This documentation is valid for 931M/W servo inverters.
Document history
Material No.VersionDescription
.1kj2.110/2006TD14First edition
0Fig.0Tab. 0
Tip!
Current documentation and software updates concerning Lenze products can be found on
the Internet in the ”Services & Downloads” area under
http://www.Lenze.com
Important note:
Software is provided to the user ”as is”. All risks regarding the quality of the software and any results obtained from its use
remain with the u ser. The user should take appropriate security precautions against possible maloperation.
We do not accept any responsibility for direct or indirect damage caused, e.g. loss of profit, loss of orders or adverse
commercial effects of any kind.
All trade names listed in this documentation are trademarks of their respective owners.
The competitive situation in the mechanical and system engineering sector requires new
means to optimise the production costs. This is why modular machine and system
engineering is becoming increasingly more important, since individual solutions can now
be set up easily and cost-effectively from a single modular system.
Lenze fieldbus systems in industrial applications
For an optimal communication between the single modules of a system, fieldbus systems
are increasingly used for process automation. Lenze offers the following communication
modules for the standard fieldbus systems:
ƒ Profibus DP
ƒ CANOpen
Decision support
The decision for a fieldbus system depends on many different factors. The following
overviews will help you to find the solution for your application.
Profibus DP
For bigger machines with bus lengths of more than 100 metres, INTERBUS or PROFIBUS-DP
(PROFIBUS-Decentralised Periphery) are frequently used. The PROFIBUS-DP is always used
together with a master control (PLC) – here the PROFIBUS master transmits e.g. the
setpoints to the single PROFIBUS stations (e. g. Lenze controllers).
When using the data transfer rate of 1.5 Mbits/s typical for the PROFIBUS-DP, thesensors
and actuators receive the process data. Due to the data transmission mode and the
telegram overhead, a bus cycle time results at 1.5 Mbits/s, which is sufficient to control
e. g. conveyors. If, for technical reasons, the process data must be transmitted faster to the
sensors and actuators, the PROFIBUS can also be operated with a data transmission rate
of maximally 12 Mbit/s.
CANOpen
CANopen is a communication protocol specified to the CiA (CAN in Automation) user
group. Lenze can provide communication modules for communicating with CANopen
masters. These modules are compatible with the specification DS 301 V4.01.
6
K-HB 13.0001-EN 2.1
Page 7
Comparison of industrial fieldbus systems
1.2Comparison of industrial fieldbus systems
Preface
1
Topology
Bus
management
Max. number
of nodes
(master and
slaves)
Max. distance
between
stations
without
repeater
Max. distance
between
stations with
repeater
Transmission
medium
Auxiliary
energy supply
via bus cable
Baud rate
Typical update
time (e.g. 8
stations, 4
Bytes user
data)
Telegram
length (user
data)
Telegram
length (total)
Bus access
methods
CAN /
DeviceNetProfibus DPAS-iINTERBUSINTERBUS-Loop LON
CANopen
Line with
terminating
resistors
Multi masterSingle masterSingle masterSingle masterSingle masterOnly together with
6464124 (4 segments,3
Dependent on the
baud rate used
1km(50kbit/s)
25 m (1 Mbit/s)
General length
reduction,
dependenton the
repeater used
distributed to 255
subnetworks with
127 stations each
2kmat78kbit/s
(twisted pair),
6.1 km at 5.48
kbit/s (optical fibre
plastics)
Almost any,
expandable by
subnetworks (no
repeater)
Unshielded,
untwisted pair
cable
Radio, optical fibre,
power supply
system (Powerline)
possible via
additional wires in
the bus cable
Mbit/s
Approx. 70 ms
1to228bytes
data,
Typically approx.
11 bytes
max. 255 bytes,
User data + 27
bytes
Modified
CSMA/CD
K-HB 13.0001-EN 2.1
7
Page 8
1
Preface
About this Communication Manual
1.3About this Communication Manual
Target group
This Manual is intended for all persons who plan, install, commission, and set servo
inverters of the 931M/W series.
Together with the catalogue, it forms the basis for project planning for the mechanical
engineer and system engineer.
Contents
The PROFIBUS Manual complements the Mounting Instructions and Software Manual
included in the scope of supply:
ƒ The features and functions are described in detail.
ƒ It provides detailed information on possible applications.
ƒ Parameter setting is clarified by means of examples.
ƒ In case of doubt, the supplied Mounting Instructions are always valid.
How to find information
ƒ The table of contents and the index help you to find information on a certain topic.
ƒ Descriptions and data with regard to further Lenze products can be gathered from
the respective catalogues, Operating Instructions, and Manuals.
ƒ You can request Lenze documentation from your responsible Lenze sales partner or
download it as a PDF file from the Internet.
8
K-HB 13.0001-EN 2.1
Page 9
1.4Legal regulations
Preface
Legal regulations
1
Labelling
Application as
directed
Liabilityz The information, data, and notes in these instructions met the state of the art at the time of printing. Claims
Warrantyz Terms of warranty: see Sales and Delivery Conditions of Lenze GmbH & Co KG Kleinantriebe.
Disposal
NameplateCE identificationManufacturer
Lenze drive controllers are definitely
identified by the contents of the
nameplate.
931M/W servo inverters
z must only be operated under the operating conditions prescribed in these instructions.
z are components
– for the open and closed loop control of variable speed drives,
– for installation in a machine,
– for assembly with other components to form a machine.
z comply with the requirements of the Low-Voltage Directive.
z are not machines for the purpose of the Machinery Directive.
z are not to be used as domestic appliances, but only for industrial purposes.
Drive systems with 931M/W servo inverters
z comply with the EMC Directive if they are installed according to the guidelines of CE-typical drive systems.
z can be used
– for operation on public and non-public mains
– for operation in industrial premises.
z The user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed inappropriate!
on modifications referring to controllers which have already been supplied cannot be derived from the
information, illustrations, and descriptions.
z The specifications, p rocesses, and circuitry described in these Instructions are for guidance only and must be
adapted to your own specific application. Lenze does not take responsibility for the suitability of the process
and circuit proposals.
z Lenze does not accept any liability for damage and operating interference caused by:
– disregarding the Operating Instructions
– unauthorised modifications to the controllers
– operating errors
– improper working on and with the drive controllers
z Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.
z The warranty is void in all cases where liability claims cannot be made.
MaterialRecycleDispose
MetalD-
PlasticD-
Assembled PCBs-D
In compliance with the EC
Low-Voltage Directive
Lenze GmbH & Co KG
small drives
Postfach 10 13 52
D-31763 Hameln
K-HB 13.0001-EN 2.1
9
Page 10
2
Safety instructions
Persons responsible for safety
2Safety instructions
2.1Persons responsible for safety
Operator
An operator is any natural or legal person who uses the drive system or on behalf of whom
the drive system is used.
The operator or his safety personnel is obliged
ƒ to ensure the compliance with all relevant regulations, instructions and legislation.
ƒ to ensure that only qualified personnel works on and with the drive system.
ƒ to ensure that the personnel has the Operating Instructions available for all work.
ƒ to ensure that all unqualified personnel are prohibited from working on and with
the drive system.
Qualified personnel
Qualified personnel are persons who -due totheir education,experience, instructions, and
knowledge about relevant standards and regulations, rules for the prevention of
accidents, and operating conditions - are authorised by the person responsible for the
safety of the plant to perform the required actions andwho are able torecognise potential
hazards.
(Definition for skilled personnel to VDE 105 or IEC 364)
10
K-HB 13.0001-EN 2.1
Page 11
2.2General safety instructions
ƒ These safety information are not claimed to be complete. In case of questions and
problems, please contact your Lenze representative.
ƒ At the time of delivery the servo inverter meets the state of the art and is generally
safe to operate.
ƒ The information given in these Operating Instructions refer to the specified
hardware and software versions of the modules.
ƒ The servo inverter is a source of danger if:
– unqualified personnel work on and with the servo inverter.
– the servo inverter is used improperly.
ƒ The specifications, processes, and circuitry described in these Instructions are for
guidance only and must be adapted to your own specific application.
ƒ Make sure by appropriate measures that in the event of failure of the servo inverter
no personal injury or material damage is caused.
Safety instructions
General safety instructions
2
ƒ Operate the drive system only when it is in proper state.
ƒ Modifications or redesigns of the servo inverter are basically prohibited. In all cases
the manufacturer must be contacted.
K-HB 13.0001-EN 2.1
11
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2
2.3Definition of notes used
Safety instructions
Definition of notes used
The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and signal wordMeaning
Danger!
Danger!
Stop!
Danger of personal injury through dangerous electrical
voltage.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of property damage.
Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.
Application notes
Pictograph and signal wordMeaning
Note!
Tip!
Important note to ensure trouble-free operation
Useful tip for simple handling
Reference to another documentation
12
K-HB 13.0001-EN 2.1
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General data and operating conditions
3Technical data
3.1General data and operating conditions
General data
AreaValues
Communication profile
(DIN 19245 part 1 and part 3)
Communication mediumRS485
Drive profileProfidrive
Network topologyWithout repeater: Line / with repeaters: line or tree
PROFIBUS-DP stationSlave
Baud rate (in kbits/s)9.6, 19.2, 93.75, 187.5, 500, 1500
Max. cable length per bus segment1200 m (depending on the baud rate and cable type used)
External DC voltage supply+24 V DC ±10 %
EnclosureIP54
Structure of a PROFIBUS-DP network with RS485 cabling without repeater
1
333
931M
931W
222
1200 m
0m
No.ElementNote
1Master computere.g. PC or PLC with PROFIBUS-DP master interface module
2Bus cableAdapt baud rate to the length of the bus cable.
3PROFIBUS-DP slaveApplicable basic device
931M
931W
931M
931W
931m_021
Note!
When using a repeater, max. 125 stations can communicate via the PROFIBUS.
EMC-compliant wiring
For wiring according to EMC please observe the following points:
Note!
ƒ Separate control cables from motor cables.
ƒ Connect the shields of the control or data cables as follows:
– On both sides for cables with digital signals.
ƒ Further notes on wiring according to EMC can be obtained from the
instructions of the basic unit.
Wiring procedure
1. Do not change the bus topology, i.e. do not use stubs.
2. Observe the wiring notes given in the documentation for the control system.
3. Only use cables which correspond to the listed specifications.
4. Activate the bus terminating resistors at the first and last physical station.
14
K-HB 13.0001-EN 2.1
Page 15
Electrical installation4
Number of bus stations
M
RR
SSSS S
123
SegmentMaster (M)Slave (S)Repeater (R)
11
2
2-301
3-301
31
30
-
-
2133PFB004
Tip!
Repeaters do not have a station address but in the calculation of the number
of stations they reduce the number of stations by 1 on each side of the
segment.
Repeaters can be used to build up line and tree topologies. In this case, the
maximum total bus system expansion depends on
ƒ the baud rate used
ƒ the number of repeaters used
K-HB 13.0001-EN 2.1
15
Page 16
Electrical installation4
Baud rate / length of the bus cable
Baud rate [kbit/s]Length [m]
9.6 - 93.751200
187.51000
500400
1500200
Note!
The baud rate, depending on data volume, cycle time, and number of stations,
should be only as high as required for the application.
Tip!
For high baud rates we recommend to check the use of optical fibres.
Advantages of the optical fibre:
ƒ External electromagnetic interferences have no effects on the transmission
path.
ƒ Bus lengths of several kilometres are also possible with higher baud rates.
The bus length
– does not depend on the baud rate.
– depend on the optical fibre used.
Specification of the transmission cable
Please observe our recommendations for signal cables.
Bus cable specification
Cable resistance135 - 165 Ω/km,(f=3-20MHz)
Capacitance per unit length≤ 30 nF/km
Loop resistance< 110 Ω/km
Wire diameter>0.64mm
Wire cross-section>0.34mm
Wiresdouble twisted, insulated and shielded
2
16
K-HB 13.0001-EN 2.1
Page 17
Electrical installation
Electrical connection of the servo inverter with the PROFIBUS master
4.1Electrical connection of the servo inverter with the PROFIBUS master
To meet the requirements of the enclosure IP 54, the servo inverter is equipped with screw
connectors with M12 threads.
The connection plan and assignment of the power connector of the devices can be
obtained from the Operating Instructions 931 M / W.
The following shows the assignment of a 9-pole Sub-D socket the most PROFIBUS masters
are equipped with for connecting field devices.
Connection of the PROFIBUS to 9-pole SubD socket
ViewPinDesignationExplanation
1
2
3
4
5
Tab. 2Sub-D connection PROFIBUS
1free—
6
2free—
7
3RxD/TxD-PData line B (Receive / transmit data plus)
8
4RTSRequest To Send (receive / transmit data, no differential signal)
9
5M5V2Data ground (5 V)
6P5V2DC5V/30mA(bustermination)
7free—
8RxD/TxD-NData line-A (receive / transmit data minus)
9free—
4
K-HB 13.0001-EN 2.1
17
Page 18
5
Commissioning
Before switching on
5Commissioning
5.1Before switching on
Stop!
Before you switch on the basic unit for the first time in the PROFIBUS-DP
network, check
ƒ the entire wiring for completeness, short circuit, and earth fault.
ƒ whether the bus system is terminated at the first and last station with the
integrated active bus terminating resistor.
5.2Activation of PROFIBUS at the servo inverter
Before operating on the PROFIBUS the configurationis carried out via the user interface of
the system. If you are not familiar with the user interface, you will find a detailed
description in the corresponding documentation (see Software Manual 931 M/W).
pÉíìé
Start the operating program and check the settings of the serial communicationinterface
in the Setup menu. The servo inverters are set by default to a baud rate of 1.5 MBaud.
931mPro_001
18
K-HB 13.0001-EN 2.1
Page 19
Commissioning
Activation of PROFIBUS at the servo inverter
The Lenze standard RS232connecting cable is plugged in between theinverter (M8 circular
connector, 3-pole) and the COM interface of the PC (Sub-D connector 9-pole). The settings
oftheCOMinterfacemustbecheckedinthehardwaresettingsofthePC.
Note!
Select from the Setup menu Online Level 4 or Service.
5
931mPro_002
When the Diagnostics function is activated, the diagnostic alarm is switched on. As soon
as a diagnostic alarmis triggered, thedrive automatically sends 4 bytes of diagnostic data
and its start address to thecontrol. Thisserves to obtain information about ifand when an
error occurred in the servo inverter and the data in the control can be evaluated.
TheGuidance blocked servesto exclude thePROFIBUS masterfrom the access to the drive.
As soon as the PROFIBUS master requests the control authority via the drive, the drive can
onlybe startedvia thebus system(intheStatus tab the message”Fieldbus active” appears
in the status field)
K-HB 13.0001-EN 2.1
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5
Commissioning
Activation of PROFIBUS at the servo inverter
931mPro_003
This prevents a simultaneous access to the bus system and the operating program.
The access authorisations of the control to the inverter can be set via the operating mode
on the Setup tab. Restrictions of the access depth like before the access on the inverterby
the operating program are carried out. See Software Manual ”Access authorisations via
access levels.
Note!
ƒ In order that the PROFIBUS master has full access to the inverter (slave),
select the Service operating mode. In this mode, the process and parameter
data can be changed.
ƒ For the parameter setting of the inverter, select from the Setup tab Online
Level 4 or Service.
20
K-HB 13.0001-EN 2.1
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Commissioning
Activation of PROFIBUS at the servo inverter
Operating mode AccessRestrictions
Online level 1Observing the driveNo write access, no change of parameters or process
Online level 3Access to process data. (Setpoint
selection)
Online level 4Access to process data and
parameter data (controller settings,
bus settings)
ServiceFull accessNo restriction
Tab. 3Operating modes
Inthe lowerpart of theServicetab, inthe PROFIBUS-DP field,thePROFIBUSaddressandthe
baud rate can be set. Possible are baud rates of 9.6k (k = Kilobyte / 124 bytes) , 19.2k,
93.75k, 187.5k, 500k, 1.5M (M = Megabyte).
In case of the servoinverters, thebus system can belooped through.The devices have a bus
input (X4.1) and a bus output (X4.2). Ifa device shall be connected to theend of the bus line,
a terminating resistor can be activated.
data possible.
No access to parameter data (controller settings, bus
settings, basic drive configuration)
No access to basic drive settings (maximum speed,
maximum torque, …)
5
Note!
To prevent reflections of the signals, the last node must be equipped with a
terminating resistor.
In the Service tab, the checkmark must be set after ”Bus terminator” and
activated via ”Save” in the menu bar.
931mPro_005
K-HB 13.0001-EN 2.1
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Page 22
5
5.3PROFIBUS settings in the operating program
Commissioning
PROFIBUS settings in the operating program
mкзСбДмл am
In the operating program, yet further settings can be made for the PROFIBUS operation in
the PROFIBUS-DP tab.
931mPro_004
In caseof an access authorisation higher thanlevel 3,settings can be made here which can
also be executed directly via PROFIBUS. To make access easier for the users, this tab is
inserted. After saving via PROFIBUS and re-reading the travel data records,the settings can
be displayed.
In the upper left of the operating program in the Operating mode field the following
control modes can be selected. You can change-over between the following modes:
This change-over has the same effect as using the parameter number 930 (PNU930).
Note!
If a series of travel data records is to be started via the PROFIBUS which is
written into the drive via the operating program, the concatenation mode
must be selected. In the other operating modes, no series of travel data records
is executed. The drive only carries out single-step operation!
22
K-HB 13.0001-EN 2.1
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Commissioning
PROFIBUS settings in the operating program
931mPro_006
The operating program also offers the option to display further binary drive data in the
status word.. The bits 8, 11, 12, 13 and 14 can be assigned with other functions than set by
default.
5
931mPro_007
The following display functions listed in the table are available:
FunctionDescription
Brake engagedBrake is applied
Limit switch, leftLeft limit switch is activated
Limit switch, rightRight limit switch is activated
Quick stopQuick stop has been initiated
Reference switchThe reference switch is activated
Reference window
Edit data recordData record is being edited / control is active
Digital outputDisplay output of a device with I/O option
Application box outputDisplay application box output of a device with Local CAN option
Digital inputDisplay input of a device with I/O option
Application box 1-BCD
Application box 2-BCD
Application box 4-BCD
Application box 8-BCD
Application box 10-BCD
Application box 20-BCD
Application box 40-BCD
Application box 80-BCD
Application box startDisplay application box start of a device with Local CAN option (see description
Application box stopDisplay application box stop of a device with Local CAN option (see description
Application box - left limit
switch
Application box - right limit
switch
Application box - quick stopDisplay application box quick stop of a device with Local CAN option
Application box inputDisplay application box of a device with Local CAN option (see description of
Tab. 4Additional functions - status word
Display application box of a device with Local CAN option (see description of
application box)
of application box)
of application box)
Address left application box limit switch of a device with Local CAN option
(see description of application box)
Display right application box limit switch of a device with Local CAN option
(see description of application box)
(see description of application box)
application box)
K-HB 13.0001-EN 2.1
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5
Commissioning
PROFIBUS settings in the operating program
In addition to the display functions, it is possible to set other actions in the control word
which can be addressed.
931mPro_008
The functions are as follows:
FunctionDescription
Engage brakeTrigger brake
Activate left limit switchActivate left limit switch
Activate right limit switchActivate right limit switch
Activate digital outputActivate output of a device with I/O option
Activate application box outputActivate application box output of a device with Local
Tab. 5Additional functions - control word
CAN option.
In the lower part of the PROFIBUS DP field values for the jogging mode can be entered.
Speed, torque, acceleration valueand deceleration value for both joggingsetpoints can be
entered for thejogging mode, which is designed as a mechanical setting-up operation. The
change-over between jogging setpoint 1 and jogging setpoint 2 is done via the field ” ...”.
Danger!
In the jogging mode it is possible to traverse beyond the mechanical limit
switches! The software limit switches are active.
931mPro_009
24
K-HB 13.0001-EN 2.1
Page 25
5.4PROFIBUS communication
5.4.1GSE file for PROFIBUS connection
The device data base file (GSE) for DP slaves (e.g. servo inverter of type 931) contains
characteristic device features of the DP components. Here, it is stored, for instance, which
baud rates and special DP modes are supported by the slave.
Each master needs the corresponding device data base file for a non-ambiguous
identification of slaves on the bus. The GSE file for the servo inverters of the Fluxxtorque
series is attached in the appendix and can also be downloaded from www.Lenze.com.
5.4.2Hardware configuration
Steps for installing the hardware in the PROFIBUS project:
ƒ Install the GSE file ”93MW058F.GSE” (version 1.0) according to the settings of the
project planning software for the DP master. After the installation is completed, the
”931_M_W” device appears among the slave nodes.
Commissioning
PROFIBUS communication
GSE file for PROFIBUS connection
5
ƒ Insert the fieldbus interface module into the PROFIBUS structure using the name
”931_M_W” and assign the PROFIBUS address.
ƒ Select the process data configuration required for your application ( 26).
ƒ Indicate the I/O address for the projected data widths.
ƒ Save the configuration.
ƒ Expand your user program by the data exchange with the servo inverter.
ƒ After the project is saved and loaded into the DP master (e.g. an S7 control of the Fa.
Siemens) and the DP master is started, the LED ”Bus-F” of the MFP/MQP should go
off. If not, check the wiring and terminating resistors of the PROFIBUS as well as the
project planning, especially the PROFIBUS address.
K-HB 13.0001-EN 2.1
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5
Commissioning
PROFIBUS communication
Structure of communication channel
5.4.3Structure of communication channel
Generally, only communication functions can beset under theHW configurationwhich are
also supported by the servo inverter. The bandwidth of this communication is defined via
the process data configuration. The parameter process data objects (PPOs) serve to select
a pre-defined write and read access to the control and status word by certain ”modules”.
Depending on the selected PPO a certain number of input and output areas, or combined
input and output areas are available. Furthermore, the area selection also determines the
consistency check, data length, and the unit of the data to be transmitted.
PPOs which are sent to the slave by themaster are interpreted as output data (Write-PPO).
Master -> data -> slave: Output data.
PPOs which are received by the master from the slave are interpreted as input data
(Read-PPO). Slave -> data -> master: Input data.
Four different module combinations (PPOs) are available for the process data
configuration:
PPO type 3PPO Write type
Process data input (input data)
PZD1: Status wordXXXX
PZD2: Active travel data recordXXXX
PZD3: S p eed—X—X
PZD4: Torque—X—X
PZD5 ... 6: Position—X—X
Process data output (output data)
PZD1: Control wordXXXX
PZD2: Actual value = active travel
data record
Parameter data input (input data/PPO
Read)
Number—226
Parameter data output (output data/PPO
Write)
Number——22
Tab. 6Configuration of the PPO types
XXXX
3 PPO Read type
4
PPO type 1PPO Write type
1 PPO Read type
2
The configurations ”PPO Write type 3, PPO Read type 4“ and ”PPO type 3” cannot be used
for parameterising the drive. These configurations, however, only provide a lower
utilisation of the bus system, which means a lower data volume. They transmit 16 bytes
less data (8 bytes transmitted data and 8 bytes received data) per telegram than the PPOs
3and4.
Note!
In case of some PROFIBUS master systems HIGH and LOW byte of the process
data and parameter data channel are exchanged!
26
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Control word / status word
General information
6Control word and status word (Profidrive state machine)
6.1General information
The servo inverter is controlled via two different access types:
1. The parameters of the inverter are accessed via the acyclic parameter channel
DP-V1. This serves to adapt, change, or set e.g., the controller settings or the driving
records. ( 41).
2. The state of the drive is changed via the state machine. The control word (STW) and
the status word (ZSW) are especially important here. The control word, which is sent
as process data cyclically from the PROFIBUS master (e.g. of a control) to the servo
inverter, changes the state of the drive. This change is detected and confirmed by
the status word which is transmitted from the servo inverter to the master. A
master control can use this information on the drive status to manage the servo
drive.
6
According to the Profidrive profile 2 control words (STW1 and STW2) and 2 status words
(ZSW1 and ZSW2), the single bits of which are defined in this standard with regard to their
meaning, to control the drive. Regarding the control, only the control word 1 (STW1) and
status word 1 (ZSW1) are important for the 931M/W servo inverter. For this reason, only
control and status word 1 will be explained in the following, leaving out the figure ”1” in
the description.
The next three subchapters describe in detail the structure of the control and status word
as well as the state machine and status changes. The change of parameters via the
parameter channel will be explained in the chapter ”Parameter channel” ( 41).
K-HB 13.0001-EN 2.1
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6
6.2Control word
Control word / status word
Control word
The meaning of the single bits of the control word partly depends on the control selected.
Two control types, speed and positioning control, are available (concerning this see the
parameter PNU 930). In theTab. 7 those bits of the control word are explainedthe meaning
of which are firmly defined irrespective of the controller type. The Tab. 8 and Tab. 9
describe the bits with a controller type-specific meaning. The Tab. 8 contains a detailed
description of the bits for a speed-controlled system and the Tab. 9 describes a
position-controlled system.
To address the inverter via the PROFIBUS master, first the control authority must be
requested bysetting the bit 10 in the control word. Without the control authority thedrive
cannot be accessed. The control authority enables the user to e.g. to start and stop a drive
via the control word or the state machine. ( 33). The user cannot change parameters
with the control authority(e.g. driving records or controlparameters). For this purpose, the
parameter change rights must be requested, see PNU 927 ( 52). The following chapters
describe indetail the connection between thecontrol authority andthe parameter change
rights.
28
K-HB 13.0001-EN 2.1
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Control word / status word
BitValue SignificanceMeaning
0
1
ONCondition for the S3 status ”Ready for operation”: In this status the output
0OFF 1Switched-off status: The drive returns to S2 status ”Ready to switch on”.
1
1No OFF 2No coasting of the drive is requested.
0OFF 2
(coasting of the
drive)
2
1No OFF 3No quick stop of the drive is requested.
0OFF 3
(quick stop)
3
1Enable operationThe pulses for the output stage are switched on and the drive changes to
0Disable operationThe drive is braked along the set deceleration ramp to 0 min-1.Afterthat,
7
1Acknowledging error
(0 → 1)
0
10
1Control via PLC
(requesting control
authority)
0No control via PLCNo control authority via the drive. Drive status cannot be influenced by
12-15Device-specificThese device-specific bits are not used.
Tab. 7Overview of the non-controller-type specific bits of the control word
stage is supplied with voltage but not yet connected through (no voltage
at the motor).
When the drive is switched on it is braked along a ramp to zero speed.
When the drive is at standstill, the output stage will be switched off.
Coasting of the drive: The output stage is switched off and the motor
coasts without control to zero speed. After that, the drive changes to the
S1 status ”Switch-on inhibit”.
Quick stop: The drive is braked with maximum power to 0 min-1.Aquick
stop command cannot be cancelled once it has been issued. After quick
stop is terminated, the drive changes to the S1 status ”Switch-on inhibit”.
S4 status ”Operation enabled”. A voltage is applied to the motor
terminals. If a setpoint has been accepted before (see bit 6 STW), this
setpoint is approached.
the drive changes to S3 status ”Ready for operation”.
An error is acknowledged by a positive edge (0→1) on bit 7. The response
of the drive depends on the severity of the error. In case of fatal errors the
drive changes to S1 status ”Switch-on inhibit”.
Requesting control authority: When a control authority is requested, the
status can be changed by a PLC via the PROFIBUS.
the PLC.
6
Control word
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6
Control word / status word
Control word
BitValue SignificanceMeaning
4
1
Switched-on ramp
generator
0Reset of the ramp
generator
5
1Standard ramp
generator
0Freezing of the ramp
generator
6
1Accept the setpointThe setpoint which is defined via the current driving record is accepted
0Do not accept the
setpoint
8
1JOG1 onJogging: If JOG1 is switched on from the S4 status ”Operation enabled”,
0JOG1 offNo jogging: If a jogging mode is running it will be terminated. The drive is
9
1JOG2 onJogging: If JOG1 is switched on from the S4 status ”Operation enabled”,
0JOG2 offNo jogging: If a jogging mode is running it will be terminated. The drive is
11Device-specificThis device-specific bit is not used.
Tab. 8Overview of the controller-type specific bit of the control word for a speed-controlled drive
The ramp generator which prevents an abrupt rise of the speed setpoint is
active.
The output of the ramp generator is set to 0 min-1. The drive brakes
considering the current limitation.
No impact (standard function of the ramp generator)
The current setpoint of the ramp generator is ”frozen”.
and transmitted to the ramp function generator.
The setpoint for the ramp function generator is set to 0.
the drive (JOG setpoint selection: see XXX) runs until JOG1 is switched off.
braked to standstill along the deceleration ramp. Afterwards the drive
changes to the S4 status ”Operation enabled”.
the drive (JOG setpoint selection: see XXX) runs until JOG1 is switched off.
braked to standstill along the deceleration ramp. Afterwards the drive
changes to the S4 status ”Operation enabled”.
BitValue SignificanceMeaning
4
1
Do not reject the
setpoint
0Reject the setpointThe drive is braked with maximum acceleration ? to zero speed and
5
1No intermediate
stop
0Intermediate stopThe drive is braked to zero speed from the active positioning along the
6Accept the setpoint
(Edge, 0 → 1or
1 → 0)
8
1JOG1 onJogging: If JOG1 is switched on from the S4 status ”Operation enabled”,
0JOG1 offNo jogging: If a jogging mode is running it will be terminated. The drive is
9
1JOG2 onJogging: If JOG1 is switched on from the S4 status ”Operation enabled”,
0JOG2 offNo jogging: If a jogging mode is running it will be terminated. The drive is
11Device-specificThis device-specific bit is not used.
Tab. 9Overview of the controller-type specific bit of the control word f or a position-controlled drive
The selected setpoint which is accepted with an edge of bit 6 is
approached.
remains on this position.
No intermediate stop is made. The selected setpoint which is accepted
with the edge of bit 6 is approached.
deceleration ramp. The standstill position is held with a holding torque. By
resetting bit 5 the running positioning is continued.
An edge serves to accept or start a new positioning job or setpoint. A new
setpoint shall only be accepted if a homing process (bit 1 of the status
word) and the previous driving request (bit 12 of the status word) have
been terminated before.
the drive (JOG setpoint selection: see XXX) runs in a speed-controlled
mode until JOG1 is switched off.
braked to standstill along the deceleration ramp. Afterwards the drive
changes to the S4 status ”Operation enabled”.
the drive (JOG setpoint selection: see XXX) runs in a speed-controlled
mode until JOG1 is switched off.
braked to standstill along the deceleration ramp. Afterwards the drive
changes to the S4 status ”Operation enabled”.
30
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6.3The status word (ZSW)
The current status of the drive is output in the status word and made available to the
master control or PLC. By analogy with the explanation of the control word, first the
meanings of the controller type independent bits of the status word are explained in
Tab. 10. Then the bits with the controller type-specific meaning are explained in Tab. 11
(speed control) and Tab. 12 (position control).
BitValue SignificanceMeaning
0
1
Ready to switch onDevice is power-supplied, electronics is initialised. Pulses for power section
0Not ready to switchonDrive is in the S1 status ”Switch-on inhibit”.
1
1Ready for operationThe drive is ready for operation (status S2). In this status, the output stage
0Not ready for
operation
2
1Operation enabledThe drive is in S4 status ”Operation enabled”. The current setpoint is
0Operation not
enabled
3
1Error is pendingA non-acknowledged error (see bit 7 of the control word) or an error that
0No errorNo error is currently pending.
4
1Coasting function is
deactivated (no
OFF 2)
0Coasting function is
active (OFF 2)
5
1Quick stop function
is deactivated (no
OFF 3)
0Quick stop function
is active (OFF 3)
6
1Switch-on inhibitThe drive can only change from the S1 state ”Switch-on inhibit” to the S2
0No switch-on inhibit The drive is in a higher status than S1 ”Switch-on inhibit”.
7
1Warning is activeA warning is pending. The warning does not need to be acknowledged.
0No warningNo warning is pending.
9
1Control authority is
required
0Control authority is
not required
14-15Device-specificThese device-specific bits are not used.
Tab. 10Overview of the non-controller-type specific bits of the status word (ZSW)
Control word / status word
The status word (ZSW)
are suppressed.
is supplied with voltage but not yet enabled (see bit 0 of the control word).
The device is not ready for operation.
processed (see bit 3 of the control word).
Either the pulses are switched off (no voltage at the motor) or the drive
does not follow the setpoint.
cannot be acknowledged is pending at the drive. The response of the drive
is error and device-specific. In case of a fatal error it is changed to status S1
”Switch-on inhibit”. The error can - if the cause has been removed - be
cancelled by an acknowledgement.
The coasting function (see bit 1 ”OFF 2” of the control word) is not active
(bit1STW=1).
The coasting function (see bit 1 ”OFF 2” of the control word) is active (bit 1
STW = 0).
The quick stop function (see bit 2 ”OFF 3” of the control word) is not active
(bit2STW=1).
The quick stop function (see bit 2 ”OFF 3” of the control word) is active (bit
2STW=0).
state ”Ready to switch on” by changing the control word (no OFF2 (bit 1
STW) and no OFF3 (bit 2 STW) followed by ON (bit 0 STW)). After that the
bit 6 of the ZSW returns to 0 (no switch-on inhibit).
The control authority is required for the control (PLC) communicating via
PROFIBUS (see bit 10 of the control word). The drive can be commissioned
via the PROFIBUS.
The drive cannot be controlled via the control (PROFIBUS). Either the
control authority must be requested (see bit 10 of the control word) or the
drivemustbecommissionedviaanotherinterface(seeparameterisation
software Fluxx).
6
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6
Control word / status word
The status word (ZSW)
BitValue SignificanceMeaning
8
1
Setpoint inside a
tolerance margin
0Setpoint outside the
tolerance margin
10
1Setpoint reachedThe setpoint speed (n) or setpoint frequency (f) has been reached.
0Setpoint not reached The setpoint speed (n) or setpoint frequency (f) has not been reached.
11-13Device-specificThese device-specific bits are not used.
Tab. 11Overview of the controller-type specific bit of the status word for a speed-controlled drive
BitValue SignificanceMeaning
8
1
Following errors
inside the following
error window
0Following errors
outside the
following error
window
10
1Target position
reached
0Target position not
reached
11
1Reference setHoming has been executed and a home position has been set.
0Reference has not
been set
12Edge for setpoint
13
Tab. 12Overview of the controller type-specific bits of the status word for a position-controlled drive.
acceptance (0 → 1,
1 → 0)
1Drive in standstillThedrivestandsduetoastop/intermediatestoporbecausethetarget
0Drive is movingPositioning is carried out (n ≠ 0min-1).
The setpoint is inside a required tolerance margin.
The setpoint is outside the required tolerance margin.
The following error is inside the required following error window.
The following error is outside the required following error window.
The current position corresponds to the position setpoint, considering the
position window.
Position setpoint and actual value do not correspond, considering the
position window.
No valid home position exists.
An edge of this bit indicates that a new setpoint / driving record has been
accepted (see bit 6 of the control word)
position has been reached.
32
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State machine and general state diagram
6.4The Profidrive state machine
6.4.1State machine and general state diagram
The status of the drive can be changed via the state machine. The single state transitions
are carried out depending on the control word or error management. Basically, the
following states exist according to the Profidrive profile:
ƒ S1: Switch-on inhibit
ƒ S2: Ready to switch on
ƒ S3: Ready for operation
ƒ S4: Operation enabled
ƒ S5: Switching-off/braking
In addition to these states the following substates can be defined which permit a further
concretion of the states mentioned above.
Control word / status word
TheProfidrivestatemachine
6
ƒ Not ready to switch on (initialisation phase of the inverter)
ƒ Fault (drive stands due to an error, acknowledgement is required)
ƒ Fault reaction is active (braking process is active due to an error)
ƒ Quick stop is active
The controland positioning processestake place inthe S4 status (”Operation enabled”).To
reach this status, the other single states must be passed before by changing the
corresponding bits of the control word.
Note!
To change states, the control authority is required (see bit 10 of the control
word)!
Fig. 1 shows the state machine in theform ofa statediagram. To provide a better overview,
only the main states from S1 to S5 are represented. For the sake of simplicity, the state
transitions marked by arrows are provided with the required changes of the bits of the
control word.
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6
Control word / status word
TheProfidrivestatemachine
State machine and general state diagram
Bit 1 = 0: No Off2 = 0
Bit 2 = 0: No Off3 = 0
Bit 1 = 0: No Off2 = 0
Bit 2 = 0: No Off3 = 0
Bit 0 = 0: No Off2=0
Switch-on
of power
supply
S1:
Switch-on
inhibit
Bit 0 = 0: ON = 0
Ready to
switch on
Bit 0 = 1: ON = 1Bit 0 = 0: ON = 0
Ready for
operation
Bit 3 = 1:
Enable Operation = 1
Operation
enabled
Bit 0 = 0: On = 0
Bit 1 = 0: No Off2 = 0
Bit 2 = 0: No Off3 = 0
S2:
S3:
Bit 3 = 0:
Enable Op eration = 0
S4:
At standstill or
Bit 3 = 0, Enable Operation = 0
Bit 0 = 0: ON = 0
At standstill or
Bit 3 = 0, Enable Operation = 0
Braking along
Bit 0 = 1: ON = 1
Fig. 1General representation of the state diagram
Bit 1 = 0: No Off2 = 0
Bit 1 = 0:
No Off2 = 0
S5: Switching-off
Quick stop:
ramp
Bit 2 = 0: No Off3 = 0 (Quick s top)
Braking along
Bit 2 = 0:
ramp
931m_022
The current status of the drive can be obtained from the status word (ZSW) of the drive. In
the Tab. 13 the single bits of the status word and the states are listed.
34
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Control word / status word
TheProfidrivestatemachine
State machine and general state diagram
6
Status
S1 switch-on inhibit1X0000
S2 ready to switch on010001
S3 ready for operation010011
S4 operation enabled010111
S5 switch-off0XX111
Not ready to switch on0X0000
Fault0X1000
Fault response is active0X1111
Quick stop is active000111
Tab. 13Confrontation of the states of the device and the status word (ZSW) in bit format
Bit 6Bit 5Bit 3Bit 2Bit 1Bit 0
Switch-on
inhibit
Quick stopFaultEnable
operation
Ready for
operation
Ready to
switch on
In all states - despite the ”Not ready to switch on” status, which is only pending a short
while after switching on the voltage supply (self-initialisation) - the parameters of the
servo inverters may be reparameterised by the parameter channel ifthe parameterchange
rights (see PNU 927) was requested before. The changes of the control word required for
the status changes are shown in Fig. 1.
Note!
For safety reasons the servo inverter can only be operated from an interface.
This means that the parameter change rights may either be occupied by the
Fluxx operating program or the control (PROFIBUS).
If an operating program with level 2 or higher has been selected at the
inverter, no parameter change rights can be requested via the PROFIBUS. In
this case it is required to change the operating mode of the Fluxx program on
level 1 (monitoring) or offline.
As aforementioned, the real control process takes place in the status S4 ”operation
enabled”. To, e.g. accept a setpoint or start homing, further changes o f the controlword are
required. Since these changes depend on the set control, the state diagrams for a
speed-controlled and a position-controlled system will be described separately.
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6
Control word / status word
TheProfidrivestatemachine
Example: State machine for speed operation
6.4.2Example: State machine for speed operation
In this example, the drive is to be commissioned with the predefined driving record no. 1
(n = 2400 1/min; M = 1320 mNm) with speed control.
The selected PPO type 3 permits the writing and reading of the control word / status word
and the selection of the pre-programmed driving records. The selected PPO type
determines the input and output addresses of the registersto bedescribed (”buffer”)in the
frequency inverter. It is mandatory for the state transitions to write the control words
stepwise; the following table displays the bit patterns for a better understanding:
Tab. 14Control word state transitions - speed example
As aforementioned, it is possible to open a PROFIBUS monitor via the ”Display fieldbus”
field in the ”Service”tab ofthe operatingprogram. The following screenshots illustrate the
single steps of the state machine by means of the PROFIBUS monitor:
Status S1: Switch-on inhibitStatus S2: Ready to switch on
931mPro_010931mPro_011
36
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Control word / status word
TheProfidrivestatemachine
Example: State machine for speed operation
Status S3: Ready for operationStatus S4: Operation enabled
931mPro_013931mPro_012
S5: Switching off / Braking -> identical with S4 except for bit no. 0.
6
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6
6.4.3State diagram for positioning
Control word / status word
TheProfidrivestatemachine
State diagram for positioning
Fig. 2 shows the state machine for aposition-controlled drive in the basic state ”Operation
enabled”.
931m_023
Fig. 2State machine ins the ”positioning” mode
In this operating status, the following actions can be executed via the control word:
1. Via bit 11 of the STW homing can be started. Bit 11 in the ZSW ”Home position is
set” indicates if a home position is set (valid). If homing is started, the display
”Homing set” (bit 11) is cancelled. The type of homing (direction, speed, etc.) is
application and device-specific and is hence not described in the profile. For this
purpose the parameters required for homing (PNU 101) must be checked before.
2. To accept a new setpoint or change a driving record, the edge of bit 12 of STW
”Setpoint acknowledgement” must be changed. This starts and executes the
positioning mode.
3. Via the function JOG1 and JOG2 (bit 8 and bit 9 of STW) a jogging mode can be
carried out.
38
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Control word / status word
TheProfidrivestatemachine
State diagram for positioning
Stop!
In case of a jogging mode (JOG1 and JOG2) the software and hardware limit
switches are not evaluated!
The drive is not limited with regard to its permitted travel range!
During the positioning process, several options exist to intervene in the process:
1. A travel request can be interrupted using the command ”Intermediate stop” (bit 5 of
STW). The drive brakes along the set deceleration ramp to standstill. The current job
request is stopped and can be continued by cancelling the command ”Intermediate
stop”.
2. In the ”Intermediate stop” state, homing can be started.
3. A travel request can be cancelled using the command OFF1 (bit 0 of STW: Drive off),
OFF2 (bit 1 of STW: Coasting) or OFF3 (bit 2 of STW: Quick stop). The drives brakes
depending on the mode selected to standstill and then changes to S1 status
”Switch-on inhibit” (OFF2, OFF3) or S2 ”Ready to switch on”.
6
A travel request is terminated when the drive has reached its setpoint. This is displayed
with the status bit 10 ”Setpoint reached”.
The ”Concatenation” mode enablesspeed-controlled and positioning driving recordsto be
started without taking special measures. Here, the following driving records and waiting
times between the concatenated driving records are considered. Further information can
be obtained from the explanation of the object PNU 100.
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6
6.4.4State diagram for speed control
Control word / status word
TheProfidrivestatemachine
State diagram for speed control
Fig. 3 shows the state machinefor aspeed-controlled drive in the basic state S4”Operation
enabled”. Many functions of the illustrations shown are similar to the ones of section
( 38) so that only deviant functions shall be explained here.
40
931m_024
Fig. 3State machine in the ”speed control” mode
As explained in section ”State diagram for positioning” ( 38),the jogging mode can also
run in speed-controlled operation.
Through an edge of bit 6 of STW a new speed setpoint or driving record is accepted and
executed. The drive can be braked via the functions OFF1, OFF2 and OFF3. ( 38).
K-HB 13.0001-EN 2.1
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Parameter channel (PCV mechanism)
7Parameter channel (PCV mechanism)
Certain drive functions are further accessed via the parameter characteristic value (PCV)
mechanism.The PCVmechanism servesto process parameters in cyclicdata exchange.The
PCV mechanism is used to:
ƒ operate and observe parameters (master -> slave).
ƒ transfer spontaneous messages (slave -> master -> slave).
Moreover, it serves to, e.g.:
ƒ set control authority and parameter change rights
ƒ define setpoints
ƒ read out status information
ƒ configure limit switches.
Inthe PCVmechanism, themaster definesa job,the slaveprocesses thejob andformulates
the response. Jobs and responses cannot be blocked. Each PPO-Write contains exactly one
job and each PPO-Read contains exactly one response. Hence, maximally 4 user data bytes
can be transmitted with one job or one response. In the parameter ID, job/response and
the corresponding parameters are coded.
7
Access authorisation
7.1Access authorisation
Since the parameter characteristic value mechanism (PCV) serves to access setpoints and
parameters, the user should pay attention to the access authorisation. For setpoint
selection, the PROFIBUS master requires the parameter change rights over the servo
inverter. A simultaneous access of the operating program and a PROFIBUS master is
neither possible nor sensible.
In the ”Level 0” operating mode, the operating program can be used to observe the drive.
When commissioning, the current status of the drive can be observed at the same time. If
the operatingprogram is logged onthe servo inverter with an operating mode higher than
”Level 1”, an access conflict occurs and the PROFIBUS master cannot access the drive.
The operating program enables the user to configure the access authorisation of the
PROFIBUS master to the servo inverter, as described in chapter ”Activation of PROFIBUS at
the servo inverter”. ( 18) .
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7
Parameter channel (PCV mechanism)
Structure of the parameter characteristic value
Structure of parameter identification (PKE)
7.2Structure of the parameter characteristic value
When processing the PCV, a job identification, the corresponding PNU (parameter
number) and a value are transmitted. The job identification indicates if data of different
sizes are to be written or requested. The single job identifications are listed in Tab. 19. The
PNUs which arespecified subsequently serve to define the object, the value to be changed
and the access. The PNU number (represented decimally) must be first converted into a
hexadecimal numerical format and can thus be processed directly or entered binary. Then
the basicstructure of the PCV mechanism is shown.The procedure is to be explained using
an example.
AreaDescription
Parameter
characteristic
value (PCV)
PKEParameter number (PNU) and job or response identification
INDSubindex and reserved area
PWESince the higher-order bits (bits 16 ... 31) are not used, they must be set to ”0”. Lower-order
bits (bits 0 ... 15): Parameter values.
Tab. 15Abbreviations - PCV mechanism
7.2.1Structure of parameter identification (PKE)
The following table shows the binary structure of the PCV message:
Bit1514131211109876543210
SPM
Job identification
Tab. 16Structure of parameter identification
Job identification Job or response identification (value range 0 ... 15)
SPMToggle bit for spontaneous message processing
PNUParameter number (value range 1 ... 1999)
7.2.2Subindex
The subindex serves to ensure, e.g., an assignment to the correct parameter value in an
array
Bit76543210
Value
Tab. 17Subindex
Parameter number (PNU)
7.2.3Parameter value
The values of the individual objects are transmitted with the parameter value.
Byte76543210
Value
Tab. 18Parameter value
42
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Parameter channel (PCV mechanism)
7.3Job and response processing
The job andresponse processing is defined sothat the identification shows which fields of
the PCV interface (IND,PWE) must be evaluated. Moreover, a distinction is made between
parameter value and parameter description.
7.3.1Job identification (master -> slave)
To change a parameter value the slave must receive a job identification from the master
(see Tab. 19). This job identification depends on the data type or format to be changed
(word, double word, array).
After the slave has received and executed the job successfully, a corresponding response
is generated (see Tab. 20), which also shows transmission errors. The response data is
available at the slave as long as a new job is transmitted.
7
Job and response processing
Job identification (master -> slave)
Job identificationFunction
0Nojob0
1Request parameter value1, 27
2Change parameter value (word)17, 8
3Change parameter value (double word)27, 8
4Request describing element (double word)37
5Change describing element37, 8
6Request parameter value (array)4, 57
7Change parameter value (array word)47, 8
8Change parameter value (array double word)57, 8
9Request number of array elements67
Tab. 19Overview of job identifications
Response identification
PositiveNegative
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7
Parameter channel (PCV mechanism)
Job and response processing
Response identification (slave -> master)
7.3.2Response identification (slave -> master)
The response shows if the transmission was successful or if a transmission error occurred.
The response helps to exactly locate the error. The following table contains all responses
to the implemented job identifications.
Note!
If a parameter of the slave in double word format is to be changed, but the job
identification refers to a change of a parameter in word format, the slave
responds with a corresponding error message / number (see Tab. 21).
Response identificationFunction
0Nojob
1Transmit parameter value (word)
2Transmit parameter value (double word)
3Transmit describing element
4Transmit describing element (array word)
5Transmit describing element (array double word)
6Transmit number of array elements
7Job cannot be executed (with error number)
8No parameter change rights for PCV interface
9Spontaneous message - word
10Spontaneous message - double word
Tab. 20Overview of response identifications
If jobs cannot be executed, the slave responds with an error number.
44
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7.3.3Error numbers at response
Error numberInformationDetailed description
0Impermissible PNUThe parameter number is not assigned.
1Parameter value cannot be
changed
2Loweroruppervaluelimit
exceeded
3Faulty subindexThe indicated subindex of the object does not exist or a
4No arrayThe addressed object is no array type.
5Wrong data typeThe object has been addressed as a wrong data type. See
6No setting permitted (only
resettable)
7Describing element cannot be
changed
8PPO - Write requested in the IR is
not available
9Description data not available
10Wrong access groupAccess error! The PROFIBUS interface has no parameter
11No parameter change rightsParameter change rights not requested or access not
12Wrong passwordA password has been assigned which must be entered for
13Text in cyclic traffic cannot be
read
14Name in cyclic traffic cannot be
read
15No text array available
16PPO - Write is missingWhen installing the hardware a wrong data type was
17Job cannot be executed due to
operating status
18Other errors
19 ... 100Date in the cyclic traffic cannot
be read
Tab. 21Overview of error messages - job identifications
Parameter channel (PCV mechanism)
Job and response processing
Error numbers at response
This is a non-writable object, e.g. an actual value.
Elements such as the serial numbers cannot be changed.
When installing the hardware a wrong data type was
selected. Please check the HW settings.
change rights. See PNU 927.
Possible error: Parameter change rights have not been
requested. The operating program and PROFIBUS master try
to access the drive simultaneously. Wrong software
settings in the operating program. (See activation of
PROFIBUS)
possible.
processing. See password.
selected. Please check the HW settings.
Check operating status. Is an error pending at the drive?
Errorscanbeobservedviathesoftwareintheonlinelevel1
under Status.
7
The error numbers 0 ... 100 are defined or reserved profile-oriented.
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7
Parameter channel (PCV mechanism)
Job and response processing
Examples of PCV mechanism
7.3.4Examples of PCV mechanism
Example 1: Request parameter change rights:
To requestthe parameter change rights a parameter valuemust be transmitted, sothe job
identificationis 2.The PNUnumber is927. Thiscorresponds to39F inthe hexadecimaldata
format. The value 1 is transmitted as parameter value. The parameter value serves to
transmit the control authority to the PROFIBUS master. After this action, the operating
program cannot access the servo inverter anymore.
Parameter identification:
Bit1514131211109876543210
Binary value0010001110011111
Hexadecimal value239F
Request parameter
value
Subindex
PNU
Bit76543210
Binary
value
00000000
Parameter value
Byte76543210
Value00000000000000000000000000000001
As response identification the value 1 is output as job identification, see Tab. 20. This
means: Transmission of parameter values.
Response identification :
Bit1514131211109876543210
Binary value0001001110011111
Hexadecimal value139F
Transmit parameter
value
PNU
In the subindex, the response contains a zero and in the parameter value of the response
the requested value, in this case 1, is returned.
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Parameter channel (PCV mechanism)
Job and response processing
Examples of PCV mechanism
Example 2: Reading the set speed
To read the set maximum speed out of the drive, the parameter is requested from the
inverter.
Here, the parameter identification consists of the value 6 in the job identification for
requesting the parameter value, see Tab. 19, and the driving record number as PNU, e.g.
driving record 1, see chapter data type driving record 1 to 100 ( 61). The subindex
contains the number of the parameter to be requested, see ( 61), subindex 1 for
maximum speed.
Parameter identification:
Bit1514131211109876543210
Binary value0110000000000001
Hexadecimal value6001
Request parameter
value
Subindex
PNU
7
Bit76543210
Binary
value
00000001
Parameter value
Byte76543210
Value00000000000000000000000000000000
As response identification a 4 is output as job identification, and the PNU, in this case 001
is output for driving record 1, see Tab. 20. This means: Transmit parameter value (array
word).
Response identification :
Bit1514131211109876543210
Binary value0100000000000001
Hexadecimal value4001
Transmit describing
element
PNU
Subindex
Bit76543210
Binary
value
00000001
Parameter value, e.g. for 6000 1/min
K-HB 13.0001-EN 2.1
Byte76543210
Value00000000000000000001011101110000
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7
Parameter channel (PCV mechanism)
Job and response processing
Examples of PCV mechanism
Example 3: Change of the set speed
To change the speed in a driving record, a similar procedure like requesting parameter
values is selected. As job identification, a 7 must be entered here (job identification 7 –
change parameter value).
To continue to let the drive run with a changed speed, the edge at bit 6 of the control word
must be changed for acknowledgement after changing the setpoint. The new setpoint is
accepted after every edge change (0 after 1 and 1 after 0).
Parameter identification:
Bit1514131211109876543210
Binary value0111000000000001
Hexadecimal value7001
Change parameter
value
PNU
Subindex
Bit76543210
Binary
value
00000001
The subindex indicates the parameter to be addressed.
Parameter value
Byte76543210
Value00000000000000000000000001100100
In this example, the parameter value is the speed. Here, a value of 100 1/min is selected.
As response identification a 4 is output as job identification, and the PNU, in this case 001
is output for driving record 1, see Tab. 20. This means: Transmit parameter value (array
word).
Response identification :
Bit1514131211109876543210
Binary value0100000000000001
Hexadecimal value4001
Transmit describing
element
PNU
Subindex
Bit76543210
Binary
value
00000001
48
Parameter value, e.g. for 100 1/min
Byte76543210
Value00000000000000000000000001100100
K-HB 13.0001-EN 2.1
Page 49
Parameter channel (PCV mechanism)
Job and response processing
Examples of PCV mechanism
Example 4: Reversal
To change the direction of rotation, the subindex 6 of the data type driving record 1 to 100
(PNU 1to 100) is addressed. The table listsas data type the subindex 6 bit[…]. The number
which is listed in parenthesis, corresponds to the bit which must be set to change the
status.The subindex 6 serves to change, e.g. the acceleration ramp form, brake ramp,
controller type, driving direction and direction of rotation. In our example, bit 4 is
addressed to cause a reversal of rotation direction.
Parameter identification:
Bit1514131211109876543210
Binary value0111000000000001
Hexadecimal value7001
Change parameter
value
Subindex
Bit76543210
Binary
value
00000110
PNU
7
The subindex indicates the parameter to be addressed.
Parameter value
Byte76543210
Value00000000000000000000000000010000
In this example, the parameter value (Bit 4 =1) reverses the direction of rotation.
As response identification a 4 is output as job identification, and the PNU, in this case 001
is output for driving record 1, see Tab. 20. This means: Transmit parameter value (array
word).
Response identification :
Bit1514131211109876543210
Binary value0100000000000001
Hexadecimal value4001
Transmit describing
element
PNU
Subindex
Bit76543210
Binary
value
00000110
Parameter value like parameter requirement.
To convert the reversal of rotation direction into an action, an edge at bit 6 of the control
word is changed.
K-HB 13.0001-EN 2.1
Byte76543210
Value00000000000000000000000000010000
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7
7.3.5Transfer of PPO with PROFIBUS-DP
Parameter channel (PCV mechanism)
Job and response processing
Transfer of PPO with PROFIBUS-DP
The DP function Data_Exchange
In case of PROFIBUS-DP the cyclic data exchange with PPOs is available only. For this
purpose, DP provides the function Data_Exchange, which serves to transmit cyclic data to
the slave and collect them at the same time. The input or output data exchanged with
Data_Exchange correspond to the PPO types described. However, changing the PPO type
during the operation is not possible.
The DP function Set_Prm
This function serves to transmit 7 bytes of PROFIBUS-DP-specific information to the slave.
The option to transmit device-specific parameters (User_Prm_Data) from byte 8 to 244 is
not used.
The DP function Slave_Diag
This function serves to read 6 bytes of PROFIBUS-DP-specific diagnostic information and
2 further bytes Ext_Diag_Data out of the slave. The Ext_Diag_Data provides a
device-specific diagnostics, in which error messages of the slave are displayed. The output
of the drive-specific diagnostics can be switched off by parameter setting.
Synchronisation of several devices, the DP_function Global Control
The DP function Global Control serves to synchronise several drives. If a master sends a
sync control command, the outputs of the addressed slaves are frozen to the momentary
value. In thefollowing userdata transmissions,the outputdata are stored in theslaves, the
output data remains unchanged. When giving the next sync control command the stored
output dataare transmitted to the outputs. An unsync control command serves to exit the
sync operation.
By analogy with this, the freeze control command enables the input s tates to be frozen to
the momentary value and to be collected with the next user data transmission. The input
data are only updated again, when the DP master transmits the next freeze control
command to the devices concerned. The freeze operation is exited with an unfreeze
control command.
The DP function Set_Slave-Add
This optional function is not implemented.
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8Parameter numbers
Parameter numbers defined in the ”Profidrive” PROFIBUS profile
The parameter numbers 900 to 999 are defined or reserved to profile specifications.
Overview of the parameter numbers defined in the ”Profidrive” PROFIBUS profile.
PNUMeaningData type
918Station addressUnsigned 16
927Parameter change rights (PCV)Unsigned 16
928Control authority (PZD)Unsigned 16
930Selection for operating modeUnsigned 16
947Fault numberUnsigned 16
970Load parametersUnsigned 16
971Transfer into non-volatile memoryUnsigned 16
Tab. 22Profidrive parameter numbers
Parameter numbers
Explanation of the parameter numbers
Node address (PNU 918)
8
8.1Explanation of the parameter numbers
The single PNUs, their functions and structure are described in the following paragraph:
How to read the tables
ColumnMeaning
PNUParameter number
SubindexSubindex
DescriptionDescription of the parameter number
LenzeLenze setting of the parameter number
Selectionminimum value[smallest increment/unit]maximum value
Data typez Integer 16
z Unsigned 16
Tab. 23Explanation of the tables
8.1.1Node address (PNU 918)
PNUSubindex Description
918
0Station address
Possible settings
LenzeSelection
2126
Data type
Unsigned 16
K-HB 13.0001-EN 2.1
Selection MeaningDescription
2 ... 126After the station address has been changed, the PROFIBUS-DP
interface makes a reset in the drive.
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8
Parameter numbers
Explanation of the parameter numbers
Parameter change rights (PNU 927)
8.1.2Parameter change rights (PNU 927)
PNUSubindex Description
927
0Parameter change rights (PCV)
Selection MeaningDescription
0 No parameter change rights for
the PROFIBUS interface
1 Parameter change rights for the
PROFIBUS interface
8.1.3Control authority (PNU 928)
Possible settings
LenzeSelection
01
This value serves to request the parameter change rights for the
PROFIBUS interface. Two errors may occur:
z The parameter change rights apply for the operating program
(operating mode ≥ ”Online Level 3”), i.e. the operating mode
must be ≤ 2
z The PCV level in the PROFIBUS parameters (PNU106) is set to 0.
If the master w ants to write PCV values without parameter
change rights, an error message occurs.
Data type
Unsigned 16
Possible settings
PNUSubindex Description
928
0Control authority (PZD)
Selection MeaningDescription
0 Control authority for operating
program
1 Control authority for PROFIBUS
interface
2 Control authority for local I/O
LenzeSelection
The control authority is obligatory to activate the state machine of
the drive. It serves to transmit start commands to activate driving
records. The control authority is required to carry out setpoint
selections (see PNU 927).
8.1.4Selector switch for operating mode (PNU 930)
Possible settings
PNUSubindex Description
930
0Selector switch for operating
Selection MeaningDescription
1 Speed control modeThe drive can only be operated speed-controlled in the speed
2 Positioning modeWith this configuration, the drive can only execute positioning
0x8000 Concatenation modeThe concatenation mode permits speed-controlled and positioning
mode
LenzeSelection
mode. When a driving record is started with ”Positioning” control
type, the drive travels following error-controlled.
driving records. When you try to start a driving record with the
speed control, the fault signal ”Driving record” is displayed.
driving records to be started via a DP master. Here, also following
driving records and waiting times between chained driving records
are considered.
Data type
Unsigned 16
02
Data type
Unsigned 16
10x8000
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Explanation of the parameter numbers
Selector switch - control word bit 8 (PNU 931)
8.1.5Selector switch - control word bit 8 (PNU 931)
Possible settings
PNUSubindex Description
931
0Selector switch - control word
Selection MeaningDescription
1 Jogging 1 ON / OFFWhen the drive is ready to start and the control bit 8 is activated,
0x8000 Engage / disengage the brakeWhen the corresponding control word bit is activated which is
0x8001 Left limit switch is active /
0x8002 Right limit switch is active /
0x8003 Quick stop is active / inactiveAn activated quick stop brakes the motor with the maximum
0x8004 Referenceswitchisactive/
0x8005 Reference window is active /
0x8010 Controller output is active /
0x8020 IO box output is activated /
bit 8
inactive
inactive
inactive
inactive
inactive
deactivated
LenzeSelection
the jogging mode is started with the set jogging setpoints. When
the bit is reset, the jogging process is stopped again.
assigned to the ”Engage brake” function, the brake is closed. This
can happen while a driving record is executed or during position
control back-up time at standstill. During travel the output stage
is switched off simultaneously, at standstill after the engagement
time. After activation, the brake will only be released again, when
the bit is reset and a travel job is activated, or the external signal
”Releasing the brake” is pending. If the bit is set the start of a
travel job will be ignored and not carried out.
These functions permit t he simulation of an activated limit switch
per control software
possible torque to zero speed.
This function serves to simulate an activated limit switch per
control software.
This function is not implemented
The application box output is switched to HIGH level when the
control word bit with the function ”Activate application box
output” is set. Resetting the bit switches the output to LOW level
again.
Parameter numbers
10x8020
8
Data type
Unsigned 16
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Explanation of the parameter numbers
Selector switch - control word bit 9 (PNU 932)
8.1.6Selector switch - control word bit 9 (PNU 932)
Possible settings
PNUSubindex Description
932
0Selector switch - control word
Selection MeaningDescription
1 Jogging 2 ON / OFFWhen the drive is ready to start and the control bit 8 is activated,
0x8000
...
0x8020
bit 9
See PNU 931
LenzeSelection
the jogging mode is started with the set jogging setpoints. When
the bit is reset, the jogging process is stopped again.
8.1.7Selector switch - control word bit 11 (PNU 933)
Possible settings
PNUSubindex Description
933
0Selector switch - control word
bit 11
LenzeSelection
Data type
Unsigned 16
10x8020
Data type
Unsigned 16
10x8020
Selection MeaningDescription
1 Start homing / cancel homingThis function serves to start or stop the homing mode via the
0x8000
See PNU 931
...
0x8020
control word bit 11.
8.1.8Selector switch - control word bit 12 ... 15 (PNU 934 ... 937)
Possible settings
PNUSubindex Description
934
0Selector switch - control word
...
937
Selection MeaningDescription
1 Reserved
0x8000
...
0x8020
Bit 12 ... 15
See PNU 931
LenzeSelection
10x8020
Data type
Unsigned 16
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Explanation of the parameter numbers
Selector switch - status word bit 8 (PNU 938)
8.1.9Selector switch - status word bit 8 (PNU 938)
Possible settings
PNUSubindex Description
938
0Selector switch - status word
Selection MeaningDescription
1 No following error / following errorIf the status word, bit 8, is assigned to this function, a HIGH
0x8000 Brake engaged / disengagedHere, a HIGH level indicates an activated/engaged brake,
0x8001 Left limit switch is activated /
0x8002 Right limit switch is activated /
0x8003 Activate / deactivate quick stopThe quick stop status can be read out at this point. The bit
0x8004 Activate / deactivate reference switch The limit switch status can be read out using this function.
0x8005 Activate / deactivate reference
0x8006 Driving record is active / inactiveAs soon as a driving record is processed by the motor, this
0x8010 Inverter output is activated /
0x8020 Inverter output Output is activated /
0x8030 Inverter input is activated /
0x8040 Inverter input 1-BCD is activated /
0x8041 Inverter input 2-BCD is activated /
0x8042 Inverter input 4-BCD is activated /
0x8043 Inverter input 8-BCD is activated /
0x8044 Inverter input 10-BCD is activated /
0x8045 Inverter input 20-BCD is activated /
0x8046 Inverter input 40-BCD is activated /
0x8047 Inverter input 80-BCD is activated /
0x8048 Inverter input Start is activated /
bit 8
deactivated
deactivated
window
deactivated
deactivated
deactivated
deactivated
deactivated
deactivated
deactivated
deactivated
deactivated
deactivated
deactivated
deactivated
LenzeSelection
level indicates ”no f ollowing error” and a LOW level indicates
a following error.
whereas a LOW level indicates a disengaged brake.
This function serves to assign the limit switch status to the
status word bit. A HIGH level of the limit switch is indicated
through the bit value ”1”.
value ”1” indicates an active quick stop and bit value ”0”
indicates that no quick stop is active.
The bit value ”1” indicates an activated reference switch, bit
value ”0” indicates that the reference switch is not active.
will be indicated by ”1”on the status word bit assigned to
this function.
Here, the status of the inverter output can be monitored. Bit
value ”1” indicates an activated output, bit value ”0”
indicates a deactivated output.
Here, the status of the inverter output can be activated. Bit
value ”1” indicates an activated output, bit value ”0”
indicates a deactivated output.
Here, the status of the inverter input can be monitored. Bit
value ”1” indicates an activated input, bit value ”0” indicates
a deactivated input.
This function serves to transmit the physical levels of the I/O
box inputs to the status word bit. The bit value ”0” indicates
a LOW level, bit value ”1” indicates a HIGH level.
Parameter numbers
10x804d
8
Data type
Unsigned 16
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Explanation of the parameter numbers
Selector switch - status word bit 11 (PNU 939)
DescriptionMeaningSelection
0x8049 Inverter input Stop is activated /
0x804a Inverter input Limit left is activated /
0x804b Inverter input Limit right is activated /
0x804c Inverter input Quick stop is activated /
0x804d Inverter input Input is activated /
deactivated
deactivated
deactivated
deactivated
deactivated
8.1.10Selector switch - status word bit 11 (PNU 939)
Possible settings
PNUSubindex Description
939
0Selector switch - status word
bit 11
LenzeSelection
Data type
Unsigned 16
10x804d
Selection MeaningDescription
1 Home position is set / no home
position is set
0x8000
See PNU 938
...
0x804d
Here the bit value ”1” of the status word indicates a set home
position, the bit value ”0” indicates that no home position is set.
8.1.11Selector switch - status word bit 12 (PNU 940)
Possible settings
PNUSubindex Description
940
0Selector switch - status word
Selection MeaningDescription
1 Setpoint acknowledgement
0x8000
...
0x804d
bit 12
(edge)
See PNU 938
LenzeSelection
Here the status word, bit 12, is set to its original function ”setpoint
acknowledgement”. This bit reflects bit 6 of the control word
which activates a positioning driving request by an edge.
Data type
Unsigned 16
10x804d
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Explanation of the parameter numbers
Selector switch - status word bit 13 (PNU 941)
8.1.12Selector switch - status word bit 13 (PNU 941)
Possible settings
PNUSubindex Description
941
0Selector switch - status word
Selection MeaningDescription
1 Drive is standing / drive is
0x8000
...
0x804d
bit 13
running
See PNU 938
LenzeSelection
The bit value ”1” indicates that the drive is standing, bit value ”0”
indicates that the drive is running.
8.1.13Selector switch - status word bit 14 (PNU 942)
Possible settings
PNUSubindex Description
942
0Selector switch - status word
bit 14
LenzeSelection
Parameter numbers
10x804d
10x804d
8
Data type
Unsigned 16
Data type
Unsigned 16
Selection MeaningDescription
1 Reserved
0x8000
See PNU 938
...
0x804d
8.1.14Selector switch - status word bit 15 (PNU 943)
Possible settings
PNUSubindex Description
943
0Selector switch - status word
Selection MeaningDescription
1 Reserved
0x8000
...
0x804d
bit 15
See PNU 938
LenzeSelection
Data type
Unsigned 16
10x804d
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Device-specific parameter numbers
Fault number (PNU 947)
8.2Device-specific parameter numbers
8.2.1Data type - jogging setpoint 1 and 2 (PNU 107 und 108)
Possible settings
PNUSubindex Description
107
108
1Speed1[1/min]6000 Integer 16
2Maximum torque1[mNm]1500
3Dead time[ms]Unused
4Acceleration1[1/60*s2]65536
5Braking deceleration1[1/60*s2]65536
Tab. 24Data type - jogging setpoint 1 and 2 (PNU 107 and 108)
Jogging setpoint 1 and 2Array
LenzeSelection
These two parameternumbers serve to define the setpoints for the jogging modewithout
the pre-assignment of which the ”jogging” mode would not function.
Data type
Unsigned 16
Unsigned 32
8.2.2Fault number (PNU 947)
If the bit 3 (fault) is set in the status word, the fault number can be queried in this
parameter.
PNUSubindex Description
9470Fault numberUnsigned 16
Tab. 25Fault number (PNU 947)
Possible settings
LenzeSelection
0Trouble-free
1DC-bus voltage below
180V
2DC-bus voltage below
400V
3Motor temperature
exceeds 140 °C
4Electronics temperature
exceeds 78 °C
5Brake supply voltage is
out of range
6Quick stop
7Error occurred during
homing
8Motor current is
switched off
9Error in the driving
record
10Error in the system
parameters
11Drive inhibited
Data type
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8.2.3Load parameter set (PNU 970)
PNUSubindex Description
970
0Load parameter set
Selection Meaning
0 All parameters are set to default setting
1 ... 100 Driving record 1 is set to default setting
Driving record 100 (0 of the operating program) is set to default setting
101 Reference parameters are set to default setting
102 I/O settings are set to default setting
103 Control parameters are set to default setting
104 System parameters are set to default setting
105 Service parameters are set to default setting
106 PROFIBUS parameters are set to default setting
-1 ... -100 Load driving record from non-volatile memory
Load driving record 100 (0 of the operating program) from non-volatile memory
-101 Load reference parameters from non-volatile memory
-102 Load I/O settings from non-volatile memory
-103 Load control parameters from non-volatile memory
-104 Load system parameters from non-volatile memory
-105 Load service parameters from non-volatile memory
-106 Load PROFIBUS parameters from non-volatile memory
-256 Load all parameters from non-volatile memory
Tab. 26Load parameter set (PNU 970)
Parameter numbers
Device-specific parameter numbers
Load parameter set (PNU 970)
Possible settings
LenzeSelection
-256100
8
Data type
Unsigned 16
8.2.4Transfer to the non-volatile memory (PNU 971)
Possible settings
PNUSubindex Description
971
0Transfer into the non-volatile
Selection Meaning
0 Store all parameters non-volatilely
1 ... 100 Store driving record 1 non-volatilely
101 Store reference parameters non-volatilely
102 Store I/O settings non-volatilely
103 Store control parameters non-volatilely
104 Store system parameters non-volatilely
105 Store service parameters non-volatilely
106 Store PROFIBUS parameters non-volatilely
Tab. 27Transfer to the non-volatile memory (PNU 971)
memory
Transfer into the non-volatile memory
Store driving record 100 (0 of operating program) non-volatilely
LenzeSelection
Data type
Unsigned 16
0106
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Overview of the device-specific active parameters
8.3Overview of the device-specific active parameters
Possible settings
PNUSubindex Description
1 ...
100
101Reference parameters
102I/O - settings
103Control parameters
104System parameter
105Service parameters
106PROFIBUS parameters
Tab. 28Overview of the device-specific active parameters
Driving record 1 ... 100 (0 of
operating program)
LenzeSelection
8.4Overview of the device-specific passive parameters
Data type
Array
Possible settings
PNUSubindex Description
1000Status
1001Information
1002Options
Tab. 29Overview of device-specific passive parameters
LenzeSelection
Data type
Array
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Data type - travel data record (PNU 1 to 100)
8.5Data type - travel data record (PNU 1 t o 100)
Possible settings
PNUSubindex Description
1
...
1Maximum speed1[1/min]6000 Unsigned 16
100
2Maximum torque1[mNm]1500 Unsigned 16
3
4Acceleration1[1/60*s2]65535 Unsigned 32
5Braking deceleration1[1/60*s2]65535 Unsigned 32
6Acceleration ramp type:
7
8Waiting time1[ms]65535 Unsigned 32
Tab. 30Data type - driving record (PNU 1 to 100)
Driving recordArray
Controller type0,1,2:
Traversing time
Controller type 3: Absolute
target position (sign acc. to
driving direction)
Control type 4: Target position
relative to set position (sign acc.
to driving direction)
Deceleration ramp:
Driving direction:
Controller type:
Activate brake after position
control back-up time:
Next driving record:
Driving record is started after
elapsed waiting time and with
active synchronous input.
Driving record is terminated
after waiting time has elapsed
Driving record is started after
waiting time has elapsed.
LenzeSelection
Parameter numbers
0[ms]or ∞
0linear
1SIN
2sin
0linear
1SIN
2sin
0Positive
1Negative
0Following error
1Speed controller
2Torque controller
3Absolute position
4Relative position
0No
1Yes
-1[1]-99
0
1[1]+99
2
2
8
Data type
Unsigned 32
Bit [1 ... 0]
Bit [3 ... 2]
Bit [4]
Bit [7 ... 5]
Bit [8]
Integer 16
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Data type - reference parameter (PNU 101)
8.6Data type - reference parameter (PNU 101)
PNUSubindex Description
101
1Maximum speed1[1/min]6000 Integer 16
2Maximum torque1[mNm]1500 Unsigned 16
3
4Acceleration1[1/60*s2]65535 Unsigned 32
5Braking deceleration1[1/60*s2]65535 Unsigned 32
6Acceleration ramp type:
7
Tab. 31Data type - homing (PNU 101)
Reference parametersArray
Starting position 0 ... 2:
Unlimited
Starting position 3
Absolute target position (sign
acc. to driving direction)
Deceleration ramp:
Driving direction:
Reference type:
Activate brake after position
control back-up time:
Reference start:
Starting position:
Absolute resolver position:
Not considered
Absolute resolver position:
Considered
Possible settings
LenzeSelection
0linear
1SIN
2sin
0linear
1SIN
2sin
0Positive
1Negative
0None
1Mark
2Edge
3Limit switch, right
4Limit switch, left
5Right end stop
6Left end stop
0No
1Yes
0Powerup
1First start
2Manual start
3Input of reference start
4Unused
0None
1Limit switch, right
2Limit switch, left
3Absolute target position
-1
04096
Data type
Unsigned 32
Bit [1 ... 0]
2
Bit [3 ... 2]
2
Bit [4]
Bit [7 ... 5]
Bit [8]
Bit [11 ... 9]
Bit [13 ... 12]
Integer 16
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8.7Data type - IO settings (PNU 102)
PNUSubindex Description
102
1Input:
I/O - settingsArray
(Object for drive with I/O input
functionality. Not for devices
with local CAN)
Input:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
Input is active:
(Object for drive with I/O input
functionality. Not for devices
with local CAN)
Input is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
”Left limit switch” is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
”Right limit switch” is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
Parameter numbers
Data type - IO settings (PNU 102)
Possible settings
LenzeSelection
0Unused
1Reference
2Output stage off
3Quick stop
4Goto 99
5Synchronisation
6Intermediate stop
7Single step mode
0Unused
1Reference
2Output stage off
3Reference window
4Reference window
5Goto 99
6Synchronisation
7Intermediate stop
8Single step mode
0High
1Low
0High
1Low
0High
1Low
0High
1Low
8
Data type
Bit [3 ... 0]
Bit [7 ... 4]
Bit [8]
Bit [9]
Bit [10]
Bit [11]
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Data type - IO settings (PNU 102)
Possible settings
PNUSubindex Description
1021”Quick stop” input is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
”Start” input is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
2Output mask: Status word & V2
(Object for drive with I/O input
functionality. Not for devices
with local CAN)
3Fluxxtorque output mask:
Status word & V2
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
4Output is active:
(Object for drive with I/O input
functionality. Not for devices
with local CAN)
Output is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
”Trouble” output is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
”Data record is being
processed” output is active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
”Setpoint reached” output is
active:
(Object for Fluxxtorque drive
with additional box. Not for
devices with I/O)
Debounce time for start input[ms]Bit [15 ... 8]
Tab. 32Data type - I/O settings (PNU 102)
LenzeSelection
0High
1Low
0High
1Low
0High
1Low
0High
1Low
0High
1Low
0High
1Low
0High
1Low
Data type
Bit [12]
Bit [13]
Bit [0]
Bit [0]
Bit [0]
Bit [1]
Bit [2]
Bit [3]
Bit [4]
64
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Data type - control parameters (PNU 103)
8.8Data type - control parameters (PNU 103)
PNUSubindex Description
103
1Kp
2
3Tv1[μs]65535
4Ta700[μs]5000
5Maximum speed1[1/min]6000
6Maximum torque1[mNm]1500
7Positioning window1[incr]30000
8Following error window1[incr]30000
9Position controller back-up time1[ms]65535
10Kp position controller2
Tab. 33Data type - control parameter (PNU 103)
Control parametersArray
Tn1[μs]65535
Parameter numbers
Possible settings
LenzeSelection
12812800
(1.0)(100.0)
-16
8
Data type
Fixed point
value E2
Unsigned 16
2
8.9Data type - system parameters (PNU 104)
PNUSubindex Description
104
1Reference switch position[incr]
2Left limit switch position[incr]
3Right limit switch position[incr]
4Positive direction:
5Numerator conversion11000
6Denominator conversion11000
Tab. 34Data type - system parameters (PNU 104)
System parameterArray
Limit switch:
Possible settings
LenzeSelection
0right
1left
0without
1with
Data type
Integer 32
Bit [0]
Bit [1]
Unsigned 16
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Data type - service parameters (PNU 105)
8.10Data type - service parameters (PNU 105)
PNUSubindex Description
105
1Resolver offset04095
2Current controller response
3Maximum torque0[mNm]1500
4Maximum speed0[1/min]6000
5Gearbox numerator11000 Integer 16
6Gearbox denominator-1
7Current factor
8Brake available
9Brake disengagement time0[ms]5000
10Brake engagement time0[ms]5000
11Number of pole pairs
12Minimum brake voltage18[V]22 Unsigned 16
Tab. 35Data type - service parameter (PNU 105)
Service parametersArray
time
24/42 V electronics
230/320 V electronics
Direction reversal
When a gearbox with reversal of rotation direction is used, enter a negative gearbox
nominator.
Possible settings
LenzeSelection
0[μs]1200
1
1000
307
600
0No
1Yes
01polepairBit [0]
12polepairsBit [1]
23polepairsBit [2]
34polepairsBit [3]
45polepairsBit [4]
56polepairsBit [5]
67polepairsBit [6]
78polepairsBit [7]
0No
1Yes
-1000
1000
[μNm/‰]2000
4920
9600
Data type
Unsigned 16
Unsigned 16
Bit [0]
Unsigned 16
Bit [8]
66
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Data type - PROFIBUS parameters (PNU 106)
8.11Data type - PROFIBUS parameters (PNU 106)
Possible settings
PNUSubindex Description
106
1Diagnostics:
2Station address2126 Unsigned 16
Tab. 36Data type - PROFIBUS parameter (PNU 106)
PROFIBUS parametersArray
Guidance blocked:
PCV – level:
LenzeSelection
Parameter numbers
0From
1Yes
0No
1Yes
0PCV values can only be
read
1Driving records can be
changed
2Only service and
PROFIBUS parameters
cannot be changed
3All values can be
changed
8
Data type
Bit [0]
Bit [1]
Bit [3 ... 2]
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Data type status (PNU 1000)
8.12Data type status (PNU 1000)
PNUSubindex Description
1000
1Speed[1/min]
2Motor current[‰]
3Position[incr]Integer 32
4Brake supply voltage[V]
5DC-bus voltage[V]
6Electronics temperature[°C]
7Motor temperature[°C]
8System error[incr]
9Active travel data setUnsigned 16
10
StatusArray
Status word: Group signal warning
Group signal - faultBit [1]
Data record is being processedBit [2]
Setpoint reachedBit [3]
Right limit switch is activeBit [4]
Left limit switch is activeBit [5]
Homing mode is being
processed
Quick stop is activeBit [7]
Drive in standstillBit [8]
Führung vom AGBit [9]
System errorBit [10]
Motor deenergisedBit [11]
Intermediate stop is activeBit [12]
Single step mode is activeBit [13]
Single step mode waits for startBit [14]
Home position is setBit [15]
Possible settings
LenzeSelection
Data type
Integer 16
Unsigned 16
Integer 16
Bit [0]
Bit [6]
68
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Parameter numbers
Data type status (PNU 1000)
8
Possible settings
PNUSubindex Description
11
12
13Motor inputsBit [0]
14Motor outputsBit [0]
Warning word: DC bus voltage
below 220 V
Brake supply voltage < 22 VBit [1]
Motor temperature exceeds
130 °C
Electronics temperature
exceeds 70 °C
Following errorBit [4]
Reserved
DeratingBit [7]
Reserved
Fault word: DC-bus voltage
below 180 V
Brake supply below 20 VBit [1]
Motor temperature exceeds
140 °C
Electronics temperature
exceeds 78 °C
DC-bus voltage exceeds 400 VBit [4]
Quick stopBit [5]
HomingBit [6]
Motor deenergisedBit [7]
Driving recordBit [8]
System parameterBit [9]
Drive inhibitedBit [10]
Reserved
LenzeSelection
Data type
Bit [0]
Bit [2]
Bit [3]
Bit [5]
Bit [6]
Bit [8]
Bit [9]
Bit [10]
Bit [11]
Bit [12]
Bit [13]
Bit [14]
Bit [15]
Bit [0]
Bit [2]
Bit [3]
Bit [11]
Bit [12]
Bit [13]
Bit [14]
Bit [15]
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Data type status (PNU 1000)
Possible settings
PNUSubindex Description
15
16
Tab. 37Data type status (PNU 1000)
Additional box inputs
1-BCD
2-BCDBit [1]
4-BCDBit [2]
8-BCDBit [3]
10-BCDBit [4]
20-BCDBit [5]
40-BCDBit [6]
80-BCDBit [7]
StartBit [8]
StopBit [9]
Limit leftBit [10]
Limit rightBit [11]
Quick stopBit [12]
InputBit [13]
Additional box outputs
Output
ErrorBit [1]
Program activeBit [2]
Target reachedBit [3]
LenzeSelection
Data type
Bit [0]
Bit [0]
In case of the inputs and outputs the bit value ”0” stands for LOW level, the bit value ”1”
for HIGH level.
70
K-HB 13.0001-EN 2.1
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8.13Data type info (PNU 1001)
The object1001 serves to carry out a confirmationprompt and anevaluation of thedevice.
The deviceID, serial number,software version, andthe operating timecan be read out. The
single objects are classified in the following.
PNUSubindex Description
1001
1Device identification
2Serial number
3Version
4Operating time[min]
InformationArray
Parameter numbers
Data type info (PNU 1001)
Possible settings
LenzeSelection
1024 931MPKxx, 24 V DC
1042 931MPKxx, 42 V DC
1230 931MPNxx, 230 V AC
1320 931MPNxx, 320 V DC
8
Data type
Unsigned 32
8.14Data type options (PNU 1002)
PNUSubindex Description
1002
1Reserved
OptionsArray
Possible settings
LenzeSelection
Data type
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Overview of all PNUs
8.15Overview of all PNUs
PNUSubindex Description
9180Station address
9270Parameter change rights (PCV)
9280Control authority (PZD)
9300Selection for operating mode
9470Fault number
9700Load parameters
9710Transfer into non-volatile
9310Selector switch - control word
9320Selector switch - control word
9330Selector switch - control word
9340Selector switch - control word
9350Selector switch - control word
9360Selector switch - control word
9370Selector switch - control word
9380Selector switch - status word
9390Selector switch - status word
9400Selector switch - status word
9410Selector switch - status word
9420Selector switch - status word
9430Selector switch - status word
107
1Speed1[1/min]6000 Integer 16
2Maximum torque1[mNm]1500
3Dead time[ms]Unused
4Acceleration1[1/60*s2]65536
5Braking deceleration1[1/60*s2]65536
memory
bit 8
bit 9
bit 11
bit 12
bit 13
bit 14
bit 15
bit 8
bit 11
bit 12
bit 13
bit 14
bit 15
Jogging setpoint 1Array
Possible settings
LenzeSelection
Data type
Unsigned 16
Unsigned 16
Unsigned 32
72
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Parameter numbers
Overview of all PNUs
Possible settings
PNUSubindex Description
108
1Speed1[1/min]6000 Integer 16
2Maximum torque1[mNm]1500
3Dead time[ms]Unused
4Acceleration1[1/60*s2]65536
5Braking deceleration1[1/60*s2]65536
9470Fault numberUnsigned 16
9700Load parameter setUnsigned 16
9710Transfer to the non-volatile
1
...
1Maximum speed1[1/min]6000
100
2Maximum torque1[mNm]1500
3Controller type0[ms]or ∞
4Acceleration1[1/60*s2]65535
5Braking deceleration1[1/60*s2]65535
6Further settingsBit [8 ... 0]
7Next travel data set-99[1]+99 Integer 16
8Waiting time1[ms]65535 Unsigned 32
101
1Maximum speed1[1/min]6000 Integer 16
2Maximum torque1[mNm]1500 Unsigned 16
3Starting position[incr]Unsigned 32
4Acceleration1[1/60*s2]65535 Unsigned 32
5Braking deceleration1[1/60*s2]65535 Unsigned 32
6Further settingsBit [13 ... 0]
7Absolute resolver positionInteger 16
102
1InputBit [13 ... 0]
2OutputBit [0]
3Fluxx output maskBit [0]
4OutputBit [15 ... 0]
103
1Kp128
2Tn1[μs]65535
3Tv1[μs]65535
4Ta700[μs]5000
5Maximum speed1[1/min]6000
6Maximum torque1[mNm]1500
7Positioning window1[incr]30000
8Following error window1[incr]30000
9Position controller back-up time1[ms]65535
10Kp position controller2
Jogging setpoint 2Array
memory
Driving recordArray
Reference parametersArray
I/O settings (not for local CAN)Array
Control parametersArray
LenzeSelection
(1.0)
-16
12800
(100.0)
Data type
Unsigned 16
Unsigned 32
Unsigned 16
Unsigned 16
Unsigned 32
Fixed point
value E2
Unsigned 16
2
8
K-HB 13.0001-EN 2.1
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8
Parameter numbers
Overview of all PNUs
Possible settings
PNUSubindex Description
104
1Reference switch position[incr]
2Left limit switch position[incr]
3Right limit switch position[incr]
4Positive direction:
5Numerator conversion11000
6Denominator conversion11000
105
1Resolver offset04095
2Current controller response
3Maximum torque0[mNm]1500
4Maximum speed0[1/min]6000
5Gearbox numerator11000 Integer 16
6Gearbox denominator-1
7Current factor
8Brake available
9Brake disengagement time0[ms]5000
10Brake engagement time0[ms]5000
11Number of pole pairs
12Minimum brake voltage18[V]22 Unsigned 16
System parameterArray
Limit switch:
Service parametersArray
time
24/42 V electronics
230/320 V electronics
Direction reversal
LenzeSelection
0right
1left
0without
1with
0[μs]1200
1
1000
307
600
0No
1Yes
01polepairBit [0]
12polepairsBit [1]
23polepairsBit [2]
34polepairsBit [3]
45polepairsBit [4]
56polepairsBit [5]
67polepairsBit [6]
78polepairsBit [7]
0No
1Yes
-1000
1000
[μNm/‰]2000
4920
9600
Data type
Integer 32
Bit [0]
Bit [1]
Unsigned 16
Unsigned 16
Unsigned 16
Bit [0]
Unsigned 16
Bit [8]
74
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Parameter numbers
Overview of all PNUs
Possible settings
PNUSubindex Description
106
1Diagnostics:
2Station address2126 Unsigned 16
1000
1Speed[1/min]
2Motor current[‰]
3Position[incr]Integer 32
4Brake supply voltage[V]
5DC-bus voltage[V]
6Electronics temperature[°C]
7Motor temperature[°C]
8System error[incr]
9Active travel data setUnsigned 16
10Status word
11Warning word
12Fault word
13Motor inputs
14Motor outputs
15Additional box inputs
16Additional box outputs
1001
1Device identification
2Serial number
3Version
4Operating time[min]
1002
1Reserved
PROFIBUS parametersArray
Guidance blocked:
PCV – level:
StatusArray
InformationArray
OptionsArray
LenzeSelection
0From
1Yes
0No
1Yes
0PCV values can only be
read
1Driving records can be
changed
2Only service and
PROFIBUS parameters
cannot be changed
3All values can be
changed
1024 931MPKxx, 24 V DC
1042 931MPKxx, 42 V DC
1230 931MPNxx, 230 V AC
1320 931MPNxx, 320 V DC
8
Data type
Bit [0]
Bit [1]
Bit [3 ... 2]
Integer 16
Unsigned 16
Integer 16
Bit
Unsigned 32
K-HB 13.0001-EN 2.1
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Troubleshooting and fault elimination9
9Troubleshooting and fault elimination
Error messageCauseRemedy
System parameterThe direction of the specified setpoints
outside the software limit switches, e.g.
positioning behind a limit switch.
HomingNo homing has been executed yet,
although a homing mode has been set or is
required (positioning mode).
HomingThe following homing settings have been
made
z Reference type: None
z Reference start: Manually
If no homing is to be executed, no manual
startmustbeset.
Travel data recordWhen accessing the bus interface and the
operating program a logic conflict occurs.
Check settings of the software limit
switches.
Check homing settings/execute homing.
Check homing settings. Select homing
mode or set homing start to power up.