Baldor FlexDriveII User manual

PROFIBUS DP Option
for FlexDriveII, Flex+DriveII
and MintDriveII
Reference Manual
10/02 MN1911

Contents i
MN1911
Contents
1 General Information 1-1.................................
2 Introduction 2-1........................................
2.1 PROFIBUS DP option 2-1...................................
2.2 Units and abbreviations 2-2..................................
3 Input / Output 3-1......................................
3.1 Introduction 3-1............................................
3.2 Connector and LED location 3-1..............................
3.2.1 Profibus - X14 3-2.................................................
3.2.2 Bus activity LED 3-3...............................................
3.2.3 PROFIBUS DP setup 3-3...........................................
4 Telegram Formats 4-1..................................
4.1 Introduction 4-1............................................
4.1.1 Command telegram format 4-1.......................................
4.1.2 Response telegram format 4-2.......................................
4.1.3 Bytes 8-27 4-2....................................................

ii Contents MN1911

General Information 1-1MN1911
LT0157A00 Copyright Baldor (c) 2002. All rights reserved.
This manual is copyrighted and all rights are reserved. This document or attached software may not,
in whole or in part, be copied or reproduced in any form without the prior written consent of BALDOR.
BALDOR makes no representations or warranties with respect to the contents hereof and specifically
disclaims any implied warranties of fitness for any particular purpose. The information in this
document is subject to change without notice. BALDOR assumes no responsibility for any errors that
may appear in this document.
Minttis a registered trademark of Baldor.
PROFIBUS®is a trademark of PROFIBUS International.
Limited Warranty:
For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without
charge controls and accessories which our examination proves to be defective in material or
workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons,
misused, abused, or improperly installed and has been used in accordance with the instructions and/or
ratings supplied. This warranty is in lieu of any other warranty or guarantee expressed or implied.
BALDOR shall not be held responsible for any expense (including installation and removal),
inconvenience, or consequential damage, including injury to any person or property caused by items of
our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of
incidental or consequential damages, so the above exclusion may not apply.) In any event,
BALDOR’s total liability, under all circumstances, shall not exceed the full purchase price of the
control. Claims for purchase price refunds, repairs, or replacements must be referred to BALDOR with
all pertinent data as to the defect, the date purchased, the task performed by the control, and the
problem encountered. No liability is assumed for expendable items such as fuses. Goods may be
returned only with written notification including a BALDOR Return Authorization Number and any
return shipments must be prepaid.
Baldor UK Ltd
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol, BS32 0BF
Telephone: [phone]
Fax: [phone]
Email: technical.s[email protected]
Web site: www.baldor.co.uk
Baldor ASR GmbH
Telephone: [phone]
Fax: [phone]
Baldor ASR AG
Telephone: [phone]
Fax: [phone]
Australian Baldor Pty Ltd
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+
6
1
2
9
6
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4
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Baldor Electric Company
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Web site: www.baldor.com
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Fax: [phone]
Baldor Electric (F.E.) Pte Ltd
Telephone: [phone]
Fax: [phone]
Baldor Italia S.R.L
Telephone: [phone]
Fax: [phone]
1General Information 1

1-2 General Information MN1911
Product Notice
Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or parts that are
controlled by this equipment. Improper use can cause serious or fatal injury. Only qualified personnel
should attempt to start-up, program or troubleshoot this equipment.
Safety Notice
Intended use: Drives incorporating the PROFIBUS DP option are intended for use in stationary
ground based applications in industrial power installations according to the standards EN60204 and
VDE0160. They are designed for machine applications that require variable speed controlled
three-phase brushless AC motors. These drives are not intended for use in applications such as:
HHome appliances
HMedical instrumentation
HMobile vehicles
HShips
HAirplanes.
Unless otherwise specified, this drive is intended for installation in a suitable enclosure. The enclosure
must protect the drive from exposure to excessive or corrosive moisture, dust and dirt or abnormal
ambient temperatures. The exact operating specifications are found in the main installation manual
supplied with the drive. The installation, connection and control of drives is a skilled operation,
disassembly or repair must not be attempted. In the event that a drive fails to operate correctly, contact
the place of purchase for return instructions.

General Information 1-3MN1911
Precautions
WARNING: Do not touch any circuit board, power device or electrical connection before you
first ensure that no high voltage is present at this equipment or other equipment to
which it is connected. Electrical shock can cause serious or fatal injury. Only
qualified personnel should attempt to start-up, program or troubleshoot this
equipment.
WARNING: Be sure that you are completely familiar with the safe operation and programming
of this equipment. This equipment may be connected to other machines that have
rotating parts or parts that are controlled by this equipment. Improper use can
cause serious or fatal injury. Only qualified personnel should attempt to program,
start-up or troubleshoot this equipment.
WARNING: Be sure the system is properly earthed/grounded before applying power. Do not
apply AC power before you ensure that earths/grounds are connected. Electrical
shock can cause serious or fatal injury.
WARNING: Improper operation or programming of the drive may cause violent motion of the
motor and driven equipment. Be certain that unexpected motor movement will not
cause injury to personnel or damage to equipment. Peak torque of several times
the rated motor torque can occur during control failure.
WARNING: The motor circuit might have high voltages present whenever AC power is
applied, even when the motor is not moving. Electrical shock can cause serious or
fatal injury.
CAUTION: To prevent equipment damage, be certain that input and output signals are
powered and referenced correctly.
CAUTION: To ensure reliable performance of this equipment be certain that all signals are
shielded correctly.

1-4 General Information MN1911

Introduction 2-1MN1911
2.1 PROFIBUS DP option
PROFIBUS DP is available as a factory-fitted option (option P) on the FlexDriveII, Flex+DriveII
and MintDriveII range of drives.
The PROFIBUS DP option allows a PLC (or any other PROFIBUS DP master device) to:
HPerform simple motion, controlled using polled messages.
HRead/write data using the drive’s onboard Comms array.
(On FlexDriveII, only the extended comms array locations may be accessed - see the
MintMT help file.)
The inclusion of the PROFIBUS DP option can be easily identified by the extra 9-pin female
D-type connector (X14) and Bus Activity LED on the front panel of the drive. It is also
indicated in the drive’s catalog number, which will have the letter P in the last four characters,
for example MDH1A05TB-RP23, or FDH1A02TB-EP23.
The catalog number is marked on the front of the unit, just below the Baldor logo.
2Introduction 2

2-2 Introduction MN1911
2.2 Units and abbreviations
The following units and abbreviations may appear in this manual:
LED Light Emitting Diode............
MintMT The control language used by Baldor drives..........
PLC Programmable Logic Controller............
WorkBench v5 The Windows application software for the Baldor drives....

Input / Output 3-1MN1911
3.1 Introduction
Connections to the PROFIBUS DP option are made using the 9-pin female D-type connector
X14. An additional LED is also present on the front panel, labeled Bus Activity. This LED
shows various status conditions of the PROFIBUS DP option - see section 3.2.2.
3.2 Connector and LED location
Pin Description
1 (NC)
2 (NC)
3 RX/TX Data B (Red)
4 TX Control +
5 0V for termination
6 +5V for termination
7 (NC)
8 RX/TX Data A (Green)
9 (NC)
X14 Profibus
II
Profibus X14
Bus
Activity
Bus Activity LED
Figure 1 - PROFIBUS DP option connector and LED locations
3Input / Output 3

3-2 Input / Output MN1911
3.2.1 Profibus - X14
Location Connector X14
Mating connector (not supplied):
9-pin male D-type PROFIBUS DP node
terminating connector
Name Profibus
Description Standard female 9-pin D-type connector.
Connections to X14 should always be made using specially
constructed PROFIBUS DP node terminating connectors. These
typically contain a resistor chain and switch to ensure correct
termination is present while the device is attached or removed from
the network. Line inductors are often included to maintain correct
impedance at high data rates. Standard D-type connectors should
not be used. Only cables specified as suitable for PROFIBUS DP should be used. These consist
of shielded red/green conductors and have a characteristic impedance of 150Ω.
Baldor control
X14
PROFIBUS DP cable
Node terminating
connector
+5V (6)
RX/TX Data B (3)
RX/TX Data A (8)
0V (5)
from
previous
node
PROFIBUS DP cable
to
next
node
On
Off
On
Off
Figure 2 - Connection details
The TX Control+ signal present on pin 4 (not shown) is used when the node is connected to a
repeater. The signal indicates when the node is sending data, allowing the repeater to switch
mode accordingly. For most applications repeaters are not used, so it does not need to be
connected.
1
5
6
9

Input / Output 3-3MN1911
3.2.2 Bus activity LED
After the initial power-on (or reset) sequence the LED is used to display
the PROFIBUS DP bus status:
LED status Description
LED off The drive is switched off or has lost power.
LED green The master is present on the bus.
The unit is being polled, is on line and is operating correctly.
LED red The master on the bus is absent or has failed to configure the unit correctly
(e.g. by using an unsupported baud rate or telegram format), or the drive is
using the same node ID as another slave device on the network.
Check that the master is switched on and operating correctly.
Confirm that the network is terminated properly. There is often a switch on
a PROFIBUS DP node terminating connector which must be switched on
to include the drive on the network.
Check that the telegram format being sent by the master is correct.
Check that the drive’s node ID is not being used by another node on the
network. The drive’s node ID can be determined in WorkBench v5, either
by selecting the Network tool or by typing Print NODE in the Command
window.
3.2.3 PROFIBUS DP setup
The PROFIBUS DP option can be configured in WorkBench v5, using the Network Wizard.
The Network Wizard is displayed automatically as part of the Commissioning Wizard, but it
can be selected at any time from the Setup section of the Toolbox.
A number of MintMT keywords beginning with BUS... can also be used to configure and report
activity of the PROFIBUS DP option.
The node ID of the drive can be set using the SW1 front panel DIP switches, from WorkBench
v5, or by using the NODE keyword.
See the MintMT help file and the main installation manual supplied with your drive for further
details.

3-4 Input / Output MN1911

Telegram Formats 4-1MN1911
4.1 Introduction
The Baldor drive containing the PROFIBUS DP option can only act as a slave device,
responding to telegrams received from the controlling PLC. The following sections describe
the format for commands sent by the PLC and the response transmitted by the Baldor drive.
4.1.1 Command telegram format
The format of the command telegram sent by the controlling PLC is shown in Table 1:
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0Control byte
1Axis / Channel number
2Command numbe
r
3
C
o
m
m
a
n
d
n
u
m
b
e
r
(highbytefirst)
4
5Data value 0
6
D
a
t
a
v
a
l
u
e
0
(highest byte first)
7
8-11 Optional: Data value 1
(highest byte first)
12-15 Optional: Data value 2
(highest byte first)
16-19 Optional: Data value 3
(highest byte first)
20-23 Optional: Data value 4
(highest byte first)
24-27 Optional: Data value 5
(highest byte first)
Table 1 - Command telegram format
One byte is used to control major drive status conditions, such as enable/disable and stop.
One byte sets the axis or channel number for which the command is destined.
Two bytes contain the command number.
Four bytes contain the actual data value to be sent to the drive as part of the command. Some
or all of these bytes might not be used, depending on the command.
For information about bytes 8-27, see section 4.1.3.
4Telegram Formats 4

4-2 Telegram Formats MN1911
4.1.2 Response telegram format
Each time the drive is polled by the master, it returns a response telegram. The frequency at which
the information in the response telegram is updated can be altered to suit the application.
The format of the telegram transmitted by the Baldor drive is shown in Table 2:
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0Control byte
1Limits and move status
2E
r
r
o
r
code
3
E
r
r
o
r
c
o
d
e
(highbytefirst)
4
5Data value 0
6
D
a
t
a
v
a
l
u
e
0
(highest byte first)
7
8-11 Optional: Data value 1
(highest byte first)
12-15 Optional: Data value 2
(highest byte first)
16-19 Optional: Data value 3
(highest byte first)
20-23 Optional: Data value 4
(highest byte first)
24-27 Optional: Data value 5
(highest byte first)
Table 2 - Response telegram format
One byte is used to return major drive status conditions, such as enable/disable and stop.
One byte is used to return information about limit switches and the move status.
Two bytes are used to return error values relating to the last command that was processed.
Four bytes are used to return data, if required by the command.
For information about bytes 8-27, see section 4.1.3.
4.1.3 Bytes 8-27
Bytes 8-27 are optional, since the drive is classified as a “modular slave”. This means that the
telegrams can be of variable length according to how many additional process data channels
are required. Each channel requires 4-bytes, as shown in Tables 1 and 2. These extra bytes
can be assigned in the PROFIBUS master (PLC) configuration application.
For full details of the command and response telegram formats, see the MintMT help file.

Telegram Formats 4-3MN1911

4-4 Telegram Formats MN1911

Europe (Southern)
Baldor ASR AG, Switzerland
Tel: [phone]
Fax: [phone]
Europe
Baldor ASR GmbH, Germany
Tel: [phone]
Fax: [phone]
Australia
Australian Baldor PTY Ltd
Tel: [phone]
Fax: [phone]
Mexico
Baldor de Mexico
Tel: [phone]
Fax: [phone]
U.S.A. (Headquarters)
Baldor Electric Company
Tel: [phone]
Fax: [phone]
Singapore
Baldor Electric PTE Ltd
Tel: [phone]
Fax: [phone]
Japan
Baldor Japan Corporation
Tel: [phone]
Fax: [phone]
United Kingdom
Baldor UK Ltd
Tel: [phone]
Fax: [phone]
For additional office locations visit www.baldor.com
Baldor Electric Company
P.O. Box 2400
Ft. Smith, AR 72902-2400
U.S.A.
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LT0157A00