Mitsubishi Electric FR-A8AX User manual

Mitsubishi Electric FR-A8AX User manual
INVERTER
Plug-in option
A8NDPV1
INSTRUCTION MANUAL
PROFIBUS communication interface
Doc.Id. HMSI-216-127
Rev. 1.00
Connecting DevicesTM
+$/067$'‡&+,&$*2‡.$5/658+(‡72.<2‡%(,-,1*‡0,/$12‡08/+286(‡&29(175<‡381(‡&23(1+$*(1
Important User Information
This document is intended to provide a good understanding of the functionality offered by the
A8NDPV1 PROFIBUS Option Board. The document only describes the features that are specific to
the option board. For general information regarding the FR-A800 inverter, consult the FR-A800
inverter design guides.
The reader of this document is expected to be familiar with high level software design, and communication systems in general. The use of advanced PROFIBUS-specific functionality may require
in-depth knowledge in PROFIBUS networking internals and/or information from the official
PROFIBUS specifications. In such cases, the people responsible for the implementation of this
product should either obtain the PROFIBUS specification to gain sufficient knowledge or limit
their implementation in such a way that this is not necessary.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any inaccuracies or omissions. The data and illustrations found in this document are
not binding. We, HMS Industrial Networks AB, reserve the right to modify our products in line
with our policy of continuous product development. The information in this document is subject
to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that may appear
in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the applications meet all performance and safety requirements including any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any
problems that may arise as a result from the use of undocumented features, timing, or functional
side effects found outside the documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular implementation,
HMS Industrial Networks AB cannot assume responsibility for actual use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in
the product described in this document. These intellectual property rights may include patents
and pending patent applications in the US and other countries.
Trademark Acknowledgements
Anybus® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the
property of their respective holders.
A8NDPV1 PROFIBUS Option Board
I
CAUTION
• This is a class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.
• ESD Note
This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if
ESD control procedures are not followed. Static control precautions are required when handling the product.
Failure to observe this may cause damage to the product.
A8NDPV1 PROFIBUS Option Board User Manual
Rev 1.00
Copyright© HMS Industrial Networks AB
March 2014 Doc Id HMSI-216-127
II
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Thank you for choosing this Mitsubishi Inverter plug-in option for the Mitsubishi FR-A800 Series
Inverter. This Instruction Manual gives handling information and precautions for use of this
equipment. Incorrect handling may cause an unexpected failure or damage. In order to ensure
optimal performance, please read this manual carefully prior to use of the equipment.
Please forward this manual to the end user of the equipment.
This section is specifically about safety matters
Do not attempt to install, operate, maintain or inspect this product until you have read through this
Instruction Manual and any related documents carefully, and can use the equipment correctly. Do not use
this product until you have a full working knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into “WARNING” and “CAUTION” levels.
Assumes that incorrect handling may cause hazardous conditions, resultWARNING
ing in death or severe injury.
Assumes that incorrect handling may cause hazardous conditions, resultCAUTION
ing in moderate or slight injury, or may cause physical damage only.
Please note that even the
CAUTION level may lead to a serious consequence depending on conditions. Please be sure to follow the instructions of both levels as they are critical to personnel safety.
SAFETY INSTRUCTIONS
Electric Shock Prevention
WARNING
• Do not open any cover on the inverter while power is on or while the inverter is running, as an electrical shock may result.
• Do not operate the inverter with any cover or wiring cover removed, as accidental contact with
exposed high-voltage terminals and internal components may occur, resulting in an electrical shock.
• If power is off do not remove any cover except when necessary for wiring or periodic inspection. While
any cover is removed, accidental contact with exposed high-voltage terminals and internal components may occur, resulting in an electrical shock.
• Prior to starting wiring or inspection, confirm that input power to the inverter has been switched off
via observation of the inverter’s display panel. Additionally, wait for at least 10 minutes after removal
of input power, and then confirm that all residual voltage has been dissipated by using a voltage
meter. Internal DC bus capacitors may contain high voltages for several minutes after removal of input
power, resulting in a dangerous situation should anything come into contact with them.
• All personnel involved in the installation or inspection of this equipment should be fully competent to
perform the required work.
• Always install plug-in options prior to wiring main power.
• Do not touch the plug-in option with wet hands.
• Do not subject the cables to scratches, excessive stress, heavy loads or pinching.
Injury Prevention
CAUTION
• To prevent explosions or similar damage, apply only the voltages specified in the instruction manual
to each terminal.
• To prevent explosions or similar damage, ensure that all cables are properly connected to the correct
terminals.
• To prevent explosions or similar damage, observe all wiring polarity indicators.
• To prevent burns from hot components, do not touch the inverter while power is on, or for some time
after power is removed.
A8NDPV1 PROFIBUS Option Board
III
Additional Instructions
Please note the following points to prevent equipment damage, injury or electrical shock.
Transportation and mounting
CAUTION
•
•
•
•
Do not install or operate the plug-in option if it is damaged or has parts missing.
Do not stand or rest heavy objects on the equipment.
Check that the mounting orientation is correct.
Prevent conductive items such as screws and metal fragments, or flammable substances such as oil
from entering the inverter.
Trial run
CAUTION
• To prevent unexpected equipment movement, confirm and adjust all required parameters prior to
starting operation.
Usage
WARNING
• Do not modify the equipment.
• Do not remove any inverter or option parts unless specifically instructed to do so in this manual.
CAUTION
• Performing a “parameter clear” or “all parameter clear” will reset all inverter parameters to their factory
default settings. After performing one of these operations, remember to reenter any custom parameter values prior to starting operation.
• To prevent damage from electric discharge, always touch a grounded piece of metal prior to touching
any equipment.
Maintenance, inspection and parts replacement
CAUTION
• Do not perform hi-pot tests on the equipment.
Disposal
CAUTION
• Contact the local or state environmental agency in your area for details on the disposal of electrical
components and packaging.
General instruction
For clarity purposes, illustrations in this manual man be drawn with covers or safety guards removed. Ensure all covers and safety guards are properly installed prior to starting operation.
IV
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Table of Contents
Table of Contents
About This Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Document History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Conventions & Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.
Pre-Operation Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1
General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2
Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4
Unpacking and Product Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4.1 Shipment Confirmation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4.2 Component Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1
Pre-installation Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2
Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3
Network Connector (DSUB, female) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4
LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.
Get Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.1
Physical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2
Download GSD file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3
Inverter setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4
GX Works (Q-CPU) Telegram 1 example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5
GX Works (Q-CPU) Telegram 102 example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.6
GX Works (Q-CPU) Acyclic communication example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.6.1 Reading a parameter (Sequence 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.6.2 Reading an array of parameters (Sequence 3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.6.3 Changing parameters (Sequence 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.7
GX Works (Q-CPU) Simple Ladder Telegram 1 example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.8
GX Works (Q-CPU) Simple Ladder Telegram 102 example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.9
GX Works (Q-CPU) Simple Ladder Acyclic communication example. . . . . . . . . . . . . . . . . . . . 54
3.9.1 Reading a parameter (Sequence 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.9.2 Changing parameters (Sequence 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.10
GX Works (FX-CPU) Telegram 1 example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.11
GX Works (FX-CPU) Telegram 102 example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
A8NDPV1 PROFIBUS Option Board
V
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VI
3.12
GX Works (FX-CPU) Acyclic communication example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.12.1 Reading a parameter (Sequence 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.12.2 Changing parameters (Sequence 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.13
TIA Portal Telegram 1 example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.14
TIA Portal Telegram 102 example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
3.15
TIA Portal Acyclic communication example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
3.15.1 Reading a parameter (Sequence 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
3.15.2 Changing parameters (Sequence 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
3.16
SIMATIC STEP7 example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
3.16.1 Creating a Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
3.16.2 Download Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
3.16.3 Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
3.17
Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
4.
Inverter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.1
Inverter Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117
4.2
Option Board Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117
4.3
Operation Mode Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
5.
Identifying Option Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
5.1
Set Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
6.
PROFIBUS DP-V1 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
6.1
General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
6.2
Electronic Data Sheet (GSD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
6.3
DAP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
6.4
I&M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
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7.
Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.1
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
7.2
Inverter parameters (Acyclic Data Exchange) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
7.3
Monitor Data (Acyclic and Cyclic Data Exchange) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
7.4
Drive Profile Parameters (Acyclic Data Exchange) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
7.4.1 PROFIdrive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
7.4.2 Setpoint- and Actual Value (P915/P916) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
7.4.3 Signal List (P923) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
7.4.4 Drive Reset (P972) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
7.5
General State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
7.6
Process Data (Cyclic Data Exchange). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
7.6.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
7.6.2 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
7.6.3 Telegram Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
7.6.4 Vendor Specific Access to Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
7.7
Acyclic Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136
7.7.1 Explanation of fields used in requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
7.7.2 Data format type table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
7.7.3 Error table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
7.7.4 Sequence 1: Request parameter value, single. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
7.7.5 Sequence 1: Parameter response positive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
7.7.6 Sequence 1: Parameter response negative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
7.7.7 Sequence 2: Change parameter value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
7.7.8 Sequence 2: Parameter response positive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
7.7.9 Sequence 2: Parameter response negative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
7.7.10 Sequence 3: Request parameter value, several array elements . . . . . . . . . . . . . . . .140
7.7.11 Sequence 3: Parameter response positive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140
7.7.12 Sequence 3: Parameter response negative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140
8.
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
9.
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
A.
Translation of Signal Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
A8NDPV1 PROFIBUS Option Board
VII
Table of Contents
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Doc.Id. HMSI-216-127
Doc.Rev. 1.00
About This Document
Related Documents
About This Document
For more information, documentation etc., please visit the ME website,
‘https://eu3a.mitsubishielectric.com’.
Related Documents
Document
Installation guideline of Mitsubishi inverter drive
Instruction manual of Mitsubishi inverter drive
Q Series Profibus Master QJ71PB92V manual: https://eu3a.mitsubishielectric.com/fa/
en/mymitsubishi/download_manager?id=1839
FX Series Profibus Master FX3U-64DP-M manual: https://eu3a.mitsubishielectric.com/
fa/en/mymitsubishi/download_manager?id=1862
GX Configurator-DP 7.10L Software Manual: https://eu3a.mitsubishielectric.com/fa/
en/mymitsubishi/download_manager?id=1404
Author
ME
ME
ME
ME
ME
Download
The following websites are available for downloads:
Website
https://eu3a.mitsubishielectric.com
http://www.meau.com/eprise/main/sites/public/Products/
Variable_Frequency_Drives/A800/default
GSD File:
https://eu3a.mitsubishielectric.com/fa/en/mymitsubishi/
download_manager?id=10168 (MyMitsubishi Login required)
GX Configurator DP 7.10L:
https://eu3a.mitsubishielectric.com/fa/en/mymitsubishi/
download_manager?id=10160 (MyMitsubishi Login required)
Profibus A800 function blocks:
https://eu3a.mitsubishielectric.com/fa/en/mymitsubishi/
download_manager?id=10172 (MyMitsubishi Login required)
Profibus A800 DPV1 function blocks:
https://eu3a.mitsubishielectric.com/fa/en/mymitsubishi/
download_manager?id=9189 (MyMitsubishi Login required)
Sample programs:
https://eu3a.mitsubishielectric.com/fa/en/mymitsubishi/
download_manager?id=10170 (MyMitsubishi Login required)
A8NDPV1 PROFIBUS Option Board
Region
EU
Americas
EU
EU
EU
EU
EU
1
Document History
About This Document
Document History
Summary of Recent Changes ( ... 1.00)
Change
Page(s)
Revision List
Revision
1.00
2
Date
03/2014
Author(s)
Chapter(s) Description
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About This Document
Conventions & Terminology
Conventions & Terminology
The following conventions are used throughout this manual:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘module’ refers to the communication module.
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
Support
MITSUBISHI ELECTRIC EUROPE
EUROPE B.V.
German Branch
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0) 21 02 / 486-0
Hotline: +49 2102 1805 000-765 /-766
Fax: +49 (0) 21 02 / 4 86-1 12 0
e-mail: [email protected]
https://eu3a.mitsubishielectric.com
MITSUBISHI ELECTRIC USA
AUTOMATION
500 Corporate Woods Parkway
Vernon Hills, Illinois 60061
Phone: +1 847-478-2100
Fax: +1 847-478- 0327
www.MEAU.com
MITSUBISHI ELECTRIC JAPAN
CORPORATION
Tokyo Bldg.
2-7-3 Marunouchi Chiyoda-Ku
Tokyo 100-8310
Phone: +81 (0) 3 / 32 18 31 76
Fax: +81 (0) 3 / 32 18 24 22
Please refer to the drive manual for other region contact addresses.
A8NDPV1 PROFIBUS Option Board
3
Support
About This Document
4
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Pre-Operation Instructions
1.
Pre-Operation Instructions
1.1
General
General
The FR-A800 series from Mitsubishi Electric (ME), is a family of frequency inverters. The communication modules, option boards, enabling communication on different industrial networks, are
developed and produced by HMS Industrial Networks.
Examples of applications for the frequency inverters are:
1.2
•
Lifting equipment
•
Warehouse systems
•
Extruders
•
Centrifuges
Product Overview
The A8NDPV1 PROFIBUS Option Board allows information to be transferred seamlessly between
an FR-A800 series inverter and a PROFIBUS network with minimal configuration requirements.
The interface installs directly onto the inverter’s control board, and presents a standard DSUB
port for connection to the PROFIBUS network.
The option board is connected directly to the control board of the inverter and communicates
with the inverter via a built-in communication port. Note that when the inverter’s network communication port is used by the A8NDPV1 PROFIBUS Option Board, it is unavailable for use by any
other network.
Before using the option board, please familiarize yourself with the product and be sure to thoroughly read the instructions and precautions contained in this manual. In addition, please make
sure that this instruction manual is delivered to the end user of the product, and keep this instruction manual in a safe place for future reference or unit inspection.
1.3
Features
•
•
PROFIBUS DPV1 communication according to IEC 61158 Type 3
Drive operation according to PROFIdrive V4.1 [PDTS]
– Supports Application class 1 functionality
•
Diagnostic support
•
Automatic baud rate detection
•
Baud rates up to 12 Mbit supported
•
Support for Set Slave Address (SSA) functionality, i.e. node address can be set from the network by a configuration tool or by a PROFIBUS master
•
Customized GSD-file provided
•
Up to 64 bytes of I/O data in each direction
A8NDPV1 PROFIBUS Option Board
5
Unpacking and Product Confirmation
Pre-Operation Instructions
1.4
Unpacking and Product Confirmation
1.4.1
Shipment Confirmation
Check the enclosed items. Confirm that the correct quantity of each item was received, and that
no damage occurred during shipment.
1.4.2
Component Overview
Included in the package are the following items.
Item
PCB board
No. of pcs
1
M# x 6 mm screw 3
Board spacer
2
LED cover
1
Note: this picture
only shows the
label, not the
cover!
PE plate
6
A8NDPV1
Network Status
Module Status
Error
1
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1.5
Environmental Specifications
Environmental Specifications
Item
Operating Temperature
Storage Temperature
Relative Humidity
Vibration
Grounding
Power Supply
Cooling Method
Communication Speed
Specification
-10º to +50º Celsius (ambient of the drive, non-freezing)
-40º to +65º Celsius
93% non condensing
Max acceleration amplitude: 10 m/s2 at 9 - 200 Hz
Max displacement amplitude: 3 mm at 2 - 9 Hz
Connected to inverter frame ground through the PE plate / isolated from
inverter control power common
Supplied from inverter
Self cooled
Up to 12 Mbit
The A8NPDPV1 interface is lead-free / RoHS-compliant.
A8NDPV1 PROFIBUS Option Board
7
Environmental Specifications
8
Pre-Operation Instructions
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Installation
Pre-installation Instructions
2.
Installation
2.1
Pre-installation Instructions
WARNING
To avoid damage to the inverter or plug-in option board, never install or remove a plug-in option board
while the inverter’s input power is on.
Make sure that the inverter’s power is OFF.
Physical installation of the option board is a two-step process. First, the card will be mounted
onto an available option connector on the inverter’s control board. Second, the card will be connected to the PROFIBUS network using a PROFIBUS cable.
2.2
Installation Procedure
햲 Make sure that power is off.
햳 Remove both lids of the FR-A800.
– Unscrew the two screws in the bottom corners of the inverter.
– Remove the lid covering the lower front of the inverter.
– Unscrew the screw in the bottom right corner of the lid covering the upper front of the inverter.
– Remove the lid.
A8NDPV1 PROFIBUS Option Board
9
Installation Procedure
Installation
햴 Put the included studs in the holes at the right top and left bottom corners of the PCB.
햵 Position the A8NDPV1 PROFIBUS Option Board at the option slot 1 as shown in the image. This
is the only position that will allow network connectivity.
3
2
1
햶 Fasten the option board by tightening the included screws at the left top and right bottom
corners. The PE plate is attached along with the screw in the right bottom corner.
Note:
10
Over-tightening the screws will damage the board.
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Installation Procedure
햷 Fasten the other end of the PE plate with another screw as shown in the picture.
햸 Attach the network cable to the network connector on the option board.
햹 To fit the LED cover on the front cover of the drive, do as follows:
– Cut the bridges, using nippers, on the upper front cover.
A8NDPV1 PROFIBUS Option Board
11
Network Connector (DSUB, female)
Installation
– Snap the LED cover into the front cover of the drive.
햺 Fasten both front covers, top front cover first.
The option board is now mounted and power can be applied.
Removal
햲 Remove both lids of the FR-A800 inverter.
햳 Remove the network cable.
햴 Remove the screws.
햵 Carefully remove the option board by lifting it straight up.
햶 Remove the board spacers.
햷 Replace the lids.
2.3
Network Connector (DSUB, female)
The option board provides connection to PROFIBUS through a female DSUB connector.
12
Pin
1
2
3
4
Name
NC
NC
RxD/TxD-P
CNTR-P
5
6
7
8
9
Shield
DGND
VP
NC
RxD/TxD-N
NC
PE
Description
Receive/Transmit data P; B-line
Repeater control signal (Direction control); RTS
signal
Data ground (Reference voltage to VP)
Power supply; (PSV)
5
9
female
female
1
6
Receive/Transmit data N; A-line
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2.4
LED Indicators
LED Indicators
A8NDPV1
Network Status
Module Status
Error
LED
Network status
State
Off
Green
Green, 1 flash
Red, 1 flash
Red, 2 flashes
Red
Module status
Off
Green
Green, 1 flash
Red
Error
Off
Red
Red, flashing (2 blinks)
Red, flashing (3 blinks)
A8NDPV1 PROFIBUS Option Board
Status
Offline or no power
Online, data exchange
Online, clear
Module initialized, parametrization error.
Module initialized, configuration error.
Fatal error. (Network status LED and Module status LED
will both be red.)
Not initialized: no power or setup not finished
Operational
Module initialized, diagnostic event(s) present
Exception error: the option board is in the exception
state. If the Network status LED also indicates solid red, a
fatal error has occurred.
Communication with main unit is working without
problems.
Error in communication with main unit
Invalid process data parameter mapped
Too many process data parameters mapped
13
LED Indicators
14
Installation
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Get Started
3.
Physical Installation
Get Started
All example programs described in this chapter are available for download from the MyMitsubishi website. See section “Download” on page 1 for a direct link.
3.1
Physical Installation
How to physically install the option board is described in “Installation Procedure” on page 9.
3.2
Download GSD file
Download the appropriate GSD file from the Mitsubishi Electric website, see section “Download”
on page 1 for a direct link.
3.3
Inverter setup
This chapter describes the first part of setting up a system using an A800 inverter controlled by
Profibus. It assumes that the A8NDPV1 option card has been installed correctly, and all inverter
parameters are set to default values. This setup will be used for all get started example programs.
The first step is to set the FDL address of the inverter Profibus slave. One way to do this is to set
parameter 1305 to the desired address, and parameter 1307 to 1. After restarting the inverter, the
option card will be available under the input address. The valid range for the FDL address is 0-125.
Parameter No.
1305
1307
Value
(1) FDL Address
(1)
The next step is to change the operation mode of the inverter to network mode. Do this, by leaving the default setting of parameter 79 (0), and setting parameter 340 to 1. After restarting the
inverter, it should operate in network mode. For detailed settings, please refer to A800 manual.
A8NDPV1 PROFIBUS Option Board
15
GX Works (Q-CPU) Telegram 1 example
3.4
Get Started
GX Works (Q-CPU) Telegram 1 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using
GX Works 2 with a QCPU and QJ71PB92V Profibus Master. GX Configurator DP 7.10L or newer is
required to perform the setup.
햲 Start with a new project.
햳 Select:
– Project type: Structured project;
– PLC Series: QCPU (Q mode);
– PLC type: select the cpu;
– Language: Structured Ladder/FBD.
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GX Works (Q-CPU) Telegram 1 example
햴 Add a new Intelligent Function Module from the menu on the left (right click and select new):
햵 In the new window, click Module Type and select “PROFIBUS-DP Module”. Module Name
should be set to QJ71PB92V. Save this setting by clicking OK.
A8NDPV1 PROFIBUS Option Board
17
GX Works (Q-CPU) Telegram 1 example
Get Started
햶 The Profibus-DP module should be inserted into the Intelligent Function Module tree. Expand
it, and double click on Parameter. This should open the Profibus Configurator.
햷 First setup the Profibus Master. Double click on the master module (in the screenshot visible
as “I/O no.:0x0 FDL:0 ‘QJ71PB92V’. This will bring up the “Master Parameters Wizard”.
햸 It is possible to change the Baudrate, FDL address and other settings as needed. For this tutorial these settings will not be changed. Click Next to proceed.
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GX Works (Q-CPU) Telegram 1 example
햹 On this screen the buffer devices, and data transfer between Profibus Master and CPU can be
changed. For this tutorial use AutoRefresh with Consistency. Click Finish to save settings and
close this wizard.
A8NDPV1 PROFIBUS Option Board
19
GX Works (Q-CPU) Telegram 1 example
Get Started
햺 In the Global GSD data section, expand drives and search for A8NDPV1. If it is not available,
right click and select Add GSD File. Search for the GSD File on the drive (included with this
manual), afterwards the A8NDPV1 should appear under drives. Drag this option to the Profibus Master, like on the screenshot.
The “Slave Parameters Wizard” should be shown. Enter a name, select 1 for FDL Address, and
make sure to select “Swap I/O Bytes in Master”. All other settings can remain as default. Click
Next to proceed.
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GX Works (Q-CPU) Telegram 1 example
햻 Select the communication protocol used to communicate with the option card. For this tutorial use “Standard Telegram 1”. Drag this option from the “Available Slave Modules” to “Project Slave Modules”. The A8NDPV1 supports only one module.
The result should be:
A8NDPV1 PROFIBUS Option Board
21
GX Works (Q-CPU) Telegram 1 example
Get Started
햽 Click Next to proceed. No changes are required on this screen, after clicking Next proceed to
the final screen and click Finish. The configured Profibus Slave should appear in the Profibus
Network window, like below.
햾 From the configurator’s left menu select POU Generation. This will create the user libraries
that can be used to control the inverter.
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GX Works (Q-CPU) Telegram 1 example
햿 From the GX Works 2 Navigation window, expand Program settings. There should be two
tasks under “No Execution Type” – MAIN and PROFIBUS. Drag both tasks to “Scan Program” to
allow them to execute.
A8NDPV1 PROFIBUS Option Board
23
GX Works (Q-CPU) Telegram 1 example
Get Started
헀 The POU Generation creates a library containing global variable definitions. The global label
name conflicts with the project global label name setup by default in GX Works 2. In order to
avoid conflict, change the name of the project global label from “Global1” to “Global”. If this
is not done, an error will occur upon compilation.
헁 The Profibus controller is setup and ready to run after compilation and write to the PLC. Proceed to write the program to get the inverter running under a set frequency.
헂 Go to the User Library section, select the library generated by Profibus configurator and expand Global Label section. Double click on the global variables “Global1”. Take note of the
name of the global variables representing the input and output parameters to the inverter
Profibus controller. In this case it should be “vHA0_input” and “vHA0_output”. Both are an array of two words containing:
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GX Works (Q-CPU) Telegram 1 example
– For vHA0_input: [0]=ZSW1, [1]=NIST_A.
– For vHA0_output: [0]=STW1, [1]=NSOLL_A.
헃 Return to the project section. From the MAIN Task, select the Program of POU_01. This Program should be blank, this is where the example user program will be written.
A8NDPV1 PROFIBUS Option Board
25
GX Works (Q-CPU) Telegram 1 example
Get Started
헄 After powering up the inverter and Profibus master, connection will be established. Expect to
see bit 6 (Switching on inhibated) set in ZSW1. Below is a simplified state diagram, dependent
on control word 1 (STW1).
General State Diagram
Power supply ON
S1: Switching ON Inhibited
ZSW1 bit 6 = true; 0, 1, 2, „p.e.“ a = false
OFF
AND No Coast Stop
AND No Quick Stop
STW1 bit 0 = false AND bit 1 = true
AND bit 2 = true
Coast Stop
OR Quick Stop b
STW1 bit 1 = false
OR bit 2 = false
ON
STW1 bit 0 = true
Standstill detected
OR
OFF
Disable Operation
STW1 bit 0 = false
STW1 bit 3 = false
Enable Operation
STW1 bit 3 = true
quick stop
Quick Stop
STW1 bit 2 = false
ramp stop
S3: Switched ON
ZSW1 bit 0, 1 = true, 2, 6, „p.e.“ = false
Coast Stop
STW1 bit 1 = false
Standstill
detected OR
Disable Operation
STW1 bit 3 = false
S5: Switching OFF
ZSW1 bit 0,1, „p.e.“ = true,
bit 2,6 = false
S2: Ready for Switching ON
ZSW1 bit 0 = true; 1, 2, 6, „p.e.“ = false
Coast Stop
OR Quick Stop
STW1 bit1 = false
OR bit 2 = false
Coast Stop
STW1 bit 1 = false
Disable Operation
STW1 bit 3 = false
ON
OFF b
Quick Stop
STW1 bit 0 = true STW1 bit 0 = false STW1 bit 2 = false
S4: Operation
ZSW1 bit 0, 1, 2, „p.e.“ = true; 6 = false
Control Word 1 (STW1) description
State / Bit combination Bit 10
Bit 3
Description
Switching on Inhibited
Ready To Switch On
Switched On
Operation
Rotation
Fault reset
Bit 7
Fault
Control By
acknowlPLC
edge
1
0 =>1
Bit 2
Bit 1
Bit 0
Enable
No quick
operation stop
No coast
stop
On
1
1
-
0
1
1
1
1
-
1
1
1
-
0
1
1
1
1
-
Set both No Coast Stop and No Quick Stop to reset the Switching On Inhibited bit in ZSW1. To
do this set bits 1 and 2 in STW1, that is global label vHA0_output[0].
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GX Works (Q-CPU) Telegram 1 example
Input the following ladder block to allow the inverter to enter “Ready For Switching On” status, after connection is established, and initialization command is given (M0).
헅 This initialization will result in setting bit 0 in ZSW1 (Ready To Switch On). It is now possible to
switch on the inverter, and start operation. To do this, enable bits 0 (ON/Off), 3 (enable operation), and 10 (Control By PLC) of STW1; while leaving bits 1 and 2 enabled.
At this moment it is also possible to set the desired rotation frequency. Assuming the motor
is rated for 50 Hz (inverter parameter 3) and a frequency of 10 Hz is requested, set 20% of the
rated motor speed to achieve this frequency. The value in Profidrive to allow full power is
16384, so setting 20% of this value (3276,8 round to 3277) will give the expected result. This
value shall be set in NSOLL_A.
Add the following ladder block to enable rotation command after initialization, and giving rotation command (M1).
헆 Finally add the code to stop the drive, when M1 is reset. In a new ladder block, check whether
the first 3 bits of ZSW1 are ON. This condition means that the drive is in operation mode. If this
condition is met, and M1 is not ON, reset the set point speed to zero, and set STW1 as 6.
A8NDPV1 PROFIBUS Option Board
27
GX Works (Q-CPU) Telegram 1 example
21
28
Get Started
Compile, and write the program and parameters to the PLC. After resetting the PLC, and powering up the inverter, set bits M0 and M1 to get the inverter running. Be sure to select the intelligent function module, like on the screenshot below.
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3.5
GX Works (Q-CPU) Telegram 102 example
GX Works (Q-CPU) Telegram 102 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using
GX Works 2 with a QCPU and QJ71PB92V Profibus Master. First perform the setup using
telegram 1.
햲 Enter the Profibus Configurator and double click on the inverter to bring up the Slave Parameters Wizard. Click Next to proceed.
A8NDPV1 PROFIBUS Option Board
29
GX Works (Q-CPU) Telegram 102 example
Get Started
햳 Select “Standard Telegram 1” in the Project Slave Modules section. Click the red ‘x’ above this
section to clear this slot.
햴 From the Available Slave Modules, drag “Telegram 102 (Custom)” to the Project Slave Modules section. Click Next to proceed.
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GX Works (Q-CPU) Telegram 102 example
햵 From the “select module” dropdown, select slot 0: Telegram 102 (Custom). It is now possible
to setup the input and outputs of the telegram. There are 18 inputs and outputs used in this
telegram, one of each is reserved for control/status word (leaving 17 inputs/outputs free for
custom setup).
A8NDPV1 PROFIBUS Option Board
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GX Works (Q-CPU) Telegram 102 example
Get Started
햶 The setup of the telegram is done by entering signal/parameter numbers into the right column. All monitor data can be viewed as input, and some of the profile parameters as input/
output. Please keep in mind, that not all parameters can be accessed via cyclic communication. The PROFIdrive parameter numbers (PNUs) available for use are listed in the Data Exchange subchapters 7.1to 7.4. An example setup is provided:
Slot
Output PZD/2
Input PZD/2
Input PZD/3
Input PZD/4
Input PZD/5
32
Description
Speed set point
Actual speed set point
Output frequency
Output voltage
Actual operation time
PNU
14317
14319
9193
9195
9215
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GX Works (Q-CPU) Telegram 102 example
햷 Click Next, and Finish to proceed. Complete the POU Generation, rebuild the project, and
write it to the PLC. The additional monitor data can be viewed in the appropriate position of
the vHA0_input array.
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GX Works (Q-CPU) Acyclic communication example
3.6
Get Started
GX Works (Q-CPU) Acyclic communication example
This chapter describes using acyclic communication through the A8NDPV1 Profibus option card
using GX Works 2 with a QCPU and QJ71PB92V Profibus Master. It contains examples of reading
and writing individual parameters, as well as arrays. First perform the setup using telegram 1.
The process of acyclic communication parameter read consists of a write request, and a response
read. For details please refer to the Acyclic Data Exchange subchapter 7.7. These operations are
done using libraries supplied with the QJ71PB92V module (lib_dpv1). To perform acyclic communication without this library, please refer to the Simple Ladder example (chapter “GX Works (QCPU) Simple Ladder Acyclic communication example” on page 54).
3.6.1
Reading a parameter (Sequence 1)
Creating the request
Start by preparing the content for the parameter read request. The data request has the following
format:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Value
0x01
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
Byte swapped PNU
Request reference is any valid number, this value is mirrored back in the response and can be
used to distinguish multiple requests. The parameter number needs to be byte swapped(the
SWAP instruction can be used to swap the lower and higher byte of a word).
In the code below requestParameterNo contains the unswapped parameter number, while requestParameterNoBS contains the byte swapped version. The content of the parameter request(DataToWrite), and the request to perform it (StartWrite), are shown in the screenshot
below:
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GX Works (Q-CPU) Acyclic communication example
Proceed to issue the actual request using a function block from the lib_dpv1 library. Pick any
Dpv1WriteCh* function block, using different channels allows for simultaneous communication
to multiple slaves.
Receiving the response
If the request is completed successfully (bit wDone is ON), then perform a response read after a
delay of 500ms. Due to the nature of Profidrive acyclic communication, the response may not be
immediately available after execution of the request. Waiting a small amount of time significantly
increases the chance of receiving a response on the first try. Another solution is to keep executing
read requests, until a proper read request is received.
It should also be noted, that 240 bytes can always be read using the Dpv1ReadCh* function
blocks. This is the maximum allowed length of a response. In case of a shorter response, only the
available data will be read.
If the response is received successfully (bit rDone is ON), then the received data can be accessed
from DataRead. The format of a positive response is as follows:
Byte no.
0
1
2
3
4
5
6-7
A8NDPV1 PROFIBUS Option Board
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Parameter value
Value
0x01
0x01-0xFF (same as in request)
0x01
0x01
0x01
See data format type table
Byte swapped parameter value
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GX Works (Q-CPU) Acyclic communication example
Get Started
Extract the parameter value from DataRead, and byte swap it to receive the actual value:
In case of a negative response, the format is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x81
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Byte swapped error value (see
error table)
Executing example requests
After compiling the program, and writing it to the PLC, it is possible to execute parameter read
requests. First, get the inverter running by setting bits M0 and M1. Now read the actual frequency
by writing PNU 9193 to requestParameterNo and setting bit requestParameter. The result should
be a value of 1000 in parameterValue which corresponds to 10Hz. The PROFIdrive parameter
numbers (PNUs) available for use are listed in the Data Exchange subchapters 7.1to 7.4.
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Try reading an inverter parameter, for example the FDL address of the inverter (parameter 1305
+ 5096 offset = PNU 6401). The expected result is 1. It is possible to read any inverter parameter
in this way.
3.6.2
Reading an array of parameters (Sequence 3)
Certain parameters are available in the form of an array. It is possible to access individual elements of the array be changing the subindex. It is also possible to retrieve multiple elements of
the array by executing sequence 3. This requires only changing byte no. 4 of the request (No. of
values) to the amount of array values wanted. The response will contain additional parameter
values added to the end of the response data.
Creating the request
For this example all 5 array elements of PNU 964 (Device identification) will be requested. Modify
the parameter request as described above:
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Reading the response
Modify the code reading the response data, to read all 5 elements, and byte swap each one. An
example procedure how to do this is shown below. The byte-swapped elements will be available
in the parameterValueArray.
Executing example request
After executing a request, the response data is available in the parameterValueArray variable.
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3.6.3
GX Works (Q-CPU) Acyclic communication example
Changing parameters (Sequence 2)
Creating the request
The format of the write request is as follows:
Byte no.
0
1
2
3
4
5
6-7
8-9
10
11
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Subindex (irrelevant)
No. of values
Format
12-13
Set value
Value
0x02
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
Byte swapped PNU
0x00
0x01
0x06 (UINTEGER16 for all inverter
parameters)
See data format type table
Byte swapped set value
Modify the ladder block preparing the content of the request.
Change the actual length of the write request. Change the length to 28 hex characters in the ladder block that executes the request.
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Reading the response
The length of the expected read response is up to 8 bytes.
Finally modify the ladder block processing the response data. A positive response consists of just
4 bytes of data in the following format:
Byte no.
0
1
2
3
Description
Request ID
Request reference
No. of parameters
DO-ID
Value
0x02
0x01-0xFF (same as in request)
0x01
0x01
In case of a negative response, the format is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x82
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Byte swapped error value (see
error table)
After a successful response is received (bit rDone is ON), check the length of the received response to determine, whether the parameter write request was processed successfully. If the
length (rDataLengthRead) is equal to 4, set a bit indicating a successful parameter write. If this is
not true, a bit indicating parameter write failure shall be set, and the error code shall be extracted
to variable parameterWriteErrorCode.
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Executing example requests
To perform a parameter write, set the PNU of the parameter to change in requestParameterNo. As
an example, to change parameter 15 (Jog frequency), add the offset 5096 and write the result to
this variable. Set variable requestParameterValue to the requested value. The value that will be
set, will be the output of multiplication of the set value, and the minimum setting increments, as
according to the parameter list in the inverter manual. For parameter 15, the minimum setting
increment is 0.01Hz. If a jog frequency of 5Hz is requested, set requestParameterValue to 500. Finally execute the request by setting bit requestParameter to ON. A successful write will result in
setting of the parameterWriteSuccess bit.
Test receiving a negative response, by trying to write an out of range value. After trying to write
0xFFFF as the value of parameter 15, a negative response with error code 0x02
(LOW_OR_HIGH_LIMIT_EXCEEDED) will be received, which is the expected behavior.
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GX Works (Q-CPU) Simple Ladder Telegram 1 example
3.7
Get Started
GX Works (Q-CPU) Simple Ladder Telegram 1 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using
GX Works 2 in Simple Ladder mode with a QCPU and QJ71PB92V Profibus Master. GX Configurator DP 7.10L or newer is required to perform the setup.
햲 Start with a new project in simple ladder mode. Select:
– Project type: Simple project;
– PLC Series: QCPU (Q mode);
– PLC type: select the cpu;
– Language: Ladder.
햳 Add a new Intelligent Function Module from the menu on the left (right click and select new):
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햴 In the new window, click Module Type and select “PROFIBUS-DP Module”. Module Name
should be set to QJ71PB92V. Save this setting by clicking OK.
햵 The Profibus-DP module should be inserted into the Intelligent Function Module tree. Expand
it, and double click on Parameter. This should open the Profibus Configurator.
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햶 First setup the Profibus Master. Double click on the master module (in the screenshot visible
as “I/O no.:0x0 FDL:0 ‘QJ71PB92V’. This will bring up the “Master Parameters Wizard”.
햷 The Baudrate, FDL address and other settings can be changed as needed. For this tutorial
these settings will not be changed. Click Next to proceed.
햸 On this screen it is possible to change the buffer devices, and data transfer between Profibus
Master and CPU. For this tutorial use AutoRefresh with Consistency. Click Finish to save settings and close this wizard.
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햹 In the Global GSD data section, expand drives and search for A8NDPV1. If it is not available,
right click and select Add GSD File. Search for the GSD File on the drive (included with this
manual), afterwards the A8NDPV1 should appear under drives. Drag this option to the Profibus Master, like on the screenshot.
The “Slave Parameters Wizard” should now be shown. Enter a name, select 1 for FDL Address,
and make sure to select “Swap I/O Bytes in Master”. All other settings can remain as default.
Click Next to proceed.
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햺 Select the communication protocol used to communicate with the option card. For this tutorial use “Standard Telegram 1”. Drag this option from the “Available Slave Modules” to “Project Slave Modules”. The A8NDPV1 supports only one module.
The result should be:
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햻 Click Next to proceed. No changes are required on this screen. After clicking Next proceed to
the final screen and click Finish. The configured Profibus Slave should appear in the Profibus
Network window, like below.
햽 As of now, the Profibus controller is setup and ready to run after compilation and write to the
PLC. Proceed to write the program to get the inverter running under a set frequency. Below
is a table of PLC devices and their corresponding meaning in PROFIdrive
Device
D1000 (input)
D1001 (input)
D2000 (output)
D2001 (output)
Description
ZSW1
NIST_A
STW1
NSOLL_A
햾 Start the ladder program by initializing Profibus communication.
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햿 After powering up the inverter and Profibus master, connection will be established. Expect to
see bit 6 (Switching on inhibated) set in ZSW1. Refer to the simplified state diagram (chapter
GX Works (Q-CPU) Telegram 1 example), dependent on control word 1 (STW1).
Control Word 1 (STW1) description
State / Bit combination Bit 10
Bit 3
Description
Switching on Inhibited
Ready To Switch On
Switched On
Operation
Rotation
Fault reset
Bit 7
Fault
Control By
acknowlPLC
edge
1
0=>1
Bit 2
Bit 1
Bit 0
Enable
No quick
operation stop
No coast
stop
On
1
1
-
0
1
1
1
1
-
1
1
1
-
0
1
1
1
1
-
Both No Coast Stop and No Quick Stop need to be set to reset the Switching On Inhibited bit
in ZSW1. To do this set bits 1 and 2 in STW1, that is D2000.
Input the following ladder to allow the inverter to enter “Ready For Switching On” status, after
connection is established, and initialization command is given (M0).
헀 This initialization will result in setting bit 0 in ZSW1 (Ready To Switch On). Switch on the inverter, and start operation. To do this enable bits 0 (ON/Off), 3 (enable operation), and 10
(Control By PLC) of STW1; while leaving bits 1 and 2 enabled.
헁 At this moment it is also possible to set the desired rotation frequency. Assuming the motor
is rated for 50 Hz (inverter parameter 3) and a frequency of 10 Hz is requested, set 20% of the
rated motor speed to achieve this frequency. The value in Profidrive to allow full power is
16384, so setting 20% of this value (3276,8 round to 3277) will give the expected result. This
value shall be set in NSOLL_A (D2001).
Add the following ladder block to enable rotation command after initialization, and giving rotation command (M1).
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헂 Finally add the code to stop the drive, when M1 is reset. Check whether the first 3 bits of ZSW1
are ON. This condition means that the drive is in operation mode. If this condition is met, and
M1 is not ON, reset the set point speed to zero, and set STW1 as 6.
헃 Compile, and write the program and parameters to the PLC. Be sure to select the intelligent
function module, like on the screenshot below.
After resetting the PLC, and powering up the inverter set bits M0 and M1 to get the inverter
up and running.
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GX Works (Q-CPU) Simple Ladder Telegram 102 example
3.8
Get Started
GX Works (Q-CPU) Simple Ladder Telegram 102 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using
GX Works 2 in Simple Ladder mode with a QCPU and QJ71PB92V Profibus Master. First perform
the setup using telegram 1.
햲 Enter the Profibus Configurator and double click on the inverter to bring up the Slave Parameters Wizard. Click Next to proceed.
햳 Select “Standard Telegram 1” in the Project Slave Modules section. Click the red ‘x’ above this
section to clear this slot.
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햴 From the Available Slave Modules, drag “Telegram 102 (Custom)” to the Project Slave Modules section. Click Next to proceed.
햵 From the “select module” dropdown, select slot 0: Telegram 102 (Custom). It is now possible
to setup the input and outputs of the telegram. There are 18 inputs and outputs used in this
telegram, one of each is reserved for control/status word (leaving 17 inputs/outputs free for
custom setup).
햶 The setup of the telegram is done by entering signal/parameter numbers into the right column. All monitor data can be viewed as input, and some of the profile parameters as input/
output. Please keep in mind, that not all parameters can be accessed via cyclic communication. The PROFIdrive parameter numbers (PNUs) available for use are listed in the Data Exchange subchapters 7.1to 7.4. Below is an example setup:
Slot
Output PZD/2
Input PZD/2
Input PZD/3
Input PZD/4
Input PZD/5
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Description
Speed set point
Actual speed set point
Output frequency
Output voltage
Actual operation time
PNU
14317
14319
9193
9195
9215
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햷 Click Next, and Finish to proceed. Save the project, and write it to the PLC. The additional monitor data can be viewed in the appropriate buffer device. To view the devices that are occupied by Profibus, double click on the Profibus master to bring up the Master Parameters
Wizard and click Next. The buffer devices section displays which device addresses are occupied.
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GX Works (Q-CPU) Simple Ladder Acyclic communication example
3.9
Get Started
GX Works (Q-CPU) Simple Ladder Acyclic
communication example
This chapter describes using acyclic communication through the A8NDPV1 Profibus option card
using GX Works 2 in Simple Ladder mode with a QCPU and QJ71PB92V Profibus Master. It contains examples of reading and writing individual parameters. First perform the setup using telegram 1. For additional information refer to the QJ71PB92V manual.
The process of acyclic communication parameter read consists of a write request, and a response
read. For details please refer to the Acyclic Data Exchange subchapter 7.7.
3.9.1
Reading a parameter (Sequence 1)
Creating the request
The first part of the program should read the acceptance/completion status of the acyclic request. This can be done with the following code:
Prepare the content for the parameter read request. The data request has the following format:
Byte no.
0
1
2
3
4
5
6-7
54
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Value
0x01
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
Byte swapped PNU
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Request reference is any valid number, this value is mirrored back in the response and can be
used to distinguish multiple requests. The parameter number needs to be byte swapped (the
SWAP instruction can be used to swap the lower and higher byte of a word). Below is an example
on how to prepare the request data:
The code above (after executing the write to the Profibus slave) will return information regarding
the success of making the request, not the actually requested data. Before making the actual request, prepare the data for the read request:
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In the program there is a delay of 500ms between receiving confirmation of the write request,
and executing the read request. Due to the nature of Profidrive acyclic communication, the response may not be immediately available after execution of the request. Waiting a small amount
of time significantly increases the chance of receiving a response on the first try. Another solution
is to keep executing read requests, until a proper read request is received.
Finally include the code that executes the prepared request:
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Receiving the response
The requests are completed after buffer memory bit G25120.0 turns ON. Successful completion
is achieved if buffer memory G25121 is equal to 0xA400 for read request and 0xA401 for write request.
After the write request is executed successfully, expect G25121 (D3000) to equal 0xA401. Set M11
to continue the sequence and issue the read request. This time a value of 0xA400 means a successful execution. The received data starts from buffer memory address G25127 (D3006). In buffer memory G25121-25126 (D3000-D3005) data regarding the acyclic request is held, as described
in the QJ71PB92V manual. The format of a positive response is as follows:
Byte no.
0
1
2
3
4
5
6-7
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Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Parameter value
Value
0x01
0x01-0xFF (same as in request)
0x01
0x01
0x01
See data format type table
Byte swapped parameter value
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In case of a negative response, the format is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x81
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Byte swapped error value (see
error table)
The parameter value (or error value) can be therefore read from D3008. This value is byte
swapped and saved to address D3502.
Executing example requests
In the code above the following devices are used:
Device
M5
M10
M11
M100 – M108
D3000
D3001 – D3013
D3500
D3501
D3502
Description
Perform acyclic request
Trigger sequence / Prepare write request
Continue sequence / Prepare read request
Acceptance/completion status
Acyclic response code
PROFIdrive response data (byte swapped)
PNU to read
Byte-swapped PNU no.
PNU value
After compiling the program, and writing it to the PLC, it is possible to execute parameter read
requests. First, get the inverter running by setting bits M0 and M1. Now read the actual frequency
by writing PNU 9193 to D3500 and setting bit M10. The result should be a value of 1000 in 3502
which corresponds to 10Hz. The PROFIdrive parameter numbers (PNUs) available for use are listed in the Data Exchange subchapters 7.1 to 7.4.
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3.9.2
GX Works (Q-CPU) Simple Ladder Acyclic communication example
Changing parameters (Sequence 2)
Creating the request
The idea of executing a change (write) of a PNU is the same as reading one. The only difference
is the change of the data request / response.
The format of the write request is as follows:
Byte no.
0
1
2
3
4
5
6-7
8-9
10
11
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Subindex (irrelevant)
No. of values
Format
12-13
Set value
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Value
0x02
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
Byte swapped PNU
0x00
0x01
0x06 (UINTEGER16 for all inverter parameters)
See data format type table
Byte swapped set value
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Modify the content of the write request.
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Modify the read request:
Modify the execution of the request:
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Reading the response
A positive response consists of just 4 bytes of data in the following format:
Byte no.
0
1
2
3
Description
Request ID
Request reference
No. of parameters
DO-ID
Value
0x02
0x01-0xFF (same as in request)
0x01
0x01
In case of a negative response, the format is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x82
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Byte swapped error value (see
error table)
The requests are completed after buffer memory bit G25120.0 turns ON. Successful completion
is achieved if buffer memory G25121 is equal to 0xA400 for read request and 0xA401 for write request. If the write request is executed successfully, the program will continue with the read request, and if this is also successful bit M12 will be set ON to process the response.
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If a successful parameter write request was performed (request ID = 0x02), bit M14 shall turn on.
In case of a failure (request ID = 0x82) bit M13 will be ON, and the error code will be stored in
D3504.
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Executing example requests
In this program the following devices are used:
Device
M5
M10
M11
M13
M14
M100 – M108
D3000
D3001 – D3013
D3500
D3501
D3502
D3503
D3504
Description
Perform acyclic request
Trigger sequence / Prepare write request
Continue sequence / Prepare read request
Parameter write failed
Parameter write success
Acceptance/completion status
Acyclic response code
PROFIdrive response data
PNU to change
Byte-swapped PNU no.
PNU value to set
Byte-swapped PNU value to set
PROFIdrive error value
To perform a parameter write, set the PNU of the parameter to change in D3500. In order to
change parameter 15 (Jog frequency), add the offset 5096 and write the result to D3500. Set
D3502 to the requested value. The value that will be set, will be the output of multiplication of the
set value, and the minimum setting increments, as according to the parameter list in the inverter
manual. For parameter 15, the minimum setting increment is 0.01Hz. If a jog frequency of 5Hz is
requested, set D3502 to 500. Finally execute the request by setting bit M10 to ON. A successful
write will result in setting of the M14 bit.
Test receiving a negative response, by trying to write an out of range value. After trying to write
0xFFFF as the value of parameter 15, a negative response with error code 0x02
(LOW_OR_HIGH_LIMIT_EXCEEDED) will be received, which is the expected behavior.
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3.10
GX Works (FX-CPU) Telegram 1 example
GX Works (FX-CPU) Telegram 1 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using
GX Works 2 (version 1.501X or newer) with a FXCPU and FX3U-64DP-M Profibus Master. GX Configurator DP 7.10L or newer is required to perform the setup.
햲 Start with a new project.
Select:
– Series: FXCPU;
– PLC type: Select the cpu;
– Project type: Structured project;
– Language: Structured Ladder/FBD.
햳 Add a new Special Module (Intelligent Function Module) from the menu on the left (right click
and select new):
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햴 In the new window, click Module Type and select “PROFIBUS-DP Module”. Module Name
should be set to FX3U-64DP-M. Save this setting by clicking OK.
햵 The Profibus-DP module should be inserted into the Intelligent Function Module tree. Expand
it, and double click on Parameter. This should open the Profibus Configurator.
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햶 First setup the Profibus Master. Double click on the master module (in the screenshot visible
as “Slot:0x0/FDL:0 ‘FX3U-64DP-M”. This will bring up the “Master Parameters Wizard”.
햷 It is possible to change the Baudrate, FDL address and other settings as needed. For this tutorial these settings will not be changed. Click Next to proceed.
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햸 On this screen the buffer devices, and data transfer between Profibus Master and CPU can be
changed. For this tutorial use AutoRefresh with Consistency. Click Finish to save settings and
close this wizard.
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햹 In the Global GSD data section, expand drives and search for A8NDPV1. If it is not available,
right click and select Add GSD File. Search for the GSD File on the drive (included with this
manual), afterwards the A8NDPV1 should appear under drives. Drag this option to the Profibus Master, like on the screenshot.
The “Slave Parameters Wizard” should be shown. Enter a name, select 1 for FDL Address, and
make sure to select “Swap I/O Bytes in Master”. All other settings can remain as default. Click
Next to proceed.
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햺 Select the communication protocol used to communicate with the option card. For this tutorial use “Standard Telegram 1”. Drag this option from the “Available Slave Modules” to “Project Slave Modules”. The A8NDPV1 supports only one module.
The result should be:
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햻 Click Next to proceed. No changes are required on this screen, after clicking Next proceed to
the final screen and click Finish. The configured Profibus Slave should appear in the Profibus
Network window, like below.
햽 From the configurator’s left menu select POU Generation. This will create the user libraries
that can be used to control the inverter.
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햾 The POU Generation creates a library containing global variable definitions. The global label
name conflicts with the project global label name setup by default in GX Works 2. In order to
avoid conflict, change the name of the project global label from “Global1” to “Global”. If this
is not done, an error will occur upon compilation.
햿 The Profibus controller is setup and ready to run after compilation and write to the PLC. Proceed to write the program to get the inverter running under a set frequency.
헀 Go to the User Library section, select the library generated by Profibus configurator and click
on the lock pad icon to unlock it.
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헁 Enter the global label definition file and modify the label names to your liking. To allow easy
following of this tutorial, please use the names like on the screenshot below:
헂 The data is defined as follows :
– For A800_In: [0] = ZSW1, [1] = NIST_A.
– For A800_Out: [0] = STW1, [1] = NSOLL_A.
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GX Works (FX-CPU) Telegram 1 example
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헃 Return to the project section. From the MAIN Task, select the Program of POU_01. This Program should be blank, this is where the example user program will be written.
헄 After powering up the inverter and Profibus master, connection will be established. Expect to
see bit 6 (Switching on inhibated) set in ZSW1. For details refer to chapter 7.5 "General State
Diagram"
Set both No Coast Stop and No Quick Stop to reset the Switching On Inhibited bit in ZSW1. To
do this set bits 1 and 2 in STW1, that is global label vHA0_output[0].
Input the following ladder block to allow the inverter to enter “Ready For Switching On” status, after connection is established, and initialization command is given (M0).
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헅 This initialization will result in setting bit 0 in ZSW1 (Ready To Switch On). It is now possible to
switch on the inverter, and start operation. To do this, enable bits 0 (ON/Off), 3 (enable operation), and 10 (Control By PLC) of STW1; while leaving bits 1 and 2 enabled.
At this moment it is also possible to set the desired rotation frequency. Assuming the motor
is rated for 50 Hz (inverter parameter 3) and a frequency of 10 Hz is requested, set 20% of the
rated motor speed to achieve this frequency. The value in Profidrive to allow full power is
16384, so setting 20% of this value (3276,8 round to 3277) will give the expected result. This
value shall be set in NSOLL_A.
Add the following ladder block to enable rotation command after initialization, and giving rotation command (M1).
헆 Finally add the code to stop the drive, when M1 is reset. In a new ladder block, check whether
the first 3 bits of ZSW1 are ON. This condition means that the drive is in operation mode. If this
condition is met, and M1 is not ON, reset the set point speed to zero, and set STW1 as 6.
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21
Get Started
Compile, and write the program and parameters to the PLC. Be sure to select the intelligent
function module, like on the screenshot below.
If this option is not visible, then the firmware on your FX3U-64DP-M module does not support
the new intelligent module function. Please upgrade the firmware, or download the module
setup using the standalone GX Configurator DP.
After resetting the PLC, and powering up the inverter, set bits M0 and M1 to get the inverter
running.
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3.11
GX Works (FX-CPU) Telegram 102 example
GX Works (FX-CPU) Telegram 102 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using
GX Works 2 (version 1.501X or newer) with a FXCPU and FX3U-64DP-M Profibus Master.
햲 Enter the Profibus Configurator and double click on the inverter to bring up the Slave Parameters Wizard. Click Next to proceed.
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햳 Select “Standard Telegram 1” in the Project Slave Modules section. Click the red ‘x’ above this
section to clear this slot.
햴 From the Available Slave Modules, drag “Telegram 102 (Custom)” to the Project Slave Modules section. Click Next to proceed.
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햵 From the “select module” dropdown, select slot 0: Telegram 102 (Custom). It is now possible
to setup the input and outputs of the telegram. There are 18 inputs and outputs used in this
telegram, one of each is reserved for control/status word (leaving 17 inputs/outputs free for
custom setup).
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햶 The setup of the telegram is done by entering signal/parameter numbers into the right column. All monitor data can be viewed as input, and some of the profile parameters as input/
output. Please keep in mind, that not all parameters can be accessed via cyclic communication. The PROFIdrive parameter numbers (PNUs) available for use are listed in the Data Exchange subchapters 7.1 to 7.4. An example setup is provided:
Slot
Output PZD/2
Input PZD/2
Input PZD/3
Input PZD/4
Input PZD/5
80
Description
Speed set point
Actual speed set point
Output frequency
Output voltage
Actual operation time
PNU
14317
14319
9193
9195
9215
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GX Works (FX-CPU) Telegram 102 example
햷 Click Next, and Finish to proceed. Complete the POU Generation and rename the global labels
inside the library like before. Rebuild the project, and write it to the PLC. The additional monitor data can be viewed in the appropriate position of the A800_In array.
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GX Works (FX-CPU) Acyclic communication example
3.12
Get Started
GX Works (FX-CPU) Acyclic communication example
This chapter describes using acyclic communication through the A8NDPV1 Profibus option card
using GX Works 2 with a FXCPU and FX3U-64DP-M Profibus Master. It contains examples of reading and writing individual parameters. First perform the setup using telegram 1.
The process of acyclic communication parameter read consists of a write request, and a response
read. For details please refer to the Acyclic Data Exchange subchapter 7.7.
3.12.1
Reading a parameter (Sequence 1)
Creating the request
Start by preparing the content for the parameter read request. The data request has the following
format:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Value
0x01
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
Byte swapped PNU
Request reference is any valid number, this value is mirrored back in the response and can be
used to distinguish multiple requests. The parameter number needs to be byte swapped(the
SWAP instruction can be used to swap the lower and higher byte of a word).
In the code below requestParameterNo contains the unswapped parameter number, while requestParameterNoBS contains the byte swapped version. The content of the parameter request(DataToWrite), and the request to perform it (StartWrite), are shown in the screenshot
below:
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Proceed to issue the actual request by setting the appropriate BFMs. Set the slave address, slot
number, target index, length of data and transfer the data of the request that was prepared
above. Finally set the acyclic write request flag (BFM#4510).
Receiving the response
When the write request has been processed, BFM#4510 will be equal to 0. If the request is completed successfully (BFM#7000 is equal to 0), then perform a response read. In case of an error,
read the error details from BFM#7008. For an explanation of the error codes refer to the FX3U64DP-M user manual.
To issue the read request, set the slave address, slot number, target index, and length of data of
the expected response. It should be noted, that 240 bytes can always be read. This is the maximum allowed length of a response. In case of a shorter response, only the available data will be
read.
When the read request has been processed, BFM#4500 will be equal to 0. Similarly like before
BFM#7000 will be checked for any errors.
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If the read request was completed successfully, the requested data will be available starting from
BFM#4524.
Proceed to process the received response. The format of a positive response is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Parameter value
Value
0x01
0x01-0xFF (same as in request)
0x01
0x01
0x01
See data format type table
Byte swapped parameter value
In case of a negative response, the format is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x81
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Byte swapped error value (see
error table)
First check the received request ID to identify the type of received response (positive or negative).
Set bit parameterReadError in case of a negative response, and write the error code to variable parameterValue. If a positive response was received, set bit parameterReadSuccess and write the
read parameter value to parameterValue.
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Executing example requests
After compiling the program, and writing it to the PLC, it is possible to execute parameter read
requests. First, get the inverter running by setting bits M0 and M1. Now read the actual frequency
by writing PNU 9193 to requestParameterNo and setting bit requestParameter. The result should
be a value of 1000 in parameterValue which corresponds to 10Hz. The PROFIdrive parameter
numbers (PNUs) available for use are listed in the Data Exchange subchapters 7.1 to 7.4.
Try reading an inverter parameter, for example the FDL address of the inverter (parameter 1305
+ 5096 offset = PNU 6401). The expected result is 1. It is possible to read any inverter parameter
in this way.
3.12.2
Changing parameters (Sequence 2)
Creating the request
The format of the write request is as follows:
Byte no.
0
1
2
3
4
5
6-7
8-9
10
11
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Subindex (irrelevant)
No. of values
Format
12-13
Set value
A8NDPV1 PROFIBUS Option Board
Value
0x02
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
Byte swapped PNU
0x00
0x01
0x06 (UINTEGER16 for all inverter
parameters)
See data format type table
Byte swapped set value
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Modify the ladder block preparing the content of the request.
Change the actual length of the write request. Change the length to 28 bytes, and change the
amount of words to transfer (7 words) starting from BFM#5764.
Reading the response
The length of the expected read response is up to 8 bytes. The ladder block responsible for waiting for completion of the write request, and issuing the read request does not change.
Finally modify the ladder block processing the response data. A positive response consists of just
4 bytes of data in the following format:
Byte no.
0
1
2
3
86
Description
Request ID
Request reference
No. of parameters
DO-ID
Value
0x02
0x01-0xFF (same as in request)
0x01
0x01
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In case of a negative response, the format is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x82
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Byte swapped error value
(see error table)
After a successful response is received (BFM#7000 equals 0), check the received request ID to determine, whether the parameter write request was processed successfully.
If the request ID is equal to H02, a positive response was received, and the parameter write was
successful (bit parameterWriteSuccess is set). In case of a negative response (request ID is equal to
H82), bit parameterWriteError is set and the error code is saved to variable errorValue.
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Executing example requests
To perform a parameter write, set the PNU of the parameter to change in requestParameterNo. As
an example, to change parameter 15 (Jog frequency), add the offset 5096 and write the result to
this variable. Set variable requestParameterValue to the requested value. The value that will be
set, will be the output of multiplication of the set value, and the minimum setting increments, as
according to the parameter list in the inverter manual. For parameter 15, the minimum setting
increment is 0.01Hz. If a jog frequency of 5Hz is requested, set requestParameterValue to 500. Finally execute the request by setting bit requestParameter to ON. A successful write will result in
setting of the parameterWriteSuccess bit.
Test receiving a negative response, by trying to write an out of range value. After trying to write
0xFFFF as the value of parameter 15, a negative response with error code 0x02
(LOW_OR_HIGH_LIMIT_EXCEEDED) will be received, which is the expected behavior.
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3.13
TIA Portal Telegram 1 example
TIA Portal Telegram 1 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using TIA
Portal.
햲 Start with a new project.
햳 Select Add new device from the Project tree section. In the new window select the PLC and
click OK to add it to the project.
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햴 Now add the power supply. Select the power supply from the hardware catalog on the right
side of the screen.
햵 From the top menu select Options and Install general station description file (GSD). Search for
the GSD file supplied with this manual, click install and follow instructions to add the option
card to the hardware library.
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햶 After finishing installation and returning to the main window, switch to Network view.
햷 From the hardware catalog on the right side of the screen, expand Other field devices =>
Profibus DP => Drives => HMS Industrial Networks => A8NDPV1 and add A8NDPV1 to the
project by dragging it to an empty space.
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햸 Drag a line from the slave connection node to the PLC connection node to make the PROFIBUS connection.
The result should look like below:
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햹 Double click on the slave to enter device view. From the hardware catalog expand Other field
devices => Profibus DP => Drives => HMS Industrial Networks => A8NDPV1 and drag Standard Telegram 1 to the available slot.
햺 Change the I address and Q address to start at 0.
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햻 Double click on Slave_1 from the device view to bring up the Properties panel. Select PROFIBUS Address and enter 1 in the address field.
햽 From the project tree select Program blocks and double click on Main to start editing the program. With this setup STW1 is available under QW0, NSOLL_A under QW2, ZSW1 under IW0,
and NIST_A under IW2.
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햾 After powering up the inverter and Profibus master, connection will be established. Expect to
see bit 6 (Switching on inhibited) set in ZSW1. Below is a simplified state diagram, dependent
on control word 1 (STW1).
General State Diagram
Power supply ON
S1: Switching ON Inhibited
ZSW1 bit 6 = true; 0, 1, 2, „p.e.“ a = false
OFF
AND No Coast Stop
AND No Quick Stop
STW1 bit 0 = false AND bit 1 = true
AND bit 2 = true
Coast Stop
OR Quick Stop b
STW1 bit1 = false
OR bit 2 = false
ON
STW1 bit 0 = true
Standstill detected
OR
OFF
Disable Operation
STW1 bit 0 = false
STW1 bit 3 = false
Enable Operation
STW1 bit 3 = true
quick stop
Quick Stop
STW1 bit 2 = false
ramp stop
S3: Switched ON
ZSW1 bit 0, 1 = true, 2, 6, „p.e.“ = false
Coast Stop
STW1 bit 1 = false
Standstill
detected OR
Disable Operation
STW1 bit 3 = false
S5: Switching OFF
ZSW1 bit 0,1, „p.e.“ = true,
bit 2,6 = false
S2: Ready for Switching ON
ZSW1 bit 0 = true; 1, 2, 6, „p.e.“ = false
Coast Stop
OR Quick Stop
STW1 bit1 = false
OR bit 2 = false
Coast Stop
STW1 bit 1 = false
Disable Operation
STW1 bit 3 = false
ON
OFF b
Quick Stop
STW1 bit 0 = true STW1 bit 0 = false STW1 bit 2 = false
S4: Operation
ZSW1 bit 0, 1, 2, „p.e.“ = true; 6 = false
Control Word 1 (STW1) description
State / Bit combination Bit 10
Bit 3
Description
Switching on Inhibited
Ready To Switch On
Switched On
Operation
Rotation
Fault reset
Bit 7
Fault
Control By
acknowlPLC
edge
1
0 =>1
Bit 2
Bit 1
Bit 0
Enable
No quick
operation stop
No coast
stop
On
1
1
-
0
1
1
1
1
-
1
1
1
-
0
1
1
1
1
-
Both No Coast Stop and No Quick Stop need to be set to reset the Switching On Inhibited bit
in ZSW1. To do this set bits 1 and 2 in STW1, that is bit 1 and 2 in QW0.
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Input the following ladder block to allow the inverter to enter “Ready For Switching On” status, after connection is established, and initialization command is given (M0.0).
햿 This initialization will result in setting bit 0 in ZSW1 (Ready To Switch On). It is now possible to
switch on the inverter, and start operation. To do this, enable bits 0 (ON/Off), 3 (enable operation), and 10 (Control By PLC); while leaving bits 1 and 2 enabled.
헀 At this moment it is also possible to set the desired rotation frequency. Assuming the motor
is rated for 50 Hz (inverter parameter 3) and a frequency of 10 Hz is requested, set 20% of the
rated motor speed to achieve this frequency. The value in Profidrive to allow full power is
16384, so setting 20% of this value (3276,8 round to 3277) will give the expected result. This
value shall be set in NSOLL_A.
Add the following ladder block to enable rotation command after initialization, and giving rotation command (M0.1).
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헁 Finally add the code to stop the drive, when M0.1 is reset. In a new ladder block, check whether the first 3 bits of ZSW1 are ON. This condition means that the drive is in operation mode. If
this condition is met, and M1 is not ON, reset the set point speed to zero, and set STW1 as 6.
헂 Compile, and write the program and parameters to the PLC. After resetting the PLC, and powering up the inverter set bits M0.0 and M0.1 to get the inverter running with the requested set
speed.
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TIA Portal Telegram 102 example
3.14
Get Started
TIA Portal Telegram 102 example
This chapter describes running the inverter through the A8NDPV1 Profibus option card using Siemens TIA. First perform the setup using telegram 1.
햲 Enter the device view of the PROFIBUS option card slave and delete Standard Telegram 1 from
the device overview.
햳 Now drag Telegram 102 (Custom) from the Hardware Catalog to the empty slot. Change the
starting I and Q address to 0.
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햴 After double clicking on the telegram, setup the input and outputs of the telegram. There are
18 inputs and outputs used in this telegram, one of each is reserved for control/status word
(leaving 17 inputs/outputs free for custom setup).
The setup of the telegram is done by entering signal/parameter numbers into the right column. All monitor data can be viewed as input, and some of the profile parameters as input/
output. Please keep in mind, that not all parameters can be accessed via cyclic communication. The PROFIdrive parameter numbers (PNUs) available for use are listed in the Data Exchange subchapters 7.1to 7.4. An example setup is provided below:
Slot
Output PZD/2
Input PZD/2
Input PZD/3
Input PZD/4
Input PZD/5
A8NDPV1 PROFIBUS Option Board
Description
Speed set point
Actual speed set point
Output frequency
Output voltage
Actual operation time
PNU
14317
14319
9193
9195
9215
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햵 Compile the project and download it to the PLC. The additional monitor data can be viewed
in the appropriate IW address.
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3.15
TIA Portal Acyclic communication example
TIA Portal Acyclic communication example
This chapter describes using acyclic communication through the A8NDPV1 Profibus option card
using TIA Portal. It contains examples of reading and writing individual parameters. First perform
the setup using telegram 1.
The process of acyclic communication parameter read consists of a write request, and a response
read, performed using instructions WRREC and RDREC. For details please refer to the Acyclic Data
Exchange subchapter 7.7.
3.15.1
Reading a parameter (Sequence 1)
Preparing structure of write request, and read response
Start by preparing the structure for the write request. The data request has the following format:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Value
0x01
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
Byte swapped PNU
Request reference is any valid number, this value is mirrored back in the response and can be
used to distinguish multiple requests. Once this request is processed successfully, a read request
can be issued. The response of this request will contain the actual parameter value. The format of
a positive response is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Parameter value
Value
0x01
0x01-0xFF (same as in request)
0x01
0x01
0x01
See data format type table
Byte swapped parameter value
In case of a negative response, the format is:
Byte no.
0
1
2
3
4
5
6-7
A8NDPV1 PROFIBUS Option Board
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x81
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Byte swapped error value (see
error table)
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The content of the data request will be contained in a data block structure. Expand the PLC in the
project tree and add a new block.
The data block will be added to the program blocks with the specified name. Add two structures
(RequestRecord and ResponseRecord) to the data block. Create the structure of the records according to the specification, like on the screenshot below. Enter the start value for the variables so that
the fields don’t need to be initialized in the user program.
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Creating the request
Proceed to create the user program for reading the parameter value. A state machine architecture is used for the process of creating, receiving and processing acyclic communication. The current state of the state machine is held in PLC tag state. A description of each state used in this
example is provided below:
State
1
2
3
4
5
6
7
10
11
12
Description
Send write request, wait for BUSY = 0
Write request sent, read results
Write request sent successfully, send read request
Wait for BUSY = 0 (Read request)
Read request sent, read results
Results read
Successfully read requested PNU value
Write request error
Read request error
Parameter read error (negative response)
Start by adding a new network that will contain the instructions to issue the actual write and read
requests.
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It will now be possible to reference the inputs and outputs of the function block instances, making it easier to create the program. Proceed to prepare the sequence. Add a new network in the
user program that will start the state machine sequence. Setting ParameterRequest will start the
state machine from state 1, initialize all used variables (readStatus, readValue, writeStatus), copy
the requested PNU from tag requestedPNU to the data structure, and trigger the write request (by
setting the REQ input of the WRREC function block).
The BUSY output of WRREC will immediately turn ON. Once it turns OFF, proceed to reading the
result of the write request (state 2).
Expect to see either output DONE or ERROR of WRREC in an ON state. If DONE is ON, the write request was performed successfully, reset the REQ input, and proceed to creating the read request
(state 3). If the ERROR output is ON, check the STATUS output to read the error. If the status is equal
to 0xDE80B500, the result is not yet ready. In this case, do nothing and wait for the actual result.
In every other case, save the status to tag writeStatus and enter state 10, indicating that a write
request error occurred.
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To initiate the read request, set input REQ of function block RDREC. Enter state 4, and wait for the
BUSY output to turn off. Once this condition is met, enter state 5 to check the results of the read
request.
Expect to see either output DONE or ERROR of RDREC in an ON state. If DONE is ON, the read request was performed successfully, reset the REQ input, enter state 6 to process the response. If
the ERROR output is ON, check the STATUS output to read the error. If the status is equal to
0xDF80B500, the result is not yet ready. In this case, do nothing and wait for the actual result. In
every other case, save the status to tag readStatus and enter state 11, indicating that a read request error occurred.
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Finally process the received response. Check the ResponseID field of the ResponseRecord. A value
of 1 indicates that the request was performed successfully. In this case move the Value field of this
structure to the readValue tag. Enter state 7 to indicate a successful parameter read. If the responseID is equal to 0x81, then a negative response was received. Save the error value (also the Value
field of the structure) to the errorValue tag. Enter state 12 to signal a negative response.
Executing example requests
After compiling the program, and writing it to the PLC, it is possible to execute parameter read
requests. First, get the inverter running by setting bits M0 and M1. Now read the actual frequency
by writing PNU 9193 to requestPNU and setting bit ParameterRequest. The result should be a value
of 1000 in readValue, which corresponds to 10Hz. The PROFIdrive parameter numbers (PNUs)
available for use are listed in the Data Exchange subchapters 7.1to 7.4.
Try reading an inverter parameter, for example the FDL address of the inverter (parameter 1305
+ 5096 offset = PNU 6401). The expected result is 1. It is possible to read any inverter parameter
in this way.
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Try testing a negative response by changing the axis number to 0x10. Notice, that after executing
the sequence, state 12 is active. An error code of 0x19 (AXIS_DO_NONEXISTENT) is expected.
3.15.2
Changing parameters (Sequence 2)
This example will be based off of the previous example (Reading a parameter – Sequence 1), as
the changes needed are minimal.
Preparing structure of write request, and read response
Start by preparing the structure for the write request. The data request has the following format:
Byte no.
0
1
2
3
4
5
6-7
8-9
10
11
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Subindex (irrelevant)
No. of values
Format
12-13
Set value
A8NDPV1 PROFIBUS Option Board
Value
0x02
0x01-0xFF
0x01
0x01
0x00
0x10 (value attribute)
PNU to modify
0x00
0x01
0x06 (UINTEGER16 for all inverter
parameters)
See data format type table
PNU value to write
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Once this request is processed successfully, a read request can be issued. The response of this request will determine whether the parameter write was successful. The format of a positive response is as follows:
Byte no.
0
1
2
3
Description
Request ID
Request reference
No. of parameters
DO-ID
Value
0x02
0x01-0xFF (same as in request)
0x01
0x01
In case of a negative response, the format is as follows:
Byte no.
0
1
2
3
4
5
6-7
Description
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Value
0x82
0x01-0xFF (same as in request)
0x01
0x01
0x01
0x44 (error)
Error value (see error table)
Modify the data structures created in the previous example to account for the changes (note the
changes in start value fields):
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TIA Portal Acyclic communication example
Creating the request
Modify the ladder network initiating the sequence, to set the value of field SetValue in the
RequestRecord structure. This is the value that will be written to the requested PNU.
Modify the network responsible for processing of the read request response. A positive response
will have ID 0x02, while a negative response ID 0x82.
Finally change the length of the write request to 14 bytes.
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Executing example requests
To perform a parameter write, set the PNU of the parameter to change in requestedPNU. As an example, to change parameter 15 (Jog frequency), add the offset 5096 and write the result (5111)
to variable requestedPNU. The value that will be set, will be the output of multiplication of the set
value, and the minimum setting increments, as according to the parameter list in the inverter
manual. For parameter 15, the minimum setting increment is 0.01Hz. If a jog frequency of 5Hz is
requested, set writeValue to 500. Finally execute the request by setting bit ParameterRequest to
ON. A successful write will result in entering state 7.
Test receiving a negative response, by trying to write an out of range value. After trying to write
0xFFFF as the value of parameter 15, state 12 will be entered indicating a negative response with
error code 0x02 (LOW_OR_HIGH_LIMIT_EXCEEDED) stored in readError tag, which is the expected behavior.
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SIMATIC STEP7 example
3.16
SIMATIC STEP7 example
3.16.1
Creating a Configuration
This section describes a simple example on how to configure a PROFIBUS network including an
A8NDPV1 PROFIBUS Option Board using the SIMATIC STEP7 configuration tool. Please consult
the SIMATIC STEP7 for further information on how to use the tool.
The configuration is created offline and downloaded to the network when it is finished.
햲 Open SIMATIC Step7.
햳 Select Options - Install GSD.
햴 Browse for the correct GSD-file to use with the option board. Select file and click Install.
A8NDPV1 PROFIBUS Option Board
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햵 Select PLC and drag an instance of the selected PLC into the configuration window.
햶 Locate the option board in the HW catalog (PROFIBUS DP -> Additional Field Devices-Drives).
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햷 Drag and drop an instance of the option board to the configuration.
햸 With the option board selected, right click on it and open Object Properties from the menu in
the pop-up window. Select the General tab. Click the PROFIBUS button and then enter the
node address under the Parameters tab.
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SIMATIC STEP7 example
Get Started
햹 Select and drag and drop telegram to option board. The telegrams are found in the HW catalog with the option board.
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SIMATIC STEP7 example
햺 With the new telegram instance selected, right click and open the telegram Properties window from the pop up menu. Enter a name for the telegram and map the cyclic data in the telegram.
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115
Parameter Settings
3.16.2
Get Started
Download Configuration
The configuration of the PROFIBUS network can be built offline. To download the configuration
to the physical network, follow the steps below:
햲 Power up network.
햳 Set node address for each individual module using the parameter unit.1
햴 Download the configuration to the master. How this is done depends on which configuration
tool is used.
햵 If errors occur during the connection phase, scan the network and use the live list to find the
slaves. Make sure that the node addresses are correct, otherwise they can be changed to
match the configuration.
3.16.3
Run
Set the PLC in RUN mode.
3.17
Parameter Settings
Parameters can be set at runtime using the hand-held parameter unit or the setup software MELSOFT FR-Configurator2. The values of some of parameters will not be valid until the module has
been restarted.
For more information, please consult the manual for the FR-A800 series frequency inverter.
1
Node addresses can also be set from a master or a configuration tool. See the manual or online help for the configuration
tool you are using. The PNU ident number of the A8NDPV1 PROFIBUS Option Board is 18E0h.
2
See the product pages at https://eu3a.mitsubishielectric.com.
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Inverter Settings
Inverter Parameters
4.
Inverter Settings
4.1
Inverter Parameters
The inverter parameters are critical for overall operation of the end-to-end communication system. Some of these parameters must be set to specific values, and some may have multiple allowable settings depending on the desired operation of the overall application. It is important to
understand the manner in which the parameters will impact successful communications with,
and control of the inverter.
The inverter parameters can be changed via the handheld parameter unit or using the setup software MELSOFT FR-Configurator1. The handheld parameter unit is described in the user manual
for the FR-A800 series.
4.2
Option Board Parameters
The option board parameters are stored in the inverter. At startup they are transferred from the
inverter to the option board and can be changed using the parameter unit and the setup software MELSOFT FR-Configurator1.
The option board parameters are stored in the main unit. At startup they are transferred from the
inverter to the option board.
No (dec)
1300
No (hex)
514h
Parameter Name.
Option parameter 1
1301
1302
515h
516h
Option parameter 2
Option parameter 3
1303
517h
Option parameter 4
1304
518h
Option parameter 5
1305
519h
1306
51Ah
1307
51Bh
1308 - 1343 51Ch-53Fh
Description
General settings, see “Parameter 1300 (514h, General
Settings)” on page 118
N/A
Network Type1
Serial number (low word)2
Serial number (high word)2
Option parameter 6
Network specific 1, see “Parameter 1305 (519h, Device
address, node address)” on page 118
Option parameter 7
Network specific 2, see “Parameter 1306 (51Ah, Actual
device address, node address)” on page 118
Option parameter 8
Network specific 3, see “Parameter 1307 (51Bh, Option
board settings priority)” on page 119
Option parameter 9 - 44 N/A
1
During startup the option board will verify value of this parameter. If it differs from the network type
of the option board, the option board will change the parameter value to the actual network type
and clear all other parameters.
2 During startup the option board will verify the value of this parameter. If it differs from the serial
number of the option board, the option will board will change the parameter value to the actual
serial number and also set the option board host name to [main-unit-name]-[serial number]
The option board and the inverter start up with default standard settings. Any changes of the parameter values during runtime, will not be available until the inverter has been restarted.
The application can more often than not be run on standard settings.
1
See http://eu3a.mitsubishielectric.com/fa/en/products/drv/inv/fr_configurator/
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Option Board Parameters
Inverter Settings
Parameter 1300 (514h, General Settings)
Only read by the option board during startup.
Bit
0-3
4
Name
(reserved)
Clear all Option Parameters
5 - 15 (reserved)
Default Description
0
N/A
0
Will clear all option parameters and set the default values
when set to 1. Resets itself to False (0) after completion.
0
N/A
Parameter 1305 (519h, Device address, node address)
Only read by the option board during startup. The lower byte can be written by using the handheld parameter unit.
Note:
For these settings to be used, parameter 1307 (51Bh) has to be set to 1.
Bit
0-7
Name
Default Description
This device address (node address) is set via the parameter unit. The modConfigured ule must have a unique node address (device address) in order to be able to
device
communicate on the PROFIBUS network.
address1
Value
Description
0 - 125
Values in this range are considered as a local address setting by
the inverter (set by the parameter unit e.g.) and will be used as
the new node address after restart.
Set Slave Address (SSA)2 functionality is disabled.
126 - 254 Use previous valid setting received from network. Any value in
this span will default to 126. Option Parameter 7 (parameter
51Ah) reflects the current node address setting.
255
A factory default reset is performed. The device will default to
node address 126 and wait for an SSA2 command. Option Parameter 7 (parameter 51Ah) reflects the current node address setting.
8 - 15 (reserved) 0
N/A
1
2
Parameter 51Ah (option board parameter 7) reflects the current setting.
For more information, see “Set Slave Address” on page 121.
When read by the parameter unit, an address in the span 0-125 indicates that a node address has
been set by the unit. If the value is 126, address setting has been managed via SSA functionality,
see “Set Slave Address” on page 121.
Parameter 1306 (51Ah, Actual device address, node address)
Only read from the option board during startup. The parameter cannot be changed at runtime.
Bit
0-7
Name
Actual device
address
8 - 15 (reserved)
118
Default Description
This device address reflects the current setting.
Valid settings range from 0 - 126.
0
N/A
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Inverter Settings
Operation Mode Setting
Parameter 1307 (51Bh, Option board settings priority)
Note:
If the settings of parameter 1305 are to be used by the option card, this parameter must be set
to 1.
Bit
0-7
Name
Communication
settings
8 - 15 (reserved)
4.3
Default Description
This parameter decides the priority of setting.Valid settings range
from 0 - 1.
Value
Description
0
Option board settings are used for network settings.
1
Option parameters are used for network settings.
0
N/A
Operation Mode Setting
Please refer to the FR-A800 instruction manual for information.
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Operation Mode Setting
120
Inverter Settings
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Identifying Option Board
5.
Set Slave Address
Identifying Option Board
A device on a PROFIBUS network is defined by its node address. Valid settings range from 0…125.
The node address for an A8NDPV1 PROFIBUS Option Board is set using the parameter held unit.
At startup, the master will address the option board using this node address.
5.1
Set Slave Address
The option board supports SSA (Set Slave Address), which allows a PROFIBUS network master or
a configuration tool to set the node address from the network. Thus it is possible to scan for slaves
via the live list, that is available, and also change the node addresses.
This service features a flag, referred to as "No Add Change", which specifies whether or not it is
allowed to change the device address from the network again at a later stage. If the service is accepted, the module saves the value of this flag in non-volatile memory. The only way to restore
it again is by entering device address 255 in option parameter 6 and setting option parameter 8
to 1, which will cause a factory default of the Option Board.
The module will accept new settings received via this service under the following conditions:
•
The 'Configured device address'-attribute in option parameter 6 is set to a value higher than
125 or option parameter 8 is set to 0.
•
The module is not in exchanging data.
•
The module is addressed with the correct Ident Number.
•
No previous 'Set Slave Address'-request with the flag “No Add Change” set, prevents the module from accepting the new settings
A8NDPV1 PROFIBUS Option Board
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Set Slave Address
122
Identifying Option Board
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PROFIBUS DP-V1 Implementation
6.
PROFIBUS DP-V1 Implementation
6.1
General
General
The A8NDPV1 PROFIBUS Option Board complies to PROFIBUS specification, IEC 61158 Type 3.
Drive operation complies to PROFIdrive V4.1. Supports Application class 1 functionality.
Performance:
•
Up to 12 Mbit, detected automatically by the module.
Device Model
•
The communication relationship between the controller and master is represented by MS0
AR plus MS1 AR. Relationship between a DP-master class2 (Supervisor) is represented by MS2
AR.
•
Cyclic communication uses the MS0 channel.
•
Two different channels exists for acyclic communication the MS1 and MS2.
•
Data access via DP-V1 read/write services (via slot/index)
Slots
One slot available for a selection of telegram types.
I/O Data
The amount of I/O data that can be transferred is determined by the main unit interface, or a maximum of 64 bytes of I/O data in each direction.
6.2
Electronic Data Sheet (GSD)
A standard GSD file is available for download, see “Download” on page 1.
6.3
DAP
DAP is implemented for backwards compatibility.
6.4
I&M
Identification & Maintenance (I&M) provides a standard way of gathering information about an
I/O device. The I&M information can be accessed by the I/O Controller by means of acyclic Record
Data Read/Write services.
The option board provides support for I&M 0-4 data.
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I&M
PROFIBUS DP-V1 Implementation
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Data Exchange
General Information
7.
Data Exchange
7.1
General Information
Inverter parameters can be accessed acyclically by means of the PROFIdrive Parameter Protocol.
The master issues a parameter request to the option board. The option board processes the request. Meanwhile the master repeatedly tries to read the parameter response, but an error message will be returned until the request is fully processed by the module, after which the master
can read the response.
Translation of signal numbers
Signal numbers used in the inverter do not directly translate to signal numbers (PNUs) used on
PROFIBUS. An offset is added to avoid ambiguous numbering on PROFIBUS, where parameters
and monitor data have different PNU numbers.
The array below presents a summary of the signal number translation. For a complete presentation of how to translate the signal numbers for the option board drive profile parameters, see
“Translation of Signal Numbers” on page 145.
Signal No, Main Unit
Signal Type
Parameter
Monitor Data
Option Board
Drive Profile
Parameters
Offset
PNU No,
PROFIdrive
(Signal No. +
Offset)
5096d…6455d
9192d…10215d
14312d…14329d
Hexadecimal
Decimal
0h…54Fh
000h…3FFh
400h…411h
0…1359d
0d…1023d
1024d…1041d
5096d
9192d
13288d
412h,
415h…41Ch2
1042d,
1045d…1052d
13288d2 14330d,
14333d…14340d
2
15336d 16378d,
16381d…16388d
13288d 14331d…14332d
13288d 14341d…14361d
413h…414h
41Dh…431h
1043d…1044d
1053d…1073d
Acyclic
Cyclic
Data
Data
Exchange Exchange
Yes
Yes
Yes
No
Yes
Yes
Yes/no1
No
Yes
Yes
Yes
Yes
No
Yes/no1
1
Some of these parameters can be mapped for cyclic data exchange, see “Translation of Signal Numbers” on page 145.
2 These parameters can either be accessed (as acyclic data) as an array, with offset 13288d, or can
each entry in the array be mapped as a separate parameter with offset 15336d (as acyclic and/or
cyclic data).
A8NDPV1 PROFIBUS Option Board
125
Inverter parameters (Acyclic Data Exchange)
7.2
Data Exchange
Inverter parameters (Acyclic Data Exchange)
Inverter parameters are available only via acyclic communication. They cannot be used in cyclic
data exchange, for example it is not possible to map them as parameters for telegram 102. The
offset used for inverter parameters is 5096, i.e. inverter parameter no. 1 (maximum frequency)
shall be addressed as PNU 5097. An example of reading writing inverter parameters is shown in
“Reading a parameter (Sequence 1)” on page 34.
All of the inverter parameters are unsigned 16bit integers, with the exception of the following:
Parameter
7
8
16
44
110
111
264
265
791
792
All other
7.3
PNU
5103
5104
5112
5140
5206
5207
5360
5361
5887
5888
-
Description
Acceleration time
Deceleration time
Jog acceleration/deceleration time
Second acceleration/deceleration time
Third acceleration/deceleration time
Third deceleration time
Power-failure deceleration time 1
Power-failure deceleration time 2
Acceleration time in low-speed range
Deceleration time in low-speed range
All inverter parameters NOT listed in this table
Data type
Unsigned 32 bit integer
Unsigned 16bit integer
Monitor Data (Acyclic and Cyclic Data Exchange)
This chapter contains a table of monitor data available via both cyclic and acyclic data exchange.
The values are available as 16 and 32 bit integers. To calculate the actual monitor data value, the
returned integer should be multiplied by the unit specified for that parameter. For example if
PNU 9193 (output frequency) is requested and a value of 500 is returned, this means that the output frequency is equal to 5 Hz (500 × 0.01 Hz).
126
Unit
Type
Access
type
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
R
R
R
R
R
R
R
R
R
R
R
R
unsigned
R
Input terminal status *1
0.01Hz
0.01A/0.1A
0.1V
0.01Hz
1 rpm
0.1%
0.1V
0.1%
0.1%
0.01A/0.1A
0.1V
0.01/
0.1kWh
0.01/
0.1kWh
-
-
R
Output terminal status *2
-
-
R
PNU No
Internal No Description
9193
9194
9195
9196
9197
9198
9199
9200
9201
9202
9203
9204
9205
1
2
3
4
5
6
7
8
9
10
11
12
13
16 bit
Output frequency
Output current
Output voltage
reserved
Frequency setting value
Motor speed
Motor torque
Converter output voltage
Regenerative brake duty
Electric thermal relay function
Output current peak value
Converter output voltage peak value
Input power
9206
14
Output power
9207
15
9208
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Data Exchange
Monitor Data (Acyclic and Cyclic Data Exchange)
PNU No
Internal No Description
9209
9210
9211
9212
9213
9214
9215
9216
9217
9218-9223
9224
9225
9226
9227
9228-9237
9238
9239-9241
9242
9243
9244
9245
9246
9250
17
18
19
20
21
22
23
24
25
26-31
32
33
34
35
36-45
46
47-49
50
51
52
53
54
58
9251
Access
type
Unit
Type
0.1%
0.01A/0.1A
1
1h
1
1h
0.1%
1kWh
0.1%
0.1%
0.1kW
1
-
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
unsigned
-
Option input terminal status1 *3
0.1%
0.1%
0.1%
-
unsigned
unsigned
unsigned
unsigned
unsigned
-
R
R
R/W
R
R
R
R
R
R
R
R
R
R
R
R
R/W
R/W
R/W
R
59
Option input terminal status2 *3
-
-
R
9252
60
-
-
R
9253
9254
9256
9257
9192
9258
9260
9261
9262
9272
9273
9274
9276 - 9283
9441
61
62
64
65
0.1%
0.1%
ohm
unsigned
unsigned
unsigned
R
R
R
R
66
68
69
70
80
81
82
84 - 91
249
Option output terminal status *4
Motor thermal load factor
Transistor thermal load factor
PTC thermistor resistance
Output power
(with regenerative display)
Cumulative regenerative power
2nd PID set point
2nd PID measured value
2nd PID deviation
Integrated power on time
Running time
Saving energy monitor
Fault code (1) - (8)
0.1%
0.1%
0.1%
-
unsigned
unsigned
unsigned
-
R
R/W
R/W
R/W
R
R
R
R
R/W
9705
9707
9709
9711
9713
9715
9717
513
515
517
519
521
523
525
32 bit
Output frequency
Setting frequency
Motor rotation
Load meter
Positioning pulse
Watt-hour meter(1kWh step)
Watt-hour meter(0.1/0.01kWh step)
signed
signed
signed
signed
signed
unsigned
unsigned
R
R
R
R
R/W
R
R
9719
527
Position error
0.01Hz
0.01Hz
0.1rpm
0.1%
1
1kWh
0.1/
0.01kWh
1
signed
R
A8NDPV1 PROFIBUS Option Board
16 bit
Load meter
Motor excitation current
Position pulse
Cumulative energization time
reserved
Orientation status
Actual operation time
Motor load factor
Cumulative power
reserved
Torque order
Torque current order
Motor output
Feedback pulse
reserved
Motor temperature
reserved
Power saving effect
Cumulative saving power
PID set point
PID measured value
PID deviation
Run command *5
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Monitor Data (Acyclic and Cyclic Data Exchange)
Data Exchange
*1 Input terminal status details (ex. A800)
b15
-
-
-
-
CS
RES
STOP MRS JOG
RH
RM
RL
RT
AU
STR
b0
STF
This data indicates status of main unit input terminal.
The number of terminal and names depends on main unit specification.
*2
Output terminal status details (ex. A800)
b15
-
-
-
-
-
-
-
-
SO
ABC2 ABC1 FU
OL
IPF
SU
b0
RUN
This data indicates status of main unit output terminal.
The number of terminal and names depends on main unit specification.
*3 Option input terminal status1,2 (ex. A800 and FR-A8AX)
Option input terminal status1
b15
X15
X14
X13
X12
X11
X10
X9
X8
X7
X6
X5
X4
X3
X2
X1
b0
X0
-
-
-
-
-
-
-
-
-
-
b0
DY
Y2
Y1
b0
DY
-
-
b0
AU
Option input terminal status2
b15
-
-
-
-
-
This data indicates status of FR-A8AX terminal.
*4
Option output terminal status (ex. A800 and A8AY/A8AR)
b15
-
-
-
-
-
-
RA3
RA2
RA1
Y6
Y5
Y4
Y3
This data indicates status of FR-A8AY(Y0-Y6), FR-A8AR(RA1-RA3) terminal.
*5 Run command (ex. A800 and A8AY/A8AR)
Users can specify the terminal function using this data.
b15
-
-
-
-
RES
STOP CS
JOG
MRS RT
RH
RM
RL
These bits function is depending on VFD parameter setting.
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Data Exchange
7.4
Drive Profile Parameters (Acyclic Data Exchange)
Drive Profile Parameters (Acyclic Data Exchange)
Inverter parameters are, when possible, mapped to PROFIdrive parameters. The remaining parameters can be accessed as vendor specific parameters.
It is recommended not to use the standard PROFIdrive parameters as vendor specific parameters.
7.4.1
PROFIdrive Parameters
The following parameters are implemented in the option board:
Parameter Definition
P915
Selection switch
Setpoint telegram
P916
Selection switch
Actual value telegram
P918
Node Address
P922
Telegram Selection
R/W
R
R
R
R
P923
List of all parame- R
ters for signals
P924
Status word bit
Pulses Enabled
Operating mode
Fault message
counter
Fault numbers
R
Scaling of fault
buffer
R
P930
P944
P947
P950
A8NDPV1 PROFIBUS Option Board
R/W
R
R
Data Type
Array [n]
Unsigned16
Array [n]
Unsigned16
Value/Description
Holds the current configuration of the Setpoint telegram.
Holds the current configuration of the Actual value
telegram.
Unsigned 16 Current node address
Unsigned 16 Reflects the latest accepted configuration data from
the master.
Value:
Telegram:
0
Telegram 1 (Speed Control) or
telegram 100 (Torque Control), depending on which telegram is configurated.
101
Telegram 101 (Position Control)
102
Telegram 102
103
Telegram 103
..
..
Array[60000] All parameters that are possible to map to process
Unsigned16 data (i.e. is defined as PROFIdrive signals) are listed
here; subindex = signal number.
If a parameter connected to the specific signal is
possible to map, the PNU number is returned. If the
parameter is not possible to map, 0 is returned.
Array[2]
Subindex 0:
2 (Signal number for ZSW1)
Unsigned16 Subindex 1:
15 (Bit position)
Unsigned16 Always 8001h (Vendor specific mode).
Unsigned16 Incremented by one each time the fault buffer
(P947) changes.
Array[8]
Subindex 0:
Active fault situation (if the
Unsigned16
drive is in Faulted state).
Subindex 1-7
Fault history, where subindex
1 holds the most recent fixed
fault situation.
Fault number is the corresponding PROFIdrive fault
class.
Array[2]
Subindex 0:
8
Unsigned16 Subindex 1:
1
Defines the number of fault situations (subindex 0)
and the number of fault messages (subindex 1) for
each situation that the fault buffer can hold.
129
Drive Profile Parameters (Acyclic Data Exchange)
Parameter Definition
P951
Fault number list
7.4.2
R/W
R
P964
Device identifica- R
tion
P965
Profile number
R
P967
P968
P972
STW1
ZSW
Drive reset
R
R
R/W
P980
List of parameters R
Data Exchange
Data Type Value/Description
Array[255]
Holds descriptive text for each fault that is supUnsigned16 ported by the option board.
Each subindex corresponds to the event code number, which means that the accessible subindices are
limited.
The fault description is accessed as an additional
text array.
Array[5]
Manufacturer ID:
010Ch (HMS)
Unsigned16 Drive Unit Type:
0
Version (software)
xxyy (decimal)
Firmware date, year yyyy (decimal)
Firmware date, day/ ddmm (decimal)
month
OctetString Byte 0:
3 (PROFIdrive profile)
2
Byte 1:
41 (Version 4.1)
V2
Last control word received from the controller.
V2
Current status word from the drive.
Unsigned16 1:
Power-on reset
2:
Prepare power-on reset
Array[n]
Parameter numbers of all existing parameters are
Unsigned16 saved in the subindices (profile parameters and regular drive parameters). The array is assigned in
increasing sequence and consecutively. The end of
the list of defined parameters is marked by a subindex with the value 0.
Setpoint- and Actual Value (P915/P916)
P915 and P916 reflect the configuration of the PROFIBUS telegrams that are used for process data. The parameters are read only and consist of arrays, where the number of elements corresponds to the number of words in the IO DATA. Each element holds the Parameter Number (PNU)
of the parameter mapped to that particular IO DATA word.
The parameters reflect the latest accepted parameterization data.
7.4.3
Signal List (P923)
The signal list is not saved. It is created at the time of request only for those elements (subindices)
that are requested. The possibility to map vendor specific parameters is examined by asking for
the Descriptor attribute of the specific parameter. It is not possible to map other PROFIdrive
standard parameters than P967 and P968 (Control and Status words).
7.4.4
Drive Reset (P972)
The PROFIBUS master can send a reset request to the application by writing to this parameter. If
the request is rejected an error is returned.
Error Code
0
1
7
130
Description
Illegal parameter number (Drive reset not supported).
Request cannot be executed due to operation status.
Request cannot be executed due to operation status.
Doc.Id. HMSI-216-127
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Data Exchange
7.5
General State Diagram
General State Diagram
This general state diagram shows how the inverter behaves based on Control Word 1 (STW1).
For detailed state diagrams for various modes, please consult ProfiDrive technical specification
manual.
General State Diagram
Power supply ON
S1: Switching ON Inhibited
ZSW1 bit 6 = true; 0, 1, 2, „p.e.“ a = false
OFF
AND No Coast Stop
AND No Quick Stop
STW1 bit 0 = false AND
bit 1 = true AND bit 2 = true
Coast Stop
OR Quick Stop b
STW1 bit 1 = false
OR bit 2 = false
S2: Ready for Switching ON
ZSW1 bit 0 = true; 1, 2, 6, „p.e.“ = false
Coast Stop
OR Quick Stop
STW1 bit 1 = false
OR bit 2 = false
ON
STW1 bit 0 = true
Enable Operation
STW1 bit 3 = true
S5: Switching OFF
ZSW1 bit 0,1, „p.e.“ = true,
bit 2,6 = false
Standstill detected
OR
OFF
Disable Operation
STW1 bit 0 = false STW1 bit 3 = false
S3: Switched ON
ZSW1 bit 0, 1 = true, 2, 6, „p.e.“ = false
Coast Stop
STW1 bit 1 = false
Coast Stop
STW1 bit 1 = false
Disable Operation
STW1 bit 3 = false
Standstill
detected OR
Disable Operation
STW1 bit 3 = false
quick stop
Quick Stop
STW1 bit 2 = false
ramp stop
Quick Stop
ON
OFF b
STW1 bit 0 = true STW1 bit 0 = false STW1 bit 2 = false
S4: Operation
ZSW1 bit 0, 1, 2, „p.e.“ = true; 6 = false
A8NDPV1 PROFIBUS Option Board
131
Process Data (Cyclic Data Exchange)
Data Exchange
7.6
Process Data (Cyclic Data Exchange)
7.6.1
General
Drive control is per default performed through the cyclic data exchange channel. DriveControl,
DriveStatus, Setpoint and Actual Values are sent as IO DATA telegrams on PROFIBUS. These telegrams are transformed and mapped to the main unit parameters by the option board.
The Process Data map is based entirely on the requirements of PROFIdrive and the end user by
means of User Parameterization Data. The active process data is mapped in the configuration
tool, where PROFIdrive profile specific signals are specified using signal numbers 1 - 1000 and
vendor specific signals are specified using signal numbers 1001…59999.
For all configurations, the default for the first IO_DATA items in each direction will be DriveControl and DriveStatus respectively.
7.6.2
Signals
Each IO DATA channel is assigned a signal which is mapped to an inverter parameter. Thus
PROFIdrive parameters that are to be exchanged as IO DATA (i.e. Process Data) must be assigned
a unique signal number.
Signal numbers 1…1000 are reserved for standard Drive Profile parameters, while signals
1001…59999 are used for vendor specific parameters.
The table below shows the implementation of the PROFIdrive signal list.
Signal
1
2
5
6
1001…59999
Abbreviation
STW1
ZSW1
NSOLL_A
NIST_A
-
PROFIdrive Parameter
Control word 1 (P967)
Status word 1 (P968)
Speed setpoint A
Speed actual value A
Vendor specific
Main unit Parameter
DriveControl
DriveStatus
(not assigned)
SetpointSpeed
ActualSpeed
(not assigned)
Mapped to Process Data
(if possible)
Below is a brief explanation of the format of the used signals. For a detailed explanation, including control and status words specific to various operation modes, please consult ProfiDrive specification manual.
132
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Data Exchange
Process Data (Cyclic Data Exchange)
Control Word STW1
Bit
0
1
2
3
4
5
6
7
8
9
10
11-15
Contents
ON
No Coast Stop
No Quick Stop
Enable Operation
Enable Ramp Generator
Unfreeze Ramp Generator
Enable Setpoint
Fault Acknowledge
Jog 1 ON (not used)
Jog 2 ON (not used)
Control By PLC
-
Status Word ZSW1
Bit
0
1
2
3
4
5
6
7
8
9
10-14
15
Contents
Ready To Switch ON
Ready To Operate
Operation Enabled
Fault Present
Coast Stop Not Activated
Quick Stop Not Activated
Switching On Inhibited
Warning Present
Speed Error Within Tolerance
Control Requested
Pulses Enabled
Speed setpoint A (NSOLL_A)
The output frequency set by NSOLL_A is calculated relative to the rated frequency parameter (inverter parameter no. 3).
f =
NSOLL_A
0x4000
× fr
f: output frequency [Hz]
fr : motor rated frequency [Hz]
Speed actual value A (NIST_A)
Speed actual value A is calculated in the same way as NSOLL_A.
A8NDPV1 PROFIBUS Option Board
133
Process Data (Cyclic Data Exchange)
7.6.3
Data Exchange
Telegram Types
The Option Board supports PROFIdrive Standard Telegram 1. If additional parameters are to be
mapped to process data, one of the additional product-specific telegrams (100-103) must be
used, depending on the size of the data in question.
Telegram
1
100
101
102
103
Description
Standard Telegram 1
Telegram 100 (Torque control)
Telegram 101 (Position control)
Telegram 102 (Custom)
Telegram 103 (Custom)
Size (words)
2
2
10
18
32
The user specifies which telegram to use when configuring the option board.
Note:
Only one telegram module can be used at a time.
Setpoint Telegram
Setpoint telegrams are used for data from the master to the main unit. Depending on control
mode, the contents of the telegram may differ, see table below for configuration.
Telegram
Speed Control (SC)
Torque Control (TC)
Position Control (PC)
Speed Control (SC)
Torque Control (TC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
134
IO DATA (PROFIdrive)
Word
Signal
IO DATA 1
1 (STW1)
Octet
0…1
IO DATA 2
5 (NSOLL_A)
14349
9441
9713
2…3
5 (NSOLL_A)
16383
8…9
10…13
SetPointSpeed (0405h)
AccelerationDeltaTime
(0417h…0418h)
16387
14…17
DecelerationDelta Time
(014Bh…041Ch)
IO DATA 3
IO DATA 4
IO DATA 5
IO DATA 6
IO DATA 7
IO DATA 8
IO DATA 9
4…7
Read Process Data (Main unit)
Process data Parameter
DriveControl (0402h)
SetPoint Speed (0405h)
TargetTorque (0425h)
Run command (00F9h)
Positioning pulse
(0209h…020Ah)
Doc.Id. HMSI-216-127
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Data Exchange
Process Data (Cyclic Data Exchange)
Actual Value Telegram
Actual value telegrams are used for data from the main unit to the master. Depending on control
mode, the contents of the telegram may differ, see table below for configuration.
Telegram
Speed Control (SC)
Torque Control (TC)
Position Control (PC)
Speed Control (SC)
Torque Control (TC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
Position Control (PC)
7.6.4
IO DATA (PROFIdrive)
Word
Signal
IO DATA 1
2 (ZSW1)
Octet
0…1
IO DATA 2
6 (NIST_A)
14350
9208
9713
2…3
6 (NIST_A)
14350
8…9
10…11
ActualSpeed (0407h)
ActualTorque (0426h)
(9719)
12…15
PositionError (020Fh…0210h)
IO DATA 3
IO DATA 4
IO DATA 5
IO DATA 6
IO DATA 7
IO DATA 8
IO DATA 9
4…7
Write Process Data (Main unit)
Process data Parameter
DriveStatus (0403h…0404h)
ActualSpeed (0407h)
ActualTorque (0426h)
Output terminal (0010h)
Positioning pulse
(0209h…020Ah)
Vendor Specific Access to Parameters
Vendor specific parameters 1001… 59999 can be defined via the PROFIBUS network master. Parameter range below 1001 can not be accessed as vendor specific as they may be reserved for
other uses.
A8NDPV1 PROFIBUS Option Board
135
Acyclic Data Exchange
7.7
Data Exchange
Acyclic Data Exchange
This subchapter describes some of the basic sequences used in acyclic communication. All available sequences are described in the ProfiDrive Specification manual (chapter 6.2.3.6 Telegram sequences for Parameter Access).
The data flow for acyclic communication always consists of writing of the parameter request, and
reading the parameter response. The parameter response read may fail, if the data requested is
not yet ready. The option card should be asked for a response again, until it is ready. This is presented on the figure below:
Controller / Supervisor
(Client)
Communication System
DU / DO Parameter Manager
(Server)
Time
Line
Parameter Request
Error because
response not
yet available
Error because
response not
yet available
Parameter Response
136
Write parameter request to PAP
Parameter Request
Read parameter response from PAP
Parameter Processing
in the Parameter
Manager
Read parameter response from PAP
Parameter Response
Read parameter response from PAP
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Data Exchange
7.7.1
Acyclic Data Exchange
Explanation of fields used in requests
This table explains the fields used in various sequences. Words sent in requests should have their
most significant byte transmitted first (Big endian encoding). This is also the format in which incoming words will be transmitted.
7.7.2
Field
Request reference
Request ID
Data Type
Unsigned8
Unsigned8
Response ID
Unsigned8
Axis / DO-ID
No. of Parameters
Attribute
Unsigned8
Unsigned8
Unsigned8
No. of elements
Parameter number
Subindex
Format
Unsigned8
Unsigned16
Unsigned16
Unsigned8
No. of values
Error number
Unsigned8
Unsigned16
Values
0x01 – 0xFF
0x01 Request parameter
0x02 Change parameter
0x01 Request parameter (+)
0x02 Change parameter (+)
0x81 Request parameter (-)
0x82 Change parameter (-)
0x01
0x01 – 0x27 Quantity
0x10 Value
0x20 Description
0x30 Text
0x01 – 0xEA Quantity
0x0001 – 0xFFFF
0x0001 – 0xFFFF
0x01 – 0x36 Data types
0x40 – 0x44 Data types
0x00 – 0xEA Quantity
0x0000 – 0x00FF Error numbers
Comment
See data format type
table
See error table
Data format type table
Data type
Value
BOOLEAN
0x01
INTEGER8
0x02
INTEGER16
0x03
INTEGER32
0x04
UINTEGER8
0x05
UINTEGER16
0x06
UINTEGER32
0x07
VISIBLESTRING
0x09
OCTETSTRING
0x0a
ZERO
0x40
ERROR
0x44
N2
0x71
N4
0x72
V2
0x73
A8NDPV1 PROFIBUS Option Board
137
Acyclic Data Exchange
7.7.3
7.7.4
Error table
Error description
Value
IMPERMISSIBLE_PARAMETER_NUMBER
0x00
PARAMETER_VALUE_CANNOT_BE_CHANGED
0x01
LOW_OR_HIGH_LIMIT_EXCEEDED
0x02
FAULTY_SUBINDEX
0x03
NO_ARRAY
0x04
INCORRECT_DATA_TYPE
0x05
SETTING_NOT_PERMITTED
0x06
DESCRIPTION_ELEMENT_CANNOT_BE_CHANGED
0x07
NO_DESCRIPTION_DATA_AVAILABLE
0x09
NO_OPERATION_PRIORITY
0x0b
NO_TEXT_ARRAY_AVAILABLE
0x0f
REQUEST_CANNOT_BE_EXECUTED_BECAUSE_OF_OPERATING_STATE
0x11
VALUE_IMPERMISSIBLE
0x14
RESPONSE_TOO_LONG
0x15
PARAMETER_ADDRESS_IMPERMISSIBLE
0x16
ILLEGAL_FORMAT
0x17
NUMBER_OF_VALUES_ARE_NOT_CONSISTENT
0x18
AXIS_DO_NONEXISTENT
0x19
PARAMETER_TEXT_ELEMENT_CANNOT_BE_CHANGED
0x20
Sequence 1: Request parameter value, single
Byte no.
0
1
2
3
4
5
6-7
8-9
7.7.5
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Subindex (irrelevant for non-arrays)
Sequence 1: Parameter response positive
Byte no.
0
1
2
3
4
5
6-7
8-9
138
Data Exchange
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Parameter value
Parameter value (only for 32 bit data)
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Data Exchange
7.7.6
Sequence 1: Parameter response negative
Byte no.
0
1
2
3
4
5
6-7
7.7.7
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of elements
Attribute value
Parameter number
Subindex (irrelevant for non-arrays)
No. of values
Format
Set value
Sequence 2: Parameter response positive
Byte no.
0
1
2
3
7.7.9
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Sequence 2: Change parameter value
Byte no.
0
1
2
3
4
5
6-7
8-9
10
11
12-13
7.7.8
Acyclic Data Exchange
Field
Request ID
Request reference
No. of parameters
DO-ID
Sequence 2: Parameter response negative
Byte no.
0
1
2
3
4
5
6-7
A8NDPV1 PROFIBUS Option Board
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
139
Acyclic Data Exchange
7.7.10
Sequence 3: Request parameter value, several array elements
Byte no.
0
1
2
3
4
5
6-7
8-9
7.7.11
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Parameter value 1
Parameter value 2
…
Parameter value n
Sequence 3: Parameter response negative
Byte no.
0
1
2
3
4
5
6-7
140
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of elements (n)
Attribute value
Parameter number
Subindex
Sequence 3: Parameter response positive
Byte no.
0
1
2
3
4
5
6-7
8-9
…
(4+2n) – (5+2n)
7.7.12
Data Exchange
Field
Request ID
Request reference
No. of parameters
DO-ID
No. of values
Format
Error value
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Diagnostics
8.
Diagnostics
Conversion of diagnostic fault codes
Main Unit
Fault Code
10h
11h
12h
20h
21h
22h
30h
Main Unit
Fault Name
E.OC1
E.OC2
E.OC3
E.OV1
E.OV2
E.OV3
E.THT
31h
40h
E.THM
E.FIN
50h
52h
60h
70h
80h
81h
90h
91h
A0h
A1h
A2h
A3h
B0h
E.IPF
E.ILF
E.OLT
E.BE
E.GF
E.LF
E.OHT
E.PTC
E.OPT
E.OP1
E.OP2
E.OP3
E.PE
B1h
B2h
B3h
E.PUE
E.RET
E.PE2
C0h
E.CPU
C1h
C2h
C4h
C5h
C6h
C7h
C8h
C9h
D0h
D1h
D2h
D3h
D5h
D6h
D7h
D8h
E.CTE
E.P24
E.CDO
E.IOH
E.SER
E.AIE
E.USB
E.SAF
E.OS
E.OSD
E.ECT
E.OD
E.MB1
E.MB2
E.MB3
E.MB4
A8NDPV1 PROFIBUS Option Board
Main Unit
Description
OC During Acc
Steady spd OC
OC During Dec
OV During Acc
Steady spd OV
OV During Dec
Inv. Ovrload
PROFIdrive Fault
Motor Overload
Motor Overload
Motor Overload
DC Link Overvoltage
DC Link Overvoltage
DC Link Overvoltage
Overtemperature Electronic
Device
Motor Ovrload
Motor Overload
H/Sink O/Temp
Overtemperature Electronic
Device
Inst. Pwr. Loss
Mains Supply
Input phase loss
Mains Supply
Stall Prev STP
Motor Overload
Br. Cct. Fault
Brake Resistor
Ground Fault
Earth/Ground Fault
Output phase loss
Power Electronics
OH Fault
Motor Overload
PTC Activated
External
Option fault
Engineering
Option1 fault
Internal Communication
Option2 fault
Internal Communication
Option3 fault
Internal Communication
Corrupt memory
Microcontroller Hardware or
Software
PU Leave out
Internal Communication
Retry No Over
Technology
PR Storage Alarm
Microcontroller Hardware or
Software
CPU Fault
Microcontroller Hardware or
Software
PU Short cct
Other
24VDC short cct
Other
OC Detect level
Technology
Inrush overheat
Mains Supply
VFD Comm error
Internal Communication
Analog in error
External
USB Comm error
Internal Communication
Safety cct fault
Technology
Overspeed
Technology
Excess spd deviation Technology
Enc. Signal loss
Feedback
Excess pos fault
Technology
Brake seq fault
Other
Brake seq fault
Other
Brake seq fault
Other
Brake seq fault
Other
PROFIdrive Fault
Code
08
08
08
04
04
04
06
08
06
02
02
08
14
07
05
08
16
18
12
12
12
01
12
17
01
01
19
19
17
02
12
16
12
17
17
17
11
17
19
19
19
19
141
Diagnostics
142
Main Unit
Fault Code
D9h
DAh
DBh
DCh
F1h
F2h
F3h
F5h
Main Unit
Fault Name
E.MB5
E.MB6
E.MB7
E.EP
E.1
E.2
E.3
E.5
Main Unit
Description
Brake seq fault
Brake seq fault
Brake seq fault
Enc. Phase Fault
Fault 1 (opt slot 1)
Fault 2 (opt slot 2)
Fault 3 (opt slot 3)
Fault 5
F6h
E.6
Fault 6
F7h
E.7
Fault 7
FBh
FDh
51h
E.11
E.13
E.UVT
Fault 11
Fault 13
Under Voltage
PROFIdrive Fault
Other
Other
Other
Feedback
Internal Communication
Internal Communication
Internal Communication
Microcontroller Hardware or
Software
Microcontroller Hardware or
Software
Microcontroller Hardware or
Software
Technology
Power Electronics
Mains Supply
PROFIdrive Fault
Code
19
19
19
11
12
12
12
01
01
01
17
05
02
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Troubleshooting
9.
Troubleshooting
The table shows tips on troubleshooting.
Error Event
A8NDPV1 PROFIBUS Option Board
Possible Cause(s)
Corrective Action
143
Troubleshooting
144
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Translation of Signal Numbers
A.
Appendix A
Translation of Signal Numbers
Signal numbers used in the main unit do not directly translate to signal numbers (PNUs) used on
PROFIBUS. An offset is added to avoid ambiguous numbering on PROFIBUS, where parameters
and monitor data have different PNU numbers.
Every signal number corresponds to to 16 bits. A 32-bit parameter e.g., occupies two numbers,
but is addressed by the lower number only.
Signal No, Main Unit
Name
HexadecDecimal
imal
DriveControlMaskWrite
DriveControl
DriveStatus
SetpointSpeed
CommandSpeed
ActualSpeed
SpeedScaleNumerator
SpeedScaleDenominator
RatedSpeed
PoleCount
RatedCurrent
RatedVoltage
MotorType
400
402
403
405
406
407
408
40A
40C
40D
40E
410
411
412
1024
1026
1027
1029
1030
1031
1032
1034
1036
1037
1038
1040
1041
1042
AccelerationDeltaSpeed
413
415
1043
1045
AccelerationDeltaTime1
417
1047
DecelerationDeltaSpeed/
Time1
QuickDecelerationDeltaSpeed
QuickDecelerationDeltaTime
MaxSpeed
MinSpeed
TargetTorque
ActualTorque
TorqueSlope
TorqueProfileType
RatedTorque
TorqueScaleNumerator
TorqueScaleDenominator
DisableOptionCode
ShutdownOptionCode
419
1049
41D
1053
PNU No,
Acyclic
Offset
PROFIdrive
Data
(decimal) (Signal No.
Exchange
+ Offset)
13288
14312
Yes
13288
14314
Yes
13288
14315
Yes
13288
14317
Yes
13288
14318
Yes
13288
14319
Yes
13288
14320
Yes
13288
14322
Yes
13288
14324
Yes
13288
14325
Yes
13288
14326
Yes
13288
14328
Yes
13288
14329
Yes
13288
14330
Yes
15336
16378
Yes
13288
14331
Yes
13288
14333
Yes
15336
16381
Yes
13288
14335
Yes
15336
16383
Yes
13288
14337
Yes
15336
16385
Yes
13288
14341
Yes
41F
421
423
425
426
427
429
42A
42C
42E
430
431
1055
1057
1059
1061
1062
1063
1065
1066
1068
1070
1072
1073
13288
13288
13288
13288
13288
13288
13288
13288
13288
13288
13288
13288
DriveMode1
SupportedModes
1
1
14343
14345
14347
14349
14350
14351
14353
14354
14356
14358
14360
14361
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Cyclic Data
Exchange
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
No
No
No
No
No
Yes
No
No
Yes
No
Yes
No
Yes
No
No
No
No
Yes
Yes
No
No
No
No
No
No
No
These parameters can either be mapped (as acyclic data) as an array, with offset 13288d, or can
each entry in the array be mapped as a separate parameter with offset 15366d (as acyclic and/or
cyclic data).
A8NDPV1 PROFIBUS Option Board
145
Appendix A
146
Translation of Signal Numbers
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
Index
Index
A
L
Actual device address (Parameter 1306) . . . . . . . . .118
Acyclic Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . .136
LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Module status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Network status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
C
Communication settings . . . . . . . . . . . . . . . . . . . . . . . .119
Components
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Control Word STW1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
M
Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
N
D
Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
Drive Profile Parameters . . . . . . . . . . . . . . . . . . . .125
Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
Device address (Parameter1305) . . . . . . . . . . . . . . . .118
Drive Profile Parameters . . . . . . . . . . . . . . . . . . . . . . . .129
Drive Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
Network Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Node address (Parameter 1305) . . . . . . . . . . . . . . . . .118
O
Overview
Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
P
E
Environment
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
G
General Settings (Parameter 1300) . . . . . . . . . . . . . .118
General State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . .131
GX Works (FX-CPU)
Acyclic communication . . . . . . . . . . . . . . . . . . . . . . 82
Telegram 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Telegram 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
GX Works (Q-CPU)
Acyclic communication . . . . . . . . . . . . . . . . . . . . . . 34
Simple Ladder Acyclic communication . . . . . . . 54
Simple Ladder Telegram 1 . . . . . . . . . . . . . . . . . . . 42
Simple Ladder Telegram 102 . . . . . . . . . . . . . . . . 50
Telegram 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Telegram 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
I
Inverter parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
A8NDPV1 PROFIBUS Option Board
Parameters
1300 (General Settings) . . . . . . . . . . . . . . . . . . . . .118
1305 (Device address, node address) . . . . . . . .118
1306 (Actual device address, node address) .118
1307 (Option board settings priority) . . . . . . . .119
Option board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117
Process Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
PROFIdrive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . .129
S
SIMATIC STEP7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Specifications
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Speed actual value A (NIST_A) . . . . . . . . . . . . . . . . . . .133
Speed setpoint A (NSOLL_A) . . . . . . . . . . . . . . . . . . . .133
Status Word ZSW1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
T
Telegram Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
TIA Portal
Acyclic communication . . . . . . . . . . . . . . . . . . . . .101
Telegram 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Telegram 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
147
Index
148
Doc.Id. HMSI-216-127
Doc.Rev. 1.00
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