Related Manuals for Lenze AC Tech MotionView OnBoard PositionServo PROFIBUS-DP
Summary of Contents for Lenze AC Tech MotionView OnBoard PositionServo PROFIBUS-DP
- Page 1 PositionServo PROFIBUS-DP Communication Module Communications Interface Reference Guide...
- Page 2 About These Instructions This documentation applies to the optional PROFIBUS DP communications module for the PositionServo drive and should be used in conjunction with the PositionServo User Manual (Document S94PM01) that shipped with the drive. These documents should be read in their entirety as they contain important technical data and describe the installation and operation of the drive.
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Page 3: Table Of Contents
Contents Safety Information ............................1 Warnings, Cautions and Notes .......................1 1.1.1 General ...........................1 1.1.2 Application ........................1 1.1.3 Installation ........................1 1.1.4 Electrical Connection ......................2 1.1.5 Operation ........................2 Introduction ..............................3 Fieldbus Overview .........................3 Module Specification ........................3 Module Identification Label ......................3 Installation ..............................4 Mechanical Installation ........................4 PROFIBUS DP Connector ........................5 Electrical Installation ........................6 3.3.1... - Page 4 Contents Acyclic Parameter Access ..........................17 What is Acyclic Data? ........................17 Setting the Acyclic Mode.......................17 6.2.1 Acyclic Modes ........................17 6.2.2 Acyclic Mode 1 .......................18 6.2.3 Acyclic Mode 2 .......................18 Modes 1 & 2 – 8BAD Format ......................18 6.3.1 8BAD - Function Code (Byte 0) ..................19 6.3.2 8BAD –...
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Page 5: Safety Information
1.1 Warnings, Cautions and Notes 1.1.1 General Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, moving and rotating. Some surfaces can be hot. Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation creates the risk of severe injury to personnel or damage to equipment. -
Page 6: Electrical Connection
Safety Information 1.1.4 Electrical Connection When working on live drive controllers, applicable national regulations for the prevention of accidents (e.g. VBG 4) must be observed. The electrical installation must be carried out in accordance with the appropriate regulations (e.g. cable cross-sections, fuses, PE connection). Additional information can be obtained from the regulatory documentation. -
Page 7: Introduction
The port (interface) identifier, P24, on the right hand side of label. TYPE: E94ZAPFB1 A: Fieldbus Protocol ID-NO: 13251083 Made in USA B: Model Number 039080825 C: Lenze Order Number E94ZAPFB1000XX1A10 D: Firmware Revision Communications PROFIBUS DP Module E: Hardware Revision Figure 1: PositionServo PROFIBUS DP Module Label... -
Page 8: Installation
Installation Installation 3.1 Mechanical Installation Ensure that for reasons of safety, the AC supply, DC supply and +24V DC backup supply have been disconnected before opening the bay cover plate. Remove the two COMM module screws that secure Option Bay 1. With the aid of a flat head screw driver, gently pry up the Option Bay 1 cover plate and remove. -
Page 9: Profibus Dp Connector
Installation 3.2 PROFIBUS DP Connector Table 2 identifies the terminals and describes the function of each. Figure 3 illustrates the PROFIBUS DP DB-9 connector. Table 2: PROFIBUS DP D-Type Connections Pin Number Function Description Shield Cable Shield Connection No Connection RxD / TxD-P Data Line B (Red) No Connection DGND... -
Page 10: Electrical Installation
Installation 3.3 Electrical Installation 3.3.1 Cable Types Due to the high data rates used on PROFIBUS DP networks it is paramount that correctly specified quality cable is used. The use of low quality cable will result in excess signal attenuation and data loss. Cable specifications and approved manufacturers are available from the official PROFIBUS website at: http:// www.profibus.com 3.3.2 Network Limitations... -
Page 11: Connections And Shielding
Installation 3.3.3 Connections and Shielding The PositionServo PROFIBUS DP module is equipped with a D sub-type connector. Always ensure that any connectors used on the network are fully approved for use with PROFIBUS DP. Some available connector types have built in termination that allows the network to be isolated, which can be very useful when fault finding. -
Page 12: Commissioning
English is not the primary language it may be possible to obtain GSD and GSE files where the GSD file is written in the native/home language and the GSE file will is written in English etc. The PositionServo GSD files are available on the CD ROM that ships with the drive and on the Lenze-AC Tech website. -
Page 13: Configuring The Positionservo Profibus Dp Module
Commissioning PROFIBUS DP Additional Field Devices General Drives Lenze PositionServo Lenze SMVector Switching Devices Gateway Compatible PROFIBUS DP Slaves CiR Object Figure 5: PROFIBUS DP Master Setup Save the configuration and download to the master. 4.3 Configuring the PositionServo PROFIBUS DP Module 4.3.1 Connecting With the drive power disconnected, install the PROFIBUS DP module and connect the network cable as instructed in the preceeding sections. -
Page 14: Setting The Network Protocol
Commissioning Highlight the drive (or drives) to be connected and click [Connect] in the dialog box. Figure 6: Connection Box with Discovered Drive In the lower left of the MotionView display, the Message WIndow will contain the connection status message. The message “Successfully connected to drive B04402200450_192.168.124.120”... -
Page 15: Profibus-Dp Node Settings
Commissioning Figure 8: REBOOT Message 4.3.4 PROFIBUS-DP Node Settings To access the PositionServo PROFIBUS-DP node settings, click on the [PROFIBUS-DP] folder icon. Figure 9: PROFIBUS DP Settings P94PFB01A... -
Page 16: Node Address
Commissioning 4.3.5 Node Address Figure 10: PROFIBUS DP Node Address PID283 - Node Address Default: 126 Range: 0 - 126 Access: RW Type: Integer Set PID283 to the required value. The default address is 126. The permissible address range is: 0 – 125. Each node on the network must have an individual address, if two of more nodes have duplicate addresses this may prevent the network from functioning correctly. -
Page 17: Re-Initialising
Commissioning 4.3.8 Re-Initialising To activate any changes made the drive has to be reinitialized. Hence the warning within MotionView Figure 11: REBOOT Message This can be done by cycling the power to the drive. 4.3.9 Non-Module Parameter Settings In addition to configuring the PROFIBUS-DP option module and depending upon the application there may be several drive based parameters that will need to be set using MotionView or an Indexer program or via the PROFIBUS parameter access channel. -
Page 18: Cyclic Data Access
Cyclic Data Access Cyclic Data Access 5.1 What is Cyclic Data? • Cyclic / Process / Polled data is the name given to the method used to transfer routine process data between the network master and slave nodes. • Cyclic data transfer must be configured during network setup. •... -
Page 19: Mapping Cyclic Data
Cyclic Data Access 5.3 Mapping Cyclic Data 5.3.1 Data IN (Din) Channels • The PROFIBUS-DP module has 12 cyclic IN channels each of which utilises 4 Bytes of data. • The amount of IN channels activated and mappable is set by PID285. • IN data mapping can be set via the MVOB [Communications] [PROFIBUS DP] folder: Figure 13: PROFIBUS DP Communications folder •... -
Page 20: Data Out (Dout) Channels
Cyclic Data Access 5.3.2 Data OUT (Dout) Channels • The PROFIBUS-DP module has 12 cyclic OUT channels each of which utilises 4 Bytes of data. • The amount of OUT channels activated and mappable is set by PID284. • OUT data mapping can be set via the MVOB [Communications] [PROFIBUS DP] folder: Figure 14: PROFIBUS DP Communications folder •... -
Page 21: Acyclic Parameter Access
Acyclic Parameter Access Acyclic Parameter Access 6.1 What is Acyclic Data? • Acyclic / non-cyclic / Service access provides a method for the network master to access any drive or module parameter. • This kind of parameter access is typically used for monitoring or low priority non-scheduled parameter access. -
Page 22: Acyclic Mode 1
Acyclic Parameter Access 6.2.2 Acyclic Mode 1 PID310 = 1 (Mode 1 – 8BAD-F) Setting this mode configures the PROFIBUS-DP module to expect 8 additional cyclic bytes at the FRONT of all normal process cyclic data. 6.2.3 Acyclic Mode 2 PID310 = 2 (Mode 2 – 8BAD-E) Setting this mode configures the PROFIBUS-DP module to expect 8 additional cyclic bytes at the END of all normal process cyclic data. -
Page 23: 8Bad - Function Code (Byte 0)
Acyclic Parameter Access 6.3.1 8BAD - Function Code (Byte 0) Table 9 lists the Function Code, Byte 0, of the 8BAD format. Table 9: Function Code Byte Description 0 – Idle 1 – Read RAM integer 2 – Read RAM float 3 – Read EPM integer 4 –... -
Page 24: 8Bad - Pid Index (Bytes 2 And 3)
Acyclic Parameter Access 6.3.3 8BAD – PID Index (Bytes 2 and 3) This is the drive parameter index number to be Read or Written to from the master. For the reply message from the drive this will contain the drive parameter index number that message corresponds to. 6.3.4 8BAD – Data (Bytes 4 to 7) The actual PID data is present in these 4 bytes. -
Page 25: Example 2: Write To Velocity Accel Limit
Acyclic Parameter Access 6.4.2 Example 2: Write to Velocity Accel Limit Example 2: Write to Velocity Accel Limit, PID76 / VAR_ACCEL_LIMIT with a value of 1500. This second example provides a valid send/receive transmission and an invalid send/receive transmission for a write operation to PID76. Valid Transmission: SEND: message consisting of: Byte 0 Byte 1... -
Page 26: Drive Control And Status
Drive Control and Status Drive Control and Status 7.1 Overview The control and status words provide a means for the digital control and monitoring of the drive using a single data word. Each control bit has a particular function and provides a method of controlling the output functions of the drive, such as run and direction. -
Page 27: Stop Motion
Drive Control and Status 7.2.4 Stop Motion PID136 - Stop Motion Default: N/A Range: 0 - 1 Access: WO Type: Integer This is the VAR_STOP_MOTION function. 0 - no action 1 - stops motion 7.3 Status Word There are several status words and individual staus bits / flags available within PositionServo that can be read from through cyclic or acyclic communications 7.3.1 Status Flags Register PID54 - DSTATUS... -
Page 28: Extened Status Bits
Drive Control and Status Bit in register Description Set if system waits completion of motion Set if motion command completed and motion Queue is empty Set if byte-code task requested reset If set interface control is disabled. This flag is set/clear by ICONTROL ON/OFF statement. Set if positive limit switch reached Set if negative limit switch reached Events disabled. -
Page 29: Advanced Features
Advanced Features Advanced Features 8.1 Module Firmware PID412 - Module Firmware Default: N/A Range: 0 - 0xFFFFFF Access: RO Type: Integer Displays the module firmware revision as a hexidecimal number that is divided into two bytes. Example: 0x104 = 0x01, 0x04 = version 1.04 8.2 Node Address Lock Some PROFIBUS-DP masters have the capability to set the node address remotely. -
Page 30: Profibus Dp Timeout Action
Advanced Features Function Description Reserved Clear Out Data Unfreeze Freeze Sync and Freeze Status Unsync Refer to section 8.5 dor details. Sync Reserved Reserved 16 - 31 Reserved 8.4 PROFIBUS DP Timeout Action The Module Timeout, Master Monitor Timeout and Data Exchange Timeout settings are used to configure the drive's response when a network or module error occurs. -
Page 31: Master Monitor Timeout Action
Advanced Features 8.4.2 Master Monitor Timeout Action PROFIBUS DP Timeout Action Module Timeout Action No Action Master Monitor Timeout Action No Action Data Exchange Timeout Action No Action Fault This parameter controls the action to be taken in the event of a Master Monitoring Timeout. The timeout period is set by the network master during the parameterization phase. -
Page 32: Sync And Freeze
Advanced Features 8.5 Sync and Freeze 8.5.1 Sync and Freeze Overview The network master can put cyclic data into groups which allows multiple cyclic channels to be suspended and updated using the SYNC and FREEZE commands. The SYNC Command: • Controls data to the drive. (Dout) •... -
Page 33: Diagnostics
Diagnostics Diagnostics 9.1 Faults In addition to the normal drive fault codes, the additional codes listed in Table 16 may be generated by the option module during a fault condition Table 16: Fault Codes Fault Code Definition Remedy F046 Module timout Module to drive communications time out. -
Page 34: Parameter Quick Reference
Parameter Reference 10 Parameter Quick Reference Table 18 lists each parameter number and provides its function, default value and access rights. Table 18: Parameter Quick Reference Parameter Function Default Value Access Rights Cross Reference PID283 Node Address 4.3.5 Node Address PID284 OUT Data Size 5.2 Channel Data Sizes PID285 IN Data Size 5.2 Channel Data Sizes... - Page 35 AC Technology Corporation 630 Douglas Street, Uxbridge MA 01569 Sales: 800-217-9100 * Service: 508-278-9100 www.lenze-actech.com P94PFB01A...
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