SEW-Eurodrive MOVI-PLC advanced DHF41B Manual
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SEW-Eurodrive MOVI-PLC advanced DHF41B Manual

SEW-Eurodrive MOVI-PLC advanced DHF41B Manual

Devicenet and profibus dp-v1 fieldbus interfaces
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Drive Technology \ Drive Automation \ System Integration \ Services
®
MOVI-PLC
advanced DHF41B Controller
DeviceNet and PROFIBUS DP-V1
Fieldbus Interfaces
Manual
Edition 03/2009
16658426 / EN

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Summary of Contents for SEW-Eurodrive MOVI-PLC advanced DHF41B

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services ® MOVI-PLC advanced DHF41B Controller DeviceNet and PROFIBUS DP-V1 Fieldbus Interfaces Manual Edition 03/2009 16658426 / EN...
  • Page 2 SEW-EURODRIVE – Driving the world...

  • Page 3: Table Of Contents

    1 General Information ....................6 How to use the documentation ..............6 Structure of the safety notes ................6 Rights to claim under limited warranty ............7 Exclusion of liability ..................7 Copyright......................7 2 Safety Notes ......................8 Other applicable documentation ..............8 Bus systems....................
  • Page 4 9 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus ......53 Configuring a PROFIBUS DP master ............53 10 PROFIBUS DP-V1 Operating Characteristics ............ 60 10.1 Process data exchange with MOVI-PLC® advanced DHF41B....60 10.2 PROFIBUS-DP timeout................62 ® 10.3 Settings in MOVI-PLC advanced DFHF41B ..........
  • Page 5 12.6 Communication via PROFIBUS DP/DP-V1..........107 12.6.1 Communication via C2 master ............107 12.6.2 Additionally required hardware and software ......... 108 12.6.3 Parameterize C2 master with SIMATIC NET ......... 109 12.6.4 Configuring communication via PROFIBUS ........112 12.6.5 Communication parameters for PROFIBUS DP/DP-V1 ....114 12.7 Executing functions with the units ..............

  • Page 6: General Information

    General Information How to use the documentation General Information Handbuch How to use the documentation The documentation is an integral part of the product and contains important information on operation and service. The documentation is written for all employees who assemble, install, startup, and service this product.

  • Page 7: Rights To Claim Under Limited Warranty

    Exclusion of liability You must observe this documentation and the documentation of the connected units from SEW-EURODRIVE to ensure safe operation and to achieve the specified product characteristics and performance requirements. SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of the operating instructions.

  • Page 8: Safety Notes

    Safety Notes Other applicable documentation Safety Notes Other applicable documentation Note also the following documentation: ® • "MOVI-PLC advanced DHE41B/DHF41B/DHR41B Controller" manual ® • "MOVI-PLC Programming in the PLC Editor" manual The following publications and documents apply to the connected units: •...

  • Page 9: Introduction

    Introduction Content of the manual Introduction Content of the manual This user manual describes how to: ® • Startup MOVI-PLC advanced DHF41B on the DeviceNet fieldbus system and PROFIBUS DP-V1. • Configure the DeviceNet master with EDS files. • Configure the PROFIBUS DP-V1 master using GSD files. The creation of IEC programs or the connection of SEW drives to the system bus ®...

  • Page 10: Monitoring Functions

    Introduction Characteristics 3.2.3 Monitoring functions Using a fieldbus system requires additional monitoring functions, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts. For example, you can adapt the monitoring functions specifically to your application in the IEC program. You can determine, for instance, which fault responses should be triggered in the event of a bus error.

  • Page 11: Assembly And Installation Notes On The Devicenet Fieldbus

    Assembly and Installation Notes on the DeviceNet Fieldbus Connecting MOVI-PLC® advanced DHF41B to a DeviceNet network Assembly and Installation Notes on the DeviceNet Fieldbus ® Connecting MOVI-PLC advanced DHF41B to a DeviceNet network The following sections describes the terminals, DIP switches, and LEDs relevant for DeviceNet fieldbus operation.

  • Page 12: Shielding And Routing Bus Cables

    Assembly and Installation Notes on the DeviceNet Fieldbus Shielding and routing bus cables Make the connection according to the color code specified in the following table. Pin no. Signal Meaning Color coding 0V24 CAN_L CAN_L DRAIN DRAIN blank CAN_H CAN_H 24 V Connecting According to the DeviceNet specification, a linear bus structure without or with very short...

  • Page 13: Setting The Dip Switches

    Assembly and Installation Notes on the DeviceNet Fieldbus Setting the DIP switches Setting the DIP switches ® Before each change to the DIP switches, disconnect MOVI-PLC advanced DHF41B from the voltage supply. The DIP switch settings are adopted during initialization only. DHF41B = MAC ID setting = Baud rate setting...

  • Page 14: Status Led Of The Dhf41B Option

    Assembly and Installation Notes on the DeviceNet Fieldbus Status LED of the DHF41B option Status LED of the DHF41B option The DHF41B option card is equipped with four two-color LEDs for diagnosing the DeviceNet system. They indicate the current status of the DHF41B and the DeviceNet system.
  • Page 15 Assembly and Installation Notes on the DeviceNet Fieldbus Status LED of the DHF41B option L14 LED (BIO) The L14 (Bit-strobe I/O) LED monitors the bit-strobe I/O connection. Status of the Status Meaning L14 LED Flashing DUP-MAC check Unit is performing DUP-MAC check green (125 ms cycle)

  • Page 16: Project Planning And Startup On The Devicenet Fieldbus

    DHF41B for fieldbus operation. The current version of the EDS file for the DHF41B option is available on the SEW homepage (http://www.sew-eurodrive.com) under the heading "Software". Validity of EDS files for the DHF41B option Do not edit or amend the entries in the EDS file. SEW assumes no liability for inverter malfunctions caused by a modified EDS file! The current EDS file SEW_MOVIPLC_DHF41B.eds is available for configuring the...

  • Page 17: Configuring Plc And Master (Devicenet Scanner)

    Project Planning and Startup on the DeviceNet Fieldbus Configuring PLC and master (DeviceNet scanner) Configuring PLC and master (DeviceNet scanner) The following samples refer to the usage of an Allen-Bradley-PLC ControlLogix 1756- L61 together with the RSLogix 5000 programming software and the DeviceNet RSNetWorx configuration software for DeviceNet.
  • Page 18 Project Planning and Startup on the DeviceNet Fieldbus Configuring PLC and master (DeviceNet scanner) You can check the process data configuration of the DHF41 option by reading the "device properties" in online mode (see following figure). 12119AXX The "Pd configuration" parameter indicates the number (1 - 64) of process data words ®...

  • Page 19: Settings In Movi-Plc ® Advanced Dhf41B

    Project Planning and Startup on the DeviceNet Fieldbus Settings in MOVI-PLC® advanced DHF41B ® After adding the MOVI-PLC advanced DHF41B to the "scan list", the number of polled I/O bytes must be set to 2 x number of PD (e.g. PD = 16 number of polled input bytes = 32 and output bytes = 32) via "Edit I/O parameters".

  • Page 20: Status Of The Fieldbus Interface

    Project Planning and Startup on the DeviceNet Fieldbus Settings in MOVI-PLC® advanced DHF41B ® In the parameter tree of MOVITOOLS MotionStudio (index 8451), the currently set value is displayed in the field "PD configuration" (see following figure). 11968AXX The number of process data words received and sent via DeviceNet is set at the ProcessData input.

  • Page 21: Project Planning Examples In Rslogix5000

    Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 Project planning examples in RSLogix5000 ® 5.4.1 MOVI-PLC advanced DHF41B with 16 process data 1. Set the DIP switches on the DHF41B to do the following: • Adjust the baud rate to the DeviceNet •...
  • Page 22 Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 Make sure that this CPS command is executed after the automatically (by DeviceNet Tag Generator) generated DNet_ScannerInputsRoutine. 11963AXX ® In order to copy the data to the MOVI-PLC advanced DHF41B, a CPS command is added to the "MainRoutine"...
  • Page 23 Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 6. Now save the project and transfer it to the PLC. Set the PLC to RUN mode and set the Scanner CommandRegister.Run control bit to "1" to activate data exchange via DeviceNet.
  • Page 24 Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 ® • Use the wizard to create a new AxisControl project and upload it to MOVI-PLC advanced DHF41B using the menu item "Online login". • Start the loaded program via the menu item "Online start". You can now monitor the uploaded process data under "Resources Control configuration ".

  • Page 25: Access To Parameters Of Movi-Plc ® Advanced Dhf41B

    Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 ® 5.4.2 Access to parameters of MOVI-PLC advanced DHF41B ® For easy read access to the parameters of MOVI-PLC advanced DHF41B via explicit messages and the register object, proceed as follows: 1.
  • Page 26 Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 4. Click on in the MSG instruction to open the "Message Configuration" window (see following figure). 11767AXX Select "CIP Generic" as "message type". Fill the other fields in the following order: A Source Element = ReadParameterRequest.Index B Source Length = 12 C Destination = ReadParameterResponse.Index...
  • Page 27 Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 6. After downloading the changes to the PLC, the index of the parameter to be read can be entered at ReadParameterRequest.Index. By altering ReadParameterStart to "1" the read request is executed once (see following figure). 11966BXX On response to the read request, ReadParameterResponse.Index should indicate the read index and ReadParameterResponse.Data should contain the read data.
  • Page 28 Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 Only a few additions are necessary for activating write access to a parameter: • Create the controller tags (see following figure) 11771AXX • Create a rung for executing the "WriteParameter" command (see following figure).
  • Page 29 Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 7. After downloading the changes to the PLC, index and value to be written into the parameter can be entered at WriteParameterRequest.Index and WriteParameter- Request.Data. By altering WriteParameterStart to "1", the write request is executed once (see following figure).

  • Page 30: Access To Unit Parameters Of Lower-Level Units

    Project Planning and Startup on the DeviceNet Fieldbus Project planning examples in RSLogix5000 5.4.3 Access to unit parameters of lower-level units ® Access to the unit parameters of a MOVITRAC B, for example, which is connected to ® the SBus 1 of MOVI-PLC advanced DHF41B is identical with the unit parameter ®...

  • Page 31: Devicenet Operating Characteristics

    DeviceNet Operating Characteristics Process data exchange DeviceNet Operating Characteristics Process data exchange Polled I/O The polled I/O messages correspond to the process data telegrams sent to the controller ® MOVI-PLC advanced DHF41B. A maximum of 64 process data words can be exchanged between the controller and the DHF41B option in this case.
  • Page 32 DeviceNet Operating Characteristics Process data exchange Bit-strobe I/O The SEW fieldbus device profile does not include the bit-strobe I/O messages. The messages represent a DeviceNet-specific process data exchange. The master sends a broadcast message that is 8 bytes (= 64 bits) long. One bit in this message is assigned to each station in accordance with its address.
  • Page 33 DeviceNet Operating Characteristics Process data exchange Timeout The timeout is triggered by the DHF41B option. The timeout interval must be set by the response with master after the connection has been established. The DeviceNet specification refers to bit-strobe I/O an "expected packet rate" rather than a timeout interval in this case. The expected packet rate is calculated on the basis of the timeout interval using the following formula: = 4 x t Timeout_BitStrobe_IO...

  • Page 34: The Common Industrial Protocol (Cip)

    None of the class attributes are supported. Instance 1 Attri- Access Name Data type Default value [hex] Description bute Vendor ID UINT 013B SEW-EURODRIVE GmbH & Co KG Device Type UINT 0064 Manufacturer-specific type ® Product Code UINT 000D Product no.13: MOVI-PLC advanced...
  • Page 35 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) • Coding of attribute 5 "Status": Name Description Owned Controlling connection is active Reserved Configured Configuration complete Reserved → Table "Coding of the extended device status" 4 - 7 Extended Device Status Minor Recoverable Fault Minor fault that can be remedied Minor Unrecoverable Fault...
  • Page 36 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) DeviceNet object • The DeviceNet object provides information on the DeviceNet communication interface. • Class code: 03 Class Attribute Access Name Data type Default Description value [hex] Revision UINT 0002 Revision 2 Instance 1 Attribute Access...
  • Page 37 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) Connection • The process and parameter data connections are defined in the connection object. object • Class code: 05 Class None of the class attributes are supported. Instance Communication Explicit message Polled I/O Bit-Strobe I/O Instance 1 ...
  • Page 38 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) Register object • The register object is used to access an SEW parameter index. • Class code: 07 Class None of the class attributes are supported. ® The MOVILINK parameter services are mapped in the nine instances of the register object.
  • Page 39 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) Input Get_Attribute_Single READ (Instance 1) Get_Attribute_Single Output (Instance 2) Set_Attribute_Single WRITE Get_Attribute_Single Output (Instance 3) Set_Attribute_Single WRITE VOLATILE Input READ MINIMUM Get_Attribute_Single (Instance 4) DPRAM Input Get_Attribute_Single READ MAXIMUM (Instance 5) Input Get_Attribute_Single READ DEFAULT (Instance 6)
  • Page 40 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) Instance 1 - 9 Attribute Access Name Data type Default value Description [hex] Bad Flag BOOL 0 = good / 1 = bad Direction BOOL 00 = Input register 01 = Output register Size UINT 0060...
  • Page 41 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) ® Parameter object • The fieldbus parameters of the MOVI-PLC advanced DHF41B can be addressed directly via the instance with the parameter object. • In exceptional cases, you can also use the parameter object to access SEW parameters.
  • Page 42 DeviceNet Operating Characteristics The Common Industrial Protocol (CIP) Fieldbus parameters Instance Access Group Name Meaning ® MOVI-PLC Get/Set PD configuration Process data configuration advanced DHF41B Timeout time Timeout interval Device Fieldbus type DeviceNet parameter Baud rate Baud rate via DIP switches Station address MAC-ID via DIP switches 6 - 69...

  • Page 43: Return Codes Of The Parameterization Via Explicit Messages

    DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages Return codes of the parameterization via explicit messages SEW-specific The return codes that SEW units issue in case of incorrect parameterization are return codes independent of the fieldbus. However, the return codes are sent back in a different format when using DeviceNet.
  • Page 44 DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages General error DeviceNet-specific error codes code General error Error name Description code (hex) 00 - 01 Reserved for DeviceNet Resource unavailable The source required for performing the service is unavailable 03 - 07 Reserved for DeviceNet Service not supported...
  • Page 45 DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages ® ® MOVILINK The following table lists the MOVILINK protocol-specific error messages and their specific return coding in the DeviceNet response telegram. codes Corresponds to ® ® General Additional Description MOVILINK MOVILINK...
  • Page 46 DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages Additional code The additional code contains SEW-specific return codes for faulty parameterization of the drive inverter. General Additional Description Error Code code 0x00 No Error 0x10 Illegal Index 0x11 Not yet implemented 0x12 Read only...

  • Page 47: Terms And Definitions

    DeviceNet Operating Characteristics Terms and definitions Terms and definitions Term Description Allocate Provides a service for setting up a connection. Attribute Attribute of an object class or instance. Describes the characteristics of the object class or instance in more detail. BIO - Bit-Strobe I/O All stations can be addressed with a broadcast message.

  • Page 48: Error Diagnostics For Operation On The Devicenet Fieldbus

    Error Diagnostics for Operation on the DeviceNet Fieldbus Diagnostic procedures Error Diagnostics for Operation on the DeviceNet Fieldbus Diagnostic procedures The diagnostic procedures described in the following section demonstrate the fault analysis methods for the following problems: ® • MOVI-PLC advanced DHF41B does not operate on DeviceNet ®...
  • Page 49 Error Diagnostics for Operation on the DeviceNet Fieldbus Diagnostic procedures Step 3: Fault diagnostics When DHF41B is in status "Connected" or "Module error", the data exchange between master (scanner) and slave (DHF41B) is active. If it is still not possible to transmit data ®...

  • Page 50: Assembly And Installation Notes On The Profibus Dp-V1 Fieldbus

    Assembly and Installation Notes on the PROFIBUS DP-V1 Fieldbus Connecting MOVI-PLC® advanced DHF41B to a PROFIBUS network Assembly and Installation Notes on the PROFIBUS DP-V1 Fieldbus ® Connecting MOVI-PLC advanced DHF41B to a PROFIBUS network The following sections describe the terminals, DIP switches, and LEDs relevant for PROFIBUS operation.
  • Page 51 Assembly and Installation Notes on the PROFIBUS DP-V1 Fieldbus Connecting PROFIBUS (connector X30P) ® Connecting As a rule, the MOVI-PLC advanced DHF41B control card is connected to the ® MOVI-PLC PROFIBUS system using a shielded twisted-pair cable. Observe the maximum PROFIBUS supported transmission rate when selecting the bus connector.

  • Page 52: Status Led Of The Dhf41B Option

    Assembly and Installation Notes on the PROFIBUS DP-V1 Fieldbus Status LED of the DHF41B option Status LED of the DHF41B option The DHF41B option card is equipped with four two-color LEDs for diagnostic of the PROFIBUS system. They indicate the current status of the DHF41B and the PROFIBUS system.

  • Page 53: Configuration And Startup On The Profibus Dp-V1 Fieldbus

    ® The current version of the GSD file for controlling MOVI-PLC advanced DHF41B is available on the SEW website (http://www.sew-eurodrive.de) in the "Software" section. GSD file for The GSD file SEW_6007.GSD corresponds to GSD revision 4. The device master data...
  • Page 54 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus Configuring a PROFIBUS DP master Installing the Proceed as follows to install the GSD file in STEP7: GSD file in STEP7 1. Start the Simatic Manager. 2. Open an existing project and start the hardware configuration. 3.
  • Page 55 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus Configuring a PROFIBUS DP master ® 2. The MOVI-PLC advanced DHF41B control card is now preconfigured with the configuration 3PD. To change the PD configuration, you have to delete the 3 PD module in slot 3.
  • Page 56 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus Configuring a PROFIBUS DP master ® 3. Optionally, you can configure a MOVILINK parameter channel in the cyclic process data (see following figure). To do so, delete the "Empty" module from slot 2 and replace it with the module "Param (4 words)"...
  • Page 57 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus Configuring a PROFIBUS DP master 4. Enter the I/O or peripheral addresses for the configured data widths in the "I Address" [1] and "Q Address" [2] columns. 12056AXX ® DP configuration To enable the MOVI-PLC advanced DHF41B control card to support the type and ®...
  • Page 58 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus Configuring a PROFIBUS DP master Slot 2: Parameter data Meaning / notes DP configurations Configuration Empty Reserved 0x00 ® Param (4words) MOVILINK parameter channel 0xC0, 0x87, 0x87 configured Slots 4 to 18: Process data Meaning / notes DP configurations...
  • Page 59 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus Configuring a PROFIBUS DP master ® The MOVI-PLC advanced DHF41B control card does not support the "Special identifier formats" coding! Only use the setting "Integrity over entire length" for data transmission. Data integrity Integral data is data that always has to be transmitted between the higher-level ®...

  • Page 60: Profibus Dp-V1 Operating Characteristics

    PROFIBUS DP-V1 Operating Characteristics Process data exchange with MOVI-PLC® advanced DHF41B PROFIBUS DP-V1 Operating Characteristics ® This section describes the principle characteristics of the MOVI-PLC advanced DHF41B control card when operated on the PROFIBUS-DP system. ® 10.1 Process data exchange with MOVI-PLC advanced DHF41B ®...
  • Page 61 PROFIBUS DP-V1 Operating Characteristics Process data exchange with MOVI-PLC® advanced DHF41B ® Control example Process data exchange with MOVI-PLC advanced DHF41B is controlled using Simatic for Simatic S7 S7 in accordance with the selected process data configuration either directly using load and transfer commands or by means of special system functions, SFC 14 DPRD_DAT and SFC15 DPWR_DAT.

  • Page 62: Profibus-Dp Timeout

    PROFIBUS DP-V1 Operating Characteristics PROFIBUS-DP timeout ® The following figure shows the corresponding configuration for the MOVI-PLC advanced DHF41B control card in the hardware configuration of STEP7 (see section "DP configurations", page 57). 12067AXX 10.2 PROFIBUS-DP timeout ® The response monitoring time on the MOVI-PLC advanced DHF41B control card elapses (if configured in the DP master) if data transmission via the PROFIBUS-DP system is interrupted or disrupted.

  • Page 63: Status Of The Profinet Fieldbus Interface

    PROFIBUS DP-V1 Operating Characteristics Settings in MOVI-PLC® advanced DFHF41B 10.3.1 Status of the PROFINET fieldbus interface 12046AXX The FbusGetInfo function block makes the status and some display parameters of the fieldbus interface available for the IEC program and diagnostics. If there is no communication with the fieldbus master, the output Error is set to TRUE. During an active fieldbus connection, the output Done is set to TRUE, and the outputs Address, Baud rate, Timeout and Bus type show the respective parameters as they were set via the DIP switches of the DHF41B option or via the PLC.
  • Page 64 PROFIBUS DP-V1 Operating Characteristics Settings in MOVI-PLC® advanced DFHF41B • Start the loaded program via the menu item "Online start". You can now monitor the uploaded process data under "Resources Control configuration " (PLC configuration). (See following figure). 12050AXX Manual – MOVI-PLC® advanced DHF41B DeviceNet and PROFIBUS DP-V1 Fieldbus Interfaces...

  • Page 65: Parameter Setting Via Profibus-Dp

    PROFIBUS DP-V1 Operating Characteristics Parameter setting via PROFIBUS-DP 10.4 Parameter setting via PROFIBUS-DP ® In the PROFIBUS-DP system, the parameters are accessed via the 8-byte MOVILINK parameter channel. This parameter channel offers extra parameter services in addition to the conventional Read and Write services. ®...
  • Page 66 PROFIBUS DP-V1 Operating Characteristics Parameter setting via PROFIBUS-DP ® The following table shows the structure of the 8-byte MOVILINK parameter channel. Its basic structure is as follows: • One management byte • One reserved byte • Two index bytes • Four data bytes Byte 0 Byte 1...
  • Page 67 PROFIBUS DP-V1 Operating Characteristics Parameter setting via PROFIBUS-DP Index addressing Byte 2: Index high and byte 3: Index low determines the parameter that is to be read or ® written via the fieldbus system. The parameters of MOVI-PLC advanced DHF41B are addressed using a standard index regardless of the fieldbus system that is connected.
  • Page 68 PROFIBUS DP-V1 Operating Characteristics Parameter setting via PROFIBUS-DP ® The MOVI-PLC advanced DHF41B control card now processes the read service and sends the service confirmation back by changing the handshake bit. 7 / MSB 0 / LSB Service identifier 0001 = Read parameter Data length Irrelevant for read service Handshake bit...
  • Page 69 PROFIBUS DP-V1 Operating Characteristics Parameter setting via PROFIBUS-DP The following table shows how a write service is coded in management byte 0. The data ® length for all parameters in the MOVI-PLC advanced DHF41B control card is four ® bytes. This service is now transferred to the MOVI-PLC advanced DHF41B control card when the handshake bit changes.

  • Page 70: Return Codes For Parameter Setting

    PROFIBUS DP-V1 Operating Characteristics Return codes for parameter setting Parameter data When parameters are set via the fieldbus interface, the same parameter coding is used format as with the serial RS485 interface or the system bus. 10.5 Return codes for parameter setting ®...

  • Page 71: Special Cases

    PROFIBUS DP-V1 Operating Characteristics Special cases Additional code The Additional code contains SEW-specific return codes for errors in the parameter ® settings for MOVI-PLC advanced DHF41B. These codes are returned to the master under Error class 8 = Other error. The following table shows all possible codes for the Additional code.
  • Page 72 PROFIBUS DP-V1 Operating Characteristics Special cases Incorrect service An incorrect code was specified for the management byte or reserved byte during code in the parameter setting via the parameter channel. The following table shows the return code parameter channel for this special case. Code (dec) Meaning Error class:...

  • Page 73: Functions Of Profibus Dp-V1

    Functions of PROFIBUS DP-V1 Introduction to PROFIBUS DP-V1 Functions of PROFIBUS DP-V1 This section provides you with information about the PROFIBUS DP-V1 functions. 11.1 Introduction to PROFIBUS DP-V1 This chapter describes the functions and terms used for operating SEW units on PROFIBUS DP-V1.

  • Page 74: Class 1 Master (C1 Master)

    Functions of PROFIBUS DP-V1 Introduction to PROFIBUS DP-V1 11.1.1 Class 1 master (C1 master) The PROFIBUS DP-V1 network differentiates between various master classes. The C1 master essentially performs the cyclical data exchange with the slaves. A typical C1 master is a control system, such as a PLC, that exchanges cyclical process data with the slave.

  • Page 75: Dp-V1 Services

    Functions of PROFIBUS DP-V1 Introduction to PROFIBUS DP-V1 11.1.4 DP-V1 services The DP-V1 expansions offer new services, which can be used for acyclical data exchange between master and slave. The system distinguishes between the following services: C1 master Connection type: MSAC1 (master/slave acyclical C1) READ Read data record WRITE...

  • Page 76: Features Of Sew Fieldbus Interfaces

    Functions of PROFIBUS DP-V1 Features of SEW fieldbus interfaces 11.2 Features of SEW fieldbus interfaces The SEW fieldbus interfaces to PROFIBUS DP-V1 have the same communication features for the DP-V1 interface. The drives are usually controlled via a C1 master with cyclical process data in accordance with the DP-V1 standard.

  • Page 77: Structure Of The Dp-V1 Parameter Channel

    Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel 11.3 Structure of the DP-V1 parameter channel Generally, the parameter setting of the drives to the PROFIdrive DP-V1 parameter channel of profile version 3.0 is implemented via data set 47. The Request ID entry is used to distinguish between parameter access based on PROFIdrive profile or via SEW- ®...
  • Page 78 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel The following PROFIdrive services are supported: • Reading (request parameter) individual parameters of the type double word • Writing (change parameter) individual parameters of the type double word Field Data type Values Request Unsigned8...

  • Page 79: Parameterization Procedure Via Data Set 47

    Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel 11.3.1 Parameterization procedure via data set 47 Parameter access takes place with the combination of the DP-V1 services WRITE and READ. The parameter setting order is transferred to the slave using the WRITE.req, followed by slave-internal processing.

  • Page 80: Dp-V1 Master Processing Sequence

    Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel 11.3.2 DP-V1 master processing sequence If the bus cycles are very short, the request for the parameter response arrives before the inverter has concluded parameter access in the device. This means that the re- sponse data from the inverter is not yet available.

  • Page 81: Addressing Connected Inverters

    Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel 11.3.3 Addressing connected inverters The structure of the DS47 data set defines an axis element. This element is used to reach multi-axis drives that are operated via one PROFIBUS interface. The axis element addresses one of the devices connected via the PROFIBUS interface.

  • Page 82: Movilink ® Parameter Requests

    Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel ® 11.3.4 MOVILINK parameter requests ® The MOVILINK parameter channel of the SEW inverter is directly mapped in the ® structure of data set 47. The Request ID 0x40 (SEW MOVILINK service) is used for the ®...
  • Page 83 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel ® Positive MOVILINK parameter setting response The table shows the READ.res USER DATA with the positive response data of the parameter setting request. The parameter value for index 8300 (firmware version) is returned as an example.
  • Page 84 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel Byte Field Value Description Request reference 0x01 Individual reference number for the parameter setting request is mirrored in the parameter response. ® Request ID 0x40 SEW MOVILINK service Axis 0x01 Axis number;...
  • Page 85 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel ® Negative The following table shows the coding of a negative response of a MOVILINK service. parameter Bit 7 is entered in the the response ID if the response is negative. response Service: READ.response...

  • Page 86: Profidrive Parameter Orders

    Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel 11.3.5 PROFIdrive parameter orders The PROFIdrive parameter channel of SEW inverters is directly mapped in the structure of data set 47. Parameter access with PROFIdrive services usually takes place according to the structure described below. The typical telegram sequence is used for data set 47.
  • Page 87 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel Query parameter response The following table shows the coding of the READ.req USER DATA including the DP- V1 header. Service: READ.request Description Slot_Number Random, (is not evaluated) Index Index of the data set; constant index 47 Length Maximum length of response buffer in the DP-V1 master Positive PROFIdrive parameter response...
  • Page 88 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel Example for The following tables show an example of the structure of the WRITE and READ services writing a for the remanent writing of the internal setpoint n11 (see section "Example for writing a ®...
  • Page 89 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel Positive response to "WRITE parameter" Service: READ.response Description Slot_Number Random, (is not evaluated) Index Index of the data set; constant index 47 Length 4 byte user data in response buffer Byte Field Value...
  • Page 90 Functions of PROFIBUS DP-V1 Structure of the DP-V1 parameter channel PROFIdrive The following table shows the coding of the error number in the PROFIdrive DP-V1 return codes for parameter response according to PROFIdrive profile V3.1. This table applies if you use DP-V1 the PROFIdrive services "Request Parameter"...

  • Page 91: Configuring A C1 Master

    Functions of PROFIBUS DP-V1 Configuring a C1 master 11.4 Configuring a C1 master A special GSD file SEW_6007.GSD is required for configuring a DP-V1 C1 master. This file activates the DP-V1 functions of the DHF41B. The functions of the GSD file and the DHF41B firmware must correspond with one another.

  • Page 92: Example Program For Simatic S7

    The MOVILINK parameter channel sample program is available from the SEW homepage (www.sew-eurodrive.de) under "Software". This example is a special and free service that demonstrates only the basic approach to generating a PLC program. SEW is not liable for the contents of the sample program.

  • Page 93: Technical Data Of Dp-V1 For Movi-Plc

    MOVI-PLC Number of parallel C2 connections: Supported data set: Index 47 Supported slot number: Recommended: 0 Manufacturer code: 10A hex (SEW-EURODRIVE) Profile ID: C2 response timeout Max. length C1 channel: 240 bytes Max. length C2 channel: 240 bytes Manual – MOVI-PLC® advanced DHF41B DeviceNet and PROFIBUS DP-V1 Fieldbus Interfaces...

  • Page 94: Error Codes Of The Dp-V1 Services

    Functions of PROFIBUS DP-V1 Configuring a C1 master 11.4.4 Error codes of the DP-V1 services This table shows possible error codes of DP-V1 services that may occur in the event of an error in the communication on DP-V1 telegram level. This table is relevant if you want to write your own parameter assignment block based on the DP-V1 services because the error codes are reported directly back on the telegram level.

  • Page 95: Operating Movitools ® Motionstudio

    Operating MOVITOOLS® MotionStudio About MOVITOOLS® MotionStudio ® Operating MOVITOOLS MotionStudio ® 12.1 About MOVITOOLS MotionStudio 12.1.1 Tasks ® The MOVITOOLS MotionStudio software package enables you to perform the following tasks: • Establishing communication with units • Executing functions with the units 12.1.2 Establishing communication with units ®...

  • Page 96: First Steps

    Operating MOVITOOLS® MotionStudio First steps 12.2 First steps 12.2.1 Starting the software and creating a project ® Proceed as follows to start MOVITOOLS MotionStudio and create a project: ® ® 1. Start MOVITOOLS MotionStudio in the WINDOWS start menu via the following path: "Start\Program\SEW\MOVITOOLS MotionStudio\MOVITOOLS MotionStudio"...

  • Page 97: Communication Mode

    Operating MOVITOOLS® MotionStudio Communication mode 12.3 Communication mode 12.3.1 Overview ® MOVITOOLS MotionStudio differentiates between "online" "offline" communication mode. You can select the communication mode. Unit-specific offline or online tools are provided depending on the communication mode you have selected. The following figure illustrates the two types of tools: Offline-Tool Online-Tool...

  • Page 98: Selecting Communication Mode (Online Or Offline)

    Operating MOVITOOLS® MotionStudio Communication mode The "online" communication mode is "NOT" a response message which informs you that you are currently connected to the unit or that your unit is ready for communication. • Should you require this feedback, observe section "Setting the cyclical accessibility ®...

  • Page 99: Communication Via Usb (Direct)

    Operating MOVITOOLS® MotionStudio Communication via USB (direct) 12.4 Communication via USB (direct) 12.4.1 Connect the unit with the PC using USB connection cables The illustration shows how the unit (in the example a fieldbus gateway [3]) is connected with the PC [1] using a USB connection cable [2]. It also shows how the fieldbus gateway [3] is connected with the lower-level unit [5] via SBus (CAN).

  • Page 100: Installing The Drivers

    Operating MOVITOOLS® MotionStudio Communication via USB (direct) 12.4.2 Installing the drivers Before you can communicate with the unit via USB (direct), you have to install the ® required driver file from the installation path of MOVITOOLS MotionStudio. Follow the instructions below to install the driver for USB communication: 1.
  • Page 101 Operating MOVITOOLS® MotionStudio Communication via USB (direct) Doing so will open the "Configure communication plugs" window. 64743AEN "Communication type" selection field "Activated" check box [Edit] button 2. From selection field [1], choose the communication type "USB (direct)". In the example, "USB" is activated as the communication type for the first communication channel [2].

  • Page 102: Usb Communication Parameters

    Operating MOVITOOLS® MotionStudio Communication via USB (direct) This will display the settings for the "USB" communication type. 12110AEN 4. Change the set communication parameters if necessary. When doing so, refer to the detailed description of the communication parameters 12.4.4 USB communication parameters The following table describes the communication parameters for the USB communica- tion channel: Communication parameters...

  • Page 103: Communication Via Ethernet

    Operating MOVITOOLS® MotionStudio Communication via Ethernet 12.5 Communication via Ethernet 12.5.1 Connecting the unit with the PC via Ethernet Connecting the The following figure shows the connection between the PC/laptop and the Ethernet interface DHx41B/UFx41B. DHx41B/UFx41B to the PC UFF41B 64420AXX UFx41B/DHx41B can be connected either directly to the PC or via an Ethernet network.

  • Page 104: Configuring The Communication Channel Via Ethernet

    Operating MOVITOOLS® MotionStudio Communication via Ethernet 12.5.2 Configuring the communication channel via Ethernet Proceed as follows to configure a communication channel for Ethernet: 1. Click on [Configure communication plugs] [1] in the toolbar. 64341AXX 2. This opens the "Configure communication plugs" window. From the list [1], select "Ethernet"...

  • Page 105: Setting Communication Parameters For Smlp

    Operating MOVITOOLS® MotionStudio Communication via Ethernet 12.5.3 Setting communication parameters for SMLP SMLP The following table describes the communication parameters for SMLP: communication Communication parameters of Description Note parameters ® the simple MOVILINK protocol Timeout Waiting time in [ms] that the client •...
  • Page 106 Operating MOVITOOLS® MotionStudio Communication via Ethernet 2. To add an IP address, open the context menu and select [Add IP address] [1]. 64352AEN 3. Add the IP address [2] Manual – MOVI-PLC® advanced DHF41B DeviceNet and PROFIBUS DP-V1 Fieldbus Interfaces...

  • Page 107: Communication Via Profibus Dp/Dp-V1

    Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 12.6 Communication via PROFIBUS DP/DP-V1 12.6.1 Communication via C2 master Overview The figure shows the network with a direct PROFIBUS communication via C2 master: EURODRIVE EURODRIVE EURODRIVE EURODRIVE 64621AXX [1] C2 master (as PC with installed softnet DP driver and installed PROFIBUS master card) [2] C1 master [3] Units (examples) with DP-V1 capable PROFIBUS interfaces C2 master...

  • Page 108: Additionally Required Hardware And Software

    Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 12.6.2 Additionally required hardware and software Prerequisite If you run and configure PROFIBUS stations in your network, you need additional hard- ware and software from Siemens. • Note the prerequisites regarding license rights for Siemens software products used. •...

  • Page 109: Parameterize C2 Master With Simatic Net

    Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 12.6.3 Parameterize C2 master with SIMATIC NET SIMATIC NET versions and operating system The following description might deviate slightly (in part due to the language) depending on the SIMATIC NET version and the operating system in use. This concerns the display and designations in windows as well as designations in the menu path of the start menu.
  • Page 110 Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 Parameterizing a Proceed as follows to configure a C2 master: C2 master 1. In the "Set PG/PC interface" window, click on the [Properties] button. This opens the "Properties" window. 12097AEN 2. If a C1 master is active, disable the "PG/PC is the only master on the bus" check box. 3.
  • Page 111 Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 Check the Do the following to check the parameters of the PROFIBUS stations: parameters of the 1. Close the "Properties" window to return to the "Set PG/PC interface" window. PROFIBUS 2. Click the [Diagnostics] button. stations This opens the "SIMATIC NET diagnostics"...

  • Page 112: Configuring Communication Via Profibus

    Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 12.6.4 Configuring communication via PROFIBUS Prerequisites The following steps describe only how you configure PROFIBUS communication in ® MOVITOOLS MotionStudio. • First make all the required settings in the project planning software. Refer to the previous section "Configuring C2 master with SIMATIC NET".
  • Page 113 Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 4. From the list [1], select "PROFIBUS" as the communication type. 64619AEN "Communication type" selection list "Activated" check box [Edit] button In the example, "PROFIBUS" is activated as the communication type for the first communication channel [2].

  • Page 114: Communication Parameters For Profibus Dp/Dp-V1

    Operating MOVITOOLS® MotionStudio Communication via PROFIBUS DP/DP-V1 5. Click [Edit] [3] in the right section of the window. 12095AEN 6. Select the "Start automatically" control field if you want to launch the PROFIBUS server every time the SEW Communication Server is started. 7.

  • Page 115: Executing Functions With The Units

    Operating MOVITOOLS® MotionStudio Executing functions with the units 12.7 Executing functions with the units 12.7.1 Parameterizing units in the parameter tree The parameter tree displays all unit parameters arranged in folders. You can manage the unit parameters using the context menu or toolbar. The following chapter describes how to read or change unit parameters.

  • Page 116: Starting Up The Units (Online)

    Operating MOVITOOLS® MotionStudio Executing functions with the units 12.7.3 Starting up the units (online) To startup units (online), proceed as follows: 1. Switch to the network view. 2. Click the [Switch to online mode] button [1]. 64354AXX 3. Select the unit you want to startup. 4.

  • Page 117: Error Diagnostics For Operation On Profibus Dp-V1

    Error Diagnostics for Operation on PROFIBUS DP-V1 Diagnostic procedure for PROFIBUS-DP Error Diagnostics for Operation on PROFIBUS DP-V1 13.1 Diagnostic procedure for PROFIBUS-DP ® Diagnostic problem: MOVI-PLC advanced DHF41B is not working on the PROFIBUS. Initial status: ® • The MOVI-PLC advanced DHF41B control card is connected physically to PROFIBUS.

  • Page 118: Appendix

    Appendix Parameter access to lower-level units via DeviceNet Appendix 14.1 Parameter access to lower-level units via DeviceNet DeviceNet UFF41B/DHF41B X30P Subchannel 1= 0 Subaddress 1= 0 Subchannel 1 = Subaddress 1 EtherCAT EtherCAT Subaddress 1 CAN2 SBUS Address Subaddress 1 SBUS Address SBUS (CAN1) 64776AXX...

  • Page 119: Parameter Access To Lower-Level Units Via Profibus Dp-V1

    Appendix Parameter access to lower-level units via PROFIBUS DP-V1 14.2 Parameter access to lower-level units via PROFIBUS DP-V1 PROFIBUS DHF41B X30P PLC-Editor: Routing Table (default) Routing enabled [Slot] Local Parameter Axis 0, 254 Axis 99 Dpram Can 1 Axis 1..12 Can 2 Axis 16..27 Axis 44..75...

  • Page 120: Parameter Access To Lower-Level Units Via Engineering Interfaces

    Appendix Parameter access to lower-level units via engineering interfaces 14.3 Parameter access to lower-level units via engineering interfaces Drive Operator Panel Ethernet TCP/IP (SMLP) UFF41B/DHF41B Ethernet X37 USB X35 X30P Subchannel 1= 0 Subaddress 1= 0 Subchannel 1 = 3 4 2 Subaddress 1 EtherCAT EtherCAT...
  • Page 121 Index Configuration examples in RSLogix 5000 Access to unit parameters of Access ..............25 lower-level units ......30 Assembly and installation notes on the Configuration with STEP7 ........54 DeviceNet fieldbus ........11 Configuring a PROFIBUS DP master ....53 Setting the DIP switch ........13 Configuration with STEP7 ......
  • Page 122 Index Glossary ............118 GSD file ...............53 Return codes for parameter setting Installation in STEP7 ........54 Additional code ..........71 Elements ............70 Error class ............ 70 Index ..............67 Error code ............ 70 Return codes from DeviceNet ...... 43 SEW-specific return codes ......43 LED BIO ..............15 Timeout of explicit messages ......
  • Page 123 SEW-EURODRIVE – Driving the world...
  • Page 124 Internet, available Anywhere. today. around the clock. SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 · D-76642 Bruchsal / Germany Phone +49 7251 75-0 · Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com...

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