Allen Bradley Profibus-Dp Comm Module
Allen Bradley Profibus-Dp Comm Module
Allen Bradley Profibus-Dp Comm Module
User Manual
Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable. In no event will Rockwell Automation be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation is prohibited. Throughout this manual we use notes to make you aware of safety considerations. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.
Attentions help you: identify a hazard avoid the hazard recognize the consequences Important: Identifies information that is especially important for successful application and understanding of the product. Shock Hazard labels may be located on or inside the drive to alert people that dangerous voltage may be present.
MicroLogix and SLC are trademarks of Rockwell Automation. PLC and PLC-5 are registered trademarks of Rockwell Automation. RSLinx and RSLogix 500 are trademarks of Rockwell Software, Inc. Windows and Windows NT are registered trademarks of Microsoft Corporation Profibus is a registered trademark of the Profibus Trade Organisation
Table of Contents
Preface
Who Should Use This Manual? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PD1 Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 1
Product Overview
Chapter 2
Chapter 3
EMC Directive 89/336/EEC Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 Low Voltage Directive 73/23/EEC Compliance . . . . . . . . . . . . . . . . . . . . . 3-1 Profibus-DP Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Module Configuration Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Setting the node address S1 & S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Module Installation/Removal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Keypad or Ready/Fault Panel Removal . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Installing the PD1 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Removing the PD1 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 Wiring the Drive Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 Wiring the PD1 Ground Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Wiring the Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 Connecting the Communication Cable to the Module. . . . . . . . . . . . . . . . 3-8 Profibus Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Chapter 4
Modes of Operation
Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power-up Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 5
160 SSC Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data from Profibus-DP Master to PD1 Slave . . . . . . . . . . . . . . . . . . . . . . . Data from PD1 Slave to Profibus-DP Master . . . . . . . . . . . . . . . . . . . . . . Control and Status Word PROFIDRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . State Transitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter Access Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6
Required Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Create a Profibus Network Configuration Frame . . . . . . . . . . . . . . . . . . . . 6-2 Installing the 160-PD1 GSD File in the Software Tool Library . . . . . . . . . . 6-2 Configuring the SST-PFB-SLC Scanner. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 Summary of the Example Scanner Configuration . . . . . . . . . . . . . . . . . . . 6-8 Setting up the SST-PFB-SLC Scanner Card to work in the SLC . . . . . . . . 6-9 SLC Ladder Logic Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11 Controlling the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13 The Profibus Telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
Chapter 7
Setting the Drive to Enable Network Control . . . . . . . . . . . . . . . . . . . . . . . 7-1 Setting the Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Chapter 8
Troubleshooting
Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LED Indicators and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . READY LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . COMM LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FAULT LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A
Specifications
Index
Preface
This manual is intended for qualified personnel. To make efficient use of the Communication Module, you must be able to program and operate Profibus communications devices, as well as have an understanding of the parameter settings and functions of the 160 Drive.
Conventions
In this manual we refer to the: 160-PD1 Communication Module as Communication Module, PD1 Module or Module. 160 SSC Adjustable Frequency AC Drive as the 160 Drive or drive. In addition, parameter numbers and names (both 160 Drive and PD1 Module) are shown in bold typeface and follow the format PXX - [*] where P denotes parameter, XX denotes the two digit parameter number, and * represents the parameter name. For example, P01 - [Output Frequency].
PD1 Compatibility
The PD1 Module is compatible only with 160 Drives Series C or above. When properly connected, the module communicates via a Profibus-DP network.
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Preface
Reference Manuals
The following documents contain additional information concerning Allen-Bradley products. To obtain a copy, contact your local Allen-Bradley Sales Office or visit the On-Line Publications area of the Allen-Bradley Internet home page at: www.ab.com..manuals.
Read This Document SLC 500 Modular Hardware Style Manual AIC+ Advanced Interface Converter User Manual SLC 500 and MicroLogix 1000 Instruction Set Reference Manual MicroLogix 1000 User Manual 160 SSC Variable Speed Drive (Series C) User Manual Allen-Bradley Publication Index Publication Number 1747-6.2 1761-6.4 1747-6.15 1761-6.3 0160-5.17ML SD499
For Additional information about networking and the SLC 500 Information about the AIC+ Instruction set information for the SLC 500 and MicroLogix 1000 For general MicroLogix 1000 information For 160 SSC Drive Information: A complete listing of current Allen-Bradley documentation, including ordering instructions. Also indicates whether the documents are available on CD-ROM or in multi-languages. A glossary of industrial automation terms and abbreviations Information about the SSC-PFB-SLC Scanner
Allen-Bradley Industrial Automation Glossary AG-7.1 Scanner Card User Manual. SST Woodhead documentation can Version 1.0 be obtained online at http://www.mySST.com/download/
Safety Precautions
ATTENTION: Only personnel familiar with 160 Drives, Communication Modules and associated machinery should plan or implement the installation, start-up, configuration and subsequent maintenance of this module. Failure to comply may result in personal injury and/or equipment damage. ATTENTION: This module contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing, or repairing this assembly. Component damage may result if ESD control procedures are not followed. If you are not familiar with static control procedures, reference Allen-Bradley Publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD protection handbook. ATTENTION: The drive contains high voltage capacitors which take time to discharge after removal of AC line power. Before installing or removing the Communication Module, ensure isolation of mains supply from line inputs R, S, T (L1, L2, L3). Wait the recommended amount of time for the capacitors to discharge to safe voltage levels (refer to the 160 SSC Variable Speed Drive (Series C) User Manual for recommended time). Failure to do so may result in personal injury or death. ATTENTION: When a system is configured for the first time, the motor must be disconnected from the machine or process during initial system testing. Hazard of injury or equipment damage may occur due to unintended or incorrect machine motion.
Chapter
Product Overview
This chapter contains the following information: The physical layout of the module. Location of configuration switches. Overview and components.
Module Description
The PD1 Module is an optional interface device designed to provide a direct, digital link between a Profibus Master and the 160 Drive. The module connects to the drive through the expansion/keypad port on the front of the drive. Refer to Figures 1.1 and 1.2 for general layout of the module and Chapters 4 or 8 for details on the LED indicators.
Figure 1.1 Module Front View Module Installation Latch
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Product Overview
D-Shell Connector
Chapter
Have the following tools and equipment ready: 3.2 mm (1/8 in.) flat blade screwdriver. GSD configuration file (see Page 3-2)
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Procedures
Step Action 1. 2. Review Attention statements in the Preface. Ensure that power to the 160 Drive has been removed. Verify that the 160 Drive is correctly installed and wired. Stop Input (TB3-7, TB3-8) must be jumpered together to start drive. Configure the 160 Drive for the PD1 Module so the drive can accept control logic and speed reference via the network. Set P46 - [Input Mode] to a value of 2 or 6 as described in Table 6.A. This will configure the drive to accept the logic commands from the network. Note: If the value has to be changed, set P56 - [Reset Functions] to 2 or reboot the drive. Set P59 - [Frequency Select] to 1. This will configure the drive to accept speed commands from the network. Set P66 - [RPM Scaling] for the RPM/Hz Scaling factor. This allows theNetwork Reference to be in RPM. 5. 6. 7. 8. 9. Remove Program Keypad Module or Ready/Fault Indicating Panel from the drive. Set the PD1 Modules node adress. Install the PD1 Module. Connect communication cable. Check correct cable termination (figure 3.7) Power up the drive and the network. Chapter 3 (Installation) Chapter 3 (Installation) Chapter 3 (Installation) Chapter 3 (Installation) Chapter 3 (Installation) 160 Drive User Manual 160 Drive User Manual Chapter 5 (Parameters) For Further Information Refer to
3.
4.
Chapter
This product complies with Electromagnetic Compatibility (EMC) Directive 89/336/EEC when conforming with the following installation requirements: The essential requirements for a conforming EMC installation for the Bulletin 160 SSC are employed. Refer to the 160 SSC Variable Speed Drive (Series C) User Manual.
This product complies with Low Voltage Directive 73/23/EEC when conforming with the following installation requirements: The essential requirements for a conforming LowVoltage Directive installation for the Bulletin 160 SSC are employed. Refer to the 160 SSC Variable Speed Drive (Series C) User Manual. Review the Attention statements in the Preface, and other areas throughout this manual prior to installation of the module.
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Profibus-DP Configuration
From Profibus-DP point of view the Profibus-DP Slave (PDPS) node is configured based on a data file (*.GSD) which contains information of the size and data-structure of the PDPS. The Master controls the data exchange to all connected slaves. The slaves I/O data are mapped into memory inside the Master according to the GSD configuration file. The Profibus User Organization (PNO) registered the required Profibus ID as: 0587h. The GSD file is named: PD1_0587.GSD. It can be downloaded from the Internet either via Allen Bradley Homepage under http://www/ab.com/drives/Profibus/Index.html or PNO Homepage under http://www/Profibus.com/downloads.html than GSD Library / Rockwell Automation AG and Drives. A micro floppy disk containing this GSD file is also available on request from stock (RA catalog number: 160-GSD).
The PD1 Module utilizes two ten-position rotary switches (see figure below) to configure the node address. These switches must be set to match the application settings. Refer to the paragraphs that follow.
Figure 3.1 Rotary Switch Location (Back of Module) Module Latch Expansion/Keypad Port Connector
D-Shell Connector
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Module Installation/Removal
ATTENTION: The drive contains high voltage capacitors which take time to discharge after removal of mains supply. Before installing or removing a keypad/module, ensure isolation of mains supply from line inputs R, S, T (L1, L2, L3). Wait the recommended amount of time for the capacitors to discharge to safe voltage levels (refer to the 160 SSC Variable Speed Drive (Series C) User Manual for recommended time). Failure to do so may result in personal injury or death.
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Figure 3.3 Communication Module Installation Latch must be in this position before installation. Once installed, push the latch down until it locks into place.
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The 160 drive and 160-PD1 interface can be controlled on a network in 2 different modes. [Input Mode] = 2 This mode is used where the drive is controlled solely by the network. The 160-SSC drive requires, that a stop signal is present on the hardware terminals, before the drive can be started. Control Terminal Block 3 (TB-3) pins 7 & 8 need to be linked by ether a wire bridge or a normally closed stopping device. Fitting a stopping device (e.g. pushbutton) in place of the link, can provide additional local stop/emergency stop capability. Important: Failure to link the stop command input, will result in the drive generating a fault, and inability to run accross a network. [Input Mode] = 6 This mode is used whereby it is possible to control the drive across the network or locally, by putting a switch on the Control Terminal Block 3 (TB-3) pins 7 & 8. When the switch is closed, the Frequency source comes from the reference as defined by P59 - [Frequency Select]. As we are using the 160-PD1, the reference is across the Profibus network. Additionally the start command is active across the network. When the switch is open, the Frequency source comes from the terminal block (analogue reference or potmeter), regardless of the setting of P59 - [Frequency Select]. Additionally the start command is controlled by the terminal block or keypad.
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In addition to the ground connections shown in Appendix C of the 160 SSC manual, the ground terminal at the bottom of the PD1 module must be solidly connected (and as short as possible) to the output ground terminal at TB2 of the 160 SSC drive, as shown in Figure 3.4: This connection shall have a cross section of 1.5 mm 2 .
Figure 3.5 PD1 Module Grounding
PE Enclosure Ground Connection T/L3 S/L2 R/L1
AC nput Line
Filter
FAULT READY
Control Cabinet
Ground Terminal PE
to Motor
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The examples below can be used as a guide when wiring. Important: Keep communication wiring away from high noise sources such as motor cables. Use terminated cable only for the last node (end of chain)
Figure 3.6 Wiring the PD1 Connector
Pin 9
The PDP network cables are connected to the PD1 module using a 9-pole D-Shell connector with a suitable opening facing downwards. The pin layout of the connector follows the Profibus standard. The Vcc (pin 6) and GND signal (pin 5) can be used for external bus termination. Important: Only use cable that conforms to ProfiBus cable standards. Belden type 3079A ProfiBus cable or equivalent is recommended.
Figure 3.7 Cable Termination
RxD/TxD-N 8 RxD/TxD-P 3 A B 8 RxD/TxD-N 3 RxD/TxD-P
Vcc GND
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Follow these steps to connect your module. 1. Verify that the cable/connector is correctly wired (see Figure 3.6 and Figure 3.7). 2. Locate the D-shell connector at the base of the PD1 Module. 3. Plug cable/connector into the PD1 D-shell connector and secure.
Figure 3.8 Profibus Connection
Internal Network Termination Resistor
* Termination is required at both ends of the network. The Profibus master might offer on-board termination. Make sure that other Profibus slaves with on-board termination are set up correctly.
The network must be terminated at the first (network master) and the last PD1 module. A bus cable connector with an internal resistor network must be used as no internal termination is provied on the PD1 module. (Refer to Figure 3.7).
Chapter
Modes of Operation
Chapter 4 contains the following information: Powering up the drive with the PD1 Module installed LED Indicators Operation Modes
After you have installed the PD1 Module, apply power to the drive and to the connected device. The READY LED should illuminate. If it does not, refer to Chapter 8, Troubleshooting.
LED Indicators
The PD1 Module has three LEDs (see figure below) which provide module status.
READY LED FAULT LED COMM LED
The LEDs are defined as follows: COMM The COMM LED has four possible states: Green (steady) Communication ok, data is exchanged. Red (steady) Diagnostics failed at power-up or fatal error. Red (flashing) Profibus configuration fault (5 to 6 flashes). Off No communication takes place / No power For more details refer to Troubleshooting, Table 8.A FAULT This LED tracks the fault status of the 160 Drive. When no faults are present, the LED will be off. The LED will illuminate (red) if a drive or an option board fault occurs. READY The Ready LED will illuminate (green) whenever the module is connected to the drive and power is applied.
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Modes of Operation
Operation Modes
The PD1 Module has three modes of operation. Power-up mode Run mode Error mode
Power-up Mode
The following sequence of operation occurs: 1. During power-up, the READY LED illuminates green and the FAULT and READY LEDs light up for a short periode. 2. The module reads and stores the rotary switch settings. If the power-up sequence is successful, the module enters the run mode and the COMM LED turns solid green as soon as data is exchanged. If the power-up sequence fails, the COMM and FAULT LED will stay solid red and the module will enter the Error Mode (see below).
Run Mode
After a successful power-up, the PD1 Module enters the run mode and operates as a slave device to a master device. In run mode, the module: Accepts and responds to messages from the master on the network. Monitors cable integrity and transmission performance. COMM LED green if communication with the master is ok. If an error is detected, the module enters Error Mode (see below).
Error Mode
Errors are indicated either by the COMM LED: Flashing red (5 to 6 flashs) signals a Profibus configuration fault Flashing red (other than 5 to 6 flashs) signals a fatal error Solid red signals that the power-up sequence failed or the FAULT LED, which illuminates solid red at any 160 drive fault or option board fault. SSC160 drive faults are also indicated by the FAULT LED. (See table 8.B). Refer to Chapter 8 for details on how to recover from an error.
Chapter
Default
0
59
4 5
Read Write
0/1
66
4 5
Read Write
0-240 [0-2400]
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ATTENTION: Unpredictable motor speed can cause death, injury or equipment damage. Do not use P66 as the [Preset Frequency 5] function via control terminal wiring.
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Drive PD1 (Tab. 5E) Min./Max. Param. No Param. Oper. Access [Parameter Name] and Description Values Default 116 4 Read only [PD1 SW Version] 0.00 to 10.0 1.0 This parameter indicates the software version of the PD1 option. The number is in the form of xx.yy where xx indicates the major revision level and yy indicates the minor revision level.
Note: P57 [Program lock] may be set to 1 (locked), but parameter programming via network will still be possible.
The Profibus Telegram consists of several bytes (words) according to the following table:
Table 5.A
Byte Control Word (LSB) Control Word (MSB) Byte No. Description 1 Control Word according to PROFIDRIVE and SSC160 2 Includes bits for parameter access control (see table 5.E) Speed Reference (LSB) 3 Speed reference in 0.1 Hz Speed Reference (MSB) 4 0 to 2400 = 0 to 240 Hz Parameter Value (LSB) 5 Parameter value Parameter Value (MSB) 6 Par. Number 7 Parameter number to access (refer to SSC160 manual) Reserved 8 not used
Table 5.B
Byte Status Word (LSB) Status Word (MSB) Byte No. Description 1 Status Word according to PROFIDRIVE and SSC160 2 Includes bits for parameter access control (see table 5.E) Speed Feedback (LSB) 3 Output Frequency Speed Feedback (MSB) 4 Speed feedback corresponds to P01 [Output Frequency], which reflects the output frequency considering ramp rates. (scaling as above) Parameter Value (LSB) 5 Parameter value Parameter Value (MSB) 6 Parameter Number 7 Parameter number to access (refer to SSC160 manual) Parameter Access Status 8 Parameter Access Status=0x01 indicates a valid access cycle (see table 5.G)
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Control and Status word bits are defined as follows (speed control):
Table 5.C Control Word (Bit definition)
Bit No. 0 1 2 3 4 5 6 7 8 to 12 13 14 15 PROFIDRIVE (Control) On / Off 1 Operating condition / Off 2 Operating condition / Off 3 Enable / Inhibit operation Operating Condition / Inhibit ramp Reserved Enable / Inhibit Setpoint Acknowledge Reserved Parameter Operation 0 Parameter Operation 1 Parameter Operation 2 Function 1 = Enable op., 0 = Stop drive according to P34 1 = Enable operation according to P34 1 = Enable operation, 0 = Fast Stop 1 = Run / Start operation, 1 = Enable, 0 = Ramp to zero 1 = Speed Ref Enable Fault Reset at 0 to 1 transition
To start the drive, set the control word (Low Byte) from 6 to 5Fh. To stop the drive, set the control word (Low Byte) to 57h. To control the drive via Terminal Block (TB3), the Control Word Low Byte must be set to 06h (state READY TO SWITCH ON).
Table 5.D Status Word (Bit definition)
Bit No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 PROFIDRIVE (Status) Ready / Not for switch on Ready / Not for operation Operation enabled / inhibited Fault / no Fault No Off 2 / Off 2 No Off 3 / Off 3 Switch On Inhibit / not inhibit Reserved Ref. Within Limits / not Control requested / operation on site Ref. reached Direction Reverse Request Parameter Operation 0 Parameter Operation 1 Parameter Operation 2 Function 1 = Ready (Diagnostics o.k.) 1 = Ready (Diagnostics o.k.) 1 = Drive operating (Bit 3 of Control Word) 1 = Faulted 1 = Enabled (Bit 1 of Control Word) 1 = Enabled (Bit 2 of Control Word) 1 = Inhibited (Bit 1,2 of Control Word not set) 1 = Speed Reference within range (P32, P33) 1 = Master is requested to take control 1 = Speed Reference reached 1 = Reverse, 0 = Forward 1 = Reverse Request at TB input Parameter access according to Table 5.E
* Internal speed reference/feedback is computed in 0.1Hz increments. Due to rounding issues speeds in RPM may differ. Resolution error in RPM = P66 * 0.05. Example: for P66 = 16.6 the possible error is 1 RPM.
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State Transitions
The following Figure 5.1 shows the most important state transitions
Figure 5.1 State Diagram
FAULT
0xxx'1000
01xx'0000
0FF2 or 0FF3
xxxx'x110
x1x1'1111
RUNNING
0011' 0111
0FF1
Control Words (Low Byte) appear outside the boxes Status Words (Low Byte) appear inside the boxes
Parameter Operation
According to Table 5.E, three parameter operation bits in the control/ status word allow access to certain parameter values:
Table 5.E
Parameter Operation 0 1 2 3 4 5 6 7 15 0 0 0 0 1 1 1 1 Bit 14 0 0 1 1 0 0 1 1 13 0 1 0 1 0 1 0 1 Description No operation Read Attributes Read minimum Read maximum Read value Write value Read default Unused
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Parameter Access
Parameter Attributes
Each parameter is described by an attribute to be read according to table 5.F. The attribute consists of one word with 2 bytes which are defined as follows: High Byte stores the Unit (scaling) according to the table 5.G, Low Byte stores the parameter number.
Table 5.F
High Byte 0 1 2 3 4 5 6 7 Units Decimal Decimal Decimal Hexadecimal Binary Decimal (signed) Decimal (signed) Decimal (signed) 1 0.1 0.01 1 1 1 0.1 0.01
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End of Chapter 5
Chapter
The SST-PFB-SLC scanner for the SLC500 is used in the examples in this manual. However the concepts demonstrated in the examples apply to any Profibus master.
Required Tools
The following tools are needed to complete this chapter. Bulletin 160 series C or higher, equipped with a 160-PD1 Profibus communication module SLC500 processor with a digital input card to issue start & stop commands. SST-PFB-SLC scanner card, SST Configuration Tool and null modem cable.
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The SST Profibus scanners come with a software tool for configuring the scanner. If you activate this program in your computer the following screen should appear.
Follow the steps outlined below only when a new GSD file needs to be added to the SST PROFIBUS Configuration Software Tool. Typically this is only done once, after the software tool is initially installed or before configuring the scanner for the network. The software tool comes with standard data files. Additional data files, such as the 160-PD1 GSD file, will need to be added to configure the 160-PD1 in the scanner. Click on the New Device icon to add GSD files to the software library tool. An Add PROFIBUS devices Applet window will appear. Prompts for the location of the PROFIBUS data files to be added to the library will follow.
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Find the directory location of the data file(s) you wish to add (typically, the source location is a floppy disk in drive A:). PD1_0587.gsd is the GSD file for the 160-PD1 as shown below.
Select PD1_0587.gsd for the 160-PD1 and click Open. Click on the (+) sign of the Slaves folder as shown below.
The software tool will automatically create a Rockwell Automation sub-folder (in the Slaves folder) if it does not already exist. The 160-PD1 is now shown in the library and the software tool is now ready to configure a 160-PD1 on a PROFIBUS network.
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The following steps are performed to configure the SST-PFB-SLC scanner using the SST PROFIBUS configuration software tool. Click on the (+) sign of the Masters folder in the Library window to open the SST sub-folder. Available DP masters are displayed in this sub-folder.
Then, double-click the SST-PFB-SLC MASTER in the Masters folder in the Library window to add the scanner to the network. A user-defined Name and Description can be given to the scanner. In our example the scanner will be Station 0 on the network. The Parameter tab is not shown here as the default settings are used. Connection and Baud Rate settings configure how the software tool will communicate with the CONFIG RS232 port on the scanner. Click on the COM Port tab. Accept the settings in our example (COM1 on the PC at 115200 bps baud rate), as shown below.
When you click OK to accept these settings, the scanner will appear in the Network window.
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Specify the Baud Rate 1.5 M Baud and click OK to accept the setting. Click on the (+) sign of the Slaves folder in the Library window and the Rockwell Automation sub-folder to display the available DP slaves or the 160-PD1 slave Double-click on the 160-PD1 listed in the Device Library and the Rockwell Automation library folder. A user-defined Name and Description can be given to this 160-PD1. In our example, this device will be Station 3 on the network. Other stations may be chosen by using the arrow to display a drop-down list in the Station window.
66
Click OK and the GSD file previously loaded, creates a fixed format I/O structure of 8 bytes in and 8 bytes out. Click on the Modules tab to view.
Now the 160-PD1 address starting point needs to be specified. Click on the SLC Address tab. In our SLC example code, the 160-PD1 has been mapped at: Inputs I:2.14 Outputs O:2.14 This is 14 words offset from the start address of the card.
Select the Out8bytes from the available options, and specify an offset of 14.
67
Select the In8bytes from the available options and specify an offset of 14. Now click OK to accept these addresses.
Use the null modem cable that came with the scanner to connect COM1 on the PC and the CONFIG RS232 port on the scanner. Downloading the configuaration to the scanner is protected by the processor keyswitch. Turn the keyswitch to "Program". Right-click on the scanner in the network window and select Load Configuration. If a minimum cycle time attention window pops up, click OK to continue. After the configuration has been loaded into the scanner Configured Program will be displayed in the message window. Turn the processor keyswitch to "Run".
68
Click File and Save As from the tool bar, as an unique File Name.
The configuration of the scanner is now complete. Note that cycling power to the scanner is recommended.
Table 6.A
Scanner to 160-PD1 Control words Control Word (LSB) Control Word (MSB) Speed Feedback (LSB) Speed Feedback (MSB) Parameter Value (LSB) Parameter Value (MSB) Parameter Index Parameter Handshake Byte 1 2 3 4 5 6 7 8 O:2.17 (LSB) O:2.17 (MSB) O:2.16 O:2.15 SLC Add O:2.14
Table 6.B
160-PD1 to scanner Status words Status Word (LSB) Status Word (MSB) Speed Feedback (LSB) Speed Feedback (MSB) Parameter Value (LSB) Parameter Value (MSB) Parameter Index Parameter Handshake Byte 1 2 3 4 5 6 7 8 I:2.17 (LSB) I:2.17 (MSB) I:2.16 I:2.15 SLC Add I:2.14
69
In order that the scanner can operate in the SLC rack, first the SLC rack configuration needs to be set up. Using RSLogix500 in an offline state, create a new program and setup the I/O configuration as shown.
The I/O configuration utilizes a digital input card in slot 1 to provide commands to start & stop the drive etc. The SST-PFB-SLC scanner card is dropped into slot 2 using Other from the cards available column. You are required to specify the card with an ID Code = 13635. Please note that the example configuration contains an additional card in slot 3 which is not used in the following example. With the card in slot 2 selected, click on Adv Config to specify the number of words used in the card.
610
611
Profibus scanners vary from manufacturer to manufacturer, in how the bytes are ordered in a word. The SST-PFB-SLC scanner card receives / transmit data with the Most Significant Byte (MSB) first and the Least Significant Byte (LSB) second. This is opposite to how we read / write information in the SLC. This section of program below reverses the high / low byte order using the SWP instruction.
Figure 6.1 SLC Ladder Logic Example.
612
Once the bytes have been swapped, the control and status words can be manipulated as per normal. Note: If your scanner does not order the MSB first, LSB second, but the other way around, then the program above can be omitted.
613
Adjust the drive parameters as specified at the start of chapter 5 in order to test the drive with the following program example.
Figure 6.2 Drive Test Program Ladder Logic Example.
614
615
616
The Profibus implementation of the 160-PD1 (as specified by the GSD file) supports 2 different types of independent data transmission. The 2 words of control and status utilized above is the process data cyclically transmitted / received, to start / stop the drive, provide a reference, and get drive feedback. This data transmission provides the quickest means of communicating with the drive. An additional parameter data channel is provided which is much slower, working around the process data channels above, to read/write parameters to a drive. This handles one parameter at a time, specified by an index (parameter number) and a data channel. In the example below, N7:41 contains the parameter number (Index), and N7:42 contains any data that is to be written to the parameter specified. These are copied to the Control words of the scanner for action (N7:32 & 3). The command to read (80h) or write (A0h) is copied from N7:43 & N7:44 and is shown on Rungs 4 & 5 on the ladder above, as it forms the MSB part of the Logic Control Word.
N7:40 is the Logic Control Word, where LSB = 5F (Drive running), MSB = 80 (read operation). N7:41 is the parameter number 2 = [Output Voltage]. N7:50 is the data from the drive on N7:22. The value of D4h represents 212 Volts decimal. N7:51 is a copy of the parameter number (Index) in the LSB and the handshake if read operation was successful (MSB = 1).
N7:40 is the Logic Control Word, where LSB = 5F (Drive running), MSB = 80 (read operation). N7:41 is the parameter number 8 = [Heatsink Temperature]. N7:50 is the data from the drive on N7:22. The value of 45h represents 69 degrees C decimal. N7:51 is a copy of the parameter number (Index) in the LSB and the handshake if read operation was successful (MSB = 1).
617
N7:40 is the Logic Control Word, where LSB = 5F (Drive running), MSB = A0 (write operation). N7:41 is the parameter number 1Eh (30 decimal) = [Accel Time 1]. N7:42 is the data to be sent to the drive 14h (20 decimal), which represents an Accel = 2.0 seconds. N7:50 is not relevant when a write operation is in progress. However it will provide 14h when revert to a read operation. N7:51 is a copy of the parameter number (Index) in the LSB and the handshake if read operation was successful (MSB = 1).
This is an example of a read after a write drive parameter (all values in hex)
618
Chapter
The 160 drive must be configured to accept logic and speed commands from the network. This can be done by configuring two of the 160 parameters: 1. Set P46 - [Input Mode] to a value of 2 or 6 as described in the following Table. This will configure the drive to accept the logic commands from the network. Important: The drive may be operated in other modes as long as the Profibus Master provides an Enable command (control word = 0x6) 2. Set P59 - [Frequency Select] to 1. This will configure the drive to accept speed commands from the network. 3. Set P66 - [RPM Scaling] according to rated nameplate speed. Changing the above parameters can be done with the 160 Keypad Module or configuration software such as DriveExplorer. Important: For a new Input Mode to take affect, drive power must be cycled or parameter P56 - [Reset Functions] must be set to 2 instead.
The node address on the PD1 Module should be configured to the desired setting for the network. After configuration, install the PD1 Module into the 160 Drive as explained in Chapter 3.
72
End of Chapter 7
Chapter
Troubleshooting
The purpose of this chapter is to help you troubleshoot your PD1 Module. ATTENTION: Servicing energized industrial control equipment can be hazardous. Electrical shock, burns, or unintentional actuation of controlled industrial equipment may cause death or serious injury. Follow the safety-related practices of NPFA 70E, Electrical Safety for Employee Workplaces, when working on or near energized equipment. Do not work alone on energized equipment. ATTENTION: Do not attempt to defeat or override fault circuits. The cause of a fault indication must be determined and corrected before attempting operation. Failure to correct a drive or system malfunction may result in personal injury and/or equipment damage due to uncontrolled machine system operation.
Setup
Make sure parameters P46, P59, P66 and P116 have been set according to chapter 5.
The PD1 Status LEDs can help you troubleshoot the module in the event that problems occur. Refer to the paragraphs that follow for details.
Status LEDs
READY LED
The green READY LED will illuminate whenever the PD1 Module is connected to the drive and power is applied.
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Troubleshooting
COMM LED
The COMM LED provides status information on module operations. Table 8.A shows how to use the LED to detect and correct common operating problems.
Table 8.A COMM LED Indications
Color State Green Off steady Red steady What It Means: No communication takes place, No power. Communication ok, data is exchanged Diagnostics failed at power-up or Fatal Error What To Do: Check Power Supply, Network Configuration No action required. Cycle power to the drive. If problem persists, exchange PD1 Module
Check Network Configuration, Profibus Master Setup and SSC160 Setting (Section 5) Any other flashs indicate Fatal Error Exchange PD1 Module
FAULT LED
When the FAULT LED lights red, a drive fault (including Fatal Error), or an option board fault is present. Drive fault codes can be read by accessing drive parameter P07 - [Last Fault]. Refer to Tables 8.B and 8.C for fault descriptions/actions.
Table 8.B 160 Drive 1 Fault Codes
Fault Code Fault Indication 00 No Fault 03 Power Loss Fault 04 05 Undervoltage Fault Overvoltage Fault Description The drive is currently not faulted. DC Bus voltage remains below 85% nominal on power up for longer than 5 seconds. DC Bus voltage fell below the minimum value while the motor was running. DC Bus maximum voltage exceeded. Corrective Action No action required. Monitor incoming AC line for low voltage or line power interruption. Monitor incoming AC line for low voltage or line power interruption. Bus overvoltage caused by motor regeneration. Extend the decel time, or install dynamic brake option or external capacitor module. Longer accel time or reduced load required. Reduce motor load. Clear blocked or dirty heat sink fins. Check ambient temperature. Check for blocked or non-operating fan. Clear the fault. Do not remove the keypad underpower. Check short circuit at the drive output or excessive load conditions at the motor. Clear blocked or dirty heat sink fins. Check ambient temperature. Check for blocked or non-operating fan. Check stop input at TB3 terminal 8. Reset EPROM using P56 - [Reset Functions]. Repair system fault. Check wiring between drive and motor. Check motor for grounded phase.
06 07 08 11 12 20 22 32 33 38
Motor Stall Fault Motor Overload Fault Overtemperature Fault Operator Fault Overcurrent Fault Drive Overload Fault Drive Reset EPROM Fault Max Retries Fault Phase U Fault
Motor has stalled. Motor load is excessive. Internal electronic overload trip. Excessive motor load exists. Excessive heat detected. The keypad has been removed while the drive is powered. Overcurrent detected in hardware trip circuit. An internal electronic overload trip has occurred. The drive is overheating. Stop input not present. EPROM has invalid data. Drive did not reset fault within the max retries specified. Phase to ground fault detected between drive and motor phase U.
1
Refer to the 160 SSC Variable Speed Drive (Series C) User Manual for the most current fault code information.
Troubleshooting
83
Corrective Action Check wiring between drive and motor. Check motor for grounded phase. Check wiring between drive and motor. Check motor for grounded phase. Check the motor and external wiring to the drive output terminals for a shorted condition. Check the motor and external wiring to the drive output terminals for a shorted condition. Check the motor and external wiring to the drive output terminals for a shorted condition. Clear fault. Reduce motor load and/or motor dwell time at zero hertz.
Refer to the 160 SSC Variable Speed Drive (Series C) User Manual for the most current fault code information.
52 53
84
Troubleshooting
End of Chapter 8
Appendix
Specifications
Electrical
Supply Voltage Power Consumption Supplied by Drive 0.75 Watts (150 mA) maximum
Environmental
0 to 65 C (32 to 149 F) 40 to 85 C (40 to 185 F) 0 to 95% non-condensing 1.0 G Operational 2.0 G Non-operational 15.0 G Operational 30.0 G Non-operational 1,000 m (3,300 ft.) without derating
Communications
Mechanical
for module removal. Module adds this dimension to the overall drive depth.
A2
Specifications
End of Appendix A
Index
B
Baud Rate, 65, A1
M
Manuals, related, pii Modes of Operation, 41 Error Mode, 42 Power-up, 42 Run Mode, 42 Module Installation, 33
C
Cable Termination , 37 Cabling, 37 CE Compliance, 31 Communication Cable, 38 Configuration Profibus-DP, 32 Rotary Switch , 32 SST-PFB-SLC, 64 Control Word, 53 Controlling, Drive , 613, 71
N
Node Address, Setting, 32
P
Parameter Access, 55 attributes, 55 Descriptions, 51 Power-up Mode, 42 Profibus Telegram, 52, 616 Profibus Network Configuration Frame, 62 Termination, 38 Publications On-Line, pii Related, pii
D
Data Protocol , 52 Dimensions, A1
E
Error Mode , 42
F
Fault Codes Drive, 82 Network , 83
Q
Quick Start, 21
R
Removal, Module, 34 Required Tools, 21, 61 Run Mode, 42
K
Keypad Removal , 33
S
Scanner Configuration, 68 Setting up, 69 SST-PFB-SLC, 61 Specifications Communications, A1 Electrical, A1 Environmental, A1 Mechanical, A1 Status Word, 53
L
Ladder Logic Example Profibus Telegram, 618 SLC, 611 Test Program, 613 LEDs COMM, 41, 82 FAULT , 41, 82 READY , 41, 81
Index2
T
Troubleshooting, 81
P/N 899.02.86
Copyright 2003 Rockwell Automation. All rights reserved. Printed in Switzerland.