ITEM C Series User manual

item Industrietechnik GmbH
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PROFIBUS/PROFINET Manual
item Servo Positioning Controller C-Series

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
Page 2
Translation of the original instructions
Copyrights
© 2017 item Industrietechnik GmbH. All rights reserved.
The information and data in this document have been composed to the best of our knowledge. However, deviations between
the document and the product cannot be excluded entirely. For the devices and the corresponding software in the version
handed out to the customer, item guarantees the contractual use in accordance with the user documentation. In the case of
serious deviations from the user documentation, item has the right and the obligation to repair, unless it would involve an
unreasonable effort. A possible liability does not include deficiencies caused by deviations from the operating conditions
intended for the device and described in the user documentation.
item does not guarantee that the products meet the buyer’s demands and purposes or that they work together with other
products selected by the buyer. item does not assume any liability for damages resulting from the combined use of its products
with other products or resulting from improper handling of machines or systems.
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item MotionSoft®is a registered trademark of item Industrietechnik GmbHitem Industrietechnik GmbH.

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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Revision Information
Author: item Industrietechnik GmbH
Manual title: PROFIBUS/PROFINET Manual „item Servo Positioning Controller C-Series“
File name: PB_PN-HB_item-C-Serie_5p0_EN.docx
Version 5.0 June 2017

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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Table of Contents
1General...............................................................................................................................................................................................................9
1.1 Documentation......................................................................................................................................................................................9
1.2 PROFIBUS and PROFINET documentation ................................................................................................................................. 10
2Safety notes for electrical drives and controllers ................................................................................................................................. 11
2.1 Symbols and signs ............................................................................................................................................................................ 11
2.2 General notes .....................................................................................................................................................................................12
2.3 Danger resulting from misuse ........................................................................................................................................................ 14
2.4 Safety notes ........................................................................................................................................................................................ 15
2.4.1 General safety notes....................................................................................................................................................... 15
2.4.2 Safety notes for assembly and maintenance ........................................................................................................... 17
2.4.3Protection against contact with electrical parts ...................................................................................................... 19
2.4.4 Protection against electrical shock by means of protective extra-low voltage (PELV)................................... 20
2.4.5 Protection against dangerous movements............................................................................................................... 21
2.4.6 Protection against contact with hot parts ................................................................................................................. 22
2.4.7 Protection during handling and assembly................................................................................................................. 23
3Wiring and pin assignment......................................................................................................................................................................... 24
3.1 PROFIBUS ........................................................................................................................................................................................... 24
3.1.1 Pin assignment ................................................................................................................................................................ 24
3.1.2 Termination and bus terminating resistors............................................................................................................... 25
3.1.3 Bus cable........................................................................................................................................................................... 25
3.2 PROFINET............................................................................................................................................................................................26
3.2.1 Connection and display elements of the technology module............................................................................... 26
3.2.2 Pin assignment ................................................................................................................................................................ 27
3.2.3 Bus cable........................................................................................................................................................................... 27
4Fundamental principles: PROFIBUS-DP, PROFINET and PROFIdrive .............................................................................................. 28
4.1 Overview PROFIBUS-DP................................................................................................................................................................... 28
4.2 PROFINET IO overview..................................................................................................................................................................... 30
4.2.1 Fundamental principles ................................................................................................................................................. 30
4.2.2 Diagnostic alarms ........................................................................................................................................................... 31
4.3 PROFIdrive overview......................................................................................................................................................................... 32
5PROFIBUS and PROFINET connection.................................................................................................................................................... 33
5.1 Introduction......................................................................................................................................................................................... 33
5.2 Slave overview.................................................................................................................................................................................... 33
5.3 Master overview................................................................................................................................................................................. 34
5.3.1 PROFIBUS......................................................................................................................................................................... 34
5.3.2 PROFINET ......................................................................................................................................................................... 35
6Telegram structure....................................................................................................................................................................................... 38
6.1 Introduction......................................................................................................................................................................................... 38
6.2 Receive telegrams............................................................................................................................................................................. 39
6.3Response telegrams......................................................................................................................................................................... 41
7Physical units.................................................................................................................................................................................................42

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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8Operating parameters ................................................................................................................................................................................. 45
8.1 PROFIBUS operating parameters.................................................................................................................................................. 45
8.2 PROFINET operating parameters .................................................................................................................................................. 48
9Device control................................................................................................................................................................................................ 51
9.1 Overview ..............................................................................................................................................................................................51
9.2 Control word 1....................................................................................................................................................................................51
9.3 Status word 1 ..................................................................................................................................................................................... 56
9.4 State diagram and device control.................................................................................................................................................. 61
9.4.1 State diagram................................................................................................................................................................... 61
9.4.2 Device control .................................................................................................................................................................. 63
9.4.3 Command overview........................................................................................................................................................ 65
10 Manufacturer-specific parameter numbers............................................................................................................................................ 67
10.1 Overview .............................................................................................................................................................................................. 67
10.2 PNUs for positioning mode.............................................................................................................................................................. 70
10.2.1 PNU 1000: Position Set Number ................................................................................................................................ 70
10.2.2 PNU 1002: Start Set Number ...................................................................................................................................... 70
10.2.3 PNU 1001: Position Data.............................................................................................................................................. 71
10.2.4 PNU 1003: Position Profile Type................................................................................................................................. 73
10.2.5 PNU 1004: Override Factor.......................................................................................................................................... 74
10.2.6 PNU 1005: Software Position Limits.......................................................................................................................... 75
10.2.7 PNU 1006: Rotary Axis.................................................................................................................................................. 76
10.2.8 PNU 1050: Homing Method......................................................................................................................................... 77
10.2.9 PNU 1051: Home Offset ............................................................................................................................................... 77
10.2.10 PNU 1060: Thread Speed ............................................................................................................................................ 78
10.2.11 PNU 1270: Position Control Parameters .................................................................................................................. 79
10.2.12 PNU 1271: Position Window Data.............................................................................................................................. 79
10.2.13 PNU 1272: Following Error Data ................................................................................................................................ 80
10.2.14 PNU 1273: Position Error Data ................................................................................................................................... 80
10.3 PNUs for speed control mode ........................................................................................................................................................ 81
10.3.1 PNU 1010: Target Velocity........................................................................................................................................... 81
10.3.2 PNU 1011: Accelerations for Velocity Control ........................................................................................................ 81
10.4 PNUs for Different Operating Modes ............................................................................................................................................ 83
10.4.1 PNU 1040: Jogging........................................................................................................................................................ 83
10.4.2 PNU 1041: Jogging Positive ........................................................................................................................................ 83
10.4.3 PNU 1042: Jogging Negative ...................................................................................................................................... 85
10.5 Actual values....................................................................................................................................................................................... 86
10.5.1 PNU 1100: Position Actual Value ............................................................................................................................... 86
10.5.2 PNU 1101: Velocity Actual Value................................................................................................................................ 86
10.5.3 PNU 1102: Current Actual Value ................................................................................................................................ 86
10.5.4 PNU 1110: Sampling Positions................................................................................................................................... 87
10.5.5 PNU 1141: Digital Inputs .............................................................................................................................................. 87
10.6 Parameters for the telegram structure......................................................................................................................................... 89
10.6.1 PNU 2000: PKW Access............................................................................................................................................... 89
10.6.2 PNU 2010: Placeholders .............................................................................................................................................. 89
10.6.3 PNU 2011: Element 0.................................................................................................................................................... 90
10.7 Parameter for Various Intents ........................................................................................................................................................ 91
10.7.1 PNU 1600: Last Error Code ......................................................................................................................................... 91
10.7.2 PNU 1510: CAM Control............................................................................................................................................... 91
11 Operating modes .......................................................................................................................................................................................... 93
11.1 Overview .............................................................................................................................................................................................. 93
11.2 Parameters..........................................................................................................................................................................................93

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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11.2.1 PNU 1500: Operating Mode......................................................................................................................................... 93
11.3 Speed control mode ......................................................................................................................................................................... 94
11.4 Positioning mode............................................................................................................................................................................... 94
12 Profile-specific parameter numbers......................................................................................................................................................... 96
12.1 Overview .............................................................................................................................................................................................. 96
12.2 PNU description ................................................................................................................................................................................. 96
12.2.1 PNU 918: Node address ............................................................................................................................................... 97
12.2.2 PNU 963: Actual baud rate........................................................................................................................................... 97
12.2.3 PNU 964: Device Identification.................................................................................................................................... 98
12.2.4 PNU 971: Transfer into a Non-Volatile Memory ....................................................................................................100
13 PROFIBUS/PROFINET function and data blocks for SIEMENS S7 ................................................................................................101
13.1 Overview ............................................................................................................................................................................................101
13.2 Function and data blocks for item C-Series ..............................................................................................................................101
13.2.1 Function block (FB) overview.....................................................................................................................................101
13.2.2 FBs of item C-Series .....................................................................................................................................................102
13.2.3 Integration of FBs and DBs.........................................................................................................................................106

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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List of Figures
Figure 3-1: PROFIBUS connector for item C-Series ........................................................................................................................................ 24
Figure 3-2: Connection and display elements of the PROFINET module................................................................................................... 26
Figure 4-1: Comparison of PROFIBUS and PROFINET................................................................................................................................... 28
Figure 5-1: Hardware configuration under SIEMENS S7............................................................................................................................... 35
Figure 5-2: IO controller assignment under SIEMENS S7............................................................................................................................. 36
Figure 5-3: Hardware configuration under SIEMENS S7............................................................................................................................... 37
Figure 6-1: Example of the item C-Series telegram format............................................................................................................................ 38
Figure 7-1: Setting of physical units for PROFIBUS......................................................................................................................................... 42
Figure 7-2: Gear ratio..............................................................................................................................................................................................43
Figure 8-1: Setting of operating parameters..................................................................................................................................................... 45
Figure 8-2: Settings of the operating parameters............................................................................................................................................ 48
Figure 9-1: Simplified state diagram................................................................................................................................................................... 62
Figure 10-1: Interpretation of the home offset................................................................................................................................................. 77
Figure 11-1: Uninterrupted sequence of motion tasks................................................................................................................................... 95

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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List of Tables
Table 3-1: PROFINET LEDs................................................................................................................................................................................... 27
Table 3-2: Pin assignment of the PROFINET interface................................................................................................................................... 27
Table 4-1: Channel diagnostics example........................................................................................................................................................... 31
Table 9-1: Control word 1 for speed control mode......................................................................................................................................... 52
Table 9-2: Control word 1 for positioning mode .............................................................................................................................................. 54
Table 9-3: Overview of all commands ................................................................................................................................................................ 55
Table 9-4: Status word 1 for speed control mode........................................................................................................................................... 57
Table 9-5: Status word 1 for positioning mode................................................................................................................................................ 60
Table 9-6: Device status.........................................................................................................................................................................................60
Table 9-7: Important state transitions of the servo drive ............................................................................................................................... 63
Table 9-8: Overview of all state transitions of the servo drive ...................................................................................................................... 65

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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1General
1.1 Documentation
This manual describes the field bus connection of item servo positioning controller C-Series under PROFIBUS-DP and
PROFINET. It describes the adjustment of the physical parameters, the activation of the PROFIBUS or PROFINET
communication, the integration into the master connection and the communication with the servo drive. It is intended for
persons who are familiar with this servo drive model.
It contains safety notes which have to be complied with.
The term “item C-Series” in this manual includes the servo drives of the item C 1-Series and item C 3-Series.
PROFINET is only available for the item C-Series devices.
Further information on the individual devices can be found in the corresponding product manuals.
You can find these documents on our homepage for download: http://www.item24.com

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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1.2 PROFIBUS and PROFINET documentation
PROFIBUS (PROcess FIeldBUS) and PROFINET (PROcess FIeld NETwork) is a standard developed by the German association
PROFIBUS Nutzerorganisation e.V. A complete description of the fieldbus systems can be found in the following standards:
IEC 61158 "Digital data communication for measurement and control – Fieldbus for use in industrial control systems": This
standard has several parts and defines the "Fieldbus Protocol Types". In accordance with these types, PROFIBUS is specified
as type 3 and PROFINET as type 10. There are two different PROFIBUS versions. One of them is PROFIBUS-DP for the rapid
data exchange in production engineering and building automation applications (DP = decentralised peripherals). The standard
also describes the integration in the ISO/OSI layer model.
IEC 61784-2 "Industrial communication networks - Profiles - Part 2: Additional fieldbus profiles for real-time networks based
on ISO/IEC 8802-3 (IEC 61784-2:2014)": This standard defines the real-time classes (RTC = real-time class) based on the
reaction time.
Further information, contact addresses etc. can be found under www.profibus.com.
Further documentation (in German) concerning the use of PROFIBUS-DP and PROFINET:
1. PROFIBUS-DP
Grundlagen, Tips und Tricks für Anwender
Manfred Popp
Hüthig-Verlag, Heidelberg 1998
2. Dezentralisieren mit PROFIBUS-DP
Aufbau, Projektierung und Einsatz des PROFIBUS-DP mit Simatic S7
Josef Weigmann, Gerhard Kilian
Siemens, Erlangen/München 1998
3. Der neue Schnelleinstieg für PROFIBUS DP
Von DP-V0 bis DP-V2
Manfred Popp
PROFIBUS Nutzerorganisation e.V., Karlsruhe 2002
4. PROFIdrive – Profile Drive Technology,
Vers. 3.1,
PROFIBUS Nutzerorganisation e.V., Karlsruhe
5. IEC 61158 - Feldbus für industrielle Leitsysteme
6. Industrielle Kommunikation mit PROFINET
Manfred Popp
PROFIBUS Nutzerorganisation e.V., 2014