SEW Eurodrive UFP11A User Manual

Page 1
PROFIBUS DP-V1 UFP11A Fieldbus Interface
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Edition
02/2004
Manual
11254416 / EN
Page 2
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Page 3
1 System Overview ..........................................................................4
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
2 Unit Design ....................................................................................5
2.1 Front view .............................................................................5
3 Installation and Operation without PC........................................6
3.1 Installation notes ...................................................................6
3.2 Setting the inverter parameters............................................. 9
3.3 Autosetup............................................................................10
3.4 Project planning of the fieldbus master............................... 12
3.5 Starting the inverters...........................................................13
4 Installation and Operation with PC............................................14
4.1 Installation notes .................................................................14
4.2 Setting the inverter parameters........................................... 17
4.3 Startup software..................................................................17
4.4 Starting the inverters...........................................................18
5 PROFIBUS interface....................................................................19
5.1 Startup up PROFIBUS DP master ......................................19
5.2 Configuration of the PROFIBUS DP interface.....................19
5.3 Ident number.......................................................................25
5.4 Inverter control ....................................................................25
6 DP-V1 Functions..........................................................................27
6.1 Introduction to PROFIBUS DP-V1 ......................................27
6.2 Features of SEW drive inverters .........................................29
6.3 Structure of the DP-V1 parameter channel......................... 30
6.4 Project planning for a C1 master.........................................46
6.5 Appendix .............................................................................47
7 Error Responses .........................................................................54
7.1 Fieldbus timeout.................................................................. 54
7.2 SBUS timeout .....................................................................54
7.3 Device errors....................................................................... 54
8 LEDs.............................................................................................55
8.1 RUN ....................................................................................55
8.2 BUS-FAULT ........................................................................55
8.3 SYS-FAULT ........................................................................56
8.4 USER ..................................................................................56
9 DIP Switches................................................................................57
9.1 Setting the station address .................................................57
10 Operating the Interface...............................................................58
11 Appendix......................................................................................61
11.1 List of errors ........................................................................61
11.2 Technical data.....................................................................62
11.3 Dimension sheet .................................................................63
12 Index.............................................................................................64
Manual – PROFIBUS UFP11A Fieldbus Interface
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1
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System Overview
1 System Overview
Handbuch
The UFP11A PROFIBUS DP-V1 fieldbus interface is used for connecting inverters with the PROFIBUS DP-V1. Several inverters can be connected to the UFP11A PROFIBUS DP-V1 interface via the SBus. The UFP11A PROFIBUS interface establishes the connection between PROFIBUS DP-VI and SBus.
C1-Master
UFP
PROFIBUS DP-V1
C2-Master
C2-Master
MOVITRAC
Figure 1: System overview DP-V1 master – UFP – inverter
®
07
53453AXX
Manual – PROFIBUS UFP11A Fieldbus Interface
Page 5
2Unit Design
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2.1 Front view
Unit Design
Front view
2
Figure 2: Arrangement of LEDs, connectors and DIP switches
X1 SBus and 24 V connector X2 Diagnostic interface X3 PROFIBUS S1 DIP switch RUN Operating status BUS-F Bus fault SYS-F System fault USER Expert mode
Manual – PROFIBUS UFP11A Fieldbus Interface
04888AXX
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3
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Installation and Operation without PC
Installation notes
3 Installation and Operation without PC
3.1 Installation notes
Installation
Pin assignment
The unit can be installed directly onto the wall of a control cabinet by using the pre­installed DIN rail mounting or the four drilled holes on the back of the housing. Basically, there are no restrictions regarding the spatial arrangement of the units to be connected (e.g. MOVITRAC
®
07). The maximum line length and the fact that the gateway must be installed at the end or the beginning of the system bus (SBus) must be taken into consideration. For this reason, we recommend you take the spatial aspects into account.
The UFP must have additional HF-compliant grounding if the DIN rail mounting option is used with SBus cables of more than 1 m in length.
The UFP11A fieldbus interface is connected to the PROFIBUS network by means of a 9-pin sub D connector in accordance with EN 50170. The T-bus connection must be implemented with an appropriately designed plug.
[2]
[1]
RxD/TxD-P (B/ )B
RxD/TxD-N (A/ )A CNTR-P
DGND (M5V)
VP (P5V) DGND (M5V)
3
8 4
5 6 9
[3]
Fieldbus connector
Figure 3: Assignment of 9-pin sub D connector X3 according to EN 50170 ([1] = 9-pin sub D
connector; [2] = twisted signal lines; [3] = conductive connection between connector housing and shielding)
01222DXX
The fieldbus interface is generally connected to the PROFIBUS system using a shielded twisted-pair cable. The shielding of the PROFIBUS cable must be attached to both sides, for example on the connector housing. Observe the maximum supported transmission rate when selecting the bus connector.
The twisted-pair cable is connected to the PROFIBUS connector via pin 8 (A/A 3 (B/B
). Communication takes place via these two contacts. The RS-485 signals A/A
) and pin
and B/B must be contacted in the same way for 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 9) via pin 4 (CNTR-P).
Manual – PROFIBUS UFP11A Fieldbus Interface
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System bus connection
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Installation and Operation without PC
Installation notes
3
Figure 4: System bus connection
UFP
GND = System bus reference SC11 = System bus high SC12 = System bus low
Please note:
Use a 2-core twisted and shielded copper cable (data transmission cable with
braided copper shield). Connect the shield with a wide-area contact at the electronics terminal of MOVITRAC The cable must meet the following specifications (CAN bus or DeviceNet cables are suitable, for example):
– Core cross section 0.75 mm
– Cable resistance 120 Ω at 1 MHz – Capacitance per unit length 40 pF/m (12 pF/ft) at 1 kHz
The approved total cable length depends on the specified SBus baud rate:
– 250 kbaud: 160 m (528 ft) – 500 kbaud: 80 m (264 ft) – 1000 kbaud: 40 m (132 ft)
MOVITRAC® 07
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
®
07 or UFP11A and also connect the shield ends to GND.
2
(AWG18)
04848AXX
Manual – PROFIBUS UFP11A Fieldbus Interface
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3
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Installation and Operation without PC
Installation notes
Connect the system bus terminating resistor (S12 = ON) at the end of the system bus
connection. Disconnect the terminating resistor at the other devices (S12 = OFF). The UFP11A gateway must always be connected either at the beginning or the end of the system bus connection and feature a permanently installed terminating resistor.
There must not be any difference of potential between the units connected with the
SBus. Take suitable measures to avoid a difference of potential, such as connecting the unit ground connectors using a separate line.
Point-to-point wiring is not permitted.
24 V connection
Shielding and routing of bus cables
An external 24 V voltage supply must be connected to terminals X1:4 and X1:5.
The PROFIBUS interface supports the RS-485 communications protocol and requires cable type A specified for PROFIBUS in accordance with EN 50170 as shielded twisted­pair cable for the physical connection.
Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments. The following measures ensure the best possible shielding:
Tighten the mounting screws on the connectors, modules and equipotential bonding
conductors by hand.
Use only connectors with metal housing or plated housing.
Connect the shielding in the connector with the greatest possible surface area.
Attach the shielding of the bus line on both sides.
Do not route signal and bus cables parallel to power cables (motor leads). They must
be routed in separate cable ducts.
Use metallic, grounded cable racks in industrial environments.
Route the signal cable and the corresponding equipotential bonding in close
proximity using the shortest way possible.
Avoid using plug connectors to extend bus cables.
Route the bus cables closely along existing grounding surfaces.
In case of fluctuations in the earth 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 to relevant VDE regulations in such a case.
Manual – PROFIBUS UFP11A Fieldbus Interface
Page 9
Installation and Operation without PC
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Setting the inverter parameters
3
Bus termination
A bus termination is not provided on the UFP electronics. If the UFP module is used as the first or last device of the PROFIBUS line, the bus termination has to be external. We recommend PROFIBUS connectors with integrated bus termination that open the continuing bus in case the bus termination is connected.
3.2 Setting the inverter parameters
The settings can be entered via the inverter keypad. Refer to the operating instructions of the inverter for details.
Connect the voltage supply for the UFx and all connected inverters.
Set an individual SBus address (P813) at the inverters. Recommendation: Address
setting beginning with address 1 in ascending order based on the arrangement of inverters in the control cabinet. Address 0 should not be assigned because it is used by the UFx.
Verify the SBus baud rate (P816, factory setting = 500 kbaud).
Set the setpoint source (P100) to SBus (value 10).
Set the control source (P101) to SBus (value 3).
Set the terminal assignment of the binary inputs. For MOVITRAC
recommended for P60-. This corresponds to the following assignment:
– DI01 CW/Stop (wired to 24 V, both directions of rotation enabled) – DI02 CCW/Stop (no function) – DI03 F.Setp. toggle(not wired) – DI04 n11/n21 (not wired) – DI05 n12/n22 (not wired) – If you use a MOVIDRIVE
are not used to "No function."
Important: For MOVITRAC
PC, if necessary. The default value is 0, which means timeout monitoring is deactivated. Set P815 to the value 1 s.
®
07, the value 0 is
®
unit as inverter, you must program the terminals that
®
07, P815 SBus timeout interval can only be adjusted via
Manual – PROFIBUS UFP11A Fieldbus Interface
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3
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3.3 Autosetup
Installation and Operation without PC
Autosetup
The Autosetup function allows startup of the UFx to be performed without a PC. Activate the function via the Autosetup DIP switch. Switching on the Autosetup DIP switch causes the function to be performed once.
in ON position.
again. First, the UFx searches the lower-level SBUS for drive inverters. This process is indicated by the SYS-FAULT LED flashing briefly. For this purpose, different SBus addresses must be set for the drive inverters (P813). We recommend 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 for each detected drive inverter. If no inverter is detected, the SYS-FAULT LED remains lit. A total of up to eight drive inverters is taken into account. The 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 complete, the UFx cyclically exchanges three process data words with each connected drive inverter. The process output 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.
Important: If you change the process data assignment of the drive inverters connected to the UFP, you have to activate Autosetup again because the UFP saves these values only once during Autosetup. At the same time, the process data assignments of the connected drive inverters may not be changed dynamically after Autosetup.
The function can be reactivated by turning the DIP switch off and back on
The Autosetup DIP switch must then remain
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Manual – PROFIBUS UFP11A Fieldbus Interface
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Installation and Operation without PC
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Autosetup
3
Figure 5: Data exchange DP-V1 master – UFP – inverter
Manual – PROFIBUS UFP11A Fieldbus Interface
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Installation and Operation without PC
Project planning of the fieldbus master
3.4 Project planning of the fieldbus master
Set an individual PROFIBUS address using the DIP switches of the UFP for project
planning. The PROFIBUS address is set in binary form. A change of the PROFIBUS address only becomes effective after switching the UFP off and on again.
X = on
1 2 3 4 5 6 7 8 9 10
2 2 2 2 2 2 2 AS F1 F2
0 1 2 3 4 5 6
1: x 0 = +0 2: x 0 = +0 4: x 1 = +4 8: x 0 = +0
16: x 0 = +0 32: x 0 = +0 64: x 0 = +0
= 4
Figure 6: Setting the PROFIBUS station address
50341AXX
The fieldbus master is configured using the GSD file (see appendix). The UFP is
addressed under the specified PROFIBUS address. The number of process data words the fieldbus master uses to address the UFP depends on the number of connected inverters. The process data width for an inverter is three words. If more than one inverter is present, three words should be planned for each inverter. For example, you have to configure nine words for three MOVITRAC
®
07 inverters.
Example for STEP 7:
– Install the GDS file in the STEP 7 software. – In HW config of the hardware catalog, insert the UFP at the PROFIBUS. – Select the setting suitable for your application from the presented process data
configurations, for example "9PD", meaning nine process data words for three
inverters. – Save the configuration. – Expand your application program by the data exchange with the UFP. For this
purpose, use the system functions of S7 for consistent data exchange (SFC14
and SFC15). – The BUS-FAULT LED of the UFP should be extinguished after saving the project,
loading it in the DP-V1 master and starting the DP-V1 master. If this is not the
case, check the connections and terminating resistors of the PROFIBUS and the
project planning, especially the PROFIBUS address in STEP 7.
12
Manual – PROFIBUS UFP11A Fieldbus Interface
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3.5 Starting the inverters
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You can operate up to eight inverters on the PROFIBUS using one UFP. The DP master and the UFP exchange the setpoints and actual values of all inverters connected to the UFP in coherent data packages. It is important for you to know which inverter is located at which position of the data package (process image). Figure 5 shows the relationship.
The inverters are enabled by writing the value 0006h to the corresponding control word 1. The speed setpoint can be specified with the following word. It is scaled with
0.2 1/min per digit.
For more information on the unit profile of MOVITRAC 07 Communication" manual.
Installation and Operation without PC
Starting the inverters
®
07, refer to the "MOVITRAC
3
®
Manual – PROFIBUS UFP11A Fieldbus Interface
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Installation and Operation with PC
Installation notes
4 Installation and Operation with PC
4.1 Installation notes
Installation
Pin assignment
The unit can be installed directly onto the wall of a control cabinet by using the pre­installed DIN rail mounting or the four drilled holes on the back of the housing. Basically, there are no restrictions regarding the spatial arrangement of the units to be connected (e.g. MOVITRAC
®
07). The maximum line length and the fact that the gateway must be installed at the end or the beginning of the system bus (SBus) must be taken into consideration. For this reason, we recommend you take the spatial aspects into account.
The UFP must have additional HF-compliant grounding if the DIN rail mounting option is used with SBus cables of more than 1 m in length.
The UFP11A fieldbus interface is connected to the PROFIBUS network by means of a 9-pin sub D connector in accordance with EN 50170. The T-bus connection must be implemented with an appropriately designed plug.
[2]
[1]
RxD/TxD-P (B/ )B
RxD/TxD-N (A/ )A CNTR-P
DGND (M5V)
VP (P5V) DGND (M5V)
3
8 4
5 6 9
[3]
Fieldbus connector
Figure 7: Assignment of 9-pin sub D connector X3 according to EN 50170 ([1] = 9-pin sub D
connector; [2] = twisted signal lines; [3] = conductive connection between connector housing and shielding)
01222DXX
The fieldbus interface is generally connected to the PROFIBUS system using a shielded twisted-pair cable. The shielding of the PROFIBUS cable must be attached to both sides, for example on the connector housing. Observe the maximum supported transmission rate when selecting the bus connector.
The twisted-pair cable is connected to the PROFIBUS connector via pin 8 (A/A 3 (B/B
). Communication takes place via these two contacts. The RS-485 signals A/A
) and pin
and B/B must be contacted in the same way for 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 9) via pin 4 (CNTR-P).
14
Manual – PROFIBUS UFP11A Fieldbus Interface
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System bus connection
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Installation and Operation with PC
Installation notes
4
Figure 8: System bus connection
UFP
GND = System bus reference SC11 = System bus high SC12 = System bus low
Please note:
Use a 2-core twisted and shielded copper cable (data transmission cable with
braided copper shield). Connect the shield with a wide-area contact at the electronics terminal of MOVITRAC The cable must meet the following specifications (CAN bus or DeviceNet cables are suitable, for example):
– Core cross section 0.75 mm
– Cable resistance 120 Ω at 1 MHz – Capacitance per unit length 40 pF/m (12 pF/ft) at 1 kHz
The approved total cable length depends on the specified SBus baud rate:
– 250 kbaud: 160 m (528 ft) – 500 kbaud: 80 m (264 ft) – 1000 kbaud: 40 m (132 ft)
MOVITRAC® 07
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
®
07 or UFP11A and also connect the shield ends to GND.
2
(AWG18)
04848AXX
Manual – PROFIBUS UFP11A Fieldbus Interface
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Installation and Operation with PC
Installation notes
Connect the system bus terminating resistor (S12 = ON) at the end of the system bus
connection. Disconnect the terminating resistor at the other devices (S12 = OFF). The UFP11A gateway must always be connected either at the beginning or the end of the system bus connection and feature a permanently installed terminating resistor.
There must not be any difference of potential between the units connected with the
SBus. Take suitable measures to avoid a difference of potential, such as connecting the unit ground connectors using a separate line.
Point-to-point wiring is not permitted.
24 V connection
Shielding and routing of bus cables
An external 24 V voltage supply must be connected to terminals X1:4 and X1:5.
The PROFIBUS interface supports the RS-485 communications protocol and requires cable type A specified for PROFIBUS in accordance with EN 50170 as shielded twisted­pair cable for the physical connection.
Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments. The following measures ensure the best possible shielding:
Tighten the mounting screws on the connectors, modules and equipotential bonding
conductors by hand.
Use only connectors with metal housing or plated housing.
Connect the shielding in the connector with the greatest possible surface area.
Attach the shielding of the bus line on both sides.
Do not route signal and bus cables parallel to power cables (motor leads). They must
be routed in separate cable ducts.
Use metallic, grounded cable racks in industrial environments.
Route the signal cable and the corresponding equipotential bonding in close
proximity using the shortest way possible.
Avoid using plug connectors to extend bus cables.
Route the bus cables closely along existing grounding surfaces.
16
In case of fluctuations in the earth 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 to relevant VDE regulations in such a case.
Manual – PROFIBUS UFP11A Fieldbus Interface
Page 17
Installation and Operation with PC
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Setting the inverter parameters
4
Bus termination
A bus termination is not provided on the UFP electronics. If the UFP module is used as the first or last device of the PROFIBUS line, the bus termination has to be external. We recommend PROFIBUS connectors with integrated bus termination that open the continuing bus in case the bus termination is connected.
4.2 Setting the inverter parameters
The settings can be entered via the inverter keypad. Refer to the operating instructions of the inverter for details.
Connect the voltage supply for the UFx and all connected inverters.
Set an individual SBus address (P813) at the inverters. Recommendation: Address
setting beginning with address 1 in ascending order based on the arrangement of inverters in the control cabinet. Address 0 should not be assigned because it is used by the UFx.
4.3 Startup software
Install the MOVITOOLS software package version 2.70 or higher on your PC.
Start the software. Select the COM to which the UFP is connected and press the
"Update" button. The UFP should appear at address 0 and the connected inverters at the following addresses. If the window does not show an entry, check the COM interface and the connection via UWS21. If the UFP is the only entry in the window, check the SBus cabling and the terminating resistors.
Select UFx and call up the startup software for the fieldbus gateway (UFx
configurator).
Select the "Reconfigure fieldbus node" menu item.
Select your project path and project name. Press the "Next" button.
Press the "Update" button. All inverters connected to the UFP should be displayed
now. The configuration can be customized using the "Insert," "Change" and "Delete" buttons. Press the "Next" button.
Press the "Autoconfiguration" button. The process image for the UFP will now appear
in your controller. The process data width is shown at the bottom. This value is important for the project planning of the fieldbus master. Press the "Next" button.
Save the project data and press the "Download" button. The Autosetup DIP switch
must be in OFF position for this purpose.
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Installation and Operation with PC
Starting the inverters
The data exchanged between fieldbus master and the UFP can be viewed with the
process data monitor.
Enabling on the terminal side is required to control the inverters via fieldbus. You
have already wired the terminals. To check the terminal assignment, select the first inverter with address 1 in the "Connected inverters" window and start Shell. For MOVITRAC
Repeat the previous step for all inverters displayed in the "Connected inverters"
window.
®
07, the terminal assignment should be set as follows:
4.4 Starting the inverters
You can operate up to eight inverters on the PROFIBUS using one UFP. The DP master and the UFP exchange the setpoints and actual values of all inverters connected to the UFP in coherent data packages. It is important for you to know which inverter is located at which position of the data package (process image). The process data monitor indicates the relationship in the project planning of the fieldbus gateway (UFx configurator).
The inverters are enabled by writing the value 0006h to the corresponding control word 1. The speed setpoint can be specified with the following word. It is scaled with
0.2 1/min per digit.
For more information on the unit profile of MOVITRAC 07 Communication" manual.
®
07, refer to the "MOVITRAC
®
18
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5 PROFIBUS interface
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5.1 Startup up PROFIBUS DP master
Supporting files for UFP are available in the Internet at sew-eurodrive web site.
Observe the notes in the README.TXT file on the GSD disk.
Install the GSD file according to the requirements of the project planning software for
the DP master. After successful installation, the "UFP" device appears in the list of slave stations.
Insert the interface module into the PROFIBUS structure under the name "UFP" and
assign the PROFIBUS address.
Select the process data configuration required for your application (see next section).
Enter the I/O or peripheral addresses for the configured data widths.
Save the configuration.
Expand your application program by the data exchange with the fieldbus interface.
In case of S7, use the system functions for consistent data exchange for this purpose (SFC14 and SFC15).
The BUS-FAULT LED of the fieldbus interface should extinguish after you have
saved the project, loaded it in the DP-V1 master and started the DP-V1 master. If this is not the case, check the connections and terminating resistors of the PROFIBUS and the project planning, especially the PROFIBUS address.
PROFIBUS interface
Startup up PROFIBUS DP master
5
5.2 Configuration of the PROFIBUS DP interface
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 or write all parameters of the fieldbus interface via parameter channel.
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c
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PROFIBUS interface
Configuration of the PROFIBUS DP interface
The figure shows a schematic view of the data exchange between automation device 8DP-V1 master), fieldbus interface (DP-V1 slave) and an inverter with process data channel and parameter channel.
C1-Master
Process data configuration
C2-Master
Cyclic OUT Data
Param PD
yclic DPV1
1-Services
Axis = 1
Axis = SBus-Address: 12345678
Param PD
Cyclic IN Data
Axis = 0
Axis = 3
Axis = 0
Axis = 5
Acyclic DPV1
C2-Services
PROFIBUS DPV1
Axis = 8
C2-Master
Acyclic DPV1
C2-Services
53129BXX
Figure 9: Data exchange with parameter data (Param) and process data (PD)
The fieldbus interface allows for different DP configurations for 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. These texts also appear as a selection list in your 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. In the simplest case, the controller transmits three process data words to each inverter connected to the fieldbus interface. The fieldbus interface then distributes these process data words to the individual devices. The parameter channel is used for setting the parameters of the UFP and is not passed on to the connected participants. The fieldbus interface accepts 1 ... 24 process data words with and without parameter channel.
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Manual – PROFIBUS UFP11A Fieldbus Interface
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PROFIBUS interface
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Configuration of the PROFIBUS DP interface
The standard entries of the GSD file are based on the UFP Autosetup operating mode and allow process data widths of 3PD ... 24PD according to 1 ... 8 inverters connected to the fieldbus interface.
A maximum of 3PDs can be assigned to any SBus participant!
5
ONE module for all drives
The process data are transmitted in one consistent data block for all inverters connected
to the fieldbus interface. Thus, only system functions SFC14 and SFC15 need to be activated in Step 7.
UFP parameter + ONE module
The configurations under "UFP parameter + ONE module" correspond to those listed
above. The parameter module that allows for a parameter setting of the UFP with eight consistently transmitted bytes will be processed first. Refer to the "MOVITRAC Communication" manual for information on the parameter channel.
One module per drive
One consistent data block exists for each connected inverter. From the controller side, this corresponds to the existing setup of several inverters with their own fieldbus interface. System functions SFC14 and SFC15 need to be executed for each inverter in Step 7.
UFP parameter + One module per drive
The configurations under "UFP parameter + One module" correspond to those listed
above. The parameter module which allows for a parameter setting of the fieldbus interface using eight consistently transmitted bytes will be processed first. Refer to the "MOVITRAC
®
07 Communication" manual for information on the parameter channel.
Drive parameters of connected MOVITRAC® 07 inverters can only be accessed using the DP-V1 parameter services.
Process data configuration
ONE module for all drives
AS 1 drive (3 PD) Control via 3 process data words 0 242
AS 2 drives (6 PD) Control via 6 process data words 0 245
AS 3 Drives (9 PD) Control via 9 process data words 0 248
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)
Meaning / notes
Control via 12 process data words 0 251
Control via 15 process data words 0 254
Control via 18 process data words 0 192 209 209
Control via 21 process data words 0 192 212 212
Control via 24 process data words 0 192 215 215
Cfg0 Cfg1 Cfg2 Cfg3 Cfg4 Cfg5 Cfg6 Cfg7 Cfg8
®
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PROFIBUS interface
Configuration of the PROFIBUS DP interface
Process data configuration
UFP parameter + ONE module
AS 1 Drive (Param + 3PD)
AS 2 Drives (Param + 6PD)
AS 3 Drives (Param + 9PD)
AS 4 Drives (Param + 12PD)
AS 5 Drives (Param + 15PD)
AS 6 Drives (Param + 18PD)
AS 7 Drives (Param + 21PD)
AS 7 Drives (Param + 24PD)
One module per drive
AS 1 Drive (1 x 3PD)
AS 2 Drives (2 x 3PD)
AS 3 Drives (3 x 3PD)
AS 4 Drives (4 x 3PD)
AS 5 Drives (5 x 3PD)
AS 6 Drives (6 x 3PD)
AS 7 Drives (7 x 3PD)
AS 8 Drives (8 x 3PD)
Meaning / notes
Control via 3 process data words / parameter setting via 8-byte parameter channel
Control via 6 process data words / parameter setting via 8-byte parameter channel
Control via 9 process data words / parameter setting via 8-byte parameter channel
Control via 12 process data words / parameter setting via 8-byte parameter channel
Control via 15 process data words / parameter setting via 8-byte parameter channel
Control via 18 process data words / parameter setting via 8-byte parameter channel
Control via 21 process data words / parameter setting via 8-byte parameter channel
Control via 24 process data words / parameter setting via 8-byte parameter channel
Control via 1x3 process data words
Control via 2x3 process data words
Control via 3x3 process data words
Control via 4x3 process data words
Control via 5x3 process data words
Control via 6x3 process data words
Control via 7x3 process data words
Control via 8x3 process data words
Cfg0 Cfg1 Cfg2 Cfg3 Cfg4 Cfg5 Cfg6 Cfg7 Cfg8
243 242
243 245
243 248
243 251
243 254
243 192 209 209
243 192 212 212
243 192 215 215
0 242
0 242 242
0 242 242 242
0 242 242 242 242
0 242 242 242 242 242
0 242 242 242 242 242 242
0 242 242 242 242 242 242 242
0 242 242 242 242 242 242 242 242
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PROFIBUS interface
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Configuration of the PROFIBUS DP interface
5
Process data configuration
UFP parameter + one module per drive
AS 1 Drive (Param + 1 x 3PD)
AS 2 Drives (Param + 2 x 3PD)
AS 3 Drives (Param +3 x 3PD)
AS 4 Drives (Param + 4 x 3PD)
AS 5 Drives (Param + 5 x 3PD)
AS 6 Drives (Param + 6 x 3PD)
AS 7 Drives (Param + 7 x 3PD)
AS 8 Drives (Param + 8 x 3PD)
Meaning / notes
Control via 1x3 process data words / parameter setting via 8­byte parameter channel
Control via 2x3 process data words / parameter setting via 8­byte parameter channel
Control via 3x3 process data words / parameter setting via 8­byte parameter channel
Control via 4x3 process data words / parameter setting via 8­byte parameter channel
Control via 5x3 process data words / parameter setting via 8­byte parameter channel
Control via 6x3 process data words / parameter setting via 8­byte parameter channel
Control via 7x3 process data words / parameter setting via 8­byte parameter channel
Control via 8x3 process data words / parameter setting via 8­byte parameter channel
Cfg0 Cfg1 Cfg2 Cfg3 Cfg4 Cfg5 Cfg6 Cfg7 Cfg8
243 242
243 242 242
243 242 242 242
243 242 242 242 242
243 242 242 242 242 242
243 242 242 242 242 242 242
243 242 242 242 242 242 242 242
243 242 242 242 242 242 242 242 242
"Universal module" DP configuration
The "Universal Module" configuration (e.g. in STEP7) allows you to set the parameters of the fieldbus interface deviating from the preset standard values of the GSD file. This is useful in case you want to operate several inverters with different process data words at the fieldbus interface.
You must observe the following conditions:
Module 0 defines the parameter channel of the inverter. Entering 0 will switch off the
parameter channel; entering 243 will switch on the parameter channel with 8 bytes length.
The following modules determine the process data width of the fieldbus interface at
the PROFIBUS. The added process data width of all following modules must be between 1 and 24 words. For safety reasons, the modules must be listed with data integrity. Make sure that an inverter connected to the fieldbus interface is represented by such a consistent module entry.
The special identifier format is permitted.
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PROFIBUS interface
Configuration of the PROFIBUS DP interface
The following figure shows the structure of the configuration data defined in EN 50170 (V2). These configuration data are transmitted to the inverter during the initial start of the DP master.
Table 1: Format of the Cfg_Data identifier byte according to EN 50170 (V2)
7 / MSB 6 5 4 3 2 1 0 / LSB
Data length
0000 = 1 byte/word 1111 = 1 6 byte s/wor ds
Input/output
00 = special identifier formats 01 = input 02 = output 11 = input/output
Format
0 = byte structure 1 = word structure
Integrity over
0 = byte or word 1 = entire length
Data integrity
External diagnostics
Note on Simatic S7 Master Systems
Note:
Use only the setting "Integrity over entire length" for data transmission!
Integral data are those data that must always be transmitted consistently between automation device and inverter and may never be transmitted separately.
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 and transfer undefined values to the inverter.
For PROFIBUS DP, the data communication always between automation device and drive engineering is generally carried out with the setting "Data integrity over entire length."
The fieldbus interface does not support external diagnostics. Error messages of the individual inverters are indicated by the corresponding status words. Error states of the fieldbus interface are also displayed on status word 1, for example, timeout of the SBus connection to a participant.
Upon request, the fieldbus interface provides the standard diagnostics in accordance with EN 50170 V2.
Diagnostic alarms may also be triggered by the PROFIBUS DP system in the DP master even if external diagnostic generation is deactivated. As a result, the corresponding operating blocks (e.g. OB84 for S7-400 or OB82 for S7-300) should always be created in the controller.
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5.3 Ident number
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Each DP master and DP slave must have an individual ident number assigned by the PROFIBUS user group for unique identification of the connected unit. When the PROFIBUS DP master is started up, it compares the ident numbers of the connected DP slaves with the ident numbers configured by the user. The user data transfer will only be activated after the DP master has ensured that the connected station addresses and device types (ident numbers) correspond to the project planning data. This procedure achieves a high degree of safety with respect to project planning errors.
The ident number for the UFP11A fieldbus interface is 6004
The ident number is defined as an unsigned 16-bit number (Unsigned16). The PROFIBUS user group specified ident number 6004 hex (24580 dec) for the UFP11A fieldbus interface.
5.4 Inverter control
The inverter is controlled via the process data channel which is one, two or three I/O words in length. These process data words may mapped in the I/O or peripheral area of the controller in case a programmable controller is used as DP master and can be addressed as usual.
PROFIBUS interface
Ident number
hex.
5
POW318 POW316 POW314 POW312 POW310 POW308
[1]
PIW318 PIW316 PIW314 PIW312 PIW310 PIW308
Figure 10: Mapping of PROFIBUS data in the PLC address range ([1] = parameter channel / [2] =
PLC address range / U/f = inverter)
PO 3 PO 2 PO 1
PO 3
PO 2
PO 1
UFP
PI 3 PI 2 PI 1 PI 3 PI 2 PI 1
PO 1
PO 1
PO 2
PO 3
PO 2
PO 3
MOVITRACfi 07 1 MOVITRACfi 07 2
PI 2
PI 1
PI 3
PI 1
PI 2
PI 3
52996AXX
PO = process output data / PI = process input data
Additional information on programming and project planning can be found in the README_GSD6004.PDF file included in the GSD file.
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PROFIBUS interface
Inverter control
Control example for Simatic S7
STEP7 program­ming example
The drive inverter is controlled via Simatic S7 in dependence of the selected process data configuration, either directly via load and transfer commands or via the special system functions
In principle, data lengths of 3 bytes or more than 4 bytes must be transmitted using system functions SFC14 and SFC15.
Process data configuration
1 PD Load/transfer commands
2 PD Load/transfer commands
3 PD ... 24 PD System functions SFC14/15 (length 6 .. 48 bytes)
Param +1 PD Parameter channel: System functions SFC14/15 (length 8 .. 48 bytes)
Param +2 PD Parameter channel: System functions SFC14/15 (length 6 .. 48 bytes)
Param + 3 PD ... 24 PD
The "README_GSD6004.PDF" file contains project planning and programming examples for Simatic S7.
SFC 14 DPRD_DAT
STEP7 access via
Process data: Load/transfer commands
Process data: Load/transfer commands
Parameter channel: System functions SFC14/15 (length 6 .. 48 bytes) Process data: System functions SFC14/15 (length 6 bytes)
and
SFC15 DPWR_DAT
.
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6 DP-V1 Functions
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6.1 Introduction to PROFIBUS DP-V1
This chapter describes the functions and terms used for operating SEW drive inverters on PROFIBUS DP-V1. Refer to the PROFIBUS user organization or visit PROFIBUS website for extensive technical information on PROFIBUS DP-V1.
The PROFIBUS DP-V1 specification introduced new acyclical the context of the PROFIBUS DP-V1 expansions. These acyclical services are inserted into special telegrams during ongoing cyclical bus operation and thus ensure
compatibility between PROFIBUS DP (version 0) and PROFIBUS DP-V1 (Version 1).
The acyclical between master and slave (drive inverter) than it would be possible to transfer in the cyclical input or output data using the 8-byte parameter channel. 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 two options for the user:
The higher-level controller can access the entire inverter information of the SEW DP­V1 slaves. This means not only cyclical process data but also unit settings can be read, stored in the controller and modified in the slave.
It is also possible to route the service and startup tool MOVITOOLS across the DP­V1 parameter channel instead of using a proprietary RS-485 connection for this purpose. After installing the MOVITOOLS software, detailed information will be available in the ...\SEW\MOVITOOLS\Fieldbus folder.
The main features of PROFIBUS DP-V1 are explained below.
read/write
services can be used to exchange larger data quantities
DP-V1 Functions
Introduction to PROFIBUS DP-V1
read/write
6
services within
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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DP-V1 Functions
Introduction to PROFIBUS DP-V1
Class 1 master (C1 master)
Class 2 master (C2 master)
Data sets (DS)
Different master classes are distinguished in a PROFIBUS DP-V1 network. The C1 master mainly 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 DPV1 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 is being established. Only one C1 master can be operated in a PROFIBUS DP-V1 network.
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 acyclical connections for the communication with the slaves. The acyclical connections between C2 master and slave are established by the completed with the slaves by means of in a DP-V1 network. The number of C2 connections, which are established to a slave simultaneously, are determined by the slave. SEW drive inverters support two parallel C2 connections.
The user data transported via DP-V1 service are collected in a data set. Each data set is uniquely represented through its length, a slot number and an index. The DP-V1 communication with the SEW drive inverter uses the structure of data set 47, which is defined as DP-V1 parameter channel for drives starting with V3.1 in the PROFIdrive profile drive engineering of the PROFIBUS user organization. Different access procedures to the parameter data of the drive inverter are provided via this parameter channel.
Initiate
Initiate
service. The connection is established after successfully
service. An established connection allows for cyclical data exchange
Read
or
Write
services. Several C2 masters can be active
DP-V1 services
DP-V1 alarm handling
The DP-V1 expansions offer new services, which can be used for acyclical data exchange between master and slave. The following services are provided:
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
The DP-V1 specification not only defines acyclical services, but also includes expanded alarm handling. Alarm handling distinguishes between different alarm types. As a result, the unit-specific diagnostics via the DP-V1 service "DDLM_SlaveDiag" is not possible anymore in DP-V1 operation. No DP-V1 alarm handling was defined for drive engineering as the drive inverter generally transmits status informaton via cyclical process data communication.
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6.2 Features of SEW drive inverters
r
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The SEW fieldbus interfaces according to PROFIBUS DP-V1 have the same communication features for the DP-V1 interface. Basically, the drives are controlled via a C1 master according to the DP-V1 standard with cyclical process data. In the case of cyclical data exchange, the C1 master (usually a PLC) can additionally use an 8-byte parameter channel to perform parameter services with the UFP. The UFP cannot access connected MOVITRAC write services give the C1 master access to connected participants via the DP-V1 C1 channel.
Two C2 channels can be established in addition to these two parameter channels. The first C2 master can use the C2 channel, for example, to read parameter data as visualization. A second C2 master in the form of a notebook configures the drive using MOVITOOLS.
DP-V1 Functions
Features of SEW drive inverters
®
07 drives via this parameter channel. The read and
6
C1-Master
8 Byte Param
DP:
DP:
PD
DP-V1 Interface
SEW PROFIBUS
Cyclic IN/Out
Process Data
Figure 11: DP-V1 parameter channels
Acyclic DP-V1
C1-Services
Drive System
Acyclic DP-V1
C2-Services
C1-Parameterbuffer
DP Parameterbuffer
cyclic
Parameterbuffer
C2-Master C2-Maste
PROFIBUS DP-V1
Acyclic DP-V1
C2-Services
C2-Parameterbuffer
C2-Parameterbuffer
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DP-V1 Functions
Structure of the DP-V1 parameter channel
6.3 Structure of the DP-V1 parameter channel
On principle, the parameter setting of the drives to the PROFIdrive DPV1 parameter channel of profile version 3.0 is implemented via data set index 47. The is used to distinguish between parameter access based on PROFIdrive profile or via SEW MoviLink services. The following table shows the possible codings of the individual elements. The data set structure is the same for PROFIdrive and MoviLink access.
Request ID
entry
DP-V1 Read/Write
The following MoviLink services are supported:
8-byte MoviLink parameter channel with all the services supported by the drive inverter such as
– Read parameter – Write parameter – Write parameter volatile –etc.
PROFIdrive Parameter Channel DS47
SEW MoviLink
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DP-V1 Functions
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Structure of the DP-V1 parameter channel
The following PROFIdrive services are supported:
Reading (request parameter) individual parameters of the type
Writing (change parameter) individual parameters of the type
Table 2: 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 axis 0 ... 255
No. of parame­ters
Attributes Unsigned8 0x10 Value
Unsigned8 0x00 Reserved
0x01 ... 0xFF
0x02 Change parameter (PROFIdrive) 0x40 SEW MoviLink service
0x00 Reserved 0x01 Request parameter (+) (PROFIdrive) 0x02 Change parameter (+) (PROFIdrive)
0x40 SEW MoviLink service (+)
Response (–): 0x81 Request parameter (–) (PROFIdrive) 0x82 Change parameter (–) (PROFIdrive)
0xC0 SEW MoviLink service (–)
Unsigned8 0x01 ... 0x13 1 ... 19 DWORDs (240 DP-V1 data bytes)
double word
double word
6
For SEW MoviLink (Request ID = 0x40): 0x00 No service 0x10 Read Parameter 0x20 Write Parameter 0x30 Write Parameter volatile 0x40 ... 0xF0 Reserved
No. of Elements Unsigned8 0x00 for non-indexed parameters
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
Unsigned16 0x0000 ... 0xFFFF MoviLink parameter index
0x01 ... 0x75 Quantity 1 ... 117
0x44 Error
0x0080 + MoviLink-AdditionalCode Low For SEW MoviLink 16 bit error value
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DP-V1 Functions
Structure of the DP-V1 parameter channel
Procedure for setting parameters via data set 47
Parameter access takes place with the combination of the DP-V1 services
Read
. The parameter setting service is transferred to the slave with
Write.req
Write
and
, followed
by slave-internal processing.
The master now sends a master repeats the
Read.req
Read.req
responds with a positive response
to pick up the parameter setting response. The
if the
Read.res
Read.res
from the slave is negative. The slave
as soon as parameter processing in the drive inverter is finished. The user data now contain the parameter setting response of the parameter setting order that was previously sent with
Write.req
(see figure). This
mechanism applies to a C1 as well as a C2 master.
Master
Parameter
Request
PROFIBUS-DP-V1
Write.req DS47
with data (parameter request)
Write.res
without data
Read.req DS47
without data
Read.res(-)
without data
Slave (Drive)
Parameter
Request
Parameter
Processing
Read.req DS47
without data
Parameter Response
Figure 12: Telegram sequence for parameter access via DP-V1
with data (parameter response)
Read.res(+)
Parameter Response
53126AXX
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DP-V1 Functions
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Structure of the DP-V1 parameter channel
6
Procedure for the DP-V1 master
If the bus cycle time is short, the parameter response is queried earlier than the inverter has completed the parameter access in the unit. As a result, the response data from the inverter are not yet ready at this time. In this state, the inverter sends a negative
response on DP-V1 level with Error_Code _1 = 0xB5 (status fault). The DP-V1 master
must then send another request with above Read.req header until the drive inverter sends a positive response.
Send Write.request
with Parameterdata
Check Write.
response
Send DS_Read.req with Parameterdata
Read.
response
State
Conflict?
Write.response
Write.response positive
yes
negative
no
Other Errors
or Timeout
no
Parameter transfer
ok, data available
yes
Parameter transfer
aborted with ERROR
53127AXX
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DP-V1 Functions
Structure of the DP-V1 parameter channel
Addressing a UFP with con­nected MOVIT-
®
RAC
07 units
The structure of the DS47 data set defines an axis element. With the setting
Axis = 0
the UFP is accessed directly. The SBus address of the corresponding inverter must be entered in the axis element for addressing a connected MOVITRAC
C1-Master
Cyclic OUT Data
Param PD
Acyclic DP-V1
C1-Services
Axis = 1
Axis = SBus-Address: 12345678
Param PD
Cyclic IN Data
Axis = 0
Axis = 3
Axis = 0
Axis = 5
®
C2-Master
Acyclic DP-V1
C2-Services
07.
PROFIBUS DP-V1
Axis = 8
C2-Master
Acyclic DP-V1
C2-Services
53129BXX
,
MoviLink parameter orders
The MoviLink parameter channel of the SEW drive inverters is directly mapped in the structure of data set 47. The Request ID 0x40 (SEW MoviLink service) is used for the exchange of MoviLink parameter setting orders. Parameter access with MoviLink services usually takes place according to the structure described below. The typical message sequence for data set 47 is used for this purpose.
Request ID: 0x40 SEW MoviLink Service
The actual service is defined by the data set element
Attribute
on the MoviLink parameter channel. The high nibble of this element corresponds to the service nibble in the management byte of the DPV0 parameter channel.
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DP-V1 Functions
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Structure of the DP-V1 parameter channel
6
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 order
The following tables show the coding of the user data for the the DP-V1 header. The
Write.req
service is used to transfer the parameter setting order
Write.req
service including
to the drive inverter. The firmware version is read.
Table 3: Excerpt from the parameter list ("MOVITRAC® 07 Communication" manual)
Par.
Parameter
no.
0.. Display values
07. Unit data 070 Unit type 8301 206D 0 RO 0 071 Rated output current 8361 20A9 A –3 RO 0
076 Firmware basic unit 8300 206C 0 RO 0
Table 4: Write.request header for transferring the parameter order
Service: Write.request
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 order
Table 5: Write.req USER DATA for MoviLink "read parameter"
Byte Field Value Description
0 Request Reference 0x01 Individual reference number for the parameter
1 Request ID 0x40 SEW MoviLink Service
2 Axis 0x01 Drive number; 1 = SBus address
3 No. of parameters 0x01 1 parameter
4 Attributes 0x10 MoviLink service “Read parameter”
5 No. of Elements 0x00 0 = access to direct value, no subelement
6..7 Parameter Number 0x206C MoviLink index 8300 = “firmware version”
8..9 Subindex 0x0000 Subindex 0
Index Unit/index Dec Hex Abbr. Cv.
Access Default Meaning / value range
Example: 822609711 = 822 609 7.11 1822609011 = 822 609 X.11
setting order that is reflected in the parameter response
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DP-V1 Functions
Structure of the DP-V1 parameter channel
Requesting the parameter response
The following table shows the coding of the Read.req user data including the DP-V1 header.
Table 6: Read.req for requesting the parameter response
Service: Write.request
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 order
Positive MoviLink parameter response
The table shows the Read.res USER DATA with the positive response data of the parameter setting order. The parameter value for index 8300 (firmware version) is returned as an example.
Table 7: DP-V1 header of the positive Read.response with parameter response
Service: Read.request
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
Table 8: Positive response for MoviLink service
Byte Field Value Description
0 Response reference 0x01 Mirrored reference number from the parameter
setting order
1 Response ID 0x40 Positive MoviLink response
2 Axis 0x01 Mirrored drive number; 1 = SBus address
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
Decoding: 0x 311C 7289 = 823947913 dec >> firmware version 823 947 9.13
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DP-V1 Functions
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Structure of the DP-V1 parameter channel
6
Example for writing a parameter via MoviLink
The following tables show an example of the structure of the
Write
and
Read
services. Speed 123 rpm ( value 123 000) is to be written volatile to P160 internal value n11. The MoviLink service
Table 9: Excerpt from the parameter list ("MOVITRAC® 07 Communication" manual)
Par.
Parameter
no.
16. Fixed setpoints 1 160 Internal setpoint n11 8489 2129 rps 66 N/RW 150000
161 Internal setpoint n12 8490 212A rps 66 N/RW 750000
Write Parameter volatile
Index Unit/index Dec Hex Abbr. Cv.
is used for this purpose.
Access Default Meaning / value range
–5000000 ... –0, Step 200 0 ... 5000000, Step 200
–5000000 ... –0, Step 200 0 ... 5000000, Step 200
Send „Write parameter volatile“ order
Table 10: DP-V1 header of the Write.request with parameter order
Service: Write.request
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 11: Write.req user data for MoviLink service "Write parameter volatile"
Byte Field Value Description
0 Request Reference 0x01 Individual reference number for the parameter
1 Request ID 0x40 SEW MoviLink Service
2 Axis 0x01 Drive number; 1 = SBus address
3 No. of parameters 0x01 1 parameter
4 Attributes 0x30 MoviLink service “Write parameter volatile”
5 No. of Elements 0x00 0 = access to direct value, no subelement
6..7 Parameter Number 0x2129 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 0x0001 Higher-order part of the parameter value
14..15 Value LoWord 0xE078 Lower-order part of the parameter value
setting order that is reflected 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 error is located in Error_code_1.
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DP-V1 Functions
Structure of the DP-V1 parameter channel
Requesting the parameter response
The following table shows the coding of the Write.req USER DATA including the DP-V1 header.
Table 12: 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 data set
Length 240 Maximum length of response buffer in DP-V1 master
Positive response to “Write Parameter volatile”
Table 13: DP-V1 header of the positive Read.response with parameter response
Service: Read.response
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 4 12 byte user data in response buffer
Table 14: Positive response for MoviLink service „Write Parameter'
Byte Field Value Description
0 Response reference 0x01 Mirrored reference number from the parameter
setting order
1 Response ID 0x40 Positive MoviLink response
2 Axis 0x01 Mirrored drive number; 1 = SBus address
3 No. of parameters 0x01 1 parameter
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Structure of the DP-V1 parameter channel
6
Negative parame­ter response
MoviLink return codes for parame­ter setting for DP-V1
The following table shows the coding of a negative response of a MoviLink service. Bit 7 is set in the Response ID if the response is negative.
Table 15: Negative response for MoviLink service
Service: Read.response
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 Mirrored reference number from the parameter
1 Response ID 0xC0 Negative MoviLink response
2 Axis 0x01 Mirrored drive number; 1 = SBus address
3 No. of parameters 0x01 1 parameter
4Format 0x44 Error
5 No. of values 0x01 1 error code
6..7 Error value 0x0811 MoviLink return code
setting order
z. B. ErrorClass 0x08, Add. Code 0x11 (see the table MoviLink return codes for DP-V1)
The following table shows the return codes that are returned by the SEW DP-V1 interface in case of an error in the DP-V1 parameter access.
MoviLink Return code (hex)
0x0810 Illegal index, parameter index does not exist in the unit
0x0811 Function/parameter not implemented
0x0812 Read access only
0x0813 Parameter lock is active
0x0814 Factory setting is active
0x0815 Value too large for parameter
0x0816 Value too small for parameter
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 has access protection
0x081C Controller inhibit is required
0x081D Illegal 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 be changed at IPOS program stop only
0x0824 Parameter may only be changed with deactivated Autosetup
0x0505 Incorrect coding of management and reserved byte
0x0602 Communication error between inverter system and fieldbus option card
0x0502 Timeout of secondary connection (e.g. during reset or with Sys-Fault)
Description
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DP-V1 Functions
Structure of the DP-V1 parameter channel
PROFIdrive parameter orders
Example for read­ing a parameter via PROFIdrive
The PROFIdrive parameter channel of SEW drive inverters is directly mapped in the structure of data set 47. Parameter access with PROFIdrive services usually takes place according to the structure described below. The typical message sequence for data set 47 is used for this purpose. PROFIdrive only defines the two request IDs
Request ID:0x01Request Parameter (PROFIdrive) Request ID:0x02Change Parameter (PROFIdrive)
That is why data access is limited compared to the MoviLink services.
The request ID = 0x02 = Change Parameter (PROFIdrive) results in a remanent write access to the selected parameter. Consequently, the internal flash/EEPROM of the inverter is written with each write access. Use the MoviLink service "Write Parameter volatile" if parameters must be written cyclically at short intervals. With this service, you alter the parameter values only in the RAM of the inverter.
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 order
The following tables show the coding of the user data for the Write.req service including the DP-V1 header. The Write.req service is used to transfer the parameter setting order to the drive inverter.
Table 16: Write.request header for transferring the parameter order
Service: Write.request
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 order
Table 17: Write.req USER DATA for MoviLink "read parameter"
Byte Field Value Description
0 Request Reference 0x01 Individual reference number for the parameter
setting order that is reflected in the parameter response
1 Request ID 0x01 Request parameter (PROFIdrive)
2 Axis 0x01 Drive number; 1 = SBus address
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 index 8300 = “firmware version”
8..9 Subindex 0x0000 Subindex 0
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Structure of the DP-V1 parameter channel
Requesting the parameter response
The following table shows the coding of the Read.req user data including the DP-V1 header.
Table 18: Read.req for requesting the parameter response
Service: Read.request
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 order. The parameter value for index 8300 (firmware version) is returned as an example.
Table 19: DP-V1 header of the positive Read.response with parameter response
Service: Read.request
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
Table 20: Positive response for MoviLink service
Byte Field Value Description
0 Response reference 0x01 Mirrored reference number from the parameter
setting order
1 Response ID 0x01 Positive response for „Request Parameter“
2 Axis 0x01 Mirrored drive number; 1 = SBus address
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
Decoding: 0x 311C 7289 = 823947913 dec >> firmware version 823 947 9.13
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DP-V1 Functions
Structure of the DP-V1 parameter channel
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 "Example for writing a
parameter via MoviLink"). The PROFIdrive service
Change Parameter
is used for this
purpose.
Send „Write parameter volatile“ order
Table 21: DP-V1 header of the Write.request with parameter order
Service: Write.request
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 22: Write.req user data for MoviLink service "Write parameter volatile"
Byte Field Value Description
0 Request Reference 0x01 Individual reference number for the parameter
1 Request ID 0x02 Change parameter (PROFIdrive)
2 Axis 0x01 Drive number; 1 = SBus address
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 0x0001 Higher-order part of the parameter value
14..15 Value LoWord 0xE078 Lower-order part of the parameter value
setting order that is reflected 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 error is located in Error_code_1.
Requesting the parameter response
The table shows the coding of the Write.req user data including the DP-V1 header.
Table 23: 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 data set
Length 240 Maximum length of response buffer in DP-V1 master
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Structure of the DP-V1 parameter channel
Positive response to “Write Parameter volatile”
Table 24: DP-V1 header of the positive Read.response with parameter response
Service: Read.response
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 4 12 byte user data in response buffer
Table 25: Positive response for MoviLink service „Write Parameter'
Byte Field Value Description
0 Response reference 0x01 Mirrored reference number from the parameter
setting order
1 Response ID 0x02 Positive MoviLink response
2 Axis 0x01 Mirrored drive number; 1 = SBus address
3 No. of parameters 0x01 1 parameter
6
Negative parame­ter response
The following table shows the coding of a negative response of a PROFIdrive service. Bit 7 is set in the Response ID if the response is negative.
Table 26: Negative response for PROFdrive service
Service: Read.response
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 Mirrored reference number from the parameter
setting order
1 Response ID 0x810x82 Negative response for “Request Parameter” Neg-
ative response for “Change Parameter”
2 Axis 0x00 Mirrored drive number; 1 = SBus address
3 No. of parameters 0x01 1 parameter
4Format 0x44 Error
5 No. of values 0x01 1 error code
6..7 Error value 0x0811 MoviLink return code z. B. ErrorClass 0x08, Add. Code 0x11 (see the table MoviLink return codes for DP-V1)
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DP-V1 Functions
Structure of the DP-V1 parameter channel
PROFIdrive return codes for DP-V1
The following table shows the coding of the error number in the PROFIdrive DP-V1 parameter response according to PROFIdrive profile V3.1. This table applies if you use the PROFIdrive services "Request Parameter“ or "Change Parameter.“
Error no. Meaning Used at Supplem. info
0x00 Impermissible parameter
number
0x01 Parameter value cannot be
changed
0x02 Low or high limit exceeded Change access with value outside the
0x03 Faulty subindex Access to unavailable subindex Subindex
0x04 No array Access with subindex to non-indexed
0x05 Incorrect data type Change access with value that does not
0x06 Setting not permitted (can
only be reset)
0x07 Description element cannot
be changed
0x08 Reserved (PROFIdrive Profile V2: PPO-Write
0x09 No description data avail-
able
0x0A Reserved (PROFIdrive Profile V2: Access group
0x0B No operation priority Change access without rights to change
0x0C Reserved (PROFIdrive Profile V2: incorrect
0x0D Reserved (PROFIdrive Profile V2: Text cannot be
0x0E Reserved (PROFIdrive Profile V2: Name cannot be
0x0F No text array available Access to text array that is not available
0x10 Reserved (PROFIdrive Profile V2: No PPO-Write )
0x11 Request cannot be exe-
cuted because of operating state
0x12 Reserved (PROFIdrive Profile V2: other error)
0x13 Reserved (PROFIdrive Profile V2: Data cannot be
0x14 Value impermissible Change access with a value that is within
0x15 Response too long The length of the current response
0x16 Parameter address imper-
missible
0x17 Illegal format Write request: Illegal format or format of
Access to unavailable parameter 0
Change access to a parameter value that cannot be changed
value limits
parameter
match the data type of the parameter
Change access with value unequal to 0 where this is not permitted
Change access to a description element that cannot be changed
requested in IR not available)
Access to unavailable description (parameter value is available)
wrong)
parameters
password)
read in cyclic data transfer)
read in cyclic data transfer)
(parameter value is available)
-
Access is temporarily not possible for reasons that are not specified in detail
read in cyclic interchange)
the value limits but is not permissible for other long-term reasons (parameter with defined single values)
exceeds the maximum transmittable length
Illegal value or value which is not supported for the attribute, number of elements, parameter number or subindex or a combination
the parameter data which is not supported
Subindex
Subindex
0
0
Subindex
Subindex
-
0
-
0
-
-
-
0
0
Subindex
0
0
0
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Structure of the DP-V1 parameter channel
Error no. Meaning Used at Supplem. info
0x18 Number of values are not
consistent
0x19 Axis nonexistent Access to an axis which does not exist -
up to 0x64 Reserved - -
0x65..0xFF Manufacturer-specific - -
Write request: Number of the values of the parameter data do not match the number of elements in the parameter address
0
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DP-V1 Functions
Project planning for a C1 master
6.4 Project planning for a C1 master
A special GSD file is required for the project planning of a DP-V1 C1 master. This file activates the DP-V1 functions of the UFP. For this purpose, the GSD file and the firmware of the UFP must correspond in terms of functions. After introduction of the DP­V1 functions, SEW-EURODRIVE supplies two GSD files. Selecting the GSD file: see the table "Validity of GSD files for UFP."
Validity of GSD files for UFP
PROFIBUS module UFP 076 firmware basic unit:
823 908 8.10 - .12 ok not possible
823 908 8.13 and higher ok ok
SEW_6004.GSD for DP SEWA6004.GSD for DP-V1
GSD files for DP­V1
The GSD files for PROFIBUS DP-V1 are displayed in a special subdirectory in the project planning software for the DP-V1 master. The figure shows the representation in the hardware configuration of STEP7.
53131AXX
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Appendix
6
Operating mode (DP-V1 mode)
As a rule, the operating mode DP-V1 can 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 the DP-V1 mode. Standard DP slaves remain to be operated via PROFIBUS DP, which ensures the combined operation of DP­V1 and DP-capable modules. A DP-V1 capable participant, which was configured with the DP-V1 GSD file, can also be operated in the „DP' mode depending on the master functionality.
6.5 Appendix
Sample program for SIMATIC S7
Sample function block FB5 „DPV1_Movilink_FB“
FUNCTION_BLOCK FB 5 TITLE =DPV1_Movilink_FB //NOTE! //This sample program only shows the basic principles of the procedure. //Neither legal responsibility nor any kind of liability can be inferred from faulty program functions //and the consequences thereof! // //System requirements: // DP master connection of the S7-300 or S7-400 series, // which supports the DPV1 master functions. // - DPV1 Profibus interfaces from SEW (Identification "SEWA600x.GSD") // //This function block performs the parameter exchange between inverter //and PLC via the DPV1 channel. As the data exchange via the //DPV1 parameter channel is an acyclical service, the //function block must be called up until the data exchange is complete // (duration from triggering the parameter order fActivate and up to //fDone response). AUTHOR : SEW FAMILY : Movilink VERSION : 0.1
VAR_INPUT Drive_IO_Address : INT ; //Peripheral address of the inverter bService : BYTE ; //Movilink service byte 0x01 = read, 0x02 = write, etc. bAxis : BYTE ; //0 for single axis, subaddress of the axis when using UFP11A wParameterIndex : WORD ; //Movilink ParameterIndex wSubIndex : WORD ; //Movilink subindex dwWriteData : DWORD ; //Write data InstanzDB_SFB52 : BLOCK_DB ; //InstanzDB of the system function SFB52. Is required for DPV1_READ InstanzDB_SFB53 : BLOCK_DB ; //InstanzDB of the system function SFB53. Is required for DPV1_WRITE END_VAR
VAR_OUTPUT bError : BYTE ; //No error = 0, S7 error = 1, TimeOut = 2, Movilink error = 3; dwData : DWORD ; //Contains data if fError=0; S7-ErrorCode if fError=1; else not defined END_VAR
VAR_IN_OUT fActivate : BOOL ; //Triggering the function fBusy : BOOL ; //Busy bit. TRUE until the function is finished or timeout monitoring responds fDone : BOOL ; //Indicates that the function is finished (with or without error) END_VAR
VAR fStaticBusy : BOOL ; //Storage bit for busy flag fStaticWriteReq : BOOL ; //When MVLK WriteReq = TRUE or MVLK ReadReq = FALSE fDPV1WriteDone : BOOL ; //Indicates whether DPV1 write was performed fAuxflag : BOOL ; dwStaticDriveAddr : DWORD ; //I/O address of the inverter iStaticReqLength : INT ; //Length of the telegrams to be transmitted MVLK_Req : STRUCT //Movilink structure WriteRequest RequestReference : BYTE := B#16#1; //REQ: Request Reference RequestId : BYTE := B#16#40; //REQ: Request ID Axis : BYTE ; //REQ: Axis No_of_Parameter : BYTE := B#16#1; //REQ: No. of parameters Attribute : BYTE ; //REQ: Attributes No_of_Elements : BYTE ; //REQ: No of elements ParameterNumber : WORD ; //REQ: Parameter number Subindex : WORD ; //REQ: Subindex Format: BYTE := B#16#43; Values : BYTE := B#16#1; WriteData : DWORD ; //REQ: WriteData END_STRUCT ; TimeoutCounter : WORD ; //Timeout counter END_VAR
The following STEP7 code shows how parameters are accessed via the STEP7 system function blocks SFB 52/53. You can copy this code and import/compile it as STEP7 source.
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DP-V1 Functions
Appendix
VAR_TEMP MVLK_Resp : STRUCT //Movilink structure Response ResponseReference : BYTE ; //RESP: Response reference ResponseId : BYTE ; //RESP: Response ID Axis : BYTE ; //RESP: Axis No_of_Parameter : BYTE ; //RESP: No. of parameters Attachment : ARRAY [0 .. 7 ] OF //REQ: Data BYTE ; END_STRUCT ; fTempError : BOOL ; fTempBusy : BOOL ; fTempDone : BOOL ; fTempValid : BOOL ; dwTempStatus : DWORD ; END_VAR
BEGIN NETWORK TITLE =Insert transfer parameter in Movilink structure
U #fActivate; FP #fAuxflag; //If neither a parameter service is triggered O #fBusy; //...nor processed, SPBN END; //...then the function is ended U #fStaticBusy; //If static busy is set, write service has already been performed, SPBN NEWR; //then go to new request U #fDPV1WriteDone; //If write service was finished without error, go to READ SPB READ; SPA WRIT; //Else go to WRITE NEWR: NOP 0; //Initialization: UN #fStaticBusy; //Output bits and values are reset S #fStaticBusy; //Busy output and flag bit are set S #fBusy; R #fDone; //DoneBit is reset L 0; T #bError; //Error and data output values are set to ZERO T #dwData; L #Drive_IO_Address; //Convert drive address from Int to DWord T #dwStaticDriveAddr;
//Store data in Movilink structure (only the variable values of the structure are provided with the input parame­ters) L #bAxis; T #MVLK_Req.Axis; L #bService; //Service byte is multiplied by 10 hex SLW 4; T #MVLK_Req.Attribute; L #bService; SPL ERUI; //Go to error MVLK service SPA ERUI; // 0x00 No service SPA ZEHN; // 0x01 Read parameter SPA SEXZ; // 0x02 Write parameter SPA SEXZ; // 0x03 Write Parameter volatile SPA ZEHN; // 0x04 Read min SPA ZEHN; // 0x05 Read max SPA ZEHN; // 0x06 Read default SPA ZEHN; // 0x07 Read scale SPA ZEHN; // 0x08 Read attribute SPA ZEHN; // 0x09 Read EEPROM
ERUI: NOP 0; // Error illegal MVLK service L 3; //Movilink error T #bError; L DW#16#501; //MLER_ILLEGAL_SERVICE SET ; S #fDone; //Busy and done bits are reset R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; BEA ; //End function
SEXZ: NOP 0; SET ; S #fStaticWriteReq; //Indication for data evaluation that request was a MVLK write request L 16; SPA LEN; //Go to defined length
ZEHN: NOP 0; SET ; R #fStaticWriteReq; //Indication for data evaluation that request was a MVLK read request L 10;
LEN: NOP 0; T #iStaticReqLength; L #wParameterIndex; T #MVLK_Req.ParameterNumber; L #wSubIndex; T #MVLK_Req.Subindex; L #dwWriteData; //Data are written to the structure disregarding if write or read access T #MVLK_Req.WriteData;
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Appendix
NETWORK TITLE =Write service //To transfer a parameter request to the inverter, SFB53 //(DPV1 write service) must be called. WRIT: NOP 0; CALL SFB 53 , #InstanzDB_SFB53 ( REQ := TRUE, ID := #dwStaticDriveAddr, INDEX := 47,//Data set 47 LEN := #iStaticReqLength, DONE := #fTempDone, BUSY := #fTempBusy, ERROR := #fTempError, STATUS := #dwTempStatus, RECORD := #MVLK_Req);
//Evaluation of return values U #fTempBusy; //If the function is not finished, the function block is quit and the busy bit is set SPB ENDB; U #fTempError; //If no error has occurred, go to read service preparation. SPBN RD_V; SET ; //An error has occurred ! Set error bit and reset busy bits R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; S #fDone; L 1; //Issue error code 1 (S7 error) T #bError; L #dwTempStatus; //Return the S7 error code T #dwData; BEA ; RD_V: NOP 0; //Preparing the DPV1 read service SET ; S #fDPV1WriteDone;
NETWORK TITLE =Read service //To fetch the parameter response from the inverter, SFB52 //(DPV1 read service) must be performed. READ: NOP 0; CALL SFB 52 , #InstanzDB_SFB52 ( REQ := TRUE, ID := #dwStaticDriveAddr, INDEX := 47,//Data set 47 MLEN := 12, VALID := #fTempValid, BUSY := #fTempBusy, ERROR := #fTempError, STATUS := #dwTempStatus, LEN := #iStaticReqLength, RECORD := #MVLK_Resp);
//Evaluation of return values U #fTempBusy; //If the function is not finished, the function block is quit and the busy bit is set. SPB ENDB; U #fTempError; //If no error has occurred, go to data evaluation SPBN DATA; L #TimeoutCounter; //Timeout counter is increased L 1; +I ; T #TimeoutCounter; L #TimeoutCounter; //If the timeout counter has reached 300, a timeout error is triggered L 300; >=I ; SPB TOUT; //If error xx80B5xx hex (state conflict) is reported, then another parameter order already exists and the read operation must be repeated
L #dwTempStatus; UD DW#16#FFFF00; L DW#16#80B500; ==D ; SPBN ERR; NOP 0; SPA ENDB;
ERR: SET ; //An error has occurred ! Set error bit and reset busy bits R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; S #fDone; L 1; //Issue error code 1 (S7 error) T #bError; L #dwTempStatus; //Return the S7 error code T #dwData; L 0; T #TimeoutCounter; //Reset timeout counter BEA ;
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DP-V1 Functions
Appendix
DATA: NOP 0; //Data evaluation (first selection; positive or negative response) L #MVLK_Resp.ResponseId; L B#16#40; //positive Movilink response ? ==I ; SPB POSR; //go to positive response L #MVLK_Resp.ResponseId; L B#16#C0; //negative Movilink response ? ==I ; SPB NEGR; //go to negative response SET ; //illegal Movilink response S #fDone; R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; L 3; //Movilink error T #bError; L DW#16#502; //MLER_NO_RESPONSE T #dwData; L 0; T #TimeoutCounter; //Reset timeout counter BEA ; //End function
TOUT: NOP 0; //Timeout L 2; //Movilink error T #bError; L 0; T #dwData; T #TimeoutCounter; //Reset timeout counter SET ; //The function is finished: S #fDone; //=> set done,..reset busy R #fActivate; R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; BEA ; NETWORK TITLE =Evaluation of the parameter data
POSR: NOP 0; U #fStaticWriteReq; SPB WRR; //go to WriteRequestResponse // //Read request was performed L #MVLK_Resp.Attachment[2]; //Received data are written to output parameters SLD 24; L #MVLK_Resp.Attachment[3]; SLD 16; +D ; L #MVLK_Resp.Attachment[4]; SLD 8; +D ; L #MVLK_Resp.Attachment[5]; +D ; T #dwData; L 0; //no error T #bError; SET ; //The function is finished: S #fDone; //=> set Done, fActivate,... reset R #fActivate; R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; L 0; T #TimeoutCounter; //Reset timeout counter BEA ;
WRR: NOP 0; // //Write request was performed L 0; //Output parameter is filled with ZEROES T #dwData; L 0; //no error T #bError; SET ; //Clear error bits S #fDone; R #fActivate; R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; L 0; T #TimeoutCounter; //Reset timeout counter BEA ;
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Appendix
NEGR: NOP 0; L 3; //Movilink error T #bError; L #MVLK_Resp.Attachment[2]; //Write error code to output parameter SLW 8; L #MVLK_Resp.Attachment[3]; +I ; T #dwData; SET ; //The function is finished: S #fDone; //=> set done,..reset busy R #fActivate; R #fBusy; R #fStaticBusy; R #fDPV1WriteDone; L 0; T #TimeoutCounter; //Reset timeout counter BEA ;
ENDB: SET ; //Busy end S #fBusy; END: NOP 0; END_FUNCTION_BLOCK
Example of calling up FB5 „DPV1_Movilink_FB“
Insert these lines into your cyclical S7 program for calling up the function block.
FUNCTION FC 1 : VOID TITLE =Operating the DPV1 parameter channel //This sample program only shows the basic principles of the procedure. //Neither legal responsibility nor any kind of liability can be inferred from faulty program functions //and the consequences thereof! VERSION : 0.1
BEGIN NETWORK TITLE =Writing a MC07 parameter //In this example, the value 123 rpm is written volatile to //the internal setpoint n11 (P160). The parameter service can be triggered by a positive edge at //M100.0 (Variable table "MC07"). // //The parameter service addresses the MC07 with SBUS address 2. // //PROFIBUS address 9 //Per. addr. 512 // I // UFP11A MC07_1 MC07_2 // I________________I_______________I // SBUS addr.0 SBUS addr.1 SBUS addr. 2 // // //Note on the hardware configuration: //The periphery addresses ("PIW address" and "POW address") of the UFP11A must have the same //numerical value to allow that the input "Drive_IO_Address" can be defined //unambiguously. // //
L L#123000; //convert the parameter value from DINT.. T MD 110; //... to DWORD //Conversion factor/value range of the parameter value: see parameter list in the "MC07 Communication" manual
CALL FB 5 , DB 5 ( Drive_IO_Address := 512, bService := B#16#3,//0x01 = read, 0x02 = write, 0x03 = write volatile bAxis := B#16#2,//MC07 with SBUS addr. 2 wParameterIndex := W#16#2129,//MOVILINK parameter index 8489d = P160, internal setpoint n11 wSubIndex := W#16#0,//MOVILINK subindex = 0 dwWriteData := MD 110,//Parameter value that is written InstanzDB_SFB52 := DB 201,//InstanzDB for SFB52, is required for DPV1_READ InstanzDB_SFB53 := DB 202,//InstanzDB for SFB53, is required for DPV1_WRITE bError := MB 118,//no error = 0; S7 error = 1, Timeout = 2, MOVILINK error = 3 dwData := MD 114,//bError = 0 => parameter value that was read; bError = 1 => S7 error code fActivate := M 100.0,//Activation bit: Triggering a parameter order fBusy := M 100.1,//The parameter order is being processed or a timeout has occurred fDone := M 100.2);//The parameter order is complete
END_FUNCTION
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Technical data DP-V1 for UFP11
DP-V1 Functions
Appendix
GSD file for DP-V1: SEWA6004.GSD
Module name for project planning: UFP (DP-V1)
Number of parallel C2 connections: 2
Supported data set: Index 47
Supported slot number: Recommendation: 0
Manufacturer code: 10A hex (SEW-EURODRIVE)
Profile ID: 0
C2-Response Timeout 1 s
Max. length C1 channel: 240 bytes
Max. length C2 channel: 240 bytes
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DP-V1 Functions
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Appendix
6
Error codes of the DP-V1 services
This table shows possible error codes of DP-V1 services that may occur in the event of an error in the communication on DP-V1 telegram level. This table is relevant if you want to write your own parameter assignment block because the error codes are directly reported back on the telegram level.
7 6 5 4 3 3 2 0
Bit:
Error_Class
Error_Class (from DP­V1 specification)
0x0 ... 0x9 hex = reserved
0xA = application 0x0 = read error
0xB = access 0x0 = invalid index 0xB0 = No data block Index 47 (DB47);
0xC = resource 0x0 = read constraint conflict
0xD...0xF = user specific
Error_Code (from DP-V1 specification)
0x1 = write error 0x2 = module failure 0x3 to 0x7 = reserved 0x8 = version conflict 0x9 = feature not supported 0xA to 0xF = user specific
0x1 = write length error 0x2 = invalid slot 0x3 = type conflict 0x4 = invalid area
0x5 = state conflict 0xB5 = Access to DB 47 temporarily not
0x6 = access denied
0x7 = invalid range 0xB7 = Write DB 47 with error in the DB 47
0x8 = invalid parameter 0x9 = invalid type 0xA to 0xF = user specific
0x1 = write constraint conflict 0x2 = resource busy 0x3 = resource unavailable 0x4..0x7 = reserved 0x8..0xF = user specific
Error_Code
DP-V1 parameter channel
parameter requests are not supported
possible due to intenal processing status
header
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Error Responses
Fieldbus timeout
7 Error Responses
7.1 Fieldbus timeout
7.2 SBUS timeout
Switching off the fieldbus master or an open circuit of the fieldbus cabling leads to a fieldbus timeout at the UFx. The connected drive inverters are switched to a safe state by sending zeros to the process output data which corresponds, for example, to a rapid stop on control word 1. The fieldbus timeout error resets itself, which means the drive inverters receive the current process output data from the controller once the fieldbus communication has been reestablished. This error response can be deactivated via P831 of the UFx.
If one or several drive inverters at the SBus can no longer be addressed by the UFx, the UFx displays error code 91 "System error" on status word 1 of the respective drive inverter. The SYS-FAULT LED lights up and the error is also indicated via diagnostic interface. It is necessary to set the SBus timeout interval P815 of the MOVITRAC system error to a value other than 0 for the drive inverter to stop. The error resets itself at the UFx, which means the current process data are exchanged immediately after restarting the communication.
®
07
7.3 Device errors
UFx gateways detect a series of hardware defects and lock out subsequently. The exact error responses and remedies can be found in the list of errors. A hardware defect causes error 91 to be displayed on the fieldbus process input data for status words 1 of all drive inverters. The SYS-FAULT LED at the UFx then flashes at regular intervals. The exact error code is displayed via MOVITOOLS in the UFx status at the diagnostic interface.
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LEDs
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RUN
8LEDs
The UFP PROFIBUS interface has four diagnostic LEDs.
"RUN" LED (green) for displaying the normal operating status
"BUS-FAULT" LED (red) for displaying errors at the PROFIBUS DP-V1
"SYS-FAULT" LED (red) for displaying UFP system errors and operating states.
"USER" LED (green) for application-specific diagnostics in expert mode.
8.1 RUN
ON Standard operation, 24 V supply o.k.
OFF 24 V supply is missing, UFP not ready for operation. Check the 24 V voltage supply
and switch the UFP on again. Replace the module if problem occurs again.
FLASHING PROFIBUS address is set to more than 125. Check the DIP switch setting.
8
8.2 BUS-F AULT
OFF Standard operating state. UFP is currently exchanging data with the DP master (data
exchange). Requirement: "RUN“ LED is lit.
FLASHING The Profibus baud rate is detected by the UFP. But the UFP is not or incorrectly
addressed by the DP master. Check configuration of the DP master. The configured PROFIBUS address must be identical to the PROFIBUS address set on the DIP switch. PROFIBUS addresses must not be assigned twice. If possible, use standard settings for project planning (do not use a universal configuration).
ON Connection to the DP master has failed The bus is interrupted or the DP master is
switched off. Check the PROFIBUS connection to the UFP. Check the complete PROFIBUS cabling and the terminating resistors as well as the DP master. Requirement: "RUN“ LED is ON.
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8.3 SYS-F AULT
OFF Standard operating state. The UFP is exchanging data with the connected inverters.
FLASHING briefly once, followed by a long pause
FLASHING regularly The UFP is in an error state. If the UFP was started with the Autosetup DIP switch,
ON The UFP does not exchange data with the connected inverters. It was not configured
LEDs
SYS-FAULT
Requirement: "RUN“ LED is on.
Autosetup is selected via DIP switches and UFP is currently configuring itself. If this state lasts longer than 1 minute, switch Autosetup off and on again. Replace the module if Autosetup does not exit itself again.
switch the UFP off and on again. If the LED is now on, restart Autosetup by switching the DIP switch off and on again. If the UFP was started using MOVITOOLS, the status window displays an error message. Please check under the corresponding error description.
or the connected inverters do not respond. Repeat the configuration of the UFP. If the UFP was started with Autosetup, switch the Autosetup DIP switch off and on again. If the LED is still lit after Autosetup, check the cabling and the terminating resistors of the SBus as well as the voltage supply of the inverter. If the UFP was started using MOVITOOLS, select the "Update" button in the manager. All inverters should be displayed in the "Connected Inverters" window. If this is not the case, check the cabling and the terminating resistors of the SBus as well as the voltage supply of the inverter. If necessary, repeat the configuration of the UFP with MOVITOOLS.
8.4 USER
OFF Standard operating state. The "USER' LED is reserved for expert mode.
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9 DIP Switches
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DIP Switches
Setting the station address
9
Figure 13: DIP switches (factory setting)
The factory setting is PROFIBUS address 4 and deactivated Autosetup.
F1: Function 1 – reserved, set to "Off"
F2: Function 2 – reserved, set to "Off"
AUTO SETUP: See Sec. "Installation and Operation with Autosetup"
9.1 Setting the station address
The PROFIBUS station address is set using DIP switches. PROFIBUS supports the address range from 0 through 125.
It is not possible to change the PROFIBUS station address via DIP switches during operation of the UFP11A. The modified station address will only become effective after switching the UFP11A on again.
You can control the current PROFIBUS station address with parameter
address
.
04845AXX
P092 Fieldbus
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Operating the Interface
Setting the station address
10 Operating the Interface
How do I go "online?"
Project planning / startup
Example
After an "Update," the MOVITOOLS manager displays all participants recognized on the system bus, i.e. inverters and gateway. You can access the status bar, Shell, Assembler and Compiler on all connected inverters via the gateway.
The UFx configurator supports the project planning and startup of a UFP fieldbus node.
A bus configuration can either be configured offline or read from the UFP and processed online.
It is advisable to verify that the hardware Autosetup is switched off (DIP switch 8 in OFF position) before starting the UFx configurator.
Before startup, make sure that neither personnel nor system components are at risk if a bus error should occur on the PROFIBUS and/or system bus end.
Two modes are available for project planning/startup.
The Autoconfiguration mode sequentially assigns each participant three process output and input data analogous to the hardware AutoSetup, beginning with the lowest system bus address.
Autoconfiguration: 3 participants with addresses 10, 11 and 12 => 9 PDs
Figure 14: Autoconfiguration example
The process data assignment can be configured at random in expert mode. The assignment can take place graphically (drag and drop).
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Operating the Interface
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Setting the station address
10
Example
Participant 10, PO1 is configured
05038AEN
Figure 15: Participant 10, PO1 is configured
Packaging or bundling the process output data may look as follows: PO1 ... PO3 are received by all 3 participants (e.g. control word 1, speed setpoint, ramp).
The PROFIBUS master receives 1 PD (e.g. status word 2) from each inverter as process input data. Six process output and process input data words are saved in the peripheral area in the master compared to AutoSetup.
A multiple assignment of process input data should be avoided/does not make sense.
Figure 16: Multiple assignment
The GSD file supports the configuration of a corresponding process data width in the PROFIBUS master. If a process data width is not listed, select the next higher one (e.g.
05039AXX
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Operating the Interface
Setting the station address
5 PDs are configured in expert mode => select 6 PDs):
Figure 17: Process data width
The parameter channel refers exclusively to the gateway.
05040AXX
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11 Appendix
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11.1 List of errors
Appendix
List of errors
11
Error code
10 IPOS ILLOP IPOS program
17 Stack overflow SBus communica-
18 Stack
19 NMI SBus communica-
20 Undefined
21 Protection
22 Illegal word
23 Illegal instruc-
24 Illegal exter-
25 Eeprom SBus communica-
28 Fieldbus
32 IPOS index
37 Watchdog
45 Initialization
77 Invalid IPOS
Designation Response Cause Action
stopped
tion stopped
underflow
opcode
fault
operand access
tion access
nal bus access
timeout
overflow
error
error
control value
SBus communica­tion stopped
tion stopped
SBus communica­tion stopped
SBus communica­tion stopped
SBus communica­tion stopped
SBus communica­tion stopped
SBus communica­tion stopped
tion stopped
Default: PO data = 0 Error response adjustable via P831
IPOS program stopped
SBus communica­tion stopped
SBus communica­tion stopped
IPOS program stopped
Error in the IPOS program Use the UFX configurator to
Malfunction of inverter electronics, possibly due to EMC influence
""
""
""
""
""
""
""
Error while accessing EEPROM Activate factory settings, perform
No communication took place between master and slave within the projected response monitoring.
Programming principles violated leading to system internal stack overflow.
Error during execution of system software
Error after self-test during reset Check DIP switches F1 and F2;
An attempt was made to set an invalid automatic mode (via exter­nal controller).
reconfigure the interface
Check ground connections and shieldings and correct, if neces­sary. Contact SEW service if this error occurs again.
reset and set parameters for UFx again. Contact SEW service if the error occurs again
Check communications routine of the master
Extend the fieldbus timeout interval (response monitor­ing) in the master configura­tion or deactivate monitoring
Check and correct IPOS application program
Check ground connections and shieldings and correct, if neces­sary. Contact SEW service if this error occurs again.
they must be set to 'Off.' Perform a reset. Contact SEW service if the error occurs again.
Check write values of external controller
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Appendix
Technical data
Error code
91 System error None Please observe the red SYS-
Designation Response Cause Action
FAULT LED of the UFx. If this LED is on, one or several participants on the SBus could not be addressed within the timeout interval. If the red SYS-FAULT LED flashes, the UFx itself is in an error state. In this case, error 91 was reported to the controller only via fieldbus.
11.2 Technical data
Part number: 823 896 0
Tools for startup: MOVITOOLS V 2.70 or later
Voltage supply: DC 18 ... 30 V, external supply
Current consumption at DC 24 V: max. 200 mA
Parameter setting and diagnostic interface: RS-485
Parameter setting: Autoconfiguration or
Diagnostics: LEDs on front of unit
Installation: Screw-type or DIN rail installation
Ambient temperature: – 10 °C ... + 50 °C
Check voltage supply and SBus cabling, check SBus terminating resistors. Check the project planning if the UFx was config­ured with the PC. Switch UFx off and on again. If the error is still present, query the error via diagnostic interface and perform the action described in this table.
via MOVITOOLS V 2.70 or later
MOVITOOLS
PROFIBUS DP-V1
SBus
PROFIBUS protocol variants: PROFIBUS DP-V1 to IEC 61158
Automatic baud rate detection: 9.6 kbaud ... 12 Mbaud
Connection technology: 9-pole sub D connector
Pin assignment to DIN 19245 T1
Bus termination: Externally via connector
Station address: 0 ... 125, adjustable via DIP switches
Name of GSD file: SEW_6004.GSD (PROFIBUS DP)
SEWA6004.GSD (PROFIBUS DP-V1)
DP ident number: 6004hex = 24580dec
Maximum transmission speed: 1 Mbaud
Transmission protocol: MOVILINK
Number of units on the SBus: Max. 8
Process data words per unit: Max. 3 PDs
Connection technology: Separable screw-type terminals
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11.3 Dimension sheet
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Appendix
Dimension sheet
11
Figure 18: Dimension sheet
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12 Index
Index
A
Autosetup 10
B
Baud rate 7, 15 Bus termination 8, 16 BUS-FAULT 55
C
Configuration 19 Configuration data 24 Connection 6, 7, 14, 15 Control 25 Control example 26
D
Data integrity 24 Diagnostic interface 5 Diagnostic LEDs 55 DIP switch 5, 12 DIP switches 57 DP configuration 19, 20, 23
F
Front view 5
R
RUN 55
S
Setting inverter parameters 9, 17 Shielding 6, 7, 8, 14, 15, 16 Simatic S7 24, 26 Startup 17, 19, 58 Station address 57 STEP7 26 SYS-FAULT 56
U
Unit Design 5 Universal configuration 23 USER 56
G
Graphical user interface 58 GSD file 19
I
Ident number 25 Identifier byte 24 Installation notes 6, 14 Inverter parameters 9, 17 Inverter, starting 13, 18
L
LED BUS-FAULT 55 LED RUN 55 LED SYS-FAULT 56 LED USER 56 List of errors 61
P
Parameter list
- 0.. Display values
Pin assignment 6, 14 Process data configuration 20, 21 PROFIBUS 24 PROFIBUS address 12, 57 Programming example STEP7 26 Project planning 58 Project planning master 12
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