Danfoss FCM 300, FCD 300, VLT 2800, DP V1 PROFIBUS Operating Instructions Manual

FCM 300

Operating Instructions

Profibus DP V1

FCD 300

VLT

2800

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

■ Contents

Introduction

....................................................................................................... 2

Quick Start ......................................................................................................... 4

Profibus DP ............................................................................................................ 4

Baudrate ................................................................................................................ 4

Profibus DP V1 ....................................................................................................... 4

System layout ................................................................................................... 5

Master-controlled frequency converters .................................................................. 5

Bus topology .................................... ............................................................. ......... 6

Features of DP (Distributed Periphery) .................................................................... 6

Rapid Cyclical transmission with PPO using DP ..................................................... 6

Profibus DP V1 ....................................................................................................... 7

Principle of data exchange by Profibus DP V0/DP V1 ............................................. 7

The Profibus Interface .................................................................................. 9

Cable connection FCM 300 .................................................................................... 11

Cable connection FCD 300 .................................................................................... 14

Cable connection VLT 2800 ................................................................................... 17

Profibus DP ........................................................................................................ 20

DP V1 identifications .................................................................................... 30

Parameters ......................................................................................................... 31

Warnings and alarm messages ............................................................... 39

Station address ............................................................................................... 41

Glossary .............................................................................................................. 42

Parameter list .................................................................................................... 43

Index ...................................................................................................................... 50

MG.90.A5.02 - VLT is a registered D anfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

■Introduction

Copyrights, L imitation of Liability and Revision Rights.

This publication contains information proprietary to Danfoss A/S. By accepting and using this manual the user a grees that the information contained herein will be used solely for operating equipment of Danfoss A/S or equipment from other vendors provided that such equipment is intended for communication with Danfoss equipment over a PROFIBUS serial communication link. This publication is protected under the Copyright laws of Denmark and most other countries.

Danfoss A/S does not warrant that a software program produced according to the guidelines provided in this manual will function properly in every physical, hardware or software environment.

Although Danfoss A/S has tested and reviewed the documentation within this manual, Danfoss A/S makes no warranty or representation, either express or implied, with respect to this documentation, including its quality, performance, or fitness for a particular purpose.

In no event shall Danfoss A/S be liable for direct, indirect, special, incidental, or consequential damages arising out of the use, or the inability to use information contained in this m anual, even if advised of the possibility of such damages. In particular, Danfoss A/S is not responsible for any costs including b ut not limited to those incurred as a result of lost profits or revenue, loss or damage of equipment, loss of computer programs, loss of data, the costs to substitute these, or any claims by third parties.

Danfoss A/S reserves the right to revise this publication at any time and to ma ke changes in its contents without prior notice or any obligation to notify previous users of such revisions or changes.

When reading through this manual, you will come across various symbols that require special attention.

The symbols used are the following:

Indicates a general warning.

NB!:

Indicates something to be noted by the reader.

Indicates a high-voltage warning.

PROFIBUS is a registered trademark.

■About this manual

This manual describes the Profibus communication in the following products:

- FCM 300

- FCD 300

- VLT 2800

The following table shows from which software versions Profibus DPV1 is supported. The software version can

be read-out in parameter 624 Software versions.

Unit Software version

FCM 300 Not supported FCD 300 Ver. 1.3x/2.x VLT 2800 Ver. 2.6x/2.x

This manual gives detailed information of the DP V0 features supported, sufficient for most programming and maintenance activities. The DP V1 however is briefly described. For programming purposes

the Profibus DP V1 Design Guide order number

MG.90.EX.YY (X is the version number, and YY the language code) might be necessary.

It is suggested that readers who are not completely familiar with PROFIBUS DP or the profile for frequency converters review the relevant literature on these subjects.

Even if you are an experienced PROFIBUS programmer, we suggest that you read this manual in its entirety before you start programming, since important information can be found in all chapters.

■Assumptions

This manual assumes that you are using a DANFOSS FCM 300, FCD 300 or VLT 2800 w ith PROFIBUS. It is also assumed that you, as a master, are using a PLC or PC that is equipped with a serial communication card supporting all the PROFIBUS communication services required by your application. Further, it is assumed that all requirements stipulated in the PROFIBUS standard as well as those set up in the PROFIBUS frequency converters Profile and its company-specific implementation PROFIDRIVE, as well as those pertaining to the frequency converter are strictly observed as well as all limitations therein fully respected.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

Introduction

The Profibus DP V1 replaces the former Profibus DP V0 functionality. Note: The 3MB and 12MB Profibus option are separate options and have different ordering numbers.

■What you should already know

The DANFOSS PROFIBUS is designed to communicate with any master abiding by the PROFIBUS DP standard. It is therefore assumed that you have full knowledge of the PC or PLC you intend to use as a master in your system. Any questions pertaining to hardware or software produced by any other manufacturer is beyond the scope of this manual and is of no concern to DANFOSS.

If you have questions about how to set up master

- master communication or communication to a non-Danfoss slave, the appropriate manuals should be consulted.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

■Quick start

Details regarding the programming of the usual frequency converter parameters may be gathered from the Design Guide for the FCM 300, the FCD 300 and VLT 2800.

The communication is established by setting the parameters indicated below.

Details regarding the adjustment of the m aster are provided by the master manual and by those chapters in this manual that deal with the particulars of the VLT PROFIBUS interface.

NB!:

The required GSD file is available on the internet at http://www.danfoss.com/drives.

■Profibus DP

arameter 904 The desired informative data telegram (PPO) is setup in master configuration. The actual PPO type c an be read out in P904. The master sends the PPO type in a configuration telegram in the Profibus DP start phase.

arameter 918 This sets the address of the frequency converter station – one specific address per frequency converter. For further information, please refer to the section Station address in this manual.

arameter 502 -508 By setting the parameters 502-508 you will be able to select have to control over the bus.

arameter 512 Allows the choice of Control word/Status word type. For further information, please refer to the section Control word/Status word this manual.

NB!:

In order to activate a change of parameter 918 the power of the frequency converter must be cycled.

■Baudrate

The FCM 300, FCD 300 and VLT 2800 adjust automatically to the Baudrate configurated from the master.

NB!:

When configuring the PPO types, a distinction is made between module consistency andwordconsistency:

Module consistency means that a specific portion of the PPO is defined as a connected module. The parameter interface (PCV, length of 8 bytes) of the PPO always has m odule consistency.

Word consistency means that a specific portion of the PPO is divided into individual data sectors of word length (16 bits).

The process data of the PPO may have either module consistency or word consistency, as desired.

Some PLCs, such as Siemens S7, require special functions to call m odules that are longer than 4 bytes (in the case of Siemens: "SFC", see master manual). This means that the PCV interfaces of the PPOs c an only be called through the SFC functions in the case of Siemens (S7).

■Profibus DP V1

A detailed description of the DV V1 features supported can be found in the "Profibus DP V1 Design Guide" order number MG.90.EX.YY.

Further specifications might be helpful:

- Technical Guide "PROFIBUS -DP Extensions to EN 50170 (DPV1)" V2.0, April 1998, Order no. 2.082

- Draft PROFIBUS Profile PROFID RIV E Profile Drive Technology V3.0 September 2000, Order no. 3.172

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

System

layout

■Master-controlled frequency converters

The PROFIBUS Fieldbus was designed to give you unprecedented flexibility and command over your controlled system. The PROFIBUS will perform as an integrated part of your frequency converter, giving you access to all parameters relevant to your application. The frequency converter will always act as a slave, and together with a master it can exchange a multitude of information and commands. Control signals such as speed reference, start / stop of motor, reverse operation, etc. are transmitted from the master in the form of a telegramme. The frequency converter acknowledges receipt by transmitting status signals, such as running, on reference, motor stopped and so on to the master. The frequency converter may also transmit fault indications, alarms and warnings to the master, such as Overcurrent or Phaseloss.

The PROFIBUS communicates in accordance with the PROFIBUS field bus standard, EN 50170, part 3. It can thus exchange data with all masters that me et this standard; however, this does n ot mean that all services ava ilable in the PROFIDRIVE profile standard are supported. The PROFIBUS profile for frequency converters (version 2 and partly version 3, PNO) is a part of PROFIBUS which supports only those services that concern applications with speed control.

ommunication partners In a control system the frequency converter will always act as a slave, and as such it may communicate with a single master or multiple masters depending on the nature of the application. A master may be a PLC or a PC that is equipped with a PROFIBUS communication card.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

■Bus topology

ingle master operation with DP V0

-Singlemaster

- PLC communicates with telegrams of constant length

- Fits to t ime critical requirements

Cyclical transmis sion (PLC)

1. Setpoint transmission

2. Actual value feedback

3. New set points computed

4. New set point transmission

5. Parameter Read - using PCV channel

6. Parameter Write - using PCV channel

7. Read parameter description - using PCV channel

■Features of DP (Distributed Periphery)

- Is used by several PLC manufacturers for remote peripheral I/O communication.

- Supports cyclical communication.

- SRD (Send Receive Data) service gives fast cyclical exchange of process data between master and slaves.

- Freeze and synchronize function is supported.

- Fixed data structure.

- Fixed telegramme size.

- Occupies I/O memory space in PLC proportional to the number of slaves employed, which may

limit the number of participants. Additional data require additio nal I/O memory space.

DP should be used when fast cyclical process control is needed. Such a concept would typically call for single master operation with a limited number of slave stations. A high number of slaves will increase the system response time.

This could also be the case where control loops are closed over the bus. As a very fast alternativeitisofcoursepossibletoclosethe control loop outside the bus.

■Rapid Cyclical transmission with PPO using DP Control of the drives during normal operation is often

very time critical, but it involves very few data, such as control commands and speed reference. DP is optimized for fast cyclical communication.

Parameter up-/downloads can be achieved by using the PCV part of the so-called Parameter Process data Objects - PPO types 1, 2 or 5, see drawing in paragraph PPO description.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

System

layout

■Profibus DP V1

The Profibus DP extension DP V1 offers additional to the cyclical data communication an acyclica l communication. This feature can be used by a DP master type 1 (e.g. PLC), as well as a DP master type 2 (e.g. PC tool).

Features of a Master type 1 connection

- Cyclical data exchange (DP V0).

- Acyclical read/write on parameters.

The acyclical connection is fixed, and can not be changed during operation.

Features of a Master type 2 connection:

- Initiate / Abort acyclical connection.

- Acyclical read/write on parameters.

The acyclical connection can dynamically be established (Initiate) or removed (Abort) even when a master class 1 is active on the network.

The DP V1 acyclical connection can be used for general parameter access as an alternative to the PCV parameter channel.

■Principleofdata exchange by ProfibusDPV0/DPV1

InaDPcycletheMC1willfirstupdatethecyclical process da ta for all slaves in the system. After that the MC 1 has the possibility of sending one acyclical message to one slave. If a MC 2 is connected, the MC 1 will handle over the Token to MC 2 who now is a loud to send one acyclical message to one slave. After that, the token is handled back to the MC 1, and a new DP cycle is started.

MC1: Master Class 1

Closing the control loop over the bus Closing the control loop outside the fieldbus

for extremely fast feed-back

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

■FCM 300/FCD 300/VLT 2800 response time

The update time via the prodibus connection can be divided in two parts: 1) The communication time, which is the time it takes to transmit data from the master to the slave (FCM 300/FCD 300/VLT 2800 with profibus), and 2) the internal update time, which is the time it takes to transmit data between the FCM 300/FCD 300/VLT 2800 control card and the profibus.

Communication time (t

com

) depends on the actual transmission speed (baudrate) and the type of master in use. The minimum obtainable communication time with the FCM 300/FCD 300/VLT 2800 with PROFIBUS is approx. 100 msec per slave, when using DP communication with 4 bytes of data (PPO type 3) at 3 Mbaud. More data or lower transmission speed will increase the communication time.

The internal update time (t

int

) depends on the type of data in question as there are different channels for the data transfer where time critical data e.g. control word has highest priority. The internal update time for the different types of data are stated below.

Update tim e, t

int

Data FCD 300/ VLT 2800 FCM 300

Control word/Main reference (part of PPO) Max. 26 msec. Max. 65 msec. Status word/Actual output frequency (part of PPO) Max. 26 msec. Max. 65 msec. Parameter read (PCD 1-8) 40 msec. 40 msec. Parameter write (PCD 1-2) 160 msec. 160 msec. Parameter write (PCD 3-4) 320 msec. 320 msec. Parameter write (PCD 5-8) 640 msec. 640 msec. Parameter read (PCV) 41 msec. 41 msec. Parameter write (PCV) 40 msec. 40 msec. Acyclical data (single read, write) - 40 msec.

■System update time

The system update time is the time it takes to update all the slaves in the network when using

cyclical communication. The drawing below shows the value which is obtainable in theory at 2 input and 2 output bytes.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

The Profibus

Interface

The Profibus Interface

The total drop cable length for one segment is limited as stated in the table below.

Drop cable length

Transmission speed Max. drop cable lenth

per segment [m]

9.6-93.75 kBaud 96

187.5 kBaud 75 500 kBaud 30

1.5 mBaud 10

3-12 MBaud none

The length statements in the tables above are valid provided that bus cable with the following properties

is used:

- Impedance: 135 to 165 ohm at a measuring frequency from 3 to 20 MHz

- Resistance: < 110 ohm/km

- Capacity: < 30 pF/m

- Damping: max. 9 dB over the whole wire length

- C ross section: max. 0.34 mm

, corresponding

to AWG 22

- Cable type: twisted in pairs, 1x2,or2x2,or1x4wires

- Screening: Copper-braided screen or braided screen and foil screen

It is recommended to use the same cable type in the entire network to avoid impedance mismatch.

The numbers on the following drawing indicate the maximum number of stations in each segment. They are not the station addresses as each station in the network must have a unique address.

Segment 1

Segment 2

Segment 3

Segment 4

Rt= termination resistors

■Cable lengths/ number of nodes

The maximum cable length in one segment is depending on the transmission speed. The total cable length includes drop cables if any. A drop cable is the connection from the main bus cable to each node if a T-connection is used instead of connecting the main bus cable directly to the nodes, see drop cable ength. The table below shows the maximum allowed cable length and maximum number of nodes/frequency converters with 1, 2, 3 and 4 bus segments. Note that a repeater is a node in both of the two segments it connects. The number of frequency converters is based on a single master system. If

there are more masters the number of frequency converters must be reduced correspondingly.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

Max. total bus cable length

Transmission speed 1segment:

32 nodes (31 VLT) [m]

2segments: 64 nodes (1 repeater, 61 VLT) [m]

3segments: 96 nodes (2 repeaters, 91 VLT) [m]

4segments: 128 nodes (3 repeaters, 121 VLT) [m]

9.6-187.5 kBaud 1000 2000 3000 4000 500 kBaud 400 800 1200 1600

1.5 MBaud 200 400 600 800

3-12MBaud 100 200 300 400

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

The Profibus

Interface

■Physical connection

The PROFIBUS is connected to the bus line via X100, terminals 1 and 2.

It is recommended to use a master with a galvanic isolated bus driver and with over voltage protection (e.g. zenerdiode).

MC precautions The following EMC precautions are recommended to obtain interference free operation of the PROFIBUS network. Additional information on E MC can be found in the design guide on the FCM 300 (MG.03.BX.02). Please also consult the manual of the PROFIBUS master for further installation guidelines.

■Connection of the cable screen

The screen of the PROFIBUS cable must always be connected to ground at both ends, that means the screen must be connected to ground in all stations connected to the PROFIBUS network. It is very important to have a low impedance ground connection of the screen, also at high frequencies.This can be obtained by connecting the surface of the screen to ground, for example by means of a cable clamp or a conductive cable gland.

The FCM 300 Series is provided with different clamps and brackets to enable a proper ground connection of the P ROFIBUS cable screen. The screen connection is shown in the following drawing.

NB!:

Relevant national and local regulations, for example regarding protective earth connection, must be observe d.

■Cable connection F CM 300

The PROFIBUS communica tion cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise from one cable to the other. Normally a distance of 200 mm is sufficient, but it is generally recommended to keep the greatest possible distance between the cables, especially where cables are running in parallel over long distances.

If the PROFIBUS cable has to cross a motor and braking resistance cable, it should occur at a 90° angle.

■Earth connection

It is important that all stations connected to the PROFIBUS network are connected to the same

earth potential. The earth connection must have a low HF (high frequency) impedance. This c an be achieved by connecting a large surface area of the cabinet to earth, for example by mounting the FC motor on a conductive rear plate.

Especially when having long distances between the stations in a PROFIBUS network it can be necessary to use additional potential equalizing cables, connecting the individual stations to the same earth potential.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

The bus termination - FCM 300

1 = RxD/TxD-P∼ (red cable) 2 = RxD/TxD-N∼ (green cable)

It is essential that the bus line is terminated properly. A mismatch of impedance may result in reflections onthelinethatwillcorruptdatatransmission.

- The PROFIBUS is provided with a suitable

termination which may be activated by the switches of the RS485 switch block located just to the left of the terminal block X100 (see drawing below). The switches should be o n to terminate the bus.

NB!:

The switches should never be left in opposite positions. They should either both be ON or both be OFF!

- Most masters and repeaters are equipped

with their own termination.

- If an external termination circuit consisting of three

resistors is connected to the bus line a 5 V d.c. power supply must be used, please note that this must be galvanically isolated from the a.c. line.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

The Profibus

Interface

■FCM 300 LEDs

There are 2 LEDs on the PROFIBUS:

LED303: Lights up when the card is initialized

and ready to communicate. It will flash while auto baudrate detection is attemptin g to d etect the actual baudrate.

LED304: Lights up when the card is

communicating, depending on baudrate.

NB!:

A high baudrate results in dim light in LED304.

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

■Physical connection FCD 300

The PROFIBUS is connected to the bus line via, terminals 68 and 69.

It is recommended to use a master with a galvanic isolated bus driver and with over voltage protection (e.g. zenerdiode).

MC precautions The following EMC precautions are recommended to obtain interference free operation of the PROFIBUS network. Additional information on E MC can be found in the design guide on the FCD 300 (MG.04.AX.02). Please also consult the manual of the PROFIBUS master for further installation guidelines.

■Connection of the cable screen

The FCD 300 Series is provided with a sprin g loaded clamp to enable a proper ground connection of the PROFIBUS cable screen. The screen connection is shown in the following drawing.

NB!:

Relevant national and local regulations, for example regarding protective earth connection, must be observe d.

■Cable connection F CD 300

If the PROFIBUS cable has to cross a motor and braking resistance cable, it should occur at a 90° angle.

■Earth connection FCD 300

It is important that all stations connected to the PROFIBUS network are connected to the same earth potential. The earth connection must have a low HF (high frequency) impedance.

onnecting the bus line

MG.90.A5.02 - VLT is a registered Danfoss trademark

FCM 300 / FCD 300 / VLT®2800 / DP V1 PROFIBUS

The Profibus

Interface

The bus termination

68 = RxD/TxD-P

∼ (red cable)

69 = RxD/TxD-N

∼ (green cable)

It is essential that the bus line be terminated properly. A mismatch of impedance may result in reflections onthelinethatwillcorruptdatatransmission.

- The PROFIBUS is provided with a suitable

termination which may be activated by the switches of the RS485 switch block located on the bottom of the electronics part (see drawing below). The switches should be o n to terminate the bus.

- Most masters and repeaters are equipped

with their own termination.

NB!:

The switches should never be left in opposite positions. They should either both be ON or both be OFF!

NB!:

Is 126 or 127 selected the address is setting via P 918, refer to chapter station address.

- If an external termination circuit consisting of three resistors is connected to the bus line a 5 V d.c. power supply must be used, please note that this must be galvanically isolated from the a.c. line.

MG.90.A5.02 - VLT is a registered Danfoss trademark

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Danfoss FCM 300, FCD 300, VLT 2800, DP V1 PROFIBUS Operating Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual