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Kollmorgen AKT-PRB-000-000 Installation Manual

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I/O Terminal
Installation Manual
Revision 1.1, June 2011
AKT-PRB-000-000 PROFIBUS Coupler
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users / owners of the product.

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Summary of Contents for Kollmorgen AKT-PRB-000-000

  • Page 1 I/O Terminal Installation Manual Revision 1.1, June 2011 AKT-PRB-000-000 PROFIBUS Coupler Keep all manuals as a product component during the life span of the product. Pass all manuals to future users / owners of the product.
  • Page 2 Kollmorgen. Disclaimer The information in this manual was accurate and reliable at the time of its release. However, Kollmorgen. reserves the right to change the specifications of the product described in this manual without notice at any time.

  • Page 3: Table Of Contents

    I/O Terminal / CONTENTS Safety Precautions Safety Rules....................6 State at Delivery..................6 Personnel Qualification ................6 Description of Notes and Warnings ............6 Overview PROFIBUS Coupler (AKT-PRB-000-000) ..........7 2.1.1 Technical Data ..................8 System Overview ..................9 2.2.1 Bus Terminal System ................9 PROFIBUS DP..................11 PROFIBUS DPV1 .................12 Mounting and Wiring Dimensions ...................13...
  • Page 4 I/O Terminal / CONTENTS Manual Configuration The Bus Coupler’s UserPrmData............28 Configuration..................31 6.2.1 Configuration: CfgData .................31 6.2.2 Configuration of the Coupler Modules ..........31 6.2.3 Configuration of Complex Modules............32 Cyclic Data Exchange ................33 6.3.1 Process Data and Image ..............33 6.3.2 Standard-Bus Cycle ................35 DPV1 –...
  • Page 5 Performance Box Controllers / INTRODUCTION Appendix B AKT-PRB-000-000 Mechanical Drawing..........76...

  • Page 6: Safety Precautions

    Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify any liability from Kollmorgen. Personnel Qualification This description is only intended for the use of trained specialists in control and automation...

  • Page 7: Overview

    I/O Terminal / OVERVIEW OVERVIEW This section provides an overview of the PROFIBUS Coupler. Note: For information about configuring the PROFIBUS Coupler, see the Kollmorgen Automation Suite™ IDE software and online help system. PROFIBUS Coupler (AKT-PRB-000-000) The Bus Coupler connects the PROFIBUS system to the electronic terminal blocks, which can be extended in modular fashion.

  • Page 8: Technical Data

    I/O Terminal / OVERVIEW 2.1.1 Technical Data This section provides the technical details for the ETHERCAT Coupler. Parameters (AKT-PRB-000-000) Number of Bus Terminals Digital peripheral signals 512 inputs/outputs Analog peripheral signals 128 inputs/outputs Configuration possibility IDE software or controller 64 bytes (DP and FMS operation)

  • Page 9: System Overview

    I/O Terminal / OVERVIEW System Overview This section provides a system overview for the PROFIBUS Coupler. 2.2.1 Bus Terminal System Up to 64 Bus Terminals each having 2 I/O Channels for each Signal Form The Bus Terminal system is the universal interface between a fieldbus system and the sensor / actuator level.
  • Page 10 I/O Terminal / OVERVIEW Modularity The modular assembly of the terminal strip with Bus Terminals of various functions limits the number of unused channels to a maximum of one per function. The presence of two channels in one terminal is the optimum compromise of unused channels and the cost of each channel. The possibility of electrical isolation through potential feed terminals also helps to keep the number of unused channels low.

  • Page 11: Profibus Dp

    I/O Terminal / OVERVIEW PROFIBUS DP In PROFIBUS DP systems, a master (PLC, PC etc.) usually communicates with a large number of slaves (I/Os, drives etc.). Only the master may here actively access the bus (send telegrams on its own initiative), while a DP slave only sends telegrams when it is requested to do so by a master.

  • Page 12: Profibus Dpv1

    I/O Terminal / OVERVIEW Diagnosis During Cyclic Data Exchange A slave can send a diagnostics signal to the master during cyclic data exchange. In this case, the slave sets a flag in the DataExchange response telegram, whereby the master recognizes that there is new diagnostic data in the slave.

  • Page 13: Mounting And Wiring

    I/O Terminal / MOUNTING AND WIRING MOUNTING AND WIRING This section provides mounting and wiring information for the PROFIBUS Coupler. Note: For information about configuring the PROFIBUS Coupler, see the Kollmorgen Automation Suite™ IDE software and online help system. Dimensions The system of the Bus Terminals is characterized by low physical volume and high modularity.

  • Page 14: Installation

    I/O Terminal / MOUNTING AND WIRING Installation The Bus Coupler and all the Bus Terminals can be clipped, with a light press, onto a 35 mm mounting rail. A locking mechanism prevents the individual housings from being pulled off again. For removal from the mounting rail the orange colored tension strap releases the latching mechanism, allowing the housing to be pulled off the rail without any force.

  • Page 15: Wiring

    I/O Terminal / MOUNTING AND WIRING The right hand part of the Bus Coupler can be compared to a Bus Terminal. Eight connections at the top enable the connection with solid or fine wires from 0.08 mm² to 2.5 mm². The connection is implemented with the aid of a spring device.

  • Page 16: Insulating Testing

    I/O Terminal / MOUNTING AND WIRING 3.3.2 Insulating Testing The connection between the Bus Coupler / Bus Terminal Controller and the Bus Terminals is automatically realized by pushing the components together. The transfer of the data and the supply voltage for the intelligent electronics in the Bus Terminals is performed by the Standard-Bus.

  • Page 17: Power Supply

    I/O Terminal / MOUNTING AND WIRING Power Supply The Bus Coupler / Bus Terminal Controller require a 24 VDC supply for their operation. The connection is made by means of the upper spring-loaded terminals labeled 24 V and 0 V. This supply voltage feeds the Bus Coupler / Bus Terminal Controller electronics and, over the Standard-Bus, the electronics of the Bus Terminals.

  • Page 18: Power Contacts Supply (Up)

    I/O Terminal / MOUNTING AND WIRING 3.4.1 Power Contacts Supply (Up) The bottom six connections with spring-loaded terminals can be used to feed the supply for the peripherals. The spring-loaded terminals are joined in pairs to a power contact. The feed for the power contacts has no connection to the voltage supply for the Bus Coupler / Bus Terminal Controller.

  • Page 19: Electrical Isolation

    I/O Terminal / MOUNTING AND WIRING 3.4.4 Electrical Isolation The Bus Coupler / Bus Terminal Controller operate by means of three independent potential groups. The supply voltage feeds the Standard-Bus electronics and the Standard-Bus itself. The supply voltage is also used to generate the operating voltage for the fieldbus interface. Remark: All the Bus Terminals are electrically isolated from the Standard-Bus.

  • Page 20: Nine Pole D-Sub

    I/O Terminal / MOUNTING AND WIRING 3.5.2 Nine Pole D-Sub Pin 6 is 5 VDC und Pin 5 is GND for the active termination resistor. These must never be misused for other functions, as this can lead to destruction of the device. Pin 3 and pin 8 are the Profibus signals.

  • Page 21: Connection Of Fieldbus Box Modules

    I/O Terminal / MOUNTING AND WIRING 3.5.4 Connection of Fieldbus Box Modules The connection of the Fieldbus Box modules is done direct or via a T-piece (or Y-piece). The B318 series does have a male and female connector, that means no external T-piece is required.

  • Page 22: Cabling For Profibus Dp And Profibus Fms

    I/O Terminal / MOUNTING AND WIRING Two types of conductor are available, with differing maximum conductor lengths (see the RS- 485 table). RS485 - Fundamental Properties RS-485 Transmission According to the Profibus Standard Linear bus, active bus terminator at both ends, stubs are Network topology possible.

  • Page 23: Distances

    I/O Terminal / MOUNTING AND WIRING Note: In systems with more than two stations all devices are wired in parallel. It is essential that the bus cables are terminated with resistors at the conductor ends in order to avoid reflections and associated transmission problems. 3.6.3 Distances The bus cable is specified in EN 50170.

  • Page 24: Checking The Profibus Wiring

    I/O Terminal / MOUNTING AND WIRING 3.6.6 Checking the Profibus Wiring A Profibus cable (or a cable segment when using repeaters) can be checked with a few simple resistance measurements. The cable should meanwhile be removed from all stations: 1. Resistance between A and B at the start of the lead: approx. 110 Ohm 2.

  • Page 25: Start-Up Behavior Of The Bus Coupler

    I/O Terminal / START-UP BEHAVIOR OF THE BUS COUPLER START-UP BEHAVIOR OF THE BUS COUPLER This chapter describes the start-up behavior of the bus coupler. Self-Test Immediately after being switched on, the Bus Coupler checks, in the course of a self test, all the functions of its components and the communication on the Standard-Bus.

  • Page 26: Automatic Configuration

    I/O Terminal / AUTOMATIC CONFIGURATION AUTOMATIC CONFIGURATION This section describes the basics of automatic configuration within the KAS Integrated Development Environment (IDE). Scan Devices For ease-of-use the KAS IDE Scan Device feature provides automatic integration of I/O devices. This allows you to automatically locate and add I/O couplers to the application project: Additionally, Scan Device will locate and add I/O slices to the application project:...
  • Page 27 I/O Terminal / AUTOMATIC CONFIGURATION Also, I/O slices can also be added in the project explorer of the IDE: For more detailed information on these procedures refer to the section “EtherCAT Scan Device” in the KAS IDE online help.

  • Page 28: Manual Configuration

    I/O Terminal / MANUAL CONFIGURATION MANUAL CONFIGURATION Kollmorgen strongly recommends automatic configuration using the KAS IDE over manual configuration. For automatic configuration refer to section 4.2. Manual configuration is for advanced procedures only. The following sections provide the necessary configuration information to manually map the I/O device.
  • Page 29 I/O Terminal / MANUAL CONFIGURATION Byte Value Description GSE file In multi-configuration mode, the coupler Extended sets the Stat_Diag bit in the diagnostic data if the configuration is not consistent, and does not yet enter data exchange (default). In multi-configuration mode the coupler also enters data exchange even when the configuration is not consistent, although Standard-Bus cycles are not...
  • Page 30 I/O Terminal / MANUAL CONFIGURATION Byte Value Description GSE file Representation in Motorola format (default) Standard-Bus mode slow FreeRun Standard (default) (see Standard-Bus cycle) Standard-Bus mode fast FreeRun WORD alignment inactive (default) Extended WORD alignment active (see WORD alignment) Standard-Bus mode is synchronous Standard (see Standard-Bus cycle) Standard-Bus mode FreeRun (default)

  • Page 31: Configuration

    I/O Terminal / MANUAL CONFIGURATION Byte Value Description GSE file The maximum DP buffer lengths are Extended changed using the values from UserPrmData 37-40 (see Multi- configuration mode) Delay time (in µs) high byte (see Extended Standard-Bus cycle) Delay time (in µs) low byte (see Extended Standard-Bus cycle) Assignment of Bus Terminals 1 to 64...

  • Page 32: Configuration Of Complex Modules

    I/O Terminal / MANUAL CONFIGURATION Function Module Activation of the function The 2-byte PLC interface is activated via the UserPrmData (byte 2-byte PLC interface 5, bit 0). By default it is not active. Standard-Bus cycle The Standard-Bus cycle counter is activated via the UserPrmData counter (byte 3, bit 3).

  • Page 33: Cyclic Data Exchange

    I/O Terminal / MANUAL CONFIGURATION Cyclic Data Exchange This section explains and provides data on Cyclic Data Exchange. 6.3.1 Process Data and Image The Bus Coupler includes different memory areas, each having a capacity of 256 words. Telegrams passing over the Lightbus can specifically access any desired memory cell. The control and status bytes in the Lightbus telegrams can be used to distinguish between two relevant regions of the memory and to address them separately.
  • Page 34 I/O Terminal / MANUAL CONFIGURATION Special Signals and Interfaces The Bus Coupler supports Bus Terminals with other interfaces such as RS232, RS485, incremental encoder and others. These signals can be considered similarly to the analog signals named above. For some special signals the bit width of 16 is not sufficient. The Bus Coupler can support any byte width.

  • Page 35: Standard-Bus Cycle

    I/O Terminal / MANUAL CONFIGURATION Input data in the Bus Coupler 6.3.2 Standard-Bus Cycle The Standard-Bus cycle can be set to run freely (FreeRun mode) or synchronously (synchronous mode) with respect to the DP cycle. The Standard-Bus cycle for the DP coupler consists of the following parts: The Standard-Bus cycle time can be calculated to a precision of approximately 10% by means of the following formula (4-channel terminals or terminals with more than 6 bytes of...
  • Page 36 I/O Terminal / MANUAL CONFIGURATION Byte 9, bit 4 Byte 9, bit 6 Byte 12, bit 0 Byte 12, bit 1 Standard-Bus mode Slow FreeRun Fast FreeRun Synchronous Synchronous with optimized input update, one cycle Synchronous with optimized input update, two cycles FreeRun Mode This section covers the types of FreeRun Modes.
  • Page 37 I/O Terminal / MANUAL CONFIGURATION Synchronous Mode As explained in the table above, there are three different synchronous modes: Standard Synchronous Mode In standard synchronous mode the Standard-Bus cycle is always started immediately following reception of the Data_Exchange telegram from the DP master. The outputs are therefore generated as quickly as possible, while the input cycles are always one DP cycle old: It is important here to ensure that the duration of the Standard-Bus cycle plus approx.
  • Page 38 I/O Terminal / MANUAL CONFIGURATION The delay time is set by means of the UserPrmData (in µs, in Motorola format). The extended GSE file of the Bus Coupler is, however, necessary for this: Byte Value: Description Delay time (in µs) high byte Delay time (in µs) low byte Synchronous Mode With Optimized Input Update (two cycles) In the third mode of synchronous operation, the advantages of the other two operating modes...

  • Page 39: Dpv1 - Acyclic Data Transfer

    I/O Terminal / MANUAL CONFIGURATION Dummy Output Byte The Bus Coupler's PROFIBUS DP ASIC can only generate an interrupt after reception of a Data_Exchange telegram if output data has been received. This means that at least one output byte must be transferred via DP in synchronous mode. If only input terminals are plugged in, and no output data is therefore present, a dummy output byte can be configured.
  • Page 40 I/O Terminal / MANUAL CONFIGURATION Byte Value: Description 1: MSAC_C1 connection is activated The MSAC_C2 connection can be used either by the C1 master (which communicates with the slave cyclically) or by a C2 master (which then only communicates with the slave cyclically), and has its own establishment of connection.

  • Page 41: Dpv1 At The Coupler

    I/O Terminal / MANUAL CONFIGURATION Accessing Parameters Index Access Length Description R(/W) 4-32 Parameters 0x0000-0x0007 of the function module (must divisible by 4) R(/W) 4-32 Parameters 0x0008-0x000F of the function module (must divisible by 4) … … … R(/W) 4-32 Parameters 0x03F8-0x03FF of the function module (must divisible...
  • Page 42 I/O Terminal / MANUAL CONFIGURATION Slot Index Length Data Description number 1-15 Byte 0 (bit 0,1) Assignment of module 1 0: DP DataExchange (default) 2: disabled (configured module missing) Byte 0 (bit 2,3) Assignment of module 2 0: DP DataExchange (default) 2: disabled (configured module missing) Byte 0 (bit 4,5) Assignment of module 3...
  • Page 43 I/O Terminal / MANUAL CONFIGURATION Firmware Information The following firmware information can be read through DPV1. The data is transferred in Intel format (low byte first): Slot number Index Byte Description Bus Coupler number Software version Manufacturer type (table 0, register 245) Coupler type (table 0, register 246) Bus Coupler type (table 0, register 247) 10-11...
  • Page 44 I/O Terminal / MANUAL CONFIGURATION Slot number Index Byte Description Number of the Bus Coupler Value for terminal 1 … … 46-47 Value for terminal 23 Value for terminal 24 … … 46-47 Value for terminal 47 Value for terminal 48 …...
  • Page 45 I/O Terminal / MANUAL CONFIGURATION Slot number Index Byte Description Bit 0: Fieldbus errors Bit 1: Standard-Bus error Bit 2: Error on the Bus Terminal Bit 3: Coupler error In the presence of a coupler error: Error code Standard-Bus error = 0: Bit length of the Standard-Bus Standard-Bus error = 1: Standard-Bus error code (->...
  • Page 46 I/O Terminal / MANUAL CONFIGURATION Slot Index Length Data Description number Byte 0,1 Minimum cycle time in µs (INTEL format, low byte first) Byte 2, 3 Minimum cycle time in µs (INTEL format, low byte first) Byte 4, 5 Mean cycle time in µs (INTEL format, low byte first) Byte 6, 7 Current cycle time in µs (INTEL format,...

  • Page 47: Extended Functions

    I/O Terminal / EXTENDED FUNCTIONS EXTENDED FUNCTIONS This chapter covers extended functions. 2-byte PLC Interface Checking the CfgData can be deactivated if a DP master is not capable of operating with the modules listed in the GSE file. In that case the master can send any CfgData, and as many inputs and outputs are transferred as are described by the CfgData.

  • Page 48: Deactivating The Cfgdata Check

    I/O Terminal / EXTENDED FUCNTIONS Word alignment can be set in the UserPrmData: Byte Value Description Word alignment is active When using the DP modules it is necessary to ensure that only those complex modules that are identified with word alignment are used. The extended GSE file must be used in order to set word alignment in text form in the master's configuration tool and to be able to select the word alignment module.

  • Page 49: Multi-Configuration Mode

    I/O Terminal / EXTENDED FUCNTIONS Multi-Configuration Mode Multi-configuration mode can be used for the following types of application. A more extensive consideration, considering, in particular, the various implementation levels of the Bus Coupler, is given in the Requirements of a production machine. 7.4.1 Creating a DP Configuration for Various Implementation Levels If it is desired to use one PLC program to control different implementation levels of a process, it can be valuable to work with the same DP configuration in spite of differences between the...

  • Page 50: Enabling/Disabling Bus Terminals

    I/O Terminal / EXTENDED FUCNTIONS  The digital terminals are to be declared as Multi-Cfg mode modules at their true position  The digital terminals are to be declared after the analog modules moreover as input/output sum modules, corresponding to their bit width, as is also the case for standard configuration in the process image.
  • Page 51 I/O Terminal / EXTENDED FUCNTIONS Byte Description Assignment for terminal 1 0: DP DataExchange (default) 2: disabled (Multi-Config mode) Assignment for terminal 2 0: DP DataExchange (default) 2: disabled (Multi-Config mode) Assignment for terminal 3 0: DP DataExchange (default) 2: disabled (Multi-Config mode) Assignment for terminal 4 0: DP DataExchange (default) 2: disabled (Multi-Config mode)
  • Page 52 I/O Terminal / EXTENDED FUCNTIONS Index Byte Description Assignment for terminal 64 0: DP DataExchange (default) 2: disabled (Multi-Config mode) Assignment for terminal 65 0: DP DataExchange (default) 2: disabled (Multi-Config mode) … … … Assignment for terminal 128 0: DP DataExchange (default) 2: disabled (Multi-Config mode) Enabling/disabling via the 2-byte PLC interface The terminals are enabled or disabled through table 1, registers 0-31:...

  • Page 53: Changing The Size Of The Process Data

    I/O Terminal / EXTENDED FUCNTIONS Register Description 14,15 Assignment for terminal 8 0: DP DataExchange (default) 2: disabled (Multi-Config mode) … … … 14,15 Assignment for terminal 128 0: DP DataExchange (default) 2: disabled (Multi-Config mode) Note: It can happen under multi-configuration mode that the CfgData exceeds 64 bytes. In such a case, the CfgData must be enlarged.
  • Page 54 I/O Terminal / EXTENDED FUCNTIONS Maximum DP buffer sizes DP buffer Maximum sizes under default settings Inputs 128 bytes Outputs 128 bytes Diagnostic data 64 bytes Configuration data 64 bytes Setting via the 2-BYTE PLC interface The maximum DP buffer sizes can be modified in Table 100, although it is necessary for the Bus Coupler to be reset (power off/power on, or a software reset) before the new value is adopted: Byte...

  • Page 55: Error Handling And Diagnosis

    I/O Terminal / ERROR HANDLING AND DIAGNOSIS ERROR HANDLING AND DIAGNOSIS The Bus Coupler has two groups of LEDs for the display of status. The upper group or left hand group indicates the state of the fieldbus. On the upper right hand side of the Bus Coupler are two more green LEDs that indicate the supply voltage.

  • Page 56: Dia-Led Blink Codes

    I/O Terminal / ERROR HANDLING AND DIAGNOSIS I/O- RUN Description Remedy Everything is Operating state: RUN, Inputs are operating read and outputs are set correctly 1. Bus activity, but slave is already Start master parameterized 2. Bus error with reaction to PROFIBUS error: Check a.) Standard-Bus outputs become...

  • Page 57: Standard-Bus Leds (Local Errors)

    I/O Terminal / ERROR HANDLING AND DIAGNOSIS 8.1.2 Standard-Bus LEDs (Local Errors) Two LEDs, the Standard-Bus LEDs, indicate the operational state of the Bus Terminals and the connection to these Bus Terminals. The green LED (I/O RUN) lights up in order to indicate fault-free operation.

  • Page 58: Dp Diagnostic

    I/O Terminal / ERROR HANDLING AND DIAGNOSIS Error Error Description Remedy Code Code Argument Only use digital (bit oriented) Unsupported Bus Terminal 7 pulses Bus Terminals, or use a Bus detected at location n. Coupler. Checksum error in program Set manufacturer's setting 9 pulses flash memory.
  • Page 59 I/O Terminal / ERROR HANDLING AND DIAGNOSIS When the DP diagnostic data changes, the slave reports this fact to the master, and the master will automatically fetch the changed diagnostic data. This means that DP diagnostic data is not included in the DP process data in real-time, but is always sent to the controller a few cycles later.
  • Page 60 I/O Terminal / ERROR HANDLING AND DIAGNOSIS Device-specific diagnostic data (DPV1 status message) The meaning of the first 4 bytes of the DPV1 status message is specified by the DPV1 standard, while the bytes that follow are manufacturer-specific. Byte Description The length of the DPV1 status message (including this byte) StatusType: the StatusType identifies the format of the diagnostic data starting at byte 16 (0x81: max.
  • Page 61 I/O Terminal / ERROR HANDLING AND DIAGNOSIS Byte Description Status byte of the faulty channel (bits 0-7) … … … Module number (0-63) with an error (bit 6 of the status bytes is set, except for the serial interface modules where bit 3 of the status byte is set) Associated channel number (0-3) Status byte of the faulty channel (bits 0-7)

  • Page 62: Errors During Dp Start-Up

    I/O Terminal / ERROR HANDLING AND DIAGNOSIS 8.2.2 Errors During DP Start-up If an error occurs in the parameterization (UserPrmData) or configuration (CfgData) during DP start-up, this is indicated both through the fieldbus LEDs and in the diagnostic data (DiagData). Possible DP start-up errors are identified by an error code and an error argument.
  • Page 63 I/O Terminal / ERROR HANDLING AND DIAGNOSIS Errors when checking the CfgData Error code 2 Error code 2 indicates that a byte in the CfgData is not correct. The error argument describes which CfgData byte has been detected as containing an error (the offset of the faulty byte + Error code 5 Error code 5 indicates that the length of the digital outputs (in bytes) calculated from the CfgData is not correct.

  • Page 64: Reaction To Profibus Error

    I/O Terminal / ERROR HANDLING AND DIAGNOSIS 8.2.3 Reaction to PROFIBUS Error A PROFIBUS error (failure of the master, withdrawal of the PROFIBUS plug etc.) is detected after the DP watchdog has elapsed (usually in the region of 100 ms, unless this has been deactivated in the master) or by bus timeout (the baud rate supervision time is set to 10 s).

  • Page 65: Terminal Diagnostics

    I/O Terminal / ERROR HANDLING AND DIAGNOSIS Signaling the Standard-Bus error A Standard-Bus error is indicated both on the I/O-ERR LED and in the DPV1 status message in the DP diagnostic data (bytes 11-13). Byte Description too many Standard-Bus command errors too many Standard-Bus timeouts too many Standard-Bus receive errors too many Standard-Bus transmit errors...
  • Page 66 I/O Terminal / ERROR HANDLING AND DIAGNOSIS Digital terminal diagnosis By default, the diagnostic bits for the digital terminals that have diagnosis are transmitted cyclically in the process image. These terminals occupy 4 bits each in both the input and output data.

  • Page 67: Gse File

    The standard GSE file contains all the important and fundamental properties required for operation of any master controller. The Bus Coupler can be parameterized in a clear and comprehensible manner with this GSE file. ====================================================== GSE-Data Table for PROFIBUS-DP/FMS Coupler/SPC 4 Vendor: Kollmorgen Inc. Part No.: AKT-PRB-000-000 Dated: August 10, 2010 ======================================================...
  • Page 68 I/O Terminal / APPENDIX A #Profibus_DP GSE_Revision = 1 Extended GSE-Data is supported Vendor_Name = Kollmorgen Inc. Vendor name Model_Name = “AKT-PRB-000-000” Model name of DP-device Ident_Number = 0xBECE Model type of DP-device Protocol_Ident = 0 Protocol identification PROFIBUS-DP Station_Type = 0...
  • Page 69 I/O Terminal / APPENDIX A Defaults for User-Prm-Data Min_Slave_Intervall = 10 Modular_Station = 1 Modular Station Max_Module = 64 Max. 64 Modules Max_Output_Len = 64 Max. 64 Bytes Output-Data Max_Data_Len = 128 Max. 128 Bytes total data Fail_Safe = 0 Data telegram without content is not acknowledged for the CLEAR command...
  • Page 70 I/O Terminal / APPENDIX A Value(47) = "Error in Terminal No. 47" Value(48) = "Error in Terminal No. 48" Value(49) = "Error in Terminal No. 49" Value(50) = "Error in Terminal No. 50" Value(51) = "Error in Terminal No. 51" Value(52) = "Error in Terminal No.
  • Page 71 I/O Terminal / APPENDIX A EndModule Module = KL4xx2 2 Channels 24Out/24In 0xB5 EndModule Module = KL4xx4 4 Channels 16Out 0x63 EndModule Module = KL4xx4 4 Channels 24Out/24In 0xBB EndModule Module = KL5001 Alternative 32In 0x93 EndModule Module = KL5001 Alternative 48In/48Out 0xB5 EndModule Module = KL5001 Standard 32In...
  • Page 72 I/O Terminal / APPENDIX A Module = KL6021 Standard 5 Bytes 0xB4 EndModule Module = KL6021 Standard 6 Bytes 0xB5 EndModule Module = KL6051 4 Bytes 0xB3 EndModule Module = KL6051 6 Bytes 0xB5 EndModule Module = 8 Bit Digital Inputs 0x10 EndModule Module = 16 Bit Digital Inputs...
  • Page 73 I/O Terminal / APPENDIX A EndModule Module = 128 Bit Digital Outputs 0x2F EndModule Extended Description of User-Parameters PrmText = 1 Reference No. 1 Text(0) = "Not used" Text(1) = "Used" EndPrmText PrmText = 2 Reference No. 2 Text(0) = "Manual Reset" Text(1) = "Automatic Reset"...
  • Page 74 I/O Terminal / APPENDIX A ExtUserPrmData = 2 "Behavior at Terminal Bus Reference No. 2 Error" Bit(0) 0 0-1 Default = 0, Min. = 0, Max. = 1 Prm_Text_Ref = 2 Reference to Text-Definition 2 EndExtUserPrmData ExtUserPrmData = 3 "Terminal Bus Reference No.
  • Page 75 I/O Terminal / APPENDIX A Ext_User_Prm_Data_Const(8) = 0x00 1 Byte reserved UserPrmData Bits 0,5,6 are assigned 1, Bits 4 and 7 Ext_User_Prm_Data_Const(9) = 0x61 are assigned 0 Ext_User_Prm_Data_Ref(9) = 4 Reference No. 4 Ext_User_Prm_Data_Ref(9) = 5 Reference No. 5 Ext_User_Prm_Data_Ref(9) = 6 Reference No.
  • Page 76 I/O Terminal / APPENDIX B APPENDIX B This section provides the mechanical drawing of the I/O terminal. AKT-PRB-000-000 Mechanical Drawing...
  • Page 77 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage.

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