EMF2133IB - PROFIBUS-DP AIF Module - v5-0 - EN
EMF2133IB - PROFIBUS-DP AIF Module - v5-0 - EN
EMF2133IB - PROFIBUS-DP AIF Module - v5-0 - EN
.G÷h
L−force Communication
Ä.G÷hä
Communication Manual
PROFIBUS−DP
EMF2133IB
Communication module
l
i Contents
2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1 General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Device− and application−specific safety instructions . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Residual hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1 Application as directed ............................................... 12
3.2 Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3 Product features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4 Connections and interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1 General data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.2 Protective insulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.3 Communication time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3.1 Processing time 820X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3.2 Processing time 821X / 822X / 824X / 8200 vector . . . . . . . . . . . . . . . . . 19
4.3.3 Processing time 93XX / ECSxS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3.4 Processing time DrivePLC/ 9300ServoPLC/ ECSxA . . . . . . . . . . . . . . . . 19
4.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.1 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2.1 Wiring according to EMC (CE−typical drive system) . . . . . . . . . . . . . . . . . 23
5.2.2 Wiring with a host (master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.2.3 Connection of the PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.2.4 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.2.5 Cable cross−sections and screw−tightening torques . . . . . . . . . . . . . . . . . 30
6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.1 Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.2 Initial switch−on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3 Configuring the host system (master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.4 Activating the bus terminating resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2 l EDSMF2133IB EN 5.0
Contents i
EDSMF2133IB EN 5.0 l 3
i Contents
9 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
9.1 LED status displays .................................................. 112
9.2 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
9.2.1 Controller is inhibited . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
9.2.2 Checking PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
9.2.3 Activation of communication module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
9.2.4 Reset fault (TRIP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
9.3 Monitoring with interrupted PROFIBUS communication . . . . . . . . . . . . . . . . . . . . 118
9.3.1 Permanent interruption of communication . . . . . . . . . . . . . . . . . . . . . . . 118
9.3.2 Short−time interruption of communication . . . . . . . . . . . . . . . . . . . . . . . . 119
10 Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
10.2 Monitoring codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
10.3 Diagnostics codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
12 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
12.1 Parallel operation of AIF and FIF interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
12.2 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
13 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4 l EDSMF2133IB EN 5.0
About this documentation 1
0Fig. 0Tab. 0
Contents
This documentation only contains descriptions for the EMF2133IB communication
module (PROFIBUS−DP).
) Note!
This documentation supplements the mounting instructions supplied with the
communication module and the documentations for the standard devices
used.
The mounting instructions contain safety instructions which must be
observed!
ƒ The features and functions of the communication module are described in detail.
ƒ Examples illustrate typical applications.
ƒ Furthermore this documentation contains the following:
– Safety instructions that must be observed.
– Key technical data relating to the communication module
– Information on versions of Lenze standard devices to be used.
– Notes on troubleshooting and fault elimination
The theoretical correlations are only explained in so far as they are necessary for
comprehending the function of the function module.
This documentation does not describe the software of an original equipment
manufacturer. No responsibility is taken for corresponding information given in this
manual. Information on how to use the software can be obtained from the documents of
the host system (master).
All brand names mentioned in this manual are trademarks of their respective companies.
Validity information
The information given in this documentation is valid for the following devices:
Communication module Type designation From hardware version From software version
PROFIBUS−DP EMF2133IB V2 0x
Target group
This documentation is intended for all persons who plan, install, commission and maintain
the networking and remote service of a machine.
I Tip!
Information and auxiliary devices around the Lenze products can be found in
the download area at
http://www.Lenze.com
EDSMF2133IB EN 5.0 l 5
1 About this documentation
Document history
6 l EDSMF2133IB EN 5.0
About this documentation 1
Conventions used
EDSMF2133IB EN 5.0 l 7
1 About this documentation
Terminology used
Term Meaning
PROFIBUS The term stands for the PROFIBUS−DP variant according to IEC 61158 / IEC 61784. A
different PROFIBUS variant is not described in these Instructions.
Standard device Lenze controllers/frequency inverters with which the communication module can be
Controller used.
^ 12
Frequency inverter
Master PROFIBUS station which takes over the master function in the fieldbus system.
Slave PROFIBUS station representing a slave in the fieldbus system.
Code "Container" for one or several parameters used for parameter setting or monitoring of
the controller.
Subcode If a code contains several parameters, they are stored under "subcodes".
The documentation uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").
POW Process output data word
PIW Process input data word
8 l EDSMF2133IB EN 5.0
About this documentation 1
Notes used
The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
} Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
{ Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.
} Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
(
Danger of property damage.
Stop! Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.
Application notes
Pictograph and signal word Meaning
EDSMF2133IB EN 5.0 l 9
2 Safety instructions
General safety information
2 Safety instructions
) Note!
It is absolutely vital that the stated safety measures are implemented in order
to prevent serious injury to persons and damage to material assets.
Always keep this documentation to hand in the vicinity of the product during
operation.
} Danger!
Disregarding the following basic safety measures may lead to severe personal
injury and damage to material assets!
ƒ Lenze drive and automation components ...
... must only be used for the intended purpose.
... must never be operated if damaged.
... must never be subjected to technical modifications.
... must never be operated unless completely assembled.
... must never be operated without the covers/guards.
... can − depending on their degree of protection − have live, movable or rotating parts
during or after operation. Surfaces can be hot.
ƒ All specifications of the corresponding enclosed documentation must be observed.
This is vital for a safe and trouble−free operation and for achieving the specified product
features.
The procedural notes and circuit details provided in this document are proposals which
the user must check for suitability for his application. The manufacturer does not
accept any liability for the suitability of the specified procedures and circuit proposals.
ƒ Only qualified skilled personnel are permitted to work with or on Lenze drive and
automation components.
According to IEC 60364 or CENELEC HD 384, these are persons ...
... who are familiar with the installation, assembly, commissioning and operation of
the product,
... possess the appropriate qualifications for their work,
... and are acquainted with and can apply all the accident prevent regulations, directives
and laws applicable at the place of use.
10 l EDSMF2133IB EN 5.0
Safety instructions 2
Device− and application−specific safety instructions
Protection of persons
ƒ If the controllers are used on a phase earthed mains with a rated mains voltage
400 V, protection against accidental contact is not ensured without implementing
external measures. (See chapter "4.2", ^ 17)
Device protection
ƒ The module contains electronic components that can be damaged or destroyed by
electrostatic discharge.
EDSMF2133IB EN 5.0 l 11
3 Product description
Application as directed
3 Product description
12 l EDSMF2133IB EN 5.0
Product description 3
Identification
3.2 Identification
L
K
Type
1D74
Id.-No.
Prod.-No.
Ser.-No.
Input
E82AF000P0B201XX
9371BC019
W 33.2133IB Vx 0X
Series
Hardware version
Software version
EDSMF2133IB EN 5.0 l 13
3 Product description
Product features
14 l EDSMF2133IB EN 5.0
Product description 3
Connections and interfaces
01
EMF2133IB
OFF ON
L 2
PROFIBUS DP
2131
1 2 3 4 5 6 7 8
3 4
64
32
Adresse
16
8
4
2
1
6
5 24V DC
7 + _
2133
2133PFB003 2102LEC007
) Note!
Only for 820X and 821X:
If required, use an additional PE shield cable which avoids EMC−related
communication interference in surroundings with extreme disturbances.
EDSMF2133IB EN 5.0 l 15
4 Technical data
General data
4 Technical data
Area Values
Order designation EMF2133IB
PNO ID number 2133hex
Communication profile l PROFIBUS−DP−V0
(DIN 19245 Part 1 and Part3) l PROFIBUS−DP−V1
Communication medium RS485
Interface 9−pin Sub−D socket
Drive profile l DRIVECOM profile "drive technology 20" (can be switched off)
l PROFIdrive profile (can be switched off, state machine and PROFIdrive
parameter data channel)
Network topology l without repeaters: Line
l with repeaters: Line or tree
PROFIBUS nodes Slave
Baud rate [kbps] 9.6 ... 12000 (automatic detection)
Process data words 1 ... 12 words
(16 bits/word)
DP user data length 1 ... 12 process data words +
4 parameter data words
Max. number of stations l Standard: 32 (= 1 bus segment)
l with repeater: 125
Max. cable length per bus 1200 m (depending on the baud rate and cable type used)
segment
External DC voltage supply V = +24 V DC ±10 %
I = 120 mA
, Documentation for Lenze series of devices 8200 vector, 9300 and ECS
Here you can find the ambient conditions and the electromagnetic
compatibility (EMC) specifications applying to the communication module.
16 l EDSMF2133IB EN 5.0
Technical data 4
Protective insulation
{ Danger!
Dangerous electrical voltage
If Lenze controllers are used on a phase earthed mains with a rated mains
voltage 400 V, protection against accidental contact is not ensured without
implementing external measures.
Possible consequences:
ƒ Death or serious injury
Protective measures:
ƒ If protection against accidental contact is required for the control terminals
of the controller and the connections of the plugged device modules, ...
– a double isolating distance must exist.
– the components to be connected must be provided with the second
isolating distance.
Insulation between bus and ... Type of insulation (in accordance with EN
61800−5−1)
l Reference earth / PE Functional insulation
l External supply Functional insulation
l Power section
– 820X / 821X Basic insulation
– 822X / 8200 vector Reinforced insulation
– Drive PLC Reinforced insulation
– 93XX / 9300 Servo PLC Reinforced insulation
– ECS servo system Reinforced insulation
l Control terminals
– 820X / 8200 vector Functional insulation
– 821X Functional insulation
– 822X Basic insulation
– Drive PLC Basic insulation
– 93XX / 9300 Servo PLC Basic insulation
– ECS servo system Reinforced insulation
EDSMF2133IB EN 5.0 l 17
4 Technical data
Communication time
Processing time 820X
The communication time is the time between the start of a request and the arrival of the
corresponding response.
The communication times depend on ...
ƒ the processing time in the controller
ƒ the transmission delay time
– the baud rate
– the telegram length
For the 820X series several processing steps are required in the controller, which are
processed cyclically.
A processing cycle consists of:
ƒ Writing of control word or setpoint if the value has changed;
ƒ Alternating reading of status word and actual value;
ƒ Processing of parameter accesses if there is a job.
If the processing time caused by cyclic reading of the status word/a
ctual value is too large,
the alternating reading of status word and actual value can be suppressed. This is
controlled by bit 15 (process input data inhibit) of the DRIVECOM control word:
ƒ Process input data inhibit = 0: Status and actual value update active
ƒ Process input data inhibit = 1: Status and actual value update not active
A suppression of the processing of parameter accesses is not necessary, since this is
controlled by the user.
In the following table the times for the processing steps are listed:
Processing step Max. processing time in [ms]
Process input data Tolerance Process input data Tolerance
inhibit = 0 inhibit = 1
Read parameter 55 +48 55 +8
Control word or setpoint 27 +48 27 +8
Control word and 54 +56 54 +16
setpoint
Write parameter 108 +32 − −
Status word and actual 200 +40 200 −
value
) Note!
A setpoint sign reversal also results in writing the control word.
18 l EDSMF2133IB EN 5.0
Technical data 4
Communication time
Processing time 821X / 822X / 824X / 8200 vector
EDSMF2133IB EN 5.0 l 19
4 Technical data
Dimensions
4.4 Dimensions
OFF ON
L
PROFIBUS DP
2131
1 2 3 4 5 6 7 8
64
32
Adresse
16
8
b
4
2
1
24V DC
+ _
2133
a e1
18
e
2133PFB003
a 61 mm
b 75 mm
e 28 mm
e1 18 mm
20 l EDSMF2133IB EN 5.0
Installation 5
5 Installation
} Danger!
Inappropriate handling of the communication module and the standard device
can cause serious personal injury and material damage.
Observe the safety instructions and residual hazards described in the
documentation for the standard device.
( Stop!
Electrostatic discharge
Electronic components of the communication module can be damaged or
destroyed through electrostatic discharge.
Possible consequences:
ƒ The communication module is damaged.
ƒ Fieldbus communication is not possible or faulty.
Protective measures
ƒ Discharge electrostatic charges before touching the module.
EDSMF2133IB EN 5.0 l 21
5 Installation
Mechanical installation
2102LEC014
ƒ Plug the communication module onto the standard device (here: 8200 vector).
ƒ Tighten the communication module to the standard device using the fixing screw in
order to ensure a good PE connection.
) Note!
For the internal supply of the communication module by the 8200 vector
frequency inverter the jumper has to be adjusted within the interface opening
(see illustration above).
Observe the notes (¶ 28).
22 l EDSMF2133IB EN 5.0
Installation 5
Electrical installation
Wiring according to EMC (CE−typical drive system)
) Note!
ƒ Separate control cables/data lines from motor cables.
ƒ Connect the shields of control cables/data lines at both ends in the case of
digital signals.
ƒ Use an equalizing conductor with a cross−section of at least 16mm2
(reference:PE) to avoid potential differences between the bus nodes.
ƒ Observe the other notes concerning EMC−compliant wiring given in the
documentation for the standard device.
Wiring procedure
1. Comply with bus topology, thus do not use stubs.
2. Observe notes and wiring instructions in the documents for the control system.
3. Only use cables that comply with the given specifications (¶ 25).
4. Observe notes for the voltage supply of the module (¶ 28).
5. Activate the bus terminating resistors on the first and last physical bus device
(¶ 24).
6. Adapt baud rate to the bus cable length.
EDSMF2133IB EN 5.0 l 23
5 Installation
Electrical installation
Wiring with a host (master)
{ Danger!
You have to provide additional electrical isolation if ...
ƒ an 820X and 821X controller is connected to the host and
ƒ a safe electrical isolation (reinforced insulation) according to EN 61800−5−1
is required.
3 3 3
2 2 2
01200
mm
E82ZAFP005
) Note!
When using a repeater, max. 125 devices can communicate via the PROFIBUS.
) Note!
ƒ If you want to disconnect individual bus devices, ensure that the bus
terminators at the cable ends remain active.
ƒ Please note that the bus termination is no longer active if ...
– the connector has been disconnected e.g. in service case;
– the voltage supply of the communication module has been switched off.
24 l EDSMF2133IB EN 5.0
Installation 5
Electrical installation
Wiring with a host (master)
M
R R
S S S S S
1 2 3
2133PFB004
I Tip!
Repeaters do not have a device address. When calculating the maximum
number of bus devices, they reduce the number of devices by 1 on each side of
the segment.
Repeaters can be used to build up line and tree topologies. The maximum total
bus system expansion depends on ...
ƒ the baud rate used;
ƒ the number of repeaters used.
) Note!
Only use cables complying with the listed specifications of the PROFIBUS user
organisation.
Field Values
Specific resistance 135 ... 165 /km, (f = 3 ... 20 MHz)
Capacitance per unit length 30 nF/km
Loop resistance < 110 /km
Core diameter > 0.64 mm
Core cross−section > 0.34 mm2
Cores Twisted double, insulated and shielded
EDSMF2133IB EN 5.0 l 25
5 Installation
Electrical installation
Wiring with a host (master)
) Note!
The baud rate depending on the data volume, cycle time, and number of nodes
should only be selected as high as required for the application.
I Tip!
For high baud rates we recommend to consider the use of optical fibres.
Advantages of optical fibres:
ƒ On the transmission path external electromagnetic interference remains
ineffective.
ƒ Bus lengths of several kilometres are also possible with higher baud rates.
The bus length
– is irrespective of the baud rate.
– depends on the optical fibre used.
26 l EDSMF2133IB EN 5.0
Installation 5
Electrical installation
Connection of the PROFIBUS
EDSMF2133IB EN 5.0 l 27
5 Installation
Electrical installation
Voltage supply
) Note!
Internal voltage supply has been selected in the case of standard devices with
an extended AIF interface opening (e.g. front of 8200 vector). The area shown
on a grey background in the graphic marks the jumper position.
ƒ By default, this is not supplied internally in the standard device.
ƒ For internal voltage supply place the jumper on the position indicated
below.
In the case of all other device series (9300, ECS), voltage is always supplied
from the standard device.
28 l EDSMF2133IB EN 5.0
Installation 5
Electrical installation
Voltage supply
) Note!
Always use a separate power supply unit in every control cabinet and safely
separate it according to EN 61800−5−1 ("SELV"/"PELV") in the case of external
voltage supply and larger distances between the control cabinets.
External voltage supply of the communication module is required if communication via
the fieldbus is to be maintained even when the power supply of the standard device fails.
) Note!
With external voltage supply of the communication module, the active bus
terminating resistor is fed independently of the operation of the basic device.
Thus the bus system remains active even if the basic device is switched off or
fails.
EDSMF2133IB EN 5.0 l 29
5 Installation
Electrical installation
Cable cross−sections and screw−tightening torques
Area Values
Electrical connection Plug connector with screw connection
Possible connections rigid:
1.5 mm2 (AWG 16)
flexible:
without wire end ferrule
1.5 mm2 (AWG 16)
with wire end ferrule, without plastic sleeve
1.5 mm2 (AWG 16)
with wire end ferrule, with plastic sleeve
1.5 mm2 (AWG 16)
Tightening torque 0.5 ... 0.6 Nm (4.4 ... 5.3 lb−in)
Stripping length 6 mm
30 l EDSMF2133IB EN 5.0
Commissioning 6
Before switching on
6 Commissioning
( Stop!
Prior to switching on the mains voltage, check the wiring for completeness,
short−circuit and earth fault.
EDSMF2133IB EN 5.0 l 31
6 Commissioning
Initial switch−on
) Note!
ECS servo system
ECS devices cannot be used with the DRIVECOM or PROFIdrive control.
) Note!
Manual settings are not required for the baud rate. The communication
module is automatically adjusted to the baud rate of the master.
Step−by−step commissioning of the communication module with DRIVECOM device
control is described below.
Step Procedure Detailed
information
1. Select process data communication with DRIVECOM profile in the
configuration software of the PROFIBUS master.
Example: "Par(kons)+3PZD"
2. Configure host system for communication with the EMF2133IB ^ 34
communication module.
3. Inhibit standard device via terminal. Documentation of
the standard device
4. Check bus termination. ^ 37
l The PROFIBUS must be terminated by a bus terminating resistor at the
physically first and last station.
l The bus terminating resistor is integrated into the bus connector and can
be activated via a switch.
5. Provide software compatibility with the communication module. ^ 37
l 2133: DIP switch S8 = OFF
l 2131: DIP switch S8 = ON (with this setting, continue commissioning for
the EMF2131IB communication module.)
Lenze setting: S8 = OFF
6. Drive−specific settings. Documentation of
the standard device
7. Prepare controller for communication. ^ 38
8. Switch on the mains voltage for the controller and, if available, the separate ^ 44
voltage supply for the communication module.
Response
The green bus LED on the front of the communication module comes on.
9. A Set station address via ... ^ 42
– Standard device code C0009,
– DIP switch S1 ... S7 or
– define through a master (class 2).
B Switch off the voltage supply of the function module and the standard
device and then switch it on again to accept the changed settings.
10. Manual settings are not required for the baud rate. The communication
module is automatically adjusted to the baud rate of the master.
32 l EDSMF2133IB EN 5.0
Commissioning 6
Initial switch−on
EDSMF2133IB EN 5.0 l 33
6 Commissioning
Configuring the host system (master)
The host must be configured before communication with the communication module is
possible.
Master settings
For configuring the PROFIBUS, the device data base file (GSE file) of the communication
module has to be imported into the configuring software of the master.
I Tip!
The GSE file can be downloaded in the "Services & Downloads" area at
www.Lenze.com.
n = 1 ... 12
n = 1 ... 12
34 l EDSMF2133IB EN 5.0
Commissioning 6
Configuring the host system (master)
n = 1 ... 12
) Note!
Use overall consistency
ƒ We recommend to exclusively use configurations with consistency for the
parameter data channel to avoid data conflicts between the PROFIBUS
master and the host CPU.
ƒ Please note that the processing of consistent data varies between hosts.
This must be considered in the PROFIBUS application program.
ƒ Detailed information on consistency can be found on ^ 110.
EDSMF2133IB EN 5.0 l 35
6 Commissioning
Configuring the host system (master)
7 6 5 4 3 2 1 0
Input/Output
00 Specific identification format
01 Input
10 Output
11 Input and output
Length/Format
0 Byte
1 Word
Consistency
0 Byte or word
1 Total length
36 l EDSMF2133IB EN 5.0
Commissioning 6
Activating the bus terminating resistor
) Note!
ƒ If you want to disconnect individual bus devices, ensure that the bus
terminators at the cable ends remain active.
ƒ Please note that the bus termination is no longer active if ...
– the connector has been disconnected e.g. in service case;
– the voltage supply of the communication module has been switched off.
) Note!
If the EMF2131IB communication module is replaced by the EMF2133IB
communication module, ...
ƒ do not change any host settings;
ƒ set the DIP switch S8 to the "ON" position.
EDSMF2133IB EN 5.0 l 37
6 Commissioning
Preparing the standard device for communication
Frequency inverter 82XX / 8200 vector
38 l EDSMF2133IB EN 5.0
Commissioning 6
Preparing the standard device for communication
93XX servo inverter / 9300 Servo PLC
EDSMF2133IB EN 5.0 l 39
6 Commissioning
Preparing the standard device for communication
Drive PLC
40 l EDSMF2133IB EN 5.0
Commissioning 6
Preparing the standard device for communication
Axis modules ECSxS / ECSxA
) Note!
ECS servo system
ECS devices cannot be used with the DRIVECOM or PROFIdrive control.
EDSMF2133IB EN 5.0 l 41
6 Commissioning
Setting the node address
Setting via code
) Note!
ƒ The addresses of all controllers connected to the network must differ from
each other.
ƒ If the DIP switches S1 ... S7 are in the OFF position, the code setting for the
station address is active (Lenze setting).
ƒ Switch off the voltage supply of the function module and the controller and
then switch it on again to activate the changed settings.
The setting of the station address can be freely selected ...
ƒ via the front DIP switches S1 ... S7;
ƒ via the standard device code C0009;
ƒ through a master (class 2).
Set the node address with the DIP switches S1 ... S7.
The sum of valencies makes the station address to be set:
DIP switch Valency Example
Switch position Node address
S1 1 ON
S2 2 OFF
S3 4 OFF
S4 8 OFF 1 + 16 + 32 + 64 = 113
S5 16 ON
S6 32 ON
S7 64 ON
42 l EDSMF2133IB EN 5.0
Commissioning 6
Setting the node address
Settings by a master (class 2)
ƒ With this method only one device must be connected to the bus. This can be
achieved by a special switch−on sequence.
ƒ In the "Power On" status, the master (class 2) can set a device address via the
"Set_Slave_Address" telegram.
ƒ Settings made through the master (class 2 only) have an effect on the setting in
standard device code C0009.
PROFIBUS station address Mapping to code C0009
1 ... 2 No (master addresses)
3 ... 99 Yes (3 ... 99)
100 ... 125 Yes (C0009 = 2)
126 (LENZE setting) Yes (C0009 = 1)
Tab. 6−1 Assignment of station addresses to controllers
EDSMF2133IB EN 5.0 l 43
6 Commissioning
Connecting the mains voltage
Settings by a master (class 2)
) Note!
If you use the external voltage supply for the communication module, please
switch it on.
The following LEDs at the front of the communication module must be on:
ƒ The top green LED (Status display of voltage supply)
ƒ The bottom green LED (status display of standard device)
) Note!
Establishing communication
If communication is to be established via an externally supplied
communication module, initially the standard device must also be switched
on.
After communication has been established, the externally supplied module is
independent of the power on/off state of the standard device.
Protection against uncontrolled restart
After a fault (e.g. short−term mains failure), a restart of the drive is not always
wanted and − in some cases − even not allowed.
The restart behaviour of the controller can be set in C0142:
ƒ C0142 = 0 (Lenze setting)
– The controller remains inhibited (even if the fault is no longer active).
– The drive starts up in a controlled manner by explicit controller enable:
93XX: Set terminal 28 to HIGH level.
ECSXX: Set terminals X6/SI1 and X6/SI2 to HIGH level.
ƒ C0142 = 1
– An uncontrolled restart of the drive is possible.
44 l EDSMF2133IB EN 5.0
Process data transfer 7
request
response
2133PFB008
PROFIBUS transmits parameter data and process data between the host (master) and the
controllers connected to the bus (slaves). Depending on their time−critical nature, the data
are transmitted via different communication channels.
ƒ Process data are transmitted via the process data channel.
ƒ Process data serve to control the drive controller.
ƒ The transmission of process data is time−critical.
ƒ Process data are cyclically transferred between the host and the controllers
(continuous exchange of current input and output data).
ƒ The host can directly access the process data. In the PLC, for instance, the data are
directly assigned to the I/O area.
ƒ With the function module a maximum of 10 process data words (16 bits/word) can
be exchanged in each direction.
ƒ Process data are not stored in the controller.
ƒ Process data are, for instance, setpoints, actual values, control words and status
words.
) Note!
Observe the direction of the information flow!
ƒ Process input data (Rx data):
– Process data from controller (slave) to host (master)
ƒ Process output data (Tx data):
– Process data from host (master) to controller (slave)
EDSMF2133IB EN 5.0 l 45
7 Process data transfer
Lenze device control
Setpoint source selection
) Note!
Note that the selection of the setpoint source must be set the same in all
parameter sets.
93XX controller
For operation via PROFIBUS, code C0005 must be set to the value "xxx3" (x = wildcard for
selected preconfiguration).
Example: C0005 = 1013: "Speed control" preconfiguration
46 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for 82XX frequency inverters
) Note!
ƒ Frequency and speed values are scaled with
24000 480 Hz.
ƒ Torque values are scaled with 16384 100%.
EDSMF2133IB EN 5.0 l 47
7 Process data transfer
Lenze device control
Process data signals for 82XX frequency inverters
48 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for 82XX frequency inverters
PAR .B0
IMP .B1
Imax .B2
- / fd=fdsoll .B3
fd=fdsoll / HLG .B4
Qmin .B5
fd>0 .B6
RSP .B7
B11 B10 B9 B8 STAT .B8
0 0 0 0 0 .B9 16 Bit
0 0 1 0 2 .B10
0. 0. 1. 1. 3.
... ... ... ... ...
.. .. .. .. .. .B11
Tü .B12
AIF
Ugmax .B13
R/L .B14
RDY .B15
C0050 16 Bit
2141LON012
Fig. 7−2 Read access to status word and actual frequency in 82XX (fixed assignment)
) Note!
ƒ Frequency and speed values are scaled with
24000 480Hz.
ƒ Torque values are scaled with 16384 100%.
EDSMF2133IB EN 5.0 l 49
7 Process data transfer
Lenze device control
Process data signals for 82XX frequency inverters
50 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for 82XX frequency inverters
.B0 0 0 11 JOG/
.B1 0 10 1 C046
.B2 R/L
.B3 QSP
.B4
...
...
...
.B8
.B9 CINH
16 Bit .B10 TRIP-SET
.B11 TRIP-RESET
.B12 PAR
AIF .B13
.B14 GSB
.B15
16 Bit C0046
2141LON010
Fig. 7−3 Access to control word and frequency setpoint in 82XX (fixed assignment)
Special features
( Stop!
ƒ Only carry out a TRIP reset via the fieldbus!
The drive might start running for a short period if a fault is reset via
terminal 28 while the controller is being operated with fieldbus control
(C0001 = 3) and has assumed the device status "FAULT".
ƒ If the setpoint and the direction of rotation are changed simultaneously via
the DRIVECOM speed setpoint, a speed change in the wrong direction of
rotation may occur for a short time.
For this reason always send a low rotation direction setpoint first, followed
by the new setpoint if the direction of rotation is changed.
This is because first the setpoint is sent to the controller as a unipolar value,
followed by the information on the change of the rotation direction.
The X controller is initialised after the "fault reset" command. During this time the
controller does not accept any other commands.
EDSMF2133IB EN 5.0 l 51
7 Process data transfer
Lenze device control
Process data signals for 8200 vector frequency inverters
General
Digital and analog input and output signals can be configured freely (see 8200 vector"
documentation: codes C0410, C0412, C0417 and C0421).
The change of code C0001 to 3 starts the preconfiguration of the process data words in the
controller (¶ 46).
52 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for 8200 vector frequency inverters
Device status word AIF−STAT for 8200 vector (C0150, index 5F69hex)
Bit Assignment (Lenze setting) Set under C0417/...
0 Current parameter set (DCTRL−PAR−B0) 1
1 Pulse inhibit (DCTRL1−IMP) 2
2 Imax limit (MCTRL1−IMAX) 3
3 Output frequency = frequency setpoint (MCTRL1−RFG1=NOUT) 4
4 Ramp function generator input = ramp function generator output 1 5
(NSET1−RFG1−I=0)
5 Qmin threshold (PCTRL1−QMIN) 6
6 Output frequency = 0 (DCTRL1−NOUT=0) 7
7 Controller inhibit (DCTRL1−CINH) 8
8 ... 11 Device status (DCTRL1−Stat*1 ... STAT*8) Reserved
Bit 11 10 9 8
0 0 0 0 Device initialisation
0 0 1 0 Switch−on inhibit
0 0 1 1 Operation inhibited
0 1 0 0 Flying restart circuit active
0 1 0 1 DC injection brake active
0 1 1 0 Operation enabled
0 1 1 1 Message active
1 0 0 0 Fault active
1 1 1 1 Communication with basic device not possible
12 Overtemperature warning (DCTRL1−OH−WARN) 13
13 DC−bus overvoltage (DCTRL1−OV) 14
14 Direction of rotation (DCTRL1−CCW) 15
15 Ready for operation (DCTRL1−RDY) 16
STAT1 AIF-OUT
.B0
C0417/1 .B0
.B1
DCTRL1-IMP .B1
.B2
C0417/3 .B2
.B3
C0417/4 .B3
.B4
C0417/5 .B4
.B5
C0417/6 .B5
.B6
DCTRL1-NOUT=0 .B6
.B7
DCTRL1-CINH .B7
.B8
DCTRL1-STAT*1 .B8 AIF-STAT
.B9 16 Bit
DCTRL1-STAT*2 .B9
.B10
DCTRL1-STAT*4 .B10
DCTRL1-STAT*8 .B11 .B11
.B12
DCTRL1-OH-WARN .B12
.B13 AIF
DCTRL1-OV .B13
.B14
C0417/15 .B14
.B15
C0417/16 .B15
AIF-OUT.W1
C0421/1 16 Bit
AIF-OUT.W2
C0421/2 16 Bit
2141LON013
Fig. 7−4 System block AIF−OUT in 8200 vector (freely programmable assignment)
EDSMF2133IB EN 5.0 l 53
7 Process data transfer
Lenze device control
Process data signals for 8200 vector frequency inverters
) Note!
ƒ Frequency and speed values are scaled with
24000 480 Hz.
ƒ Torque values are scaled with 16384 100%.
54 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for 8200 vector frequency inverters
Device control word AIF−CTRL for 8200 vector (C0135, index 5F78hex)
Bit Assignment (Lenze setting) Set under
C0410/...
C0001 = 3 with C0007 51 C0001 = 3 with C0007 > 51
0/1 JOG values Freely configurable 1
Bit 1 0 2
0 0 00 = C0046 active
0 1 01 = NSET1−JOG1 (C0037) active
1 0 10 = NSET1−JOG2 (C0038) active
1 1 11 = NSET1−JOG3 (C0039) active
2 Current direction of rotation (DCTRL1−CW/CCW) Freely configurable 3
0 Not active
1 Active
3 Quick stop (QSP) (AIF−CTRL−QSP) Quick stop (QSP) (AIF−CTRL−QSP) 4
0 Not active 0 Not active
1 Active 1 Active
4 Stop ramp function generator (NSET1−RFG1−STOP) Freely configurable 5
0 Not active
1 Active
5 Ramp function generator input = 0 Freely configurable 6
(NSET1−RFG1−0)
0 Not active
1 Active
6 UP function motor potentiometer (MPOT1−UP) Freely configurable 7
0 Not active
1 Active
7 DOWN function motor potentiometer Freely configurable 8
(MPOT1−DOWN)
EDSMF2133IB EN 5.0 l 55
7 Process data transfer
Lenze device control
Process data signals for 8200 vector frequency inverters
AIF-IN
.B0 C0410/x = 10
.B1 C0410/x = 11
.B2 C0410/x = 12
DCTRL
.B3 QSP
.B4 ...
...
... ...
... ...
.B8
AIF-CTRL DCTRL
16 Bit .B9 CINH
.B10 TRIP-SET
.B11 TRIP-RESET
AIF
.B12... C0410/x = 22
... ...
... ...
...
.B15
C0410/x = 25
AIF-IN.W1
16 Bit C0412/x = 10
AIF-IN.W2
16 Bit C0412/x = 11
2141LON011
Fig. 7−5 System block AIF−IN in 8200 vector (freely configurable assignment)
56 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signal for 9300 servo inverters
The assignment of the process data for the 93XX controller can be changed by configuring
the system blocks AIF−IN and AIF−OUT.
In the controller, the signals AIF−OUT.W1 ... W3 can be assigned to other signals. For this,
the system block configuration is used. The AIF−OUT system block defines the output data
of the controller as data interface to the communication module.
Detailed information on system block configuration, 93XX signal configurations (main
configurations 1000, 4000, 5000 etc.) and the AIF−OUT system block can be found in the
documentation of the 93XX controller.
EDSMF2133IB EN 5.0 l 57
7 Process data transfer
Lenze device control
Process data signal for 9300 servo inverters
58 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signal for 9300 servo inverters
A IF -O U T
S T A T
B it 0
S T A T .B 0
C 0 1 5 6 /1
D C T R L -IM P
S ta tu s w o rd
...
1 6 B it
S T A T .B 1 4
C 0 1 5 6 /6
S T A T .B 1 5
C 0 1 5 6 /7
1 6 B it B it 1 5
A IF -O U T .D 2 L o w W o rd C 0 8 5 4 B it 0
C 1 1 9 5
1 6 B it
C 1 1 9 6 H ig h W o r d 0
A IF -O U T .W 1
B y te 3 ,4
C 0 8 5 0 /1
3
C 0 8 5 8 /1
A IF -O U T .W 2
C 0 8 5 0 /2
C 0 8 5 8 /2 B it 1 5
A IF -O U T .W 3
C 0 8 5 0 /3
C 0 8 5 2 B it 0 :
C 0 8 5 8 /3
0
F D O
F D O -0
B y te 5 ,6
C 0 1 1 6 /1 1
1 6 B it
...
2
F D O -1 5 L o w W o rd
C 0 1 1 6 /1 6 3
F D O -1 6
C 0 1 1 6 /1 7 1 6 B it
...
F D O -3 1 H ig h W o r d
C 0 1 1 6 /3 2
C 0 8 5 3
1 6 B it
L o w W o rd 0
A IF -O U T .D 1
C 0 8 5 1
B y te 7 ,8
1
1 6 B it 2
C 0 8 5 9
H ig h W o r d
B it 3 1
2113IBU009
Fig. 7−6 AIF−OUT system block (system block extension on grey background: available from software version
2.0)
EDSMF2133IB EN 5.0 l 59
7 Process data transfer
Lenze device control
Process data signal for 9300 servo inverters
In the controller, the signals AIF−IN.W1 ... W3 can be assigned to other signals. For this, the
system block configuration is used. The AIF−IN system block defines the output data of the
controller as data interface from the communication module.
Detailed information on system block configuration, 93XX signal configurations (main
configurations 1000, 4000, 5000 etc.) and the AIF−IN system block can be found in the
documentation of the 93XX controller.
60 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signal for 9300 servo inverters
EDSMF2133IB EN 5.0 l 61
7 Process data transfer
Lenze device control
Process data signal for 9300 servo inverters
A IF -IN
A IF -C T R L .B 3 Q S P D C T R L
A IF -C T R L .B 8 D IS A B L E
A IF -C T R L .B 9 C IN H
A IF -C T R L .B 1 0 T R IP -S E T
A IF -C T R L .B 1 1 T R IP -R E S E T
B it 0 A IF -C T R L .B 0
A IF -C T R L .B 1
A IF -C T R L .B 2
A IF -C T R L .B 4
S te u e rw o rt
A IF -C T R L .B 5
1 6 B it
A IF -C T R L .B 6
A IF -C T R L .B 7
A IF -C T R L .B 1 2
A IF -C T R L .B 1 3
B it 1 5 A IF -C T R L .B 1 4
A IF -C T R L .B 1 5
C 0 1 3 6 /3
A IF -IN .W 1
B y te 3 ,4
1 6 B it
C 0 8 5 6 /1
1 6 B it
L o w W o rd A IF -IN .D 2
1 6 B it
H ig h W o r d C 1 1 9 7
X 1 A IF -IN .W 2
1 6 B it
C 0 8 5 6 /2
A IF -IN .W 3
1 6 B it
C 0 8 5 6 /3
A IF -IN .B 0
C 0 8 5 5 /1 A IF -IN .B 2
B y te 5 ,6
1 6 B in ä r -
...
s ig n a le
A IF -IN .B 1 4
A IF -IN .B 1 5
A IF -IN .B 1 6
C 0 8 5 5 /2 A IF -IN .B 1 7
1 6 B in ä r -
...
s ig n a le A IF -IN .B 3 0
A IF -IN .B 3 1
B y te 7 ,8
1 6 B it
L o w W o rd
A IF -IN .D 1
1 6 B it C 0 8 5 7
H ig h W o r d
2113IBU008
Fig. 7−7 System block AIF−IN (grey: Extension available from software version 2.0)
62 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for 9300 Servo PLC and Drive PLC
7.1.5 Process data signals for 9300 Servo PLC and Drive PLC
) Note!
9300 Servo PLC
Link the following in the PLC program of the controller:
AIF1_wDctrlCtrl W DCTRL_wAIF1Ctrl
DCTRL_wStat W AIF1_wDctrlStat
Drive PLC
For the Drive PLC the device control must be used.
EDSMF2133IB EN 5.0 l 63
7 Process data transfer
Lenze device control
Process data signals for 9300 Servo PLC and Drive PLC
Outputs_AIF1 Outputs_AIF2
AIF2_nOutW1_a
16 Bit
Byte Byte
1 1
AIF1_wDctrlStat AIF2_bFDO0_b
16 Bit 16 binary
...
signals
Byte AIF2_bFDO15_b Byte
2 2
AIF2_nOutW2_a
16 Bit
Byte Byte
3 3
AIF1_nOutW1_a AIF2_bFDO16_b
16 Bit 16 binary
...
signals
C0858/1 Byte AIF2_bFDO31_b Byte
4 4
Automation Automation
AIF1_nOutW2__a Interface Interface
16 Bit 16 Bit
Byte LowWord Byte
C0858/2 5 AIF2_dnOutD1_p 5
AIF1_bFDO0_b
C0151/4
…
16 Bit
HighWord
AIF1_bFDO15_b 16 binary Byte Byte
signals 6 6
AIF2_nOutW3_a
AIF1_nOutW3_a 16 Bit
16 Bit
Byte Byte
AIF1_bFDO16_b C0858/3 7 7
AIF2_nOutW4_a
C0151/4
…
16 Bit
AIF1_bFDO31_b 16 binary Byte Byte
signals 8 8
16 Bit
LowWord
AIF1_dnOutD1_p
C0859
16 Bit Outputs_AIF3
HighWord
AIF3_nOutW1_a
16 Bit
Byte
1
AIF3_bFDO0_b
16 binary
...
signals
AIF3_bFDO15_b Byte
2
AIF3_nOutW2_a
16 Bit
Byte
3
AIF3_bFDO16_b
16 binary
...
signals
AIF3_bFDO31_b Byte
4
Automation
Interface
16 Bit
LowWord Byte
AIF3_dnOutD1_p 5
16 Bit
HighWord
Byte
6
AIF3_nOutW3_a
16 Bit
Byte
7
AIF3_nOutW4_a
16 Bit
Byte
8
64 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for 9300 Servo PLC and Drive PLC
) Note!
9300 Servo PLC
Link the following in the PLC program of the controller:
ƒ AIF1_wDctrlCtrl W DCTRL_wAIF1Ctrl
ƒ DCTRL_wStat W AIF1_wDctrlStat
Drive PLC
For the Drive PLC the device control must be used.
EDSMF2133IB EN 5.0 l 65
7 Process data transfer
Lenze device control
Process data signals for 9300 Servo PLC and Drive PLC
...
signals
Byte AIF2_bInB15_b
AIF1_bCtrlB4_b 2
AIF1_bCtrlB5_b
AIF1_bCtrlB6_b AIF2_nInW2_a
16 Bit
Byte
AIF1_bCtrlB7_b 3
AIF1_bCtrlDisable_b AIF2_bInB16_b
16 binary 16 binary
...
signals AIF1_bCtrlCInhibit_b signals
Byte AIF2_bInB31_b
AIF1_bCtrlTripSet_b 4
AIF1_bCtrlTripReset_b Automation
Byte
Interface
Controlword
1
AIF1_bCtrlB12_b 16 Bit
Byte LowWord
AIF1_bCtrlB13_b 5 AIF2_dnInD1_p
Byte AIF2_nInW3_a
3 16 Bit
AIF1_nInW1_a Byte
16 Bit 7
C0856/1 AIF2_nInW4_a
Byte 16 Bit
4
Automation Byte
Interface AIF1_nInW2_a 8
16 Bit
Byte
5 C0856/2
AIF1_bInB0_b
C0855/1
…
...
C0855/2 signals
…
Byte AIF3_bInB15_b
Byte 16 binary AIF1_bIn31_b 2
8 signals
AIF3_nInW2_a
16 Bit
Byte
16 Bit 3
LowWord
AIF1_dnInD1_p AIF3_bInB16_b
16 binary
...
16 Bit signals
HighWord C0857 Byte AIF3_bInB31_b
4
Automation
Interface
16 Bit
Byte LowWord
5 AIF3_dnInD1_p
16 Bit
HighWord
Byte
6
AIF3_nInW3_a
16 Bit
Byte
7
AIF3_nInW4_a
16 Bit
Byte
8
66 l EDSMF2133IB EN 5.0
Process data transfer 7
Lenze device control
Process data signals for axis modules ECSxS / ECSxA
EDSMF2133IB EN 5.0 l 67
7 Process data transfer
DRIVECOM control
Provide DRIVECOM compatibility
) Note!
ECS servo system
ECS devices cannot be used with the DRIVECOM or PROFIdrive control.
) Note!
The states FAIL−QSP and QSP are not considered in the status messages of the
controller, compare C0150.
Communication modules with drive profiles such as DRIVECOM or PROFIdrive
therefore cannot evaluate this information in the Lenze setting.
FAIL−QSP and QSP will only be evaluated after the outputs MCTRL−QSP−OUT or
DCTRL−FAIL−QSP have been set to a free bit of the AIF status word (STAT system
block) in a user−defined setting.
68 l EDSMF2133IB EN 5.0
Process data transfer 7
DRIVECOM control
DRIVECOM state machine
For the PROFIBUS control and the use of the EMF2133IB communication module the Lenze
controllers feature the standardised device states in accordance with the "Drive
technology 20" DRIVECOM profile. Associated preconfiguration of the controllers:
ƒ 82XX: C0001 = 3
ƒ 93XX: C0005 = xxx3
Information on the current device state (marked by rectangles in the diagram) is stored in
the DRIVECOM parameter "status word". Commands in the DRIVECOM parameter
"control word" can change the device state. These commands are represented by arrows
in the following diagram.
13
Fault recognised
Automatically when 14
initialisation is
completed
Reset fault
xxxx xxxx 0xxx xxxx
SWITCH−ON INHIBIT xxxx xxxx 1xxx xxxx
Status word xxxx xxxx x0xx 0000 12
9
10 Inhibit voltage
Inhibit voltage 2 Inhibit voltage
xxxx xxxx xxxx xx0x
xxxx xxxx xxxx xx0x Standstill xxxx xxxx xxxx xx01
xxxx xxxx xxxx x110 or
7 quick stop completed
READY TO SWITCH ON Quick stop
Status word xxxx xxxx x01x 0001 xxxx xxxx xxxx x01x
8
Standstill 3 6
Switch on Standstill
xxxx xxxx xxxx
x110 xxxx xxxx xxxx x111 xxxx xxxx xxxx x110
SWITCHED ON
Status word xxxx xxxx x01x 0011
4 5
Enable operation Inhibit operation
xxxx xxxx xxxx 1111 and xxxx xxxx xxxx 0111 or
act. speed value <> 0* act. speed value = 0 *
EDSMF2133IB EN 5.0 l 69
7 Process data transfer
DRIVECOM control
DRIVECOM state machine
Switch on device
TRIP (fault)
Automatically when
initialisation is completed TRIP reset**
READY TO START
Status word xxxx xxxx x01x 0001
Automatically
SWITCHED ON
Status word xxxx xxxx x01x 0011
Ctrl. Ctrl.
enable** inhibit**
Note:
OPERATION ENABLED
The terms marked with ** are
Status word xxxx xxxx x01x 0111
commands
QSP**
Status Meaning
NOT READY TO START Controller is being initialised and not yet ready for operation. Afterwards the device
status will automatically change to "READY TO START".
READY TO START Controller is inhibited (CINH) and waits until the power stage has been charged.
Afterwards the device status automatically changes to "SWITCHED ON".
SWITCHED ON The controller is inhibited (CINH) and waits for controller enable (RFR).
OPERATION ENABLED The controller is enabled RFR). In this device status the pulse inhibit (IMP) can be set
automatically.
FAULT The controller is in the "FAULT" (TRIP) device status.
70 l EDSMF2133IB EN 5.0
Process data transfer 7
DRIVECOM control
DRIVECOM control word
EDSMF2133IB EN 5.0 l 71
7 Process data transfer
DRIVECOM control
DRIVECOM control word
72 l EDSMF2133IB EN 5.0
Process data transfer 7
DRIVECOM control
DRIVECOM status word
EDSMF2133IB EN 5.0 l 73
7 Process data transfer
DRIVECOM control
DRIVECOM status word
74 l EDSMF2133IB EN 5.0
Process data transfer 7
DRIVECOM control
Bit control commands
The bit control commands of the control word depend on other bit settings. The command
is only executed with the following bit patterns:
Device status commands Bits of the control word
7 6 5 4 3 2 1 0
1Standstill 1 1 0
2Switch on 1 1 1
3Enable operation 1 1 1 1
4Inhibit operation 0 1 1 1
5Voltage inhibit 0
6Quick stop 0 1
8Error reset 0→1
Error reset
RFG zero
RFG stop
RFG inhibit
Enable operation
Quick stop
Voltage inhibit
Switch on
0: Bit status is 0
1: Bit status is 1
Empty: Any bit status, no influence
Command Description
COMMAND 2, 6, 8 (standstill) Command to change from different device status to the READY TO
Control word: bit 0 = 0 START status.
COMMAND 3 (switch on) Command to change to the SWITCHED ON device status.
COMMAND 4 (enable operation) Command to change to the OPERATION ENABLED device status. The
controller inhibit is deactivated.
COMMAND 5 (inhibit operation) Command to change to the SWITCHED ON device status. Controller
inhibit is activated.
COMMAND 7, 9, 10, 12 (voltage inhibit) Command to change to the SWITCH−ON INHIBIT device status.
Control word: bit 1 = 0 Controller inhibit is activated.
COMMAND 7, 10, 11 (quick stop) Command to change to the SWITCH−ON INHIBIT device status. If the
Control word: bit 2 = 0 drive was enabled, a controlled deceleration (quick stop deceleration
ramp) is executed.
COMMAND 13 (fault/TRIP) The controller has detected a fault. Some faults require a controlled
deceleration (device−dependent). When it is completed, the device
status changes to FAULT.
COMMAND 14 (reset fault/TRIP) In the case of the 821X, 8200 vector device series, this command resets
Control word: Bit 7 = 0 1 a fault. The controller changes to the SWITCH−ON INHIBIT device status
when a fault has been eliminated.
EDSMF2133IB EN 5.0 l 75
7 Process data transfer
DRIVECOM control
Status bits
The current device status is clearly coded in bits 0 ... 6 of the status word:
Device status Bits of the status word
6 5 4 3 2 1 0
NOT READY TO START 0 0 0 0 0
SWITCH−ON INHIBIT 1 0 0 0 0
READY TO START 0 1 0 0 0 1
SWITCHED ON 0 1 0 0 1 1
OPERATION ENABLED 0 1 0 1 1 1
FAULT 0 1 0 0 0
FAULT REACTION ACTIVE 0 1 1 1 1
QUICK STOP ACTIVE 0 0 0 1 1 1
Switch−on inhibit
Quick stop
Voltage inhibit
Fault
Operation enabled
Switched on
Ready to start
0: Bit status is 0
1: Bit status is 1
Empty: Any bit status, no influence
Status Description
NOT READY TO During initialisation, the controller is not yet ready for operation. Afterwards it
START automatically switches to the "READY TO START" device status.
SWITCH−ON INHIBIT The controller is inhibited and waits for command 2 (standstill).
READY TO START The controller is inhibited and waits for command 3 (switch on).
SWITCHED ON The controller is inhibited and waits for command 4 (enable operation).
OPERATION The controller is enabled. In this device status the pulse inhibit can be set automatically.
ENABLED
FAULT REACTION A fault (TRIP) was recognised and a time−based fault−dependent response has been
ACTIVE initiated.
FAULT The controller is in the "FAULT" (TRIP) device status.
QUICK STOP ACTIVE The "quick stop" (QSP) command was given in the device status "OPERATION ENABLED". A
controlled deceleration (quick stop ramp) is executed. After deceleration the device
changes automatically to the state "SWITCH−ON INHIBIT".
76 l EDSMF2133IB EN 5.0
Process data transfer 7
PROFIdrive control
Establishing PROFIdrive compatibility
) Note!
ECS servo system
ECS devices cannot be used with the DRIVECOM or PROFIdrive control.
) Note!
The states FAIL−QSP and QSP are not considered in the status messages of the
controller, compare C0150.
Communication modules with drive profiles such as DRIVECOM or PROFIdrive
therefore cannot evaluate this information in the Lenze setting.
FAIL−QSP and QSP will only be evaluated after the outputs MCTRL−QSP−OUT or
DCTRL−FAIL−QSP have been set to a free bit of the AIF status word (STAT system
block) in a user−defined setting.
EDSMF2133IB EN 5.0 l 77
7 Process data transfer
PROFIdrive control
PROFIdrive state machine
Example:
Status information by parameter "status word" Fault recognised
bit 15 ... bit 0 (binary representation)
OFF1
Switch on devices
Automatically when initialisation is
completed
OFF2 / OFF3
Not ready to start
Status word xxxx xxxx x0xx x000
OFF1
Switch−on warning
xxxx x1xx xxxx x111
OFF3 OFF1
vact. = 0 OFF3−ACTIVE
Status word xxxx xxxx xx0x x111
vact. :
Actual speed value
78 l EDSMF2133IB EN 5.0
Process data transfer 7
PROFIdrive control
PROFIdrive control word
EDSMF2133IB EN 5.0 l 79
7 Process data transfer
PROFIdrive control
PROFIdrive control word
80 l EDSMF2133IB EN 5.0
Process data transfer 7
PROFIdrive control
PROFIdrive status word
EDSMF2133IB EN 5.0 l 81
8 Parameter data transfer
PROFIBUS transmits parameter data and process data between the host (master) and the
drives connected to the bus (slaves). The data is transmitted via corresponding
communication channels depending on their time−critical behaviour.
ƒ Parameter data are transferred via the parameter data channel.
– DRIVECOM parameter data channel (DP−V0)
– PROFIdrive parameter data channel (DP−V1)
ƒ Via the parameter data channel, access to all Lenze codes is enabled.
ƒ The transmission of parameter data usually is not time−critical.
ƒ Parameter data for example are operating parameters, diagnostics information, and
motor data.
ƒ The cyclic DP−V0 parameter data are based on the DRIVECOM profile. When the
parameter data channel based on DP−V0 is active, it additionally assigns 4 words of
the process input data and the process output data.
ƒ The acyclic DP−V1 parameter data are based on the PROFIdrive profile.
82 l EDSMF2133IB EN 5.0
Parameter data transfer 8
Lenze parameter sets
Parameter sets for 82XX controllers
( Stop!
82XX / 8200 vector / Drive PLC and communication module:
ƒ The cyclic writing of parameter data into the EEPROM is not permissible. It
may damage or destroy the EEPROM.
Only 8200 vector:
ƒ After every mains switching, set code C0003 to the value "0" if you want to
change the parameter data cyclically.
The 82XX controller has two parameter sets, the parameters of which can be directly
addressed.
Addressing
Addressing is effected by means of a code offset:
l Offset 0 addresses parameter set 1 with the Lenze codes C0000 to C1999.
l Offset "2000" addresses parameter set 2 with the Lenze codes C2000 to C3999.
If a parameter is only available once (see Operating Instructions for the controller), use code offset "0".
Example
Addressing of code C0011 (maximum field frequency) in different parameter sets:
l C0011 in parameter set 1: Lenze code number = 11
l C0011 in parameter set 2: Lenze code number = 2011
If a parameter is only available once (see Operating Instructions for the controller), use code offset "0".
) Note!
ƒ Automatic storage of the parameter data changed
ƒ No automatic storage of process data
EDSMF2133IB EN 5.0 l 83
8 Parameter data transfer
Lenze parameter sets
Parameter sets for 8200 vector controller
The 8200 vector controller has four parameter sets the parameters of which can be directly
addressed via the bus.
Addressing
Addressing is carried out with a code offset:
ƒ Offset "0" addresses parameter set 1 with codes C0000 ... C1999.
ƒ Offset "2000" addresses parameter set 2 with codes C2000 ... C3999.
ƒ Offset "4000" addresses parameter set 3 with codes C4000 ... C5999.
ƒ Offset "6000" addresses parameter set 4 with codes C6000 ... C7999.
If a parameter is only available once (see documentation of the controller), use code offset
"0".
Example
Addressing of code C0011 (maximum field frequency) in different parameter sets:
ƒ C0011 in parameter set 1: code number = 11
ƒ C0011 in parameter set 2: code number = 2011
ƒ C0011 in parameter set 3: code number = 4011
ƒ C0011 in parameter set 4: code number = 6011
) Note!
Automatic storage of new parameter data is activated (basic Lenze setting, can
be deactivated via C0003).
84 l EDSMF2133IB EN 5.0
Parameter data transfer 8
Lenze parameter sets
Parameter sets for controller 93XX
The drive controllers 93XX feature up to four parameter sets for storage in the EEPROM for
each technology variant. An additional parameter set is located in the main memory of the
drive controller. This parameter set is referred to as "current" parameter set.
Addressing
ƒ Only the current parameter set can be directly addressed via the bus.
ƒ After power−on, parameter set 1 is automatically loaded into the current parameter
set.
ƒ Before changing the parameters of parameter sets 2 ... 4, the parameter sets must
be activated.
) Note!
Changes in the current parameter set are lost after switching off the drive
controller.
Code C0003 is used to store the current parameter set (see documentation of
the controller).
EDSMF2133IB EN 5.0 l 85
8 Parameter data transfer
Lenze parameter sets
Parameter sets for Drive PLC and ECSxS / ECSxA axis modules
8.1.4 Parameter sets for Drive PLC and ECSxS / ECSxA axis modules
The Drive PLC and ECSxS / ECSxA axis modules each have a parameter set for storage in the
EEPROM. Another parameter set is stored in the main memory. This parameter set is called
"current" parameter set.
Addressing
l Only the current parameter set can be directly addressed via the bus.
l After switch−on, parameter set 1 is automatically loaded in the current parameter set.
) Note!
Changes within the current parameter set are lost after the controller is
switched off.
Code C0003 serves to save the current parameter set (see documentation of
the controller).
86 l EDSMF2133IB EN 5.0
Parameter data transfer 8
DRIVECOM parameter data channel
Addressing of the parameter data
The parameter data is accessed via codes listed in the code table included in this
documentation of the function module and the corresponding documentation of your
controller.
In the case of the DRIVECOM parameter data channel the parameters of a device are not
directly addressed via Lenze code numbers, but via indexes (byte 3, byte 4) and subindexes
(byte 2).
The Lenze code numbers are converted into indexes via an offset (24575dec / 5FFFhex):
Addressing of Lenze codes Example for C0001 (operating mode)
l PROFIBUS index = l PROFIBUS index =
24575 − Lenze code 24575 − 1 = 24574
l PROFIBUS−DP−Indexhex = l PROFIBUS−DP−Indexhex =
5FFFhex − Lenze codehex 5FFFhex − 1hex = 5FFEhex
Lenze parameters are mainly represented in the fixed point format (data type integer32
with four decimal digits). For this reason, the value of the parameter/code must be
multiplied by 10000 in order to obtain integer values.
The parameter value is entered in the user data (bytes 5 ... 8) of the telegram.
Example:
Set C0039 (JOG) = 150.4 Hz.
ƒ 150.4 x 10000 = 1504000 (0016F300hex)
ƒ The resulting parameter value is entered in the user data.
The telegram of the DRIVECOM parameter data channel consists of a total of 8bytes. The
individual bytes are described in detail on the following pages.
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Service Subindex Index Index Data 4 / Data 3 / Data 2 / Data 1 /
High byte Low byte Error 4 Error 3 Error 2 Error 1
EDSMF2133IB EN 5.0 l 87
8 Parameter data transfer
DRIVECOM parameter data channel
Telegram structure
Byte 1: Service, request and response control for the parameter data channel
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Service Subindex Index Index Data 4 / Data 3 / Data 2 / Data 1 /
High byte Low byte Error 4 Error 3 Error 2 Error 1
Request
2 1 0 Request to the controller. The bits are set only by the master.
l 000 = No request
l 001 = Read request (read data from controller)
l 010 = Write request (write data to controller)
3 Reserved
Data length
5 4 Length of data in bytes 5 ... 8 (data/error 1 ... 4)
l 00 = 1 byte
l 01 = 2 bytes
l 10 = 3 bytes
l 11 = 4 bytes
Handshake
6 Indicates a new request.
l The master changes this (toggle) bit for every new request.
l The controller copies the bit into its response telegram.
7 Status
Status information from the controller to the master when sending the request
confirmation. This bit informs the master whether the request has been carried
out without any faults.
l 0 = Request completed without fault.
l 1 = Request not completed. An error has occurred. The data of bytes 5 ... 8
(data/error) must be interpreted as an error message.
^ 91 (Error code list)
Examples of byte 1:
ƒ Read request
Bit 7 ... Bit 0
0 X 1 1 0 0 0 1
"1" (read)
Reserved
"3" (data length 4 bytes)
Handshake
Status (only relevant for response telegram)
ƒ Write request
Bit 7 ... Bit 0
0 X 0 1 0 0 1 0
"2" (write)
Reserved
"1" (data length 2 bytes)
Handshake
Status (only relevant for response telegram)
88 l EDSMF2133IB EN 5.0
Parameter data transfer 8
DRIVECOM parameter data channel
Telegram structure
Byte 2: Subindex
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Service Subindex Index Index Data 4 / Data 3 / Data 2 / Data 1 /
High byte Low byte Error 4 Error 3 Error 2 Error 1
ƒ The 82XX series do not have codes with subindex, the value is always 0.
ƒ For the device series 93XX and 8200 vector, an additional addressing via the
subindex is required for those codes that have a subcode (see code table).
Example:
Code C0039 / subcode 3 addresses "NSET JOG" (50 % = Lenze setting)
Byte 3 / 4: index
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Service Subindex Index Index Data 4 / Data 3 / Data 2 / Data 1 /
High byte Low byte Error 4 Error 3 Error 2 Error 1
The parameter or the Lenze code is selected with these two bytes according to the formula:
Index = 24575 − Lenze code number
Example:
The parameter C0012 (acceleration time) is to be addressed:
ƒ 24575 − 12 = 24563 = 5FF3hex
ƒ Entry in byte 3 (high byte): 5Fhex
ƒ Entry in byte 4 (low byte): F3hex
EDSMF2133IB EN 5.0 l 89
8 Parameter data transfer
DRIVECOM parameter data channel
Telegram structure
The status of the (status) bit 7 in byte 1 (job) determines the meaning of this data field:
Meaning of the bytes 5 ... 8 if ...
Bit 7 = 0 Bit 7 = 1
Parameter value (data 1 ... 4) Error information (error 1 ... 4) for an invalid access.
^ 91 (Error code list)
) Note!
Strings or data blocks cannot be transmitted.
90 l EDSMF2133IB EN 5.0
Parameter data transfer 8
DRIVECOM parameter data channel
Error codes (DRIVECOM)
EDSMF2133IB EN 5.0 l 91
8 Parameter data transfer
DRIVECOM parameter data channel
Reading parameters
General procedure
1. Define the user data range of the controller. (Where are the user data located in the
host system?)
Observe manufacturer−specific information.
2. Enter the address of the required parameter into the "Index" and "Subindex" fields
(DP output data).
3. Request in the service byte = read request
The status of the handshake bit in the service byte must be changed (DP output data).
4. Check whether the handshake bit in the service byte is the same for the DP input
data and the DP output data.
If the handshake bit is the same, the response has been received.
It is useful to implement a time monitoring tool.
5. Check whether the status bit in the service byte is set.
Status bit is not set: The "Data/Error" field contains the required parameter value.
Status bit is set: The read request has not been executed correctly. The "Data/Error"
field contains the error information.
Example:
The heatsink temperature (43 °C) of the controller is to be read (C0061).
ƒ Byte 1: Request
Bit 7 ... Bit 0
0 X 1 1 0 0 0 1
"1" (read)
Reserved
"3" (data length 4 bytes)
Handshake
Status (only relevant for response telegram)
ƒ Byte 2: Subindex
Subindex = 0, as there is no subindex under code C0061.
ƒ Byte 3 / 4: Index
Index = 24575 − code number
Index = 24575 − 61 = 24514 = 5FC2hex (5Fhex = high byte, C2hex = low byte)
ƒ Bytes 5 ... 8: Data (contained in the response telegram)
Data 1 ... 4 = 43 °C x 10000 = 430000 (FIX32) = 00068FB0hex
92 l EDSMF2133IB EN 5.0
Parameter data transfer 8
DRIVECOM parameter data channel
Reading parameters
Result:
ƒ Request telegram from master to drive:
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Service Subindex Index Index Data 4 Data 3 Data 2 Data 1
(High byte) (Low byte)
01hex 00hex 5Fhex C2hex 00hex 00hex 00hex 00hex
00000001bin 00000000bin 01011111bin 11000010bin 00000000bin 00000000bin 00000000bin 00000000bin
Waiting for change of handshake bit in the response (bit 6 here: 0 à 1)
EDSMF2133IB EN 5.0 l 93
8 Parameter data transfer
DRIVECOM parameter data channel
Writing parameters
General procedure
1. Define the user data range of the controller. (Where are the user data located in the
host system?)
Observe manufacturer−specific information.
2. Enter the address of the required parameter into the "Index" and "Subindex" fields
(DP output data).
3. Enter the parameter value into the "Data/Error" field.
4. Request in the service byte = write request
The status of the handshake bit in the service byte must be changed (DP output data).
5. Check whether the handshake bit in the service byte is the same for the DP input
data and the DP output data.
If the handshake bit is the same, the response has been received.
It is useful to implement a time monitoring tool.
6. Check whether the status bit in the service byte is set.
Status bit is not set: The write request has been executed correctly.
Status bit is set: The write request has not been executed correctly. The "Data/Error"
field contains the error information.
Example:
The acceleration time (C0012) of the controller is to be set to 20 s.
ƒ Byte 1: Request
Bit 7 ... Bit 0
0 X 1 1 0 0 1 0
"2" (write)
Reserved
"3" (data length 4 bytes)
Handshake
Status (only relevant for response telegram)
ƒ Byte 2: Subindex
Subindex = 0, as there is no subindex under code C0012.
ƒ Byte 3 / 4: Index
Index = 24575 − code number
Index = 24575 − 12 = 24563 = 5FF3hex (5Fhex = high byte, F3hex = low byte)
ƒ Bytes 5 ... 8: data
Data 1 ... 4 = 20 s x 10000 = 200000 (FIX32) = 00030D40hex
94 l EDSMF2133IB EN 5.0
Parameter data transfer 8
DRIVECOM parameter data channel
Writing parameters
Result:
ƒ Request telegram from master to drive:
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Service Subindex Index Index Data 4 Data 3 Data 2 Data 1
(High byte) (Low byte)
72hex 00hex 5Fhex F3hex 00hex 03hex 0Dhex 40hex
01110010bin 00000000bin 01011111bin 11110011bin 00000000bin 00000011bin 00001101bin 01000000bin
Waiting for change of handshake bit (bit 6 here: 0 à 1)
EDSMF2133IB EN 5.0 l 95
8 Parameter data transfer
PROFIdrive parameter data channel
96 l EDSMF2133IB EN 5.0
Parameter data transfer 8
PROFIdrive parameter data channel
PROFIdrive DP−V1
Features
ƒ Parameter number and subindex addresses with a width of 16 bits each.
ƒ Several parameter requests can be combined to one request (multi−parameter
requests).
ƒ Processing of one parameter request at a time (no pipelining).
ƒ A parameter request or a parameter response must fit into one data block (max. 240
bytes). Requests/responses cannot be split over several data blocks.
ƒ Spontaneous messages are not transmitted.
ƒ There are only acyclic parameter requests.
ƒ Profile−specific parameters can be read independently of the slave state.
read
Slave
write
Master
class 2
Fig. 8−1 Data communication via the DP−V1 parameter data channel
EDSMF2133IB EN 5.0 l 97
8 Parameter data transfer
PROFIdrive parameter data channel
PROFIdrive DP−V1
) Note!
A parameter request refers to one or several parameter(s) (multi−parameter
request).
Write.res
without data
Read.req
without data
Parameter
Read.res(−)
processing
without data
Read.req
without data
Sequence:
ƒ A "Write.req" is used to pass the data set (DB47) to the slave in the form of a
parameter request.
ƒ With "Write.res" the master receives the confirmation for the receipt of the
message.
ƒ The master requests the response of the slave with "Read.req".
ƒ The slave responds with "Read.res (−)" if processing has not yet been completed.
ƒ After parameter processing, the parameter request is completed by transmitting the
parameter response to the master with "Read.res (+)".
98 l EDSMF2133IB EN 5.0
Parameter data transfer 8
PROFIdrive parameter data channel
PROFIdrive DP−V1
E82ZAFP015
The data unit (DU) contains the DP−V1 header and the parameter request or the parameter
response.
In the following subchapters, the parameter request and the parameter response are
described in detail.
) Note!
The DP−V1 header consists of:
ƒ Function identifier
ƒ Slot number
ƒ Data set
ƒ Length of the user data
Please refer to the corresponding PROFIBUS specification for further
information on the DP−V1 header.
EDSMF2133IB EN 5.0 l 99
8 Parameter data transfer
PROFIdrive parameter data channel
PROFIdrive DP−V1
) Note!
ƒ When a read request is processed, no parameter value is written to the
slave.
ƒ A response to a read request does not contain the parameter attribute,
index and subindex.
ƒ When a multi−parameter read request is transferred, the parameter
attribute, index and subindex are repeated according to the number "n" of
the parameters requested.
ƒ A read request must not exceed the maximum data length of 240 bytes.
Request header
Byte 1 Byte 2 Byte 3 Byte 4
U8 U8 U8 U8
Request reference Request identification Axis Number of indexes
Parameter attribute
Byte 5 Byte 6
U8 U8
Attribute Number of
subindexes
) Note!
ƒ When a read request is processed, no parameter value is written to the
slave.
ƒ A response to a read request does not contain the parameter attribute,
index and subindex.
ƒ When a multi−parameter read request is transferred, the parameter format
and parameter value are repeated according to the number "n" of
parameters requested.
ƒ A read request must not exceed the maximum data length of 240 bytes.
Response header
Byte 1 Byte 2 Byte 3 Byte 4
U8 U8 U8 U8
Request reference Response identification Axis Number of indexes
(mirrored) (mirrored)
Parameter format
Byte 5 Byte 6
U8 U8
Format Number of values
Parameter value
Depending on the data type, the user data are assigned as follows:
Assignment of the user data
Data type Length Byte 7 Byte 8 Byte 9 Byte 10 Byte ...
String x bytes
U8 1 byte 00
U16 2 bytes
U32 4 bytes
Response header
Byte 1 Byte 2 Byte 3 Byte 4
U8 U8 U8 U8
Request reference Response identification Axis Number of indexes
(mirrored) (mirrored)
Parameter format
Byte 5 Byte 6
U8 U8
Format Number of values
Error code
Byte 7 Byte 8 Byte 9 Byte 10
U16 U16
Error code Additional information (if available)
) Note!
ƒ When a multi−parameter write request is processed, the ...
– parameter attribute
– index and subindex
and then the
– parameter format and
– parameter value
are repeated according to the number "n" of parameters requested.
ƒ A write request must not exceed the maximum data length of 240 bytes.
Request header
Byte 1 Byte 2 Byte 3 Byte 4
U8 U8 U8 U8
Request reference Request identification Axis Number of indexes
Parameter attribute
Byte 5 Byte 6
U8 U8
Attribute Number of
subindexes
Parameter format
Byte 11 Byte 12
U8 U8
Format Number of values
Parameter value
Depending on the data type, the user data are assigned as follows:
Assignment of the user data
Data type Length Byte 13 Byte 14 Byte 15 Byte 16 Byte ...
String x bytes
U8 1 byte 00
U16 2 bytes
U32 4 bytes
Response header
Byte 1 Byte 2 Byte 3 Byte 4
U8 U8 U8 U8
Request reference Response identification Axis Number of indexes
(mirrored) (mirrored)
) Note!
For a multi−parameter request, the correct and possibly faulty messages are
combined in one telegram. The individual messages have the following data
contents:
ƒ Correct message
– Format: 0x40 (zero)
– Number of values: 0x00
ƒ Faulty message
– Format: 0x44
– Number of values: 0x01 or 0x02
– Error code without additional information (for number of values = 0x01)
or
– error code with additional information (for number of values = 0x02)
A faulty access to a parameter "n" is indicated at the nth position in the
response telegram of a multi−parameter request.
Response header
Byte 1 Byte 2 Byte 3 Byte 4
U8 U8 U8 U8
Request reference Response identification Axis Number of indexes
(mirrored) (mirrored)
Parameter format
Byte 5 Byte 6
U8 U8
Format Number of values
Error code
Byte 7 Byte 8 Byte 9 Byte 10
U16 U16
Error code Additional information if available
Example:
The heatsink temperature (43 °C) of the controller is to be read (C0061).
ƒ Job identification (high nibble in byte 1)
– Read simple parameter: "1"
ƒ Code: (low nibble in byte 1 and byte 2)
– C0061: 61 = 3Dhex
ƒ Lenze subcode (byte 3):
– Subindex = 0, as there is not subindex under code C0061.
ƒ Bytes 5 ... 8: Data (not contained in the request telegram)
– Data 1 ... 4 = 43° C x 10000 = 430000 = 00068FB0hex
Result:
ƒ Request telegram from master to drive:
Byte 1* Byte 1* +2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
AK Code Subcode Reserved Parameter value
1hex 03Dhex 00hex 00hex 00hex 00hex 00hex 00hex
0001bin 000000111101bin 00000000bin 00000000bin 00000000bin 00000000bin 00000000bin 00000000bin
Wait for response identification with code = 03Dhex and subcode 0
Example:
The controller acceleration time (C0012) is to be set to 20 s.
ƒ Job identification (high nibble in byte 1)
Transmit simple parameter value: "1"
ƒ Code: (low nibble in byte 1 and byte 2)
C0012: 12 = 0Chex
ƒ Lenze subcode (byte 3):
Subindex = 0, as there is not subindex under code C0012.
ƒ Bytes 5 ...8: Data
Data 1 ... 4 = 20 s x 10000 = 200000 = 00030D40hex
Result:
ƒ Request telegram from master to drive:
Byte 1* Byte 1* +2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
AK Code Subcode Reserved Parameter value
3hex 00Chex 00hex 00hex 00hex 03hex 0Dhex 40hex
0011bin 000000001100 bin 00000000bin 00000000bin 00000000bin 00000011bin 00001101bin 01000000bin
Wait for response identification with code = 00C and subcode 0
In the PROFIBUS communication system, data are permanently exchanged between the
host (CPU + PROFIBUS master) and the standard device via the plugged−on slave interface
module.
Both the PROFIBUS master and the CPU (central processing unit) of the host access a joint
memory − the dual port memory (DPM).
The DPM allows data exchange in both directions (write/read):
It could happen that a slower PROFIBUS master writing would be overtaken by a faster CPU
reading within a cycle time without any further data organisation.
To avoid such an impermissible state, the parameter data to be transmitted must be
marked as "consistent".
0 1
Central processing ó Dual port memory ó PROFIBUS master
unit (CPU) (DPM)
I Tip!
Consistency configuration depends on the PROFIBUS master configuring
software. When using a Siemens−S5 PLC, please consider:
ƒ Consistency is switched on by any word in the consistent area
ƒ Consistency must be switched off by a specific switch−off word.
ƒ The type of CPU and consistency and the address area determine which
word switches off consistency.
9 Diagnostics
01
EMF2133IB
OFF ON
L 2
PROFIBUS DP
2131
1 2 3 4 5 6 7 8
3 4
64
32
Adresse
16
8
4
2
1
6
5 24V DC
7 + _
2133
2133PFB003
The controller cannot be enabled via PROFIBUS process data, i.e. the status "OPERATION
ENABLED" is not reached.
PROFIBUS No Check
initialisation
PROFIBUS
OK?
Yes
Yes
PIW1 = No PIW1 =
xxxx xxxx x100 0000bin xxxx xxxx 0xxx 1000bin
(switch−on inhibit)? (fault)?
Yes
Reset
fault (TRIP)
No
PIW1 =
xxxx xxxx x011 0001bin
(ready to switch on)?
Yes
Enable controller
PIW1 = (terminal 28, C40)
xxxx xxxx x011 0111bin No For 821X/8200 vector/822X
(operation enabled)? setpoint selection with C0106 <> 0
via POW2
Yes
Yes
No
PROFIBUS
initialisation Replace device
OK?
Yes
Reconnect the
next device
Yes
Is the green
LED (bus) on?
No
Is the yellow
LED (bus) blinking?
No
Correct
identifiers Start PROFIBUS
No
Are the No
configuration identifiers in Is the yellow
the master LED (bus) blinking?
correct?
Yes Yes
Replace 2133
communication OK
module
Select POW1 =
0080hex
PIW1 = Yes
xxxx xxxx x100 0000bin
(switch−on inhibit)?
No
Selection:
POW1 = 0000hex
then
POW1 = 0080hex
No PIW1 =
xxxx xxxx x100 0000bin
(switch−on inhibit)?
Yes
OK
POWER ON
Set_Slave_Add Slave_Diag
Slave_Diag WAIT_PRM Get_Cfg
Slave_Diag
WAIT_CFG Set_Prm
Get_Cfg
Chk_Cfg, o.k.
Chk_Cfg, not o.k.
Set_Prm, not o.k. DATA_EXCH
2133PFB006
The master detects the communication fault and only after a few microseconds transfers
the slave to the "WAIT_PRM" state of the DP state machine (see above).
Only after the state chain of the DP state machine meeting in the "Data_Exchange"
(DATA_EXCH) state has been passed through, the watchdog monitoring time calculated
for the slave (in milliseconds) goes on.
The watchdog monitoring time does not continue if the slave in the case of a repeated
communication fault (e.g. by loose contact) does not reach the "Data_Exchange" state.
Code C1883 provides additional monitoring which already becomes active when exiting
"Data_Exchange" after the parameterised time has expired (0 ... 65534 ms) and which
actuates the response parameterised in code C1882.
I Tip!
Be sure to observe the following precondition with regard to time setting:
Response time response monitoring time of the PROFIBUS.
10 Codes
10.1 Overview
C0126:
Behaviour with communication error (extract)
Code Subcode Index Possible settings Data type
Lenze Selection
C0126 − 24449d = See documentation for the controller. FIX32
5F81h
C1882:
Process data
monitoring response
Possible settings
Code Subcode Index Lenze Selection Data type
C1882 − 22693d = 0 0 [1] 3 U32
58A5h
Value = [selection] x 10000
Selection Response
0 No response
1 Fault (TRIP)
2 Controller inhibit (CINH))
3 Quick stop (QSP)
The Lenze code is used to determine the controller reaction when the process data
monitoring time has expired.
This function can be used for:
ƒ DRIVECOM control
ƒ PROFIdrive control
ƒ device control
I Tip!
ƒ Code C1882 performs the same function as the index6004hex.
ƒ Observe the notes with regard to the interruption of the PROFIBUS
communication (¶ 118)
C1883:
Response time to exiting "Data_Exchange"
Possible settings
Code Subcode Index Lenze Selection Data type
C1883 − 22692d = 65535 0 [1 ms] 65535 FIX32
58A4h
I Tip!
Observe the notes with regard to interruptions of the PROFIBUS
communication (¶ 118)
C1812:
Display of software identification code
Possible settings
Code Subcode Index Lenze Selection Data type
C1812 1 ... 4 22763d = g − U32
58EBh
C1813:
Display of software creation date
Possible settings
Code Subcode Index Lenze Selection Data type
C1813 1 ... 4 22762d = g − U32
58EAh
11 Index table
I−6004hex:
Process data monitoring selection code
The parameter determines the controller reaction when the process data monitoring time
has expired.
Possible settings
Index [hex] Subindex Lenze Selection Data type
I−6004 − 0 0: No reaction I8
1: Controller inhibit (CINH)
2: Quick stop (QSP)
4: TRIP
12 Appendix
) Note!
The option of parallel operation ...
ƒ of a communication module (AIF) and a function module (FIF) exists for the
standard devices 8200 vector and Drive PLC.
ƒ of two function modules (FIF) exists for the standard devices 8200motec,
Drive PLC and starttec.
8200vec073
For internal voltage supply, you must set jumper 0 at the indicated position.
External voltage supply (delivery state) Voltage supply through internal voltage source
0
0
Possible combinations
Function module on FIF Communication module on AIF
(Design: Standard or PT)
Keypad E82ZBC 1) PROFIBUS−DP 2131/2133
Keypad XT EMZ9371BC 1)
Standard I/O E82ZAFS üü üü
Application I/O E82ZAFA üü ü
INTERBUS E82ZAFI üü x
PROFIBUS−DP E82ZAFP üü X
LECOM−B (RS485) E82ZAFL üü X
System bus (CAN) E82ZAFC
System bus I/O RS E82ZAFC100 üü üü
System bus I/O E82ZAFC200
CANopen / E82ZAFD üü X
DeviceNet 2)
ASI E82ZAFF üü X
1) Is always supplied via internal voltage source regardless of the jumper setting.
2) In preparation
üü Combination possible, communication module is supplied internally or externally.
üü Combination possible, communication module must be supplied externally
(ü) Combination possible, communication module can only be used for parameter setting (supplied internally or
externally).
x Combination not possible.
12.2 Accessories
In the following, you will find the accessory components for PROFIBUS:
) Note!
Please ask the manufacturer of the components for the latest order
information and the technical data.
Designation Note
Bus connector Bus connector for 9−pole Sub−D plug with plug−in terminals for connecting the bus
cable (order designation: Bus connector PROFIBUS RS485).
l Contains connectable bus terminating resistor.
l Order designation: Siemens, 6ES7 972−0BA00−0XA0
Bus cable Features:
l Cable resistance: 135 ... 165 ê/km (f = 3 − 20 MHz)
l Capacitance per unit length: ≤ 30 nF/km
l Loop resistance: < 110 ê/km
l Core diameter: > 0.64 mm
l Core cross−section: 0.34 mm2
l Cores: double twisted, insulated and shielded
Order designation: Siemens, SINEC L2 2−core bus cable
13 Index
0 ... 9 C
8200 vector C0126: Behaviour with communication error, 122
− control word, 55 C1812: Display of software identification code, 124
− status word, 53 C1813: Display of software creation date, 124
Cable cross−sections, 30
82XX
Cable specification, 25
− control word, 50
− status word, 48 CE−typical drive system, 23
Codes, 120
93XX
Commissioning, 31
− Control word, 61
− Initial switch−on, 32
− status word, 58
Communication medium, 16
Communication profile, 16
A Communication time, 18
Access to Lenze codes Configuration, Setpoint source selection, 46
− DRIVECOM, 87 Connections, 15
− PROFIdrive, 96 Consistency, 35
Accessories, 128 Consistent parameter data, 110
Activation of communication module, 116 Control
− DRIVECOM, 68
Acyclic data transfer (DP−V1), 98 − PROFIdrive, 77
Address settings, 42 Control commands (bits), DRIVECOM, 75
− by a master (class 2), 43 Control word, 46
− via code, 42 − 8200 vector, 55
− via DIP switches, 42 − 82XX, 50
− 93XX, 61
Addressing
− DRIVECOM, 71
− Lenze parameters (DRIVECOM), 87 − PROFIdrive, 79
− parameter data (DRIVECOM), 87 Controller is inhibited, 113
Application as directed, 12
D
Defining the user data length, 36
B
Definition of notes used, 9
Basic insulation, 24
Definitions, 8
Basic wiring of the PROFIBUS, 24 Device control, Lenze, 46
Baud rate, 16 Device data base file, 34
Bus cable, 128 Device protection, 11 , 21
Diagnostics, 112
Bus cable length, 26
Diagnostics codes, 124
Bus connector, 128 DIP switch, 42
Bus terminating resistor, 24 , 37 DP user data length, 16
Drive profile, 16
DRIVECOM L
− bit control commands, 75
LED status displays, 112
− control word, 71
− error codes, 91 Lenze codes, 120
− Parameter data channel, 87 − C0126, 122
− Provide DRIVECOM compatibility, 68 − C1812, 124
− state machine, 69 − C1813, 124
− status bits, 76 − C1882, 122
− status word, 73 − C1883, 123
H
O
Hardware version, Type code, 13
Order designation, 16
I P
Identification, 13
Parallel operation of AIF and FIF interfaces, 126
Initial switch−on, 32
Parameter
Installation, 21 − C0142 (restart protection), 44
− electrical, 23 − control word (C0135), 46
− mechanical, 22 − frequency setpoint (C0046), 46
− PROFIBUS, 27
Parameter data, Consistency , 110
Interface, 16
Parameter data channel
Interfaces, 15 − DRIVECOM, 87
addressing of the parameter data, 87
Internal voltage supply, 28
Lenze parameters (DRIVECOM), 87
Interruption of communication telegram structure, 87
− permanent, 118 − PROFIdrive, 96
− short−time, 119 Parameter data transfer, 82
T V
Technical data, 16 Validity of the documentation, 5
Voltage supply, 28
Telegram structure, DRIVECOM, 87
− internal, 28
Telegram structure (DP−V1), 99 Voltage supply: external, 29
Transmission cable, specification, 25
W
Troubleshooting, 113
Wiring according to EMC, 23
Type code, 13 Wiring with a host (master), 24
− finding, 13 Writing parameters
− PROFIdrive (DP−V0), 94
− PROFIdrive (DP−V1), 104