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SSD Drives DIGIVEX Motion PVD 3554 User And Commissioning Manual

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SSD Parvex SAS
8, avenue du Lac - B.P. 249
F-21007 Dijon Cedex
www.SSDdrives.com
DIGIVEX Motion
PROFIBUS
User and commissioning manual
PVD 3554 GB – 01/2004

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Summary of Contents for SSD Drives DIGIVEX Motion PVD 3554

  • Page 1 SSD Parvex SAS 8, avenue du Lac - B.P. 249 F-21007 Dijon Cedex www.SSDdrives.com DIGIVEX Motion PROFIBUS User and commissioning manual PVD 3554 GB – 01/2004...
  • Page 2 PRODUCT RANGE « BRUSHLESS » SERVODRIVES TORQUE OR POWER RANGES • BRUSHLESS SERVOMOTORS, LOW INERTIA, WITH RESOLVER Very high torque/inertia ratio (high dynamic performance machinery): ⇒ NX -HX - HXA 1 to 320 N.m ⇒ NX - LX 0,45 to 64 N.m High rotor inertia for better inertia load matching: ⇒...

  • Page 3: Table Of Contents

    DIGIVEX Motion - PROFIBUS Contents 1. PROFIBUS-DP GENERAL DEFINITIONS Definition Transmission via RS-485 Bus access and data exchange procedure Standards, guidelines and profiles 2. COMMUNICATING WITH DIGIVEX Motion Cyclical data transmission 2.1.1 Useful data structure in accordance with PROFIDrive Profiles V2.0 and V3.0 2.1.2 DIGIVEX Motion response time Acyclical data transmission...
  • Page 4 DIGIVEX Motion - PROFIBUS 4.3.1 PROFIBUS-DP interface in SIMATIC S7 4.3.2 Adding DIGIVEX Motion to the module catalogue 4.3.3 Adding DIGIVEX Motion to the hardware configuration 4.3.4 Setting the parameters for the DP master bus Characteristic and dimensions subject to change without notice. YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac / B.P 249 / F-21007 Dijon Cedex...

  • Page 5: Profibus-Dp General Definitions

    DIGIVEX Motion - PROFIBUS 1. PROFIBUS-DP GENERAL DEFINITIONS 1.1 Definition PROFIBUS (PROcess FIeld BUS) is an international open field bus standard. It is defined by international standards EN 50170 and/or IEC 61158, and has a wide range of applications in manufacturing and industrial process automation.

  • Page 6: Bus Access And Data Exchange Procedure

    DIGIVEX Motion - PROFIBUS A line bus structure is used to connect up all the devices. It is possible to interconnect up to 32 subscribers (masters or slaves) in one segment. The bus is terminated at the beginning and the end of each segment by an active terminal. Voltage must always be applied to both bus terminals for the bus to work correctly.
  • Page 7 DIGIVEX Motion - PROFIBUS • PROFIdrive Profile version 2.0: "Profile for variable speed drives" September 1997 PNO - PROFIBUS Profile – Order no. 3.071 (German) / 3.072 (English) • PROFIdrive profile version 3.0: "PROFIdrive Profile Drive Technology" September 2000 (draft) PNO –...

  • Page 8: Communicating With Digivex Motion

    DIGIVEX Motion - PROFIBUS 2. COMMUNICATING WITH DIGIVEX Motion Technical specifications Connection to the PROFIBUS bus is carried out using a 9-pin Sub-D plug in compliance with the PROFIBUS standard. All RS485 interface connections are protected against short-circuiting and have galvanic insulation. The PROFIBUS interface supports transmission speeds of between 9.6 kbauds and 12 MBauds.

  • Page 9: Cyclical Data Transmission

    DIGIVEX Motion - PROFIBUS 2.1 Cyclical data transmission DIGIVEX Motion is controlled through the cyclical PROFIBUS-DP channel. Moreover, this same channel can be used for exchanging parameters. The structure of useful data for the cyclical channel is defined in the PROFIDrive Profile version 2.0, and is called PPO (Parameter Process Data Object).

  • Page 10: Digivex Motion Response Time

    DIGIVEX Motion - PROFIBUS STW1 STW2 ZSW1 ZSW2 word word word word word word PPO1 PPO3 PKW: Parameter identifier and value PZD: Process data PKE: Parameter identifier and request type STW: Control word IND: Index ZSW: Status word PWE: Parameter value The various essential tasks are accounted for by subdividing the useful data into PKW parameter data, and PZD process data.

  • Page 11: Acyclical Data Transmission

    DIGIVEX Motion - PROFIBUS 2.2 Acyclical data transmission Extended PROFIBUS-DP functions (DPV1) The PROFIBUS-DP extensions DPV1 include the definition of an acyclic data exchange which takes place at the same time as the cyclical data transmissions. Acyclic data transmission is used for: •...

  • Page 12: Control And Status Words

    DIGIVEX Motion - PROFIBUS 2.3 Control and status words The control and status words correspond to the specifications in PROVIdrive Profile V2.0 and/or V3.0 for the “positioning” mode. Assigning STW1 control word bits STW1 control word (bits 0 - 11 as defined in the PROFIDrive Profile, bits 12 - 15 specific to DIGIVEX Motion.
  • Page 13 DIGIVEX Motion - PROFIBUS EXEC EN Authorizes the program in DIGIVEX Motion to run (exec_en = 1) Prohibits the program in DIGIVEX Motion from running (exec_en = 0) DIGIVEX Motion ub0 binary variable DIGIVEX Motion ub1 binary variable out0 DIGIVEX Motion out0 logic output The abort_cmd, torque_cmd, emergency_cmd, move_en, home_cmd, exec_en and moving variables are detailed in user manual PVD 3517 “Programming”.
  • Page 14 DIGIVEX Motion - PROFIBUS A warning is present A minor fault is present: status does not change for the drive fault relay and the torque Setpoint-measured position Deviation between setpoint position and deviation ok measured position values within tolerance limits (tracking_error <...

  • Page 15: List Of Standard Profidrive Parameters

    DIGIVEX Motion - PROFIBUS 2.4 List of standard PROFIDrive parameters The standard parameters defined by PROFIDrive V3.0 and supported by DIGIVEX Motion are listed below, except 967): NB: These parameters are only accessible in read mode. Index Designation Comments 918 (0x396) Param_PB_918 Selected address returned with the “address”...

  • Page 16: Pkw Profidrive V2.0 Mechanism For Processing Parameters

    DIGIVEX Motion - PROFIBUS 2.5 PKW Profidrive V2.0 mechanism for processing parameters Parameter area (PKW) The PKW mechanism is used to manipulate and observe (write / read) parameters as follows: Condition: PPO type 1 for DIGIVEX Motion in accordance with PROVIdrive Profile V2.0 The parameter area always contains 4 words.
  • Page 17 DIGIVEX Motion - PROFIBUS Request identifier table (master - > drive) RESPONSE REQUEST MEANING IDENTIFIER IDENTIFIER Positive Negative No request Parameter value request 1 / 2 Parameter value modification (word) Parameter value modification (double word) Response identifier table (drive -> master) RESPONSE MEANING IDENTIFIER...
  • Page 18 DIGIVEX Motion - PROFIBUS The number of index of the DIGIVEX Motion parameter (as defined in user PVD 3527 “Directory of Variables”) is defined using16-bits and made up as follows: INDEX PNUE 0 10 CONVERSION TABLE index range / PKW parameter header The following values are given in hexadecimal format.
  • Page 19 DIGIVEX Motion - PROFIBUS • The complete request must be sent in one telegram; telegrams cannot be split. The same applies to the responses. • As regards response telegrams containing parameter values, the drive will always reply giving the actual value in the event that the response telegrams are repeated. •...

  • Page 20: Dpv1-Profidrive V3.0 Mechanism For Processing Parameters

    DIGIVEX Motion - PROFIBUS 2.6 DPV1-Profidrive V3.0 mechanism for processing parameters This mechanism is supported by the range S7-400 which has the latest firmware as well as the PME, Parvex Motion Explorer, tool through the PROFIBUS PC interfaces. It has the advantage of reducing the cycle time since the PKW cyclical exchange is no longer required to occasionally access the parameters.
  • Page 21 DIGIVEX Motion - PROFIBUS 4) Response acknowledgement (from the Slave) case: the response is negative DPV1 Read Acknowledgement Fct_num = Rd (0 byte) Slot_num Index = DB47 Length (bytes) 0x5E 0x00 0x2F 0x0A Parameter Response Header Request ref Request ID Axis No.

  • Page 22: Connecting

    DIGIVEX Motion - PROFIBUS 3. CONNECTING 3.1 Connecting the bus cable (RS485) 3.1.1 Pin configuration of the Sub-D connector DIGIVEX Motion PROFIBUS comprises a 9-pin Sub-D female connector (X1) for connecting it to the PROFIBUS system. All RS485 interface connections are protected against short-circuiting and have galvanic insulation.

  • Page 23: Bus Connector

    DIGIVEX Motion - PROFIBUS Permissible cable length for one segment Max. cable length for one Transmission speed segment 9.6 – 187.5 kbauds 1000 m 500 kbauds 400 m 1.5 Mbauds 200 m 3 - 12 Mbauds 100 m Repeaters can be installed to increase the length of a segment. Cable installation rules It is prohibited for the bus cable to be: •...

  • Page 24: Cable Connecting Diagram

    DIGIVEX Motion - PROFIBUS Each bus segment must have a resistor network i.e. a bus terminal at both ends. The terminal can be switched on and off if the recommended connectors have been used for the connections. Terminal resistor Terminal resistor switched switched ON Position of the switch for activating and deactivating the terminal resistor Users must ensure that a resistor terminal network is installed on the first and last subscriber as...
  • Page 25 DIGIVEX Motion - PROFIBUS PVD 3554 GB 01/2004...

  • Page 26: Bus Cable Shielding / Emc Precautions

    DIGIVEX Motion - PROFIBUS 3.1.5 Bus cable shielding / EMC precautions The following precautions should be taken to ensure that the PROFIBUS-DP works correctly, particularly for data transmission using RS485: Shielding The shielding for the PROFIBUS bus cable must be connected in the bus connector. Additional shielding is given by a collar placed around the bus cable shielding and connected with a wide contact surface to the protective earth.

  • Page 27: Application Example With Usbpro Interface

    DIGIVEX Motion - PROFIBUS 3.2.2 Application example with USBPRO interface PC/DIGIVEX Motion dialogue is possible with all the drives via PROFIBUS network. Turn disconnect connection with case Basic_DM program loading into one of the drives. cable provided with USBPRO interface. PVD 3554 GB 01/2004...

  • Page 28: Application Example With Pcipro Interface

    DIGIVEX Motion - PROFIBUS 3.2.3 Application example with PCIPRO interface PC/DIGIVEX Motion dialogue possible with drives PROFIBUS network. Turn off the PLC or disconnect the connection with the PLC in case of Basic_DM program loading into one of the drives. PVD 3554 GB 01/2004...

  • Page 29: Application Example With Pcmciapro Interface

    DIGIVEX Motion - PROFIBUS 3.2.4 Application example with PCMCIAPRO interface PC/DIGIVEX Motion dialogue possible with all the drives via Profibus network. Turn off the PLC or disconnect the connection with the PLC in case of Basic_DM program loading into one of the drives.

  • Page 30: Application Example With Rs232Pro Interface

    DIGIVEX Motion - PROFIBUS 3.2.5 Application example with RS232PRO interface (the drive mustn’t be connected to PROFIBUS network) PC/DIGIVEX Motion dialogue is only possible with one drive at a time The drive mustn’t be connected to a supervisor or a PLC via PROFIBUS network when RS232PRO is used.

  • Page 31: Profibus Address

    DIGIVEX Motion - PROFIBUS 3.3 PROFIBUS address Starting up the DIGIVEX Motion PROFIBUS simply requires the PROFIBUS address to be set. The PROFIBUS address is set using the “address” code wheel. The manoeuvring of the code wheel must be carried out with the drive in shutdown status; power turned off.

  • Page 32: Profibus-Dp Master (Class 1 & 2) System Connection

    DIGIVEX Motion - PROFIBUS 4. PROFIBUS-DP MASTER (CLASS 1 & 2) SYSTEM CONNECTION 4.1 Using Parvex Motion Explorer (PME) 4.1.1 Starting up the application INSTALLATION Double click on the PARVEX PME icon located on the desktop in order to open the PARVEX Motion Explorer control panel (or select: Start, Programs, Parvex, Parvex Motion Explorer).

  • Page 33: Using Pme Tools

    DIGIVEX Motion - PROFIBUS 4.1.2 Using PME tools Please refer user manual PVD 3516 “Parvex Motion Explorer Software” for details regarding PME tools. It is essential that any connected automates be turned off when loading a program with the “Program Editor” tool, and when updating Firmware with the “Incident Diagnosis Assistant”...
  • Page 34 DIGIVEX Motion - PROFIBUS CP5611 & CP5511 The access point must be selected in accordance with the value selected using the SIEMENS “Set PG-PC interface” parameter setting tool USBPRO and USBPROx12 If necessary the transmission speed of porfibus will be changed to be in accordance with the speed imposed by the "Master "...
  • Page 35 DIGIVEX Motion - PROFIBUS Advice on how to use the SIEMENS “Set PG-PC interface” parameter setting tool is provided with the CP5611 and CP5511 cards: • Select the CP_L2_1 access point and associate it with the CP5611 (PROFIBUS) or CP5511 (PROFIBUS) set of parameters, as applicable.

  • Page 36: Gsd Files

    DIGIVEX Motion - PROFIBUS 4.2 GSD Files PROFIBUS slaves do not have the same performance characteristics. The characteristic properties of a slave are grouped together in a database (GSD file) containing the data for the appliance. This file is used by all the master systems for correctly addressing the slave and its individual possibilities.
  • Page 37 DIGIVEX Motion - PROFIBUS 4.3.3 Adding DIGIVEX Motion to the hardware configuration Continue by adding DIGIVEX Motion to the hardware configuration of your project as shown in STEP7 software help. Choosing the slots: Three configurations are possible for the Input/Output slots: This standard message is used to access the DIGIVEX Motion PP01 parameters following the PKW mechanism (section 2.4) and the 2...
  • Page 38 DIGIVEX Motion - PROFIBUS 4.3.4 Setting the parameters for the DP master bus Double click on the “DP” icon associated with the CPU in the hardware configuration window. The following window will open: • Click on “Properties”. • Select the sub-network proposed if it is suitable (if not, create a new one with the desired transmission speed).

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