Emerson SI-PROFIBUS User Manual

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User Guide

SI-PROFIBUS

Part Number: 0478-0011-03 Issue Number: 3

www.controltechniques.com

General Information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor. The contents of this guide are believed to be correct at the time of printing. In the interests of commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the content of the guide without notice. All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including, photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Environmental Statement

Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS, our Environment Policy and other relevant information is available on request, or can be found at www.greendrives.com. The electronic variable speed drives manufactured by Control Techniques have the potential to save energy and (through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal. Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, while other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for recycling. Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller products come in strong cardboard cartons which themselves have a high-recycled fibre content. If not reused, these containers can be recycled. Polythene, used on the protective film and bags from wrapping product, can be recycled in the same way. Control Techniques' packaging strategy prefers easily recyclable materials of low environmental impact, and regular reviews identify opportunities for improvement. When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

Firmware Statement

This option module is supplied with the latest firmware version. When retro-fitting to an existing system, all firmware versions should be verified to confirm the same functionality as option modules of the same type already present. This also applies to products returned from a Control Techniques Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product. The firmware version of the option module can be identified by looking at Pr MM.002 where MM is the relevant menu number for the option module slot being used. See Pr MM.002 description later in this manual for more information. The firmware version takes the form of ww.xx.yy.zz seen in MM.002.

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation. For current information on how this requirement applies in relation to specific Control Techniques products, please approach your usual contact in the first instance. Control Techniques position statement can be viewed at: http://www.controltechniques.com/REACH

Contents

1 Safety information .......................................................................................5

1.1 Warnings, Cautions and Notes ................................................................................ 5

1.2 Electrical safety - general warning ........................................................................... 5

1.3 System design and safety of personnel ................................................................... 5

1.4 Environmental limits ................................................................................................ 6

1.5 Access ..................................................................................................................... 6

1.6 Fire protection .......................................................................................................... 6

1.7 Compliance with regulations .................................................................................... 6

1.8 Adjusting parameters ............................................................................................... 6

1.9 Stored charge .......................................................................................................... 6

2 Introduction .................................................................................................. 7

2.1 What is PROFIBUS-DP? ......................................................................................... 7

2.2 About SI-PROFIBUS ............................................................................................... 9

2.3 General specification ...............................................................................................9

2.4 Option module identification .................................................................................. 10

2.5 Conventions used in this guide .............................................................................. 11

3 Mechanical installation .............................................................................12

3.1 General Installation ................................................................................................ 12

4 Electrical installation ................................................................................. 15

4.1 Terminal descriptions ............................................................................................ 15

4.2 PROFIBUS-DP connectors .................................................................................... 16

4.3 PROFIBUS-DP cable ............................................................................................ 16

4.4 Cable shielding ...................................................................................................... 16

4.5 General grounding considerations .........................................................................16

4.6 Network termination ............................................................................................... 16

4.7 Maximum network length / device loading .............................................................17

4.8 Node addressing ................................................................................................... 17

4.9 Spurs ..................................................................................................................... 17

4.10 Minimum node to node cable length ......................................................................17

4.11 Grounding .............................................................................................................. 17

5 Getting started ...........................................................................................18

5.1 Set-up flow chart .................................................................................................... 19

5.2 Single line descriptions .......................................................................................... 20

6 Parameters .................................................................................................27

6.1 Menus .................................................................................................................... 27

6.2 Module menu 0 - module information .................................................................... 27

6.3 Module menu 1 - PROFIBUS Set-up ..................................................................... 30

6.4 Module menu 2 - Input mapping ............................................................................ 42

6.5 Module menu 3 - Output mapping .........................................................................43

6.6 Module menu 4 - Fault values ............................................................................... 44

6.7 Module menu 9 - Resources ................................................................................. 45

7 GSD Files .................................................................................................... 46

7.1 What are GSD Files? ............................................................................................. 46

7.2 Data consistency ................................................................................................... 46

7.3 Data configuration ................................................................................................. 46

7.4 PROFIBUS DP-V1 ................................................................................................. 47

7.5 GSD compatibility table ......................................................................................... 47

Unidrive M SI-PROFIBUS User Guide 3 Issue Number: 3

8 Cyclic data ..................................................................................................48

8.1 What is cyclic data? ...............................................................................................48

8.2 Data formats ...........................................................................................................48

8.3 Mapping conflicts ...................................................................................................50

8.4 Cyclic data mapping errors .................................................................................... 50

8.5 Mapping limitations ................................................................................................50

8.6 Disabling mappings ................................................................................................51

8.7 Master configuration ...............................................................................................51

9 Non-cyclic data ..........................................................................................52

9.1 What is non-cyclic data? ........................................................................................52

9.2 Configuration using non-cyclic data .......................................................................52

9.3 SI-PROFIBUS non-cyclic overview ........................................................................52

10 Control and status words .........................................................................55

10.1 What are control and status words? .......................................................................55

10.2 Control word ...........................................................................................................55

10.3 Status word ............................................................................................................57

11 Diagnostics ................................................................................................60

11.1 Overview ................................................................................................................60

11.2 Drive trip display codes ..........................................................................................60

12 PROFIdrive profile (V4) .............................................................................65

12.1 What is PROFIdrive profile? ...................................................................................65

12.2 Standard Telegram 1 .............................................................................................65

12.3 Main Setpoint .........................................................................................................66

12.4 Main Actual Value ..................................................................................................66

12.5 PROFIdrive (V4) State Machine .............................................................................67

12.6 Normal Run Sequence ...........................................................................................67

12.7 Stopping the motor using PROFIdrive ...................................................................71

12.8 Jogging ...................................................................................................................71

12.9 PROFIdrive control word ........................................................................................72

12.10 PROFIdrive status word .........................................................................................73

12.11 PROFIdrive PNU access ........................................................................................75

12.12 Fault Buffer .............................................................................................................76

12.13 Drive Identification ..................................................................................................78

12.14 Identification and Maintenance Functions ..............................................................78

13 Advanced features .....................................................................................79

13.1 SYNC and FREEZE Mode .....................................................................................79

13.2 Inter-option communication timing .........................................................................79

13.3 Multi-master operation ...........................................................................................79

14 Legacy features .........................................................................................80

14.1 Network compatibility mode ...................................................................................80

14.2 PPO Types .............................................................................................................81

14.3 Configuring the Profile ............................................................................................ 83

14.4 Setting the non-cyclic mode (non-cyclic over cyclic) ..............................................83

14.5 Mode 1 - CT Single Word mode ............................................................................. 83

14.6 Reading parameters using CT Single Word ...........................................................85

14.7 Mode 2 - PPO 4 Word mode ..................................................................................94

15 Glossary of terms ....................................................................................101

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Issue Number: 3

1 Safety information

WARNING

CAUT ION

NOTE

information

Safety

1.1 Warnings, Cautions and Notes

A Warning contains information, which is essential for avoiding a safety hazard.

A Caution contains information, which is necessary for avoiding a risk of damage to the product or other equipment.

A Note contains information, which helps to ensure correct operation of the product.

1.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive.

Specific warnings are given at the relevant places in this User Guide.

1.3 System design and safety of personnel

The drive is intended as a component for professional incorporation into complete equipment or a system. If installed incorrectly, the drive may present a safety hazard.

The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury.

Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, commissioning/start-up and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this User Guide carefully.

The STOP and SAFE TORQUE OFF functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit. The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

With the sole exception of the SAFE TORQUE OFF function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safety-related functions.

Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended behavior or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking.

The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

installation

started

Files

data

status words

profile (V4)

features

terms

Introduction

Mechanical

Electrical

Getting

Parameters

GSD

Cyclic data

Non-cyclic

Control and

Diagnostics

PROFIdrive

Advanced

Legacy

Glossary of

Index

Unidrive M SI-PROFIBUS User Guide 5 Issue Number: 3

1.4 Environmental limits

Instructions regarding transport, storage, installation and use of the drive must be complied with, including the specified environmental limits. These instructions can be found in the relevant drive documentation. Drives must not be subjected to excessive physical force.

1.5 Access

Drive access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

1.6 Fire protection

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided.

1.7 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses or other protection, and protective ground (earth) connections.

Instructions for achieving compliance with specific EMC standards may be found in the relevant drive documentation.

Within the European Union, all machinery in which this product is used must comply with the following directives:

2006/42/EC: Safety of machinery.

2004/108/EC: Electromagnetic Compatibility.

1.8 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering.

1.9 Stored charge

The drive contains capacitors which remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated for at least ten minutes before work may continue.

6 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

2 Introduction

Hardwired master

Slave Number

Analog 1 Analog 2

Digital 1ADigital 1B

Digital 2A Digital 2B

Digital 1A Digital 1B Digital 2A Digital 2B

Analog 1 Analog 2

2.1 What is PROFIBUS-DP?

PROFIBUS-DP (Decentralized Peripheral) is a networking system which falls into the generic category of fieldbus. Fieldbuses are generally defined as industrial networking systems that are intended to replace traditional wiring systems. Figure 2-1 shows the traditional cabling requirements to transfer signals between 2 slaves and a master.

Figure 2-1 Traditional cable layout

information

installation

started

data

Safety

Introduction

Mechanical

Electrical

Getting

Parameters GSD Files Cyclic data

Non-cyclic

Table 2.1 details how the wiring is used to communicate data between the master and the slaves. Each signal that is communicated requires one signal wire giving a total of 66 signal wires plus a 0V return.

Table 2.1 Traditional wiring details

Number of

A fieldbus topology such as PROFIBUS-DP allows the same configuration to be realized using only two signal wires plus a shield. This method of communication saves significantly on the amount of cabling required and can improve overall system reliability as the number of interconnections is greatly reduced.

signals

1 analog output control signal

Type Source / Destination Description

digital Inputs slave 1 to master status signals

digital outputs

master to slave 1

control signals

digital inputs slave 2 to master status signals

digital outputs

master to slave 2

control signals

Unidrive M SI-PROFIBUS User Guide 7 Issue Number: 3

status words

Diagnostics

profile (V4)

features

terms

Index

Control and

PROFIdrive

Advanced

Legacy

Glossary of

Figure 2-2 shows a typical PROFIBUS-DP network system transferring the same

PROFIBUS master

Digital 1A Digital 1B Digital 2A Digital 2B

Analog 1 Analog 2

Analog 1

Analog 2

Digital 2A Digital 2B

Slave Number

Digital 1ADigital 1B

signals as given in the traditionally wired example. The signals are now transmitted by converting them into a serial data stream which is received by the master as if they were connected using traditional wiring. The data stream on PROFIBUS-DP allows up to 64 (32 input and 32 output) independent values to be sent or received by the master, in addition to a single channel allowing for random access to drive parameters.

Figure 2-2 PROFIBUS-DP cable layout

Table 2.2 Data mappings for SI-PROFIBUS

network words

Table 2.2 details the number of data words used to communicate the signals using the PROFIBUS-DP network. It can be seen that the resulting reduction in cabling is significant.

8 Unidrive M SI-PROFIBUS User Guide

Number of

Type Source / Destination Description

digital Inputs slave 1 to master status signals

digital outputs

analog output control signal

digital inputs slave 2 to master status signals

digital outputs

analog output control signal

master to slave 1

master to slave 2

control signals

Issue Number: 3

PROFIBUS-DP can transfer data using two distinct modes. The first of these modes is cyclic, where signals are sent in predefined blocks at regular intervals. This is the equivalent of the hard-wired example in Figure 2-1.

The second method of transfer is called non-cyclic data, and is used for sending values that only need to be changed occasionally or where the source or destination of the signal changes. This is the equivalent of a temporary patch lead that is removed after use.

2.2 About SI-PROFIBUS

SI-PROFIBUS is a fieldbus option module that can be installed to the option module slot(s) in any of the following drives to provide PROFIBUS-DP slave connectivity:

• Unidrive M700/M800

• Unidrive M200/M300/M400 (firmware V01.03.00 or later)

It is possible to use more than one SI-PROFIBUS or a combination of SI-PROFIBUS and other option modules to add additional functionality such as extended I/O, gateway functionality, or additional PLC features.

Figure 2-3 SI-PROFIBUS module

information

installation

started

data

Safety

Introduction

Mechanical

Electrical

Getting

Parameters GSD Files Cyclic data

Non-cyclic

2.3 General specification

2.3.1 Features

The following section gives a brief overview of the functionality available within SIPROFIBUS.

• Supported data rates (bits/s): 12M, 6.0M, 3.0M, 1.5M, 500k, 187.5k, 93.75k,

45.45k, 19.2k, 9.6k.

• Maximum of 32 input and 32 output cyclic data words supported

• PROFIdrive profile (V4) supported

• DP-V1 Non-cyclic data channel supported

• Parallel acyclic/cyclic data communication

The SI-PROFIBUS is powered from the host drive’s internal power supply.

Unidrive M SI-PROFIBUS User Guide 9 Issue Number: 3

status words

Diagnostics

profile (V4)

features

terms

Index

Control and

PROFIdrive

Advanced

Legacy

Glossary of

2.4 Option module identification

The SI-PROFIBUS can be identified by:

1. The label located on the topside of the option module.

2. The color coding across the front of the SI-PROFIBUS (purple).

Figure 2-4 SI-PROFIBUS labels

1 Topside module label

2 Underside module label

2.4.1 Date code format

The date code is split into two sections: a letter followed by a number. The letter indicates the year, and the number indicates the week number (within the year) in which the option module was built. The letters go in alphabetical order, starting with A in 1990 (B in 1991, C in 1992 etc).

Example:

A date code of X12 would correspond to week 12 of year 2014.

2.4.2 Back-up power supply

The required drive can be connected to a 24 Vdc back-up power supply (refer to the relevant drive documentation for connection details). This keeps the control electronics and option module powered up, allowing the SI-PROFIBUS to continue communicating with the PROFIBUS-DP master controller when the main supply to the drive is switched off. For every SI-PROFIBUS installed allow for an extra 70 mA of supply current to be drawn from the back-up supply.

10 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

2.5 Conventions used in this guide

NOTE

The configuration of the host drive and option module is done using menus and parameters. A menu is a logical collection of parameters that have similar functionality. In the case of an option module, the parameters relating to the set-up of the option module will appear in menu 15, 16 or 17 depending on which slot the module is installed in and the set-up of the option slot identifiers (Pr 11. 056); the internal menus of the option module will appear before menu 0 and after menu 41.

For M200, M300 and M400 drives, the module set-up parameters will appear in menu

15.

The method used to determine the menu or parameter is as follows:

•Pr S.mm.ppp - Where S signifies the option module slot number and mm.ppp signifies the menu and parameter number of the option module's internal menus and parameters. If the option module slot number is not specified then the parameter reference is for a drive parameter.

•Pr mm.ppp - Where mm signifies the menu allocated to the option module set-up menu and ppp signifies the parameter number.

Pr mm.000 - Signifies parameter number 000 in any drive menu.

information

installation

started

data

Safety

Introduction

Mechanical

Electrical

Getting

Parameters GSD Files Cyclic data

Non-cyclic

Unidrive M SI-PROFIBUS User Guide 11 Issue Number: 3

status words

Diagnostics

profile (V4)

features

terms

Index

Control and

PROFIdrive

Advanced

Legacy

Glossary of

3 Mechanical installation

WARNING

NOTE

Before installation or removal of an option module from any drive, ensure the AC supply has been disconnected for at least 10 minutes and refer to section 1 Safety information on page 5. If using a DC bus supply ensure this is fully discharged before working on any drive or option module.

3.1 General Installation

Installation of the various option modules is illustrated in the following diagrams.

Figure 3-1 Installation of an SI option module on Unidrive M200 to M400 (sizes 2 to 4)

• With the option module tilted slightly backwards, align and locate the two holes in the rear of the option module onto the two tabs (1) on the drive.

• Place the option module onto the drive as shown in (2) until the module clicks into place. The terminal cover on the drive holds the option module in place, so this must now be replaced.

The above diagram is for illustration only, the actual option module may be different to the one shown here.

Option modules can only be installed on drives that have the option module slot functionality.

12 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Figure 3-2 Installation of an SI option module on Unidrive M200 to M400 (sizes

5 to 8)

information

Safety

Introduction

Mechanical

installation

Electrical

Getting

started

Parameters

GSD

Files

Cyclic data

Non-cyclic

data

status words

Control and

• Place the option module onto the drive as shown in (2) until the module clicks into place. The terminal cover on the drive holds the option module in place, so this must now be replaced.

Unidrive M SI-PROFIBUS User Guide 13 Issue Number: 3

Diagnostics

profile (V4)

features

terms

Index

PROFIdrive

Advanced

Legacy

Glossary of

Figure 3-3 Installation of an SI option module on Unidrive M600 to M810

NOTE

Option module slots must be used in the following order: (Slot 3), (Slot 2) then (Slot 1).

• Move the option module in the direction shown (1/2).

• Align and insert the option module tab into the slot provided. This is highlighted in the detailed view (A).

• Press down on the option module until it clicks into place.

14 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

4 Electrical installation

5 2 1

79 8 6

4 3

RxD/TxD-N (Green)

+5 V ISO (for termination only)

5 2 1

79 8 6

Cable screen (braided shield)

0V ISO (for termination only)

Shell

CNTR-P

4 3

RxD/TxD-P (Red)

information

Safety

4.1 Terminal descriptions

SI-PROFIBUS has a standard 9-way female D-type connector for the PROFIBUS-DP network.

Figure 4-1 SI-PROFIBUS terminals

Table 4.1 SI-PROFIBUS D-Type pin out

D-type

Terminal Function Description

3 RxD/TxD-P Positive data line (B) - Red

8 RxD/TxD-N Negative data line (A) - Green

6 + 5V ISO +5 V isolated, use only for termination resistors

5 0V ISO 0 V isolated, use only for termination resistors

4 CNTR-P RTS line

1, Shell Shield Cable shield connection

Figure 4-2 D-Type connections

Introduction

Mechanical

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Electrical

Getting

started

Parameters

GSD

Files

Cyclic data

Non-cyclic

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Control and

Diagnostics

Control Techniques recommend using connectors approved by PROFIBUS International at all times.

Unidrive M SI-PROFIBUS User Guide 15 Issue Number: 3

profile (V4)

features

terms

Index

PROFIdrive

Advanced

Legacy

Glossary of

4.2 PROFIBUS-DP connectors

NOTE

There are numerous manufacturers of PROFIBUS-DP connectors. Always ensure that any connectors used on the network are fully approved for use with PROFIBUS-DP networks. Some of the connector types available include built in termination that allows the network to be isolated, this can be very useful when fault finding. For data rates above 1.5 Mbs connectors installed with integrated inductors should be used.

4.3 PROFIBUS-DP cable

PROFIBUS-DP networks can run at high data rates and require cable specifically designed to carry high frequency signals. Low quality cable will attenuate the signals, and may render the signal unreadable for the other nodes on the network. Cable specifications and a list of approved manufacturers of cable for use on PROFIBUS-DP networks are available on the PROFIBUS Nutzerorganization (PNO) website at www.profibus.com.

Control Techniques can only guarantee correct and reliable operation of the SIPROFIBUS if all other equipment on the PROFIBUS-DP network (including the network cable) has been approved by the PNO and is correctly installed.

4.4 Cable shielding

Correct shielding of the PROFIBUS-DP cable is required for reliable operation at high data rates, this can be achieved by exposing the cable shield of each PROFIBUS-DP cable and ensuring that they are clamped to the drive grounding metalwork as close as possible to the drive termination, contact your supplier or local Control Techniques Drive Centre for more information.

Unless there are specific reasons for not grounding the network it is recommended that all drive network connections are correctly grounded. Failure to do so may reduce the noise immunity of the system. If there are specific issues with grounding, alternative methods of connection should be considered such as the use of fibre optic cable.

4.5 General grounding considerations

It is essential that good grounding is provided not only for network stability but more importantly electrical safety. In all instances electrical regulations should be adhered to. As a guide the network cable should be grounded at least once per cabinet, ideally on each drive.

4.6 Network termination

It is very important in high-speed communications networks that the network communications cable is installed with the specified termination resistor network at each end of each segment. This prevents signals from being reflected back down the cable and causing interference.

Most ranges of connectors provide specific parts that incorporate the termination network. Such connectors derive the power from the host device and if the host device is switched off the termination will be lost. To avoid this situation a separate termination device is available that is powered independently of the network devices. For more information go to www.profibus.com.

Failure to terminate a network correctly can seriously affect the operation of the network. If the correct termination networks are not installed, the noise immunity of the network is greatly reduced. Each network segment must be correctly terminated.

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Issue Number: 3

4.7 Maximum network length / device loading

NOTE

The maximum number of devices that can be connected to a single PROFIBUS-DP network segment is 32, this includes all nodes and any repeaters. The maximum lengths of cable for a segment depend on the data rate and are shown in Table 4.2.

Repeaters or fiber optic segments can be used to extend the network, allowing more than 32 nodes to be connected on the network. The maximum number of nodes on a single network is 125.

For full details on designing and installing a PROFIBUS-DP network, refer to Installation Guidelines for PROFIBUS-DP/FMS. This document is available from the PROFIBUS website at www.profibus.com.

Table 4.2 PROFIBUS-DP maximum network cable lengths

Data rate Maximum trunk length

(bits/s) (m)

12M 100

6.0M 100

3.0M 100

1.5M 200

500k 400

187.5k 1000

93.75k 1200

45.45k 1200

19.2k 1200

9.6K 1200

information

Safety

Introduction

Mechanical

installation

Electrical

Getting

started

Parameters

GSD

Files

Cyclic data

Non-cyclic

data

4.8 Node addressing

SI-PROFIBUS has a valid address range of 1 to 125. Addresses 126 and 0 are reserved for system use and should not be used. The addressing scheme used is at the discretion of the end user however it is recommended that nodes are numbered in order as they appear on the physical network. It is not necessary to use consecutive numbers and gaps in the addressing scheme may be left to allow for future expansion.

4.9 Spurs

The PROFIBUS-DP specification allows spurs at data rates less than 1.5 Mb/s. At data rates below 1.5 Mb/s there are specific requirements for capacitance and length of cable allowed when using spurs. Control Techniques recommend that spurs are not used as extreme care is required at the design stage to avoid network problems. More information on spurs can be found on the PROFIBUS website at www.profibus.com.

4.10 Minimum node to node cable length

The minimum recommended node to node distance is one metre of network cable. This distance is necessary to avoid multiple nodes generating a single large reflection on the network, using less than one metre of cable between nodes can have serious implications for network reliability.

4.11 Grounding

Refer to the relevant Drive User Guide for more information.

Unidrive M SI-PROFIBUS User Guide 17 Issue Number: 3

status words

Control and

Diagnostics

PROFIdrive

profile (V4)

Advanced

features

Legacy

Glossary of

terms

Index

5 Getting started

NOTE

This section is intended to provide a generic guide for configuring SI-PROFIBUS with a master controller. Figure 5-1 is intended as a basic guide, but it does detail the stages that are required to achieve a functioning network. It is recommended that all of this chapter is read, before attempting to configure a system.

Due to the large number of PLCs/masters that support PROFIBUS-DP, only generic details can be provided. Support is available through your supplier or local Control Techniques Drive Centre.

Before contacting your supplier or local Control Techniques Drive Centre for support, please read of this manual to check that you have configured all parameters correctly. Before calling, please ensure you have the following information readily to hand:

• A list of all parameters in SI-PROFIBUS.

• The drive firmware version (see the relevant Drive User Guide).

• The SI-PROFIBUS firmware version.

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Issue Number: 3

5.1 Set-up flow chart

Start

Connect all drives

together using

approved

cable /

connectors / repeaters

Ensure all segments

correctly terminated

and termination

powered

Ensure no more than

32 devices per segment

(including repeaters)

Ensure there are no

more than 125

addressed devices on

the network

Perform cable tests

A dedicated

PROFIBUS-DP

tester is

recommended.

Configure each node

address on the system

(Pr

S.01.004

)

Ensure all third party

devices use the same

data rate

Perform a network scan

using the master or

tester

A dedicated

PROFIBUS-DP

tester is

recommended.

Ensure segment

lengths are no longer

than the maximum

limits

Ensure a minimum node to node cable

distance of 1m

Set mapping

parameters in the drive

(Pr

S.02.001

- Pr

S.02.032

and Pr

S.03.001

- Pr

S.03.032

)

Set data size in master

for each node (use

GSD file if required)

Map data to master

program variables

Start master and ensure

there are no errors

End

See Section

See master

documentation

and Section 6

See master

documentation

See master

documentation

Reset and save

parameters (Pr

MM.007

= On (1) & Pr

mm.000

= “Save

parameters” + reset)

Check data flow in both

directions

See master

documentation

Figure 5-1 Set-up flow chart

information

Safety

Introduction

Mechanical

installation

Electrical

Getting

started

Parameters

GSD

Files

Cyclic data

Non-cyclic

data

status words

Control and

Diagnostics

PROFIdrive

profile (V4)

Advanced

features

Legacy

Unidrive M SI-PROFIBUS User Guide 19 Issue Number: 3

Glossary of

terms

Index

5.2 Single line descriptions

NOTE

5.2.1 Menu 0 - Set-up

Table 5.1 Menu 0 single line descriptions

Parameter Range(Ú)Default(Ö)Type

S.00.001 Module ID 0 to 65535 443 RO Num ND NC PT

S.00.002

S.00.003

S.00.004

S.00.005

S.00.006

S.00.007 Module reset Off (0) or On (1) Off (0) RW Bit NC

S.00.008

5.2.2 Menu 1 - PROFIBUS set-up

S.01.001

S.01.002

S.01.003

S.01.004

S.01.005 Baud rate

S.01.006

S.01.007

Firmware

Versi on

Hardware

Versi on

Serial

Number LS

Serial

Number MS

Module

status

Module

default

00.00.00.00 to 99.99.99.99 RO Num ND NC PT

00.00 to 99.99

0 to 99999999 RO Num ND NC PT

Initializing (0), Ok (1), Config (2),

Error (3)

Off (0) or On (1) Off (0) RW Bit NC

RO Num ND NC PT

Menu 0 within the option module, is also displayed in the drive menu 15, 16 or 17 depending on which slot the option module is installed to. However, the functionality of all parameters remains the same.

Menu 0 is not available in firmware version 01.01.01.02 and previous versions.

Parameter Range(Ú) Default(Ö) Type

Enable Profibus Interface

Reset Profibus

Interface

Default Profibus Interface

Profibus node

address

Profibus Network

Diagnostic

Cyclic data

transfers per

second

6 Mbps (2), 3 Mbps (3), 1.5 Mbps (4),

Off (0) or On (1) On (1) RO Bit

Off (0) or On (1) Off (0) RW Bit

0 to 126 126 RW Num US

Auto-detect (0), 12 Mbps (1),

500 kbps (5), 187.5 kbps (6),

93.75 kbps (7), 45.45 kbps (8),

19.2 kbps (9), 9.6 kbps (10)

Network OK (0), Initialization (1), Initialized(2), No network data (3), First failure (4), Second failure (5),

Third Failure (6)

0 to 9999 messages/s

RO Txt ND NC PT

RO Num ND NC PT

20 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Parameter Range(Ú) Default(Ö) Type

Auto (0), Custom (1), STD Tel 1 (2),

S.01.008

selection

STD Tel 1 + 4 (3), STD Tel 1 + 8 (4),

PPO1 (5), PPO2 (6), PPO3 (7),

PPO4 (8), PPO5 (9)

Custom (1) RW Txt US

S.01.010 Timeout delay 0 to 3000 ms 200 ms RW Num US

S.01.011 Timeout action

Trip (0), Send flt values (1),

Clear output (2), Hold last (3),

Trip (0) RW Txt US

No action (4)

S.01.012

S.01.013

Timeout event

destination

Timeout event

type

This slot (0), Slot 1 (1), Slot 2 (2),

Slot 3 (3), Slot 4 (4)

No event (0), Event 0 (1), Event 1 (2),

Event 2 (3), Event 3 (4), Event 4 (5)

This slot (0) RW Txt US

No event

RW Txt US

(0)

S.01.014 Data alignment 32 (0) or 16 (1) bits 32 (0) bits RW Txt US

S.01.020

S.01.021

S.01.022

Number of

Input cyclic

words

Number of

Output cyclic

words

Input mapping

status

1 to 32 4 RW Num NC PT US

No error (0), Too many IN objs (1),

No mapping (2), Read mismatch (3),

Hole in mappings (4),

N-C mapping err (5), Duplicate error (6),

Length mismatch (7),

IN mode and PPO (8),

Data align w PPO (9), No PPO support (10),

SP A-D IN map (11),

RO Txt

IN AND CTNC & PPO4 (12)

No error (0), Mapping expected (1),

No mapping (2), Write mismatch (3),

Hole in mappings (4),

N-C mapping err (5), Duplicate error (6),

Length mismatch (7),

OUT mode and PPO (8),

Data align w PPO (9), No PPO support (10),

SP A-D OUT map (11),

OUT AND CTNC & PPO4 (12)

0 to 65535 ms

Off (0) or On (1) Off (0) RW Txt US

0.00.000 to 4.99.999 0.00.000 RW Num US

Off (0) or On (1) Off (0) RW Txt US

RO Txt

RO Num ND

S.01.023

S.01.024

S.01.025

S.01.026

S.01.027

S.01.028

Output

mapping status

Input

processing time

Output

processing time

Input

consistency

Input

consistency

trigger

Output

consistency

information

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GSD

Non-cyclic

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Advanced

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Unidrive M SI-PROFIBUS User Guide 21 Issue Number: 3

Index

Parameter Range(Ú) Default(Ö) Type

S.01.029

S.01.030

S.01.031

Output

consistency

trigger

Non-cyclic over

cyclic

Compatibility

mode

0.00.000 to 4.99.999 0.00.000 RW Txt US

None (0), CTNC (1), PPO defined (2) None (0) RW Txt US

Auto-detect (0), Reserved (1),

UniSP (2), UniSP extended (3),

Unidrive Classic (4)

Auto-detect

(0)

RW Txt US

22 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

5.2.3 Menu 2 - Input mapping

Parameter Range(Ú)Default(Ö)Type

S.02.001 Input source 1 0 to 5.01.004 0.10.040 RW Num DE PT US

S.02.002 Input source 2 0 to 5.01.004 0.02.001 RW Num DE PT US

S.02.003 Input source 3 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.004 Input source 4 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.005 Input source 5 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.006 Input source 6 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.007 Input source 7 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.008 Input source 8 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.009 Input source 9 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.010 Input source 10 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.011 Input source 11 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.012 Input source 12 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.013 Input source 13 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.014 Input source 14 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.015 Input source 15 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.016 Input source 16 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.017 Input source 17 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.018 Input source 18 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.019 Input source 19 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.020 Input source 20 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.021 Input source 21 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.022 Input source 22 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.023 Input source 23 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.024 Input source 24 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.025 Input source 25 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.026 Input source 26 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.027 Input source 27 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.028 Input source 28 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.029 Input source 29 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.030 Input source 30 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.031 Input source 31 0 to 5.01.004 0.00.000 RW Num DE PT US

S.02.032 Input source 32 0 to 5.01.004 0.00.000 RW Num DE PT US

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Unidrive M SI-PROFIBUS User Guide 23 Issue Number: 3

Index

5.2.4 Menu 3 - Output mapping

Menu Range(Ú)Default(Ö)Type

S.03.001 Output destination 1 0 to 5.01.004 0.06.042 RW Num DE PT US

S.03.002 Output destination 2 0 to 5.01.004 0.01.021 RW Num DE PT US

S.03.003 Output destination 3 0 to 5.01.004 0.00.000 RW Num DE PT US

S.03.004 Output destination 4 0 to 5.01.004 0.00.000 RW Num DE PT US

S.03.005 Output destination 5 0 to 5.01.004 0.00.000 RW Num DE PT US

S.03.006 Output destination 6 0 to 5.01.004 0.00.000 RW Num DE PT US

S.03.007 Output destination 7 0 to 5.01.004 0.00.000 RW Num DE PT US

S.03.008 Output destination 8 0 to 5.01.004 0.00.000 RW Num DE PT US

S.03.009 Output destination 9 0 to 5.01.004 0.00.000 RW Num DE PT US

S.03.010

S.03.011

S.03.012

S.03.013

S.03.014

S.03.015

S.03.016

S.03.017

S.03.018

S.03.019

S.03.020

S.03.021

S.03.022

S.03.023

S.03.024

S.03.025

S.03.026

S.03.027

S.03.028

Output destination

0 to 5.01.004 0.00.000 RW Num DE PT US

24 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

S.03.029

S.03.030

S.03.031

S.03.032

Menu Range(Ú)Default(Ö)Type

Output destination

0 to 5.01.004 0.00.000 RW Num DE PT US

information

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Mechanical

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5.2.5 Menu 4 - Fault values

Parameter Range(Ú)Default(Ö) Type

S.04.001 Fault value 1

S.04.002 Fault value 2

S.04.003 Fault value 3

S.04.004 Fault value 4

S.04.005 Fault value 5

S.04.006 Fault value 6

S.04.007 Fault value 7

S.04.008 Fault value 8

S.04.009 Fault value 9

S.04.010 Fault value 10

S.04.011 Fault value 11

S.04.012 Fault value 12

S.04.013 Fault value 13

S.04.014 Fault value 14

S.04.015 Fault value 15

S.04.016 Fault value 16

S.04.017 Fault value 17

S.04.018 Fault value 18

S.04.019 Fault value 19

S.04.020 Fault value 20

S.04.021 Fault value 21

S.04.022 Fault value 22

S.04.023 Fault value 23

-2

to 231-1

installation

0RWNum US

started

0RWNum US

Files

0RWNum US

data

status words

0RWNum US

profile (V4)

0RWNum US

features

0RWNum US

features

0RWNum US

terms

0RWNum US

Electrical

Getting

Parameters

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Non-cyclic

Control and

Diagnostics

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Advanced

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Index

Unidrive M SI-PROFIBUS User Guide 25 Issue Number: 3

Parameter Range(Ú)Default(Ö) Type

S.04.024 Fault value 24

S.04.025 Fault value 25

S.04.026 Fault value 26

S.04.027 Fault value 27

S.04.028 Fault value 28

S.04.029 Fault value 29

S.04.030 Fault value 30

S.04.031 Fault value 31

S.04.032 Fault value 32

5.2.6 Menu 9 resources

Parameter Range Default

S.09.030 PCB temperature 1 -128 °C to 127 °C

S.09.031 PCB temperature 2 -128 °C to 127 °C

-2

to 231-1

0RWNum US

RO Num ND NC PT

26 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

6 Parameters

NOTE

information

Safety

6.1 Menus

Table 6.1 SI-PROFIBUS internal menus

Menu Description

S.0 Module information

S.1 PROFIBUS set-up

S.2 Input mapping

S.3 Output mapping

S.4 Fault values

S.9 Resources

S is the slot number where the module is installed.

The module's menu 0 is also displayed in menu 15, 16 or 17 depending on which slot the module is installed to. Table 6.2 below shows the location of the module's menu 0 on the drive.

Menu 0 is not available in firmware version 01.01.01.02 and previous versions.

For M200, M300 and M400 drives, the module menu 0 will be displayed in drive menu

15.

Table 6.2 SI-PROFIBUS menu 0 locations on M700/M800.

Slot number Menu 0 locations

115

216

317

6.2 Module menu 0 - module information

Module ID Code

Default 443

S.00.001

SI-PROFIBUS firmware version

S.00.002

The firmware version of the option module is in the format of ww.xx.yy.zz.

Range 0 to 999

Access RO

Default N/A

Range 00.00.00.00 to 99.99.99.99

Access RO

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Unidrive M SI-PROFIBUS User Guide 27 Issue Number: 3

SI-PROFIBUS hardware version

Default N/A

S.00.003

The hardware version of the option module is in the format of yy.zz.

Serial number LS

S.00.004

Serial number MS

S.00.005

The module serial number is available as a pair of 32-bit values where Serial Number LS (Pr S.00.004) provides the least significant 8 decimal digits, and Serial Number MS (Pr S.00.005) provides the most significant 8 decimal digits. The reconstructed serial number is ((S.00.005 x 100000000) + S.00.004). For example, serial number "0001234567898765" would be stored as Pr S.00.005 = 12345 and Pr S.00.004 =

67898765.

Module status

S.00.006

This parameter displays the current status of the module. All possible values are shown in the table below.

Value Text Description

0 Initializing Module is currently initializing

1 OK Module has initialized and has found no errors.

2 Config

3Error

Range 00.00 to 99.99

Access RO

Default N/A

Range 0 to 99999999

Access RO

Default N/A

Range 0 to 99999999

Access RO

Default N/A

Range 0 to 99999999

Access RO

A configuration error has been detected in one of the communications protocols or user program.

An error has occurred preventing the firmware or user program running correctly.

Reset module

Default Off (0)

S.00.007

Changes to the SI-PROFIBUS configuration will not take effect until the SI-PROFIBUS has been reset.

Range Off (0) or On (1)

Access RW

28 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

To reset the SI-PROFIBUS:

NOTE

•Set Pr S.00.007 to On (1).

• When the sequence has been completed, Pr S.00.007 will be reset to Off (0).

• The SI-PROFIBUS will reset using the updated configuration.

This sequence does NOT store the SI-PROFIBUS configuration parameters in the drive or the SI-PROFIBUS flash memory. This parameter will change back to Off (0) immediately and as such the change may not be visible on the display.

information

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Introduction

Mechanical

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Default module

Default Off (0)

S.00.008

Range Off (0) or On (1)

Access RW

The SI-PROFIBUS option module can be set to it's factory default configuration.

This can be performed as follows:

•Set Pr S.00.008 to On (1).

• Reset the module by setting Pr S.00.007 to On (1).

• SI-PROFIBUS communications will be stopped.

• Default parameter values for the SI-PROFIBUS will be loaded.

• The SI-PROFIBUS will reset using the default values.

If the host drive is defaulted (see the drive user guide for details), it will also clear the current configuration for the slot SI-PROFIBUS is installed to.

installation

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Unidrive M SI-PROFIBUS User Guide 29 Issue Number: 3

Advanced

features

Legacy

Glossary of

terms

Index

6.3 Module menu 1 - PROFIBUS Set-up

NOTE

Menu 1 contains all the parameters relating to the set-up of the PROFIBUS interface on the SI-PROFIBUS module.

Enable PROFIBUS interface

Default On (1)

S.01.001

This parameter displays a value of On (1) to indicate that the PROFIBUS Interface has been enabled.

Reset PROFIBUS interface

S.01.002

Changes to the SI-PROFIBUS configuration will not take effect until the SI-PROFIBUS has been reset.

To reset the SI-PROFIBUS:

•Set Pr S.01.002 to On (1).

• When the sequence has been completed, Pr S.01.002 will be reset to OFF (0).

• The SI-PROFIBUS will reset using the updated configuration.

This sequence does NOT store the SI-PROFIBUS configuration parameters in the drive or the SI-PROFIBUS flash memory. This parameter will change back to OFF immediately, and as such the change may not be visible in the display.

Default PROFIBUS Interface

S.01.003

Range OFF (0) or On (1)

Access RO

Default OFF (0)

Range OFF (0) or On (1)

Access RW

Default OFF (0)

Range OFF (0) or On (1)

Access RW

The SI-PROFIBUS option module can be set to it's factory default configuration.

This can be performed as follows:

•Set Pr S.01.003 to On

• Reset the PROFIBUS interface by setting Pr S.01.002 to On (1).

• SI-PROFIBUS communications will be stopped

• The host drive will load and store its default parameter values

• Default parameter values for the SI-PROFIBUS will be loaded

• The SI-PROFIBUS will reset using the default values

If the host drive is defaulted (see the relevant Drive User Guide for details), it will also clear the current configuration for the slot SI-PROFIBUS is installed to.

30 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

SI-PROFIBUS node address

NOTE

Default 126

S.01.004

Range 0 to 126

Access RW

Every node on a PROFIBUS-DP network must be given a unique network node address. To activate a change in the node address value, the SI-PROFIBUS must be reset (Pr S.01.002 or MM.007 = On). Addresses 0 and 126 are reserved for system use.

Network baud rate

Default N/A

S.01.005

Range 0 to 10

Access RO

The SI-PROFIBUS will automatically detect the PROFIBUS-DP network data rate and synchronize to it. Pr S.01.005 will indicate the data rate that has been detected by the SI-PROFIBUS.

A value of 0 indicates that the SI-PROFIBUS has not detected any activity on the PROFIBUS-DP network, and is waiting for the master controller to start communicating.

The PROFIBUS-DP data rate parameter can be changed, but this will not affect the data rate at which the SI-PROFIBUS communicates. The data rate display will be updated when the SI-PROFIBUS is reset.

Table 6.3 SI-PROFIBUS data rates

Pr S.01.005 Bits/s PROFIdrive PNU963

0 Auto-detecting N/A

1 12 M 9

2 6.0 M 8

3 3.0 M 7

4 1.5 M 6

5 500 k 4

6 187.5 k 3

7 93.75 k 2

8 45.45 k 11

9 19.2 k 1

10 9.6 k 0

SI-PROFIBUS network diagnostic

Default N/A

S.01.006

Range 0 to 6

Access RO

SI-PROFIBUS cyclic data rate

Default N/A

S.01.007

Range 0 to 9999 Messages/s

Access RO

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Unidrive M SI-PROFIBUS User Guide 31 Issue Number: 3

The PROFIBUS-DP network activity can be monitored in the SI-PROFIBUS operating status parameter, Pr S.01.006. When the SI-PROFIBUS is in data exchange with the PROFIBUS-DP master controller, Pr S.01.007 will give an indication of the number of cyclic data messages that are being processed per second. All possible values of

S.01.006 are given in Table 6.4.

Table 6.4 SI-PROFIBUS network diagnostics (S.01.006)

Value Text Description

0 Network OK Network OK/healthy.

A part of the SI-PROFIBUS initialization sequence was not successful. If this fault persists after a power-cycle, replace

1 Intilaization

2 Initialized

3 Network no data

4 First Failure

5 Second Failure

6 Third Failure

the SI-PROFIBUS. This error may also occur if the PROFIBUS-DP master is not connected.

The SI-PROFIBUS has initialized correctly and is waiting for the Profibus-DP master to initialise communications. This error may also occur if the PROFIBUS-DP master connection is removed.

Network OK/healthy but no network cycles per second detected.

Mapping configuration fail when mappings are set by input mapping menu and output mapping menu (S.01.008 > 0) or ASCI configuration fail when mappings are set by GSD files (S.01.008 = 0).

Mapping configuration fail when mappings are set by GSD files (S.01.008 = 0) or ASCI configuration fail when mappings are set by input mapping menu and output mapping menu (S.01.008 > 0).

SI-PROFIBUS does not support CTNC or PPO4 (S.01.030 = 1 or 2), and does not support ProfiDrive V2 (S.01.008 >

2).

Telegram selection

Default 1

S.01.008

If the telegram selection (Pr S.01.008) = Auto (0), the number of input and output cyclic words and the input and output mappings are set by the PLC master on the network. The mapping configuration parameters can still be changed on the keypad but when the module or PLC is reset or power-cycled, the PLC will set them up as originally configured.

If the telegram selection (Pr S.01.008) = Custom (1), the number of input and output cyclic words and the input and output mappings are set by the user.

If the telegram selection (Pr S.01.008) = STD Tel 1 (2), the number of input and output cyclic words and the input and output mappings are set by the PROFIdrive parameters.

The mapping configuration parameters can still be changed on the keypad but when the module is reset or power-cycled, the module will set them according to the selected telegram (Pr S.01.008).

Range 0 to 9

Access RW

32 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

The input mappings are PNU968 and PNU1001 and the output mappings are PNU967 and PNU1003.

Pr S.02.001 will display 5.00.968 (PNU968), Pr S.02.002 will display 5.01.001 (PNU1001), Pr S.03.001 will display 5.00.967 (PNU967) and Pr S.03.002 will display

5.01.003 (PNU1003).

Table 6.5 shows all the possible values of the Telegram selection (Pr S.01.008).

Table 6.5 All values for Telegram selection

Value Text Description

0 Auto Mappings set by PLC

1 Custom Mappings set by drive

2 STD Tel 1 Fixed mappings

3 STD Tel 1 + 4

4 STD Tel 1 + 8

5 PPO1

6 PPO2

7 PPO3

8 PPO4

9 PPO5

SP compatibility mode only. 6 cyclic words (4 words user mappable)

SP compatibility mode only. 10 cyclic words (8 words user mappable)

SP compatibility mode only. 4 words non-cyclic, 2 words cyclic

SP compatibility mode only. 4 words non-cyclic, 6 words cyclic

SP compatibility mode only. 2 words cyclic

SP compatibility mode only. 6 words cyclic

SP compatibility mode only. 4 words non-cyclic, 10 words cyclic

As shown in Table 6.5, only Auto, Custom and STD Tel 1 are available when the SI-PROFIBUS module is connected to a Unidrive M and compatibility mode (Pr S.01.031) is set to Auto detect. If any other telegram selection is made, the drive will display an alarm of Invalid IN map and Invalid OUT map (see Section 10 - Diagnostics for more information).

See section 14 Legacy features for more information on the full range of Telegram selection (Pr S.01.008) when in Unidrive SP compatibility mode.

Network loss selection

Default 200 ms

S.01.010

Range 0 to 3000 ms

Access RW

The network loss detection feature provides a method which detects whether the communication to the master is still present. The SI-PROFIBUS resets an internal timer when a valid message is received from the SI-PROFIBUS network, if a message is not received within the specified period, network loss is detected.

The network loss detection can be disabled by setting the value of Pr S.01.010 to 0. Users must then take adequate precautions in the event of a failure of the PROFIBUS network.

information

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data

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Unidrive M SI-PROFIBUS User Guide 33 Issue Number: 3

Index

Network loss detection is not enabled internally until cyclic data has been detected. This

NOTE

WARNING

prevents spurious network loss timeouts while the SI-PROFIBUS master controller is initializing the PROFIBUS-DP network.

Timeout action

Default Trip (0)

S.01.011

Range Trip (0) to No action (4)

Access RW

Pr S.01.011 determines the action to take when a timeout specified by Pr S.01.010 occurs. All possible actions and descriptions are listed below.

Value Text Description

0 Trip Trip the drive

1 Send flt values Send fault values to output parameters

2 Clear output PLC output parameters will have values set to zero

3 Hold last Hold the last value in the PLC output parameters

4 No action No action with output parameters

When a value of "Trip" is selected in Pr S.01.011 and no cyclic communications have been detected in a time period defined by Pr S.01.010 then the drive will trip displaying "SlotX Error" with a sub-trip string of "Link loss".

If the network loss timeout time (Pr S.01.010) is reduced too far, spurious network losses may occur due to a time-out occurring before the time period under normal operating conditions.

Network loss detection can be disabled by setting Pr S.01.010 to 0. It is the user's responsibility to ensure that adequate safety precautions are taken to prevent damage or injury by disabling the drive in the event of a loss of communications.

If Pr S.01.011 is set to "Send flt values", the fault values entered in Pr S.04.001 to Pr S.04.032 are sent to the mapped output parameters when a network timeout error occurs. If a valid PROFIBUS message is subsequently detected then the PLC output values will be written as normal

e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, the value in Pr S.04.001 will be sent to Pr 20.021 and the value in Pr S.04.002 will be sent to Pr 20.022 as defined in the out mapping parameters.

If Pr S.01.011 is set to "Clear output", all PLC output parameter values are set to zero in the event of a network loss timeout occurring.

e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, Pr 20.021 and Pr 20.022 will be set to 0.

If Pr S.01.011 is set to "Hold last", the last values sent by the PLC are held in the mapped output parameters in the event of a network loss timeout occurring.

e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, Pr 20.021 and Pr 20.022 will equal the last values sent by the PLC.

If Pr S.01.011 is set to "No action", then the module will not write any value to any mapped output parameters.

34 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Timeout event destination

NOTE

Default This Slot (0)

S.01.012

Range This Slot (0) to Slot4 (4)

Access RW

information

Safety

Introduction

Timeout event type

Default No Event (0)

S.01.013

Range No Event (0) to Event4 (4)

Access RW

When a timeout occurs, the SI-PROFIBUS module can trigger an event defined by Pr S.01.013 to a destination, such as an option module installed to a different slot on the drive, defined by Pr S.01.012.

This feature is not yet implemented.

If triggering an event to a different option module, Pr S.01.012 must point to a slot where a compatible option module is installed to.

Cyclic data alignment

Default 32 (0)

S.01.014

Range 32 (0) or 16 (1) bits

Access RW

By default, the SI-PROFIBUS uses 32 bits for each data channel, even if the target parameter in the drive is a 16-bit parameter. This strategy (known as casting), ensures that the cyclic data transmitted over the SI-PROFIBUS network remains aligned with the memory locations in 32-bit PLC's. When cyclic data alignment (Pr S.01.014) is set to "16 bits", a data channel will only use 32 bits if the target drive parameter is a 32-bit parameter. If the target drive parameter is only 1, 8 or 16 bits wide, 16 bits will be used for that particular data channel as shown in the following table.

Parameter

size

Actual data size (bits)

Alignment = 16 bits

Actual data size (bits)

Alignment = 32 bits

(bits)

32 32

The following examples demonstrate setting up a network using five cyclic channels for both IN and OUT data with the cyclic data alignment first set to 32 bits and then set to 16 bits.

Table 6.6 shows the mapping parameters where five IN and five OUT cyclic data channels are required. With data alignment set to 32 bits, each data channel uses 32 bits (two data words, so a total of ten words are required).

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Unidrive M SI-PROFIBUS User Guide 35 Issue Number: 3

Table 6.6 Mapping parameters

Data channel Data words

used

IN channel 1 IN word 0, 1 Pr 3.02.001 0.10.040 16 Pr 10.040, status word

IN channel 2 IN word 2, 3 Pr 3.02.002 0.02.001 32

IN channel 3 IN word 4, 5 Pr 3.02.003 0.04.020 16

IN channel 4 IN word 6, 7 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback

IN channel 5 IN word 8, 9 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output

OUT channel 1 OUT word 0, 1 Pr 3.03.001 0.06.042 16 Pr 06.042, control word

OUT channel 2 OUT word 2, 3 Pr 3.03.002 0.01.021 32 Pr 01.021, preset reference 1

OUT channel 3 OUT word 4, 5 Pr 3.03.003 0.02.011 32 Pr 02.011, acceleration rate 1

OUT channel 4 OUT word 6, 7 Pr 3.03.004 0.02.021 32 Pr 02.021, deceleration rate 1

OUT channel 5 OUT word 8, 9 Pr 3.03.005 0.14.020 16 Pr 14.020, PID1 reference

It is advisable to keep 16-bit parameters paired together. This prevents mis-alignment of cyclic data with 32-bit PLC registers when using auto-mapping facilities to configure the SI-PROFIBUS network. By swapping the mappings for input channel 2 with input channel 3, and moving output channel 5 to output channel 2, the data channel structure will appear as shown in the table below.

Data channel Data words

used

IN channel 1 IN word 0 Pr 3.02.001 0.10.040 16 Pr 10.040, status word

IN channel 2 IN word 1 Pr 3.02.002 0.04.020 16

IN channel 3 IN word 2, 3 Pr 3.02.003 0.02.001 32

IN channel 4 IN word 4 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback

IN channel 5 IN word 5 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output

OUT channel 1 OUT word 0 Pr 3.03.001 0.06.042 16 Pr 06.042, control word

OUT channel 2 OUT word 1 Pr 3.03.002 0.14.020 16 Pr 14.020, PID1 reference

OUT channel 3 OUT word 2, 3 Pr 3.03.003 0.01.021 32 Pr 01.021, preset reference 1

OUT channel 4 OUT word 4, 5 Pr 3.03.004 0.02.011 32 Pr 02.011, acceleration rate

OUT channel 5 OUT word 6, 7 Pr 3.03.005 0.02.021 32 Pr 02.021, deceleration rate 1

Mapping for slot 3

Mapping

for slot 3

Setting Data

width (bits)

Setting Data

width (bits)

Mapping status

Pr 02.001, post-ramp speed reference

Pr 04.020, Motor load as % of rated motor load

Mapping status

Pr 04.020, Motor load as % of rated motor load

Pr 02.001, post-ramp speed reference

36 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Input cyclic words

S.01.020

Default 4

Range 1 to 32

Access RW

information

Safety

Introduction

Output cyclic words

Default 4

S.01.021

Range 1 to 32

Access RW

If the telegram selection (Pr S.01.008) = Custom (1), the number of input and output cyclic words and the input and output mappings are set by the user.

If the telegram selection (Pr S.01.008) = STD Tel 1 (2), the number of input and output cyclic words and the input and output mappings are set by the PROFIdrive parameters.

The mapping configuration parameters can still be changed on the keypad but when the module is reset or power-cycled, the module will set them according to the selected telegram (Pr S.01.008).

The input mappings are PNU968 and PNU1001 and the output mappings are PNU967 and PNU1003. Pr S.02.001 will display 5.00.968 (PNU968), Pr S.02.002 will display

5.01.001 (PNU1001), Pr S.03.001 will display 5.00.967 (PNU967) and Pr S.03.002 will display 5.01.003 (PNU1003).

Input mapping status

Default 0

S.01.022

Range 0 to 12

Access RW

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Cyclic data

Non-cyclic

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Control and

Diagnostics

Output mapping status

Default 0

S.01.023

Range 0 to 12

Access RW

If the SI-PROFIBUS network diagnostic parameter (Pr S.01.006) indicates "First Failure" or "Second Failure", a mapping configuration error has been detected. The reason for the error is indicated by the SI-PROFIBUS input mapping status parameter (Pr S.01.022) and the SI-PROFIBUS output mapping status parameter (Pr S.01.023).

When a mapping error has been corrected, reset the SI-PROFIBUS module by setting Pr S.01.002 or MM.007 to On (1).

The input mapping error codes are described in Table 6.7 on page 38 and the output mapping error codes are described in Table 6.8 on page 38.

Unidrive M SI-PROFIBUS User Guide 37 Issue Number: 3

PROFIdrive

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Table 6.7 Input mapping error codes

Value Text Description

0 No error

1 Too many IN objs Too many IN channels configured

2 No mapping IN cyclic data length is 0 or there is no IN mapping.

3 Read mismatch Parameter read error (parameter may not exist)

4 Hole in mappings IN cyclic data mapping parameters are not contiguous

5 N-C mapping err

6 Duplicate error

7 Length mismatch Mismatch in data length

IN MODE AND

PPO

9 Data align w PPO Can't configure PPO when data alignment is set to 32 bits

10 No PPO support PPO1-PPO5 not supported

11 SP A-D IN map

IN AND CTNC

PPO4

Table 6.8 Output mapping error codes

Value Text Description

0 No error

1 Mapping exceeded Too many OUT channels configured

2 No mapping OUT cyclic data length is 0 or there is no OUT mapping.

3 Write mismatch

4 Hole in mappings OUT data mapping parameters are not contiguous

5 N-C mapping err

6 Duplicate error

7 Length mismatch Mismatch in data length

OUT MODE AND

PPO

9 Data align w PPO Can't configure PPO when data alignment is set to 32 bits

10 No PPO support PPO1-PPO5 not supported

11 SP A-D OUT map

OUT AND CTNC

PPO4

No error detected with IN cyclic data mapping configuration

A non-cyclic data mode has been mapped more than once in the IN data mapping configuration parameters

Two or more IN cyclic data mapping configuration parameters have been configured with the same destination parameter reference

Non-cyclic and PPO STD Tel 1 both exist

Input Mapping can't be set by GSD file automatically in SP mode

CTNC and PPO4 not supported

No error detected with OUT cyclic data mapping configuration.

Parameter write error (parameter may not exist or might be read-only)

A non-cyclic data mode has been mapped more than once in the OUT data mapping configuration parameters

Two or more OUT cyclic data mapping configuration parameters have been configured with the same destination parameter reference

Non-cyclic and PPO STD Tel 1 both exist

Output Mapping can't be set by GSD file automatically in SP mode

CTNC and PPO4 not supported

38 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Input processing time

S.01.024

Default N/A

Range 0 to 65535

Access RO

information

Safety

Introduction

Output processing time

Default N/A

S.01.025

Range 0 to 65535

Access RW

Pr S.01.024 and Pr S.01.025 display the input and output processing times respectively. The input processing time (Pr S.01.024) shows the time taken from the value being sent from the drive to the value being written to the master controller in milliseconds. The output processing time (Pr S.01.025) shows the time taken from the value being sent from the master controller to the value being successfully written to the drive in milliseconds.

Input consistency action

Default OFF (0)

S.01.026

Range OFF (0) or On (1)

Access RW

Input consistency trigger parameter

Default N/A

S.01.027

Range 0.00.000 to 4.99.999

Access RW

Output consistency action

Default OFF (0)

S.01.028

Range OFF (0) or On (1)

Access RW

Output consistency trigger parameter

Default N/A

S.01.029

Range 0.00.000 to 4.99.999

Access RW

The SI-PROFIBUS module provides an input/output consistency feature which ensures that the data in the input or output mappings is only transferred between the SI-PROFIBUS module and the master controller when the mapped parameters are ready. This prevents data skew between parameters in the input/output mappings.

If input consistency action (Pr S.01.026) and output consistency action (Pr S.01.028) are set to 0 (i.e. default settings), then the input/output consistency features are disabled so that input and output data is always transferred between the master controller and the drive.

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Unidrive M SI-PROFIBUS User Guide 39 Issue Number: 3

Index

If input consistency action (Pr S.01.026) is set to On (1), the SI-PROFIBUS module will check the value of the parameter specified by the input consistency trigger parameter (Pr S.01.027). If the input consistency trigger parameter defined by Pr S.01.027 is set to a non-zero value (for example by a user program in an applications module), this indicates to the SI-PROFIBUS module that all the mapped parameters are ready to be read. The module will then read the mapped parameters, transfer them to the PLC and will then clear the input consistency trigger parameter to zero. When the input trigger source parameter is set to zero, the SI-PROFIBUS module will continue to transfer the input consistency trigger parameter previously read data to the PLC.

If output consistency action (Pr S.01.028) is set to On (1), the SI-PROFIBUS module will check the value of the parameter specified by the output consistency trigger parameter (Pr S.01.029). The output consistency trigger parameter defined by Pr S.01.029 will initially be set to 1.

If the output consistency trigger parameter is set to zero (for example by a user program in an applications module), this indicates to the SI-PROFIBUS module that all the mapped parameters are ready to be written to. The module will then write the data from the master controller into the mapped parameters, and will then set the output trigger source parameter to 1. When the output consistency trigger parameter is set to 1, it indicates to the SI-PROFIBUS module that the mapped parameters are not ready to be written to, and therefore any new data from the master controller will not be written to the mapped parameters in the drive until the output consistency trigger parameter is again set to zero.

Non-cyclic over cyclic

Default None (0)

S.01.030

Sending non-cyclic data over the cyclic channel can only be accomplished when the SI-PROFIBUS module is set up for a Unidrive SP in compatibility mode (Pr S.01.031 = “UniSP” or “UniSP extended”) and the correct GSD file used for the simulated drive (e.g. SP_0672.GSD).

The term 'non-cyclic over cyclic' is used to refer to non-cyclic data which is transmitted as part of the cyclic data and not using the non-cyclic DP-V1 channel.

The table below shows how to configure the non-cyclic over cyclic parameter (Pr S.01.030) for the required non-cyclic mode.

Table 6.9 Non-cyclic over cyclic modes

Value Text Description

1 CTNC 1 Non-cyclic word (CT Single Word mode 1)

2 PPO defined 4 Non-cyclic words (PPO 4 Word mode 2)

For more information on sending / receiving non-cyclic data see section 9 Non-cyclic data on page 52.

Range None (0) to PPO defined (2)

Access RW

40 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Network compatibility mode

NOTE

WARNING

NOTE

Default Auto detect (0)

S.01.031

Range Auto detect (0) to Unidrive

Classic (4)

Access RW

SI-PROFIBUS provides a compatibility mode as standard.

Pr S.01.031 can be used to select which drive the SI-PROFIBUS module is to appear as on the PROFIBUS network, this only applies to the network identification and not the drive functionality.

Table 6.10 Compatibility mode settings

Value Text Description

0 Auto detect Auto detect

1 Reserved Reserved for future use

2 UniSP Unidrive SP mode

3 UniSP extended Unidrive SP mode with extended diagnostics support

4 Unidrive Classic Unidrive Classic mode

Using the compatibility mode allows the replacement of drives on a PROFIBUS-DP network, without having to make any changes to the master controller network configuration, it changes the identity code of the module so that the master controller believes that a similar type of drive is present for a particular node.

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Cyclic data

When using compatibility mode, ensure that the correct GSD file for the simulated drive is being used and not the actual drive.

This mode only changes the network to emulate the selected drive on the network. Changes to the control method and data size differences must still be considered. This mode does NOT allow direct replacement.

When using extended diagnostics (Pr S.01.031 = 3), the appropriate GSD file using the correct PROFIBUS identification code (0x0B4F) must be used (e.g. 'SP__0B4F.GSD For GSD file compatibility, please refer to Table 7.1 Selecting the correct GSD file on page 47.

When the compatibility mode is set to "Auto detect", the SI-PROFIBUS module will return the actual drive PROFIBUS ID code.

As of firmware V01.02.00.02 two PROFIBUS ID codes are used for Unidrive M, UniM 200/300/400 uses ID code 0EA5 and UniM 700/800 uses ID code ODB8, this means there are two GSD files for Unidrive M and users must ensure the correct file is used for the selected drive. Previously only one ID code (ODB8) and therefore one GSD file was used for all Unidrive M drives.

Unidrive M200/M300/M400 are not supported in versions V01.02.00.02 or earlier.

If the ‘Reserved’ option is selected, then the module will operate in “Auto detect” mode.

Unidrive M SI-PROFIBUS User Guide 41 Issue Number: 3

Non-cyclic

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status words

Control and

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6.4 Module menu 2 - Input mapping

Menu 2 contains all the mapping parameters relating to the IN channels of the module.

The values set in each parameter are in the format of S.mm.ppp where:

S = slot number of the source parameter

mm = menu number of the source parameter

ppp = parameter number of the source parameter

IN channel Mapping parameter Default value

1 Pr S.02.001 0.10.040 2 Pr S.02.002 0.02.001 3 Pr S.02.003 0.00.000 4 Pr S.02.004 0.00.000 5 Pr S.02.005 0.00.000 6 Pr S.02.006 0.00.000 7 Pr S.02.007 0.00.000 8 Pr S.02.008 0.00.000

9 Pr S.02.009 0.00.000 10 Pr S.02.010 0.00.000 11 Pr S.02.011 0.00.000 12 Pr S.02.012 0.00.000 13 Pr S.02.013 0.00.000 14 Pr S.02.014 0.00.000 15 Pr S.02.015 0.00.000 16 Pr S.02.016 0.00.000 17 Pr S.02.017 0.00.000 18 Pr S.02.018 0.00.000 19 Pr S.02.019 0.00.000 20 Pr S.02.020 0.00.000 21 Pr S.02.021 0.00.000 22 Pr S.02.022 0.00.000 23 Pr S.02.023 0.00.000 24 Pr S.02.024 0.00.000 25 Pr S.02.025 0.00.000 26 Pr S.02.026 0.00.000 27 Pr S.02.027 0.00.000 28 Pr S.02.028 0.00.000 29 Pr S.02.029 0.00.000 30 Pr 31 Pr S.02.031 0.00.000 32 Pr S.02.032 0.00.000

S.02.030 0.00.000

42 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

6.5 Module menu 3 - Output mapping

Menu 3 contains all the mapping parameters relating to the OUT channels of the module.

The values set in each parameter are in the format of S.mm.ppp where:

S = slot number of the target parameter

mm = menu number of the target parameter

ppp = parameter number of the target parameter

OUT channel Mapping parameter Default value

1 Pr S.03.001 0.06.042

2 Pr S.03.002 0.01.021

3 Pr S.03.003 0.00.000

4 Pr S.03.004 0.00.000

5 Pr S.03.005 0.00.000

6 Pr S.03.006 0.00.000

7 Pr S.03.007 0.00.000

8 Pr S.03.008 0.00.000

9 Pr S.03.009 0.00.000

10 Pr S.03.010 0.00.000

11 PrS.03.011 0.00.000

12 Pr S.03.012 0.00.000

13 Pr S.03.013 0.00.000

14 Pr S.03.014 0.00.000

15 Pr S.03.015 0.00.000

16 Pr S.03.016 0.00.000

17 Pr S.03.017 0.00.000

18 Pr S.03.018 0.00.000

19 Pr S.03.019 0.00.000

20 Pr S.03.020 0.00.000

21 Pr S.03.021 0.00.000

22 Pr S.03.022 0.00.000

23 Pr S.03.023 0.00.000

24 Pr S.03.024 0.00.000

25 Pr S.03.025 0.00.000

26 Pr S.03.026 0.00.000

27 Pr S.03.027 0.00.000

28 Pr S.03.028 0.00.000

29 Pr S.03.029 0.00.000

31 Pr S.03.031 0.00.000

32 Pr S.03.032 0.00.000

Pr S.03.030 0.00.000

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Unidrive M SI-PROFIBUS User Guide 43 Issue Number: 3

Index

6.6 Module menu 4 - Fault values

Menu 4 contains all the fault values that are sent to the mapped output destination parameters when fault values have been configured to be sent using an action parameter.

OUT channel Parameter

1 Pr S.04.001

2 Pr S.04.002

3 Pr S.04.003

4 Pr S.04.004

5 Pr S.04.005

6 Pr S.04.006

7 Pr S.04.007

8 Pr S.04.008

9 Pr S.04.009

10 Pr S.04.010

11 Pr S.04.011

12 Pr S.04.012

13 Pr S.04.013

14 Pr S.04.014

15 Pr S.04.015

16 Pr S.04.016

17 Pr S.04.017

18 Pr S.04.018

19 Pr S.04.019

20 Pr S.04.020

21 Pr S.04.021

22 Pr S.04.022

23 Pr S.04.023

24 Pr S.04.024

25 Pr S.04.025

26 Pr S.04.026

27 Pr S.04.027

28 Pr S.04.028

29 Pr S.04.029

30 Pr S.04.030

31 Pr S.04.031

32 Pr S.04.032

44 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

6.7 Module menu 9 - Resources

PCB temperature 1

Default N/A

S.09.030

PCB temperature 2

S.09.031

Parameters Pr S.09.030 and Pr S.09.031 display the current temperature of the 2 internal thermistors within the option module.

Range

Access RO

Default N/A

Range

Access RO

-128°C to 127°C

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Unidrive M SI-PROFIBUS User Guide 45 Issue Number: 3

status words

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Index

7 GSD Files

NOTE

7.1 What are GSD Files?

GSD files are text files that are used by the PROFIBUS-DP network configuration software tools. They contain information about the device timings, supported features and available data formats for the SI-PROFIBUS device. Drive icon files are also supplied for use with the SI-PROFIBUS configuration software. GSD files are available from your supplier, local Control Techniques Drive Centre or the Control Techniques website (www.controltechniques.com).

7.2 Data consistency

There is a potential problem with data skew when transferring blocks of data to and from a PROFIBUS-DP master controller. Data skew happens when a value is spread across multiple words; when this occurs it is possible that only half of the correct value reaches the destination. Consider the following example:

• The PLC has a value of 0xFFFFFFFF to send to the drive.

• The drive currently has a value of 0x00000000 in a 32-bit parameter.

• The master controller sends the word without consistency.

• The drive receives one 16-bit word and now has the value 0x0000FFFF.

• The drive receives the next 16-bit word and now has the value 0xFFFFFFFF.

To prevent data skew PROFIBUS-DP has a feature known as ‘data consistency’. Consistent data defines a block of data words that must ALL be updated before ANY of the new data values are transmitted. Consequently, the message sent over the PROFIBUS-DP network will have a true representation of the required data. Some PLCs have special functions available to transfer blocks of consistent data to a PROFIBUS-DP master controller and guarantee that data skew cannot occur.

7.3 Data configuration

The GSD file describes the modules of input or output words that may be combined to configure the input and output configuration for a specific node. The complete input and output configuration for the node is built by adding the required modules until all of the node’s inputs and outputs are defined.

A module consists of a block of input or output data. Put simply this is a logical collection of data words.

The number of input or output words configured in the drive must match the number of input or output words defined in the master controller; if the master has eight IN and four OUT words the drive must use the same settings to communicate correctly.

The SI-PROFIBUS module uses Pr S.01.020 and Pr S.01.021 to independently set the number of input and output words respectively.

The definition of a data word is 16 bits. By default SI-PROFIBUS casts all data as long words/double words (32 bits), data alignment can be used to reduce this size, see section S.01.014 on page 35 for more information.

46 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

7.4 PROFIBUS DP-V1

NOTE

To use the DP-V1 features in the module, the drive must be configured in the master controller as a ‘DPV1’ slave.

7.5 GSD compatibility table

Table 7.1 can be used to determine which GSD file should be used.

Table 7.1 Selecting the correct GSD file

Simulated drive

Unidrive M700 / M800 Auto detect UNIM0DB8.GSD

Unidrive M200 / M300 / M400 Auto detect CTUD0EA5.GSD

Unidrive SP UniSP SP_ _0672.GSD

Unidrive SP with extended diagnostics UniSP extended SP_ _0B4F.GSD

Unidrive Classic Unidrive Classic CTU_ _3345.GSD

Compatibility mode

(Pr S.01.031)

GSD file

information

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Mechanical

Electrical

Getting

Parameters

Unidrive M200/M300/M400 are not supported in version V01.02.00.02 or earlier.

Files

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profile (V4)

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terms

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Cyclic data

Non-cyclic

Control and

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Unidrive M SI-PROFIBUS User Guide 47 Issue Number: 3

8 Cyclic data

NOTE

8.1 What is cyclic data?

Cyclic data transfer is a method of transferring data on a regular time period, often known as ‘polled data’. High-speed data transfer is achieved by transmitting only data bytes over the PROFIBUS-DP network and using local mapping information within the SI-PROFIBUS and PROFIBUS-DP master controller to ensure that the correct data is sent to the correct locations. The flexibility of the SI-PROFIBUS means that each cyclic data OUT channel can be directed to any read/write drive parameter. Similarly each cyclic data IN channel can use any drive parameter as a source of data.

• The term OUT data refers to data that is transmitted out of the master to the slave.

• The term IN data refers to data that is returned from a slave into the master.

• Cyclic data mapping cannot be changed dynamically, as changes to the configuration (mapping parameters, etc.) will only take effect during initialization of the SI-PROFIBUS.

• The maximum number of 16-bit mappings that is possible is 32 with only cyclic data, this requires data alignment to be set to 16, see for more information.

• The maximum number of 32-bit mappings that is possible is 16 with only cyclic data.

See section 8.7 Master configuration on page 51 for more information regarding the use of data alignment with 16-bit parameters.

8.2 Data formats

The SI-PROFIBUS can be configured with up to sixteen 32-bit or thirty-two 16-bit cyclic IN and OUT data words. IN and OUT cyclic data words are mapped using up to 32 mapping (pointer) parameters, one for each mapping.

By default all drive parameters are cast as 32-bit (two 16-bit words) therefore thirty-two cyclic words gives sixteen possible drive parameters. Data alignment reduces the number of cyclic words required for drive parameters of 16-bit (or less) to 16 bits thus allowing for thirty-two possible 16-bit parameters. Any 32-bit parameters mapped will still require two 16-bit words even with alignment set to 16.

In addition to cyclic data, non-cyclic data (see section 9 Non-cyclic data on page 52) exchange is also possible by the following methods:

• DP-V1 parameter access mode

• Mode 1 - CT Single Word

• Mode 2 - PPO 4 Word

The method used to map cyclic data to and from the PROFIBUS-DP network is similar to the method used in the drive for mapping analog and digital I/O. The reference for the source or target parameter is entered in the mapping parameter in the form mm.ppp, where:

mm = menu number of the target/source parameter

ppp = parameter number of the target/source parameter.

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Table 8.1 SI-PROFIBUS mapping parameters

NOTE

IN channel

Mapping

parameter

OUT channel

1Pr S.02.001 1Pr S.03.001

2Pr S.02.002 2Pr S.03.002

3Pr S.02.003 3Pr S.03.003

4Pr S.02.004 4Pr S.03.004

5Pr S.02.005 5Pr S.03.005

6Pr S.02.006 6Pr S.03.006

7Pr S.02.007 7Pr S.03.007

8Pr S.02.008 8Pr S.03.008

9Pr S.02.009 9Pr S.03.009

10 Pr S.02.010 10 Pr S.03.010

11 Pr S.02.011 11 Pr S.03.011

12 Pr S.02.012 12 Pr S.03.012

13 Pr S.02.013 13 Pr S.03.013

14 Pr S.02.014 14 Pr S.03.014

15 Pr S.02.015 15 Pr S.03.015

16 Pr S.02.016 16 Pr S.03.016

17 Pr S.02.017 17 Pr S.03.017

18 Pr S.02.018 18 Pr S.03.018

19 Pr S.02.019 19 Pr S.03.019

20 Pr S.02.020 20 Pr S.03.020

21 Pr S.02.021

21 Pr S.03.021

22 Pr S.02.022 22 Pr S.03.022

23 Pr S.02.023 23 Pr S.03.023

24 Pr S.02.024 24 Pr S.03.024

25 Pr S.02.025 25 Pr S.03.025

26 Pr S.02.026 26 Pr S.03.026

27 Pr S.02.027 27 Pr S.03.027

28 Pr S.02.028 28 Pr S.03.028

29 Pr S.02.029 29 Pr S.03.029

30 Pr S.02.030 30 Pr S.03.030

31 Pr S.02.031 31 Pr S.03.031

32 Pr S.02.032 32 Pr S.03.032

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PROFIBUS does not use decimal points. For example, in Open Loop mode, digital speed reference 1 (Pr 01.021) has units of Hertz, accurate to 1 decimal place. To write a value of 24.6 Hz to Pr 01.021, the value must be transmitted as 246.

If a mapping parameter is set to an invalid value (e.g. the destination parameter is read only, or the parameter does not exist), the SI-PROFIBUS will indicate a failure error in the PROFIBUS Network diagnostic parameter (Pr S.01.006). The reason for the failure error will be indicated by the mapping status parameter (Pr S.01.022) and (S.01.023). Refer to page 37 for more details.

Unidrive M SI-PROFIBUS User Guide 49 Issue Number: 3

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8.3 Mapping conflicts

Care must be taken to ensure that there are no clashes between mappings in the SIPROFIBUS cyclic OUT data and other drive parameters such as:

• Other SI-PROFIBUS cyclic OUT channels

• Mappings from additional option modules if installed

• Analog inputs

• Digital inputs

• Logic outputs

• Motorized pot output

• Comparator outputs

• Variable selected outputs

The SI-PROFIBUS will not indicate if there is a mapping conflict due to any one of the reasons listed. Should a conflict occur and a parameter is written to from two or more different sources, the value of this parameter will depend entirely upon the scan times for the function and the PROFIBUS-DP network. The result would be that a parameter may appear to be steady at a particular value on the drive display, although an occasional glitch in the displayed value may be seen. Internally however, this value may be changing continuously between two values, leading to unusual behavior in the drive.

8.4 Cyclic data mapping errors

The SI-PROFIBUS module will scan and check the PROFIBUS-DP mapping parameter configuration for errors during initialization. If an error is detected, then the SI-PROFIBUS operating status parameter (Pr S.01.006) will indicate “Initialized”, and the configuration error detected will be indicated in mapping status parameter, Pr S.01.022 and S.01.023. See page 37 for full details.

8.5 Mapping limitations

When setting mapping values care should be taken not to exceed the data size set in Pr S.01.020 and Pr S.01.021. The data size depends on the size of the mapped parameter and if data alignment is set to 16 or 32 (see Table 8.2).

Table 8.2 Actual data sizes

Parameter size (bits)

32 32

Consider the following example:

• mapping Pr S.02.001 to a 32-bit value and S.02.002 to a 16-bit value

• mapping Pr S.03.001 to a 32-bit value and S.03.002 to a 32-bit value

• data alignment set to 16 bits (Pr S.01.014 set to 16)

would require the following settings to be made:

•Pr S.01.020 = 3

•Pr S.01.021 = 4

Actual data size (bits)

alignment=16

Actual data size (bits)

alignment=32

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8.6 Disabling mappings

NOTE

Any unused mapping parameters (Pr S.02.001 to Pr S.02.032 and Pr S.03.001 to Pr S.03.032) should be set to 0.

Having unmapped channels between valid mapped channels is not permitted and will result in a configuration error (i.e. Pr S.01.006 will indicate “First Failure” or “Second Failure”).

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8.7 Master configuration

The SI-PROFIBUS mapping parameters can be automatically configured by the master controller. If Pr S.01.008 is set to Auto, then the Input cyclic words (Pr S.01.020), Output cyclic words (Pr S.01.021), Input source mappings (Pr S.02.ppp) and Output destination mappings (Pr S.03.ppp) will be set by the master controller using the parameter information specified for the cyclic configuration.

The Data alignment (Pr S.01.014) can also be set automatically by the master controller by enabling the BitControl property of the slave device and setting the required alignment value (16BIT or 32BIT) in the network configuration.

If there is no master controller connected to the module, Pr S.01.006 will indicate "Initialization" (1).

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9 Non-cyclic data

NOTE

9.1 What is non-cyclic data?

Non-cyclic data allows access to any parameter without the need to use cyclic data transfers. This is particularly useful when accessing many different parameters for setup or archiving of drive settings. The method to use non-cyclic data on the SIPROFIBUS is by using DP-V1 Parameter Access.

Non-cyclic data using the DP-V1 non-cyclic channel must not be confused with the noncyclic over cyclic method as used with the CT non-cyclic and PPO 4 word modes.

9.1.1 DP-V1 Parameter Access

Non-cyclic data is transmitted after all the cyclic data within the PROFIBUS-DP cycle, depending on the length of the non-cyclic data, this may take several cycles to complete.

9.2 Configuration using non-cyclic data

The SI-PROFIBUS can be configured using the DP-V1 Parameter Access channel non-cyclic data. This is useful when using a master controller to configure the drive; when a drive is initialized only the node address S.01.004 needs to be set manually. The master can now use the desired mode to set-up the remainder of the parameters.

The configuration parameters for the slot in which the SI-PROFIBUS is located can be accessed in S.01.ppp and MM.ppp. Any changes made to the configuration parameters will not take effect until the SI-PROFIBUS has been reset. SI-PROFIBUS can be reset by writing a value of 1 to Pr MM.007. A brief interruption in PROFIBUS-DP communications may be seen while the reset sequence is in progress.

9.3 SI-PROFIBUS non-cyclic overview

The PROFIBUS specification allows for the standard cyclic process data and the additional acyclic parameter data to be transmitted in the same bus cycle.

The DP-V1 message is contained within the acyclic part of the PROFIBUS-DP cycle and uses the slave node address to access the parameter channel.

For further details of the SI-PROFIBUS functionality refer to the official PROFIBUS website at www.profibus.com

The following services will be supported:

• Class 1 Master Read and Write

• Class 2 Master Read and Write

• Class 2 Master Initiate Connection

• Class 2 Master Abort Connection

A class 1 master must be in data exchange with the slave before it can perform a request via the DP-V1 channel. A class 2 master must initiate the connection with the slave before sending the DP-V1 message, likewise it must then abort the connection when it is no longer required.

SI-PROFIBUS supports the simultaneous connection to one class 1 master and one class 2 master.

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SI-PROFIBUS supports the following features:

NOTE

• DP-V1 Parameter Access

• PROFIdrive PNU Access (see section 12.11 PROFIdrive PNU access on page 75)

• Fault Buffer (see section 12.12 Fault Buffer on page 76)

• Drive Identification (see section 12.13 Drive Identification on page 78)

• Identification and Maintenance Functions (see section 12.14 Identification and Maintenance Functions on page 78)

The maximum DP-V1 message length is restricted to 128 bytes including the four bytes of the DP-V1 header and the four bytes of the PROFIdrive request, this leaves a maximum of 120 bytes for the parameter data; the maximum number of parameters that can be read or written in a single message is shown in Table 9.1.

Table 9.1 Single message parameter limitation

Mode Maximum number of parameters

16-bit 32-bit

Write 12 10

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9.3.1 DP-V1 Parameter channel

Drive parameters (and PROFIdrive PNU’s) can be accessed using the PROFIdrive Parameter Channel, the global slot number 0 and slot sub-index 47. This is illustrated in Figure 9-1.

DP-V1 slot numbers 1 and 2 are also allowed when the DP-V1 slot index = 47 (for the I&M function, DP-V1 slot must be zero).

The PROFIdrive PNU’s and I & M functions will be accessible using functions available in the master.

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Unidrive M SI-PROFIBUS User Guide 53 Issue Number: 3

DPV1 Slot

255

DPV1 Slot index PROFIdrive index PROFIdrive PNU

sub index

Slot parameter

sub index

I&M Functions

I&M Sub-index

I&M 0 ...

I&M 1 ...

I&M 2 ...

I&M 3 ...

I&M 4 ...

PROFIdrive PNU

900 to 999

65004

65003

65002

65001

65000

Slot parameter

10000+S+MM+PPP

PROFIdrive PNU 60000 to 65535

Reserved

.PPP

Figure 9-1 DP-V1 Parameter Channel

The parameter channel requires a parameter index and subindex to access parameters.

Drive parameters can be accessed by placing the result of the equations:

If the parameter is 99 or less:

10000 + (S x 10000) + (MM x 100) + ppp

in the parameter Index field of the PROFIdrive request, the sub-index field is always set to 0.

For example, Pr 01.021 (Preset Reference 1) would be entered as:

10000 + (0 x 10000) + (1 x 100) + 21 = 10121

If the parameter is greater than 99:

10000 + (S x 10000) + (MM x 100) + 99, sub-index is set to (ppp-99).

For example, Pr 03.127 (P2 Speed Feedback) would be entered as:

10000 + (0 x 10000) + (3 x 100) + 99 = 10399 with a sub-index of (127-99) = 28

PROFIdrive Parameters (PNU’s) can be accessed by placing the PNU number in the parameter index field and if the PNU data type is an array, then the sub-index field may also be specified.

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10 Control and status words

NOTE

information

Safety

10.1 What are control and status words?

The control and status words allow the digital control and monitoring of the drive to be implemented using a single data word for each function. Each bit in the control word has a particular function and provides a method of controlling the output functions of the drive, such as run and direction.

Each bit in the status word provides feedback about the drive’s state of health and operational condition, such as drive ok, drive at speed, etc.

10.2 Control word

The SI-PROFIBUS control word consists of sixteen control bits some of which are reserved. See Table 10.1 for the individual bit function descriptions.

Table 10.1 Control word bit definitions

b15 b14 b13 b12 b11 b10 b9 b8

KEYPAD

WDOG

b7 b6 b5 b4 b3 b2 b1 b0

AUTO

NOT

STOP

To enable fieldbus control, the fieldbus enable signal (Pr 06.043) and the AUTO bit (b7) must both be set to ‘1’. When the AUTO bit is reset to 0 the drive will revert to terminal control.

For safety reasons, the external HARDWARE ENABLE signal must be present before the fieldbus control word can be used to start the drive. This terminal is normally controlled by an external “Emergency Stop” circuit to ensure that the drive is disabled in an emergency situation.

The control word REMOTE bit directly controls the drive parameter Pr 01.042, the function of which is to select the digital speed reference as the source of the drive’s speed reference. When the REMOTE bit is reset to 0 the drive will revert to using the external analog speed reference.

The actual digital speed reference selected when REMOTE is set to 1 will be Pr 01.021, which is also the default mapping for the fieldbus speed reference. However Pr 01.015 can be used to change which of the digital references is selected. For further details on the drive digital speed reference, please refer to the appropriate drive user guide.

Table 10.2 lists in detail the function of each control word bit. For further in-depth details about drive control words and sequencing bits please refer to the appropriate drive documentation.

When a trip occurs, the drive control word MUST be set to a safe, disabled state. This ensures that the drive does not re-start unexpectedly when it is reset. This can be achieved by continuously monitoring the drive status word, and interlocking it with the control word.

By default data alignment is set to 32 and therefore the control word will be cast as 32bit with bits 16 to 31 reserved.

RESET TRIP

RUN

FWD

REV

RUN

REV

JOG

FWD

JOG REV

RUN

FWD

REMOTE

ENABLE

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Table 10.2 Control word bit functions

Bit Function Description

Set to 1 to enable the drive. Resetting to 0 will immediately disable

0 ENABLE

1 RUN FWD

2JOG FWD

3 RUN REV

4FWD REV

5RUN

NOT

STOP

7AUTO

8REMOTE

9JOG REV

10 Reserved

11 Re serve d

12 TRIP

the drive, and the motor will coast to a stop. The external HARDWARE ENABLE signal must also be present before the drive can be enabled.

Set to 1 (with ENABLE set to 1) to run the motor in the forward direction. When reset to 0, the drive will decelerate the motor to a controlled stop.

Set to 1 to jog the motor forward. This signal needs to be used in conjunction with the ENABLE bit. This signal is overridden by a RUN, RUN REV or RUN FWD signal.

Set to 1 (with ENABLE set to 1) to run the motor in the reverse direction. When reset to 0, the drive will decelerate the motor to a controlled stop.

Set to 1 to select the reverse direction. Set to 0 to run in the forward direction. The RUN signal is used to start and stop the motor.

Set to 1 to run the motor. FWD REV is used to select the direction of motor rotation. When reset to 0, the drive will decelerate the motor to a controlled stop.

Set to 1 to allow the sequencing bit to be latched. If NOT STOP is zero, all latches are cleared and held at 0. Pr 06.004 must be correctly set for this to function.

Set to 1 to enable fieldbus control of the drive Control Word. The Control Word Enable (Pr 06.043) must also be set to 1. When reset to 0, the drive will operate under terminal control.

Set to 1 to select digital speed reference 1 (Pr 01.021), and reset to 0 to select analog reference 1 (Pr 01.036). REMOTE directly controls Pr 01.042, so reference selector (Pr 01.014) and preset selector (Pr 01.015) must both be set to 0 (default) for the REMOTE bit to work properly.

Set to 1 to jog the motor in reverse. This signal needs to be used in conjunction with the ENABLE bit. This signal is overridden by a RUN/ RUN REV/RUN FWD command.

Set to 1 to trip the drive at any time. The trip display on drive will be CL.bit and the trip code will be 35. AUTO (b7) has no effect on this function. The trip cannot be cleared until TRIP is reset to 0.

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Bit Function Description

13 RESET

KEYPAD

WDOG

15 Reserved

10.3 Status word

The SI-PROFIBUS status word consists of sixteen control bits some of which are reserved. See Table 10.3 for the individual bit function descriptions.

Table 10.3 Status word bit definitions

b15 b14 b13 b12 b11 b10 b9 b8

(Not

used)

b7 b6 b5 b4 b3 b2 b1 b0

Rated

load

reached

The fieldbus status word is mapped directly from the drive status word, Pr 10.040.

Pr 10.040 is generated by the values of several individual drive status bits; Table 10.4 shows the function indicated by each bit in the status word when set to 1.

Supply

loss

Above

set

speed

A 0-1 transition of the RESET bit will reset the drive from a trip condition. If the reason for the trip is still present, or another fault condition has been detected, the drive will immediately trip again. When resetting the drive, it is recommended to check the status word to ensure that the reset was successful, before attempting to re-start the drive.

This watchdog is provided for an external keypad or other devices where a break in the communication link must be detected. The watchdog system can be enabled and/or serviced if this bit is changed from zero to one while the control word enabled. Once the watchdog is enabled it must be serviced at least once every second or an SCL trip will occur. The watchdog is disabled when an SLC trip occurs, and so it must be re-enabled when the trip is reset.

Reverse

direction

running

Reverse direction

comman

ded

Brake

resistor

alarm

Braking

IGBT

active

Regener

ating

Current

limit

active

Running

At set speed

Below set

speed

at or

below

minimum

Zero

speed

Drive

active

Drive

OK/

healthy

speed

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Table 10.4 Drive status word bit functions

Bit Parameter Description

bit 0 = 0:

0Pr 10.001

1Pr 10.002

2Pr 10.003

3Pr 10.004

4Pr 10.005

5Pr 10.006

6Pr 10.007

7Pr 10.008

8Pr 10.009

9Pr 10.010

10 Pr 10.011

Drive not ok (tripped). bit 0 = 1: Drive ok.

Drive active

When bit 1 = 1, the drive is in run mode.

Zero speed

In Open Loop mode, zero speed indicates that the absolute value of the post-ramp speed reference is at or below the zero speed threshold. In RFC-A and RFC-A modes, zero speed indicates that the absolute value of speed feedback is at or below the zero speed threshold.

Running at or below minimum speed

In bipolar mode (Pr 01.010 = 1) Pr 10.004 is the same as zero speed, Pr 10.003. (See above.) In unipolar mode, Pr 10.004 is set if the absolute value of the postramp speed reference (Pr 02.001) or speed feedback (Pr 03.002) is at or below minimum speed + 0.5Hz or 5 rpm. (Minimum speed is defined by Pr 01.007.) This parameter is only set if the drive is running.

Below set speed

Only set if the drive is running at below set speed. Refer to Pr 03.006, Pr 03.007 and Pr 03.009 in the drive documentation for more details.

At speed

Only set if the drive is running at set speed. Refer to Pr 03.006, Pr 03.007 and Pr 03.009 in the drive documentation.

Above set speed

Only set if the drive is running at above set speed. Refer to Pr 03.006, Pr 03.007 and Pr 03.009 in the drive documentation for more details.

Load reached

Indicates that the modulus of the active current is greater or equal to the rated active current, as defined in menu 4. Refer to the drive documentation for more details.

In current limit

Indicates that the current limits are active.

Regenerating

Indicates that power is being transferred from the motor to the drive. Regen mode: Indicates that power is being transferred from the drive to the supply.

Dynamic brake active

Indicates that the braking IGBT is active. If the IGBT becomes active, this parameter will remain on for at least one second.

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Bit Parameter Description

Dynamic brake alarm

11 Pr 10.012

Dynamic brake alarm is set when the braking IGBT is active, and the braking energy accumulator is greater than 75%.

Reverse direction commanded

12 Pr 10.013

Direction commanded is set to 1 if the Pre-ramp speed reference (Pr 01.003) is negative and reset to 0 if the Pre-ramp speed reference is zero or positive.

Reverse direction running

13 Pr 10.014

A 0 indicates forward direction and a 1 indicates reverse direction. The source of this bit is Pr 02.001 for open loop mode and Pr 03.002 for RFC-A and RFC-S modes.

Supply loss Supply loss indicates that the drive has detected a supply loss from

14 Pr 10.015

the level of the DC bus voltage. This parameter can only become active if supply loss ride through or supply loss stop modes are selected. In regen mode, supply loss is the inverse of Pr 03.007.

15 (Not Used) Reserved

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11 Diagnostics

NOTE

11.1 Overview

This section provides basic diagnostic information intended to resolve the most common problems encountered when setting up an SI-PROFIBUS module on a PROFIBUS-DP network.

A high percentage of problems reported are basic set-up problem that can be avoided by using the information in this chapter. Start by using the Diagnostic flow chart in Figure 11- 1 Diagnostic flow chart on page 64, to determine the possible cause of a problem. If after following the flow chart you are still experiencing problems, please contact your supplier or local Control Techniques Drive Centre for support.

Support is strictly limited to the setting up and networking of the drive.

11.2 Drive trip display codes

If the SI-PROFIBUS module detects an error during operation, it will force a trip on the drive. However, the trip string displayed on the drive will only indicate which slot initiated the trip. The exact reason for the trip will be indicated in the drive trip code parameters (Pr 10.020 and Pr 10.070).

Table 11.1 shows the possible trips that will be displayed on the drive when a problem is detected with the SI-PROFIBUS or when the SI-PROFIBUS initiates a trip.

Table 11.1 Possible drive trip conditions

Trip Description

SlotX HF

SlotX Error User trip generated by the SI-PROFIBUS.

SlotX Not

installed

SlotX Different

The drive has detected that an option module is present but is unable to communicate with it due to a hardware fault.

This trip will occur if a drive slot was previously configured with an option module but on power up, no option module was detected.

This trip will occur if a drive slot was previously configured with an option module but on power up, a different option module was detected. Replacing a SIPROFIBUS module with another one will not initiate this trip. The trip will also occur if a SI-PROFIBUS module is installed to a previously unused slot.

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11.2.1 Module error codes

If the SI-PROFIBUS detects an error during operation it will force a drive trip. Table 11.2 shows all the possible SI-PROFIBUS error codes.

Table 11.2 SI-PROFIBUS error codes

Value Text Description

200 No trip No trip

201 SW fault Software fault

202 BG overrun Background task overrun

203 FW invalid Invalid firmware

204 Drv unknown Unknown drive type

205 Drv unsupported Unsupported drive type

206 Mode unknown Unknown mode

207 Mode unsupported Unsupported mode

208 FLASH corrupt Corrupted NV Flash

209 Dbase init Database initialization error

210 FS init File system initialization error

211 Memory alloc Memory allocation error

212 Filesystem File system error

213 Save configuration Error while saving configuration file

214 Load configuration Error while loading

215 Oht Overheated configuration file

216 TO drv Watchdog timeout

217 eCMP eCMP comms failure

218 TO eCMP slot 1 Slot 1 eCMP timeout

219 TO eCMP slot 2 Slot 2 eCMP timeout

220 TO eCMP slot 3 Slot 3 eCMP timeout

221 TO eCMP slot 4 Slot 4 eCMP timeout

11.2.2 PROFIBUS error code

If the SI-PROFIBUS module detects a PROFIBUS error during operation it will force a drive trip. Table 11.3 shows the possible SI-PROFIBUS error codes.

Table 11.3 SI-PROFIBUS error codes

Value Text Description

100 No trip No trip

101 Link loss Network link lost

102 Invalid data Invalid Fieldbus specific data

103 VPC3 stack VPC3 stack error

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11.2.3 SI-PROFIBUS network diagnostic

The operating status of the SI-PROFIBUS module can be viewed in the network diagnostic parameter (Pr S.01.006). All possible values of this parameter are described in Table 11.4.

Table 11.4 SI-PROFIBUS operating status

Value Text Description

0 Network OK Network OK/healthy.

A part of the SI-PROFIBUS initialization sequence was not successful. If this fault persists after a power-cycle, replace the

1 Intilaization

2 Initialized

3 Network no data Network OK/healthy but no network cycles per second detected.

4 First Failure

5 Second Failure

6 Third Failure

SI-PROFIBUS. This error may also occur if the PROFIBUS-DP master is not connected.

The SI-PROFIBUS has initialized correctly and is waiting for the Profibus-DP master to initialise communications. This error may also occur if the PROFIBUS-DP master connection is removed.

Mapping configuration fail when mappings are set by input mapping menu and output mapping menu (S.01.008 > 0) or ASCI configuration fail when mappings are set by GSD files (S.01.008 =

0).

Mapping configuration fail when mappings are set by GSD files (S.01.008 = 0) or ASCI configuration fail when mappings are set by input mapping menu and output mapping menu (S.01.008 > 0).

SI-PROFIBUS does not support CTNC or PPO4 (S.01.030 = 1 or

2), and does not support ProfiDrive V2 (S.01.008 > 2).

11.2.4 Mapping status

If the SI-PROFIBUS Network Diagnostic parameter (Pr S.01.006) indicates "First Failure" or "Second Failure", a mapping configuration error has been detected. The reason for the error is indicated by the SI-PROFIBUS input mapping status parameter (Pr S.01.022) and the SI-PROFIBUS output mapping status parameter (Pr S.01.023).

When a mapping error has been corrected, reset the SI-PROFIBUS module by setting MM.007 to On (1).

The input mapping error codes are described in Table 11.5 on page 63, and the output mapping error codes are described in Table 11.6 on page 63.

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Table 11.5 Input mapping errors

Value Text Description

0 No error

No error detected with IN cyclic data mapping configuration.

1 Too many IN objs Too many IN channels configured

2 No mapping IN cyclic data length is 0 or there is no IN mapping.

3 Read mismatch Parameter read error (parameter may not exist)

4 Hole in mappings IN cyclic data mapping parameters are not contiguous

5 N-C mapping err

A non-cyclic data mode has been mapped more than once in the IN data mapping configuration parameters

Two or more IN cyclic data mapping configuration parameters

6 Duplicate error

have been configured with the same destination parameter reference.

7 Length mismatch Mismatch in data length

8 IN MODE AND PPO Non-cyclic and PPO STD Tel 1 both exist

9 Data align w PPO Can’t configure PPO when data alignment is set to 32 bits

10 No PPO support PPO1-PPO5 not supported

11 SP A-D IN map Input Mapping can’t be set by GSD file automatically in SP mode

12 IN AND CTNC PPO4 CTNC and PPO4 not supported

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Table 11.6 Output mapping errors

Value Text Description

0 No error No error detected with OUT cyclic data mapping configuration.

1 Mapping exceeded Too many OUT channels configured

2 No mapping OUT cyclic data length is 0 or there is no OUT mapping.

3 Write mismatch Parameter write error (parameter may not exist or might be read-only)

4 Hole in mappings OUT data mapping parameters are not contiguous

5 N-C mapping err

6 Duplicate error

A non-cyclic data mode has been mapped more than once in the OUT data mapping configuration parameters

Two or more OUT cyclic data mapping configuration parameters have been configured with the same destination parameter reference

7 Length mismatch Mismatch in data length

OUT MODE AND

PPO

Non-cyclic and PPO STD Tel 1 both exist

9 Data align w PPO Can’t configure PPO when data alignment is set to 32 bits

10 No PPO support PPO1-PPO5 not supported

11 SP A-D OUT map Output Mapping can’t be set by GSD file automatically in SP mode

OUT AND CTNC

PPO4

CTNC and PPO4 not supported

Cyclic data

data

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Index

Non-cyclic

Control and

PROFIdrive

Advanced

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Unidrive M SI-PROFIBUS User Guide 63 Issue Number: 3

Figure 11-1 Diagnostic flow chart

Start

Is Pr S.01.006

= 0?

Is Pr S.01.006

= 1 ?

Remove all power

wait 30 seconds,

re-apply power.

If problem persists

exchange module

Is Pr S.01.006

= 4 or 5?

Check Pr S.01.022

and Pr S.01.023

refer to error codes

in the manual

SI-PROFIBUS

Is ready and waiting for

the master

(Pr S.01.006=2)

The Master Is

Communicating with

the

SI-PROFIBUS

Check wiring,

data rate and

termination.

Check data size setti ngs

in Pr S.01.020 and Pr

S.01.021

Check the master configuration, is it

showing a bus

error?

If data alignment is

non-default (Pr S.01.014 = 16 bits) note data sizes will

differ

Check the master data

sizes match the SI-

PROFIBUS settings

Check the drive

mappings in

Pr S.02.ppp and

Pr S.03.ppp

Check the master is sending data on the

network

Check the data is

reaching the drive by

using the drive

display to monitor

values.

Try remapping to

spare menu 18, 19 or

20 parameters as a

test

A network

hardware tester

can be used to

simplify this

A network monitor

can be used to

look at the network

Check set-up flowchart and

double check all

drive settings.

Before calling for

support ensure

you have all drive

and option module

parameters and

firmware versions

End

See Section 5

See Sections

7,11, 12 and 13

See Section 12.5

See Sections

7,11, 12 and 13

64 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

12 PROFIdrive profile (V4)

NOTE

information

Safety

12.1 What is PROFIdrive profile?

The PROFIdrive profile is a non-vendor specific standard for controlling drives.

PROFIdrive allows compatible drives from different vendors to be controlled and

monitored using the same control strategy.

For further details of the PROFIdrive profile refer to the official PROFIBUS web-site at

www.profibus.com.

The SI-PROFIBUS module provides support for the “Standard Drive” application class 1

defined in the PROFIdrive V4 specification for speed control mode using Standard

Telegram 1.

SI-PROFIBUS supports the following PROFIdrive features:

• Standard Telegram 1

• PROFIdrive PNU Access

• Drive Identification

• Fault Buffer

• Identification and Maintenance Functions

12.2 Standard Telegram 1

To select the Standard Telegrams, the following sequence must be performed:

•Set Pr S.01.030 to "None" to disable non-cyclic data over the cyclic channel.

•Set Pr S.01.014 to "16" to set data alignment to 16 bits.

•Set Pr S.01.008 to "STD Tel 1".

•Pr S.01.002 or MM.007 set to “On” to reset the SI-PROFIBUS module.

• Check Pr S.01.006 does not display any errors (see Table 6.4 on page 32 for further details).

• Save drive parameters (refer to relevant drive documentation for more information).

The Standard Telegram 1 mode may also be configured automatically by the master controller if Pr S.01.008 is set to Auto.

Pr S.01.002 or MM.007 will automatically revert to ‘Off’ after resetting. Resetting will cause the SI-PROFIBUS to temporary go off-line from the PROFIBUS-DP network.

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After the PROFIdrive profile has been configured and the module reset, if no configuration error is detected then the corresponding mapping parameters will be set automatically by the master controller; i.e. Pr S.02.001 = 5.00.968; Pr S.02.002 =

5.01.001; Pr S.03.001 = 5.00.967 and Pr S.03.002 = 5.01.003

The Standard Telegram 1 support is a mandatory requirement for Application Class 1 devices, the mapping structure is shown Table 12.1.

Table 12.1 Standard Telegram 1 - mapping structure

IN Data Function OUT Data Function

word 0 PROFIdrive status word word 0 PROFIdrive control word

word 1 Main Actual Value word 1 Main Setpoint

Unidrive M SI-PROFIBUS User Guide 65 Issue Number: 3

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12.3 Main Setpoint

Pr 01.021

Main Setpoint Max Speed Clamp×

16384

---------------------------------------------------------------- -------------------------------- -=

Pr 01.021

13107 50.0×

16384

------------------------------------ 40.0H z==

Pr 01.021

10923 1500.0×

16384

------------------------------------------ - 1000.0r p m==

Main Actual Value

SF 16384×

Max Speed Clamp

---------------------------------------------------=

Main Setpoint is the speed reference defined in the PROFIdrive profile.

It is scaled such that -32768 to +32767 is -200% to +200% of the maximum speed clamp (Pr 01.006). The converted value is then written to drive digital speed reference 1 (Pr 01.021).

The formula used for this conversion is:

Example 1 - Open loop drive

The drive maximum speed clamp (Pr 1.06) = 50.0 Hz

The main setpoint value sent from the master to the drive is 13107

Giving:

Example 2 - Closed loop / servo drive

The drive maximum speed clamp (Pr 1.06) = 1500.0 rpm

The main setpoint sent from the master to the drive is 10923

Giving:

12.4 Main Actual Value

Main Actual Value is the speed feedback reference defined in the PROFIdrive profile.

It is scaled such that -32768 to +32767 is ±200 % of the maximum speed clamp (Pr

01.006). The converted value is derived from:

•Pr 02.001 for open loop drive operation.

•Pr 03.002 RFC-A or RFC-S drive operating modes.

The formula used for this conversion is:

Where SF is the speed feedback parameter, i.e. Pr 02.001 or Pr 03.002 depending upon the drive operating mode.

Example 1 - Open loop drive

The drive maximum speed clamp (Pr 01.006) = 50.0 Hz

The drive post ramp reference (Pr 02.001) = 35.0 Hz

66 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Giving:

MAV

35.0 16384×

50.0

------------------------------------ 11469==

MAV 1000.0

16384

1500.0

------------------

× 10923==

Example 2 - RFC-A / RFC-S drive

The speed feedback (Pr 03.002) = 1000.0 rpm

The main actual value can be calculated by:

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12.5 PROFIdrive (V4) State Machine

The general state machine diagram (V4.0) is shown in Figure 12-1.

The Speed Control state machine is shown in Figure 12-2.

The correct sequence of operation must be used for the state machine otherwise the message will be rejected and the entire sequence must be restarted. The only exception to this rule is when moving from state S2, it is possible to bypass state S3 and jump to state S4 directly.

12.6 Normal Run Sequence

The following sequence can be used to get the motor turning (all bit values refer to the PROFIdrive control word):

• Enable network control (bit 10 = 1, 0x0400)

• Remove all STOP commands (bits 1 & 2 = 1, 0x0406: S1 to S2)

• Set drive to Ready (bit 0 = 1, 0x0407: S2 to S3)

• Enable operation (bit 3 = 1, 0x040F: S3 to S4)

• Enable ramp function generator (bit 4 = 1, 0x041F)

• Unfreeze ramp function generator (bit 5 = 1, 0x043F)

• Enable setpoint value (bit 6 = 1, 0x047F)

• Set the main setpoint value in word 1 (Pr 01.021)

The motor should now accelerate to the speed set by the main setpoint value.

In order to stop the motor, the following options are available:

• Stop the motor using the drive ramp function: set bit 0 to OFF (0x047E) or

• Stop the motor and coast to zero speed: set bit 1 to OFF (0x047D) or

• Stop the motor using ‘Quick stop’: set bit 2 to OFF (0x047B)

• Disable drive: set bit 3 to OFF (0x0477)

There is a priority control hierarchy when more than the one stop command is given, these priorities are shown in the general state machine diagram and summarized in Table 12.2 on page 68.

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Unidrive M SI-PROFIBUS User Guide 67 Issue Number: 3

Index

Table 12.2 Stop command priority

NOTE

Priority Control Word Bit Stop Command

3 (highest) 1 Coast stop

2 (high) 2 Quick stop (Pr 02.022)

1 (low) 0 Ramp stop (Pr 02.021)

0 (lowest) 3 Disable Operation

The deceleration rates are set in Pr 02.021 and Pr 02.022 for Ramp Stop and Quick Stop respectively.

68 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Figure 12-1 PROFIdrive V4 General State Machine Diagram

Power switched on

S3: Switched On

Status Word

15 8 7 0

Status Word

S2: Ready For Switching On

15 8 7 0

Status Word

S1: Switching On Inhibited

S4: Operation

Status Word

15 8 7 0

Control Word

Coast Stop

15 8 7 0

Control Word

Quick Stop

Control Word

15 8 7 0

OFF: no Coast Stop and

no Quick stop

15 8 7 0

Control Word

Coast Stop

15 8 7 0

Control Word

Quick Stop

Control Word

15 8 7 0

Control Word

15 8 7 0

OFF

Control Word

15 8 7 0

Enable Operation

Control Word

15 8 7 0

Disable Operation

Control Word

15 8 7 0

Coast Stop

Ramp Stop

Control Word

15 8 7 0

Control Word

15 8 7 0

OFF

Control Word

15 8 7 0

Quick Stop

Control Word

15 8 7 0

Quick Stop

S5: Switching Off

Control Word

15 8 7 0

Coast Stop

15 8 7 0

Control Word

Standstill detected or

Disable Operation

15 8 7 0

Control Word

Standstill detected or

Disable Operation

Key

Highest priority

High priority

Low priority

Lowest priorityNo dots

tusWord15870

15 8 7 0

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Unidrive M SI-PROFIBUS User Guide 69 Issue Number: 3

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Figure 12-2 PROFIdrive V4 Speed Control State Machine

Speed Error

Comparator

Setpoint

(Main/Jog)

max

Tolerance range

Actual value

Status word bit 50=1=

Speed Compa

ato

Setpoint

(Main/Jog)

Actual

value

tatuswordbit60=1=(Pr )10.00

Control Word bit 4:

1= enable RFG

0 = reset RFG

Control Word bit 5:

1= unfreeze RFG

0 = freeze RFG

Control Word bit 6:

1 = enable main setpoint

0 = reset main setpoint

Ramp function

genrator

C1 C2 O/P

000

10J1

01J2

1 1 no change

J1 J2

Ramp function

genrator

Main setpoint value

(Pr )

01.021

To speed controller

Control word bit 8

1 = jog forward ON

2 = jog forward OFF

Reset RFG

Control word bit 9

1 = jog reverse ON

2 = jog reverse OFF

Jog forward set-point

(Pr )

01.005

Jog reverse set-point

(Pr )

01.005

0 = Main set-point active

(control word bit 4, 5 or 6 = 1)

1 = Jog set-point active

(control word bit 4, 5 or 6 = 0)

Reset RFG

Speed or frequency

reached / exceeded

Speed or frequency

not reached

Not at speed

At speed

(Pr )

10.006

70 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

12.7 Stopping the motor using PROFIdrive

NOTE

There are four methods of stopping the motor, these are:

• Disable Operation (control word bit 3) - Drive is inhibited, motor coasts down to zero speed, status set to ‘Switched On’.

• Ramp Stop (control word bit 0) - Motor decelerates under ramp control using deceleration rate1 (Pr 02.021), drive is inhibited, status set to ‘Ready For Switching On’.

• Quick Stop (control word bit 2) - Motor decelerates under ramp control using deceleration rate2 (Pr 02.022), drive is inhibited, status set to ‘Switching On Inhibited’.

• Coast Stop (control word bit 1) - Drive is inhibited, motor coasts down to zero speed, status set to ‘Switching On Inhibited’.

12.8 Jogging

In order to use the jogging functions, the drive must be in the operational state (S4) and at standstill and each of the three bits (4, 5 and 6) of the control word must be set to a 0, if any of these three bits are set to a 1 and the drive is at standstill then the jogging functions are disabled and the main setpoint reference is used. The three control bits (4, 5 and 6) have no effect when in jog mode.

To leave jog mode, both jog bits (8 and 9) must not be active and the drive must be at standstill, the normal control bits (4, 5 and 6) will then be active.

The jog direction is controlled by bit 8 (forward) and bit 9 (reverse) of the control word as illustrated in Figure 12-2.

The jog setpoint is set in Pr 01.005.

If both jog forward and jog reverse setpoints are selected at the same time (bits 8 and 9 are both set to a 1) then there will be no change to the jog direction. (i.e. if jog forward was previously selected then the motor will continue to jog forward, and if jog reverse was previously selected then the motor will continue to jog in the revese direction).

The following sequence can be used to jog the motor in the forward direction:

• Enable network control (bit 10 = 1, 0x0400)

• Remove all STOP commands (bits 1 & 2 = 1, 0x0406: S1 to S2)

• Set drive to Ready (bit 0 = 1, 0x0407: S2 to S3)

• Enable operation (bit 3 = 1, 0x040F: S3 to S4)

• Set jog direction forward (bit 8=1 and bit 9=0, 0x050F) or

• Set jog direction reverse (bit 8=0 and bit 9=1, 0x060F)

• Set jog setpoint value (Pr 01.005)

The motor should now jog at the speed set by the jog setpoint value.

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12.9 PROFIdrive control word

The PROFIdrive control word consists of sixteen control bits some of which are reserved.

Table 12.3 PROFIdrive control word bit functions

Bit Value Function Description

No Ramp

Stop

0 Ramp Stop

No Coast

Stop

0Coast Stop

No Quick

Stop

0Quick Stop

Enable

Operation

Disable

Operation

1 Enable RFG Enables the ramp function generator output.

0Reset RFG

Unfreeze

RFG

0 Freeze RFG

Enable

Setpoint

Inhibit

Setpoint

Fault

Acknowledge

0 No meaning

Ramp Stop command is withdrawn.

The motor decelerates under ramp control using deceleration rate1 (Pr 02.021); inhibits the drive and go to ‘Ready For Switching On’ state.

Coast Stop command is withdrawn.

Voltage disconnected; inhibit the drive output stage. Main contactor is de-energized (if available), and the drive goes into the ‘Switching On Inhibited’ status: Motor coasts down

Quick Stop command is withdrawn.

The motor decelerates under ramp control using deceleration rate2 (Pr 02.022); inhibits the drive and go to ‘Switching On Inhibited’ state.

Enable the drive and accelerate to the specified setpoint.

Inhibit the drive. Drive coasts down (ramp-function generator to zero or tracking), and into the Switched On’ status.

Ramp function generator output is set to zero. Main contactor remains in, the drive is not isolated from the supply, drive ramps down along the current limit or at the DC bus voltage limit.

Unfreezes the ramp function generator output.

Freezes the current setpoint from the ramp function generator.

Selected value at the ramp function generator input is switched in.

Selected value at the ramp function generator input is set to 0.

Group signal is acknowledged at a positive edge; the drive is in the ‘fault’ status until the fault has been removed and then goes into ‘switch-on inhibit’ state.

72 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Bit Value Function Description

Prerequisite: Operation is enabled and Main Setpoint=0.

1 JOG1 ON

0 JOG1 OFF

The drive accelerates as fast as possible to jogging setpoint (Pr 01.005) in the forward direction.

The drive brakes as fast as possible along the RFG, if ‘JOG1’ was previously ON, and goes into ‘operation enabled’ at standstill.

Prerequisite: Operation is enabled and Main Setpoint=0.

1 JOG2 ON

0 JOG2 OFF

The drive accelerates as fast as possible to jogging setpoint (Pr 01.005) in the reverse direction.

The drive brakes as fast as possible along the RFG, if ‘JOG2’ was previously ON, and goes into ‘operation enabled’ at standstill.

0 No control

11-

0Reserved

Network control

Control from the PROFIBUS-DP network, process (cyclic) data is valid.

Process data invalid. Last received valid process data values are retained.

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12.10 PROFIdrive status word

Table 12.4 gives the description of each bit in the PROFIdrive status word.

Table 12.4 PROFIdrive status word bit functions

Bit Value Function Comments

Ready to

switch on

Not ready to

switch on

1 Ready To Operate Drive is ready to run.

Not Ready To

Operate

Operation

Enabled

Operation

Disabled

1 Fault Present

0 No Fault Present Drive ok

Coast Stop Not

Activated

Coast Stop

Activated

Power supply switched on, the drive is inhibited.

Power supply switched off.

Drive is not ready to run.

Drive is operational.

Drive is not operational.

Drive faulted, and thus not operational, goes into the switch-on inhibit status after acknowledgment and the fault has been removed. Fault number in the fault parameter.

Coast Stop command is not active.

Coast Stop command is active.

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Unidrive M SI-PROFIBUS User Guide 73 Issue Number: 3

Bit Value Function Comments

Quick Stop Not

11-15 0 Reserved

Activated

Quick Stop

Activated

Switch-on

Inhibited

Switch-on Not

Inhibited

1 Warning Present Not Implemented

No Warning

Present

Speed Error

Within Tolerance

Speed Error Out

Of Tolerance

Control

Requested

No Control

Requested

Speed Or Frequency

Reached/ Exceeded

Speed Or

Frequency Not Reached

Quick Stop command is not active.

Quick Stop command is active.

Power supply switched on, the drive is inhibited.

Power supply switched on,

Not Implemented

‘At Speed’ (Pr 10.006) = 1

‘At Speed’ (Pr 10.006) = 0

The automation system is requested to accept control.

Control only possible on the device itself.

‘At Speed’ (Pr 10.006) = 1 or ‘Above Set Speed’ (Pr 10.007) = 1

‘At Speed’ (Pr 10.006) = 0 and ‘Above Set Speed’ (Pr 10.007) = 0

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12.11 PROFIdrive PNU access

PROFIdrive parameters (PNUs) may be accessed by placing the PNU number in the Parameter Index field and any sub-index value should be placed in the Sub-index field of the PROFIdrive request.

The full list of supported PROFIdrive PNUs is shown in Table 12.5.

Table 12.5 Supported PROFIdrive PNUs

PNU Designation Data type Access Explanation

918 PROFIBUS Node ID Unsigned16 RO

Device system

919

number

Visible string 16 RO

922 Telegram selection Unsigned16

Fault message

944

counter

947 Fault number

950 Fault buffer scaling

Unsigned16 RO

Array(n) Unsigned16

963 Actual Baud rate Unsigned16 RO

964 Drive Unit ID

Array(n) Unsigned16

965 Profile ID Unsigned16 RO Identifies the PROFIdrive profile version

967 Control Word Unsigned16 WO

968 Status Word Unsigned16 RO

Parameter Access

974

Identification

975 Drive Object ID

978 List of all DO-IDs

Array(n) Unsigned16 RO

Array(n) Unsigned16

Array(n) Unsigned8

Returns the SI-PROFIBUS network node address.

The device system number is a manufacturer specific system ID

RO Returns the currently selected telegram

Incremented by one when the fault buffer changes

Contains the fault numbers of the

recorded faults (see Fault Buffer Associated PNU’s on page 77)

Defines the number of fault situations and

the number of faults per situation

Indicates a value corresponding to the actual PROFIBUS network Baud rate detected as defined by the PROFIdrive specification (not the same as Pr S.01.005)

Identifies the drive unit

Directly maps to the PROFIdrive control word

Directly maps to the PROFIdrive status word

Parameter channel request lengths

Identifies the drive object

Returns a list of all axis IDs

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Index

PNU Designation Data type Access Explanation

NOTE

Each PNU in the range contains an array of PNUs and drive parameters available. Only PNU980 is used and contains an array of parameters starting with the PROFIdrive PNUs (excluding PNU980-

980-

Defined parameters

989

list

1001

Actual value

1002 Unsigned32 RO

1003

Setpoint

1004 Unsigned32 WO

It is beyond the scope of this manual to provide information on the PROFIBUS DP-V1 message frame and PROFIdrive PNUs. For more information please refer to the PROFIBUS web-site www.profibus.com or contact your local Control Techniques Drive Centre.

Array(n) Unsigned16

Unsigned16 RO

Unsigned16 WO

989) followed by the drive parameters.

The array elements are assigned in increasing sequence and consecutively. If an element contains a value of zero then the end of the list has been reached. The array elements are read starting at 0 in increments of 59 elements

Control Techniques specific

12.12 Fault Buffer

The fault buffer provides a list of acknowledged and unacknowledged faults, the buffer contains eight elements numbered from 0 to 7, of which the first element (0) contains the active fault (if any). The remaining elements (1 to 7) contain the acknowledged faults in reverse order of occurrence, and therefore element 1 is the most recent acknowledged fault (last fault) and element 7 is the oldest acknowledged fault (first fault).

Acknowledged faults are faults which have been cleared by resetting the drive when a fault is acknowledged; the fault number will be placed in element 1 of the buffer, any existing recorded faults will be moved up (numerically) one element.

If element 7 already contains a fault number then this will be over-written with the value from position 6, the existing fault number is subsequently lost.

Unacknowledged faults are faults which have not been cleared, currently Control Techniques drives only support one fault of this type, the active fault in Pr 10.020.

The PROFIdrive fault buffer mechanism is shown in Figure 12-3 on page 77.

76 Unidrive M SI-PROFIBUS User Guide

Issue Number: 3

Figure 12-3 DP-V1 Fault Buffer

Read

PNU

947

Fault Number

PNU 944

Fault Message

Counter

Unacknowledged fault

1 – Most recent acknowledged fault

2 –

Acknowledged faults

3 –

4 –

5 –

6 –

7 –

0 – Active fault

Fault

Message

Read

Fault Present

(Status Word bit 3=1)

Fault

Reaction

Acknowledged

fault moves to

position 1

Any existing

acknowledged

faults move

down one

position

Any previous

fault in position

7 is lost

Fault

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Table 12.6 Fault Buffer Associated PNU’s

PNU Designation Description

944 Fault message

947 Fault number Contains the fault numbers of the recorded faults

950 Fault buffer scaling Defines the number of fault situations and the number

The fault buffer contents are stored in internal memory and will be cleared on a module reset or power-down.

Unidrive M SI-PROFIBUS User Guide 77 Issue Number: 3

Incremented by one when the fault buffer changes

counter

Element Description

0 Last unacknowledged fault (Pr

1 to 7 Acknowledged faults in reverse order

of faults per situation. (factory set to 8 and 1 respectively)

10.020)

of occurrence

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12.13 Drive Identification

The PROFIdrive specification specifies certain objects that allow network tools to obtain information on the features supported by the slave.

SI-PROFIBUS supports the following PNU’s for this purpose.

Table 12.7 Identification PNU’s

PNU Designation Description

964 Drive Unit Identification Identifies the drive unit

965 Profile Identification Identifies the PROFIdrive profile version

Parameter Access

974

Identification

975 Drive Object Identification Identifies the drive object

978 List of all DO-IDs Returns a list of all axis IDs

Parameter channel request lengths

12.14 Identification and Maintenance Functions

Identification and Maintenance (I&M) functions assist the user in tracking the drive’s life cycle through commissioning/start-up, parameterization, diagnosis, repair, etc. SIPROFIBUS supports the following I&M functions:

• I&M0 (Read Only)

• I&M1 (Read/Write)

• I&M2 (Read/Write)

• I&M3 (Read/Write)

• I&M4 (Read/Write)

All I&M functions are available from masters which support this feature.

78 Unidrive M SI-PROFIBUS User Guide

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13 Advanced features

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13.1 SYNC and FREEZE Mode

The SI-PROFIBUS supports the SYNC and FREEZE modes available with most PROFIBUS-DP master controllers.

Cyclic data is put into groups by the PLC allowing multiple cyclic channels to be suspended and updated using the SYNC and FREEZE commands. Data to the drive is controlled by the SYNC command and data from the drive controlled by the FREEZE command. The SYNC command is used in conjunction with the UNSYNC command and the FREEZE command is used in conjunction with the UNFREEZE command.

The SYNC command will cause a single transfer of the previously grouped data and stop any more data from being received by the drive. The SYNC command may be repeated while in this state to allow another single transfer of data to the drive. Issuing an UNSYNC command will revert the drive to continuous cyclic update of the received data.

The FREEZE command will cause a single transfer of the previously grouped data and stop any more data from being transmitted by the drive. The FREEZE command may be repeated while in this state to allow another single transfer of data from the drive. Issuing an UNFREEZE command will revert the drive to continuous cyclic update of the transmitted data.

13.2 Inter-option communication timing

When more than one option module is installed to a drive, communications between modules uses inter-option communications. Inter-option communications is slower than the communications directly to the drive parameters.

Typical access times for direct drive menu access will be in the region of 30μs (per parameter), a similar access using inter-option communications will be in the region of 1ms (per parameter).

When using inter-option communications, if parameters are sequential (within the same menu) then up to six parameters may be grouped in to a block, this will take up to 1 ms for this block to be transferred. A total of eight blocks for input and eight blocks for output are available.

13.3 Multi-master operation

The SI-PROFIBUS can be used on PROFIBUS-DP networks containing one or more master controllers. Consult your master controller documentation for information on how to configure a multi-master PROFIBUS-DP network.

Users must ensure that in networks with multiple master devices that only one master controller is configured to access the SI-PROFIBUS.

SI-PROFIBUS supports the simultaneous connection of one class 1 master and one class 2 master.

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Unidrive M SI-PROFIBUS User Guide 79 Issue Number: 3

14 Legacy features

NOTE

WARNING

14.1 Network compatibility mode

Table 14.1 Network compatibility mode

Pr S.01.031

SI-PROFIBUS provides a compatibility mode as standard.

Pr S.01.031 can be used to select which drive the SI-PROFIBUS module is to appear as on the PROFIBUS network, this only applies to the network identification and not the drive functionality.

Table 14.2 Compatibility mode settings

Pr 1.01.031 Text Description

0 Auto detect Auto detect

1 Reserved Reserved

2 Unidrive SP Unidrive SP mode

3 UniSP extended Unidrive SP extended diagnostics support

4 Unidrive Classic Unidrive Classic mode

Using the compatibility mode allows the replacement of drives on a PROFIBUS-DP network, without having to make any changes to the master network configuration, it changes the identity code of the module so that the master controller believes that a similar type drive is present for a particular node.

When using compatibility mode, ensure that the correct GSD file for the simulated drive is being used and not the actual drive.

Default Auto detect (0)

Range Auto detect (0) to Unidrive Classic (4)

Access RW

When using extended diagnostics (Pr 1.01.031 = 3), the appropriate GSD file using the correct PROFIBUS identification code (0x0B4F) must be used (e.g. 'SP__0B4F.GSD

For GSD file compatibility please refer to Table 7.1 Selecting the correct GSD file on page 47.

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14.2 PPO Types

NOTE

SI-PROFIBUS supports all five types of Parameter Process data Object (PPO) defined by the PROFIdrive profile V4. The PROFIdrive profile features four specific functions which the SI-PROFIBUS translates into appropriate drive functions:

• PROFIdrive control word

• Main Setpoint

• PROFIdrive status word

• Main Actual Value

Each PPO mode uses a unique combination of features which are detailed in the following sections.

Do not confuse PPO 4 mode with Mode 2 - PPO 4 word non-cyclic data, they are not the same.

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14.2.1 PPO 1

Table 14.3 PPO 1 mapping structure

IN Data Function OUT

word 0

word 1 word 1

word 2 word 2

word 3 word 3

word 4 PROFIdrive status word word 4 PROFIdrive control word

word 5 Main Actual Value word 5 Main Setpoint

14.2.2 PPO 2

Table 14.4 PPO 2 mapping structure

IN Data Function OUT

word 0

word 1 word 1

word 2 word 2

word 3 word 3

word 4 PROFIdrive status word word 4 PROFIdrive control word

word 5 Main Actual Value word 5 Main Setpoint

word 6

word 7 word 7

word 8 word 8

word 9 word 9

Mode 2 non cyclic data

(PPO 4-word)

Mode 2 non cyclic data

(PPO 4-word)

User configurable mapping

using

Pr S.02.004 to Pr S.02.007

Data

word 0

Data

word 0

word 6

Function

Mode 2 non cyclic data

(PPO 4-word)

Function

Mode 2 non cyclic data

(PPO 4-word)

User configurable mapping using

Pr S.03.004 to Pr S.03.007

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Unidrive M SI-PROFIBUS User Guide 81 Issue Number: 3

14.2.3 PPO 3

Table 14.5 PPO 3 mapping structure

IN Data Function OUT

word 0 PROFIdrive status word word 0 PROFIdrive control word

word 1 Main Actual Value word 1 Main Setpoint

14.2.4 PPO 4

Table 14.6 PPO 4 mapping structure

IN Data Function OUT Data Function

word 0 PROFIdrive status word word 0 PROFIdrive control word

word 1 Main Actual Value word 1 Main Setpoint

word 2

word 3 word 3

word 4 word 4

word 5 word 5

14.2.5 PPO 5

Table 14.7 PPO 5 mapping structure

IN Data Function OUT Data Function

word 0

word 1 word 1

word 2 word 2

word 3 word 3

word 4 PROFIdrive status word word 4 PROFIdrive control word

word 5 Main Actual Value word 5 Main Setpoint

word 6

word 7 word 7

word 8 word 8

word 9 word 9

word 10 word 10

word 11 word 11

word 12 word 12

word 13 word 13

User configurable mapping

using

Pr S.02.003 to Pr S.02.006

Mode 2 non cyclic data

(PPO 4-word)

User configurable mapping

using

Pr S.02.004 to Pr S.02.020

Data

word 2

word 0

word 6

Function

User configurable mapping

using

Pr S.03.003 to Pr S.03.006

Mode 2 non cyclic data

(PPO 4-word)

User configurable mapping

using

Pr S.03.004 to Pr S.03.020

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14.3 Configuring the Profile

NOTE

To configure the profile to the required PPO mode use the following sequence:

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•Set Pr S.01.014 to 16 to enable data alignment

•Set Pr S.01.008 to the required PPO profile PP01 to PP05 (5 to 9).

• Configure the mapping parameters as required

•Set mm.000 to Save parameters or 1000 and press the reset button.

• S.01.002 or Pr MM.007 set to On to reset SI-PROFIBUS

• Check Pr S.01.006 doesn't indicate a fault (see Table 6.4 on page 32 for further details)

Save the drive parameters (refer to the relevant drive documentation for more information).

Pr S.01.002 or Pr MM.007 will automatically reset to Off when the process is complete.

If the PROFIdrive profile has been configured after settings have already been made to the cyclic data mapping parameters, the first two or three mapping parameters (depending upon the PPO type chosen) will be over written.

14.4 Setting the non-cyclic mode (non-cyclic over cyclic)

Sending non-cyclic data over the cyclic channel can only be accomplished when the SIPROFIBUS module is set up for a Unidrive SP in compatibility mode (Pr S.01.031 = 2 or

3) and the correct GSD file loaded. The correct GSD file for the simulated drive (e.g. SP_ _0672.GSD)

The term 'non-cyclic over cyclic' is used to refer to non-cyclic data which is transmitted as part of the cyclic data and not using the non-cyclic DP-V1 channel.

Table 14.8 shows how to configure the non-cyclic over cyclic parameter (Pr S.01.030) for the required non-cyclic mode.

Table 14.8 Non-cyclic over cyclic data modes

Value Text Description

0 None

1 CTNC 1 Non-cyclic word (CT Single Word mode 1)

2 PPO defined 4 Non-cyclic words (PPO 4 Word mode 2)

14.5 Mode 1 - CT Single Word mode

The CT Single Word (Mode 1) uses one cyclic channel for non-cyclic data. This noncyclic sub-protocol requires a specific sequence of four or six telegrams to implement the parameter access. Each non-cyclic word or telegram is split into two bytes to implement the sub-protocol. The high byte containing the control codes for each telegram and the low byte containing the data for each telegram.

By default cyclic data alignment is set to 32 bits, the CT Single Word non-cyclic channel will be 32 bits wide (i.e. uses two words, and data must be transferred on the low word). If cyclic data alignment is set to 16, the CT Single Word non-cyclic channel will revert to 16 bits and only use a single word.

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14.5.1 Mapping For CT Single Word non-cyclic data

NOTE

To configure an SI-PROFIBUS for CT Single Word mode the following steps must be performed:

1. Set Pr S.01.030 to the required mode.

2. Save the parameters if required.

3. Set S.01.002 or Pr MM.007 to ON to reset.

When the SI-PROFIBUS resets, it will map cyclic data IN Word 0 and cyclic data OUT Word 0 to the CT Single Word protocol parameter. All existing mapping parameters will be moved down by one word, (i.e. the previous mappings set in Pr S.02.001 and Pr S.03.001 will now appear in Pr S.02.002 and Pr S.03.002 etc.). Table 14.9 shows what happens to the mappings when the data format is changed from four cyclic words to four cyclic words with CT Single Word non-cyclic data.

Table 14.9 CT Single Word non-cyclic data mapping

Mapping

parameter

Pr S.02.001 10040 Pr 10.040, status word

Pr S.02.002 2001 Pr 02.001, post ramp speed ref 10040 Pr 10.040, status word

Pr S.02.003 0 Not mapped 2001 Pr 02.001, post ramp speed ref

Pr S.02.004

Pr S.02.032

Pr S.03.001 6042 Pr 06.042, control word

Pr S.03.002 1021 Pr 01.021, digital speed ref 1 6042 Pr 06.042, control word

Pr S.03.003 0 Not mapped 1021 Pr 01.021, digital speed ref 1

Pr S.03.004

Pr S.03.032

Before format change

(Pr S.01.030 = 0)

Value Mapping Value Mapping

0 Not mapped 0 Not mapped

After format change

(Pr S.01.030 = 1)

Pr 61.050, CT Single Word

If all IN or OUT mapping parameters are being used when the data format change is implemented the last mapping parameter value will be lost.

14.5.2 CT Single Word protocol

All parameter values for the drive must be written as signed 32-bit data values with data alignment set to 32 bits. If data alignment is set to 16, the size of the mapping will depend on the size of the source or destination parameter.

Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read. The number of decimal places of the target parameter must be known. Writing a value of 1234 to a parameter with two decimal places will produce a value of 12.34 in the target parameter. Similarly, reading a value of

12.34 will return a 32-bit integer value of 1234.

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Table 14.10 CT Single Word Bit Positions

NOTE

b15 b14 b13 b12 b11 b10 b9 b8

READ ERR Reserved 32-BIT Stamp Number

b7 b6 b5 b4 b3 b2 b1 b0

Data Byte

Table 14.11 CT Single Word Bit Definitions

Bit Function Values Description

0 to 7 Data 0 to 255

Depending on the stamp number of the telegram, this byte contains the menu, parameter or data byte.

Indicates the stamp number of the word. This shows

8 to 11

Stamp number

0 to 6

which part of the message is currently in progress. Setting the stamp number to 0 resets the internal non-cyclic state machine.

Specifies whether a 16-bit or 32-bit data value is to be written to or read from the drive. If 32-BIT is set, telegrams 5 and 6 will be used to transfer the additional data bytes.

12 32-BIT

0 = 16-bit

data

1 = 32-bit

data

13 Reserved 0 Reserved for future use. Always set to 0.

Indicates the success or failure of the message. Failure could occur if the parameter does not exist, or is a read-only or write-only parameter. This bit will also be set if the parameter value is out of range in

14 ERR

0 = Data

1 = Error

16-bit mode.

15 READ

0 = Write 1 = Read

Defines whether the data word is part of a READ or WRITE cycle.

Setting the stamp number to 0 resets the internal non-cyclic state machine. Allowing a new message to be started.

CT Single Word non-cyclic data uses only one word of data, when using this with data alignment set to 32 requires two 16-bit words. In this mode only the least significant word of the 32-bit word is used.

14.6 Reading parameters using CT Single Word

To read 32-bit parameters using the non-cyclic channel, the following “telegrams” must be transmitted to construct the final message:

• Telegram 1 - define menu number

• Telegram 2 - define parameter number

• Telegram 3 - request high data byte

• Telegram 4 - request mid-high data byte

• Telegram 5 - request mid-low data byte

• Telegram 6 - request low data byte

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Table 14.12 CT Single Word Bit Positions

READ

Start

Send first telegram

to OUT word 0

Read IN

word 0

Tx_Stamp_No = Rx_Stamp_No?

Send next

telegram to

OUT word 0

Tx_Stamp_No

= 2?

Yes

Check status

of ERR bit

ERROR. Check parameter exists,

data is in correct range, and parameter

is Read/Write

Calculate

data value

END OF

SEQUENCE

Read IN

word 0

Tx_Stamp_No =

Rx_Stamp_No?

Send next

telegram to

OUT word 0

Tx_Stamp_No

= 6?

Yes

Send telegram 3 to

OUT word 0

Store data

byte

Yes

b15 b14 b13 b12 b11 b10 b9 b8

READ ERR

Reserve

32-BIT Stamp Number

b7 b6 b5 b4 b3 b2 b1 b0

Data Byte

14.6.1 Constructing CT Mode 1 Single Word Read Messages

Figure 14-1 CT Single Word read sequence (Mode 1)

The following example telegrams show how to read the post-ramp speed reference (in rpm with one decimal places) from Pr 02.001 on the drive.

TELEGRAM 1

86 Unidrive M SI-PROFIBUS User Guide

The first telegram from the PROFIBUS-DP master indicates a READ with stamp number 1. The data byte contains the menu number of the parameter that is to be read.

Example telegram

Value 1001 0001 0000 0010

Data word = 0x9102 Stamp number = 1 Menu = 2

When the first telegram has been received and processed in the slave node, it is mirrored in the non-cyclic IN word back to the PLC. This is the signal to the master controller program that the first telegram of the message has been received and understood the second telegram can now be transmitted.

Bit b15-b12 b11-b8 b7-b4 b3-b0

Issue Number: 3

Example response

NOTE

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0001 0000 0010

Data word = 0x9102 Stamp number = 1

If a telegram produces an error at any point in the sequence the reply to the master will have the error bit ERR set to a 1.

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TELEGRAM 2

The second telegram from the PROFIBUS-DP master also indicates a READ cycle, but the stamp number is now 2. The data byte would contain the parameter number for the parameter that is to be read.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0010 0000 0001

Data word = 0x9201 Stamp number = 2 Parameter = 1

When the second telegram has been received and processed in the slave, it is mirrored in the non-cyclic IN word. This is the signal to the master controller program that the second telegram of the message has been received and the third telegram can now be transmitted.

If telegrams 1 and 2 were not received correctly or an invalid parameter was specified, (e.g. parameter is write only, or does not exist), the PROFIBUS-DP interface will set the ERROR bit to 1 (b14 = 1) in the response. The data bits will have no significance. Setting the stamp number to 0 resets the internal non-cyclic state machine.

Example response

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0010 0000 0001

Data word = 0x9201 Stamp number = 2

If an error is reported, the non-cyclic data word should be set to 0 to ensure that the non-cyclic state machine is completely reset and ready for the next non-cyclic READ or WRITE sequence.

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TELEGRAM 3

The third telegram from the PROFIBUS-DP master acts as the indication to the slave to send the high data byte from the requested parameter. The data byte is not used in this telegram, and should be set to 0.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0011 0000 0000

Data word = 0x9300 Stamp number = 3

When the third telegram has been received and processed in the slave node, the node will mirror the stamp number in the non-cyclic IN word and load the high byte of the parameter value into the data byte.

Example response

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0011 0000 0000

Data word = 0x9300 Stamp number = 3 Data high byte = 0x00 = 0

TELEGRAM 4

The fourth telegram from the PROFIBUS-DP master acts as the indication to the slave to send the mid-high data byte from the requested parameter. The data byte is not used in this telegram, and should be set to 0.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0100 0000 0000

Data word = 0x9400 Stamp number = 4

When the fourth telegram has been received and processed in the slave node, the node will mirror the stamp number in the non-cyclic IN word and load the mid-high byte of the parameter value into the data byte.

Example response

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0100 0000 0001

Data word = 0x9401 Stamp number = 4 Data mid-high byte = 0x01 = 1

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TELEGRAM 5

The fifth telegram from the PROFIBUS-DP master acts as the indication to the slave to send the mid-low data byte from the requested parameter. The data byte is not used in this telegram and should be set to 0.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0101 0000 0000

Data word = 0x9500 Stamp number = 5

When the fifth telegram has been received and processed in the slave node, the node will mirror the stamp number in the non-cyclic IN word and load the mid-low byte of the parameter value into the data byte.

Example response

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0101 0010 0101

Data word = 0x9525 Stamp number = 5 Data mid-low byte = 0x25 = 37

TELEGRAM 6

The sixth telegram from the PROFIBUS-DP master acts as the indication to the slave to send the low data byte from the requested parameter. The data byte is not used in this telegram and should be set to 0.

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Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0110 0000 0000

Data word = 0x9600 Stamp number = 6

When the sixth telegram has been received and processed in the slave node, the node will mirror the stamp number in the non-cyclic IN word and load the low byte of the parameter value into the data byte.

Example response

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0110 1101 1100

Data word = 0x96DC Stamp number = 6 Data low byte = 0xDC = 220

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14.6.2 The parameter re-assembled

Start

Send first telegram

to OUT word 0

Read IN

word 0

Tx_Stamp_No = Rx_Stamp_No?

Send next

Tx_Stamp_No

= 6?

Yes

Check status

of ERR bit

ERROR

Check parameter

exists, and that it is

a Read/Write

parameter

Parameter written OK

END OF

SEQUENCE

WRITE

The completed value can be assembled as follows to give the complete value as read from the parameter.

Speed = (High byte * 2

(Mid-low byte * 2

) + (Mid-high byte * 216) +

) + Low byte = (0 * 16777216) + (1 * 65536) + (37 * 256) + 220 = 75228 = 7522.8 rpm

14.6.3 Writing parameters using CT Single Word

To write to a 32-bit parameter using the non-cyclic channel, the following telegrams must be sent one telegram per network cycle to construct the final message.

• Telegram 1 - define menu number

• Telegram 2 - define parameter number

• Telegram 3 - send high data byte

• Telegram 4 - send mid-high data byte

• Telegram 5 - send mid-low data byte

• Telegram 6 - send low data byte

Figure 14-2 CT Single Word write sequence

90 Unidrive M SI-PROFIBUS User Guide

The following telegrams show how to set the digital speed reference 1 (Pr 01.021) to

12553.9 rpm (32-bit value is 125539) in the drive.

Issue Number: 3

TELEGRAM 1

The first telegram from the PROFIBUS-DP master indicates a WRITE cycle by setting the R/W bit to 0. The stamp number is set to 1. The data byte contains the menu number for the parameter that is to be written to.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0001 0000 0001

Data word = 0x1101 Stamp number = 1 Menu = 1

When the first telegram has been received and processed in the slave node, it is mirrored in the non-cyclic IN word. This is the signal to the master controller program that the first telegram of the message has been received and understood and the second telegram can be transmitted.

TELEGRAM 2

The second telegram from the PROFIBUS-DP master also indicates a write cycle, but the stamp number is now set to 2. The data byte would contain the parameter number for the parameter that is to be written to

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0010 0001 0101

Data word = 0x1215 Stamp number = 2 Parameter = 21

When the second telegram has been received and processed in the slave node, it is mirrored in the non-cyclic IN word. This is the signal to the master controller program that the second telegram of the message has been received and understood and the third telegram can be transmitted.

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TELEGRAM 3

The third telegram from the PROFIBUS-DP master has the stamp number set to 3. The data bits contain the high data byte for the parameter being written to.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0011 0000 0000

Data word = 0x1300 Stamp number = 3 Data high byte = 0x00

When the third telegram has been received and processed in the slave node, it is mirrored in the non-cyclic IN word. This is the signal to the master controller program that the third telegram of the message has been received and understood and the fourth telegram can be transmitted.

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TELEGRAM 4

The fourth telegram from the PROFIBUS-DP master has the stamp number set to 4. The data bits contain the mid-high data byte for the parameter being written to.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0100 0000 0001

Data word = 0x1401 Stamp number = 4 Data mid-high byte = 0x01 = 1

When the fourth telegram has been received and processed in the slave node, it is mirrored in the non-cyclic IN word. This is the signal to the master controller program that the fourth telegram of the message has been received and understood and the fifth telegram can be transmitted.

TELEGRAM 5

The fifth telegram from the PROFIBUS-DP master has the stamp number set to 5. The data bits contain the mid-low data byte for the parameter being written to.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0101 1110 1010

Data word = 0x15EA Stamp number = 5 Data mid-low byte = 0xEA = 234

When the fifth telegram has been received and processed in the slave node, it is mirrored in the non-cyclic IN word. This is the signal to the master controller program that the fifth telegram of the message has been received and understood and the sixth telegram can be transmitted.

TELEGRAM 6

The sixth telegram from the PROFIBUS-DP master has the stamp number set to 6. The data bits contain the low data byte for the parameter that is being written to.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0110 0110 0011

Data word = 0x1663 Stamp number = 6 Data low byte = 0x63 = 99

When the sixth telegram has been received and processed in the slave node, it will write the data (Pr 01.021 = 12553.9) as transmitted (the decimal point is automatically inserted when the data is transferred to the drive). If the operation is successful, the ERR bit is reset to 0 and the telegram is reflected in the non-cyclic IN word.

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Example response - success

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0110 0110 0011

Data word = 0x1663 Stamp number = 6 Data low byte = 0x63 = 99

If there was a problem with writing the data to the defined parameter, e.g. parameter is read only, does not exist, or data is out of range, the ERR bit is set to 1.

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Example response - success

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0101 0110 0110 0011

Data word = 0x5663 Stamp number = 6

14.6.4 Abort CT Single Word non-cyclic message

The internal state machine that controls the non-cyclic data transfer will only accept a new telegram if it contains the next expected telegram (i.e. after accepting Telegram 2, the state machine will only respond to Telegram 3. If Telegram 4 is received, it will be ignored).

If an error occurs in the master controller that causes the telegrams to get out of step, the master controller program should time-out, abort the message and reset the noncyclic state machine.

A Mode 1 non-cyclic message can be abandoned by resetting the state machine. This is done by setting the non-cyclic word to 0.

Example telegram

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0000 0000 0000 0000

Data word = 0x0000 Stamp number = 0

14.6.5 16-bit parameter access

Normally six telegrams would be required to access drive parameters using Mode 1 non-cyclic data. When accessing 16-bit data only four telegrams are required. If an attempt is made to read a 32-bit parameter from the drive the parameter value will be returned, provided that the parameter value does not exceed signed 16-bit limits. If the value is larger than a signed 16-bit value, the ERR bit will be set. When writing data to a 32-bit parameter, the 16-bit data will be treated as a signed 16-bit data value. This limits the range that can be written to a 32-bit parameter.

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14.7 Mode 2 - PPO 4 Word mode

NOTE

PPO 4 word mode of non-cyclic data is a simple method of accessing non-cyclic data without the need for the telegrams required with Mode 1 non-cyclic data and its associated overheads. Mode 2 has the disadvantage of using four words of mappings and reduces the available free mappings accordingly.

14.7.1 Mapping for PPO 4 Word non-cyclic data

To configure an SI-PROFIBUS for PPO 4 word mode non-cyclic data, the following steps must be performed:

1. Set Pr S.01.030 to the required mode (see section Non-cyclic over cyclic on page 40).

2. Set Pr MM.007 to ON to re-initialize SI-PROFIBUS.

3. Save the parameters if required (see the relevant drive documentation for information on saving drive parameters).

When the SI-PROFIBUS resets, it will map cyclic data IN words 0 to 3 and OUT words 0 to 3 to the PPO 4 Word protocol parameter. All existing mapping parameters will be moved down by one mapping, (i.e. the previous mappings set in Pr S.02.001 and Pr S.03.001 will now appear in Pr S.02.002 and Pr S.03.002 respectively). Table 14.13 shows what happens to the mapping parameters when the data format is changed from sending no cyclic data over the cyclic channel (Pr S.01.030=0) to sending non-cyclic data over the cyclic channel with Mode 2 non-cyclic data. (Pr S.01.030=2).

Table 14.13 PPO 4 Word mode data mapping

Mapping

parameter

Pr S.02.001 10040 Pr 10.040, status word

Pr S.02.002 2001

Pr S.02.003 0 Not mapped 2001 Pr 02.001, post ramp speed ref

Pr S.02.004

Pr S.02.032

Pr S.03.001 6042 Pr 06.042, control word

Pr S.03.002 1021

Pr S.03.003 0 Not mapped 1021 Pr 01.021, digital speed ref 1

Pr S.03.004

Pr S.03.032

Before format change

(Pr S.01.030 = 0)

Value Mapping Value Mapping

Pr 02.001, post ramp speed ref

0 Not mapped 0 Not mapped

Pr 01.021, digital speed ref 1

0 Not mapped 0 Not mapped

After format change

(Pr S.01.030 = 2)

Pr 61.051, PPO 4 Word

10040 Pr 10.040, status word

Pr 61.051, PPO 4 Word

6042 Pr 06.042, control word

If all IN or OUT mapping parameters are being used when the data format change is implemented, the last mapping parameter value will be lost.

94 Unidrive M SI-PROFIBUS User Guide

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14.7.2 PPO 4 Word protocol

NOTE

Table 14.14 shows the data structure required on the OUT data to implement PPO 4 Word request.

Decimal point information is inserted automatically when the data value is written to the drive and removed when the data value is read. Hence the number of decimal places of the target parameter must be known. Writing a value of 1234 to a parameter with two decimal places will produce a value of 12.34 in the target parameter. Similarly reading a value of 12.34 will return a 32-bit integer value of 1234.

Table 14.14 PPO 4 Word OUT data structure

OUT data

word

OUT word 0 TASK ID 0 MENU

OUT word 1 PARAMETER Reserved

OUT word 2 DATA HIGH word

OUT word 3 DATA LOW word

The PPO 4 Word protocol is controlled by the TASK ID and RESPONSE ID; the TASK ID specifies the transaction required and the remainder of the data words carry the data for the transaction. Table 14.15 lists the possible TASK ID codes.

Table 14.15 TASK ID codes

TASK

0 No task No non-cyclic transaction required

1 Fieldbus specific

2 Fieldbus specific

3 Fieldbus specific

4 Not implemented Reserved

5 Not implemented Reserved

Request parameter

value

Change parameter

value (16-bit)

Change parameter

value (32-bit)

Request last

parameter reference

b15-b12 b11 b10-b8 b7-b0

Function Description

Function

Read parameter value from drive. Specify MENU and PARAMETER, set DATA HIGH word and DATA LOW word to 0.

Write 16-bit parameter value to the drive. Specify MENU, PARAMETER and DATA LOW word. (Any value in DATA HIGH word will be discarded.) This function can be used to write to 32-bit drive parameters, but the range of values is limited to 16 bits.

Write 32-bit parameter value to the drive. Specify MENU, PARAMETER, DATA HIGH word and DATA LOW word. This function can also be used to write to 16-bit drive parameters, but if DATA HIGH word is not set to 0, a value over-range error will be reported.

Returns the last parameter for the specified menu. Specify MENU. (Values in PARAMETER, DATA HIGH word and DATA LOW word will be discarded.)

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Unidrive M SI-PROFIBUS User Guide 95 Issue Number: 3

Table 14.16 shows the data structure of a PPO 4 Word response which is returned by SI-PROFIBUS.

Table 14.16 PPO 4 Word IN data structure

IN data

word

IN word 0 RESPONSE ID 0 MENU

IN word 1 PARAMETER

IN word 2 DATA HIGH word

IN word 3 DATA LOW word

The RESPONSE ID indicates the success or otherwise of the requested transaction. Table 14.7 lists the possible RESPONSE ID codes.

Table 14.17 RESPONSE ID codes

RESPONSE

0 No task No non-cyclic transaction active

1 Fieldbus specific

2 Fieldbus specific

3 Not implemented

If RESPONSE ID 7 has been received, the error code can be read from word 3. This will indicate the reason why the TASK ID request failed (see Table 14.18).

b15-b12 b11 b10-b8 b7-b0

Function Description

Returns a 16-bit data value from the request Transfer parameter value (16-bit)

Transfer parameter value (32-bit)

Transfer last parameter reference

Error - TASK ID could not be executed

Error - read only parameter

parameter value specified by TASK ID 6, or the

successful change parameter value (16-bit)

specified by TASK ID 7.

Returns a 32-bit data value from the request

parameter value specified by TASK ID 6, or the

successful change parameter value (32-bit)

specified by TASK ID 8.

Returns the highest parameter for the menu

specified by request last parameter reference,

TASK ID 9.

The previously specified TASK ID could not be

completed. Word 3 will return an error code to

indicate the reason for the TASK ID failure (see

table below).

Target parameter specified by TASK ID 7 or TASK

ID 8 is read only, and cannot be modified.

Function

96 Unidrive M SI-PROFIBUS User Guide

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Table 14.18 PPO 4 Word error codes

Set OUT Word

0 to 0

ERROR:

TASK ID could not

be executed

CASE:

RESPONSE ID

END OF

SEQUENCE

Specify

PARAMETER in

OUT Word 1

Specify TASK ID

and MENU in OUT

Word 0

SUCCESS:

Read 16-bit data

value from IN Word 3

4 5

SUCCESS:

Read 32-bit data

value from IN Word 2

and IN Word 3

Set OUT Word

2 to 0

Set OUT Word

3 to 0

START

ERROR

CODE

Error Description

0 Invalid menu The specified menu does not exist.

Parameter is read

only

2 Value out of range

Invalid parameter /

The specified parameter is read only, and cannot

be written to.

The specified data value is out of range for the

parameter.

The specified parameter does not exist.

18 Parameter error No last parameter information available.

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14.7.3 Reading parameters using PPO 4 Word mode

Unidrive M SI-PROFIBUS User Guide 97 Issue Number: 3

Figure 14-3 shows the sequence of events required to read a drive parameter using the PPO 4 Word non-cyclic channel.

Figure 14-3 PPO 4 Word Read sequence

Table 14.19 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to read a parameter value from a drive.

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Table 14.19 PPO 4 Word Read TASK ID and RESPONSE ID combinations

NOTE

Function TASKIDRESPONSE

No Task 0 0 No message active.

Request Parameter Value (16-bit)

Request Parameter Value (32-bit)

Request Parameter Value (16-bit)

Request Last (Parameter Reference)

Request Last Parameter Reference

Table 14.20 shows an example set of data words for PPO 4 Word mode. This example will read the value in the post ramp speed reference (Pr 02.001) in the drive.

Table 14.20 PPO 4 Word read request example

OUT data

word

OUT word 0 0x6002 TASK ID = 6 0 MENU = 2

OUT word 1 0x0100 PARAMETER = 1 0

OUT word 2 0x0000 DATA HIGH word = 0

OUT word 3 0x0000 DATA LOW word = 0

Table 14.21 shows an example successful read response to the read instruction illustrated above. The value returned is 15284, which equates to 1528.4 rpm.

Table 14.21 PPO 4 Word read response example

IN data

word

IN word 0 0x5002

IN word 1 0x0100 PARAMETER = 1 0

IN word 2 0x0000 DATA HIGH word = 0

IN word 3 0x3BB4 DATA LOW word = 15284

Hex value

RESPONS

b15-b12 b11 b10-b8 b7-b0

E ID = 5

Parameter read successfully, 16-bit value returned in word 3.

Parameter read successfully, 32-bit value returned in words 2 and 3.

TASK ID 6 could not be executed. Check the error code in IN word 3 for the reason why.

The highest parameter reference in specified menu is available in IN word 3.

TASK ID 9 could not be executed. Check the error code in IN word 3 for the reason why.

0 MENU = 2

Message status

Function

It is important that the correct module is selected from the GSD file to ensure that the PPO 4 word mode block is consistent otherwise data skew may occur. If the OUT data words 0 and 1 are left at the same value, the target parameter will be read or written to (depending on the TASK ID) on every data cycle. If the PPO 4 command is left in the data words, the read will be executed on every poll of the network, effectively providing a continuous read. Care should be taken to ensure the parameters for the read are set-up before the TASK ID is changed from 0 to prevent incorrect data in the returned value.

98 Unidrive M SI-PROFIBUS User Guide

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14.7.4 Writing parameters using PPO 4 Word mode

START

Set OUT Word

0 to 0

ERROR:

Parameter is

read only

CASE:

RESPONSE ID

END OF

SEQUENCE

Specify

PARAMETER in

OUT Word 1

Specify DATA HIGH

WORD in OUT

Word 2

Specify DATA LOW

WORD in OUT

Word 3

Specify TASK ID

and MENU in OUT

Word 0

SUCCESS:

16-bit data

value written to

parameter

4 5

SUCCESS:

32-bit data value

written to parameter

ERROR:

TASK ID could

not be

executed

Figure 14-4 shows the sequence of events required to write to a drive parameter using the PPO 4 Word non-cyclic channel.

Figure 14-4 PPO 4 Word write sequence

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Table 14.22 shows the possible TASK ID and RESPONSE ID combinations that may be seen when attempting to write to the drive.

Table 14.22 PPO 4 Word write TASK ID and RESPONSE ID combinations

Function TASKIDRESPONSE

Message status

No Task 0 0 No message active.

Write Parameter Value (16-bit)

Write Parameter Value (32-bit)

Write Parameter Value (16-bit)

Write Parameter Value (32-bit)

7 4 Parameter (16-bit) written successfully.

8 5 Parameter (32-bit) written successfully.

TASK ID 7 could not be executed. Check the error code in IN word 3 for the reason why.

TASK ID 8 could not be executed. Check

the error code in IN word 3 for the reason why.

Parameter is read only, and cannot be written to.

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Table 14.23 shows an example set of data words for PPO 4 Word mode. This example

NOTE

will write a value of 1553.9 rpm (32-bit value is 15539) to the digital speed reference 1 (Pr 01.021) to the drive.

Table 14.23 PPO 4 Word write requests example

OUT data

word

OUT word 0 0x8001 TASK ID = 8 0 MENU = 1

OUT word 1 0x1500 PARAMETER = 21 0

OUT word 2 0x0000 DATA HIGH word = 0

OUT word 3 0x3CB3 DATA LOW word = 15539

Table 14.24 shows an example successful write response to the write instruction illustrated above in Table 14.23.

Table 14.24 PPO 4 Word write response example

IN data

word

IN word 0 0x5001

IN word 1 0x1500 PARAMETER = 21 0

IN word 2 0x0000 DATA HIGH word = 0

IN word 3 0x3CB3 DATA LOW word = 15539

If the PPO 4 command is left in the data words, the write will be executed on every poll of the network, effectively providing a continuous write. Care should be taken to ensure the parameters for the write are set-up before the TASK ID is changed from 0 to prevent incorrect data being written.

Hex value

b15-b12 b11 b10-b8 b7-b0

RESPONSE

ID = 5

0MENU = 1

Function

14.7.5 Limitations of non-cyclic data Mode 1 - CT Single Word

CT Single Word non-cyclic data uses only 1 word of data, however when used with data alignment set to 32 (see section Cyclic data alignment on page 35) this requires two 16-bit words (a single 32-bit word). When used with data alignment set to 32 only the lower 16 bits of the 32-bit word are used.

14.7.6 Using non-cyclic data Mode 2 - PPO 4 Word

Data consistency is important when using PPO4 word (Mode 2) non-cyclic data as each non-cyclic message consists of four words. If there is data skew between any of the non-cyclic words this could result in the wrong data value being written to the wrong parameter.

The GSD file provides the PPO 4 Word which consists of four IN/OUT words with consistency.

If non-cyclic data is required and the DP-V1 non-cyclic channel is not used then the noncyclic CT Single Word and/or the PPO 4 Word modules must be selected. A total of eight different modules can be selected to configure the input and output configuration of the node.

100 Unidrive M SI-PROFIBUS User Guide

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Emerson SI-PROFIBUS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety information

1.1 Warnings, Cautions and Notes

1.2 Electrical safety - general warning

1.3 System design and safety of personnel

1.4 Environmental limits

1.5 Access

1.6 Fire protection

1.7 Compliance with regulations

1.8 Adjusting parameters

1.9 Stored charge

2 Introduction

2.1 What is PROFIBUS-DP?

2.2 About SI-PROFIBUS

2.3 General specification

2.4 Option module identification

2.5 Conventions used in this guide

3 Mechanical installation

3.1 General Installation

4 Electrical installation

4.1 Terminal descriptions

4.2 PROFIBUS-DP connectors

4.3 PROFIBUS-DP cable

4.4 Cable shielding

4.5 General grounding considerations

4.6 Network termination

4.7 Maximum network length / device loading

4.8 Node addressing

4.9 Spurs

4.10 Minimum node to node cable length

4.11 Grounding

5 Getting started

5.1 Set-up flow chart

5.2 Single line descriptions

6 Parameters

6.1 Menus

6.2 Module menu 0 - module information

6.3 Module menu 1 - PROFIBUS Set-up

6.4 Module menu 2 - Input mapping

6.5 Module menu 3 - Output mapping

6.6 Module menu 4 - Fault values

6.7 Module menu 9 - Resources

7 GSD Files

7.1 What are GSD Files?

7.2 Data consistency

7.3 Data configuration

7.4 PROFIBUS DP-V1

7.5 GSD compatibility table

8 Cyclic data

8.1 What is cyclic data?

8.2 Data formats

8.3 Mapping conflicts

8.4 Cyclic data mapping errors

8.5 Mapping limitations

8.6 Disabling mappings

8.7 Master configuration

9 Non-cyclic data

9.1 What is non-cyclic data?

9.2 Configuration using non-cyclic data

9.3 SI-PROFIBUS non-cyclic overview

10 Control and status words

10.1 What are control and status words?

10.2 Control word

10.3 Status word

11 Diagnostics

11.1 Overview

11.2 Drive trip display codes

12 PROFIdrive profile (V4)

12.1 What is PROFIdrive profile?

12.2 Standard Telegram 1

12.3 Main Setpoint

12.4 Main Actual Value

12.5 PROFIdrive (V4) State Machine

12.6 Normal Run Sequence

12.7 Stopping the motor using PROFIdrive

12.8 Jogging

12.9 PROFIdrive control word