ABB Drives User’s Manual PROFIBUS DP Adapter Module FPBA-01
PROFIBUS DP Adapter Module FPBA-01 User’s Manual 3AFE68573271 REV A EN EFFECTIVE: 01.07.2005 © 2005 ABB Oy. All Rights Reserved.
Safety instructions Overview This chapter states the general safety instructions that must be followed when installing and operating the FPBA-01 PROFIBUS DP Adapter module. The material in this chapter must be studied before attempting any work on, or with, the unit. In addition to the safety instructions given below, read the complete safety instructions of the specific drive you are working on.
Safety instructions
Table of contents Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Introduction . . . . . . . . . . . . . . . . .
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General cabling instructions . . . . . . . . . . . . . . . . . .
Service Access Points (SAPs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Other SAPs for DP-V1 communication . . . . . . . . . . . . . . . . . . . . . . . . . . . Cyclical message types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PPO types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents
Introduction Intended audience The manual is intended for the people who are responsible for commissioning and using an FPBA-01 PROFIBUS DP Adapter module. The reader is expected to have a basic knowledge of electrical fundamentals, electrical wiring practices and how to operate the drive. Before you start It is assumed that the drive is installed and ready to operate before starting the installation of the extension module.
Drive configuration explains how to program the drive before the communication through the adapter module can be started. Master configuration explains how to program the PROFIBUS master before the communication through the adapter module can be started. Communication profiles describes the communication profiles used in the communication between the PROFIBUS network, the FPBA-01 module, and the drive. Communication contains a description of how data is transmitted through the FPBA-01 module.
Terms used in this manual Communication Module Communication Module is a name for a device (e.g. a fieldbus adapter) through which the drive is connected to an external communication network (e.g. a fieldbus). The communication with the module is activated with a drive parameter. FPBA-01 PROFIBUS DP Adapter module The FPBA-01 PROFIBUS DP Adapter module is one of the optional fieldbus adapter modules available for ABB drives.
Introduction
Overview Overview This chapter contains a short description of the PROFIBUS standard and the FPBA-01 Adapter module, and a delivery checklist. PROFIBUS standard PROFIBUS is an open serial communication standard that enables data exchange between all kinds of automation components. There are three main variations of PROFIBUS: PROFIBUS FMS (Fieldbus Message Specification), PROFIBUS DP (Decentralised Periphery) and PROFIBUS PA (Process Automation).
PROFIdrive-PROFILE – The PROFIBUS Profile for Adjustable Speed Drives. For further information on PROFIBUS, refer to the above-mentioned standards. The FPBA-01 PROFIBUS DP Adapter module The FPBA-01 PROFIBUS DP Adapter module is an optional device for ABB drives which enables the connection of the drive to a PROFIBUS network. The drive is considered as a slave on the PROFIBUS network.
PROFIBUS master ABB drive Other slave device Diagnostic LEDs (See chapter Diagnostics) Bus connector X1 (see chapter Electrical installation) Figure 1. The construction of the PROFIBUS link and the FPBA-01 Adapter module. Compatibility The FPBA-01 is compatible with all master stations that support the PROFIBUS DP protocol.
Delivery check The option package for the FPBA-01 PROFIBUS DP Adapter module contains: • PROFIBUS DP Adapter module, type FPBA-01 • this manual.
Quick start-up guide Overview This chapter presents the steps to take during the start-up of the FPBA-01 PROFIBUS DP Adapter Module with an ACS350 drive. For more detailed information, see the chapters Mechanical installation, Electrical installation, and Drive configuration elsewhere in this manual. WARNING! Follow the safety instructions given in this manual and the Hardware Manual of the drive. PLC configuration • Install the FPBA-01 GSD file (e.g. ABB0959.GSD).
• Select the Fail Safe mode and enter a Failsafe Timeout value.
• Set the PPO type, baud rate and node number.
Mechanical and electrical installation • Insert the FPBA-01 into its specified slot in the drive. • Fasten the screw. • Plug the fieldbus connector to the module. Drive configuration • Power up the drive. • The detailed procedure of activating the drive for communication with the module is dependent on the drive type. Normally, a parameter must be adjusted to activate the communication. Refer to the drive documentation for information on the communication settings.
Parameter setting examples PROFIdrive communication profile with PPO Type 1 Drive parameter Example setting for ACS350 1001 EXT1 COMMANDS COMM 1103 REF1 SELECT COMM 1601 RUN ENABLE COMM 1604 FAULT RESET SEL COMM 9802 COMM PROT SEL EXT FBA 5101 FBA TYPE 5102 NODE ADDRESS PROFIBUS DP* 3 5103 BAUDRATE 12000* 5104 PPO TYPE 1 (= PPO1)* 5105 PROFILE 0 (= PROFIdrive) ••• 5127 FBA PAR REFRESH REFRESH *Read-only or automatically detected With the FPBA-01, data-consistent communication can
The start/stop commands and reference are according to the PROFIdrive profile. (See the PROFIBUS state machine on page 51.) The reference value ±16384 (4000h) corresponds to parameter 1105 REF1 MAX in forward and reverse directions.
ABB DRIVES communication profile with PPO Type 2 Drive parameter Example setting for ACS350 1001 EXT1 COMMANDS COMM 1103 REF1 SELECT COMM 1601 RUN ENABLE COMM 1604 FAULT RESET SEL COMM 9802 COMM PROT SEL EXT FBA 5101 FBA TYPE PROFIBUS DP* 5102 NODE ADDRESS 4 5103 BAUDRATE 1500* 5104 PPO TYPE PPO2* 5105 PROFILE 1 (= ABB DRIVES) 5127 FBA PAR REFRESH REFRESH 5401 DATA IN 1 4 (Status word)** 5402 DATA IN 2 5 (Actual value 1)** 5403 DATA IN 3 106 (POWER)** 5404 DATA IN 4 107 (D
From the PLC programming point, the ABB DRIVES profile is similar to the PROFIdrive profile as shown in the first example. The start/stop commands and reference are according to the ABB DRIVES profile. (See the drive manuals for more information.) When Reference 1 (REF1) is used, a reference value of ±20000 (decimal) corresponds to the reference set by parameter 1105 (REF1 MAX) in the forward and reverse directions.
Mechanical installation WARNING! Follow the safety instructions given in this manual and the drive documentation. Mounting The FPBA-01 is to be inserted into its specific position in the drive. The module is held in place with plastic pins and one screw. The screw also provides the earthing of the fieldbus cable shield connected to the module. On installation of the module, the signal and power connection to the drive is made through a 20-pin connector.
Mechanical installation
Electrical installation Overview This chapter contains: • general cabling instructions • instructions for setting module node address number and bus termination • instructions for connecting the module to the PROFIBUS DP network. WARNING! Before installation, switch off the drive power supply. Wait five minutes to ensure that the capacitor bank of the drive is discharged. Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive.
PROFIBUS connection The bus cable is connected to connector X1 on the FPBA-01. The connector pin allocation described below follows the PROFIBUS standard. 5 1 X1 9 X1 1 6 Description SHLD Alternate cable shield connection. Connected to connector housing. 2 Not used 3 B 4 RTS Data positive (Conductor 1 in twisted pair). Request To Send 5 GND_B Isolated ground 6 +5V_B Isolated 5V DC voltage supply (30 mA max.) 7 8 9 Not used A Data negative (Conductor 2 in twisted pair).
Red Green Red Green It is recommended to use a PROFIBUS-approved D-SUB 9 connector. These connectors have a built-in termination network and inductors for station capacitance compensation. The cable should be connected to the D-SUB connector as follows: 1A 1B 2A 2B OUT IN Grounding clamp/ Strain relief Figure 2.
Bus termination Bus termination is required to prevent signal reflections from the bus cable ends. The FPBA-01 module is not equipped with internal bus termination. Therefore, the D-SUB connectors at the first and last modules of the bus must have built-on termination switched on. See the diagram below. The FPBA-01 module is able to supply power for an active-type termination circuitry (30 mA max.). PROFIBUS device PROFIBUS device PROFIBUS device PROFIBUS device Term. Term. Term. Term.
Drive configuration Overview This chapter gives information on configuring the drive for communication through the FPBA-01 PROFIBUS DP Adapter module. PROFIBUS connection configuration After the FPBA-01 PROFIBUS DP Adapter module has been mechanically and electrically installed according to the instructions in previous chapters, the drive must be prepared for communication with the module.
Table 4. FPBA-01 configuration parameters – Group 1 Par. no. Parameter name Alternative settings Default setting 1 FBA TYPE (Read-only) PROFIBUS DP 2 NODE ADDRESS 0 to 126 3 3 BAUD RATE* (12000) 12 Mbit/s; (6000) 6 Mbit/s; (3000) 3 Mbit/s; (1500) 1.5 Mbit/s; (500) 500 kbit/s; (187) 187.5 kbit/s; (93) 93.75 kbit/s; (45) 45.45 kbit/s; (19) 19.2 kbit/s; (9) 9.
3 BAUD RATE This parameter indicates the detected communication speed in kbit/s. 12000 6000 3000 1500 500 187 93 45 19 9 = 12 Mbit/s = 6 Mbit/s = 3 Mbit/s = 1.5 Mbit/s = 500 kbit/s = 187.5 kbit/s = 93.75 kbit/s = 45.45 kbit/s = 19.2 kbit/s = 9.6 kbit/s 4 TELEGRAM TYPE This parameter indicates the selected telegram type for the PROFIBUS communication. The FPBA-01 automatically detects the telegram type used, and supports both PPO messages 1 to 6 and standard telegrams (STD) 1 and 20.
Table 5. FPBA-01 configuration parameters – Group 2 Par. no. Parameter name Alternative settings Default setting 1 DATA OUT 1* (master to drive) 0 to 9999 Format: xxyy, where xx = parameter group and yy = parameter index. 1 (Control word) 2 DATA OUT 2* See DATA OUT 1 above. 2 (REF1) 3 DATA OUT 3 See DATA OUT 1 above. 0 4 DATA OUT 4 See DATA OUT 1 above. 0 5 DATA OUT 5 See DATA OUT 1 above. 0 6 DATA OUT 6 See DATA OUT 1 above. 0 7 DATA OUT 7 See DATA OUT 1 above.
1 DATA OUT 1 This parameter represents data word 1 received by the drive over the PROFIBUS network. The content is defined by a decimal number in the range of 0 to 9999 as follows: 0 not used 1 - 99 virtual address area of drive control 101 - 9999 parameter area of the drive The virtual address area of the drive control is allocated as follows: 1 Control word 2 Reference 1 (REF1) 3 Reference 2 (REF2) 4 Status word 5 Actual value 1 (ACT1) 6 Actual value 2 (ACT2) 7 Reserved ...
Table 6. FPBA-01 configuration parameters – Group 3 Par. no. Parameter name Alternative settings Default setting 1 DATA IN 1* (drive to master) 0 to 9999 Format: xxyy, where xx = parameter group and yy = parameter index. 4 (Status word) 2 DATA IN 2* See DATA IN 1 above. 5 (Actual value 1) 3 DATA IN 3 See DATA IN 1 above. 0 4 DATA IN 4 See DATA IN 1 above. 0 5 DATA IN 5 See DATA IN 1 above. 0 6 DATA IN 6 See DATA IN 1 above. 0 7 DATA IN 7 See DATA IN 1 above.
Control locations ABB drives can receive control information from multiple sources including digital inputs, analogue inputs, the drive control panel and a communication module (e.g. FPBA-01). ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault Reset, etc.). In order to give the fieldbus master station the most complete control over the drive, the communication module must be selected as source for this information.
Drive configuration
Master configuration Overview This chapter gives information on configuring the PROFIBUS master station for communication through the FPBA-01 PROFIBUS Adapter module. Configuring the system After the FPBA-01 PROFIBUS DP Adapter module has been mechanically and electrically installed according to the instructions in previous chapters, and has been initialised by the drive, the master station must be prepared for communication with the module.
Master configuration
Communication profiles Overview This chapter describes the communication profiles used in the communication between the PROFIBUS network, the FPBA-01 module, and the drive. Communication profiles Communication profiles are ways of conveying control commands (Control word, Status word, references and actual values) between the master station and the drive. With the FPBA-01 module, the PROFIBUS network may employ either the PROFIdrive profile or the ABB Drives profile.
FPBA-01 PROFIBUS network Drive FPBA-01 profile selection: PROFIdrive PROFIdrive profile Data conversion DCU profile ABB Drives ABB Drives profile Data conversion DCU profile Transparent16 *Drive-specific profile (with 16-bit words) *Drive-specific profile (with 32-bit words) Optional reference/ actual value scaling** Transparent32 *To be used if the drive does not support the DCU communication profile.
The PROFIdrive communication profile The Control Word and the Status Word The Control Word (PROFIBUS Parameter 967) is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master station to the drive through the adapter module. The drive switches between its states according to the bitcoded instructions on the Control Word, and returns status information to the master in the Status Word (PROFIBUS Parameter 968).
Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected by a drive parameter. Scaling The actual speed (ACT) in hexadecimal (0…4000h) corresponds to 0 … Maximum Reference (as defined by a drive parameter).
Table 7. The Control Word for the PROFIdrive communication profile (PROFIBUS Parameter 967). The upper case boldface text refers to the states shown in Figure 9. Bit Name 0 ON Value Proceed to STATE/Description 1 Proceed to READY TO OPERATE. OFF1 0 Emergency OFF, stop by the selected deceleration ramp. Proceed to OFF1 ACTIVE; proceed further to READY TO SWITCH ON unless other interlocks (OFF2, OFF3) are active. 1 OFF2 1 Continue operation (OFF2 inactive). 0 Emergency OFF, coast to stop.
Bit Name 7 RESET Value Proceed to STATE/Description 0 ⇒ 1 Fault reset if an active fault exists. Proceed to SWITCHON INHIBIT. Note: This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters. 0 (Continue normal operation) 8 INCHING_1 Inching 1. (Not supported by all drive types) 9 INCHING_2 Inching 2. (Not supported by all drive types) 10 REMOTE_ CMD 1 Fieldbus control enabled.
Table 8. The Status Word for the PROFIdrive communication profile (PROFIBUS Parameter 968). The upper case boldface text refers to the states shown in Figure 9. Bit Name 0 1 2 3 4 5 6 7 8 9 RDY_ON RDY_RUN RDY_REF TRIPPED OFF_2_STA OFF_3_STA SWC_ON_INHIB ALARM AT_SETPOINT REMOTE 10 ABOVE_LIMIT Value STATE/Description 1 READY TO SWITCH ON. 0 NOT READY TO SWITCH ON. 1 READY TO OPERATE. 0 OFF1 ACTIVE. 1 ENABLE OPERATION. 0 DISABLE OPERATION. 1 FAULT. 0 No fault. 1 OFF2 inactive.
Bit Name Value STATE/Description 11 Vendor-specific bit as defined by PROFIdrive parameter 939. 12 Vendor-specific bit as defined by PROFIdrive parameter 940. 13 Vendor-specific bit as defined by PROFIdrive parameter 941. 14 Vendor-specific bit as defined by PROFIdrive parameter 942. 15 Vendor-specific bit as defined by PROFIdrive parameter 943.
SWITCH-ON INHIBIT MAINS OFF (SW Bit6=1) PROFIBUS State Machine OFF1 (CW Bit0=0) Power ON NOT READY TO SWITCH ON A B C D CW = Control Word SW = Status Word n = Speed I = Input Current RFG = Ramp Function Generator f = Frequency (SW Bit0=0) (CW=xxxx xxxx xxxx x110) (CW Bit3=0) OPERATION INHIBIT READY TO SWITCH ON (SW Bit0=1) (SW Bit2=0) operation inhibited ON (CW=xxxx xxxx xxxx x111) READY TO OPERATE Main contactor ON (SW Bit1=1) from any state Fault FAULT from any state (SW Bit3=1) (C
The ABB Drives communication profile The Control Word and the Status Word The Control Word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master station to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions on the Control Word, and returns status information to the master in the Status Word.
Scaling References are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set by drive parameters. See the drive documentation for further information.
Actual values Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected by a drive parameter. Scaling Actual values are scaled as shown below. Note: The values of REF1 MAX and REF2 MAX are set by drive parameters. See the drive documentation for further information.
Table 10. The Control Word for the ABB Drives communication profile. The upper case boldface text refers to the states shown in Figure 9. Bit 0 1 2 3 4 Name OFF1_ CONTROL Value STATE/Description 1 Proceed to READY TO OPERATE. 0 Stop along currently active deceleration ramp. Proceed to OFF1 ACTIVE; proceed to READY TO SWITCH ON unless other interlocks (OFF2, OFF3) are active. OFF2_ CONTROL 1 Continue operation (OFF2 inactive). 0 Emergency OFF, coast to stop.
Bit 5 6 7 Name RAMP_HOLD RAMP_IN_ ZERO RESET Value STATE/Description 1 Enable ramp function. Proceed to RAMP FUNCTION GENERATOR: ACCELERATOR ENABLED. 0 Halt ramping (Ramp Function Generator output held). 1 Normal operation. Proceed to OPERATING. Note: This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters. 0 Force Ramp Function Generator input to zero. 0=>1 Fault reset if an active fault exists. Proceed to SWITCH-ON INHIBITED.
Table 11. The Status Word for the ABB Drives communication profile. The upper case boldface text refers to the states shown in Figure 12. Bit 0 1 2 3 4 5 6 7 8 9 Name RDY_ON Value STATE/Description 1 READY TO SWITCH ON. 0 NOT READY TO SWITCH ON. 1 READY TO OPERATE. 0 OFF1 ACTIVE. 1 OPERATION ENABLED. 0 OPERATION INHIBITED. 1 FAULT. 0 No fault. 1 OFF2 inactive. 0 OFF2 ACTIVE. 1 OFF3 inactive. 0 OFF3 ACTIVE. SWC_ON_ INHIB 1 SWITCH-ON INHIBITED.
Bit Name 10 ABOVE_ LIMIT 11 EXT_CTRL_ LOC Value STATE/Description 1 Actual frequency or speed equals or exceeds supervision limit (set by drive parameter). Valid in both directions of rotation. 0 Actual frequency or speed within supervision limit. 1 External Control Location EXT2 selected. 0 External Control Location EXT1 selected. 1 Communication error detected by fieldbus adapter module. 0 Fieldbus adapter communication OK. 13 to Reserved.
SWITCH-ON INHIBITED MAINS OFF Power ON (SW Bit6=1) (CW Bit0=0) NOT READY TO SWITCH ON A B C D (SW Bit0=0) (CW=xxxx x1xx xxxx x110) (CW Bit3=0) READY TO SWITCH ON OPERATION INHIBITED (SW Bit0=1) (SW Bit2=0) operation inhibited (CW=xxxx x1xx xxxx x111) READY TO OPERATE from any state OFF1 (CW Bit0=0) OFF1 ACTIVE (CW=xxxx x1xx xxxx 1111 and SW Bit12=1) (SW Bit1=0) n(f)=0 / I=0 B C D (SW Bit1=1) ABB Drives Communication Profile CW = Control Word SW = Status Word n = Speed I = Input Current
Communication profiles
Communication Overview This chapter describes the PROFIBUS messaging used in the communication with the drive, and PROFIBUS slave device configuration messages. PROFIBUS DP The FPBA-01 module supports the PROFIBUS DP (DP-V0) protocol according to the IEC 61784 and EN 50170 standards. PROFIBUS DP-V0/DP-V1 is a distributed I/O system which enables the master to use a large number of peripheral modules and field devices.
Communication start-up The following Service Access Points (SAPs) are used to initiate DP communication: SAP no.
PROFIBUS SD2 telegram for Default SAP (0) and SAP 58-62 PROFIBUS typically uses SD2 telegrams for DP communication. The structure of an SD2 telegram is shown below.
Default SAP (SAP 0) (Data_Exchange) Allows the master to send output data to a slave station and to simultaneously request input data from the same station.
SAP 58 (Global_Control) This SAP is used to send special commands addressed to a single slave, a special group of slaves, or all slaves at once (broadcast). Global_Control Type: Octet String - Length: 2 DU Byte 0 Description GC_Command MSB 0 0 x x x x x 0 LSB Reserved Clear Data 0 = Do not clear output 1 = Clear output Unfreeze Freeze Un_Sync Sync 00 = No function 10 = Activated x1 = Deactivated 00 = No function 10 = Activated x1 = Deactivated Reserved 1 Group_Select 0 to 255.
SAP 61 (Set_Prm) This SAP is used in the parameterisation of the drive.
7 DPV1_Status_1 (DP-V1 only) MSB x 0 x 0 0 x x x LSB Dis_Start_Control (Disable Stop-Bit Control) 0 = Start bit monitoring in receiver enabled 1 = Start bit monitoring in receiver disabled Dis_Stop_Control (Disable Stop-Bit Control) 0 = Stop bit monitoring in receiver enabled 1 = Stop bit monitoring in receiver disabled WD_Base (Watchdog time base) 0 = 10 ms 1 = 1 ms Reserved Publisher_Enabled 0 = Slave not operated in DXB Publisher mode 1 = Slave operated in DXB Publisher mode Fail_Safe.
8 DPV1_Status_2 (DP-V1 only) MSB x x x x x x 0 x LSB Chk_Cfg_Mode 0 = Chk_Cfg according to EN 50170 (default state) 1 = User-specific evaluation of Chk_Cfg Reserved. To be parameterised with ‘0’.
10 11 12 13 1Bh Structured_Length (Default) Length of the structured Prm telegram. (User parameter length is 23 bytes + 4 header bytes.) 81h Structure_Type 129: USER_PRM_DATA 0 Slot_Number Set to 0. 0 Reserved. User_Prm_Data (Parameter Data Extended) Type: Octet String - Length: 23 14 Header byte 00h (default) MSB 0 0 0 0 0 x 0 x LSB Fail-safe mode. Defines the action taken when the PLC is switched from ‘RUN’ to ‘STOP’ mode. 00 = STOP (default) 01 = LAST REFERENCE 02 = USE FAIL-SAFE.
31 - 32 0-65536 Fail-safe, PZD8 33 - 34 0-65536 Fail-safe, PZD9 35 - 36 0-65536 Fail-safe, PZD10 The extended Parameter Data bytes are configured via the PROFIBUS network configuration tool. The functions are defined in the GSD file.
SAP 62 (Chk_Cfg) SAP 62 selects the PPO type to be used. The table below gives the typical hexadecimal values (DU Byte 0…n) that are sent to the drive in order to select the PPO type or standard telegram (STD).
Also data not consistent over the entire message is supported by the FPBA-01. The cyclical frame types supported by the module are defined in the GSD file. SAP 60 (Slave_Diag) This SAP gives diagnostic information on the slave station. Diag_Data (Diagnostic Data) Type: Octet String - Length: 6 (Standard) + 2 (Extended Diagnosis) (DP-V0 mode) + 5 (Extended Diagnosis) (DP-V1 mode) Note: During initialisation, the module only sends the standard part of the message.
1 Station_Status_2 MSB x 0 x x x 1 x x LSB Diag.Prm_Req (Set by Slave) Slave requires re-configuration and re-parameterisation Diag.Stat_Diag (Set by Slave) Static diagnosis. Slave (temporarily) unable to provide valid data Always set to 1 by slave Diag.WD_On (Set by Slave) Watchdog on Diag.Freeze_Mode (Set by Slave) Freeze command received by slave Diag.Sync_Mode (Set by Slave) Sync command received by slave Reserved Diag.
7** Communication Diagnostic (DP-V0 only) MSB 0 0 0 0 0 0 x x LSB Communication temporarily lost Communication permanently lost Reserved 7* Status Type = Status Message (0x81) (DP-V1 only) MSB 1 x x x x x x x LSB Diagnostic type 0 = Reserved 1 = Status_Message (normal alarm message) 2 = Module_Status 3 = DXB_Link_Status 4 to 29 = Reserved 30 = PrmCmdAck 31 = Red_State 32 to 126 = Manufacturer-specific 127 = Reserved Set to 1 8* Slot Number (0x00) (DP-V1 only) Slot number (0 to 24
Other SAPs for DP-V1 communication Master Class Master SAP Slave SAP Short Name Meaning C1 51 51 Server SAP Read, Write, Alarm C1 51 50 Alarm SAP Alarm C2 50 49 Resource Mgmt. SAP Req PDU C2 50 48..
Cyclical message types PPO types OUT area IN area ID IND IND VALUE VALUE Process data Fixed area CW SW Freely mappable area REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 ACT PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PKW Parameter channel Parameter identification PZD Type 1 DP-V0 Type 2 DP-V0 Type 3 DP-V1 Type 4 DP-V1 Type 5 DP-V0 Type 6 DP-V1 OUT area – Data sent from Master to Slave (control data) IN area – Data sent from Slave to Master (actual data) Parameter Identification: ID
Standard telegram types Standard telegram 1 Standard telegram 20 OUT area IN area OUT area IN area PZD1 PZD2 Control Word Status Word Speed setpoint Speed actual value PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Control Word Status Word Speed/Freq. setpoint Speed/Freq. actual value Output current Torque act./ Active curr. Active power Freely assignable Figure 15.
Parameter handling in cyclic communication (DP) In cyclic PROFIBUS DP communication, parameter data is transferred in PPO message types 1, 2 and 5 (see Figure 14.). The Parameter Identification part consists of eight bytes (see below). Parameter Identification ID IND Process Data CW REF SW ACT (PD1, PD2...
Response label (Acknowledgement from Slave to Master) Ackn.
The allocation of drive control/actual words, drive parameters and PROFIdrive parameters to the Parameter Identification part of the PPO type is shown below. The Index column corresponds to the parameter number (PNU) in the ID part of Parameter Identification. The Sub-index column corresponds to the IND part of Parameter Identification. The Example No. column refers to the examples on the following pages. Virtual drive control area Index Sub-index Par. No.
PROFIdrive parameters Index Sub-index Par. No. (Decimal) 2h 393h 394h 3h ••• 915 3 ••• 9 2h 2 ••• 916 3 ••• 9h 396h 0h Example No. 2 9h 3h Request Label R/W 6/7 6 R/W 6/7 7 R/W 1/2 3, 4 R 6 5 R/W 1/2 3,4 9 918 ••• 3B3h 0h 1 9h 9 11h 19h 947 17 25 21h 33 29h 41 ••• 3CCh 0h 972 The complete PROFIdrive parameter list for the FPBA-01 can be found as a separate chapter elsewhere in this manual.
Parameter data transfer examples Note: Only the ‘Data unit’ part of the telegram is presented in the examples. See Figure 13 on page 63. Example 1: Reading a drive parameter (or data set) To determine the parameter number and subindex for drive parameter reading, convert the drive parameter group number and the parameter index number to hexadecimal. The index number is the subindex (IND), and the group number is the parameter number (PNU). For example, to read parameter 84.11 from the drive: 84.
Example 2: Writing a drive parameter (or data set) To determine the parameter number and subindex for drive parameter writing, convert the drive parameter group number and the parameter index number to hexadecimal. The index number is the subindex (IND), and the group number is the parameter number (PNU). For example, to write parameter 12.02 to the drive: 12.02 = 0Ch.02h => Parameter number = 0Ch, Subindex = 02h.
Example 3: Reading a PROFIdrive parameter (word) In this example, PROFIBUS Parameter 918 is used to read the station number of the slave. Request (Parameter value read) Parameter Number (918 decimal) IND Read: Param. Value CW REF DP 13 96 00 00 00 00 00 00 04 7F 34 15 DP Response header 13 96 00 00 00 00 00 02 03 37 34 15 trailer Request IND Param. Value SW Parameter Number (918 decimal) Response (Parameter value updated) The slave returns its station number (2).
Example 4: Writing a PROFIdrive parameter (word) In this example, current parameter settings are saved to the FLASH memory of the drive. This is done by setting the value of PROFIBUS Parameter 971 (3CBh) to 1. Note that the drive always observes the Control Word (CW) and Reference (REF) bytes. The values shown below are examples. Request (Parameter value write) Parameter Number (971 decimal) IND Write: Param.
Example 5: Reading a PROFIdrive parameter (array) In this example, PROFIBUS Parameter 947 is used to read the code of the latest acknowledged fault. As shown in Table 24 on page 113, parameter 945 is of the array type with subindexes 1, 9, 17 and 25. Request (Request parameter value [array]) Parameter Number (945 decimal) Subindex (Latest acknowledged fault)* CW Param.
Example 6: Configuring the process data written to the drive PROFIBUS parameter 915 can be used to define which data is written cyclically to a drive parameter as application-specific process data. In the example below, the value of drive parameter 12.02 (0Ch.02h) is selected to be taken from PZD3. The parameter will continue to be updated with the contents of PZD3 in each Request frame until a different selection is made.
Example 7: Configuring the process data read from the drive PROFIBUS Parameter 916 can be used to define which data is read cyclically from the drive as application-specific process data. In the example below, drive parameter 1.04 (01h.04h) is selected to be transmitted by the drive as PZD3. The selection is in force until it is superseded by another selection.
DP-V1 read/write request sequence A read/write service on a drive parameter is illustrated below. Master PROFIdrive Parameter request DP-V1 Slave Write request DB47 Parameter request Write response without data Read request DB47 without data Read response (–) without data Parameter processing Read request DB47 without data PROFIdrive Parameter response Read response with data Parameter response The messaging employs DP-V1 data units.
request will be repeated by the master until the FPBA-01 has the PROFIdrive response data ready. If the write request is invalid, a negative response is returned with a DP-V1 error code (see Table 19).
PROFIBUS SD2 telegram for SAP 51 The Read/Write service uses a variable-length PROFIBUS SD2 telegram shown below.
Table 17. DP-V1 function numbers Value 0x48 0x51 0x56 0x57 0x58 0x5C 0x5E 0x5F 0xD1 0xD7 0xDC 0xDE 0xDF Meaning Idle REQ, RES Data transport REQ, RES Resource manager REQ Initiate REQ, RES Abort REQ Alarm REQ, RES Read REQ, RES Write REQ, RES Data transport negative response Initiate negative response Alarm negative response Read negative response Write negative response Table 18.
Table 19.
Table 20. PROFIdrive Request header Field(s) Description Range Byte/ Word Request Reference Unique identification set by the master. Changed for each new request. 1 … 255 Byte Request ID Request type for the issued block. Request Parameter (01h) Change Parameter (02h) Byte Axis To be set to 0 or 1. 0 … 255 Byte No. of Number of parameters that are present Parameters in the request. 1 … 37 Byte Attribute Type of object being accessed. Note: “Text” is not supported.
Table 21. PROFIdrive Response header Field(s) Description Range Response Reference Mirrored from the request. 1 … 255 Response ID Response from the slave. In case any requested services fail, a “not acknowledged” (NAK) response will be indicated. Request Param OK (01h) Request Param NAK (81h) Change Param OK (02h) Change Param NAK (82h) Axis To be set to 1. 0 … 255 No. of Parameters Number of parameters that are present in the response. 1 … 37 Format* See Table 22.
Table 23.
16h Parameter address impermissible Illegal value or value that is not supported for the attribute, number of elements, parameter number or subindex, or a combination 17h Illegal format Write request: Illegal format or format of parameter data that is not supported 18h Number of values inconsistent Write request: Number of values of parameter data does not match number of elements at the parameter address 65h … FF Manufacturer-specific – 65h Vendor-specific error Vendor-specific error 66h
83h … 8Bh Manufacturer-specific – 8Ch Set torque mode error Cannot change mode to TORQUE (frequency is used) 90h Illegal Request ID The request ID of the response is illegal 8Dh … FFh Manufacturer-specific – Communication
Parameter data transfer examples The following examples show how parameter data is transferred using the DP-V1 mechanisms READ and WRITE. Note: Only the “Data unit” part of the SD2 telegram is presented in the examples. See Figure 16 on page 91. Example 1a: Reading a drive parameter Drive parameters are addressed so that the drive parameter group corresponds to the parameter index (PNU), and the drive parameter number within the group corresponds to the subindex (IND).
Positive Read response to DP-V1 Read request: Function number Slot number Index Data length Response reference (mirrored) Response ID Axis Number of parameters Format (42h = Word) Number of values Parameter value DP 5E 01 2F 08 05 01 01 01 42 01 05 64 DP trailer header DP-V1 Response PROFIdrive V3 Parameter Channel Negative response to PROFIdrive Read request: Function number Slot number Index Data length Response reference (mirrored) Response ID Axis (mirrored) Number of parameters Format (44h = Err
Example 1b: Reading 3 drive parameters In this example, three parameters (12.04, 12.05 and 12.06) are read using one telegram. DP-V1 Write request (Read parameter value): Function number Slot number Index Data length Request reference Request ID (01h = Request Parameter) Axis Number of parameters Attribute (10h = Value) Number of elements Parameter index Subindex DP 5F 01 2F 16 06 01 01 03 10 01 00 0C 00 04 ••• header DP-V1 Command PROFIdrive V3 Parameter Channel ••• ••• 10 01 00 0C 00 05 (Par.
Positive Read response to DP-V1 Read request: Function number Slot number Index Data length Response reference (mirrored) Response ID Axis Number of parameters Format (42h = Word) Number of values Parameter value 5F 01 2F 10 06 01 01 03 42 01 01 90 DP ••• header DP-V1 Response PROFIdrive V3 Parameter Channel ••• ••• 42 01 03 84 (Par. Channel cont’d) 42 01 01 F4 (Par. Channel cont’d) ••• DP trailer The values 190h (400), 384h (900) and 1F4h (500) are returned.
Example 2a: Writing a drive parameter Drive parameters are addressed so that the drive parameter group corresponds to the parameter index (PNU), and the drive parameter number within that group corresponds to the subindex (IND). In the following example, a value is written to drive parameter number 12.02 (0C.02h).
Example 2b: Writing 2 drive parameters In this example, the values 300 (12Ch) and 500 (1F4h) are written to drive parameters 12.02 (0C.02h) and 12.03 (0C.03h) respectively using one telegram.
Slot number Slot number Index Data length Request reference (mirrored) Response ID Axis (mirrored) Number of parameters DP header 5E 01 2F 04 08 02 01 02 PROFIdrive V3 DP-V1 Response Parameter Channel DP trailer Example 3: Reading a PROFIdrive parameter In this example, PROFIBUS parameter No. 918 (396h) is used to read the station number of the slave.
DP-V1 Read response Function number Slot number Index Data length Request reference (mirrored) Response ID Axis (mirrored) Number of parameters Format (42h = Word) Number of values Value or error values DP 5E 01 2F 08 09 01 01 01 42 01 23 00 DP trailer header DP-V1 Response PROFIdrive V3 Parameter Channel The slave returns the code of the latest acknowledged fault (2300h). The fault codes are according to the DRIVECOM standard. See also the User’s Manual of the drive for drive specific fault codes.
DP-V1 Write request Function number Slot number Index Data length Request reference Request ID (02h = Change) Axis Number of parameters Attribute (10h = Value) Number of elements Parameter index Subindex Format (42h = Word) Number of values Value DP 5F 01 2F 0E 0A 02 01 01 10 01 03 93 00 03 42 01 0C 06 DP trailer header DP-V1 Command PROFIdrive V3 Parameter Channel DP-V1 Read response Function number Slot number Index Data length Request reference (mirrored) Response ID Axis (mirrored) Number of para
Example 5: Determining the source of process data read from the drive PROFIBUS Parameter No. 916 (394h) can be used to define which data is read cyclically from the drive as application-specific process data. In the example below, the parameter is used to determine which drive parameter the contents of PZD3 are taken from. Subindex (IND) defines which process data word the required data is transmitted in.
Diagnostics LED indications The FPBA-01 module is equipped with three bicolour diagnostic LEDs. The LEDs are described below.
Diagnostics
PROFIdrive parameters Table 24. PROFIdrive profile-specific parameters. Parameter 915 916 918 R/W* Data type 919 927 R R/W 928 R/W R/W R/W R/W Description Array [10] Unsigned16 Assignment PZD1 to PZD10 in PPO-write Array [10] Unsigned16 Assignment PZD1 to PZD10 in PPO-read Unsigned16 Node address. Writing this parameter will change the node address. Module re-start required. Octet String4 Device system number. Unsigned16 Operator control rights (parameter identification, PKW).
Parameter 929 R/W* Data type Description R Unsigned16 930 R/W Unsigned16 933 R/W Unsigned16 934 R/W Unsigned16 935 R/W Unsigned16 936 R/W Unsigned16 937 R/W Unsigned16 Selected PPO type Value PPO type Configuration 1 PPO1 F3h, F1h 2 PPO2 F3h, F5h 3 PPO3 F1h 4 PPO4 F5h 5 PPO5 F3h, F9h 6 PPO6 F9h Note: This parameter is not available if Standard telegram STD1 or STD20 are selected. Selection switch for communication profile.
Parameter 939 R/W* Data type 940 R/W 941 R/W 942 R/W 943 R/W 945 R 947 R 952 R/W 953 954 R R R/W Description Unsigned16 Selection switch for Status word, bit 11. Value Module Status word bit 0 None 1 to 3 Vendor specific 1 to 3* * The meaning of vendor specific bits is defined by drive application program. Unsigned16 Selection switch for Status word, bit 12. (See parameter 939 for coding) Unsigned16 Selection switch for Status word, bit 13.
Parameter 955 956 957 958 959 960 961 R/W* Data type Description R R R R R R R Unsigned16 Unsigned16 Unsigned16 Unsigned16 Unsigned16 Unsigned16 Octet String4 963 R Unsigned16 964 R Array [7] Unsigned16 965 R Octet String2 967 968 R R Unsigned16 Unsigned16 **Third last alarm **Fourth last alarm **Fifth last alarm Sixth last alarm (not supported) Seventh last alarm (not supported) Eighth last alarm (not supported) Hardware configuration (manufacturer specific ID of the drive) Detected ba
Parameter 970 R/W* Data type Description R/W Unsigned16 971 R/W Unsigned16 972 R/W Unsigned16 Load parameter record Value Description 0 No action 1 Restore factory settings The parameter must do a zero-to-one transition and the motor must be stopped. Save parameter record Value Description 0 No action 1 Save the drive parameters to non-volatile memory The parameter must do a zero-to-one transition and the motor must be stopped.
PROFIdrive parameters
Definitions and abbreviations PROFIBUS definitions Acyclic Communication Array Broadcast Command Word Communication in which messages are sent only once on request Parameter consisting of data fields of equal data type Non-acknowledged message from master to all bus participants (compare Multicast) See Control Word Communication Object Any object of a real device that can be communicated with (variable, program, data range, etc.). Stored locally in the Object Dictionary.
Master Multicast Control system with bus initiative. In PROFIBUS terminology, master stations are also called active stations. Non-acknowledged message from master to one group of bus participants (compare Broadcast) Name Symbolic name of a parameter Nibble Set of 4 bits Object Dictionary Local storage of all Communication Objects recognised by a device Object List List of all accessible objects Parameter Value that can be accessed as Object, e.g.
Warning Signal caused by an existing alarm which does not lead to tripping of the device PROFIBUS abbreviations The text in italics is the original German term. .con Confirmation .ind Indication .req Request .
ISW KR (KB) see ACT see CR PA Process Automation Prozessautomatisierung PD Process Data Prozessdaten PKE Parameter Identification Parameter-Kennung PKW Parameter Identification Value Parameter-Kennung-Wert PNU Parameter Number Parameternummer PPO Parameter/Process Data Object Parameter-/Prozessdaten-Objekt PWE Parameter Value Parameter-Wert PZD see PD PZDO Process Data Object Prozessdatenobjekt SAP Service Access Point SOW Reference Sollwert SPM Request Signal Spontanmeldung S
Technical data FPBA-01 Enclosure: Mounting: Into the option slot on the drive. Degree of protection: IP20 Ambient conditions: The applicable ambient conditions specified for the drive in its manuals are in effect. Indicators: Three bicolour LEDs (HOST, MODULE, NETWORK) Connectors: • 20-pin connector to drive (X2) • 9-pin D-SUB connector to bus (X1) Power supply: • +3.3 V ±5% max. 450 mA (supplied by the drive) • Isolated +5 V supply available for bus termination circuitry (X1 pins 5 and 6). 30 mA max.
General: • Estimated min.
PROFIBUS link Compatible devices: All PROFIBUS-compliant devices Medium: Shielded twisted pair RS-485 cable (PROFIBUSapproved cable recommended) • Termination: 220 ohms, or active termination circuitry at each end of trunk cable (termination not built in the FPBA-01 module) • Specifications: Line A PROFIBUS DP Parameter Line B DIN 19245 Part 1 Unit Impedance 135 to 165 (3 to 20 MHz) 100 to 130 (f > 100 kHz) ohm Capacitance < 30 < 60 pF/m Resistance < 110 – Ω /km Wire gauge > 0.64 > 0.
Technical data
3AFE 68573271 REV A EN EFFECTIVE: 01.07.2005 ABB Oy AC Drives P.O. Box 184 FIN-00381 HELSINKI FINLAND Telephone +358 10 22 11 Fax +358 10 22 22681 Internet http://www.abb.com ABB Inc.
