Rockwell Automation MD65 User Manual

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MD65 PROFIBUS Communications Module

M/N MDCOMM-PBUS

Instruction Manual

D2-3530

The information in this manual is subject to change without notice.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Throughout this manual, the following notes are used to alert you to safety considerations:

ATTENTION: Identifies information about practices or circumstances that can lead to personal inj ury or death, property damage, or economic loss.

Important: Identifies information that is critical for successful application and

understanding of the product.

ATTENTION: The drive may contain high v oltages that can cause injury or death. Remove all po wer from t he drive , and then v e rify power has been removed before installing or removing a

PROFIBUS module. Failure to observe these precautions could result in severe bodily injury or loss of life.

ATTENTION: Only qualified electrical 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 module. Read and understand this manual in its entirety before proceeding. Failure to observ e these precautions could result bodily injury and/or damage to equipment.

ATTENTION: MDI host products must not be directl y connected together via RECBL-xxx cables. Unpredictable behavior due to timing and other internal procedures can result if two or more devices are connected in this manner. Failure to observe this precaution could result bodily injury and/or damage to equipment.

ATTENTION: If the PROFIBUS module is transmitting control I/O to the drive, the drive may fault when you reset the module. Determine how your drive will respond bef ore resetting an module. Failure to observe thi s precaution could result bodily injury and/or damage to equipment.

ATTENTION: Comm Flt Action (parameter 9) and Idle Flt Action (parameter 10) let you determine the action of the module and connected drive if communications are disrupted. By default, these parameters fault the drive. You can set these parameters so that the drive continue s to run. Precautions should be tak en to ensure that the settings of these parameters do not create a hazard of injury or equipment damage. F ailure to observe this precaution could result bodily injury and/or damage to equipment.

ATTENTION: When a system is configured f or the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing. Failure to observe thi s precaution could result bodily injury and/or damage to equipment.

PROFIBUS is a trademark of the PROFIBUS Trade Organization. Windows, Windows NT, and Microsoft are trademarks of Microsoft Corporation.

Reliance, MD65, VS Utilities, MDI, and SLC are trademarks of Rockwell Automation.

CONTENTS

Chapter 1 Introduction

1.1 PROFIBUS Module Features ........................................ 1-1

1.2 Related Documentation.................................... .. ........... 1-2

1.3 Getting Assistance from Reliance Electric..................... 1-2

Chapter 2 Getting Started

2.1 PROFIBUS Module Components.................................. 2-1

2.2 Required Equipment......................................................2-2

2.3 Installation Checklist......................................................2-3

2.4 Modes of Operation.......................................................2-4

Chapter 3 Installing the PROFIBUS Module

3.1 Preparing for an Installation...........................................3-1

3.2 Commissioning the Module ...........................................3-1

3.3 Connecting the Module to the Network..........................3-4

3.4 Terminating the Network................................................ 3-7

3.5 Connecting the Module to the Drive .............................. 3-8

3.6 Applying Power............................................................3-10

Chapter 4 Configuring the PROFIBUS Module

4.1 Configuration Tools........................................................ 4-1

4.2 Using the LCD OIM to Configure the Module................ 4-2

4.3 Using V*S Utilities via MDCOMM-232........................... 4-3

4.4 Setting the Node Address.............................................. 4-4

4.5 Setting the I/O Configuration ......................................... 4-5

4.6 Setting a Fault Action..................................... ... .. ........... 4-6

4.6.1 Changing the Fault Action................................... 4-6

4.6.2 Setting the Fault Configuration Parameters ........ 4-7

4.6.3 Resetting the Module........................................... 4-7

4.7 Viewing the Module Configuration................................. 4-8

Chapter 5 Configuring the PROFIBUS Scanner

5.1 Configuring a Simple Network: An Example.................. 5-1

5.2 SST Profibus Configuration Software Tool.................... 5-2

5.3 Installing the MDCOMM-PBUS GSD File in the Software

Tool Library ...................................................................5-3

5.4 Configuring the SST-PFB-SLC PROFIBUS Scanner .... 5-5

Contents I

Chapter 6 About I/O Messaging

6.1 About I/O Messaging .....................................................6-1

6.2 Understanding the I/O Image.........................................6-1

6.3 Using Logic Command/Status .......................................6-2

6.4 Using Reference/Feedback ...........................................6-3

Chapter 7 Using Explicit Messaging (Parameter Protocol)

7.1 About Explicit Messaging...............................................7-1

7.2 Running Explicit Messages............................................7-2

7.3 Parameter Protocol.................................................. .. ....7-3

7.3.1 Parameter Message Request..............................7-4

7.3.2 Parameter Message Response...........................7-5

Chapter 8 Using Multi-Drive Mode

8.1 Single Mode vs. Multi-Drive Mode.................................8-1

8.2 System Wiring................................................................8-4

8.3 Understanding the I/O Image.........................................8-5

8.4 Configuring the RS-485 Network...................................8-6

8.5 Multi- Mode Explicit Messaging .....................................8-7

8.6 Additional Information....................................................8-7

Chapter 9 Troubleshooting the PROFIBUS Module an d Network

9.1 Understanding the Status Indicators..............................9-1

9.1.1 DRIVE Status Indicator........................................9-2

9.1.2 MS Status Indicator .............................................9-3

9.1.3 NET A Status Indicator........................................9-4

9.2 Module Diagnostic Items in Single Drive Mode .............9-5

9.3 Module Diagnostic Items in Multi-Drive Mode................ 9-5

9.4 Viewing and Clearing Events.........................................9-7

Appendix A Technical Specifications.................................................... A-1

Appendix B PROFIBUS Module Parameters ........................................B-1

Appendix C Logic Command/Status Word.......................................... C-1

Appendix D SLC Ladder Logic Examples..............................................D-1

Glossary ........................................................... Glossary-1

Index ......................................................................Index-1

II PROFIBUS Communications Module

List of Figures

Figure 2.1 – Components of the PROFIBUS Module................................. 2-1

Figure 2.2 – Status Indicators.....................................................................2-5

Figure 3.1 – Setting the Node Address....................................................... 3-2

Figure 3.2 – ERNI and Phoenix Subcon Connectors..................................3-5

Figure 3.3 – Network Wiring Diagram.........................................................3-5

Figure 3.4 – Optional Clamp-On Ferrite Cable Clamp................................ 3-6

Figure 3.5 – Connection for Terminating Resistors.................................... 3-7

Figure 3.6 – MDI Ports and Internal Interface Cables................................. 3-9

Figure 3.7 – Mounting the Adapter ........................................................... 3-10

Figure 4.1 – Using V*S Utilities................................................................... 4-3

Figure 4.2 – Setting the Node Address....................................................... 4-4

Figure 4.3 – Fault Action Screens on an LCD OIM.....................................4-6

Figure 4.4 – Reset Screen on an LCD OIM................................................4-8

Figure 5.1 – Example PROFIBUS Network................................................ 5-2

Figure 5.2 – SST PROFIBUS Configuration Software Tool........................ 5-2

Figure 5.3 – Standard Data Files................................................................ 5-3

Figure 5.4 – Add PROFIBUS Devices Applet Window............................... 5-4

Figure 5.5 – Adding the GSD File for the RECOMM-PBUS ....................... 5-4

Figure 5.6 – Masters/Slaves Library Window............................................. 5-5

Figure 5.7 – SST-SST-PFB-SLC Master (General) Dialog Box.................. 5-6

Figure 5.8 – Scan Cycle Times Dialog Box................................................5-6

Figure 5.9 – COM Port Default Settings..................................................... 5-7

Figure 5.10 – Scanner Network Window ....................................................5-7

Figure 5.11 – Reliance Electric Library Dialog Window..............................5-8

Figure 5.12 – Available Modules: Ctrl/Stat & Ref/Fdbk (2x2Bytes)

Window................................................................................ 5-8

Figure 5.13 – Modules: Ctrl/Stat & Ref/Fdbk Viewing Window................... 5-9

Figure 5.14 – Add Modules: Parameter Access Selection Window.......... 5-10

Figure 5.15 – Modules: Parameter Access Viewing Window ................... 5-10

Figure 5.16 – SLC Address: M1/M0 (Ctrl/Stat & Ref/Fdbk)...................... 5-11

Figure 5.17 – SLC Address: M1/M0 (Parameter Access)......................... 5-11

Figure 5.18 – Station 1 Network Window.................................................. 5-11

Figure 5.19 – Station 2 Network Window.................................................. 5-12

Figure 5.20 – Network Window Scanner Selection................................... 5-13

Figure 5.21 – Save As Dialog Window ..................................................... 5-13

Figure 6.1 – Single Drive Example of I/O Image......................................... 6-2

Figure 7.1 – Explicit Message Process.......................................................7-2

Figure 7.2 – Parameter Message Format................................................... 7-3

Contents III

Figure 8.1 – Single Mode Example for Network..........................................8-1

Figure 8.2 – MDI Peripheral Devices for Single Mode Connection............. 8-2

Figure 8.3 – Multi-Drive Mode Example for Network..................................8-2

Figure 8.4 – AK-U0-RJ45-TB2P Terminal Block Connector.......................8-4

Figure 8.5 – Multi-Drive Mode Example for Network..................................8-4

Figure 8.6 – Multi-Drive Mode Example of I/O Image.................................8-5

Figure 9.1 – Status Indicators (Location on Drive May Vary)......................9-1

Figure 9.2 – Viewing and Clearing Events Using an LCD OIM...................9-7

IV ControlNet Communications Module

List of Tables

Table 2.1 – Equipment Shipped with the PROFIBUS Module.................... 2-2

Table 2.2 – Required User-Supplied Equipment ........................................2-2

Table 2.3 – Status Indicator Descriptions...................................................2-5

Table 3.1 – SW8 Setting.............................................................................3-2

Table 3.2 – Node Address Switch Settings (UP = OPEN = 1).................... 3-3

Table 3.3 – Jumper Settings.......................................................................3-4

Table 3.4 – MDCOMM-PBUS DB-9 Pin Layout..........................................3-5

Table 4.1 – Configuration Tools.................................................................. 4-1

Table 4.2 – Using the LCD OIM or CopyCat Keypad ................................. 4-2

Table 4.3 – Selections for Drive Response to Communication Fault.......... 4-6

Table 4.4 – Fault Configuration Parameters...............................................4-7

Table 4.5 – Module Configuration Status Parameters................................ 4-8

Table 5.1 – Input/Output Size Configurations.............................................5-9

Table 5.2 – Station 1 Configurations.........................................................5-12

Table 5.3 – Station 2 Configurations.........................................................5-12

Table 7.1 – Parameter Message Request Data.......................................... 7-4

Table 7.2 – Parameter Message Response Data....................................... 7-5

Table 7.4 – Parameter Message Response Fault Numbers and

Descriptions...........................................................................7-6

Table 7.3 – Module Fault Code...................................................................7-6

Table 8.1 – Parameters for daisy-chained drives ....................................... 8-6

Table 8.2 – Parameters for MDCOMM-PBUS............................................ 8-6

Table 8.3 – Accessing Accel Time (Parameter 39)................................... ..8-7

Table 9.1 – DRIVE Status Indicator: State Definitions................................ 9-2

Table 9.2 – MS Status Indicator: State Definitions ..................................... 9-3

Table 9.3 – NET A Status Indicator: State Definitions................................ 9-4

Table 9.4 – Module Diagnostic Items for Single Drive Mode...................... 9-5

Table 9.5 – Module Diagnostic Items for Multi-Drive Mode........................9-5

Table 9.6 – Event Codes and Descriptions................................................. 9-7

Contents V

VI PROFIBUS Communications Module

CHAPTER 1

Introduction

This manual provides information about the PROFIBUS Communications module (MDCOMM-PBUS) and using it with MD65 drives. It is intended for qualified electrical personnel familiar with installing, programming, and maintaining AC drives and networks.

The PROFIBUS module is an embedded communication option for MDI AC drives, such as the MD65 drive. The module is mounted in the drive and receives its required power from the drive.

The module can be used with other products that implement MDI, a peripheral communication interface. Refer to the documentation for your product for specific information about how it works with the module.

1.1 PROFIBUS Module Features

The PROFIBUS module features the following:

• 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.

• Depending on the jumper position, “1X” or “5X”, the two operation

modes “Single” and “Multiple” are supported:

• In Single Drive Mode (default mode), the module

represents a single drive on one node and can support one external peripheral (for example, an OIM) over MDI.

• In Multi-Drive Mode, the module represents up to 5 drives

on one node daisy-chained over the RS-485 interface. In this case, the unit will not operate with MDI peripheral devices such as the OIM or the MDCOMM-232.

• Status indicators that report the status of the drive

communications, module, and network.

• The I/O messages (i.e. Control/Status, Reference/Feedback) will

be exchanged with Profibus master in every bus cycle. I/O configuration is fixed and Datalinks are not supported.

• The slave device’ s parameters on the PROFIBUS netw ork can be

configured and monitored using explicit messaging.

Introduction 1-1

• User-defined fault actions determine how the module and MD65

drive respond to communication disruptions (faults) on the network and controllers in idle mode.

• For Single Drive mode, the slave device’s parameters on the

Profibus network can be configured and monitored by the software tool V*S Utilities.

1.2 Related Documentation

Refer to the following related publications as necessary for more information. All of the publications are available from

http://www.theautomationbookstore.com or http://www.reliance.com.

• D2-3519 MD65 AC Drive User Manual

• D2-3488 VS Utilities Getting Results Manual

Online help installed with the software

• 1747-6.2 SLC 500 Modular Hardware Style Installation and

Operation Manual

• 1747-6.15 SLC 500 and MicroLogix 1000 Instruction Set

Documentation about the scanner, SST-PFB-SLC User’s Guide, V e rsion 2.03, can be obtained online at

http://www.mysst.com/download.

1.3 Getting Assistance from Reliance Electric

If you have any questions or problems with the products described in this instruction manual, contact your local Reliance Electric sales office.

For technical assistance, call 1-864-284-5350. Before calling, please review the troubleshooting chapter in this manual and check the Reliance drives website for additional information. When you call this number, you will be asked for the drive model number and this instruction manual number.

1-2 PROFIBUS Communications Module

CHAPTER 2

Getting Started

This chapter provides:

• A description of the PROFIBUS module components

• A list of parts shipped with the module and a list of user-supplied

parts required for installing the module

• An installation checklist

2.1 PROFIBUS Module Components

➊

➋

➌

Status Indicators Three LEDs to indicate the status of the

MDI Connector A 20-pin, single-row shrouded male header. An

PROFIBUS Connector

Node Address Switches/ Firmware Update Switches

Mode Jumper (J2) Selects Single or Multi-Drive mode of

SWAP Jumper (J3) Determines the Intel or Motorola (SWAP) data

connected drive, module, and network.

Internal Interface cable connects to this connector and a connector on the drive.

A 9-pin, female D-Sub connector.

Switches (SW1-7) for setting the node address and SW8 for Firmware flash updating.

operation.

format for the corresponding PLC.

➎

❻

➍

Figure 2.1 – Components of the PROFIBUS Module

Getting Started 2-1

2.2 Required Equipment

Table 2.1 lists the equipment shipped with the PROFIBUS module. When you unpack the module, verify that the package includes all of these items.

Table 2.1 – Equipment Shipped with the PROFIBUS Module

Item Description

One MDCOMM-PBUS PROFIBUS module A 2.54 cm (1 in) and a 12.7 cm (5 in) Internal Interface cable (only

one cable is needed to connect the module to the drive) One grounding wrist strap One floppy disc with GSD file PROFIBUS Module User Manual (D2-3530)

Table 2.2 lists user-supplied equipment also required to install and configure the PROFIBUS mo du l e.

Table 2.2 – Required User-Supplied Equipment

Item Description

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:

• LCD OIM

• VS Utilities

• with MDCOMM-232 Serial Converter PROFIBUS configuration software Controller configuration software

2-2 PROFIBUS Communications Module

2.3 Installation Checklist

This section is designed to help experienced users start using the PROFIBUS module. If you are unsure about how to complete a step, refer to the referenced chapter.

4 Step Action Refer to:

❒

1 Review the safety precautions for the

module.

2 Verify that the MD65 drive is properly

installed.

3 Commission the module.

Set a unique node address using the DIPswitch for Bit 1 to 7 on the module.

4 Install the module.

Verify that the drive and PROFIBUS network are not powered. Then, connect the module 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 module to the drive.

5 Apply power to the module.

Apply power to the drive and to the network. The module receives power from the drive. The status indicators should be green. If they flash red, there is a problem. Refer to chapter 9, Troubleshooting the PROFIBUS Module and Network.

6 Set up the drive parameters.

Before starting, configuring and working with the Profibus module, the following parameters must be set:

• Start Source (P036) to 5 “RS485(MDI) port” if Start is controlled from the network.

• Speed Reference (P038) to 5 “RS485(MDI) port” if the Speed Reference is controlled from the network.

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

Throughout this manual

MD65 AC Drive User Manual (D2-3519)

Chapter 3, Installing the PROFIBUS Module

Chapter 4, Configuring the PROFIBUS Module

Getting Started 2-3

4 Step Action Refer to:

❒

7 Configure the module for your

application.

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

Chapter 4, Configuring the PROFIBUS Module

• Node address

• I/O configuration

• Fault actions

❒

8 Apply power to the PROFIBUS master and

other devices on the network.

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

9 Configure the scanner to communicate

with the module.

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

Be sure to:

Chapter 5, Configuring the PROFIBUS Scanner

• Set up the scan list.

• Map the module data to the scan list.

• Save your PROFIBUS configuration to the

scanner and a file.

10 Create a ladder logic program.

❒

Use a programming tool such as RS Lo g i x to create a ladder logic program that enables you to do the following:

• Control the module and connected drive.

• Monitor or configure the drive using Explicit

Messages.

Chapter 6, Using I/O Messaging. Chapter 7, Using Explicit Messaging (Parameter Protocol)

2.4 Modes of Operation

The PROFIBUS module uses three status indicators to report its operating status. They can be viewed through the drive cover.

2-4 PROFIBUS Communications Module

Table 2.3 describes the status indicators shown in figure 2.2.

➊ ➋ ➌

DRIVE MS NET A NET B

Figure 2.2 – Status Indicators

Table 2.3 – Status Indicator Descriptions

Item Status

Indicator

Status

Description

DRIVE Green Normal Operation. The module is properly

connected and is communicating with the drive.

Flashing

Not used.

Green

MS Green Normal Operation. The module is operational

and is transferring I/O data.

Flashing Green

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

NET A Green Normal Operation. The module is properly

connected and communicating on the network.

Flashing

Not used.

Green

NET B Off Not used for Profibus module.

➊ ➋ ➌ ➍

1. If all status indicators are off, the module is not receiving power. Refer to Chapter 3, Installing the PROFIBUS Module for installation instructions. For other conditions, refer to Chapter 9, Troubleshooting the PROFIBUS Module and Network.

Getting Started 2-5

2-6 PROFIBUS Communications Module

CHAPTER 3

Installing the

PROFIBUS Module

Chapter 3 provides instructions for installing the PROFIBUS module in a MD65 drive.

3.1 Preparing for an Installation

Before installing the PROFIBUS module, verify that you have all required equipment. Refer to chapter 2, Getting Started.

3.2 Commissioning the Module

To commission the module, you must set a unique node address and check the data rate that is used by the network and set in the GSD-file.

Important: New settings are recognized only when power is

applied to the module. If you change a setting, cycle power.

ATTENTION: The PROFIBUS module contains ESD- (Electrostatic Discharge) sensitive parts that

Step 1. Set the node address switches as shown in figure 3.1. The PROFIBUS Node address/Firmware Update State is set

through the use of an 8-bit DIP switch. The low seven bits let you set a node address and the valid address allows binary coding 1 through 125. New settings of node address are recognized only when power is applied to the module, cycle power, or a 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.

Installing the PROFIBUS Module 3-1

can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the module. Failure to observe these precautions could result in damage to equipment.

SWAP

Single Drive

Operation

Multi-Drive

Operation

NODE ADDRESS SWITCHES

UP = OPEN = 1

Description

Switches

SW1 Least Significant Bit (LSB) of Node Address SW 2 Bit 1 of Node Address SW 3 Bit 2 of Node Address SW 4 Bit 3 of Node Address SW 5 Bit 4 of Node Address SW 6 Bit 5 of Node Address SW 7 Most Significant Bit (MSB) of Node Address SW 8 SW8 Firmware Update

Figure 3.1 – Setting the Node Address

1. The factory default states of all switches are UP, and have the default address of 3.

Table 3.1 – SW8 Setting

SW 8 Setting Description

0 Write Access Firmware Update 1 Normal Operating State

3-2 PROFIBUS Communications Module

Table 3.2 – Node Address Switch Settings (UP = OPEN = 1)

Switch Setting Node

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

00000000 10000001 01000002 11000003 00100004 10100005 01100006 11100007 00010008 10010009 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 1101111124 1011111125

Installing the PROFIBUS Module 3-3

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

master and depends on cable length.

The MDCOMM-PBUS module uses the Auto-Baud and supports the following different data rates: 9.6 kpbs, 19.2 kpbs, 45.45 kpbs, 93.75 kpbs, 187.5kpbs, 500 kpbs, 1.5 Mpbs, 3 Mpbs, 6 Mpbs, and 12 Mpbs.

The Auto-Baud function allows the module to recognize the current baud rate and sets itself to the transmission rate by the master automatically. After detecting the correct baud rate, the baud rate that was found is monitored continuously. Auto-Baud is always active.

Step 3. Set the Byte Swap jumper J3, which determines the Intel

or Motorola (position SWAP) data format depending on the corresponding PLC. See Figure 3.1.

Step 4. Verify that the jumper J2 is in position “1X” for Single

Jumper Setting Description

Right position or jumper missing

Left position Sets the module for Multi-Drive operation mode

Drive operation, or set J2 in “5X” for Multi Drive operation.

Table 3.3 – Jumper Settings

Sets the module for Single drive mode (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 module.

using up to 5 different drives. MDI peripherals do not operate with the modul e in th i s mod e.

3.3 Connecting the Module to the Network

ATTENTION: The drive may contain high voltages

that can cause injury of death. Remove all power

Step 1. Remove power from the drive. Step 2. Use static control precautions. Step 3. Remove the drive cover.

3-4 PROFIBUS Communications Module

from the drive, and then verify power has been removed before installing or removing a PR OFIBUS module. F ailure to observe th ese precautions co uld result in severe bodily injury or loss of life.

Step 4. Connect a PROFIBUS connector to the cable. Only use

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

Note: PROFIBUS connectors are available from a v ariety of sources and in various sizes. As such, there may be mechanical limitations that prohibit the use of some connectors. Phoenix Subcon Plus M1 (Part # 2761826) or ERNI PROFIBUS vertical (Node Part # 103658 and Termination Part # 103659 connectors) are recommended for use with MD65 and other Reliance Electric MDI-based drives.

Figure 3.2 – ERNI and Phoenix Subcon Connectors

Figure 3.3 – Network Wiring Diagram

Table 3.4 – MDCOMM-PBUS DB-9 Pin Layout

Terminal Signal Function

Housing Shield

1 Not connected 2 Not connected 3 B-LINE Positive RxD/TxD, according

to RS485 specification

Installing the PROFIBUS Module 3-5

Table 3.4 – MDCOMM-PBUS DB-9 Pin Layout (Continued)

Terminal Signal Function

4RTS 5 GND BUS Isolated GND from bus 6 +5V BUS Isolated +5V from bus 7 Not connected 8 A-LINE Negative RxD/TxD according

to RS485 specification

9 Not connected

Step 5. Connect the PROFIBUS cab le to the module, secure it

with the two screws on the connector, and route it through the bottom of the MD65 drive. See figure 3.3.

Note: 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.

Keep communication wiring away from high noise sources such as motor cables.

Step 6. Depending on the switching frequency of the MD65, 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 3.4.

Figure 3.4 – Optional Clamp-On Ferrite Cable Clamp

3-6 PROFIBUS Communications Module

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

Switching

Frequency of MD65

EN55011

Class A EN55011 Class B

4 kHz Use one ferrite Ferrishield (part No.

HI28B2039) or Fair-Rite (part No.

0443164151)

6 kHz No ferrite

required 8 kHz 16 kHz Use three clip ferrites TDK, type

ZCAT 3035-1330

Note: For the conditions to satisfy the essential requirements for CE compliance on MD65 drives. please refer to the MD65 manual, D2-3519.

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

3.4 Terminating the Network

The first and last node on the PROFIBUS network needs to be terminated by using a PROFIBUS connector with terminating resistors. See figure 3.5.

R x D / T x D - N 8 R x D / T x D - P 3

V c c 6

3 9 0 2 2 0 3 9 0 O h m

G N D 5

Figure 3.5 – Connection for Terminating Resistors

8 R x D / T x D - N

3 R x D / T x D - P

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.

Installing the PROFIBUS Module 3-7

3.5 Connecting the Module to the Drive

Step 1. Remove power from the drive. Step 2. Use static control precautions. Step 3. Mount the module on the required special dr ive cover

(ordered separately).

• C Frame: Use the module screw to secure the module to the cover.

• B F rame: Disregard the screw and snap the module in place.

Important:For C Frame drives , tighten the module’s low er left screw

Step 4. Connect the Internal Interface cable to the MDI port on

to ground the module. For B Frame drives, install the special drive cover onto the drive using both cover fasteners to ground the module.

the drive and then to the MDI connector on the module.

3-8 PROFIBUS Communications Module

Profibus Module

➊

➋

MD65 Drive B and C Frames (cover removed)

➍

➌

Back of Cover

Back of Required Special Drive Cover (ordered separately): Part Number 6MD-COMMCVRB for B Frame Part Number 6MD-COMMCVRC for C Frame

MDI Connector

15.24 cm (6 in) Internal Interface cable

PROFIBUS cable

Retaining screws

Figure 3.6 – MDI Ports and Internal Interface Cables

Installing the PROFIBUS Module 3-9

MD65 Drive B and C Frames (cover removed)

Ground for C Frame Drives

For B Frame drives, the lower left module screw does not ground the module. To ground the module, install the special drive

cover onto the drive using both cover fasteners.

Figure 3.7 – Mounting the Adapter

3.6 Applying Power

ATTENTION: Unpredictable operation may occur if

parameter settings and switch settings are not

compatible with your application. V erify that settings are compatible with your application before applying power to the drive. Failure to observe these precautions could result in severe bodily injury or loss of life.

Module Mounted on Back of Cover

Step 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.

Step 2. Ensure that the module will have a unique address on the

network. If a new address is needed, reset its switches. See section 3.2, Commissioning the Module.

3-10 PROFIBUS Communications Module

Step 3. Apply power to the drive. The module receives its power

from the connected drive and the network. When you apply power to the product and network for the first time, the status indicators should be green after an initialization. If the status indicators are red, there is a problem. Refer to chapter 8, Troubleshooting the PROFIBUS Module and Network.

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

the network.

Installing the PROFIBUS Module 3-11

Installing the PROFIBUS Module 3-12

CHAPTER 4

Configuring the

PROFIBUS Module

Chapter 4 provides instructions and information for setting the parameters in the module.

For a complete list of parameters, refer to Appendix B, PROFIBUS Module Parameters. For definitions of terms in this chapter, refer to the Glossary.

4.1 Configuration Tools

The PROFIBUS module stores parameters and other information in its own non-volatile memory. Therefore, you must access the module to view and edit its parameters. Table 4.1 lists the tools that can be used to access the module parameters.

Table 4.1 – Configuration Tools

Tool Refer to:

VS Utilities Software VS Utilities online help

LCD OIM Section 4.2

Configuring the PROFIBUS Module 4-1

4.2 Using the LCD OIM to Configure the Module

Use the procedure in figure 4.1 to access the parameters on the PROFIBUS module using the LCD OIM. If you are unfamiliar with the operation of the LCD OIM, refer to the MD65 AC Drive User Manual (D2-3519) for more information.

Table 4.2 – Using the LCD OIM or CopyCat Keypad

Step Key(s) Example Screens

1. Po wer up the drive. Plug the OIM or CopyCat Keypad into the drive. The Parameters menu for the drive will be displayed.

2. Press Sel key once to

display the Device Select menu.

3. Press Enter to display

the MDI Devices menu. Press Down Arrow to scroll to MDCOMM-PBUS.

Sel

and

Parameters

Groups

Linear List Changed Params

DIAG PA R AM DSEL MEM SEL X

Device Selected

MDI Devices

DIAG PARAM DSEL MEM SEL X

MDI Devices

MD65

MDCOMM-PBUS

4-2 PROFIBUS Communications Module

Table 4.2 – Using the LCD OIM or CopyCat Keypad

Step Key(s) Example Screens

4. Press Enter to select the Profibus module. The Parameters menu for the module will be

Parameters

Linear List

Changed Params

displayed.

DIAG PA R AM DSEL MEM SEL X

5. Press Enter to access the parameters. Edit the module parameters using the same techniques that you use to edit parameters.

Mode RO

Parameter: #

Single Drive 0

VAL UE LIMITS SEL X

001

4.3 Using V*S Utilities via MDCOMM-232

V*S Utilities can be used to access parameters in the module. Use V*S Utilities (version 4.0) and the MDCOMM-232 (version 2.001 or higher). For more information on V*S Utilities, see instruction manual D2-3488.

Step 1. Connect the MDCOMM-232 to the MD65 and to a PC

Step 2. Open V*S Utilities and press the “Connect Serial” button

serial COM port, then apply power to the MD65 drive.

in the toolbar. In the left window under “Devices,” “Node 1: MD65” appears. There are three configurable devices: the MD65, the Profibus module and the serial module MDCOMM-232.

Figure 4.1 – Using V*S Utilities

Configuring the PROFIBUS Module 4-3

4.4 Setting the Node Address

The PROFIBUS Node address/Firmware Update State is set through the use of an 8-bit DIP switch. The low seven bits let you set a node address and the valid address allows binary coding 1 through 125. New settings of node address are recognized only when power is applied to the module, cycle power, or a 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.

SWAP

Single Drive

Operation

Multi-Drive

Operation

Switches

NODE ADDRESS SWITCHES

UP = OPEN = 1

Description

Figure 4.2 – Setting the Node Address

1. The factory default states of all stitches are UP. The fault address is 3.

SW 8 Setting Description

0 Write Access Firmware Update 1 Normal Operating State

Refer to section 3.2, Commissioning the Module, for more information.

4-4 PROFIBUS Communications Module

4.5 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 module. If the Mode Jumper is set to the Single mode position, only one drive is represented by the module and MDI I/O Cfg (parameter 11) has no effect. If the Mode Jumper J2 is set to the Multi-Drive position, up to five drives can be represented as one node by the module.

Step 1. Set the value in MDI I/O Cfg (parameter 11):

MDI I/O Cfg

Para meter : #

Drive 0 0

VAL UE LIMITS SEL X

Drive 0 is the MD65 with the MDCOMM-PBUS module installed. Drives 0-1 through 0-4 are MD65 and/or MD60 drives that multidrop to the RJ45 (RS-485) port on Drive 0. Refer to Chapter 8, Using Multi-Drive Mode, for more information.

Step 2. If a drive is enabled, configure the parameters in the drive

to accept the Logic Command and Reference from the module. For example, set Start Source (parameter 36) and Speed Reference (parameter 38) in a MD65 drive to “MDI Port 5.”

Step 3. Reset the module. Refer to section 4.6.2, Resetting the

Module.

Value Description

011

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

Mode Jumper Position

Single Multi-Drive

The module is ready to receive I/O from the master (i.e., scanner). You must now configure the scanner to recognize and transmit I/O to the module. Refer to chapter 5, Configuring the PROFIBUS Scanner, for more information.

Configuring the PROFIBUS Module 4-5

4.6 Setting a Fault Action

ATTENTION: Comm Flt Action (parameter 9) and Idle Flt Action (parameter 10) let you determine the

By default, when communications are 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 disruptions using Comm Flt Action (parameter 9) and a different response to an idle scanner using Idle Flt Action (parameter 10).

4.6.1 Changing the Fault Action

Set the values of Comm Flt Action (parameter 9) and Idle Flt Action (parameter 10) to the desired responses as shown in table 4.3.

Table 4.3 – Selections for Drive Response to Communication Fault

Value Action Description

0 Fault (default) The drive is faulted and stopped (Default). 1 Stop The drive is stopped, but not faulted. 2 Zero Data The drive is sent 0 for output data after a

3 Hold Last The drive continues in its present state after a

4 Send Flt Cfg The drive is sent the data that you set in the

action of the module and connected drive if communications are disrupted or the scanner 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.

communications disruption. This does not command a stop.

communications disruption.

fault configuration parameters 13 and 14 (Flt Cfg Logic and Flt Cfg Ref).

Comm Flt Action

Para meter : #

Faul t 0

VAL UE LIMITS SEL X

Figure 4.3 – Fault Action Screens on an LCD OIM

009

Idle Flt Action

Para meter : #

Fault 0

VALU E LIMITS SEL X

010

4-6 PROFIBUS Communications Module

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 module for all of the drives it controls (Drive 0, Drives 0-1 to Drives 0-4).

4.6.2 Setting the Fault Configuration Parameters

If you set module Comm Flt Action (parameter 9) or module Idle Flt Action (parameter 10) to “Send Flt Cfg,” the values in the parameters shown in table 4.4 are sent to the drive after a communications fault and/or idle fault occurs. You must set these parameters to values required by your application.

Table 4.4 – Fault Configuration Parameters

Number Name Description

13 Flt Cfg Logic A 16-bit value sent to the drive

for Logic Command

14 Flt Cfg Ref A 16-b it value sent to the dr ive

as a Reference

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

4.6.3 Resetting the Module

Changes to switch settings or some module parameters require that you reset the module before the new settings take effect. You can reset the module by cycling po wer to the drive or by using Rese t Module (parameter 8).

ATTENTION: If the module is transmitting control I/O to the drive, the drive may fault when you reset

Configuring the PROFIBUS Module 4-7

the module. Determine how your drive will respond before resetting a connected module. Failure to observe this precaution could result in bodily injury or damage to equipment.

Set parameter 8 (Reset Module) to “Reset Module.” See figure 4.4.

Reset Module

Param ete r: #

Ready 0

VAL UE LIMITS SEL X

Figure 4.4 – Reset Screen on an LCD OIM

Value Description

008

0 Ready (Default)

1 Reset Module

2 Set Defaults

When you enter 1 (“Reset Module”), the module will be immediately reset. When you enter 2 (“Set Defaults”), the module will set all module parameters to their factory-default settings. The value of this parameter will be restored to 0 (“Ready”) after the module is reset.

4.7 Viewing the Module Configuration

The parameters in table 4.5 provide information about how the module is configured. You can view these parameters at any time.

Table 4.5 – Module Configuration Status Parameters

No. Name Description

01 Mode Displays the Single or Multi-Drive operating mode selected

with the jumper J2 on the module. Values

0 = Single drive operation 1 = Multi-Drive operation

04 P-DP Addr

Actual

05 P-DP Rate

Actual

12 MDI I/O

Actual

PROFIBUS Node Address actually used by the module.

PROFIBUS actual operating data rate.

Displays the Drives that are active in the Multi-Drive mode: Bit Values 0 = Drive 0 Active 1 = Drives 0-1 Active 2 = Drives 0-2 Active 3 = Drives 0-3 Active 4 = Drives 0-4 Active

4-8 PROFIBUS Communications Module

CHAPTER 5

Configuring the

PROFIBUS Scanner

PROFIBUS scanners are available from several manufacturers, including SST. SST PROFIBUS scanners come with a software tool for configuring the scanner (see figure 5.2).

Chapter 5 provides instructions on how to utilize the SST PROFIBUS configuration software tool to:

• Install the MDCOMM-PBUS GSD file in the software tool library.

• Configure the SST-PFB-SLC PROFIBUS scanner.

Important:The configuration of other manufacturer’s scanners may

differ significantly from this example. Please ref er to y our scanner manufacturer’s documentation.

5.1 Configuring a Simple Network: An Example

In this example, we will be configuring two MD65 drives to be Station 1 and Station 2 on a PROFIBUS network. This will be the configuration used throughout the manual, including the ladder examples. 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 5.1.

Configuring the PROFIBUS Scanner 5-1

Station 0

COMM LED

SYS LED

Config Port Front Label

PROFIBUS Port

MD65

Station 1

Figure 5.1 – Example PROFIBUS Network

MD65

Station 2

5.2 SST Profibus Configuration Software Tool

SST Profibus Scanners come with a software tool for configuring the scanner. See figure 5.2.

Device Library

window

Online

Browse window

Network Configuratio window

Figure 5.2 – SST PROFIBUS Configuration Software Tool

5-2 PROFIBUS Communications Module

5.3 Installing the MDCOMM-PBUS GSD File in the Software Tool Library

GSD files are used by software tools to configure the network, in other words, to map and define the I/O in a PROFIBUS scanner. A GSD file is required for each type of module on the network.

For example: The MDCOMM-PBUS GSD file is “R_E_07FF.gsd” and a copy of the file is provided on a floppy disk with each MDCOMM-PBUS PROFIBUS module. The file can also be downloaded from the Internet by going to: www.reliance.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 MDCOMM-PBUS on the network for the very first time with this software tool.

The software tool comes with standard data files as shown in figure

5.3. Additional data files, such as the MDCOMM-PBUS GSD file, will need to be added to configure the MDCOMM-PBUS in the scanner.

Figure 5.3 – Standard Data Files

Step 1. Click on the “New Device” icon to add GSD files to

the software library tool.

Step 2. An “Add PROFIBUS devices” applet window will appear

Configuring the PROFIBUS Scanner 5-3

(see figure 5.4). Prompts for the location of the PROFIBUS data files to be added to the library will follow.

Figure 5.4 – Add PROFIBUS Devices Applet Window

Step 3. Find the directory location of the data file(s) you wish to

add (typically, the source location is a floppy disk in drive A:). “R_E_07FF.gsd” is the GSD file for the MDCOMM-PBUS as shown in figure 5.5.

Figure 5.5 – Adding the GSD File for the RECOMM-PBUS

Step 4. Select “R_E_077FF.gsd” for the MDCOMM-PBUS and

click O

pen.

5-4 PROFIBUS Communications Module

Step 5. Click on the (+) sign of the Slaves folder as shown in

The software tool will automatically create a Reliance Electric sub-folder (in the Slaves folder) if it does not already exist. The MDCOMM-PBUS is now shown in the library and the software tool is now ready to configure a MDCOMM-PBUS on a PROFIBUS network.

figure 5.6.

Figure 5.6 – Masters/Slaves Library Window

5.4 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 MD65 drives working in Single drive mode. The configuration example is as follows:

• 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.

Step 1. Click on the (+) sign of the Masters folder in the Library

Configuring the PROFIBUS Scanner 5-5

window to open the SST sub-folder. A v ailable Profib us DP masters are displayed in this sub-fold er.

Step 2. Click on the (+) sign of the Slaves folder in the Library

window and the Reliance Electric sub-folder to display the available Profibus DP slaves or the RECOMM-PBUS slave. Refer to figure 5.6.

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

folder in the Library window to add the scanner to the network.

Step 4. A user-defined N

the scanner. In our example, the scanner will be S

ame and Description can be given to

tation 0

on the network, as shown in figure 5.7.

Figure 5.7 – SST-SST-PFB-SLC Master (General) Dialog Box

Step 5. Click on the Parameters tab to view the Scan Cycle

Times.

In our example, use the default settings as shown in figure 5.8.

Figure 5.8 – Scan Cycle Times Dialog Box

5-6 PROFIBUS Communications Module

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

Step 6. Click on the COM Port tab. Step 7. Accept the settings in our example (COM1 on the PC at

115200 bps baud rate), as shown in figure 5.9.

Figure 5.9 – COM Port Default Settings

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

in figure 5.10. Double-click on the scanner in the network window.

Figure 5.10 – Scanner Network Window

Step 9. Double-click on the MDCOMM-PBUS listed in the

Reliance Electric library folder. A user-defined N

escription can be given to this MDCOMM-PBUS.

Reliance Electric RECOMM-PBUS

In our example, this device will be S

tation 1 on the network. Other

ame and

stations may be chosen by using the arrow to display a drop-down list in the S

Configuring the PROFIBUS Scanner 5-7

tation window.

Figure 5.11 – Reliance Electric Library Dialog Window

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

Step 10. Click on the Modules tab. Click A

dd to view the choice of

modules.

Figure 5.12 – Available Modules: Ctrl/Stat & Ref/Fdbk (2x2Bytes) Window

5-8 PROFIBUS Communications Module

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 module is set to “1X” for Single Drive (default) and MDI I/O Cfg (parameter 11) is set to Drive 0. Logic Command/Reference uses 4 bytes and Logic Status/Feedback uses 4 bytes.

Table 5.1 – Input/Output Size Configurations

Logic

Input

Size

Output

Size

88 12 12 16 16 20 20

Command/

Feedback

✔✔Drive 0 Single ✔✔Drives 0-1 Multi-Drive ✔✔Drives 0-2 ✔✔Drives 0-3 ✔✔Drives 0-4

Reference/

Feedback

MDI I/O

Cfg (11) Mode (1)

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

“Availab le Modules” list as shown in figure 5.13. Click OK. The “Ctrl/Stat & Ref/Fdbk” (2+2 bytes) module has now been added as shown in figure 5.13.

Figure 5.13 – Modules: Ctrl/Stat & Ref/Fdbk Viewing Window

Configuring the PROFIBUS Scanner 5-9

Step 12. Click Add to continue adding modules. Select “P arameter

Access” and click OK.

Figure 5.14 – Add Modules: Parameter Access Selection Window

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

shown in figure 5.15.

Figure 5.15 – Modules: Parameter Access Viewing Window

Settings can be chosen to map Station models to SLC addresses. In our example M1/Mo files are used for Input / Output.

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

5-10 PROFIBUS Communications Module

Step 14. Click on the SLC Address tab as shown in figure 5.16.

Figure 5.16 – SLC Address: M1/M0 (Ctrl/Stat & Ref/Fdbk)

Step 15. Parameter Access starts at word 10 in the M1/M0 files.

Note that Parameter Access utilizes 4 words. Click OK when finished.

Figure 5.17 – SLC Address: M1/M0 (Parameter Access)

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

Figure 5.18 – Station 1 Network Window

Configuring the PROFIBUS Scanner 5-11

Station 1 is configured as follows:

Table 5.2 – Station 1 Configurations

Module M1/M0 Word

Ctrl/Stat & Ref Fdbk Drive 0 0

Parameter Access 2

Note that Station 1 occupies 6 words. Step 17. The same steps for configuring Station 1 will be used to

configure Station 2. Refer to previous steps (beginning with step 9) for Configuring the SST-PFB-SLC PROFIBUS Scanner Station 2. Refer to figure 5.19.

Figure 5.19 – Station 2 Network Window

Station 2 is configured as follows:

Table 5.3 – Station 2 Configurations

Module M1/M0 Word

Ctrl/Stat & Ref Fdbk Drive 0 6

Parameter Access 8

Note that Station 2 occupies 6 words. Step 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.

Important:The processor needs to be in program mode before

proceeding.

Step 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, clic k OK to continue. After the configuration has been loaded into the

5-12 PROFIBUS Communications Module

scanner, “Configured Program” will be displayed in the message window (see figure 5.20).

Figure 5.20 – Network Window Scanner Selection

Step 20. Click F

ile and Save As from the tool bar, as a unique File

ame. The configuration of the scanner is now complete.

Note that cycling power to the scanner is recommended. See figure 5.21.

Figure 5.21 – Save As Dialog Window

Summary of the example scanner configuration:

M0 / M1 Addressing

Module

Station 1 Station 2

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

Configuring the PROFIBUS Scanner 5-13

5-14 PROFIBUS Communications Module

CHAPTER 6

Using I/O Messaging

Chapter 6 provides information and examples that explain how to use I/O Messaging to control an MD65 drive.

ATTENTION: The examples in this publication are intended solely for purposes of example. There are

6.1 About I/O Messaging

I/O messaging is used to transfer the data which controls the MD65 drive and sets its Reference.

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. Failure to observe this precaution could result in bodily injury or damage to equipment.

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

Chapter 4, Configuring the PROFIBUS Module, and chapter 5, Configuring the PROFIBUS Scanner, discuss how to configure the module and scanner on the network for these options. The Glossary defines the different options. This chapter discusses how to use I/O after you have configured the module and scanner.

6.2 Understanding the I/O Image

The terms input and output are defined from scanner’s point of view. Therefore, Output I/O is data that is output from the scanner and consumed by the PROFIBUS module. Input I/O is the data that is produced by the module and consumed as input by the scanner.

Using I/O Messaging 6-1

The I/O image table will vary based on the configuration of the Mode Jumper (J2) on the module and MDI I/O Cfg (parameter 11). The image table always uses consecutive words starting at word 0.

Figure Figure 6.1 illustrates an example of a drive I/O image (16-bit words).

MDI

MD65 Drive

Logic Command Reference

Logic Status Feedback

Message

Handler

Controller

PROFIBUS

Scanner

Output Image (Write)

Input Image (Read)

Message

Handler

Figure 6.1 – Single Drive Example of I/O Image

Adapter

Word and I/O

0 Logic Command 1 Reference

0 Logic Status 1 Feedback

Message

Buffer

Single drive mode is the typical configuration, where one node consists of a MD65 drive with a MDCOMM-PBUS module.

For Multi-Drive mode, where one node can consist of up to five drives, refer to chapter 8, Using Multi-Drive mode.

6.3 Using Logic Command/Status

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

This manual contains the bit definitions for compatible products available at the time of publication in Appendix C, Logic Command/ Status Words. For other products, refer to their documentation.

6-2 PROFIBUS Communications Module

6.4 Using Reference/Feedback

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

Size Valid Values

16-bit 0.0 to 4000

In I/O Image Example

Word 1 Figure 6.1

0.0 to 240.0 Hz (MD60) or

0.0 to 400.0 Hz (MD65)

The Reference for a MD65 or MD60 is set in Hz. For example, “300” equates to 30.0 Hz (the decimal point is always implied).

Using I/O Messaging 6-3

6-4 PROFIBUS Communications Module

CHAPTER 7

Using Explicit Messaging

(Parameter Protocol)

Chapter 7 provides information and examples that explain how to use Explicit Messaging to monitor and configure the module and connected MD65 drive, as well as other peripherals.

ATTENTION: The examples in this publication are intended solely for purposes of example. There are

ATTENTION: If Explicit Messages are programmed to write parameter data to Non-Volatile Storage (NVS) frequently , the NVS will quickly exceed its lif e cycle and cause the drive to malfunction. Do not create a program that frequently uses Explicit Messages to write parameter data to NVS. Datalinks do not write to NVS and should be used for frequently changed parameters. Failure to observe this precaution could result in damage to, or destruction of, equipment.

7.1 About Explicit Messaging

Explicit Messaging is used to transfer data that does not require continuous updates. With Explicit 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 PROFIBUS module, the Parameter Access module must be added to the master configuration when configuring the network.

Using Explicit Messaging (Parameter Protocol) 7-1

Refer to step 21 in chapter 5 to view the procedure for adding the “Parameter Access” module to a configuration. This maps four 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 7.2).

7.2 Running Explicit Messages

There are five basic events in the Explicit Messaging process defined in figure 7.1. 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 a response

Complete Parameter Data Exchange

Retrieve Parameter

Data Exchange Response

message for all Explicit Messages, whether you are reading or writing data.

Set up and send Parameter Data

Format the required data and set up the ladder logic program to send an Explicit Message request to the scanner module (download).

The scanner module transmits the Explicit Message Request to the slave device over the PROFIBUS network.

The slave device transmits the Explicit Message Response back to the master.

The controller retrieves the Explicit Message Response.

The Explicit Message is complete.

Figure 7.1 – Explicit Message Process

7-2 PROFIBUS Communications Module

7.3 Parameter Protocol

This protocol uses four 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 MDI port

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

• Read the Module Fault Code

• Read Events

• Read Diagnostic Items

Request

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)

Refer to sections 7.3.1 and 7.3.2 for a description of the data that is required in each word.

RC SPM PNU RC SPM PNU

Subindex Subindex

Spare Spare

Parameter value Parameter value

Figure 7.2 – Parameter Message Format

Response

Using Explicit Messaging (Parameter Protocol) 7-3

7.3.1 Parameter Message Request

Table 7.1 – Parameter Message Request Data

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 Module) 1024 Module Fault Code 1025-1056 Module Events 1280-1289 Diagnostic Items (Single Drive) 1280-1304 Diagnostic Items (Multi-Drive)

SPM - Spontaneous Message (Bit 11) Reserved - Should always be 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

7-4 PROFIBUS Communications Module

Table 7.1 – Parameter Message Request Data

Word Description

2 IND - Index

The IND is used to specify which drive will receive a message.

0-2 bits = MDI port Bit Definitions

000 Drive 0 single drive mode 001 Drives 0-1 multi-drive mode 010 Drives 0-2 multi-drive mode 011 Drives 0-3 multi-drive mode 101 Drives 0-4 multi-drive mode 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.

7.3.2 Parameter Message Response

Table 7.2 – Parameter Message Response Data

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 Module Fault Code and

Parameter Message Fault Code, see table below)

9-15 = Reserved

Using Explicit Messaging (Parameter Protocol) 7-5

Table 7.2 – Parameter Message Response Data

Word Description

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 16bit parameter or the Fault Code (if RC = 7).

Table 7.3 – Module Fault Code

Fault Code Description

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

Table 7.4 – Parameter Message Response Fault Numbers and Descriptions

Fault

Number 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)

7-6 PROFIBUS Communications Module

CHAPTER 8

Using Multi-Drive Mode

Chapter 8 provides information to explain how to use Multi-Drive mode.

ATTENTION:The examples in this publication are intended solely for purposes of example. There are

8.1 Single Mode vs. Multi-Drive Mode

The MDI interface provides a means to connect up to five drives on one node daisy-chained over the RS-485. Two different operation modes, single and multiple drive modes, are possible.

many variables and requirements with any application. Rockwell Automation, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. Failure to observe these precautions could result in bod il y injury and/or damage to equipment.

Single mode is a typical network installation, where a single Profibus node consists of a single drive with a MDCOMM-PBUS module. In this mode, the module can talk to one host, and the host can support one additional external peripheral (OIM or MDCOMM-

232) over MDI.

1 drive per node

Profibus

MD65 with MDCOMM-PBUS

Figure 8.1 – Single Mode Example for Network

Using Multi-Drive Mode 8-1

MD65 with MDCOMM-PBUS

Figure 8.2 shows that the Single Drive mode provides the possibility of connecting one additional external peripheral.

MDI

LANG DISP

Esc

PROG

7 8 9

4 5 6

1 2 3

DEL

ALT

JOG

+/-

LANG DISP

Prog

ALT

JOG

Figure 8.2 – MDI Peripheral Devices for Single Mode Connection

Multi-Drive mode is an alternative to the typical network installation, where a single Profibus node can consist of one to five drives (see figure 8.3). The first drive must be a MD65 with a MDCOMM-PBUS module. The remaining drives can be MD65 or MD60 drives that are daisy-chained over RS-485 with the first drive.

Profibus

MD65

up to 5 drives per node

Up to 4 MD65 or MD60 Drives

MDCOMM-PBUS

AK-U0-RJ45-TB2P

Connector with 3rd Party

Terminating Resistor

AK-U0-RJ45-TB2PRS-485

AK-U0-RJ45-TB2P

Connector with 3rd Party

Terminating Resistor

Figure 8.3 – Multi-Drive Mode Example for Network

8-2 PROFIBUS Communications Module

The multiple drive connectivity, up to five drives with at least one MD65 drive, for example , one MD65 and four MD60 drives, provides a low cost Profibus solution in the industry for multiple drives.

Important: In Multi-Drive mode, the unit will not operate with MDI

peripheral devices such as the OIM or the MDCOMM232 and the application of any other peripheral will be prohibited.

Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one MDCOMM-PBUS module is

needed for up to five drives. The MD60 can also be used for the daisy-chained drives instead of MD65 drives.

• 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 means to put MD60 drives on Profibus (MD60 drives

do not have an internal communications module slot).

• Controller can control, monitor, and read/write parameters for all

five drives.

The trade-offs of Multi-Drive mode include:

• If the MD65 drive with the MDCOMM-PBUS module is powered

down, then communications with the daisy-chained drives is disrupted and the drives will take the appropriate communications loss action set in each drive.

• Communications throughput to the daisy-chained drives will be

slower than if each drive was a separate node on Profibus (Single mode). This is because the MDCOMM-PBUS module must take the Profibus data for the other drives and sequentially send the respective data to each drive over RS-485.

• Since the RS-485 ports are used for daisy-chaining the drives,

there is no connection for a peripheral device such as an OIM. The AK-U0-RJ45-SCI MDI Splitter Cable cannot be used to add a connection for a peripheral device.

Using Multi-Drive Mode 8-3

8.2 System Wiring

To daisy-chain the drives of the MD65 with the MDCOMM-PBUS module (Drive 0), the AK-U0-RJ45-TB2P terminal block connector (Figure 8.4) can be used for easy installation.

Figure 8.4 – AK-U0-RJ45-TB2P Terminal Block Connector

The wiring diagram for using AK-U0-RJ45-TB2P terminal block connectors is shown in figure 8.5.

MD65 with

MDCOMM-PBUS

120

Ω

¼ Watt

Resistor

Drive #2

Figure 8.5 – Multi-Drive Mode Example for Network

Drive #3

Drive #4

Drive #5

Ω

120 ¼ Watt

Resistor

The AK-U0-RJ45-TB2P comes with five (5) terminal block connectors and two (2) terminating resistors.

8-4 PROFIBUS Communications Module

8.3 Understanding the I/O Image

The terms input and output are 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 module. Input I/O is status data that is produced by the module 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 module and MDI I/O Cfg (parameter 11). The image table always uses consecutive words starting at word 0.

Figure 8.6 illustrates the Multi-Drive I/O image with 16-bit words.

Controller

Profibus

Scanner Adapter

Output Image (Write)

Input Image (Read)

Message Handler

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

Message

Buffer

MDI

MD65 Drive 0

MD65 Drive 0-1

MD65 Drive 0-2

MD65 Drive 0-3

MD65 Drive 0-4

MD65 Drive 0

MD65 Drive 0-1

MD65 Drive 0-2

MD65 Drive 0-3

MD65 Drive 0-4

Figure 8.6 – Multi-Drive Mode Example of I/O Image

Using Multi-Drive Mode 8-5

8.4 Configuring the RS-485 Network

Table 8.1 shows the parameters that must be set in the daisychained drives.

Table 8.1 – Parameters for daisy-chained drives

Parameter Value

P36 (Start Source) 5 (RS485 (MDI) Port)

P38 (Speed Reference) 5 (RS485 (MDI) Port)

A103 (Comm Data Rate) 4 (“19.2K”)

A104 (Comm Node Addr) 1-247 (must be unique)

A107 (Comm Format) 0 (“RTU 8-N-1”)

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

Important:Parameter A105 (Comm Loss Action) in the daisy-

Table 8.2 shows the Multi-Drive parameters that must be set in the MDCOMM-PBUS.

Parameter Value

11 (MDI I/O Cfg) 0 = Drive 0 connected

17 (Drv 0 Addr) = Parameter A104 (Comm Node Address) in Drive 0 18 (Drv 1 Addr) = Parameter A104 (Comm Node Ad dress) in Drive 0-1 19 (Drv 2 Addr) = Parameter A104 (Comm Node Ad dress) in Drive 0-2 20 (Drv 3 Addr) = Parameter A104 (Comm Node Ad dress) in Drive 0-3 21 (Drv 4 Addr) = Parameter A104 (Comm Node Ad dress) in Drive 0-4

chained drives is still used in Multi-Drive mode. If the RS-485 cable is disconnected or broken, the disconnected drive(s) will immediately take the corresponding Comm Loss Action(s). Parameter A106 (Comm Loss Time) is not used in Multi-Drive mode. On the Profibus, Comm Flt Action (parameter 09) and Idle Flt Action (parameter 10) in the MDCOMM-PBUS determine the action taken for ALL of the drives on the Multi-Drive node.

Table 8.2 – Parameters for MDCOMM-PBUS

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

After setting the MDCOMM-PBUS parameters, set the Module Mode Jumper from Single drive operation to Multi-Drive operation, and reset the module or cycle power.

8-6 PROFIBUS Communications Module

Important: MDCOMM-PBUS parameters can be set using MDI

peripheral (OIM, V*S Utilities with MDCOMM-232, etc.) ONLY when the Mode Jumper is in Single mode position.

8.5 Multi- Mode Explicit Messaging

Parameter addressing for Explicit messaging in Multi-Drive is similar to that in Single mode.

The parameter numbers range from 1 to 2047. Parameter numbers 1-1023 are used to access the drive or module parameters. Parameter numbers 1024-2047 are used to access the Module Fault Codes, Events and Diagnostic Items.

For example, to access Accel Time (parameter 39) f or Drive 0, Drive 0-1 to Drive 0-4 in Multi-Drive mode:

Table 8.3 – Accessing Accel Time (Parameter 39)

Module

Drive 0 Single Drive 000 39 Drives 0-1 Multi Drive 001 39 Drives 0-2 Multi Drive 010 39 Drives 0-3 Multi Drive 011 39 Drives 0-4 Multi Drive 100 39

8.6 Additional Information

• When the MD65 with the MDCOMM-PBUS module (Drive 0) is

powered up, all configured daisy-chained drives must be present before an I/O connection is allowed on Profibus (i.e. before the drives can be controlled).

• If the MD65 with the MDCOMM-PBUS module (Drive 0) is

powered down, communications with the four daisy-chained drives (Drives 0-1 to Drives 0-4) are disrupted and the drives will fault.

• If any of the daisy-chained drives (Drive 0-1 to Drive 0-4) are

powered down, the respective Input Image (Logic Status and Feedback) sent to the scanner will be zeros, and the NET A and DRIVE LEDs on the MDCOMM-PBUS module will flash red. Status information from the scanner will not indicate there is a fault at the node.

IND

(0-2 bits)

Parameter

Number

Using Multi-Drive Mode 8-7

8-8 PROFIBUS Communications Module

CHAPTER 9

Troubleshooting the

PROFIBUS Module and

Network

Chapter 9 contains information for troubleshooting the PROFIBUS module and the network.

9.1 Understanding the Status Indicators

The PROFIBUS module has three status indicators. They can be viewed on the module or through the drive cover. (See figure 9.1.)

➊ ➋ ➌

DRIVE MS NET A NET B

Status

Number

Troubleshooting the PROFIBUS Module and Network 9-1

Indicator Description Refer to...

DRIVE MDI Connection Status Section 9.1.1 MS Module Status Section 9.1.2 NET A PROFIBUS Status Section 9.1 .3 NET B Not used N/A

Figure 9.1 – Status Indicators (Location on Drive May Vary)

➊ ➋ ➌ ➍

9.1.1 DRIVE Status Indicator

Table 9.1 – DRIVE Status Indicator: State Definitions

Status Cause Corrective Action

Off The module is not

powered or is not connected properly to the drive.

Flashing Red

Solid Red

Flashing Green

Solid Green

Solid Orange

Flashing Orange

The module is not receiving a ping message from the drive.

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

Another MDI peripheral is using the same MDI port as the module.

Not Used

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

The module is booting. Wait until boot program is

The module is in flash mode (SW8 down).

Application Failure

• Securely connect the module

to the drive using the ribbon cable.

• Apply power to the drive.

• V erify that cables are

securely connected.

• Cycle power to the drive.

Important: Cycle power to the product after making following correction:

• Verify that all MDI cables on

the MD65 drive are securel y connected and not damaged. Replace cables if necessary.

• Check the Events, replace

the module with a compatible Reliance Electric branded product (MDCOMM-PBUS).

• No action.

complete.

• Wait until Firmware Update

is complete, then switch SW8 to 1.

• Download Application code.

9-2 PROFIBUS Communications Module

9.1.2 MS Status Indicator

Table 9.2 – MS Status Indicator: State Definitions

Status Cause Corrective Action

Off The module is not

powered.

Flashing Red

Solid Red

Flashing Green

Solid Green

The module has faults or a drive is missing in MultiDrive mode.

The module has failed the hardware test.

The module is operational but is not transferring I/O data.

The module is operational and transferring I/O data.

• Securely connect the module

to the MD65 drive using the ribbon cable.

• Apply power to the drive.

• Clear faults in the drive.

• Disconnect additional MDI

peripheral and cycle power to the drive.

• If cycling power does not

correct the problem, the parameter settings may have been corrupted. Reset defaults and reconfigure the module.

• If resetting defaults does not

correct the problem, flash the module with the latest firmware release.

• For Multi-Drive mode,

determine which drive is missing or faulted. Check cabling and configuration settings.

• Cycle power to the drive.

• Replace the module.

• Place the scanner in RUN

mode.

• Configure the module for the

program in the controller.

• Program the controller to

recognize and transmit I/O to the module.

• No action.

Troubleshooting the PROFIBUS Module and Network 9-3

9.1.3 NET A Status Indicator

Table 9.3 – NET A Status Indicator: State Definitions

Status Cause Corrective Actions

Off The module is not

powered or is not connected properly to the network or the Node Address is wrong.

Flashing Red

Solid Red

Flashing Green

Solid Green

Error in PROFIBUS configuration.

Not Used.

The module is properly connected and communicating on the network.

• Securely connect the module to

the drive using the Internal Interface cable and to the network using a PROFIBUS cable. (Screw D-shell to the module.)

• 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.

• Re-configure the PROFIBUS

module.

• No action required.

Important:For the Multi-Daisy mode, disconnecting a MDI cable

from a daisy-chained drive does not cause an error. The module has no indication that the drive has been removed, except that commands to the missing drive have no effect.

9-4 PROFIBUS Communications Module

9.2 Module Diagnostic Items in Single Drive Mode

Table 9.4 lists diagnostic items that can be accessed using V*S Utilities software or the LCD OIM.

Table 9.4 – Module Diagnostic Items for Single Drive Mode

No. Event Description

1 Field Flash Cnt The number of Firmware Updates. 2 Module Events The number of events in the event queue. 3 Reference Reference from PROFIBUS returned to MDI drive. 4 Logic Cmd Command from PROFIBUS returned to MDI drive. 5 Logic Sts Status of the drive returned to PROFIBUS. 6 Feedback Feedback from drive returned to PROFIBUS. 7PROFIBUS Rx

Errors

8PROFIBUS Tx

Errors 9 Data Rate Current setting of the PROFIBUS baud rate. 10 Node Address Current setting of the module Node address switch.

Current value of the PROFIBUS Receive Error Counter register.

Current value of the PROFIBUS Transmit Error Counter register.

9.3 Module Diagnostic Items in MultiDrive Mode

For the Multi-Drive mode it is not possible to connect a peripheral device such as an OIM or MDCOMM-232 (V*S Utilities). Table 9.5 lists diagnostic items that can only be accessed via Profibus network in Multi-Drive mode.

Table 9.5 – Module Diagnostic Items for Multi-Drive Mode

No. Event Description

1 Field Flash Cnt The number of Firmware Updates. 2 Module Events The number of events in the event queue. 3 Drv 0 Reference Reference from Profibus returned to MDI Drive 0. 4 Drv 0 Logic Cmd Command from Profibus returned to MDI 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 MDI Drives 0-1. 8 Drv 1 Logic Cmd Command from Profibus returned to MDI Drive s0-1. 9 Drv 1 Logic Sts Status of the Drives 0-1 returned to Profibus.

Troubleshooting the PROFIBUS Module and Network 9-5

Table 9.5 – Module Diagnostic Items (Continued)for Multi-Drive Mode

No. Event Description

10 Drv 1 Feedback Feedback from Drives0-1 returned to Profibus 11 Drv 2 Reference Reference from Profibus returned to MDI Drives 0-2. 12 Drv 2 Logic Cmd Command from Profibus returned to MDI Drives 0-2. 13 Drv 2 Logic Sts Status of the Drives 0-2 returned to Profibus. 14 Drv 2 Feedback Feedback from Drives 0-2 returned to Profibus 15 Drv 3 Reference Reference from Profibus returned to MDI Drives 0-3. 16 Drv 3 Logic Cmd Command from Profibus returned to MDI Drives 0-3. 17 Drv 3 Logic Sts Status of the Drives 0-3 returned to Profibus. 18 Drv 3 Feedback Feedback from Drives 0-3 returned to Profibus 19 Drv 4 Reference Reference from Profibus returned to MDI Drives 0-4. 20 Drv 4 Logic Cmd Command from Profibus returned to MDI Drives 0-4. 21 Drv 4 Logic Sts Status of the Drives 0-4 returned to Profibus. 22 Drv 4 Feedback Feedback from Drives 0-4 returned to Profibus 23 Profibus Rx

Errors

24 Profibus Tx

Errors

25 Active drives

Current value of the Profibus Receive Error Counter register.

Current value of the Profibus Transmit Error Counter register.

The number of active slave drives.

number

9-6 PROFIBUS Communications Module

9.4 Viewing and Clearing Events

The module maintains an event queue that reports the history of its actions. You can view the event queue using an LCD OIM or VS Utilities software.

Figure 9.2 – Viewing and Clearing Events Using an LCD OIM

Events

Many events in the event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Reliance Electric personnel troubleshoot the problem. Table 9.6 lists events that may appear in the event queue.

Table 9.6 – Event Codes and Descriptions

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 module. 2 Slave Detected A MDI slave wa s detected on the slav e I/O line. 3 Slave Removed A MDI slave was removed on the slave I/O

line. 7 Bad I/O Config The actual connected drives are different from

I/O configuration (parameter 11). 8 Host Timeout Parameter data to a Drive Host timed out

waiting for a response. 9 Slave Timeout Parameter data to a Slave time out waiting for

a response. 10 Bad Host Flt The module was connected to an incompatible

device.

Troubleshooting the PROFIBUS Module and Network 9-7

Table 9.6 – Event Codes and Descriptions

Code Event Description

11 MDI Bus Off Flt A bus-off condition was detected on MDI. This

event may be caused by loose or broken cables or by noise.

13 P-DP Idle The PROFIBUS Module received a Network

Clear from the PROFIBUS Master.

14 P-DP Online The PROFIBUS Module has gone on-line the

PROFIBUS network.

15 P-DP Offline The PROFIBUS Module has gone off-line the

PROFIBUS network. 17 MDI Fault Msg The Host Faulted. 18 MDI Fault Clear The user cleared a fault in the module. 19 Not COMM Flt Th e module detected a fault condition on the

Profibus network. 21 Program Damage The checksum of the program is wrong.

9-8 PROFIBUS Communications Module

Communications

Network

Protocol Data Rates

Drive Protocol MDI

Electrical

Drive Network

Mechanical

Dimensions

Height Length Width

APPENDIX A

Technical

Specifications

PROFIBUS

9.6 kpbs, 19.2 kpbs, 93.75 kpbs, 187.5 kpbs, 500 kpbs, 1.5 Mbps, 3 Mbps, 6 Mbps, 12 Mbps. The module has auto baud rate detection.

370 mA at 5 V supplied through the drive.

19 mm (0.75 in) 86 mm (3.39 in)

78.5 mm (3.09 in)

Weight 57 g (2 oz)

Technical Specifications A-1

Environmental

Temperature

Operating Storage

-10 to +50°C (14 to 149°F)

-40 to +85°C (-40 to 185°F)

Relative Humidity Vibration

Shock

Altitude

-5 to 95% non-condensing

1.0 G Operational

2.5 G Non-operational

15.0 G Operational

30.0 G Non-operational 1,000m (3,300 ft.) without derating

Regulatory Compliance

Certification Specification

UL UL508C CE EN50178 and EN61800-3

A-2 PROFIBUS Communications Module

APPENDIX B

PROFIBUS Module

Parameters

The following information is provided for each PROFIBUS module parameter along with its description:

Parameter Number: Unique number assigned to each

parameter.

Parameter Name: Unique name assigned to each

parameter.

Range: Predefined parameter limits or

selections.

Default: Factory default setting. Type: Read Only or Read/Write Reset Required: Module must be reset before parameter

The parameters in the PROFIBUS module are numbered sequentially. However, depending on the configuration tool used, they may have different numbers.

value is recognized.

PROFIBUS Module Parameters B-1

1 Mode

Range: 0 = Single Drive

Default: N/A Type: Read Only Reset Required: N/A

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

1 = Multiple Drive

4P-DP Addr Actual

Range: 0 to 125 Default: N/A

Type: Read Only Reset Required: N/A

Displays the PROFIBUS node address actually used by the module.

5 P-DP Rate Actual

Range: 0 = 9.6 kpbs

Default: N/A Type: Read Only Reset Required: N/A

Displays the PROFIBUS actual operating data rate.

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

B-2 PROFIBUS Communications Module

8 Reset Module

Range: 0 = Ready (No action)

Default: 0 = Ready Type: Read/Write Reset Required: No

No action if set to “Ready.” Resets the module if set to “Reset Module.” Restores the module to 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.

1 = Reset Module 2 = Set Defaults (Restores module to factory-default

settings)

ATTENTION: If the module is transmitting I/O that controls the drive, the drive may fault when you reset

the module. Determine how your drive will respond before resetting a connected module. Failure to observe this precaution could result in bodily injury or damage to equipment.

9 Comm Flt Action

Range: 0 = Fault

Default: 0 = Fault Type: Read/Write Reset Required: No

Sets the action that the module and drive take if the module detects that PROFIBUS communications have been disrupted. This setting is effective only if I/O that controls the drive is transmitted though the module.

1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg

ATTENTION: Comm Flt Action (parameter 9) and Idle Flt Action (parameter 10) lets you determine the

PROFIBUS Module Parameters B-3

action of the module and connected drive if communications are disrupted. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Take precautions to ensure that the setting of this parameter does not create a hazard of injury or equipment damage. Failure to observe this precaution could result in bodily injury or damage to equipment.

10 Idle Flt Action

Range: 0 = Fault

Default: 0 = Fault Type: Read/Write Reset Required: No

Sets the action that the module and the drive take if the module detects that the scanner is idle because the controller was switched to program mode. This setting is effective only if the I/O that controls the drive is transmitted through the module.

1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg

ATTENTION: Idle Flt Action (parameter 10) lets you determine the action of the module and connected

drive if the scanner is idle. By default, this parameter faults the drive. You can set this so that the drive continues to run. Ensure that the setting of this parameter does not create a hazard of injury or equipment damage. Failure to observe this precaution could result in bodily injury or damage to equipment.

11 MDI I/O Cfg

Range: 0 = Drive 0

Default: 0 Type: Read/Write Reset Required: Yes

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.

1 = Drives 0-1 2 = Drives 0-2 3 = Drives 0-3 4 = Drives 0-4

B-4 PROFIBUS Communications Module

12 MDI I/O Actual

Range: 0 = Drive 0

Default: N/A Type: Read Only Reset Required: N/A

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

1 = Drives 0-1 2 = Drives 0-2 3 = Drives 0-3 4 = Drives 0-4

13 Flt Cfg Logic

Range: 0000 0000 0000 0000 to 1111 1111 1111 1111 Default: 0000 0000 0000 0000

Type: Read/Write Reset Required: No

Sets the Logic Command data that is sent to the drive if the followi n g is true:

• Comm Flt Action (parameter 9) is set to Send Flt Cfg and communications are disrupted.

• Idle Flt Action (parameter 10) is set to Send Flt Cfg and the scanner is put into Program mode.

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

14 Flt Cfg Ref

Range: 0 to 4000 Default: 0

Type: Read/Write Reset Required: No

Sets the Reference data that is sent to the drive if any of the followi n g is true:

• Comm Flt Action (parameter 9) is set to Send Flt Cfg and communications are disrupted.

• Idle Flt Action (parameter 10) is set to Send Flt Cfg and the scanner is put into Program mode.

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.

PROFIBUS Module Parameters B-5

Drv 0 Addr

Drv 1 Addr

Drv 2 Addr

Drv 3 Addr

Drv 4 Addr

Range: 1 - 125 Default: Drv 0 Addr = 1

Drv 1 Addr = 2 Drv 2 Addr = 3 Drv 3 Addr = 4 Drv 4 Addr = 5

Type: Read/Write Reset Required: Yes

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

Important: The settings for these parameters must match the

Comm Node Addr (parameter A104) settings in the respective drives. Each setting must also be unique (no duplicate node address).

24 P-DP State

Range: 0 = WAIT_PRM

Default: N/A Type: Read Only Reset Required: N/A

1 = WAIT_CFG 2 = DATA_EX 3 = ERROR

Displays the state of the PROFIBUS controller.

B-6 PROFIBUS Communications Module

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

C.1 MD65 Drives

Logic Command Word

APPENDIX C

Logic Command/

Status Words

15 14 13 12 11 10 9876543210Command Description

xxx Reference

xMOP

A 0 = Not Stop condition (logic 0) must first be present before a 1 = Start condition will start the drive.

Logic Bits

x Stop 0 = Not Stop

Start

x Jog 0 = Not Jog

x Clear Faults 0 = Not Clear Faults

x x Direction 00 = No Command

x Not Used

xMOP

x x Accel Rate 00 = No Command

x x Decel Rate 00 = No Command

Increment

Select

Decrement

1 = Stop

0 = Not Start 1 = Start

1 = Jog

1 = Clear Faults

01 = Forward Command 10 = Reverse Command 11 = Change Direction (toggle)

0 = Not Increment 1 = Increment

01 = Accel Rate 1 Command 10 = Accel Rate 2 Command 11 = Hold Accel Rate

01 = Decel Rate 1 Command 10 = Decel Rate 2 Command 11 = Hold Decel Rate

000 = No Command 001 =Freq Source = Select 010 = Freq Source = Int. Freq 011 = Freq Source = Comm 100 = Preset Freq 1 101 = Preset Freq 2 110 = Preset Freq 3 111 = Preset Freq 4

0 = Not Decrement 1 = Decrement

Logic Command/Status Words C-1

Logic Status Word

15 14 13 12 11 10 9876543210 Status Description

Logic Bits

x Ready 0 = Not Ready

1 = Ready

x Active 0 = Not Active

1 = Active

x Command

x Actual

Direction

0 = Reverse 1 = Forward

x Accel 0 = Not Accelerating

1 = Accelerating

x Decel 0 = Not Decelerating

x Alarm 0 = No Alarm

1 = Decelerating

1 = Alarm

x Fault 0 = No Fault

1 = Fault

x At Speed 0 = Not At Reference

x Main Freq 0 = Not Controlled By Comm

x Operation

Command

1 = At Reference

1 = Controlled By Comm 0 = Not Controlled By Comm

1 = Controlled By Comm

x Parameters 0 = Not Locked

1 = Locked

x Digital Input

This status is available only with firmware revision 2.0 and higher.

1 Status

2 Status

3 Status

4 Status

C-2 PROFIBUS Communications Module

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 an MD65 drive in Single Drive and Multi-Drive mode.

SLC Ladder Logic Examples D-1

D.1 Single Drive Example

D.1.1 Main Routine

This example program is for a PROFIBUS demonstration using a SLC 5/04

(

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

Station 1 MD65 with MDCOMM-PBUS Station 2 MD65 with MDCOMM-PBUS

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

On power-up, zero out the transmitt buffer to the Scanner.

First Pass

S:1

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

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)

Execute LAD 3 - Station 1 Drive Logic

processor

with an SST Profibus scanner

JSR

JSR Jump To Subroutine SBR File Number U:3

FLL

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

MOV

MOV Move Source S:3

Dest M0:1.4011

COP

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

2561<

Execute LAD 4 - Station 2 Drive Logic

Write the drives' data to the profibus scanner.

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

Station 1 Station 2 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 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)

(PCA)

JSR

JSR Jump To Subroutine SBR File Number U:4

COP

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

END

D-2 PROFIBUS Communications Module

D.1.2 Drive 0 Control/Reference/Parameter Access

Routine

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

Station 1 Stop Command

B3:20

0 Station 1 Start Command

B3:20

Station 1 Jog Command

B3:20

Station 1 Clear Faults Command

B3:20

Station 1 Reverse Command

B3:20

Station 1 Reverse Command

05B3:2

c e over the Profibus, the e ReferenceTo ontrol the speed referenc thre Select bits (bits 14-12) need to have the values 011.

"Never Closed"

B3:20

Station 1 Speed Reference The MD65 Speed Reference (parameter 38) needs to be set to 5 ("RS485 [MDI] Port"). N19:1 is controlled elsewhere in the user program.

This section of the outine 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.

Fi t Pass

S:1

Station 1 Logic Command STOP

Station 1 Logic Command START

Station 1 Logic Command JOG

Station 1 Logic Command CLEAR FAULTS

Station 1 Logic Command FORWARD

Station 1 Logic Command REVERSE

Station

mand

Logic C REFERENC

N20:0

Station 1 Logic Command REFERENCE SELECT 1

N20:0

13 Station 1 Logic Command REFERENCE SELECT 2

N20:0

Station 1 Speed Reference Write

MOV

MOV Move Source N19:1

Dest N20:1

N20:0

ESELECT0

273<

Station 1 Par Prot Messaging Request

B3:19

U 15

SLC Ladder Logic Examples D-3

This circuit utilizes the Param eter Protocol. A REQUEST to Station 1 is processed only one 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.

N7:12 = SubIndex = the MDI port # ("0" = Host or MD65 drive, "5" = MDCOMM-PBUS, 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 MDIport #) N20:4 = P N20:5 = PVA #2 (the parametervalue (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.

Station 1 Par Prot Messaging Request

B3:19

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 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: N7:20 = PCA Word = contains RCand PNU N7:21

= SubIndex = the MDI port # ("0" = Host or MD65 drive, "5" = MDCOMM-PBUS, 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.

Station 1 Par Prot Messaging Request

B3:19

VA #1 (the

parameter value (high word))

Station 1 RESPONSE PCA Word

EQU

EQU Equal Source A N10:2

Source B 0

Station 1 RESPONSE PCA Word

NEQ

NEQ Not Equal Source A N10:2

Source B 0

Station 2 PCA Word

MOV

Move

Source N7:11

Dest N20:2

RCbi t 0

N7:10

RCbi t 1

N7:10

RCbi t 2

N7:10

IND Word (Subindex)

RESPONSE Message PCA Word

Station 2 PCA Word

PCA Word RCbi t 0

PCA Word RCbi t 1

PCA Word RCbi t 2

COP

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

COP

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

MOV

MOV Move Source 0

Dest N20:2

Station 1 Par Prot Messaging Request

77<

N20:2

B3 9

END

D-4 PROFIBUS Communications Module

D.1.3 Drive 1 Control/Reference/Parameter Access

Routine

giControlling the Lo c Command word in the drive. B3:21/* bits are controlled elsewhere in the user program.

Station 2 Stop Command

B3:21

Station 2 Start Command

B3:21

Station 2 Jog Command

B3:21

2 Station 2 Clear Faults Command

B3:21

3 Station 2 Reverse Command

B3:21

Station 2 Reverse Command

B3:21

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

"Never Closed"

B3:21

Station 2 Speed Reference

The MD65 Speed Reference (parameter 38) needs to be set to 5 ("RS485 [MDI] Port").

N19:7 is controlled elsewhere in the user program.

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.

First Pass

S:1

Station 2 Logic Command STOP

Station 2 Logic Command START

Station 2 Logic Command JOG

Station 2 Logic Command CLEAR FAULTS

N20:6

Station 2 Logic Command FORWARD

Station 2 Logic Command REVERSE

Station 2 Logic Command REFERENCE SELECT 0

N20:6

12 Station 2 Logic Command REFERENCE SELECT 1

N20:6

13 Station 2 Logic Command REFERENCE SELECT 2

N20:6

Station 2 Speed Reference Write

MOV

MOV Move Source N19:7

Dest N20:7

N20:6

314<

Station 2 Par Prot Messaging Request

B3:19

U 0

SLC Ladder Logic Examples D-5

This circuit utilizes the Param eter Protocol. A REQUEST to Station 2 is processed only one at a time, and after each 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 messagedata 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 MDI port # ("0" = Host or MD65 drive, "5" = MDCOMM-PBUS, 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 thescanner 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 MDIport #) N20:10 = P

VA #1 (the parameter value

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.

Station 2 Par Prot Messaging Request

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 deci mal), 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 RCand PNU N7:41 N7:42 = PVA #1 = the parametervalue (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.

Station 2 Par Prot Messaging Request

Station 2 RESPONSE PCA Word

B3:19

= Subindex = the MDI port # ("0" = Host or MD65 Drive, "5" = MDCOMM-PBUS, etc.)

B3:19

Equal Source A N10:8

Source B 0

Station 2 RESPONSE PCA Word

Not Equal Source A N10:8

Source B 0

EQU

NEQ

(high word))

Station 2 PCA Word

MOV

MOV Move Source N7:31

Dest N20:8

PCA Word

RCb it 0

N7:30

RCb it 1

N7:30

RCb it 2

N7:30

IND Word (Subindex)

RESPONSE Message PCA Word

Station 2 PCA Word

RC bit 0

PCA Word RCb it 1

PCA Word RCb it 2

COP

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

COP

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

MOV

MOV Move Source 0

Dest N20:8

Station 2 Par Prot Messaging Request

N20:8

B3:19

77<

L 13

U 0

END

D-6 PROFIBUS Communications Module

D.2 Multi-Drive Example

D.2.1 Main Routine

This example program is for a PROFIBUS demonstration using a SLC5&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 MD65 with MDCOMM-PBUS Station 1 MD65 Station 2 MD65

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

On power-up, zero out the transmitt buffer to the Scanner.

First Pass

S:1

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

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

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)

Execute LAD 3 - Station 0 Drive Logic

Execute LAD 4 - Station 1 Drive Logic

Execute LAD 5 - Station 2 Drive Logic

Execute LAD 6 - Parameter Protocol

Write the drives' data to the profibus scanner.

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

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

Station File No. Description M0:1.0 (N20:0) Logic Command Drive 0

Station File No. Description

M0:1.1 (N20:1) Speed Reference Drive 0

M0:1.0 (N20:0) Logic Command Drive 0

M0:1.2 (N20:2) Logic Command Drive 1

M0:1.1 (N20:1) Speed Reference Drive 0

M0:1.3 (N20:3) Speed Reference Drive 1

M0:1.2 (N20:2) Logic Command Drive 1

M0:1.4 (N20:4) Logic Command Drive 2

M0:1.3 (N20:3) Speed Reference Drive 1

M0:1.5 (N20:5) Speed Reference Drive 2

M0:1.4 (N20:4) Logic Command Drive 2

M0:1.6 (N20:6) Parameter Access Word 1 ( PCA) M0:1.7 (N20:7) Parameter Access Word 2 (IND)

M0:1.5 (N20:5) Speed Reference Drive 2

M0:1.8 (N20:8) Parameter Access Word 3 (PVA 1)

M0:1.6 (N20:6) Parameter Access Word 1 (PCA)

M0:1.9 (N20:9) Parameter Access Word 4 (PVA 2)

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)

8 Bytes "Parameter Access"

JSR

JSR JumpTo Subroutine SBR Fil e Num ber U:5

JSR

JSR JumpTo Subroutine SBR Fil e Num ber U:6

FLL

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

MOV

MOV Move Source S:3

2561<

Dest M0:1.4011

COP

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

JSR

JSR Jump To Subroutine SBR File Number U:3

JSR

JSR Jump To Subroutine SBR File Number U:4

JSR

JSR Jump To Subroutine SBR FileNumber U:5

JSR

JSR Jump To Subroutine SBR FileNumber U:6

COP

COP CopyFile Source #N20:0

COP

Dest #M0:1.0

Copy File

Length 10

Source #N20:0 Dest #M0:1.0 Length 10

END

SLC Ladder Logic Examples D-7

D.2.2 Drive 0 Control/Reference Routine

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

Station 0 Stop Comman d

B3:20

Station 0 Start Command

B3:20

Station 0 Jog Command

B3:20

Station 0 Clear Faults Command

B3:20

Station 0 Reverse Command

B3:20

Station 0 Reverse Command

B3:20

To control thespeed reference

need to have the values 11

"Never Closed"

B3:20

Station 0 Speed Reference

The MD65 parameter 38 (Speed Reference) needs to be set at 5 ("RS485 [MDI] Port"). N19:1 is controlled elsewhere in the user program.

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

Station 0 Speed Reference Write

Station 0 Logic Comman d STOP

N20:0

Station 0 Logic Comman d START

N20:0

Station 0 Logic Comman d JOG

N20:0

Station 0 Logic Comman d CLEAR FAULTS

N20:0

Station 0 Logic Comman d FORWARD

N20:0

Station 0 Logic Comman d REVERSE

N20:0

Station 0 Logic Comman d REFERENCE SELECT 0

N20:0

Station 0 Logic Comman d REFERENCE SELECT 1

N20:0

Station 0 Logic Comman d REFERENCE SELECT 2

N20:0

MOV

MOV Move Source N19:1

Dest N20:1

273<

END

D-8 PROFIBUS Communications Module

D.2.3 Drive 0-1 Control Reference Routine

gi oControlling the Lo c C mmand word in the drive. B3:21/* bits are controlled elsewhere in the user program.

Station 1

Stop Command

B3:21

Station 1

Start Command

B3:21

Station 1

Jog Command

B3:21

Station 1 Clear Faults

Command

B3:21

Station 1

Reverse Command

B3:21

Station 1

Reverse Command

B3:21

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

"Never Closed"

B3:21

Station 1 Speed Reference

The MD65 parameter 38 (Speed Reference) needs to be set to 5 ("RS485 [MDI] Port"). N19:3 is controlled elsewhere in the user program.

Station 1

Speed Reference Write

Station 1

Logic Command STOP

N20:2

Station 1 Logic Co mmand

START

N20:2

Station 1 Logic Co mmand

JOG

N20:2

Station 1 Logic Co mmand CLEAR FAULTS

N20:2

Station 1

Logic Co mmand

FORWARD

N20:2

Station 1 Logic Co mmand

REVERSE

N20:2

Station 1 Logic Co mmand

REFERENCE SELECT 0

N20:2

Station 1 Logic Co mmand

REFERENCE SELECT 1

N20:2

Station 1 Logic Co mmand REFERENCE SELECT 2

N20:2

MOV

MOV Move Source N19:3

Dest N20:3

314<

END

SLC Ladder Logic Examples D-9

D.2.4 Drive 0-2 Control/Reference Routine

Controlling the Logic Command word in the drive. B3:22/* bits are controlled elsewhere in the user program.

Station 2

Stop Command

B3:22

Station 2

Start Command

B3:22

Station 2

Jog Command

B3:22

Station 2 Clear Faults

Command

B3:22

Station 2

Reverse Command

B3:22

Station 2

Reverse Command

B3:22

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

"Never Closed"

B3:22

Station 2 Speed Reference The MD65 parameter 38 - [Speed Reference] needs to be set to 5 ("RS485 [MDI] ¨Port"). N19.5 is controlled elsewhere in the user program.

Station 2 Logic Comma nd

STOP

N20:4

Station 2 Logic Comma nd

START

N20:4

Station 2 Logic Comma nd

JOG

N20:4

Station 2 Logic Comma nd CLEAR FAULTS

N20:4

Station 2 Logic Comma nd

FORWARD

N20:4

Station 2 Logic Comma nd

REVERSE

N20:4

Station 2 Logic Comma nd REFERENCE SELECT 0

N20:4

Station 2 Logic Command REFERENCE SELECT 1

N20:4

Station 2 Logic Comma nd REFERENCE SELECT 2

N20:4

Station 2 Speed Reference Write

MOV

Move Source N19:5

Dest

N20:5

314<

END

D-10 PROFIBUS Communications Module

D.2.5 Parameter Accessing Routine

S:1

B3:19

port #)

MDI

RESPONSE PCA Word

EQU

Equa Source A N10:6

Source B 0

RESPONSE PCA Word

NEQ

NEQ Not Equal Source A N10:6

Source B 0

PCA Word

MOV

MOV Move Source N7:11

Dest N20:6

RC bit 0

N7:10

RC bit 1

N7:10

RC bit 2

N7:10

IND Word (Subindex)

COP

COP Copy File Source #N7:12 Dest #N20:7 Length 3

RESPONSE Message PCA Word

COP

COP Copy File Source #N10:6 Dest #N7:20 Length 4

PCA Word

MOV

MOV Move Source 0

Dest N20:6

Par Prot Messaging Request

77<

12304<

PCA Word RC bit 0

N20:6

PCA Word RC bit 1

N20:6

PCA Word RC bit 2

N20:6

12304<

Par Prot

Messaging Request

B3:19

This section of the outine is only needed if the application needs to perform ParameterProtocol Reads or Writes to Station 2.

On power-up, initialize the Parameter Protocol routine.

First Pass

This circuit utilizes the Para meter Protocol. A REQUEST to the Profibus adapter is processed only one at a time, and after each RESPONSE from the adapter 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 parameter read response --> Send a "0" --> Receivea "0" --> [Transaction complete]

If the RESPONSE PCA Word 1 (N10:6) 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 MDIport # ("0" = Station 0, "1" = Station 1, "2" = Station 2, "5"= MDCOMM-PBUS, 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 the scannerare used to perform the Parameter Protocol: N20:6 = contains RC (the operation to be performed)and PNU (the parameter number to read or write) combined N20:7 = Subindex (the N20:8 = PVA #1 (the parameter value(high word)) N20:9 = PVA #2 (the parameter value(low word))

B3:19/0 is turned ON elsewhere in the program after a REQUEST message (N7:10-14) is loaded. This causes one Parameter Protocol read or write to occur and B3:19/0 is turned OFF when the transaction is complete.

Par Prot Messaging Request

N10:6 is the 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 MDIport # ("0" = Station 0, "1" = Station 1, "2" = Station 2, "5"= MDCOMM-PBU S, 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.

Par Prot Messaging Request

B3:19

U 0

END

SLC Ladder Logic Examples D-11

D-12 PROFIBUS Communications Module

GLOSSARY

communications module - Devices such as driv es, controllers, and computers usually require a module to provide a communication interface between them and a network such as PROFIBUS. A module reads data on the network and transmits it to the connected device. It also reads data in the device and transmits it to the network.

The MDCOMM-PBUS PROFIBUS module is an module that connects MD65 drives to a PROFIBUS network. Modules are sometimes also called “adapters,” “card s,” “embedded communication options,” “gateways,” and “peripherals.”

controller - Also called programmable logic controller. A solid-state control system that has a user-programmable memory for storage of instructions to implement specific functions such as I/O control, logic, timing, counting, report generation, communication, arithmetic, and data file manipulation. A controller consists of a central processor, input/output interface , and memory. See also scanner.

data rate - The data rate is the speed at which data is transferred on the PROFIBUS network. The available data rates depend on the type of cable and total cable length used on the network:

Baud Rate Maximum Cable Length

9.6 kpbs 1000 m

19.2 kpbs 1000 m

93.75 kpbs 1000 m

187.5 kpbs 1000 m

500 kpbs 400 m

1.5 Mbps 200 m

3 Mbps 100 m

6 Mbps 100 m

12 Mbps 100 m

MDI - Micro Drive Interface - A modification of the serial communication protocol used by various Reliance Electric drives and power products.

MDI peripheral - A device that provides an interface between MDI and a network or user. Peripheral devices are also referred to as “modules-.” The serial converter and MD65 OIM are examples of MDI peripherals.

Glossary Glossary-1

MDI product - A device that uses the MDI communications interface to communicate with one or more peripheral devices. For example, a motor drive such as a MD65 drive is a MDI product. In this manual, a MDI product is also referred to as “product” or “host.”

Explicit Messaging - Explicit Messages are used to configure, monitor, and diagnose devices over PROFIBUS.

fault action - Determines how the module and connected product act when a communications fault (for example, a cable is disconnected) occurs or when the scanner is switched out of run mode. The former uses a communications fault action, and the latter uses an idle fault action.

fault configuration - When communications are disrupted (for example, a cable is disconnected), the module and MD65 drive can respond with a user-defined fault configuration. The user sets the data that is sent to the drive in the fault configuration parameters parameters 13 (Flt Cfg Logic) through 22 (Flt Cfg D2). When a fault action parameter is set to use the fault configuration and a fault occurs, the data from these parameters is sent as the Command Logic and/or Reference

faulted node recovery - This PROFIBUS feature lets you change the configuration of a device that is faulted on the network. For example, if a device is added to a network and it does not have a unique address, it will fault. If you have a configuration tool that supports faulted node recovery and your module is using parameters to set its node address and data rate, you can change the node address.

flash update - The process of updating firmware in the module. The module can be flash updated using the X-Modem protocol and a MDCOMM-232 serial converter.

GSD file - Used by the network configuration tool to identify the type of module and its capabilities so that it can configure the module for the network. This is usually supplied on floppy disk as a text tile.

hold last - When communications are disrupted (for example, a cable is disconnected), the module and MD65 drive can respond by holding last. Hold last results in the drive receiving the last data received via the PROFIBUS connection before the disruption. If the drive was running and using the reference from the module, it will continue to run at the same reference.

I/O data - I/O data, sometimes called “implicit messages” or “input/ output,” transmit time-critical data such as a Logic Command and Reference. The terms “input” and “output” are defined from the scanner’s point of view. Output is transmitted by the scanner and consumed by the module. Input is transmitted by the module and consumed by the scanner.

Glossary-2 PROFIBUS Communications Module

Rockwell Automation MD65 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual