SEW Eurodrive MOVIDRIVE MDX61B Interface DFP21B PROFIBUS

SEW Eurodrive MOVIDRIVE MDX61B Interface DFP21B PROFIBUS
MOVIDRIVE® MDX61B Fieldbus Interface
DFP21B PROFIBUS DP (12 MBaud)
Edition
03/2004
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SEW-EURODRIVE
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
1 Important Notes...................................................................................................... 4
2 Introduction ............................................................................................................ 5
3 Assembly / Installation Notes ............................................................................... 7
3.1 Installing the DFP21B option card.................................................................. 7
3.2 Connection and terminal description of the DFP21B option .......................... 9
3.3 Pin assignment .............................................................................................. 9
3.4 Shielding and routing bus cables ................................................................. 10
3.5 Bus termination ............................................................................................ 10
3.6 Setting the station address .......................................................................... 11
3.7 Operating mode displays: option DFP21B ................................................... 12
3.8 GSD files ...................................................................................................... 13
I
0
I
0
I
0
4 Project Planning and Startup .............................................................................. 15
4.1 Project planning for the DP master .............................................................. 15
4.2 External diagnostics ..................................................................................... 18
4.3 Startup of the drive inverter.......................................................................... 20
5 PROFIBUS-DP Operating Characteristics ......................................................... 22
5.1 Controlling the drive inverter ........................................................................ 22
5.2 PROFIBUS-DP Timeout............................................................................... 24
5.3 Response fieldbus timeout........................................................................... 24
5.4 Parameter setting via PROFIBUS-DP.......................................................... 24
5.5 Return codes for parameter setting.............................................................. 29
5.6 Special cases ............................................................................................... 30
6 DP-V1 Functions................................................................................................... 32
6.1 Introduction to PROFIBUS DP-V1 ............................................................... 32
6.2 Features of SEW drive inverters .................................................................. 34
6.3 Structure of the DP-V1 parameter channel .................................................. 35
6.4 Project planning for a C1 master.................................................................. 49
6.5 Appendix ...................................................................................................... 49
7 Fault Diagnostics ................................................................................................. 51
7.1 Diagnostic procedures ................................................................................. 51
kVA
i
f
n
8 Technical Data ...................................................................................................... 54
8.1 DFP21B option............................................................................................. 54
P Hz
9 Index ...................................................................................................................... 55
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Manual – PROFIBUS DFP21B Fieldbus Interface
3
Important Notes
1
1
Important Notes
Handbuch
Documentation
Bus systems
•
This manual does not replace the detailed operating instructions!
•
Only electrical specialists are allowed to perform installation and startup observing relevant accident prevention regulations and the MOVIDRIVE®
MDX60B/61B operating instructions!
•
Read through this manual carefully before you start installation and startup of
MOVIDRIVE® drive inverters with the DFP21B PROFIBUS option card.
•
This manual assumes that the user has access to and is familiar with the
MOVIDRIVE® documentation, in particular the MOVIDRIVE ®MDX60B/61B system
manual.
•
In this manual, cross references are marked with "→". For example, (→ Sec. X.X)
means: Further information can be found in section X.X of this manual.
•
A requirement of fault-free operation and fulfillment of any rights to claim under guarantee is that you observe the information in the documentation.
General safety notes on bus systems:
This communication system allows you to adjust the MOVIDRIVE® drive inverter to your
specific application very accurately. As with all bus systems, there is a danger of invisible, external (as far as the inverter is concerned) modifications to the parameters which
give rise to changes in the inverter’s behavior. This may result in unexpected (not uncontrolled) system behavior.
Safety and warning notes
Always observe the safety and warning instructions contained in this publication!
Electrical hazard
Possible consequences: Severe or fatal injuries.
Hazard
Possible consequences: Severe or fatal injuries.
Hazardous situation
Possible consequences: Slight or minor injuries.
Harmful situation
Possible consequences: Damage to the unit and the environment.
Tips and useful information.
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4
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Introduction
2
2
Introduction
Contents of this
manual
This user manual describes how to install the PROFIBUS DFP21B option card in the
MOVIDRIVE® MDX61B drive inverter and how to start up MOVIDRIVE® with the
PROFIBUS fieldbus system.
Additional
documentation
For information on how to connect MOVIDRIVE® easily and effectively to the
PROFIBUS fieldbus system, in addition to this user manual about the PROFIBUS
option, you should request the following publication about fieldbus technology:
•
MOVIDRIVE® Fieldbus Unit Profile manual
The MOVIDRIVE® Fieldbus Unit Profile manual describes the fieldbus parameters and
their coding, as well as explaining the whole range of control concepts and application
options in the form of brief examples.
The MOVIDRIVE® Fieldbus Unit Profile manual contains a list of all parameters of the
drive inverter which can be read or written via the various communication interfaces,
such as System bus, RS-485 and also via the fieldbus interface.
Features
The MOVIDRIVE® MDX61B drive inverter enables you to use the DFP21B option to
connect to higher-level programmable controllers via PROFIBUS thanks to its powerful,
universal fieldbus interface.
MOVIDRIVE® and
PROFIBUS
The unit behavior of the inverter which forms the basis of PROFIBUS operation is
referred to as the unit profile. It is independent of any particular fieldbus and is therefore
a uniform feature. This provides you, the user, with the opportunity of developing applications regardless of the fieldbus. This makes it much easier to change to other bus systems, such as INTERBUS (option DFI).
Access to all
information
MOVIDRIVE® MDX61B offers digital access to all drive parameters and functions via
the PROFIBUS interface. The drive inverter is controlled via the high-speed, cyclical
process data. Via this process data channel, you have the opportunity of entering setpoints such as the setpoint speed, ramp generator time for acceleration/deceleration,
etc. as well as triggering various drive functions such as enable, control inhibit, normal
stop, rapid stop, etc. However, at the same time you can also use this channel to read
back actual values from the drive inverter, such as the actual speed, current, unit status,
fault number and reference signals.
Cyclical and acyclical data exchange
via PROFIBUS
DPV0 (version 0)
While process data exchange usually takes place cyclically, drive parameters can be
read or written acyclically via functions such as READ or WRITE or via the MOVILINK®
parameter channel. This parameter data exchange enables you to implement applications in which all the important drive parameters are stored in the master programmable
controller, so that there is no need to make manual parameter settings on the drive inverter itself.
Cyclical and acyclical data exchange
via PROFIBUS
DPV1 (version 1)
The PROFIBUS-DPV1 specification introduced new acyclical read/write services within
the context of the PROFIBUS-DP 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-DPV1 (Version 1).
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
5
Introduction
2
Configuring the
PROFIBUS option
card
Generally, the PROFIBUS option card has been designed so that all fieldbus-specific
settings, such as the station address and the default bus parameter can be made using
the hardware switch on the option card. This manual setting means the drive inverter
can be integrated into the PROFIBUS environment and switched on within a very short
period of time. The parameter setting process can be performed in a completely automated process by the PROFIBUS master (parameter download). This forward-looking
variant shortens the system startup time and simplifies the documentation of your application program, because all the important drive parameters can now be stored directly
in your control program.
[1]
PROFIBUS Master
Digital I/O
Analog I/O
PROFIBUS
Figure 1: PROFIBUS with MOVIDRIVE® ([1] = visualization)
53488AXX
Monitoring
functions
Using a fieldbus system demands additional monitoring functions in the drive engineering, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts. You can, for example, adapt the monitoring functions of MOVIDRIVE® specifically
to your application. You can determine, for instance, which of the drive inverter’s fault
responses should be triggered in the event of a bus error. A rapid stop is a good idea for
many applications, although this can also be achieved by 'freezing' the last setpoints so
the drive continues operating with the most recently valid setpoints (for example,
conveyor belt). As the range of functions of the control terminals is also assured in fieldbus mode, you can continue to implement rapid stop concepts, regardless of the fieldbus, using the terminals of the drive inverter.
Diagnostics
The MOVIDRIVE® drive inverter offers you numerous diagnostic options for startup and
service. For example, you can use the integrated fieldbus monitor to check both the setpoints sent by the master control and the actual values.
Fieldbus monitor
Furthermore, you are supplied with a variety of additional information about the status
of the fieldbus option card. The fieldbus monitor function in conjunction with the
MOVITOOLS® PC software offers you an easy-to-use diagnostic tool allowing all drive
parameters to be set (including the fieldbus parameters) as well as displaying the fieldbus and device status information in detail.
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6
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Assembly / Installation Notes
Installing the DFP21B option card
3
Assembly / Installation Notes
3.1
Installing the DFP21B option card
3
Only SEW-EURODRIVE engineers can install or remove option cards for
MOVIDRIVE® MDX61B size 0.
•
Before you begin
Option cards can only be installed and removed for MOVIDRIVE® MDX61B
sizes 1 to 6.
The DFP21B option card must be plugged into the fieldbus slot.
Observe the following notes before installing or removing an option card:
•
De-energize the inverter. Switch off the 24 VDC and the supply voltage.
•
Take appropriate measures to protect the option card from electrostatic charge (use
discharge strap, conductive shoes, etc.) before touching it.
•
Before installing the option card, remove the keypad and the front cover.
•
After installing the option card, replace the front cover and the keypad.
•
Keep the option card in its original packaging. Do not remove the option card from
the packaging until immediatley before you are ready to install it.
•
Hold the option card by its edges only. Do not touch any components.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
7
Assembly / Installation Notes
Installing the DFP21B option card
3
Installing and
removing the
option card
2.
1.
3.
4.
Figure 2: Installing an option card in MOVIDRIVE® MDX61B sizes 1 to 6
53001AXX
1. Remove the two retaining screws holding the card retaining bracket. Evenly pull the
card retaining bracket out from the slot (do not twist!).
2. Remove the two retaining screws of the black cover plate on the card retaining bracket. Remove the black cover plate.
3. Position the option card onto the retaining bracket so that the three retaining screws
fit into the corresponding holes on the card retaining bracket.
4. Insert the retaining bracket with installed option card into the slot, pressing slightly so
it is seated properly. Secure the card retaining bracket with the two retaining screws.
5. To remove the option card, follow the instructions in reverse order.
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8
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Assembly / Installation Notes
Connection and terminal description of the DFP21B option
3.2
3
Connection and terminal description of the DFP21B option
Part number
PROFIBUS interface type DFP21B option: 824 240 2
The "PROFIBUS interface type DFP21B" option is only possible in conjunction with
MOVIDRIVE® MDX61B, not with MDX60B.
The DFP21B option must be plugged into the fieldbus slot.
Front view of DFP21B
DFP21B
RUN
BUS
FAULT
0 1
20
21
22
23
24
25
26
nc
ADDRESS
9
5
6
1
DIP switch
Terminal
Description
Function
RUN: PROFIBUS operation
LED (green)
Indicates that the bus electronics are operating correctly.
BUS FAULT: PROFIBUS error
LED (red)
Indicates PROFIBUS-DP error.
ADDRESS: DIP switch for setting the PROFIBUS station
address
20
21
22
23
24
25
26
nc
Significance: 1
Significance: 2
Significance: 4
Significance: 8
Significance: 16
Significance: 32
Significance: 64
Reserved
X31: PROFIBUS connection
X31:1
X31:2
X31:3
X31:4
X31:5
X31:6
X31:7
X31:8
X31:9
N.C.
N.C.
RxD/TxD-P
CNTR-P
DGND (M5V)
VP (P5V/100 mA)
N.C.
RxD/TxD-N
DGND (M5V)
X31
06226AXX
3.3
Pin assignment
Connection to the PROFIBUS network using a 9-pin sub D plug according to IEC 61158.
The T-bus connection must be made using a plug with the corresponding configuration.
[2]
1
6
9
5
RxD/TxD-P
RxD/TxD-N
CNTR-P
DGND (M5V)
VP (P5V/100mA)
DGND (M5V)
3
8
4
5
6
9
[3]
[1]
06227AXX
Figure 3: Assignment of 9-pin sub D plug to IEC 61158
[1] 9-pin sub D connector
[2] Signal cable, twisted
[3] Conductive, wide area connection is necessary between the plug housing and the
shield
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
9
Assembly / Installation Notes
Shielding and routing bus cables
3
MOVIDRIVE® /
PROFIBUS connection
As a rule, the DFP21B option is connected to the PROFIBUS system using a shielded
twisted-pair cable. Observe the maximum supported transmission rate when selecting
the bus connector.
The twisted-pair cable is connected to the PROFIBUS connector using pin 3 (RxD/TxDP) and pin 8 (RxD/TxD-N). Communication takes place via these two contacts. The
RS-485 signals RxD/TxD-P and RxD/TxD-N must be connected to the same contacts in
all PROFIBUS stations. Otherwise, communication is not 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).
Baud rates
greater than
1.5 MBaud
3.4
The DFP21B option with baud rates > 1.5 MBaud can only be operated with special
12 MBaud profibus connectors.
Shielding and routing bus cables
The PROFIBUS interface supports RS-485 transmission technology and requires the
cable type A to IEC 61158 specified as the physical medium for PROFIBUS. This cable
must be a shielded, twisted-pair cable.
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.
•
Only use connectors with a metal housing or a metallized 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.
3.5
Bus termination
The DFP21B option is not provided with bus terminating resistors. This enables the bus
system to be put into operation more easily and reduces the number of error sources.
Use a plug with an integrated bus terminating resistor if the DFP21B option is at the
beginning or end of a PROFIBUS segment and only one PROFIBUS cable leads to the
DFP21B.
Switch on the bus terminating resistors on this PROFIBUS plug.
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10
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Assembly / Installation Notes
Setting the station address
3.6
3
Setting the station address
The PROFIBUS station address is set using DIP switches 20 to 26 on the option card.
MOVIDRIVE® supports the address range 0 to 125.
The default setting for the PROFIBUS station address is 4:
DFP21B
RUN
BUS
FAULT
0 1
20
21
22
23
20 → Significance: 1 × 0 = 0
21 → Significance: 2 × 0 = 0
22 → Significance: 4 × 1 = 4
23 → Significance: 8 × 0 = 0
24 → Significance: 16 × 0 = 0
25 → Significance: 32 × 0 = 0
26 → Significance: 64 × 0 = 0
24
25
26
nc
ADDRESS
9
5
6
1
X31
06226AXX
Any change made to the PROFIBUS station address during ongoing operation does not
take effect immediately. The change only comes into effect when the inverter is switched
on again (power supply + 24 V OFF/ON). The inverter displays the current station address in fieldbus monitor parameter P092 "Fieldbus address" (display with DBG60B or
MOVITOOLS®/SHELL).
Example: Setting the PROFIBUS station address 17
DFP21B
RUN
BUS
FAULT
0 1
20
21
22
23
20 → Significance: 1 × 1 = 1
21 → Significance: 2 × 0 = 0
22 → Significance: 4 × 0 = 0
23 → Significance: 8 × 0 = 0
24 → Significance: 16 × 1 = 16
25 → Significance: 32 × 0 = 0
26 → Significance: 64 × 0 = 0
24
25
26
nc
ADDRESS
9
5
6
1
X31
06228AXX
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
11
Assembly / Installation Notes
Operating mode displays: option DFP21B
3
3.7
Operating mode displays: option DFP21B
PROFIBUS LEDs
The PROFIBUS interface DFP21B option card has two LEDs that indicate the current
status of the DFP21B option and the PROFIBUS system.
LED RUN (green)
•
LED BUS FAULT
(red)
•
The RUN LED (green) indicates that the bus electronics are operating correctly
RUN
Fault cause
Fault repair
On
•
PROFIBUS hardware OK.
-
Off
•
Hardware defect in the bus electronics.
•
Switch MOVIDRIVE® on again. Contact
SEW service if the error occurs again.
Flashe
s
•
PROFIBUS address is set higher than 125.
•
Use parameter P093 Fieldbus Address to
check the address set with the DIP
switches
The BUS FAULT LED (red) indicates a PROFIBUS-DP fault.
BUS FAULT
Fault cause
Fault repair
On
•
•
Connection to the DP master has failed
Unit does not detect PROFIBUS baud
rate.
Possible bus interruption.
DP master not in operation
•
•
•
•
•
Off
•
Unit is currently exchanging data with
the DP master (data exchange).
-
Flashes
•
Unit has detected the baud rate, however it is not being addressed by the DP
master.
Unit was not configured in DP master or
configured incorrectly.
•
•
•
•
Check the PROFIBUS-DP connection
on the unit.
Check the project planning of the DP
master.
Check all cables in your PROFIBUS-DP
network.
Check the PROFIBUS address setting
on the DFP21B and in the project planning software of the DP master.
Check the project planning of the DP
master.
Use the GSD file SEWA_6003.GSD with
the identifier MOVIDRIVE-DFP21B for
project planning.
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12
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Assembly / Installation Notes
GSD files
3.8
3
GSD files
Current versions of the GSD files for the DFP21B option are available on the SEW
homepage (http://www.sew-eurodrive.de) under the heading "Software". Both GSD files
can be used at the same time in one STEP7 project. Once you have downloaded and
unpacked the software, two directories for the operating modes PROFIBUS DP and
PROFIBUS DP-V1 are displayed.
GSD file for
PROFIBUS DP
Use the GSD file SEW_6003.GSD from the "DP" directory if you want to use the standard PROFIBUS-DP communication to control the drive inverter. This GSD file corresponds to the GSD revision 1 and must be copied to a special directory of your project
planning software. Refer to the manuals for the appropriate project planning software for
details on the procedure.
The unit master data files standardized by the PROFIBUS user group can be read by all
PROFIBUS DP masters.
GSD file for
PROFIBUS-DPV1
Project planning tool
DP master
File name
All DP project planning tools to EN 50170 (V2)
For DP master standard
SEW_6003.GSD
Siemens S7 hardware configuration
For all S7 DP masters
Siemens S5 COM PROFIBUS
For IM 308C etc.
Use the GSD file SEWA6003.GSD from the "DP-V1" if you want to use the parameter
setting options of DP-V1 in addition to the standard PROFIBUS DP communication to
control the drive inverter.
This GSD file corresponds to GSD revision 3. If you use older, non-DP-V1-capable
PROFIBUS options, a connection is not established between the DP-V1 master and
DFP21B. In this case, the "Bus Fault" LED of DFP21B remains switched on after the
DP-V1 master has started. The DP V1 master will indicate that connection cannot be
established.
So that the GSD files are easy to identify, they are assigned the name for
PROFIBUS-DP-V1 and displayed in a special subdirectory in the project planning software for the DP-V1 master → following screen shot).
53545AXX
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
13
Assembly / Installation Notes
GSD files
3
Validity of the
GSD file for
DFP21B
PROFIBUS option DFP21B
074 Firmware option 1:
SEW_6003.GSD for DP
SEWA6003.GSD for DP-V1
824,399 9.10 and higher
ok
ok
Entries in the GSD file must not be changed or expanded. SEW assumes no liability for
inverter malfunctions caused by a modified GSD file!
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14
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Project Planning and Startup
Project planning for the DP master
I
4
0
4
Project Planning and Startup
This section provides you with infromation on project planning for the DP master and
startup of the drive inverter for fieldbus operation.
4.1
Project planning for the DP master
A GSD file is provided for project planning for the DP master. This file must be copied
into a special folder for your project planning software.
Refer to the manuals for the appropriate project planning software for details on the procedure.
Project planning
procedure
Proceed as follows for project planning for MOVIDRIVE® with PROFIBUS-DP interface:
1. Read the README_GSD6003.PDF file that you received with the GSD file to obtain
further up-to-date information on project planning.
2. Install (copy) the GSD file according to the requirements of your project planning software. Once the file has been installed correctly, the device appears next to the slave
stations with the designation MOVIDRIVE+DFP21.
3. Add the interface module under the name MOVIDRIVE+DFP21 to the PROFIBUS
structure and assign the station address.
4. Select the process data configuration required for your application (see also the
chapter "DP Confiugration").
5. Enter the I/O or peripheral addresses for the configured data widths.
After project planning you can start PROFIBUS-DP. The red "BUS-FAULT" LED indicates the status of the project planning (OFF = project planning OK).
DP configurations
The drive inverter must be given a specific DP configuration by the DP master to define
the type and number of input and output data used for transmission. You have the option
of:
•
Controlling the drive using process data
•
Reading and writing all drive parameters using the parameter channel
•
Using a data exchange medium of your choice between IPOS plus® and the controllor.
MOVIDRIVE® drive inverters make it possible to have different DP configurations for
exchanging data between the DP master and the inverter. The following table provides
additional information about all possible DP configurations for the MOVIDRIVE® range.
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 which configuration data is sent to the inverter
when the PROFIBUS DP connection is being established.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
15
4
I
Project Planning and Startup
Project planning for the DP master
0
Universal DP
configuration
Process data configuration
Meaning / notes
DP configurations
0
1
1 PD
MOVIDRIVE® control via 1 process data word
240dec
-
®
2 PD
MOVIDRIVE control via 2 process data words
241dec
-
3 PD
MOVIDRIVE® control via 3 process data words
242dec
-
®
6 PD
MOVIDRIVE control via 6 process data words
(PD4-PD6 can only be used with IPOSplus)
0dec
245dec
10 PD
MOVIDRIVE® control via 10 process data words
(PD4-PD10 can only be used with IPOSplus)
0dec
249dec
Param +1 PD
MOVIDRIVE® control via 1 process data word
Parameter setting using 8-byte parameter channel
243dec
240dec
Param +2 PD
MOVIDRIVE® control via 2 process data word
Parameter setting using 8-byte parameter channel
243dec
241dec
Param +3 PD
MOVIDRIVE® control via 3 process data word
Parameter setting using 8-byte parameter channel
243dec
242dec
Param +6 PD
MOVIDRIVE® control via 6 process data word
Parameter setting using 8-byte parameter channel
(PD4-PD10 can only be used with IPOSplus®)
243dec
245dec
Param + 10 PD
MOVIDRIVE® control via 10 process data word
Parameter setting using 8-byte parameter channel
(PD4-PD10 can only be used with IPOSplus®)
243dec
249dec
If you select the "Universal Module" DP configuration (S7 HWConfig), you can structure
the DP configuration individually, although the following conditions must be complied
with.
Module 0 (DP identifier 0) defines the parameter channel of the inverter.
To ensure the parameter settings are made correctly, you must always transfer the
parameter channel consistently for the entire length.
Length
Function
0
Parameter channel switched off
8 I/O bytes or 4 I/O words
Parameter channel is being used
Module 1 (DP identifier 1) defines the process data channel of the inverter.
In addition to the process data configurations predefined in the GSD file, you can also
specify process data configurations with 4, 5, 7, 8 and 9 process data words. Note that
the number of input and output words is always the same. If the lengths are different,
data cannot be exchanged. In this case, the Bus Fault LED flashes; the parameter P090
PD Configuration indicates the configuration error with 0PD.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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Project Planning and Startup
Project planning for the DP master
4
0
Length
Function
2 I/O bytes or 1 I/O word
1 process data word
4 I/O bytes or 2 I/O words
2 process data words
6 I/O bytes or 3 I/O words
3 process data words
8 I/O bytes or 4 I/O words
4 process data words
10 I/O bytes or 5 I/O words
5 process data words
12 I/O bytes or 6 I/O words
6 process data words
14 I/O bytes or 7 I/O words
7 process data words
16 I/O bytes or 8 I/O words
8 process data words
18 I/O bytes or 9 I/O words
9 process data words
20 I/O bytes or 10 I/O words
10 process data words
The following figure shows the structure of the configuration data defined in EN 50170
(V2). This configuration data is transmitted to the drive inverter during the initial start of
the DP master.
7 / MSB
6
5
4
3
2
1
0 / LSB
Data length
0000 = 1 byte/word
1111 = 16 bytes/words
Input/output
00 = Special identifier formats
01 = input
10 = Output
11 = input/output
Format
0 = byte structure
1 = word structure
Integrity over
0 = byte or word
1 = entire length
Note:
MOVIDRIVE® does not support the "Special identifier formats" coding!
Use only the setting "Integrity over entire length" for data transmission!
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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4
Project Planning and Startup
External diagnostics
0
Data consistency
Consistent data is data that has to be transmitted between the programmable controller
and the drive inverter as one block at all times and must never be transmitted separately.
Data consistency is especially important for transmitting position values or complete positioning tasks. This is because data that is not transmitted consistently could be from
different program cycles of the programmable controller, which would lead to undefined
values being transmitted to the drive inverter.
For PROFIBUS DP, data communication between the programmable controller and
drive engineering devices is usually carried out with the setting "Data integrity over entire length".
4.2
External diagnostics
For MOVIDRIVE® MDX61B drive inverters with option DFP21B, it is possible to activate
automatic generation of external diagnostic alarms via PROFIBUS-DP during the
project planning in the DP master. If this function has been activated, the inverter sends
an external diagnostic signal to the DP master every time a malfunction occurs. You
must then program corresponding algorithms in the program of the DP master system
in order to evaluate the diagnostic information. These algorithms can sometimes be
quite complex.
Recommendation
It is basically not necessary to activate the external diagnostic function because
MOVIDRIVE® transmits the current drive status via status word 1 during every
PROFIBUS-DP cycle.
The structure of the unit-specific diagnostics was redefined for PROFIBUS DP-V1. The
mechanism described here can only be used with PROFIBUS DP (without DP-V1
expansions). We recommend that you do not use this mechanism for new applications.
Note on Simatic S7 master systems!
Diagnostic alarms may be triggered by the PROFIBUS-DP system in the DP master at
any time even when external diagnostic signal generation is inactive. This means the
corresponding operation blocks (e.g. OB84 for S7-400 or OB82 for S7-300) should
always be created in the controller.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Project Planning and Startup
External diagnostics
I
4
0
Procedure
Additional application-specific parameters can be defined in every DP master during the
configuration of a DP slave. These parameters are transferred to the slave when the
PROFIBUS-DP starts up. Nine application-specific parameter data items are provided
for MOVIDRIVE® with the following functions:
Byte:
Permitted
value
Function
0
00 hex
Reserved for DP-V1
1
00 hex
Reserved for DP-V1
2
00 hex
Reserved for DP-V1
3
06 hex
Structured user parameter block with a length of 6 bytes
4
81 hex
Structure type: User (proprietary)
5
00 hex
Slot number: 0 = complete unit
6
00 hex
Reserved
7
01 hex
SEW user parameter version: 1
8
00 hex
DFP21 generates diagnostic alarm when a malfunction occurs.
01 hex
DFP21 does not generate a diagnostic alarm when a malfunction occurs (factory setting)
Values not listed here are not permitted as they can cause malfunctions in the DFP21B!
Example for
project planning
The project planning programs of the DP master systems either offer the option of activating the external diagnostics in plain text format, such as with STEP7 (Figure 4), or of
specifying the information directly in hex code (table x).
50256AXX
Figure 4: Activating external diagnostics with STEP7
Parameterization data (hex)
Function
00, 00 ,00 ,06 ,81 ,00 ,00 ,01 ,00
Diagnostic alarms are also generated if there is a fault
(enabled = on)
00, 00, 00, 06, 81, 00, 00, 01, 01
Diagnostic alarms are not generated if there is a fault
(disabled = off, factory setting)
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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4
Project Planning and Startup
Startup of the drive inverter
0
4.3
Startup of the drive inverter
The parameters of the MOVIDRIVE® drive inverter can be set straight away via
PROFIBUS without any further settings once the PROFIBUS option card has been installed. As a result, for example, all parameters can be set by the master programmable
controller after switch-on.
However, to control the drive inverter via PROFIBUS, it must be switched to control
signal source (P101) and setpoint source (P100) = FIELDBUS beforehand. The
FIELDBUS setting means the drive inverter parameters are set for control and setpoint
entry via PROFIBUS. The MOVIDRIVE® drive inverter then responds to the process
output data transmitted from the master programmable controller.
Activation of the control signal source and setpoint source FIELDBUS is signaled to the
machine controller using the "Fieldbus mode active" bit in the status word.
For safety reasons, the drive inverter must also be enabled at the terminals for control
via the fieldbus system. Consequently, the terminals must be wired or programmed in
such a way that the inverter is enabled via the input terminals. The simplest way of
enabling the drive inverter at the terminals is, for example, to connect the DIØØ (function
/CONTROLLER INHIBIT) input terminal to a +24 V signal and to program input terminals
DIØ1 DIØ3 to NO FUNCTION. The procedure for startup of the MOVIDRIVE® drive
inverter with a fieldbus connection is described on the next page.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Project Planning and Startup
Startup of the drive inverter
I
4
0
Procedure for startup of the MOVIDRIVE® drive inverter
1. Enable the power output stage at the terminals.
Wire up the input terminal DIØØ / X13.1 (function /REGLERSPERRE) to a +24 V
signal (for example, using a device jumper).
DI00 = /Controller inhibit
DI01 = no function
X13:
1
2
3
4
5
6
7
8
9
10
11
DI02 = no function
DI00
DI01
DI02
DI03
DI04
DI05
DCOM
VO24
DGND
ST11
ST12
DI03 = no function
DI04 = no function
[1]
DI05 = no function
DCOM = Reference X13:DI00 ...
DI05
VO24 = + 24 V
DGND = Reference pot. for binary
signals
ST11 = RS-485 +
ST12 = RS-485 TF1 = TF input
X10:
-
1
2
3
4
5
6
7
8
9
10
TF1
DGND
DB00
DO01-C
DO01-NO
DO01-NC
DO02
VO24
VI24
DGND
DGND = Reference pot. for binary
signals
DB00 = /Brake
DO01-C = Relay contact
DO01-NO = Normally open contact
DO01-NC = Normally closed contact
DO02 = /Malfunction
+
24 V ext.
-
VO24 = + 24 V
VI24 = + 24 V (external supply)
DGND = Reference pot. for binary
signals
Enabling the power output stage using a unit jumper [1]
01234BXX
2. Switch on the 24 V voltage supply.
Only switch on the external 24 V voltage supply (not the supply voltage!) so that the
parameters for the drive inverter can be set.
3. Setpoint source = FIELDBUS / control signal source = FIELDBUS
Set the setpoint source and control signal source parameters to FIELDBUS to control
the drive inverter via a fieldbus.
P100 Setpoint source = FIELDBUS
P101 Control signal source = FIELDBUS
4. Input terminals DIØ1 DIØ3 = NO FUNCTION.
Set the function of the input terminals to NO FUNCTION.
P600 Terminal programming DIØ1 = NO FUNCTION
P601 Terminal programming DIØ2 = NO FUNCTION
P602 Terminal programming DIØ3 = NO FUNCTION
For more information on startup and control of the MOVIDRIVE® drive inverter, refer to
the Fieldbus Unit Profile manual.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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5
PROFIBUS-DP Operating Characteristics
Controlling the drive inverter
0
5
PROFIBUS-DP Operating Characteristics
This chapter describes the basic characteristics of the drive inverter with
PROFIBUS-DP.
5.1
Controlling the drive inverter
The drive inverter is controlled via the process data channel which is up to ten I/O words
in length. These process data words may be mapped in the I/O or peripheral area of the
controller if a programmable controller is used as DP master and can be addressed as
usual.
PW160
PW158
PW156
PW154
PW152
PW150
PW148
PA 3
PA 2
PA 1
[1]
PA 1
PA 2
PA 3
PA 10
[1]
PE 1
PE 2
PE 3
PE 10
[2]
PW160
PW158
PW156
PW154
PW152
PW150
PW148
PE 3
PE 2
PE 1
53493AXX
Figure 5: Mapping PROFIBUS data in the PLC address range
Control example
for Simatic S7
[1]
8 byte MOVILINK® parameter channel
[2]
PLC address range
PE1 ... PE10
Process input data
PA1 ... PA10
Process output data
•
For additional information on programming and project planning, refer to the
README_GSD6003.PDF file included in the GSD file.
•
For more information about controlling via the process data channel, in particular
regarding the coding of the control and status word, refer to the Fieldbus Unit Profile
manual.
The drive inverter is controlled via Simatic S7 depending on the selected process data
configuration, either directly via load and transfer commands or via the special system
functions SFC 14 DPRD_DAT and SFC15 DPWR_DAT.
In principle, S7 data lengths of 3 bytes or more than 4 bytes must be transmitted using
system functions SFC14 and SFC15.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
PROFIBUS-DP Operating Characteristics
Controlling the drive inverter
I
5
0
Consequently, the data in the following table applies:
STEP7 programming example
Process data configuration
STEP7 access via
1 PD
Load/transfer commands
2 PD
Load/transfer commands
3 PD
System functions SFC14/15 (length 6 bytes)
6 PD
System functions SFC14/15 (length 12 bytes)
10 PD
System functions SFC14/15 (length 20 bytes)
Param +1 PD
Parameter channel: System functions SFC14/15 (length 8 bytes)
Process data: Load/transfer commands
Param +2 PD
Parameter channel: System functions SFC14/15 (length 8 bytes)
Process data: Load/transfer commands
Param +3 PD
Parameter channel: System functions SFC14/15 (length 8 bytes)
Process data: System functions SFC14/15 (length 6 bytes)
Param +6 PD
Parameter channel: System functions SFC14/15 (length 8 bytes)
Process data: System functions SFC14/15 (length 12 bytes)
Param + 10 PD
Parameter channel: System functions SFC14/15 (length 8 bytes)
Process data: System functions SFC14/15 (length 20 bytes)
In this example, the project planning for MOVIDRIVE® has the process data configuration "3 PD" on input addresses PIW576... and output addresses POW576....
A data block DB3 is created with about 50 data words.
When SFC14 is called, the process input data are copied into data block DB3, data
words 0, 2 and 4. When SFC15 is called after the control program has been processed,
the process output data are copied from data words 20, 22 and 24 into output address
POW 576 .
Note the length information in bytes for the RECORD parameter. The length information
must correspond to the configured length.
Refer to the online help for STEP7 for further information about the system functions.
//Start of cyclical program processing in OB1
BEGIN
NETWORK
TITLE = Copy PI data from inverter to DB3, word 0/2/4
CALL SFC 14 (DPRD_DAT)
//Read DP slave record
LADDR := W#16#240
//Input address 576
RET_VAL:= MW 30
//Result in flag word 30
RECORD := P#DB3.DBX 0.0 BYTE 6 //Pointer
NETWORK
TITLE = PLC program with drive application
// PLC program uses the process data in DB3 for
// controlling the drive
L
L
L
DB3.DBW 0//Load PI1 (status word 1)
DB3.DBW 2
//Load PI2 (actual speed value)
DB3.DBW 4
//Load PI3 (no function)
L W#16#0006
T DB3.DBW 20//Write 6hex to PO1 (control word = enable)
L 1500
T DB3.DBW 22//Write 1500dec to PO2 (speed setpoint = 300 rpm)
L W#16#0000
T DB3.DBW 24//Write 0hex to PO3 (however, it has no function)
//End of cyclical program processing in OB1
NETWORK
TITLE = Copy PO data from DB3, word 20/22/24 to inverter
CALL SFC 15 (DPWR_DAT)
//Write DP slave record
LADDR := W#16#240
//Output address 576 = 240hex
RECORD := P#DB3.DBX 20.0 BYTE 6 //Pointer to DB/DW
RET_VAL:= MW 32
//Result in flag word 32
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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5
PROFIBUS-DP Operating Characteristics
PROFIBUS-DP Timeout
0
5.2
PROFIBUS-DP Timeout
If the data transfer via PROFIBUS-DP is faulty or interrupted, the response monitoring
time in MOVIDRIVE® elapses (if configured in the DP master). The "BUS-FAULT" LED
lights up (or flashes) to indicate that no new user data is being received. At the same
time, MOVIDRIVE® performs the fault response selected with P831 Fieldbus timeout
response.
P819 Fieldbus timeout displays the response monitoring time specified by the DP master during the PROFIBUS-DP startup. It is only possible to alter this timeout time using
the DP master. Although modifications made using the keypad or MOVITOOLS® are
displayed, they do not have any effect and are overwritten when the DP is next started
up.
5.3
Response fieldbus timeout
P831 is used to sets the parameters for the fault response, which is triggered by the
fieldbus timeout monitoring. The setting made here must correspond to the setting in the
master system (S7 reponse monitoring).
5.4
Parameter setting via PROFIBUS-DP
With PROFIBUS-DP, the drive parameters are accessed via the 8 byte MOVILINK®
parameter channel. This channel offers extra parameter services in addition to the conventional READ and WRITE services.
Structure of the
8 byte
MOVILINK®
parameter channel
PROFIBUS-DP enables access to the inverter drive parameters via the "parameter process data object" (PPO). This PPO is transmitted cyclically and contains the process
data channel [2] and a parameter channel [1] that can be used to exchange acyclical
parameter values.
[1]
[2]
[1]
[2]
53492AXX
Figure 6: Communication via PROFIBUS-DP
The following table shows the structure of the 8 byte MOVILINK® parameter channel. In
principle, the parameter channel is made up of a management byte, an index word, a
reserved byte and four data bytes.
Byte 0
Management
Byte 1
Reserved
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Index high
Index low
Data MSB
Data
Data
Data LSB
Parameter index
4 byte data
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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PROFIBUS-DP Operating Characteristics
Parameter setting via PROFIBUS-DP
5
0
Management of
the 8 byte
MOVILINK®
parameter channel
The entire parameter setting sequence is coordinated with byte 0: Management byte.
This byte provides important service parameters such as service identifier, data length,
version and status of the service performed. The following table shows that bits 0, 1, 2
and 3 contain the service identifier, and define which service is performed. Bit 4 and bit
5 specify the data length in bytes for the write service. This should be set to 4 bytes for
all SEW drive inverters.
7 / MSB
6
5
4
3
2
1
0 / LSB
Service identifier
0000 = No service
0001 = Read parameter
0010 = Write parameter
0011 = Write parameter volatile
0100 = Read minimum
0101 = Read maximum
0110 = Read default
0111 = Read scale
1000 = Read attribute
Data length
00 = 1 byte
01 = 2 bytes
10 = 3 bytes
11 = 4 bytes (must be set!)
Handshake bit
Must be changed on every new job in cyclical transmission.
Status bit
0 = No fault in service execution
1 = Fault in service execution
Bit 6 is used as an acknowledgment between the controller and the drive inverter. It triggers the implementation of the transferred service in the drive inverter. In
PROFIBUS-DP the parameter channel is transmitted cyclically with the process data.
For this reason, the implementation of the service in the drive inverter must be triggered
by edge control using the handshake bit 6. To permit this, the value of this bit is altered
for each new service to be performed (toggle). The drive inverter uses the handshake
bit to signal whether the service was performed or not. The service has been performed
as soon as the handshake bit received in the control corresponds to the one which was
sent. Status bit 7 indicates whether it was possible to carry out the service properly or if
there were errors.
Index addressing
Byte 2: Index high and byte 3: Index low determines the parameter read or written via
the fieldbus system. The parameters of a drive inverter are addressed with a uniform index regardless of the fieldbus system which is connected. Byte 1 should be viewed as
reserved and must always be set to 0x00.
Data range
As can be seen in the following table, the data is contained in byte 4 through byte 7 of
the parameter channel. This means up to 4 bytes of data can be transmitted per service.
The data is always entered with right-justification; that is, byte 7 contains the least significant data byte (Data LSB) whereas byte 4 is the most significant data byte (Data
MSB).
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Management
Reserve
d
Index high
Index low
Data MSB
Data
Data
Data LSB
High byte 1
Low byte 1
High byte 2
Low byte 2
High word
Low word
Double word
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5
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PROFIBUS-DP Operating Characteristics
Parameter setting via PROFIBUS-DP
0
Incorrect
performance of
service
The status bit in the management byte is set to signal that a service has been performed
incorrectly. The service was performed by the drive inverter if the received handshake
bit is the same as the sent handshake bit. If the status bit now signals an error, the error
code is entered in the data range of the parameter telegram. Bytes 4-7 send back the
return code in a structured format.(→ see the chapter "Return Codes").
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Management
Reserved
Index high
Index low
Error class
Error code
Add. code
high:
Add. code
low
Status bit = 1: Incorrect execution of a service
Reading a
parameter with
PROFIBUS-DP
(Read)
Due to the cyclical transfer of the parameter channel, to execute a READ service via the
8 byte MOVILINK® parameter channel, the handshake bit may only be changed if the
complete parameter channel has been set up for the specific service. As a result, adhere
to the following sequence when reading a parameter:
1. Enter the index of the parameter to be read in byte 2 (Index high) and byte 3 (Index
low).
2. Enter the service identifier for the read service in the management byte (byte 0).
3. Transfer the read service to the inverter by changing the handshake bit.
Since this is a read service, the sent data bytes (bytes 4...7) and the data length (in the
management byte) are ignored and do not need to be set.
The inverter now processes the read service and sends the service confirmation back
by changing the handshake bit.
7 / MSB
6
5
4
0
0/11)
X2)
X2)
3
2
1
0 / LSB
0
0
0
1
Service identifier
0001 = Read parameter
Data length
Not relevant for Read service
Handshake bit
Must be changed on every new job in cyclical transmission.
Status bit
0 = No fault in service execution
1 = Fault in service execution
1) Bit value is changed
2) Not relevant
The above table shows how a READ service is coded in the management byte. The
data length is not relevant; only the service identifier for the READ service should be entered. This service is now activated in the drive inverter when the handshake bit changes. For example, it would be possible to activate the read service with the management
byte coding 01hex or 41hex.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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PROFIBUS-DP Operating Characteristics
Parameter setting via PROFIBUS-DP
5
0
Writing a parameter with
PROFIBUS-DP
(Write)
Due to the cyclical transfer of the parameter channel, to execute a WRITE service via
the 8 byte MOVILINK® parameter channel, the handshake bit may only be changed if
the complete parameter channel has been set up for the specific service. Observe the
following sequence when writing a parameter:
1. Enter the index of the parameter to be written in byte 2 (Index high) and byte 3 (Index
low).
2. Enter the data to be written in bytes 4 7.
3. Enter the service identifier and the data length for the write service in the management byte (byte 0).
4. Transfer the write service to the inverter by changing the handshake bit.
The inverter now processes the write service and sends the service confirmation back
by changing the handshake bit.
The following table shows how a WRITE service is coded in the management byte. The
data length is 4 bytes for all parameters in SEW drive inverters. This service is now
transferred to the drive inverter when the handshake bit changes. As a result, a write
service on SEW drive inverters always has the management byte coding 32hex or
72hex.
7 / MSB
6
5
4
3
2
1
0 / LSB
0
0/11)
1
1
0
0
1
0
Service identifier
0010 = Write parameter
Data length
11 = 4 bytes
Handshake bit
Must be changed on every new job in cyclical transmission.
Status bit
0 = No fault in service execution
1 = Fault in service execution
1) Bit value is changed
Procedure for
setting parameters with
PROFIBUS-DP
Taking the example of the WRITE service, the following figure represents a process of
setting parameters between the controller and the drive inverter via PROFIBUS-DP. To
simplify the sequence, the following figure only shows the management byte of the parameter channel.
The parameter channel is only received and returned by the drive inverter whilst the
controller is preparing the parameter channel for the write service. The service is not activated until the moment when the handshake bit is changed (in this example, when it
changes from 0 to 1). The drive inverter now interprets the parameter channel and processes the write service, but continues to answer all messages with h\andshake bit = 0.
The executed service is acknowledged with a change of the handshake bit in the
response message of the drive inverter. The controller now detects that the received
handshake bit is once again the same as the one which was sent. It can now prepare
another parameter setting procedure.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
27
5
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PROFIBUS-DP Operating Characteristics
Parameter setting via PROFIBUS-DP
0
Controller
PROFIBUS-DP(V0)
Drive inverter (slave)
--
00110010XXX...
→
←
00110010XXX...
--
--
01110010XXX...
→
←
00110010XXX...
--
Parameter channel is received, but
not evaluated
Parameter channel is
prepared for the write
service
Handshake bit is
changed and the service
is transferred to the drive
inverter
Service confirmation is
received as the send
and receive handshake
bits are the same again
Parameter data
format
--
01110010XXX...
→
←
00110010XXX...
--
←
01110010XXX...
--
--
01110010XXX...
→
Write service is performed, handshake bit is changed
Parameter channel is received, but
not evaluated
When parameters are set via the fieldbus interface, the same parameter coding is used
as with the serial RS-485 interfaces or the system bus.
The data formats and ranges of values for the individual parameters can be found in the
publication MOVIDRIVE® "Parameter list".
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
PROFIBUS-DP Operating Characteristics
Return codes for parameter setting
I
5
0
5.5
Return codes for parameter setting
Elements
If a parameter setting is incorrect, the drive inverter sends back various return codes to
the master that set the parameters. These codes provide detailed information about the
cause of the error. Generally, these return codes are structured. The system distinguishes between the following elements:
•
Error class
•
Error code
•
Additional code
These return codes are described in detail in the Fieldbus Communications Profile
manual and do not form part of this documentation. However, the following special cases can occur in connection with PROFIBUS:
Error class
The error class element classifies the type of error more precisely. MOVIDRIVE®
supports the following error classes defined in accordance with EN 50170(V2):
Class (hex)
Designation
Meaning
1
vfd-state
Status error of the virtual field unit
2
application-reference
Error in application program
3
definition
Definition error
4
resource
Resource error
5
service
Error in execution of service
6
access
Access error
7
ov
Error in object list
8
other
Other error (see Additional code)
The error class is generated by the communication software of the fieldbus interface if
there is an error in communication. However, this does not apply to error class 8, Other
error. Return codes sent from the drive inverter system are all included in Error class 8
= Other error. The error can be identified more precisely using the additional code element.
Error code
The error code element provides a means for more precisely identifying the cause of the
error within the error class. It is generated by the communication software of the fieldbus
card in the event of an error in communication. For Error class 8 = Other error, only Error
code = 0 (Other error code) is defined. In this case, detailed identification is made using
the additional code.
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29
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5
PROFIBUS-DP Operating Characteristics
Special cases
0
Additional code
The additional code contains the return codes specific to SEW dealing with incorrect
parameter settings of the drive inverter. These codes are returned to the master under
Error class 8 = Other error. The following table shows all possible codings for the additional code.
Add. code
high (hex)
5.6
Add. code low
(hex)
Meaning
00
00
No error
00
10
Invalid parameter index
00
11
Function/parameter not implemented
00
12
Read access only
00
13
Parameter lock is active
00
14
Factory setting is active
00
15
Value too large for parameter
00
16
Value too small for parameter
00
17
Option card required for this function/parameter is missing
00
18
Error in system software
00
19
Parameter access only via RS-485 process interface on X13
00
1A
Parameter access only via RS-485 diagnostic interface
00
1B
Parameter has access protection
00
1C
Controller inhibit required
00
1D
Illegal value for parameter
00
1E
Factory setting was activated
00
1F
Parameter was not saved in EEPROM
00
20
Parameter cannot be changed with output stage enabled
Special cases
Special return
codes
Errors in the parameter settings that cannot be identified either automatically by the
application layer of the fieldbus system or by the system software of the drive inverter
are treated as special cases. The following is a list of errors that can occur depending
on the fieldbus option card used:
•
Incorrect coding of a service via parameter channel
•
Incorrect length specification of a service via parameter channel
•
Internal communication error
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
PROFIBUS-DP Operating Characteristics
Special cases
I
5
0
Incorrect service
coding in the
parameter channel
Incorrect coding was specified in the management or reserved byte during parameter
setting via the parameter channel. The following table shows the return code for this
special case.
Code (dec)
Meaning
5
Service
Error code:
5
Illegal parameter
Add. code high:
0
-
Add. code low:
0
-
Error class:
Troubleshooting:
Check bits 0 and 1 in the parameter channel.
Incorrect length
specification in
parameter channel
A data length other than 4 data bytes was specified in a read or write service during
parameter setting via the parameter channel. The following table displays the return
code.
Code (dec)
Meaning
Error class:
6
Access
Error code:
8
Type conflict
Add. code high:
0
-
Add. code low:
0
-
Troubleshooting:
Check bit 4 and bit 5 for the data length in the management byte of the parameter
channel. Both bits must be assigned the value 1.
Internal
communication
error
The return code listed in the following table is sent back if an internal communication
error has occurred. The parameter service transferred via the fieldbus may not have
been performed and should be repeated. If this error reoccurs, switch off the drive
inverter completely and then back on again so it is re-initialized.
Code (dec)
Meaning
Error class:
6
Access
Error code:
2
Hardware fault
Add. code high:
0
-
Add. code low:
0
-
Troubleshooting:
Repeat the read or write service. If this error occurs again, disconnect the drive inverter
from the supply system and then reconnect it. Contact SEW Service for advice if this
error occurs continuously.
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DP-V1 Functions
Introduction to PROFIBUS DP-V1
0
6
DP-V1 Functions
6.1
Introduction to PROFIBUS DP-V1
This chapter describes the functions and terms used for operating SEW drive inverters
with PROFIBUS-DP-V1. Refer to the PROFIBUS user organization or visit
profibus website for detailed technical information on PROFIBUS-DPV1.
The PROFIBUS-DPV1 specification introduced new acyclical read/write services within
the context of the PROFIBUS-DPV1 expansions. These acyclical services are inserted
into special telegrams during cyclical bus operation and thus ensure compatibility
between PROFIBUS-DP (version 0) and PROFIBUS-DPV1 (Version 1).
The acyclical read/write services can be used to exchange larger data quantities
between master and slave (drive inverter) than it would be possible to transfer in the
cyclical input or output data using the 8-byte parameter channel, for example. The
advantage of acyclical data exchange via DP-V1 lies in the minimum load on the cyclical
bus operation since DP-V1 telegrams are only added to the bus cycle if required.
The DP-V1 parameter channel provides the user with two options:
•
The higher-level controller can access all the inverter information of the SEW DP-V1
slaves. This means that cyclical process data and unit settings can be read and
stored in the controller and modified in the slave.
•
It is also possible to route the service and startup tool MOVITOOLS® via the DP-V1
parameter channel instead of using a proprietary RS-485 connection. Once you have
installed the MOVITOOLS® software, you can access detailed infromation in the folder ...\SEW\MOVITOOLS\Fieldbus.
The main features of PROFIBUS-DPV1 are explained below.
C1-Master
C2-Master
C2-Master
Cyclic OUT Data
Param
PD
Param
PD
PROFIBUS DP-V1
Cyclic IN Data
Acyclic DP-V1
C2-Services
Acyclic DP-V1
C1-Services
Acyclic DP-V1
C2-Services
SEW
Drive
52123AXX
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
DP-V1 Functions
Introduction to PROFIBUS DP-V1
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0
Class 1 master
(C1 master)
The PROFIBUS DP-V1 network differentiates between master classes. The C1 master
essentially performs the cyclical data exchange with the slaves. A typical C1 master is
a control system, such as a PLC, that exchanges cyclical process data with the slave. If
the 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-DPV1 network.
Class 2 master
(C2 master)
The C2 master itself does not perform cyclical data exchange with the slaves. Examples
for a typical C2 master are visualization systems or temporary installed programming
devices (Notebook / PC). The C2 master uses exclusively acyclic connections for communication with the slaves. The acyclical connections between C2 master and slave are
established by the Initiate service. The connection is established once the Initiate service has been performed successfully. An established connection enables acyclical data
exchange with the slaves using Read or Write services. Several C2 masters can be
active in a DP-V1 network. The number of C2 connections, established simultaneously
for a slave, is determined by the slave. SEW drive inverters support two parallel C2 connections.
Data sets (DS)
The user data transported via DP-V1 service is collected in data sets. Each data set is
represented uniquely by its length, a slot number and an index. The structure of data set
47 is used for DP-V1 communication with the SEW drive inverter. This data set is
defined as the DP-V1 parameter channel for drives as of V3.1 in the PROFIdrive profile
drive engineering of the PROFIBUS Nutzerorganisation (user group). Different procedures for accessing parameter data in the drive inverter are provided via this parameter
channel.
DP-V1 services
The DP-V1 expansions offer new services, which can be used for acyclical data
exchange between master and slave. The system distinguishes between the following
services:
DP-V1 alarm
handling
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
In addition to the acyclical services, the DP-V1 specification also defines extended
alarm handling. Alarm handling now distinguishes between different alarm types. As a
result, unit-specific diagnostics cannot be evaluated in DP-V1 operation via the
'DDLM_SlaveDiag' DP-V1 service. DP-V1 alarm handling has not been defined for drive
engineering as a drive inverter does not ususlly transfer its status information via cyclical
process data communication.
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33
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6
DP-V1 Functions
Features of SEW drive inverters
0
6.2
Features of SEW drive inverters
The SEW fieldbus interfaces with PROFIBUS DP-V1 have the same communication
features for the DP-V1 interface. The drives are usually controlled via a C1 master with
cyclical process data in accordance with the DP-V1 standard. This C1 master (usually
a PLC) can also use an 8-byte MOVILINK® parameter channel during cyclical data
exchange to perform the parameter services with DFP21B. The read and write services
give the C1 master access to connected stations via the DP-V1 C1 channel.
Two additional C2 channels can be connected in parallel to these parameter setting
channels. The first C2 master as a visualization device, for example could use these
channels to read parameter data, and a second C2 master in the form of a notebook
could use them to configure the drive using the MOVITOOLS® software.
C2-Master
C1-Master
C2-Master
Acyclic DP-V1
C1-Services
DP:
8 Byte Param
PROFIBUS DP-V1
Acyclic DP-V1
C2-Services
C2-Parameterbuffer
C2-Parameterbuffer
SEW PROFIBUS
DP-V1 Interface
Cyclic IN/Out
C1-Parameterbuffer
PD
DP Parameterbuffer
DP:
Acyclic DP-V1
C2-Services
cyclic
Process Data
Parameterbuffer
Drive System
53124AXX
Figure 7: Parameter setting channels for PROFIBUS DP-V1
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
DP-V1 Functions
Structure of the DP-V1 parameter channel
I
6
0
6.3
Structure of the DP-V1 parameter channel
Generally, the process of setting parameters for the drives to the PROFIdrive DPV1 parameter channel of profile version 3.0 is carried out via data set index 47. The Request
ID entry is used to distinguish between parameter access based on the 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 accessing PROFIdrive
and MOVILINK®.
DP-V1
Read/Write
PROFIdrive
Parameter Channel
DS47
SEW MoviLink
53125AXX
®
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.
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35
6
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DP-V1 Functions
Structure of the DP-V1 parameter channel
0
The following PROFIdrive services are supported:
•
Reading (request parameter) individual parameters of the type double word
•
Writing (change parameter) individual parameters of the type double word
Table 1: Elements of data set DS47
Field
Data type
Values
Request Reference
Unsigned8
0x00
0x01 ... 0xFF
Reserved
Request ID
Unsigned8
0x01
0x02
0x40
Request parameter (PROFIdrive)
Change parameter (PROFIdrive)
SEW MOVILINK® service
Response ID
Unsigned8
Response (+):
0x00
0x01
0x02
0x40
Reserved
Request parameter (+) (PROFIdrive)
Change parameter (+) (PROFIdrive)
SEW MOVILINK® service (+)
Response (–):
0x81
Request parameter (–) (PROFIdrive)
0x82
Change parameter (–) (PROFIdrive)
0xC0
SEW MOVILINK® service (–)
Axis
Unsigned8
0x00 ... 0xFF
Number of axis 0 ... 255
No. of parameters
Unsigned8
0x01 ... 0x13
1 ... 19 DWORDs (240 DP-V1 data bytes)
Attributes
Unsigned8
0x10
Value
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
0x01 ... 0x75
for non-indexed parameters
Quantity 1 ... 117
Parameter Number
Unsigned16
0x0000 ... 0xFFFF MOVILINK® parameter index
Subindex
Unsigned16
0x0000
SEW: always 0
Format
Unsigned8
0x43
0x44
Double word
Error
No. of Values
Unsigned8
0x00 ... 0xEA
Quantity 0 ... 234
Error Value
Unsigned16
0x0000 ... 0x0064 PROFIdrive error codes
0x0080 + MOVILINK®-AdditionalCode Low
For SEW MOVILINK® 16 Bit Error Value
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
I
DP-V1 Functions
Structure of the DP-V1 parameter channel
6
0
Procedure for
setting parameters via data set
47
Parameter access takes place with the combination of the DP-V1 services Write and
Read. The parameter setting order is transferred to the slave using the Write.req,
followed by slave-internal processing.
The master now sends a Read.req to pick up the parameter setting response. The master repeats the Read.req if the Read.res from the slave is negative. As soon as the
pararmeter processing in the drive inverter is concluded, it answers with a positive
response Read.res. The user data now contains the parameter setting response of the
parameter setting order that was previously sent with Write.req (→ following 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)
Slave (Drive)
Parameter
Request
Write.res
without data
Read.req DS47
without data
Parameter
Processing
Read.res(-)
without data
Read.req DS47
without data
Parameter
Response
Read.res(+)
with data (parameter response)
Parameter
Response
53127AXX
Figure 8: Telegram sequence for parameter access via PROFIBUS DP-V1
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37
6
I
DP-V1 Functions
Structure of the DP-V1 parameter channel
0
DP-V1 master
processing
sequence
If the bus cycles are very short, the request for the parameter response arrives before
the inverter has concluded parameter access in the device. This means that the
response data from the inverter is not yet available. In this case, the inverter sends a
negative answer with the Error_Code _1 = 0xB5 (status conflict) to the DP-V1 level.
The DP-V1 master must then repeat the request with the Read.req header until it receives a positive answer from the drive inverter.
Send Write.request
with Parameterdata
Check Write.
response
Write.response
negative
Write.response
positive
Send DS_Read.req
with Parameterdata
Read.
response
State
Conflict?
yes
no
Other Errors
or Timeout
yes
no
Parameter transfer
ok, data available
Parameter transfer
aborted with ERROR
53127AXX
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
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DP-V1 Functions
Structure of the DP-V1 parameter channel
6
0
Addressing connected drive
inverter
The structure of the DS47 data set defines an axis element. This element is used to
reach multi-axis drives that are operated via one PROFIBUS interface. The Axis element addresses one of the devices connected via the PROFIBUS interface. This mechanism can be used, for example, by the SEW MQP bus modules for MOVIMOT® or UFP
for MOVITRAC® 07.
Addressing a
MOVIDRIVE®
inverter at
PROFIBUS-DPV1
With the setting Axis = 0, the parameter of the drive inverters can be accessed directly.
Since there are no drive devices connected to MOVIDRIVE®, access with Axis > 0 is
returned with an error code.
C1-Master
C2-Master
C2-Master
Cyclic OUT Data
Param
PD
Param
PD
Cyclic IN Data
Acyclic DPV1
C1-Services
PROFIBUS DPV1
Acyclic DPV1
C2-Services
Acyclic DPV1
C2-Services
Axis = 0
Axis = 0
Axis = 0
53556AXX
Figure 9: Addressing a MOVIDRIVE® inverter directly via PROFIBUS DP-V1 with Axis = 0.
MOVILINK®
parameter orders
The MOVILINK® parameter channel of the SEW drive inverter 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.
Request ID:
0x40 SEW MOVILINK® service
The actual service is defined by the data set element Attribute in the MOVILINK® parameter channel. The high nibble of this element corresponds to the service nibble in the
management byte of the DP parameter channel.
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6
I
DP-V1 Functions
Structure of the DP-V1 parameter channel
0
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 Write.req service specifying
the DP-V1 header. The Write.req service is used to transfer the parameter setting order
to the drive inverter. It uses the firmware version.
Table 2: 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 3: 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
0x40
SEW MOVILINK® service
2
Axis
0x00
Axis number; 0 = single axis
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
Requesting the parameter response
The following table shows the coding of the Read.req user data including the DP-V1
header.
Table 4: 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 MOVILINK® parameter setting response
The table shows the Read.res USER DATA with the positive response data of the parameter setting order. For example, the parameter value for index 8300 (firmware version) is returned.
Table 5: 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 6: Positive response for
MOVILINK®
service
Byte
Field
Value
Description
0
Response reference
0x01
Reflected reference number from the parameter
setting order
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
DP-V1 Functions
Structure of the DP-V1 parameter channel
I
6
0
Table 6: Positive response for MOVILINK® service
Byte
Field
Value
Description
1
Response ID
0x40
Positive MOVILINK® response
2
Axis
0x00
Reflected axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x43
Parameter format: Double word
5
No. of values
0x01
1 value
6..7
Value Hi
0x311C
Higher-order part of the parameter
8..9
Value Lo
0x7289
Lower-order part of the parameter
Decoding:
0x 311C 7289 = 823947913 dec
>> firmware version 823 947 9.13
Example for writing
a parameter via
MOVILINK®
The following tables show the sequence of the Write and Read services for non-volatile
writing of the value 12345 to IPOS®plus variable H0 (parameter index 11000) as an
example. The MOVILINK® service Write Parameter volatile is used for this purpose.
Send "Write parameter volatile" order
Table 7: 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
Table 8: Write.req user data for
16 byte user data for order buffer
MOVILINK®
service "Write parameter volatile"
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
0x40
SEW MOVILINK® service
2
Axis
0x00
Axis number; 0 = single axis
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
0x2AF8
Parameter index 11000 = "IPOS variable H0"
8..9
Subindex
0x0000
Subindex 0
10
Format
0x43
Double word
11
No. of values
0x01
Change 1 parameter value
12..13
Value HiWord
0x0000
Higher-order part of the parameter value
14..15
Value LoWord
0x0BB8
Lower-order part of the parameter value
After sending this Write.request, the Write.response is received. If there was no status
conflict in processing the parameter channel, a positive Write.response occurs.
Otherwise, the status fault is located in Error_code_1.
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41
I
6
DP-V1 Functions
Structure of the DP-V1 parameter channel
0
Requesting the parameter response
The following table shows the coding of the Write.req USER DATA including the DP-V1
header.
Table 9: Read.req for requesting the parameter response
Field
Value
Description
Slot_Number
X
Slot_Number not used
Index
47
Index of data set
Length
240
Maximum length of response buffer in DP-Master
Function_Num
Read.req
Positive response to “Write Parameter volatile”
Table 10: 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 11: Positive response for
Negative
parameter
response
MOVILINK®
service "Write Parameter"
Byte
Field
Value
Description
0
Response reference
0x01
Reflected reference number from the parameter
setting order
1
Response ID
0x40
Positive MOVILINK® response
2
Axis
0x00
Reflected axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
The following table shows the coding of a negative response of a MOVILINK® service.
Bit 7 is entered in the Response ID if the response is negative.
Table 12: 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
Reflected reference number from the parameter setting order
1
Response ID
0xC0
Negative MOVILINK® response
2
Axis
0x00
Reflected axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x44
Error
5
No. of values
0x01
1 error code
6..7
Error value
0x0811
MOVILINK® return code
z. B. ErrorClass 0x08, Add. Code 0x11
(see the table MOVILINK® return codes for DP-V1)
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
DP-V1 Functions
Structure of the DP-V1 parameter channel
I
6
0
MOVILINK® return
codes for parameter setting 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 DP-V1 parameter access.
MOVILINK®
Return code (hex)
Description
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 only be changed with IPOS program stop
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)
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
43
6
I
DP-V1 Functions
Structure of the DP-V1 parameter channel
0
PROFIdrive
parameter orders
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. PROFIdrive only defines the two request IDs
Request ID:0x01Request Parameter (PROFIdrive)
Request ID:0x02Change Parameter (PROFIdrive)
This means there is restricted data access in comparison with the MOVILINK® services.
The request ID = 0x02 = Change Parameter (PROFIdrive) results in remanent write access to the selected parameter. Consequently, the internal flash/EEPROM of the inverter is written with each write access. Use the MOVILINK® service "Write Parameter volatile" if parameters must be written cyclically at short intervals. With this service, you
only alter the parameter values in the RAM of the inverter.
Example for reading a parameter via
PROFIdrive
The following tables show an example of the structure of the Write.request and Read.res
user data for reading an individual parameter via the MOVILINK® parameter channel.
Sending parameter order
The table shows the coding of the user data for the Write.req service specifying the
DP-V1 header. The Write.req service is used to transfer the parameter setting order to
the drive inverter.
Table 13: 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 14: 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
0x00
Axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
4
Attributes
0x10
Access to parameter value
5
No. of elements
0x00
0 = access to direct value, no subelement
6..7
Parameter Number
0x206C
MOVILINK® index 8300 = “firmware version”
8..9
Subindex
0x0000
Subindex 0
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
DP-V1 Functions
Structure of the DP-V1 parameter channel
I
6
0
Requesting the parameter response
The following table shows the coding of the Read.req user data including the DP-V1
header.
Table 15: 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. For example, the parameter value for index 8300 (firmware version) is
returned.
Table 16: 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
Table 17: Positive response for
10 byte user data in response buffer
MOVILINK®
service
Byte
Field
Value
Description
0
Response reference
0x01
Reflected reference number from the parameter
setting order
1
Response ID
0x01
Positive response for „Request Parameter“
2
Axis
0x00
Reflected axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x43
Parameter format: Double word
5
No. of values
0x01
1 value
6..7
Value Hi
0x311C
Higher-order part of the parameter
8..9
Value Lo
0x7289
Lower-order part of the parameter
Decoding:
0x 311C 7289 = 823947913 dec
>> firmware version 823 947 9.13
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
45
6
I
DP-V1 Functions
Structure of the DP-V1 parameter channel
0
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 18: 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 19: Write.req user data for MOVILINK® service "Write parameter volatile"
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
0x02
Change parameter (PROFIdrive)
2
Axis
0x01
Axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
4
Attributes
0x10
Access to parameter value
5
No. of elements
0x00
0 = access to direct value, no subelement
6..7
Parameter Number
0x7129
Parameter index 8489 = P160 n11
8..9
Subindex
0x0000
Subindex 0
10
Format
0x43
Double word
11
No. of values
0x01
Change 1 parameter value
12..13
Value HiWord
0x0000
Higher-order part of the parameter value
14..15
Value LoWord
0x0BB8
Lower-order part of the parameter value
After sending this Write.request, the Write.response is received. If there was no status
conflict in processing the parameter channel, a positive Write.response occurs. Otherwise, the status fault is located in Error_code_1.
Requesting the parameter response
The table shows the coding of the Write.req user data including the DP-V1 header.
Table 20: Read.req for requesting the parameter response
Field
Value
Function_Num
Description
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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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
DP-V1 Functions
Structure of the DP-V1 parameter channel
I
6
0
Positive response to “Write Parameter volatile”
Table 21: 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 22: Positive response for
Negative parameter response
MOVILINK®
service "Write Parameter"
Byte
Field
Value
Description
0
Response reference
0x01
Reflected reference number from the parameter
setting order
1
Response ID
0x02
Positive MOVILINK® response
2
Axis
0x01
Reflected axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
The following table shows the coding of a negative response of a PROFIdrive service.
Bit 7 is entered in the Response ID if the response is negative.
Table 23: 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
Reflected reference number from the parameter setting order
1
Response ID
0x810x82
Negative response for “Request Parameter” Negative
response for “Change Parameter”
2
Axis
0x00
Reflected axis number; 0 = single axis
3
No. of parameters
0x01
1 parameter
4
Format
0x44
Error
5
No. of values
0x01
1 error code
6..7
Error value
0x0811
MOVILINK® return code
z. B. ErrorClass 0x08, Add. Code 0x11
(see the table MOVILINK® return codes for DP-V1)
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
47
6
I
DP-V1 Functions
Structure of the DP-V1 parameter channel
0
PROFIdrive return
codes for DP-V1
48
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
Access to unavailable parameter
0
0x01
Parameter value cannot be
changed
Change access to a parameter value
that cannot be changed
Subindex
0x02
Low or high limit exceeded
Change access with value outside the
value limits
Subindex
0x03
Faulty subindex
Access to unavailable subindex
Subindex
0x04
No array
Access with subindex to non-indexed
parameter
0
0x05
Incorrect data type
Change access with value that does not
match the data type of the parameter
0
0x06
Setting not permitted (can
only be reset)
Change access with value unequal to 0
where this is not permitted
Subindex
0x07
Description element cannot
be changed
Change access to a description element
that cannot be changed
Subindex
0x08
Reserved
(PROFIdrive Profile V2: PPO-Write
requested in IR not available)
-
0x09
No description data available
Access to unavailable description
(parameter value is available)
0
0x0A
Reserved
(PROFIdrive Profile V2: Access group
wrong)
-
0x0B
No operation priority
Change access without rights to change
parameters
0
0x0C
Reserved
(PROFIdrive Profile V2: wrong password)
-
0x0D
Reserved
(PROFIdrive Profile V2: Text cannot be
read in cyclic data transfer)
-
0x0E
Reserved
(PROFIdrive Profile V2: Name cannot be
read in cyclic data transfer)
-
0x0F
No text array available
Access to text array that is not available
(parameter value is available)
0
0x10
Reserved
(PROFIdrive Profile V2: No PPO-Write )
-
0x11
Request cannot be executed because of operating
state
Access is temporarily not possible for
reasons that are not specified in detail
0x12
Reserved
(PROFIdrive Profile V2: other error)
0x13
Reserved
(PROFIdrive Profile V2: Data cannot be
read in cyclic interchange)
0x14
Value impermissible
Change access with a value that is within
the value limits but is not permissible for
other long-term reasons (parameter with
defined single values)
Subindex
0x15
Response too long
The length of the current response
exceeds the maximum transmittable
length
0
0x16
Parameter address impermissible
Illegal value or value which is not supported for the attribute, number of elements, parameter number or subindex or
a combination
0
0x17
Illegal format
Write request: Illegal format or format of
the parameter data which is not supported
0
0x18
Number of values is not
consistent
Write request: Number of parameter data
values that do not match the number of
elements in the parameter address
0
0
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
I
DP-V1 Functions
Project planning for a C1 master
6
0
6.4
Error no.
Meaning
Used at
Supplem. Info
0x19
axis nonexistent
Access to an axis which does not exist
-
up to 0x64
Reserved
-
-
0x65..0xFF
Manufacturer-specific
-
-
Project planning for a C1 master
A special GSD file SEWA6003.GSD is required for the project planning of a DP-V1 C1
master. This file activates the DP-V1 functions of the DFP21B. Therefore, the fucntions
of the GSD file and the DFP21B firmware must correspond with one another. When you
implement the DP-V1 functions, SEW-EURODRIVE provides you with two GSD files
(→ chapter "GSD files").
Operating mode
(DP-V1 mode)
6.5
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 will
still be run via PROFIBUS-DP. This ensures mixed mode is run for DP-V1 and
DP-capable modules. Depending on the specifiction of the master functionality, a
DP-V1-capable station, that was configured using the DP-V1 GSD file, can run in the
"DP" operating mode.
Appendix
Example program
for SIMATIC S7
DP-V1 technical
data for
MOVIDRIVE®
DFP21/MCH41
The STEP7 code stored in the GSD file shows how parameters are accessed via the
STEP7 system function blocks SFB 52/53. You can copy the STEP7 code and import/compile it as STEP7 source.
GSD file for DP-V1:
SEWA6003.GSD
Module name for project planning:
MOVIDRIVE DFP21B/MCH (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
1s
Max. length C1 channel:
240 bytes
Max. length C2 channel:
240 bytes
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
49
6
I
DP-V1 Functions
Appendix
0
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 based on the DP-V1 services because
the error codes are reported directly back on the telegram level.
Bit:
7
6
5
4
Error_Class
Error_Class (from DPV1 specification)
3
3
2
0
Error_Code
Error_Code (from DP-V1
specification)
DP-V1 parameter channel
0x0 ... 0x9 hex =
reserved
0xA = application
0x0 = read error
0x1 = write error
0x2 = module failure
0x3 to 0x7 = reserved
0x8 = version conflict
0x9 = feature not supported
0xA to 0xF = user specific
0xB = access
0x0 = invalid index
0xB0 = No data block Index 47 (DB47); parameter requests are not supported
0x1 = write length error
0x2 = invalid slot
0x3 = type conflict
0x4 = invalid area
0x5 = state conflict
0xB5 = Access to DB 47 temporarily not possible due to internal processing status
0x6 = access denied
0x7 = invalid range
0xB7 = Write DB 47 with error in the DB 47
header
0x8 = invalid parameter
0x9 = invalid type
0xA to 0xF = user specific
0xC = resource
0x0 = read constraint conflict
0x1 = write constraint conflict
0x2 = resource busy
0x3 = resource unavailable
0x4..0x7 = reserved
0x8..0xF = user specific
0xD...0xF = user specific
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50
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Fault Diagnostics
Diagnostic procedures
7
Fault Diagnostics
7.1
Diagnostic procedures
7
The diagnostic procedures described in the following section demonstrate the fault analysis methods for the most frequent problems:
•
Inverter does not work with PROFIBUS-DP
•
Inverter cannot be controlled using the DP master
For more information dealing specifically with the inverter parameter settings for various
fieldbus applications, refer to the Fieldbus Unit Profile manual and the MOVIDRIVE®
parameter list. Also read the current information on the GSD disk.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
51
7
Fault Diagnostics
Diagnostic procedures
Diagnostic problem 1: Inverter does not work with PROFIBUS.
Initial status:
• Inverter is connected to PROFIBUS
• Inverter configured in DP master and bus communication is active
↓
Is the bus connector plugged in?
No →
[A]
OFF →
[B]
ON →
[C]
Yes
↓
Response of the LED BUS FAULT?
FLASHING
↓
Inverter detects baud rate (P092 Baud rate fieldbus). However it was not
configured, or was configured incorrectly, in the DP master.
↓
Check the configured bus address and the bus address set using the DIP
switches (P093 Fieldbus address)
↓
No →
Are the bus addresses the same?
[D]
Yes
↓
You may have configured an incorrect unit type or defined the configuration
incorrectly
↓
Delete the project planning for the inverter from the DP network.
↓
Perform project planning for the inverter again, choosing the unit designation "MOVIDRIVE+DFP21".
To simplify the project planning process, use a predefined configuration (for
example, "Param + 3PD"). Do not change any of the preset configuration
data!
Assign the address range for your control system.
↓
Load the configuration in the DP master and start the bus communication
again.
[A]
Check the bus cabling!
[B]
Inverter is currently exchanging data cyclically with the DP master. P090
PD configuration displays the configuration with which the inverter is controlled via DP.
↓
Bus communication is functioning properly (for problems with controlling or
setpoint selection via PROFIBUS DP, continue with Diagnostic problem
2).
[C]
Inverter does not detect the baud rate (P092 Baud rate fieldbus)!
↓
Check the bus cabling!
[D]
52
Adapt the bus addresses!
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
Fault Diagnostics
Diagnostic procedures
7
Diagnostic problem 2:
Inverter cannot be controlled using the DP master.
Initial status:
• Bus communication with inverter OK (LED BUS FAULT off)
• Inverter running with 24 V (no supply voltage)
↓
The problem is either caused by incorrect parameter settings in the inverter
or a faulty control program in the DP master.
↓
Use P094 ... P097 (setpoint description PA1 ... PA3) to check whether the
setpoints sent by the controller are received correctly.
To do so, send a setpoint other than 0 as a test in each output word.
↓
Setpoints received?
Yes →
[A]
No
↓
Check that the correct settings have been made for the following drive
parameters:
• P100 SETPOINT SOURCE
FIELDBUS
• P101 CTRL SIGNAL SOURCE
FIELDBUS
• P876 ENABLE PO DATA
YES
↓
Settings OK?
No →
[B]
Yes
↓
The problem may be caused by your control program in the DP master.
↓
Check that the address used in the program is the same as the address for
project planning.
Note that the inverter requires consistent data and access must take place
within the control program, if necessary, via special system functions (for
example, Simatic S7, SFC 14/15).
[A]
Setpoints are not transferred.
Check whether the drive inverter has been enabled at the terminals.
[B]
Correct settings.
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Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
53
kVA
8
i
f
n
Technical Data
DFP21B option
P Hz
8
Technical Data
8.1
DFP21B option
DFP21B option
Part number
824 240 2
Power consumption
P=3W
PROFIBUS protocol
options
PROFIBUS-DP and DP-V1 to IEC 61158
Automatic baud rate
detection
9.6 kbaud ... 12 Mbaud
Connection technology
•
•
Via 9-pin sub D plug
Pin assignment to IEC 61158
Bus termination
Not integrated, implement using suitable PROFIBUS plug with terminating resistors that can be switched on.
Station address
0 ... 125, can be set using DIP switch
Name of the GSD file
•
•
6003hex = 24579dec
DP identity number
Application-specific
parameter-setting data
(Set-Prm application
data)
DP configurations for
DDLM_Chk_Cfg
SEW_6003.GSD (PROFIBUS-DP)
SEWA6003.GSD (PROFIBUS-DP-V1)
•
•
•
•
•
•
•
•
•
•
•
•
•
Length: 9 bytes
Hex parameter settings 00,00,00,06,81,00,00,01,01 = DP diagnostics
alarm = OFF
Hex parameter settings 00,00,00,06,81,00,00,01,00 = DP diagnostics
alarm = ON
F0hex = 1 process data word (1 I/O word)
F1hex = 2 process data words (2 I/O words)
F2hex = 3 process data words (3 I/O words)
0hex, F5hex = 6 process data words (6 I/O words)
0hex, F9hex = 10 process data words (10 I/O words)
F3hex, F0hex = parameter channel + 1 process data word (5 I/O words)
F3hex, F1hex = parameter channel + 2 process data words (6 I/O words)
F3hex, F2hex = parameter channel + 3 process data words (7 I/O words)
F3hex, F5hex = parameter channel + 6 process data words (10 I/O
words)
F3hex, F9hex = parameter channel +10 process data words (14 I/O
words)
Diagnostics data
•
•
Max. 8 bytes
Standard diagnostics: 6 bytes
Tools for startup
•
•
MOVITOOLS® PC program
DBG11B keypad
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54
Manual – MOVIDRIVE® MDX61B Fieldbus Interface DFP21B PROFIBUS
9
9
Index
A
P
Additional code
30
Parameter channel 24
Parameter channel data range 25
Parameter channel management 25
Parameter channel structure 24
Parameter data format 28
Parameter setting via PROFIBUS-DP 24
Parameter, read 26
B
Baud rate 54
Bus termination
54
C
Communication error, internal
Configuration
31
Parameter, write
27
Parameter-setting data 54
Part number 54
PROFIBUS interface DFP21B
Connection 9
PROFIBUS-DP Timeout 24
Programming example STEP7
Protocol options 54
6
Connection
DFP21B option 9
Connection technology
Control 22
Control example 22
54
D
Data format, parameter 28
DFP21B
Connection 9
Terminal description 9
Diagnostics 6
DP configuration 15
DP configuration, universal 16
DP configurations 54
DP ident number 54
R
READ 26
Read parameter
Safety notes 4
Safety notes on bus systems 4
Service coding 31
Service performance, incorrect 26
Simatic S7 22
29
29
Startup 20
Station address
STEP7 23
F
Fault diagnostics
Fieldbus monitor
51
6
Technical data 54
Terminal description
DFP21B option 9
Timeout 24
54
I
Ident number 54
Incorrect performance of a service
Index addressing 25
internal communication error 31
U
26
L
Length specification
54
T
G
GSD file
26
S
E
Error class
Error code
23
31
Universal DP configuration
16
W
Warning instructions 4
WRITE 27
Write parameter 27
M
Monitoring functions
6
N
Notes, important
4
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Manual – Fieldbus Interface PROFIBUS DFP21lB
55
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