Lenze PROFIBU PC-based Automation User Manual

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KHBPBPCBAUTO 13383678

Ä.GEoä

L-force Controls

Communication manual

PC-based Automation

PROFIBUS control technology

Commissioning & configuration

2 L DMS 2.2 EN 07/2011 TD17

Control technology | PROFIBUS communication manual

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Notes used

2 Safety instructions

3 The "PC-based automation" system

4 The Lenze control system with PROFIBUS

4.1 Brief description of PROFIBUS

4.1.1 Structure of the PROFIBUS system

4.1.2 Basic wiring of PROFIBUS

4.1.3 Combination with other bus systems

4.1.4 Field devices

4.2 PROFIBUS hardware for the industrial PC

5 Technical data

5.1 Technical data of the MC-PBM communication card

5.2 Bus cable specification

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6 Commissioning of PROFIBUS

6.1 Overview of the commissioning steps

6.2 Detailed commissioning steps

6.2.1 Planning the bus topology

6.2.2 Installing field devices

6.2.3 Creating a project folder

6.2.4 Storing the device data base files (GSE)

6.2.5 Commissioning of field devices

6.2.6 Configuration in the »PLC Designer«

7 CANopen with PROFIBUS

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8 Function libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

8.1 BusDiag.lib function library

8.1.1 DiagGetBusState function block

8.1.2 DiagGetState function block

8.2 NetXPBInfo.lib function library

8.2.1 Structure of NETXGETPBINFOSTYP

8.2.2 NetXGetPBInfos function

8.3 HilscherNetX.lib function library

8.3.1 CIFX_PACKET structure

8.3.2 CIFX_PACKET_HEADER structure

8.3.3 CIFXGetChannelHandle function

8.3.4 CIFXPutPacket function

8.3.5 CIFXGetPacket function

8.4 SysLibDPV1Hilscher.lib function library

8.4.1 V1State structure

8.4.2 DPV1_Read / DPV1_ReadEx function block

8.4.3 DPV1_Write / DPV1_WriteEx function block

8.4.4 Telegram examples of the PROFIdrive parameter data channel (DP-V1)

9 Defining the minimum cycle time of the PLC project

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9.1 Calculating the total access time to the peripheral devices (T

9.2 Detecting the task utilisation of the application (T

9.2.1 Display of the system utilisation in the »PLC Designer« with the task editor

9.2.2 Detecting the task utilisation

9.3 Calculating the minimum cycle time

9.4 Optimising the system

10 Diagnostics

10.1 Diagnostics in the »PLC Designer«

10.2 Error messages if communication card MC-PBM is not available

10.3 LED status displays

11 Parameter reference

11.1 Parameters of the MC-PBM communication card in slot 1

11.2 Parameters of the MC-PBM communication card in slot 2

12 Index

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Correction

Task utilisation

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4 L DMS 2.2 EN 07/2011 TD17

Control technology | PROFIBUS communication manual

1 About this documentation

This documentation ...

 contains detailed information on how to commission, configure, and diagnose the

PROFIBUS bus system within the Lenze control technology.

 belongs to the "PC-based Automation" manual collection which consists of the

following documentation:

Documentation Subject

System manuals "PC-based automation"

Communication manuals "PC-based automation"

(Software) Manual "PC-based automation"

Operating Instructions "Embedded Line Panel PC"

Operating Instructions "Command Station"

Operating Instructions "Control Cabinet PC"

Operating Instructions "HMI EL 100"

Further software manuals • »Global Drive Control« (»GDC«)

• Control technology - System structure & configuration

• Control technology - System structure & components

• CANopen control technology

• PROFIBUS control technology

• EtherCAT control technology

• Industrial PC - Parameter setting & configuration

• EL x8xx - built-in panel PC with TFT display

• CS x8xx - stand-alone operator terminal

• CPC x8xx - control cabinet PC

• EL 1xx - HMI with Windows

• »Engineer«

• »PLC Designer« / »PLC Designer - SoftMotion« / »PLC Designer - CANopen

• »VisiWinNET® Smart«

About this documentation

® CE

–IPC as gateway - Parameter setting & configuration

for runtime systems«

DMS 2.2 EN 07/2011 TD17 L 5

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About this documentation

Further technical documentations for Lenze components

More information about Lenze components that can be used together with "PC-based automation" can be found in the following documents:

Mounting & wiring Legend:

 MAs for Inverter Drives 8400  Printed documentation

 MAs for Servo Drives 9400  Online help/PDF

 MA EPM-Txxx (I/O system IP20) Abbreviations used:

 MA EPM-Sxxx (I/O system 1000) SHB System Manual

 MA 8200 vector BA Operating Instructions

 Wiring according to EMC, 8200 vector MA Mounting Instructions

 MAs for the ECS servo system SW Software manual

 MA MC-CAN2 communication card KHB Communication manual

 MA MC-ETC communication card

 MA MC-ETH communication card

 MA MC-PBM communication card

 MA MC-PBS communication card

 MA MC-MPI communication card

 MAs for communication modules

Parameter setting, configuration, commissioning

 SW Inverter Drive 8400

BaseLine / StateLine / HighLine / TopLine

 SW Servo Drive 9400 HighLine / PLC

 Commissioning guide 9400 HighLine

 SHB I/O system IP20 (EPM-Txxx)

 SHB I/O system 1000 (EPM-Sxxx)

 SHB 8200 vector

 BAs for the ECS servo system

 KHBs for communication modules

Programming

 SW 9400 function library

Creating a network

 KHBs for communication modules

 Tip!

Documentation and software updates for Lenze products can be found in the Download area at:

http://www.Lenze.com

6 L DMS 2.2 EN 07/2011 TD17

Target group

This documentation is intended for all persons who plan, install, commission, and maintain the networking of devices in the field of control technology.

1.1 Document history

Material no. Version Description

13294525 1.0 05/2009 TD17 First edition

13319345 2.0 10/2009 TD17 General revision

13369327 2.1 01/2011 TD17 Update for control technology release 2.5

13383678 2.2 07/2011 TD17 Chapter Error messages if communication card MC-PBM is not

Your opinion is important to us!

Control technology | PROFIBUS communication manual

About this documentation

Document history

available ( 62) supplemented.

These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product.

If you have suggestions for improvement, please e-mail us to:

feedback-docu@Lenze.de

Thank you for your support.

Your Lenze documentation team

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About this documentation Conventions used

1.2 Conventions used

This documentation uses the following conventions to distinguish between different types of information:

Type of information Highlighting Examples/notes

Spelling of numbers

Decimal separator Point The decimal point is always used.

For example: 1234.56

Text

Version information Blue text colour Information that is only valid for or from a certain

Program name » « The Lenze PC software »Engineer«...

Window Italics The Message window... / The Options dialog box...

Variable identifier By setting bEnable to TRUE...

Control element Bold The OK button... / the Copy command... / the

Sequence of menu commands

Shortcut <Bold> Use <F1> to open the online help.

Program code Courier

Keyword Courier bold

software version is indicated accordingly in this documentation.

Example: This function extension is available from

software version V3.0!

Characteristics tab... / the Name input field...

If the execution of a function requires several commands in a row, the individual commands are separated by an arrow: Select File

If a key combination is required for a command, a "+" is placed between the key identifiers: With <Shift>+<ESC>...

IF var1 < var2 THEN a = a + 1 END IF

Open to ...

Hyperlink Underlined

Symbols

Page reference ( 8) Optically highlighted reference to another page. It is

Step-by-step instructions



Optically highlighted reference to another topic. It is activated with a mouse-click in this documentation.

activated with a mouse-click in this documentation.

Step-by-step instructions are indicated by a pictograph.

8 L DMS 2.2 EN 07/2011 TD17

1.3 Terminology used

Term Meaning

»Engineer« Lenze engineering tools supporting you during the entire life cycle of a machine

»Global Drive Control« / »GDC«

»PLC Designer«

Code "Container" for one or several parameters used for Lenze Servo Drives parameter

Subcode If a code contains several parameters, they are stored in "subcodes".

IPC Industrial PC

PLC Programmable Logic Controller

GSE Device data base file (device description for PROFIBUS devices)

Control technology | PROFIBUS communication manual

About this documentation

Terminology used

- from the planning phase to maintenance.

setting or monitoring.

In the documentation the diagonal slash "/" is used as a separator between the designation of the code and subcode (e.g. "C00118/3").

DMS 2.2 EN 07/2011 TD17 L 9

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About this documentation Notes used

1.4 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:

 Pictograph and signal word!

(characterises the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



Danger! Danger of personal injury through a general source of danger





Application notes

Pictograph Signal word Meaning

Stop! Danger of property damage

Note! Important note for trouble-free operation

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Reference to a possible danger that may result in property damage if the corresponding measures are not taken.



Tip! Useful tip for easy handling



Reference to another documentation



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2 Safety instructions

Please observe the following safety instructions when you want to commission a controller or system using the industrial PC.

 Read the documentation supplied with the system components thoroughly

before starting to commission the devices and the industrial PC!

The System Manual contains safety instructions which must be observed!

 Danger!

According to our present level of knowledge it is not possible to ensure the absolute freedom from errors of a software.

If necessary, systems with built-in controllers must be provided with additional monitoring and protective equipment according to relevant safety regulations (e.g. law on technical equipment, regulations for the prevention of accidents) so that an impermissible operating status does not endanger persons or facilities.

Safety instructions

During commissioning persons must keep a safe distance from the motor or the machine parts driven by the motor. Otherwise there would be a risk of injury by the moving machine parts.

 Stop!

If you change parameters in an engineering tool during an existing online connection to a device, the changes are directly added to the device!

A wrong parameter setting can cause unpredictable motor movements. By unintentional direction of rotation, too high speed, or jerky operation, the driven machine parts may be damaged!

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The "PC-based automation" system

3 The "PC-based automation" system

Industrial PCs (IPCs) become more and more important in the field of automation technology. Due to their scaling options and various combinations of visualisation and control on one device, industrial PCs provide clear advantages for many applications.

Lenze industrial PCs are available with the following software equipment:

 Industrial PC as component (optional with operating system) without any further

software

 Industrial PC as visualisation system

 Industrial PC as control and visualisation system

The "PC-based automation" system enables the central control of logic and motion systems.

For this purpose, Lenze provides coordinated system components:

 Industrial PCs as control and visualisation system

– The IPC is the central component of the PC-based automation which controls the

logic and motion functionalities by means of the runtime software. – The IPC communicates with the field devices via the fieldbus. – The IPCs are available in different designs.

 Note!

Moreover, the HMI series Z EL 1xx PLC belongs to the "PC-based Automation" system. These devices differ considerably from the industrial PCs in performance and various other details. However, the devices of the HMI series EL 1xx PLC are able to fulfil smaller control functions.

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The "PC-based automation" system

 Engineering tools for the engineering PC

– The engineering PC communicates with the IPC via Ethernet. – Different engineering tools

 Fieldbuses  Field devices

( 22) serve to configure and parameterise the system.

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The Lenze control system with PROFIBUS Brief description of PROFIBUS

4 The Lenze control system with PROFIBUS

 Note!

In the Lenze control system, only the PROFIBUS master functionality (logic bus) is supported.

This chapter provides basic information about ...

 the PROFIBUS bus system in the Lenze control system;  the structure of the Lenze control system with the PROFIBUS master;

 the components required for PROFIBUS communication.

4.1 Brief description of PROFIBUS

Today, PROFIBUS is the most commonly used fieldbus system. Because it comes with the widest range of various field devices, PROFIBUS is occasionally prioritised over more modern bus systems. Due to the low bandwidth and synchronisation mechanisms, PROFIBUS is only provided as logic bus within "PC-based Automation".

We recommend to use PROFIBUS for the following applications:

 Control of system parts that have already been automated with PROFIBUS and another

control system.

 Use of field devices that are not available for other bus systems (e.g. CANopen or

EtherCAT).

 Combination of PROFIBUS as logic bus with CANopen as motion bus

( 18)

 Tip!

Detailed information on PROFIBUS can be found on the internet page of the PROFIBUS user organisation:

www.profibus.com

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4.1.1 Structure of the PROFIBUS system

Basic structure

The Lenze control system with PROFIBUS

Brief description of PROFIBUS

Physical structure

 The industrial PC (IPC) is the PROFIBUS master. It can communicate with one or several

stations (slaves).

 PROFIBUS has an internal line topology (without repeater) or a tree topology (with

repeater).

Basic wiring of PROFIBUS

 The PROFIBUS network must be terminated at the first and last station. The bus

terminating resistor is integrated in the bus connector and is activated by a switch.

( 17)

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The Lenze control system with PROFIBUS Brief description of PROFIBUS

Parameter setting

The PROFIBUS stations can be parameterised in different ways:

 Direct access of the engineering software (from the engineering PC) to the slave field

device. Depending on the device type, via the following interfaces: –CAN – Ethernet – LECOM – Diagnostic interface

 Parameter transfer from the control (the parameter transfer must be programmed

manually) – PROFIBUS is exclusively configured with the »PLC Designer«:

Structure of the control configuration and creation of the PLC program – All PROFIBUS slaves can be switched on via device data base files (GSE files).

 Note!

The "IPC as gateway" function is not available in connection with PROFIBUS.

Thus, "Going online" with the »Engineer« or the »GDC« via the IPC as gateway is not possible.

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4.1.2 Basic wiring of PROFIBUS

The following examples show two simple PROFIBUS networks.

Each segment of the network must be terminated at both ends. The bus terminators of PROFIBUS are marked with a "Z" in each of the following examples.

In a PROFIBUS network of only one segment, the PROFIBUS master (M) with an integrated bus terminator starts the segment, and the connector of the last device (S) with the bus terminator ends it.

The Lenze control system with PROFIBUS

Brief description of PROFIBUS

S SS

[4-1] PROFIBUS network with one segment

A PROFIBUS network consisting of several segments contains repeaters (R) for connecting the segments. The repeaters are provided with integrated bus terminators.

S SS

S S

1 23

[4-2] PROFIBUS network with repeater

If no repeater is used at the end of the segment, the bus terminator in the plug of the last device must be activated.

E94YCPM012a

E94YCPM012b

 Note!

Repeaters do not have a station address. When calculating the maximum 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. The maximum total bus system expansion depends on the baud rate used and the number of repeaters.

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The Lenze control system with PROFIBUS Brief description of PROFIBUS

4.1.3 Combination with other bus systems

The PROFIBUS bus system can be combined with CANopen. This makes sense if not all field devices are available for the same bus system or a motion bus (CANopen) is required in parallel to PROFIBUS (as logic bus). The bus systems are synchronised in the control system.

 Note!

• Mixed operation is only possible with industrial PCs which have two additional slots for communication cards. Mixed operation is not possible with the "Command Station".

• In release 2.5, PROFIBUS cannot be combined with EtherCAT.

• In the control configuration the PROFIBUS master must be arranged in the first position – in front of the CANopen motion stations.

4.1.4 Field devices

The Lenze control system supports the following logic components for PROFIBUS:

Standard devices PROFIBUS communication cards/modules

Industrial PCs EL x1xx PLC MC-PBM (PROFIBUS master)

EL x8xx

CS x8xx

Servo Drives 9400 HighLine E94AYCPM

Inverter Drives 8400 BaseLine E84AYCPM

I/O system IP20 EPM-T120

I/O system 1000 EPM-S120 (in preparation)

Frequency inverter 8200 vector E82ZAFPCxxx

ECS servo system ECSxE EMF2133IB

CPC x8xx

PLC

StateLine

HighLine

TopLine

EPM-T121

ECSXS (Speed & Torque)

ECSxP (Posi & Shaft)

ECSxA (Application)

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4.2 PROFIBUS hardware for the industrial PC

MC-PBM communication card

The MC-PBM communication card is a plug-in card for connecting an industrial PC as PROFIBUS master to a PROFIBUS network.

The Lenze control system with PROFIBUS PROFIBUS hardware for the industrial PC

MC-PNx

SYS ST0 ST1 ST2

PROFIBUS

A Front panel

B Printed circuit board

C Coding

D Terminal for industrial PC

E Connection of PROFIBUS (SUB-D, 9-

pole plug) ( 20)

F LED status displays

( 63)

MC_PBx_001

Technical data of the MC-PBM communication card

Possible applications

The MC-PBM communication card can be plugged into slot 1 and slot 2 of the industrial PC. Several PROFIBUS communication cards can be used for each industrial PC.

Example: Industrial PC EL x8xx with MC-PBM in slot 1

( 20)

EL x8xx

Legend

EL x8xx Industrial PC of the EL x8xx series

PBM1 PROFIBUS connection

MC-PBM PROFIBUS master communication card

PBM1

MC-PBM

MC-PBM_ELx8xx

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Technical data Technical data of the MC-PBM communication card

5 Technical data

5.1 Technical data of the MC-PBM communication card

Field Values

Protocol PROFIBUS-DP (V0, V1), ISO 7498

Communication medium RS485

Network topology Line terminated on both sides (without repeater) / tree (with

repeater)

• Termination with Sub-D plug

Type within the network Master

Max. number of stations per segment 63

Max. number of stations per network 128

Baud rate See chapter "Baud rate / bus cable length

Bus length

Connection SUB-D, 9-pole plug

" ( 21)

Connection of PROFIBUS (SUB-D, 9-pole plug)

View Pin Assignment Description

1free -

2free -

3 RxD/TxD-P Data line B (received data/transmitted data plus)

4 RTS Request To Send (received data / transmitted data, no differential

signal)

5 M5V2 Data ground (ground to 5 V)

6 P5V2 5 V DC / 30 mA (bus termination)

7free -

8 RxD/TxD-N Data line A (received data / transmitted data minus)

9free -

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5.2 Bus cable specification

Please follow the specifications of the PROFIBUS user organisation for bus cables.

Field Values

Cable resistance 135 ... 165 Ω/km, (f = 3 ... 20 MHz)

Capacitance per unit length ≤ 30 nF/km

Loop resistance < 110 Ω/km

Core diameter > 0.64 mm

Core cross-section > 0.34 mm

Cores Twisted in pairs, insulated and shielded

Baud rate / bus cable length

Adapt the baud rate to the length of the bus cable.

Baud rate [kbps] Max. bus length [m]

9.6 ... 93.75 1200

187.5 1000

500 200

1500 200

3000 ... 12000 100

Technical data

Bus cable specification

 Note!

The baud rate depending of the data volume, cycle time, and number of stations should only be selected as high as required for the application.

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Commissioning of PROFIBUS Overview of the commissioning steps

6 Commissioning of PROFIBUS

This chapter provides information about how to commission the Lenze control system with PROFIBUS.

Depending on the field devices used, the following Lenze engineering tools are required:

 »PLC Designer«

 »Engineer«  »Global Drive Control« (GDC)

 Tip!

For using other fieldbus systems, you may require further engineering software. More information can be found in the corresponding communication manuals.

6.1 Overview of the commissioning steps

The main commissioning steps are listed in the following table:

Step Action Software to be used

1. Planning the bus topology

2. Installing field devices

3. Creating a project folder

4. Storing the device data base files (GSE)

5. Commissioning of field devices

6. Creating a PLC program

7. Configuring the PROFIBUS master

8. Configuring the PROFIBUS slave ( 33) »PLC Designer«

9. Compiling project data

10. Logging on to the control system with the »PLC Designer«

11. Loading and starting the PLC program ( 36) »PLC Designer«

( 23)

( 24)

( 26) »PLC Designer«

( 36) »PLC Designer«

( 24)

( 25) »Engineer«

»GDC«

( 29) »PLC Designer«

( 36) »PLC Designer«

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6.2 Detailed commissioning steps

The individual commissioning steps are described in the following sections.

Follow the instructions step by step to commission your system.

 More detailed information about how to work with the Lenze engineering tools

can be found in the corresponding manuals and online helps.

6.2.1 Planning the bus topology

Before you start to set up a PROFIBUS network, first create a plan of your network.

 Note!

Observe the connection between the bus cable length and baud rate.

Commissioning of PROFIBUS

Detailed commissioning steps

Baud rate / bus cable length

 How to plan the bus topology for your configuration:

1. Create an overview screen of the planned PROFIBUS network with all field devices to be implemented.

2. Start with the industrial PC (master).

3. Add the other field devices (slaves) below.

6.2.2 Installing field devices

For the installation of a field device, follow the mounting instructions for the respective device.

Activation of the bus terminating resistor

The PROFIBUS network must be terminated at the first and last station. The bus terminating resistor is integrated in the bus connector and is activated by a switch.

 Note!

( 21)

If you want to disconnect individual bus stations, ensure that the bus terminators at the cable ends remain active.

The bus termination is not active anymore if e.g. in the event of service the plug has been removed or the module supply has been switched off.

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Commissioning of PROFIBUS Detailed commissioning steps

6.2.3 Creating a project folder

Create a project folder on the engineering PC.

Use this project folder to store the below data generated in the different project configuration steps:

 Project data created in the »Engineer« or »GDC«

 The project file created in the »PLC Designer«  Project data of other engineering tools

 Tip!

Create a separate project folder for every PROFIBUS configuration for storing the project files.

6.2.4 Storing the device data base files (GSE)

The data of the bus pheripherals required for the master control are stored in a GSE file. This file is required for programming the control.

Current GSE files (e.g. for the I/O system IP20 or for Lenze PROFIBUS communication modules) can be downloaded in the Download area at http://www.Lenze.com

Store the required GSE files in the »PLC Designer« target directory:

 C:\...\Lenze\PlcDesigner\Targets\L-force_Logic_x800_V8\PlcConfPCMatic

 C:\...\Lenze\PlcDesigner\Targets\L-force_Motion_x800_V8\PlcConfPCMaticMotion

 Note!

PROFIBUS can be used in motion and logic systems. In the Lenze control system, PROFIBUS is the logic bus. Only use PROFIBUS in a motion system if an additional motion bus (e.g. CAN) is used.

CANopen with PROFIBUS

 Tip!

The GSE files can also be stored via the »PLC Designer« with the menu command ExtrasAdd configuration file.

( 37)

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6.2.5 Commissioning of field devices

Parameterise the Lenze field devices connected to PROFIBUS either with the »Engineer« or with »GDC«, depending on the device.

PROFIBUS is exclusively configured with the »PLC Designer«.

 Observe the information with regard to commissioning in the documentation

for the field devices.

 Tip!

We recommend to commission each field device individually and then integrate them into the PLC program.

Servo Drives 9400 HighLine

Commissioning of PROFIBUS

Detailed commissioning steps

During commissioning of a Servo Drive 9400 HighLine, the module parameter DeactivateDPV1AutoSet must be set to the value "No":

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Commissioning of PROFIBUS Detailed commissioning steps

6.2.6 Configuration in the »PLC Designer«

The »PLC Designer« serves to map the field device topology in the control configuration.

 Tip!

The »PLC Designer« serves to configure PROFIBUS stations and nodes on other fieldbus systems.

CANopen with PROFIBUS

6.2.6.1 Creating a PLC program

 How to create a PLC program in the »PLC Designer«:

1. Create a new »PLC Designer« project:

• Menu command: FileNew

2. Select the suitable target system from the Target Settings dialog box:

Target system Use with IPC series

L-force Logic x800 V8.xx.xx zzz -

L-force Logic EL1xx V1.xx ---z

( 37)

EL x8xx CS x8xx CPC x8xx EL 1xx PLC

The target systems of release 2.2/2.3 (L-force Logic x700) can also be used for device series EL x8xx, CS x8xx, and CPC x8xx.

3. Confirm the configuration of the target system setting by clicking the OK button.

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4. Create a block:

 Note!

The block must contain at least one instruction to function properly.

Control technology | PROFIBUS communication manual

Commissioning of PROFIBUS

Detailed commissioning steps

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Commissioning of PROFIBUS Detailed commissioning steps

5. Create the control configuration:

•Open the Resources dialog box:

•Open the PLC Configuration dialog box:

Setting Description

Automatic calculation of addresses Every newly added module automatically gets an address which results from

Check for overlapping addresses During the compilation of the project, a check for address overlapping is

Save configuration files in project The data of the configuration file(s) *.cfg and device files on which the

the address of the module integrated before and the size of this module. If a module is removed from the configuration, the addresses of the subsequent modules are adapted automatically.

The ExtrasCalculate addresses menu command serves to recalculate the addresses starting with the currently selected node (module).

carried out and overlapping addresses are indicated.

current control configuration is based are stored in the project.

 Note!

We recommend to keep the standard setting. In the case of a manual address allocation, you must ensure that each object address is non-ambiguous in the entire control configuration.

Detailed information on this can be found in the documentation/online help of the »PLC Designer«.

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6.2.6.2 Configuring the PROFIBUS master

 How to configure the PROFIBUS master:

1. Add the bus interface to the PLC configuration:

The "ProfibusMaster" subelement represents the PROFIBUS interface of the IPC to which the logic bus is connected.

Commissioning of PROFIBUS

Detailed commissioning steps

2. Set DP parameters for the PROFIBUS master:

• The standard setting of the PROFIBUS master station address is ’1’. Only change

the setting if the address is to deviate from ’1’.

• The "highest station address" is incremented automatically with each added

slave. Thus the value should not be changed manually.

•The GSE file... button serves to open and inspect the device-related GSE file.

•The Groups... button leads to the Group properties dialog. The group properties

refer to the slaves assigned to the master.

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Commissioning of PROFIBUS Detailed commissioning steps

Up to eight groups can be arranged. Set for each group whether they are to be operated in freeze mode and/or sync mode. By assigning the slaves (see "Properties of the DP slave", "Group assignment") to different groups, the data exchange from the master via a global control command can be synchronised.

A freeze command causes a master, a slave, or a group, to "freeze" the input in the current status and transfer these data in the next data exchange process.

A sync command causes the slaves to connect the data received by the master through to the outputs synchronously regarding time with the next sync command.

In order to switch on/off the freeze and sync option for one group, left-click the corresponding position in the table to place/remove an 'X' at the requested option or right-click it to activate/deactivate the option via a context menu. Moreover you can edit the group names here.

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Commissioning of PROFIBUS

Detailed commissioning steps

3. Go to the Bus parameters tab to set the baud rate for PROFIBUS:

4. Go to the Module parameters tab to set the "Byteorder wordmodules motorola" parameter:

The "Byteorder wordmodules motorola" parameter determines how the data are copied from PROFIBUS to the process image.

Setting Description

No Standard setting:

The data are received by the bus in Motorola format (Big Endian) and copied into the Intel format (Little Endian). The user sees a correct integer value (INT) (example: ’0x1234’  ’0x1234’).

We recommend to keep this setting. Like this, the slave data are correctly transferred to the process image.

Yes The data are copied without being transposed from the bus to the process image. The user sees

a transposed integer value (INT) (example: ’0x1234’  ’0x3412’).

• Compatibility with other projects from the version 1.5

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Commissioning of PROFIBUS Detailed commissioning steps

5. Attach PROFIBUS slave:

The GSE file of the PROFIBUS slave must be stored in the »PLC Designer« target directory.

Storing the device data base files (GSE)

( 24)

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6.2.6.3 Configuring the PROFIBUS slave

 How to configure the PROFIBUS slave:

1. Set DP parameters for the PROFIBUS slave:

Commissioning of PROFIBUS

Detailed commissioning steps

• Enter the station address of the PROFIBUS slave here.

• A baud rate does not need to be set since the slave recognises the baud rate

automatically.

•The GSE file... button serves to open and inspect the device-related GSE file.

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Commissioning of PROFIBUS Detailed commissioning steps

2. Via the Input/Output tab, configure the input and output objects for the slaves.

 Note!

The input and output objects must be configured in the same sequence as they are arranged physically at the bus.

• In the left window, the dialog lists all input and output modules, process data

objects (PCD) and DRIVECOM parameter objects (e.g. for Servo Drives 9400) which are available in the GSE file of the slave.

• The right window contains the configuration of the inputs and outputs

currently selected for this device.

• This type of selection is not possible with non-modular slaves. These cause a

closed representation of their inputs and outputs in the right window.

•The Properties button leads to the Module properties dialog of the input or

output object currently selected in the left or right list.

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Commissioning of PROFIBUS

Detailed commissioning steps

3. Assign for each address of the input and output objects (e.g. %IB0, %QB0, ...) a symbolic name which is non-ambiguous in the entire control configuration in accordance with the IEC 61131 syntax (no blanks and leading digits in the variable name):

• Symbolic names can be entered by a mouse-click in front of ’AT %... ;’.

 Note!

When symbolic names are entered, corresponding system variables are created for the PLC program.

Always use the system variables within the PLC program in order to access the input and output objects or assign values to them.

The <F2> function key serves to open the input assistance in the »PLC Designer«.

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Commissioning of PROFIBUS Detailed commissioning steps

6.2.6.4 Compiling project data

To compile the project data, select the ProjectBuild menu command or press the <F11> function key.

 If errors occurred during the compilation process, you can locate and eliminate them by

means of the »PLC Designer« error messages. Then compile the project data again.

 If no errors occurred during the compilation process, save the »PLC Designer« project to

the project folder.

6.2.6.5 Logging on to the control system with the »PLC Designer«

To log the »PLC Designer« on to the control system, select the menu command

OnlineLogin.

 For this, the PLC program must be error-free.

 Confirm the appearing query dialog whether the new program is to be loaded with Yes.

6.2.6.6 Loading and starting the PLC program

 How to load and start the PLC program on the IPC:

1. Select the OnlineDownload menu command.

2. Select the required file in the appearing dialog window.

3. Confirm the selection by clicking the Open button.

• The file is loaded onto the IPC and saved there under the same name.

• The PROFIBUS is initialised.

4. Select the OnlineRun menu command.

• The PLC program is executed.

• The cyclic data transfer starts.

 Note!

• The bus starts even if not all stations at the bus are available.

• When the PLC program is stopped, (menu command OnlineStop) the cyclic

data transfer continues to run until a reset source is executed (Menu command OnlineReset (original)).

 Tip!

The menu command OnlineRead file from PLC can be used to reload a file from the IPC into the »PLC Designer« project.

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7 CANopen with PROFIBUS

 Note!

• Mixed operation is only possible with industrial PCs which have two

additional slots for communcation cards. Mixed operation is not possible with the "Command Station".

• In release 2.5, PROFIBUS cannot be combined with EtherCAT.

• In the control configuration the PROFIBUS master must be arranged in the

first position – in front of the CANopen motion stations.

CANopen with PROFIBUS

 "CANopen control technology" communication manual

Here you can find detailed information on how to commission CANopen components.

Addressing the CANopen and PROFIBUS stations

The addresses for input and output objects of the PROFIBUS and CANopen stations are automatically allocated in the »PLC Designer« (standard setting):

 Note!

We recommend to keep the standard setting. In the case of a manual address allocation, you must ensure that each object address is non-ambiguous in the entire control configuration.

Detailed information on this can be found in the documentation of the »PLC Designer«.

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Function libraries

8 Function libraries

For configuring PROFIBUS and for diagnostic purposes, the following function libraries are available in the »PLC Designer«:

Function libraries Application

BusDiag.lib function library

NetXPBInfo.lib function library

HilscherNetX.lib function library

SysLibDPV1Hilscher.lib function library

( 39) This library serves to query diagnostics information from

the PROFIBUS master and the slaves.

( 44) This library serves to query various information of the

PROFIBUS master (e.g. error counter, bus cycle counter).

( 46) This library enables direct access to the package interface

of the PROFIBUS communication card.

( 50) This library supports the acyclic PROFIBUS DPV1 - class 1

write and read services for data transfer between the master and the slaves. (For this see PROFIBUS-DP standard.)

 More information on the function libraries can be found in the documentation/

online help of the »PLC Designer«.

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8.1 BusDiag.lib function library

The BusDiag.lib function library contains the following function blocks for diagnostics:

Function libraries

BusDiag.lib function library

DiagGetBusState function block

DiagGetState function block ( 41)

8.1.1 DiagGetBusState function block

This block serves to display the current bus status.

DiagGetBusState must be set via AT %MByy to the diagnostics address of the PROFIBUS station to be diagnosed. The status is updated in the background. Thus, the input variables (VAR_INPUT) do not need to be pre-assigned.

( 39)

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Function libraries BusDiag.lib function library

Inputs (VAR_INPUT)

The status is updated in the background. Thus, the input variables do not need to be preassigned.

Identifier/data type Meaning/possible settings

ENABLE

DRIVERNAME

POINTER TO

STRING

DEVICENUMBER

The function block is activated in an edge-controlled manner:

BOOL

• Positive edge (TRUE) = diagnostics information is detected and READY is set to TRUE.

Name of the driver (address of the name) to which the diagnostics order is to be transmitted.

• If a ’0’ is entered here, the diagnostics order is passed to all available drivers.

Identification of the bus which is managed by this module (driver).

INT

• The instance results from the PLC configuration. The first node attached corresponds to instance 0, the second one to the instance 1 and so on.

• For a second MC-PBM communication card, you must create a second GetBusState instance with another %MByy address. In order to obtain the extended diagnostics with the DiagGetState function block the block with Instance := 1.

( 41), you must call

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

READY

STATE

EXTENDEDINFO

ARRAY [0...129]

OF BYTE

Always TRUE: Processing of the diagnostics order is completed.

BOOL

When READY = TRUE, STATE indicates the current status of the block by one of the following values. These values are assigned to global constants. The constants are

INT

stored in the BusDiag.lib function library.

Value = 1 The bus is ok, no error.

• Constant BUSSTATE_BUSOK

Value = 2 A bus error has occurred.

• Constant BUSSTATE_BUSFAULT

Value = 3 There is no PROFIBUS communication or communication has been

Value = 4 The PROFIBUS is set to STOPPED.

1:1 relation between the ARRAY index and the station number of the slave. Only the first three bits of the byte are used:

aborted.

• Constant BUSSTATE_BUSNOTCOMMUNICATING

• Constant BUSSTATE_BUSSTOPPED

Bit 0 The PROFIBUS station is configured.

Bit 1 The PROFIBUS station is active at the bus.

Bit 2 The PROFIBUS station sends an error message.

• Detailed information can be obtained via the DiagGetState

function block ( 41).

 Note!

After the bus is activated, the slaves set the Error-Flag (bit 2) so that the master first reads out the diagnostics information. If the diagnostics information for the corresponding slave is read out via the DiagGetState function block Error-Flag is reset.

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( 41), the

Control technology | PROFIBUS communication manual

8.1.2 DiagGetState function block

If a station available on the bus reports an error, its specific diagnostics information can be read with the DiagGetState block.

DiagGetState must be called explicitly with the device number and the bus member ID (station address).

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

ENABLE

DRIVERNAME

POINTER TO

STRING

DEVICENUMBER

BUSMEMBERID

DWORD

The function block is activated in an edge-controlled manner:

BOOL

• Positive edge (TRUE) = diagnostics information is detected and READY is set to TRUE.

Always set to ’0’: The diagnostics order is passed to all available drivers.

Identification of the bus which is managed by this module (driver).

INT

• The instance results from the PLC configuration. The first PROFIBUS station attached corresponds to the instance 0, the second to the instance 1 etc.

• For a second MC-PBM communication card, for instance, there is a second GetBusState instance with another %MByy address. In order to obtain extended diagnostics with the DiagGetState function block with Instance := 1.

Station address of the PROFIBUS station for which the diagnostics information is to be requested.

Function libraries

BusDiag.lib function library

( 41), you must call the block

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

READY

STATE

FALSE: The diagnostics order is processed.

BOOL

TRUE: Processing of the diagnostics order is completed.

When READY = TRUE, STATE indicates the current status of the block by one of the following values. These values are assigned to global constants. The constants are

INT

stored in the BusDiag.lib function library.

Value = -1 Invalid input parameter

• Constant NDSTATE_INVALID_INPUTPARAM

Value = 0 Diagnostics information is not released.

• Constant NDSTATE_NOTENABLED

Value = 1 Diagnostics information is requested.

• Constant NDSTATE_GETDIAG_INFO

Value = 2 Diagnostics information is available.

• Constant NDSTATE_DIAGINFO_AVAILABLE

Value = 3 No diagnostics information available (error when reading data).

• Constant NDSTATE_DIAGINFO_NOTAVAILABLE

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Function libraries BusDiag.lib function library

Identifier/data type Meaning/possible settings

EXTENDEDINFO

ARRAY [0...129]

OF BYTE

Example: Diagnostics information of Servo Drives 9400 in ’EXTENDEDINFO’

Contains the slave-specific diagnostics information.

Byte 0 Station status 1

Byte 1 Station status 2

Byte 2 Station status 3

Byte 3 Master station number

Byte 4 Manufacturer's identification mark (high byte)

Byte 5 Manufacturer's identification mark (low byte)

Byte 6 ... n Slave-specific diagnostics information (see documentation of the

slave)

Byte in EXTENDEDINFO

6 Bit 0: Station does not exist (set by the master).

7 Bit 0: Slave has to be parameterised again.

8 Bit 7: Diagnostics overflow - amount of diagnostics data present in the slave is too large to fit

9 Bits 0 ... 7: Master address after parameter setting ("0xFF" without parameterisation)

10 Bits 0 ... 7: ID number (high byte)

11 Bits 0 ... 7: ID number (low byte)

12 Header

13 Status_Type

14 Slot_Number

15 Specifier

16 PROFIsafe, error number of the safety module

Meaning

Bit 1: Slave is not ready for data exchange. Bit 2: Configuration data do not match each other. Bit 3: Slave has extended diagnostic data. Bit 4: Requested service is not supported by the slave. Bit 5: Slave response is invalid (set by the master) Bit 6: Incorrect parameter setting Bit 7: Slave is parameterised by another master (set by the master).

Bit 1: Static diagnostics Bit 2: Fixedly set to "1". Bit 3: Watchdog active Bit 4: Freeze command received. Bit 5: Sync command received. Bit 6: Reserved Bit 7: Slave is deactivated (set by the master).

into one telegram.

• The header contains the block length of extended diagnostics and the header byte.

• In this case, the value of the entry is "0x0A" (bytes 6 ... 15 = 10 bytes).

• The value of this entry is fixed. For the following bit assignment it is "0x81": –Bit 7 = 1: "status" –Bit 0 = 1: "status message" –Values of all other bits = 0

• Value of the slot number: "0x00"

• A detected error is entered in the specifier with the identification "0x0" (status coming).

• An eliminated error is entered in the specifier with the identification "0x02" (status going).

• If no errors are indicated, the entry in the specifier has the value "0x00" (no further differentiation).

• If an error occurs in the safety module, byte 10 (low byte) and byte 11 (high byte) contain the corresponding error number.

• More information can be found in the documentation of the corresponding safety module.

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Function libraries

BusDiag.lib function library

Byte in EXTENDEDINFO

18 ... 21 Error code of the PROFIBUS station

Meaning

• More information can be found in the documentation of the corresponding PROFIBUS station.

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Function libraries NetXPBInfo.lib function library

8.2 NetXPBInfo.lib function library

The NetXPBInfo.lib function library serves to query various information on the PROFIBUS master (e.g. error counter, bus cycle counter).

8.2.1 Structure of NETXGETPBINFOSTYP

TYPE NETXGETPBINFOSTYP : STRUCT iDev : INT; iDummy : INT; ulLastCycleTime : DWORD; ulCycleStarts : DWORD; ulCycleEnds : DWORD; usBus_error_cnt : WORD; usMsg_Timeout : WORD; usRX_Overflow : WORD; usBus_Off_cnt : WORD; ucErrNumber : BYTE; ucErrStationAdr: BYTE; END_STRUCT END_TYPE

Description of the components

Identifier/data type Meaning/possible settings

iDev

iDummy

ulLastCycleTime

DWORD

ulCycleStarts

DWORD

ulCycleEnds

DWORD

usBus_error_cnt

WORD

usMsg_Timeout

WORD

usRX_Overflow

WORD

usBus_Off_cnt

WORD

ucErrNumber

POINTER TO

ucErrStationAdr

POINTER TO

Device number of the PROFIBUS master

INT

Not used

INT

The time measured last to start the bus cycle.

Number of the bus cycles started

Number of the bus cycles completed

Number of the bus error events

Number of the bus message errors

Number of the transmit overflow events

Number of the Bus_OFF events

General error counter

BYTE

Last faulty slave address

BYTE

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8.2.2 NetXGetPBInfos function

This function serves to request various information on the NetX PROFIBUS master. The information is entered into the memory transferred. The return value contains the error code. ’0’ indicates an error, a value unequal ’0’ indicates a successful query.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

pAddress

POINTER TO

NETXGETPBINFOSTYP

Function libraries

NetXPBInfo.lib function library

Pointer to an instance of the NETXGETPBINFOSTYP structure. The data are entered into this structure.

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Function libraries HilscherNetX.lib function library

8.3 HilscherNetX.lib function library

The HilscherNetX.lib function library enables direct access to the package interface of the PROFIBUS communication card.

 In order to use the functions of the library, you must be provided with the

corresponding documentation of the respective NetX Hilscher firmware. The documentation can be procured from the Lenze service.

8.3.1 CIFX_PACKET structure

TYPE CIFX_PACKET STRUCT tHeader : CIFX_PACKET_HEADER; abData : ARRAY [0..1559] OF BYTE; END_STRUCT END_TYPE

Description of the components

Identifier/data type Meaning/possible settings

tHeader

POINTER TO

CIFX_PACKET_HEADER

abData

ARRAY [0...1559]

OF BYTE

Command and management data of the package.

Data to be sent or received

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8.3.2 CIFX_PACKET_HEADER structure

TYPE CIFX_PACKET_HEADER : STRUCT ulDest : UDINT; ulSrc : UDINT; ulDestId : UDINT; ulSrcId : UDINT; ulLen : UDINT; ulId : UDINT; ulState : UDINT; ulCmd : UDINT; ulExt : UDINT; ulRout : UDINT; END_STRUCT END_TYPE

Description of the components

Function libraries

HilscherNetX.lib function library

Identifier/data type Meaning/possible settings

ulDest

UDINT

ulSrc

UDINT

ulDestId

UDINT

ulSrcId

UDINT

ulLen

UDINT

ulId

UDINT

ulState

UDINT

ulCmd

UDINT

ulExt

UDINT

ulRout

UDINT

Target of the package in the process flow

Source of the package in the process flow

Target reference of the package

Source reference of the package

Length of the package without header

Identification handle of the transmitter

Status of the order

Package command

• See NetX documentation for detailed information.

Extension

• Is not used (value = ’0’)

Routing

• Is not used (value = ’0’)

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Function libraries HilscherNetX.lib function library

8.3.3 CIFXGetChannelHandle function

This function provides the handle of the NetX channel as return value. This handle can be used to request the CIFXGetPacket functions and CIFXPutPacket. In the event of an error, ’0’ is returned.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

iDevice

8.3.4 CIFXPutPacket function

This functions transmits a package to the NetX channel. A package of the CIFX_PACKET type must be transmitted. When it is sent, the ulSrcId value is written by the driver. This is important to retrieve the response to the request. The return value is the error code. ’0’ means error-free, unequal ’0’ is the error case. The Hilscher firmware documentation describes the error codes in detail.

Device number of the NetX station

INT

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

hChannel

pPacket

ulTimeout

UDINT

POINTER TO

CIFX_PACKET

UDINT

Handle of the channel which can be queried via CIFXGetChannelHandle.

Pointer to the package which is to be transmitted.

Transmit time-out which is waited for.

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8.3.5 CIFXGetPacket function

This function retrieves the response to a package transmitted before. For this, the management data of the transmitted package must be accepted unchanged. It is important that the ulSrcId value changed by the driver is transferred. The return value is the error code. ’0’ means error-free, unequal ’0’ is the error case. The Hilscher firmware documentation describes the error codes in detail.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

hChannel

UDINT

udiSize

UDINT

pPacket

POINTER TO

CIFX_PACKET

ulTimeout

UDINT

ulRemAddress

UDINT

Function libraries

HilscherNetX.lib function library

Handle of the channel which can be queried via CIFXGetChannelHandle.

Size of the memory area which is transferred together with pPacket.

Pointer to the package which is to be transmitted.

Receipt time-out which is waited for.

Set to ’0’.

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Function libraries SysLibDPV1Hilscher.lib function library

8.4 SysLibDPV1Hilscher.lib function library

The SysLibDPV1Hilscher.lib function library supports the acyclic PROFIBUS DPV1 - class 1 write and read services for data transfer between the master and the slaves. The data is addressed within the slave stations via slot and index (for this see the PROFIBUS-DP standard).

If the target system is supported, the following function blocks are available:

DPV1_Read / DPV1_ReadEx function block

DPV1_Write / DPV1_WriteEx function block ( 52)

8.4.1 V1State structure

This structure is used by the blocks of the SysLibDPV1Hilscher.lib library with the State output variable. It describes the status of the order.

TYPE V1State : (NotEnabled := 0, InvalidParam, Started, Done, DoneWithError ); END_TYPE

Description of the components

Identifier/data type Meaning/possible settings

NotEnabled := 0 The function block is not active.

InvalidParam Invalid input parameter

Started The function block has started processing.

Done The function block has completed processing.

( 51)

DoneWithError The function block has aborted processing with an error.

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8.4.2 DPV1_Read / DPV1_ReadEx function block

This function block serves to read data.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

ENABLE

Device

StationAddr

Slot

Index

Len

buffer

DWORD

The function block is activated in an edge-controlled manner:

BOOL

• Positive edge (TRUE) = diagnostics information is detected and READY is set to TRUE.

Index of the Hilscher card to which the order is transferred.

INT

Station address of the slave in PROFIBUS.

INT

Data slot for identifying the data in the slave.

INT

Data index for identifying the data in the slave.

INT

Length of the data to be read/written in bytes.

INT

• Here, the maximum length of the buffer data buffer is transferred.

The local address of the data (created with ADR()).

Function libraries

SysLibDPV1Hilscher.lib function library

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

READY

STATE

POINTER TO

V1State

Size

Error

ARRAY [0 ... 7]

OF BYTE

FALSE: The read request is processed.

BOOL

TRUE: The read request is completed.

Information on the status of the order

• See V1State structure

Length of the actually read/written data when executed successfully.

INT

Information on errors occurred

• Only contained in DPV1_ReadEx function block.

Byte 1 Hilscher error code

• See documentation of Hilscher PROFIBUS cards "Protocol Interface Manual Profibus DP" for detailed information.

Byte 2 Error class code

• See PROFIBUS standard for detailed information.

Byte 3 + 4 Index 2 + 3: Slave-specific error information

• See documentation of the slave for detailed information.

( 50)

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Function libraries SysLibDPV1Hilscher.lib function library

8.4.3 DPV1_Write / DPV1_WriteEx function block

This function block serves to write data.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

ENABLE

Device

StationAddr

Slot

Index

Len

buffer

DWORD

The function block is activated in an edge-controlled manner:

BOOL

• Positive edge (TRUE) = diagnostics information is detected and READY is set to TRUE.

Index of the Hilscher card to which the order is transferred.

INT

Station address of the slave in PROFIBUS.

INT

Data slot for identifying the data in the slave.

INT

Data index for identifying the data in the slave.

INT

Length of the data to be read/written in bytes.

INT

• Here, the maximum length of the buffer data buffer is transferred.

The local address of the data (created with ADR()).

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

READY

STATE

POINTER TO

V1State

Size

Error

ARRAY [0 ... 7]

OF BYTE

FALSE: The read request is processed.

BOOL

TRUE: The read request is completed.

Information on the status of the order

• See V1State structure

Length of the actually read/written data when executed successfully.

INT

Information on errors occurred

• Only contained in DPV1_WriteEx function block.

Byte 1 Hilscher error code

• See documentation of Hilscher PROFIBUS cards "Protocol Interface Manual Profibus DP" for detailed information.

Byte 2 Error class code

• See PROFIBUS standard for detailed information.

Byte 3 + 4 Index 2 + 3: Slave-specific error information

• See documentation of the slave for detailed information.

( 50)

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SysLibDPV1Hilscher.lib function library

8.4.4 Telegram examples of the PROFIdrive parameter data channel (DP-V1)

In the following, a parameter read order and a parameter write order for a Servo Drive 9400 are described.

8.4.4.1 Example of read request: Query heatsink temperature

The heatsink temperature of the Servo Drive 9400 is to be read.

 Code to be read: C00061

 Heatsink temperature: 43 °C

Parameter request

Byte 1 Byte 2 Byte 3 Byte 4

Job reference Job identification Axis Number of indexes

0xXX 0x01 0x00 0x01

Request parameter for reading

Function libraries

Byte 5 Byte 6

Attribute Number of subindexes

0x10 0x00

Value No subindex

Byte 7 Byte 8 Byte 9 Byte 10

Index Subindex

High byte Low byte High byte Low byte

0x5F 0xC2 0x00 0x00

Index = 24575 - code no. = 24575 - 61 = 24514 = 0x5F C2 No subindex

Parameter response to a correctly executed read request

Byte 1 Byte 2 Byte 3 Byte 4

Job reference Response identification Axis Number of indexes

0xXX 0x01 0x00 0x01

(Mirrored) Parameter read (Mirrored)

Byte 5 Byte 6

Format Number of values

0x43 0x01

Double word 1 value

Byte 7 Byte 8 Byte 9 Byte 10

Value

High word: high byte High word: low byte Low word: high byte Low word: low byte

0x00 0x00 0x00 0x2B

Value read = 0x00 00 00 2B = 43 x 1 (internal factor) = 43 [°C]

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Parameter response to a read error

Byte 1 Byte 2 Byte 3 Byte 4

Job reference Response identification Axis Number of indexes

0xXX 0x81 0x00 0x01

(Mirrored) Parameter not read (Mirrored)

Byte 5 Byte 6

Format Number of values

0x44 0x01

Error Error code without additional

Byte 7 Byte 8

Error code

High byte Low byte

See documentation of the PROFIBUS station.

information

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SysLibDPV1Hilscher.lib function library

8.4.4.2 Example of write request: Set deceleration time for quick stop

In the Servo Drive 9400, the ramp time for quick stop is to be set to 50 ms.

 Code to be written to: C00105

Parameter request

Byte 1 Byte 2 Byte 3 Byte 4

Job reference Job identification Axis Number of indexes

0xXX 0x02 0x00 0x01

Write parameter Axis 0 1 index

Byte 5 Byte 6

Attribute Number of subindexes

0x10 0x00

Value No subindex

Function libraries

Byte 7 Byte 8 Byte 9 Byte 10

Index Subindex

High byte Low byte High byte Low byte

0x5F 0x96 0x00 0x00

Index = 24575 - code no. = 24575 - 105 = 24470 = 0x5F 96 No subindex

Byte 11 Byte 12

Format Number of values

0x43 0x01

Double word 1 value

Byte 13 Byte 14 Byte 15 Byte 16

Value

High word: high byte High word: low byte Low word: high byte Low word: low byte

0x00 0x00 0x00 0x32

Value to be written = 0.05 [s] x 1000 (internal factor) = 50 = 0x00 00 00 32

Parameter response to a correctly executed write request

Byte 1 Byte 2 Byte 3 Byte 4

Job reference Response identification Axis Number of indexes

0xXX 0x02 0x00 0x01

(Mirrored) Parameter written (Mirrored) 1 index

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Function libraries SysLibDPV1Hilscher.lib function library

Parameter response to a read error

Byte 1 Byte 2 Byte 3 Byte 4

Job reference Response identification Axis Number of indexes

0xXX 0x82 0x00 0x01

(Mirrored) Parameter not written (Mirrored) 1 index

Byte 5 Byte 6

Format Number of values

0x44 0x01

Error Error code without additional

Byte 7 Byte 8

Error code

High byte Low byte

See documentation of the PROFIBUS station.

information

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Defining the minimum cycle time of the PLC project

Calculating the total access time to the peripheral devices (T

9 Defining the minimum cycle time of the PLC project

This chapter will inform you on how the minimum cycle time of the PLC project can be defined.

The calculation of the minimum cycle time comprises the following steps:

Correction

)

1. Calculating the total access time T

Correction

to the peripheral devices.

Calculating the total access time to the peripheral devices (T

2. Determining the task utilisation T

Task utilisation

Detecting the task utilisation of the application (T

of the application during operation.

Task utilisation

3. Calculating the minimum cycle time.

Calculating the minimum cycle time

( 60)

4. Optimising the system.

Optimising the system

( 61)

9.1 Calculating the total access time to the peripheral devices (T

The cycle times depend on the number of configured field devices and the IPC hardware used.

Configuration Access time with processor

1 PROFIBUS master (logic) 140 μs

1. axis (16 input words and 16 output words)

For each further axis (16 input words and 16 output words)

Correction

) ( 58)

Correction

ATOM 1.6 GHz

)

40 μs

10 μs

) ( 57)

Example

Access times for an industrial PC (ATOM 1.6 GHz) with 3 axes

Access time of PROFIBUS master

+ access time of 1. axis

+ access time for 2 further axes

= total access time 200 μs

140 μs 40 μs 20 μs

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Defining the minimum cycle time of the PLC project Detecting the task utilisation of the application (T

Task utilisation

)

9.2 Detecting the task utilisation of the application (T

The time T this the system is commissioned on the basis of cycle times that are sufficiently long, and

afterwards it is optimised.

In order to detect the task utilisation, use the task editor in the »PLC Designer«.

9.2.1 Display of the system utilisation in the »PLC Designer« with the task editor

Task utilisation

cannot be calculated. It is determined in the running system. For

Task utilisation

)

 Note!

In order to be able to display the utilisation for all tasks, the IEC 61131 SysTaskInfo library has to be included in the project.

The task editor contains a dialog window consisting of two parts.

 The left part represents the tasks in a configuration tree.

 If the Task configuration entry is highlighted, the utilisation for all tasks is shown in bar

diagrams in the right dialog window.

 How to display the system utilisation:

1. Select the Resources tab:

2. Open the Task configuration in the online mode of the »PLC Designer«:

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Detecting the task utilisation of the application (T

9.2.2 Detecting the task utilisation

Initial situation

A project with, for instance, a motion task and two 2 tasks of a lower priority is created completely.

Defining the minimum cycle time of the PLC project

Task utilisation

)

 How to detect the task utilisation T

1. For a first measurement of T system are set to 'long'.

• Example: Motion task = 10 ms, all other cyclic tasks = 20 ms

2. Log in and load project.

3. After the system has started up completely, press the Reset button on the Task processing tab.

• The displayed task runtimes are reset.

4. Read the maximum computing time of the task with the highest priority that is shown in the task configuration (T

Task utilisation

the cycle times of all cyclic tasks in the PLC

Task utilisation

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Defining the minimum cycle time of the PLC project Calculating the minimum cycle time

9.3 Calculating the minimum cycle time

 Note!

For calculating the minimum cycle time, a safety factor of 1.5 is included.

The minimum cycle time T

for a system results from the sum of the times detected

min

before, multiplied by the safety factor:

> safety factor x ( T

min

Task utilisation

+ T

Correction

)

Example

Configuration: Industrial PC (ATOM 1.6 GHz) with 3 axes

Access time determined Result

Calculated correction value T

Value read from task configuration: T

Actual required computing time 700 μs

Minimum cycle time including a safety factor of 1.5 T

Actual cycle time 2000 μs

Correction

Task utilisation

min

200 μs

(140 μs + 40 μs +(2 x 10 μs))

500 μs

1050 μs

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9.4 Optimising the system

 How to optimise the system:

1. Log in and load project.

2. Check the task processing times.

3. Optimising the cycle times:

• If required technologically, the cycle times of the remaining tasks with lower

priorities can be decreased.

• Condition: No task with a low priority must assign more than 60 percent of the

corresponding cycle time in its task utilisation.

Defining the minimum cycle time of the PLC project

Optimising the system

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Diagnostics Diagnostics in the »PLC Designer«

10 Diagnostics

PROFIBUS can be diagnosed in the »PLC Designer« by means of specific diagnostics function blocks.

Moreover, the field devices, PROFIBUS communication modules, and the MC-PBM communication card are provided with LED status displays for diagnostics.

10.1 Diagnostics in the »PLC Designer«

For the diagnostics of PROFIBUS in the »PLC Designer«, the BusDiag.lib function library

( 39) provides two function blocks:

DiagGetBusState function block

– Shows the current bus status.

DiagGetState function block

– If a station available on the bus reports an error, its specific diagnostics information

can be read.

10.2 Error messages if communication card MC-PBM is not available

If no communication card MC-PBM has been inserted into the industrial PC, error messages occur during the download of the »PLC Designer« project.

Remedy: Insert the communication card MC-PBM into the industrial PC.

( 39):

( 41)

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10.3 LED status displays

The LED status displays of the field devices, PROFIBUS communication modules, and the MC-PBM communication card provide information on the device and communication states.

 Detailed information on the LED status displays of the field devices and

PROFIBUS communication modules can be found in the corresponding documentation.

LED status displays of the MC-PBM communication card

LED Colour Status Description

SYS Green On Communication is active:

Yellow Blinking once per

- Off No voltage supply or hardware is defective.

ST0 - Off No function

ST1 - Off No function

ST2 Red On The device has a communication problem with at least one

Yellow On The devices holds the PROFIBUS token and can transmit telegrams.

- Off There is a connection to PROFIBUS.

Control technology | PROFIBUS communication manual

Diagnostics

LED status displays

The device has established at least one connection to a configured station.

Blinking 5 times per second (5 Hz)

Blinking irregularly • Starting action: Missing or faulty configuration

second (1 Hz)

Blinking 5 times per second (5 Hz)

Blinking irregularly A hardware or severe system error has been detected.

Blinking irregularly The device is in the PROFIBUS network and shares the token with

No error in the configuration: Communication is stopped or the device is ready for communication.

However, there is no connection to a slave.

• Runtime: Host watchdog time error

The device is in bootstrap loader mode and is waiting for the firmware download

The firmware download is executed.

PROFIBUS slave or has detected a short circuit.

other PROFIBUS master devices.

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Parameter reference

11 Parameter reference

This chapter supplements the parameter list provided in the online documentation for the industrial PC by the parameters of the MC-PBM communication card:

Parameters of the MC-PBM communication card in slot 1

Parameters of the MC-PBM communication card in slot 2 ( 66)

( 65)

 Note!

• Several MC_PBM communication cards can be used per industrial PC. The

name of the card in the »WebConfig« is MC-PBM.

• Depending on the slot used, the code numbers differ by an offset of ’500’. To

obtain the code numbers for a communication card inserted in slot 2, an offset of ’500’ must be added to the code numbers of a card inserted in slot 1.

 Tip!

For general information about parameters please see the online documentation for the industrial PC.

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Parameters of the MC-PBM communication card in slot 1

11.1 Parameters of the MC-PBM communication card in slot 1

The parameters are listed in numerically ascending order.

Parameter reference

C1031

C1032

C1033

C1034

C1035

Parameter | Name:

C1031 | Device: type key

Identification of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1032 | Device: type version

Version number of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1033 | Device: Name

Device name of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1034 | Device: Software version

Software version of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1035 | Device: Hardware version

Hardware version of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Data type: VISIBLE_STRING

Index: 23544

Data type: VISIBLE_STRING

Index: 23543

Data type: VISIBLE_STRING

Index: 23542

Data type: VISIBLE_STRING

Index: 23541

Data type: VISIBLE_STRING

Index: 23540

= 5BF8

= 5BF7

= 5BF6

= 5BF5

= 5BF4

C1036

C1037

C1038

Parameter | Name:

C1036 | Device: Serial number

Serial number of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1037 | Device: Manufacturer

Manufacturer of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1038 | Device: Manufacturing date

Manufacturing date of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Data type: VISIBLE_STRING

Index: 23539

Data type: VISIBLE_STRING

Index: 23538

Data type: VISIBLE_STRING

Index: 23537

= 5BF3

= 5BF2

= 5BF1

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Parameter reference Parameters of the MC-PBM communication card in slot 2

11.2 Parameters of the MC-PBM communication card in slot 2

The parameters are listed in numerically ascending order.

C1531

C1532

C1533

C1534

C1535

Parameter | Name:

C1531 | Device: type key

Identification of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1532 | Device: type version

Version number of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1533 | Device: Name

Device name of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1534 | Device: Software version

Software version of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1535 | Device: Hardware version

Hardware version of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Data type: VISIBLE_STRING

Index: 23044

Data type: VISIBLE_STRING

Index: 23043

Data type: VISIBLE_STRING

Index: 23042

Data type: VISIBLE_STRING

Index: 23041

Data type: VISIBLE_STRING

Index: 23040

= 5A04

= 5A03

= 5A02

= 5A01

= 5A00

C1536

C1537

C1538

Parameter | Name:

C1536 | Device: Serial number

Serial number of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1537 | Device: Manufacturer

Manufacturer of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Parameter | Name:

C1538 | Device: Manufacturing date

Manufacturing date of the card

; Read access  Write access  CINH  PLC STOP  No transfer

Data type: VISIBLE_STRING

Index: 23039

Data type: VISIBLE_STRING

Index: 23038

Data type: VISIBLE_STRING

Index: 23037

= 59FF

= 59FE

= 59FD

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12 Index

Control technology | PROFIBUS communication manual

Index

Addressing the CANopen and PROFIBUS stations 37 Application notes (representation) 10

Baud rate 21 Brief description of PROFIBUS 14 Bus cable length 21 Bus terminating resistor 23 BusDiag.lib 39 BusDiag.lib function library 39

devices

CANopen with PROFIBUS 37 CIFX_PACKET 46 CIFX_PACKET structure 46 CIFX_PACKET_HEADER 47 CIFX_PACKET_HEADER structure 47 CIFXGetChannelHandle 48 CIFXGetChannelHandle function 48 CIFXGetPacket 49 CIFXGetPacket function 49 CIFXPutPacket 48 CIFXPutPacket function 48 Codes 64 Combination with other bus systems 18 Commissioning of field devices 25 Commissioning of PROFIBUS 22 Communication medium 20 Compiling project data 36 Configuring input/output objects 34

Configuring the PROFIBUS master 29 Configuring the PROFIBUS slave 33 Connection of PROFIBUS (SUB-D, 9-pole plug) 20 Conventions used 8 Copyright 2 Creating a PLC program 26 Creating a project folder 24

Defining the minimum cycle time of the PLC project 57 Detecting the task utilisation 59 Detecting the task utilisation of the application 58 Device

Hardware revision (C1035) hardware version (C1535) 66 identification (C1531) 66 Manufacturer (C1037) 65 manufacturer (C1537) 66 Manufacturing date (C1038) 65 manufacturing date (C1538) 66 Name (C1033) 65 name (C1533) 66 Serial number (C1036) 65 serial number (C1536) 66 Software revision (C1034) 65 software version (C1534) 66 Type key (C1031) 65 Type version (C1032) 65

version (C1532) 66 DiagGetBusState 39 DiagGetBusState function block 39 DiagGetState 41 DiagGetState function block 41 Diagnostics 62 Diagnostics in the »PLC Designer« 62 Diagnostics information of Servo Drives 9400

(example) Display of the system utilisation in the »PLC Designer«

with the task editor Document history 7 DPV1_Read / DPV1_ReadEx 51 DPV1_Read / DPV1_ReadEx function block 51 DPV1_Write / DPV1_WriteEx 52 DPV1_Write / DPV1_WriteEx function block 52

Engineering tools 22

Field devices 18

DMS 2.2 EN 07/2011 TD17 L 67

Control technology | PROFIBUS communication manual

Index

HilscherNetX.lib 46 HilscherNetX.lib function library 46

Installing field devices 23

LED status displays 63 Loading and starting the PLC program 36 Logging on to the control system with the »PLC

Designer«

MC-PBM communication card 19 Mixed operation (CANopen with PROFIBUS) 37

Network topology 20 NetXGetPBInfos 45 NetXGetPBInfos function 45 NETXGETPBINFOSTYP 44 NetXPBInfo.lib 44 NetXPBInfo.lib function library 44 Notes used 10

Target group 7 Technical data 20 Technical data of the MC-PBM communication card 20 Terms 9

Use of a repeater 17

V1State 50 V1State structure 50

Optimising the system 61

Parameter reference 64 Parameters of the MC-PBM communication card in

slot 1

Parameters of the MC-PBM communication card in slot 2

PROFIBUS 14 PROFIBUS hardware for the industrial PC 19 PROFIBUS wiring 17 PROFIBUS with CANopen 37 Protocol 20

Safety 11 Safety instructions (representation) 10 Stations per network 20 Stations per segment 20 Storing the device data base files (GSE) 24 Structure of NETXGETPBINFOSTYP 44 Structure of the PROFIBUS system 15 Symbolic names 35 SysLibDPV1Hilscher.lib 50 SysLibDPV1Hilscher.lib function library 50

68 L DMS 2.2 EN 07/2011 TD17

)

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00 80 00 / 24 4 68 77 (24 h helpline)

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KHBPBPCBAUTO  13383678  EN 2.2  TD17

109 87654321

Lenze PROFIBU PC-based Automation User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 About this documentation

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Notes used

2 Safety instructions

3 The "PC-based automation" system

4 The Lenze control system with PROFIBUS

4.1 Brief description of PROFIBUS

4.1.1 Structure of the PROFIBUS system

4.1.2 Basic wiring of PROFIBUS

4.1.3 Combination with other bus systems

4.1.4 Field devices

4.2 PROFIBUS hardware for the industrial PC

5 Technical data

5.1 Technical data of the MC-PBM communication card

5.2 Bus cable specification

6 Commissioning of PROFIBUS

6.1 Overview of the commissioning steps

6.2 Detailed commissioning steps

6.2.1 Planning the bus topology

6.2.2 Installing field devices

6.2.3 Creating a project folder

6.2.4 Storing the device data base files (GSE)

6.2.5 Commissioning of field devices

6.2.6 Configuration in the »PLC Designer«

6.2.6.1 Creating a PLC program

6.2.6.2 Configuring the PROFIBUS master

6.2.6.3 Configuring the PROFIBUS slave

6.2.6.4 Compiling project data

6.2.6.5 Logging on to the control system with the »PLC Designer«

6.2.6.6 Loading and starting the PLC program

7 CANopen with PROFIBUS

8 Function libraries

8.1 BusDiag.lib function library

8.1.1 DiagGetBusState function block

8.1.2 DiagGetState function block

8.2 NetXPBInfo.lib function library

8.2.1 Structure of NETXGETPBINFOSTYP

8.2.2 NetXGetPBInfos function

8.3 HilscherNetX.lib function library

8.3.1 CIFX_PACKET structure

8.3.2 CIFX_PACKET_HEADER structure

8.3.3 CIFXGetChannelHandle function

8.3.4 CIFXPutPacket function

8.3.5 CIFXGetPacket function

8.4 SysLibDPV1Hilscher.lib function library

8.4.1 V1State structure

8.4.2 DPV1_Read / DPV1_ReadEx function block

8.4.3 DPV1_Write / DPV1_WriteEx function block

8.4.4 Telegram examples of the PROFIdrive parameter data channel (DP-V1)

8.4.4.1 Example of read request: Query heatsink temperature

8.4.4.2 Example of write request: Set deceleration time for quick stop

9 Defining the minimum cycle time of the PLC project

9.2.1 Display of the system utilisation in the »PLC Designer« with the task editor

9.2.2 Detecting the task utilisation

9.3 Calculating the minimum cycle time

9.4 Optimising the system

10 Diagnostics

10.1 Diagnostics in the »PLC Designer«

10.2 Error messages if communication card MC-PBM is not available

10.3 LED status displays

11 Parameter reference

11.1 Parameters of the MC-PBM communication card in slot 1

11.2 Parameters of the MC-PBM communication card in slot 2

12 Index