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BLEMO ER41 Manual

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ER41 / ER24
PROFINET Manual
08/2017
www.blemo.com

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Summary of Contents for BLEMO ER41

  • Page 1 ER41 / ER24 PROFINET Manual 08/2017 www.blemo.com...
  • Page 2 Neither BLEMO nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein. If you have any suggestions for improvements or amendments or have found errors in this publication, please notify us.

  • Page 3: Table Of Contents

    ) ..........ER41, ER24...
  • Page 4 Glossary ............ER41, ER24...

  • Page 5: Safety Information

    Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by BLEMO for any consequences arising out of the use of this material. A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved.
  • Page 6 Measure the voltage on the DC bus between the DC bus terminals (PA/+, PC/-) using a properly rated voltmeter to verify that the voltage is <42 Vdc If the DC bus capacitors do not discharge properly, contact your local BLEMO representative. Do not repair or operate the product.
  • Page 7 ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION Do not use damaged products or accessories. Failure to follow these instructions will result in death or serious injury. Contact your local BLEMO sales office if you detect any damage whatsoever. WARNING LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths and, for critical control functions, provide a means to achieve a safe state during and after a path failure.
  • Page 8 ER41, ER24...

  • Page 9: About The Book

    NOTE: Read and understand this document and all related documents (see below) before installing,operating, or maintaining the drive. Validity Note This documentation is valid for the ER41 / ER24 drives. The technical characteristics of the devices described in this document also appear online. To access this information online:...
  • Page 10 EN ISO 13849-1 & 2 safety of machinery - Safety related parts of control systems. IEC 61158 series: Industrial communication networks - Fieldbus specifications IEC 61784 series: Industrial communication networks - Profiles IEC 60204-1: Safety of machinery - Electrical equipment of machines – Part 1: General requirements ER41, ER24...

  • Page 11: Chapter 1 Presentation

    Chapter 1 Presentation What Is in This Chapter? This chapter contains the following topics: Topic Page Hardware Overview Software Overview ER41, ER24...

  • Page 12: Hardware Overview

    The PROFINET CARD also offers an embedded Web server (in five languages) which offers comfortable displaying and commissioning functions directly from a standard web browser. The figure shows the hardware presentation of the PROFINET CARD dual port PROFINET fieldbus module: ER41, ER24...

  • Page 13: Software Overview

    Software Overview Simplified TCP/IP Model The table provides the basic software overview according to the simplified TCP/IP model: Application Transport Network Link PROFINET / IP services TCP/UDP Ethernet − − PROFINET RT Ethernet PROFINET Fieldbus Module Features Overview ER41, ER24...
  • Page 14 Presentation ER41, ER24...

  • Page 15: Chapter 2 Basics

    Chapter 2 Basics What Is in This Chapter? This chapter contains the following sections: Section Topic Page Introduction Common Additional Features PROFIdrive Parameters Channel iPar Service ER41, ER24 04/2015...

  • Page 16: Introduction

    Support of LLDP (Link Layer Discovery Protocol) Diagnostics and configuration via integrated Web server Web Server The standard Web server provides access to the following pages: Drive monitor Data viewer/editor Save and restore configuration Network parameters iPar client settings Administration TCP/UIP statistics Modbus statistics ER41, ER24...

  • Page 17: Common Additional Features

    Basics Section 2.2 Common Additional Features What Is in This Section? This section contains the following topics: Topic Page Identification and Maintenance Data I&M Record ER41, ER24...

  • Page 18: Identification And Maintenance Data

    Supports the user during various scenarios of the device life cycle, such as: Configuration Commissioning Repair and update Operation and visualization NOTE: These fields are read only (index AFF0 hex). The access to the identification & maintenance data can be achieved using the PROFINET mechanisms (IEC 611458-6). ER41, ER24...

  • Page 19: I&M Record

    Description Bytes HEADER_MANUF_SPEC 10 bytes (string) Manufacturer-specific field MANUFACTURER_ID 2 bytes 01 hex, 29 hex 129 hex: BLEMO ORDER_ID 20 bytes Identification object ID 1 Commercial name of the drive SERIAL_NUMBER 16 bytes Serial number C1P1, C1P2, C1P3, C1P4 −...

  • Page 20: Profidrive Parameters Channel

    Basics Section 2.3 PROFIdrive Parameters Channel What Is in This Section? This section contains the following topics: Topic Page PROFIdrive Profile Parameter Structure PROFIdrive Parameters PROFIdrive Parameter Access ER41, ER24...

  • Page 21: Profidrive Profile

    When operated with the PROFIdrive profile, the drive parameters are organized as defined by PNU numbering and addressing modes. However, for people who are familiar with the ER41 und ER24 parameters, this addressing mode keeps the native structure of the device (based on Modbus addressing).

  • Page 22: Parameter Structure

    The parameters and their sub parts are identified as follows: PNU number + attribute 10 hex + Sub index 20 hex + Sub index 30 hex Text + Sub index Detail of the PBE Attribute The diagram describes the PBE attribute: ER41, ER24...
  • Page 23 The table provides the possible values of a parameter according to the PNU properties: Parameter Property Drive Implementation Example − PNU number 1000 Sub index Modbus address CMD address: 8501 − Value of the parameter 0...65535 Describes an array of 65535 words Constant − Text Drive parameter ER41, ER24...

  • Page 24: Profidrive Parameters

    Sub index 5 and 6 are not available. − Profile identification UINT Profile identification numbers: number Byte 1 = 03: PROFIdrive Byte 2 = 40: V4.01 − − 980...989 Number list of defined UINT parameter (mandatory parameter + PNU1000) ER41, ER24...

  • Page 25: Profidrive Parameter Access

    *refers to field value (PWE), 20 hex refers to the description field (PBE) and 30 hex to the text field. Response Byte n+1 Byte n Response header Request reference = 01 Request ID = 02 Axis = 01 hex Number of parameters = 01 ER41, ER24...
  • Page 26 0x69: Invalid attribute 0x6B: Request too short *for all negative responses the ID equals to response code or 80 hex. With the sub index in addition to the detected error value, the total length of the answer is 10 bytes. ER41, ER24...

  • Page 27: Ipar Service

    With a PROFINET I/O device, the function block FB 24 must additionally be started within OB 56 (the update alarm OB). To configure the iPar function, it is necessary to use the diagnostic address of the slot 0 present on the device. ER41, ER24...
  • Page 28 Write Single Register 06 hex Write single register − Diagnostic 08 hex Diagnostic Write multiple register 10 hex Write multiple register Maximum PDU length: 63 words Read device Identification 2B hex Schneider identification (subfunction 14/0E hex)See the table below ER41, ER24...
  • Page 29 The length of this field is variable. Use the Length of object X field associated with it to determine the length. In the case of the drive, this data item corresponds to [DEVICE NAME]. The response to a drive identification request does not cause an exception response ER41, ER24...
  • Page 30 Basics ER41, ER24...

  • Page 31: Chapter 3 Hardware Setup

    Chapter 3 Hardware Setup What Is in This Chapter? This chapter contains the following topics: Topic Page Hardware Presentation Firmware and Description File Installation of the Module Electrical Installation Cable Routing Practices ER41, ER24...

  • Page 32: Hardware Presentation

    Hardware Setup Hardware Presentation PROFINET Fieldbus Module The figure shows a PROFINET fieldbus module with 2 RJ45 connectors:´ Item Description Comment Port A RJ45 connector Port B RJ45 connector ER41, ER24...

  • Page 33: Firmware And Description File

    Hardware Setup Firmware and Description File Compatibility The PROFINET CARD option module version 1.2 and higher is compliant with all ER41 / ER24 product range. The associated GSDML is named as the following example: GSDML-V2.3-Schneider-ATV6xx-20140612.xml The files are available on www.blemo.com.

  • Page 34: Installation Of The Module

    Removal of the Fieldbus Module The table provides the procedure for removal of the PROFINET option module from the drive: Step Action Ensure that the power is off. Press the strip. Remove the module while maintaining the strip pressed, ER41, ER24...

  • Page 35: Electrical Installation

    Use equipotential bonding conductors (100 BASE-TX, category 5e or industrial Ethernet fast connect) Connector RJ45, no crossover cable Shield: both ends grounded Twisted-pair cable Verify that wiring, cables, and connected interfaces meet the PELV requirements. Maximum cable length per segment = 100 m (328 ft) / 6 plugs ER41, ER24...

  • Page 36: Cable Routing Practices

    Daisy chain and/or Star topology Ring topology The ring topology can only be used with a media redundancy protocol (MRP) capable managed device. The bus watchdog shall be increased when using MRP function in order to avoid triggering untimely [Fieldbus Com Interrupt] ER41, ER24...

  • Page 37: Chapter 4 Software Setup

    Chapter 4 Software Setup What Is in This Chapter? This chapter contains the following sections: Section Topic Page Basic Settings Additional Settings Embedded Web Server Communication Profile Fieldbus Integration Tutorial ER41, ER24...

  • Page 38: Basic Settings

    Introduction [DEVICE NAME] ( [IP mode] ( [IP Module] ( [IP Mask] ( [IP Gate] ( [Actual IP] [Actual mask] [Actual gate.] [Ethernet Error Code] ( [EnableWebserver] ( [PPO profile used] ( [MAC @] ( IP Parameter Settings ER41, ER24...

  • Page 39: Introduction

    The parameters are described according to the graphic display terminal. These settings are also possible from commissioning software or from the PROFINET embedded Web server. Access The parameters are accessible in the [Communication] ( )/[Comm Parameters] ( [Profinet] ( ) menu. ER41, ER24...

  • Page 40: [Device Name] ( )

    This parameter defines the name of the device. Access This is a read/write parameter The parameter numbers are from 3340...3347 Possible Settings The table presents the parameter settings: Settings Code Value Description − − − Maximum 16 characters ER41, ER24...

  • Page 41: [Ip Mode] ( )

    Possible Settings The table presents the parameter settings: Settings Code Value Description [Fixed] Manually type the IP address. [DHCP] Automatically gets the IP address from the DHCP server. [DCP] Automatically gets the IP address from the DCP server. ER41, ER24...

  • Page 42: [Ip Module] ( )

    The table presents the parameter settings: Settings Code Value Description [0.0.0.0] 0...255 First byte of IP address. 0...255 Second byte of IP address 0...255 Third byte of IP address 0...255 Fourth byte of IP address Factory setting: 0.0.0.0 ER41, ER24...

  • Page 43: [Ip Mask] ( ) ( )

    The table presents the parameter settings: Settings Code Value Description [255.255.254.0] 0...255 First byte of IP mask. 0...255 Second byte of IP mask. 0...255 Third byte of IP mask. 0...255 Fourth byte of IP mask. Factory setting: 0.0.0.0 ER41, ER24...

  • Page 44: [Ip Gate] ( ) ( )

    The table presents the parameter settings: Settings Code Value Description [0.0.0.0] 0...255 First byte of IP gateway 0...255 Second byte of IP gateway 0...255 Third byte of IP gateway 0...255 Fourth byte of IP gateway Factory setting: 0.0.0.0 ER41, ER24...

  • Page 45: [Actual Ip]

    The table presents the parameter settings: Settings Code Value Description [0.0.0.0] 0...255 First byte of IP address 0...255 Second byte of IP address 0...255 Third byte of IP address 0...255 Fourth byte of IP address Factory setting: 0.0.0.0 ER41, ER24...

  • Page 46: [Actual Mask]

    The table presents the parameter settings: Settings Code Value Description [0.0.0.0] 0...255 First byte of IP mask 0...255 Second byte of IP mask 0...255 Third byte of IP mask 0...255 Fourth byte of IP mask Factory setting: 0.0.0.0 ER41, ER24...

  • Page 47: [Actual Gate.]

    The table presents the parameter settings: Settings Code Value Description [0.0.0.0] 0...255 First byte of IP gateway 0...255 Second byte of IP gateway 0...255 Third byte of IP gateway 0...255 Fourth byte of IP gateway Factory setting: 0.0.0.0 ER41, ER24...

  • Page 48: [Ethernet Error Code]

    The table presents the parameter settings: Settings Code Value Description − − No error detected PROFINET I/O timeout Network overload Loss of Ethernet carrier Duplicated IP address. No valid IP. IPAR unconfigured state IPAR unrecoverable error detected Application I/O configuration error detected ER41, ER24...

  • Page 49: [Enablewebserver]

    This parameter is used to enable Web services. Access This is a read/write parameter. The parameter number is 64264. Possible Settings The table presents the parameter settings: Settings Code Value Description − − No Web services. Web server enabled Factory setting: 1 ER41, ER24...

  • Page 50: [Ppo Profile Used] ( )

    The parameter number is 6665 Possible Settings The table presents the parameter settings: Settings Code Value Description [UnCG] UNCFG Profidrive [100] Device specific [101] Device specific [102] Device specific [106] Device specific [107] Device specific Factory setting: 0 ER41, ER24...

  • Page 51: [Mac @] ( )

    This parameter displays the MAC address of the device. Access This is a read-only parameter Possible Settings The table presents the parameter settings: Settings Code Value Description − [xx-xx-xx-XX-XX-XX] xx-xx-xx-XX-XX-XX Left port MAC address is +1. Right port MAC address is + 2. ER41, ER24...

  • Page 52: Ip Parameter Settings

    The settings are in local configuration of the PROFINET controller If the all above mentioned conditions are fulfilled: [IP mode] ( ) is automatically set to [DCP] ( IP settings are replaced by the one set in local PROFINET controller The new configuration is applied immediately ER41, ER24...

  • Page 53: Additional Settings

    What Is in This Section? This section contains the following topics: Topic Page Introduction [iPar Activation]( [iPar Autosave Act] ( [iPar Autosave Timer] ( [iPar Error Response] ( [iPar Local Conf] ( [iPar Status] ( [iPar Error Code] ( ER41, ER24...

  • Page 54: Introduction

    The parameters are described according to the graphic display terminal. These settings are also possible from commissioning software or from the PROFINET embedded Web server. Access The parameters are accessible in the [Communication] ( )/[Comm Parameters] ( [Profinet] ( ) menu. ER41, ER24...

  • Page 55: [Ipar Activation]( )

    This is a read/write parameter The parameter number is 64274. Possible Settings The table presents the parameter settings: Settings Code Value Description [No] Indicates that the iPar service is disabled. [Yes] Indicates that the iPar service is enabled. ER41, ER24...

  • Page 56: [Ipar Autosave Act]

    The parameter number is 64275. Possible Settings The table presents the parameter settings: Settings Code Value Description [No] Indicates that the iPar autosave service is disabled [Yes] Indicates that the iPar autosave service is enabled Factory setting: 0 ER41, ER24...

  • Page 57: [Ipar Autosave Timer]

    This is a read/write parameter The parameter number is 64278. Possible Settings The table presents the parameter settings: Settings Code Value Description − − No autosave 1...9999 min iPar service is saved after specified interval of time. Factory setting: 10 min ER41, ER24...

  • Page 58: [Ipar Error Response]

    The parameter number is 64277. Possible Settings The table presents the parameter settings: Settings Code Value Description [No] Indicates that the iPar error handling is disabled [Yes] Indicates that the iPar error handling is enabled Factory setting: 1 ER41, ER24...

  • Page 59: [Ipar Local Conf] ( )

    The table presents the parameter settings: Settings Code Value Description [No] Indicates that the drive configuration is downloaded from the iPar server at [Yes] power-on of the drive. Indicates that the drive configuration is available locally in the drive. Factory setting: 0 ER41, ER24...

  • Page 60: [Ipar Status] ( )

    The parameter number is 64279. Possible Settings The table presents the parameter settings: Settings Code Value Description [Idle State] Idle state [Init] Initialization [Configuration] Configuration [Ready] Ready [Operational] Operational [Not Configured] Not configured [Unrecoverable Error] Unrecoverable error state ER41, ER24...

  • Page 61: [Ipar Error Code] ( )

    No configuration file on the IPAR server or configuration is not compatible. (Served configuration is not ok) Connection error to the IPAR configuration file on the server. Writing error the configuration file to the server. Factory settings: 0 ER41, ER24...

  • Page 62: Embedded Web Server

    Software Setup Section 4.3 Embedded Web Server What Is in This Section? This section contains the following topics: Topic Page Embedded Web Server Home Page Display Network Setup Diagnostics ER41, ER24...

  • Page 63: Embedded Web Server

    Web write password: Access to data or settings change, an administrator access level is required. Password: USER (factory setting) Web Server Site Map It contains: Home Monitoring Drive monitor Data Viewer/Editor Save and restore Network setup Network parameters iPar client settings Administration Diagnostics TCP/IP statistics Modbus statistics ER41, ER24...

  • Page 64: Home Page

    The description of each page indicates the data refresh period requested by the applet loaded on the computer. The refresh period actually observed depends on: The performance of the computer on which the web browser is running, The communication system response time, The amount of data to be refreshed on the page. ER41, ER24...

  • Page 65: Display

    The figure shows the Drive Monitor page: The state displayed in the ER41 und ER24 Status field corresponds to the display on the graphic display terminal. A delay may be noticed between the displays on the Web server and the display terminal.
  • Page 66 Cancel button, for canceling the password entry. After entering the password, press the Enter key so that it is taken into account by the web browser. When the value of a parameter cannot be modified, the following window appears: ER41, ER24...
  • Page 67 The figure shows the Save and restore configuration page: This page is used to save on the local computer (save Backup.cfg file) and restore from the local computer the drive parameters by using the embedded Web server. Restore operation is possible when the motor is stopped. ER41, ER24...

  • Page 68: Network Setup

    The figure shows iPar Client Settings page: Administration Page This page is used to modify the Web read and the Web write password, for details, refer to Access Rights - Password and User Name (see page 63). The figure shows the Administration page: ER41, ER24...

  • Page 69: Diagnostics

    TCP/IP Statistics Page This page gives detailed information about the Ethernet status and settings. The figure shows the TCP/IP Statistics page: Modbus Statistics This page gives detailed information about the Modbus server. The figure shows the Modbus Statistics page: ER41, ER24...

  • Page 70: Communication Profile

    Configuration of Drive with the Telegram 100 Configuring a Drive with the Telegram 101, 102, 106, or 107 Parameters Management with the Telegram 100, 101, 102, 106, 107 Telegram 1 State Diagram Command Word and Operating State Word Reference Frequency ER41, ER24...

  • Page 71: Definition Of A Profile

    Application profile defines the services to be provided by the devices on a machine. For example, CiA DSP 417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device definitions. Interchangeability The aim of communication and functional profiles is to achieve interchangeability of the devices connected via the fieldbus. ER41, ER24...

  • Page 72: Functional Profiles Supported By The Drive

    The drive supports the velocity mode of CiA402 profile. In the CiA402 profile, there are two modes that are specific to the drive and characterize commands and references value management: Separate [Separate] ( Not separate [Not separ.] ( ER41, ER24...

  • Page 73: Functional Description

    Simplified diagram for speed control in Velocity mode: ER41 und ER24 Drive These diagrams translate as follows for the ER41 und ER24 drive. The following figure shows the control diagram for drive operation: Simplified diagram for speed control in Velocity mode:...

  • Page 74: Cia402 Operating State Diagram

    After switching on and when an operating mode is started, the product goes through a number of operating states. The state diagram (state machine) shows the relationships between the operating states and the state transitions. The operating states are internally monitored and influenced by monitoring functions. The following figure shows the CIA402 state diagram: ER41, ER24...

  • Page 75: Description Of Operating States

    0, the drive changes to operating state 4 - Switched on and stops in freewheel stop. If the [SwitchOnDisable Stp] parameter is set to 1, the drive stops on ramp and then changes to operating state 4 - Switched on. ER41, ER24...
  • Page 76 7 - Fault reaction Transient state during which the drive performs an action corresponding to the active selected error response. 8 - Fault Error response terminated. Power stage is disabled. The drive is locked, no power is supplied to the motor. ER41, ER24...

  • Page 77: Summary

    5 - Operation Required enabled 6 - Quick stop Required Yes, during fast stop active − 7 - Fault reaction Depends on error response Depends on error active configuration response configuration 8 - Fault Not required ER41, ER24...

  • Page 78: Cmd Register

    Quick stop 11 0002 hex stop active 2 - Switch 7, 10 disabled Fault 2 - Switch 0 [gs56] 1 0080 hex reset disabled X: Value is of no significance for this command. 0[gs56] 1: Command on rising edge. ER41, ER24...

  • Page 79: Stop Commands

    4 - Switched on Freewheel Command A Freewheel Stop command using a digital input of the terminal or a bit of the control word assigned to Freewheel Stop causes a change to operating state 2 - Switch on disabled. ER41, ER24...

  • Page 80: Assigning Control Word Bits

    Software Setup Assigning Control Word Bits Function Codes In the CiA402 profile, fixed assignment of a function input is possible using the following codes: Fieldbus Module for PROFINET, PROFIBUS, Ethernet option, DeviceNet Bit 11 C311 Bit 12 C312 Bit 13 C313 Bit 14 C314...

  • Page 81: [Cia402 State Reg]

    This mask can be used by the PLC program to test the diagram state. detected error following operating state 6 - Quick stop active. X: In this state, the value of the bit can be 0 or 1. ER41, ER24...

  • Page 82: Starting Sequence

    Software Setup Starting Sequence Description The command sequence in the state diagram depends on how power is being supplied to the drive. There are 3 possible scenarios: Power stage Direct Direct Mains contactor controlled by the supply drive Control stage Separate Separate Not separate...

  • Page 83: Sequence For A Drive Powered By The Power Stage Supply

    NOTE: It is possible, but not necessary to apply the 3 - Switch on command followed by the 4 - Enable Operation command to switch successively into the operating states 3 - Ready to Switch on, 4 - Switched on and then 5 - Operation Enabled. The 4 - Enable operation command is sufficient. ER41, ER24...

  • Page 84: Sequence For A Drive With Separate Control Stage

    Software Setup Sequence for a Drive with Separate Control Stage Description Power is supplied separately to the power and control stages. If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The following sequence must be applied: Step 1 The power stage supply is not necessarily present.
  • Page 85 The motor can be controlled (send a reference value not equal to zero). If the power stage supply is still not present in the operating state 4 - Switched on after a time delay [Mains V. time out] , the drive triggers an error [Input Contactor] ER41, ER24...

  • Page 86: Sequence For A Drive With Mains Contactor Control

    Software Setup Sequence for a Drive with Mains Contactor Control Description Power is supplied separately to the power and control stages. If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The drive controls the mains contactor.

  • Page 87: Telegram

    The PKW area of telegram 100, which is used for a simple parameter management, is compliant with the PKW mechanism used with the PROFINET option module of the ER51, ER40. NOTE: After switching from one telegram to another, the drive shall be restarted to validate the new configuration. ER41, ER24...
  • Page 88 Software Setup The following diagram shows the native modes for telegram 101, 106, 107: The following diagram shows the native modes for telegram 102:...
  • Page 89 Cyclic data 13 OCA13 default =0 OCA13 default =0 Cyclic data 14 OCA14 default =0 OCA14 default =0 Cyclic data 15 OCA15 default =0 OCA15 default =0 Cyclic data 16 OCA16 default =0 OCA16 default =0 *:default Modbus address. ER41, ER24...
  • Page 90 6 cyclic data are not disabled and the 6 cyclic data takes place in the I/O memory image of the controller. Modbus address is entered in this field Data type is entered in this field ER41, ER24...

  • Page 91: Configuring Drive With A Siemens© S7-300

    First download, and install the GSDML file of the drive in the hardware configuration tool of the SIMATIC STEP7® software. You can find the GSDML file and its associated picture on www.schneider-electric.com. From the menu > Options > Install GSD File... Once installed you can see the drive, in the library, as follow: ER41, ER24...

  • Page 92: Configuration Of Drive With The Telegram 100

    By default, the process data are linked to ( ), ( ), ( ) and ( ) (native CiA 402 profile of the drive). You can check that the exchanges are working properly with the Monitor/Modify function of the configuration tool: ER41, ER24...

  • Page 93: Configuring A Drive With The Telegram 101, 102, 106, Or 107

    Internal Modbus address Data type is entered in this field New parameters are added or modified by entering the drive Modbus address. For example: ( ) is configured to read the value of ( ), which Modbus address is 9001. ER41, ER24...

  • Page 94: Parameters Management With The Telegram 100, 101, 102, 106, 107

    With telegram 100, 101, 106, 107 you can read or write any drive parameter by using this PKW area. (This addressing format is identical to the PKW mechanism of the ER51, ER40). NOTE: The management of the parameters (compatibility with series 1 product) is BLEMO specific. Actually, previous versions of PROFIdrive also specified parameter management thought PKW, are not compatible with BLEMO method.

  • Page 95: Telegram 1

    16-bit operating state word (ZSW1) and 16-bit actual velocity word (NIST_A). The mapping of these words is automatically done when you select telegram 1 during the configuration of the device. NOTE: After switching from one telegram to another, restart the controller to validate the new configuration. ER41, ER24...

  • Page 96: State Diagram

    Software Setup State Diagram Description The following state diagram shows the PROFIdrive state machine for the application class 1. The diagram also describes the command word and operating state word. ER41, ER24...

  • Page 97: Command Word And Operating State Word

    ON Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 − Reserved Reserved Reserved Reserved F or n Control Speed error requested reached or found within exceeded tolerance range ER41, ER24...
  • Page 98 Channel for the reference frequency and the command from the bus are active. No control by Channel for the reference frequency and the command from the bus are not fieldbus active. Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved ER41, ER24...
  • Page 99 Actual output frequency ≥ reference frequency which may be set via the Bit 10 Reference frequency reached or exceeded parameter number. − Reference frequency not reached Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved ER41, ER24...

  • Page 100: Reference Frequency

    The table lists the different values for the reference frequency and the correspondence for the drive: Value Reference Frequency Used by the Drive 0x0000 0x4000 100% of [Max Frequency] ( –100% of [Max Frequency] ( 0xC000 PROFIdrive / Acyclic Messaging For more information, see PROFIdrive Parameters Channel (see page 20). ER41, ER24...

  • Page 101: Fieldbus Integration Tutorial

    Software Setup Section 4.5 Fieldbus Integration Tutorial Fieldbus Integration Tutorial Simple LAD Language FC (Controlling the Drive in CiA 402 Mode) The following example shows a simple LAD language FC for controlling the drive in CiA402 mode ER41, ER24...
  • Page 102 Software Setup ER41, ER24...
  • Page 103 Software Setup ER41, ER24...
  • Page 104 Software Setup ER41, ER24...

  • Page 105: Chapter 5 Operation

    Chapter 5 Operation What Is in This Chapter? This chapter contains the following sections: Section Topic Page Operating States Operating Modes ER41, ER24...

  • Page 106: Operating States

    Only use this setting for tests during commissioning. Verify that communication monitoring has been re-enabled before completing the commissioning procedure and performing the final commissioning test. Failure to follow these instructions can result in death, serious injury, or equipment damage. ER41, ER24...

  • Page 107: Operating Modes

    Configuring the Control Channel Configuration of the Drive for Operation in I/O Profile Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode ER41, ER24...

  • Page 108: Configuring The Control Channel

    Separate (with native profile CiA 402) - reference value and command word come from separate sources: for example, the command word (in CiA 402) comes from the communication network and the reference value from the HMI. ER41, ER24...

  • Page 109: Configuration Of The Drive For Operation In I/O Profile

    [Com. Module] ( The bits of the command word can now be configured. In the [Command and Reference] menu configure: [Reverse Assign] ( [CD01] ( In the [Error/Warning handling] menu, [Fault reset] submenu, configure: [Fault Reset Assign] ( [CD07] ( ER41, ER24...

  • Page 110: Configuration Of The Drive For Operation With Cia 402 Profile In Combined Mode

    ) is adjusted to [Not separ.] ( ) as reference and control are originated from the communication network: Profile Ref1 Channel setting CiA 402 combined mode [Not separ.] ( CiA 402 separate mode [Separate] ( I/O profile [I/O profile] ( ER41, ER24...

  • Page 111: Configuration Of The Drive For Operation With Cia 402 Profile In Separate Mode

    The control word comes from the controller and is written according to CiA 402 profile. The settings are as shown in the table: [Ref Freq 1 Config] ( [AI1] ( [Control Mode] ( [Separate] ( [Cmd channel 1] ( [Com. Module] ( [Freq Switch Assign] ( Factory setting ER41, ER24...
  • Page 112 Operation ER41, ER24...

  • Page 113: Chapter 6 Diagnostic And Troubleshooting

    Chapter 6 Diagnostic and Troubleshooting What Is in This Chapter? This chapter contains the following topics: Topic Page Fieldbus Status LEDs Connection for Fieldbus Mode Fieldbus Function Test Communication Interruption Monitoring of Communication Channel Control-Signal Diagnostics ER41, ER24...

  • Page 114: Fieldbus Status Leds

    The device has detected a communication interruption / wrong configuration or a PROFINET controller at Stop state. Green flickering In combination with other LEDs: DCP manual identification phase / DCP flash mode Green/Red blinking Power up testing Red single flash No connection to the PROFINET controller ER41, ER24...
  • Page 115 These LEDs indicate the status of the Ethernet port A (1) and Ethernet port B (4): Color & Status Description No link Green ON Link established at 100 Mbit/s Green Blinking Network activity at 100 Mbit/s Yellow ON Link established at 10 Mbit/s Yellow blinking Network activity at 10 Mbit/s LED behavior ER41, ER24...

  • Page 116: Connection For Fieldbus Mode

    If the product cannot be addressed via the fieldbus, first check the connections. The product manual contains the technical data of the device and information on network and device installation. Check the following: Power connections to the device Fieldbus cable and fieldbus wiring Network connection to the device ER41, ER24...

  • Page 117: Fieldbus Function Test

    Addressing: The address of the network device must be a valid IP address. Each network device must have a unique address. Parameterization: The parameterized Ident number and the user parameters must match the values stored in the GSDML file. ER41, ER24...

  • Page 118: Communication Interruption

    External diagnostic data length = 6 IF ETA.bit 3 = 1: ADL LFT LSB Otherwise: 0 ADL ETA LSB ADL ETA MSB LSB of the last value of the output speed MSB of the last value of the output speed ER41, ER24...
  • Page 119 Diagnostic and Troubleshooting Enabling Diagnostics By default, alarm diagnostics function is enabled. It can be modified during the configuration phase as shown below: ER41, ER24...

  • Page 120: Monitoring Of Communication Channel

    12: iPar unconfigured 13: iPar unrecoverable error detected 0:No error detected [Fieldbus Com Interrupt] 1: Network timeout (configurable timeout) for received requests destined for the drive 2: Network overload 3: Loss of Ethernet Carrier EEPROM detected error [Internal Link Error] ER41, ER24...
  • Page 121 The drive copies the run commands, the direction, and the forced local reference to the active channel (maintained). Monitoring of the active command and reference channels resumes following a time delay [Time-out forc. local] Drive control only takes effect once the drive has received the reference and the command from the active channel. ER41, ER24...

  • Page 122: Control-Signal Diagnostics

    Reference value reached (steady state) Bit11 = 1 Reference value exceeded (< LSP or > HSP) Bit12 Reserved Bit13 Reserved Bit14 = 1 Stop imposed via STOP key Bit15 = 0 Motor rotation in forward direction (or stopped) ER41, ER24...

  • Page 123: Glossary

    Monitoring functions are used for error detection. Parameter Device data and values that can be read and set (to a certain extent) by the user. PELV Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41 Programmable logic controller ER41, ER24...
  • Page 124 Warning If the term is used outside the context of safety instructions, a warning alerts to a potential problem that was detected by a monitoring function. A warning does not cause a transition of the operating s ER41, ER24...

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