Control Techniques Profibus-DP User Manual

User Guide

Profibus-DP

Option Module

For Uni dri ve

Part Number: 0460-0075

Issue Number: 3

SAFETY INFORMATION

Persons supervising an d performing the electric al installation or maintenanc e of a Drive and/or an exter nal Option Unit mus t be suitably qualified and c ompetent in these d uties. T hey should be given t he opport unity to s tudy and i f necess ary to discuss this User Guide before work is started.

The volt ages pr es ent in the Dr ive an d ext ern al Opt ion U nits are cap able of i nflic ting a severe electric shock and may be lethal. The Stop function of the Drive does not remove dangerous voltages from the terminals of the Drive and exter nal Option Unit. Mains supplies should be removed before a n y se r vicing work is performed.

The inst allation ins tructi ons should b e adhered t o. Any questi ons or doubt s hould be referred to the supplier of the equipment. It is the responsibility of the owner or user to ens ure that th e installation of the Drive and external O ption Unit, and the way in whic h they are op erated and maintain ed complies with the req uirements of the Healt h an d Saf ety at W ork Act i n the U nit ed Ki ngd om and applicable l egis lati on and regul ati ons an d c od es of pr act ice in the UK or elsewh ere.

The Drive software may incorporate an optional Auto-start facility. In order to prevent the risk of injury to personnel working on or near th e motor or its driven equipm ent and to prevent pot ential dam age to equipm ent, users and oper ators, all necess ar y precauti ons m us t be tak en if operating t h e Dr i ve in th is m o d e.

The Stop and Start inputs of t he Drive should n ot b e r elied upon to ensure safety of personn el. If a safety haz ard coul d exist from une xpect ed st arting of th e Drive, an interlock should be in stalled to pre vent the motor be ing inadverte ntly started.

GENERAL INFORMATION

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the Drive with the motor.

The contents of this User Guide are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improv em en t, the m an ufacturer res erves th e right to chan g e the sp ec if ic ation of th e product or its performance, or the contents of the User Guide, without notice.

All rights reserved. No part of this User Guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recordin g or by any inform ation storage or retri eval syst em, without permissi on in writing f r om th e pu blisher.

Contents

1 Introduction 4

1.1 Profibus-DP Interface for Unidrive 4

1.2 Product Conformance Certification 4

1.3 Overview Specification 4

2 Mechanical Installation 4

2.1 Unidrive 4

3 Electrical Installation 4

3.1 Profibus-DP Connectors 4

3.2 Profibus-DP Data Conne ct ions 4

3.2.1 ERNI Connector 4

3.2.2 Siemens Connector 4

3.3 Profibus-DP Cable 4

3.4 Profibus-DP Cable Scre en Connections 4

3.5 Profibus-DP Network Termination 4

3.5.1 ERNI Termination Connector 4

3.5.2 Siemens Connector 4

3.6 Maximum Network Length 4

4 Getting Started 4

4.1 Basic Communications Quick Start 4

4.2 Profibus-DP Node Address 4

4.3 Profibus-DP Data Rate 4

4.4 Data Format 4

4.5 Network Status 4

4.6 Network Loss Trip 4

4.7 Initialising Set-up Changes 4

5 Cyclic Data 4

5.1 What is Cyclic Data? 4

5.2 What is Data Consistency 4

5.3 Profibus-DP Data Formats 4

5.4 Mapping Parameters on Unidrive 4

5.5 Internal 32-Bit Parameters on UD70 4

5.6 Storing Parameters 4

5.6.1 Saving Unidrive Parameters (Menu 1 to 19) 4

5.6.2 Saving UD70 Parameters (Menu 20 and Internal) 4

5.7 Mapping Conflicts 4

5.7.1 Control Word Mapping Conflicts 4

5.8 Fieldbus Control Word for Unidrive 4

5.9 Fieldbus Status Word for Unidrive 4

5.10 Disabling Cyclic Data Channels 4

6 Non Cyclic Data 4

6.1 CT Single Word Format 4

6.1.1 Reading p arameters us in g M ode 1 4

6.1.2 Writin g parame ters using Mode 1 4

6.2 Profibus-DP Set-up using Non-Cyclic Data 4

7 GSD Files 4

7.1 What are GSD Fil es? 4

7.2 Unidrive GSD File 4

7.3 Data Consistency 4

7.4 Profibus-DP Data Formats 4

8 Diagnostics 4

8.1 Fieldbus Code 4

8.2 Firmware Version 4

8.3 System File Version 4

8.4 Node Address 4

8.5 Network Data Rate 4

8.6 Network Status 4

8.7 No Da ta Transfer 4

8.8 Unidrive Trip Codes 4

9 Advanced Featu res 4

9.1 Network Loss Trip 4

9.2 Unidrive Sequencing Mode 3 4

9.3 Drive Reset Using The Profibus-DP Network 4

9.3.1 Reset Without DPL Code 4

9.3.2 Reset U sing CT Mode Non-Cycl ic Communications 4

9.3.3 Reset Using DPL Code 4

9.4 Non-Cyclic Parameter Store 4

9.5 Endian Format 4

9.6 EVENT Task Trigger on UD70 4

9.7 Multi-Master Networks 4

10 Quick R eference 4

10.1 Complete Parameter Reference 4

10.2 Profibus-DP Data Formats 4

10.3 Fieldbus Control Word 4

10.4 Fieldbus Status Word 4

10.5 Unidrive Trip Codes 4

1 Introduction

NOTE

Unidrive paramet ers are denoted i n this ma nual by “ #MM .PP”, where MM refers to the menu number, and PP refers to the parameter number wi thi n that menu. Plea se ref er to t he Un idri ve Ad vanc ed User Guide for a ful l list of parameter de f init ions.

1.1 Profibus-DP Interface for Unidrive

The Unidr ive Profibus-DP interface is s upplied as an option module, with th e Prof ibus-DP usi ng a UD70 as th e host. The UD 70 does n ot lose any functionality when the Profibus-DP interface is fitted. The fastest data rate currently supported is 1.5 Mbits/sec.

The Unidr ive sup plies all p ower requ irem ents for th e Unidri ve Profi busDP interface. There is no provision for a back-up +24V power supply.

1.2 Product Conformance Certification

The Unidr ive Profibus-DP interf ace (wit h V2.05.00 fir mware, V2.08.00 system file and V5.0 GSD file) was submitted to the PROFIBUS Nutzer organis ation f or c onfor mance t estin g. All tests wer e succ essf ul, and the PROFIBUS Nutzerorganisation awarded full Profibus Conformance Certification. (Profibus Certificate No. Z00600)

NOTE

Unidrive Profibus-DP interfaces fitted with V2.04.00 firmware or earlier do NOT have Product Conformance Certification.

1.3 Overview Specification

• Auto slave configuration of data format and data consistency during Profibus-DP network initialisation.

• Supported data rates (bits/sec): 1.5M, 500k, 187.5k, 93.75k, 19.2k,

9.6k

• Three 16 bit input/output words, all can be mapped to or from Unidrive parameters

• CT Single Word Format non-cyclic data channel

Issue Number: 3 5

2 Mechanical Installation

The Unidrive must be disconnected from the mains supply before installing or removing an option module.

Warning

2.1 Unidrive

1. Slide the option modu l e int o th e Uni dr i ve.

2. Push the opt ion modul e int o th e Uni dr i ve u ntil it clicks into place.

6 Issue Number: 3

3 Electrical Installation

3.1 Profibus-DP Connectors

The Unidr ive Profib us-DP interf ace has two 9-way D-typ e sock ets (A and B) to c onn ec t to t h e Profib us - DP network. Connectors C and D are the RS232 programming port (C) and RS485 general-purpose communications port ( D) of the UD 70.

The Profibus-DP connectors are parallel connectors, so either connect or can be used. The pin - out conn ections are identic al, an d are given in the table below.

Terminal Function Description

8 A Negative data Line 3 B Positive data Line 5 0V ISO 0V Isolated 6 VDC +5V line for termination resistors

Shell Screen Cable braided screen connection

3.2 Profibus-DP Data Connections

Specific ally desig ned connect ors are avail able for use on P rofibus-D P networks that accept 2 Profibus-DP cables into colour-coded screw termin als, and plug dir ectl y into a 9-way P rofibus -DP D-t ype con nect or. A screen c lamp is also incl uded to ens ure good s creen c ontinuit y and provide the best possible immunity to noise. Control Techniques recomm ends that a sui table conn ector should be used to con nect the Unidrive Profibus-DP interface to a Profibus-DP network.

Details of manuf actur ers of c onnect ors appr oved f or use wit h Profi busDP can be found on the Profibus web site at “www.profibus.com“.

Issue Number: 3 7

3.2.1 ERNI Connector

The ERbic range of fieldbus connectors from ERNI includes a Profibus-DP connector with a vertical cable outlet (Part No. 103658) that is suitabl e for us e with the Unidrive Profibus-DP interf ace. T his connect or allows 2 c abl es t o be c onn ect ed t o th e s ame c onn ector , an d does not br eak t he netw ork if disconn ected f rom th e Unidri ve Profi busDP interf ace. Further details are avai lable fr om the ERNI web sit e at “www.erni.com”.

The ERNI c onnector can only be fitt ed to D-type c onnect or A on the Unidrive Profibus-DP interface, as shown in the diagram below.

12345

6789

12345

6789

ABB

ERNI ER bi c P r of ib us

Connector with vertical

cabl e outlet

Part N o: 103658

Cable S c reen

Clamp

A termination connector is also available with the appropriate termin ation r esis tors fitt ed ins id e the connec t or. Refer to secti on 3. 5 for further details.

8 Issue Number: 3

3.2.2 Siemens Connector

Another suitable Profibus-DP connector for use with Unidrive is avail able from S iem ens. (P art No. 6G K1 50 0 0EA0 2.) This conn ector has a s witc h th at c an enab le of dis abl e th e int ern al t ermi nati on r esis tor network. When termination is enabled, the outgoing bus is isolated. This connector allows 2 cables to be connected to the same connector, and does not break the network if disconnected from the Unidrive Profib us-DP int erfac e. Furth er details are avai lable f rom the Siemens web site at “www.si em ens.de”.

The Siemens connector can be fitted to either Profibus-DP D-type connector (A or B) on the Unidrive Profibus-DP interface.

12345

6789

Siemens RS485

Profibus Connector

Part N o: 6GK1 500 0EA02

Cable S c reen Cl am p

12345

6789

OFF

B2A2B1A1

Issue Number: 3 9

3.3 Profibus-DP Cable

Profib us-DP cable h as a sing le twist ed pair plus overall s c reening. The data wires are usually red and green, and should be connected as shown in the table below.

NOTE

Cable Data

Green A 8 Negative data line

Braided

Shield

Profibus-DP networks (like most fieldbus systems) run at high data rates, and consequently require cable specifically designed to carry high frequency si gn als. Low quality cable will attenuate t h e signals, and may render the signal unreadable for the other nodes on the network.

Cable spec ifications and a complete list of appr oved manuf actur ers of equipm ent for us e on Pr ofi bus-D P net works is avai lab le on the Pr ofi bus web site at “www.profibus.com”.

Control Techni ques can on ly guarante e correct and re liable op eration of its Pro fibus-DP inter faces if the netw ork cable installed h as been fully approved by the PROFIBUS Nutzerorganisation.

Signal

Red B 3 Positive data line

Screen Shell Cable screen

Terminal Description

Connect to pins 1 or 4 on a Com m and er SE Profibus-DP interface connector

Connect t o pins 2 or 5 on a Com m and er SE Profibus-DP interface connector

Connect to pin 3 on a C om m ander SE Profibus-DP interface connector

10 Issue Number: 3

3.4 Profibus-DP Cable Screen Connections

To ensure th e best scr een arran g ement , strip th e outer plas tic shield off the Profibus-DP c able, and clamp the bare screen under the screen clamp. T his will ensur e that a good c onnection is made between the screens of both network cabl es, and help pr event nois e current s from flowing into the Profibus-DP interface itself.

Ensure that the screen clamp makes good contact with the shield of the cable

ERNI ER bi c P r of ib us

Connector with vertical

cabl e outlet

Part N o: 103658

ABAB

screen

3.5 Profibus-DP Network Termination

The ter minati on resist or netw ork is not f itted i nternal ly on th e Unidri ve Profib us-DP interf ace. It is th e installer ’s respons ibility to ens ure th at both ends of eac h s ect i on of n etw or k c abl e are correct l y ter m in at ed.

The termination resistor network required is shown in the diagram below.

Cable clamp

+5V 0V ISOBA

It is very important in high-speed communications networks that the network communications cable is correctly terminated. Failure to terminate the network properly may mean that the network operates with substantially reduced noise immunity, or in the worst case, the network does n’t work at all.

Issue Number: 3 11

3.5.1 ERNI Termination Connector

ERNI supply a sep arat e Prof ibus -DP conn ect or that has the appropr i ate resist or n etwor k fit ted i nter nal ly. T h e termin ati on c onn ector is yell ow to distinguish it from the non-terminated Profibus-DP connector.

6789

ERNI ERbic Profibus

Connector with vertical

cable outlet

Part No: 103658

3.5.2 Siemens Connector

The termination resistor network is fitted in the Siemens connector. The resist ors can be s witch ed in or out of the circ uit as r equired us ing th e Term ination Resistor Enable Switch .

Termination Resistor

Enable Switch

Siemens RS485

Profibus Connector

Part No: 6GK1 500 0EA02

12345

6789

Cable Screen

Clamp

12345

6789

OFF

12345

6789

B2A2B1A1

Cable Screen Clamp

12 Issue Number: 3

3.6 Maximum Network Length

The maximum number of nodes that can be connected to a single Profib us-DP net work s egment is 3 2 nod es. Up t o 3 line r epeat ers m ay be used t o extend th e network t o 4 segments , allowi ng a maxim um of 122 nodes on the network.

Section 1: max 31 stations + 1 repeater

NOTE

2 3 29 30 31

Section 2: max 30 stations + 2 repeaters

Repeater

Rt Rt

122

Repeater

Section 3: max 30 stations + 2 repeaters

62 63

Section 4: max 31 stations + 1 repeater

33 32

94121 120

Repeater

Terminating resistors (Rt) MUST be installed at BOTH ends of each network segm ent.

The maxi mum length of cable f or each segmen t is determi ned by th e data rat e at which the networ k must oper ate. The table bel ow gives a summar y of the m a xi m um segment l ength for each d at a r ate.

Data Rate

(bits/sec)

Maximum Segment

Length (m)

Maximum Total

Network L engt h ( m)

9.6K to 93.75K 1200 4800

187.5K 1000 4000 500K 400 1600

1.5M 200 800

Issue Number: 3 13

4 Getting Started

The Quick Start section shows the basic parameter configurations required for the Profibus-DP interfaces to establish communications. Cyclic and non-cycl ic d ata explan ati ons are given in c h apt er s 5 and 6.

NOTE

Parameters #20.01 to #20.20 and #20.50 are reserved for configuring the Profibus-DPinterface, and should not be used in DPL programs.

4.1 Basic Communications Quick Start

Profibus-DP communications can be established with the Unidrive Profib us -D P i nt er face simply by configuring the nod e address.

• Plug the Profibus-DP module into the Unidrive.

• Power up the Unidrive.

• Set the node address (#20.05) as required .

• Set #17.19 to 1 to store #20.05 and reset the UD70.

The Pr ofibus-DP i nterf ace will re-i nitialis e, and conf igure its elf with th e new nod e addr ess . Th e dat a f ormat an d c onsist enc y ar e aut omati c ally detected when the master controller initialises the network.

Function Unidrive Recommended Setting

Node Address #20.05 1 to 125

Data Rate Not displayed The data rate is automatically

Network Loss

Trip

#20.11 48

detect ed on P r of i bus -D P net w orks

4.2 Profibus-DP Node Address

Unidrive: #20.05

Every node must be given a unique network address. If a node is assigned an address , and that ad dress alread y exists on the Profi busDP networ k, the node may prevent the network fr om operating. The valid ran g e of ad dr esses is fr om 1 an d 12 5.

If an inval id node addr ess is set in #20.05, the Profibus-DP interf ace will reject the c onfigured address , default to 125, and upd ate #20.05 with the addr ess that is actu all y being us ed.

NOTE

Change s to #20.PP p arameters do not tak e effect in t he Profibus-D P interface unti l the UD 70 has be en res et. See section 4.7.

14 Issue Number: 3

4.3 Profibus-DP Data Rate

The Unidrive Profibus-DP interface will automatically detect the data rate of the network, and synchronise to the master controller. Data rates above 1.5 Mbits/sec are not supported. The Unidrive P rofibu s- DP interface does not display the actual network data rate.

bits/sec

1.5M 93.75K

500K 19.2K

187.5K 9.6K

bits/sec

4.4 Data Format

The Unidrive Pr ofibus-DP int erfac e aut omatically det ects the required data format when the master controller initialises the network. Data consistency is optional, and is also detected during network initialisation.

3 Cyclic Words with Mode 1 Non-Cyclic data (with or without consistency) is the same data format as used on Mentor II and Commander SE. Each cyclic data word is mapped to a Unidrive parameter with default mappings as shown in the table below.

Cyclic

Channel

IN Word 0 Non-cyclic data word IN Word 1 Status word IN Word 2 Post-ramp speed reference IN Word 3 Motor active current

OUT Word 0 Non-cyclic data word OUT Wor d 1 Co n t rol wo rd OUT Word 2 Digital speed reference 1 OUT Wo rd 3 Torque reference

Default Mapping Status

4.5 Network Status

Unidrive: #20.50

The status of the Profi bus-DP net work is displ ayed in #20.5 0, and can be viewed on the disp l ay on the Unid ri ve.

#20.50 Status Description

>0 Network

healthy

0 Network is

not running

Issue Number: 3 15

Indic ates the nu mber of n et w ork cycles per second, and the slave is exchanging data with the master controller.

Indicates that th e n etwor k is not currentl y running.

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Control Techniques Profibus-DP User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual