error response.
8 - Fault
Error response terminated. Power stage is disabled.
The drive is locked, no power is supplied to the motor.
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Operating State
Power Stage Supply for
Separate Control Stage
Power Supplied to
Motor
Modification of Configuration
Parameters
1 - Not ready to
switch on
Not required
No
Yes
2 - Switch on
disabled
Not required
No
Yes
3 - Ready to
switch on
Not required
No
Yes
4 - Switched on
Required
No
Yes, return to 2 - Switch on
disabled operating state
5 - Operation
enabled
Required
Yes
No
6 - Quick stop
active
Required
Yes, during fast stop
No
7 - Fault reaction
active
Depends on error response
configuration
Depends on error
response configuration
−
8 - Fault
Not required
No
Yes
Summary
Device Status Summary
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ER41, ER24
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Fault reset
Reserved
(=0)
Reserved
(=0)
Reserved
(=0)
Enable
operation
Quick stop
Enable
voltage
Switch on
0 to 1
transition =
Error is
reset (after
cause of
error is no
longer
active)
1 = Run
command
0 = Quick
stop active
Authorization
to supply AC
power
Mains
contactor
control
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Manufacturer
specific
assignable
Manufacturer
specific
assignable
Manufacturer
specific
assignable
Manufacturer
specific
assignable
Manufacturer
specific
Reserved
(=0)
Reserved
(=0)
Halt
0 = Forward
direction
asked
1= Reverse
direction
asked
Halt
Command
State
Transition
Final
Operating
State
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Example
Value
Fault
Reset
Enable
Operation
Quick
Stop
Enable
Voltage
Switch
On
Shutdown
2, 6, 8
3 - Ready
to switch
on
X X 1 1 0 0006 hex
Switch on
3
4 Switched
on
X X 1 1 1 0007 hex
Enable
operation
4
5 Operation
enabled
X 1 1 1 1 000F hex
Disable
operation
5
4 Switched
on
X 0 1 1 1 0007 hex
Disable
voltage
7, 9, 10, 12
2 - Switch
on
disabled
X X X 0 X 0000 hex
Quick stop
11
6 - Quick
stop
active
X X 0 1 X 0002 hex
7, 10
2 - Switch
on
disabled
Fault
reset
15
2 - Switch
on
disabled
0 [gs56] 1
X X X X 0080 hex
X: Value is of no significance for this command.
0[gs56] 1: Command on rising edge.
Cmd Register
Bit Mapping of the Control Word
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Stop Commands
Halt Command
Fast Stop Command
Freewheel Command
The Halt command enables movement to be interrupted without having to leave the 5 - Operation
enabled state. The stop is performed in accordance with the [Type of stop] parameter.
If the Halt command is active, no power is supplied to the motor and no torque is applied.
Regardless of the assignment of the [Type of stop] parameter [Fast stop Assign] ,
[Ramp stop] , [Freewheel Stop] , or [DC Injection Assign] , the drive remains
in the 5 - Operation enabled state.
A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes
a change to the 4 - Switched on
A Freewheel Stop command using a digital input of the terminal or a bit of the control word assigned
to Freewheel Stop causes a change to operating state 2 - Switch on disabled.
Software Setup
80
Bit
Fieldbus Module for PROFINET, PROFIBUS, Ethernet option, DeviceNet
Bit 11
C311
Bit 12
C312
Bit 13
C313
Bit 14
C314
Bit 15
C315
Assigning Control Word Bits
Function Codes
In the CiA402 profile, fixed assignment of a function input is possible using the following codes:
For example, to assign the DC injection braking to bit13 of the fieldbus module, simply configure the [DC
Injection Assign] parameter with the [C313] value.
Bit 11 is assigned by default to the operating direction command [Reverse Assign]
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ER41, ER24
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Warning
Switch on
disabled
Quick stop
Voltage
enabled
Fault
Operation
enabled
Switched on
Ready to
switch on
A warning is
active
Power stage
supply
disabled
0 = Quick
stop is active
Power stage
supply
present
Error
detected
Running
Ready
1 = Awaiting
power
Stage
supply
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Manufacturer
Manufacturer-
Reserved
Reserved
Internal limit
Target
Remote
Reserved (=0)
-specific
specific Stop
(=0)
(=0)
active
reached
Direction of
rotation
via STOP key
Reference
value outside
Reference
value
Command
or reference
limits
reached
value via
fieldbus
Operating
State
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
ETA
Masked by
006F H
(1)
Switch On
Disabled
Quick
Stop
Voltage
Enabled
Fault
Operation
Enabled
Switched
On
Ready to
Switch On
1 -Not
ready to
switch on
0 X X 0 0 0 0
−
2 -Switch
on
disabled
1 X X 0 0 0 0 0040 hex
3 -Ready
to switch
on
0 1 X 0 0 0 1 0021 hex
4 Switched
on
0 1 1 0 0 1 1 0023 hex
5 Operation
enabled
0 1 11 0 1 1 1
0027 hex
6 -Quick
stop
active
0 0
0 1 1 1 0007 hex
7 -Fault
reaction
active
0 X X 1 1 1 1
−
8 -Fault
0 X X 1 0 0 0
0008 hex
(2)
..
.0028 hex
(1)
This mask can be used by the PLC program to test the diagram state.
(2)
detected error following operating state 6 - Quick stop active.
X: In this state, the value of the bit can be 0 or 1.
[CIA402 State Reg]
Bit Mapping of the Status Word
Software Setup
82
Power stage
supply
Direct
Direct
Mains contactor controlled by the
drive
Control stage
supply
Not separate
(1)
Separate
Separate
(1)
The power stage supplies the control stage.
Starting Sequence
Description
The command sequence in the state diagram depends on how power is being supplied to the drive.
There are 3 possible scenarios:
Software Setup
83
ER41, ER24
Sequence for a Drive Powered by the Power Stage Supply
Description
Step 1
Step 2
Both the power and control stages are powered by the power stage supply.
If power is supplied to the control stage, it has to be supplied to the power stage as well.
The following sequence must be applied:
Apply the 2 - Shut down command
Check that the drive is in the operating state 3 - Ready to switch on.
Then apply the 4 - Enable operation command.
The motor can be controlled (send a reference value not equal to zero).
NOTE: It is possible, but not necessary to apply the 3 - Switch on command followed by the 4 -
Enable Operation command to switch successively into the operating states 3 - Ready to Switch
on, 4 - Switched on and then 5 - Operation Enabled. The 4 - Enable operation command
is sufficient.
Software Setup
84
Power Stage Supply
Terminal Display
Status Word
Absent
21 hex
Present
31 hex
Sequence for a Drive with Separate Control Stage
Description
Step 1
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well.
The following sequence must be applied:
The power stage supply is not necessarily present.
Apply the 2 - Shut down command
Step 2
Check that the drive is in the operating state 3 - Ready to switch on.
Check that the power stage supply is present (Voltage enabled of the status word).
Apply the 3 - Switch on command
Software Setup
85
ER41, ER24
Step 3
Check that the drive is in the operating state 4 - Switched on.
Then apply the 4 - Enable operation command.
The motor can be controlled (send a reference value not equal to zero).
If the power stage supply is still not present in the operating state 4 - Switched on after a time delay
[Mains V. time out] , the drive triggers an error [Input Contactor] .
Software Setup
86
Sequence for a Drive with Mains Contactor Control
Description
Step 1
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The
drive controls the mains contactor.
The following sequence must be applied:
The power stage supply is not present as the mains contactor is not being controlled.
Apply the 2 - Shutdown command.
Step 2
Check that the drive is in the operating state 3 - Ready to switch on.
Apply the 3 - Switch on command, which closes the mains contactor and switch on the power stage
supply.
Software Setup
87
ER41, ER24
Telegram 100, 101, 102, 106, 107
Overview
The following diagram shows the native modes for telegram 100:
The native mode of the PROFINET PROFINET CARD is used when telegram 100 is used.
The PKW area of telegram 100, which is used for a simple parameter management, is compliant with the
PKW mechanism used with the PROFINET option module of the ER51, ER40.
NOTE: After switching from one telegram to another, the drive shall be restarted to validate the new
configuration.
Software Setup
88
The following diagram shows the native modes for telegram 101, 106, 107:
The following diagram shows the native modes for telegram 102:
Software Setup
89
ER41, ER24
Telegram 100
Telegram 101
Telegram 102
PLC>VSD
VSD>PLC
PLC>VSD
VSD>PLC
PLC>VSD
VSD>PLC
PKW 1
PKE
PKE
PKE
PKE
−
PKW 2
R/W
R/W
R/W
R/W
PKW 3
PWE
PWE
PWE
PWE
PKW 4
PWE
PWE
PWE
PWE
Cyclic data 1
OCA1 address
of CMD
=8501*
OMA1 address
of ETA =3201*
OCA1 address
of CMD
=8501*
OMA1 address
of ETA =3201*
OCA1 address
of CMD
=8501*
OMA1 address
of ETA =3201*
Cyclic data 2
OCA2 address
of LFRD
=8602*
OMA2 address
of RFRD
=8604*
OCA2 address
of LFRD
=8602*
OMA2 address
of RFRD
=8604*
OCA2 address
of LFRD
=8602*
OMA2 address
of RFRD
=8604*
Cyclic data 3
OCA3 default
=0
OMA3 default
=0
OCA3 default
=0
OMA3 default
=0
Cyclic data 4
OCA4 default
=0
OMA4 default
=0
OCA4 default
=0
OMA4 default
=0
Cyclic data 5
OCA5 default
=0
OMA5 default
=0
OCA5 default
=0
OMA5 default
=0
Cyclic data 6
OCA6 default
=0
OMA6 default
=0
OCA6 default
=0
OMA6 default
=0
*:default Modbus address.
Telegram 106
Telegram 107
PLC>VSD
VSD>PLC
PLC>VSD
VSD>PLC
PKW 1
PKE
PKE
PKE
PKE
PKW 2
R/W
R/W
R/W
R/W
PKW 3
PWE
PWE
PWE
PWE
PKW 4
PWE
PWE
PWE
PWE
Cyclic data 1
OCA1 address of
CMD =8501*
OMA1 address of
ETA =3201*
OCA1 address of
CMD =8501*
OMA1 address of
ETA =3201*
Cyclic data 2
OCA2 address of
LFRD =8602*
OMA2 address of
RFRD =8604*
OCA2 address of
LFRD =8602*
OMA2 address of
RFRD =8604*
Cyclic data 3
OCA3 default =0
OMA3 default =0
OCA3 default =0
OMA3 default =0
Cyclic data 4
OCA4 default =0
OMA4 default =0
OCA4 default =0
OMA4 default =0
Cyclic data 5
OCA5 default =0
OMA5 default =0
OCA5 default =0
OMA5 default =0
Cyclic data 6
OCA6 default =0
OMA6 default =0
OCA6 default =0
OMA6 default =0
Cyclic data 7
OCA7 default =0
OMA7 default =0
OCA7 default =0
OCA7 default =0
Cyclic data 8
OCA8 default =0
OMA8 default =0
OCA8 default =0
OCA8 default =0
Cyclic data 9
OCA9 default =0
OCA9 default =0
Cyclic data 10
OCA10 default =0
OCA10 default =0
Cyclic data 11
OCA11 default =0
OCA11 default =0
Cyclic data 12
OCA12 default =0
OCA12 default =0
Cyclic data 13
OCA13 default =0
OCA13 default =0
Cyclic data 14
OCA14 default =0
OCA14 default =0
Cyclic data 15
OCA15 default =0
OCA15 default =0
Cyclic data 16
OCA16 default =0
OCA16 default =0
*:default Modbus address.
Periodic Exchanges
The following table provides the details of telegram 100, 101, and 102
The following table provides the details of telegram 106 and 107
Software Setup
90
ER41, ER24
The configuration of the cyclic data is made with the PROFINET IO-Controller configuration tool. The
Modbus address of the parameter linked to each cyclic data must be defined as in the following example
with the HW configuration software:
Input cyclic data 1/2 and output cyclic data 1/2 are already preconfigured to ( ) (8501) and ( )
(8602); ( ) (3201) and ( ) (8604).
If a null address Modbus is entered, no link between the related cyclic data and the drive is established. In
any case, the 6 cyclic data are not disabled and the 6 cyclic data takes place in the I/O memory image of
the controller.
1
Modbus address is entered in this field
2
Data type is entered in this field
Software Setup
91
ER41, ER24
Configuring Drive with a Siemens© S7-300
GSDML Installation
First download, and install the GSDML file of the drive in the hardware configuration tool of the SIMATIC
STEP7® software.
You can find the GSDML file and its associated picture on www.schneider-electric.com.
From the menu > Options > Install GSD File...
Once installed you can see the drive, in the library, as follow:
Software Setup
92
ER41, ER24
Configuration of Drive with the Telegram 100
Description
With this telegram, the drive is controlled with two process data.
Configure the PLC and its PROFINET network. Then select and place the drive from the library to the bus:
Define the addresses of the cyclic data and PKW data in the PLC periphery:
m
By default, the process data are linked to ( ), ( ), ( ) and ( ) (native CiA 402 profile
of the drive).
You can check that the exchanges are working properly with the Monitor/Modify function of the
configuration tool:
Software Setup
93
ER41, ER24
Configuring a Drive with the Telegram 101, 102, 106, or 107
Configuring the Drive Communication Scanner
The configuration of the fieldbus module is defined by the master, by default the 2 first read and write are
linked to the default parameters: ( ), ( ), ( ) and ( ). The 4 next read or write
parameters are not configured.
To add new parameters or modify the default configuration of the communication scanner, open the
properties dialog box of the slave device and configure the OCA/OMA values in the parameter assignment
tab.
1
Internal Modbus address
2
Data type is entered in this field
New parameters are added or modified by entering the drive Modbus address.
For example: ( ) is configured to read the value of ( ), which Modbus address is 9001.
Software Setup
94
ER41, ER24
PKW Number
PKE Name
Description
PKW1
PKE
The Modbus address of the parameter is detailed here.
PKW2
R/W
Request code:
0: no request
1: read
2: write (16 bit)
3: write (32 bit)
PKW3
PWE
Parameter is used when PKW2 = 3
PKW4
PWE
Parameter value in case of write request
PKW Number
PKE Name
Description
PKW1
PKE
Copy of the input PKE
PKW2
R/W
Response code:
0: no request
1: read done (16 bit)
2: write done (16 bit)
3: request in progress
4: read done (32 bit)
5: write done (32 bit)
7: read or write error
PKW3
PWE
Parameter is used when PKW2 = 4 or 5
PKW4
PWE
If the request is successful, the parameter value is copied here.
Parameters Management with the Telegram 100, 101, 102, 106, 107
Description
Parameter Management Through the PKW Area
In native modes several accesses to the drive parameters are possible:
The standard acyclic requests from PROFIdrive, for more information see PROFIdrive Parameters
Channel (see page 20).
PKW mechanisms – consistent with ER51, ER40.
With telegram 100, 101, 106, 107 you can read or write any drive parameter by using this PKW area. (This
addressing format is identical to the PKW mechanism of the ER51, ER40).
NOTE: The management of the parameters (compatibility with series 1 product) is BLEMO specific.
Actually, previous versions of PROFIdrive also specified parameter management thought PKW, are not
compatible with BLEMO method. In recent versions, parameters are managed with acyclic messages, and
the PNO PKW method is obsolete.
The PKW area is made of four input words and four output words.
The table lists the controller-to-drive parameters in the input PKW area:
The table lists the drive-to-controller parameters in the output PKW area:
Software Setup
95
ER41, ER24
Telegram 1
Overview
The following diagram shows the operating modes:
Periodic Exchanges
The following section describes how the PROFINET CARD is operated when configured in PROFIdrive
mode (telegram 1).
The selection of this mode is done while configuring the device with the PROFINET network configuration
tool. It is out of the scope of this document to describe how to use such tool. However, you can find in the
examples (see Configuring the Drive With a Siemens© S7-300 (see page 91)) how to configure the
module for the Schneider PLCs and for the SIMATIC® S7 PLCs.
The periodic exchanges, with PROFIdrive application class 1 profile consists of:
16-bit command word (STW1) and 16-bit reference word (NSOLL_A),
16-bit operating state word (ZSW1) and 16-bit actual velocity word (NIST_A).
The mapping of these words is automatically done when you select telegram 1 during the configuration of
the device.
NOTE: After switching from one telegram to another, restart the controller to validate the new
configuration.
Software Setup
96
ER41, ER24
State Diagram
Description
The following state diagram shows the PROFIdrive state machine for the application class 1. The diagram
also describes the command word and operating state word.
Software Setup
97
ER41, ER24
STW1
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Fault reset
− − −
Enable
operation
Quick stop
Coast stop
ON/OFF
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
− − − − −
Control and
reference by
PLC
− −
ZSW1
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Warning
Switching
inhibited
Quick stop
not activated
Coast stop
not activated
Error
detected
Operation
enabled
Ready to
operate
Ready to
switch ON
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
−
Reserved
Reserved
Reserved
Reserved
F or n
reached or
exceeded
Control
requested
Speed error
found within
tolerance
range
Command Word and Operating State Word
Overview
The table lists the command wording from PROFIdrive application profile class 1:
The table lists the status from PROFIdrive application profile class 1:
Software Setup
98
ER41, ER24
STW1
Bit 0
ON 1
Switched on operating state; voltage at the power converters, indicates
that the power voltage is enabled.
OFF
(OFF 1)
0 The drive is ramped-down along the ramp (RFG) or along the current limit or
along the voltage limit of the d.c. Link if standstill is detected and power is
disabled when deceleration bit 1 of ZSW1 is still set.
An OFF command is interruptible (the drive returns to the
ready for switching on operating state).
Bit 1
No coast stop
1
Coast Stop (OFF2) not active.
Coast stop (OFF 2)
0 Power voltage disabled..
The drive goes into the Switching On Inhibited Power voltage is
disabled; the motor coasts down to a standstill.
Bit 2
No quick stop
1
Quick Stop (OFF3) not active.
Quick stop (OFF 3)
0 Quick stop; if required, withdraw the operating enable, the drive is
decelerated as fast as possible. For example, along the current limit or at the
voltage limit of the d.c. Link, at n / f = 0; if the rectifier pulses are disabled, the
power voltage is disabled (the contact is opened) and the drive goes into the
Switching On Inhibited operating state.
A Quick Stop command is not interruptible.
Bit 3
Enable operation
1 Enable electronics and pulses.
The drive then runs-up to the reference frequency.
Disable operation
0 The drive coasts down to a standstill (ramp-function generator to 0 or
tracking) and goes into the Switched on operating state (refer to control
word 1, bit 0).
Bit 4
Reserved
Bit 5
Reserved
Bit 6
Not used
Bit 7
Fault reset
1
The fault reset function is active with a positive edge; the drive error response
depends on the type of detected error. If the error response has isolated the
voltage, the drive then goes into the Switching On Inhibited operating
state.
Bit 8
Not used
Bit 9
Not used
Bit 10
Control by fieldbus
1 Channel for the reference frequency and the command from the bus are
active.
No control by
fieldbus
0 Channel for the reference frequency and the command from the bus are not
active.
Bit 11
Reserved
Bit 12
Reserved
Bit 13
Reserved
Bit 14
Reserved
Bit 15
Reserved
Command Word Details
Software Setup
99
ER41, ER24
ZSW1
Bit 0
Ready to switch ON
1 Mains power supply is switched on, electronics are initialized, pulses are
inhibited.
Not ready to switch
ON
0
−
Bit 1
Ready to operate
1 Refer to control word 1, bit 0.
Not ready to operate
0
−
Bit 2
Operation enabled
1 Drive follows a reference frequency. This means that:
The electronic and the power stage are enabled (Refer to control word 1,
bit 3),
The drive is in running state.
Operation disabled
0 Either the power stage is disabled or the drive does not follow the reference
frequency.
Bit 3
Error detected
1 An error has been detected. The drive error response depends on the type
of detected error. The Fault Reset function may only be successfully used if
the detected error cause has disappeared or has been removed. If the
detected error response has disabled the power stage, the drive goes into the
Switching On Inhibited operating state, otherwise the drive returns to
operation is a state.
No error detected
0
−
Bit 4
Coast stop not
activated
1
−
Coast stop activated
0
Coast stop (OFF 2) command is present.
Bit 5
Quick stop not
activated
1
−
Quick stop activated
0
Quick Stop (OFF 3) command is present.
Bit 6
Switching inhibited
1
The drive is in Switching on inhibited operating state.
Switching not
inhibited
0
−
Bit 7
Warning present
1 Warning information present in the service/maintenance parameter;
acknowledgement required.
No warning
0
−
Bit 8
Speed feedback
within tolerance
range
1 Actual value is within a tolerance band; dynamic speed discrepancies are
permissible.
Speed feedback out
of tolerance range
0
−
Bit 9
Control requested
1 The automation system controls the drive.
No control requested
0 Control by the automation system is not possible, only possible at the device
level, by another interface or the drive is controlled from a supervisor (Master
class 2).
Bit 10
Reference frequency
reached or exceeded
1
Actual output frequency ≥ reference frequency which may be set via the
parameter number.
Reference frequency
not reached
0
−
Bit 11
Reserved
Bit 12
Reserved
Bit 13
Reserved
Bit 14
Reserved
Bit 15
Reserved
Operating State Word
Software Setup
100
ER41, ER24
Value
Reference Frequency Used by the Drive
0x0000
0
0x4000
100% of [Max Frequency] (
)
0xC000
–100% of [Max Frequency] (
)
Reference Frequency
Channel for Reference Frequency
The reference frequency, written in NSOLL_A is defined by the following formula:
Reference frequency in Hz = (NSOLL_A x [Max Frequency] ( )) /4000 HEX
Reference Frequency Range
PROFIdrive / Acyclic Messaging
The table lists the different values for the reference frequency and the correspondence for the drive:
For more information, see PROFIdrive Parameters Channel (see page 20).
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