SEW-Eurodrive Movitrac 31 Series Manual
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SEW-Eurodrive Movitrac 31 Series Manual

Profibus fieldbus interface (ffp 31.. option and size o/dp)
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MOVITRAC
®
31..
Frequency Inverter
PROFIBUS Fieldbus Interface
(FFP 31.. Option and Size 0/DP)
Manual
Edition 04/98
08/198/96

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  • Page 1 MOVITRAC ® 31.. Frequency Inverter PROFIBUS Fieldbus Interface (FFP 31.. Option and Size 0/DP) Manual Edition 04/98 08/198/96...
  • Page 2 Important Notes • Read this User Manual carefully before you start installation and commissioning work on ® MOVITRAC frequency inverters with fieldbus options. This User Manual assumes that the user is familiar with and has at his disposal all relevant ®...
  • Page 3 Preface Preface This manual for the PROFIBUS interface describes the procedure for installing the FFP 31C PROFI- ® BUS option pcb in the inverter, for installing the MOVITRAC 31.. size 0 with integrated PROFI- ® BUS-DP interface and for commissioning MOVITRAC 31..

  • Page 4: Table Of Contents

    Contents Page Introduction ......... 6 Assembly / Installation Instructions.
  • Page 5 Contents The PROFIBUS-FMS Interface ......3 7 FMS Services ..........37 4.1.1 Initiate .

  • Page 6: Introduction

    Introduction Introduction ® Thanks to its high-performance, universal fieldbus interface, the MOVITRAC 31.. inverter with the FFP 31C option enables connections to be made with higher-level automation systems via the open and standardized serial PROFIBUS-FMS and PROFIBUS-DP bus system. ® In addition MOVITRAC 31..
  • Page 7 Introduction Controller Visualization PROFIBUS-DP master PROFIBUS-FMS master Frequency inverter Fieldbus Fieldbus Fieldbus CONTROL MODE CONTROL MODE CONTROL MODE FAULT FAULT FAULT Digital I/O Analog I/O PROFIBUS-DP/FMS 00942AEN ® Fig. 1: PROFIBUS-DP and/or FMS with MOVITRAC ® MOVITRAC 31.. offers digital access to all drive parameters and functions via the PROFIBUS interface.

  • Page 8: Assembly / Installation Instructions

    Assembly / Installation Instructions Assembly / Installation Instructions ® The following section describes the assembly and installation of the MOVITRAC 31.. inverters for the integration in a PROFIBUS network. ® For MOVITRAC 31.. size 1-4 the inverter is generally connected to the PROFIBUS via the FFP 31 ®...

  • Page 9: Assembly Instructions

    Assembly / Installation Instructions 2.1.3 Assembly instructions The FFP 31.. must only be installed by electronic equipment specialists, observing the following ESD protection measures: • Before touching the pcb, make sure you have taken appropriate e.s.d. measures (wrist strap, conductive shoes etc.) •...

  • Page 10: Installation Of The Movitrac ® 31

    Assembly / Installation Instructions ® Installation of the MOVITRAC 3 1.. size 0/DP ® The size 0 inverters (MOVITRAC 31.. size 0/DP) have the PROFIBUS-DP interface already inte- grated in the basic unit. They only support the DP-option! Fig. 3 shows the general design of the ®...

  • Page 11: Screening And Laying Of The Bus Cables

    Assembly / Installation Instructions ® The MOVITRAC 31.. frequency inverter is connected to the PROFIBUS system via a twisted, screened two-wire cable. The connection of the two-wire cable to the PROFIBUS connector is via pin 8 (A/A) and pin 3 (B/B). These two contacts are used for communication. The RS-485 signals A/A and B/B must be contacted the same on all PROFIBUS stations, as otherwise communication via the bus will not be possible.

  • Page 12: Setting The Station Address

    Assembly / Installation Instructions Bus termination PROFIBUS-DP master Fieldbus Fieldbus Fieldbus CONTROL MODE CONTROL MODE CONTROL MODE FAULT FAULT FAULT Digital I/O Analog I/O PROFIBUS-DP/FMS 00943AEN Fig. 5: Bus termination at the beginning and end of a PROFIBUS segment As the bus terminating resistors can be connected on the FFP 31 of the frequency inverter, it is not necessary to use a type D connector with integrated terminating resistors.

  • Page 13: Setting The Bus Parameters (Not For Movitrac ® 31

    Assembly / Installation Instructions It is not possible to change the PROFIBUS station address via the DIP switches while the inverter is running. If the station address is changed, the new station address will only be effective after the inverter has been switched off (including the 24 V supply) and then switched on again. The station address set on the frequency inverter can be displayed in the fieldbus monitor parameter P073 Fieldbus Address (see Fig.

  • Page 14: Display Elements

    Assembly / Installation Instructions Display Elements LED Green RUN LED Red BUS FAULT Meaning Flashing at approx. 3 Hz Inverter is in initialization phase (only occurs immediately after switching on or resetting inverter) Flashing at approx. 0.5 Hz Configured station address is not within the permitted range (0...125) ⇒ set correct station address and switch the unit on again.
  • Page 15 Assembly / Installation Instructions For safety reasons the inverter must also be enabled on the terminal side as well to permit control via the fieldbus system. The terminals are therefore to be wired or programmed in such a way that the inverter is enabled via the input terminals.

  • Page 16: The Profibus-Dp Interface

    The PROFIBUS-DP Interface The PROFIBUS-DP Interface PROFIBUS-DP (Decentralized Periphery) is the speed-optimized PROFIBUS option designed in par- ticular for fast data exchange at the sensor/actuator level. DP is used by central automation sys- tems (e.g. programmable logic controllers) to communicate with decentralized peripherals such as sensors and actuators, among them inverters, via a fast serial link.

  • Page 17: Description Of The Configuration Data

    The PROFIBUS-DP Interface When commissioning the DP master, you have to specify which configuration is going to be used to operate the inverter. This configuration is then transferred to the inverter when the DP master is started up (with the DDLM_Chk_Cfg service). The inverter checks the transferred configuration data for plausibility before going into data transfer mode.

  • Page 18: Configuring For 1 Process Data Word (1 Pd)

    The PROFIBUS-DP Interface To set these process data configurations, the inverter supports a number of different codes for the Cfg_Data identifier byte. The process data configuration is allocated based on the amount of input and output data. A valid DP configuration sent from the DP master to the inverter must conform to the following conventions: –...

  • Page 19: Configuring For 2 Process Data Words (2 Pd)

    The PROFIBUS-DP Interface ® Fig. 14 shows the communication between the automation unit (DP master) and the MOVITRAC 31.. frequency inverter via one process data word only. This configuration could be used, for exam- ple, to control the inverter with control word 1 and status word 1 (see SEW documentation Field- bus Unit Profile User Manual ).

  • Page 20: Configuring For 3 Process Data Words (3 Pd)

    The PROFIBUS-DP Interface 3 .1.4 Configuring for 3 Process Data Words ( 3 PD) ® Control of the MOVITRAC 31.. inverter using three process data words requires that the Cfg_Data identifier byte is coded as shown in Fig. 17. This code must be sent to the inverter by the DP mas- ter when PROFIBUS-DP is started so that the DP master and DP slave can exchange three process data words.

  • Page 21: Configuring For 2 Pd + Parameter Channel

    The PROFIBUS-DP Interface ® Fig. 20 shows the communication between the automation unit (DP master) and the MOVITRAC 31.. inverter via one process data word and the parameter channel for reading and writing of drive parameters. The higher-level control system could use this configuration, for example, to control the inverter with Control Word 1 and Status Word 1 and access all drive parameters via the para- meter channel (see SEW documentation Fieldbus Unit Profile User Manual ).

  • Page 22: Configuring For 3 Pd + Parameter Channel

    The PROFIBUS-DP Interface 3 .1.7 Configuring for 3 PD + Parameter Channel ® Control of the MOVITRAC 31.. inverter using three process data words and an additional parame- ter channel requires two identifier bytes to be defined. Identifier byte 1 contains the code for the parameter channel, identifier byte 2 contains the code for three process data words.

  • Page 23: Watchdog Timer

    The PROFIBUS-DP Interface ® MOVITRAC 31.. with Option FFP 31.. Fieldbus CONTROL MODE Ident-Number: 3100 or 12544 FAULT 01176AEN ® Fig. 25: Ident number MOVITRAC 31.. with FFP 31.. The ident number is defined as an unsigned 16-bit number (Unsigned16). The PROFIBUS User ®...

  • Page 24: Diagnostic Data

    The PROFIBUS-DP Interface FAULT FIELDBUS TIMEOUT 01179AEN Fig. 28: Fault message after the timeout period has elapsed Expiry of the timeout period is indicated on the option pcb by the red BUS FAULT LED. At the same time, the inverter also indicates an error on its red Status LED. The error is displayed on the keypad or on the PC as Error Fieldbus Timeout (Fig.

  • Page 25: Data In Octet 1: Station Status 1

    The PROFIBUS-DP Interface 3 .4.1 Data in Octet 1: Station Status 1 Fig. 30 shows the coding of octet Station Status 1 in accordance with EN 50170 V2 / DIN E 19245 Part 3. Station status 1 comprises information which is either generated by the master or by the DP slave itself.

  • Page 26: Data In Octet 2: Station Status 2

    The PROFIBUS-DP Interface Bit 3 : Diag.Ext_Diag ® This bit is set by the MOVITRAC 31.. frequency inverter as DP slave. It indicates that a diagnostic entry has been made in the unit related diagnosis section (see octet 8: Unit Related Diagnosis ). Bit 2: Diag.Cfg_Fault ®...

  • Page 27: Data In Octet 3: Station Status 3

    The PROFIBUS-DP Interface Bit 7: Diag.Deactivated The frequency inverter as DP slave sets this bit permanently at zero. ® This bit is set by the DP master if the MOVITRAC 31.. frequency inverter was identified as non-active in the DP slave parameter set and taken off the cyclic processing. Bit 6: Reserved Bit 5: Diag.Sync_Mode This bit is set by the frequency inverter as soon as it has received the Sync command.

  • Page 28: Dp Master Address In Octet 4

    The PROFIBUS-DP Interface The individual bits have the following meaning in accordance with EN 50170 V2 / DIN E 19245 Part 3: Bit 7: Diag.Ext_Diag_Overflow If this bit is set more diagnostic information is present than specified in Ext_Diag_Data. This ®...
  • Page 29 The PROFIBUS-DP Interface Buffer storage 1500 min 1500 min 1500 min Active setpoint 0 min 0 min 0 min PROFIBUS-DP 01185AEN Fig. 33: Sending output data to the inverter and saving them temporarily When a new Sync command is issued, all inverters simultaneously update their active setpoints with the value temporarily stored before (Fig.
  • Page 30 The PROFIBUS-DP Interface The Freeze control command switches the addressed slaves into Freeze Mode . The present status of the inputs (actual values) is frozen when in this mode (Fig. 35). Freeze Buffer storage 1500 min 1348 min 876 min 1500 min 1348 min 876 min...

  • Page 31: Control Via Profibus-Dp

    The PROFIBUS-DP Interface 3 .6 Control via PROFIBUS-DP The inverter is controlled via the process data channel, which can be one, two or three I/O words in length. These process data words are, for example when a programmable logic controller is being used as DP master, stored in the I/O or peripherals area of the controller and can thus be addressed in the usual manner (Fig.

  • Page 32: Parameter Setting Via Profibus-Dp

    The PROFIBUS-DP Interface 3 .7 Parameter setting via PROFIBUS-DP The inverter parameters are read and written by the READ and WRITE services of the application layer (layer 7). If there is no layer 7, as in the case of PROFIBUS-DP, a suitable application layer must be emulated, i.e.
  • Page 33 The PROFIBUS-DP Interface Byte 0: Management Bit: Service identifier: 000 = No Service 001 = Read 010 = Write Reserved Data length: 00 = 1 byte 01 = 2 bytes 10 = 3 bytes 11 = 4 bytes Handshake bit: must be toggled for each new service Status bit:...

  • Page 34: Reading A Parameter Via Profibus-Dp (Read)

    The PROFIBUS-DP Interface Faulty Execution of Service Faulty execution of service is signalled by setting the status bit in the management byte. If the received handshake bit is identical to the transmitted handshake bit, the inverter has executed the service. If the status bit indicates an error, the error code is entered in the data area of the parame- ter message (Fig.

  • Page 35: Writing A Parameter Via Profibus-Dp (Write)

    The PROFIBUS-DP Interface 3 .7.3 Writing a Parameter via PROFIBUS-DP (Write) When executing a WRITE service via the parameter channel, the handshake bit should not be tog- gled until the entire parameter channel has been set up accordingly for the service in question, as the parameter channel is transferred on a cyclic basis.

  • Page 36: 3 .7.5 Parameter Data Format

    The PROFIBUS-DP Interface Control Frequency inverter (Master) (Slave) PROFIBUS-DP 0 0 110010 0 0 110010 Parameter channel 0 0 110010 Parameter channel is received 0 0 110010 is prepared but not evaluated for WRITE service 0 0 110010 Handshake bit is toggled and service transferred to frequency inverter 0 1 110010...

  • Page 37: The Profibus-Fms Interface

    The PROFIBUS-FMS Interface The PROFIBUS-FMS Interface ® The MOVITRAC 31.. inverters offer via the FFP 31.. option pcb besides the standard conform PROFIBUS DP interface an FMS interface in accordance with EN 50170 V2 / DIN E 19245 Part 2. Both interfaces can be used parallel (Combislave).

  • Page 38: Abort

    The PROFIBUS-FMS Interface 4.1.2 Abort ® An existing communications link between the FMS master and the MOVITRAC 31.. inverter is cleared using the FMS service Abort . Abort is an unacknowledged FMS service and can be initiated ® both by the FMS master as well as by the MOVITRAC 31...

  • Page 39: Object List

    The PROFIBUS-FMS Interface Object List With the FMS services Read and Write , the FMS master can access all the communications objects defined in the object list. All drive parameters that can be accessed via the bus system are described as communications objects in the static object list.

  • Page 40: Objects For Process Data Communication

    The PROFIBUS-FMS Interface To access all drive parameters via PROFIBUS-FMS, you must add the value 1000 dec to the index shown in the parameter list to access the fieldbus index. In general, you can apply the following formula: Fieldbus Index = Parameter Index + 1000 dec The object description in the object list is identical for all drive parameters.
  • Page 41 The PROFIBUS-FMS Interface ® In straight PROFIBUS-FMS mode, an FMS master can control the MOVITRAC 31.. inverter via the process data channel using the communication objects listed in the table. The process output data are transferred during this process to the appropriate process output data object by the Write serv- ice.
  • Page 42 The PROFIBUS-FMS Interface Fig. 48 shows the structure of the object “1 process output data word (1 PO)”. Octet 0 Octet 1 High PO 1 01196AEN Fig. 48: Structure of the object “1 process output data word (1 PO)” Index: Object code: 7 (Simple variable) Data type index:...
  • Page 43 The PROFIBUS-FMS Interface Process Input Data Objects The following tables show the communications objects for the process input data (actual values of the inverter). These objects can only be read with the FMS service Read . Index: Object code: 7 (Simple variable) Data type index: 10 (Octet string) Length:...

  • Page 44: Min Tsdr" Object

    The PROFIBUS-FMS Interface Index: Object code: 7 (Simple variable) Data type index: 10 (Octet string) Length: 6 Byte Local address: Password: Access groups: Access rights: Read all Name[16]: Extension length: Fig. 53 shows the structure of the object “3 process input data words (3 PI)”. Octet 0 Octet 1 Octet 2...

  • Page 45: Dp Station Diagnosis" Object

    The PROFIBUS-FMS Interface Important! Changing min T can cause major malfunctions across the entire PROFIBUS network and should therefore only be done by PROFIBUS experts. As a rule, the default setting according to DIN 19245, which is set using the DIP switch on the option pcb, is more than adequate. These DIN 19245 default values guarantee stable operation of the PROFIBUS network.
  • Page 46 The PROFIBUS-FMS Interface Octet 1: Reserved 1-3 8 parameters Octet 2: Number of parameters Index high Octet 3: Index low Octet 4: Data MSB 1st parameter Octet 5: Data Octet 6: Data Octet 7: Data LSB Octet 8: Index high Octet 9: Index low Octet 10:...

  • Page 47: Universal Write Parameter" Object

    The PROFIBUS-FMS Interface Example: Error writing the 11th parameter Write Error Response: Error Class: Other Error Code: Other Additional Code High: 11dec Error writing parameter 11 Additional Code Low: 15 hex Value too large If an error occurs when a parameter is written, processing of the parameter block is aborted. All parameters in the block following the faulty parameter are not transmitted to the inverter and remain unchanged.

  • Page 48: Universal Read" Functionality Objects

    The PROFIBUS-FMS Interface 4.2.7 “Universal Read” Functionality Objects The Universal Read objects form the counterpart to Universal Write. The Universal Read objects permit reading of any parameter independent of the object list being used. The execution of a Uni- versal Read takes place using both the “Universal Read Pointer”...
  • Page 49 The PROFIBUS-FMS Interface Fig. 58 shows an example of how Universal Read works using the auto-increment function. Controller MOVITRAC 31.. (Master) (Slave) 1. Writing the universal read pointer parameter with data (Index: 1020, increment value = 5 (auto-increment ON)) Read pointer: 2.
  • Page 50 The PROFIBUS-FMS Interface Index: Object code: 7 (Simple variable) Data type index: 10 (Octet string) Length: Local address: Password: Access groups: Access rights: Read all / Write all Name[16]: Extension length: “Universal Read Data” Object Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8 Data Data Data...

  • Page 51: Communications Relationship List (Crl)

    The PROFIBUS-FMS Interface 4. 3 Communications Relationship List (CRL) ® The communications relationships between the MOVITRAC 31.. inverter and the FMS master are stored in the Communications Relationship List (CRL). You will need this CRL data to configure an ® FMS master that is to communicate with the MOVITRAC 31..
  • Page 52 The PROFIBUS-FMS Interface Service Access Points (LSAP, RSAP) Service access points form the interface between the application layer (layer 7) and the data link layer (layer 2) of a PROFIBUS station across which messages are transferred. From the point of view of the inverter, the LSAP ( Local Link Service Access Point ) is the local ®...

  • Page 53: Communications Relationship Lists Of The Inverter

    The PROFIBUS-FMS Interface 4.3 .2 Communications Relationship Lists of the Inverter The following tables show the individual communications relationships supported by the ® MOVITRAC 31.. inverter. Although the inverter does not use any Event services, i.e. the inverter cannot execute any slave initiatives, communication links with slave initiatives are supported. Even though the Physical Read and Physical Write services are supported according to the CRL, no Physical Write access can be performed.
  • Page 54 The PROFIBUS-FMS Interface CRL for master-slave, cyclic, Read: CREF Type ATTR LSAP RSAP RADR ACI/CCI MSZY_SI 3000 max PDU Size: Features supported Supported FMS services Send HiPrio 00 00 10 00 10 00 Write.indication Send LoPrio Event-Notification.request* Rec. HiPrio Rec. LoPrio CRL for master-slave, acyclic, with slave initiative: CREF Type...

  • Page 55: Communications Relationship List Of The Master

    The PROFIBUS-FMS Interface Communications Relationship List of the Master A CRL corresponding to the CRL in the inverter must be configured in the FMS master to be able to ® communicate with the MOVITRAC 31.. inverter via PROFIBUS-FMS. The master CRL must con- form to the following conventions: The FMS master may expect no more services from the slave than supported by the latter.

  • Page 56: Parameter Adjustment Return Codes

    Parameter Adjustment Return Codes Parameter Adjustment Return Codes If parameters are adjusted incorrectly, different return codes are sent back from the drive inverter to the parameterizing master, providing detailed information about the cause of the error. These return codes are generally structured according to EN 50170 V2 / DIN 19245 Part 2. A distinction is made between the following elements: error class error code...

  • Page 57: Internal Communications Errors

    Parameter Adjustment Return Codes Internal Communications Errors The return code shown in the following table is returned if a communications error has occurred between the option pcb and the inverter system. It may be that the parameter adjustment service transferred via fieldbus was not performed and should be repeated. If this error recurs the frequency inverter must be switched off and then on again to reinitialize the unit.

  • Page 58: Program Example

    Program Example Program Example The following program example shows the parameter adjustment of the SEW-frequency inverters ® MOVITRAC 31.. via Sinec-L2-DP. System requirements: It is assumed, that the inverter has been configured with parameter channel and that the parameter channel is projected onto the peripheral addresses starting at PW 184. Program functionality: Parameter P120 T11 ramp UP is read or written.
  • Page 59 Program Example Function blocks: FB101 FB 102 Network 1 Network 1 Name :DP-READ E/A/D/B/T/Z: E BI/BY/W/D: BI Name :DP-WRITE E/A/D/B/T/Z: E BI/BY/W/D: BI Des :READ Des :WRIT Des :BUSY Des :BUSY =READ IF (do not execute FB) =WRITE IF (do not execute FB) :BEB THEN end of block :BEB...

  • Page 60: Technical Data

    Technical Data Technical Data Technical Data FFP 3 1.. Option Option pcb type FFP 3 1A FFP 3 1C Part number 822 198 7 822 317 3 ® With the MOVITRAC 31B inverters with ® service code of the component 4 greater With all MOVITRAC Supported unit types or equal 14 (→...

  • Page 61: Technical Data Movitrac ® 31C

    Technical Data ® Technical data MOVITRAC 3 1C.. size 0/DP ® Supported unit types MOVITRAC 31C size 0 with integrated PROFIBUS-DP interface Aids for commission- Keypad FBG 31C ing/diagnosis PC program MC_SHELL Protocol options PROFIBUS-DP in accordance with EN 50170 Volume 2 / DIN E 19245 Part 3 Supported baud rates Automatic baud rate recognition of: 9.6 kBaud...

  • Page 62: Appendix A

    Appendix A Appendix A The definition for cable type A for PROFIBUS-DP is set forth in EN 50170 V2 / DIN E 19245 Part 3 as follows: Cable type A Parameter PROFIBUS-DP Surge impedance 135-165 Ohm (3-20 MHz) Capacitance per unit length <...

  • Page 63: Index

    Index Index Parameter List 3 Assembly / Installation Instructions 8 Parameter setting via PROFIBUS-DP 32 - Error 56 Bus Termination 11 - Faulty Execution of Service 34 - Fieldbus Index 40 - FMS Services 37 COM ET 200 16 - Index Addressing 33 Commissioning 14 - Object list 39 Commissioning procedure 15...

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