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DFS11B
User Manual
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SEW Eurodrive DFS11B User Manual

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Gearmotors \ Industrial Gear U nits \ Dri ve Ele ctroni cs \ Dr ive Aut omat ion \ Servi ces
Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Edition 09/2007
11478217 / EN
M
anual
SEW-EURODRIVE – Driving the world
1 Important Notes...................................................................................................... 6
1.1 Explanation of symbols.................................................................... ... .... ... ... . 6
1.2 Integral part of the product............................................................................. 6
1.3 Documentation reference................. ... ... ............................................. ........... 6
1.4 Liability for defects .... ... .... ... ............................................. .............................. 7
1.5 Product names and trademarks.................................... ... ... .... ... ... ................. 7
1.6 Waste disposal............................................................................................... 7
2 Safety Notes ................ ... ... ... .... ............................................. ................................. 8
2.1 Preliminary information .................................................................................. 8
2.2 General safety notes...................................................................................... 8
2.2.1 General safety notes for bus systems ................................................. 8
2.3 Transport / storage......................................................................................... 8
2.4 Installation / assembly................................ ... ... ............................................. . 9
2.5 Startup / operation ......................................................................................... 9
3 Introduction .......................................................................................................... 10
3.1 Content of this manual ................................................................................. 10
3.2 Additional documentation.................... ... .... ... ... ... ......................................... 10
3.3 Features....................................................................................................... 11
3.3.1 MOVIDRIVE
®
, MOVITRAC®B and PROFIBUS ............................... 11
3.3.2 Access to all information ............................. ....... ... ... .... ... ... ... ... .... ... .. 11
3.3.3 Cyclical and acyclical data exchange via PROFIBUS DP ................ 11
3.3.4 Acyclical data exchange via PROFIBUS DP-V1 ...... .... ... ... ... ... .... ... .. 11
3.3.5 Configuring the PROFIBUS option card ........................................... 12
3.3.6 Monitoring functions .......................................................................... 12
3.3.7 Diagnostics ....................................................................................... 13
3.3.8 Fieldbus monitor ............................................................................... 13
4 Integrated Safety Technology............................................................................. 14
4.1 Safety concept for PROFIsafe fieldbus interfaces ....................................... 14
®
4.2 Safety concept for MOVIDRIVE
and MOVITRAC®.................................... 15
4.2.1 Limitations ......................................................................................... 15
4.2.2 Schematic representation of the safety concept taking MOVIDRIVE
®
MDX61B as example ................................................. 16
5 Safety Conditions.................................. ... ... ... ............................................. ......... 1 7
5.1 Requirements on the installation.................................................................. 17
5.1.1 F-DO connection ............................................................................... 17
5.1.2 24 V voltage supply .......................................................................... 17
6 Assembly and Installation Instructions ............................................................. 18
®
6.1 Installing the DFS11B option card in MOVIDRIVE
MDX61B..................... 18
6.1.1 Before you start ................................................................................ 19
6.1.2 Installing and removing option cards ................................................ 20
6.2 Installing the DFS11B option card in MOVITRAC
®
B.................................. 21
6.2.1 SBus connection for individual unit ................................................... 21
6.2.2 System bus connection ..................................................................... 23
6.3 Assembling and installing the UOH11B gateway housing........................... 25
6.4 Connection and terminal description of the DFS11B option ........................ 26
6.5 Wiring diagram for safe technology.............................................................. 27
6.5.1 Wiring of individual MOVIDRIVE
6.5.2 Group connection of MOVIDRIVE
®
MDX61B and MOVITRAC® B .... 27
®
MDX61B and MOVITRAC® B .. 29
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe®
3
6.6 PROFIBUS pin assignment.......................................................................... 31
6.6.1 Connecting MOVIDRIVE
®
/ MOVITRAC®B / PROFIBUS ............... 31
6.6.2 Baud rates greater than 1.5 MBaud .................................................. 31
6.7 Shielding and routing bus cables................................................................. 32
6.8 Bus termination............................................................................................ 32
6.9 Setting the station address . ... ... .... ............................................. .................. 33
6.10 Operation indicators of the DFS11B option.................................................. 34
6.10.1 PROFIBUS LEDs ................. ... ... .... ...... ... ... .... ... ... ... .... ... ... ... ... .... ... .. 34
7 Project Planning and Startup.............................................................................. 36
7.1 Validity of the GSD files for DFS11B............................................................ 36
7.2 Project planning of PROFIBUS / P ROFIs afe with MOVIDRIVE
®
GSD file.. 36
7.2.1 GSD file for PROFIBUS DP-V1 ............ ... ... .... ... ... ... .... ... ... ... ... .... ... .. 36
7.2.2 Project planning procedure ............................................................... 37
7.2.3 DP configurations for MOVIDRIVE
7.3 Project planning for DP master with MOVITRAC
7.3.1 GSD file for operation in MOVITRAC
®
MDX61B .................................. 38
®
or gateway GSD file...... 41
®
B and UOH11B
gateway housing ............................................................................... 41
7.3.2 PROFIBUS DP master startup .......................................................... 42
7.3.3 Configuring the PROFIBUS DP interface ......................................... 43
7.3.4 Operating mode (DP-V1 mode) ........................................................ 46
7.3.5 Auto setup for gateway operation ............................................ .... ... .. 47
7.4 Setting the MOVIDRIVE
®
MDX61B drive inverter ....................................... 49
7.5 Setting the MOVITRAC® B frequency inverter............................................ 50
7.6 Project planning of PROFIsafe with STEP7.................. ... ... .... ... ... ............... 52
7.6.1 Hardware structure ........................................................................... 52
7.6.2 Installing the GSD file ....................................................................... 53
7.6.3 Configuring the DFS in HW Config ................................................... 54
7.6.4 Project planning for a new configuration ......................... .................. 55
7.6.5 Setting the parameters of the PROFIsafe properties ........................ 56
7.6.6 Description of the F-parameters ....................................................... 56
7.6.7 Safety diagnostics using PROFIBUS DP .......................................... 58
7.6.8 Response times of PROFIsafe option DFS ...................................... 60
7.7 Procedure for starting up DFS11B with MOVIDRIVE® MDX61B ................ 61
7.7.1 Preliminary work ............................................................................... 61
7.7.2 Switch on MOVIDRIVE® MDX61B with DC 24 V or AC 400 V ........ 62
7.8 Procedure for starting up DFS11B with MOVITRAC® B (gateway)............. 64
7.8.1 Preliminary work ............................................................................... 64
7.8.2 Switch on the units with DC 24 V or AC 400 V ................................. 64
8 PROFIBUS DP operating characteristics........................................................... 67
8.1 Data exchange with the DFS11B option...................................................... 67
8.1.1 Mapping the DFS in the address range of the PLC .......................... 68
8.1.2 F periphery DB of PROFIsafe option DFS ........................................ 69
8.2 Controlling the MOVIDRIVE
®
MDX61B drive inverter ..................... ... .... ... .. 71
8.2.1 Control example for SIMATIC S7 with MOVIDRIVE
®
8.2.2 PROFIBUS DP timeout (MOVIDRIVE
8.2.3 Fieldbus timeout response (MOVIDRIVE
®
8.3 Controlling the MOVITRAC
B inverter (gateway)....................................... 73
MDX61B) ............................ 72
®
MDX61B) ....................... 72
8.3.1 Control example for SIMATIC S7 with MOVITRAC
8.3.2 SBus timeout .................................................................................... 74
8.3.3 Unit error ........................................................................................... 74
8.3.4 Fieldbus timeout of the DFS11B in gateway operation ..................... 75
8.4 SIMATIC S7 example program .................................................................... 75
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe®
®
MDX61B ....... 72
®
B (gateway) .... 74
8.5 Parameter setting via PROFIBUS DP.......................................................... 76
8.5.1 Structure of the 8 byte MOVILINK
®
parameter channel ................... 76
8.5.2 Reading a parameter via PROFIBUS DP (READ) ............................ 79
8.5.3 Writing a parameter via PROFIBUS DP (WRITE) ............................ 80
8.5.4 Parameter setting procedure with PROFIBUS DP ............................ 81
8.5.5 Parameter data format ...................................................................... 81
8.5.6 Return codes for parameterization .................................................... 82
8.5.7 Special cases .................................................................................... 83
9 PROFIBUS DP-V1 Functions............................................................................... 85
9.1 Introduction to PROFIBUS DP-V1 ................................... ... ......................... 85
9.1.1 Class 1 master (C1 master) .............................................................. 86
9.1.2 Class 2 master (C2 master) .............................................................. 86
9.1.3 Data sets (DS) .................................................................................. 86
9.1.4 DP-V1 services ................................................................................. 87
9.1.5 DP-V1 alarm handling ....................................................................... 87
9.2 Characteristics of SEW inverters ........................... .... ... ... ............................ 88
9.3 Structure of the DP-V1 parameter channel.................................................. 89
9.3.1 Procedure for setting parameters via data set 47 ............................. 91
9.3.2 DP-V1 master processing sequence ................................................ 92
9.3.3 Addressing connected inverters ........................................................ 93
9.3.4 MOVILINK
®
parameter requests ...................................................... 93
9.3.5 PROFIdrive parameter orders ........................................................... 98
9.4 Configuring a C1 master ............................................................................ 103
9.4.1 Operating mode (DP-V1 mode) ...................................................... 103
9.4.2 Example program for SIMATIC S7 ................................................. 104
9.4.3 Technical data DP-V1 for MOVIDRIVE
9.4.4 Technical data DP-V1 for the gateway operation and MOVITRAC
®
...................................... .......................................... ... 109
®
DFS11B .......................... 109
9.4.5 Error codes of the DP-V1 services .................. ... ... .......................... 110
®
10 Operating MOVITOOLS
MotionStudio via PROFIBUS.................................. 111
10.1 Introduction ................................................................................................ 111
10.2 Required hardware .................................................................................... 112
10.3 Required software...................................................................................... 112
10.4 Installation.................................................................................................. 112
10.5 Configuring SIMATIC NET......................................................................... 113
10.6 Configuring the SEW communication service............................................ 116
10.6.1 Establishing communication ........................................................... 116
10.6.2 Procedure .................................. ............................................. ....... 117
10.7 Known problems when operating MOVITOOLS
®
MotionStudio ................ 119
11 Fault Diagnosti cs ................. .... ... ... ............................................. ....................... 120
11.1 Diagnostic procedures ............................................................................... 120
11.2 Error list in gateway operation.................................................................... 123
11.3 Error table PROFIsafe option DFS11B...................................................... 124
12 Technical Data.................................................................................................... 125
12.1 DFS11B option for MOVIDRIVE
12.2 DFS11B option for MOVIT RA C
12.3 DFS11B safety part for MOVIDRIVE
®
MDX61B............................................... 125
®
B and gateway housing UOH11B.......... 126
®
MDX61B and MOVITRAC® B ....... 127
13Index.................................................................................................................... 128
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe®
5
1
Important Notes
Explanation of symbols
1 Important Notes
Manual
1.1 Explanation of symbols
Always observe the safety and warning information in this documentation.
Electrical hazard
Possible consequences: Severe or fatal injuries.
Hazard.
Possible consequences: Severe or fatal injuries.
Hazardous situation
Possible consequences: Slight or minor injuries.
Harmful situation
Possible consequences: Damage to the unit and the environ­ment.
Tips and useful information.
1.2 Integral part of the product
The manual is a component of the DFS11B PROFIBUS DP-V1 fieldbus interface and contains important information for operation and service.
1.3 Documentation reference
• You must adhere to the information in the documentation to ensure:
• Fault-free operation
• Fulfillment of any rights to claim under limited warranty
• Consequently, read through this manual carefully before you start installation and startup of inverters with the DFS11B PROFIBUS option card.
• This manual assumes that the user has access to and is familiar with the MOVIDRIVE MDX60B / 61B and MOVI TR AC® B system manuals.
®
and MOVITRAC® documentation, in particular the MOVIDRIVE
®
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
1.4 Liability for defects
Incorrect handling or undertaking any action that is not specified in this manual could impair the properties of the product. In this case, you lose any right to claim under limited warranty against SEW-EURODRIVE GmbH & Co KG.
1.5 Product names and trademarks
The brands and product names named in these operating instructions are trademarks or registered trademarks of the titleholders.
1.6 Waste disposal
Please follow the current national regulations.
Dispose of the following materials separately in accordance with the country-specific regulations in force, as:
• Electronics scrap
• Plastics
• Sheet metal
• Copper etc.
Important Notes
Liability for defects
1
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
7
2
Safety Notes
Preliminary information
2 Safety Notes
• You are only allowed to perform installation and startup of the DFS11B field-
2.1 Preliminary information
The following safety notes apply to the DFS11B PROFIBUS DP-V1 fieldbus inter­face.
Please also consider the supplementary safety notes in the indiv idual sections of this manual.
bus interface when observing applicable accident prevention regulations and the MOVIDRIVE® MDX60B / 61B and MOVITRAC® B operating instructions.
2.2 General safety notes
Never install damaged products or take them into operation.
Submit a complaint to the shipping company immediately in the event of damage.
2.2.1 General safety notes for bus systems
The communication system allows you to adjust the MOVIDRIVE®/ MOVITRAC inverters to your specific application very accurately. As with all bus systems, there is
a risk of invisible, external (as far as the inverter is concerned) modifications to the parameters which give rise to changes in the inverter behavior. This may result in unexpected (not uncontrolled) system behavior.
2.3 Transport / storage
Inspect the shipment for any damage that may have occurred in transit as soon as you receive the delivery. Inform the shipping company immediately in the event of a damage. Do not operate the product if it is damaged.
Use suitable, sufficiently rated handling equipment if necessary.
®
Possible damage caused by incorrect storage!
Store the unit in a dry, dust-free room if it is not to be installed straight away.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
2.4 Installation / assembly
Observe the notes in section 6, "Assembly and Installation Notes".
2.5 Startup / operation
Observe the notes in section 7, "Project Planning and Startup."
Safety Notes
Installation / assembly
2
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
9
3
Introduction
Content of this manual
3 Introduction
3.1 Content of this manual
This user manual describes
• How to install the PROFIBUS / PROFIsafe
• How to use the PROFIBUS / PROFIsafe
• How to start up MOVIDRIVE
• How to start up MOVITRAC
• How to configure the PROFIBUS using GSD files.
• How to configure PROFIsafe
• How to operate MOVITOOLS
®
DFS11B option card in the
MOVIDRIVE
®
MDX61B drive inverter.
®
DFS11B option card in the MOVITRAC®B
frequency inverter and in the UOH11B gateway housing.
®
with the PROFIBUS fieldbus system.
®
B with the PROFIBUS gateway.
®
.
®
MotionStudio via PROFIBUS.
3.2 Additional documentation
For information on how to connect MOVIDRIVE® / MOVITRAC® straightforwardly and effectively to the PROFIBUS fieldbus system, you should request the following publica­tions about fieldbus technology in addition to this user manual about the PROF IBUS option:
®
•MOVIDRIVE
•MOVITRAC
•MOVIDRIVE
• Manuals on MOVITRAC
• Safe Disconnection for MOVIDRIVE
The manual for the MOVIDRIVE manual describe the fieldbus parameters and their coding, as well as explains th e whole range of various control concepts and application optio ns in the for m of brie f exampl es.
The 'Fieldbus Unit Profile and Parameter List' for MOVIDRIVE of all drive inverter parameters. These parameters can be read and written via the vari­ous communication interfaces, such as system bus, RS-485, and fieldbus interface.
Fieldbus Unit Profile manual
®
B system manual
®
MDX61B system manual
®
B safe disconnection
®
MDX60B/61B manual
®
Fieldbus Unit Profile and MOVITRAC® B system
®
manual contains a list
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
3.3 Features
Introduction
Features
With the DFS11B option and its powerful universal fieldbus interface, the MOVIDRIVE MDX61B drive inverter and the MOVITRAC® B frequency inverter allow for a connection to higher-level automation systems via PROFIBUS / PROFIsafe
®
.
3
®
3.3.1 MOVIDRIVE
3.3.2 Access to all information
3.3.3 Cyclical and acyclical data exchange via PROFIBUS DP
®
, MOVITRAC®B and PROFIBUS
The unit behavior of the inverter which forms the basis of PROFIBUS operation is referred to as the unit profile. It is independent of any particular fieldbus and is therefore a uniform feature. This feature allows the user to develop fieldbus-indepen dent applica­tions. This makes it much easier to change to other bus systems, such as DeviceNet.
MOVIDRIVE functions via the PROFIBUS interface. The drive inverter is controlled via fast, cyclic pro­cess data. Via this process data channel, you can enter setpoints such as the setpoint speed, ramp generator time for acceleration/deceleration, etc. as well as trigger various drive functions such as enable, control inhibit, normal stop, rapid stop, etc. At the same time you can also use this channel to read back actual values from the drive inverter, such as actual speed, current, unit status, error number or reference signals.
®
MDX61B / MOVITRAC® B offer digital access to all drive parameters and
While process data exchange usually takes place cyclically, drive parameters can be read and written acyclically via functions such as READ or WRITE or via the MOVILINK ment applications in which all the important drive parameters are stored in the maste r programmable controller, so that there is no need to make parame ter settings manually on the drive inverter itself.
3.3.4 Acyclical data exchange via PROFIBUS DP-V1
The PROFIBUS DP-V1 specification introduced new acyclical READ / WRITE services as part of the PROFIBUS DP expansions. These acyclical services are added to the current cyclical bus operation in special telegrams to ensure compatibility of PROFIBUS DP and PROFIBUS DP-V1.
®
parameter channel. This parameter data exchange enables you to imple-
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
11
3
EURODRIVE
Introduction
Features
3.3.5 Configuring the PROFI BUS opt io n card
Generally, the PROFIBUS option card has been designed so that all fieldbus-specific settings, such as the station address and the default bus parameter can be made using hardware switches on the option card. This manual setting means the drive inverter can be integrated into the PROFIBUS environment and switched on within a very short pe­riod of time.
[1]
PROFIBUS Master
B
®
EURODRIVEEURODRIVE
MOVITRAC
Figure 1: PROFIBUS with MOVIDRIVE® and MOVITRAC
[1] Visualization
3.3.6 Monitoring functions
Using a fieldbus system requires additional monitoring functions for the drive technolo­gy, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts. You can, for example, adapt the monitoring functions of MOVIDRIVE specifically to your application. You can determine, for instance, which of the drive inverter’s error responses should be triggered in the event of a bus error. A rapid stop is useful for many applications. You can also 'freeze' the last setpoints so the drive contin­ues operating with the most recently valid setpoints (for ex ample, conveyor belt). As the range of functions for the control terminals is also guara nteed in fieldbus mode, yo u can continue to implement rapid stop concepts using the terminals of the drive inverter, irre­spective of the fieldbus used.
Digital I/O Analog I/O
PROFIBUS
B
®
MOVIDRIVE
®
B
®
MOVIDRIVE
58687AXX
®
/ MOVITRAC
®
12
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
3.3.7 Diagnostics
Introduction
Features
3
The MOVIDRIVE numerous diagnostics options for startup and service. For example, you can use the integrated fieldbus monitor to control setpoint values sent from the higher-level control­ler as well as the actual values.
3.3.8 Fieldbus monitor
Furthermore, you are supplied with a variety of additional information about the status of the fieldbus interface. The fieldbus monitor in conjunction with the MOVITOOLS addition to setting all drive parameters (including the fieldbus parameters), the tool dis­plays the fieldbus and unit status information in detail.
®
drive inverter and the MOVITRAC® B frequency inverter offer you
®
MotionStudio PC software offers you an easy-to-use diagnostic tool. In
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
13
4
Integrated Safety Technology
Safety concept for PROFIsafe fieldbus interfaces
4 Integrated Safety Technology
4.1 Safety concept for PROFIsafe fieldbus interfaces
• Within the DFS.. PROFIsafe interface, PROFIsafe fieldbus interfaces are equipped with an integrated safety-oriented electronics components with a failsafe output (F­DO). The safety concept of this component is based on a safe status for all safety­oriented process variables. For this PROFIsafe interface DFS.., this is the value "0" for the F-DO output.
• The following requirements are fulfilled by means of a 2-channel redundant system structure of the safety component with suitable monitoring mechanisms:
• SIL3 according to EN 61508
• Category 4 according to EN 954-1
• Performance level e according to EN ISO 13849-1 When the system detects a fault, the system responds by reverting to a safe status.
This makes the safety function available in the form of a failsafe input connected to a higher-level safety control via the PROFIsafe communication. The safe output on the safety component of the DFS interface is neither evaluated locally nor processed logically.
• The safe output F-DO can be used to disabl e the 24 V input "Safe stop" at X17 of the MOVIDRIVE Refer to the safety concept described in the following for MOVIDRIVE installation instructions in this manual.
®
/MOVITRAC® inverter and in this way safely disconnects the drive.
®
/MOVITRAC® inverters as well as all safety notes, requirements and
Important: The safety function of MOVIDRIVE® / MOVITRAC® is only permitted for applica-
tions up to category 3 according to EN 954-1.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Integrated Safety Technology
Safety concept for MOVIDRIVE® and MOVITRAC®
4
4.2 Safety concept for MOVIDRIVE® and MOVITRAC
• In case of danger, any potential risk to a machine must be eliminated as quickly as possible. Standstill with restart prevention is generally the safe condition for prevent­ing dangerous movements.
• The MOVIDRIVE the optional connection of an external fail-safe, approved emergency stop relay (according to safety category 3, EN 954-1). The emergency stop relay disconnects all active elements (disconnection of the safety oriented 24 V power supply of the output stage control) that generate the pulse trains to the power output stage (IGBT) when a connected control device (E-STOP butto n with latching function) is activated.
• Disconnecting the 24 V at the positive and negative poles ensures that the supply voltages required for operating the inverter and consequently for generating a rotat­ing field of pulse patterns (w hich allow the generation of a rotating field) are s afely interrupted. Automatic restart is prevented in this way.
• Instead of galvanic separation of the drive from the power supply by means of relays or switches, the disconnection of the 24 V supply described here safely prevents the control of the power semiconductors in the drive inverter. This process disconnects the rotating field generation for the respective motor. The individual motor cannot develop any torque in this state even though the mains voltage is still present.
• The requirements for the emergency stop relay are clearly defined in the following sections and must be strictly observed.
®
MDX61B and MOVITRAC® B drive inverters are characterized by
®
4.2.1 Limitations
Using a suitable external circuit via an emergency stop relay with
– Approval for at least safety category 3 – Disconnection for at least safety category 3
allows for operating the MOVIDRIVE® MDX61B and MOVITRAC® B drive invert­ers with safe disconnection according to stop category 0 or 1 (to EN 60204-1) and ensures protection against restart according to safety category 3 (to EN 954-1).
• If the DC 24 V link voltage is safely disconnected at the positive pole only, no test pulses must be applied to this pole in disconnected condition.
• Important: The safety concept is only suitable for performing mechanic al work on system/machine components.
• Important: A system/machine-specific risk analysis must be carried out by t he system/machine manufacturer and taken into account for operation of the MOVIDRIVE
• Danger of fatal injury: When the 24 V voltage supply is disconnected, mains supply voltage is still present on the drive inverter’s DC link.
• Important: If work is carried out on the electrical section of the drive system, the supply voltage must be disconnected using an external maintenance switch.
®
MDX 61B and MOVITRAC®B inverters.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
15
4
Integrated Safety Technology
Safety concept for MOVIDRIVE® and MOVITRAC®
4.2.2 Schematic representation of the safety concept taking MOVIDRIVE® MDX61B as example
Uz+
Uz-
CAN
RS485
Binary
IN
Binary
OUT
Analog
IN
Analog
OUT
[1]
SNT
HV
[17]
[14] [13 ]
24V
int.
24V ext.
SNT
NV
[16]
24V
int.
24V ext./ 24V int.
[2]
[15]
24V
GND
[5]
[6]
[7]
[8]
[10]
PWM
S24V
S0V24
[4]
GND
S0V24
SNT
[9]
Uz+
[3]
24V
MOVIDRIVE
24
I V S
®
B
[11]
M
Uz-
[12]
L1L2 L3
61519AXX
Figure 2: Schematic representation of the "safety concept for MOVIDRIVE® MDX61B"
[1] High voltage switched-mode power supply [2] Low voltage switched-mode power supply [3] Emergency stop relay (external) approved for at least category 3 according to EN 954-1 [4] Safety-oriented 24 V voltage supply [5] Safety switched-mode power supply (SNT) [6] Galvanic isolation [7] Safety circuit [8] Feedback to the central processing unit: Voltage supply for output stage control OK (not in safety circuit) [9] Voltage supply for control of the power transistors [10] 24 V safety switched-mode power supply disconnected / brake applied (not in safety circuit) [11] Motor [12] Power section [13] Temperature detection [14] Position sensing [15] Pulse width modulated signals for output stage [16] Central processing unit [17] Fieldbus interface
This representation also applies to MOVITRAC®B.
16
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
5 Safety Conditions
For information on the safety-relevant conditions, refer to the following documents:
•"MOVIDRIVE
•"MOVITRAC
5.1 Requirements on the installation
5.1.1 F-DO connection
• The maximum current load of the F-DO safety-related binary output is DC 1 A.
• The safety-related binary output is 2-pole, designed as P-M switch, and controlled via PROFIsafe
• Actuators must generally be connected with the safe output F -DO with a 2-pole con­nection between the P switch output and the M switch output (F-DO_P and F­DO_M).
• It is not permitted to make a 1-pole connection between F-DO_P and the GND refer ­ence potential as doing so would cause an error as soon as the output is controlled.
• Internal testing of the safe output is cyclical. However, when decoupling takes place, the test pulses at the connection terminals are not visible and need not be taken into account during operation.
®
MDX60B / 61B Safe Disconnection – Conditions" manual
®
B Safe Disconnection – Conditions" manual
®
by a higher-level safety control.
Safety Conditions
Requirements on the installation
5
5.1.2 24 V voltage supply
The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. Besides, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
17
6
Assembly and Installation Instructions
Installing the DFS11B option card in MOVIDRIVE® MDX61B
6 Assembly and Installation Instructions
This section contains information about assembly and installation of the DFS11B option
®
card in MOVIDRIVE
MDX61B, MOVITRAC® B and UOH11B gateway housing.
6.1 Installing the DFS11B option card in MOVIDRIVE® MDX61B
Only SEW-EURODRIVE engineers may install or remove option cards for MOVIDRIVE ® MDX61B.
• Users may only install or remove option cards for MOVIDRIVE 1 to 6.
• Plug the DFS11B option card into the fieldbus slot [1].
DFS11B
FSR FDOBF FDO
[1]
12 34 56
F-ADDRESS X31
01
X30
2 2 2 2
2 2 2
AS
LS PS
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
5
9
6
1
0 1 2 3
4 5 6
01
®
MDX61B sizes
62268AXX
[1] Fieldbus slot
18
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Installing the DFS11B option card in MOVIDRIVE® MDX61B
6.1.1 Before you start
The DFS11B option card must be plugged in the fieldbus slot.
Observe the following notes before installing or removing an option card:
• Disconnect the inverter from the power. Switch off the DC 24 V and the supply
• Take appropriate measures to protect the option card from electrostatic charge (use
• Before installing the option card, remove the keypad and the front cover.
• After installing the option card, replace the front cover and the keypad.
• Keep the option card in its original packaging until imm ediately before you ar e ready
• Hold the option card by its edges only. Do not touch any components.
Assembly and Installation Instructions
voltage.
discharge strap, conductive shoes, and so on) before touching it.
to install it.
6
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
19
6
6.1.2 Installing and removing option cards
Assembly and Installation Instructions
Installing the DFS11B option card in MOVIDRIVE® MDX61B
1.
2.
3.
4.
Figure 3: Installing an option card in MOVIDRIVE® MDX61B sizes 1 to 6
1. Remove the two retaining screws holding the card retaining bracket . Pull the card retaining bracket out evenly from the slot (do not twist !).
2. Remove the two retaining screws of the black cover on the card retaining bracket. Remove the black cover.
3. Position the option card onto the retaining bracket so that the three retaining screws fit into the corresponding bores on the card retaining bracket.
4. Insert the retaining bracket with installed option card into the slot, pressing slightly so it is seated properly. Secure the card retaining bracket with the two retaining screws.
5. To remove the option card, follow the instructions in reverse order.
53001AXX
20
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
Installing the DFS11B option card in MOVITRAC® B
6.2 Installing the DFS11B option card in MOVITRAC® B
•MOVITRAC® B does not require special firmware status.
• Only SEW-EURODRIVE engineers are allowed to install or remove option cards for MOVITRAC
6.2.1 SBus connection for individual unit
[1]
®
B.
MOVITRAC® B
DFS11B
FSR FDOBF
FDO
12
LS
34 56
PS
0
2
1
2
2
2
3
2
4
2
5
F-ADDRESS X31
01
2
6
2
7
2
8
2
9
2
X44
S1
S2
ON OFF
6
5
9
X30
6
1
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
01
H1
H2
X24
X26
1234567
24V
FSC11B
X46
X45
7
23456HL^
1
X12
1 2 3
+
=
-
24V IO GND
4 5 6 7 8 9
61085AXX
[1] Terminating resistor activated, S1 = ON
The DFS11B features an integrated SBus terminating resistor and must therefore always be installed at the beginning of the SBus conne ctio n.
The address of the DFS11B option card is always 0.
X46 X26 Description
X46:1 X26:1 SC11 SBus +, CAN high X46:2 X26:2 SC12 SBus –, CAN low
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
21
6
Assembly and Installation Instructions
Installing the DFS11B option card in MOVITRAC® B
X46 X26 Description
X46:3 X26:3 GND, CAN GND X46:7 X26:7 DC 24 V
X12 Description
X12:8 +24 V input X12:9 GND reference potential for the binary inputs
X31 Description
X31:1 Safe output F_DO_M X31:2 Safe output F_DO_P X31:3 Supply of the safe output GND X31:4 Supply of the safe output 24V_LS X31:5 Power supply to control electronics GND X31:6 Power supply to control electronics 24V_PS
Description of the LEDs LED Meaning
R RUN – Component status (green) BF BUS FAULT – Bus status (red, if a fault occurs, else disabled) FS Status of the safety option (green during standard operation) FDO Status of the safe output (orange)
To simplify cabling, the DFS11B can be supplied with DC 24 V from X46.7 of the
®
MOVITRAC MOVITRAC
to X26.7.
®
B must be supplied with DC 24 V at terminals X12.8 and X12.9 when it
supplies the DFS11B option.
The line length of the supply voltages 24V_LS and 24V_PS must not exceed 30 m.
22
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Installing the DFS11B option card in MOVITRAC® B
6.2.2 System bus connection
MOVITRAC® B
S1
S2
ON OFF
X44
FSC11B
X46
X45
7
23456HL^
1
X12
1 2 3 4 5 6 7 8 9
24V
+
=
-
24V IO GND
DFS11B
FSR FDOBF
FDO
12
LS
34 56
PS
0
2
1
2
2
2
3
2
4
2
5
2
6
F-ADDRESS X31
2
7
2
8
2
9
2
01
5
9
X30
6
1
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
01
H1
H2
X24
X26
1234567
Assembly and Installation Instructions
MOVITRAC® B
S1
ON OFF
X44
FSC11B
X46
X45
23456HL ^
1
S2
7
MOVITRAC® B
S1
X44
FSC11B
X45
1
X46
23456HL ^
6
S2
ON OFF
7
Figure 4: System bus connection
DFS Description
GND System bus reference SC11 System bus high SC12 System bus low
MOVITRAC® B Description
GND System bus reference SC22 System bus low, outgoing SC21 System bus high, outgoing SC12 System bus low, incoming SC11 System bus high, incoming S12 System bus terminating resistor
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
61051AXX
23
6
Assembly and Installation Instructions
Installing the DFS11B option card in MOVITRAC® B
Please note:
• Use a 2 x 2-core twisted pair and shielded copper cable (data transmission cable with braided copper shield). Connect the shield flatly on both sides of the electronics shield clamp of MOVITRAC must meet the following specifications:
– Core cross section 0.75 mm – Line resistance 120 Ω at 1 MHz – Capacitance per unit length ≤ 40 pF/m at 1 kHz
• The permitted total cable length depends on the baud rate setting of the SBus: – 250 kBaud: 160 m
– 500 kBaud: 80 m – 1000 kBaud: 40 m
• Connect the system bus terminating resistor (S1 = ON) at the end of the system bus connection. Switch off the terminating resistor on the other units (S1 = OFF). The DFS11B gateway must always be connected either at the beginning o r the end of the system bus connection and have a permanently installed terminating resistor.
®
. Also connect the ends of the shield to GND. The cable
2
• There must not be any potential displacement between the units connected with the SBus. Take suitable measures to avoid potential displacement, such as connecting the unit ground connectors using a separate cable.
• Point-to-point wiring is not permitted.
24
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
V
Assembling and installing the UOH11B gateway housing
6.3 Assembling and installing the UOH11B gateway housing
UOH11B
DFS11B
12 34 5
F-ADDRESS X31
01
X30
6
FSR FDOBF
FDO LS
6
PS
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
5
9
6
1
SEW Drive
SC11 Systembus +, CAN high
SC12 Systembus -, CAN low
GND, CAN GND
X26
X26:1 SC11 system bus +, CAN high X26:2 SC12 system bus -, CAN low X26:3 GND, CAN GND X26:6 GND, CAN GND X26:7 DC 24 V
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
X24
X26
23456
1
01
H1
H2
7
+ 24
GND
61050AXX
The gateway housing has a power supply of DC 24 V that is connected to X26. Connect the system bus terminating resistor at the end of the system bus connection.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
25
6
Assembly and Installation Instructions
Connection and terminal description of the DFS11B option
6.4 Connection and terminal description of the DFS11B option
Part number PROFIBUS / PROFIsafe® interface type DFS11B option: 1820 9629
The "PROFIBUS interface type DFS11B" option can only be used in conjunction with MOVITRAC
®
B and MOVIDRIVE® MDX61B, not with MOVIDRIVE®MDX60B.
The DFS11B option must be plugged in the fieldbus slot.
Front view of DFS11B
Description
Diagnostic LEDs: R
DFS11B
FSR FDOBF
FDO
12 34 56
F-ADDRESS X31
01
9
X30
6
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
01
LS PS
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
5
1
X31 connection 1 (F_DO_M)
F-ADDRESS: DIP switch for setting the failsafe address
X30: PROFIBUS connec­tion
61048AXX
ADDRESS: DIP switch for setting the PROFIBUS station address
1) The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed as safety e xtra-low voltage. The voltage must lie within the limits defined in the technical data. Besides, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
DIP switch Terminal
FS BF FDO
2 (F_DO_P) 3 (GND) 4 (24 V_LS) 5 (GND) 6 (24 V_PS)
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2 X30:1
X30:2 X30:3 X30:4 X30:5 X30:6 X30:7 X30:8 X30:9
0
2
1
2
2
2
3
2
4
2
5
2
6
2 AS
Function
RUN – Component status (green) Failsafe status – Status of the safety option (green during stan­dard operation) BUS FAULT – Bus status (red if a fault occurs, else disabled) Failsafe output – Status of the safe output (orange)
Safe output Safe output Supply of the safe output Supply of the safe output Power supply to control electronics Power supply to control electronics
1)
1)
Significance: 1 Significance: 2 Significance: 4 Significance: 8 Significance: 16 Significance: 32 Significance: 64 Significance: 128 Significance: 256 Significance: 512
N.C. N.C. RxD/TxD-P CNTR-P DGND (M5V) VP (P5V/100 mA) N.C. RxD/TxD-N N.C.
Significance: 1 Significance: 2 Significance: 4 Significance: 8 Significance: 16 Significance: 32 Significance: 64 Auto setup for gateway operation
Front view of MOVITRAC
®
B, DFS11B
Description Function
and UOH11B
H1
H2
X24
LED H1 (red) LED H2 (green)
X24 X terminal
System error (only for gateway functions) Reserved
RS-485 interface for diagnostics via PC and MOVITOOLS (only applies to MOVITRAC
®
MotionStudio
®
B)
58129axx
26
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
Wiring diagram for safe technology
6.5 Wiring diagram for safe technology
6.5.1 Wiring of individual MOVIDRIVE® MDX61B and MOVITRAC® B
6
MOVIDRIVE® B MOVITRAC
®
B
X31:1 - F-DO_M
Reference potential for binary signal
Reference +24 V input safe stop
+24 V input safe stop
+24 V output
VO24
SVI24
SOV24
1 DGND
234
X17:
–
Voltage
supply
24V
DFS11B
GND
F-ADDRESS
01
AS
=
X31
12 34 56
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
9
X30
6
0
2
1
2
2
2
3
2
4
2
5
2
6
2
01
+
FSR FDOBF
FDOFDO LS PSGND
5
1
[1]
X31:2 - F_DO_P
Cable specification
61520AEN
[1] The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be
designed as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. Besides, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
2
Only connect cables with a core cross section of a minimum of 0.25 mm
2
to a maximum 1 mm
(AWG18) to the safety-related binary output F-DO (X31:1, X31:2)
(AWG23) up
of the DFS11B option. IEC 60999 does allow clamping without conductor end sleeves. The maximum line length is 30 m.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
27
6
F-DO connection • The safety-related binary output is 2-pole, designed as P-M switch, and controlled
Assembly and Installation Instructions
Wiring diagram for safe technology
via PROFIsafe by a higher-level safety control.
• An actuator must generally be connected with the safe output F-DO with a 2-pole connection between the P switch output and the M switch output (F-DO_P and F­DO_M).
• It is not permitted to make a 1-pole connection between F-DO_P and the GND refer ­ence potential as doing so would cause an error as soon as the output is controlled.
• Internal testing of the safe output is cyclical. However, when decoupling takes place, the test pulses at the connection terminals are not visible and need not be taken into account during operation.
Internal tests and monitoring processes are able to detect various external faults: When the output is switched on, the following faults can be detected.
• Short circuit between P output and reference potential
• Short circuit between M output and +24 V supply voltage
• Short circuit between P output and M output
When the output is switched off, the following faults can be detected.
• Short circuit between P output and reference potential
• Short circuit between M output and reference potential
• Short circuit between P output and +24 V supply voltage
• Short circuit between M output and +24 V supply voltage
Whenever the system detects a fault, it reverts to a safe status, i.e. all safety-related pro­cess values (F-DO) are set to "0". In addition, the safety component is passivated. The fault is indicated by the "FS" LED (failsafe status) (→ page 35).
The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. In addition, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
28
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
P
Wiring diagram for safe technology
6.5.2 Group connection of MOVIDRIVE® MDX61B and MOVITRAC® B
6
MOVIDRIVE® B MOVITRAC
X17:
®
Reference potential for binary signal
Reference +24 V input safe stop
+24 V input safe stop
+24 V output
VO24
SVI24
SOV24
1 DGND
234
B
MOVIDRIVE® B MOVITRAC
Reference potential for binary signal
1 DGND
X17:
®
Reference +24 V input safe stop
+24 V output
VO24
SOV24
234
MOVITRAC
B
+24 V input safet stop
SVI24
X17:
®
B
Reference potential for binary signal
Reference +24 V input safe stop
+24 V input safe stop
+24 V output
VO24
SVI24
SOV24
1 DGND
234
MOVIDRIVE® B
Voltage
supply
24V
–
DFS11B
X31:1 - F-DO_M X31:2 - F_DO_
GND
F-ADDRESS
01
AS
=
X31
12 34 56
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
9
X30
6
0
2
1
2
2
2
3
2
4
2
5
2
6
2
01
+
FSR FDOBF
FDOFDO LS PSGND
5
1
[1]
61521AEN
[1] The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed
as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. In addi­tion, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
Observe that the maximum current load of the F-DO safety-related binary output is DC 1 A.
The DFS11B option card might be destroyed if the maximum current load (DC 1 A) of the safety-related binary output F-DO is exceeded. If this happens, the safety function of MOVIDRIVE
®
MDX61B / MOVITRAC® B is not ensured.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
29
6
Assembly and Installation Instructions
Wiring diagram for safe technology
Cable specification
Only connect cables with a core cross section of a minimum of 0.25 mm2 (AWG23) up
2
to a maximum 1 mm
(AWG18) to the safety-related binary output F-DO (X31:1, X31:2)
of the DFS11B option. IEC 60999 does allow clamping without conductor end sleeves.
Power consumption of the safe contact X17 for MOVITRAC
X17 safety input, terminal 4
Voltage / cross section / time Min. Type Max. Unit
Safety-related 24 V supply voltage 19.2 24 30 VDC Power consumption (size / capacity) Size 0 / 24 µF
Size 1 / 270 µF5 Size 2/2S / 270 µF6 Size 3 / 270 µF7.5 Size 4 / 270 µF8 Size 5 / 270 µF10
Cross section of the connection line of the safety-related 24 V volt­age supply
Duration for disconnecting the safety­oriented 24 V supply voltage
Size 0 Sizes 1 to 5 10
®
3
––
0.75 – 1.5 mm
––
20
Watt
2
ms
Power consumption of the safe contact X17 for MOVIDRIVE
X17 safety input, terminal 4
MOVIDRIVE® MDX60/61B General electronics data
Safety contact X17:1
X17:2 X17:3
X17:4
Permitted cable cross section
Power consumption X17:4
Input capacitance X17:4
Time for restart Time to inhibit output stage
Signal level
DGND: Reference potential for X17:3 VO24: U other units. SOV24: Reference potential for DC+24 V input "Safe stop" (safety contact) SVI24: DC+24 V input "Safe stop" (safety contact)
One conductor per terminal: 0.08 ... 1.5 mm Two conductors per terminal: 0.25 ... 1.0 mm
Size 0: 3 W Size 1: 5 W Size 2, 2S: 6 W Size 3: 7.5 W Size 4: 8 W Size 5: 10 W Size 6: 6 W
Size 0: 27 µF Sizes 1 to 6: 270 µF
= 200 ms
t
A
≤ 100 ms
t
S
DC +19.2 V...+30 V= "1" = Contact closed DC–30 V...+5 V= "0" = Contact open
= DC 24 V, only to supply X17:4 of the same unit; it cannot be used to supply
OUT
®
2
(AWG28...16)
2
(AWG23...17)
30
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
6.6 PROFIBUS pin assignment
Connection to the PROFIBUS network using a 9-pin D-sub plug according to IEC 61158. The T-bus connection must be ma de using a conn ector w ith th e corres pondin g config ­uration.
RxD/TxD- P
1
6
9
[1]
RxD/TxD-N CNTR-P
DGND (M5V)
VP (P5V/100mA)
5
N.C.
Assembly and Installation Instructions
PROFIBUS pin assignment
[2]
3
8 4
5 6 9
[3]
6
Figure 5: Assignment of 9-pin D-sub plug to IEC 61158
[1] 9-pin D-sub connector [2] Signal line, twisted [3] Conductive connection over a large area is necessary between plug housing and the shield
®
6.6.1 Connecting MOVIDRIVE
/ MOVITRAC®B / PROFIBUS
As a rule, the DFS11B option is connected to the PROFIBUS system using a shielded twisted-pair cable. Observe the maximum supported transmission rate when selecting the bus connector.
The twisted-pair cable is connected to the PROFIBUS connector at pin 3 (RxD/TxD-P) and pin 8 (RxD/TxD-N). Communication takes place via these two contacts. The RS-485 signals RxD/TxD-P and RxD/TxD-N must be connected to the same contacts in all PROFIBUS stations. Otherwise, no communication is possible via the bus medium.
The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic adapter (reference = pin 5) via pin 4 (CNTR-P).
6.6.2 Baud rates greater than 1.5 MBaud
61500AXX
The DFS11B option with baud rates > 1.5 MBaud can only be operated with special 12 MBaud PROFIBUS connectors.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
31
6
Assembly and Installation Instructions
Shielding and routing bus cables
6.7 Shielding and routing bus cables
The PROFIBUS interface supports RS-485 transmission technology and requires the cable type A to IEC 61158 as the physical medium for th e PROFI BUS. T his ca ble mus t be a shielded, twisted-pair cable.
Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments. Take the following measures to optimally shield bus cables:
• Manually tighten the mounting screws on the connectors, modules, and equipotential bonding conductors.
• Use only connectors with a metal housing or a metallized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus line on both ends.
• Route signal and bus cables in separate cable ducts. Do not route them parallel to power cables (motor leads).
• Use metallic, grounded cable racks in industrial environments.
• Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route.
• Avoid using plug connectors to extend bus cables.
• Route the bus cables closely along existing grounding surfaces.
In case of fluctuations in the ground potential, a compensating current may flow via the bilaterally connected shield that is also connected to the protective earth (PE). Make sure you supply adequate equipotential bonding according in accordance with relevant VDE regulations in such a case.
6.8 Bus termination
The DFS11B option is not provided with bus terminating resistors. This enables the bus system to be put into operation more easily and reduces the number of error sour ces.
Use a connector with integrated bus terminating resistor if the DFS11B is loca ted at the beginning or end of a PROFIBUS segment and only one PROFIBUS cable leads to the DFS11B option.
Switch on the bus terminating resistors for this PROFIBUS connector.
32
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
6.9 Setting the station address
Assembly and Installation Instructions
Setting the station address
6
Set the PROFIBUS station address using DIP switches 20 to 26 on the option card. MOVIDRIVE
®
supports the address range 1 to 125.
DFS11B
FSR FDOBF
FDO
12
LS
34 56
PS
0
2
1
2
2
2
3
2
4
2
5
2
6
F-ADDRESS X31
2
7
2
8
2
9
2
01
5
9
X30
6
1
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
01
The default setting for the PROFIBUS station address is 4:
20 → Significance: 1 × 0 = 0
1
2
→ Significance: 2 × 0 = 0
2
→ Significance: 4 × 1 = 4
2
3
2
→ Significance: 8 × 0 = 0
4
2
→ Significance: 16 × 0 = 0
5
→ Significance: 32 × 0 = 0
2
6
2
→ Significance: 64 × 0 = 0
61048AXX
Any change made to the PROFIBUS station address duri ng ongoing operatio n does not take effect immediately. The change only comes into effect when the inverter is switched on again (power supply + +24 V OFF / ON). The inverter displays the current station address in fieldbus monitor parameter P092 "Fieldbus address" (display with DBG60B
®
or MOVITOOLS
DFS11B
12 34 56
F-ADDRESS X31
01
X30
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
MotionStudio / parameter tree).
FSR FDOBF
FDO LS PS
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
5
9
6
01
1
Example: PROFIBUS station address set to 17
0
→ Significance: 1 × 1 = 1
2
1
→ Significance: 2 × 0 = 0
2
2
2
→ Significance: 4 × 0 = 0
3
2
→ Significance: 8 × 0 = 0
4
2
→ Significance: 16 × 1 = 16
5
→ Significance: 32 × 0 = 0
2
6
2
→ Significance: 64 × 0 = 0
61053AXX
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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6
Assembly and Installation Instructions
Operation indicators of the DFS11B option
6.10 Operation indicators of the DFS11B option
6.10.1 PROFIBUS LEDs
The PROFIBUS interface DFS11B option card has 4 LEDs that indicate the current status of the DFS11B option and the PROFIBUS system.
DFS11B
FSR FDOBF
61054AXX
LED "R" RUN (green)
LED "BF" BUS-FAULT (red)
• The RUN LED (green) indicates that the bus electronics are operating correctly
RUN Cause of error Remedy Green • PROFIBUS hardware OK. – Orange • The card is booting. – Off • Hardware defect in the bus electronics. • Switch the unit on again. Consult SEW
Flashes 2Hz
Flashes 1Hz
• PROFIBUS address is set higher than 125 or to 0.
• No error, only display. • The inverter is restarting.
service if the error occurs again.
• Use parameter P093 Fieldbus Address to check the address set with the DIP switches.
• Reset the inverter.
• The BUS FAULT LED (red) indicates a PROFIBUS DP fault.
BUS FAULT Cause of error Remedy Red • Connection to the DP master has failed.
• Unit does not detect PROFIBUS baud rate.
• Bus interruption.
• DP master not in operation
Off • Unit is currently exchanging data with
the DP master (data exchange).
Flashing • Unit has detected the baud rate, but is
not addressed by DP master.
• Unit was not configured in DP master or configured incorrectly.
• Check the PROFIBUS DP connection on the unit.
• Check the project planning of the DP master.
• Check all cables in your PROFIBUS DP network.
–
• Check the PROFIBUS address setting on the DFS11B and in the project plan­ning software of the DP master.
• Check the project planning of the DP master.
• Use the GSD file SEW_600C.GSD with the identifier MOVIDRIVE-DFS11B or SEW_6009.GSD for gateway operation with MOVITRAC
®
B.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
Operation indicators of the DFS11B option
6
LED "FS" FAIL­SAFE STATUS (green)
LED "FDO" FAIL­SAFE OUTPUT (orange)
• The FAILSAFE STATUS LED (red) indicates the failsafe status on PROFIBUS DP.
FS Cause of error Remedy Green • The DFS11B option is currently per-
Red • Fault status in the safety part.
Off • DFS11B option is currently in the ini-
Flashing red/green
forming a cyclical data exchange with the F-host (data exchange).
• Standard operating state.
• 24 V_O sup ply voltage is missing.
tialization phase.
A fault occurred in the safety part; cause of the fault already remedied acknowl­edgement required.
–
• Read diagnostic in F-host.
• Eliminate the cause of the fault and acknowledge in the F-host.
• Check voltage supply.
• Check configuration of the bus master.
Acknowledge fault in the F-host (reintegra­tion).
• The FAILSAFE OUTPUT LED (red) indicates the failsafe status on PROFIBUS DP.
FDO State Orange Output F-DO active Off Output F-DO inactive (switched off)
WARNING
The "R", "BF", "FDO" and "FS" LEDs are not safety-oriented and may not be used as a safety device.
LEDs for gate­way communica­tion status
H1
H2
X24
58129axx
LED H1 Sys-fault (red) Only for gateway function Status Condition Description
Red System error Gateway is not configured or one of the
drives is inactive. Off SBus ok Gateway is configured correctly. Flashing Bus scan Bus is being checked by the gateway.
LED H2 H2 (green) is currently reserved. X-terminal X24 is the RS-485 interface for diagnostics via PC and MOVITOOLS
MotionStudio.
®
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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Validity of the GSD files for DFS11B
7 Project Planning and Startup
This section provides you with information on project planning for the DP master and startup of the drive inverter for fieldbus operation.
Current versions of the GSD files for the DFS11B option are available on the SEW homepageunder the heading "Software". Both GSD filescan be used at the same time in one STEP 7 project. Once you have downloaded andunpacked the software, you will have two directories for the operating modesPROFIBUS DP and PROFIBUSDP-V1.
7.1 Validity of the GSD files for DFS11B
PROFIBUS option DFS11B074 firmware option 1:
DFS11B SEW_600C.GSD SEW_6009.GSD
Do not change or expand entries in the GSD file. SEW-EURODRIVE assumes no liabil­ity for malfunctions of the inverter caused by a modified GSD file.
MOVIDRIVE® MDX61B MOVITRAC® B / gateway
housing UOH11B
7.2 Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
A GSD file is provided for project planning for the DP master. Copy this file into a special directory of your project planning software.
Refer to the manuals for the appropriate project planning software for details on the procedure.
7.2.1 GSD file for PROFIBUS DP-V1
Use the GSD file SEW_600C.GSD from the "DPV1" directory if you want to use the parameter setting options of DP-V1 in addition to the stan dar d PROFIBUS DP commu­nication to control the drive inverter.
This GSD file corresponds to GSD revision 4.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Project Planning and Startup
Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
The GSD files are assigned the name for PROFIBUS DP-V1 so they are easy to identify and are displayed in a special subdirectory in the project planning software for the DP­V1 master (see following screenshot).
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7.2.2 Project planning procedure
Proceed as follows for project planning for MOVIDRIVE
1. Read the README_GSD_600C.PDF file that you received with the GSD file to obtain further up-to-date information on project planning.
2. Install (copy) the GSD file according to the requirements of your project planning soft­ware. Once the file has been installed correctly, the device appears next to the slave stations with the designation MOVIDRIVE+DFS11B.
3. Add the interface module under the name MOVIDRIVE+DFS11B to the PROFIBUS structure and assign the station address.
4. Select the process data configuration required for your application (see page 38).
5. Enter the I/O or peripheral addresses for the configured data widths.
After project planning, you can start PROFIBUS DP. The red BF LED (BUS FAULT) indicates the status of the project planning (OFF = project planning OK).
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with PROFIBUS DP interface:
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
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7.2.3 DP configurations for MOVIDRIVE® MDX61B
The drive inverter must be given a specific DP co nfigur ation by the DP master to define the type and number of input and output data used for transmission. You have the option of
• Controlling the drive using process data
• Reading and writing all drive parameters using the parameter channel
• Using a data exchange medium of your choice between IPOS controllor.
MOVIDRIVE exchanging data between the DP master and the inverter. The following table provides additional information about all possible DP configurations for the MOVIDRIVE The "Process data configuration" column shows the n ame of the configuration. The texts will also be displayed as selection list within the project planning software for the DP master. The DP configurations column shows which configuration data is sent to the inverter when the PROFIBUS DP connection is being established.
®
drive inverters make it possible to have different DP configurations for
plus®
and the
®
range.
Process data configuration
1 PD MOVIDRIVE 2 PD MOVIDRIVE 3 PD MOVIDRIVE 4 PD MOVIDRIVE
5 PD MOVIDRIVE
6 PD MOVIDRIVE
7 PD MOVIDRIVE
8 PD MOVIDRIVE
9 PD MOVIDRIVE
10 PD MOVIDRIVE
Param + 1 PD MOVIDRIVE
Param + 2 PD MOVIDRIVE
Param + 3 PD MOVIDRIVE
Param + 4 PD MOVIDRIVE
Param + 5 PD MOVIDRIVE
Param + 6 PD MOVIDRIVE
Param + 7 PD MOVIDRIVE
Param + 8 PD MOVIDRIVE
Meaning / notes DP Configuration
(PD4-PD10 can only be used with IPOS
(PD4-PD10 can only be used with IPOS
(PD4-PD10 can only be used with IPOS
(PD4-PD10 can only be used with IPOS
(PD4-PD10 can only be used with IPOS
(PD4-PD10 can only be used with IPOS
(PD4-PD10 can only be used with IPOS
Parameter setting via 8 byte parameter channel
Parameter setting via 8 byte parameter channel
Parameter setting via 8 byte parameter channel
Parameter setting via 8 byte parameter channel
Parameter setting via 8 byte parameter channel
Parameter setting via 8 byte parameter channel (PD4-PD10 can only be used with IPOS
Parameter setting via 8 byte parameter channel
Parameter setting via 8 byte parameter channel
Slot 1 (F­module)
®
control via 1 process data word 0x00 0x00 0xC0 0xC0 0xC0
®
control via 2 process data words 0x00 0x00 0xC0 0xC1 0xC1
®
control via 3 process data words 0x00 0x00 0xC0 0xC2 0xC2
®
control via 4 process data words
®
control via 5 process data words
®
control via 6 process data words
®
control via 7 process data words
®
control via 8 process data words
®
control via 9 process data words
®
control via 10 process data words
®
control via 1 process data word
®
control via 2 process data words
®
control via 3 process data words
®
control via 4 process data words
®
control via 5 process data words
®
control via 6 process data words
®
control via 7 process data words
®
control via 8 process data words
plus®
plus®
plus®
plus®
plus®
plus®
plus®
plus®
)
)
)
)
)
)
)
)
0x00 0x00 0xC0 0xC3 0xC3
0x00 0x00 0xC0 0xC4 0xC4
0x00 0x00 0xC0 0xC5 0xC5
0x00 0x00 0xC0 0xC6 0xC6
0x00 0x00 0xC0 0xC7 0xC7
0x00 0x00 0xC0 0xC8 0xC8
0x00 0x00 0xC0 0xC9 0xC9
0x00 0xC0 0x87 0x87 0xC0 0xC0 0xC0
0x00 0xC0 0x87 0x87 0xC0 0xC1 0xC1
0x00 0xC0 0x87 0x87 0xC0 0xC2 0xC2
0x00 0xC0 0x87 0x87 0xC0 0xC3 0xC3
0x00 0xC0 0x87 0x87 0xC0 0xC4 0xC4
0x00 0xC0 0x87 0x87 0xC0 0xC5 0xC5
0x00 0xC0 0x87 0x87 0xC0 0xC6 0xC6
0x00 0xC0 0x87 0x87 0xC0 0xC7 0xC7
Slot 2 (Param­Channel)
Slot 3 (PD channel)
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Project Planning and Startup
Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
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Process data configuration
Param + 9 PD MOVIDRIVE® control via 9 process data words
Param + 10 PD MOVIDRIVE
Universal DP configuration
Meaning / notes DP Configuration
Parameter setting via 8 byte parameter channel
®
Parameter setting via 8 byte parameter channel (PD4-PD10 can only be used with IPOS
control via 10 process data words
plus®
If you select the "Universal Module" DP configuration (S7 HWConfig), you can structure the DP configuration individually, although the following conditions must be complied with:
Module 0 (DP identifier 0) defines the F-PD module .
Can only be configured via the master software because CRC32 must be calcu lated by means of the settings made.
Module 1 (DP identifier 1) defines the param eter ch ann e l of the inv ert er.
To ensure the parameter settings are made correctly, you must always transfer the parameter channel consistently for the entire length.
Slot 1 (F­module)
0x00 0xC0 0x87 0x87 0xC0 0xC8 0xC8
0x00 0xC0 0x87 0x87 0xC0 0xC9 0xC9
)
Slot 2 (Param­Channel)
Slot 3 (PD channel)
Length Function
0 Parameter channel deactivated 8 I/O bytes Parameter channel is used
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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Project planning of PROFIBUS / PROFIsafe with MOVIDRIVE® GSD file
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Module 2 (DP identifier 2) defines the proces s dat a ch a nne l of the inv erter.
In addition to the process data configuration predefined in the GSD file, you can also specify process data configuration with 4, 5, 7, 8 and 9 process data words. Ensure that the number of input and output words is always the same. If the lengths are different, data cannot be exchanged. In this case, the BUS FAULT LED flashes; the parameter
P090 PD Configuration indicates the configuration error with 0PD.
Length Function
2 I/O bytes or 1 I/O word 1 process data word 4 I/O bytes or 2 I/O words 2 process data words 6 I/O bytes or 3 I/O words 3 process data words 8 I/O bytes or 4 I/O words 4 process data words 10 I/O bytes or 5 I/O words 5 process data words 12 I/O bytes or 6 I/O words 6 process data words 14 I/O bytes or 7 I/O words 7 process data words 16 I/O bytes or 8 I/O words 8 process data words 18 I/O bytes or 9 I/O words 9 process data words 20 I/O bytes or 10 I/O words 10 process data words
Note:
DFS11B does not support the "Compact identifier formats" coding. Only use the setting "Integrity over entire length" for data transmission.
Data consistency Consistent data is data that has to be transmitted between the programmable controller
and the drive inverter as one block at all times and must never be transmitted sep arately. Data integrity is especially important for the transmission of positioning values or
complete positioning tasks. Inconsistent transmission may contain data from different program cycles of the automation device. This would lead to undefined values being transmitted to the drive inverter.
For PROFIBUS DP, data communication between the programmable controller and drive engineering devices is usually carried out with the setting "Data integrity over entire length".
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Project Planning and Startup
Project planning for DP master with MOVITRAC® or gateway GSD file
7.3 Project planning for DP master with MOVITRAC® or gateway GSD file
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This section provides information on project planning for the PROFIBUS DP master with MOVITRAC
7.3.1 GSD file for operation in MOVITRAC
®
B and DFS11B gateway / UOH11B.
®
B and UOH11B gateway housing
11636AEN
Use the GSD file SEW_6009.GSD from the "DPV1" directory if you want to use the DFS11B as gateway from PROFIBUS DP-V1 on the SBus to control the drive inverter.
This GSD file corresponds to GSD revision 5. Refer to the manuals for the appropriate project planning software for details on the
procedure. The unit master data files standardized by the PROFIBUS u ser organization can be read
by all PROFIBUS DP masters.
Project planning tool DP master File name
All DP project planning tools to EN 50170 (V2)
Siemens S7 hardware configuration for all S7 DP masters
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
for DP master standard SEW_6009.GSD
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7.3.2 PROFIBUS DP master startup
Project Planning and Startup
00
Project planning for DP master with MOVITRAC® or gateway GSD file
Supporting files for DFS11B gateway are available in the Internet at SEW Eurodrive website.
• Install the GSD file accord the DP master. After successful installation, the "DFS11B gateway" device appears in the list of slave stations.
• Insert the fieldbus interface into the PROFIBUS structure under the name "DFS11B gateway" and assign the PROFIBUS address.
• Select the process data configuration required for your application (see the section "Configuring the PROFIBUS DP interface" on page 43).
• Enter the I/O and / or peripheral addresses for the configured data widths.
• Save the configuration.
• Expand your application program by the data exchange with the fieldbus interface. For S7, use the system functions for consistent data exchange for this purpose (SFC14 and SFC15).
• The BUS FAULT LED at the fieldbus interface should extinguish after you have saved the project, loaded it in the DP master and started the DP master. If this is not the case, check the connections and terminating resistors of the PROFIBUS and the configuration, especially the PROFIBUS address.
ing to the requirements of the project planning software for
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Project planning for DP master with MOVITRAC® or gateway GSD file
EURODRIVE
EURODRIVE
EURODRIVE
EURODRIVE
EURODRIVE
EURODRIVE
EURODRIVE
EURODRIVE
7.3.3 Configuring the PROFI BUS DP inte rf ac e
Project Planning and Startup
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General information
The inverter must be given a specific DP configuration by the DP master to define type and number of input and output data used for the transmission. You have the opportunity to control the drives via process data and to read and write all parameters of the fieldbus interface via the parameter channel.
The figure shows a schematic view of the data exchange between automation device (DP-V1 master), fieldbus interface (DP-V1 slave) and an inverter with process data channel and parameter channel.
C1-Master
C2-Master C2-Master
Acyclic DP-V1
C2-Services
Unit = 8
Acyclic DP-V1
C2-Services
Acyclic DP-V1
C1-Services
Cyclic OUT Data
Param PD
Param PD
Cyclic IN Data
Unit = 1 Unit = 3
Unit = 0
DFP 21B
2 2 2 2
2 2 2 nc
ADDRESS
X30
RUN
BUS FAULT
01 0 1 2 3
4 5 6
PROFIBUS DP-V1
Unit = 0
Unit = 5
= SBus-Address:12345678
Unit
B
®
EURODRIVEEURODRIVE
MOVITRAC
EURODRIVEEURODRIVE
EURODRIVEEURODRIVE
EURODRIVEEURODRIVE
EURODRIVEEURODRIVE
EURODRIVEEURODRIVE
EURODRIVEEURODRIVE
Figure 6: Data exchange with parameter data (Param) and process data (PD)
EURODRIVEEURODRIVE
59093AXX
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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Configuring the process data
One module for all drives
The fieldbus interface allows for different DP configurations in the data exchange be­tween DP master and fieldbus interface. The following table provides additional details on all standard DP configurations of the fieldbus interfaces. The "Process data configu­ration" column shows the name of the configuration. The texts will also be displayed as selection list within the project planning software for the DP master. The DP configura­tions column shows the type of configuration data sent to the fieldbus interface while the link to PROFIBUS DP is being established. The configurations are determined by the default process data width for SEW inverters of three process data words. The fieldbus interface then distributes these process data words to the individual devices. The parameter channel is used for setting the parameters of the DFS11B option and is not passed on to the connected station s. The fieldbus interface accepts between 1 to 24 process data words with and without parameter channel.
The standard entries of the GSD file are based on the DFS11B Autosetup operating mode and allow process data widths of 3 PD... 24 PD corresponding to 1 ... 8 inverters connected to the fieldbus interface.
3 PDs are always assigned to any SBus station.
The process data are transmitted in one consistent data block for all inve rters connected to the fieldbus interface. Thus, only system functions SFC14 and SFC15 need to be called in STEP 7.
One module per drive
One consistent data block e xists for each connec ted inve rter. Fr om the contr oller side, this corresponds to the existing setup of several inverters with their own fieldbus inter­face. System functions SFC14 and SFC15 need to be called for each inverter in STEP 7.
Drive parameters of connected MOVITRAC® B inverters can only be accessed using the DP-V1 parameter services.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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Project planning for DP master with MOVITRAC® or gateway GSD file
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Process data con­figuration
ONE module for all drives
Param 8 byte parame-
AS 1 drive (3 PD)
AS 2 drives (6 PD)
AS 3 drives (9 PD)
AS 4 drives (12 PD)
AS 5 drives (15 PD)
AS 6 drives (18 PD)
AS 7 drives (21 PD)
AS 8 drives (24 PD)
ONE module per drive
Param 8 byte parame-
AS 1 drive (1 x 3 PD)
AS 2 drives (2 x 3 PD)
AS 3 drives (3 x 3 PD)
AS 4 drives (4 x 3 PD)
AS 5 drives (5 x 3 PD)
AS 6 drives (6 x 3 PD)
AS 7 drives (7 x 3 PD)
AS 8 drives (8 x 3 PD)
Description Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8 Slot 9 Slot 10
ter channel
Control via 3 PD 00hex C0hex,
Control via 6 PD 00hex C0hex,
Control via 9 PD 00hex C0hex,
Control via 12 PD00hex C0hex,
Control via 15 PD00hex C0hex,
Control via 18 PD00hex C0hex,
Control via 21 PD00hex C0hex,
Control via 24 PD00hex C0hex,
ter channel
Control via 1x3PD
Control via 2x3PD
Control via 3x3PD
Control via 4x3PD
Control via 5x3PD
Control via 6x3PD
Control via 7x3PD
Control via 8x3PD
F-PD
mod-
00hex C0hex,
00hex C0hex,
00hex C0hex,
00hex C0hex,
00hex C0hex,
00hex C0hex,
00hex C0hex,
00hex C0hex,
00hex C0hex,
00hex C0hex,
ule
Param
eter
chan-
nel
87hex, 87hex
87hex, 87hex
Drive 1 Drive 2 Drive 3 Drive 4 Drive 5 Drive 6 Drive 7 Drive 8
C2hex, C2hex
C5hex, C5hex
C8hex, C8hex
CBhex, CBhex
CEhex, CEhex
D1hex, D1hex
D4hex, D4hex
D7hex, D7hex
C2hex, C2hex
C2hex, C2hex
C2hex, C2hex
C2hex, C2hex
C2hex, C2hex
C2hex, C2hex
C2hex, C2hex
C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
0hex,
C C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
C0hex, C2hex, C2hex
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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"Universal module" DP configuration
7.3.4 Operating mode (DP-V1 mode)
The "Universal Module" (e.g. in STEP7) lets yo u to set the parameters of the fieldb us interface deviating from the preset default values of the GSD file. This is useful, for example, if you want to operate several inverters with different process data words at the fieldbus interface.
Observe the following conditions:
• Module 1 defines the parameter channel of the inverter. Entering 0 switches off the parameter channel. Entering the value 0xC0 0x87 0x87 will activate the parameter channel with 8 bytes length.
• The following modules determine the process data length of the fieldbus interface at the PROFIBUS. The total process data length of all following modules must be between 1 and 24 words. For safety reasons, the modules must be listed with data integrity. Ensure that an inverte r connected to the fieldb us interface is represente d by such a consistent module entry.
• Only the compact identifier format is permitted.
The DP-V1 operating mode can usually be activated during project planning for a C1 master. All DP slaves, which have the DP-V1 functions enabled in their GSD files and which support DP-V1, will then be operated in DP-V1 mode. Standard DP slaves will still run via PROFIBUS DP. This ensures mixed mode for DP-V1 and DP-capable modu les. Depending on the master functionality, a DP-V1 capable station, that was configured using the DP-V1 GSD file, can run in the "DP" operating mode.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Project planning for DP master with MOVITRAC® or gateway GSD file
7.3.5 Auto setup for gateway operation
The auto setup function lets you start up the DFS11B as gateway without a PC. It is activated via the auto setup DIP switch (see section "Assembling and installing the UOH11B gateway" on page 25).
Switching on the Auto setup DIP switch causes the function to be performed on ce. The Auto setup DIP switch must then remain in the ON position. The function can be reactivated by turning the DIP switch off and back on again.
As a first step, the DFS11B searches for drive inverters on the SBus below its hierarchi­cal level. This process is indicated by the H1 LED (system error) flashing briefly. For this purpose, different SBus addresses must be set for the drive inverters (P813). SEW­EURODRIVE recommends assigning the addresses beginning with address 1 in ascending order based on the arrangement of inverters in the control cabinet. The process image on the fieldbus side is expanded by three words fo r ea ch detected drive inverter.
The H1 LED remains lit if no drive inverter was detected. A total of up to eight drive inverters is taken into account. The following figure shows the process image for three drive inverters with three words each of process output data and process input data.
After the search is completed, the DFS11B periodically exchanges three process data words with each connected drive inverter. The process outp ut data are fetched from the fieldbus, divided into blocks of three and transmitted. The drive inverters read the process input data, put them together and send them to the fieldbus master.
The cycle time of the SBus communication requires 2 ms for each station. For an application with 8 inverters on the SBus, the cycle time of the process data
update is then 8 x 2 ms = 16 ms.
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The DFS11B option saves the process data once during auto setup. This is the reason why you have to activate Auto setup again if you change the process data assignment of the drive inverters connected to the DFS11B option. At the same time, the process data assignments of the connected drive inverters may not be changed dynamically after Auto setup.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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The following figure shows the data exchange between DP-V1 master, DFS and inverter.
Figure 7: Data exchange DP-V1 master – UFP – inverter
DFS
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Project Planning and Startup
Setting the MOVIDRIVE® MDX61B drive inverter
7.4 Setting the MOVIDRIVE® MDX61B drive inverter
The following settings are required for simple fieldbus operation.
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11638AXX
®
However, to control the MOVIDRIVE first switch the drive inverter to control signal source (P101) and setpoint so urce (P100) = FIELDBUS. The FIELDBUS setting means the drive inverter parameters are set for control and setpoint entry via PROFIBUS. The MOVIDRIVE then responds to the process output data transmitted from the master programmable controller.
The parameters of the MOVIDRIVE via PROFIBUS without any further settings once the PROFIBUS option card has been installed. For example, all parameters can be set by the master programmable controller after power-on.
Activation of the control signal source and setpoint source FIELDBUS is signaled to the machine controller using the "Fieldbus mode active" bit in the status word.
MDX61B drive inverter via PROFIBUS, you must
®
MDX61B drive inverter
®
MDX61B drive inverter can be set straight away
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Setting the MOVITRAC® B frequency inverter
00
For safety reasons, you must also enable the MOVIDRIVE® MDX61B drive inverter at the terminals for control via the fieldbus system. Therefore, you must wir e and pr ogram the terminals in such a way that the inverter is enabled via the input terminals. For example, the simplest way of enabling the drive inverter at the terminals is to connect the DIØØ (function / CONTROL INHIBIT) input terminal to a +24 V signal and to program input terminals DIØ1 ... DIØ3 to NO FUNCTION.
The procedure for startup of the MOVIDRIVE connection is described on the next page.
7.5 Setting the MOVITRAC®B frequency inverter
The following settings are required for simple fieldbus operation.
®
MDX61B drive inverter with a fieldbus
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Setting the MOVITRAC® B frequency inverter
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To control the inverter via PROFIBUS, you first have to switch the drive inverter to control signal source (P101) and setpoint source (P100) = SBus. The SBus setting means the inverter parameters are set for control and setpoint entry via gateway. The MOVITRAC from the master programmable controller.
It is necessary to set the SBus1 timeout interval (P8 15) to a value othe r than 0 m s for the MOVITRAC tion. SEW-EURODRIVE recommends a value in the range between 50 and 200 ms.
Activation of the control signal source and setpoint source SBus is signaled to the higher-level controller using the "SBus mode active" bit in the status word.
For safety reasons, you must also enable the inverter at the terminals for control via the fieldbus system. Therefore, you must wire and program th e terminals in such a way tha t the inverter is enabled via the input terminals. The simplest way of en abling the invert er at the terminals is, for example, to connect the DIØ1 (function CW/STOP) input terminal to a +24 V signal and to program the remaining input terminals to NO FUNCTION.
Set the parameter P881 SBus address to values between 1 and 8 in ascending order. The SBus address 0 is used by the DFS11B gateway and must therefore not be used.
®
frequency inverter then responds to the process output data transmitted
®
B frequency inverter to stop in the event of a faulty SBus communi ca-
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7.6 Project planning of PROFIsafe with STEP7
Configure the fail-safe DFS fieldbus interface as usual under STEP7 HW Config for PROFIBUS-DP operation.
To ensure fault-free DFS operation with PROFIsafe, you must obtain the optional package entitled "Distributed Safety (V5.4 or later)" for configuring and setting the parameters of the module under STEP7.
7.6.1 Hardware structur e
• Wire the PROFIBUS line structure
• Set the PROFIBUS and fail-safe addresses:
– Set the PROFIsafe address on the DFS (factory setting: address 255). Set the
PROFIsafe address using the DIP switch. You may set an address ranging from 1 to 1022.
– Ensure that the setting on the DFS matches the PROFIsafe address in STEP7
HW Config. The following figure shows the DIP switch setting for address 1012 in the example.
F Address
0
16754328910
2
x 0 = 0
1
2
x 0 = 0
2
x 1 = 4
2
3
2
x 0 = 0
4
2
x 1 = 16
5
x 1 = 32
2 26 x 1 = 64
7
2
x 1 = 128
8
x 1 = 256
2
9
2
x 1 = 512
01
Figure 8: Addressing example using address 1012
1012
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7.6.2 Installing the GSD file
Use the following GSD and image files for the DFS option card with PROFIsafe functionality:
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PROFIBUS option DFS11B074 firmware option 1:
DFS11B SEW_600C.GSD SEW_6009.GSD
Once you have installed the GSD file, the module appears in the Hardware catalog of STEP7 / HW Config under:
MOVIDRIVE® MDX61B MOVITRAC® B / gateway
housing UOH11B
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7.6.3 Configuring the DFS in HW Config
In HW Config, drag and drop the device entry "Gateway DFP/DFS" or "MOVIDRIVE DFS11B" to the bus cable.
If slot 1 is not configured, you can operate the DFS like the standard fieldbus module. No safety function via PROFIsafe is available in this configuration.
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Project planning of PROFIsafe with STEP7
7.6.4 Project planning for a new configuration
You will usually have to adjust the project planning in HW Config to your specific application. To do so, assign the relevant modules to slots 1 to 3. Each slot has a specific function assigned to it. The function of the slot will be displayed in the "DP identifier" column after you have deleted the default configuration of slots 1to 3. The following table gives an overview of the slot functionality.
Slot DP identifier Description of the function
1 F channel The PROFIsafe
2 Parameter
channel
3 PD channel The process data for controlling MOVIDRIVE
following modules:
• "F-module I/O (2-byte)" = PROFIsafe
• "F-module I/O (8-byte)" = PROFIsafe
• "Empty" = PROFIsafe channel is not used
IMPORTANT
If no PROFIsafe channel is configured, the safety-oriented part of the DFS option remains in safe condition and the safe output FDO0 remains dis­abled.
The 8-byte parameter channel is configured in slot 2 if you want to reach parameters of the DFS option via the cyclical PROFIBU DP data. This channel is not safety-oriented and can be assigned with the following modules:
• "Param (4 words)" = Parameter channel is used
• "Empty" = Parameter channel is not used
ured in slot 3. Always the same number of process data is transmitted in direction of the input and output. The process data channel must always be configured. This channel is not safety-oriented. See section 7.2 on page 36 and section 7.3 on page 41.
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®
channel is configured in slot 1. It can be assigned the
®
option option
channel is used for DFS11B
®
channel is used for DFS11B
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7.6.5 Setting the parameters of the PROFIsafe properties
Set the parameters of the PROFIsafe properties of the fail-safe DFS in STEP7 HW Config by double-clicking the configured F-module in slot 1. The [DP slave properties] window opens with the tab pages [Adress/identifier], [Set parameters] and [PROFIsafe].
The F_Dest_Add parameter displays the PROFIsafe address that was previously set using the F-address DIP switch of the DFS module.
7.6.6 Description of the F-parameters
When the PROFIBUS DP starts up, the PROFIBUS DP master sends the safety­relevant parameters for PROFIsafe operation in an F pa rameter block to the DFS option. The parameters will then be checked for plausibility in the safety-oriented part of the DFS. The DFS does not start data exchange on PROFIBUS DP until this F parameter block is acknowledged positively.
Below is a list of the safety-oriented parameters which are passed on to the DFS option . You can set the following parameters for your safety application:
• F_CRC_Length
• F_Par_Version
• F_Dest_Add
• F_WD_Time
Parameter "F_Check_SeqNr " (fix)
This parameter determines whether the Ready counter (consecutive number) is to be included in the consistency check (CRC calculation) of the F user data telegram.
The DFS option supports the following setting:
• F_Check_SeqNr = "No check"
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Parameter "F_SIL" (fix)
Parameter "F_CRC_Length" (can be set)
Parameter "F_Par_Version" (can be set)
Parameter "F_Source_Add" (fix)
This parameter enables F stations to check if the safety category matches that of the F­Host. Depending on the risk, different safety circuits with different s afety classes SIL 1 to SIL 3 (SIL = Safety Integrity Level), apply in these safety-relevant cases.
The DFS option supports the following setting:
• F_SIL = SIL 3
Depending on the length of the F user data (process values) and the PROFIsafe version, the length of the required CRC check value varies. This parameter communicates the anticipated length of the CRC2 key in the safety telegram to the F component.
The DFS option handles user data that is less than 12 bytes in length, so that with PROFIsafe V1, a 2 byte CRC is used and with PROFIsafe V2, a 3 byte CRC is used.
The DFS option supports the following setting:
• F_CRC_Length = 2 byte CRC (only with PROFIsafe 3 byte CRC (only with PROFIsafe
This parameter identifies the PROFIsafe version implemented in the DFS option. You can choose between PROFIsafe
The PROFIsafe addresses are used for unique identification of the source (F_Source_Add) and destination (F_Dest_Add). The combination of source and desti­nation address must be unique throughout the netwo rk and station. The source address F_Source_Add is automatically provided by STEP7 depending on the master configu­ration.
Values ranging from 1 to 65534 can be entered in parameter "F_Source_Add". You cannot directly edit this parameter in STEP7 HW Config.
®
V1 and PROFIsafe V2®. DFS supports both versions.
®
V1)
®
V2)
Parameter "F_Dest_Add" (can be set)
Parameter "F_WD_Time" (can be set)
The PROFIsafe address you have set using the F-address DIP switch on the DFS module is displayed on this parameter.
Values ranging from 1 to 1023 can be entered in parameter "F_Dest_Add".
This parameter defines a monitoring time in the fail-safe part of the DFS option. During this monitoring period , an up-to-date safety telegram must arrive from the F-
CPU. Otherwise the DFS option reverts to safe status. Select a monitoring time of a sufficient len gth so that communication can tolerate mes-
sage delays, but also sufficiently short enough for your sa fety a pp licatio n to run withou t restriction.
For the DFS option, you can define the "F_WD_Time" par amete r in step s from 1 ms to 10 s.
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7.6.7 Safety diagnostics using PROFIBUS DP
The status of PROFIsafe communication and DFS11B option error messages is trans­mitted to the DP master via a status PDU in accordance with the PROFIBUS DPV1 standard.
The following figure shows how the diagnostic data is organized for PROFIsafe commu­nication via slot 1. The F-PD module for the DFS11B option is configured in slot 1.
Byte 11 is used for transmitting diagnostic messages. These are defined in the PROFIsafe specifications.
Bytes 12 and 13 transmit the status and fault status of the DFS11B option to the higher­level DP master.
The figure below shows the structure of diagnostic data for PROFIBUS DPV1:
Bytes 1...6 Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12 Byte 13
6 bytes
Standard diagnostics
... 0x07 0x81 0x00 0x00 PROFIsafe F-State 1
Header
↑↑↑↑↑ ↑
7 bytes
module-
specific
diagnostics
Status block
with status
Status
Type
0x81 =
message
Slot
Number
0x00 =
Slot 1
(PROFIsafe
option)
Status block
Status
Specifier
No DPV1
specifier
®
Diag User
Data 0
PROFIsafe
diagnostic
information
in accor­dance with PROFIsafe
profile V2.0
Diag User
Data 1
Cyclical F_State
of the DFS11B option
Diag User
Data 2
Diagnostic mes­sages of the PROFIsafe layer
The table below shows the diagnostic messages of the PROFIsafe layer:
Byte 11 PROFIBUS diagnostic message
0hex / 0dec Kein Fehler ---
40hex /
64dec
41hex /
65dec
42hex /
66dec
43hex /
67dec
44hex /
68dec
45hex /
69dec
46hex /
70dec
47hex /
71dec
(German)
F_Dest_Add stimmt nicht überein Mismatch of F_Dest_Add
F_Dest_Add ist ungültig F_Dest_Add not valid
F_Source_Add ist ungültig F_Source_Add not valid
F_WD_Time ist 0 ms F_WD_Time is 0 ms
F_SIL Level größer max SIL Level F_SIL exceeds SIL f. application
Falsche F_CRC_Length F_CRC_Length does not match
Falsche F-Parameter Version F parameter incorrectly set
Fehler im CRC1-Wert CRC1 fault
PROFIBUS diagnostic message (English)
For more information on the meaning of fault messages and troubleshooting procedures refer to the PROFIBUS-DP master manuals.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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Fault codes of the DFS11B option
The following table shows the fault codes of the DFS11 B op tio n:
Byte 12 Byte 13 Designation
(German)
00
hex
/ 00
dec
00 01 02 03 04
14
15
32
hex hex hex hex hex
hex
hex
hex
/ 00 / 01 / 02 / 03 / 04
/ 20
/ 21
/ 50
kein Fehler --- See section "Fault
dec
Interner Ablauffehler Internal sequence fault
dec
Interner Systemfehler Internal system fault
dec
Fehler Kommunikation Communication fault
dec
Fehler Elektronikversor-
dec
gung Interner Fehler am
dec
sicheren Eingang (F-DIx) Kurzschluss am sicheren
dec
Eingang (F-DIx) Interner Fehler am
dec
sicheren Ausgang (F-DOx)
33
34
6F
7F
hex
hex
hex
hex
/ 51
/ 52
/ 111
/ 127
Kurzschluss am sicheren
dec
Ausgang (F-DOx) Überlast am sicheren
dec
Ausgang (F-DOx) Interner Kommunikation-
dec
sfehler zur DFS11B Fehler Initialisierung
dec
DFS11B
Designation (English)
Circuitry supply volt­age fault
Internal fault failsafe input
Short circuit failsafe input
Internal fault failsafe output
Short circuit failsafe output
Overload failsafe out­put
Internal communica­tion timeout
F init fault
Meaning / correc­tion procedure
table PROFIsafe DFS11B option" on page 124.
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7.6.8 Response times of PROFIsafe option DFS
Response times play a decisive part in the design and execution of safety functions of systems and machines. In order to matc h the response time to the requirements of a safety function, always take the entire system from sensor (or control device) to actuator into account. The following times are decisive:
• Response times of the connected sensors
• Internal response time of the failsafe inputs (filter time + processing time)
• PROFIsafe cycle time
• Processing time (cycle time) in the safety control
• PROFIsafe monitoring time "F_WD_Time"
• Internal reaction time of the safe outputs
• Response or switching time of the actuator
Response sequence in con­junction with the PROFIsafe option DFS
The following figure shows the response sequence in conjunction with PROFIsafe option DFS:
MOVIDRIVE / MOVITRAC DFS
t
µ
C
t
t
ps
F-CPU
t
µ
C
DFS PROFIsafe option F CPU Safety control µC Micro-controller F-DO Safe output A Actuator for activating the STO
Response time from safety control to actuator for controlling the STO t3 Processing time in safety control To be generated from the safety control t
PROFIsafe cycle time According to safety control data
ps
t4 Internal response time of the safe output 25 ms t5 Response or switching time of the actuator According to the manufacturer
Actuator switches after xx ms Total
F-DO
4
3
5
A
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Procedure for starting up DFS11B with MOVIDRIVE® MDX61B
PROFIsafe monitoring time ("F_ WD_Time") plays an important role in determining the maximum response time for a safety requirement. This time must be set in the safety control for the DFS option.
For the response sequence described above, with the PROFIsafe monitoring time defined as t time for an event at the safety sensor to switching the actuator:
, the following formula is used to calculate the maximum total response
WD
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response,max
= max {tps + t3 + tps + t4} + t5
7.7 Procedure for starting up DFS11B with MOVIDRIVE® MDX61B
The following sections describe the startup proc edure for MO VIDRIVE® MDX61B with the DFS11B PROFIBUS option step-by-step.
7.7.1 Preliminary work
Step 1: Install the req uired software
1. FTDI driver for USB11A programming interface
• Connect USB11A to the PC. Windows hardware detection will install the required FTDI driver.
• You can download the FTDI driver from th e software ROM 7 or from SEW Eurodrive website.
2. GSD file: SEW_600C.GS D
3. MOVITOOLS
Step 2: Install units
®
MotionStudio version 5.40 and higher.
1. Install MOVIDRIVE
• Supply system cable
• Motor cable
• Braking resistor
• DC 24 V backup voltage
• You can download the FTDI driver from th e software ROM 7 or from SEW Eurodrive website.
2. Install the PROFIBUS and connect the DFS11B to PROFIBUS is equipped with terminating resistors.
®
MDX61B according to the operating instructions:
the PROF
IBUS. Ensure that
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Procedure for starting up DFS11B with MOVIDRIVE® MDX61B
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7.7.2 Switch on MOVIDRIVE® MDX61B with DC 24 V or AC 400 V
Step 1: Configure MOVIDRIVE
®
MDX61B
1. Start MOVITOOLS Enter a project name and assign the USB11A programming interface according to
the serial COM interface.
• If the USB11A programming interface is connected to the PC for the first time,
Windows hardware detection will install the required FTDI driver.
• If USB11A is not recognized, check the assignment to the COM interface. The
matching COM port is marked by "USB".
2. Connect the PC with MOVIDRIVE
3. Perform a unit scan. To do so, select the unit by clicking the left mouse button. Then click the right mouse button and choose [Startup] / [Parameter tree] from the context menu.
4. Set the P100 setpoint source and P101 control source parameters to "Fieldbus".
5. For simple control via fieldbus, you can set the binary inputs to "No function" using parameters P601 ... P608.
6. Check the parameter setting for the process data (P87x). The parameters for status word and control word must be set. Set the P876 PO data enable parame ter to "Yes".
®
MotionStudio and create a new project.
®
using the USB11A programming interface.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Procedure for starting up DFS11B with MOVIDRIVE® MDX61B
Step 2: Configure PROFIBUS
1. Start the control manufacturer’s software to configure the hardware (e.g. STEP 7­HWCONFIG).
2. If the GSD file is not installed, install the GSD file SEW_600C.GSD now (see section "Preliminary work" on page 61).
3. Configure the PROFIBUS as described in this manual.
• Assign the PROFIBUS address (DIP switch and STEP 7 project planning)
• Configure the process data
• Load the configuration into the controller
4. The BUS FAULT LED of th e DF S11 B o p tio n go es o ff wh en PR OF INET is success­fully configured. Process data is now being exchanged.
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5. Extend the control program and establish the process data exchange with MOVIDRIVE
6. Start MOVITOOLS Run the MOVITOOLS
PROFIBUS (see section 10). Connect the PC with MOVIDRIVE
7. Perform a unit scan.
8. Select MOVIDRIVE itor] from the context menu. Check whether process data exchange between control­ler and MOVIDRIVE
9. Switch on the supply voltage and enable MOVIDRIVE Activate unit enable by setting control word 1 = 0x0006. If MOVIDRIVE
(parameter group P60x) and apply DC 24 V to more binary inputs if required.
®
.
®
MotionStudio and create a new project.
®
MotionStudio via serial communication with USB11A or
®
, make a right mouse click and choose [Diagnostic] / [Bus mon-
®
is working properly.
®
at the terminals (DI00=1).
®
remains in "No Enable" condition, check the terminal assignment
®
for this purpose.
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Procedure for starting up DFS11B with MOVITRAC® B (gateway)
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7.8 Procedure for starting up DFS11B with MOVITRAC® B (gateway)
The following sections provide a step-by-step description of the startup procedure for MOVITRAC
7.8.1 Preliminary work
Step 1: Install the req uired software
1. FTDI driver for USB11A programming interface
• Connect USB11A to the PC. Windows hardware detection will install the required
• You can download the FTDI driver from th e software ROM 7 or from SEW
2. GSD file: SEW_6009.GSD
3. MOVITOOLS
Step 2: Install units
1. Install MOVITRAC
• Supply system cable
• Motor cable
• Braking resistor
• DC 24 V backup voltage
• You can download the FTDI driver from th e software ROM 7 or from SEW
2. Install the PROFIBUS and conne PROFIBUS is equipped with terminating resistors.
3. Install the system bus as described in this manual.
4. Activate the terminating resistor at the last station.
®
B with the DFS11B PROFIBUS option as gateway.
FTDI driver. Eurodrive website.
Eurodrive website.
®
MotionStudio version 5.40 and higher.
®
B according to the operating instructions:
gateway to the PROFIBUS. Make sure that
ct the
7.8.2 Switch on the units with DC 24 V or AC 400 V
Step 1: Configure MOVITRAC
1. Start MOVITOOLS
2. Connect the PC with MOVITRACDRIVE
®
B
Enter a project name and assign the USB11A programming interface according to the serial interface.
• If the USB11A programming interface is connected to the PC for the first time,
Windows hardware detection will install the required FTDI driver.
• If USB11A is not recognized, check the assignment to the COM interface. The
matching COM port is marked by "USB".
64
®
MotionStudio and create a new project.
®
using the USB11A programming interface.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Project Planning and Startup
Procedure for starting up DFS11B with MOVITRAC® B (gateway)
3. Perform a unit scan. To do so, select the unit by clicking the left mouse button. Then click the right mouse button and choose [Startup] / [Parameter tree] from the context menu.
4. Set the P881 SBus address parameter in increasing se quence (1 ... 8) to a value other than 0. Set the P883 SBus timeout parameter to 50 ... 200 ms.
5. Set P100 setpoint source to "SBus1 / fixed setpoint" and P101 control source to "SBus1".
6. For simple control via fieldbus, you can set the binary inputs to "No function" using parameters P601 ... P608.
7. Check the parameter setting for the process data (parameter group P87x). The parameters for control word and status word must be set. Set the P876 PO data enable parameter to "Yes".
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8. Repeat steps 2 to 7 for the individual units connected to the SBus.
9. Activate "Auto setup" function via DIP switch AS of the DFx gateway. Set the AS DIP switches to "1". H1 LED flashes during the scan and goes out after successful completion.
10.Connect the PC with the DFx gateway using the USB11A programming interface.
11.Perform a unit scan. The DFx gateway and all units installed at the SBus must be accessible now.
12.Select the DFx gateway, make a right mouse click and choose [Diagnostic] / [Monitor fieldbus gateway DFx] from the context menu. Go to the "Gateway Configuration" tab page and check whether the "Auto setup" function has recognized all units. If not, check
• the SBus installation
• whether the terminating resistor is connec te d to th e fin al uni t
• the SBus addresses of the individual units.
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Procedure for starting up DFS11B with MOVITRAC® B (gateway)
00
Step 2: Configure PROFIBUS
1. Start the control manufacturer’s software to configure the hardware (e.g. STEP 7­HWKONFIG).
2. If the GSD file is not installed, install the GSD file SEW_600C.GSD now (see section "Preliminary work" on page 61).
3. Configure the PROFIBUS as described in this manual.
• Assign the PROFIBUS address (DIP switch and STEP 7 project planning)
• Configure the process data
• Load the configuration into the controller
4. The BUS FAULT LED of th e DF S11 B o p tio n go es o ff wh en PR OF INET is success­fully configured. Process data is now being exchanged.
5. Extend the control program and establish the process data exchange with MOVITRAC
6. Start MOVITOOLS Run the MOVITOOLS
PROFIBUS (see section 10). Connect the PC with MOVITRAC
7. Perform a unit scan.
8. Select MOVITRAC itor] from the context menu. Check whether process data exchange between control­ler and MOVITRAC
9. Switch on the supply voltage and enable MOVITRAC Activate unit enable by setting control word 1 = 0x0006. If MOVITRAC
(parameter group P60x) and apply DC 24 V to more binary inputs if required.
®
B.
®
MotionStudio and create a new project.
®
MotionStudio via serial communication with USB11A or
®
, make a right mouse click and cho os e [ Dia gn os tic] / [Bus mon-
®
B is working properly.
®
B at the terminals (DI00=1).
®
B remains in "No Enable" condition, check the terminal assignment
®
for this purpose.
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PROFIBUS DP operating characteristics
Data exchange with the DFS11B option
8 PROFIBUS DP operating characteristics
This section describes the basic characteristics of the drive inverter with PROFIBUS DP.
8.1 Data exchange with the DFS11B option
Data is exchanged between PROFIBUS master and DFS via PROFIBUS DP, which at the same time represents the "gray channel" for the safety-oriented application. This means the transmitted DP telegrams contain standard information of conventional operation with MOVIDRIVE PROFIsafe
®
safety telegram. Depending on the configuration, the maximum available expansion level enables the exchange of PROFIsafe nel, and the process data between DP master and DFS as shown in the following figure.
Standard
CPU
®
/MOVITRAC® at PROFIBUS DP as well as the
PROFIBUS DP
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®
safety data, the parameter chan-
8
F-
CPU
DP-Master
PROFIsafe
PD
"gray channel"
Param
Param
safety-oriented
PROFIsafe
PD
PROFIBUS
DP-Slave
DFS
function
Standard
DFS
F-
function
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PROFIBUS DP operating characteristics
Data exchange with the DFS11B option
00
8.1.1 Mapping the DFS in the address range of the PLC
The user data information transmitted using PROFIBUS-DP is mapped in the input and output address range in the controller. The standard CPU uses the standard user data (process data and 8-byte parameter channel) for processing purposes. The PROFIsafe ing PROFIBUS configuration:
F module I/O (2 byte) 0 ... 5 0 ... 5 Param (4 words) 284 ... 291 284 ... 291 3 PD (3 words) 292 ... 297 292 ... 297
For the safety-oriented function, 16 input and output bits are available in the F-CPU. Only one output bit of them is used (for F-DO0). All other bits are to be regarded as reserved and set to "0".
The following figure shows the input data in the input address range of the PLC.
®
data can only be used by the F-CPU. The figures below refer to the follow-
E address A address
PROFIBUS user data DFS >> Master
8 Byte Param 3 PD6 Byte PROFIsafe
PLC input address range
EB2EB1EB0 EB3 EB4 EB5
PROFIsafe header
0 0 0 0
7Bit: 6543210
0 0 0 0
reserved
0 0 0 0 0 0 0 0
76543210
PEB 284...291
4 input words
parameter channel
reserved
PEB 292...297
4 process
input words
61065AEN
The following figure shows the DFS data in the output address range of the PLC.
F-DO0 (safe output) 0: not switched
reserved
7Bit: 6543210
0 0 0 0
0 0 0 0
1: switched
reserved
76543210
0 0 0 0 0 0 0 0
4 output words
parameter channel
4 process
output words
AB2AB1AB0 AB3 AB4 AB5
PAB 284...291
PAB 292...297
PLC output address range
8 Byte Param 3 PD6 Byte PROFIsafe
PROFIBUS user data master >> DFS
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61066AEN
PROFIBUS DP operating characteristics
Data exchange with the DFS11B option
8.1.2 F periphery DB of PROFIsafe option DFS
During compilation in the HW Config tool (HWCONFIG), the system automatically gen­erates an F periphery DB for every PROFIsafe option DFS. The F perip hery DB provides the user with an interface in which s/he can evaluate or control variables in the safety program.
The symbolic name consists of the invariable prefix "F", the start address of the F periphery, and the name entered in the object properties during configuration for the F periphery (e.g. F00008_198).
The following table shows the F periphery DB of PROFIsafe option DFS:
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User-con­trollable variables
Variables that can be evalu­ated
Address Symbol Data
type
DBX0.0 “F00008_198.PASS_ON“ Bool 1 = activate passivation 0 DBX0.1 “F00008_198.ACK_NEC“ Bool 1 = acknowledgment r equired
DBX0.2 “F00008_198.ACK_REI“ Bool 1 = acknowledgment for reinte-
DBX0.3 “F00008_198.IPAR_EN“ Bool Variable for resetting parame-
DBX2.0 “F00008_198.PASS_OUT“ Bool Run passivation 1 DBX2.1 “F00008_198.QBAD“ Bool 1 = substitute values are output 1 DBX2.2 “F00008_198.ACK_REQ“ Bool 1 = acknowledgment required
DBX2.3 “F00008_198.IPAR_OK “ Bool Variable for resetting parame-
DBB3 “F00008_198.DIAG“ Byte Service information
Function Default
1
for reintegration with DFS
0
gration
0 ters (not supported by PROFIsafe option DFS)
0 for reintegration
0 ters (not supported by PROFIsafe option DFS)
PASS_ON This variable lets you activate passivation of the PROFIsafe option DFS. Provided that
PASS_ON = 1, the F periphery is passivated.
ACK_NEC After a fault has been corrected, the PROFIsafe option DFS is reintegrated, depending
on ACK_NEC.
• ACK_NEC = 0: automatic reintegration occurs
• ACK_NEC = 1: automatic reintegration occurs following acknowledgement by the user
HAZARD
It is only permissible to set the variable ACK_ NEC = 0 if automatic reintegration is safe for the process in question.
• Check if automatic reintegration is permissible for the process in question.
ACK_REI In order to reintegrate PROFIsafe option DFS after the fault has been corrected, user
acknowledgement with positive edge of variable ACK_REI is req uired. Acknowledge­ment is only possible if variable ACK_REQ = 1.
ACK_REQ The F control system sets ACK_REQ = 1 after all faults in the data exchange with
PROFIsafe option DFS have been corrected. After successful acknowledgement, the F control system sets ACK_REQ = 0.
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PROFIBUS DP operating characteristics
Data exchange with the DFS11B option
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PASS_OUT Indicates whether PROFIsafe option DFS has been passivated. Substitute values are
output
QBAD Fault in the data exchange with PROFIsafe option DFS. Indicates passivation.
Substitute values are output
DIAG For service information purposes, the variable DIAG supplies non-failsafe information
about faults that have occurred in the F control system. For further information refer to the relevant F control system manual.
Input and output data
Output data
Byte Bit Name Default Function Comment 00 STO 0 Safe disconnection of the drive – "Safe
1 ... 7 – 0 Reserved Do not use
Torque Off"
0-active
Input data
Byte Bit Name Default Function Comment 00 POWER_REMOVED 0 Response safe output F-DO_STO
switched – "Power removed"
1 ... 7 – 0 Reserved Do not use
1-active
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Controlling the MOVIDRIVE® MDX61B drive inverter
8.2 Controlling the MOVIDRIVE® MDX61B drive inverter
The drive inverter is controlled via the process data channel which is up to 10 I/O words in length. These process data words are reproduced in the I/O and/or peripheral area of the controller, for example when a programmable logic controller is used as the DP master. As a result, they can be addressed in the usual manner.
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PW160 PW158 PW156 PW154 PW152
PW150 PW148
[2]
PW160 PW158 PW156 PW154
PW152 PW150
PW148
Figure 9: Mapping PROFIBUS data in the PLC address range
PA 3 PA 2 PA 1
PE 3 PE 2 PE 1
[1]
[1]
[1] 8 byte MOVILINK® parameter channel [2] PLC address range
PA 1
PE 1
PA 2
PE 2
PA 3
PE 3
PA 10 PE 10
B
®
MOVIDRIVE
58688AXX
PI1 ... PI10 Process input data PO1 ... PO10 Process output data
• For additional information on programming and project planning, refer to the README_ file included in the GSD file.
• For more information about controlling via the process data channel, in particular regarding the coding of the control and status word, refer to the Fieldbus Unit Profile manual.
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Controlling the MOVIDRIVE® MDX61B drive inverter
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8.2.1 Control example for SIMATIC S7 with MOVIDRIVE® MDX61B
The drive inverter is controlled via SIMATIC S7 depending on the selected pr ocess data configuration, either directly via loa d and transfer commands or via the special system functions SFC 14 DPRD_DAT and SFC15 DPWR_DAT.
In principle, S7 data lengths of 3 bytes or more than 4 bytes must be transmitted using system functions SFC14 and SFC15.
Consequently, the data in the following table applies:
Process data configuration STEP 7 access via
1 PD Load / transfer commands 2 PD Load / transfer commands 3 PD System functions SFC14 / 15 (length 6 bytes) 6 PD System functions SFC14 / 15 (length 12 bytes) 10 PD System functions SFC14 / 15 (length 20 bytes) Param + 1 PD Parameter channel: System functions SFC14 / 15 (length 8 bytes)
Param + 2 PD Parameter channel: System functions SFC14 / 15 (length 8 bytes)
Param + 3 PD Parameter channel: System functions SFC14 / 15 (length 8 bytes)
Param + 6 PD Parameter channel: System functions SFC14 / 15 (length 8 bytes)
Param + 10 PD Parameter channel: System functions SFC14 / 15 (length 8 bytes)
Process data: Load / transfer commands
Process data: Load / transfer commands
Process data: System functions SFC14 / 15 (length 6 bytes)
Process data: System functions SFC14 / 15 (length 12 bytes)
Process data: System functions SFC14 / 15 (length 20 bytes)
8.2.2 PROFIBUS DP timeout (MOVIDRIVE
If the data transfer via PROFIBUS DP is faulty or interrupted, the response monitoring time in MOVIDRIVE lights up or flashes to indicate that no new user data is being received. At the same time, MOVIDRIVE
®
performs the error response selected with P831 Fieldbus timeout
®
MDX61B)
®
elapses (if configured in the DP master). The BUS FAULT LED
response. P819 Fieldbus timeout displays the response monitoring time specified by the DP
master during the PROFIBUS DP startup. The timeout can only be changed via the DP master. Although modifications made using the keypad or MOVITOOLS they do not have any effect and are overwritten when the DP is next started up.
8.2.3 Fieldbus timeout response (MOVIDRIVE
P831 is used to sets the parameters for the fault response, which is triggered by the fieldbus timeout monitoring. The setting made here mu st correspond to the setting in the master system (S7: response monitoring).
®
MDX61B)
®
are displayed,
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Controlling the MOVITRAC® B inverter (gateway)
8.3 Controlling the MOVITRAC® B inverter (gateway)
The inverter is controlled via the process data channel, which is up to 3 I/O words in length. These process data words are reproduced in the I/O or peripheral area of the controller, for example when a programmable logic controller is used as the DP master. As a result, they can be addressed in the usual manner.
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PO 3 PO 2 PO 1
PO 3 PO 2 PO 1
PO 1
PO 2
PO 3
PO 1
PO 2
[1]
[2]
POW318 POW316 POW314 POW312 POW310 POW308
MOVITRAC® B 1 MOVITRAC® B 2
PI 2
PI 1
PIW318 PIW316 PIW314 PIW312 PIW310 PIW308
Figure 10: Mapping PROFIBUS data in the PLC address range
[1] Address range MOVITRAC®B, unit 2 [2] Address range MOVITRAC
PI 3 PI 2 PI 1 PI 3 PI 2 PI 1
®
B, unit 1
PI 3
PI 1
PI 2
PO 3
PI 3
58612AXX
PO = Process output data PI = Process input data Additional information on programming and project planning can be found in the
README_GSD6009.PDF file included in the GSD file.
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Controlling the MOVITRAC® B inverter (gateway)
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8.3.1 Control example for SIMATIC S7 with MOVITRAC® B (gateway)
The drive inverter is controlled via SIMATIC S7 depending on the selected pr ocess data configuration, either directly via loa d and transfer commands or via the special system functions SFC 14 DPRD_DAT and SFC15 DPWR_DAT.
In principle, S7 data lengths of 3 bytes or more than 4 bytes must be transmitted using system functions SFC14 and SFC15.
Process data configuration STEP 7 access via
3 PD ... 24 PD System functions SFC14/15
Param + 3 PD ... 24 PD System functions SFC14/15
8.3.2 SBus timeout
(length: 6 ...48 bytes)
(length 6 ... 48 bytes for PD + 8 bytes for parameter)
8.3.3 Unit error
If one or more drive inverters on the SBus can no longer be addresse d by the DFS , the gateway enters error code F11 System fault, in status word 1 of the corresponding inverter. The H1 LED (system fault) lights up, and the err or is also displayed via the diagnostics interface. It is necessary to set the SBus timeout interval (P815) of the MOVITRAC resets itself in the gateway. In other words, the current process data is exchanged immediately after restarting the communication.
The gateways detect a series of errors during the self test and respond by locking them­selves. The exact error responses and remedies can be found in the list of errors. A hardware defect causes error F111 system fault to be displayed on the fieldbus process input data for status words 1 of all drive inverters. The H1 LED (system fault) at the DFS then flashes at regular intervals. The exact fault code is displayed in the status of the gateway using MOVITOOLS
®
B system error to a value other than 0 for the inverter to stop. The error
®
MotionStudio on the diagnostic interface.
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SIMATIC S7 example program
8.3.4 Fieldbus timeout of the DFS11B in gateway operation
You can set how the gateway should respond in case of timeout using th e P831 Fieldbus timeout response parameter.
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No response The drives on the subordinate SBus continue with the last setpoint value.
PA_DAT A= 0 Rapid stop is activated for all drives that have a process data configuration with
These drives cannot be controlled when the PROFIBUS communication is inter­rupted.
control word 1 or 2 when a PROFINET timeout is detected. For this, the gate­way sets the bits 0 to 2 of the control word to 0. The drives are stopped with the rapid stop ramp.
8.4 SIMATIC S7 example program
This example is a special and free service that demonstrates only the basic approach to generating a PLC program as a non-binding sample. We are not liable for the contents of the example program.
In this example, the project planning for MOVIDRIVE® or MOVITRAC® has the process data configuration "3 PD" on input addresses PIW576... and output addresses
POW576.... A data block DB3 is created with about 50 data words.
When SFC14 is called, the process input data is copied to data block DB3, data words 0, 2 and 4. When SFC15 is called after the control program has been processed, the process output data are copied from data words 20, 22 and 24 to the output address POW 576 ...
Note the length specification in bytes for the RECORD parameter. The length informa­tion must correspond to the configured length.
Refer to the online help for STEP 7 for further information about the system functions.
//Start of cyclical program processing in OB1 BEGIN NETWORK TITLE = Copy PI data from inverter to DB3, words 0/2/4 CALL SFC 14 (DPRD_DAT) //READ DP slave record LADDR := W#16#240 //Input address 576 RET_VAL:= MW 30 //Result in flag word 30 RECORD := P#DB3.DBX 0.0 BYTE 6 //Pointer
NETWORK TITLE =PLC program with drive application // PLC program uses the process data in DB3 for // drive control
L DB3.DBW 0//Load PI1 (status word 1) L DB3.DBW 2 //Load PI2 (actual speed value) L DB3.DBW 4 //Load PI3 (no function)
L W#16#0006 T DB3.DBW 20//Write 6hex to PO1 (control word = enable) L 1500 T DB3.DBW 22//Write 1500dec to PO2 (speed setpoint = 300 rpm) L W#16#0000 T DB3.DBW 24//Write 0hex to PO3 (however, it has no function)
//End of cyclical program processing in OB1 NETWORK TITLE =Copy PO data from DB3, word 20/22/24 to inverter CALL SFC 15 (DPWR_DAT) //WRITE DP slave record LADDR := W#16#240 //Output address 576 = 240hex RECORD := P#DB3.DBX 20.0 BYTE 6 //Pointer to DB/DW RET_VAL:= MW 32 //Result in flag word 32
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PROFIBUS DP operating characteristics
Parameter setting via PROFIBUS DP
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8.5 Parameter setting via PROFIBUS DP
In the PROFIBUS DP system, the parameters are accessed via the 8-byte MOVILINK parameter channel. This parameter channel offers extra parameter services in addition to the conventional READ and WRITE services.
The inverter parameter settings via the PROFIBUS DP parameter channel can only be used for MOVIDRIVE
The PROFIBUS DP parameter channel does not provide data access to the pa rameters of inverters that are installed below the gateway at the SBus.
8.5.1 Structure of the 8 byte MO VIL INK
PROFIBUS DP enables access to the inverter drive parameters via the "para meter pro­cess data object" (PPO). This PPO is transmitted cyclically and contains the process data channel [2] and a parameter channel [1] that can be used to exchange acyclical parameter values.
®
MDX61B and the parameters of the DFS11B gatew ay.
®
parameter channel
®
[1]
[1]
Figure 11: Communication via PROFIBUS DP
[1] Parameter channel [2] Process data channel
The following table shows the structure of the 8 byte MOVILINK
[2]
[2]
®
parameter channel.
Basic structure:
• One management byte
• One index word
• One reserved byte
• 4 data bytes
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage-
ment
Subindex
(reserved)
Index high Index low Data MSB Data Data Data LSB
Parameter index 4-byte data
53492AXX
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Parameter setting via PROFIBUS DP
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Management of the 8-byte
®
MOVILINK parameter channel
The entire procedure for setting parameters is coordinated using management byte 0 . This byte provides important service parameters of the service performed, such as
• Service identifier
• Data length
• Execution
• Status The following table shows that bits 0, 1, 2 and 3 contain the service identifier, and define
which service is performed. Bits 4 and bit 5 specify the data length in bytes for the WRITE service; it should be set to 4 bytes for all SEW drive inverters.
7/MSB 6 5 4 3 2 1 0/LSB
Service identifier
0000 = No service 0001 = READ parameter 0010 = WRITE parameter 0011 = WRITE parameter volatile 0100 = READ minimum 0101 = READ maximum 0110 = READ default 0111 = READ scale 1000 = READ attribute
Data length
00 = 1 byte 01 = 2 bytes 10 = 3 bytes 11 = 4 bytes (must be set)
Handshake bit
Must be changed on every new task in cyclical transmission.
Status bit
0 = No error during execution of service 1 = Error during execution of service
Bit 6 is used as handshake between controller and inverter. It triggers execution of the transmitted service in the inverter. In PROFIBUS DP, the paramete r channel is transmit­ted cyclically with the process data. For this reason, the implementation of the service in the inverter must be triggered by edge control using handshake bit 6. Fo r this purpose, the value of this bit is altered for each new service that is to be executed. The inverter uses the handshake bit to signal whether the service has been executed or not. The ser­vice was executed if the handshake bit received in the controller is identical with the transmitted handshake bit. Status bit 7 indicates whether it was possible to execute the service properly or if errors occurred.
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Parameter setting via PROFIBUS DP
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Index addressing Byte 2: Index high and byte 3: Index low determines the parameter read or written via
the fieldbus system. The parameters of an inverter are addressed with a uniform index regardless of the fieldbus system which is connected. Byte 1 should be viewed as reserved and must always be set to 0x00.
Data range As shown in the followin g table, the data is contained in byte 4 through byte 7 of the
parameter channel. This means up to 4 bytes of data can be transmitted per service. The data is always entered with right-justification; that is, byte 7 contains the least significant data byte (data LS B) whereas byte 4 is the most significant data byte (data MSB).
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage-
ment
Subindex Index high Index low Data MSB Data Data Data LSB
High byte 1 Low byte 1 High byte 2 Low byte 2
High word Low word
Double word
Incorrect execu­tion of a service
The status bit in the management byte is set to signal that a service has been executed incorrectly. If the received handshake bit is identical to the transmitted handshake bit, the inverter has executed the service. If the status bit now signals an error, the error code is entered in the data range of the parameter telegram. Bytes 4-7 send back the return code in a structured format. See section "Return codes of parameter setting" on page 82.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage-
ment
Status bit = 1: Incorrect execution of a service
Subindex Index high Index low Error class Error code Add. code
high:
Add. code
low
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Parameter setting via PROFIBUS DP
8.5.2 Reading a parameter via PROFIBUS DP (READ)
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Due to the cyclical transfer of the parameter channel, to execute a READ service via the 8-byte MOVILINK
®
parameter channel, the handshake bit may only be changed if the complete parameter channel has been set up for the specific service. As a result, adhere to the following sequence when reading a para m et er :
1. Enter the index of the parameter to be read in byte 2 (index high) and byte 3 (index
low).
2. Enter the service identifier for the READ service in the management byte (byte 0).
3. Transfer the READ service to the inverter by changing the handshake bit. Since this is a read service, the sent data b ytes (bytes 4...7) and the data length (in the
management byte) are ignored and do not n eed to be set. This means they need not be set.
The inverter now processes the READ service and sends the service confirmation back by changing the handshake bit.
7/MSB 6 5 4 3 2 1 0/LSB
00/1
Status bit
0 = No error during execution of service 1 = Error during execution of service
1) Bit value is changed
2) Not relevant
1)
Handshake bit
Must be changed on every new task in cyclical transmission.
2)
X
Data length
Not relevant for READ service
2)
X
Service identifier
0001 = READ parameter
0001
The above table shows how a READ service is coded in the management byte. The data lenght is irrelevant. You only need to enter the service identifier for the READ service. This service is now activated in the inverter when the handshake bit changes. It would be possible to activate the READ service with the management byte coding 01hex or 41hex.
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Parameter setting via PROFIBUS DP
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8.5.3 Writing a parameter via PROFIBUS DP (WRITE)
Due to the cyclical transfer of the parameter channel, to execute a WRITE service via the 8 byte MOVILINK
®
parameter channel, the handshake bit may only be changed if the complete parameter channel has been set up for the specific service. Observe the following sequence when writing a parameter:
1. Enter the index of the parameter to be written in byte 2 (ind ex high) and byte 3 (index
low).
2. Enter the data to be written in bytes 4 ... 7.
3. Enter the service identifier and the data length for the WRITE service in the manage-
ment byte (byte 0).
4. Transfer the WRITE service to the inverter by changing the handshake bit. The inverter now processes the WRITE service and sends the confirmation back by
changing the handshake bit. The following table shows how a WRITE service is coded in the management byte. The
data length is 4 bytes for all parameters of SEW inverters. This service is now trans­ferred to the inverter when the handshake bit ch anges. This means a WRITE service to SEW inverters generally has the management byte coding 32 hex or 72 hex.
7/MSB 6 5 4 3 2 1 0/LSB
00/1
Status bit
0 = No error during execution of service 1 = Error during execution of service
1) Bit value is changed
1)
Handshake bit
Must be changed on every new task in cyclical transmission.
110010
Service identifier
0010 = WRITE parameter
Data length
11 = 4 bytes
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Parameter setting via PROFIBUS DP
8.5.4 Parameter setting procedure with PROFIBUS DP
Using the WRITE service as an example, the following figure represents a process of setting parameters between the controller and the inverter via PROFIBUS DP. To sim­plify the sequence, the following figure only shows the management byte of the param­eter channel.
The parameter channel is only received and returned by the inverter while the control is preparing the parameter channel for the WRITE service. The service is not activated un­til the moment when the handshake bit is changed (in this example, when it changes from 0 to 1). The inverter now interprets the parameter channel and processes the WRITE service, but continues to answer all telegrams with handshake bit = 0. The executed service is acknowledged with a change of the handshake bit in the response telegram of the inverter. The controller now detects that the received handshake bit is once again the same as the one which was sent. It ca n now prepare anothe r parameter setting procedure.
Control PROFIBUS DP(V0) Inverter (slave)
-- 00110010XXX... →
← 00110010XXX... --
Parameter channel is prepared for the WRITE service
Handshake bit is changed and the service is trans­ferred to the inverter -- 01110010XXX... →
← 00110010XXX... --
-- 01110010XXX... →
← 00110010XXX... -- WRITE service is performed,
Service confirmation is received as the send and receive handshake bits are the same again
← 01110010XXX... --
-- 01110010XXX... → Parameter channel is received, but
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Parameter channel is received, but not evaluated
handshake bit is changed
not evaluated
8.5.5 Parameter data format
When parameters are set via the fieldbus interface, the same parameter coding is used as with the serial RS-485 interfaces and/or the system bus.
The data formats and ranges of values for the indi vidual parameters can be found in the publication MOVIDRIVE
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
®
"parameter list".
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8.5.6 Return codes for parameterization
Elements In the event of an incorrect parameter s etting, the inverter sends back various return
codes to the master which set the parameters. These codes provide detailed information about what caused the error. Generally, these return codes are structured. There is a distinction between the following elements:
• Error class
• Error code
• Additional code These return codes are described in detail in the Fieldbus Communications Profile
manual and are not included in this documentation. However, the following special cases can occur in connection with PROFIBUS:
Error class The error class element provides a more exact classification of the error type.
MOVIDRIVE
®
supports the following error classes defined in accordance with
EN 50170(V2):
Class (hex) Designation Meaning
1 vfd state Status error of the virtual field device 2 application reference Error in application program 3 definition Definition error 4 resource Resource error 5 service Error during execution of service 6 access Access error 7 ov Error in the object list 8 other Other error (see section "Additional code" on page 83)
The error class is generated by the communication software of the fieldbus interface if there is an error in communication. This statement does not apply to Error class 8 =
Other error. Return codes se nt from the i nverter system ar e all includ ed in Error class 8 = Other error. The error can be identified more precisely using the additional code
element.
Error code The error code element provides a means for more precisely identifying the cause of the
error within the error class. It is generated by the communication software of th e fieldbus card in the event of an error in communication. For Error class 8 = Other error, only Error code = 0 (Other error code) is defined. In this case, detailed identificatio n is made using the additional code.
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Additional code The additional code contains the return codes specific to SEW dealing with incorrect
parameter settings of the inverter. These codes are returned to the master under Error class 8 = Other error. The following table shows all possible codings for the additional code.
8
Add. code high (hex)
00 00 No error 00 10 Illegal parameter index 00 11 Function/parameter not implemented 00 12 Read access only 00 13 Parameter lock is active 00 14 Factory setting is active 00 15 Value for parameter too large 00 16 Value for parameter too small 00 17 Required option card missing for this function/parameter 00 18 Error in system software 00 19 Parameter access via RS-485 process interface on X13 only 00 1A Parameter access via RS-485 diagnostic interface only 00 1B Parameter is access-protected 00 1C Controller inhibit required 00 1D Invalid value for parameter 00 1E Factory setting was activated 00 1F Parameter was not saved in EEPROM 00 20 Parameter cannot be changed with enabled output stage
Add. code low (hex)
Meaning
8.5.7 Special cases
Special return codes
Errors in the parameter settings that cannot be identified either automatically by the application layer of the fieldbus system or by the system software of the inve rter are treated as special cases. The following is a list of errors that can occur depending on the fieldbus interface used:
• Incorrect coding of a service via parameter channel
• Incorrect length specification of a service via parameter channel
• Internal communication error
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Incorrect service code in the parameter channel
Incorrect code was specified in the management byte or reserved byte during parameter setting via the parameter channel. The following table shows the return code for this special case.
Code (dec) Meaning
Error class: 5 Service Error code: 5 Illegal parameter Add. code high: 0 – Add. code low: 0 –
Troubleshooting Check bits 0 and 1 in the parameter channel.
Incorrect length specification in parameter channel
A data length other than 4 data bytes was specified in a READ or WRITE ser vice during parameter setting via the parameter channel. The following table displays the return codes.
Code (dec) Meaning
Error class: 6 Access Error code: 8 Type conflict Add. code high: 0 – Add. code low: 0 –
Troubleshooting Check bits 4 and 5 for the data length in the management byte of the parameter channel.
Both bits must be set to 1.
Internal commu­nication error
The return code listed in the following table is sent back if a communication error has occurred within the system. The parameter service transferred via the fieldbus may not have been performed and has to be repeated. If this error occurs again, switch off the inverter completely and then back on again so it is re-initialized.
Code (dec) Meaning
Error class: 6 Access Error code: 2 Hardware fault Add. code high: 0 – Add. code low: 0 –
Troubleshooting Repeat the READ or WRITE service. If the error occurs again, briefly disconnect the
inverter from the power supply and switch it on again. If the error persists, consult the SEW Service.
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9 PROFIBUS DP-V1 Functions
This section provides you with information about the PROFIBUS DP-V1 functions.
9.1 Introduction to PROFIBUS DP-V1
This section describes the functions and terms used for operating SEW inverters at PROFIBUS DP-V1. Refer to the PROFIBUS user organization or visit PROFIBUS website for detailed technical information on PROFIBUS DP-V1.
The PROFIBUS DP-V1 specification introduced new acyclical READ / WRITE services as part of the PROFIBUS DP-V1 expansions. These acyclical services are insert ed into special telegrams during ongoing cyclical bus operation and thus ensure compatibility between PROFIBUS DP (version 0) and PROFIBUS DPV1 (Version 1).
The acyclical READ/WRITE services can be used to exchange larger data quantities between master and slave (inverter) than it would be possible to transfer in the cyclical input or output data using the 8-byte parameter chan nel, for example. The advantage of the acyclical data exchange via DP-V1 lies in the minimum load on the cyclical bus operation since DP-V1 telegrams are only added to the bus cycle if required.
The DP-V1 parameter channel provides the user with 2 options:
• The higher-level controller can access all the device information of the SEW DP-V1
slaves. This means that cyclical process da ta and unit settings can be read, stored in the controller and modified in the slave.
• It is also possible to route the service and star tup tool MOVITOO LS
via the DP-V1 parameter channel instead of using a propr ietary RS-485 connection . Once you have installed the MOVITOOLS detailed information in the folder ...\SEW\MOVITOOLS\Fieldbus.
The main features of PROFIBUS DP-V1 are explained below.
PROFIBUS DP-V1 Functions
Introduction to PROFIBUS DP-V1
®
MotionStudio software, you can access
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®
MotionStudio
9
C1-Master
Acyclic DP-V1
C1-Services
Cyclic OUT Data
Param PD
Param PD
Cyclic IN Data
SEW
Drive
C2-Master
Acyclic DP-V1
C2-Services
PROFIBUS DP-V1
Acyclic DP-V1
C2-Services
C2-Master
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PROFIBUS DP-V1 Functions
Introduction to PROFIBUS DP-V1
00
9.1.1 Class 1 master (C1 master)
The PROFIBUS DP-V1 network differentiates between various master classes. The C1 master essentially performs the cyclical data exchange with the slaves. A typical C1 master is a control system, such as a PLC, that exchanges cyclical process data with the slave. If the DP-V1 function has been activated via the GSD file, the acyclical connection between C1 master and slave is established automatically when the cyclical connection of the PROFIBUS DP-V1 is being established. Only one C1 master can be operated in a PROFIBUS DP-V1 network.
9.1.2 Class 2 master (C2 master)
The C2 master itself does not perform cyclical data exchange with the slaves. Examples for a typical C2 master are visualization systems or temporary installed programming devices (Notebook / PC). The C2 master uses exclusively acyclic connections for communication with the slaves. The acyclic connections between C2 master and slave are established by the Initiate service. The connection is established once the Initiate service has been performed succes sfully. An established connection enables cyclical data exchange with the slaves using READ or WRITE services. Several C2 masters can be active in a DP-V1 network. The number of C2 connections, established simulta­neously for a slave, is determined by the slave. SEW inverters support two parallel C2 connections.
9.1.3 Data sets (DS)
The user data transported via a DP-V1 service are collected in data sets. Each data set is represented uniquely by its length, a slot number and an index. The structure of data set 47 is used for DP-V1 communication with the SEW inverter. This data set is defined as the DP-V1 parameter channel for drives as of V3.1 in the PROFIdrive profile drive engineering of the PROFIBUS user organization. Different procedures for accessing parameter data in the inverter are provided via this parameter channel.
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9.1.4 DP-V1 services
The DP-V1 expansions offer new services, which can be used for acyclical data exchange between master and slave. The system distinguishes between the following services:
PROFIBUS DP-V1 Functions
Introduction to PROFIBUS DP-V1
C1 master Connection type: MSAC1 (master/slave acyclical C1)
READ Read data set WRITE Write data set
C2 master Connection type: MSAC2 (master/slave acyclical C2)
INITIATE Establish C2 connection ABORT Disconnect C2 connection READ Read data set WRITE Write data set
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9.1.5 DP-V1 alarm handling
In addition to the acyclical services, the DP-V1 specification also defines extended alarm handling. Alarm handling now distinguishes between different alarm types. As a result, unit-specific diagnostics cannot be evaluated in DP-V1 operation using the 'DDLM_SlaveDiag' DP-V0 service. DP-V1 alarm handling has not been defined for drive engineering as an inverter does not usually transfer its status information via cyclical process data communication.
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PROFIBUS DP-V1 Functions
Characteristics of SEW inverters
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9.2 Characteristics of SEW inverters
The SEW fieldbus interfaces to PROFIBUS DP-V1 have the same communication features for the DP-V1 interface. The drives are usually controlled via a C1 master with cyclical process data in accordance with the DP-V1 standard. T his C1 master (usu ally a PLC) can also use an 8-byte MOVILINK exchange to perform the parameter services with DFS11B. The READ and WRITE services give the C1 master access to connected stations via the DP-V1 C1 channel.
Two additional C2 channels can be connected in parallel to these parameter channels. The first C2 master as a visualization device, for example could use these channels to read parameter data, and a second C2 master in the form of a notebook could use them to configure the drive using the MOVITOOLS
®
parameter channel during cyclical data
®
software.
C1-Master
DP:
DP-V1 Interface
SEW PROFIBUS
DP:
PD
Acyclic DP-V1
C1 Services
8 Byte Param
Cyclic IN/Out
Process Data
Acyclic DP-V1
C2 Services
DP Parameter Buffer
C1 Parameter Buffer
cyclic
Parameter Buffer
Drive System
Figure 12: Parameter setting channels for PROFIBUS DP-V1
C2-Master C2-Maste
PROFIBUS DP-V1
Acyclic DP-V1
C2 Services
C2 Parameter Buffer
C2 Parameter Buffer
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PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
9.3 Structure of the DP-V1 parameter channel
Generally, the parameter setting of the drives to the PROFIdrive DP-V1 parameter channel of profile version 3.0 is implemented via data set 47. The Request ID entry is used to distinguish between parameter acce ss based on PROFIdrive profile or via SEW­MOVILINK elements. The data set structure is the same for PROFIdrive and MOVILINK
®
services. The following table shows the possible codes of the individual
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access.
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DP-V1 READ/WRITE
The following MOVILINK
• 8-byte MOVILINK
such as – READ parameters
– WRITE parameters – WRITE parameter volatile –etc.
PROFIdrive Parameter Channel DS47
®
parameter channel with all the services supported by the inverter
SEW MOVILINK
®
services are supported:
®
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PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
00
The following PROFIdrive services are supported:
• Read (request parameter) individual parameters of the type double word
• Write (change parameter) individual parameters of the type double word
Table 1: Elements of data set DS47
Field Data type Values
Request reference
Request ID Unsigned8 0x01 Request parameter (PROFIdrive)
Response ID Unsigned8 Response (+):
Axis Unsigned8 0x00 ... 0xFF Number of axes 0 ... 255 No. of
parameters Attributes Unsigned8 0x10 Value
No. of elements Unsigned8 0x00 for parameters that are not indexed
Parameter number
Subindex Unsigned16 0x0000 SEW: always 0 Format Unsigned8 0x43 Double word
No. of values Unsigned8 0x00 ... 0xEA Quantity 0 ... 234 Error value Unsigned16 0x0000 ... 0x0064 PROFIdrive error codes
Unsigned8 0x00 reserved
0x01 ... 0xFF
0x02 Change parameter (PROFIdrive) 0x40 SEW MOVILINK
0x00 reserved 0x01 Request parameter (+) (PROFIdrive) 0x02 Change parameter (+) (PROFIdrive)
0x40 SEW MOVILINK
Response (–): 0x81 Request parameter (–) (PROFIdrive) 0x82 Change parameter (–) (PROFIdrive)
0xC0 SEW MOVILINK
Unsigned8 0x01 ... 0x13 1 ... 19 DWORDs (240 DP-V1 data bytes)
For SEW MOVILINK 0x00 No service 0x10 READ parameters 0x20 WRITE parameter 0x30 WRITE Parameter volatile 0x40 ... 0xF0 Reserved
0x01 ... 0x75 Quantity 1 ... 117
Unsigned16 0x0000 ... 0xFFFF MOVILINK
0x44 Error
0x0080 + MOVILINK
For SEW MOVILINK
®
service
®
service (+)
®
service (–)
®
(Request ID = 0x40):
®
parameter index
®
-Additional Code Low
®
16 bit error value
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PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
9.3.1 Procedure for setting parameters via data set 47
Parameter access takes place with the combination of the DP-V1 services WRITE and READ. The parameter setting order is transferred to the slave using the WRITE.req,
followed by slave-internal processing. The master now sends a READ.req to pick up the parameter setting response. The
master repeats the READ.req if the READ.res from the slave is negative. As soon as the parameter processing in the inverter is concluded, it answers with a positive response READ.res. The user data now contain the parameter setting response of the parameter setting order that was previously sent with WRITE.req (see the following figure). This mechanism applies to both a C1 and a C2 master.
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Master
Parameter
Request
Parameter Response
Figure 13: Telegram sequence for parameter access via PROFIBUS DP-V1
PROFIBUS-DP-V1
WRITE.req DS47
with data (parameter request)
WRITE.res
without data
READ.req DS47
without data
READ.res(-)
without data
READ.req DS47
without data
READ.res(+)
with data (parameter response)
Slave (Drive)
Parameter
Request
Parameter
Processing
Parameter
Response
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PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
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9.3.2 DP-V1 master processin g seq uen c e
If the bus cycles are very short, the request for the parameter response arrives before the inverter has concluded parameter access in the device. This means that the response data from the inverter is not yet available. In this case, the inverter sends a negative answer with the Error_Code _1 = 0xB5 (status conflict) to the DP-V1 level. The DP-V1 master must then repeat the request with the READ.req header until it receives a positive answer from the inverter .
Send Write request with parameter data
Check Write.
response
Write.response positive
Send DS_Read.req with parameter data
Read.
response
status
conflict?
no
Other error
or timeout
no
Parameter transfer ok,
data available
Write.response
negative
yes
yes
Parameter transfer
aborted with ERROR
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9.3.3 Addressing connected inverters
The structure of the DS47 data set de fines an axis element. This element is used to reach multi-axis drives that are operated via one PROFIBUS interface. The axis element addresses one of the devices connecte d via the PROFIBUS interface. T his mechan ism can be used, for example, by the SEW MQP bus modules for MOVIMOT MOVITRAC
®
07.
PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
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or UFP for
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Addressing a MOVIDRIVE
®
inverter at PROFIBUS DP-V1
With the setting Axis = 0, the parameter of the drive inverters can be accessed directly. Since there are no drive devices connected to MOVIDRIVE®, access with Axis > 0 is returned with an error code.
C1-Master
C2-Master
Cyclic OUT Data
Acyclic DP-V1
C1 Services
Param PD
Param PD
Cyclic IN Data
Axis = 0
Acyclic DP-V1
C2 Services
Axis = 0
PROFIBUS DP-V1
Axis = 0
Figure 14: Addressing a MOVIDRIVE® inverter directly via PROFIBUS DP-V1 with Axis = 0.
C2-Master
Acyclic DP-V1
C2 Services
61537AXX
®
9.3.4 MOVILINK
parameter requests
The MOVILINK structure of data set 47. The Request ID 0x40 (SEW MOVILINK exchange of MOVILINK
®
parameter channel of the SEW inverter is directly mapped in the
®
parameter setting orders. Parameter access with MOVILINK
®
services usually takes place according to the structure described below. The typical telegram sequence for data set 47 is used.
Request ID: 0x40 SEW MOVILINK
®
service
The actual service is defined by the data set element Attribute in the MOVILINK parameter channel. The high nibble of this element corresponds to the service nibble in the management byte of the DP parameter channel.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
service) is used for the
®
®
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PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
00
Example for read­ing a parameter via MOVILINK
®
The following tables show an example of the structure of the WRITE.request and
®
READ.res user data for reading an individual parameter via the MOVILINK
parameter
channel.
Sending parameter request
The following table shows the coding of the user data for the WRITE.req service speci­fying the DP-V1 header. The WRITE.req service is used to transfer the parameter setting request to the inverter. The firmware version is read.
Table 2: WRITE.request header for transferring the parameter request
Service: WRITE.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 10 10 byte user data for parameter request
Table 3: WRITE.req USER DATA for MOVILINK ®"READ parameter"
Byte Box Value Description
0 Request reference 0x01 Individual reference number for the parameter
1 Request ID 0x40 SEW MOVILINK 2 Axis 0x00 Axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter 4 Attributes 0x10 MOVILINK 5 No. of elements 0x00 0 = access to direct value, no subelement 6, 7 Parameter Number 0x206C MOVILINK 8, 9 Subindex 0x0000 Subindex 0
setting request is mirrored in the parameter response
®
service
®
service “READ parameter”
®
index 8300 = “firmware version”
Query parameter response
The following table shows the coding of the READ.req USER DATA including the DP­V1 header.
Table 4: READ.req for requesting the parameter response
Service: READ.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 240 Maximum length of response buffer in the DP-V1 master
Positive MOVILINK® parameter setting response
The table shows the READ.res USER DATA with the positive response data of the parameter setting request. The parameter value for index 8300 (firmware version) is returned as an example.
Table 5: DP-V1 header of the positive READ.response with parameter response
Service: READ.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 10 10 byte user data in response buffer
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PROFIBUS DP-V1 Functions
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Structure of the DP-V1 parameter channel
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Table 6: Positive response for MOVILINK® service
Byte Box Value Description
0 Response reference 0x01 Reflected reference number from the parameter
1 Response ID 0x40 Positive MOVILINK 2 Axis 0x00 Reflected axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter 4 Format 0x43 Parameter format: Double word 5 No. of values 0x01 1 value 6, 7 Value Hi 0x311C Higher-order part of the parameter 8, 9 Value Lo 0x7289 Lower-order part of the parameter
setting order
®
response
Decoding: 0x 311C 7289 = 823947913 dec >> firmware version 823 947 9.13
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Example for writ­ing a parameter via MOVILINK
®
The following tables show the sequence of the WRITE and READ services for volatile writing of the value 12345 to IPOS example. The MOVILINK
®
service WRITE Parameter volatile is used for this purpose.
plus®
variable H0 (parameter index 11000) as an
Send "WRITE parameter volatile" order
Table 7: DP-V1 header of the WRITE.request with parameter request
Service: WRITE.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 16 16 byte user data for order buffer
Table 8: WRITE.req user data for MOVILINK® service "WRITE parameter volatile"
Byte Box Value Description
0 Request reference 0x01 Individual reference number for the parameter
1 Request ID 0x40 SEW MOVILINK 2 Axis 0x00 Axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter 4 Attributes 0x30 MOVILINK 5 No. of elements 0x00 0 = access to direct value, no subelement 6, 7 Parameter Number 0x2AF8 Parameter index 11000 = "IPOS variable H0" 8, 9 Subindex 0x0000 Subindex 0 10 Format 0x43 Double word 11 No. of values 0x01 Change 1 parameter value 12, 13 Value HiWord 0x0000 Higher-order part of the parameter value 14, 15 Value LoWord 0x0BB8 Lower-order part of the parameter value
setting request is mirrored in the parameter response
®
service
®
service “WRITE parameter volatile”
After sending this WRITE.request, the WRITE.response is received. If there was no sta­tus conflict in processing the parameter channel, a positive WRITE.response occurs. Otherwise, the status fault is located in Error_code_1.
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Structure of the DP-V1 parameter channel
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Query parameter response
The following table shows the coding of the WR IT E.r eq USER DAT A inc lud ing th e DP­V1 header.
Table 9: READ.req for requesting the parameter response
Field Value Description
Function_Num READ.req Slot_Number X Slot_Number not used Index 47 Index of the data set Length 240 Maximum length of response buffer in the DP master
Positive response to “WRITE parameter volatile”
Table 10: DP-V1 header of the positive READ.response with parameter response
Service: READ.response Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 4 4 byte user data in response buffer
Negative parame­ter response
Table 11: Positive response for MOVILINK® service „WRITE Parameter'
Byte Field Value Description
0 Response reference 0x01 Reflected reference number from the parameter
1 Response ID 0x40 Positive MOVILINK 2 Axis 0x00 Reflected axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter
The following table shows the coding of a negative response of a MOVILINK
setting order
®
response
®
service.
Bit 7 is entered in the the response ID if the response is negative.
Table 12: Negative response for MOVILINK® service
Service: READ.response Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 8 8 byte user data in response buffer
Byte Field Value Description
0 Response reference 0x01 Reflected reference number from the parameter setting order
®
1 Response ID 0xC0 Negative MOVILINK 2 Axis 0x00 Reflected axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter 4 Format 0x44 Error 5 No. of values 0x01 1 error code 6, 7 Error value 0x0811 MOVILINK
e.g. Error class 0x08, Add. code 0x11 (see section "MOVILINK DP-V1" on page 97)
®
return code
response
®
configuration return codes for
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PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
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MOVILINK® con­figuration return codes for DP-V1
The following table shows the return codes that are returned by the SEW DP-V1 interface if an error occurs during DP-V1 para m et er access.
MOVILINK® Return codes (hex)
0x0810 Invalid index, parameter index does not exist in the unit 0x0811 Function/parameter not implemented 0x0812 Read access only 0x0813 Parameter lock activated 0x0814 Factory setting is active 0x0815 Value for parameter too large 0x0816 Value for parameter too small 0x0817 Required option card not installed 0x0818 Error in system software 0x0819 Parameter access via RS-485 process interface only 0x081A Parameter access via RS-485 diagnostic interface only 0x081B Parameter is access-protected 0x081C Controller inhibit is required 0x081D Invalid value for parameter 0x081E Factory setting was activated 0x081F Parameter was not saved in EEPROM 0x0820 Parameter cannot be changed with output stage enabled / reserved 0x0821 Reserved 0x0822 Reserved 0x0823 Parameter may only be changed at IPOS program stop 0x0824 Parameter may only be changed when auto setup is deactivated 0x0505 Incorrect coding of management and reserved byte 0x0602 Communication error between inverter system and fieldbus interface 0x0502 Timeout of secondary connection (e.g. during reset or with Sys-Fault)
Description
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PROFIBUS DP-V1 Functions
Structure of the DP-V1 parameter channel
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9.3.5 PROFIdrive parameter orders
The PROFIdrive parameter channel of SEW inverters is directly mapped in the structu re of data set 47. Parameter access with PROFIdrive services usually takes place accord­ing to the structure described below. The typical telegram sequence for data set 47 is used. PROFIdrive only defines the two request IDs
Request ID:0x01request parameter (PROFIdrive) Request ID:0x02change parameter (PROFIdrive)
This means there is rest ricted data access in comparison with the MOVILINK The request ID = 0x02 = Change Parameter (PROFIdrive) results in remanent write
access to the selected parameter. Consequently, the internal flash EEPROM of the inverter is written with each write access. Use the MOVILINK eter volatile“ if parameters must be written cyclically at short intervals. With this service, you only alter the parameter values in the RAM of the inverter.
®
services.
®
service "WRITE Param-
Example for read­ing a parameter via PROFIdrive
The following tables show an example of the structure of the WRITE.request and
®
READ.res user data for reading an individual parameter via the MOVILINK
parameter
channel.
Sending parameter request
The following table shows the coding of the user data for the WRITE.req service speci­fying the DP-V1 header. The WRITE.req service is used to transfer the parameter setting request to the inverter.
Table 13: WRITE.request header for transferring the parameter request
Service: WRITE.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 10 10 byte user data for parameter request
Table 14: WRITE.req USER DATA for PROFIdrive "Request parameter"
Byte Field Value Description
0 Request reference 0x01 Individual reference number for the parameter
1 Request ID 0x01 Request parameter (PROFIdrive) 2 Axis 0x00 Axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter 4 Attributes 0x10 Access to parameter value 5 No. of elements 0x00 0 = access to direct value, no subelement 6, 7 Parameter Number 0x206C MOVILINK 8, 9 Subindex 0x0000 Subindex 0
setting request is mirrored in the parameter response
®
index 8300 = “firmware version”
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Structure of the DP-V1 parameter channel
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Query parameter response
The following table shows the coding of the READ.req USER DATA including the DP­V1 header.
Table 15: READ.req for requesting the parameter response
Service: READ.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 240 Maximum length of response buffer in the DP-V1 master
Positive PROFIdrive parameter response
The table shows the READ.res user data with the positive response data of the parameter setting request. The parameter value for index 8300 (firmware version) is returned as an example.
Table 16: DP-V1 header of the positive READ.response with parameter response
Service: READ.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 10 10 byte user data in response buffer
9
Table 17: Positive response for MOVILINK® service
Byte Field Value Description
0 Response reference 0x01 Reflected reference number from the parameter
1 Response ID 0x01 Positive response for "Request Parameter“ 2 Axis 0x00 Reflected axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter 4 Format 0x43 Parameter format: Double word 5 No. of values 0x01 1 value 6, 7 Value Hi 0x311C Higher-order part of the parameter 8, 9 Value Lo 0x7289 Lower-order part of the parameter
setting order
Decoding: 0x 311C 7289 = 823947913 dec >> firmware version 823 947 9.13
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Structure of the DP-V1 parameter channel
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Example for writ­ing a parameter via PROFIdrive
The following tables show an example of the structure of the WRITE and READ services for the remanent writing of the internal setpoint n11 (see sectio n "Example for writing a
®
parameter via MOVILINK
" on page 95). The PROFIdrive service change parameter is
used for this purpose.
Send "WRITE parameter " request
Table 18: DP-V1 header of the WRITE.request with parameter request
Service: WRITE.request Description
Slot_Number 0 Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 16 16 byte user data for order buffer
Table 19: WRITE.req user data for PROFIdrive service "change parameter"
Byte Field Value Description
0 Request reference 0x01 Individual reference number for the parameter
1 Request ID 0x02 Change parameter (PROFIdrive) 2 Axis 0x01 Axis number; 0 = single axis 3 No. of parameters 0x01 1 parameter 4 Attributes 0x10 Access to parameter value 5 No. of elements 0x00 0 = access to direct value, no subelement 6, 7 Parameter Number 0x7129 Parameter index 8489 = P160 n11 8, 9 Subindex 0x0000 Subindex 0 10 Format 0x43 Double word 11 No. of values 0x01 Change 1 parameter value 12, 13 Value HiWord 0x0000 Higher-order part of the parameter value 14, 15 Value LoWord 0x0BB8 Lower-order part of the parameter value
setting request is mirrored in the parameter response
After sending this WRITE.request, the WRITE.response is received. If there was no status conflict in processing the parameter channel, a positive WRITE.response occurs. Otherwise, the status fault is located in Error_code_1.
Query parameter response
The following table shows the coding of the WRITE.req user data including the DP-V1 header.
Table 20: READ.req for requesting the parameter response
Field Value Description
Function_Num READ.req Slot_Number X Slot_Number not used Index 47 Index of the data set Length 240 Maximum length of response buffer in the DP-V1 master
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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