Lenze 931W User Manual

K-HB 13.0001-EN

.1kj

Ä.1kjä

L-force Drives

Communication Manual

Servo Drives 930 fluxxtorque

931M/W

PROFIBUS-DP



This documentation is valid for 931M/W servo inverters.

Document history

Material No. Version Description

.1kj 2.1 10/2006 TD14 First 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.

© 2006 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32699 Extertal
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH &
Co KG Kleinantriebe.
All information given in this documen tation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur.
Necessary corrections will be included in subsequent editions.

2

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K-HB 13.0001-EN 2.1

Contents i

1Preface 6..................................................................

1.1 Introduction 6.........................................................

1.2 Comparison of industrial fieldbus systems 7...............................

1.3 About this Communication Manual 8.....................................

1.4 Legal regulations 9.....................................................

2 Safety instructions 10.........................................................

2.1 Persons responsible for safety 10..........................................

2.2 General safety instructions 11.............................................

2.3 Definition of notes used 12...............................................

3 Technical data 13............................................................

3.1 General data and operating conditions 13..................................

4 Electrical installation 14.......................................................

4.1 Electrical connection of the servo inverter with the PROFIBUS master 17.........

5 Commissioning 18...........................................................

5.1 Before switching on 18..................................................

5.2 Activation of PROFIBUS at the servo inverter 18..............................

5.3 PROFIBUS settings in the operating program 22..............................

5.4 PROFIBUS communication 25.............................................

5.4.1 GSE file for PROFIBUS connection 25................................

5.4.2 Hardware configuration 25.......................................

5.4.3 Structure of communication channel 26.............................

6 Control word and status word (Profidrive state machine) 27........................

6.1 General information 27..................................................

6.2 Control word 28........................................................

6.3 The status word (ZSW) 31................................................

6.4 The Profidrive state machine 33...........................................

6.4.1 State machine and general state diagram 33........................

6.4.2 Example: State machine for speed operation 36......................

6.4.3 State diagram for positioning 38...................................

6.4.4 State diagram for speed control 40.................................

K-HB 13.0001-EN 2.1

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Contentsi

7 Parameter channel (PCV mechanism) 41.........................................

7.1 Access authorisation 41..................................................

7.2 Structure of the parameter characteristic value 42............................

7.2.1 Structure of parameter identification (PKE) 42.......................

7.2.2 Subindex 42....................................................

7.2.3 Parameter value 42..............................................

7.3 Job and response processing 43...........................................

7.3.1 Job identification (master -> slave) 43..............................

7.3.2 Response identification (slave -> master) 44.........................

7.3.3 Error numbers at response 45.....................................

7.3.4 Examples of PCV mechanism 46...................................

7.3.5 Transfer of PPO with PROFIBUS-DP 50..............................

8 Parameter numbers 51........................................................

8.1 Explanation of the parameter numbers 51..................................

8.1.1 Node address (PNU 918) 51.......................................

8.1.2 Parameter change rights (PNU 927) 52..............................

8.1.3 Control authority (PNU 928) 52....................................

8.1.4 Selector switch for operating mode (PNU 930) 52.....................

8.1.5 Selector switch - control word bit 8 (PNU 931) 53.....................

8.1.6 Selector switch - control word bit 9 (PNU 932) 54.....................

8.1.7 Selector switch - control word bit 11 (PNU 933) 54....................

8.1.8 Selector switch - control word bit 12 ... 15 (PNU 934 ... 937) 54..........

8.1.9 Selector switch - status word bit 8 (PNU 938) 55......................

8.1.10 Selector switch - status word bit 11 (PNU 939) 56.....................

8.1.11 Selector switch - status word bit 12 (PNU 940) 56.....................

8.1.12 Selector switch - status word bit 13 (PNU 941) 57.....................

8.1.13 Selector switch - status word bit 14 (PNU 942) 57.....................

8.1.14 Selector switch - status word bit 15 (PNU 943) 57.....................

8.2 Device-specific parameter numbers 58.....................................

8.2.1 Data type - jogging setpoint 1 and 2 (PNU 107 und 108) 58............

8.2.2 Fault number (PNU 947) 58.......................................

8.2.3 Load parameter set (PNU 970) 59..................................

8.2.4 Transfer to the non-volatile memory (PNU 971) 59....................

8.3 Overview of the device-specific active parameters 60.........................

8.4 Overview of the device-specific passive parameters 60........................

8.5 Data type - travel data record (PNU 1 to 100) 61..............................

8.6 Data type - reference parameter (PNU 101) 62...............................

8.7 Data type - IO settings (PNU 102) 63.......................................

8.8 Data type - control parameters (PNU 103) 65................................

8.9 Data type - system parameters (PNU 104) 65................................

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K-HB 13.0001-EN 2.1

Contents i

8.10 Data type - service parameters (PNU 105) 66................................

8.11 Data type - PROFIBUS parameters (PNU 106) 67..............................

8.12 Data type status (PNU 1000) 68...........................................

8.13 Data type info (PNU 1001) 71.............................................

8.14 Data type options (PNU 1002) 71..........................................

8.15 Overview of all PNUs 72..................................................

9 Troubleshooting and fault elimination 76.......................................

10 Appendix 77................................................................

10.1 Data formats 77........................................................

10.2 GSE file 77.............................................................

11 Index 80....................................................................

K-HB 13.0001-EN 2.1

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1

Preface

Introduction

1Preface

1.1 Introduction

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.

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K-HB 13.0001-EN 2.1

Comparison of industrial fieldbus systems

1.2 Comparison 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 /

DeviceNet Profibus DP AS-i INTERBUS INTERBUS-Loop LON

CANopen

Line with
terminating
resistors

Multi master Single master Single master Single master Single master Only together with

64 64 124 (4 segments,3

Dependent on the
baud rate used
1km(50kbit/s)
25 m (1 Mbit/s)

General length
reduction,
dependenton the
repeater used

Shielded, twisted
pair cable

Possible via
additional wires in
the bus cable

10 kbit/s - 1 Mbit/s 125 kbit/s,

Approx. 1.32 ms at
1Mbit/s(high
priority)

0to8bytes 0to8bytes 0to 246 bytes 4bits 1to64bytesdata,

106 bits at 8 bytes
user data

CSMA/CA
message-oriented

Line with
terminating
resistors

100 m (500 kbit/s)
250 m (250 kbit/s)
500 m (125 kbit/s)

Not specified 10 km (93.75

Shielded, twisted
pair cable

Possible via
additional wires in
the bus cable

250 kbit/s,
500 kbit/s

Approx. 2.64 ms at
500 kbit/s (high
priority)

106 bits at 8 bytes
user data

CSMA/CA
message-oriented

Line with
terminating
resistors

repeaters),
max. 32 per
segment

1.2 km (93.75
kbit/s)
100 m (12 Mbit/s)

kbit/s)

Shielded, twisted
pair cable

Possible via
additional wires in
the bus cable

9.6 kbit/s - 12
Mbit/s

Approx. 2.5 ms at
500 kbit/s

User data +
6to11bytes

Cyclic polling Cyclic polling Time base /

Line, tree, ring
(possible)

124
sensors/actuators
1master

100 m 1.5 m (local bus)

300 m (2
repeaters)

Unshielded,
untwisted flat pair
cable

Current supply via
data cable
(2 to 8 A)

167 kbit/s 500 kbit/s or

Typically 5 ms
(4 bits each)

21 bits, of which:
14 bits master, 7
bits slave

Ring Ring Line (2 wire) or any

512 slaves,
1master

400 m (remote
bus)

2.5 km (optical
fibre)

13 km (remote
bus),
100 km (optical
fibre)

Shielded, twisted
5-wire cable
Optical fibre,
infrared

Separate, Group
via bus terminal
(remote bus)

2Mbit/s

At least 2 ms
(process data)

up to 246 bytes
parameters

User data +
6bytes

distributed shift
register

INTERBUS-S; single
master (bus
terminal)

32 slaves 32385 stations

10 m (max. 100 m
cable length
without repeater)

No repeater
required

Unshielded, twisted
pair cable

Current supply via
data cable
(ca. 1.5 A)

500 kbit/s 78 kbit/s - 1.25

At least 2 ms
(process data)

1to64bytesdata,
up to 246 bytes
parameters

User data +
6bytes

Time base /
distributed shift
register

Tab. 1 Comparison of industrial fieldbus systems

other

Multi master

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

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1

Preface

About this Communication Manual

1.3 About 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

1.4 Legal regulations

Preface

Legal regulations

1

Labelling

Application as
directed

Liability z The information, data, and notes in these instructions met the state of the art at the time of printing. Claims

Warranty z Terms of warranty: see Sales and Delivery Conditions of Lenze GmbH & Co KG Kleinantriebe.

Disposal

Nameplate CE identification Manufacturer

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.

Material Recycle Dispose

Metal D -
Plastic D -
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

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2

Safety instructions

Persons responsible for safety

2 Safety instructions

2.1 Persons 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

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K-HB 13.0001-EN 2.1

2.2 General 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

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11

2

2.3 Definition 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 word Meaning

 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 word Meaning

 Note!
 Tip!


Important note to ensure trouble-free operation

Useful tip for simple handling

Reference to another documentation

12

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K-HB 13.0001-EN 2.1

General data and operating conditions

3 Technical data

3.1 General data and operating conditions

General data

Area Values

Communication profile
(DIN 19245 part 1 and part 3)

Communication medium RS485
Drive profile Profidrive
Network topology Without repeater: Line / with repeaters: line or tree
PROFIBUS-DP station Slave
Baud rate (in kbits/s) 9.6, 19.2, 93.75, 187.5, 500, 1500
Max. cable length per bus segment 1200 m (depending on the baud rate and cable type used)
External DC voltage supply +24 V DC ±10 %
Enclosure IP54

PROFIBUS-DP-V0

Technical data

3

Operating conditions

Ambient conditions

Climatic

Storage IEC/EN 60721-3-1 1K3 (deviation: -25 ... +70 °C)

Transport IEC/EN 60721-3-2 2K3 (deviation: -25 ... +70 °C)

Operation IEC/EN 60721-3-3 3K3 (deviation: 0 ... +40 °C)

Cooling Passively via housing surface and heatsink

Pollution EN 61800-5-1 Degree of pollution 2

Site altitude < 1000 m amsl

K-HB 13.0001-EN 2.1

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13

Electrical installation4

4 Electrical installation

Structure of a PROFIBUS-DP network with RS485 cabling without repeater

1

333

931M
931W

222

1200 m

0m

No. Element Note

1 Master computer e.g. PC or PLC with PROFIBUS-DP master interface module
2 Bus cable Adapt baud rate to the length of the bus cable.
3 PROFIBUS-DP slave Applicable 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

Electrical installation 4

Number of bus stations

M

RR

SS S S S

123

Segment Master (M) Slave (S) Repeater (R)

1 1

2

2 - 30 1

3 - 30 1

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

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15

Electrical installation4

Baud rate / length of the bus cable

Baud rate [kbit/s] Length [m]

9.6 - 93.75 1200

187.5 1000

500 400

1500 200

 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 resistance 135 - 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
Wires double twisted, insulated and shielded

2

16



K-HB 13.0001-EN 2.1

Electrical installation

Electrical connection of the servo inverter with the PROFIBUS master

4.1 Electrical 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

View Pin Designation Explanation

1

2

3

4

5

Tab. 2 Sub-D connection PROFIBUS

1 free —

6

2 free —

7

3 RxD/TxD-P Data line B (Receive / transmit data plus)

8

4 RTS Request To Send (receive / transmit data, no differential signal)

9

5 M5V2 Data ground (5 V)

6 P5V2 DC5V/30mA(bustermination)

7 free —

8 RxD/TxD-N Data line-A (receive / transmit data minus)

9 free —

4

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17

5

Commissioning

Before switching on

5 Commissioning

5.1 Before 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.

5.2 Activation 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

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

 19

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

Commissioning

Activation of PROFIBUS at the servo inverter

Operating mode Access Restrictions

Online level 1 Observing the drive No write access, no change of parameters or process

Online level 3 Access to process data. (Setpoint

selection)

Online level 4 Access to process data and

parameter data (controller settings,
bus settings)

Service Full access No restriction

Tab. 3 Operating 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

 21

5

5.3 PROFIBUS 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:

ƒ Speed + position

ƒ Speed

ƒ Position

ƒ Concatenation (following error operation / speed control)

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

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:

Function Description

Brake engaged Brake is applied
Limit switch, left Left limit switch is activated
Limit switch, right Right limit switch is activated
Quick stop Quick stop has been initiated
Reference switch The reference switch is activated
Reference window
Edit data record Data record is being edited / control is active
Digital output Display output of a device with I/O option
Application box output Display application box output of a device with Local CAN option
Digital input Display 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 start Display application box start of a device with Local CAN option (see description

Application box stop Display 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 stop Display application box quick stop of a device with Local CAN option

Application box input Display application box of a device with Local CAN option (see description of

Tab. 4 Additional 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

 23

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:

Function Description

Engage brake Trigger brake

Activate left limit switch Activate left limit switch

Activate right limit switch Activate right limit switch

Quick stop Activate quick stop

Activate reference switch Activate reference switch

Activate reference window Activate reference window

Activate digital output Activate output of a device with I/O option

Activate application box output Activate application box output of a device with Local

Tab. 5 Additional 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

5.4 PROFIBUS communication

5.4.1 GSE 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.

5.4.2 Hardware 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

 25

5

Commissioning

PROFIBUS communication
Structure of communication channel

5.4.3 Structure 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 3 PPO Write type

Process data input (input data)

PZD1: Status word X X X X

PZD2: Active travel data record X X X X

PZD3: S p eed — X — X

PZD4: Torque — X — X

PZD5 ... 6: Position — X — X

Process data output (output data)

PZD1: Control word X X X X

PZD2: Actual value = active travel
data record

Parameter data input (input data/PPO
Read)

Number — 2 2 6

Parameter data output (output data/PPO
Write)

Number — — 2 2

Tab. 6 Configuration of the PPO types

X X X X

3 PPO Read type
4

PPO type 1 PPO 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

K-HB 13.0001-EN 2.1