AUMA Profibus PBD 100 User manual

Operation manual
Bus System Profibus PBD 100
AUMA Industry & Marine GmbH
Eichendorffstrasse 42–48
D-78054 Villingen-Schwenningen
Phone [phone]
Fax [phone]
info.industry-mari[email protected]
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TABLE OF CONTENTS Page
1SAFETY INSTRUCTIONS 3
1.1 Range of application 3
1.2 Short description 3
1.3 Commissioning 3
1.4 Maintenance 3
1.5 Warnings and notes 3
2TRANSPORT AND STORAGE 3
3GENERAL INFORMATION ABOUT PROFIBUS-DP 4
3.1 Basic characteristics 4
3.2 Basic function of PROFIBUS-DP 4
3.3 Transfer mode 4
3.4 Bus access 4
3.5 Communication 4
3.6 Functionality 4
3.7 Protection functions 4
3.8 Station types 5
4TECHNICAL DATA 5
5ELECTRICAL COMMISSIONING 6
6COMMISSIONING WITH CONTROLS 8
6.1 Introduction 8
6.2 Programming 8
6.3 Configuration 8
6.4 Communication start-up 8
6.5 Description of user parameters 9
7PROCESS REPRESENTATION INPUT 14
7.1 Process representation input (Default process representation) 14
7.2 Process signification input 15
8PROCESS REPRESENTATION OUTPUT 19
9DESCRIPTION OF ACTUATOR FUNCTIONS 20
9.1 Operation commands for OPEN / CLOSE operation 20
9.2 Positioner 20
9.3 Stepping mode 21
10 SAFETY FUNCTION 22
11 TROUBLE SHOOTING AND CORRECTIVE ACTIONS 22
11.1 Optical signals during operation 22
11.2 Actuator can not be controlled by PROFIBUS DP 24
12 APPENDIX A GSD FILE 27
13 APPENDIX B LITERATURE REFERENCES 36

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1Safety instructions
1.1 Range of application
AUMA Industry & Marine actuators are designed for the operation of industrial valves, e.g. globe valves, gate valves, butterfly valves and ball
valves. AUMA Industry & Marine is not liable for any possible damage resulting from use in other than the designated applications. Such
risk lies entirely with the user. Observance of these operation instructions is considered as part of the actuators designated use.
1.2 Short description
AUMA Industry & Marine actuators have a modular design. Motor and gearing are mounted in a common housing. The actuators are driven
by an electric motor and controlled with the electronic controls PROFIBUS PBD 100. The electronic controls are included in the scope of
delivery.
1.3 Commissioning
(electrical connection)
During electrical operation certain parts inevitably carry lethal voltages. Work on the electrical system or equipment must only be carried out
by a skilled electrician himself or by specially instructed personnel under the control and supervision of such an electrician and in
accordance with the applicable electrical engineering rules.
1.4 Maintenance
The maintenance instructions must be strictly observed, otherwise a safe operation of the actuator is no longer guaranteed.
1.5 Warnings and notes
Non-observance of the warnings and notes may lead to serious injuries or damages. Qualified personnel must be thoroughly familiar with all
warnings and notes in these operation instructions. Correct transport, proper storage, mounting and installation, as well as careful
commissioning are essential to ensure a trouble-free and safe operation. The following references draw special attention to safety-relevant
procedures in these operation instructions. Each is marked by the appropriate pictograph.
This pictograph means: Note!
“Note” marks activities or procedures which have major influence on the correct
operation. Non-observance of these notes may lead to consequential damage.
This pictograph means: Electrostatically endangered parts (ESD)!
If this pictograph is attached to a printed circuit board, it contains parts which may be damaged or destroyed by electrostatic
discharges. If the boards need to be touched during setting, measurement or for exchange, it must be assured that immediately
before a discharge through contact with an earthed metallic surface (e.g. the housing) has taken place.
This pictograph means: Warning!
“Warning” marks activities or procedures which, if not carried out correctly, can affect the safety of persons or material.
2Transport and storage
Transport to place of installation in sturdy packing.
Do not attach ropes or hooks to the hand wheel for the purpose of lifting by hoist.
Store in well-ventilated, dry room.
Protect against floor dampness by storage on a shelf or on a wooden pallet. Cover to protect against dust and dirt.
Apply suitable corrosion protection agent to bright surfaces.

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3General information about PROFIBUS-DP
For the exchange of information among automation systems and between automation systems and the connected decentral field devices,
serial field-buses are mainly used today as the communication system. Thousands of applications have proved impressively that cost
savings of up to 40 % in wiring, commissioning and maintenance are achieved by using field bus technology. Just two wires are needed to
transmit all relevant information for the field devices, such as input and output signals, parameters and diagnostics data. While in the past
the fieldbuses used were often manufacturer specific and incompatible with other bus systems, the systems employed today are almost
exclusively open and standardized. This means that the user is independent of individual suppliers and can choose the best product for the
most competitive price. PROFIBUS-DP is the leading open fieldbus system in Europe, which is also used successfully throughout the world.
The application range includes automation in the areas of manufacturing, processing and building. PROFIBUS-DP is an international, open
fieldbus standard, which has been standardized in the fieldbus standard EN 50 170. This standardization ensures that the investments of
manufacturers and users are protected to the best possible degree and the independence of the manufacturer is guaranteed. These
operation instructions cannot provide a general introduction to PROFIBUS-DP.
3.1 Basic characteristics
PROFIBUS-DP determines the technical and functional features of a serial fieldbus system with which distributed digital automation devices
can be interconnected. PROFIBUS-DP distinguishes between master and slave devices. PROFIBUS-DP is designed for fast data
transmission in the field level. Here central control devices, such as a PLC or PC, communicate via a fast serial connection with peripheral
field stations such as input/output devices, valves and actuators. The interchange of data among the field devices takes place cyclically. The
necessary communication functions are established by the PROFIBUS-DP basic functions according to EN 50 170.
Master devices control the data traffic on the bus. A master is allowed to send messages without an external request. Masters are also
called ‘active stations’ in the PROFIBUS protocol.
Slave devices such as PROFIBUS PBD 100 actuators are peripheral devices. Typical slave devices are input/output devices, valves,
actuators and measuring sensors. They do not have bus access, i.e. they may only acknowledge received messages or, at the request of a
master, transmit messages to that master. Slaves are also called ‘passive stations’.
3.2 Basic function of PROFIBUS-DP
The master reads the input information from the slaves cyclically and writes the output information cyclically to the slaves. In addition to this
cyclic data transfer of the process representation, PROFIBUS-DP also provides powerful functions for diagnostics and commissioning
purposes. The data traffic is monitored through the monitoring functions on the master and slave side.
3.3 Transfer mode
RS-485 twisted pair cable or fibre optical cable.
PBD 100 support baudrates up to 1.5 MBits/s
3.4 Bus access
Token-passing between the masters and polling between master and slave.
Mono-master or multi-master systems are possible.
Master and slave stations: max. 126 stations connected to one bus.
3.5 Communication
Peer-to-peer (net data transfer) or Multicast (control commands to all slaves).
Cyclic master-slave net data transfer or acyclic master-master data transfer.
3.6 Functionality
Cyclic net data transfer between DP slave and DP slaves.
Dynamic activation or de-activation of individual DP slaves.
Checking of the configuration of the DP slaves.
Synchronisation of inputs and/or outputs.
3.7 Protection functions
All messages are transmitted with Hamming Distance HD=4.
Watch-dog timer at DP slaves.
Access protection for the inputs/outputs of the DP slaves.

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Net data transfer monitoring with configurable timer interval at the master.
Fail safe function.
3.8 Station types
DP-Master class 2 (DPM2), e.g. programming / configuration devices.
DP-Master class 1 (DPM1), e.g. central controllers such as PLC, PC, ...
DP slave, e.g. PROFIBUS PBD 100 devices. Devices with binary or
analogue inputs/outputs, actuators, valves.
4Technical data
Communication protocol PROFIBUS-DP according to EN 50 170, DIN 19 245
Network topology Linear (BUS) structure. With repeaters tree structures can also be realised. Coupling and
uncoupling of stations during operation without affecting other stations is possible.
Transmission medium Twisted, screened copper cable according to EN 50 170
Interface EIA-485 (RS485)
Transmission rate/
Cable length Baudrate Cable length Cable length (kbit/s) (without repeater) (with repeater)
9.6 1,200 m approx. 10 km
19.2 1,200 m approx. 10 km
45.45 1,200 m approx. 10 km
93.75 1,200 m approx. 10 km
187.5 1,000 m approx. 10 km
500 400 m approx. 4 km
1.500 200 m approx. 2 km
Station types DP Master class 1, e.g. central controllers such as PLC, PC, ...
DP Master class 2, e.g. programming / configuration tools
DP slave, e.g. devices with binary and/or analogue in-/outputs such as actuators, sensors
Number of stations 32 stations without repeater, with repeater expandable up to 126.
Bus access Token-passing between the masters and polling for slaves.
Mono-master or multi-master systems are possible.
Data of the PROFIBUS PBD 100 interface:
Electronic controls all actuator types with potentiometer (1kOhms)
Supported types of operation Cyclic data exchange, sync mode, freeze mode, fail-safe mode
Baudrate recognition automatic
Process-representation output
(command signals) -OPEN -STOP
-CLOSE
-nominal value
Process-representation input
(feedback) -end position OPEN, CLOSED -valve position
-selector switch in position LOCAL/ REMOTE
-running indication (directional)
-limit switch OPEN, CLOSED operated
-manual operation by handwheel or local controls
-communication channel A or B (redundant channel) active
Process representation input
(fault messages) -motor protection tripped -voltage supply of PROFIBUS-DP board outside of permissible range
-loss of an analogue input signal
3-position controller (option) Max. error and max. dead time programmable via BUS.
Electronic timer (option) Start and end of stepping mode as well as ON / OFF time can be programmed via the BUS.
Behaviour in case of
communication failure or CLEAR
state of the master
The behaviour of the actuator is pro-
grammable: - stop in current position
- move to end position OPEN or CLOSED
- move to any intermediate position
Cable redundancy (option) As an option, a second transmission cable can be connected

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5Electrical commissioning
5.1 Setting of the limit and torque switching
Check limit and torque switching as well as the electronics positioner RWG or potentiometer (option) and, where necessary, reset.
Perform setting according to the operation instructions of the actuator:
“Turn actuators series D2; D10; DA 15/30/40”
“Linear actuators series SBA12/20/45; SBA80; SBA200”
If the limit switching set in the factory is modified, a reference operation has to be performed for actuators with feedback signal (ESR or
potentiometer): Run actuator electrically (via bus), once to the end position OPEN and then to the end position CLOSED (and vice versa).
If no reference operation is performed after changing the limit switching, the feedback signal via the bus is not correct. The bus signals the
missing reference operation as warning.
5.2 Electrical connection
Work on the electrical system or equipment must only be carried out by a skilled electrician himself or by specially
instructed personnel under the control and supervision of such an electrician and in accordance with the applicable
electrical engineering rules.
Perform mains connection according to the operation instructions of the actuator.
General: Power supply of PBD 100 must be the same like the actuator power supply.
Installation regulations for PROFIBUS-DP must be observed for the wiring.
(for literature references refer to appendix B)
5.3 Electrical connection of the Profibus PBD 100 board
Terminals for power supply on board (see separate wiring diagram)
Bus cable (Channel 1) connection to female plug M12 x 1, 5 pin b-code see (figure B).
Check switch off position for limit and torque switches
Figure A: PBD 100 top view
Figure B: Bus connection diagram
Switches:
S1.1 add. Analogue input 3 or 4
S1.2 ESR (mA) or Poti (V) input
S2 Bus adress setting x 10
S3 Bus adress setting x 1
S4 Switch off by limit or torque
Haselhofer
Profibus PBD 100
Turn switch S3
Turn switch S2
Pin Signal
1 +5V
2 A1-channel (green)
3 GND
4 B1-channel (red)
5 Shield

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5.4 Redundant bus connection
PROFIBUS PBD 100 devices can be connected with a second (redundant) PROFIBUS cable. If the bus on channel 1 fails, e. g. through
cable break, the slave automatically switches to channel 2. Connect redundant bus cable to channel 2 (optional 2. plug connector )
according to connection diagram (same as channel 1, figure B). The setting of the redundant bus connection is realised via the parameters 4
and 5
5.5 Bus cables
Only cables according to standards DIN 19245 or EN 50170-2, cable type A, may be used for PROFIBUS-DP wiring. A maximum of up to 32
PROFIBUS stations may be connected in one segment. If more stations are to be connected to one PROFIBUS, several segments must be
connected with repeaters. The bus cable must be laid at a distance of at least 20 cm from other cables. It should be laid in a separate,
conductive and earthed cable trunking. It must be ensured that there are no potential differences between the individual stations on the
PROFIBUS.
Transmission rate in kBit/s
<=93.75 187.5 500 1500
Maximum segment length in m 1200 1000 400 200
Cable specification cable type A for PROFIBUS-DP
Impedance: 135 to 165 Ohm, at a frequency of 3 to
20 MHz.
Cable capacity: 30 pF per meter
Cable diameter: 0.64 mm
Core diameter: 0.34 mm², corresponds to AWG 22
Loop resistance: 110 Ohm per km
Screening: CU shielding braid or shielding braid and shielding foil
5.6 Setting of the bus address
The bus address is set on the PROFIBUS-DP board. Loosen screws of PBD 100 case and remove cover. Only addresses from 0 to 125 may
be set. Set the required address with rotary switches (S2) and (S3) (figure C). Switch (S2) for setting the units digit. Switch (S3) for setting
the tens digit. Example:
Figure C: PROFIBUS PBD 100 BOARD
The address ‘65’ is set as follows: (S3) on position 5 (5 * 1 = 5)
(S2) on position 6 (6 * 10 = 60)
Haselhofer
Profibus PBD 100

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6Commissioning with controls
6.1 Introduction
When commissioning a PROFIBUS-DP network, the stations on the PROFI-BUS-DP must be parameterized and configured with the
programming software of the controls (PROFIBUS configurator). The programming software first reads the GSD file (Geräte Stamm Daten =
Device database) of the individual actuators. The GSD file contains information about the properties of the device which is needed by the
master. The GSD file PBD_100.GSD is supplied with the PROFIBUS-DP actuators. Afterwards the user can configure and parameterize
each station on the PROFIBUS-DP. This information is then stored in the controls (DP master) and sent to the actuators (DP slaves) each
time communication is started. The control is executed via the process representation input and output bytes. If a configuration with
consistent data is chosen, special functional elements for the control of the PROFIBUS-DP slaves must be used with some PLCs.
6.2 Programming
The parameterization is partly determined in the PROFIBUS standard, e.g. a bit for switching bus monitoring on and off (watchdog). The
PROFIBUS PBD 100 control can additionally receive up to 100 bytes of ‘user parameters’, in which specific parameters can be set. The
module specific parameters are divided into 50 parameters with 2 bytes each per parameter. The first byte is high-order byte. The
parameters can be changed via the programming software of the controls. New programming software supports the setting of the
parameters via text and menu selection. When using older software the values of the parameters must be entered using hexadecimal
numbers. The meaning of the individual PROFIBUS PBD 100 specific parameters is explained in subclause 6.5 .
6.3 Configuration
During configuration it is determined how many input and output bytes for each device are reserved in the memory of controls. Additionally it
is deter-mined if the data are processed consistently or non-consistently.
Only the number of bytes determined in the configuration is transferred between the DP-master and the DP slave.
Number of input bytes Number of output bytes
1 1
2 1
2 2
4 4
6 1
6 2
6 4
8 4
12 4
16 8
All these configurations (except for 1 In, 1 Out), can be chosen either as consistent or not consistent.
The number of input bytes states how many of the maximum 16 bytes the DP slave sends to the DP master.
The number of output bytes states how many of the maximum 8 bytes the DP master sends to the DP slave.
If, for example, the configuration with 8 bytes input is selected, only the first 8 bytes are sent from the DP slave to the DP-master. In this
case the master does not have access to the bytes 9 to 12. In this way the master saves memory space, since it only has to reserve 8 input
bytes for the actuator. The data of the actuators are to be processed consistently by the DP-master. This ensures that the value of a 2 byte
variable (electronic position transmitter) does not change after the read-out of the first byte and does not distort the value. If a master does
not offer the possibility to use consistent configurations, a non-consistent configuration can be chosen. The values for the electronic position
transmitter and the customer analogue inputs should then be transferred in 1 byte format (0-100%, parameter 2 = 0, parameter 22 = 0, para-
meter 25 = 0).
6.4 Communication start-up
When the DP master is switched on, it first sends a parameter and configuration telegram to each DP slave. If parameters and configuration
are correct, the PROFIBUS-DP actuator assumes the state ‘Data exchange’. The net data between controls and actuator are exchanged.
The DP master can control the DP slave and read its current state via the process representation. If communication is interrupted (e.g.
through the switching off of the slave or the breaking of the PROFIBUS cable), it is resumed automatically by the DP master when the cause
of the fault is eliminated.

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Description of user parameters
Parameter 1 “position transmitter”
Default value (standard setting): 1
0: The actuator does not have a position transmitter.
1: The actuator is equipped with a potentiometer without RWG.
2: The actuator is equipped with an ESR 0-20 mA. For this position transmitter, the monitoring of signal interruption is not active.
3: The actuator is equipped with an ESR 4-20 mA.
For this position transmitter, the monitoring of signal
interruption is active.
Parameter 2 “Data code position transmitter”
Default value: 0
0: 0 to 100 percent, resolution is 1%
The value of the position transmitter is stated in byte 4 of the process representation input. Byte 3 is fixed to value 0. The set point is
determined via byte 4 of the process representation output. Byte 3 has to be set to 0.
1: 0 to 1000 per mil, resolution is 0.1%
The value of the position transmitter is read with bytes 3 and 4 of the process representation input.
The set point is determined via bytes 3 (high byte) and 4 (low byte) of the process representation output.
Parameter 3 “Reversing prevention in ms”
Default value: 200
lowest value: 100 (0.1 s)
highest value: 1000 (1 s)
Parameter for setting of the pause time in between a change of direction.
If necessary, adjust the value to the mechanics to prevent destruction
through a change of direction performed too fast.
Parameter 4 “Redundancy”
Default value: 0
0: no cable redundancy (only the first channel is used for communication).
1: cable redundancy switched on (first and second channel cabled) The watchdog must be activated, otherwise the parameter set is rejected
by the DP slave.
Parameter 5 “Time for channel changing in 0.1 s”
Default value: 50
lowest value: 50 (5 s)
highest value: 6000 (10 min)
States the time after which the channel is changed if no net data are transmitted (no state ‘Data Exchange’ or DP-Fail-Safe). This parameter
is only effective if the cable redundancy (parameter 4) is switched on.
Parameter 6 “Safety behaviour”
Default value: 0
0: Safety behaviour switched off (parameter 7,8,9 insignificant)
1: Simple safety behaviour switched on. A safety operation will only be started if a connection to the master (net data transmission) was
already available.
2: Extended safety behaviour switched on.
If extended safety behaviour is switched on, a safety operation can be triggered immediately after the actuator is
switched on.
Safety operation on failure of connection (no status Data_Exchange or DP-Fail-Safe). The parameters set in the most recent connection also
apply to the safety behaviour after an interruption in the supply voltage. If the parameter is set back to values 1 or 2, the watchdog must to
be activated, otherwise the parameter set is rejected by the DP slave.
Parameter 7 “Time of initiation safety operation 0.1 s”
Default value: 30
lowest value: 0 (actuator reacts immediately)
highest value: 12000 (actuator reacts after 20 minutes)

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Time of initiation for the safety operation in 0.1 s.
Indicates the down time of initiation of the net data transmission after which a safety operation will be started. If transmission is restored
during this time no safety operation will be performed.
Parameter 8 “Safety operation”
Default value: 0
0: Actuator remains in its position.
1: Actuator runs CLOSE.
2: Actuator runs OPEN.
3 Actuator runs to the safety position (refer to parameter 9).
If no position transmitter is installed (Parameter 1 = 0), value 3 is not permitted. In this case the parameter set is rejected.
Parameter 9 “Safety position in per mil”
Default value: 0
lowest value: 0 end position CLOSED
highest value: 1000 end position OPEN
Actuator runs to the set safety position. This parameter is only effective if parameter 8 (safety operation) is set to value 3 and if parameter 6
(safety behaviour) is not 0.
Parameter 10 “Output speed safety operation percentage”
Default value: 100
lowest value: 0 (minimum output speed)
highest value: 100 (maximum output speed)
Running speed with which the safety position will be approached.
Only effective if parameter 8 (safety operation) and parameter 6 (safety behaviour) are not set to 0.
Detailed descriptions of the parameters 11 to 14 see subclause 9.2
Parameter 11 “Dead time positioner in 0.1 s”
Default value: 0
lowest value: 0 (actuator reacts immediately)
highest value: 600 (actuator delays reaction by 1 minute max.)
Indicates the time which has to be maintained between two motor starts. In case the controls issue a command before that time, the actuator
delays reaction until dead time has expired.
It must be ensured via the controls that the maximum number of starts of the actuator is not exceeded.
Parameter 12 “Overrun direction OPEN in permil”
Default value: 5
lowest value: 0 (no overrun in direction OPEN)
highest value: 100 (10 % overrun in direction OPEN)
The motor is switched off as soon as the distance between the actuator position and the nominal position arrives at this value. This is only
valid for operations in direction OPEN. This parameter must be smaller than the value in parameter 14 (max. error in per mil).
Parameter 13 “Overrun direction CLOSE in per mil”
Default value: 5
lowest value: 0 (no overrun in direction CLOSE)
highest value: 100 (10 % overrun in direction CLOSE)
The motor is switched off as soon as the distance between the actuator position and the nominal position arrives at this value. This is only
valid for operations in direction CLOSE. This parameter must be smaller than the value in parameter 14 (max. error in per mil).
Parameter 14 “max. error in per mil”
Default value: 10
lowest value: 1 (0.1% error).
highest value: 100 (10% error).

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The actuator will only run if the deviation between the nominal position and the actual position is at least equal to this value. Corresponds to
the outer dead zone. This parameter must be higher than the value in parameter 12 (overrun in direction OPEN) and parameter 13 (overrun
in direction CLOSE).
The parameter must be set sufficiently high to ensure a stable function of the positioner. If the value is set too low, the
actuator moves continuously within nominal value range,which leads to a reduction of life time of the actuator.
Parameter 15 “Proportional operation active”
Default value: 0
0: no soft start/ soft stop (proportional operation)
1: soft start/ soft stop (proportional operation)
Parameter 15 - 19 reserved for adjustable output speed actuators
Soft start/ soft stop is only possible together with adjustable output speed actuators. This parameter has no influence on non-output speed
adjustable actuators.
Parameter 16 “Proport. range stop in per mil”
Default value: 100
lowest value: 0 (soft stop ineffective)
highest value: 1000 (soft stop over the whole travel)
Proportional range of the nominal position in per mil (soft stop). If the difference between nominal and actual actuator position is smaller than
this value the running speed will decrease proportionally to the difference in nominal/ actual position. Through this the nominal position can
be approached gently. Only effective if parameter 15 (proportional operation active) and parameter 1 (position transmitter) are not set to 0.
Parameter 17 “Stop speed in percent”
Default value: 0
lowest value: 0 (actuator moves to nominal position with min. speed)
highest value:100 (actuator moves to nominal position with max speed).
Running speed with which the nominal position will be approached. Only effective if parameter 15 (proportional operation active) and
parameter 1 (position transmitter) are not set to 0.
Parameter 18 “Proport. range start in per mil”
Default value: 40
lowest value: 0 (soft start ineffective)
highest value: 1000 (soft start over the whole travel)
Proportional range of the start position in per mil (soft start) If the difference between start position and actual actuator position is smaller
than this value the running speed will increase proportionally to the difference in nominal/ actual position. Through this the actuator leaves
the start position ‘gently’. Only effective if parameter 15 (proportional operation active) and parameter 1 (position transmitter) are not set to 0.
Parameter 19 “Starting speed in percent”
Default value: 50
lowest value: 0 (minimum starting speed)
highest value: 100 (maximum starting speed)
Running speed with which the start position will be departed. Only effective if parameter 15 (proportional operation active) and parameter 1
(position transmitter) are not set to 0.
Parameter 20 “Start analogue 2 in 0.1 mA” Default value: 0
lowest value: 0 (value for sensor with 0-20 mA output)
highest value: 150
Current at which the measuring range of input analogue 2 (option) begins. This value must be smaller than the value in parameter 21 (end
analogue 2 in 0.1 mA). If the sensor is connected with 4..20 mA to analogue 2, the value must be set to 40.
Parameter 21 “End analogue 2 in 0.1 mA”
Default value: 200
lowest value: 50

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highest value: 200 (Value for sensor with 0-20 mA or 4-20 mA output)
Current at which the measuring range of input analogue 2 (option) ends. This value must be higher than the value in parameter 20 (start
analogue 2 in 0.1 mA).
Parameter 22 “Code analogue 2"
Default value: 0
0: 0 to 100 percent
1: 0 to 1000 per mil
2: 0 to 1023 (raw value of analogue-digital converter, not standardised)
Parameter 23 “Start analogue 3/4 in 0.1 mA”
Default value: 0
lowest value: 0 (value for sensor with 0-20 mA output)
highest value: 150
Current at which the measuring range of input analogue 3/4 begins. This value must be smaller than the value in parameter 24 (end
analogue 3/4). If the sensor is connected with 4..20 mA to analogue 3/4, the value must be set to 40.
Parameter 24 “End analogue 3/4 in 0.1 mA”
Default value: 200
lowest value: 50
highest value: 200 (Value for sensor with 0-20 mA or 4-20 mA output)
Current at which the measuring range of input analogue 3/4 ends. This value must be higher than the value in parameter 23 (start analogue
3/4).
Parameter 25 “Code analogue 3/4"
Default value: 0
0: 0 to 100 percent
1: 1 to 1000 per mil
2: 0 to 1023 (raw value of analogue-digital converter, not standardised)
Stepping mode increases the number of starts of the actuator. It must be ensured that the maximum number of starts
are also not exceeded in stepping mode.
Parameter 26 “Stepping direction OPEN active”:
Default value: 0
0: Stepping mode in direction OPEN switched off
1: Stepping mode in direction OPEN switched on
This parameter is only effective if parameter 1 (position transmitter) is not 0. Otherwise the parameter set will be rejected.
Parameter 27 “Stepping operating time OPEN in 0.1 s”
Default value: 10
lowest value: 1 (Actuator runs 0.1 s per stepping period)
highest value: 36000 (Actuator runs 1 hour per stepping period)
Stepping operating time direction OPEN in 0.1 s This parameter is only effective if parameter 26 (stepping direction OPEN active) is not 0.
Parameter 28 “Stepping pause time OPEN in 0.1 s”
Default value: 50
lowest value: 1 (Actuator stationary 0.1 s per stepping period)
highest value: 36000 (Actuator stationary 1 hour per stepping period)
Stepping pause time direction OPEN in 0.1 s This parameter is only effective if parameter 26 (stepping direction OPEN active) is not 0.
Parameter 29 “Stepping start OPEN in per mil”
Default value: 0
lowest value: 0 (stepping mode in direction OPEN starts at 0,
end position CLOSED)
highest value: 999

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Start of stepping distance in direction OPEN. Indication of position in per mil This value must be smaller than the value in parameter 30
(stepping end OPEN in per mil). Otherwise the parameter set will be rejected. This parameter is only effective if parameter 26 (stepping
direction OPEN active) is not 0.
Parameter 30 “Stepping end OPEN in per mil”
Default value: 1000
lowest value: 1
highest value: 1000 (Stepping mode in direction OPEN ends at position 1000 end position OPEN)
End of stepping distance in direction OPEN. Indication of position in per mil This value must be higher than the value in parameter 29
(stepping start OPEN in per mil). Otherwise the parameter set will be rejected. This parameter is only effective if parameter 26 (stepping
direction OPEN active) is not 0.
Parameter 31 “Stepping direction CLOSE active”
Default value: 0
0: Stepping mode in direction CLOSE switched off
1: Stepping mode in direction CLOSE switched on
This parameter is only effective if parameter 1 (position transmitter) is not 0. Otherwise the parameter set will be rejected.
Parameter 32 “Stepping operating time CLOSE in 0.1 s”
Default value: 10
lowest value: 1 (Actuator runs 0.1 s per stepping period)
highest value: 36000 (Actuator runs 1 hour per stepping period)
Operating time for stepping mode in direction CLOSE. Indication in 0.1 seconds. This parameter is only effective if parameter 31 (stepping
direction CLOSE active) is not 0.
Parameter 33 “Stepping pause time CLOSE in 0.1 s”
Default value: 50
lowest value: 1 (Actuator stationary 0.1 s per stepping period)
highest value: 36000 (Actuator stationary 1 hour per stepping period)
Pause time for stepping mode in direction CLOSE. Indication in 0.1 seconds This parameter is only effective if parameter 31 (stepping
direction CLOSE active) is not 0. Otherwise the parameter set will be rejected.
Parameter 34 “Stepping start CLOSE in per mil”
Default value: 1000
lowest value: 1
highest value: 1000 (Stepping mode in direction CLOSE starts at position 1000, end position OPEN)
Start of stepping distance in direction CLOSE. Indication of position in per mil. This value must be higher than the value in parameter 35
(stepping end CLOSE in per mil). Otherwise the parameter set will be rejected. This parameter is only effective if parameter 31 (stepping
direction CLOSE active) is not 0.
Parameter 35 “Stepping end CLOSE inper mil”
Default value: 0
lowest value: 0 (stepping mode in direction CLOSE ends at position
0, end position CLOSED)
highest value: 999
End of stepping distance in direction CLOSE. Indication of position in per mil. This value must be higher than the value in parameter 34
(stepping start CLOSE in per mil). This parameter is only effective if parameter 31 (step-ping direction CLOSE active) is not 0. Otherwise,
the total parameter set will be rejected.
Parameters 36 to 50 are spare parameters.
They are reserved for extensions.
Default value: 0
Value range: 0 to 65535

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7Process representation input
Via the process representation input, the master (control) can read the state of the slave (actuator).
7.1 Process representation input (Default process representation)
Important:
The Profibus PBD 100 Interface PCB is a development of the Werner Riester GmbH & Co. KG. Not all functions are supported in connection
with AUMA Industry & Marine actuators. In the following it is described which data bits will be used.
Fault
Runs CLOSE
Warning
Is NOMINAL
Runs OPEN
-
Is CLOSED
Is OPEN
Bit
7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
Byte 1: Logical operation Byte 3
Position transmitter
high byte
Byte 4
Position transmitter
low byte
DSR
WSR
DÖL
WSF
WÖL WSO
STE
TH
Bit
7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
Byte 2: Actuator switches
-
No reference operation
-
Sig.inter. pos. transm.
Hw-fault
Conn. fault pos transm.
Channel 2 active
Failure 24 V supply
Bit
7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
Byte 6: Warning
Local CLOSE
REMOTE CLOSE
Local OPEN
Step pause
REMOTE OPEN
Stepping range entered
Proportion. Operation
Revs. Prev./ dead time
Bit
7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
Byte 7: Physical operation
-
Sig. int. cust. anal. 1
Sig. int. cust. anal. 2
Dig Input 2
-
Dig Input 3
Dig Input 1
Dig Input 0
Bit
7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
Byte 8: Options
-
DSR-fault
CLEAR state
Thermo-fault
DÖL-fault
STER-fault
Sel. Sw. not REMOTE
Incorrect command
Bit
7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
Byte 5: Fault
High byte
First customer analogue input
(Wiring diagram analogue 2)
Byte 9
Low byte
First customer analogue input
(Wiring diagram analogue 2)
Byte 10
High byte
Second customer analogue
input (Wiring diagram
analogue 3/4)
Byte 11
Low byte
Second customer analogue
input (Wiring diagram
analogue 3/4)
Byte 12
Spare
Byte 13
Spare
Byte 14
Spare
Byte 15
Spare
Byte 16

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7.2 Process signification input
Bit Designation
V
alue Description
0 Is OPEN Limit
seating in end
position OPEN
1
0
1 Limit switch in OPEN direction operated.
otherwise
1
Is CLOSED
Limit seating in end
position CLOSED
Is CLOSED
Torque seating in
end position
CLOSED
1
0
1
0
Limit switch in CLOSE direction operated.
otherwise
Torque switch and limit switch in direction
CLOSE operated.
otherwise
2
Is NOMINAL
1
0
Nominal value position is within max. error variable (outer dead band).
Signal occurs only if PROFIBUS master has set nominal operation
otherwise
3 Not used Reserved for extensions
4
Runs OPEN
1
0
Run command (OPEN or NOMINAL) from PROFIBUS in direction
OPEN is executed. For operation in stepping mode, this signal is also
active during an off-time, the dead time and the reversing prevention.
No operation is carried out via the PROFIBUS.
5
Runs CLOSE
1
0
Run command (CLOSE or NOMINAL) from PROFIBUS in direction
CLOSE is executed. For operation in stepping mode, this signal is also
active during an off-time, the dead time and the reversing prevention.
No operation is carried out via the PROFIBUS.
6
Warning
1
0
One or several warnings have been given (at least one bit set in
warning-byte)
No warnings are active (all bits cancelled in warning byte).
7
Faults
1
0
One or several faults have occurred so that the actuator
can no longer be controlled via PROFIBUS (at least
one bit set in fault-byte).
No faults are active (all bits cancelled in fault-byte).
Bit Designation
V
alue Description
0
Th
(optional)
1
0
A
thermal fault (motor thermal protection) has occurred.
No thermal fault has occurred.
1 1
STE
(power failure)
1
0
A
power failure has occurred: Phase failure
No power failure has occurred.
2 Selector sw
REMOTE
Always remote
1
0
Selector switch in position REMOTE.
Selector switch not in position REMOTE.
3
Selector sw.
LOCAL
Not available
1
0
Selector switch in position LOCAL
Selector switch not in position LOCAL.
4
WÖL 1
0
Limit switch OPEN left operated.
Limit switch OPEN left not operated.
1 Limit switch CLOSE right active.
Byte 1: Logic run
Important signals from
the actuator concerning
errors, warnings,
operations:
Byte 2: Actuator switch
Basic signals originating
from the logic

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5 LSC (WSR)
0 Limit switch CLOSE right not active.
6 DÖL 1
0
Torque switch OPEN left operated (storing).
Torque switch OPEN left not operated.
Condition Value
Parameter 2 (data code from position transmitter) = 0 Value without effect
Parameter 2 (data code from position transmitter) = 1 High byte of value 0..1000
Condition Value
Parameter 2 (data code from position transmitter) = 0 Range 0..100
Parameter 2 (data code from position transmitter) = 1 Low byte of value 0..1000
Bit Value Description
0
1
0
Incorrect command: A bit combination was issued which cannot be executed more than one
operation bit (OPEN, CLOSE, NOMINAL) set at the same time, nominal value outside value range
0.. 100 or 0.. 1000 or nominal operation before reference operation.
otherwise
1 1
0
Selector switch not in position REMOTE.
otherwise
2 1
0
Thermo fault (motor protection tripped).
otherwise
3 1
0
Power failure, phase failure: incorrect phase sequence.
otherwise
4 1
0
DÖL fault: Unexpected torque in direction OPEN..
otherwise
5 1
0
DSR-fault: Unexpected torque in direction CLOSE.
otherwise
6 1
0
Slave is in CLEAR state
Slave is in OPERATE state.
Bit 7 is not used (reserved for extensions).
Bit Value Description
0 1
0
Power failure 24 V power supply
otherwise
1
1
0
Channel 2 active
otherwise
1
Signal interrupted at position transmitter RWG: For recognition the parameter 1 must be set to value
3 (ESR 0/4-20 mA).
Byte 3: Position transmitter high byte
Position of actuator
Byte 4: Position transmitter low byte
Position of actuator, complete
value or low byte
Byte 5: Fault
(not ready for remote
operation if bit 7 of byte
1 is set)
Byte 6: Warning
(bit 6 of byte 1 set):

Operation manual Profibus PBD 100
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2 0
otherwise
3
1
0
Potentiometer fault: for end position CLOSED highest value is signali-sed,
for end position OPEN lowest value.
otherwise
4 1
0
Hardware fault: If this bit is set the PROFIBUS board must be checked.
otherwise
5 1
0
No reference operation: The values of the position transmitter cannot be used as long as the
reference operation (end position OPEN, end position CLOSED) has not been performed. A nominal
operation is not possible.
otherwise
Bits 6 and bit 7 are not used (reserved for extensions).
Bit Value Description
0
1
0
Reversing prevention/ dead time warning. The actuator does not start when reversing prevention or
dead time is still active. The bit is set if a run command is available which cannot be executed
immediately. The bit is cancelled as soon as the actuator starts.
otherwise
1 1
0
Proportional section reached (soft start or soft stop) (not available)
otherwise
2 1
0
Step pause
otherwise
3
1
0
Stepping range reached: Position transmitter is within stepping range. Conditions: Position
transmitter is provided, stepping mode is active, remote operation performed
otherwise
4 1
0
Remote operation via PROFIBUS in direction OPEN (remote operation bit for logic board set and
movement of potentiometer detected). Signalling of this bit requires a position transmitter.
otherwise
5 1
0
Remote operation via PROFIBUS in direction CLOSE (remote operation bit for logic board set and
movement of potentiometer detected). Signalling of this bit requires a position transmitter.
otherwise
6
1
0
A
ctuator runs locally in direction OPEN (local control or handwheel). Signalling of this bit requires a
position transmitter.
otherwise
7
1
0
A
ctuator runs locally in direction CLOSE (local control or handwheel). Signalling of this bit requires a
position transmitter.
otherwise
Byte 7: Physical operation

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Bit Value Description
0 1
0
Digital input no. 1 = 1 (switch closed) (optional)
Digital input no. 1 = 0 (switch open) (optional)
1 1
0
Digital input no. 2 = 1 (switch closed) (optional)
Digital input no. 2 = 0 (switch open) (optional)
2 1
0
Digital input no. 3 = 1 (switch closed) (optional)
Digital input no. 3 = 0 (switch open) (optional)
3 1
0
Digital input no. 4 = 1 (switch closed) (optional)
Digital input no. 4 = 0 (switch open) (optional)
5 1
0
Signal interrupted at analogue input 2 (first free analogue input) i.e. the measured value is more
than 0.2 mA lower than the set minimum value. (optional)
no signal interruption analogue input 2 detected (optional)
6 1
0
Signal interrupted at analogue input 3/4 (second free analogue input) i.e. the measured value is
more than 0.2 mA lower than the set mini-mum value.
no signal interruption analogue input 3/4 detected (optional)
Bits 4 and bit 7 are not used (reserved for extensions).
Byte 9: High byte first analogue customer input (wiring diagram designation analogue 2) (optional)
Byte 10: Low byte first analogue customer input (wiring diagram designation analogue 2) (optional)
Byte 11: High byte second analogue customer input (wiring diagram designation analogue 3/4) (optional)
Byte 12: Low byte second analogue customer input (wiring diagram designation analogue 3/4) (optional)
Byte 13 to 16: reserved for extensions
Byte 8: Options
Digital inputs and
signal interruption at
analogue inputs

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8Process representation output
Via the process representation output, the master (control) can control the slave (actuator).
Only one operation bit may be set at any given time. If several operation bits are set at the same time, the actuator stops and signals the
fault “wrong command”
Bit Designation
V
alue Description
0
Remote OPEN 1
0
Run OPEN
Do not Run OPEN
1
Remote CLOSED
1
0
Run CLOSE
Do not Run CLOSE
2
Remote NOMINAL
1
0
Run to nominal value Can only be set if position transmitter
(potentiometer / ESR (options)) is available.
Do not run to nominal value
Bits 3-7 are reserved for extensions and must be set to 0.
Byte 2: Nominal output speed: This byte is not used
Value range: 0..100:
Minimum speed: 0 (actuator runs with min. set output speed)
Maximum output speed: 100 (actuator runs with max. set output speed)
Byte 3: Set point (position) high byte Conditions Values
Parameter 2 (data code from position
transmitter) = 0 This byte must be set to 0.
Parameter 2 (data code from position
transmitter) = 1 This byte states the higher value part (High byte) of the nominal value.
Byte 4: Set point (position) low byte Conditions Values
Parameter 2 (data code from position
transmitter) = 0 Range 0..100
Parameter 2 (data code from position
transmitter) = 1 This byte states the lower value part (Low byte) of the nominal value.
-
-
-
Remote NOMINAL
-
-
Remote CLOSED
Remote OPEN
Bit
7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
Byte 1: Command Byte 2
Speed
Byte 3
Set point position
high byte
Byte 4
Set point position
low byte
Spare
Byte 5
Spare
Byte 6
Spare
Byte 7
Spare
Byte 8
Byte 1: Commands
Operation bits and
digital outputs

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Byte 5 to 8: reserved for extensions, must be set to 0.
9Description of actuator functions
9.1 Operation commands for OPEN / CLOSE operation
Operation commands are determined by operation command bits and the nominal value (set point) of the DP process representation input.
Only one command bit may be set at any given time. If several command bits are set, no operation is performed and the fault signal
‘incorrect command’ is given. To avoid placing too much strain on the mechanics the actuator is equipped with a (programmable) delay
when changing direction (reversing prevention).
The following operation command bits are required for OPEN / CLOSE
operation:
Remote OPEN
Remote CLOSE
Remote operation OPEN / STOP
Remote OPEN = 1 The actuator runs in direction OPEN.
Remote OPEN = 0 The actuator stops.
The actuator is switched off automatically when the final position OPEN is reached (limit switch LSO (WÖL)
set). Faults (thermal protection, power failure, torque) stop the operation.
Remote operation CLOSE / STOP
Remote CLOSE = 1 The actuator runs to position CLOSED.
Remote CLOSE = 0 The actuator stops.
The actuator is switched off automatically if the final position CLOSED is reached (limit switch LSC (WSR) for
limit seating or LSC (WSR) and TSC (DSR) for torque seating). Faults (thermalprotection, power failure,
torque) stop the operation.
Remote operation to nominal position (NOMINAL) / STOP
The positioner can only function when the actuator is equipped with a position transmitter, e.g. potentiometer / RWG (option).
Remote NOMINAL = 1 The actuator moves to the set nominal value.
Remote NOMINAL = 0 The actuator stops.
The nominal position can be set in % or in ‰. To switch from percent to per mil use parameter 2 (Data code
from position transmitter). Faults (thermal protection, power failure, torque) halt the operation via the positioner.
With a set point of 0 % or 0 ‰ the actuator runs to the end position CLO-SED With a set point of 100 % or
1000 ‰ the actuator runs to the end position OPEN In case the set point is more than 100 % or 1000 ‰ , no
operation is performed
9.2 Positioner
The positioner is activated via the bit ‘Remote Nominal’. The positioner is a three-position-controller. Via the ‘NOMINAL’ position in the
process representation input, the nominal value of the position is transmitted cyclically to the actuator as nominal variable (cycle time = bus
cycle time DP). The positioner integrated in the controls BS4581 provides the position signal for controlling the motor depending on the
nominal and actual position value. The feedback signal (actual value of actuator position) is produced internally within the actuator. The
position transmitter compares the nominal value of the position set in the controls to the locally measured actual value of the position. If the
difference between nominal value and actual value is higher than the max. error (parameter 14), the positioner drives the motor, depending
on the error, either in direction OPEN or direction CLOSE.