Related Manuals for Control Techniques Profibus-DP
Summary of Contents for Control Techniques Profibus-DP
- Page 1 User Guide Profibus-DP Option Module For Unidrive Part Number: 0460-0075 Issue Number: 3...
- Page 2 Copyright © January 2001 Control Techniques SSPD Author Paul Bennett Issue Code Issue 3 System File V2.07.03...
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Page 3: Table Of Contents
Contents Introduction Profibus-DP Interface for Unidrive Product Conformance Certification Overview Specification Mechanical Installation Unidrive Electrical Installation Profibus-DP Connectors Profibus-DP Data Connections 3.2.1 ERNI Connector 3.2.2 Siemens Connector Profibus-DP Cable Profibus-DP Cable Screen Connections Profibus-DP Network Termination 3.5.1 ERNI Termination Connector 3.5.2... - Page 4 Network Status No Data Transfer Unidrive Trip Codes Advanced Features Network Loss Trip Unidrive Sequencing Mode 3 Drive Reset Using The Profibus-DP Network 9.3.1 Reset Without DPL Code 9.3.2 Reset Using CT Mode Non-Cyclic Communications 9.3.3 Reset Using DPL Code...
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Page 5: Introduction
Profibus-DP Interface for Unidrive The Unidrive Profibus-DP interface is supplied as an option module, with the Profibus-DP using a UD70 as the host. The UD70 does not lose any functionality when the Profibus-DP interface is fitted. fastest data rate currently supported is 1.5 Mbits/sec. -
Page 6: Mechanical Installation
Mechanical Installation The Unidrive must be disconnected from the mains supply before installing or removing an option module. Warning Unidrive Slide the option module into the Unidrive. Push the option module into the Unidrive until it clicks into place. Issue Number: 3... -
Page 7: Electrical Installation
Electrical Installation Profibus-DP Connectors The Unidrive Profibus-DP interface has two 9-way D-type sockets (A and B) to connect to the Profibus-DP network. Connectors C and D are the RS232 programming port (C) and RS485 general-purpose communications port (D) of the UD70. -
Page 8: Erni Connector
The ERbic range of fieldbus connectors from ERNI includes a Profibus-DP connector with a vertical cable outlet (Part No. 103658) that is suitable for use with the Unidrive Profibus-DP interface. This connector allows 2 cables to be connected to the same connector, and does not break the network if disconnected from the Unidrive Profibus- DP interface. -
Page 9: Siemens Connector
Unidrive Profibus-DP interface. Further details are available from the Siemens web site at “www.siemens.de”. The Siemens connector can be fitted to either Profibus-DP D-type connector (A or B) on the Unidrive Profibus-DP interface. Siemens RS485... -
Page 10: Profibus-Dp Cable
Profibus-DP Cable Profibus-DP cable has a single twisted pair plus overall screening. The data wires are usually red and green, and should be connected as shown in the table below. Cable Data Terminal Description Signal Green Negative data line Connect to pins 1 or 4 on a Commander... -
Page 11: Profibus-Dp Cable Screen Connections
Profibus-DP Cable Screen Connections To ensure the best screen arrangement, strip the outer plastic shield off the Profibus-DP cable, and clamp the bare screen under the screen clamp. This will ensure that a good connection is made between the screens of both network cables, and help prevent noise currents from flowing into the Profibus-DP interface itself. -
Page 12: Erni Termination Connector
3.5.1 ERNI Termination Connector ERNI supply a separate Profibus-DP connector that has the appropriate resistor network fitted internally. The termination connector is yellow to distinguish it from the non-terminated Profibus-DP connector. ERNI ERbic Profibus Connector with vertical cable outlet Cable Screen... -
Page 13: Maximum Network Length
Maximum Network Length The maximum number of nodes that can be connected to a single Profibus-DP network segment is 32 nodes. Up to 3 line repeaters may be used to extend the network to 4 segments, allowing a maximum of 122 nodes on the network. -
Page 14: Getting Started
DP network, the node may prevent the network from operating. The valid range of addresses is from 1 and 125. If an invalid node address is set in #20.05, the Profibus-DP interface will reject the configured address, default to 125, and update #20.05 with the address that is actually being used. -
Page 15: Profibus-Dp Data Rate
OUT Word 2 Digital speed reference 1 OUT Word 3 Torque reference Network Status Unidrive: #20.50 The status of the Profibus-DP network is displayed in #20.50, and can be viewed on the display on the Unidrive. #20.50 Status Description >0 Network... -
Page 16: Initialising Set-Up Changes
Network Loss Trip Unidrive: #17.14 If the Profibus-DP network stops operating, the interface will trip the Unidrive on "tr60". The default time delay between network loss and Unidrive trip is 48ms, so the actual delay to trip will be between 48ms and 96ms. -
Page 17: Cyclic Data
IN and OUT data being set-up correctly in the Unidrive itself. The flexibility of the Unidrive Profibus-DP interface means that each cyclic data OUT channel can be directed to any read-write Unidrive parameter. Similarly, each cyclic data IN channel can use any Unidrive parameter as a source of data. -
Page 18: Profibus-Dp Data Formats
Mapping Parameters on Unidrive The mapping for the cyclic data channels on the Unidrive Profibus-DP interface can be set from the Unidrive keypad using #20.PP parameters. The mapping method is similar to the method used for mapping analogue inputs and outputs. -
Page 19: Internal 32-Bit Parameters On Ud70
To write a value of 24.6Hz to #1.21, the value must be transmitted as 246. Internal 32-Bit Parameters on UD70 The Unidrive Profibus-DP Interface has a set of internal 32-bit registers in the UD70. These are addressed as _Pxx%, _Qxx%, _Rxx% or _Sxx% from the DPL program, and the _Qxx% registers are used with the internal position controller in the UD70. -
Page 20: Saving Ud70 Parameters (Menu 20 And Internal)
All menu 20 parameters and internal 32-bit parameters (_Pxx% and _Qxx%) are stored in the FLASH memory of the UD70. If the Unidrive Profibus-DP interface is replaced, the menu 20 parameters may need to be re-configured. If the replacement module has been used before, the stored values may be different from the normal default settings. -
Page 21: Control Word Mapping Conflicts
5.7.1 Control Word Mapping Conflicts The control word provides a method of writing to multiple bit parameters using one data word. If one of the cyclic data channels is writing to the control word, the following bit parameters for each Unidrive must not be controlled by any digital inputs. - Page 22 #18.33 #18.32 #18.31 Trip #6.15 #6.30 #6.31 #6.32 #1.46 #1.47 If mask bits M0 and M1 are set to 1, ENABLE and RUN FWD are updated with the values of b0 and b1 (either 0 or 1) every time the control word value is received.
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Page 23: Fieldbus Status Word For Unidrive
Set to 1 to run the motor in the reverse direction. When reset to 0, the Unidrive will decelerate the motor to stop before the outputs are disabled TRIP Set to 1 to trip the Unidrive on “tr52”. The TRIP bit must be reset to 0 before the Unidrive can be reset. -
Page 24: Disabling Cyclic Data Channels
If an application only requires 2 cyclic data channels, the remaining channel can be disabled. This means that the data received from that channel will not be written to any Unidrive parameter. It does not actually remove the channel from the Profibus-DP network. Issue Number: 3... -
Page 25: Non Cyclic Data
Profibus-DP network map is defined. The Unidrive Profibus-DP interface currently provides the CT Single Word Format of non-cyclic data. This mode is also available in the Mentor II and Commander SE Profibus-DP interfaces. - Page 26 Function Values Description 0 to 7 Data 0 to 255 Depending on the stamp number of the telegram, this byte contains the menu or parameter number, or data high or low byte. 8 to 11 Stamp 0 to 4 Indicates the stamp number of the number word.
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Page 27: Reading Parameters Using Mode 1
6.1.1 Reading parameters using Mode 1 To read parameters using the non-cyclic channel, the following “telegrams” must be transmitted to construct the final message. • Telegram 1 Define menu number. • Telegram 2 Define parameter number. • Telegram 3 Request high data byte. •... - Page 28 Data high byte = 0x05 If an invalid parameter was specified in telegrams 1 and 2, e.g. parameter is write only, or does not exist, the Profibus-DP interface will set the ERROR bit to 1 (b14 = 1). The data bits will have no significance.
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Page 29: Writing Parameters Using Mode 1
TELEGRAM 4 The fourth telegram from the master acts as the indication to the slave node to send the data high byte from the requested parameter. The data byte is not used in this telegram and should be set to 0. b15-b12 b11-b8 b7-b4... - Page 30 The following example telegrams show how to write a value of 120.0 Hz (0x04B0) to #1.21 in the Unidrive. TELEGRAM 1 The first telegram from the master indicates a WRITE cycle by setting the R/W bit to 0. The stamp number is set to 1. The data byte contains the menu number for the parameter that is to be written to.
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Page 31: Profibus-Dp Set-Up Using Non-Cyclic Data
UD70 has been reset. Setting #17.19 to 1 will store the mapping changes in the Profibus-DP interface, and reset the Profibus-DP interface. The Profibus-DP master controller may detect an brief error while the Unidrive Profibus-DP interface resets and re-configures itself. - Page 32 #17.14 Network Loss Trip Enable #17.19 UD70 Store and Reset The parameters listed in the table below return information about the Profibus-DP interface. Writing to these parameters will not affect the operation of the node. Param Description #20.14 Option ID Code Indicates the fieldbus type, flavour and hardware version.
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Page 33: Gsd Files
GSD Files What are GSD Files? GSD files are text files that are used with the Profibus-DP network configuration software. They contain information about the device capabilities, such as supported data rates, delay timings, supported data formats, etc. GSD files are not actually downloaded to the PLC or scanner. The... -
Page 34: Data Consistency
(See section 5.2). Profibus-DP Data Formats All data formats can be set to have full data consistency or no data consistency. The first cyclic data word i s always the control word. -
Page 35: Diagnostics
(UD73A Issue 1 and UD73B Issue 1) Firmware Version Unidrive: #20.15 The version of firmware fitted to the Profibus-DP interface can be read from #20.15. The Hardware Revision column shows the hardware levels that can accept each version of firmware. -
Page 36: System File Version
Node Address Unidrive: #20.05 Every Profibus-DP node must be assigned a unique node address. If two or more nodes have the same address, this will cause a conflict when the master attempts to initialise the network. Ideally, the node address should be configured on each node BEFORE any attempt is made to connect it to the network. -
Page 37: Network Status
OUT channels. Unidrive Trip Codes The trip codes listed below may be caused by the Profibus-DP interface. Other trips may occur if a DPL program is loaded. For a full list of UD70 trips, refer to the UD70 User Guide... -
Page 38: Advanced Features
0 = trip disabled 16 to 992 = trip delay time (in ms) The Profibus-DP interface counts the number of valid network cycles received in a time period specified by #20.11. The trip is triggered if no messages are received in a given sample period, and messages were received in the previous sample period. -
Page 39: Unidrive Sequencing Mode
To reset the Unidrive using the Profibus-DP network, use the non-cyclic channel to set #10.38 to 100. The Unidrive will clear #10.38 back to 0 and reset. (See Unidrive manual for more information.) Some example control word values for the Unidrive are given in the tables below. -
Page 40: Drive Reset Using The Profibus-Dp Network
Drive Reset Using The Profibus-DP Network The Unidrive control word does not provide a RESET bit to clear a trip condition in the Unidrive. There are three methods of resetting the Unidrive from the master controller via the Profibus-DP network. 9.3.1 Reset Without DPL Code To implement a RESET function without using DPL code, one of the application bits in the control word (see section 5.8) must be used. -
Page 41: Reset Using Dpl Code
If a run-time (program) error occurs in the UD70, the DPL program will stop, and the master controller will not be able to reset the Unidrive using the Profibus-DP network. In this case, the Unidrive node can only be reset using non-cyclic data to access #10.38. -
Page 42: Endian Format
For example, a value of 0x0102 (258 decimal) may be reconstructed as 0x0201 or 513 decimal. If #20.13 is set to 1, the Unidrive Profibus-DP interface will treat all data received as “little endian”, and use the first byte received as the low byte of the data word. -
Page 43: Multi-Master Networks
Multi-Master Networks Profibus-DP networks can operate with more than one master device connected to the same lines. Commander SE, Unidrive and Mentor II Profibus-DP interfaces can all operate on multi-master networks, but each device can only be assigned to one of the master devices. -
Page 44: Quick Reference
Reserved #20.16 Reserved #20.17 Reserved #20.18 Reserved #20.19 Reserved #20.20 Reserved 10.2 Profibus-DP Data Formats Non-cyclic Cyclic Consistency Comments mode words Full These modes are supported by Mentor II and Commander SE None Full 8 bytes with full consistency, available for backwards... -
Page 45: Fieldbus Control Word
10.3 Fieldbus Control Word #18.33 #18.32 #18.31 #1.46 #1.45 TRIP ENABLE Function Description ENABLE Set to 1 to put the Unidrive in READY mode. (The hardware ENABLE must also be present.) The RUN FWD, JOG and RUN REV bits will have no effect unless the ENABLE bit is set to 1. -
Page 46: Fieldbus Status Word
10.4 Fieldbus Status Word #10.15 #10.14 #10.13 #10.12 #10.11 #10.10 #10.09 #10.08 #10.07 #10.06 #10.05 #10.04 #10.03 #10.02 #10.01 Parameter Description #10.01 Drive healthy #10.02 Drive running #10.03 Zero speed #10.04 Running at or below min speed #10.05 Below set speed #10.06 At speed #10.07... -
Page 47: Unidrive Trip Codes
10.5 Unidrive Trip Codes The trip codes listed below may be caused by the Profibus-DP interface. Other trips may occur if a DPL program is loaded. For a full list of UD70 trips, refer to the UD70 User Guide Trip...
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