Rockwell Automation 22-HIM-B1 User Manual

PowerFlex® 22-COMM-P Profibus Adapter

Series A FRN 1.xxx-3.xxx Series B FRN 3.xxx and later

User Manual

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell Automation sales office or online at http:// www.rockwellautomation.com/literature) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc. is prohibited.

Throughout this manual, when necessary we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

Important: Identifies information that is critical for successful application and

Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.

understanding of the product.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequences.

Shock Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that dangerous voltage may be present.

Burn Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that surfaces may be at dangerous temperatures.

Summary of Changes

The information below summarizes the changes made to this manual since its last release (December 2011):

Description of Changes Page

In Chapter 3:

• Added new setting “5” (Fault&ClrCmd) to Parameters 9 - [Comm Fault Action] and 10 - [Idle Fault Action].

• Added new section “Setting DSI Loss Action.”

In Chapter 7, added more information throughout about Multi-Drive mode. 7-1 thru 7-5 In Appendix B:

• Added new setting “5” (Fault&ClrCmd) to Parameter 9 - [Comm Fault Action].

• Added new setting “5” (Fault&ClrCmd) to Parameter 10 - [Idle Fault Action].

• Added new Parameter 25 - [DSI Loss Action].

3-5

3-6

B-2

B-3

B-5

soc-ii Summary of Changes

Preface About This Manual

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . . P-2

Rockwell Automation Support. . . . . . . . . . . . . . . . . . . . . . . . P-2

Chapter 1 Getting Started

Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Status of Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

Chapter 2 Installing the Adapter

Preparing for an Installation. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Commissioning the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Connecting the Adapter to the Drive . . . . . . . . . . . . . . . . . . . 2-5

Connecting the Adapter to the Network . . . . . . . . . . . . . . . . 2-8

Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

Chapter 3 Configuring the Adapter

Configuration Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Using the Optional, External PowerFlex 4-Class HIM . . . . . 3-2

Using DriveExplorer via 22-SCM-232 or 1203-USB . . . . . . 3-3

Setting the Node Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Setting the I/O Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Setting DSI Loss Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Resetting the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Viewing the Adapter Configuration . . . . . . . . . . . . . . . . . . . . 3-9

Chapter 4 Configuring the Profibus Scanner

Example Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

SST Profibus Configuration Software Tool . . . . . . . . . . . . . . 4-2

Installing 22-COMM-P GSD File in Software Tool Library . 4-3

Configuring the SST-PFB-SLC Profibus Scanner . . . . . . . . . 4-5

Chapter 5 Using I/O Messaging

About I/O Messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

ii Table of Contents

Chapter 6 Using the Parameter Messaging

About the Parameter Messaging . . . . . . . . . . . . . . . . . . . . . . 6-1

Running the Parameter Messaging . . . . . . . . . . . . . . . . . . . . 6-2

Parameter Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

Chapter 7 Using Multi-Drive Mode

Single Mode versus Multi-Drive Mode . . . . . . . . . . . . . . . . . 7-1

Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

System Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Configuring the RS-485 (DSI) Network . . . . . . . . . . . . . . . . 7-8

Multi-Drive Mode Parameter Data . . . . . . . . . . . . . . . . . . . 7-10

Chapter 8 Troubleshooting

Locating the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . 8-1

PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

MOD Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

NET A Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

Adapter Diagnostic Items in Single Mode. . . . . . . . . . . . . . . 8-4

Adapter Diagnostic Items in Multi-Drive Mode . . . . . . . . . . 8-5

Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . 8-6

Appendix A Specifications

Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Regulatory Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Appendix B Adapter Parameters

About Parameter Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Appendix C PowerFlex 4-Class Drives Logic Command/Status

Appendix D SLC Ladder Logic Examples

Glossary

Index

Words

Logic Command Word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

Logic Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Single Drive Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2

Multi Drive Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-9

Preface

About This Manual

Topic Page

Related Documentation Conventions Used in this Manual P-2 Rockwell Automation Support P-2

Conventions Used in this Manual

The following conventions are used throughout this manual:

• Parameter names are shown in the format Parameter xx - [*]. The

xx represents the parameter number. The * represents the parameter name—for example Parameter 04 - [P-DP Addr Actual].

• Menu commands are shown in bold type face and follow the format

Menu > Command. For example, if you read “Select File > Open,” you should click the File menu and then click the Open command.

• The firmware release is displayed as FRN X.xxx. The “FRN” signifies Firmware Release Number. The “X” is the major release number. The “xxx” is the minor update number.

• This manual provides information about the Profibus adapter and using it with PowerFlex 40 drives. The adapter can be used with other products that support an internal DSI adapter. Refer to the documentation for your product for specific information about how it works with the adapter.

Rockwell Automation Support

Rockwell Automation offers support services worldwide, with over 75 sales/support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation representatives are in every major country in the world.

Local Product Support

Contact your local Rockwell Automation, Inc. representative for:

• Sales and order support

• Product technical training

• Warranty support

• Support service agreements

Technical Product Assistance

For technical assistance, please review the information in Chapter 8,

Troubleshooting

Allen-Bradley Technical Support web site at www.ab.com/support/

abdrives or contact Rockwell Automation, Inc.

first. If you still have problems, then access the

Chapter 1

➊

➋

➌

➍

➎

❻

Series A adapter shown; Series B adapter Jumper J2 and J3 locations are different

Getting Started

The adapter is intended for installation into a PowerFlex 40, PowerFlex 40P or PowerFlex 400 drive and is used for network communication. The adapter can also be installed in a DSI External Comms Kit (22-XCOMM-DC-BASE). When operated in Multi-Drive mode (Chapter means for up to five (5) PowerFlex 4-Class drives to operate on the network and be represented as only one node.

Topic Page Topic Page

Components Features 1-2 Quick Start 1-6 Compatible Products 1-3 Status of Operation 1-7 Required Equipment 1-3

Components

Figure 1.1 Components of the Adapter

1-1 Safety Precautions 1-5

7), the adapter provides the

Item Part Description

➊ Status Indicators Three LEDs that indicate the status of the adapter and

➋ DSI Connector A 20-pin, single-row shrouded male header. An Internal

➌ Profibus Connector A 9-pin, female D-Sub connector. ➍ Node Address/

➎ Mode Jumper (J2) Selects Single mode or Multi-Drive mode of operation. ➏ SWAP Jumper (J3) Determines the Intel or Motorola (SWAP) data format for

Firmware Update Switches

network communications. See Chapter

Interface cable is connected to this connector and a connector on the drive.

Switches SW1…SW7 to set the node address and SW8 for firmware updating. See Commissioning the Adapter

page 2-1.

the corresponding PLC.

8, Troubleshooting

1-2 Getting Started

Features

The adapter features include:

• Typical mounting in a PowerFlex 40, PowerFlex 40P or PowerFlex 400 drive. It can also be installed in a DSI External Comms Kit (22-XCOMM-DC-BASE).

• The low seven bits of 8-bit DIP switch let you set a node address, and the MSB bit provides write access for the Flash update of module firmware.

• Single mode or Multi-Drive mode of operation selected with the adapter Mode Jumper J2.

– In Single mode (default), the adapter represents a single drive on

one node and can support one additional external peripheral (HIM or 22-SCM-232) over DSI.

– In Multi-Drive mode, the adapter represents up to 5 drives on one

node daisy-chained over the RS-485 interface. In this case, the unit will not operate with DSI peripheral devices such as the HIM or the 22-SCM-232.

• Status indicators report the status of the drive communications, the adapter, and network.

• User-defined fault actions to determine how the adapter and connected drive respond to:

– Communication disruptions (Comm Flt Action) – Controller in idle mode (Idle Flt Action)

• I/O messages (that is, Control/Status, Reference/Feedback) that are exchanged with the Profibus master in every bus cycle. The Synch & Freeze modes are supported. I/O configuration is fixed and no Datalinks is supported.

• Configuration and monitoring using Parameter Messaging for slave device's parameters on the Profibus network. Also, when operated in Single mode, the slave device's parameters on the Profibus network can be configured and monitored using drive software tools Drive Explorer or DriveTools SP via DSI.

Getting Started 1-3

Compatible Products

The adapter is compatible with Allen-Bradley PowerFlex 4-Class drives and other products that support an internal DSI adapter. At the time of publication, compatible products include:

• PowerFlex 4 drives (when used with DSI External Comms Kit)

• PowerFlex 4M drives (when used with DSI External Comms Kit)

• PowerFlex 40 drives

• PowerFlex 40P drives

• PowerFlex 400 drives

When operated in Multi-Drive mode (Chapter the means for up to five (5) PowerFlex 4-Class drives to operate on the network and be represented as only one node.

Required Equipment

7), the adapter provides

Equipment Shipped with the Adapter

When you unpack the adapter, verify that the package includes:

❑ One adapter ❑ One 15.24 cm (6 in.) Internal Interface cable ❑ One floppy disc with GSD file ❑ One PowerFlex 4-Class DSI (Drive Serial Interface) Network

Communication Adapter Installation Instructions (publication 22COMM-IN002)

1-4 Getting Started

User-Supplied Equipment

To install and configure the adapter, you must supply:

❑ A small flathead screwdriver ❑ Profibus cable

– One 9-pin, male D-Sub PROFIBUS connector.

[Note: PROFIBUS connectors are available from a variety of sources and in various sizes. As such, there may be mechanical limitations that prohibit the use of some connectors.]

❑ Configuration tool, such as:

– PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S) –

required to access adapter parameters when not using DriveExplorer software or DriveExecutive software

– DriveExplorer (version 3.01 or later) – uses 22-SCM-232 DSI

serial converter (version 2.001 or later)

– DriveExecutive stand-alone software (version 3.01 or later) or

bundled with the DriveTools SP suite (version 2.02 or later)

❑ Profibus configuration software ❑ Controller configuration software

Getting Started 1-5

Safety Precautions

Please read the following safety precautions carefully.

ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove all power from the PowerFlex drive, and then verify power has been removed before installing or removing an adapter.

ATTENTION: Risk of injury or equipment damage exists. Only personnel familiar with drive and power products and the associated machinery should plan or implement the installation, start-up, configuration, and subsequent maintenance of the product using a Profibus adapter. Failure to comply may result in injury and/or equipment damage.

ATTENTION: Risk of injury or equipment damage exists. If the Profibus adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting an adapter.

ATTENTION: Risk of injury or equipment damage exists. Parameters 9 - [Comm Flt Action] and 10 - [Idle Flt Action] let you

determine the action of the adapter and connected drive if communications are disrupted or the controller is idle. By default, these parameters fault the PowerFlex drive. You can set these parameters so that the PowerFlex drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a hazard of injury or equipment damage.

ATTENTION: Hazard of injury or equipment damage exists. When a system is configured for the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing.

ATTENTION: Hazard of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

1-6 Getting Started

Quick Start

This section is designed to help experienced users start using the adapter. If you are unsure how to complete a step, see the referenced chapter.

Step Action See…

1 Review the safety precautions for the adapter. Throughout

2 Verify that the PowerFlex drive is properly installed. Drive User

3 Commission the adapter.

Set a unique node address using the DIP-switch for Bit 1 to 7 on the adapter.

4 Install the adapter.

Verify that the PowerFlex drive and Profibus network are not powered. Then, connect the adapter to the network using a Profibus cable and to the drive using the internal Interface cable. Use the captive screws to secure and ground the adapter to the drive.

5 Apply power to the adapter.

The adapter receives power from the drive. Apply power to the drive. The status indicators should be green. If they flash red, there is a problem.

6 Set up the drive parameters.

Before starting, configuring, and working with the Profibus adapter, set the following drive parameters:

• P036 [Start Source] to “5” (RS485 DSI port) if Start is

controlled from the network.

• P038 [Speed Reference] to “5” (RS485 DSI port) if the

Speed Reference is controlled from the network.

For Multi Drive mode, the following additional drive parameters must be set: A103, A104, A107.

7 Configure the adapter for your application.

Set the following parameters for the adapter as required by your application:

• Node address

• I/O configuration

• Fault actions

8 Apply power to Profibus master and other network devices.

Verify that the master and network are installed and functioning in accordance with Profibus standards, and then apply power to them.

9 Configure scanner to communicate with the adapter.

Use a network tool for Profibus to configure the master on the network.

10 Create a ladder logic program.

Use a programming tool such as RSLogix to create a ladder logic program that enables you to do the following:

• Control the adapter and connected drive.

• Monitor or configure the drive using Parameter Messaging.

manual

Manual

Chapter Installing the Adapter

Page 3-4

Page 7-8

Chapter Configuring the Adapter

Chapter

4, Configuring the Profibus Scanner

Appendix D, SLC Ladder Logic Examples

Getting Started 1-7

➋

➍

Status of Operation

The adapter uses three status indicators to report its operating status. They can be viewed through the drive cover. See Figure 1.2

Figure 1.2 Status Indicators (location on drive may vary)

➊

➋

➌

➊

➌

Item Status

Indicator

➊ PORT Green Normal Operation. The adapter is properly connected and

➋ MOD Green Normal Operation. The adapter is operational and is

➌ NET A Green Normal Operation. The adapter is properly connected and

➍ NET B Off Not used for Profibus adapter.

(1)

If all status indicators are off, the adapter is not receiving power. See Chapter 2, Installing the

Adapter, for instructions on installing the adapter. If any other conditions occur, see Chapter 8, Troubleshooting

Status

Flashing Green

(1)

Description

is communicating with the drive. Not used

transferring I/O data. Normal Operation. The adapter is operational but is not

transferring I/O data.

communicating on the network. Not used

1-8 Getting Started

Notes:

Chapter 2

Installing the Adapter

This chapter provides instructions for installing the adapter in a PowerFlex 40, PowerFlex 40P or PowerFlex 400 drive. This adapter can also be installed in a DSI External Comms Kit. In this case, refer to the 22-XCOMM-DC-BASE Installation Instructions (publication 22COMM-IN001) supplied with the kit.

Topic Page

Preparing for an Installation Commissioning the Adapter 2-1 Connecting the Adapter to the Drive 2-5 Connecting the Adapter to the Network 2-8 Termination 2-11 Applying Power 2-11

Preparing for an Installation

2-1

Before installing the adapter, verify that you have all required equipment. See Chapter 1, Required Equipment.

Commissioning the Adapter

To commission the adapter, you must set a unique node address and check the data rate that is used by the network. (Refer to the Glossary details about node addresses.)

Important: New settings are recognized only when power is applied to

the adapter. If you change a setting, cycle power.

ATTENTION: Risk of equipment damage exists. The Profibus adapter contains ESD (Electrostatic Discharge) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the adapter. If you are unfamiliar with static control procedures, refer to Guarding Against Electrostatic Damage, Publication 8000-4.5.2.

for

2-2 Installing the Adapter

Position A

Position B

1X 5X

Single Mode

Operation

Multi-Drive Mode

Operation

NODE ADDRESS SWITCHES

UP = OPEN = 1 = Off

DOWN = CLOSED = 0 = On

SWAP

Series A adapter shown; Series B adapter Jumper J2 and J3 locations are different

1. Set the adapter Node Address / Firmware Update switches (see

Figure 2.1).

The Profibus Node Address/Firmware Update State is configurable using an 8-bit DIP switch. The low seven bits set a node address and the valid address allows binary coding of 1 through 125. A new node address setting is recognized only when power is applied to the adapter by power cycling the drive or after an adapter Reset Module command. The MSB bit provides write access for the module flash firmware update. In normal operating state, SW8 should be set to 1.

Figure 2.1 Setting the Node Address/Firmware Update Switches, Byte Swap

Jumper and Single/Multi-Drive Operation Jumper

Switches Description Default

SW 1 Least Significant Bit (LSB) of Node Address 1 SW 2 Bit 1 of Node Address 1 SW 3 Bit 2 of Node Address 1 SW 4 Bit 3 of Node Address 1 SW 5 Bit 4 of Node Address 1 SW 6 Bit 5 of Node Address 1 SW 7 Most Significant Bit (MSB) of Node Address 1 SW 8 SW8 Firmware Update 1

SW 8

Setting

Important: In normal operating state, SW8 should be set to 1.

Description

0 Write Access Firmware Update 1 Normal Operating State

Installing the Adapter 2-3

Figure 2.2 Node Address Switch Settings (UP = OPEN = 1 = Off)

Switch Setting Node

SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 SW 7 Addr.

0000000 0 1000000 1 0100000 2 1100000 3 0010000 4 1010000 5 0110000 6 1110000 7 0001000 8 1001000 9 010100010 110100011 001100012 101100013 011100014 111100015 000010016 100010017 010010018 110010019 001010020 101010021 011010022 111010023 000110024 100110025

…

0000111112 1000111113 0100111114 1100111115 0010111116 1010111117 0110111118 1110111119 0001111120 1001111121 0101111122 1101111123 0011111124 1011111125

…

2-4 Installing the Adapter

2. Verify the Network Baud rate, which is set by the network master

and depends on cable length (see Glossary).

The 22-COMM-P adapter uses the Auto-Baud function, which enables the adapter to recognize the present baud rate and automatically sets itself to the transmission rate used by the master.

The adapter supports the following data rates: 9.6 Kbps, 19.2 Kbps,

45.45 Kbps, 93.75 Kbps, 187.5 Kbps, 500 Kbps, 1.5 Mbps, 3 Mbps, 6 Mbps, and 12 Mbps. After detecting the correct baud rate, the baud rate that was found is monitored continuously.

3. Set the byte SWAP Jumper J3, which determines the Intel or

Motorola (position SWAP) data format, depending on the corresponding PLC. (see Figure 2.1

4. Verify the adapter Mode Jumper J2 is in “1X” for Single mode

operation or in “5X” for Multi Drive mode operation (see Figure 2.1 and setting descriptions below). For complete details on Multi-Drive mode operation, see Chapter 7

J2 Jumper Setting Description

Figure 2.1 Position A (or jumper missing)

Figure 2.1 Position B Sets the adapter for Multi-Drive mode of operation using up to

)

, Using Multi-Drive Mode.

Sets the adapter for Single mode of operation (default setting) using a single drive connection.

Important: In this mode, connections to multiple drives must be removed since all powered and connected hosts will respond to any message sent by the adapter.

5 different drives. DSI peripherals do not operate with the adapter in this mode.

Installing the Adapter 2-5

Ground for Frame C Drives NOTE: For Frame B drives, the lower left adapter screw does

not ground the adapter. To ground the adapter, install the special drive cover onto the drive using both cover fasteners.

Adapter Mounted on Back of

Required Special Drive Cover

(Frame C cover shown)

PowerFlex 40/40P Frame B – Part No. 22B-CCB PowerFlex 40/40P Frame C – Part No. 22B-CCC

PowerFlex 400 Frame C – Part No. 22C-CCC

PowerFlex 40 Drive (Frame C

shown with cover removed)

0.9 N•m

(8.0 lb•in)

Connecting the Adapter to the Drive

PowerFlex 40/40P Frames B and C, and PowerFlex 400 Frame C

1. Remove power from the drive, and remove the drive cover.

2. Use static control precautions.

3. Mount the adapter on the required special drive cover (ordered

separately; see Figure 2.3

– Frame B: Do not use the adapter screw; snap the adapter in place. – Frame C: Use the adapter screw to secure the adapter to the cover.

Important: To properly ground the adapter in Frame B drives, install

the special drive cover onto the drive using both cover fasteners. To ground the adapter in Frame C drives, tighten the adapter’s lower left screw (Figure 2.3 either case, tighten the screw(s) to the recommended torque (0.9 N•m/8.0 lb•in) to properly ground the adapter.

for part numbers).

). In

Figure 2.3 Mounting and Grounding the Adapter – PowerFlex 40/40P Frames B

and C, and PowerFlex 400 Frame C

2-6 Installing the Adapter

➊

➋

➍

➌

22-COMM-P Adapter

Back of Required Special Drive Cover

PowerFlex 40 Drive (Frame C

shown with cover removed)

4. Connect the Internal Interface cable to the DSI port on the drive and

then to the mating DSI connector on the adapter.

Figure 2.4 Connecting DSI Ports with Internal Interface Cable

Item Description

DSI Connector

➊

15.24 cm (6 in.) Internal Interface cable

➋

Profibus cable

➌

Retaining screws

➍

Installing the Adapter 2-7

PowerFlex 400 (Frame D shown with cover removed)

Adapter Installation

(Side View)

Bottom of

Adapter Board

Internal Interface Ribbon Cable

Connector

LEDs

PowerFlex 400 Frames D, E, and F

1. Remove power from the drive, and open the drive cover.

2. Use static control precautions.

3. With the adapter board right side up, remove its mounting screw

from the lower left hole. Save the screw for mounting in Step 6.

4. Connect the Internal Interface cable to the DSI port on the drive (see

Figure 2.5

5. With the adapter board oriented bottom side up, route the Internal

Interface cable under the adapter, and then to the mating DSI connector on the adapter.

6. Install the adapter, bottom side up, to the right side of the display

board by snapping it into place. Then insert the adapter mounting screw into the lower left hole on the board.

Important: Tighten the mounting screw in the adapter’s lower left

hole to the recommended torque (0.9 N•m/8.0 lb•in) to ground the adapter to the drive.

Figure 2.5 Mounting and Connecting the Adapter – PowerFlex 400 Frames D, E, and

2-8 Installing the Adapter

DSI External Comms Kit 22-XCOMM-DC-BASE

When connecting the adapter to a DSI External Comms Kit, use either an RS-485-rated cable with two connectors (from AK-U0-RJ45-TB2P kit) or an 8-conductor cable such as a standard ethernet patch cord or a 22-RJ45CBL-C20 cable.

Figure 2.6 Single Mode Example - With Adapter in DSI External Comms Kit

NOTE: A terminating resistor is not required for this end of the wiring. The resistor is built into the circuitry of the DSI External Comms Kit.

up to 4 drives per node

PowerFlex 4-Class Drive

PORT

MOD

NET A

NET B

22-COMM-P

Adapter

RS-485

AK-U0-RJ45-TB2P

Kit Connector

Profibus

AK-U0-RJ45-TB2P

Kit Connector with

Terminating Resistor

Connecting the Adapter to the Network

1. Remove power from the drive.

2. Use static control precautions.

3. Remove the drive cover

4. Connect a Profibus connector to the cable. (See Figure 2.7

Figure 2.8). Only use cable that conforms to Profibus cable

standards. Belden #3079A Profibus cable or equivalent is recommended.

[Note: Profibus connectors are available from a variety of sources and in various sizes. As such, there may be mechanical limitations that prohibit the use of some connectors. ERNI Profibus vertical (Node Part # 103658 and Termination Part # 103659), or Phoenix

and

Installing the Adapter 2-9

Subcon Plus M1 (Part # 2761826) are recommended for use with PowerFlex 40, PowerFlex 40P, and PowerFlex 400 drives.]

Figure 2.7 Connecting to the Cable

ERNI Connector Phoenix Subcon Plus M1 Connector

Figure 2.8 Network Wiring Diagram

Figure 2.9 22-COMM-P DB-9 Pin Layout

Terminal Signal Function

Housing Shield 1 and 2 Not connected 3 B-LINE Positive RxD/TxD, according to RS485 specification 4RTS 5 GND BUS Isolated GND from bus 6 +5V BUS Isolated +5V from bus 7 and 9 Not connected 8 A-LINE Negative RxD/TxD according to RS485 specification

5. Connect the Profibus cable to the network, secure it with the two

retaining screws on the connector, and route it through the bottom of the PowerFlex drive (see Figure 2.8

Notes: a) The screws on some connectors tie the Profibus cable

ground/shield to the metal of the socket. In some cases, Profibus will not operate correctly without this connector.

b) Keep wiring away from high noise sources such as motor

cables.

2-10 Installing the Adapter

Install ferrite core within 10 cm (4 in.) of Profibus connector.

6. Depending on the switching frequency of the drive, it is optional to

use the ferrite cable clamp around the communication cables next to the D-Sub connector, to reduce high frequency emission. See

Figure 2.10

Figure 2.10 Optional Clamp-On Ferrite Cable Clamp

To meet the requirements of EN55011 Class A or B, the conditions listed below must be satisfied.

Switching Frequency of PowerFlex Drive

4 kHz 6 kHz 8 kHz 16 kHz Use three clip ferrites TDK, type ZCAT 3035-1330

Notes: 1) For the conditions to satisfy the essential requirements for

CE compliance on PowerFlex drives, see the drive User Manual.

2) In applications where first environment, unrestricted distribution is requested (EN55011 group 1, class B), the installation requires a shielded enclosure. See the PowerFlex drive User Manual.

EN55011 Class A

No ferrite required

EN55011 Class B

Use one ferrite (Ferrishield part no. HI28B2039 or Fair-Rite part no. 0443164151)

Installing the Adapter 2-11

RxD/TxD-N RxD/TxD-P

Vcc

GND

8 3

390 390 Ohm220

Termination

The first and last node on the Profibus network needs to be terminated by using a Profibus connector with terminating resistors

(see Figure 2.11

Some connector manufacturers offer standard terminating connectors, such as the yellow ERNI Profibus termination vertical connector (Part #

103659). Standard Profibus node connectors, such as the Phoenix Subcon Plus M1 (Part #2761826), can be configured as a terminating connector by adding resistors

Figure 2.11 Connection for Terminating Resistors

Applying Power

ATTENTION: Risk of equipment damage, injury, or death exists. Unpredictable operation may occur if you fail to verify that parameter settings and switch settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive.

1. Install the required special cover on the drive. The status indicators

can be viewed on the front of the drive after power has been applied.

2. Ensure that the adapter will have a unique address on the network. If

a new address is needed, reset its switches (see Commissioning the

Adapter in this chapter).

3. Apply power to the drive. The adapter receives its power from the

connected drive and network. When you apply power to the adapter and network for the first time, the status indicators should be green after an initialization. If the status indicators go red, there is a problem. Refer to Chapter

4. Apply power to the master device and other devices on the network.

8, Troubleshooting.

2-12 Installing the Adapter

Notes:

Chapter 3

Configuring the Adapter

This chapter provides instructions and information for setting the parameters in the adapter.

Topic Page

Configuration Tools Using the Optional, External PowerFlex 4-Class HIM 3-2 Using DriveExplorer via 22-SCM-232 or 1203-USB 3-3 Setting the I/O Configuration 3-4 Setting the Node Address 3-4 Setting a Fault Action 3-5 Setting DSI Loss Action 3-6 Resetting the Adapter 3-8 Viewing the Adapter Configuration 3-9

For a list of parameters, refer to AppendixB, Adapter Parameters. For definitions of terms in this chapter, see the Glossary

3-1

Configuration Tools

The adapter stores parameters and other information in its own non-volatile memory. You must, therefore, access the adapter to view and edit its parameters. The following tools can be used to access the adapter parameters:

Tool See…

PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S)

DriveExplorer Software (version 3.01 or later)

DriveTools SP Software (version 2.02 or later)

page 3-2

http://www.ab.com/drives/driveexplorer, or

DriveExplorer online help (installed with the software)

http://www.ab.com/drives/drivetools

DriveExecutive online help (installed with the software)

, or

3-2 Configuring the Adapter

Parameters Groups

Linear List Changed Params

DIAG PA R AM DSEL MEM SEL 

Sel

Device Selected DSI Devices

DIAG PARAM DSEL MEM SEL 

DSI Devices

PowerFlex 40

22-COMM-P

Parameters Linear List

Changed Params

DIAG PA R AM DSEL MEM SEL 

Using the Optional, External PowerFlex 4-Class HIM

Adapter parameters cannot be accessed using the integral keypad on a PowerFlex 4-Class drive. You must use Drive Explorer or DriveExecutive software, or an optional, external PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S). Basic steps to access parameters in the adapter are shown in Table 3.A refer to the PowerFlex 4-Class HIM Quick Reference (publication 22HIM-QR001).

Important: The optional, external PowerFlex 4-Class HIM will only

operate when the adapter is set to Single mode. To access adapter parameters when the adapter is set to Multi-Drive mode, you must use DriveExplorer or DriveExecutive.

Table 3.A Accessing Adapter Parameters Using the HIM

Step Example Screens

1. Power up the drive. Then plug the external HIM into the bottom of the drive. The Parameters menu for the

will be displayed.

drive

. For additional HIM information,

2. Press Sel key once to display the Device Select menu.

3. Press (Enter) key to display the DSI Devices menu. Press Arrow to scroll to 22-COMM-P.

4. Press (Enter) key to select the Profibus adapter. The Parameters menu for the adapter

will be displayed.

Configuring the Adapter 3-3

Mode RO

Parameter: #

001

Single Drv 0

VAL UE LIMITS SEL 

Table 3.A Accessing Adapter Parameters Using the HIM (Continued)

Step Example Screens

5. Press (Enter) key to access the parameters. Edit the adapter parameters using the same techniques that you use to edit drive parameters.

NOTE: All configuration procedures throughout this chapter use the optional, external PowerFlex 4-Class HIM to access parameters in the adapter and show HIM screens.

Using DriveExplorer via 22-SCM-232 or 1203-USB

DriveExplorer software (version 3.01 or later) and the 22-SCM-232 Serial Converter Module (revision 2.001 or later) or 1203-USB can be used to access parameters in the adapter.

1. Connect the 22-SCM-232 or 1203-USB to the drive (for example,

PowerFlex 40) and to a PC serial COM port, and apply power to the drive.

2. Launch DriveExplorer and click the “Connect Serial” button in the

toolbar. In the left window under Devices, “Node 1: PowerFlex 40” appears. There are three configurable devices: the PowerFlex 40 drive, Profibus adapter, and Serial Converter Module 22-SCM-232.

Figure 3.1 Example DriveExplorer Window to Access Adapter Parameters

For additional information, see DriveExplorer online help.

3-4 Configuring the Adapter

Value Description

Mode Jumper Setting Single Multi-Drive

0 Drive 0 (Default) ✓✓ 1Drives 0…1 ✓ 2Drives 0…2 ✓ 3Drives 0…3 ✓ 4Drives 0…4 ✓

DSI I/O Cfg

Paramet er: #

011

Drive 0 0

VAL UE LIMITS SEL 

Setting the Node Address

See page 2-2 for details to set the node address.

Setting the I/O Configuration

The I/O configuration determines the number of drives that will be represented on the network as one node by the adapter. If the Mode Jumper J2 is set to the “1x” (Single mode) default position, only one drive is represented by the adapter and Parameter 11 - [DSI I/O Cfg] has no effect. If the Mode Jumper J2 is set to the “5x” (Multi-Drive) position, up to five drives can be represented as one node by the adapter.

1. Set the value in Parameter 11 - [DSI I/O Cfg].

Figure 3.2 Example DSI I/O Cfg HIM Screen

When the adapter is internally mounted in a PowerFlex 40, PowerFlex 40P or PowerFlex 400 drive, this drive is always Drive 0. Drives 1 through 4 are PowerFlex 4-Class drives that are daisy-chained to the RJ45 (RS-485) port on Drive 0. When the adapter is remotely mounted in a DSI External Comms Kit, Drives 0 through 4 are daisy-chained to the RJ45 (RS-485) port on the Comms Kit. Refer to

Chapter7

2. Configure the parameters in the drive to accept the Logic Command

and Reference from the adapter. In a PowerFlex 40 drive, for example, set parameter P036 - [Start Source] and parameter P038 [Speed Reference] both to “5” (Comm Port). When using the adapter in Multi-Drive mode, each daisy-chained drive requires that additional parameters be set. See Configuring the RS-485 (DSI)

Network on page 7-8 for these parameters and their settings.

3. Reset the adapter. See Resetting the Adapter

The adapter is ready to receive I/O from the master (that is, scanner). You must now configure the scanner to recognize and transmit I/O to the adapter. See Chapter4

, Using Multi-Drive Mode for more information.

, Configuring the Profibus Scanner.

on page 3-8.

Configuring the Adapter 3-5

Comm Flt Action

Parameter: #

009

Fault 0

VAL UE LIMITS SEL 

Idle Flt Action

Parameter: #

010

Fault 0

VAL UE LIMITS SEL 

Setting a Fault Action

By default, when Profibus communication is disrupted (for example, a cable is disconnected) or the master is idle, the drive responds by faulting if it is using I/O from the network. You can configure a different response to communication disruption using Parameter 9 - [Comm Flt

Action] and a different response to an idle scanner using Parameter 10 [Idle Flt Action].

ATTENTION: Risk of injury or equipment damage exists. Parameters 9 - [Comm Flt Action] and 10 - [Idle Flt Action] let you

determine the action of the adapter and connected drive if communications are disrupted or the controller is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage.

Changing the Fault Action

Set the values of Parameters 9 - [Comm Flt Action] and 10 - [Idle Flt Action] to the desired responses:

Value Action Description

0 Fault (Default) The drive is faulted and stopped, the last state of bits 0…3 in the

1 Stop The drive is stopped, but not faulted. 2 Zero Data The drive is sent 0 for output data. This does not command a

3 Hold Last The drive continues in its present state. 4 Send Flt Cfg The drive is sent the data that you set in the fault configuration

(1)

Fault&ClrCmd The drive is faulted and stopped, and all of the bits (including

(1)

This setting is available only with adapter firmware revision 3.xxx or later.

Figure 3.3 Example Fault Action HIM Screens

Logic Command word is held, and the rest of the bits are cleared. (Default)

stop.

parameters (Parameters 13 - [Flt Cfg Logic] and 14- [Flt Cfg Ref]).

bits 0…3) in the Logic Command word are cleared.

3-6 Configuring the Adapter

Changes to these parameters take effect immediately. A reset is not required.

If Multi-Drive mode is used, the same fault action is used by the adapter for all of the drives it controls (Drive 0, Drive 0-1 to Drive 0-4).

Setting the Fault Configuration Parameters

If you set Parameter 9 - [Comm Flt Action] or 10 - [Idle Flt Action] to the “Send Flt Cfg,” the values in the following parameters are sent to the drive after a communications fault occurs and/or the scanner is idle. You must set these parameters to values required by your application.

Number Name Description

13 Flt Cfg Logic A 16-bit value sent to the drive for Logic Command. 14 Flt Cfg Ref A 16-bit value (0 – 4000) sent to the drive as a Reference.

Changes to these parameters take effect immediately. A reset is not required.

Setting DSI Loss Action

When the adapter detects that DSI communication with the drive has been lost, Parameter 25 - [DSI Loss Action] sets the action that the adapter will take for the Logic Status and Feedback words.

Important: Parameter 25 - [DSI Loss Action] is available only with

adapter firmware revision 4.001 or later, and only applies when the adapter is operated in Single mode. When operated in Multi-Drive mode, the Logic Status and Feedback words are zeroed for any drive that loses DSI communication.

Configuring the Adapter 3-7

Drive Parameter Number/Name

PowerFlex 4, 40, and 40P A105 - [Comm Loss Action] PowerFlex 4M C304 - [Comm Loss Action] PowerFlex 400 C105 - [Comm Loss Action]

DSI Loss Action

Parameter: #

025

Hold Sts/Fbk 0

VAL UE LIMITS SEL 

ATTENTION: Risk of injury or equipment damage exists. Parameter 25- [DSI Loss Action] lets you determine the action of the adapter

when DSI communication with the drive has been lost. By default, this parameter maintains the Logic Status and Feedback word values sent to the controller at the time DSI communication between the adapter and drive was lost (that is, hold last state). Alternatively, you can set this parameter so that the Logic Status and Feedback word values are zeroed after a DSI communication loss. Whether the drive faults or takes a different action is determined by the setting of the following drive parameter:

Precautions should be taken to ensure that the setting of adapter Parameter 25 and drive parameter A105, C304 or C105 does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a faulty drive DSI cable or excessive electrical noise interference).

Set the value of Parameter 25- [DSI Loss Action] to a desired response:

Value Action Description

0 Hold Sts/Fbk

(Default)

1 Zero Sts/Fbk Zeros the data in the Logic Status and Feedback words prior to

Figure 3.4 Example DSI Loss Action HIM Screen

Changes to this parameter take effect immediately. A reset is not required.

Holds the last data in the Logic Status and Feedback words prior to the DSI communication loss fault.

the DSI communication loss fault.

3-8 Configuring the Adapter

Value Description

0 Ready (Default) 1 Reset Module 2 Set Defaults

Reset Module

Parameter: #

008

Ready 0

VAL UE LIMITS SEL 

Resetting the Adapter

Changes to switch settings or some adapter parameters require that you reset the adapter before the new settings take effect. You can reset the adapter by cycling power to the drive or by using the following parameter.

ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting a connected adapter.

Set Parameter 08 - [Reset Module] to “1” (Reset Module).

Figure 3.5 Example Reset HIM Screen

When you enter “1” (Reset Module), the adapter will be immediately reset. When you enter “2” (Set Defaults), the adapter will set all adapter parameters to their factory-default settings. After performing a Set Defaults, enter “1” (Reset Module) so that the new values take effect. The value of this parameter will be restored to “0” (Ready) after the adapter is reset.

Configuring the Adapter 3-9

Bit Definitions

Single Mode Multi-Drive Mode

Bit 0 = Drive Bits 1…7 = Not Used

Bit 0 = Drive 0 Bit 1 = Drive 1 Bit 2 = Drive 2 Bit 3 = Drive 3 Bit 4 = Drive 4 Bits 5…7 = Not Used

Viewing the Adapter Configuration

The following parameters provide information about how the adapter is configured. You can view these parameters at any time.

Adapter Parameter Description 01 - [Mode] Displays the adapter operating mode selected with the Mode

04 - [P-DP Addr Actual] Profibus Node Address actually used by the adapter. 05 - [P-DP Rate Actual] Profibus actual operating data rate. 12 - [DSI I/O Act] Indicates the Drives that are active.

Jumper J2.

Val ues 0 = Single Drv operation 1 = Multiple Drv operation

3-10 Configuring the Adapter

Notes:

Chapter 4

Configuring the Profibus Scanner

Profibus scanners are available from several manufacturers, including SST. This chapter provides instructions on how to utilize the SST Profibus configuration software tool to:

• Install the 22-COMM-P GSD file in the software tool library

• Configure the SST-PFB-SLC Profibus Scanner.

Topic Page

Example Network SST Profibus Configuration Software Tool 4-2 Installing 22-COMM-P GSD File in Software Tool Library 4-3 Configuring the SST-PFB-SLC Profibus Scanner 4-5

4-1

Example Network

In this example, we will be configuring two PowerFlex 40 drives, to be Station 1 and Station 2 on a Profibus network. This will be the configuration used throughout the manual. Apart from the node address and scanner mapping, they will have identical configurations. This chapter describes the steps to configure a simple network like the network in Figure 4.1

4-2 Configuring the Profibus Scanner

Station 0

Config Port Front Label

Profibus Port

SYS LED

COMM LED

PowerFlex 40

Station 1

PowerFlex 40

Station 2

Network Configuration Window

Device

Library

Window

Online

Browse

Window

Figure 4.1 Example Profibus Network

SST Profibus Configuration Software Tool

SST Profibus scanners come with a software tool for configuring the scanner (see Figure 4.2

Figure 4.2 SST Profibus Configuration Software Tool

Configuring the Profibus Scanner 4-3

Installing 22-COMM-P GSD File in Software Tool Library

GSD files are used by software tools to configure the network, i.e. to map and define the I/O in a Profibus scanner. A GSD file is required for each type of adapter on the network. For example: The 22-COMM-P GSD file is “A_B_07FF.gsd” and a copy of the file is provided on a floppy disk with each 22-COMM-P. The file can also be downloaded from the Internet by going to: www.ab.com/support/abdrives/webupdate and also www.profibus.com.

Follow the steps outlined below only when a new GSD file needs to be added to the SST Profibus Configuration Software Tool. Typically, this is only done once, after the software tool is initially installed or if configuring a 22-COMM-P on the network for the very first time with this software tool.

1. The software tool comes with standard data files as shown in

Figure 4.3

will need to be added to configure the 22-COMM-P in the scanner.

Figure 4.3 Standard Data Files

. Additional data files, such as the 22-COMM-P GSD file,

2. Click on the “New Device” icon to add GSD files to the

software library tool.

3. An “Add Profibus devices” Applet window will appear (Figure 4.4

Prompts for the location of the Profibus data files to be added to the library will follow.

4-4 Configuring the Profibus Scanner

Figure 4.4 Add Profibus Devices Applet Window

4. Find the directory location of the data file(s) you wish to add

(typically, the source location is a floppy disk in drive A:). “A_B_07FF.gsd” is the GSD file for the 22-COMM-P as shown in

Figure 4.5

Figure 4.5 Adding the GSD File for the Adapter

5. Select “A_B_07FF.gsd” for the 22-COMM-P and click Open.

Configuring the Profibus Scanner 4-5

6. Click on the (+) sign of the Slaves folder as shown in Figure 4.6.

Figure 4.6 Masters/Slaves Library Window

The software tool will automatically create an Allen-Bradley sub-folder (in the Slaves folder) if it does not already exist. The 22-COMM-P is now shown in the library and the software tool is now ready to configure a 22-COMM-P on a Profibus network.

Configuring the SST-PFB-SLC Profibus Scanner

The following steps are performed to configure the SST-PFB-SLC scanner using the SST Profibus Configuration Software Tool. In our example, the Profibus network will consist of a SLC master and two PowerFlex 40 drives working in Single Drive mode. The configuration example is:

• Drive 0: Ctrl/Stat & Ref/Fdbk enabled

Parameter Access enabled

• Drive 1: Ctrl/Stat & Ref/Fdbk enabled

Parameter Access enabled

The SLC processor must be in Program mode to configure the scanner.

1. Click on the (+) sign of the Masters folder in the Library window to open the SST sub-folder. Available Profibus DP masters are displayed in this sub-folder.

2. Click on the (+) sign of the Slaves folder in the Library window and the Allen-Bradley sub-folder to display the available Profibus DP slaves or the 22-COMM-P slave. Refer to Figure 4.6

4-6 Configuring the Profibus Scanner

3. Double-click the SST-PFB-SLC MASTER in the Masters folder in

the Library window to add the scanner to the network.

4. A user-defined N In our example, the scanner will be Station 0 on the network, as shown in Figure 4.7.

Figure 4.7 SST-PFB-SLC Master (General) Dialog Box

ame and Description can be given to the scanner.

5. Click on the Parameters tab to view the Scan Cycle Times. In our

example, use the default settings as shown in Figure 4.8

Figure 4.8 Scan Cycle Times Dialog Box

Connection and Baud Rate settings configure how the software tool will communicate with the CONFIG RS232 port on the scanner.

6. Click on the COM Port tab.

7. Accept the settings in our example (COM1 on the PC @ 115200 bps

baud rate), as shown in Figure 4.9

Configuring the Profibus Scanner 4-7

Figure 4.9 COM Port Default Settings

8. The scanner will appear in the network window as shown in

Figure 4.10. Double-click on the scanner in the network window.

Figure 4.10 Scanner Network Window

9. Double-click on the 22-COMM-P listed in the Allen-Bradley 22-COMM-P library folder. A user-defined N can be given to this 22-COMM-P.

ame and Description

In our example, this device will be Station 1 on the network. Other stations may be chosen by using the arrow to display a drop-down list in the S

Figure 4.11 Allen-Bradley Library Dialog Box

tation window.

Logic Command/Status, Reference/Feedback and Parameter Access (Parameter Data) modules are added using the Modules tab.

4-8 Configuring the Profibus Scanner

10. Click on the Modules tab. Click Add to view the choice of modules.

Figure 4.12 Available Modules: Ctrl/Stat & Ref/Fdbk Window

In our example, Station 1 will be controlled using Logic Command/ Status and Reference/Feedback. The Parameter Access will also be used. Because the Mode Jumper J2 on the Adapter is set to “1X” for Single Drive (default) and Parameter 11 - [DSI I/O Cfg] is set to Drive 0, Logic command/Reference uses 4 bytes and Logic Status/ Feedback uses 4 bytes.

Table 4.A Input/Output Size Configurations

Input

Output Size

Logic Cmd/ Status

Size

44 ✔✔Single Drv Drive 0 88 ✔✔ 12 12 ✔✔ Drives 0…2 16 16 ✔✔ Drives 0…3 20 20 ✔✔ Drives 0…4

Reference/ Feedback

Parameter 1 [Mode]

Multiple Drv

Parameter 11 [DSI I/O Cfg]

Drives 0…1

11. Select Drive 0 “Ctrl/Stat & Ref/Fdbk (2+2bytes)” from the “Available

Modules” list as shown in Figure 4.12 Stat & Ref/Fdbk” (2+2 bytes) module has now been added.

Figure 4.13 Modules: Drive 0 Viewing Window

. Click OK. The Drive 0 “Ctrl/

Configuring the Profibus Scanner 4-9

12. Click Add to continue adding modules. Select “Parameter Access” and click OK.

Figure 4.14 Add Modules: Parameter Access Selection Window

13. The “Parameter Access” module has now been added as shown in

Figure 4.15

Figure 4.15 Modules: Parameter Access Viewing Window

14. Click on the SLC Address tab as shown in Figure 4.16. Settings can be chosen to map Station modules to SLC addresses. In our example M1/M0 files are used for Input / Output.

Note that the Reference/Feedback Drive 0 (Ctrl/Stat & Ref/Fdbk) starts at word 0.

4-10 Configuring the Profibus Scanner

Figure 4.16 SLC Address: M1/M0 (Ctrl/Stat & Ref/Fdbk)

15. Parameter Access starts at word 2 in the M1/M0 files. Note that Parameter Access utilizes 4 words. Click OK when finished.

Figure 4.17 SLC Address: M1/M0 (Parameter Access)

16. Station 1 is now displayed in the network window.

Figure 4.18 Station 1 Network Window

Station 1 is configured as follows:

Module M1/M0 Offset

Ctrl/Stat & Ref Fdbk Drive 0 0 Parameter Access 2

Note that Station 1 occupies 6 words.

Configuring the Profibus Scanner 4-11

17. The same steps for configuring Station 1 will be used for configuring

Station 2. See previous steps (starting at step 9, Page 4-7) for Configuring the SST-PFB-SLC Profibus Scanner-Station 2 (see

Figure 4.19

Figure 4.19 Station 2 Network Window

Station 2 is configured as follows:

Ctrl/Stat & Ref Fdbk Drive 0 6 Parameter Access 8

Note that Station 2 occupies 6 words.

18. Use the null modem cable that came with the scanner to connect

COM1 on the PC and the CONFIG RS232 port on the scanner.

Module M1/M0 Offset

Note: The processor needs to be in program mode before proceeding.

19. Right-click on the scanner in the network window and select

“Connect”. Then right-click again on the scanner in the network window and select “Load Configuration”. If a minimum cycle time attention window pops up, click OK to continue. After the configuration has been loaded into the scanner, “Configured Program” will be displayed in the message window (see

Figure 4.20

Figure 4.20 Network Window Scanner Selection

4-12 Configuring the Profibus Scanner

20. Click File and Save As from the tool bar, as a unique File Name. The configuration of the scanner is now complete. Note that cycling power to the scanner is recommended (see Figure 4.21

Figure 4.21 Save As Dialog Window

Summary of the example scanner configuration:

Module M0 / M1 Addressing

Logic Command / Status 0 6 Reference / Feedback 1 7 Parameter Access 2 8

Station 1 Station 2

Chapter 5

Using I/O Messaging

This chapter provides information that explains how to use I/O Messaging to control a PowerFlex 40 drive.

Top ic Pag e

About I/O Messaging Understanding the I/O Image 5-2 Using Logic Command/Status 5-3 Using Reference/Feedback 5-3

ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

About I/O Messaging

5-1

I/O messaging is used to transfer the data which controls the PowerFlex drive and sets its reference.

The Profibus adapter provides options for configuring and using I/O, including the size of I/O, which can be configured by selecting the number of attached drives (Single or Multi-Drive mode).

Chapter 3

discuss how to configure the adapter and scanner on the network for these options. The Glossary discusses how to use I/O after you have configured the adapter and scanner.

, Configuring the Adapter and Chapter 4, Using I/O Messaging

defines the different options. This chapter

5-2 Using I/O Messaging

Controller

Scanner

Adapter

PowerFlex

4-Class Drive

Profibus

DSI

Output Image (Write)

Input Image (Read)

Message

Handler

Message

Buffer

0 Logic Status 1 Feedback

Logic Status Feedback

Word and I/O

Message

Handler

0 Logic Command 1 Reference

Logic Command Reference

Understanding the I/O Image

The Profibus specification requires that the terms input and output be defined from the scanner’s point of view. Therefore, Output I/O is data that is output from the scanner and consumed by the Profibus adapter. Input I/O is status data that is produced by the adapter and consumed as input by the scanner. The I/O image table will vary based on the:

• Configuration of the Mode Jumper (J2) on the adapter and Parameter 11 - [DSI I/O Cfg]. The image table always uses consecutive words starting at word 0.

Figure 5.1

adapter operated in Single mode.

Figure 5.1 Example of I/O Image for Adapter in Single Operating Mode

illustrates an example of an I/O image (16-bit words) for the

Single operating mode is the typical configuration, where one node consists of a PowerFlex 40, PowerFlex 40P or PowerFlex 400 drive with a 22-COMM-P adapter.

For Multi-Drive mode, where one node can consist of up to 5 drives, refer to Chapter 7

, Using Multi-Drive Mode.

Using I/O Messaging 5-3

Using Logic Command/Status

The Logic Command is a 16-bit word of control produced by the controller and consumed by the adapter. The Logic Status is a 16-bit word of status produced by the adapter and consumed by the controller. When enabled, the Logic Command/Status word is always word 0 in the I/O image.

This manual contains the bit definitions for compatible products available at the time of publication in Chapter C

Drives Logic Command/Status Words. For other products, refer to their

documentation.

Using Reference/Feedback

The Reference (16 bits) is produced by the controller and consumed by the adapter. The Feedback (16 bits) is produced by the adapter and consumed by the controller. When enabled, Reference/Feedback begins at word 1 in the I/O image.

Size Drive Valid Values

PowerFlex 4 and 4M -240.0…240.0 Hz

16-bit

(1)

PowerFlex 40 and 40P -400.0…400.0 Hz PowerFlex 400 -320.00…320.00 Hz

The Reference/Feedback for a PowerFlex 4-Class drive is set in Hz and not in engineering units like PowerFlex 7-Class drives. For example, “300” equates to 30.0 Hz (the decimal point is always implied) for all PowerFlex 4-Class drives except PowerFlex 400 for which “3000” equates to 30.00 Hz. In all cases, a minus value equates to reverse motor direction, and a plus value equates to forward motor direction.

, PowerFlex 4-Class

(1)

Word in I/O Image

Word 1 (see Figure 5.1

)

5-4 Using I/O Messaging

Notes:

Chapter 6

Using the Parameter Messaging

This chapter provides information that explains how to use Parameter Messaging to monitor and configure the adapter and connected PowerFlex 4-Class drive, as well as other peripherals.

Topic Page

About the Parameter Messaging Running the Parameter Messaging 6-2 Parameter Protocol 6-3

ATTENTION: Risk of equipment damage exists. If Parameter Messaging is programmed to write parameter data to Non-Volatile Storage (NVS) frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses Parameter Messaging to write parameter data to NVS.

6-1

About the Parameter Messaging

The Parameter Messaging is used to transfer data that does not require continuous updates. With the Parameter Messaging, you can configure and monitor a slave device’s parameters on the Profibus network.

To be able to use the parameter protocols in the 22-COMM-P, the Parameter Access module must be added to the master configuration when configuring the network. Refer to step 13, page 4-9 procedure for adding the “Parameter Access” module to a configuration. This maps 4 words input and output to the end of the I/O configuration, which is used as the request/response in the parameter message format (Figure 6.2

to view the

6-2 Using the Parameter Messaging

➊

➍

➎

➋

➌

Set up and send

Parameter Data

Complete Parameter

Data Exchange

Retreive Parameter

Data Exchange

Response

Running the Parameter Messaging

There are five basic events in the Parameter Data Exchange process defined below. The details of each step will vary depending on the controller. Refer to the documentation for your controller.

Important: There must be a request message and an response message

for all Parameter Data, whether you are reading or writing a data.

Figure 6.1 Parameter Data Exchange Process

Event Description

You format the required data and set up the ladder logic program to send a

➊

Parameter Data Exchange request to the scanner module (download). The scanner module transmits the Parameter Data Exchange Request to the

➋

slave device over the Profibus network. The slave device transmits the Parameter Data Exchange Response back to

➌

the scanner. The data is stored in the scanner buffer. The controller retrieves the Parameter Data Exchange Response from the

➍

scanner buffer. The Parameter Data Exchange is complete.

➎

Using the Parameter Messaging 6-3

Request

Response

Parameter Protocol

This protocol uses 4 words in the Profibus I/O area. Requests and responses are a handshake procedure and cannot be batched, meaning that if the master sends a request, it has to wait for the response before sending a new request.

With this protocol you can:

• Read 8-bit or 16-bit parameters from any DSI port

• Write 8-bit or 16-bit parameters to any DSI port

• Read the Adapter Fault Code

• Read Events

• Read Diagnostic Items

Figure 6.2 Parameter Message Format

Bit 15-12 11 10-0 15-12 11 10-0

Parameter Access

Word 1 (PCA)

Parameter Access

Word 2 (IND)

Parameter Access

Word 3 (PVA)

Parameter Access

Word 4 (PVA)

RC SPM PNU RC SPM PNU

Subindex Subindex

Spare Spare

Parameter value Parameter value

See Parameter Message Request on page 6-4 and Parameter Message

Response on page 6-5 for a description of the data that is required in

each word.

6-4 Using the Parameter Messaging

Parameter Message Request

Word Description

1 PNU - Parameter Number (Bit 0-10)

The parameter number determines which parameter to access, in the selected peripheral. Parameters 1 - 1023 can be accessed.

Parameter numbers 1024 - 2047 are used to access the fault object. Parameter 1024 is equal to the latest fault, 1025 to the prior fault, and so on.

Bit definitions 1-1023 Parameters (Drive or Adapter) 1024 Adapter Fault Code 1025-1056 Adapter Events 1280-1289 Diagnostic Items (Single Drive) 1280-1304 Diagnostic Items (Multi Drive)

SPM - Spontaneous Message (Bit 11) Reserved - Should always bet set to 0.

RC - Request/Response Code (Bit 12-15) One of the following codes have to be used:

0 = No request 1 = Request parameter value 2 = Change parameter value (8-bit & 16-bit word) 3 = Spare 4 = Parameter minimum 5 = Parameter maximum 6 = default value 7 -15 = Reserved

2 IND - Index

The IND is used to specify which drive we intend to send a message 0 - 2 bits = DSI port

Bit definitions

0 0 0 Drive 0 single mode 0 0 1 Drive 0-1 multi-drive mode 0 1 0 Drive 0-2 multi-drive mode 0 1 1 Drive 0-3 multi-drive mode 1 0 0 Drive 0-4 multi-drive mode 1 0 1 Adapter

3 - 15 = Reserved

3 PVA - Parameter value

Spare

4 PVA - Parameter value (8-bit & 16-bit word)

Read Request: Not used Write Request: Contents the write value for a 8-bit or 16-bit parameter.

Using the Parameter Messaging 6-5

Parameter Message Response

Word Description

1 PNU - Parameter Number (Bit 0-10)

Requested parameter number. SPM - Spontaneous Message (Bit 11)

Reserved - is always set to 0. RC - Request/Response Code (Bit 12-15)

One of the following codes will be sent: 0 = No request 1 = Transfer parameter value (8-bit & 16-bit word) 2 = Spare 3-6 = Reserved 7 = Request rejected (including Adapter Fault Code and Parameter Message

Fault Code, see table below)

9-15 = Reserved

2 IND - Index

Port ID of requested parameter

3 PVA - Parameter value

Spare

4 PVA - Parameter value (8-bit & 16-bit word)

Read Response: Contents the value from a 8-bit or 16-bit parameter, or the Fault Code (if RC = “7”).

Write Response: Confirms the write value for a 8-bit or 16-bit parameter, or the Fault Code (if RC = “7”)

Adapter Fault Code

Code Description

51 DSI port watchdog 52 Profibus network loss 53 Not compatible product 54 DSI time-out or additional DSI master connected

Parameter Message Fault Code

Code Description

101 Service not supported (i.e., set service to a read-only parameter) 102 Service not valid 104 Parameter does not exist (i.e., parameter number > max number of parameters) 106 Data value out of range (i.e., set value is out of range) 107 State conflict (i.e., parameter is not changeable while the product is in an

operating state)

6-6 Using the Parameter Messaging

Notes:

Chapter 7

Using Multi-Drive Mode

This chapter provides information to explain how to use Multi-Drive mode.

Topic Page

Single Mode versus Multi-Drive Mode Additional Information 7-5 System Wiring 7-5 Understanding the I/O Image 7-7 Configuring the RS-485 (DSI) Network 7-8 Multi-Drive Mode Parameter Data 7-10

7-1

Single Mode versus Multi-Drive Mode

The DSI interface provides a means to connect up to five drives on one node daisy-chained over the RS-485 interface. Two adapter operating modes, Single or Multi-Drive, are possible.

Single mode is a typical network installation, where a single Profibus node consists of a single drive with a 22-COMM-P adapter (Figure 7.1 In this mode, the adapter can talk to one host, and the host can support one additional external peripheral (HIM or 22-SCM-232 or 1203-USB) over DSI.

7-2 Using Multi-Drive Mode

PowerFlex 40/40P/400 Drive with 22-COMM-P

PowerFlex 40/40P/400

Drive with 22-COMM-P

PowerFlex 40/40P/400 Drive with 22-COMM-P

Profibus

1 drive per node

22-SCM-232

1203-USB

HIM

Figure 7.1 Single Mode Example - With Adapter in Drive

When the adapter cannot be installed in the drive (for example, a PowerFlex 4 or PowerFlex 4M drive) but operated in Single mode, the adapter can be installed in a DSI External Comms Kit (Figure 7.2

Figure 7.2 Single Mode Example - With Adapter in DSI External Comms Kit

up to 4 drives per node

PORT

MOD

NET A

NET B

22-COMM-P

NOTE: A terminating resistor is not required for this end of the wiring. The resistor is built into the circuitry of the DSI External Comms Kit.

Figure 7.3 shows that the Single operating mode provides the possibility

of connecting one additional external peripheral.

Figure 7.3 DSI Peripheral Devices for Single Operating Mode Connection

AK-U0-RJ45-TB2P

Kit Connector

PowerFlex 4-Class Drive

Adapter

RS-485

Profibus

AK-U0-RJ45-TB2P

Kit Connector with

Terminating Resistor

Using Multi-Drive Mode 7-3

Profibus

up to 5 drives per node

1st Drive PowerFlex 40/ 40P/400 Drive

22-COMM-P

Adapter

Up to 4 Additional

PowerFlex 4-Class Drives

AK-U0-RJ45-TB2P

Kit Connector with

Terminating Resistor

AK-U0-RJ45-TB2P Kit Connector with

Terminating Resistor

AK-U0-RJ45-TB2P

Kit Connectors

RS-485

Profibus

up to 5 drives per node

22-COMM-P

Adapter

Up to 5

PowerFlex 4-Class Drives

NOTE: A terminating resistor is not required for this end of the wiring. The resistor is built into the circuitry of the DSI External Comms Kit.

AK-U0-RJ45-TB2P

Kit Connector with

Terminating Resistor

AK-U0-RJ45-TB2P

Kit Connectors

RS-485

PORT

MOD

NET A

NET B

Multi-Drive mode is an alternative to the typical network installation, where a single Profibus node can consist of one to five drives. In

Figure 7.4

PowerFlex 40, PowerFlex 40P or PowerFlex 400 drive, and the remaining PowerFlex 4-Class drives are daisy-chained from the RS-485 port on the first drive.

Figure 7.4 Multi-Drive Mode Example - With Adapter in Drive

, the 22-COMM-P adapter is internally mounted in a

In this case, the unit will not operate with DSI peripheral devices such as the HIM or the 22-SCM-232 or 1203-USB and the application of any other peripheral will be prohibited.

In Figure 7.5 External Comms Kit (22-XCOMM-DC-BASE), and all PowerFlex 4-Class drives are daisy-chained from it.

Figure 7.5 Multi-Drive Mode Example - With Adapter in DSI External Comms Kit

, the 22-COMM-P adapter is remotely mounted in a DSI

7-4 Using Multi-Drive Mode

Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one adapter is needed for up to five drives. Any PowerFlex 4-Class drive can be daisy-chained.

• Reduces the network node count. For example, in Single mode 30 drives would consume 30 nodes. In Multi-Drive mode, 30 drives can be connected in 6 nodes.

• Provides a convenient way to put more than one PowerFlex 4-Class drive on the network using only one adapter (PowerFlex 4 and PowerFlex 4M drives do not have an internal communications adapter slot).

• Controller can independently control, monitor, and read/write parameters for all five drives.

Trade-offs of Multi-Drive mode include:

• When a PowerFlex 40/40P/400 drive with an internal-mounted adapter is powered down, communications with the daisy-chained drives is disrupted and the drives will take the appropriate communications loss action set in each drive. However, communications will not be disrupted when the adapter is used in a DSI External Comms Kit and a daisy-chained drive is powered down.

• Communications throughput to the daisy-chained drives will be slower than if each drive was a separate node on the network (Single mode). This is because the adapter must take the network data for the other drives and sequentially send the respective data to each drive over RS-485. The maximum additional throughput time for Logic Command/Reference to be transmitted and received by each drive in Multi-Drive mode is:

Adapter Mounted In… Drives per Node

1 drive 0 milliseconds

PowerFlex 40/40P/400 Drive or DSI External Comms Kit

• Since the RS-485 ports are used for daisy-chaining the drives, there is no connection for a peripheral device such as a HIM. The AK-U0-RJ45-SC1 DSI Splitter cable cannot be used to add a second connection for a peripheral device.

2 drives +24 milliseconds 3 drives +48 milliseconds 4 drives +72 milliseconds 5 drives +96 milliseconds

Additional Maximum Throughput Time vs. Single Mode

Using Multi-Drive Mode 7-5

Additional Information

• When the adapter—mounted in a PowerFlex 40/40P/400 drive or a DSI External Comms Kit— is powered up, all configured daisy-chained drives must be present before an I/O connection is allowed on the network (that is, before the drives can be controlled). If the adapter PORT indicator is steady green, the adapter is properly communicating with all drives on the Multi-Drive node. If the PORT indicator is steady red, one or more of the drives on the RS-485 network is not communicating.

• When the PowerFlex 40/40P/400 drive with the internal-mounted adapter is powered down, communication with the daisy-chained drives is disrupted and the drives will take their respective Comm Loss Actions. When the adapter is used in a DSI External Comms Kit (22-XCOMM-DC-BASE), communication will not be disrupted when a daisy-chained drive is powered down.

• When any of the daisy-chained drives is powered down, the respective Input Image (Logic Status and Feedback) sent to the scanner will be zeros, and the PORT and MOD indicators on the adapter will alternately flash red. The I/O connection will not be dropped until the last drive is disconnected or powered down.

Important: Status information from the scanner will not indicate

there is a fault at the node, and the I/O connection will not be dropped. If your application requires an action to be taken when DSI communication is lost with one or more drives, monitor adapter Parameter 12 - [DSI I/O Act] to verify that the adapter is communicating with all connected drives.

System Wiring

The AK-U0-RJ45-TB2P kit contains 6 two-position terminal block connectors (Figure 7.6 the PowerFlex 4-Class drives. Two terminating resistors are also included with the AK-U0-RJ45-TB2P kit.

Figure 7.6 AK-U0-RJ45-TB2P Terminal Block Connector

) which can be used to conveniently daisy-chain

7-6 Using Multi-Drive Mode

To Drive 0

(PowerFlex 40/40P/400 drive with

installed 22-COMM-P adapter)

120 Ohm,

¼ Watt

Terminating

Resistor

Drive 1

Drive 2

Drive 3

Drive 4

120 Ohm, ¼ Watt Terminating Resistor

To DSI External Comms Kit

(with installed 22-COMM-P adapter)

NOTE: A terminating resistor is not required for this end of the wiring. The resistor is built into the circuitry of the DSI External Comms Kit.

Drive 1

Drive 2

Drive 3

Drive 4

120 Ohm, ¼ Watt Te r mi n a t i ng Resistor

Drive 0

Figure 7.7 and Figure 7.8 show wiring diagrams for using

AK-U0-RJ45-TB2P terminal block connectors and terminating resistors.

Figure 7.7 Connector Wiring Diagram - With Adapter in Drive

Figure 7.8 Connector Wiring Diagram - With Adapter in DSI External Comms Kit

NOTE: When connecting the drives in a Multi-Drive configuration, the order in which the drives are connected does not matter. That is, Drive 0 can be any of the drives, and Drive 0 does not have to be the drive in which the adapter is installed (or the drive to which the DSI External Comms Kit is plugged into).

Using Multi-Drive Mode 7-7

Controller

Scanner

Adapter

PF 4-Class Drive 0

Profibus

DSI

Output Image (Write)

Input Image (Read)

Message

Handler

Message

Buffer

Word and I/O

0 Logic Command 1 Reference

2 Logic Command 3 Reference

4 Logic Command 5 Reference

6 Logic Command 7 Reference

8 Logic Command 9 Reference

0 Logic Status 1 Feedback

2 Logic Status 3 Feedback

4 Logic Status 5 Feedback

6 Logic Status 7 Feedback

8 Logic Status 9 Feedback

PF 4-Class Drive 0-1

PF 4-Class Drive 0-2

PF 4-Class Drive 0-3

PF 4-Class Drive 0-4

PF 4-Class Drive 0

PF 4-Class Drive 0-1

PF 4-Class Drive 0-2

PF 4-Class Drive 0-3

PF 4-Class Drive 0-4

Understanding the I/O Image

The I/O image table will vary based on the configuration of the adapter Mode Jumper (J2) and adapter Parameter 11 - [DSI I/O Cfg]. The image table always uses consecutive words starting at word 0.

Figure 7.9

adapter operated in Multi-Drive mode.

Figure 7.9 Multi-Drive Example of I/O Image

illustrates an example of an I/O image (16-bit words) for the

7-8 Using Multi-Drive Mode

Configuring the RS-485 (DSI) Network

Properly configure the adapter (Single mode operation) and only the 1st drive (as shown in Figure 7.4 communicating with each other. Communication has been established when the adapter PORT indicator is solid green. When the PORT indicator is red, communication between the adapter and the drive is not established.

After establishing communication with the 1st drive, the remaining drives on the node can be configured. Carefully follow these step-by-step instructions to successfully configure the adapter and RS-485 network of daisy-chained drives on the node.

1. Verify that all drives on the node are correctly daisy-chained

together, and that the 120 ohm, 1/4 watt terminating resistors are connected at the appropriate locations shown in Figure 7.7

Figure 7.8

2. Temporarily disconnect Drives 1…4 from the RS-485 daisy-chain

network, so that only Drive 0 remains connected.

3. Set the following parameters in the 1st drive to these values:

PowerFlex 4-Class Drive Parameter Number Name Value 4/40/40P 4M 400

P36 P106 P36 [Start Source] 5 (Comm Port) P38 P108 P38 [Speed Reference] 5 (Comm Port) A103 C302 C103 [Comm Data Rate] 4 (19.2K) A104 C303 C104 [Comm Node Addr] 1…247 (must be unique) A107 C306 C102 [Comm Format] 0 (RTU 8-N-1)

Note that the RS-485 network is fixed at 19.2K baud. 8 data bits, no parity, and 1 stop bit.

or Figure 7.5) on the node so that they are

4. Set the adapter Mode Jumper J2 to the “1x” (Single mode) position.

5. Power cycle Drive 0 to apply the new settings. NOTE: When the

adapter is installed in a DSI External Comms Kit, you must also power cycle the Comms Kit, which will reset the adapter.

At this time, the adapter PORT indicator should be steady green, indicating that the adapter is properly commuincating with Drive 0.

Using Multi-Drive Mode 7-9

6. Set the following adapter Multi-Drive parameters:

Adapter Parameter Value 11 - [DSI I/O Cfg] 0 = Drive 0 connected

17 - [Drv 0 Addr] 18 - [Drv 1 Addr] 19 - [Drv 2 Addr] 20 - [Drv 3 Addr] 21 - [Drv 4 Addr]

(1)

The settings for these parameters must match the [Comm Node Addr] parameter values for the respective drives. The [Comm Node Addr] parameter is A104 for PowerFlex 4, PowerFlex 40, and PowerFlex 40P drives, parameter C303 for PowerFlex 4M drives, and parameter C104 for PowerFlex 400 drives.

Important: To set adapter parameters, you must use DriveExplorer

7. Set the following parameters in daisy-chained Drives 1…4 to these

values:

1 = Drives 0…1 connected 2 = Drives 0…2 connected 3 = Drives 0…3 connected 4 = Drives 0…4 connected

(1)

Equal to Drive 0 [Comm Node Address] Parameter

(1)

Equal to Drive 1 [Comm Node Address] Parameter

(1)

Equal to Drive 2 [Comm Node Address] Parameter

(1)

Equal to Drive 3 [Comm Node Address] Parameter

(1)

Equal to Drive 4 [Comm Node Address] Parameter

software, DriveExecutive software or an optional, external PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S).

PowerFlex 4-Class Drive Parameter Number Name Value 4/40/40P 4M 400

8. Set the adapter Mode Jumper J2 to the “5x” (Multi-Drive) position.

9. Reconnect daisy-chained Drives 1…4 to the RS-485 network.

10. Power cycle ALL drives on the node to apply new settings. NOTE:

When the adapter is installed in a DSI External Comms Kit, you must also power cycle the Comms Kit, which will reset the adapter.

The adapter PORT indicator should now be steady green, indicating successfull configuration of the daisy-chained Multi-Drive node.

7-10 Using Multi-Drive Mode

The following table shows example settings for all five drives on the node:

PowerFlex 4-Class Drive Parameter Parameter Value Number Name Drive 0Drive 1Drive 2Drive 3Drive 4/40/40P 4M 400

P36 P106P36[Start Source] 55555 P38 P108 P38 [Speed Reference] 5 5 5 5 5 A103 C302 C103 [Comm Data Rate] A104 C303 C104 [Comm Node Addr] A105 C304 C105 [Comm Loss Action] 0 0 0 0 0 A106 C305 C106 [Comm Loss Time] 5 5 5 5 5 A107 C306 C102 [Comm Format]

(1)

The drive must be power cycled for a change to this parameter to take effect.

(2)

The settings for these parameters must match the respective parameter settings in the adapter (Parameter 17 - [Drv 0 Addr through Parameter 21 - [Drv 4 Addr]).

Important: Parameter A105 - [Comm Loss Action] in the drives that

are daisy chained is also used in Multi-Drive mode. If the RS-485 daisy-chain cable is disconnected or broken, the disconnected drives will immediately take the corresponding Comm Loss Actions. Drive parameter A106

- [Comm Loss Time] is not used in Multi-Drive mode. For a network disruption, adapter Parameters 09 - [Comm Flt Action] and 10 - [Idle Flt Action] determine the action taken for ALL of the drives on the Multi-Drive node.

(1)

44444

(1)(2)

12345

(1)

00000

Multi-Drive Mode Parameter Data

Parameter addressing for Parameter Data in Multi-Drive mode is similar

to that in Single mode.

The parameter numbers (PNU) range from 1 to 2047. The parameter numbers 1…1023 are used to access the drive or adapter parameters, while parameter numbers 1024…2047 are used for accessing the adapter fault codes, events and diagnostic items.

For details to access the drive parameters when the adapter is operated in of Multi-Drive mode, see Parameter Message Request

on page 6-4.

Using Multi-Drive Mode 7-11

Example: The parameter messaging accesses the drive Parameter 39 - [Accel Time] for Drive 0 to Drive 4 in Multi-Drive mode.

Accessing Parameter 39 - [Accel Time]

Module IND (0 - 2 bits) PNU Drive 0 Single Drive 0 0 0 39 Drive 0-1 Multi Drive 0 0 1 39 Drive 0-2 Multi Drive 0 1 0 39 Drive 0-3 Multi Drive 0 1 1 39 Drive 0-4 Multi Drive 1 0 0 39

7-12 Using Multi-Drive Mode

Notes:

Chapter 8

➋

➍

(Series A adapter shown)

Troubleshooting

This chapter provides information for diagnosing and troubleshooting potential problems with the adapter and network.

Topic Page

Locating the Status Indicators PORT Status Indicator 8-2 MOD Status Indicator 8-3 NET A Status Indicator 8-4 Adapter Diagnostic Items in Single Mode 8-4 Adapter Diagnostic Items in Multi-Drive Mode 8-5 Viewing and Clearing Events 8-6

Locating the Status Indicators

The adapter has three status indicators. They can be viewed on the adapter or through the drive cover. See Figure 8.1.

8-1

Figure 8.1 Status Indicators (location on drive may vary)

➊

➋

➌

Number Status Indicator Description Page

➊ PORT DSI Connection Status 8-2 ➋ MOD Adapter Status 8-3 ➌ NET A Profibus Status 8-4 ➍ NET B Not Used for Profibus —

➊

➌

8-2 Troubleshooting

PORT Status Indicator

Status Cause Corrective Action

Off The adapter is not powered

Flashing Red

Solid Red

Flashing Green

Solid Green

Solid Orange

Flashing Orange

or is not properly connected to the drive.

In Single mode, the adapter is not receiving a ping message from the drive.

In Multi-Drive mode, the adapter is not receiving a ping message from the drive—or the adapter is connected to a drive that is not compatible.

The drive has refused an I/O connection from the adapter.

Another DSI peripheral is using the same DSI port as the adapter.

Not used. —

The adapter is properly connected and is communicating with the drive.

The adapter is booting. Wait until boot program has been finished.

The adapter is in flash mode (SW8 down).

Application failure.

• Securely connect the adapter to the drive using the ribbon cable.

• Apply power to the drive (or adapter if mounted in a DSI External Comms Kit).

• Verify that the Mode Jumper J2 (Figure 2.1 is in the position corresponding to the mode in which the adater is being used.

• Verify the setting for Parameter 11 - [DSI I/O Cfg].

• Verify that cables are securely connected and not damaged. Replace cables if necessary.

• Cycle power to the drive (or adapter if mounted in a DSI External Comms Kit).

• Connect the adapter to compatible PowerFlex 4-Class drive.

Important: Cycle power to the drive (or adapter if mounted in a DSI External Comms Kit) after making the following corrections:

• Verify that all DSI cables are securely connected and not damaged. Replace cables if necessary.

• Check the Events, replace the adapter with a compatible Allen-Bradley branded product (22-COMM-P).

No action required.

• Wait until Firmware Update has been finished, then switch SW8 to 1.

• Download Application code.

)

MOD Status Indicator

Status Cause Corrective Action

Off The adapter is not powered or

Flashing Red

is not properly connected to the drive.

The adapter has faults or a drive is missing in Multi Drive mode.

Solid Red

Flashing Green

Solid Green

The adapter has failed the hardware test.

The adapter is operational, but is not transferring I/O data.

The adapter is operational and transferring I/O data.

• Securely connect the adapter to the drive using the ribbon cable.

• Apply power to the drive (or adapter if mounted in a DSI External Comms Kit).

• Clear faults in the drive.

• Disconnect additional DSI peripheral and

cycle power to the drive (or adapter if mounted in a DSI External Comms Kit).

• If cycling power does not correct the problem, the adapter parameter settings may have been corrupted. Reset defaults and reconfigure the adapter.

• If resetting defaults does not correct the problem, flash the adapter with the latest firmware release.

• For Multi-Drive mode, determine which drive is missing or faulted. Check cabling and configuration settings (see Configuring

the RS-485 (DSI) Network on page 7-8).

• Cycle power to the drive (or adapter if mounted in a DSI External Comms Kit).

• Replace the adapter.

• Place the scanner in RUN mode.

• Program the controller to recognize and

transmit I/O to the adapter.

• Configure the adapter for the program in the controller.

No action required.

Troubleshooting 8-3

8-4 Troubleshooting

NET A Status Indicator

Status Cause Corrective Actions

Off The adapter is not powered

Flashing Red

Solid Red

Flashing Green

Solid Green

NOTE: For the Multi Drive mode, disconnecting a DSI cable from a

or is not connected properly to the network or the Node Address is incorrect.

Error in Profibus configuration.

Not used. —

The adapter is properly connected and communicating on the network.

daisy-chained drive does not lead to an error! There is no indication in the adapter that a drive is missing, except that commands to the missing drive have no effect.

• Securely connect the adapter to the drive using the Internal Interface (ribbon) cable and to the network using a Profibus cable. (Screw D-shell to the adapter).

• Check the SW8 of DIP-Switches and set it to one - Normal operating state.

• Check the DIP-Switches (SW1…SW7) node address and the Scanner setting.

• Apply power to the drive cable (or adapter if mounted in a DSI External Comms Kit).

Re-configure the Profibus module.

No action required.

Adapter Diagnostic Items in Single Mode

The following diagnostic items can be accessed using a PowerFelx 4-Class HIM, DriveExplorer or DriveExecutive (version 3.01 or higher).

No. Name Description

1 Field Flash Cnt The number of Firmware Updates. 2 Adapter Events The number of events in the event queue. 3 Reference Reference from Profibus returned to DSI drive. 4 Logic Cmd Command from Profibus returned to DSI drive. 5 Logic Sts Status of the drive returned to Profibus. 6 Feedback Feedback from drive returned to Profibus. 7 Profibus Rx Errors Current value of the Profibus Receive Error Counter register. 8 Profibus Tx Errors Current value of the Profibus Transmit Error Counter register. 9 Data Rate Current setting of the Profibus baud rate. 10 Node Address Current setting of the adapter Node address switch.

Troubleshooting 8-5

Adapter Diagnostic Items in Multi-Drive Mode

In Multi-Drive mode, it is not possible to connect a peripheral device such as a HIM or 22-SCM-232 (DriveExplorer). Therefore, the following adapter diagnostic items can only be accessed via the Profibus network.

No. Name Description

1 Field Flash Cnt The number of Firmware Updates. 2 Adapter Events The number of events in the event queue. 3 Drv 0 Reference Reference from Profibus returned to DSI Drive 0. 4 Drv 0 Logic Cmd Command from Profibus returned to DSI Drive 0. 5 Drv 0 Logic Sts Status of the Drive 0 returned to Profibus. 6 Drv 0 Feedback Feedback from Drive 0 returned to Profibus. 7 Drv 1 Reference Reference from Profibus returned to DSI Drive 0-1. 8 Drv 1 Logic Cmd Command from Profibus returned to DSI Drive 0-1. 9 Drv 1 Logic Sts Status of the Drive 0-1 returned to Profibus. 10 Drv 1 Feedback Feedback from Drive 0-1 returned to Profibus. 11 Drv 2 Reference Reference from Profibus returned to DSI Drive 0-2. 12 Drv 2 Logic Cmd Command from Profibus returned to DSI Drive 0-2. 13 Drv 2 Logic Sts Status of the Drive 0-2 returned to Profibus. 14 Drv 2 Feedback Feedback from Drive 0-2 returned to Profibus. 15 Drv 3 Reference Reference from Profibus returned to DSI Drive 0-3. 16 Drv 3 Logic Cmd Command from Profibus returned to DSI Drive 0-3. 17 Drv 3 Logic Sts Status of the Drive 0-3 returned to Profibus. 18 Drv 3 Feedback Feedback from Drive 0-3 returned to Profibus. 19 Drv 4 Reference Reference from Profibus returned to DSI Drive 0-4. 20 Drv 4 Logic Cmd Command from Profibus returned to DSI Drive 0-4. 21 Drv 4 Logic Sts Status of the Drive 0-4 returned to Profibus. 22 Drv 4 Feedback Feedback from Drive 0-4 returned to Profibus. 23 Profibus Rx Errors Present value of the Profibus Receive Error Counter register. 24 Profibus Tx Errors Present value of the Profibus Transmit Error Counter register. 25 Active drives number The number of active slave drives.

8-6 Troubleshooting

Viewing and Clearing Events

The adapter maintains an event queue that reports the history of its actions. You can view the event queue using DriveExplorer (3.01).

Figure 8.2 DriveExplorer Event View/Clear Screen

Events

Many events in the Event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Rockwell Automation personnel troubleshoot the problem. The following events may appear in the event queue:

Code Event Description

0 No Event Text displayed in an empty event queue entry. 1 EEPROM Sum Flt Startup sequence detected corrupt EEPROM storage in the

2 Slave Detected A DSI slave was detected on the slave I/O line. 3 Slave Removed A DSI slave was removed on the slave I/O line. 7 Bad I/O Config The actual connected drives are different from I/O

8 Host Timeout An Parameter Data to a Drive Host timed out waiting for a

9 Slave Timeout An Param. Data to a Slave timed out waiting for a response. 10 Bad Host Flt The adapter was connected to an incompatible product. 11 DSI Bus Off Flt A bus-off condition was detected on DSI. This event may be

13 P-DP Idle The Profibus Adapter received a Network Clear from the

14 P-DP Online The Profibus adapter has gone on-line the Profibus Network. 15 P-DP Offline The Profibus adapter has gone off-line the Profibus Network. 17 DSI Fault Msg The Host drive faulted. 18 DSI Fault Clear The user cleared a fault in the adapter. 19 Not COMM Flt The adapter detected a fault condition on the network. 21 Program damage The Checksum of the Program is wrong.

adapter.

configuration (Adapter Parameter 11).

response.

caused by loose or broken cables or by noise.

Profibus Master.

Appendix A

Specifications

Appendix A presents the specifications for the adapter.

Topic Page

Communications Electrical A-1 Mechanical A-1 Environmental A-2 Regulatory Compliance A-2

Communications

Network

Protocol Data Rates

Drive

Protocol DSI

A-1

Profibus

9.6 Kbps, 19.2 Kbps, 93.75 Kbps, 187.5 Kbps, 500 Kbps,

1.5 Mbps, 3 Mbps, 6 Mbps, 12 Mbps. The adapter has an auto baud rate detection.

Electrical

Consumption

Drive Network

Mechanical

Dimensions

Height Length Width

Weight 57 g (2 oz.)

370 mA at 5V supplied through the drive.

19 mm (0.75 inches) 86 mm (3.39 inches)

78.5 mm (3.09 inches)

A-2 Specifications

Environmental

Temperature

Operating

Storage Relative Humidity -5…95% non-condensing Vibration

Operational

Non-operational Shock

Operational

Non-operational Altitude 1000 m (3300 ft.) without derating Atmosphere Important: The adapter must not be installed in an area

Regulatory Compliance

Certification Specification

UL UL508C CE EN50178 and EN61800-3

-10…50 °C (14…149 °F)

-40…85 °C (-40…185 °F)

1.0 g

2.5 g

15.0 g

30.0 g

where the ambient atmosphere contains volatile or corrosive gas, vapors or dust. If the adapter is not going to be installed for a period of time, it must be stored in an area where it will not be exposed to a corrosive atmosphere.

Appendix B

Adapter Parameters

Appendix B provides information about the adapter parameters.

Topic Page

About Parameter Numbers Parameter List B-1

B-1

About Parameter Numbers

The parameters in the adapter are numbered consecutively. However, depending on which configuration tool you use, they may have different numbers.

Configuration Tool Numbering Scheme

• HIM

• DriveExplorer

• DriveTools SP

The adapter parameters begin with parameter 1. For example, Parameter 04 - [P-DP Addr Actual] is parameter 04 as indicated by this manual.

Parameter List

Parameter No. Name and Description Details

01 [Mode]

Displays the Single or Multi-Drive operating mode selected with the jumper J2 on the adapter.

02 Reserved — 03 Reserved — 04 [P-DP Addr Actual]

Profibus Node Address actually used by the adapter.

Default: N/A Values: 0 = Single Drv

Type: Read Only

Default: N/A Minimum: 0 Maximum: 127 Type: Read Only

1 = Multiple Drv

B-2 Adapter Parameters

ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting I/O that controls the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting a connected adapter.

ATTENTION: Risk of injury or equipment damage exists. Parameter 09- [Comm Flt Action] lets you determine the action of the adapter and connected drive if

the I/O communications are disrupted. By default, this parameter faults the drive. You may configure this parameter so that the drive continues to run, however, precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable).

Parameter No. Name and Description Details

05 [P-DP Rate Actual]

PROFIBUS actual operating data rate.

NOTE: The value of this parameter will show 9 (12 Mbps) when not yet communicating to the scanner. This parameter will update when communication is established.

06 Reserved — 07 Reserved — 08 [Reset Module]

No action if set to “Ready.” Resets the adapter if set to “Reset Module.” Restores the adapter to its factory default settings if set to “Set Defaults.” This parameter is a command. It will be reset to “0 = Ready” after the command has been performed.

Default: N/A Values: 0 = 9.6 Kbps

Type: Read Only

Default: 0 = Ready Values 0 = Ready

Type: Read/Write Reset Required: No

1 = 19.2 Kbps 2 = 45.45 Kbps 3 = 93.75 Kbps 4 = 187.5 Kbps 5 = 500 Kbps 6 = 1.5 Mbps 7 = 3 Mbps 8 = 6 Mbps 9 = 12 Mbps 10 = Off-line

1 = Reset Module 2 = Set Defaults

09 [Comm Flt Action]

Sets the action that the adapter and drive take if the adapter detects that Profibus communications have been disrupted. This setting is effective only if I/O that controls the drive is transmitted through the adapter. When communication is re-established, the drive will automatically receive commands over the network again.

Default: 0 = Fault Values: 0 = Fault

Type: Read/Write Reset Required: No

(1)

1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg 5 = Fault&ClrCmd

This setting is available only with adapter firmware revision 3.xxx or later.

(1)

Parameter

ATTENTION: Risk of injury or equipment damage exists. Parameter 10- [Idle Flt Action] lets you determine the action of the adapter and connected drive

when the controller is idle. By default, this parameter faults the drive. You may configure this parameter so that the drive continues to run, however, precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a controller in idle state).

No. Name and Description Details

10 [Idle Flt Action]

Sets the action that the adapter and drive take if the adapter detects that the controller is in program mode or faulted. This setting is effective only if I/O that controls the drive is transmitted through the adapter. When the controller is put back in Run mode, the drive will automatically receive commands over the network again.

Default: 0 = Fault Values: 0 = Fault

Type: Read/Write Reset Required: No

(1)

This setting is available only with adapter firmware revision 3.xxx or later.

Adapter Parameters B-3

1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg 5 = Fault&ClrCmd

(1)

11 [DSI I/O Cfg]

Sets the configuration of the Drives that are active in the Multi-Drive mode. Identifies the connections that would be attempted on a reset or power cycle.

12 [DSI I/O Act]

Displays the Drives that are active in the Multi-Drive mode.

13 [Flt Cfg Logic]

Sets the Logic Command data that is sent to the drive if any of the following is true:

• Parameter 09 - [Comm Flt Action] is set to

• Parameter 10 - [Idle Fault Action] is set to

The bit definitions will depend on the product to which the adapter is connected.

Send Flt Cfg and communications are disrupted.

Send Flt Cfg and the scanner is put into Program mode.

Default: 0 Values: 0 = Drive 0

1 = Drives 0-1 2 = Drives 0-2 3 = Drives 0-3

4 = Drives 0-4 Type: Read/Write Reset Required: Yes

Default: N/A Bit Values: 0 = Drive 0

1 = Drives 0-1

2 = Drives 0-2

3 = Drives 0-3

4 = Drives 0-4 Type: Read Only

Default: 0000 0000 0000 0000 Minimum: 0000 0000 0000 0000 Maximum: 1111 1111 1111 1111 Type: Read/Write Reset Required: No

B-4 Adapter Parameters

Parameter No. Name and Description Details

14 [Flt Cfg Ref]

Sets the Reference data that is sent to the drive if any of the following is true:

• Parameter 09- [Comm Flt Action] is set to

Send Flt Cfg and communications are disrupted.

• Parameter 10 - [Idle Flt Action] is set to

Send Flt Cfg and the scanner is put into Program mode.

15 Reserved — 16 Reserved — 17

[Drv 0 Addr]

[Drv 1 Addr]

[Drv 2 Addr]

[Drv 3 Addr]

[Drv 4 Addr]

Sets the corresponding node addresses of the daisy-chained drives when the adapter Mode Jumper (J2) is set for Multi-Drive operation.

Important: The settings for these parameters must match the drive Parameter A104 - [Comm Node Addr] settings in the respective drives. Each setting must also be unique (no duplicate node address).

24 [P-DP State]

Displays the state of the Profibus controller. 0 = Not connected to the network.

1 = On network and not scanning or not connected

2 = Online/running 3 = Error in configuration

to the network

Default: 0 Minimum: 0 Maximum: 4000 Type: Read/Write Reset Required: No

Important: If the drive uses a 16-bit Reference, the most significant word of this value must be set to zero (0) or a fault will occur.

Default: 1 Default: 2 Default: 3 Default: 4 Default: 5 Minimum: 1 Maximum: 127 Type: Read/Write Reset Required: Yes

Default: N/A Values: 0 = WAIT_PRM

Type: Read Only

1 = WAIT_CFG 2 = DATA_EX 3 = ERROR

Parameter

ATTENTION: Risk of injury or equipment damage exists. Parameter 25 - [DSI Loss Action] lets you determine the action of the adapter when DSI

communication with the drive has been lost. By default, this parameter maintains the Logic Status and Feedback word values sent to the controller at the timeDSI communication was lost (that is, hold last state). Alternatively, you can set this parameter so that the Logic Status and Feedback word values are zeroed after a DSI communication loss. Whether the drive faults or takes a different action is determined by the setting of the following drive parameter:

Drive Parameter Number/Name

PowerFlex 4, 40, and 40P A105 - [Comm Loss Action] PowerFlex 4M C304 - [Comm Loss Action] PowerFlex 400 C105 - [Comm Loss Action]

No. Name and Description Details

25 [DSI Loss Action]

Sets the action that the adapter will take for the Logic Status and Feedback words when the adapter detects that DSI communication with the drive has been lost.

(2)

This parameter is available only with adapter firmware

revision 4.001 or later, and only applies when the adapter is operated in Single mode. When operated in Multi-Drive mode, the Logic Status and Feedback words are zeroed for any drive that loses DSI communication.

(2)

Default: 0 = Hold Sts/Fbk Values: 0 = Hold Sts/Fbk

Type: Read/Write Reset Required: No

Adapter Parameters B-5

1 = Zero Sts/Fbk

B-6 Adapter Parameters

Notes:

Appendix C

PowerFlex 4-Class Drives Logic Command/Status Words

Appendix C presents the definitions of the Logic Command and Logic Status words that are used for some products that can be connected to the adapter. If you do not see the Logic Command/Logic Status for the product that you are using, refer to your product’s documentation.

Logic Command Word

Logic Bits

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

x Stop 0 = Not Stop

xStart

x Jog 0 = Not Jog

x Clear Faults 0 = Not Clear Faults

x x Direction 00 = No Command

x x Accel Rate

x x Decel Rate

(2)

x x x Reference

(1)

A “0 = Not Stop” condition (logic 0) must first be present before a “1 = Start” condition will start the drive. The Start command acts as a momentary Start command. A “1” will start the drive, but returning to “0” will not stop the drive.

(2)

Depending on the PowerFlex 4-Class drive, the functions for bits 6, 7, and 15 change. Refer to Appendix C in the PowerFlex 4, PowerFlex 4M, PowerFlex 40 or PowerFlex 40P drive User Manual, or Appendix E for the PowerFlex 400 drive bit functions.

(3)

The functions for these bits are the same for all PowerFlex 4-Class drives—including the PowerFlex 40P when it is used in the “Velocity” mode. When using the PowerFlex 40P in the “Position” mode, the bit functions are different. For details, see Appe ndix C in the PowerFlex 40P User Manual.

Select

(2)

1 = Stop

(1)

0 = Not Start 1 = Start

1 = Jog

1 = Clear Faults

01 = Forward Command 10 = Reverse Command 11 = Hold Direction Control

(3)

00 = No Command 01 = Accel Rate 1 Command 10 = Accel Rate 2 Command 11 = Hold Accel Rate

(3)

00 = No Command 01 = Decel Rate 1 Command 10 = Decel Rate 2 Command 11 = Hold Decel Rate

000 = No Command

(3)

001 = Freq Source (Speed Ref. par.) 010 = Freq Source (Int. Freq par.) 011 = Freq Source (Comm) 100 = Preset Freq 0 101 = Preset Freq 1 110 = Preset Freq 2 111 = Preset Freq 3

C-2 PowerFlex 4-Class Drives Logic Command/Status Words

Logic Status Word

Logic Bits

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

x Accel 0 = Not Accelerating

x Decel 0 = Not Decelerating

x Alarm 0 = No Alarm

x Fault 0 = No Fault

x At Speed 0 = Not At Reference

x Main Freq

x Operation

x Parameters

x Digital Input 1

x Digital Input 2

x Digital Input 3

x Digital Input 4

(1)

The functions for these bits are the same for all PowerFlex 4-Class drives—including the PowerFlex 40P when it is used in the “Velocity” mode. When using the PowerFlex 40P in the “Position” mode, the bit functi ons are different. For details, see Appendix C in the PowerFlex 40P User Manual.

(2)

This status is available for only PowerFlex 40 drives with firmware revision 2.xx (or later). For PowerFlex 4 and PowerFlex 4M drives, these bits are not used.

x Ready 0 = Not Ready

x Active 0 = Not Active

xCommand

x Actual

Direction

Command

(1)

Status

(1)

Status

(1) (2)

Status

(1) (2)

Status

(1)

1 = Ready

1 = Active 0 = Reverse

1 = Forward 0 = Reverse

1 = Forward

1 = Accelerating

1 = Decelerating

1 = Alarm

1 = Fault

1 = At Reference 0 = Not Controlled By Comm

1 = Controlled By Comm 0 = Not Controlled By Comm

1 = Controlled By Comm 0 = Not Locked

1 = Locked

Appendix D

SLC Ladder Logic Examples

Appendix D provides examples that explain how to use a SLC controller to send I/O Messaging to control, configure and monitor a PowerFlex 40 drive in Single Drive and Multi Drive mode.

Topic Page

Single Drive Example Multi Drive Example D-9

D-2

D-2 SLC Ladder Logic Examples

This example program is for a PROFIBUS demonstration using a SLC 5/ 04 processor with an SST Profibus scanner

(SST-PFB-SLC) in the first slot of the rack. The program is written for 2 drives on the network:

Station 1 PowerFlex 40 with 22-COMM-P Station 2 PowerFlex 40 with 22-COMM-P

The expample program demonstrates using Logic Command / Reference, Logic Status / Feedback and Parameter Access using the Parameter Protocol.

On power-up, zero out the transmit buffer

to the Scanner

S:1

First Pass

FLL Fill File Source 0 Dest #N20:0 Length 12

FLL

MOV Move Source S:3

2561<

Dest M0:1.4011

MOV

The Scanner is configured to 12 bytes (6 words) of inputs for each drive. Two drives require 24 bytes (12 words).

Read the drives data from the Profibus scanner.

File N10: contains the acutal read data that can be used elsewhere in the ladder program.

Station 1 Station 2 Description M1:1.0 (N10:0) M1:1.6 (N10:6) Logic Status M1:1.1 (N10:1) M1:1.7 (N10:7) Speed Feedback M1:1.2 (N10:2) M1:1.8 (N10:8) Parameter Protocol Word 1 (PCA) M1:1.3 (N10:3) M1:1.9 (N10:9) Parameter Protocol Word 2 (IND) M1:1.4 (N10:4) M1:1.10 (N10:10) Parameter Protocol Word 3 (PVA 1) M1:1.5 (N10:5) M1:1.11 (N10:11) Parameter Protocol Word 4 (PVA 2)

COP Copy File Source #M1:1.0 Dest #N10:0 Length 12

COP

Execute LAD 3 - Station 1 Drive Logic

JSR Jump To Subroutine SBR File Number U:3

JSR

Execute LAD 4 - Station 2 Drive Logic

JSR Jump To Subroutine SBR File Number U:4

JSR

Automatically have the SST-PFB-SCL scanner's watchdog period track that of the SCL processor (recommended per SST user manual)

Write the drives' data to the profibus scanner.

File N20: contains the actual write data generated elsewhere in the ladder program.

Station 1 Station

Description

M0:1.0 (N20:0) M0:1.6 (N20:6)

Logic Command M0:1.1 (N20:1) M0:1.7 (N20:7) Speed Reference M0:1.2 (N20:2) M0:1.8 (N20:8) Parameter Protocol Word 1

(PCA) M0:1.3 (N20:3) M0:1.9 (N20:9) Parameter Protocol Word 2 (IND) M0:1.4 (N20:4) M0:1.10 (N20:10) Parameter Protocol Word 3 (PVA1) M0:1.5 (N20:5) M0:1.11 (N20:11)

Parameter Protocol Word 4 (PVA2)

COP Copy File Source #N20:0 Dest #M0:1.0 Length 12

COP

END

Single Drive Example

Figure D.1 Main Routine

SLC Ladder Logic Examples D-3

Controlling the Logic Command word in the drive. B3:20/* bits are controlled elsewhere in the user program.

B3:20

Station 1 Stop Comman d

N20:0

Station 1 Logic Command STOP

B3:20

Station 1 Start Comman d

N20:0

Station 1 Logic Command START

B3:20

Station 1 Jog Comman d

N20:0

Station 1 Logic Command JOG

B3:20

Station 1 Clear Faults Comman d

N20:0

Station 1 Logic Command CLEAR FAULTS

B3:20

Station 1 Reverse Comman d

N20:0

Station 1 Logic Command FORWARD

B3:20

Station 1 Reverse Comman d

N20:0

Station 1 Logic Command REVERSE

To control the speed reference over the Profibus, the three Reference Select bits (bits 14-12) need to have the values 011.

N20:0

Station 1 Logic Command REFERENCE SELECT 0

N20:0

Station 1 Logic Command REFERENCE SELECT 1

B3:20

"Never Closed"

N20:0

Station 1 Logic Command REFERENCE SELECT 2

Figure D.2 Drive 0 Control/Reference/Parameter Access Routine

D-4 SLC Ladder Logic Examples

Station 1 Speed Reference The PowerFlex 40 parameter 38 - [Speed Reference] needs to be set to 5 ("RS485 [DSI] Port"). N19:1 is controlled elsewhere in the user program.

MOV Move Source N19:1

273<

Dest N20:1

273<

MOV

Station 1 Speed Reference Write

This section of the routine is only needed if the application needs to perform Parameter Protocol Reads or Writes to Station 1.

On power-up, initialize the Parameter Protocol routine.

S:1

First Pass

B3:19

Station 1 Par Prot Messaging Request

This circuit utilizes the Parameter Protocol. A REQUEST to Station 1 is processed only once at a time, and after each RESPONSE from Station 1 a zero must be sent and received to 'handshake' before the next REQUEST/RESPONSE transaction can take place. For example: Send a param. read request --> Receive a parameter read response --> Send a "0" --> Receive a "0" --> [Transaction compl.]

If the RESPONSE PCA Word 1 (N10:2) is "0", then a REQUEST can be initiated.

Elsewhere in the user program these words must be loaded with message data prior to initiating the REQUEST. N7:10 = RC = the operation to be performed ("1" = Read, "2" = 16-bit Write), N7:11 = PNU = the parameter number to read or write N7:12 = Subindex = the DPI port # ("0" = Host or PowerFlex drive, "5" = 22-COMM-P, etc.) N7:13 = PVA #1 (the parameter value (high word)) - only used when writing parameters N7:14 = PVA #2 (the parameter value (low word)) - only used when writing parameters

The four Parameter Protocol Words set up in thescanner are used to perform the Parameter Protocol: N20:2 = contains RC (the operation to be performed) and PNU (the parameter number to read or write) combined N20:3 = Subindex (the DPI port #) N20:4 = P

VA #1 (the

parameter value (high word))

N20:5 = PVA #2 (the parameter value (low word))

B3:19/15 is turned ON elsewhere in the program after a REQUEST message (N7:10-14) is loaded. This causes one Param. Protocol read or write to occur and B3:19/15 is turned OFF when the transaction is complete.

B3:19

Station 1 Par Prot Messaging Request

EQU Equal Source A N10:2

Source B 0

EQU

Station 1 RESPONSE PCA Word

MOV Move Source N7:11

77<

Dest N20:2

MOV

Station 2 PCA Word

N7:10

RCb it 0

N20:2

PCA Word RCb it 0

N7:10

RCb it 1

N20:2

PCA Word RCb it 1

N7:10

RCb it 2

N20:2

PCA Word RCb it 2

COP Copy File Source #N7:12 Dest #N20:3 Length 3

COP

IND Word (Subindex)

Figure D.2 Drive 0 Control/Reference/Parameter Access Routine (continued)

SLC Ladder Logic Examples D-5

N10:2 is the Station 1 Response Parameter Access Word 1. It is <> 0 when a message has been received in response to a message request. If the response is >= 7000 hex(28672 decimal), then the adapter is responding that an error has occurred. In this case, the returned data in the response will contain a fault code and not the parameter value data.

The response message can be found at: N7:20 = PCA Word = contains RCand PNU N7:21 = Subindex = the DPI port # ("0" = Host or PowerFlexdrive, "5" = 22-COMM-P, etc.) N7:22 = PVA #1 = the parametervalue (high word) N7:23 = PVA #2 = the parametervalue (low word) The PVA's will either contain parameter read data, echo the parameter write data or contain an error code if unsuccessful.

B3:19

Station 1 Par Prot Messaging Request

NEQ Not Equal Source A N10:2

Source B 0

NEQ

Station 1 RESPONSE PCA Word

COP Copy File Source #N10:2 Dest #N7:20 Length 4

COP

RESPONSE Message PCA Word

MOV Move Source 0

Dest N20:2

MOV

Station 2 PCA Word

B3:19

Station 1 Par Prot Messaging Request

END

Figure D.2 Drive 0 Control/Reference/Parameter Access Routine (continued)

D-6 SLC Ladder Logic Examples

Controlling the Logic Command word in the drive. B3:21/* bits are controlled elsewhere in the user program.

B3:21

Station 2 Stop Comman d

N20:6

Station 2 Logic Command STOP

B3:21

Station 2 Start Comman d

N20:6

Station 2 Logic Command START

B3:21

Station 2 Jog Comman d

N20:6

Station 2 Logic Command JOG

B3:21

Station 2 Clear Faults Comman d

N20:6

Station 2 Logic Command CLEAR FAULTS

B3:21

Station 2 Reverse Comman d

N20:6

Station 2 Logic Command FORWARD

B3:21

Station 2 Reverse Comman d

N20:6

Station 2 Logic Command REVERSE

To control the speed reference over the Profibus, the three Reference Select bits (bits 14-12) need to have the values 011.

N20:6

Station 2 Logic Command REFERENCE SELECT 0

N20:6

Station 2 Logic Command REFERENCE SELECT 1

B3:21

"Never Closed"

N20:6

Station 2 Logic Command REFERENCE SELECT 2

Figure D.3 Drive 1 Control/Reference/Parameter Access Routine

SLC Ladder Logic Examples D-7

Station 2 Speed Reference The PowerFlex 40 parameter 38 - [Speed Reference] needs to be set to 5 ("RS485 [DSI] Port"). N19:7 is controlled elsewhere in the user program.

MOV Move Source N19:7

314<

Dest N20:7

314<

MOV

Station 2 Speed Reference Write

This section of the routine is only needed if the application needs to perform Parameter Protocol Reads or Writes to Station 2.

On power-up, initialize the Parameter Protocol routine.

S:1

First Pass

B3:19

Station 2 Par Prot Messaging Request

This circuit utilizes the Parameter Protocol. A REQUEST to Station 2 is processed only RESPONSE from Station 2 a zero must be sent and received to 'handshake' before the next REQUEST/RESPONSE transaction can take place. For example: Send a parameter read request --> Receive a param. read response --> Send a "0" --> Receive a "0" --> [Transaction compl.]

If the RESPONSE PCA Word 1 (N10:8) is "0", then a REQUEST can be initiated.

Elsewhere in the user program these words must be loaded with message data prior to initiating the REQUEST. N7:30 = RC = the operation to be performed ("1" = Read, "2" = 16-bit Write) N7:31 = PNU = the parameter number to read or write N7:32 = Subindex = the DPI port # ("0" = Host or PowerFlex drive, "5" = 22-COMM-P, etc.) N7:33 = PVA #1 (the parameter value (high word)) - only used when writing parameters N7:34 = PVA #2 (the parameter value (low word)) - only used when writing parameters

The four Parameter Protocol Words set up in the scanner are used to perform the Parameter Protocol: N20:8 = contains RC (the operation to be performed) and PNU (the parameter number to read or write) combined N20:9 = Subindex (the DPI port #) N20:10 = P

VA #1 (the parameter value

(high word))

N20:11 = PVA #2 (the parameter value (low word))

B3:19/0 is turned ON elsewhere in the program after a REQUEST message (N7:30-34) is loaded. This causes one Parameter Protocol read or write to occur and B3:19/0 is turned OFF when the transaction is complete.

B3:19

Station 2 Par Prot Messaging Request

EQU Equal Source A N10:8

Source B 0

EQU

Station 2 RESPONSE PCA Word

MOV Move Source N7:31

77<

Dest N20:8

MOV

Station 2 PCA Word

N7:30

RCb it 0

N20:8

PCA Word RC bit 0

N7:30

RCb it 1

N20:8

PCA Word RCb it 1

N7:30

RCb it 2

N20:8

PCA Word RCb it 2

COP Copy File Source #N7:32 Dest #N20:9 Length 3

COP

IND Word (Subindex)

once at a time, and after each

Figure D.3 Drive 1 Control/Reference/Parameter Access Routine (continued)

D-8 SLC Ladder Logic Examples

N10:8 is the Station 2 Response Parameter Access Word 1. It is <> 0 when a message has been received in response to a message request. If the response is >= 7000 hex (28672 decimal), then the adapter is responding that an error has occured. In this case, the returned data in the response will contain a fault code and not the parameter value data.

The response message can be found at: N7:40 = PCA Word = contains RC and PNU N7:41 = Subindex = the DPI port # ("0" = Host or PowerFlex drive, "5" = 22-COMM-P, etc.) N7:42 = PVA #1 = the parameter value (high word) N7:43 = PVA #2 = the parameter value (low word) The PVA's will either contain parameter read data, echo the parameter write data or contain an error code if unsuccessful.

B3:19

Station 2 Par Prot Messaging Request

NEQ Not Equal Source A N10:8

Source B 0

NEQ

Station 2 RESPONSE PCA Word

COP Copy File Source #N10:8 Dest #N7:40 Length 4

COP

RESPONSE Message PCA Word

MOV Move Source 0

Dest N20:8

MOV

Station 2 PCA Word

B3:19

Station 2 Par Prot Messaging Request

END

Figure D.3 Drive 1 Control/Reference/Parameter Access Routine (continued)

SLC Ladder Logic Examples D-9

This example program is for a PROFIBUS demonstration using a SLC 5&05 processor with an SST Profibus scanner

(SST-PFB-SLC) in the first slot of the rack. The program is written for 3 drives with one Profibus adapter on the network

(MultiDrive Mode):

Station 0 PowerFlex 40 with 22--COMM-P Station 1 PowerFlex 40 Station 2 PowerFlex 40

The expample program demonstrates using Logic Command / Reference, Logic Status / Feedback and Parameter Access using the Parameter Protocol.

On power-up, zero out the transmit buffer to the Scanner

S:1

First Pass

FLL Fill File Source 0 Dest #N20:0 Length 10

FLL

MOV Move Source S:3

2561<

Dest M0:1.4011

MOV

The Scanner is configured to 20 bytes (10 words) of inputs: 4 Bytes "Ctrl/Stat & Ref Fdbk" for each drive (= 12 Bytes)

8 Bytes "Parameter Access"

Read the drives data from the Profibus scanner.

File N10: contains the acutal read data that can be used elsewhere in the ladder program.

Address Description M1:1.0 (N10:0) Logic Status Drive 0 M1:1.1 (N10:1) Speed Feedback Drive 0 M1:1.2 (N10:2) Logic Status Drive 1 M1:1.3 (N10:3) Speed Feedback Drive 1 M1:1.4 (N10:4) Logic Status Drive 2 M1:1.5 (N10:5) Speed Feedback Drive 2 M1:1.6 (N10:6) Parameter Access Word 1 (PCA) M1:1.7 (N10:7) Parameter Access Word 2 (IND) M1:1.8 (N10:8) Parameter Access Word 3 (PVA 1) M1:1.9 (N10:9) Parameter Access Word 4 (PVA 2)

COP Copy File Source #M1:1.0 Dest #N10:0 Length 10

COP

Execute LAD 3 - Station 0 Drive Logic

JSR Jump To Subroutine SBR File Number U:3

JSR

Execute LAD 4 - Station 1 Drive Logic

JSR Jump To Subroutine SBR File Number U:4

JSR

Automatically have the SST-PFB-SCL scanner's watchdog period track that of the SCL processor (recommended per SST user manual)

Multi Drive Example

Figure D.4 Main Routine

D-10 SLC Ladder Logic Examples

Execute LAD 5 - Station 2 Drive Logic

JSR Jump To Subroutine SBR Fi l e N um ber U:5

JSR

Execute LAD 6 - Parameter Protocol

JSR Jump To Subroutine SBR Fi l e N um ber U:6

JSR

Write the drives' data to the profibus scanner.

File N20: contains the actual write data generated elsewhere in the ladder program.

Station File No. Description M0:1.0 (N20:0) Logic Command Drive 0 M0:1.1 (N20:1) Speed Reference Drive 0 M0:1.2 (N20:2) Logic Command Drive 1 M0:1.3 (N20:3) Speed Reference Drive 1 M0:1.4 (N20:4) Logic Command Drive 2 M0:1.5 (N20:5) Speed Reference Drive 2 M0:1.6 (N20:6) Parameter Access Word 1 (PCA) M0:1.7 (N20:7) Parameter Access Word 2 (IND) M0:1.8 (N20:8) Parameter Access Word 3 (PVA 1) M0:1.9 (N20:9) Parameter Access Word 4 (PVA 2)

COP Copy File Source #N20:0 Dest #M0:1.0 Length 10

COP

END

Figure D.4 Main Routine (continued)

SLC Ladder Logic Examples D-11

Controlling the Logic Command word in the drive. B3:20/* bits are controlled elsewhere in the user program.

B3:20

Station 0 Stop Comman d

N20:0

Station 0 Logic Comman d STOP

B3:20

Station 0 Start Command

N20:0

Station 0 Logic Comman d START

B3:20

Station 0 Jog Command

N20:0

Station 0 Logic Comman d JOG

B3:20

Station 0 Clear Faults Command

N20:0

Station 0 Logic Comman d CLEAR FAULTS

B3:20

Station 0 Reverse Command

N20:0

Station 0 Logic Comman d FORWARD

B3:20

Station 0 Reverse Command

N20:0

Station 0 Logic Comman d REVERSE

To control the

speed reference

N20:0

Station 0 Logic Comman d REFERENCE SELECT 0

N20:0

Station 0 Logic Comman d REFERENCE SELECT 1

B3:20

"Never Closed"

N20:0

Station 0 Logic Comman d REFERENCE SELECT 2

need to have the values 11.

over the Profibus, the three reference select bits (bits 14-12)

Station 0 Speed Reference The PowerFlex 40 parameter 38 - [Speed Reference] needs to be set to 5 ("RS485 [DSI] Port"). N19:1 is controlled elsewhere in the user program.

MOV Move Source N19:1

273<

Dest N20:1

273<

MOV

Station 0 Speed Reference Write

END

Figure D.5 Drive 0 Control/Reference Routine

D-12 SLC Ladder Logic Examples

Controlling the Logic Command word in the drive. B3:21/* bits are controlled elsewhere in the user program.

B3:21

Station 1

Stop Command

N20:2

Station 1

Logic Command STOP

B3:21

Station 1

Start Command

N20:2

Station 1 Logic Comman d

START

B3:21

Station 1

Jog Command

N20:2

Station 1 Logic Comman d

JOG

B3:21

Station 1 Clear Faults

Command

N20:2

Station 1 Logic Comman d CLEAR FAULTS

B3:21

Station 1

Reverse Command

N20:2

Station 1

Logic Comman d

FORWARD

B3:21

Station 1

Reverse Command

N20:2

Station 1 Logic Comman d

REVERSE

To control the speed reference over the Profibus, the three Reference Select bits (bits 14-12) need to have the values 011.

N20:2

Station 1 Logic Comman d

REFERENCE SELECT 0

N20:2

Station 1 Logic Comman d

REFERENCE SELECT 1

B3:21

"Never Closed"

N20:2

Station 1 Logic Comman d REFERENCE SELECT 2

Station 1 Speed Reference The PowerFlex 40 parameter 38 - [Speed Reference] needs to be set to 5 ("RS485 [DSI] Port"). N19:3 is controlled elsewhere in the user program.

MOV Move Source N19:3

314<

Dest N20:3

MOV

Station 1

Speed Reference Write

END

Figure D.6 Drive 0-1 Control/Reference Routine

Rockwell Automation 22-HIM-B1 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Summary of Changes

Table of Contents

Preface

About This Manual

Related Documentation

Conventions Used in this Manual

Rockwell Automation Support

Local Product Support

Technical Product Assistance

Chapter 1

Getting Started

Components

Features

Compatible Products

Required Equipment

Equipment Shipped with the Adapter

User-Supplied Equipment

Safety Precautions

Quick Start

Status of Operation

Chapter 2

Installing the Adapter

Preparing for an Installation

Commissioning the Adapter

Connecting the Adapter to the Drive

PowerFlex 40/40P Frames B and C, and PowerFlex 400 Frame C

PowerFlex 400 Frames D, E, and F

DSI External Comms Kit 22-XCOMM-DC-BASE

Connecting the Adapter to the Network

Termination

Applying Power

Chapter 3

Configuring the Adapter

Configuration Tools

Using the Optional, External PowerFlex 4-Class HIM

Using DriveExplorer via 22-SCM-232 or 1203-USB

Setting the Node Address

Setting the I/O Configuration

Setting a Fault Action

Changing the Fault Action

Setting the Fault Configuration Parameters

Setting DSI Loss Action

Resetting the Adapter

Viewing the Adapter Configuration

Chapter 4

Configuring the Profibus Scanner

Example Network

SST Profibus Configuration Software Tool

Installing 22-COMM-P GSD File in Software Tool Library

Configuring the SST-PFB-SLC Profibus Scanner

Summary of the example scanner configuration:

Chapter 5

Using I/O Messaging

About I/O Messaging

Understanding the I/O Image

Using Logic Command/Status

Using Reference/Feedback

Chapter 6

Using the Parameter Messaging

About the Parameter Messaging

Running the Parameter Messaging

Parameter Protocol

Parameter Message Request

Parameter Message Response

Adapter Fault Code

Parameter Message Fault Code

Chapter 7

Using Multi-Drive Mode

Single Mode versus Multi-Drive Mode

Additional Information

System Wiring

Understanding the I/O Image

Configuring the RS-485 (DSI) Network

Multi-Drive Mode Parameter Data

Accessing Parameter 39 - [Accel Time]

Chapter 8