ITEM C Series User manual

item Industrietechnik GmbH
Friedenstraße 107-109
42699 Solingen
Germany
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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.
item Industrietechnik GmbH reserves the right to modify, amend, or improve the document or the product without prior
notification.
This document may, neither entirely nor in part, be reproduced, translated into any other natural or machine-readable
language nor transferred to electronic, mechanical, optical or any other kind of data media, without expressive authorisation by
the author.
Trademarks
Any product names in this document may be registered trademarks. The sole purpose of any trademarks in this document is
the identification of the corresponding products.
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

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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

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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2Safety notes for electrical drives and
controllers
2.1 Symbols and signs
Information
Important information and notes.
Caution!
Nonobservance may result in severe property damages.
DANGER!
Nonobservance may result in
property damages
and in
personal injuries
.
Caution! High voltage.
The safety note indicates a possible perilous voltage.
The parts of this document marked with this sign should give examples to make it easier to understand the
use of single objects and parameters.

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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2.2 General notes
In case of damage resulting from non-compliance with the safety notes in this manual, item Industrietechnik GmbH will not
assume any liability.
Prior to the initial use you must read the chapter Safety notes for electrical drives and controllers
starting on
page 11.
If the documentation in the language at hand is not understood accurately, please contact and inform your supplier.
Sound and safe operation of the servo drive requires proper and professional transportation, storage, mechanical installation,
and project planning – with a consideration of the risks as well as the protective and emergency measures – plus the proper
and professional electrical installation, operation, and maintenance of the devices.
Only trained and qualified personnel is authorised to handle electrical devices and systems:
TRAINED AND QUALIFIED PERSONNEL
in the sense of this product manual or the safety notes on the product itself are persons who are sufficiently familiar with the
project, the setup, assembly, commissioning and operation of the product as well as all warnings and precautions as per the
instructions in this manual and who are sufficiently qualified in their field of expertise:
Education and instruction concerning the standards and accident prevention regulations for the application, or
authorisation to switch devices/systems on and off and to ground them as per the standards of safety engineering and to
efficiently label them as per the job demands.
Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate
safety equipment.
First aid training.

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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The following notes must be read prior to the initial operation of the system to prevent personal injuries and/or property
damages:
These safety notes must be complied with at all times.
Do not try to install or commission the servo drive before carefully reading all safety notes for electrical drives
and controllers contained in this document. These safety instructions and all other user notes must be read
prior to any work with the servo drive.
In case you do not have any user notes for the servo drive, please contact your sales representative.
Immediately demand these documents to be sent to the person responsible for the safe operation of the
servo drive.
If you sell, rent and/or otherwise make this servo drive available to others, these safety notes must also be
included.
The user must not open the servo drive for safety and warranty reasons.
Professional control process design is a prerequisite for sound functioning of the servo drive!
DANGER!
Inappropriate handling of the servo drive and non-compliance of the warnings as well as inappropriate
intervention in the safety features may result in property damage, personal injuries, electric shock or in
extreme cases even death.

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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2.3 Danger resulting from misuse
DANGER!
High electrical voltages and high load currents!
Danger to life or serious personal injury from electrical shock!
DANGER!
High electrical voltage caused by wrong connections!
Danger to life or serious personal injury from electrical shock!
DANGER!
Surfaces of device housing may be hot!
Risk of injury! Risk of burning!
DANGER!
Dangerous movements!
Danger to life, serious personal injury or property damage due to unintentional movements of the motors!

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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2.4 Safety notes
2.4.1 General safety notes
The servo drive corresponds to IP20 degree of protection as well as pollution degree 2. Make sure that the
environment corresponds to this degree of protection and pollution degree.
Only use replacement parts and accessories approved by the manufacturer.
The servo drives must be connected to the mains supply as per EN regulations, so that they can be cut off the
mains supply by means of corresponding separation devices (for example main switch, contactor, power
switch).
The servo drive may be protected using an AC/DC sensitive 300 mA fault current protection switch, type B
(RCD = Residual Current protective Device).
Gold contacts or contacts with a high contact pressure should be used to switch the control contacts.
Preventive interference rejection measures should be taken for control panels, such as connecting contactors
and relays using RC elements or diodes.
The safety rules and regulations of the country in which the device will be operated must be complied with.
The environment conditions defined in the product documentation must be kept. Safety-critical applications
are not allowed, unless specifically approved by the manufacturer.
For notes on installation corresponding to EMC, please refer to the Product Manual for the respective servo
drive. The compliance with the limits required by national regulations is the responsibility of the manufacturer
of the machine or system.
The technical data and the connection and installation conditions for the servo drive are to be found in this
product manual and must be met.
DANGER!
The general setup and safety regulations for work on power installations (for example DIN, VDE, EN, IEC or
other national and international regulations) must be complied with.
Non-compliance may result in death, personal injury or serious property damages.

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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Without claiming completeness, the following regulations and others apply:
VDE 0100 Erection of power installations with nominal voltages up to 1000 V
EN 60204 Safety of machinery - Electrical equipment of machines -
EN 50178 Electronic equipment for use in power installations

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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2.4.2 Safety notes for assembly and maintenance
The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and rules for the
prevention of accidents apply for the assembly and maintenance of the system. The plant engineer or the operator is
responsible for compliance with these regulations:
The servo drive must only be operated, maintained and/or repaired by personnel trained and qualified for
working on or with electrical devices.
Prevention of accidents, injuries and/or damages:
Additionally secure vertical axes against falling down or lowering after the motor has been switched off, e.g.
by means of:
Mechanical locking of the vertical axle,
External braking, catching or clamping devices or
Sufficient balancing of the axle.
The motor holding brake supplied by default or an external motor holding brake driven by the servo drive
alone is not suitable for personal protection!
Keep the electrical equipment voltage-free using the main switch and protect it from being switched on again
until the DC bus circuit is discharged, in the case of:
Maintenance and repair work
Cleaning
long machine shutdowns
Prior to carrying out maintenance work make sure that the power supply has been turned off, locked and the
DC bus circuit is discharged.
The external or internal brake resistor carries dangerous DC bus voltages during operation of the servo drive
and up to 5 minutes thereafter. Contact may result in death or serious personal injury.
Be careful during the assembly. During the assembly and also later during operation of the drive, make sure
to prevent drill chips, metal dust or assembly parts (screws, nuts, cable sections) from falling into the servo
drive.
Also make sure that the external power supply of the servo drive (24 V) is switched off.
The DC bus circuit or the mains supply must always be switched off prior to switching off the 24 V servo drive
supply.

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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Carry out work in the machine area only, if AC and/or DC supplies are switched off. Deactivated output stages
or deactivated servo drive enable signals are no suitable means of locking. In the case of a malfunction the
drive may accidentally be put into action.
Initial operation must be carried out with idle motors, to prevent mechanical damages e.g. due to the wrong
direction of rotation.
Electronic devices are never fail-safe. It is the user’s responsibility, in the case an electrical device fails, to
make sure the system is transferred into a secure state.
The servo drive and in particular the brake resistor, externally or internally, can assume high temperatures,
which may cause serious burns.

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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2.4.3 Protection against contact with electrical parts
This section only concerns devices and drive components carrying voltages exceeding 50 V. Contact with parts carrying
voltages of more than 50 V can be dangerous for people and may cause electrical shock. During operation of electrical
devices some parts of these devices will inevitably carry dangerous voltages.
DANGER!
High electrical voltage!
Danger to life, danger due to electrical shock or serious personal injury!
The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and rules for the
prevention of accidents apply for the assembly and maintenance of the system. The plant engineer or the operator is
responsible for compliance with these regulations:
Before switching on the device, install the appropriate covers and protections against accidental contact.
Rack-mounted devices must be protected against accidental contact by means of a housing, e.g. a switch
cabinet. The national regulations for safety/accident prevention must be complied with!
Always connect the ground conductor of the electrical equipment and devices securely to the mains supply.
Due to the integrated line filter the leakage current exceeds 3.5 mA!
Comply with the minimum copper cross-section for the ground conductor over its entire length (see for
example EN 60800-5-1).
Prior to the initial operation, even for short measuring or testing purposes, always connect the ground
conductor of all electrical devices as per the terminal diagram or connect it to the ground wire. Otherwise the
housing may carry high voltages which can cause electrical shock.
Do not touch electrical connections of the components when switched on.
Prior to accessing electrical parts carrying voltages exceeding 50 Volts, disconnect the device from the mains
or power supply. Protect it from being switched on again.
For the installation the amount of DC bus voltage must be considered, particularly regarding insulation and
protective measures. Ensure proper grounding, wire dimensioning and corresponding short-circuit protection.
The device comprises a rapid discharge circuit for the DC bus as per EN 60204-1. In certain device
constellations, however, mostly in the case of parallel connection of several servo drives in the DC bus or in
the case of an unconnected brake resistor, this rapid discharge may be rendered ineffective. The servo drives
can carry voltage until up to 5 minutes after being switched off (residual capacitor charge).

PROFIBUS/PROFINET Manual ”item Servo Positioning Controller C-Series”
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2.4.4 Protection against electrical shock by means of protective extra-low voltage (PELV)
All connections and terminals with voltages of up to 50 Volts at the servo drive are protective extra-low voltage, which are
designed safe from contact in correspondence with the following standards:
International: IEC 60364-4-41
European countries within the EU: EN 61800-5-1
DANGER!
High electrical voltages due to wrong connections!
Danger to life, risk of injury due to electrical shock!
Only devices and electrical components and wires with a protective extra low voltage (PELV) may be connected to connectors
and terminals with voltages between 0 to 50 Volts.
Only connect voltages and circuits with protection against dangerous voltages. Such protection may be achieved by means of
isolation transformers, safe optocouplers or battery operation.