CM-DPV1

EN

EN

FR

ES

CM-DPV1

User Manual

Communication Module for

PROFIBUS-DP

Project planning, installation and commissioning of the

CDA3000/CDD3000/CTC3000 on the field bus

G3

Overview of documentation

Catalog

Before purchase

With delivery

(depending on supply package)

Selecting and ordering a drive system

Operation Manual

Operation Manual

K EY P AD KP200

Application Manual

D

Quick and easy initial commissioning

E

Operation via

K EY P AD KP200

CAN

Lust

Communication

Module Manual

CAN open

Communication

Module Manual

F1

Adaptation of the drive system to the application

PROFIBUS-DP

Communication Module

Manual

G1

Project planning, installation and commissioning of the

CDA3000/CDD3000/

CTC3000 on the field bus

G2


CDA3000/CDD3000/


G3


CDA3000/CDD3000/


G3

User Manual CM-DPV1

Communication Module for PROFIBUS-DP

ID no.: 0916.20B.1-00

Date: March 2003

Applicable as from software version V1.40 CDA3000

Applicable as from software version V1.10 CDD3000

Applicable as from software version V130.20 CTC3000

Subject to technical changes.

Dear User,

This manual is intended for you as a project engineer, commissioning

engineer or programmer of drive and automation solutions on the

PROFIBUS-DP field bus. It is assumed that you are already familiar with this field bus on the basis of appropriate training and reading of the relevant literature.

For commissioning of the drive controller refer to the Operation Manual, then use this User Manual for commissioning on the PROFIBUS network.

How to use this manual

1

4

5

6

2

3

General introduction

Installation and commissioning

Parameter-setting data

Diagnostic data

Process data PZD

Parameter data PKW/DPV1

7 Fault rectification

Appendix:

Special features of the CM-DPV1

Parameter data formats, Technical data,

Parameters for bus operation, Index

1

4

5

2

3

6

7

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User Manual CM-DPV1

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Pictograms

> Attention! Misoperation may result in damage to the drive or malfunctions.

> Danger from electrical tension! Improper behaviour may endanger human life.

> Danger from rotating parts! The drive may start running automatically.

> Note: Useful information

> Note: This section describes only operation with the

CDA3000 frequency inverter

> Note: This section describes only operation with the

CDD3000 servocontroller

User Manual CM-DPV1

User Manual CM-DPV1

Table of contents

1

1.1

1.2

1.3

1.4

1.5

General introduction

Measures for your safety ........................................1-2

Scope .......................................................................1-2

Ident number (ID) ....................................................1-3

Notes on operation over PROFIBUS ........................1-3

Further documentation ...........................................1-3

2.5

2.5.1

2.5.2

2.5.3

2.5.4

2

2.1

2.1.1

2.1.2

2.2

2.2.1

2.2.2

2.3

2.3.1

2.3.2

2.4

Installation and commissioning

Mounting .................................................................2-2

Size (BG1...5) .......................................................2-2

Size (BG6...8) .......................................................2-3

Installation ..............................................................2-4

Hardware enable (ENPO) ......................................2-5

Pin assignment X10, X11, X13 .............................2-6

Commissioning ........................................................2-7

Serial commissioning ...........................................2-7

Initial commissioning ...........................................2-9

Hardware configuration based on the example of the S7-300 ..............................2-10

Communication based on the example of a variables table .....................2-14

Control word and reference input .......................2-15

Status word and actual value output ..................2-17

Fault evaluation .................................................2-18

Reading and writing parameters ........................2-19

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User Manual CM-DPV1

3 Parameter-setting data

4

4.1

4.2

4.3

Diagnostic data

Communication status ........................................... 4-3

Bit-coded error word .............................................. 4-3

Bit-coded warning messages ................................ 4-5

5

5.1

5.2

5.3

5.4

5.4.1

5.4.2

5.4.3

5.4.4

5.6

5.6.1

5.6.2

5.6.3

5.6.4

5.6.5

5.5

5.5.1

5.5.2

5.5.3

5.5.4

5.5.5

Process data PZD

Selection of process data word ............................. 5-3

Process data, general ............................................. 5-4

EasyDrive Modes .................................................... 5-5

EasyDrive Basic ...................................................... 5-5

“PZD EasyDrive Basic” control word .................... 5-6

“PZD EasyDrive Basic” status word ..................... 5-7

“PZD EasyDrive Basic” reference ......................... 5-8

“PZD EasyDrive Basic” actual value ..................... 5-9

EasyDrive DirectPos(+) ......................................... 5-10

“PZD EasyDrive DirectPos(+)” startup sequence 5-10

“PZD EasyDrive DirectPos(+)” control word ....... 5-11

“PZD EasyDrive DirectPos(+)” status word ........ 5-12

“PZD EasyDrive DirectPos(+)” reference ............ 5-13

“PZD EasyDrive DirectPos(+)” actual value ........ 5-13

PZD EasyDrive ProgPos ........................................ 5-14

“ProgPos” startup sequence .............................. 5-14

“PZD EasyDrive ProgPos” control word .............. 5-15

“PZD EasyDrive ProgPos” status word .............. 5-16

Transfer ProgPos variable H98 .......................... 5-18

“PZD EasyDrive ProgPos” actual value .............. 5-18

User Manual CM-DPV1

5.7

5.7.1

5.7.2

5.7.3

5.7.4

5.8

5.8.1

5.8.2

5.8.3

5.8.4

5.9

5.9.1

5.9.2

5.9.3

5.9.4

5.9.5

EasyDrive TablePos ...............................................5-19

“PZD EasyDrive TablePos” startup sequence .....5-19

“PZD EasyDrive TablePos” control word .............5-20

“PZD EasyDrive TablePos” status word .............5-21

“PZD EasyDrive TablePos” actual value ............5-21

EasyDriveSyncPos .................................................5-22

“PZD EasyDrive SyncPos” startup sequence ......5-22

“PZD EasyDrive SyncPos” control word ..............5-23

“PZD EasyDrive SyncPos” status word ...............5-24

“PZD EasyDrive SyncPos” actual value ..............5-25

ProfiDrive Mode .....................................................5-26

State machine ProfiDrive ....................................5-26

“PZD ProfiDrive x/x” control word ......................5-28

“PZD ProfiDrive x/x” status word .......................5-29

“PZD ProfiDrive x/ x” reference ..........................5-30

“PZD ProfiDrive x/ x” actual value ......................5-30

7

7.1

7.2

7.3

7.4

7.5

7.6

7.7

6

6.1

6.2

6.2.1

6.2.2

6.3

Parameter data PKW/DPV1

Introduction, parameter data PKW/DPV1 ...............6-2

Job ID for control of parameter transfer ................6-3

Parameter number index ......................................6-4

Parameter value ...................................................6-5

Parameter data transfer in DPV1 data blocks ......6-6

Error rectification

Fault response .........................................................7-2

Service strategy – drive not running ......................7-3

LED status display on the CM-DPV1 .......................7-4

Bus error message of CDA3000 ..............................7-5

Acknowledgment of error messages .....................7-6

Overview of all CDA3000 error messages ..............7-7

Overview of all CDD3000 error messages ..............7-8

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User Manual CM-DPV1

Appendix

A.1

A.2

A.3

A.4

Special features of the CM-DPV1 ...........................A-1

Parameter data formats .........................................A-5

Example project: “testproj” ...................................A-7

Technical data, CM-DPV1 .......................................A-8

Appendix Parameters for bus operation

B.1

B.2

B.3

B.4

Configuration by way of preset application data sets ..............................................B-2

Diagnostic parameters of the option module ........B-4

General bus settings ...............................................B-5

Definition of control location and reference channel ...................................................B-6

Appendix Glossary

Appendix Index

User Manual CM-DPV1

1

1.1

1.2

1.3

1.4

1.5

1 General introduction

2

Measures for your safety ........................................1-2

Scope .......................................................................1-2

Ident number (ID) ....................................................1-3

Notes on operation over PROFIBUS ........................1-3

Further documentation ...........................................1-3

3

4

5

6

The term “master” as used in the following designates a higher-order controller which organizes the bus system.

The terms “drive unit” and “slave” as used in the following represent an inverter or servocontroller.

7

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1-1

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1.1

Measures for your safety

1.2

Scope


The CDA3000 and CDD3000 inverter drives are quick and safe to handle.

For your own safety and for the safe functioning of your device, please be sure to observe the following points:

Read the Operation Manual first!

• Follow the safety instructions!

Electric drives are dangerous:

• Electrical voltages > 230 V/460 V:

Dangerously high voltages may still be present

10 minutes after the power is cut. You should therefore always check that no power is being applied!

• Rotating parts

• Hot surfaces

Your qualification:

• In order to prevent personal injury and damage to property, only personnel with electrical engineering qualifications may work on the device.

• Knowledge of national accident prevention regulations

(e.g. VBG 4 in Germany)

• Knowledge of layout and interconnection with the

PROFIBUS-DPV1 field bus

During installation observe the following instructions:

• Always comply with the connection conditions and technical specifications.

• Electrical installation standards, such as cable crosssection, shielding, etc.

• Do not touch electronic components and contacts

(electrostatic discharge may destroy components).

This description applies to all LUST drive controllers interconnected via the CM-DPV1 communication module with the PROFIBUS.

All information given relating to the CDD3000 drive controller also applies to the direct drive controller CTC3000.

User Manual CM-DPV1 1-2

1.3

Ident number

(ID)


The CM-DPV1 communication module is certified by the PROFIBUS user organization and registered with the following data.

Ident number:

Name of GSD file:

0564 Hex

LUST0564.GSD

V1.55

For bus operation the GSD file V1.55 or higher must be used.

1

2

By way of this number the master makes the link to the GSD file containing the device master data. For user data transfer, the ident number must be recognized together with the correct bus address.

3

1.4

Notes on operation over

PROFIBUS

The PROFIBUS interface operates at a relatively high user level. This means that parameters are accessible which cannot be accessed by the user by way of the K EY P AD .

4

5

Attention: Some of the parameters at those user levels are service parameters, and are not documented in the standard operation manuals of the individual devices. Unintentional write access to such parameters may severely impair the functioning of the device!

6

1.5

Further documentation

7

Further information to assist in commissioning of the LUST drive units:

• Communication module installation instructions

• Operation Manual, for commissioning of the drive unit

• Application Manual, for additional parameter setting to adapt to the application. The Application Manual can be downloaded as a PDF file from our website at http://www.lust-tec.de. Follow the Service link.

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User Manual CM-DPV1


Further information on PROFIBUS, relating to installation and profile definition:

• PROFIBUS Technical Description, version: April 1997, order number 4.001

• PROFIBUS Installation Guideline for PROFIBUS-DP/FMS, version: October 1997, order number 2.111

You can obtain the PROFIBUS information from:

PROFIBUS Nutzerorganisation e.V.

Haid- und Neustraße 7

D-76131 Karlsruhe

Tel.: +49 (0) 721 / 96 58 590

Fax: +49 (0) 721 / 96 58 589

Internet: http://www.profibus.com


User Manual CM-DPV1

1

2.1

2.1.1

2.1.2

2.2

2.2.1

2.2.2

2.3

2.3.1

2.3.2

2.4

2.5

2.5.1

2.5.2

2.5.3

2.5.4

2

2 Installation and commissioning

3

Mounting .................................................................2-2

Size (BG1...5) .......................................................2-2

Size (BG6...8) .......................................................2-3

Installation ..............................................................2-4

Hardware enable (ENPO) ......................................2-5

Pin assignment X10, X11, X13 .............................2-6

Commissioning ........................................................2-7

Serial commissioning ...........................................2-7

Initial commissioning ...........................................2-9

Hardware configuration based on the example of the S7-300 ..............................2-10

Communication based on the example of a variables table .....................2-14

Control word and reference input .......................2-15

Status word and actual value output ..................2-17

Fault evaluation .................................................2-18

Reading and writing parameters ........................2-19

4

5

6

7

A

Attention: Do not insert or withdraw modules in operation!

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2-1


2.1

Mounting

2.1.1 Size (BG1...5)

Step

1

2

3

Action Comment

Make sure the power supply to the drive unit is cut.

Connect the CM-DPV1 to the drive unit as shown in Figure 2.1. Use only the slot at the top.

When mounting the next device maintain a mounting distance of

35 mm; see Figure 2.1 (B).

The module lock must engage audibly.

The bottom slot is reserved for the

UM-xxxx module.

Mounting distance 50 mm if CM-xxxx module is to be mounted/removed while drive controllers are fitted.

Mounting is complete. To continue see section 2.2 “Installation”.

CM-xxxx

1

2

L1

L2

L3

RB+

RB

L-

V

W

X1

U

ANTR

IEBST

ECHN

IK ahn au

H1 H2

H3

Typ:

Netz:

Ausg.

SN.:

000.000.00000000

X4

X2

X7

!

klic k!

X3

A

ANTRIEBSTECHNIK

D-35633 Lahnau

Typ:

Netz:

Ausg.

SN.:

000.

000.00000000

35(50) mm

B

User Manual CM-DPV1

Figure 2.1 Mounting for BG1...5

X6

H1 H2

H3

X5

X1

X4

AC

HTUNG ladezeit >3 Min.

Betriebsanleit

!

beachten!

WA ca

RN

ING time >3 ung opera

AT temp tion du condenste mode d

ON

obser ur

èmp he s de decharge

>3 min.

X2

20 klic k!

1

X3

A

X7

ANTR

IEBST

D-35633

ECHN

Lahnau

Typ:

Netz:

Ausg.:

SN.:

000.000.

00000000

H1 H2 H3

CM-xxxx

1

2

X4

H1 H2 H3

X4

X1

!

ACHTUNG

Kondensatorentladezeit >3 Min.

Betriebsanleitung beachten!

WARNING capacitor disscharge time >3 minutes.

Pay attention to the operation manual!

ATTENTION temps de decharge du condensteur

>3 min. observer le mode dèmploi!

X2

35(50) mm

X3

X1

B

!

ACHTUNG







X2

X3

2-2

2.1.2 Size (BG6...8)

Figure 2.2

Mounting package


Step Action Comment

1

Make sure the power supply to the drive unit is cut.

2 Open the device cover.

3

4

5

Click the module into the mounting bracket.

For positioning and orientation refer to

Figure 2.3 (A).

The bracket is part of the

MP-UMCM mounting package

(see Figure 2.2).

Bolt the bracket onto the bottom slot position - see Figure 2.3 (B).

Connect the module by the ribbon cable as shown in Figure 2.3 (C).

The CM module is thereby placed on its head and the rear of the module is facing forward.

The ribbon cable is part of the

MP-UMCM mounting package

(see Figure 2.2).

Mounting is complete. To continue see section 2.2 “Installation”.

1

2

3

4

5

6

C

VAL stop return

Hz start enter

X7

H1 H2 H3

X4 7

A klic k!

633 Lah nau

ANTRIEBSTECHNIK

D-35

Typ:

Netz:

Ausg.:

SN.:

000.000.00000000

A

X7

L1 L2 L3 L+ LRB

B

U V W

Figure 2.3 Mounting for size BG6...8

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User Manual CM-DPV1

2.2

Installation


Step Action Comment

1

2

3

Connect the module to the field bus. Use a cable conforming to the specification.

Use a bus termination plug

(120

Ω) on the last module or switch on, see Figure 2.4.

Wire the hardware enable on the

CDA3000/CDD3000.

Wire up the supply voltage for the module to X10.

see section 2.2.1

18 ...30 VDC, see Table 2.1 and section 2.2.2.

4 Switch on the drive unit.

Installation is complete. To continue see section 2.3 “Commissioning”.

Master

User Manual CM-DPV1

P R O F I B U S - D P

24 VDC

L1 N LL+

Slave 1

3

M

~

H1 H2 H3

X4

X1

!

ACHTUNG







X2

X3

Slave 2

3

M

~

H1 H2 H3

X4

X1

!

ACHTUNG







X2

X3

Figure 2.4 System connection

Characteristics

Voltage supply

Voltage ripple

Current consumption

Cable type

Table 2.1

CM-DPV1

24 V (18 ... 30 V DC), supply via X10 max. 3 Vss typ. 100 mA, max. 250 mA per user

9-wire, surge impedance 120

Ω

Specification, see also appendix A.4

2-4


2.2.1 Hardware enable (ENPO)

The drive units have an additional power stage hardware enable (ENPO) via the control terminal

• X2/8 (on CDA3000)

• X2/7 (on CDD3000)

(also termed “controller enable”). This signal must also be configured for operation over the field bus.

This control signal is high-active. When this control signal is removed the motor runs down uncontrolled (refer also to the description in the Operation Manual).

ENPO

X2

9

8

7

6

Des.

Function:

ISD00 Digital input 1

ENPO Power stage hardware enable

U

V

U

V

Auxiliary voltage 24 V DC

Figure 2.5 Configuration of controller enable ENPO on the CDA3000

X2 Des.

Function

1

2

3

4

5

6

ENPO

7

6

5

ENPO Power stage hardware enable

DGND

U

V

Auxiliary voltage 24 V DC

Figure 2.6 Configuration of controller enable ENPO on the CDD3000

7

A

Note: After a failure of the external 24V supply the PROFIBUS system is automatically initialized as soon as the 24 V is restored. No mains reset of the drive unit (switching the mains power off and back on) is required.

Note: As a result of the hardware enable (ENPO) being activated the drive may start running automatically if the start signal is set via the bus or terminal.

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User Manual CM-DPV1


2.2.2 Pin assignment

X10, X11, X13

H4

H5

1

2

X10

X10

1

2

Assignment

+24 V DC

CAN_GND

Table 2.2

Pin assignment

X11 Assignment

1 n.c.

2 n.c.

3 RxD/TxD-P

4 n.c.

5 DGND

6 VP (+ 5 V DC)

7 n.c.

8 RxD/TxD-N

9 n.c.

X11

CM-DPV1

X13 Assignment

1 ADR_POT +5 V

2 ADR0

3 ADR1

4 ADR2

5 ADR3

6 ADR4

7 ADR5

8 ADR6

9 n.c.

Note:

• CAN-GND (X10/2) and DGND (X11/5) are interconnected in the

CM-DPV1 module.

• The +24 V DC supply voltage (X10/1) and CAN-GND (X10/2) are electrically isolated from the ground of the CDA/CDD drive controllers.

• The PROFIBUS data lines RxD/TxD-P (X11/3) and RxD/TxD-N are isolated from the CDA/CDD drive controllers by optocouplers.

The drivers of the PROFIBUS data line are powered by the +24 V DC supply voltage (X10/1) via a 5 V voltage regulator.

The VP +5 V voltage (X11/6) is generated from the +24 V DC supply voltage via a voltage regulator.

• The control voltage ADR_POT +5 V (X13/1) is generated, electrically isolated, from the +24 V DC supply voltage (X10/1). The reference potential for X13/1 is the ground of the CDA/CDD drive controllers.

Attention: X13 may only be used as a coding plug (not for cable connection).



2.3

Commissioning

2.3.1 Serial commissioning

Only carry out this commissioning process if

• you have already carried out initial commissioning of at least one drive (see section 2.3.2) and

• your control is configured for PROFIBUS and your control program has been written.

1

2

3

Step

1

2

3

4

5

Action Comment

Mount the communication module on the drive unit and install the PROFIBUS network.

See installation instructions and sections 2.1 and 2.2

Set the desired address on the

CM-DPV1. Select the mode of addressing:

• by bus address parameter or

• by coding on connector X13 or

• by coding switches S1 and S2.

Install the drive unit and carry out the

serial commissioning according to the

Operation Manual.

Then save the parameters by clicking the --> button

See under “Addressing options”

Load the existing control program into the controller.

Switch the CDA3000/CDD3000 and

CM-DPV1 components off and back on to initialize the interface configurations.

Serial commissioning is finished. Test all drive functions.

4

5

6

7

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User Manual CM-DPV1

User Manual CM-DPV1


Addressing options

1. Coding switches S1 and S2

By way of the two coding switches on the top of the CM-DPV1 a hexadecimal address between 1 and 126 can be selected.

1

EF

23

456

78

BCD

9A

S2

EF

1

2 3 456

78

BCD

9A

S1

Example for address 18 Dec = 12 Hex

Figure 2.7 Example of use of the coding switches

2. Connector coding via connector X13

By way of the pins on connector X13 labeled ADRx, the device address can be binary coded with pin 1 in the connector by soldering-in jumpers. A valid address between 1 and 126 can be selected in binary format.

7

8

9

5

6

X13

1

2

3

4

Assignment

ADR_POT

ADR0 (2

0

)

ADR1 (2

1

)

ADR2 (2

2

)

ADR3 (2

3

)

ADR4 (2

4

)

ADR5 (2

5

)

ADR6 (2

6

) n.c.

Example for address 18 Dec:

2

3 2 2

2

1 2 0

ADR_POT

1

X13

9

2

6

2

5

2

4

Table 2.3

Pin assignment X13 with an example of connector coding

3. Bus address parameter 582-PBADR:

By way of parameter 582-PBADR in subject area _57OP Option modules, a decimal address between 1 and 126 can be set.

Attention: To set the device address via X13 or S1 and S2, parameter

582-PBADR = 0 must be set!

All hardware codings of the connector (X13) and the coding switches (S1 and S2) are internally linked by a logical OR operator. After a change of address a mains reset of the

CM-DPV1 is required.

2-8


2.3.2 Initial commissioning

This section describes how the drive unit can be integrated most simply, and thus quickly, into a PROFIBUS system.

1

Step

1

2

3

4a

4b

Action Comment

Mount the communication module on the drive unit and install the PROFIBUS network.

See installation instructions and sections 2.1 and 2.2

Set the desired address on the

CM-DPV1. Select the mode of addressing:

• by bus address parameter or

• by coding on connector X13 or

• by coding switches S1 and S2.

Install the drive unit and carry out the

initial commissioning according to the

Operation Manual.

See under “Addressing options”

Commissioning of the motor is carried out prior to commissioning of the bus system.

Carry out commissioning of the

CDA3000 as described in section 3.5 of the Application Manual, using the BUS_1

preset solution (field bus operation).

Important note: Then save parameter by clicking button

Carry out commissioning of the

CDD3000 as described in section 4.3 of the Operation Manual, using the SCB_5 preset solution (field bus operation).

Important note: Then save parameter by clicking button

5 Configure the controller.

6

Switch the CDA3000/CDD3000 and

CM-DPV1 components off and back on to initialize the interface configurations.

see section 2.4

7 Program the control program.

Commissioning is complete.

see section 2.5

2

3

4

5

6

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User Manual CM-DPV1


2.4

Hardware configuration based on the example of the

S7-300

The following controller configuration can be performed in any control environment. In this example we refer to the Siemens S7-300 controller and the SIMATIC STEP7

1

V5.0 software.

Example project: “testproj”

The example project is located on the CD-ROM supplied with the package with the order designation “CM-DPV1 + GSD”. The “testproj” example project is designed for the Siemens CPU 315-DP. The modules of the S7 used are presented in appendix A.3.

You will save commissioning time if you use the example project. You can then begin directly with step 6.

Attention: The example can be used to optimize the commissioning time of plant, but does not conform to the specifications applicable to your plant control.

Step

1

2

Action Comment

Integrate the GSD file “Lust0564.GSD” supplied with the CM-DPV1+GSD into the hardware catalogue. This can be done using the hardware configurator (menu:

Tools > Install New GSD). see Figure 2.8

The GSD file “ CM-DPV1.GSD” can also be obtained on the

Internet at http:// www.profibus.com.

Under the properties of the DP master the

PROFIBUS properties must be set to

“networked” to enable the hardware configurator to make the PROFIBUS network connection. The address of the

PROFIBUS Master can also be changed here. The factory set default address is 2.

see Figure 2.9

Continued on page 2-12

User Manual CM-DPV1

1.

SIMATIC is a registered trademark of Siemens AG.

2-10


Figure 2.8 Installing a new GSD

User Manual CM-DPV1

Figure 2.9 Activating PROFIBUS interface in the controller

To reach the window manually from Figure 2.9:

• Select X2 “DP-Master” in the subrack (see Figure 2.8 in the “(0)UR” subrack).

• Open the pop-up menu using the reverse mouse button and click on “Object properties”.

• On the “General” tab click in the “Interface” area on the

“Properties” button.

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4

5

1

2

6

7

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Hardware configuration continued


Step

3

4

5

6

Action Comment

In the hardware catalogue “drag and drop” the folder “PROFIBUS/Other field devices/Drives/LUST CM-DPV1” onto the

PROFIBUS network connection. The hardware configurator then opens up the dialog box for input of the PROFIBUS

Slave address (CM-DPV1). Here the

PROFIBUS Slave address set in section

2.3.2 in step 2 is parameterized.

When you confirm with “OK” the slot assignment table of the CM-DPV1 communication module appears in the hardware configurator.

see Figure 2.11

see Figure 2.10

Then drag into the slot assignment

table the order number for “PKW

parameter data” to slot 0 and the “PZD

EasyDrive Basic” order number to slot

1. The I/O addresses of the “PKW parameter data” and the “PZD EasyDrive Basic” process data are assigned by the Step7 program and can be altered by doubleclicking on the slot assignment table.

see Figure 2.11

Note: The S7 “testproj” from

LUST starts from the initial I/O address 256 or 264 respectively.

The hardware configuration of the S7 is thereby completed and must be saved to the S7 and the S7 project.

7

8

Finally, save the setting in the drive unit with the -> button.

After parameter setting the CDA3000/

CDD3000 and CM-DPV1 components must be switched off and back on again to initialize the interface configurations.

The hardware configuration is then finished.



Figure 2.10 Setting the PROFIBUS Slave address


• Select the DP-Slave (see Figure 2.11 “(3) LUST CM-

DPV1”).


• On the “General” tab click in the “User” area on the

“PROFIBUS ...” button.

3

4

5

1

2

6

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User Manual CM-DPV1

Figure 2.11 Hardware configuration of the S7

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2.5

Communication based on the example of a variables table

The following activation of the CDA3000 can be carried out with any control environment. In this example we refer to the Siemens S7-300 controller and the Simatic Manager STEP7 V5.0.

The programming of the OB1 as well as the FC15 function and the variables table VAT15 are included in the “testproj” example project, which you will find on the CD-ROM supplied with the package with the order designation “CM-DPV1 + GSD”. The “testproj” example project is designed for the Siemens CPU 315-DP.

Attention: The example can be used to optimize the commissioning time of plant, and does not conform to the specifications applicable to your plant control.

The variables table VAT15 lists the flag words (MW) which are transmitted in the FC15 function to the PROFIBUS. The FC15 function copies the flag words entered in VAT15 to the PROFIBUS I/O addresses 256 and 264.

User Manual CM-DPV1

Figure 2.12 VAT15 for activation of the drive unit

2-14


2.5.1 Control word and reference input

PLC flag words

Significance

Function

Contents

Since in the hardware configurator “PZD EasyDrive Basic” is selected as the PZD for control and reference transfer, the control functions of the device are activated with the individual control bits. Thus, for example, the

START (Start Clockwise) function can be selected by setting just one control bit (bit 0). The reference is also transmitted via the PZD.

1

2

PZD EasyDrive Basic

MW120

2

15

... 2

8

2

Control word

7

... 2

0

Bit:

8 = CUSEL

9 = UM0

10= UM1

11= vacant

12= vacant

13= OSD02

14= OSD01

15= OSD00

Bit:

0 = START

1 = INV

2 = STOP

3 = E_EXT

4 = FFTB0

5 = FFTB1

6 = FFTB2

7 = ERES

Table 2.4

2

15

High Word

High Byte

Example:**

00 h

... 2

8

0000 0000 b

MW122

2

7

... 2

0

2

Reference*

-1

... 2

-8

High Word

Low Byte

Low Word

High Byte

MW124

2

-9

.. 2

-16

Low Word

Low Byte

32 h

0011 0010 b

Control word and reference input

C0 h

1100 0000 b

00 h

0000 0000 b

3

4

5

6

** Example: 0032,C000 h = 50,75 d

The data format of the reference value is Int32Q16 -> Value range: -32767.999 to +32768.999, thus the High Word contains the pre-decimal place and the Low Word the post-decimal place.

The data formats used are listed in appendix A.2.

7

Note:

A

Controller enable (ENPO): With control via PROFIBUS the

hardware enable via the control terminal ENPO is required.

- (X2/8) on CDA3000

- (X2/7) on CDD3000

If the ENPO is inactive the motor runs down uncontrolled.

Note: Parameter 597-RFO = (0)OFF in the BUS_x application data sets. As a result, current is only applied to the motor at reference values > 0 Hz.

Attention: Before changing the content of parameter RF0, refer to the notes presented in the Application Manual: “_59DP-Driving profile generator”.

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User Manual CM-DPV1


Regarding Figure 2.12 on page 2-14:

The PZD (output data) is entered from flags MW120 to MW126 in the

VAT15.

Figure 2.12 shows how bit no. 0 of the control word (MW120) is set and thus how the controller (where ENPO = high) is enabled. The motor is driven with reference MW122 and MW124 000A 8000 h = 10.5 Hz.

For detailed descriptions of the individual control bits refer to section 5.4.1

““PZD EasyDrive Basic” control word”.



2.5.2 Status word and actual value output

PLC flag words

Significance

Function

Contents

Since in the hardware configurator “PZD EasyDrive Basic” is selected for status and actual value transfer, the states of the device are displayed with the individual status bits. In this way, for example, general errors can be detected in the CDA3000 by monitoring the status bit (bit 0).

The actual value of the drive unit is also transmitted via the PZD.

1

2


MW130

2

15

... 2

8

2

Status word

7

... 2

0

Bit:

8 = ENPO

9 = OS00

10 = OS01

11 = vacant

12 = ISD03

13 = ISD02

14 = ISD01

15 = ISD00

Bit:

0 = ERROR

1 = CAN status

2 = REF

3 = LIMIT

4 = ACTIV

5 = ROT_0

6 = BRK

7 = S_RDY

2

15

... 2

High Word

High Byte

8

Example:**

00 h

0000 0000 b

MW132

2

7

... 2

0

2

-1

... 2

-8

Actual value*

High Word

Low Byte

Low Word

High Byte

MW134

2

-9

.. 2

-16

Low Word

Low Byte

32 h

0011 0010 b

C0 h

1100 0000 b

00 h

0000 0000 b

Table 2.5

Reading status word and actual value

3

4

5

6

** Example: 0032,C000 h = 50,75 d

The data format of the reference value is Int32Q16 -> Value range: -32767.999 to +32768.999, thus the High Word contains the pre-decimal place and the Low Word the post-decimal place.

The data formats used are listed in appendix A.2.

7


The PZD (input data) is entered from flags MW130 to MW134 in the

VAT15.

Figure 2.12 shows how bit no. 2 of the status word is set. The drive unit thereby signals “reference reached”.

The motor is driven with reference MW132 and MW134 000A 8000 h =

10.5 Hz.

For detailed descriptions of the individual status bits refer to section 5.4.2

““PZD EasyDrive Basic” status word”.

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User Manual CM-DPV1


2.5.3 Fault evaluation In the event of an error in the CM-DPV1, the drive unit responds with the error response programmed in parameter 527-R-OP2

CDA3000: (in factory setting: STOP, i.e. disable power stage).

CDD3000: (in factory setting: STOP, i.e. execute emergency stop).

Errors in the bus system and errors originating from the drive unit are delivered to the PROFIBUS Master by means of the error numbers via the diagnostic message from the slave (see section 4).

Faults involving causes other than the bus system (e.g.: PLC program, drive unit) must be rectified using the relevant documentation (see section

7).

If the bus system is not correctly configured, the error is signaled as a flash code on LEDs H4 and H5.

Red LED

H4

Green LED

H5

CM-DPV1 status

z z

z

D

D

1

2

24V supply to drive unit missing or drive unit is off.

Started and communicating without error

PROFIBUS address of CM-DPV1 is less than 1 or greater than 126.

This error message is generated, for example, when 'address 0' is set both in the CDA (PBADR=0) and on the rotary switches (see also section 2.3).

No communication between CM-DPV1 and drive unit possible. The

PROFIBUS communication continues if the communication between the CM-DPV1 and the drive unit was running previously.

No PROFIBUS communication possible with PROFIBUS Master.

There is communication with the drive unit. The PROFIBUS cable may be faulty or not plugged in, or the hardware configuration may be faulty (see section 2.4) or an incorrect GSD file is being used (correct: LUST0564).

z z z z

D

3

PROFIBUS communication is only initiated when at least one identifier (PKW.. or PZD...) has been configured.

The PKW identifier (“PKW parameter data”) may be configured only once.

The PZD identifier (e.g.: “PZD EasyDrive Basic”) may be configured only once.

Collective error message from H5 = D

2

and H5 = D

3

D

4

z

Internal error in communication module

Key:

LED off z

LED on

D n LED flashing n times

Table 2.6

LED status display on the CM-DPV1



2.5.4 Reading and writing parameters

Since in the hardware configurator “PKW parameter data” is selected for parameter transfer, parameters in the controller can be polled and written in parallel with the control functionality.

Example for CDA3000:

In this way, for example, the effective value of the active current can be monitored by reading parameter 409-ACCUR.

Example for CDD3000:

In this way, for example, the torque can be monitored by reading parameter 76-TORQE.

1

2

3

PKW parameter data

MW100 MW102

2

AK =

Job ID

15

... 2

12

06 =

Request

08 = Write

SPM

PKE

PNU = Parameter number

2

11

2

10

... 2

8

2

7

... 2

0

2

15

...

2

8

Not supported

High Bit

8-10

Low Byte Index for field parameters

IND

IND = Index

2

7

... 2

0

Example -

CDA3000 :*

06 h

Example -

CDD3000 :**

06 h x h x h

1 h

0 h

99 h

4C h

00 h

00 h

2

31

... 2

High Byte xx h xx h

24

High Word

MW104

2

23

PWE

Parameter value

... 2

16

High Word

Low Byte xx h xx h

2

15

... 2

8

Low Word

High Byte xx h xx h

MW106

2

7

... 2

Low Word

Low Byte xx h xx h

Table 2.7

Writing and reading parameters

* Example: Enquiry for parameter ACCUR 199 h = 409 d

** Example: Enquiry for parameter TORQE 4Ch = 76d xx h means that these bytes in the parameter value are of no significance for requesting parameters

0

4

5

6

7

A


The PKW (output data) is entered from flags MW100 to MW106 in the

VAT15.

Figure 2.12 shows how the enquiry from the drive unit for parameter 409-

ACCUR (corresponds to parameter number 199 h) is structured.

The PKW (input data) is entered from flags MW110 to MW116 in the

VAT15.

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User Manual CM-DPV1


Figure 2.12 shows how the reply from the drive unit for parameter 409-

ACCUR is returned. Effective active current is 1.00 Amperes (format

FIXPT16: 14 h = 20 d * 0.05 = 1.00).

Note: If parameter jobs other than those presented in the example are required, refer to section 6.2.


User Manual CM-DPV1

1

2


3

In commissioning of a PROFIBUS-DP slave the PROFIBUS Master sends a parameter-setting telegram to the slave (CM-DPV1).

The DP standard parameters are created independently by the hardware configurator based on the GSD file. In many hardware configurators these

DP standard parameters are not visualized, which means only the parameters as from byte 7 are made available for editing; see also Figure 3.1.

Only the DPV1 and user parameters can be changed in the hardware configurator of the controller.

Byte Function

Standard definition

Change permitted

GSD default

(for example

see Figure 3.1)

0-6

7

8-9

Communication between the

PROFIBUS Master and CM-

DPV1 is created independently by the hardware configurator of the PROFIBUS

Master.

(DP standard)

Bit7= 0, DPV1 support inactive

Bit7= 1, DPV1 support active

DPV1 alarm mode (inactive)

Table 3.1

(DPV1)

(DPV1) no yes no

–

Bit 7= 0, DPV1 support inactive

Alarm mode of CM-DPV1 not supported

Parameter-setting data of the CM-DPV1

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5

6

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User Manual CM-DPV1


Byte

10

11

12

Function

Activate warning message:

1 = Forward warning messages of the drive unit to the

PROFIBUS Master.

0 = Do NOT forward warning messages of the drive unit to the PROFIBUS Master.

Scaling value for the drive unit (High Byte)

Scaling value for the drive unit (Low Byte)


Change permitted

GSD default

(for example

see Figure 3.1)

1 = enabled

(User)

(User)

(User) yes yes yes

40 h

00 h

Table 3.1

Parameter-setting data of the CM-DPV1

Byte 11+12: Scaling via CM-DPV1

16-bit and 32-bit speed references can also be transmitted in scaled form.

The reference variable (scaling value) is entered in bytes 11 and 12.

The presetting via the GSD file for the scaling value (byte11+12) is

4000 h, as a result of which the PROFIBUS reference values (PZD2+3, see section 5.4.3) are transmitted “unscaled”.

The reference value transmitted to the drive units is calculated as follows:

Reference (in drive unit)

=

4000h

➢

100% PROFIBUS reference (PZD2+3) = 4000 h

➢

16-bit reference is optimally resolved with value range ± 100 %

3-2


Use of scaling via CM-DPV1

Task:

• The reference value is to be preset as a percentage in the setting range ± 200 % (- 200 % = 8000 h ... + 200 % = 7FFF h).

Solution:

• The scaling value is set to the rated frequency of the motor.

Example:

• Motor with 50 Hz rated frequency, i.e. scaling value = 32 h. With a reference input of 12.5 % of the rated frequency the reference of

4000 h · 12.5% = 800 h is transferred over PROFIBUS.


=

4000h


=

6.25 Hz

Result: The motor rotates at 6.25 Hz.

1

2

3

4

5

6

7

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User Manual CM-DPV1

Figure 3.1 Configuration, CM-DPV1 parameter setting

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• Open the hardware configurator.

• Select the DP-Slave (see Figure 3.1 “(3) LUST CM-DPV1”).


• On the “Parameter Assignment” tab click on the “Hex

Parameter ...” button.


1

2

4 Diagnostic data

4.1

4.2

4.3

Communication status ............................................4-3

Bit-coded error word ..............................................4-3

Bit-coded warning messages .................................4-5

3

4

5

The diagnosis is retrieved by the PROFIBUS Master and enables the control programmer to respond to errors and warnings in the drive controller or the CM-DPV1.

By way of the hardware configurators of the control manufacturers it is possible to display the online diagnosis of the drive.

In the Siemens controller the SFC 13 offers the facility to read out the diagnosis and continue processing in the program (see example project

“testproj1” FC15).

2

3

0

1

4

5

Byte Meaning

Station status 1 (standard)



Station address of DP master (standard)

Ident number (most significant byte)

Ident number (least significant byte)


Example

(Hex)

(DP standard)

(DP standard) 0C

(DP standard)

(DP standard) 02

(DP standard) 05 2)

(DP standard) 64 2)

1)

1)

1)

1)

Description

Ident number of communication module LUST CM-DPV1

1)

Evaluated by the PROFIBUS Masters and available for reference in the PROFIBUS Master documentation.

2)

Dependent on module

Table 4.1

Diagnostic data

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User Manual CM-DPV1


Byte

8

9

6

7

10

11

12

Meaning

Header of CM-DPV1 diagnosis

DPV1 status Type (81 Hex, status message)

DPV1 slot (00 Hex)

DPV1 status Info (always 0)

Status of communication CM-DPV1<->drive controller

Drive controller detected by CM-DPV1

Parameterized process data (PZD) configuration


(DP standard) OF

(DPV1) 81

(DPV1)

(DPV1)

00

00

00

Example

(Hex)

Manufacturerspecific

01

04

1)

1)

1)

Description

1)

Communication is OK, see section

4.1

Drive controller is active (see appendix B.3 under “571-CLADR -

CAN

LUST

address”).

“PZD EasyDrive Basic” (see appendix B.4 under “492-CACNF -

CAN configuration”)

13 vacant

14

Error number

15 Error location

16,17

18,19

Warning word bit-coded = 120-WRN from drive controller

1st error word drive controller bit-coded

07

01

Manufacturerspecific

00,00

12,01

E-OTM (motor overheating), see section 7.4

see section 7.4

No warning active , see section 4.3 and 7.4

Bit 0,9,12 set (see section 4.2 “Bitcoded error word”)

20,21

2nd error word drive controller bit-coded (currently unused)

00

1)

Evaluated by the PROFIBUS Masters and available for reference in the PROFIBUS Master documentation.

2)

Dependent on module

Table 4.1

Diagnostic data



4.1

Communication status

The communication status relates only to communication between the

CM-DPV1 and the drive controller (byte 10 from the diagnostic data).

Bit

7 Bus off Status

6 Error Warning Status

3..5

Reserved

0..2

“last error code” value

Table 4.2

Function

=> 0 No Error

1 Stuff Error

2 Form Error

3 Ack Error

4 Bit1 Error

5 Bit0 Error

6 CRC Error

Status of communication between CM-DPV1 and drive unit

1

2

3

4

5

6

4.2

Bit-coded error word

The “bit-coded error word” is formed from the error number and the error location of the drive unit (bytes 18 and 19 from the diagnostic data).

Note:

7

The “bit-coded error word” only works correctly on the basis of a fully planned and programmed plant system. The error word is responsible for errors which occur during the lifetime of the system, resulting in user-friendly servicing for plant

manufacturers.

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User Manual CM-DPV1


The errors in the drive unit which occur during programming and project planning can be rectified by reference to section 7.4.

Bit Meaning Error rectification

0

1

2

3

4

5

General error

Call Service Center

General error, servo is in fault state

If you have checked all the causes of error listed, carry out a mains reset. If this does not rectify the error: ascertain a) the error number, error number the error location number and c) the software version and contact your Service

Center.

Set ENPO No ENPO

Activation (controller,

PLC program)

Parameter setting

(Para,Verf,Progr.)

The activation of the PLC does not match the parameter setting of the controller. There may be an error in the PLC program.

Error in device parameter setting (active data set, parameter setting, positioning data, sequence program).

Reset the device and its parameters.

Check software and hardware limit switches Limit switches

(hardware/software)

Check mains voltage Check mains voltage

Controller overload Reduce electrical overload of controller

6

7

8

9

Controller overheating Reduce ambient temperature of controller

Reduce mechanical load, clear blockage

Reduce mechanical load, clear blockage

10 Error external

11 Encoder / cable

Rectify error in external device, check installation

Encoder or cable faulty, check installation

12 Motor / cable / wiring Motor or cable faulty, check installation

13

Bus error / Module 1/2 Check bus/module supply voltage, check mounting, replace module

14 vacant

15 vacant

Table 4.3

Diagnosis error word CDA3000 (bytes 18,19)

4-4

4.3

Bit-coded warning messages


Bit-coded warning messages

Bit in data byte

16, 17

Hex value

0

1

2

3

4

5

6

7

8

9

10 - 15

Function

0001 h

0002 h

0004 h

0008 h

Warning message when heat sink temperature has exceeded value in parameter 500-WLTI

Warning message when interior temperature has exceeded value in parameter 501-WLTD

Warning message when motor temperature has exceeded value in parameter 502-WLTM

Warning message when DC-link voltage has exceeded value in parameter 504-WLOV

0010 h

0020 h

Warning message when DC-link voltage has fallen below value in parameter 503-WLUV

Warning message when output frequency has exceeded value in parameter 505-WLF

0040 h

Warning message when apparent current has exceeded value in parameter 506-WLIS

0080 h Warning message when I

2

*t integrator of device is active

0100 h

Warning message from slave when reference value from master is faulty in Master/Slave operation

0200 h Warning message when Ixt integrator of motor is active

Reserved

Table 4.4

Warning messages (byte 16, 17; corresponds to status word:

Warnings parameter 120-WRN in subject area _50WA)

1

2

3

4

5

6

7

A

Note:

Several warning messages may be delivered at one time.

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User Manual CM-DPV1

1

5.1

5.2

5.6

5.6.1

5.6.2

5.6.3

5.6.4

5.6.5

5.5

5.5.1

5.5.2

5.5.3

5.5.4

5.5.5

5.3

5.4

5.4.1

5.4.2

5.4.3

5.4.4

2

5 Process data PZD

3

Selection of process data word ..............................5-3

Process data, general .............................................5-4

EasyDrive Modes .....................................................5-5

EasyDrive Basic .......................................................5-5

“PZD EasyDrive Basic” control word ....................5-6

“PZD EasyDrive Basic” status word ......................5-7

“PZD EasyDrive Basic” reference .........................5-8

“PZD EasyDrive Basic” actual value .....................5-9

EasyDrive DirectPos(+) .........................................5-10

“PZD EasyDrive DirectPos(+)” startup sequence 5-10

“PZD EasyDrive DirectPos(+)” control word .......5-11

“PZD EasyDrive DirectPos(+)” status word .........5-12

“PZD EasyDrive DirectPos(+)” reference ............5-13

“PZD EasyDrive DirectPos(+)” actual value ........5-13

PZD EasyDrive ProgPos .........................................5-14

“ProgPos” startup sequence ..............................5-14

“PZD EasyDrive ProgPos” control word ..............5-15

“PZD EasyDrive ProgPos” status word ..............5-16

Transfer ProgPos variable H98 ..........................5-18

“PZD EasyDrive ProgPos” actual value ...............5-18

4

5

6

7

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5-1

5.7

5.7.1

5.7.2

5.7.3

5.7.4

5.8

5.8.1

5.8.2

5.8.3

5.8.4

5.9

5.9.1

5.9.2

5.9.3

5.9.4

5.9.5


EasyDrive TablePos .............................................. 5-19

“PZD EasyDrive TablePos” startup sequence ..... 5-19

“PZD EasyDrive TablePos” control word ............ 5-20

“PZD EasyDrive TablePos” status word ............. 5-21

“PZD EasyDrive TablePos” actual value ............ 5-21

EasyDriveSyncPos ................................................ 5-22

“PZD EasyDrive SyncPos” startup sequence ...... 5-22

“PZD EasyDrive SyncPos” control word ............. 5-23

“PZD EasyDrive SyncPos” status word .............. 5-24

“PZD EasyDrive SyncPos” actual value .............. 5-25

ProfiDrive Mode .................................................... 5-26

State machine ProfiDrive ................................... 5-26

“PZD ProfiDrive x/x” control word ...................... 5-28

“PZD ProfiDrive x/x” status word ....................... 5-29

“PZD ProfiDrive x/ x” reference .......................... 5-30

“PZD ProfiDrive x/ x” actual value ...................... 5-30


5.1

Selection of process data word


The CDA3000 and CDD3000 drive controllers offer preset drive solutions to which the appropriate process data word is allocated in the following table (Control status communication).

Preset solution*

Appropriate process data word

CDA3000

BUS_1: Field bus operation, control and reference via bus

BUS_2: Field bus operation, manual mode with analog reference

BUS_3: Field bus operation, manual mode with analog reference, limit switches

PZD EasyDrive Basic

1

2

3

CDD3000

SCB_2: Speed control, +/-10V reference, control via field bus

SCB_3: Speed control, fixed speeds, control via field bus

SCB_4: Speed control, pulse input, control via field bus

SCB_5: Speed control, reference and control via field bus

PZD EasyDrive Basic

PCB_2: Positioning, reference and control via field bus

PCB_4: Positioning, fully programmable, control via field bus

PCB_3: Positioning, fixed positions, control via field bus

PCB_1: Electronic gearing, control via field bus

EasyDrive DirectPos or EasyDrive

DirectPos+

EasyDrive ProgPos

EasyDrive TablePos

EasyDrive SyncPos

*Selected by initial commissioning - see CDA3000 and CDD3000

Operation Manuals.

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5.2

Process data, general

The PROFIBUS-DP logically subdivides its telegram into “identifiers”. An identifier stands for a virtual I/O module. It contains information on the data length (1..16 bytes or word) and consistency. The identifiers are defined offline with the configuration tool of the PROFIBUS Master.

PROFIBUS communication is only initiated when:

• at least one identifier (PKW.. or PZD...) is configured;

• PKW identifier (“PKW parameter data”) is configured only once;

• PZD identifier (e.g.: “PZD EasyDrive Basic”) is configured only once.

The process data channel (PZD) of the PROFIBUS protocol contains the functions: Control; Accept status; Reference input; and Display actual values.

The process data area may be configured differently, although “PZD

EasyDrive Basic” is the simplest configuration for CDA3000/CDD3000 velocity mode (see section 5.3).

For the CDD3000 in positioning mode the “PZD EasyDrive DirectPos” setting is the simplest configuration.

Note: All data transfers are executed in Motorola format. Consistent data transfer must be ensured.

In the Simatic S7 from Siemens, PROFIBUS communication of PZD and PKW is only possible via SFC14&SFC15 with a data length of 4 words (EasyDrive DirectPos+ = 5 words).


5.3

EasyDrive

Modes


Control and reference input in EasyDrive mode is the simplest way of operating the drive system via the PROFIBUS. The telegram structure is tailored to the operation mode selected in the drive system.

For the CDA3000 the preset process data object is “PZD EasyDrive

Basic”.

1

2

For the CDD3000 “PCB_2 = Positioning, control and reference via field bus” mode the “PZD Easydrive DirectPos(+)” process data object is provided.

3

4

5.4

EasyDrive Basic

Control and reference input in EasyDrive mode is the simplest way of operating the drive system via the PROFIBUS. The telegram structure is tailored to the “preset solutions” selected in the drive system.

See section 5.1 “Selection of process data word”.

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5.4.1 “PZD EasyDrive

Basic” control word

1-Control

PZD ProfiDrive x/x

2 3 4

Functions of the bits of the PZD1 control word:

Bit no.

Function

2

3

0

1

1 = Start if ENPO set

1 = Inverts the preceding sign of the reference value

1 = Activate emergency stop

1 = Trigger ext. error in device

8

4

5

6

7

1)

Bit 0

Bit 1

Binary selection of a table reference, where parameter RSSL1 = (8) FFTB on CDA where parameter RSSL1 = (7) RFIX on CDD/CTC

Bit 2

0->1 = Reset current device error

0 = Characteristic data set 1, where parameter CDSSL = (6) OPTN2

1 = Characteristic data set 2, where parameter CDSSL = (6) OPTN2

Bit 0

Bit 1

Binary selection of the active user data set, where parameter

UDSSL = (4) OPTN2

9

1)

10

1)

11

12

2)

13

14

--

1 = Output OSD03 is active, where parameter FOS01 =OPTN2



15 1 = Output OSD00 is active, where parameter FOS00 =OPTN2

1)

Only CDA3000

2)

Only CDD3000

Table 4.5

PZD1 control word

Note: Controller enable (ENPO): With control via PROFIBUS the

hardware enable via the control terminal ENPO on the drive unit is required.

- (X2/8) on CDA3000

- (X2/7) on CDD3000

If the ENPO is inactive the motor runs down uncontrolled.

Note: Parameter 597-RFO = (0) OFF in the BUS_x application data sets. As a result, current is only applied to the motor at reference values > 0 Hz.

Important note: Before changing the content of parameter

RF0, refer to the notes presented in the Application CDA3000

Application Manual: “_59DP-Driving profile generator”.




Basic” status word


1-Status 2 3 4

The functions of the bits of the PZD1 status word are listed in the following table:

Bit no.

Function

6

7

4

5

2

3

0

1

1 = General error

1 = CAN status word: System Start

1 = Reference reached

1 = Reference limited by FMIN or FMAX

1 = Power stage active

1 = Speed 0

1 = Emergency stop active

1 = Ready to start

8

9

10

11

1)

Status of input ENPO (hardware enable)

Status of output OSD00


Status of input ISD04

12

13

14

15





1)

Only CDD3000

Table 4.6

PZD1 status word

1

2

3

4

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Basic” reference

1


2-ReferenceHigh

3-ReferenceLow

4

The reference value is transmitted via the PZD2+3.

PZD2 reference High

High Word

High Byte

2

15

... 2

0

High Word

Low Byte

PZD3 reference Low

Low Word

High Byte

2

-1

... 2

-16

Low Word

Low Byte

Example:*

00 h

0000 0000 b

32 h

0011 0010 b

Table 4.7

Reference

* Example: 0032,0003 h = 50,75 d

C0 h

1100 000 b

00 h

0000 0000 b

The reference is transferred on the CDA3000 to parameter 288-FOPT2 and ROPT2 on the CDD3000 in data format Int32Q16, i.e. the value range is from 32767,999 to +32768,999 (High Word = pre-decimal place,

Low Word = post-decimal place).

The data formats used in the drive unit are listed in appendix A.2.








Basic” actual value

1


2-Actual

High

3-Actual

Low

4

The actual value is transmitted via the PZD2+3.

PZD2 actual value High

High Word

High Byte

2

15

... 2

0

High Word

Low Byte

PZD3 actual value Low

Low Word

High Byte

2

-1

... 2

-16

Low Word

Low Byte

Example:*

00 h

0000 0000 b

32 h

0011 0010 b

Table 4.8

Actual

* Example: 0032,8000 h = 50,5 d

80 h

1000 0000 b

00 h

0000 0000 b

1

2

3

4

The data format of the actual value is Int32Q16, i.e. the value range is from 32767,999 to +32768,999 (High Word = pre-decimal place, Low

Word = post-decimal place).

The data formats used in the drive unit are listed in appendix A.2.

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5.5

EasyDrive

DirectPos(+)

For the CDD3000 “PCB_2 = Positioning, control and reference via field bus” mode the “PZD Easydrive DirectPos(+)” process data object is provided.

The “PZD Easydrive DirectPos” and “PZD Easydrive DirectPos+” process data objects differ in that “DirectPos+” additionally has a PZD5. The PZD5 is responsible for transferring the maximum velocity value.


DirectPos(+)” startup sequence

1

PZD EasyDrive DirektPos(+)

2 3 4 5

A

E

A

E

A

E

E

E

PLC-

Control A/

Status E

PZD1

EasyDrive

PZD2

DirectPos

PZD3+4

Position

0426h

X7A6h

0001h

X7B6h

A

E

Referencing

E X7B6h

0001h

X392h

E X7B6h

Execute driving job

E X7B6h

0000h

0000h

0000h

0000h

0000h

0200h

0400h

0100h

0100h

Actual position

Actual position

Actual position

Actual position

Actual position

Actual position

Actual position

PZD5

Velocity*

E

0001h

X7B6h

0001h

X392h

X7B6h

0100h

0300h

0300h

0700h

0300h xxxx1000h

Actual position xxxx1000h

Actual position

Actual position

(xxxx1000h)

Comment

ENPO not yet set

ENPO set

Start loop control

Control enabled

Control enabled

Start referencing

Reference cam search

Referencing completed


Driving profile generator and target position

Driving profile generator enabled

Execute driving job

Driving job in progress

Target position reached

* PZD EasyDrive DirectPos+ only




DirectPos(+)” control word

1 2

PZD EasyDriveDirektPos(+)

3 4 5

Functions of the bits of the PZD1 and PZD2 control word:

Bit no.

Function

PZD1 control word

Function


0 1 = Start if ENPO set

1 -

2 1 = Activate emergency stop

3 1 = Trigger ext. error in device

4 -

5 -

6 -

7 0->1 = Reset current device error -

-

-

8

9

-

-

-

-

-

-

0= Activate reference run generator and jog mode

1 = Enable driving profile generator

0->1 = Execute driving job** / Execute reference run

10 -

11 -

12

13

14

15

1 = Output OSD03 is active, where parameter FOS03=OPTN2




Driving job activation***

0 = Feed hold* active

0= Absolute positioning

1= Relative positioning

1= Activate velocity mode ****

1= Jog +

1= Jog -

Table 4.9

1.0 PZD1 and PZD2 control word

* Feed hold: Feed hold controls processing of the driving profile generator. When the feed hold bit is not set (PZD2 bit11=1), the current positioning command is interrupted, the drive brakes on the braking ramp down to a standstill.

** Execute driving job: With a Low-High edge at bit 9 the driving job is set valid. The timing of the execution is defined by bit 10, “Driving job activation”.

***Driving job activation: Bit 10 = 0 The current driving job is executed as soon as any possible older driving job has reached its target position. Bit 10 = 1 Driving job is executed immediately. The driving jobs still in progress are not completed.

****Velocity mode: The drive can be moved in an endless loop by way of a velocity mode. The velocity is transferred with parameter OISMX (for parameter transfer see section 6 “Parameter data PKW/DPV1”).

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Note: Controller enable (ENPO): With control via PROFIBUS the hardware enable via the control terminal ENPO (X2/7) on the drive unit is required. If the ENPO is inactive the motor runs down uncontrolled.


DirectPos(+)” status word

1 2


3 4 5

The functions of the bits of the PZD1 and PZD2 status word are listed in the following table:

4

5

6

2

3

0

1

Bit no.

Function of PZD1 status word PZD2 status word

7

8

13

14

15

9

10

11

12

Table 4.10

1 = General error

Always =1

1 = Reference reached (position) -

1 = Reference limit reached -

-

-


1 = Speed 0


1 = Ready to start and control initialized

-

-

-

-









1= Reference point defined

1 = Driving profile generator enabled

1 = Driving job being executed

-

0 = Feed hold set

-

-

1 = Lag distance active

PZD1 and PZD2 status word




DirectPos(+)” reference

1


2 3 4 5

The target input is transferred via the PZD3+4, with DirectPos+ the velocity reference is transferred via PDZ5.

PZD3

Target High*

2

31

... 2

17

High Word

High Byte

High Word

Low Byte

PZD4

Target Low*

2

16

... 2

0

Low Word

High Byte

Low Word

Low Byte

PZD5

Reference velocity**

2

16

... 2

0

High Byte Low Byte

Example: ***

00 h

0000 0000 b

Table 4.11

32 h

0011 0010 b

Reference

C0 h

1100 000 b

00 h

0000 0000 b

01 h

0000 001 b

00 h

0000 0000 b

**PZD EasyDrive DirectPos+ only

* The reference values (target and velocity) are transferred in application units - see

Application Manual section 4. The target in increments is set by the CDD3000 in parameter 561-OIREF. The maximum velocity in incr/ms is entered in parameter 562-

OISMX.

***Example: A target of 0032C000h=3325952d is set with a maximum velocity of

0100h=256d.

1

2

3

4

5

6


DirectPos(+)” actual value

1


2 3 4 5

The actual position is transferred via the PZD3+4, with DirectPos+ the actual velocity is transferred via PDZ5.

PZD3

Actual position High*

2

31

... 2

17

High Word

High Byte

High Word

Low Byte

PZD4

Actual position Low*

2

16

... 2

0

Low Word

High Byte

Low Word

Low Byte

PZD5

Actual velocity**

2

16

... 2

0

High Byte Low Byte

7

A

Example: ***

00 h

0000 0000 b

32 h

0011 0010 b

80 h

1000 000 b

Table 4.12

Actual

00 h

0000 0000 b

01 h

0000 001 b

00 h

0000 0000 b

**PZD EasyDrive DirectPos+ only

* The actual position and velocity are transferred in application units - see Application

Manual section 4.

***Example: The drive is at the actual position 00328000h=3309568d moving at the velocity 0100h=256d.

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5.6

PZD EasyDrive

ProgPos

For the CDD3000 “PCB_2 = Positioning, fully programmable, control and reference via field bus” mode the “PZD Easydrive ProgPos” process data object is provided. In this mode a sequence program must be installed in the CDD3000 for positioning to be executed. See “CDD3000 Application

Manual”

The controller's sequence program is started and stopped by way of the bus system.

5.6.1 “ProgPos” startup sequence

1

PZD Easy Drive ProgPos

2 3 4

PLC

Control A/

Status E

PZD1

EasyDrive

A

E

E

E

0422h

X7A2h

0001h

X7B6h

A

E

Referencing

E X7B6h

0001h

X392h

E

A

E

E

A

E X7B2h

Start sequence program

X7B2h

0001h

X7B2h

0001h

X7B2h

PZD2

ProgPos

PZD3

0000h

0000h

0000h

0000h

Comment

Actual position ENPO not yet set

Actual position ENPO set

Start loop control

Actual position Control enabled

0000h

0200h

0000h

0100h


Start referencing

Actual position Reference cam search

Actual position Referencing completed

0100h

0100h

0300h

0300h

0700h


Automatic

Actual position Automatic set

Start sequence program

Actual position Start sequence program set




ProgPos” control word

1

PZD EasyDrive ProgPos

2 3 4


0

1

2

3

4

5

6

7

Bit no.

Function of PZD1 control word PZD2 control word

8

9

10

11

12

13

14

15


-



-

-

1= POMER[90]

1

=1

1= POMER[91]

1

=1

1= POMER[92]

1

=1

1= POMER[93]

1

=1

-

-

1= POMER[94]

1

=1

1= POMER[95]

1

=1

1= POMER[96]

1

=1

0->1 = Reset current device error 1= POMER[97] 1

=1

0= Activate manual mode*

1 = Enable automatic mode*

0->1 = Start sequence program** if bit 8 = 1

0->1= Execute reference run*** if bit 8 = 0

-

-

0 = Update**** set

0 = Feed hold***** set


-


-

1 = Output OSD01 is active, with parameter FOS01=OPTN2

1= Jog + ; where bit 0 = 0


1= Jog - ; where bit 0 = 0

Table 4.13

PZD1 and PZD2 control word

1

POMER[xx]: Flag parameters in CDD3000. Used to transfer information into and out of the sequence program.

The following terms are described in more detail in the Application Manual, section 4.

* Manual mode / Automatic mode: In manual mode the control location of ProgPos is switched to the “Referencing and jog” manual mode functions. In automatic mode the control location is switched to ProgPos, so the axis can be moved by way of the sequence program. As soon as the sequence program** is started.

** Sequence program: The sequence program is stored on the controller and is started by way of a Low-High edge at PZD2 bit 9, if bit 8 =1 (automatic mode).

**** Referencing: The reference run is started by way of a Low-High edge at bit 9 PZD2, if bit 8 = 0 (manual mode).

**** Update: The update controls processing of the lines in the sequence program. If update is not set (PZD2 bit 10 = 1) the program sequence is aborted.

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***** Feed hold: Feed hold controls processing of the driving profile generator. When the feed hold bit is not set (PZD2 bit11=1), the current positioning command is interrupted, the drive brakes on the braking ramp down to a standstill.


hardware enable via the control terminal ENPO (X2/7) on the drive unit is required. If the ENPO is inactive the motor runs down uncontrolled.


ProgPos” status word

1


2 3 4

Functions of the bits of the PZD1 and PZD2 status word:

3

4

5

6

10

11

12

13

14

15

Bit no. Function of PZD1 status word PZD2 status word

0

1

2

7

8

9

1 = General error

Always =1

1= POMER[80]

1

=1

1= POMER[81]

1

=1


(position)

1= POMER[82]

1

=1

1 = Reference limit reached


1 = Speed 0


1= POMER[83]

1

=1

1= POMER[84]

1

=1

1= POMER[85]

1

=1

1= POMER[86]

1

=1

1 = Ready to start and control initialized


1= POMER[87]

1

=1

Reference point is defined***








0= Manual mode* active

1 = Automatic mode* active

1 = Sequence program** active

-

0 = Feed hold***** set

0 = Update**** set

1= Synchronism (electronic gearing) activated

1= Lag distance (PODMX)

Table 4.14


1

POMER[xx]: Flag parameters in CDD3000. Used to transfer information into and out of the sequence program to the PLC.



The following terms are described in more detail in the Application Manual, section 4.

* Manual mode / Automatic mode: In manual mode the control location of ProgPos is switched to the “Referencing and jog” manual mode functions. In automatic mode the control location is switched to ProgPos, so the drive can be moved by way of the sequence program. As soon as the sequence program** is started.

** Sequence program: The sequence program is started in the controller when the PZD2 bit 10 is set.

*** Reference point defined: As soon as referencing is complete PZD2 bit 8 is set.

**** Update: The update controls processing of the lines in the sequence program. If update is not set (PZD2 bit 13 = 1) the program sequence is aborted.

***** Feed hold: Feed hold controls processing of the driving profile generator. When the feed hold bit is not set (PZD2 bit12=1), the current positioning command is interrupted, the drive brakes on the braking ramp down to a standstill.

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Parameter POVAR[98](ProgPosVariable) is transferred via PZD3+4, 5.6.4 Transfer

ProgPos variable H98

1

PZD Easy Drive ProgPos

2 3 4

PZD3-

POVAR[98] High

2

31

... 2

17

High Word

High Byte

High Word

Low Byte

Example: ***

00 h

0000 0000 b

Table 4.15

32 h

0011 0010 b

PZD4-

POVAR[98] Low

2

16

... 2

0

Low Word

High Byte

C0 h

1100 000 b

Transfer ProgPos variable H98

Low Word

Low Byte

00 h

0000 0000 b


ProgPos” actual value

1


2 3 4

The actual value is transmitted via PZD3+4.

PZD3 actual position High*

2

31

... 2

17

High Word

High Byte

High Word

Low Byte

PZD4 actual position Low*

2

16

... 2

0

Low Word

High Byte

Low Word

Low Byte

Example: ***

00 h

0000 0000 b

Table 4.16

32 h

0011 0010 b

Actual

80 h

1000 000 b

00 h

0000 0000 b

* The actual position and velocity are transferred in application units - see Application

Manual section 4.

***Example: The drive is at the actual position 00328000h=3309568d.


5.7

EasyDrive

TablePos


The “PZD Easy Drive Table Pos” process data object is only intended for

CDD3000.

1

2


TablePos” startup sequence

1

PZD EasyDriveTablePos

2 3 4

PLC

Control A/

Status E

PZD1

EasyDrive

A

E

E

E

0426h

X7A6h

0001h

X7B6h

A

E

Referencing

E X7B6h

0001h

X392h

E X7B6h

Execute driving job

E X7B6h

PZD2

TablePos

PZD3+4

Position

0000h

0000h

0000h

0000h

0000h

0200h

0400h

0100h

0100h

Actual position

Actual position


Actual position

Actual position

Actual position

Comment

ENPO not yet set

ENPO set

Start loop control

Control enabled

Start referencing

Reference cam search


A

E

A

E

E

0001h

X7B6h

0001h

X392h

X7B6h

0101h

0300h

0301h

0701h

0301h


Driving profile generator and driving set 1 selected

Actual position Driving profile generator enabled

Execute driving set 1

Actual position Driving set 1 in progress

Actual position

(driving set 1)

Target position reached

3

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TablePos” control word

1

PZD Easy Drive TablePos

2 3 4


Bit no. Function of PZD1 control word PZD2 control word

4

5

6

2

3

0

1

7

8

9

10

11

12

13

14

15


-

1 = Activate emergency stop Table index 2

1 = Trigger ext. error in device Table index 3

-

-

-


Table index 0

Table index 1

Table index 4

-

-

-

-

-

-

-


-


-

0= Activate reference run generator and jog mode

1 = Enable driving profile generator

0->1 = Execute driving job** / Execute reference run

Driving job activation***

0 = Feed hold* active


1= Jog +


1= Jog -

Table 4.17


* Feed hold: Feed hold controls processing of the driving profile generator. When the feed hold bit is not set (PZD2 bit11=1), the current positioning command is interrupted, the drive brakes on the braking ramp down to a standstill.

**)Execute driving job: With a Low-High edge at bit 9 the driving job is set valid. The timing of its execution is defined by bit 10, “Driving job activation”.

***) Driving job activation Bit 10 = 0 The current driving job is executed as soon as any possible older driving job has reached its target position. Bit 10 = 1 Driving job is executed immediately. The driving jobs still in progress are not completed.





1


TablePos” status word

1

PZD EasyDriveTablePos

2 3 4


TablePos” actual value

1

PZD TablePos

2 3 4


11

12

13

14

15

7

8

9

10

5

6

3

4

1

2

Bit no.

Function of PZD1 status word

0 1 = General error

Always =1

1 = Reference reached (position)



1 = Speed 0


PZD2 status word

Current table index 0





-

-

1 = Ready to start and control initialized -

Status of input ENPO (hardware enable) 1= Reference point defined








1 = Driving profile generator enabled

1 = Driving job being executed

-

0 = Feed hold set

-

-


Table 4.18



PZD3 actual position High*

2

31

... 2

17

High Word

High Byte

High Word

Low Byte

PZD4 actual position Low*

2

16

... 2

0

Low Word

High Byte

Low Word

Low Byte

Example: ***

00 h

0000 0000 b

32 h

0011 0010 b

80 h

1000 000 b

00 h

0000 0000 b

Table 4.19

Actual

* The actual position is transferred in applications units - see Application Manual.


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5.8

EasyDriveSyncPos The “PZD EasyDriveSyncPos” process data object is only intended for

CDD3000. The following description of the EasyDrive SyncPos is provisional, as the “preset solution” was not implemented at the time of going to press.


SyncPos” startup sequence

1

PZD EasyDrive SyncPos

2 3 4

PLC

Control A/

Status E

PZD1

EasyDrive

A

E

E

E

0422h

X7A2h

0001h

X7B2h

A

E

Referencing

E X7B6h

0001h

X392h

E

A

E

E

A

E X7B6h

Execute driving job

X7B6h

0001h

X7B6h

0001h

X392h

PZD2

SyncPos

PZD3+4

Position

Comment

0000h

0000h

0000h

0000h

Actual position ENPO not yet set

Actual position ENPO set

Start loop control


0000h

0200h

0400h

0100h


Start referencing

Actual position Reference cam search


0100h

0100h

0300h

0300h

0700h


Enable synchronism

Actual position Synchronism enabled

Engage drive

Actual position Drive engaged




SyncPos” control word

1


2 3 4


Bit no.

6

7

4

5

2

3

0

1

8

9



Always =1



-

-

-


-

-


-

-

-

-

-

-

-

0 = Reference run generator and jog

Activate

1 = Enable synchronism

-

-

1 = Engage if bit 8=1

1 = Execute reference run if bit 8 = 0

10

11

12

13

14

15

-

-





Register offset +*

Register offset -*

1 = Jog+ if bit 8 = 0

1 = Jog- if bit 8 = 0

Table 4.20


* For a more detailed description of the register offset function refer to the Application

Manual, section 4.

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SyncPos” status word

1


2 3 4


Bit no.

12

13

14

15

8

9

10

11

6

7

4

5

2

3

0

1

Table 4.21



1 = General error

Always =1




1 = Speed 0

1 = Emergency stop active -

1 = Ready to start and control initialized -

-

-

-

-

-

-









1= Reference point defined*

1 = Synchronism enabled

1 = Drive engaged

-

-

-

-



*Reference point defined: As soon as referencing is complete PZD2 bit 8 is set.




SyncPos” actual value

1


2 3 4


PZD3-

Actual position High*

2

31

... 2

17

High Word High

Byte

High Word Low

Byte

PZD4-

Actual position Low*

2

16

... 2

0

Low Word High

Byte

Low Word Low

Byte

Example: ***

00 h

0000 0000 b

32 h

0011 0010 b

80 h

1000 000 b

00 h

0000 0000 b

Table 4.22

Actual

* For more information on transferring the actual position refer to the Application

Manual.


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5.9

ProfiDrive Mode In the case of “PZD ProfiDrive x/x” the content of the protocol is based on the ProfiDrive profile and so the PLC program is usable across-the-board for all drive manufacturers who support ProfiDrive.

The ProfiDrive profile specifies a state machine for activation of the drive units. This state machine is worked through by the internal state machine of the drive unit.

The positioning modes of the CDD3000 are only supported in the

EasyDrive Mode, see section 5.3 “EasyDrive Modes”.

5.9.1 State machine

ProfiDrive

1


2 3 4

STW b0 = 0 z. B. 0406 h

Logon telegram

STW b2 = 0 z. B. 0400 h

STW b1 = 0 z. B. 0405 h

AUS1 Stage 1

0335 h

Automatic

AUS1 Stage 2

0377 h

Automatic

Operation disabled

0333 h

Always

STW b3 = 0 e.g. 0406 h

Off

0000 h

Timeout

Communication CM-DPV1

<-> Drive unit established

AUS3 Stage 1

0317 h

Automatic

Not ready

0330 h

STW b0 = 0

STW b0,2,10 = 0,1,1 e.g. 0406 h

Switch-on inhibit

0377 h

Ready

0331 h

Status b0 = 1 e.g. 0407 h

Operational

0333 h

STW b3 = 1 e.g. 040F h

Operation enabled

0337 h

PZD1 Control word

Example

AUS2

0327 h

Automatic

STW b7 = 1 z. B. 0480 h

Fault 1

033F h

STW b7 = 0 z. B. 040F h

Fault 0

033F h

Error telegram

from drive

Status

PZD1 Status word

Figure 5.1 ProfiDrive state machine



Control word

(Hex)

Status word appearing (Hex)

0400

0406

0407

040F

0317

0331

0333

0337

Table 4.23

State reached

Switch-on inhibit

Ready for power-up

Ready to start

Operation enabled

Comments after power-on

Reference can be input

Example sequence, ProfiDrive state machine

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5.9.2 “PZD ProfiDrive x/x” control word

1-Control


2 3 4

The functions of the bits of the PZD1 control word are listed in the following table:

Bit Function

= 1 = 0

6

7

4

5

2

3

0

1

ON

Operating condition

Operating condition

Enable operation

--

--

--

Acknowledge error

8

9

--

--

--

--

10

Control of automation unit (must be set for open-loop control)

No control

11-15 ---

OFF 1

OFF 2

OFF 3

Disable operation

--

--

--

No Meaning

Table 4.24

PZD1 control word

Note: Bit 10 must be set to permit the control to be passed to the

PLC and the control word to be passed on to the drive unit.


hardware enable via the control terminal ENPO (X2/8) on the CDA3000 is required. This control signal is high-active.

When this control signal is removed the motor runs out freely.

Refer also to the description in the CDA3000 Application

Manual.







5.9.3 “PZD ProfiDrive x/x” status word

1-Status


2 3 4

The functions of the bits of the PZD1 status word are listed in the following table:

Bit Function

6

7

4

5

2

3

0

1

1 = Ready to start

1 = Ready to start

1 = Operation enabled

1 = Fault

1 = No OFF 2

1 = No OFF 3

1 = Switch-on inhibit

--

8

9

10 --

11-15 --

--

1 = Control required

Table 4.25

PZD1 status word

1

2

3

4

5

6

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5.9.4 “PZD ProfiDrive x/ x” reference

1


2-ReferenceHigh

3-ReferenceLow

4

The reference is transmitted via the PZD2+3, in speed controlled mode

(SFC and FOR) directly in revolutions on the motor shaft.

ProfiDrive 16/16


ProfiDrive 32/2x16

Table 4.26

PZD2 reference High PZD3 reference Low

2

15

... 2

0

16-bit reference frequency

(Int16Q0)

2

-1

... 2

-16

Not used

32-bit reference frequency (Int32Q16)

32-bit reference frequency (Int32Q16)

Reference transfer via PZD2+3

Note: The data formats used in the drive unit are listed in appendix

A.2.

5.9.5 “PZD ProfiDrive x/ x” actual value

1


2-Actual

High

3-Actual

Low

4

The actual value* is transmitted via the PZD2+3.



ProfiDrive 32/2x16

PZD2 actual value High PZD3 actual value Low

2

15

... 2

0

16-bit actual frequency

(Int16Q0)*

2

15

... 2

0

16-bit actual frequency

(Int16Q0)*

Not used

2

15

... 2

0

2

-1

... 2

32-bit actual frequency (Int32Q16)*

-16

2

15

... 2

0

16-bit actual torque (Int16Q0)**

Table 4.27

Actual value via PZD2+3

* In speed controlled mode (SFC and FOR) directly in revolutions on the motor shaft

** Only in controlled mode

Note: The data formats used in the drive unit are listed in appendix

A.2.


1

6.1

6.2

6.2.1

6.2.2

6.3

2

6 Parameter data PKW/DPV1

3

Introduction, parameter data PKW/DPV1 ...............6-2

Job ID for control of parameter transfer ................6-3

Parameter number index ......................................6-4

Parameter value ...................................................6-5

Parameter data transfer in DPV1 data blocks ......6-6

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6.1

Introduction, parameter data

PKW/DPV1

The parameter channel PKW (not to be confused with parameter setting of the CM-DPV1) is used to transfer parameters into the drive unit and to read parameters from the drive unit. A parameter job is always cyclical, and the process data too are transferred cyclically.

The DPV1 data block transfer is an acyclic data transfer of parameter values, and is described in section 6.3.

Note: All data are transferred in Motorola format. Consistent data transfer must be ensured.

In the Simatic S7 from Siemens, PROFIBUS communication of PZD and PKW is only possible via SFC14&SFC15 with a data length of 4 words (EasyDrive DirectPos+ = 5 words).

If in the hardware configurator of the control “PKW parameter data” is selected for parameter transfer, parameters in the controller can be polled and written in parallel with the open-loop control functionality.

Note: Some parameters of the drive unit are only initialized after the drive is restarted; see Application Manual of drive unit.



6.2

Job ID for control of parameter transfer

1

PKW Parameter data

2 3

4-Value

Low

AK SPM PNU Error no.

In the job ID the mode of parameter transfer is entered (request, write, error in transmission etc. ...).

The value of the job ID is dependent on the transfer direction (PROFIBUS

Master <=> CM-DPV1):

PKW1 (bits 15-12)- AK = Job ID

Job: PROFIBUS Master

=>CM-DPV1

Reply: CM-DPV1 => PROFIBUS Master

Job value

0

6

8

No job

Read parameter

Write parameter

Positive

(successful)

0 No reply

5 Parameter is read

5

Parameter transferred

Negative

(not successful)

7 Job not executable

(error number see

Table 5.2)

8 No operator control priority for PKW interface (cause: no drive unit connected to

CM-DPV1)

Table 5.1

Job and reply IDs

1

2

3

4

5

6

If the parameter access is faulty, reply ID 7 is signaled. The error number is displayed in PKW4.

Value

2

3

0

1

18

19

Table 5.2

Description

Impermissible parameter numbers

Parameter value not changeable

Upper or lower limit value infringed

Faulty parameter number index

Unknown job ID

Value not readable

PKW4 error numbers in reply ID = 7

7

A

Note: The spontaneous message SPM (bit 11) is not supported.

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User Manual CM-DPV1

6.2.1 Parameter number index

1


2-IND 3 4

AK SPM PNU


A parameter is selected by its parameter number and the index. The parameter numbers from 1 to 999 are reserved for the drive controller

(see Application Manual). The parameters with numbers greater than

1000 are parameters of the CM-DPV1; see Table 5.4.

PKW1 (bit 10-0)-Parameter number

High Bits Low Byte

Table 5.3

Parameter number index

PKW2 (bit 8-15) index

Index for field parameter transfer (byte)

The parameter transfer is executed as a field parameter transfer. Consequently, for parameters with only one field (al standard parameters) index

= 0 must be set.

.

Parameter no.

Value range Data format

1000 2 U16

Default values

2 = 500 KBaud

1001

1002

1003

0-4000h

0,1

0-126

U16

U16

U16

Table 5.4

Explanation Parameter setting

4000h

1

Baud rate of communication between

CM-DPV1 and drive unit

Read-only

Scaling value (byte 11 + 12 of parameter-setting data, see Chapter 3)

Writable

Warning message active (byte 10 of parameter-setting data, see Chapter 3)

Writable

PROFIBUS address of CM-DPV1 Read-only See Installation section 2.2

Parameters of the CM-DPV1



6.2.2 Parameter value The parameter values are transferred in the parameter data PKW3 and

PKW4.

The parameter value is always returned with the correct preceding sign as a 32-bit variable, regardless of the parameter data format.

1


2

3-Value

High

4-Value

Low

AK SPM PNU

PKW3 parameter value

High Word

PKW4 parameter value

Low Word

Typical parameter

Data formats

USIGN8/INT8

USIGN16/INT16

USIGN32/INT32

INT32Q16

FIXPOINT16

FLOAT32

ERR_STRUC

2

31

... 2

16

2

15

... 2

0

2

15

... 2

00 h

0

Operating hours

2

-1

... 2

16

2

15

... 2

0

x 0.05

IEEE format

Error location / error number

Table 5.5

Typical parameter data formats

1

2

3

4

5

All data formats used in the drive unit are listed in appendix A.2.

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6.3

Parameter data transfer in

DPV1 data blocks

This section was not available at the time of going to press.


1

7.1

7.2

7.3

7.4

7.5

7.6

7.7

2

7 Error rectification

3

Fault response .........................................................7-2

Service strategy – drive not running ......................7-3

LED status display on the CM-DPV1 .......................7-4

Bus error message of CDA3000 ..............................7-5

Acknowledgment of error messages .....................7-6

Overview of all CDA3000 error messages ..............7-7

Overview of all CDD3000 error messages ..............7-8

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7.1

Fault response In the event of an error in the CM-DPV1, all drive units are set to emergency stop (precondition: communication between CM-DPV1 and drive unit is operational).

Errors in the bus system and errors originating from the drive unit are delivered to the PROFIBUS Master by means of the error numbers and locations via the diagnostic message from the slave (see section 4).

If the bus system is not correctly configured, the error is signaled as a flash code on LEDs H4 and H5 (see section 7.3).

Note: Faults involving causes other than the bus system (e.g.: PLC program, drive unit) must be rectified using the Application

Manual:

Notes on error handling in the drive unit

Error location: In the K EY P AD the error

(1) and - to localize the error - the error location (2) are shown at the top left of the display. In the D RIVE M ANAGER in case of error a window appears showing the possible cause of the error and a remedy.

(2)

(1)

VAL

Error memory: The last four error messages are stored in the device in parameters 95-ERR1 to 98-ERR4.

The error message E-OFF (power failure) is only entered in the error memory in the event of brief power failures (the device does not shut down completely before the power is restored).

Warning message: If the parameter setting for response to an error is a warning message (WRN), the device indicates the warning by way of an appropriately parameterized digital output (e.g.: 242-FOS02 = WARN).

No other device response occurs. Safety-related errors cannot be set as warnings in the parameters.

The “Warning” error response (0) must not be confused with the parameterizable warning messages shown in parameter 120-WARN.



7.2

Service strategy

– drive not running

This flowchart serves to reveal and eliminate fundamental faults in communication.

1

Bus running?

NO

YES, H4 = Off, H5 = On

LED diagnosis H4, H5, CM-DPV1 page A-3 section A 1-2

Terminator correctly set?

Address correctly set (PLC, CM-DPV1 or CDx): see Mounting instructions, Commissioning

CM-DPV1 detected? => Parameter OPTN2 = PROFI

Hardware configuration OK and loaded into PLC?

See page 5-2

2

3

4

Start coming through?

YES

NO

Parameter set correctly loaded into CDx (bus mode selected)?

See Serial commissioning, section 2.3.1, and Initial commissioning, section 2.3.2 CLSEL = OPTN2 !

I and O addresses have same initial value?

I/O address (selected by PZD) correctly addressed within S7 project. See example project, checking via hardware configurator

5

6

7

Reference coming through?

YES

PZD process data channel control channel running

NO

Parameter set correctly loaded into CDx (bus mode selected)?

See Serial commissioning, section 2.3.1, and Initial commissioning, section 2.3.2 RSSL = ROPT2

Scaling value

≥

0000H! See section 3

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7.3

LED status display on the

CM-DPV1

Red LED

H4

Green LED

H5

CM-DPV1 status

z z

z

D

D

1

2

24V supply to drive unit missing or drive unit is off. 24V supply to

CM-DPV1 missing.

Started and communicating without error

PROFIBUS address of CM-DPV1 is less than 1 or greater than 126.

This error message is generated, for example, when 'address 0' is set both in the CDA (PBADR=0) and on the rotary switches (see also section 2).

No communication between CM-DPV1 and drive unit possible,

PROFIBUS communication is restarted as a result

1)

.

No PROFIBUS communication possible with PROFIBUS Master.

There is communication with the drive unit. The PROFIBUS cable may be faulty or not plugged in, or the hardware configuration may be faulty (see section 2.4) or an incorrect GSD file is being used (correct: LUST0564).

z z z z

D

3

PROFIBUS communication is only initiated when at least one identifier (PKW.. or PZD...) has been configured.

The PKW identifier (“PKW parameter data”) may be configured only once.

The PZD identifier (e.g.: “PZD EasyDrive Basic”) may be configured only once.

Collective error message from H5 =

D

2

+

D

3

D

4

z

Internal error in communication module

Key:

LED off z

LED on

D n LED flashing n times

Table 7.1

LED status display on CM-DPV1

1) PROFIBUS communication continues if communication between the

CM-DPV1 and the drive unit was running previously.



7.4

Bus error message of

CDA3000

Faults in the drive unit are signaled by way of the fault bit of the status word. The CM-DPV1 then sets the diagnosis request bit. Errors originating from the drive unit are delivered to the PROFIBUS Master by means of the error numbers and locations via the diagnostic message from the slave (see section 4).

1

2

Errors connected with the CM-DPV1

Bus DM/KP

Error location no.

Error cause Possible remedy

Response no.

16 E-OP2

170

171

172

173

Error in module at option slot 2

Error at option slot 2: BUS-OFF state detected.

Check module and identifier

Check contacting of module. If the error still occurs after switching off and back on again, the device or the module is faulty.

The error may also be caused by an external

PROFIBUS.

Error at option slot 2: Transmit protocol could not be sent.


Check supply voltage (24V) to CM-DPV1.

STOP *

Error at option slot 2: Module not responding.


PROFIBUS address = 0 or >126.

* The error response is programmable (see Application Manual). The factory set default response is STOP, i.e. disable power stage.

Table 7.2

CDA3000 errors

3

4

5

6

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7.5

Acknowledgment of error messages


• “PZD EasyDrive”: by setting the ERROR_RESET bit in the control word (bit 7 = 1 Low-High edge);

• ProfiDrive X/X control word: by change of state: “Acknowledge error rectified” (bit 7 = 1 Low-High edge);

• via the K EY P AD 200 (see K EY P AD 200 instructions);

• via control terminals (only with appropriate parameter setting - see

CDA3000 Application Manual, section “_21ID-Digital inputs”);

• via the hardware enable ENPO: by resetting the ENPO signal or

• by switching the supply voltage off and back on.

• by writing the value 1 to parameter 74-ERES by way of the control unit or bus. The entry is automatically deleted.

Following an error reset the state machine of the device (EasyDrive or

DriveCom) resumes the same state as after power-up. That means the control must be restarted.



7.6

Overview of all

CDA3000 error messages

Error no.

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

21

22

23

24

17

18

19

20

25

26

Error

E-PLS

E-PAR

E-FLT

E-PWR

E-EXT

E-USR

E-OP1

E-OP2

E-CPU

OFF

E-OC

E-OV

E-OLI

E-OLM

E-OTM

E-OTI

-

E-SIO

E-EEP

E-WBK

E-SC

E-PF

E-RM

E-FDG

E-LSW

E-OL5

Table 7.3

Error message in the CDA3000

Description

Hardware or software error

Power failure

Current overload shut-off

Voltage overload shut-off

IxIxt shut-off

Ixt shut-off

Motor overheating

Drive unit overheating

Plausibility error in parameter or program sequence

Faulty parameter setting

Floating point error

Power pack not recognized

External error message (input)

Reserved for modified software

Error in module in option slot 1

Error in module in option slot 2

-

Error in serial interface

Faulty EEPROM

Wire break

Auto-tuning

PowerFail

InitRunMode

Transmission error in reference coupling

Limit switches reversed lxt shut-off below 5 Hz to protect power stage

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2

3

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User Manual CM-DPV1


7.7

Overview of all

CDD3000 error messages

User Manual CM-DPV1

Error no.

Error Description

1 E-CPU Hardware or software error

2 OFF Power failure

3 E-OC Current overload shut-off

4 E-OV Voltage overload shut-off

5 E-OLI IxIxt shut-off

6 E-OLM Ixt shut-off

7 E-OTM Motor overheating

8 E-OTI Drive unit overheating

9 E-PLS Plausibility error in parameter or program sequence

10 E-PAR Faulty parameter setting

11 E-FLT Floating point error

12 E-PWR Power pack not recognized

13 E-EXT External error message (input)

14 E-USR Reserved for modified software

15 E-OP1 Error in module in option slot 1

16 E-OP2 Error in module in option slot 2

17 -

18 E-SIO Error in serial interface

19 E-EEP Faulty EEPROM

20 E-WBK -

21 E-SC -

22 E-PF -

23 E-RM -

24 E-FDG -

25 E-LSW D-HWE/limit switches interchanged

26 E-OL5

30 E-ENC Error in encoder monitoring

31 E-TIM Runtime monitoring

32 E-FLW Tracking error

33 E-WDG Watchdog RS232

34 E-VEC Internal memory error

35 EBRK Error at output OSD03: 1.Wire break 2. Short 3. Overload

Table 7.4

CDD3000 error messages

7-8

User Manual CM-DPV1


Error no.

Error Description

36 E-POS

210: Positive hardware limit switch approached

211: Negative hardware limit switch approached

212: Positive software limit switch approached

213: Negative software limit switch approached

214: Reference point not defined

215: Error accessing optional hardware

Possible remedies: If this error recurs, please contact your Service Partner.

216: Selected program not available

217: Jump to non-existent record number

218: Called subroutine not available

219: Target position outside positioning range

220: Division by zero

221: Max. subroutine nesting depth exceeded

222: Timeout in manual mode

223: Target position not reached

224: No feed hold

225: Selection (Automatic/Referencing/Jog mode) not permitted, control location conflict

226: Index overflow (indexed addressing)

230: Max. servo speed exceeded

232: No controller enable (ENPO)

233: Error in parameter access of position and sequence control

Possible remedies: If this error recurs, please contact your Service Partner.

234: Error processing a Touchprobe positioning command

235: Impermissible command during axle movement

236: Hardware limit switches interchanged

37 E-FLH Error in flash memory

38 E-HW Hardware limit switch approached

39 E-HWE Hardware limit switches interchanged

40

E-WRN The preset maximum torque (parameter TCMMX) is greater than the maximum torque attainable with the motor or the device

Table 7.4

CDD3000 error messages

Note: For a detailed list of all error messages together with remedial measures refer to the Application Manual.

1

2

3

4

5

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7-9



1

A.1

A.2

A.3

A.4

2

Appendix A

3

Special features of the CM-DPV1 .......................... A-1

Parameter data formats ......................................... A-5

Example project: “testproj” ................................... A-7

Technical data, CM-DPV1 ...................................... A-8

4

5

A.1

Special features of the CM-DPV1

To be able to control the drive unit via the PROFIBUS-DP and input reference values, one of the preset solutions must be activated.

6

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Appendix A

A.1.1 Presettings for control and reference input

As a result the process data channel (e.g. PZD EasyDrive Basic) in the drive unit is activated.

Preset solution*

Appropriate process data word

CDA3000

BUS_1: Field bus operation, control and reference via bus

BUS_2: Field bus operation, manual mode with analog reference

BUS_3: Field bus operation, manual mode with analog reference, limit switches

PZD EasyDrive Basic

CDD3000

SCB_2: Speed control, +/-10V reference, control via field bus

SCB_3: Speed control, fixed speeds, control via field bus

SCB_4: Speed control, pulse input, control via field bus

SCB_5: Speed control, reference and control via field bus

PZD EasyDrive Basic

PCB_2: Positioning, reference and control via field bus

PCB_4: Positioning, fully programmable, control via field bus

PCB_3: Positioning, fixed positions, control via field bus

PCB_1: Electronic gearing, control via field bus

EasyDrive DirectPos or EasyDrive Direct-

Pos+

EasyDrive PosMod

EasyDrive TablePos

EasyDrive SyncPos

*Selected by initial commissioning - see CDA3000 + CDD3000 Operation Manuals

Variation of control location:

The control location indicates the control source from which the drive is started and stopped. With parameter 260-CLSEL (e.g. for Bus_x: CLSEL

= OPT2) the control location is defined. The possible control locations are set out in the appendix B.4.

Variation of reference:

The reference source is defined by way of parameter 281-RSSL1 (e.g. for

Bus_x: RSSL1 = OPT2). The possible reference sources are set out in the appendix B.4.

Note: The parameters of the drive unit are set by default such that the drive unit can be activated via terminals and the reference values can be entered via the analog inputs (application data set DRV_1, on CDA3000). Be sure to select one of the preset solutions for bus operation in order to control and input references via the PROFIBUS-DP.

User Manual CM-DPV1 A-2

A.1.2 CM-DPV1 startup

User Manual CM-DPV1

Appendix A

The CM-DPV1 is started up in four steps:

1. When the CM-DPV1 is supplied with power it enters the following state:

Red LED

H4

Green LED

H5 z D

2

CM-DPV1 status

No communication possible between CM-DPV1 and drive unit,

PROFIBUS communication is stopped as a result.

1

2

2. When the drive unit has been switched on and the CM-DPV1 installed and supplied with power, the drive unit automatically detects the communication module (OPTN2) plugged into the communication slot. A communication link is established between the drive unit and the CM-DPV1.

Red LED

H4

Green LED

H5 z D

3

CM-DPV1 status

No PROFIBUS communication with PROFIBUS Master possible; communication with drive unit OK.

3

4

5

3. When communication has been successfully established between the drive unit and the CM-DPV1, PROFIBUS communication with the

PROFIBUS Master is activated. The configuration of the CM-DPV1 is imported from the PROFIBUS Master. If the configuration is successful, the CM-DPV1 status is:

Red LED

H4

Green LED

H5

CM-DPV1 status

z Started and communicating without error

Key: LED off z LED on D n LED flashing n times

6

7

A

4. Depending on the hardware configuration selected in the PROFIBUS

Master (e.g. “PZD EasyDrive Basic”), parameter 492 -CACNF of the drive unit is set; see appendix B.4.

Then the PROFIBUS system has started up and can be used by the PLC.

Note: After a failure of the external 24V supply, the PROFIBUS system automatically starts up as soon as the 24 V is restored. It is not necessary to reset the drive unit by switching off and back on.

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A-3

Appendix A

A.1.3 Automatic interventions of the CM-DPV1 in parameter setting

After bus system power-up parameter 574-CAWDG is set by the CM-

DPV1 to 250 ms and thereby activated. This watchdog relates only to communication between the drive unit and the CM-DPV1.

Depending on the hardware configuration selected in the PROFIBUS

Master (e.g. “PZD EasyDrive Basic”), parameter 492-CACNF = (4) on the drive unit is set; see appendix B.4.


Appendix A

A.2

Parameter data formats

The drive units support the following parameter data formats:

Data type

USIGN8

USIGN16

USIGN32

INT8

INT16

INT32

INT32Q16

FIXPOINT16

FLOAT32

ERR_STRUC

STRING

Table A.1

Value range Function

0 ... 255

0 ... 65535

0 ... 4294967295

-128 ... 127

-32768 ... 32767

-2147483648 ...

2147483647 unsigned

Integer, signed

-32767,99 ... 32766,99

0,00 ... 3276,80

32-bit number with scaling 1/65536, i.e. the

Low word indicates the number of decimal places.

Fixed point number with scaling 1/20, i.e. increment size 0.05

see IEEE

–

–

32-bit floating point number in IEEE format

Error number (1 byte), error location (1 byte), error time (2 bytes)

ASCII characters, max. 100 bytes in bus operation incl. zero terminator, only accessible over the acyclic channel (DPV1, see section 6.3)

Data types

1

2

3

4

5

6

7

A.2.1 Structure of data types

All data types are represented appropriate to their preceding sign as 32bit variables in Motorola format.

4 Byte

USIGN8/INT8 *

USIGN16/INT16 *

USIGN32/INT32

INT32Q16

FIXPOINT16 *

FLOAT32

ERR_STRUC

1

High Word

High Byte

Pre-point H

2

High Word

Low Byte

3

Low Word

High Byte

Pre-point L Post-point H

See examples, Table A.3

TOP L

IEEE format

Error location TOP H

* Filled out appropriate to preceding sign (00 h or FF h)

TOP = Time of Operation in full hours

Low Word

Low Byte

Post-point L

Error no.

Table A.2

Arrangement of data types in the data field

A

DE

EN

A-5

User Manual CM-DPV1

Appendix A

Examples:

Data type

INT32Q16

FIXPOINT16

ERR_STRUC

Table A.3

Example

HH

1

HL

2

LH

3

LL

4

10.5 Dec

00 0A h

(10 Dec)

80 00 h

(0.5 Dec)

10.05 Dec

[ * 20 = 201

FIXPOINT16]

E-OP2 with error location 172 with

85 operating hours

00 55 h

00 00 00 C9 h

(85 hours TOP)

Examples of structure of data types

(201)

10 h

(16 Dec =

E-OP2)

AC h

(172 Dec)


Appendix A

A.3

Example project:

“testproj”

The example project is located on the CD-ROM supplied with the package with the order designation “CM-DPV1 + GSD”. The “testproj” example project is designed for the Siemens CPU 315-DP.

1

Modules of the S7 used

FC15

VAT15

Send flag word of VAT15 to PROFIBUS via SFC14+SFC15

Activate CDA via PROFIBUS with “PZD EasyDrive Basic”

2

3

SFC14

SFC15

SFC13

OB1

OB87

OB82

Read consistent data of a DP standard slave with SFC 14

“DPRD_DAT”

Write consistent data of a DP standard slave with SFC 14

“DPRD_DAT”

Read diagnostic data (slave diagnosis) of a DP slave with

SFC13 “DPNRM_DG”

Main program

Communication error (also PROFIBUS)

Diagnosis alarm module (also PROFIBUS)

4

5

6

7

A

User Manual CM-DPV1

A-7

DE

EN

Appendix A

A.4

Technical data,

CM-DPV1

Technical data

CM-DPV1

(Communication module for PROFIBUS-DPV1)

Standardization

Communication

Device profile

Transfer technique

Voltage supply

Current consumption

Dimensions (W x H x D)

Table A.4

EN 50170

Directive 2.084

PROFIBUS-DPV1

RS-485 interface with 9-pin D-SUB socket

18 ... 30 VDC typ. 100 mA, max. 250 mA

28 x 90 x 90 [mm]

Technical data of the communication module

A.4.1 Transmission speeds

The following transmission speeds are supported:

Baud rate [kBit/s]

Range/segment [m]

9.6

19.2

93.75

187.5

1200 1200 1200 1000

500

400

1500 12000

200 100

Table A.5

Range dependent on transfer rate

For higher transmission speeds, in particular, please refer to the application notes of the PNO.

Parameter transfer, PKW

Read or write parameter*

< 10 ms

Process data transfer, PZD

Read or write process data*

1 to 2 ms

*Execution time in drive unit, i.e. without taking into account the bus load

Table A.6

Transmission speeds, PKW and PZD

A.4.2 Number of users (stations)

In the PROFIBUS-DP 32 stations are permitted in each segment; with repeaters a maximum of 126 stations can be used.


B.1

B.2

B.3

B.4

Appendix B Parameters for bus operation

Configuration by way of preset application data sets ............................................. B-2

Diagnostic parameters of the option module ....... B-4

General bus settings .............................................. B-5

Definition of control location and reference channel .................................................. B-6

4

5

6

7

A

1

2

3

User Manual CM-DPV1

B-1

DE

EN

Appendix B

B.1

Configuration by way of preset application data sets

All parameters necessary for bus operation are set to logical factory defaults when the application data sets Bus_x are loaded (see table below).

The following parameters are changed automatically in the device with the setting 152-ASTER = BUS_1:

Parameter

151 -ASTPR

152 -ASTER

180 -FISA0

181 -FISA1

210-FIS00

211-FIS01

212-FIS02

213-FIS03

240 -FOS00

241 -FOS01

242 -FOS02

260 -CLSEL

280 -RSSL1

289 -SADD1

571-CLADR

582-PBADR

492 -CACNF

Factory setting

BRK1

REF

S_RDY

TERM

FMAX

10

DRV_1

DRV_1

OFF

OFF

STR

STL

SADD1

OFF

0

0

4

Changed value

OPTN2

OPTN2

OPTN2

OPTN2

FOPT2

0

BUS_1

BUS_1

OPTN2

OPTN2

OPTN2

OPTN2

OPTN2

OPTN2

0

0

4

Function

Original application data set

Current application data set

Function selector analog standard input ISA00

Function selector analog standard input ISA01

Function selector digital standard input ISD00




Function selector digital standard output OSD00



Control location selector

Reference selector 1

Reference selector 2

CAN

Lust

device address

PROFIBUS Slave address (CM-DPV1)

“PZD EasyDrive Basic” process data transfer

Table B.1

Presetting based on the example of BUS_1

To configure a PROFIBUS system it is, however, possible to modify specific parameters. The following sections detail the parameters which may need to be set specifically.

Note: Parameter backup in the drive unit: Before the mains power is cut the parameter settings must be saved in the device by setting parameter 150-SAVE = (1) START.

User Manual CM-DPV1 B-2

Appendix B

150-SAVE - Back-up device setup

Parameter to back-up the complete device setup to the EEPROM. All parameters are first held only in the RAM. So that the parameters are available again after power-off, they must be backed-up. To do so, parameter 150-SAVE is set to (1) “START” after all other parameters have been set. The save operation takes a few hundred milliseconds. During that time the drive unit must not be switched off, otherwise the settings will be lost. Parameter 150-SAVE is automatically set to 0 = “STOP” by the device after the save operation. This process can be used for timeout monitoring of the function.

Subject area

CDA/CDD

_15FC / _CONF

Value range

0 (STOP) ...

1 (START)

Factory set.

0 (STOP)

Unit

–

Data type

USIGN8

Memory type

RAM control value

1

2

3

4

5

6

7

A

User Manual CM-DPV1

B-3

DE

EN

Appendix B

B.2

Diagnostic parameters of the option module

577-OP2RV - Software version CM-DPV1

In parameter OP2RV the software version (as from V. 0.45) of the

CM-DPV1 is displayed.

Subject area

CDA/CDD

_57OP / _OPT

Value range Factory set.

0.00

Unit

–

Data type Memory type

FIXPT16 RAM A C

578-OPTN2 - Module slot 2 assignment

When the drive unit has been switched on and the CM-DPV1 installed and supplied with power, the drive unit automatically detects the communication module plugged into the communication slot.

In parameter OPTN2 the connected communication module is displayed.

For the PROFIBUS interface to function correctly, OPTN2 = “PROFI” must be set.

If OPTN2 = NONE, your communication module is not being powered, is not properly plugged in or is faulty.

Subject area

CDA/CDD

Value range

_57OP / _OPT NONE ... PROFI

Factory set.

NONE

Unit

–


USIGN8 RAM A C


B.3

General bus settings

Appendix B

582-PBADR - PROFIBUS Slave address

Value of parameter 582-PBADR =

0

(preset in application data set Bus_x)

1 ... 126

Effect on addressing

The hardware address coding of the CM-DPV1 is evaluated for addressing purposes.

After the mains reset the drive unit starts up with the hardware-coded device address.

The address of the PROFIBUS Slave corresponds to the value of PBADR. The hardware address coding is deactivated as a result.

After the mains reset the drive unit starts up with the device address set in PBADR.

Table B.2

Address setting with parameter 582-PBADR

By way of the pins on connector X13 labeled 2 x

or by way of the two rotary coding switches S1, S2, the device address can be coded.

An address between 1 and 126 can be selected.

2

3 2 2

2

1 2 0

COM

1

X13

2

5

2

4

1

EF

23

456

78

BCD

9A

S2

EF

2

1

3 456

78

BCD

9A

S1

Figure B.1 Address setting via X13 or S1 and S2

1

2

3

4

5

6

7

Attention: This hardware address coding is only taken into account if parameter 582-PBADR is set to 0 (defined by the project engineer in first commissioning). The hardware codings of connector X13 and of the coding switches (S1 and S2) are internally linked by a logical OR operator.

A

571-CLADR - CAN

LUST

address

The CAN

LUST

device address is necessary for communication between the drive unit and the CM-DPV1 and must be set to “0”.

Subject area

CDA/CDD

_57OP / _OPT

Value range

0 ... 99

Factory set.

0

Unit

–


USIGN8 FLASH

DE

EN

B-5

User Manual CM-DPV1

Appendix B

574-CAWDG - CAN

LUST watchdog time

After bus system power-up CAWDG is set by the CM-DPV1 to 250 ms and thereby activated. This watchdog relates only to communication between the drive unit and the CM-DPV1.

Subject area

CDA/CDD

_57OP / _OPT

Value range

0 ... 255

Factory set.

0

Unit ms


USIGN8 FLASH

575-CASCY - Sampling time of status message in ms

This sampling time is only decisive for communication between the drive unit and the CM-DPV1.

Reducing this sampling time only makes sense if the PROFIBUS network capacity is also able to implement the update.

Subject area

CDA / CDD

_57OP / _OPT

Value range

1 ... 32000

Factory set.

80

Unit ms


USIGN16 FLASH

B.4

Definition of control location and reference channel

260-CLSEL - Control location

The control location is selected by way of parameter 260-CLSEL. With

CLSEL = OPTN2 the control word for the drive unit is formed from bytes 0 and 1 of the “PZD xxxxDrive”.

Subject area

CDA/CDD

_26CL /

_CONF

Value range

0 (TERM) ...

4 (OPTN2)

Factory set.

0 (TERM)

Unit

–


USIGN8 FLASH

Note: Reference and control values and the content of “PZD xxxxDrive” are only evaluated when the bus system has started.


Appendix B

492-CACNF - CAN configuration

This parameter is set by the CM-DPV1 communication module in the drive unit. It should not be changed manually. This parameter represents the selected PROFIBUS-PZD type.

Subject area

CDA/CDD

_57OP /

_OPT

Value range

0 ... 4

Factory set.

4

Unit

–


USIGN8 FLASH

CACNF Reference Actual Activation/ PZD type Identifier

0

1

2

3

4

5**

6**

7**

8**

No reference transfer No actual value transfer

16-bit reference frequency (Q0)

16-bit actual frequency (Q0)





16-bit actual torque (Q0)

*

No activation

ProfiDrive state machine/

PZD ProfiDrive16/16


PZD ProfiDrive32/32


PZD ProfiDrive32/2*16

--

0xC1, 0xC3, 0xC3, 0x01

0xC1, 0xC3, 0xC3, 0x02

0xC1, 0xC3, 0xC3, 0x03


PosMod control bits,

POMER[90-97],

POVAR[98]

Status bits, P-to-P positioning, table index

Status bits, P-to-P positioning, position reference

Status bits, electronic gearing


PosMod status bits,

POMER[80-87], actual position in distance unit

Status bits, P-to-P positioning, actual position

Status bits, P-to-P positioning, actual position

Status bits, electronic gearing, actual position

CDA3000-specific /PZD EasyDrive

Basic factory setting

EasyDrive PosMod

EasyDrive TabPos

EasyDrive DirectPos

EasyDrive Synchron

0xC1, 0xC3, 0xC3, 0x04

0xC1, 0xC3, 0xC3, 0x05

0xC1, 0xC3, 0xC3, 0x06

0xC1, 0xC3, 0xC3, 0x07

0xC1, 0xC3, 0xC3, 0x08

*Only in loop controlled operation, ** Only on CDD3000

Table B.3

Configuration with 492-CACNF

1

2

3

4

5

6

7

A

280-RSSL1 - Reference selector

Set RSSL1 = FOPT2 so the reference is formed from bytes 2-5 in “PZD

ProfiDrive x/x” and “PZD EasyDrive Basic”.

Subject area

CDA / CDD

Value range

_28RS / _REF

0 (FCON) ...

11 (FMAX)

Factory set.

11 (FMAX)

Unit

–


USIGN8 FLASH

DE

EN

B-7

User Manual CM-DPV1

User Manual CM-DPV1

Appendix B

Note: Reference and control values and the content of “PZD xxxxDrive” are only evaluated when the bus system has started.

Other logical settings may also be selected as the reference source:

RSSL1 Function

1 - FA0

2 - FA1

4 – FPOT

5 - FDIG

7 - FOPT2

8 - TBSEL

Analog input 0

Analog input 1

MOP function, only in conjunction with appropriately configured inputs

Digital reference, see device operation manual

Reference from option slot 2, here PROFIBUS-DP (process data channel)

Table references incl. acceleration and braking ramps, selection of table position via bits in the control word “PZD EasyDrive Basic” or directly in parameter TBSEL or via inputs with function FFTBx

9 - FFIX1/2 Fixed frequency *

10 - FMIN1/ 2 Minimum output frequency *

11 - FMAX1/2 Maximum output frequency *

* Switchable with characteristic data set switchover, e.g. via bits in the “PZD EasyDrive

Basic” control word

Table B.4

Settings for reference selector RSSL1

RSSL1

1 - RA0

2 - RA1

4 - RDIG

6 - ROPT2

7 - RFIX

8 - PTAB

9 - PMOD

Function

Analog input 0

Analog input 1

Digital reference, see device operation manual

Reference from option slot 2, here CAN

LUST

Speed table references incl. acceleration and braking ramps, selection of table position via bits in the control word or directly in parameter

RFIX or via inputs with function TBx

Position table references

POSMOD positioning and sequence control

Table B.5

CDD3000: Settings for reference selector 280-RSSL1

Online switching between the reference sources is only possible by way of appropriately parameterized digital inputs (see functions of digital inputs) or directly in parameter RSSL1 or RSSL2.

B-8

User Manual CM-DPV1

Appendix B

573-CACTR - Control word

The control word received via the bus is entered in parameter 573 -

CACTR. During commissioning the parameter can be used to check the reception of control data .

Subject area

CDA/CDD

_57OP /

_OPT

Value range

0000H ... FFFFH

Factory set.

0000H

Unit

–


USIGN16

RAM actual value

1

2

3

572-CASTA - Status word

The status is entered in parameter 572-CASTA. The data content of the parameter corresponds to PZD1 in the process data channel.

Subject area

CDA/CDD

_57OP /

_OPT

Value range

0000H ... FFFFH

Factory set.

0000H

Unit

–


USIGN16

RAM actual value

4

5

6

597-RF0 - Response to reference value 0

RF0 = OFF: If the reference value is 0 Hz, closed-loop control of the drive unit is deactivated; no more current is applied to the motor.

RF0 = ON: With reference value 0 Hz, closed-loop control of the drive unit remains active; current remains applied to the motor.

7

A

Attention: Before changing the content of parameter RF0, refer to the notes presented in the Application Manual: “_59DP-Driving profile generator”.

Subject area Value range

_59DP OFF/ON

Factory set.

OFF

Unit

–


USIGN8 FLASH

DE

EN

B-9

Appendix B

288-FOPT2 - Reference from option slot CDA

288-ROPT2 - Reference from option slot CDD

The reference value received via the process data channel is entered in parameter FOPT2. The data content of the parameter corresponds to

PZD2 + PZD3. The interpretation of the value is dependent on the selected control mode.

Subject area

CDA/CDD

Value range Factory set.

Unit Data type Memory type

_28RS / _REF -32764 ... 32764 0 Hz INT32Q16

RAM actual value

148-TXEV1 - Event to send 1st status identifier

TXEV1 = 1 (factory setting) As a result the status word is transmitted cyclically


_OPT 0 ... 65555

Factory set.

1

Unit

-


USIGN16 Flash

149-TXEV2 - Event to send 2nd status identifier

TXEV2 = 1 if EasyDrive DirectPos+ is used. As a result the velocity is transmitted cyclically.


_OPT 0 ... 65555

Factory set.

0

Unit

-


USIGN16 Flash


User Manual CM-DPV1

1

2

Appendix Glossary

3

AK

Application data set

Diagnostic data

DP

DPV1

EasyDrive mode

Master

MW (FW)

Parameter

Data menu

PKW

PNU

ProfiDrive mode

Job ID

Factory predefined parameter data set to solve typical applications.

The master reads the diagnostic data of the slaves, thereby enabling a centralized response to fault in the slave.

Decentralized Peripherals

Add-on to the PROFIBUS-DP

This is the most simple configuration of the process data channel, as it is tailored to the drive unit. The user can trigger defined events in the drive unit by setting individual bits in the control word. Examples: Set drive,

Trigger emergency stop, Reset error.

he higher-order control which handles communication.

Flag word

By way of the parameter channel PKW parameters are cyclically transferred from and to the drive unit.

Parameter identifier value

Parameter number

Configuration of the process data channel in conformance with the ProfiDrive profile. In contrast to

EasyDrive mode, the system states are changed by a defined series of control sequences. The system state machine defined in the PROFIBUS standard determines the individual system state transitions.

4

5

6

7

A

DE

EN

C-1

Appendix

PZD

Slave

Process data: The process data channel contains the functions: Control; Accept status; Reference input; and

Display actual values.

A slave is a bus user on the PROFIBUS-DP which, in contrast to the master, merely responds to the enquiries addressed to it.

Spontaneous message SPM

State machine It describes the transitions of the various system states.

A state transition is triggered by a defined event, such as a control sequence or setting of an input.

User Manual CM-DPV1 C-2

Appendix Index

A

Addressing

PROFIBUS Master

...........................

2-12

PROFIBUS Slave CM-DPV1

...................

2-8

Addressing options

..............................

2-10

B

Back-up device setup, parameter

................

B-3

Backup, parameters

..............................

B-3

Baud rate

..........................................

A-8

Bus address parameter 582-PBADR

.............

2-8

Bus settings, parameter

..........................

B-5

Bus termination plug

..............................

2-4

C

CAN configuration, parameter

....................

B-7

CANLust address, parameter

.....................

B-5

CM-DPV1 startup

.................................

A-3

Coding switches S1 and S2

......................

2-8

Commissioning

First

...........................................

2-9

Serial

..........................................

2-7

Communication module

Assignment, slot 2

...........................

B-4

Technical data

................................

A-8

Communication status

............................

4-3

Configuration of CDA3000 by way of application data sets B-2 of control

....................................

2-10

Connector coding, connector X13

................

2-8

Control location

(parameter)

...................................

B-6 and reference channel, defining

.............

B-6 not PROFIBUS

................................

A-2

1

Control word

“PZD EasyDrive Basic”

.......................

5-6 and reference input

.........................

2-15

Control word, parameter

..........................

B-9

Controller enable ENPO

...........................

2-5

Current consumption

.............................

A-8

2

3

D

Dangers

...........................................

1-2

Data backup

.......................................

B-3

Data formats

......................................

A-5

Data types

.........................................

A-5

Device address

....................................

2-8

Diagnostic data

...................................

4-1

Diagnostic parameters

............................

B-4

Documentation, further

...........................

1-3

Drive unit, definition of umbrella term

...........

1-1

4

5

6

E

EasyDrive mode

...................................

5-5

EMC (Electromagnetic Compatibility)

............

1-2

Emergency stop as error response

............................

7-2 in control word

.

5-6

,

5-11

,

5-12

,

5-15

,

5-16

,

5-20

,

5-21

,

5-23

,

5-24 in status word

...

5-7

,

5-12

,

5-16

,

5-21

,

5-24

ENPO, hardware enable

..........................

2-5

Error memory

.....................................

7-2

Error word, bit-coded

.............................

4-3

Example project “testproj1”

......................

A-7

7

A

F

Failure of external 24V supply

....................

2-5

Fault evaluation

..................................

2-18

Faults

Acknowledging

...............................

7-6

Flag words

.......................................

2-14

Flash code of LEDs

...............................

7-2

D-1

DE

EN

User Manual CM-DPV1

G

GSD file

..........................................

2-10

H

Hardware configurator

...................

2-10

,

2-13

Hardware enable of power stage (ENPO)

.........

2-5

I

Installation

.........................................

2-4

Installing the CM-DPV1

............................

2-3

J

Job ID

..............................................

6-3

L

LED status display on the CM-DPV1

..............

7-4

M

Master, definition of umbrella term

...............

1-1

Module slot 2 assignment, parameter

...........

B-4

Motorola format

...................................

5-4

Mounting

...........................................

2-2

Mounting package MP-UMCM

....................

2-3

P

Parameter

Reading and writing

........................

2-19 parameter channel PKW

..........................

6-2

Parameter data formats

...........................

A-5

Parameter data transfer

...........................

6-6

Parameter number index

..........................

6-4

Parameter transfer

................................

6-4

Parameter value

...................................

6-5

Parameter-setting data

...........................

3-1

Pin assignment X10, X11, X13

....................

2-6

Presettings, control and reference input

.........

A-2

Process data channel (PZD)

.......................

5-4

PROFIBUS Slave address, parameter

............

B-5

PROFIBUS user organization, address

............

1-4

ProfiDrive mode

.................................

5-26

ProfiDrive state machine

........................

5-26

User Manual CM-DPV1

Appendix Index

Q

Qualification, users

................................

1-2

R

Reference from option slot, parameter

................

B-10

Reference selector, parameter

..................

B-7

Reference source, not PROFIBUS

.................

A-2

Reply ID

............................................

6-3

Response to reference value 0, parameter

......

B-9

S

Safety precautions

................................

1-2

Sampling time of status message, parameter

..

B-6

Scaling value, for references

.....................

3-2

Software version CM-DPV1, parameter

.........

B-4

Specification, CM-DPV1

.....................

2-4

,

A-8

Start, in control word

......

5-6

,

5-11

,

5-15

,

5-16

,

5-20

,

5-23

Status word

“PZD EasyDrive Basic”

.......................

5-7 and actual value output

....................

2-17

Status word, parameter

..........................

B-9

T

Technical data, CM-DPV1

.........................

A-8

Transfer rate

.......................................

A-8

Transmission speed

...............................

A-8

V

Variables table, example

........................

2-14

W

Warning message, as error response

............

7-2

Warning messages, bit-coded

....................

4-5

Watchdog time, parameter

.......................

B-6

D-2

Lust Antriebstechnik GmbH

Gewerbestrasse 5-9 • D-35631 Lahnau

Tel. +49 64 41 / 9 66-0 • Fax +49 64 41 / 9 66-137

Internet: http://www.lust-tec.de • e-Mail: [email protected]

ID no.: 0916.20B.1-00 • Date: 03/03

Subject to technical changes.

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