Moog MSD User Manual

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MSD Servo Drive

User Manual

Single-Axis System

Multi-Axis System

Compact

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MSD Servo Drive User Manual Profibus

Profibus for MSD Servo Drive user manual

Id. no.: CA65645-001, Rev. 2.0

Da te: 0 8 /2011

We reserve the right to make technical changes.

Technical alterations reserved.

The contents of our documentation have been compiled with greatest care and in com­pliance with our present status of information.

Nevertheless we would like to point out that this document cannot always be updated
parallel to the technical further development of our products.

Information and specifications may be changed at any time. For information on the
latest version please refer to [e-mail].

This document details the functionality of the following equipment variants:

MSD Servo Drive Single-axis system

MSD Servo Drive Multi-axis system

MSD Servo Drive Compact

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Table of contents

How to use this manual .................................................................. 5

1 General ................................................................................... 7

1.1 Measures for your Safet y ........................................................................................7

1.2 Introduction to Profibus ..........................................................................................7

1.3 System requirements ...............................................................................................7

1.4 Further documentation ...........................................................................................8

2 Commissioning the Profibus Interface ....................................... 9

2.1 Connections and user controls ................................................................................9

2.2 Plug configuration for the P

rofibus

cable..................................................................9

2.3 Bus termination .......................................................................................................10

2.4 Setting the drive address .........................................................................................10

2.5 Operating displays ..................................................................................................11

2.6 GSD file...................................................................................................................11

3 Cyclic data transmission – DPV0 ............................................. 13

3.1 Parameter process data objects (PP O) .....................................................................13

3.1.1 Standard “PROFIdrive” telegrams ................................................................13

3.1.2 User-specific PPOs .......................................................................................15

3.1.3 PKW parameter channel ..............................................................................19

3.2 Master control word ...............................................................................................20

3.2.1 Jog mode spee d mode ................................................................................21

3.2.2 Jog mode positioning mode ........................................................................22

3.2.3 Jog mode reference value parameter ...........................................................22

3.3 Drive status word ....................................................................................................22

3.4 Drive status machine ...............................................................................................24

4 Acyclic data transmission – DPV1 ........................................... 27

4.1 Examples of request and reply telegrams ................................................................32

5 Operating modes ................................................................... 35

5.1 Speed Control .........................................................................................................35

5.2 Speed control circuit and as sociated control parameters .........................................36

5.3 Position control .......................................................................................................37

5.4 Position control circuit and associated control parameters ......................................39

6 Homing ................................................................................. 41

6.1 Homing runs performed by the drive ......................................................................41

6.2 Homing run speed ..................................................................................................41

6.3 Homing run acceleration ......................................................................................... 41

6.4 Zeroing offset .........................................................................................................41

6.5 Homing cams, limit sw itches ...................................................................................41

6.6 Homing run methods .............................................................................................. 43

7 Examples of commissioning using manufacturer-specific

telegrams .............................................................................. 45

7.1 Position control using PP O 5 ...................................................................................45

7.2 Conversion of reference values and actual values using factor group parameters ....46

7.3 Examples for set ting the user factor group..............................................................48

7.4 Speed control using PP O 2 ......................................................................................48

7.4.1 Speed input .................................................................................................49

7.5 Mappable parameters .............................................................................................50

8 Profibus parameters ............................................................... 51

9 Appendix Glossary ................................................................. 53

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How to use this manual

Dear user!

This manual is intended for use by project engineers, commissioning engineers and pro­grammers of drives and automation solutions involving the Profibus fieldbus.
It assumes that you have received appropriate training on Profibus and that you have
access to relevant reference books. We assume that your drive has already been commis­sioned – if not, please first refer to the user manual.

11 General

44 Acyclic data transmission - DPV1

55 Operating modes

66 Homing

Appendix: Glossary, key words directory

33 Cyclic data transmission - DPV0

22 Commissioning the Profibus interface

77 Commissioning examples

88 Profibus parameters

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Pictograms

Attention! Incorr ect operatio n may damage the driv e or cause it to malfunc­tion.

Danger from ele ctrical tensio n! Improper conduc t may endanger human life.

Danger from rotat ing parts! The dr ive may start up a utomatically.

Note: Useful information

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[ Kapitel 1 ]

1 General

1.1 Measures for your Safety

Servo controllers of the MSD Ser vo Drive family are quick and easy to handle. For your
own safety and for the safe functioning of your device, please be sure to observe the
following points:

Read the Operating Manual firs t!

1.

• F ollow the safet y instruction s!

Electric dr ives are subjec t to certain hazar ds:

• Ele ctric voltages > 230 V/460 V:
Dangerously hig h voltages may st ill be present 10 minutes af ter the power
is switched of f. so always make sure the sy stem is no longer li ve!

• Rotating par ts

• H ot surfaces

Your qualification:

• I n order to prevent per sonal injury or d amage to proper ty, only personn el
with elect rical engineer ing qualificatio ns may work on the devi ce.

• K nowledge of the na tional accident pre vention regulati ons (such as VBG4
in Germany)

• K nowledge of st ructure and net working using the C AN fieldbus

U

V

N

L+

RB

L-

L3

L2

L1

U

V

N

L+

RB

L-

L3

L2

L1

During installation observe the following instructions:

• A lways comply wit h the connectio n conditions and tec hnical specifi cations.

• Sta ndards for elect rical installa tion, e.g. cable cross -section s, screening etc.

• Do n ot touch electr onic component s and contact s (electrosta tic discharge

may destroy comp onents)

1.2 Introduction to Profibus

The Profibus implementation in MSD Ser vo Drive is based on the PROFIdrive profile
“Profibus PROFdrive profile version 4.0” dated August 2005.

Performance features in key words

– Data transmission using two-wire twisted pair cable (RS 485)

– Transmission rate: optionally 9.6 K, 19.2 K, 45.45 K, 93.75 K, 187.5 K, 500 K,

1.5 M, 3 M, 6 M or 12 MBaud

– Automatic Baud rate detection

– Profibus address can be set using the rotar y coding switches or alternatively

using the addressing parameters

– Cyclic data exchange reference and actual values using DPV0

– Acyclic data exchange using DPV1

– Synchronisation of all connected drives using freeze mode and sync mode

– Reading and writing drive parameters using the PKW channel or DPV1

1.3 System requirements

It is assumed that you have access to a standard Profibus set-up program or a Profibus
interface driver.

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1.4 Further documentation

• User manual for commissioning the drive device

• User manual for further parameterisation to customise the application.

• The User Manual can be downloaded as a PDF file from the Product DVD, which is
enclosed the MSD Servo Drive.

• CiA 301 (Rev. 4.0): Application Layer and Communication Profile

• CiA 402 (Rev. 2.0): Device Profile Drives and Motion Control

• Profibus User Organisation „Profidrive - Profil Drive Technology for Profibus and
Profinet“ Version 4.1, May 2006, Order no. 3.172

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[ Chapter 2 ]

2 Commissioning the

Profibus Interface

2.1 Connections and user controls

The connections and user controls for the Profibus interface are shown schematically
in Figure 2-1. The LEDs H1, H2, H3 act as status indicators. The rotary coding switches
S1 and S2 can be used to set the Profibus address for the drive. The Profibus cable is
connected to the plug X14.

Front plate No. Comments

H1 LED for status ind ication (yell ow)

H2 LED for status indicati on (red)

H3 LED for status indicati on (green)

S1

Rotary codi ng switch for set ting the Profibus addres s for the
drive = 0x(S2)(S1)

S2

Rotary codi ng switch for set ting the Profibus addres s for the
drive = 0x(S2)(S1)

X14 Profibus cable connection

Table 2.1 Profibus options card

2.2 Plug configuration for the Profibus cable

The Profibus is connected using a nine-pin sub-D plug. The pin assignment is shown in
Fig. 2-2 and described in Table 2.1.

Figure 2.1

X14

12345

6789

RxD

TxD-P

DGND

RxD

TxD-N

VP

5 Volt

Pin assignment of sub-D-plug connector

PIN RS-485 Signal Description

1 SHIELD Earthed shield

2 RP Reserve d for power supply via t he bus

3 B/B’ (red) RxD / TxD-P Send and receiv e data (+)

4 CNTR- P Control signal for rep eater (+)

5 C/C’ DGND

Data reference pote ntial and power supp ly to
terminating resistor (-)

6 VP Po wer supply for termin ating resistor (+)

7 RP Reserve d for power supply via t he bus

8 A/ A’ (gre en) RxD / TxD- N Send and receive dat a (-)

9 CNTR- N Control signal for rep eater (-)

Table 2.2 Description of pin assignment

The pin assignments shown with dark backgrounds in the table are not necessary from
the user’s point of view. The control signals used for the repeaters are optional, and the
power supply for the terminating resistors is provided by the device.

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2.3 Bus termination

If the servo controller is initially at the end of the bus system, a plug with an integral
terminating resistor Rt should be used. In addition to the cable terminating resistor in ac­cordance with the EIA-4 85 standard, a pull-down resistor Rd against the data reference
potential DGND and a pull-up resistor Ru against VP are provided. This ensures a defined
no-load potential of 1.1 Volt between pins 3 and 8. In a made-up Profibus cable these
resistors are all incorporated as standard in the Profibus plug and the terminating resistor
can be activated using a switch on the Profibus plug. The following figure shows a Sub­D 9-pin plug bus termination.

Figure 2.2

Plug

Profibus cable

Device

Vp = 5 Volt (6)

RxD TxD-P (3)

RxD TxD-N (8)

GND (6)

Ru = 390 Ohm

Rt = 220 Ohm

Rd = 390 Ohm

B (red)

A (green)

Sub-D 9-pin plug bus termination

2.4 Setting the drive address

The drive address can be set as standard using the rotary coding switches on the options
card (see Fig. 2-1). The address range runs from 0 to 125. The drive address is not loaded
until a 24 Volt reset has been applied to the device.

The drive address can also be assigned using parameter P 0918 COM_DP_Address.
For this purpose the rotary coding switches must be set to value in excess of 125.
The drive address set by software address is not loaded until a 24 Volt reset has been
applied to the device.

In the MSD Servo Drive Compact the address cannot be set using the switches.

On all devices the bus address can also be set using the buttons on the device, see ope­rating instructions for MSD Servo Drive Compact.

Diagnostics can be performed on the MSD Servo Drive Compact using the internal
control unit in the device. The control unit comprises the following elements that are all
positioned on the front:

• 2-digit 7-segment display (1, 2)

• 2 buttons (3, 4)

Figure 2.3

1

2

3
4

Integrated control unit MSD Servo Drive Compact

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[ Chapter 2 ]

The following functions and indications are available:

• Indication of the device status
The device status is indicated after switching on the control supply. If an entry is
not made using the buttons for 60 seconds, the display returns to the display of
the device status.

• Indication of the device error status
On the occurrence of an error in the device, the display is immediately switched to
the indication of the error code.

• Parameter setting (indication „PA“)
Reset the device parameter settings to the factory setting

• Ethernet IP address setting (indication „IP“)
Setting for the Ethernet IP address as well as the subnet mask

• Fieldbus settings (indication „Fb“)
Setting e.g. for the fieldbus address

2.5 Operating displays

Options module: Three LEDs are mounted on the options card; these give indications
regarding the current operating status of the module. In Tables 2-2 and 2-3 the opera­ting statuses of the Profibus module are listed, based on the various LED illumination
combinations.

LED 1, green LED 2, red Status

Reset (after s witching on)

ASIC RA M test and initialisation

End of ASIC R AM test and initialisation

Table 2.3 Selftest during diagnostic

LED 1, green LED 2, red Status

Seeking Baud rat e after switching o n without bus
connection

Seeking Baud rat e after the bus conne ction has
already been established

Awaiting parameterisation data

Table 2.4 Operation diagnostics

LED 1, green LED 2, red Status

Communication: Data e xchange without a cyclic
master class 2 con nection. Yellow LED li ghts up.

Communication: Data exchange “clear state”

Incorrect parameterisation data

Incorrect configuration data

Communication: Data e xchange with ac yclic
master class 2 connection.

Table 2.4 Operation diagnostics

LED 3, yellow Status

Device is exchanging data

Table 2.5 Data exchange

2.6 GSD file

The device master data file contains the summary of the device features in a standar­dised form. The device features include for instance the device name, the bus timing,
the extended services available and the modules that can be selected (telegram types).
In order to use different telegram types, the GSD file must be linked in at the configura­tion phase of the Profibus network. This file contains, as well as the standard “Profidrive
Profile” telegrams, additional manufacturer-specific telegram types.

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[ Chapter 3 ]

3 Cyclic data transmission –

DPV0

3.1 Parameter process data objects (PPO)

The establishment of communications between a class 1 master and the
MSD Servo Drive servo controller is essentially performed in three phases. Firstly the
MSD Servo Drive is parameterised with the current bus parameters, monitoring times
and drive-specific parameters (phase 1). In the configuration phase a configuration sent
by the master is compared with the actual MSD Servo Drive configuration (phase 2).
Once these two phases have been completed successfully, the cyclic user data traffic
starts (phase 3).

The various telegram types (Parameter Process Data Objects - PPO) are prepared in the
GSD file. These PPOs form the basis of the configuration phase. The project engineer
knows from the GSD file how many bytes are required for the input and output data for
Profibus communication between the master and the servo controller and can use this
information to perform his settings in the configuration tool. As well as the standard
telegrams in accordance with the “PROFIdrive – Profile”, there are additional user­specific telegram types. In addition to the PZD process data channel, the user-specific
telegram make partial use of a PKW parameter channel.

3.1.1 Standard “PROFIdrive” telegrams

The table below lists firstly the standard “Profidrive” telegrams that are supported by the
servo controller. Table 3-1 explains the abbreviations used to assign standard telegrams
to a specific process data channel. The process data channel (abbreviated to PZD) is
grouped by words.

Abbreviation Name Number of words

STW1 Control word 1 1

STW2 Control word 2 1

ZSW1 Status word 1 1

ZSW2 Status word 2 1

NSOLL_A Speed reference 1

NIST_ A Actual speed 1

SAT ZA NW Set selec tion (from the drivi ng set table) 1

AK TSAT Z Current set selectio n (from the driving se t

table)

1

XSOLL_A Reference position 2

XIST_ A Actual position 2

TARP OS_A Reference destination position 2

VEL OCI TY_ A Reference speed 2

Figure 3.1 Abbreviations

Standard telegram 1 is a defined telegram type for speed control. It consists of two input
words and two output words as shown in the following table.

PZD number 1 2

Reference values STW1 NSOLL_A

PZD number 1 2

Actual values ZSW1 NIST_ A

Table 3.1 Standard telegram 1

Standard telegram 7 is a defined telegram type for selecting the driving set. In total 16
driving sets saved in the drive can be selected. The telegram type comprises 2 input
words and two output words as in the following table.

PZD number 1 2

Reference values STW1 SAT ZA NW

PZD number 1 2

Actual values ZSW1 AK TSATZ

Table 3.2 Standard telegram 7

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Standard telegram 8 is a defined telegram type for positioning with the facility for spe­cifying a positioning speed. It consists of 5 input words and 5 output words as shown in
the following table.

PZD number 1 2 3 4 5

Reference values XSOLL_A STW2 NSOLL_ A

PZD number 1 2 3 4 5

Actual values XIST_ A ZSW2 NI ST_A

Table 3.3 Standard telegram 8

Standard telegram 9 is a defined telegram type for positioning. It consists of 6 input
words and five output words as shown in the following table.

PZD number 1 2 3 4 5 6

Reference values STW1 TARPO S_A STW2 VE LOCI TY_A

PZD number 1 2 3 4 5

Actual values ZSW1 XI ST_A ZSW2 NI ST_A

Table 3.4 Standard telegram 9

Every standard telegram in the device is described in the GSD file by a PROFIdrive Profile
configuration identifier (ID). The following table shows these identifiers for the selec ted
standard telegrams.

Telegram type Data area Identifier (ID)

Standard telegram 1 2 output words and 2 input words 0xC3 0xC1 0xC1 0xFD 0x00 0x01

Standard telegram 7 2 output words and 2 input words 0xC3 0xC1 0xC1 0xFD 0x00 0x07

Standard telegram 8 5 output words and 5 input words 0xC3 0xC4 0xC4 0xFD 0x00 0x08

Standard telegram 9 6 output words and 5 input words 0xC3 0xC5 0xC4 0xFD 0x00 0x09

Table 3.5 Identifier

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[ Chapter 3 ]

3.1. 2 User-specific PPOs

As well as the standard telegrams that are supported there are in addition further user­specific PPOs (Parameter Process data Objects). The following PPOs are also transmitted
cyclically and in addition to the PZD process data channel partially contain a PKW para­meter channel, thereby allowing access to the drive parameter values.

PPO PKW PZD

1 PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

- - - - - - - -

2 PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

- - - -

3* - - - - ST W/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

- - - - - - - -

4 - - - - STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

- - - -

5 PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

PZD

9

PZD

10

- - - - ST W/
ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

- - - - - -

PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

- - - - - -

- - - - ST W/
ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

- -

PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

- -

- - - - ST W/
ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

PZD

9

PZD

10

(*) PPO3 is the standard te legram 1

Table 3.6 User-specific Parameter Process data Objects

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In the drive parameter list there exist two signal tables, which contain all the process
data that can be cyclically read and written for the Profibus communications DPV0. All
possible process data signals that can be written can be found in the signal table
P 1284 COM_DP_SignalList_Write and all possible process data signals that can be read
can be found in the signal table P 1285 COM_DP_SignalList_Read. The most important
parameters that can be read and written are also documented in Chapter 6.

The process data signals that can be writ ten can be configured in the signal table
P 0915 COM_DP_PZDSelectionWrite. The number of process data available to be written
are determined by the PPO type that is selected.

The process data signals that can be read can be configured in the signal table
P 0916 COM_DP_PZDSelectionRead. The number of process data available to be read are
also determined by the PPO type that is selected.

When using standard telegrams the process data signals in the signal tables are automa­tically configured by the firmware.

A maximum of 15 process data signals can be „mapped“. Here both words and double
words can be used.

The user-specific drive telegram types are described by a configuration identifier (ID) in
the GSD file. This describes the structure of the cyclic report data using a special identifi­cation format shown in the figure below.

Figure 3.2 Identification format (Identifier)

After the parameterisation phase, the master sends the drive a configuration telegram
containing this special identification (ID). On receipt of this, the drive compares the data
in the configuration telegram with the configuration held in the drive. The identifier
determined by the PPO type can be found in the GSD file under the heading “Modules”.
The following table shows these identifiers for the user-specific telegrams.

Length of the data
00 = 1 byte/word
15 = 16 bytes/words

Input/Output

00 = specic identication format

01 = input
10 = output
11 = input/output

0 = byte, 1 = word

0 = consistency over byte/word
1 = consistency over the overall

length

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[ Chapter 3 ]

PPO

type

Identifier

(ID) Hex

Identifier

(ID) Bin

Evaluation using the special identification format (Figure 3.6)

Reference to Table AK

slave-master

1

0xF3
0xF1

1111 0 011
1111 0 001

4 words input /output data (consistent overall leng th)2 words input /output
data (consistent overall length)

PKW channel

2

0xF3
0xF5

1111 0 011
1111 0 101

4 words input /output data (consistent overall leng th)6 words input /output
data (consistent overall length)

PZD channel

3 0 xF1 1111 0 001 2 words input /output data (consistent overall l ength) PKW channel

4 0xF5 1111 0101 6 words input /output data (consistent overall le ngth) PZD channel

5

0xF3
0xF9

1111 0 011
1111 1 00 1

4 words input /output data (consistent overall leng th)10 words input/outpu t
data (consistent overall length)

PZD channel

0xF3 1111 0 011 4 words inpu t/output dat a (consistent overall l ength) PZD channel

0xF3
0xF3

1111 0 011

1111 0 011

4 words input /output data (consistent overall leng th)4 words input /output
data (consistent overall length)

PKW channel

0xF7 1111 0111 8 words input /output data (consis tent overall length) PZD chann el

0xF3
0xF7

1111 0 111

1111 0 111

4 words input /output data (consistent overall leng th)8 words input /output
data (consistent overall length)

PZD channel

0xF9 1111 10 01 10 words input /output data (consis tent overall length) PKW channel

0xC0
0xCD
0xCD

14 words input/ou tput data (consistent o verall length) PZD channel

0xF3
0xC0
0xCD
0xCD

14 words input/ou tput data (consistent o verall length) PZD channel

0xC0
0xD1
0xD1

18 words input/ou tput data (consiste nt overall length) PK W channel

0xF3
0xC0
0xD1
0xD1

18 words input/ou tput data (consiste nt overall length) PZD channel

0xC0
0xD5
0xD5

22 words input /output data (consistent overall len gth) PZD channel

0xF3
0xC0
0xD5
0xD5

22 words input /output data (consistent overall len gth) PKW channel

Table 3.7 Listing of identifiers

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PPO
type

Identifier

(ID) Hex

Identifier

(ID) Bin

Evaluation using the special identification format (Figure 3.6)

Reference to Table AK

slave-master

0xC0
0xD9
0xD9

26 words input /output data (consis tent overall length)

0xF3
0xC0
0xD9
0xD9

26 words input /output data (consis tent overall length) PK W channel

0xC0

0xDD
0xDD

30 words input /output data (consistent overall le ngth)

0xF3
0xC0

0xDD
0xDD

30 words input /output data (consistent overall le ngth) PKW channel

Table 3.7 Listing of identifiers

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[ Chapter 3 ]

3.1. 3 PKW parameter channel

Some PPOs offer an additional cyclic parameter channel. This channel allows drive
parameters to the read and written.

PKW

1st b yte 2nd byte 3rd byte 4th byte 5th by te 6th byte 7th byte 8th byte

PKE (1 word) IND (1 word) P KW1 (1 word) PKW2 (1 word)

The parameter consists of a total of 4 words: the parameter identifier PKE (1 word), the
sub-index IND (1 word) and the parameter identification word, which occupies the data
area PKW1 (1 word) to PKW2 (1 word). The parameter identification is shown by bit s in
the following table.

AK PNU

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

AK

Request or re ply identificat ion (value range 0..15)

PNU

Parameter number (value range 1…4095)

Table 3.8 PKE parameter identification

The following tables list the request identification (master) and the reply identification
(slave).

Request identification Function

0 No request

1 Request parameter value

2 Change parameter value (word)

3 Change parameter value (double word)

4 Read parameter description

5 -

6 Request parameter value (array)

7 Change parameter value (array) (word)

8 Change parameter value (array) (double word)

Table 3.9 Request ide ntification AK (master  slave)

Reply identification Function

0 No reply

1 Parameter value sent (word)

2 Parameter value sent (double word )

3 Parameter description sent

4 Parameter value (array) sent (word)

5 Parameter value (array) sent (double wor d)

6 –

7 Request not executable, s ee error no.

Table 3.10 Reply identification AK (Slave  Master)

On reply identification 7 the error number sent to the drive from the master is shown in
the area PKW1 to PKW2. The following table lists these error numbers.

Error Statement

0 Impermissible PNU

1 Parameter cannot be changed

2 Lower or upper parameter value l imit transgresse d

3 Defective sub-inde x

4 Not an array

5 Incorrect data type

...

17 Request cann ot be executed be cause of the oper ating status

18 O ther error

Table 3.11 Reply identification AK (Slave  Master)

In addition request identification 4 can be used to read a parameter description. The
parameter description receives relevant information regarding the respective parameter.
The following table shows the sub-indexes that can be used to access the individual
parameter structure elements. The sub-index is indicated only by by te 3.

Sub-index Meaning Data type

1 Identifier (ID) V2

2 Number of field elements or string length Unsigned 16

Table 3.12 Parameter description

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Sub-index Meaning Data type

3 Standardisation factor Floating Point

4 Variable attributes Octet String 2

5 Reserved Octet String 4

6 Nam e (only the first four by tes are sent) VisibleString 16

7 Lower limit value Oct etString 4

8 Upp er limit value Oct etStrin g 4

9 Reserved Octet String 2

10 I D extension extension V2

11 PZD reference parameter Unsigned 16

12 PZD standardisation V2

Table 3.12 Parameter description

The identifier (sub-index 1) in the parameter description identifies additional characteris­tics of the respective parameter. Table 3-8 describes the meaning of the identifier.

Bit Meaning E xplanation

15 Reserved

14 Array

13 Parameter value ca n only be reset If this bit is set, th e respectiv e parameter

value can be vari ed externally o nly so as to
be set to zero

12 Parameter value was c hanged to a value

different from th e factory set tings

If this bit is set, t he parameter value is
different from th e factory set tings

11 Reserved

10 Additional text ar ray can be called up

9 Parameter cannot be w ritten

8 Standardisation factor and variable attri-

butes not relevan t

This bit is set if th e parameter is of a data
type that ca nnot be used to calcu late any
physical value s (e.g. data type str ing)

0 - 7 Data type of th e parameter value (val ue =

“Profi-Drive table 9”)

Table 3.13 Structure of the identifier

3.2 Master control word

Bit Operating mo de: Speed Control Operating mode: Positioning control

Bit 15

(MSB)

0 Apply relative positioning imme dia-

tely after st art enable

1 Speed mode

Bit 14

0 Normal positioning

1 Speed mode

Bit 13

0 Not used New reference values act ivated by toggling th e

master control wo rd bit 6

1 Not used New reference values are loa ded directly

Bit 12

0 Not used Positioning reference value = a bsolute

1 Not used Positioning reference value = relative

Bi t 11

0 Not used Stop homing run

1 Not used Start homing run

Bit 10

0 No access right s over the PLC

1 Access rights o ver the PLC

Bit 9

0 Jog mode 2 of f Jog mod e 2 off

1 Jog mode 2 o n Jog mode 2 on

Bit 8

0 Jog mode 1 of f Jog mod e 1 off

1 Jog mode 1 o n Jog mode 1 on

Bit 7

0

Error acknowl edgement at rising fl ank 0  1

1

Table 3.14 Master control word

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Bit Operating mo de: Speed Control Operating mode: Positioning control

Bit 6

0 Deactivate reference value Activate posi tioning set at rising a nd falling flank

(0  1 and 1  0)

1 Activate reference value

Bit 5

0 Freeze ramp gen erator No fee d hold

1 Unfreeze ramp g enerator Feed hold

Bit 4

0 Reset ramp ge nerator Interrupt positioning set

1 Activate ramp generator Do not interrupt positi oning set

Bit 3

0 Controller not enabled

1 Controller enabled (operation enabled)

Bit 2

0 Quick stop ac tive

1 Quick stop inac tive

Bit 1

0 Spin out o f true active

1 Spin out of true inactive

Bit 0

0 Switch of f power stage (OF F)

1 Switch on power st age (ON)

11 Start Homing Procedure / Stop Homing

Procedure

12 Relative positioning

13 Immediate star t on changing the posi tion, speed or

the acceleration

14 Speed mode

15 Apply relative posi tioning immediate ly after star t

enable

Table 3.14 Master control word

Using parameter COM_DP_CtrlConfig bits 6 and 8 can be configu­red:

Bit

number

Value = 0 (Default-value) Value = 1

The positio ning task can be st arted
with the negati ve and positive flank
(profile 4.0).

The positio ning task can only b e started wit h the
positive flank ( profile 4.1).

The jog mode i s manufacturer­specific

The jog mode b ehaves as descri bed in profile 4.1.

Table 3.15 Master control word

3.2.1 Jog mode speed mode

Bit 8 and 9 of the control word provide a jog mode in the speed mode:

If bit 8 of the parameter P 1267 COM_DP_CtrlCong is set to 0, the drive behaves as
follows (jog mode manufacturer-specific):

• If bit 8 is set to 1, the drive applies the speed that is given in parameter P 1268
COM_DP_RefJogSpeed1.

• If bit 9 is also set to 1, the value in the parameter P 1269 COM_DP_RefJogSpeed2 is
used as the reference value.

• If bit 9 is set to 0 again, P 1268 COM_DP_RefJogSpeed1 is used as the reference
again.

• If bit 8 is set to 0, while bit 9 is still set to 1, there is no change

• If bit 9 is set to 1, the drive applies the negated speed that is given in parameter
P 1268 COM_DP_RefJogSpeed1. The direction of rotation is therefore inverted.

• If bit 8 is also set to 1, the negated value in the parameter P 1269 COM_DP_Ref-
JogSpeed2 is used as the reference value.

• If bit 8 is set to 0 again, P 1268 COM_DP_RefJogSpeed1 is used as the reference
again.

• If bit 9 is set to 0, while bit 8 is still set to 1, there is no change

• In case of negative reference values, a negated speed is positive again.

• The jog mode can only be activated if the motor is at standstill.

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• If bit 8 of the parameter P 1267 COM_DP_CtrlCong is set to 1, the drive behaves
in accordance with the profile (profile 4.1), page 84 [13]:

• The jog mode can only be activated if the motor is at standstill.

• Bits 4 to 6 of the control word are 0.

• If bit 8 is set to 1, the drive applies the speed that is given in parameter P 1268
COM_DP_RefJogSpeed1.

• If bit 9 is set to 1, the drive applies the speed that is given in parameter P 1269
COM_DP_RefJogSpeed2.

• If bit 8 and 9 are set, there is no change, the old reference value is retained.

3.2.2 Jog mode positioning mode

The jog mode for the positioning mode behaves as for the speed mode. Bit 4 and 5 of
the control word must be set.

3.2.3 Jog mode reference value parameter

• The parameters P 1268 COM_DP_RefJogSpeed1 and P 1269 COM_DP_Ref-
JogSpeed2 are of type Int32 and can be mapped as process data.

Meaning

Bit 0 - 11 N ot used

Bit 12 - 15 Master sign of life

Table 3.16 Master control word 2

If no synchronous application is implemented, the master sign of life need not be trans­mitted, allowing the entire second status word to be freely assigned.

3.3 Drive status word

Operating mo de: Speed Control Operating mode: Positioning control

Bit 15
(MSB)

Not used

Bit 14

0 „ENPO“ or „Safe Stand still“ not set

1 „ENPO“ or „Safe Stand still“ set

Bit 13

0 Drive rotating

1 Drive stationary

Bit 12

0 Not us ed

Motion reque st confirmation by to ggling this bit

1 Not us ed

Bi t 11

0 Not us ed Homin g point not yet set

1 Not us ed Homi ng point set

Bit 10

0 Frequenc y or speed not reached Target positio n not reached

1 Frequency o r speed reached o r

exceeded

Target position reached

Bit 9

0 No access right s over the PLC

1 Access right s over the PLC granted

Bit 8

0 Speed error outside the tolerance band Posit ioning slippage e rror outside th e tolerance band

1 Speed error within the tolerance band Positioning slippage er ror within the tolera nce band

Bit 7

0 No warning

1 Warning registered

Bit 6

0 Switch on not prevente d

1 Sw itch on prevented

Tab le 3 .17 Drive status word

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[ Chapter 3 ]

Operating mo de: Speed Control Operating mode: Positioning control

Bit 5

0 Quick stop activated

1 Quick stop deactivate d

Bit 4

0 Spin out of true ac tivated

1 Spin out of tru e deactivated

Bit 3

0 No error

1 Error reported

Bit 2

0 Control b locked

1 Control acti ve (in operation / dr ive responding to re ference values)

Bit 1

0 Power stage inactive (no t ready)

1 Power stage a ctive (ready)

Bit 0

0 N ot ready to star t

1 Ready to start

Tab le 3 .17 Drive status word

Bit Meaning

0-1 Profile generator status

0: Stop
1: Acceleration
2: Positioning wit h allowable spe ed
3: Delay

2 Torque limitation w ith positive dire ction of travel

3 Torque limitation w ith negative dire ction of travel

4 ISD00

5 ISD01

6 ISD02

7 ISD03

Tabl e 3.18 Drive status word 2

Bit Meaning

8 Reserved

9 Reserved

10 Reserved

11 Reserved

12-15 Reserved for Profidrive

Tabl e 3.18 Drive status word 2

If no synchronous application is implemented, the slave sign of life need not be transmit­ted, allowing the entire second status word to be freely assigned.

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3.4 Drive status machine

Figure 3.3 GeneralSystem status machine (control via Profibus)

System status Designation Description

0 System initialisation running (star t) In itialisation af ter device reset (e.g. hard-

ware, parameter lis t, controller, …)

1 Not ready to s witch on Ini tialisation comp leted, but no power

supply, or intermedi ate circuit voltage l ess
than switch- on threshold

2 Switch-o n inhibit(switc h on

disabled)

Intermediate ci rcuit voltage gre ater than
switch- on threshold

3 Ready to swi tch on Optional conditions sat isfied (e.g. homing

run, quick stop ina ctive …)

4 Switched on Power stag e enabled

5 Operation enabled Power suppl ied to motor, operation ac tive

6 Quick stop ac tive Quick sto p active*

7 Fault reaction active Fault reaction is a ctive, reference va lues

from the Profibus ma ster are ignored.

8 Fault Drive in fault condition, refe rence values

from the Profibus ma ster are ignored.

* Quick stop c an be triggered by vari ous circumstances. The p arameter P 2218 (MP_Quick StopOC) allows t he type of quick

stop to be sele cted

.

Table 3.19 System statuses

Quickstop option

code

Meaning

0 Disable drive function

1 Slow down on slow down ra mp

2 Slow down on quick stop ra mp

3 Slow down on the current lim it

4 Slow down on the voltag e limit

5 Slow down on slow down ra mp and stay in „quick stop“

6 Slow down on quick stop ra mp and stay in „quick stop“

7 Slow down on the current lim it and stay in „quick stop“

8 Slow down on the voltag e limit and stay in „quick stop“

Table 3.20 Quick s top option code

to perform changes to the control word, STW bit 10 must be set

from system status 2 the Safe Standstill must rst be set and then a posltive ank of the ENPO occur

”Quick stop active”

System status 6

(9) Quick stop

activated

(10) Quick stop

deactivated

“Control active“

System status 5

Error

(13) Error

(5) Controller

blocked

(4) Controller enabled

“Switched on“

System status 4

(6) Power

stage blocked

“Error response active”

System status 7

(12) Standstill

detected

(11) Spin out of

true activated

(3) Power stage

switched on

(6) Power stage

blocked

(14) Error response

ended

(7) Spin out of true or

quick stop activated

“Ready to switch on”

System status 3

“Error”

System status 8

Hardware enable

blocked

(16) Hardware

enable blocked

“Switch on blocked”

System status 2

(2) Quick stop and spin
out of true deactivated

(7) Quick stop or spin

out of true activated

(15) Error acknow-

ledgement

(1) UZK OK (8) UZK too low

“Not ready to switch

on”System status 1

(0) Start

“System initialisation

running”

System status 0

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[ Chapter 3 ]

System st atus

changeover

Designation Description

0 Star t I nitialisation af ter boot-up completed

1 UZK OK Intermediate circuit vol tage greater than s witch-

on threshold

2 Quick s top and spin out of

true deactivated

Spin out of true de activated  ST W bit 1 = 1
Quick stop dea ctivated  ST W bit 2 = 1

3 Power s tage switche d on

Power stage s witched on  STW bit 0 = 1

4 Controller enabled

Controller enabled  STW b it 3 = 1

5 Cont rol blocke d

Control blocked  ST W bit 3 = 0 *

6 Power stage blocked

Power stage b locked  STW b it 0 = 0

7 Quick s top or spin out of true

activated

Spin out of true ac tivated  STW bit 1 = 0
Quick stop ac tivated  ST W bit 2 = 0

8 UZK too l ow Intermediate circ uit voltage les s than switch- on

threshold

9 Quick s top activated

Activate quic k stop  STW bi t 2 = 0

10 Quick stop deac tivated

Deactivate q uick stop  ST W bit 2 =1

11 Spin o ut of true activa ted

Activate spin o ut of true  ST W bit 1 = 0

12 Standstill detected Standstill was detected

13 Fault Fault event occurred (can o ccur in any system

status)

14 Fault reaction ended Fault reac tion has ended (e.g. fault sto p ramp)

15 Fault acknowledgement

Acknowledg ement of the repor ted fault  STW
bit 7 = 1 or by a rising flank of t he power stage
enable

16 Power stage blocked Po wer stage bloc ked (can occur in any syst em

status)

* Parameter P 0144 (Aut ostart) dete rmines whether the contro l of the operation enable is fla nk-triggered (0) or status -

dependent (1) [Param eter List Motion Profile Basic Settings].

Table 3.21 System status changeovers

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[ Chapter 4 ]

4 Acyclic data transmission –

DPV1

In addition to DPV0 cyclic data communications, which are intended as standard for
quick updates of I/O process data, DPV1 acyclic services are available as one-off events.
They offer the facility for instance to read or write parameters acyclically and thus
without interfering with cyclic data traffic. Telegram type SD2 in accordance with the
following table is used for the DPV1 Profibus-DP extension.

SD LE LEr SD DA SA DSA P SSAP DU FCS ED

Start

Delimi­ter

Length Length

repeat

Start

Delimi­ter

Destina­tion
Adress

Source

Adress

Destina­tion
Service
Access
Point

Source
Service
Access
Point

Data

Unit

Frame
Check
Se­quence

End De­limiter

68H X X 68H xx xx xx xx X ..

Table 4.1 Profibus SD2 telegram for DPV1 services

The acyclic services can be used equally well by a class 1 master (PLC etc.) and by a class
2 master (PC tool). The following table gives and overview of the acyclic services availab­le in relation to the respective master class.

Acyclic ser vices

Master

class

Meaning DSAP SSAP

Initiate request 2 Establish an acyclic connectio n 32H 31H

Abort request 2 Break off an a cyclic connec tion 32H 0..30H

Read request 2 Rea d request via DP V1 32H 0..30H

Write request 2 Write request via D PV1 32H 0..30H

Data request 2 Data trans fer 32H 0..30H

Read request 1 Rea d request via DP V1 33 33H

Write request 1 Write request via D PV1 33 33H

Alarm 1 Alarm handling 33 33H

Table 4.2 An overview of the acyclic serv ices offered

The access mechanism on DPV1 is always performed according to a
fixed layout

1. Write request (5F):

SD .. DSAP SSAP

DU

Req. id

DU

Slot

DU

Index

DU

Length

DU

User

FCS ED

68H xx 32 30 5F 0 2F n+1 0 ..n xx 16H

2. Write reply (5F):

SD .. DSAP SSAP

DU

Req. id

DU

Slot

DU

Index

DU

Length

FCS ED

68H xx 32 30 5F 0 2F n+1 xx 16H

3. Read request (5E):

SD .. DSAP SSAP

DU

Req. id

DU

Slot

DU

Index

DU

Length

FCS ED

68H xx 32 30 5E 0 2F MA X xx 16H

4. Read reply (5E):

SD .. DSAP SSAP

DU

Req. id

DU

Slot

DU

Index

DU

Length

DU

User

FCS ED

68H xx 32 30 5E 0 2F n+1 0..n Xx 16 H

Each read or write access must first be initiated by a write service on Data Unit Index 47
(2Fhex) (1). This write request gives the slave the information about the request it should
execute. After this the slave acknowledges with a reply telegram (2), which initially con­tains no reply data.

This is simply an acknowledgement of the request and contains only the mirrored DPV1
header of the request telegram. In the event of an error, a negative reply is sent. To then
read the data from the slave, the master must present a read request (3). If the reply (4)
to this is positive, the user data can be used by the master. In the event of an error, a
negative reply is sent. Figure “DPV1 Read Request” shows the telegram sequence for a
read access. This shows the slave sending a negative read reply to the first read request.
This negative read reply means that the required data cannot yet be provided.

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Not until the following cycle has the slave executed the request to the extent that it can
send a positive read reply with the requested data.

Figure 4.1 DPV1 Read request

This transmission format is in “Big Endian” (Motorola, the highest byte is transmitted
first).

Word format:

0. byte 1. by te

High byte Low byte

Double word format

0. byte 1. by te 2. by te 3. byte

High byte
High word

Low byte

High word

High byte

Low word

Low byte

Low word

The data unit in the table “Profibus SD2 telegram for DPV1 services” of telegram type
SD2 can be split into five areas:

• Req.id (1 byte)
This is the function number of the DPV1 service. This describes for instance whe­ther a parameter should be read or should be written. More detailed information
can be found in the table “Assignment of the Data Unit”.

• Slot (1 byte)
DPV1 slaves consist of a number of physical or virtual slots. The drive is triggered
by addressing a slot, following which the slot address is not evaluated.

• Index (1 byte)
The index contains the address of the data area in which the slave makes available
the data for a parameter access. In accordance with ProfiDrive this is specified with
the fixed data area number 47.

• Length (1 byte)
Gives the length of the user data that follow. In the case of a read access, the
length must be sufficiently large for the data to be read (max. 240 byte) User (1
byte…n byte) Contains the user data to be processed.

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[ Chapter 4 ]

Data Unit (DU)

byte

Data Unit

Param

Value Meaning

0 Req.id 48H Idle REQ, RE S Idle REQ, RE SP

51H Data Transport REQ,

RES

Data transpor t REQ,
RESP

RESP

56H Resource Manager, REQ Resource manager REQ

57H Initiate REQ, RES Initiate REQ, RESP

58H Abor t REQ Abort R EQ

5CH Alarm RE Q, RES Alarm REQ, R ESP

5EH Read REQ, RES Read REQ, RESP

5FH Write R EQ, RES Write REQ, RE SP

D1H Data Transpo rt NEG

RES

Data transport RESP

D7H Initiate NEG RES Initiate negative RESP

DCH Alarm NEG RES Interrupt negative RESP

DEH Read NEG RE S Re ad negative RES P

DFH Write NEG RE S Write negative RESP

1 Slot 00H ..FEH Sl ot number

2 Index 2FH Index

3 Length xx Le ngth of the user data (ma x 240 bytes)

4..n UserData xx User data

[Alarms are not curr ently support ed]

Table 4.3 Assignme nt of the data unit

In the following table the telegram format for the user data (Data Unit User Data) for a
DPV1 parameter request and a DPV1 parameter reply are shown.

DPV1 Parameter Request Byte address

Request Header Request reference Request identification 0

Axis No N o. of Parameters (n) 2

1. Parameter adress

Attribute No. of elements 3

Paramter Number (PNU)

Subindex

n. Parameter adres s

..... 4+ 6*(n-1)

Format No. of values 4+ 6*n

Values

...

... ...

4+ 6*n +…+

(format_ n

*am oun t_n)

Table 4.4 Assignme nt of the data unit

DPV1 Parameter Reply Byte address

Reply header

Request reference
(mirror)

Response identification 0

Axis No (mirr or) No. of Paramet ers (n) 2

1. Parameter address

Format No. of values 4

Value / error code

...

No. of para meter
address

... ...

4+…+
(format_ n
*am oun t_n)

Table 4.5 DPV1 Parameter reply

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The user data are structured as follows:

• Request reference:
The Request Reference is specified by the master and mirrored back by the slave
in the reply telegram. Based on this reference the master can uniquely assign each
reply telegram to a request telegram. A master changes the request reference with
each new request.

• Request ID
This identifier has essentially the task of describing the type of parameter treat­ment. Currently two different identifiers are defined:

- Requesting for a parameter

- Changing a parameter
Further details on identifiers can be found in the table “User data”.

• Response ID
This identifier contains information on the origin of a request. If a request is
executed correctly, the response ID matches the request ID. If a request cannot be
executed, an identifier in accordance with table “User data” is generated.

• Axis No.
This value allows an individual axis in a multi-axis system to be addressed selec­tively. (Axis No.  0 single axis).

• No. of Parameters
Number of parameters that are processed in a request.

• Attributes
Describes the individual access to a parameter structure. For instance whether
one may access the actual numerical value or use the parameter description text.
Further information can be found in the table “User data”.

• Number of Elements
When accessing an array or a string, this area contains the filed size or the string
length.

• Parameter Number
Contains the parameter number (PNU).

• Subindex
Addresses the first array element of a parameter or the beginning of a character
string. This also allows access to descriptive texts and text arrays.

• Format
Specifies the respective parameter and ensures a unique assignment of the para­meter value in the telegram.

• Number of values
Number of following values.

• Values
Parameter values

Field name Data type Valu e Meaning Comments

Field name Data type Value Meaning Co mments

Request
reference

Unsigned8 0x00

0x01..0xFF

Reserved

Request ID Unsigned 8 0x00

0x01
0x02
0x03..0x03F
0x40..0x7F
0x80..0xFF

Reserved
Request parameter
Change Parameter
Reserved
Manufacturer-specific
Reserved

Response ID Unsigne d8 0x00

0x01
0x02
0x03..0x3F
0x40..0x7F
0x80
0x81
0x82
0x83..0xBF
0xC0..0xFF

Reserved
Request parameter (+)
Change Parameter (+)
Reserved
Manufacturer-specific
Reserved
Request parameter (-)
Change Parameter (-)
Reserved
Manufacturer-specific

Axis No Unsigned8 0x00

0x01..0xFE
0xFF

Device Representative
Ax is-Nu mber 1.. 254
Reserved

Zero = single axi s

No. of
Parameters

Unsigned8 0x00

0x01..0x27
0x28..0xFF

Reserved
Quantity 1..39
Reserved

Limited by DPV1
telegram length

Attribute Unsigned 8 0x00

0x10
0x20
0x30
0x40..0x70
0x80..0xF0

Reserved
Value
Description
Tex t
Reserved
Manufacturer-specific

Table 4.6 User dat a

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[ Chapter 4 ]

Field name Data type Valu e Meaning Comments

No. of Elements Unsigned8 0x00

0x01..0xEA
0xEB..0xFF

Special Function
Qua ntity 1..23 4
Reserved

Limited by DPV1
telegram length

Parameter
Number

Unsig­ned16

0x0000
0x0001…
0xFFFF

Reserved
Number 1..65535

Subindex Unsig -

ned16

0x0000…
0xFFFF

Number 1..65535

Format Unsigned8 0x00

0x01..0x36
0x37..0x3F
0x40
0x41
0x42
0x43
0x44
0x45..0xFF

Reserved
Data Types
Reserved
Zero
byte
Word
Double Word
Error
Reserved

No. of Values Unsigned8 0x00..0xEA

0xEB..0xFF

Quantity 0..234
Reserved

Limited by DPV1
telegram length

Error Number Unsig-

ned16

0x0000…
0x00FF

Error Number s
(see table be low)

Table 4.6 User dat a

Error number Meaning

Error number Imp ermissible parameter number

0x00 Parameter value cannot be changed

0x01 Value area of the parameter transgres sed

0x02 Defect ive parameter sub -index

0x03 Parameter is n ot an array

0x04 Incorrec t parameter data type

0x05 Change access w ith value not equal to zer o which is not permit ted

0x06 Änderungszugriff mit Wer t ungleich Null, der nicht erlaubt ist

0x07 Change access o n a descriptive el ement, which cann ot be changed

0x09 No descr iptive text avail able

0x 11 Request cannot be p erformed in the present syste m status

0x14 Impermissible value

Table 4.7 Error number

Error number Meaning

0x15 Reply te legram is too long

0x16 Impermissible parameter address

0x17 Illegal format

0x18 Number of param eter values is inconsi stent

0x19 Request i s for an non-ex istent axis

Table 4.7 Error number

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4.1 Examples of request and reply telegrams

Write word

Re­fe r.

Req.

ID

Axis

No.
Pa-

ram.

At tr.

No.
Ele.

Pnu

high

Pnu
Low

Sub

high

Sub
low

For­mat

No.

Valu-

es

Value

high

Value

Low

0 2 0 1 0x10 0..1 3 0x96 0 0 0x42 1 0 7

Table 4.8 ID:2 Change Parameter, Attr. 0x10: Value; Pnu = 918 = 0x396, Format word= 0x42

Positive reply

Refer.

Req.

ID

Axis

No. Pa-

ram.

0 2 0 1

Table 4.9 ID:2 Change Parameter

• Parameter P 0918 now has the value 7

Write double word

Refer. Req. IDAxis No. Pa-

ram.

At tr. No. Ele. Pnu high Pnu Low

0 2 0 1 0 x10 0 ..1 4 0x FA

Sub high Sub low Format No.

Value s

Value

high

Value

Low

Value l

high

Value l

low

0 0 0x43 1 1 2 3 4

Table 4.10 ID:2 Change Parameter, Attr. 0x10: Value; Pnu = 918 = 0x396, Format word=0 x42

Refer.

Req.

ID

Axis

No. Pa-

ram.

0 2 0 1

Table 4.11 ID:2 Change Parameter

• Parameter P 0884 now has the value 16909060

Read simple parameter value

Read word

Refer.

Req.

ID

Axis

No.

Param.

At tr.

No.

Ele.

Pnu

high

Pnu
Low

Sub

high

Sub
low

0 1 0 1 0 x10 0..1 3 0x9A 0 0

Table 4.12 ID:1 Request Parameter, Attr. 0x10: Value; Pnu = 922 = 0x39A

Positive reply

Refer.

Req.

ID

Axis

No.

Param.

Format

No

values

Value

high

Value

low

0 1 0 1 0x42 1 0 9

Table 4.13 Format word=0x42; Parameter value = 9

Read double word

Refer.

Req.

ID

Axis

No.

Param.

At tr.

No.
Ele.

Pnu

high

Pnu
Low

Sub

high

Sub
low

0 1 0 1 0 x10 0..1 4 0xFA 0 0

Table 4.14 ID:1 Request Parameter, Attr. 0x10: Value; Pnu = 922 = 0x39A

Positive reply

Refer.

Req.

ID

Axis

No.

Param.

Format

No

values

Value

H high

Value

H Low

Value
l high

Value

l low

0 1 0 1 0x43

Table 4.15 Format word=0x43; Parameter value = 0x01020304 = 16909060

Defective accesses

Defective parameter numbers

Refer.

Req.

ID

Axis

No.

Param.

At tr.

No.
Ele.

Pnu

high

Pnu
Low

Sub

high

Sub
low

0 1 0 1 0 x10 0..1 0 9 0 0

Table 4.16 ID:1 Request Parameter, Attr. 0x10: Value; Pnu = 9

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[ Chapter 4 ]

Negative reply

Refer.

Req.

ID

Axis

No.

Param.

Format

No

values

Value

high

Value

low

0 0x81 0 1 0x4 4 1 0 0

Tab le 4 .17 Format error=0x44; Parameter value = 0 = incorrect parameter

number

Write parameter values array

Refer.

Req.

ID

Axis

No.

Param.

At tr. No. Ele. Pnu high Pnu Low Sub high Sub low Format

No.

Value s

Value 0

high

Value 0

Low

-

Value 4

high

Value 4

low

0 2 0 1 0x10 5 3 0x93 0 0 0x42 5 3 C7 0 0

Tabl e 4.18 ID:2 Change Parameter, Attr. 0x10: Value; Pnu = 918 = 0x396, Format word =0x42

• Parameterwerte = 0x03C7, 0x04F6, 0x04F6, 0x04F6, 0

OK reply

Refer.

Req.

ID

Axis

No.

Param.

0 2 0 1

• Parameter P 0915 now contains the entries for the parameter values.

• No standard telegram smaller than 10 is set up in the device,
since then it could not be overwritten. Use remedy PPO5.

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Read parameter values array

Read assigned process data reference values

Refer.

Req.

ID

Axis

No.

Param.

At tr. N o. Ele.

Value 0

high

Value 0

Low

Value 4

high

Value 4

low

0 2 0 1 0 x10 5 3 C7 0 0

Table 4.19 ID:1 Attr. : 0x10 Pnu = 915=0x393

OK reply

Refer.

Req.

ID

Axis

No.

Param.

Format

No

Value s

Value 0

high

Value 0

low

Value 1

high

Value 1

Low

Value 2

high

Value 2

Low

Value 3

high

Value 3

Low

Value 4

high

Value 4

low

0 1 0 1 0x42 5 3 0xC7 4 0xF6 4 0xF6 5 0 0 0

Table 4.20 ID: 1 Format: 0x42

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[ Chapter 5 ]

5 Operating modes

5.1 Speed Control

In speed control mode the speed control reference value can be influenced using 3 bits
in the master control word (3.2).

Figure 5.1 Speed control

Setting the control word bit 4 allows the speed reference value to be taken over by the
ramp generator. The control word bit 5 releases the ramp generator; resetting it freezes
the ramp generator again.

The input of the ramp generator is influenced by the control word bit 6. If bit 6 is set,
the reference value is forwarded. If bit 6 is not set, the reference value zero is forwarded.

True = Activate ramp generator
False = Reset ramp generator

True = Enable ramp generator
False = Freeze ramp generato

True = Activate reference value
False = Deactivate reference

value

Reference value
COM_DP_RefSpeed
(Speed)

RFG = Ramp Function Generator

Reference value
for the closed
speed control
circuit

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5.2 Speed control circuit and associated control
parameters

Figure 5.2 Speed control circuit

P. n o.: Parameter name Meaning

P 1270 COM_DP_RefSpeed Speed reference value

P 1278 COM _DP_ Acc Acceleration ramp

P 1279 COM_DP_Dec Deceleratio n ramp

P 0167 MPRO_REF_OVR Speed override

P 0371 CON_IP_RefTF Filter time co nstant speed refe -

rence value

P 0402 CO N_SCO N_A ddSRef Additive speed reference value

P 0458 M OT_Snom Nominal speed of m otor

P 0328 CO N_SCO N_S Max Speed limitation (reference value:

nominal speed o f motor)

P 0334 CO N_SCO N_S Max Pos Positive sp eed limitation (refe -

rence value: nominal s peed of
motor)

P. n o.: Parameter name Meaning

P 0333 CO N_SCO N_SM axNeg Negat ive speed limit ation

(reference value: nomina l speed
of motor)

P 0417 CON _SCON _SDif f Speed controller differential

P 1271 COM_DP_ActSpeed Actual speed

P 0320 CO N_SCO N_K p PI speed c ontroller amplifi cation

P 0321 CON _SCON _Tn PI_ speed controller lag time

P 0325 CO N_SCO NFilt erFreq Limit frequenci es for torque

reference value filter

P 0326 CO N_SCO NFilt erAssi Torque reference value filter dra ft

parameter

P 0327 CO N_SCO NFilt erPara Torque reference value filte r

parameter

P 0351 CON_ SCALC_TF Actual speed filter time c onstant

Table 5.1 Control parameter

Torque-controlled motor

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[ Chapter 5 ]

P. n o.: Parameter name Meaning

P 0401 CO N_SCO N_A ddTRe f Additive torque reference value

P 0330 CO N_SCO N_TM axN eg Ne gative torque limit ation (refe-

rence value: nominal torque)

P 0331 CON _SCON _TMax Pos Positive torqu e limitation (refe -

rence value: nominal torque)

P 0332 CO N_SCO N_TM axS cale Torque scaling factor

P 0339 CO N_SCO N_Tmax Torque limitation (reference

value: nominal torque)

P 0460 M OT_TNom Motor nominal torque

Table 5.1 Control parameter

5.3 Position control

In position control operating mode, based on operating status 5 (see section 3.4) the
drive can change over into various statuses in response to defined bits in the master
control word (3.2). These statuses are explained in Figure 5-2.

Figure 5.3 Position control

A positioning command is activated if the control word bit 4, the feed hold is set via bit
5 and a flank is set on control word bit 6. Further positioning commands can then be
activated via the control word bit 13.

If bit 13 is set, changes to the reference position, positioning speed or positioning accele­ration lead directly to a new movement request.

Initial status 5; Control active

ZSW1 bits 10, 13 = TRUE

Speed = zero

Do not interrupt
positioning set

STW1 bit 4 = TRUE

Feed hold set

STW1 bit 5 = TRUE

Activate positioning set

STW1 bit 6 = Flank

Braking with ramp

ZSW bits 10, 13 = FALSE

Start homing

STW1 bit 11 = TRUE

End homing

STW1 bit 11 = FALSE

Homing

running

done

Homing point set

ZSW1 bits 11, 13 = TRUE

Interrupt positioning set

STW1 bit 4 = FALSE

Positioning command active

ZSW1 bits 10, 13 = FALSE

and ank on ZSW1 bit 12

Automatic position

updating inactive

STW1 bit 13 = FALSE

Automatic position

updating active

STW1 bit 13 = TRUE

Flank-controlled

updating of

positioning set

Automatic

updating of

positioning set

Activate positioning

set by ank

STW1 bit 6 0  1 or 1  0

Updating

Intermediate stop

Hold set

STW1 bit 1 = TRUE

No hold set

STW1 bit 1 = FALSE

Speed = zero

Braking with ramp

ZSW bits 10, 13 = FALSE

ZSW1 bits 11, 13 = FALSE

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If bit 13 is not set, a new movement request is activated only by means of a positive or
negative flank of control word bit 6.

If bit 6 is set in parameter P 1267 COM_DP_CtrlCong, the positioning task is only activa­ted on the positive flank. This corresponds to the last PROFIDrive profile 4.1.

If the feed hold is reset whilst a movement command is ac tive, the drive will be braked
via a ramp to a standstill and is set to the status intermediate stop. The current move­ment request will not be executed until the feed hold is set again.

A movement request can be interrupted by resetting control word bit 4.

In this case the drive will also be braked to a standstill and set to the status “Control
active”. In the initial status 5, additionally a homing run can be triggered by the control
word bit 11.

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[ Chapter 5 ]

5.4 Position control circuit and associated control parameters

Figure 5.4 Position control circuit

P. n o: Parameter name Meaning

P 1270 COM_DP_RefSpeed Speed reference value

P 1278 COM _DP_ Acc Acceleration ramp

P 1279 COM_DP_Dec Deceleratio n ramp

P 0167 MPRO_REF_OVR Speed override

P 1276 COM _DP_ Act Pos1 Current actual position

P 0402 CO N_SCO N_A ddSRef Additive speed reference value

P 0458 M OT_Snom Nominal speed of m otor

P 0328 CO N_SCO N_S max Speed limitation

P 0334 CO N_SCO N_S Max Pos Positive sp eed limitation (refe -

rence value: nominal s peed of
motor)

P. n o: Parameter name Meaning

P 0333 CO N_SCO N_SM axNeg Negat ive speed limit ation

(reference value: nomina l speed
of motor)

P 0417 CON _SCON _SDif f Speed controller differential

P 1271 COM_DP_ActSpeed Actual speed

P 1516 SCD_ Jsum Overall moment of inertia

P 0376 CON_ IP_TFFScale S caling for pre-control of acce -

leration

P 1275 COM_ DP_TargetPos Target position

P 1277 COM_DP_PosVelocity Positioning spe ed

Table 5.2 Control parameters

Torque-controlled motor

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P. n o: Parameter name Meaning

P 0374 CON_ IP_EpsDly Position reference delay

P 0320 CO N_SCO N_K p PI speed c ontroller amplifi cation

P 0321 CON _SCON _Tn PI_ speed controller lag time

P 0325 CO N_SCO NFilt erFreq Limit frequenci es for torque

reference value filter

P 0326 CO N_SCO NFilt erAssi Torque reference value filter

parameter

P 0327 CO N_SCO NFilt erPara Torque reference value filte r

parameter

P 0351 CON_ SCALC_TF Actual speed filter time c onstant

P 0401 CO N_SCO N_A ddTRe f Additive torque reference value

P 0330 CO N_SCO N_TM axN eg Ne gative torque limit ation (refe-

rence value: nominal torque)

P 0331 CON _SCON _TMax Pos Positive torqu e limitation (refe -

rence value: nominal torque)

P 0332 CO N_SCO N_TM axS cale Torque scaling factor

P 0339 CO N_SCO N_Tmax Torque limitation (reference

value: nominal torque)

P 0460 M OT_TNom Motor nominal torque

P 0372 CON_IP_SFFTF Filter time constant speed pre-

control

P 0375 CON_ IP_SFFScale Scaling for pre -control of spe ed

P 0414 CO N_PCO N_P osD iff Position controller differential

(tracking error)

P 0360 CO N_P CON_K p Position controller amplification

Table 5.2 Control parameters

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[ Chapter 6 ]

6 Homing

6.1 Homing runs performed by the drive

Since relative sensor systems are used, the drive must be homed, triggered by bit 11 in
control word 1. As soon as this bit is set by the master, the drive performs a position­controlled homing run using an internal profile generator and determined by homing
run speed, homing run acceleration and employing the strategy saved in the homing run
method.

6.2 Homing run speed

The homing run speed is specified by parameter P 2262 MPRO_402_HomingSpeeds in
the parameter editor [Parameter listMotion ProfileHoming]. The user has the facility
here to specify two different homing run speeds.

1. SpeedSwitch = Speed when moving to the limit switch

2. SpeedZero = Speed when moving to the zero point

6.3 Homing run acceleration

The homing run acceleration is specified by parameter P 2263 MPRO_402_HomingAcc in
the parameter editor [Parameter listMotion ProfileHoming].

6.4 Zeroing offset

Absolute encoders (such as SSI multiturn encoders) present a special case for the homing
run, since they directly generate the absolute position reference. For homing using these
encoders it follows that no movement is required and in some circumstances even no
power to the drive. Furthermore, the zeroing offset must be determined. The type 5

is particularly suitable for this. A zeroing offset can be set using the parameter P0525
ENC_HomingOff [Parameter listMotion ProfileHoming].

6.5 Homing cams, limit switches

The signal for the homing cams can optionally be linked to one of the digital input s, for
which the inputs ISD00 to ISD06 are available.

When homing to the limit switches, the digital input must be selected as a positive limit
switch using selection parameter LCW(5) or a negative limit switch using selection para­meter LCW(6). When homing to cams, the parameter HOMSW(10) must be selected.

(see parameter P 0101–P 0107).

P. n o.

Parameter identifier/

Setting

Identifier at MDA 5 Function

P 2261

MPRO_402_ Homing­Method

Digital inputs

(-7) -

move pos. direc tion, for
distance coded encoder

Homing run ty pe for distance -coded
encoder for positive direction

(-6) -

move pos. direc tion, for
distance coded encoder

Homing run ty pe for distance -coded
encoder for negative direction

(-5) -

Act. positi on + homing
offset (multiturn-encoder)

Homing (absolute encoder)

(-4) HO MSW

Homing mode t ype 22
with continuous reference

Homing in progre ss, negative flan k of
the homing cam

(-3) HOMS W

Homing mode t ype 20
with continuous reference

Homing in progre ss, positive fla nk of
the homing cam

(-2) -

No homing mod e (act.
position + homing offset)

No homing run; pos itioning is only
by offset

(-1) -

Reference position =
homing offset (parameter
HOOFF)

Current position=Zero

(0) - Not defin ed N o homing run

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P. n o.

Parameter identifier/

Setting

Identifier at MDA 5 Function

P 2261

MPRO_402_ Homing­Method

Digital inputs

(1) LCC W

Neg. end swi tch, zero
pulse

Homing run nega tive limit switch an d
zero impuls

(2) LCW Pos . end switch, zero puls e

Homing run posi tive limit switch a nd
zero impuls

(3) HOMSW

Pos. reference cams, zero
pulse at RefNo ck=Low

Homing run to cams , negative
flank,positi ve direction of tra ve + zero
impuls

(4) HOMSW

Pos. reference cams, zero
pulse at RefNock=High

Homing run to cams , positive
flank,positi ve direction of tra ve + zero
impuls

(5) HOMSW

Neg. reference cams, zero
pulse at RefNo ck=Low

Homing run to cams , negative
flank,negativ e direction of trav e +
zero impuls

(6) HOMSW

Neg. reference cams, zero
pulse at RefNock=High

Homing run to cams , positive
flank,negativ e direction of trav e +
zero impuls

(7) to (14) HOMSW

Left reference c am polarity,
zero pulse at RefN ock=Low

Various homing runs to c ams

(15), (16 ) - not defined Reser ved

(17) LCC W N eg. end switch Homing ru n negative limit s witch

(18) LC W Pos. end switch Homing run posi tive limit switch

(19) HOMSW

Pos. reference ca ms, Stop
at RefNock=Low

Homing run to cams , negative
flank,positi ve direction of tra vel

(20) HOMSW

Pos. reference ca ms, Stop
at RefNock=High

Homing run to cams , positive
flank,positi ve direction of tra vel

(21) HO MSW

Neg. reference c ams, Stop
at RefNock=Low

Homing run to cams , negative
flank,negative direction of travel

(22) HOMSW

Neg. reference c ams, Stop
at RefNock=High

Homing run to cams , positive
flank,negative direction of travel

P. n o.

Parameter identifier/

Setting

Identifier at MDA 5 Function

P 2261

MPRO_402_ Homing­Method

Digital inputs

(23) to (30) HOMS W

Left reference c am polarity,
Stop at RefNock= Low

Various homing runs to c ams

(31), (32) -

Not defined Reserved

(33) - Nex t left zero pulse

Zero impulse in ne gative directi on of
travel

(34) -

Left reference c am polarity,
Stop at RefNock= High

Zero impulse in po sitive direct ion of
travel

(35) -

Actual posit ion = Refe­rence position

The instanta neous positio n is the zero
position

The signal for the homing cams can optionally be linked to one of the digital input s,
for which the inputs ISD00 to ISD06 are available. Furthermore the limit switches can
also be used for homing. The assignment of the digital inputs can be found under the
parameter 101 to 107 [Parameter listI/O configurationDigital inputs]. When homing
to the limit switches, the digital input must be selected as a positive limit switch using
selection parameter LCW(5) or a negative limit switch using selection parameter LCW(6).
When homing to cams, the parameter HOMSW(10) must be selected.

The following table shows the necessary assignment of the digital input s for the respec­tive homing run methods.

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[ Chapter 6 ]

6.6 Homing run methods

The type of homing run is selected by the parameter P 2261 MPRO_402_HomingMethod
[Parameter listMotion ProfileHoming].

Further information can be found in the MSD Servo Drive user manual, on our product
DVD.

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[ Chapter 7 ]

7 Examples of commissioning

using manufacturer-specific
telegrams

7.1 Position control using PPO 5

The following section describes how the drive can be simply and quickly commissioning
in the position control mode.

Firstly the GSD file “LUST0A33.gsd” must be linked in during the Profibus configuration
phase and then the PPO type 5 selected. PPO type 5 consists of a PKW channel (8 byte)
and 10 process data channels (20 byte). The process data area can be freely configured
using this manufacturer-specific telegram. That means that the desired reference values
and actual values can be mapped to a defined process data area. All mappable signals
are listed in two signal tables, which can be accessed using the parameter editor under
the folder Parameter list

ð Fieldbus ð Profibus-DP in the left tree structure of the ope-

rating tool. Within this folder directory, the signal list P 1284 (COM_DP_SignalList_Write)
contains all possible process data signals that can be written, and the signal list P 1285
(DP_SignalList_Read) contains all possible process data signals that can be read.

The user can assign the process data channels freely as required. The actual assign­ment can be found in the signal tables P 0 915 and P 0916 [Parameter list

ð Fieldbus ð

Profibus-DP]. Signal table P 0915 (COM_DP_PZDSelectionWrite) contains all signals that
can be sent by the control master to the drive. Signal table P 0916 (COM_DP_PZDSelec­tionRead) contains all signals that can be sent by the drive to the control master.

The following table shows an example of the process data area from the control master
to the drive. For this purpose the sub-indexes in list P 0915 are assigned the stated para­meter numbers.

Signal

table

P 0915

Sub-index

PZD area

Parameter

number

Parameter name

Data type

(value range)

0 1 P 0967 Control word (COM_DP_Controlword) U16 (0..65535)

1 2 P 1275 Target position (COM_DP_TargetPos) I32

(-2147483648 ..

2147483647)

2 3 P 1275 Target position (COM_DP_TargetPos)

3 4 P 1280

Control word 2
(COM_DP_Controlword2)

U16 (0..65535)

4 5 P 1277

Positioning velocity
(COM_DP_PosVelocity)

I32
(-2147483648 ..

2147483647)

5 6 P 1277

Positioning velocity
(COM_DP_PosVelocity)

6 7 P 1278 Acceleration (COM_D P_Acc) U16 (0..65535)

7 8 P 1279 B raking deceleration (COM_DP_Dec) U16 (0..65535)

8 9 0 - -

9 10 0 - -

Table 7.1 Example of assignment of the master-slave process data channel

Each sub-index represents a 16-bit wide process data channel. For this reason for in­stance the target position that is sent as Int32 is mapped to sub-indices 1 and 2 in order
to transmit a real 32 bits. The parameters available for selection and their data types are
listed in chapter 6.

The configuration of the process data channels can be freely selected by the user in the
sequence of the signal assignments. However the data type format must be complied
with.

The following table shows an example of the process data area from the drive to the
master. For this purpose the sub-indexes in list P 0916 are assigned the desired parame­ter numbers.

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Signal table

P 0915

Sub-index

PZD area

Parameter

number

Parameter name

Data type

(value range)

0 1 P 0 968

Status word ( COM_ DP_Sta­tuswort)

U16 (0..65535)

1 2 P 1276

Actual position (COM_DP_Act­Pos 1)

I32
(-2147483648
..

2147483647)

2 3 P 1276

Actual position (COM_DP_Act­Pos 1)

3 4 P 1281

Status wo rd 2(COM_DP_Sta ­tusword2)

U16 (0..65535)

4 5 P 1271

Actual speed(COM_DP_
ActSpeed)

I16
(-32768..32767)

5 6 - - -

6 7 - - -

7 8 - - -

8 9 - - -

9 10 - - -

Table 7.2 Example of assignment of the slave-master pro cess data channels

The following parameters must then be set for position control mode.

1. P 0300 CON_CfgCon: PCON(3) [Parameter list ðMotor control]
This parameter allows the control mode to be changed. The setting PCON (Position
Control Mode) means that the drive is in position control mode.

2. P 0301 CON_REF_Mode: RFG(0) [Parameter listðMotion Profile
ðBasic settings]
This parameter allows the mode of the position reference value to be input. The
position reference value can be input directly or via a ramp generator. The setting
RFG (Ramp Function Generator) means that the position reference value is input
via a ramp generator.

3. P 0159 MPRO_CTRL_SEL: Probus(7) [Parameter List ðMotion Profile
ðBasic settings]
This parameter allows the control location to be set. In this instance the control
location is selected as Profibus.

4. P 0165 MPRO_REF_SEL: PROFI(9) [Parameter listðMotion ProfileðBasic
settings]
This parameter allows configuration of the reference value selector. In this instance
the reference values are taken from the Profibus.

Once these settings have been performed, communication can be established between
the master and drive.

7.2 Conversion of reference values and actual
values using factor group parameters

Conversion of reference values and actual values using factor group
parameters

n positioning applications the inputting of reference values and the return of actual
values are generally performed using application-specific user units (mm, degrees, …).
The reference values and actual values of the drive are converted using what are called
factor group parameters [Parameter listðMotion profileðStandardisation/units]. For
these the user has the facility to differentiate between 3 different groups of parameters.
All 3 groups have the same task, which is to convert the user units to the fixed internal
variables used by the servocontroller. The first factor group is based on the CiA 402 stan­dard. The parameters of this group are described in detail in the CANopen specification
CiA 402. The second factor group goes under the heading “Sercos”. The parameters of
this group refer to the Sercos specification “SERCOS interface” (Version 2.4 / February

2005). The parameters of this group are also described in detail in the respective specifi-

cation. The third factor group is called “user spec” and is user-specific group. Since this
factor group is not described in detail elsewhere, the use of parameters of this group is
illustrated by means of an example.

The user can select the factor group using the parameter “MPRO_FG_Type”.

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[ Chapter 7 ]

Parameter number Parameter name Meaning

P 0283 MPRO_FG_Type

Selecti on of the factor group
(0) = STD/402
(1) = SE RCOS
(2) = USER

Table 7.3 Parameters

The parameters of the USER factor group are listed in the table
below

Parameter

number

Parameter name Meaning Unit

P 0270 MPRO_FG_ PosNorm Sensor re solution [incr/rev]

P 0271 MPRO_FG_Num Numerator (position) [rev ]

P 0272 MPRO_FG_ Den Denominator (position) [P OS]

P 0274 M PRO_FG_SpeedFac Speed factor [rev/(min*SPEED)]

P 0275 MPRO _FG _Acc Fac Acceleration factor [rev/ (sec*sec*ACC)]

P 0284 MPRO_FG _PosUnit Position unit String

P 0285 MPRO_FG_ PosExp Position exponent -

P 0286 MPRO_FG_ PosScaleFac Position factor -

P 0287 MPRO_FG _SpeedUnit Speed unit String

P 0288 MPRO_FG_SpeedExp Speed exponent -

P 0289 MPRO_FG_SpeedScaleFac Speed factor -

P 0290 MPRO_FG _AccUnit Acceleration unit Stri ng

P 0291 MPRO_FG _AccExp Acceleration exponent -

P 0292 MPRO_FG_ AccScaleFac Acceleration factor -

P 0293 MPRO_FG _TorqueUnit Tor que un it Strin g

P 0294 MP RO_F G_To rqueE xp Torque exponent -

P 0295 MPRO_FG _TorqueScaleFac Torque factor -

Table 7.4 USER factor group

These define the internal resolution of the unit for
Position: rev
Speed: rev/min
Acceleration: rev/(sec*sec)

The units are automatically defined by the profiles themselves according to CiA 402 or
Sercos. The units can be input manually in User setting.

The parameters for unit and exponent refer to the display and have no effect on the
standardisation of the variables themselves.

The following three formulae describe the conversion of user units into the units used
internally in positioning mode. They refer to reference position, speed and acceleration.

The quotient of parameters MPRO_FG_Num and MPRO_FG_Den describes the ratio of
user unit to motor revolutions. Furthermore is allows any gearing ratios or advance cons­tants to be incorporated.

Positioning speed

The parameter MPRO_FG_SpeedFac offers the facility to change the number of decimal
points for the positioning speed or the unit of the positioning speed.

Positioning acceleration

The parameter MPRO_FG_ AccFac offers the facility to change the number of decimal
points for the positioning acceleration or the unit of the positioning acceleration.

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7.3 Examples for setting the user factor group

The positioning instructions should be input in degrees, so that 360° corresponds to
one revolution of the motor (65536 increments per revolution of the motor). The speed
should be input in rpm and the acceleration in rpm/sec. This gives the following values:

P 0270 Sensor resolution = 655 36 [incr/rev]

P 0271 Position numerator = 1 [rev]

P 0272 Position denominator = 360 [POS] **

P 0274 Speed factor = 1 [rev/(min*SPEED)] ***

P 0275 Acceleration factor = 1/60 [rev /(sec*sec*ACC)] ****

P 0284 Position unit (string) = „Degree“

P 0287 Speed unit (string) = „1/min“

P 0290 Acceleration unit (string) = „1/(min*sec)“

** POS = User unit for position

***SPEED = User unit for speed

****ACC = User unit for acceleration

7.4 Speed control using PPO 2

The following section describes how the drive can be simply and quickly commissioning
in the speed control mode. Firstly the GSD file „LUST0A33.gsd“ must be linked in during
the Profibus configuration phase and then the PPO type 2 selected.

PPO type 2 consists of a PKW channel (8 byte) and six process data channels (12 byte).
The process data area can be freely configured using this manufacturer-specific tele­gram. That means that the desired reference values and actual values can be mapped to
a defined process data area. All mappable signals are listed in two signal tables, which
can be accessed using the parameter editor under the folder Parameter list ð Fieldbus ð
Profibus-DP in the left tree structure of the operating tool. Within this folder direc tory,
the signal list P 1284 COM_DP_SignalList _Write contains all possible process data signals

that can be written, and the signal list P 1285 DP_SignalList_Read contains all possible
process data signals that can be read.

The user can freely assign the process data area. The actual assignment can be found in
the signal tables P 0 915 and P 0916 (Parameter list ð Fieldbus ð ProfibusDP). Signal tab­le P 0915 COM_DP_PZDSelectionWrite contains all signals that can be sent by the control
master to the drive. Signal table P 0916 COM_DP_PZDSelectionRead contains all signals
that can be sent by the drive to the control master.

The following table shows an example of the process data area from the control master
to the drive. For this purpose the sub-indexes in list P 0915 are assigned the desired para­meter numbers.

Signal table

P 0915

Sub-index

PZD area

Para meter

number

Parameter name

Data type

(value range)

0 1 P 0967 Control word (COM_DP_Control-

word)

U16 (0..65535)

1 2 P 1270 Reference speed (COM_DP_Ref-

Speed)

I16 (-32768..32767)

2 3 P 1278 Acceleration (COM_DP_Acc) U16 (0..65535)

3 4 P 1279 Braking deceleration (COM_DP_Dec) U16 (0..65535)

4 5 - - -

5 6 - - -

6 7 - - -

7 8 - - -

8 9 - - -

9 10 - - -

Table 7.5 Assignment of the master-slave process data channels

Each sub-index represents a 16-bit wide process data channel. For this reason for
instance an Int32 must be mapped to two sub-indices. The parameters available for
selection and their data t ypes are listed in table „A ssignment of the master-slave process
data channels“.

The configuration of the process data areas can be freely selected by the user in the
sequence of the signal assignments. The only requirement is that the data type format
must be complied with. That means that a 32-bit variable also requires 2 process data
channels.

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[ Chapter 7 ]

The following table shows an example of the process data area from the drive to the
master. For this purpose the sub-indexes in list P 0916 are assigned the desired parame­ter numbers.

Signal table

P 0915

Sub-index

PZD area

Para meter

number

Parameter name

Data type

(value range)

0 1 P 0968 Status word ( COM_ DP_Statuswor t) U16 (0..655 35)

1 2 P 1271 Actual speed (COM_DP_Act Speed) I16 (-32768..32767 )

2 3 - - -

3 4 - - -

4 5 - - -

5 6 - - -

6 7 - - -

7 8 - - -

8 9 - - -

9 10 - - -

Table 7.6 Assignment of the slave -master proces s data channels

The following parameters must then be set for speed control mode.

1. P 0300 CON_CfgCon : SCON(2) [Parameter list ð control]
This parameter allows the operating mode to be changed. The setting SCON
(Speed Control Mode) means that the drive is in speed control mode.

2. P 0301 CON_REF_Mode : RFG(0) [Parameter list ð Motion Profile
ð Basic settings]
This parameter determines the mode of reference value input. The position refe­rence value can be input directly or via a ramp generator. The setting RFG (Ramp
Function Generator) means that the speed reference value is input via a ramp
generator.

3. P 0159 MPRO_CTRL_SEL : Profibus(7) [Parameter list ð Motion
Profile ð Basic settings]
This parameter allows the control location to be set. In this instance the control
location is Profibus.

4. P 0165 MPRO_REF_SEL : PROFI(9) [Parameter list ð Motion
Profile ð Basic settings]
This parameter allows configuration of the reference value selector. In this instance
the reference values are taken from the Profibus.

Once these settings have been performed, communication can be established between
the master and drive.

7.4.1 Speed input

All factor group parameters are set to default values. The speed reference value can then
be input scaled to the motor nominal speed. So a value of 16384 corresponds to a speed
reference value of 100% of the motor nominal speed.

By using the control word (section 3.2) the drive can then be operated in speed control
mode.

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7.5 Mappable parameters

Parameter number Parameter name

Write

(128 4)

Read

(1285)

PZD length

P 0967 COM_DP_Controlword X X 1

P 0968 COM_DP_Statusword - X 1

P 128 0 COM_D P_Controlword2 X X 1

P 1281 COM_DP_Statusword2 - X 1

P 1270 COM_DP_RefSpeed X X 1

P 1271 COM_DP_ActSpeed - X 1

P 0121 M PRO_Input_State - X 1

P 0143 MPRO_Output_ State - X 1

P 1274 COM_DP_RefPos X X 2

P 1276 COM _DP_ Act Pos1 - X 2

P 0207 MPRO_TAB_ActIdx X X 1

P 1275 COM_ DP_TargetPos X X 2

P 1277 COM_DP_PosVelocity X X 2

P 1278 COM _DP_ Acc X X 1

P 1279 COM_DP_Dec X X 1

P 1287 COM _DP_ TMax Pos X X 1

P 128 8 COM_DP_TMaxNeg X X 1

... ... ... ... ...

Table 7.7 Mappable parameters

Further mappable parameters can be found in the signal tables P 1284 (COM_DP_Signal­List_Write) and P 1285 (DP_SignalList_Read) [Parameter List ð Fieldbus ð Profibus-DP].

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MSD Servo Drive User Manual Profibus 51

[ Chapter 8 ]

8 Profibus parameters

The following table describes the Profibus parameters that are available.

Parameter name Number Value range Default value

Can be

changed

Data type Meaning

COM_DP_CtrlConfig P 126 7 0 – 65535 0 Ja U16 This parameter des cribes the func tion of each bit in the co ntrol word, paramet er 967.

COM_DP_RefJogSpeed1 P 126 8 - 429496729 6 bis 4294967295 0 Ja I32 This para meter contains hom ing speed 1 in the jo g mode

COM_DP_RefJogSpeed2 P 1269 - 42949 67296 bis 429496729 5 0 Ja I32 This pa rameter contains hom ing speed 2 in the jo g mode

COM_DP_RefSpeed P 127 0 -32768 – 3276 7 0 Yes I16 Spe ed reference value, written by the Profibus

COM_DP_ActSpeed P 127 1 -32768 – 3276 7 0 No I16 Actual speed

COM_DP_RefTorque P 12 72 -32768 – 3276 7 0 Yes I16 Torque r eference value, writ ten by the Profibus

COM _DP_ Act Torq ue P 1273 -32768 – 3276 7 0 No I16 Actual torque

COM_DP_RefPos P 127 4 -214748364 8 – 21474836 47 0 Ye s I32 P osition reference va lue (ramp mode), writte n by the Profibus

COM_DP_TargetPos P 1275 -214748364 8 – 2147483647 0 Yes I32 Po sition reference valu e (direct mode), writ ten by the Profibus

COM _DP_ Act Pos1 P 12 76 -21474836 48 – 2147483647 0 No I32 A ctual positio n from 1st position sens or

COM_DP_PosVelocity P 127 7 -21474836 48 – 21474836 47 0 Ye s I32 S peed reference valu e (ramp mode), written b y the Profibus

COM _DP_ Acc P 127 8 0 – 0xFFFF 100 Ye s U16 Accelerat ion reference value (ramp m ode), written by the P rofibus

COM_DP_Dec P 1279 0 – 0xFFFF 100 Yes U16 Deceleration reference valu e (ramp mode), written by t he Profibus

COM_DP_Controlword2 P 1280 0 – 0xFFFF 0 Yes U16 2nd Control value, not use d at first

COM_DP_Statusword2 P 12 81 0 – 0xFFFF 0 No U16 2nd status value, not used at firs t

COM_DP_Bus_Timeout P 1283 0 – 4294967295 5000 Yes U32 Bus timeout

COM_DP_SignalList_write P 128 4 0 – 65535 0 No U16 L ist of parameters t hat can be used as pro cess data reference values

COM_DP_SignalList_Read P 12 85 0 – 65535 0 No U16 L ist of parameters that can be use d as process data a ctual values

COM_DP_TMaxScale P 12 86 0 – 2000 1000 Yes U16 Online torque scaling

COM _DP_ TMa xPos P 128 7 0 – 200 0 1000 Ye s U16 Positive onli ne torque scaling

COM_DP_TMaxNeg P 12 88 0 – 2000 1000 Yes U16 Negative online torque scaling

COM_DP_PZDSelectionWrite P 0915 0 – 65535 967 Ye s U16 This paramete r allows incoming pro cess data to be linked to specific dev ice parameters . The

parameters tha t can be entered are lis ted in parameter P 1284. The sub- index 0 contains the first
process data va lue PZD1 and so on.

COM_DP_PZDSelectionRead P 0916 0 – 65535 968 Ye s U16 T his parameter allow s outgoing process data to be linked to s pecific devic e parameters. Th e

parameters tha t can be entered are lis ted in parameter P 1285. The sub-i ndex 0 contains the fir st
process data va lue PZD1 and so on.

Table 8.1 Profibus parameters

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Parameter name Number Value range Default value

Can be

changed

Data type Meaning

COM_DP_Address P 0918 0 – 126 126 Yes U16 Station address of th e inverter

COM_DP_TelegramSelection P 0922 0 – 65535 0 Yes U16

COM_DP_SignalList P 0923 0 – 65535 0 No U16 T his parameter list s all “mappable” parameter s and signals for param eters P 0915 and P 0916.

COM_DP_Warning P 0953 0 – 0xFFFF 0 No U16 This parameter fo rwards warning m essages from t he Profibus. The se include bus time out and PLC

stop mode.

COM_DP_Baudrate P 0 963 9.6 – 45.45 kbits/ s 9.6 kbit /s No U16 Current Baud rate for bus co mmunication

COM_DP_DeviceId P 0964 0 – 65535 0 No U16 Th is parameter is for dev ice identificat ion

COM _DP_ Profi leNo P 0965 0 – 65535 0 No U16 Pr ofile number, not suppor ted in the first step

COM_DP_Controlword P 09 67 0 – 0xFFFF 0 Yes U16 Control word for the inte rnal status machi ne

COM_DP_Statusword P 0968 0 – 0xFFFF 0 No U16 Status word for the inte rnal status machi ne

COM_DP_DataStore P 0 971 0 – 255 0 Yes U16 This para meter permits s torage of data in the non-volati le memory.

COM_DP_DefinedParameter P 0980 0 – 65535 0 No U16 This paramete r describes th e defined paramet ers in the serv o controller.

COM_DP_ModifiedParameter P 099 0 0 – 65535 0 No U16 This parame ter describes a ll the parameters i n the servo contro ller that are not set to th e “default“

values.

Table 8.1 Profibus parameters

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[ Chapter 9 ]

9 Appendix Glossary

AK Request identification

Applicatio n dat set Factor y pre-defined data set for s olution of typical applic ations

Diagnostic data The master reads th e diagnostic dat a from the slave and thus p ermits a central

response to slave malfunctions.

DP Distributed I/O

Master The supervisory controller which provides communications.

MW Flag word

Parameter data The PKW para meter channel is use d to transmit paramete rs cyclicall y to and from

the drive devi ce.

PKW Parameter identification value

PNU Parameter number

ProfiDrive Mode Configuration of the proc ess data channel, co mpatible with th e ProfiDrive profil e.

In contrast to Eas yDrive mode t he system sta tuses are changed by d efined series
of control seque nces. The sys tem status machine d efined in the Profibus standard
specifies the individual system status transitions.

PZD Process data: Th e process data chan nel contains the func tions “Load control and

status”, “Input reference value s” and “Display actual va lues”.

Slave A slave is a bus par ticipant on the Profibus-DP, which in contr ast to the master

responds exclu sively to the reque sts directe d to it.

SPM Spontaneous message

Status machine This des cribes the transit ions betwee n the various sys tems statuses . A status transi-

tions is trigge red by a defined event su ch as a control seque nce or the setting o f
an input.

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[ Chapter

Establishment of communications 13
Examples 32
Examples for commissioning 45
Examples for setting the User Factor Group 48

F

Factor Group-Parameter 46
Factor Group USER 47
Format 30

G

GSD file 11

H

Homing 41
Homing run acceleration 41
Homing cams 41
Homing run method 43
Homing run speed 41
Homing runs performed by the drive 41

I

Identification format (Identifier) 16
Identifier 17
Internal resolution 47

J

Jog mode speed mode 21

L

LEDs 11
Limit switches 41

Index

A

Acceleration unit 48
Acceleration factor 48
Acyclic data transmission DPV1 27
Appendix 53
Assignement of the Data Unit 29
Attributs 30
Axis No. 30

B

Bus termination 10
Bus adress 10

C

Class 1 Master 13
Commissioning 9
Configuration phase 11
Connections 9
Control parameter 36, 39
Control unit 10
Conversion of reference values and actual values 46
Cyclic data transmission DPV0 13

D

Data exchange 11
DPV1 Read request 28
Drive status word 22
Drive status machine 24

E

Error number 31

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56

M

Mappable parameters 50
Master control word 20

N

Number of parameters 30
Number of elements 30
Number of values 30

O

Operating displays 11
Operating modes 35
Operation diagnostics 11

P

Parameter channel PKW 19
Parameter number 30
Parameter process data objects (PPO) 13
Position control circuit 39
Position control 37
Perfomance feartures 7
Phase1 13
Phase2 13
Phase3 13
Plug configuration for the Profibus cable 9
Positioning acceleration 47
Positioning mode 22
Positioning speed 47
Position control using PPO 5 45
Position unit 48
Process data 16
Process data signals 16
Profibus parameter 51

PROFIdrive 13

R

Request ID 30
Request reference 30
Response ID 30

S

Sensor resolution 48
Setting the drive adress 10
Speed control circuit and associated control parameters 36
Speed control 35
Speed control using PPO 2 48
Speed factor 48
Speed input 49
Speed unit 48
Subindex 30
System requirements 7

T

Terminating resistor 10

U

User controls 9
User data 30
User-specific PPO‘s 15

V

Values 30

Z

Zeroing offset 41

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The contents of our documentation have been compiled with
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ID no.: CA65645-001, Rev. 2.0, 08/2011