Lenze AC Tech MotionView OnBoard PositionServo... User manual

PositionServo PROFIBUS-DP Communication Module
Communications Interface Reference Guide

This documentation applies to the optional PROFIBUS DP communications module for the PositionServo drive and
should be used in conjunction with the PositionServo User Manual (Document S94PM01) that shipped with the
drive. These documents should be read in their entirety as they contain important technical data and describe the
installation and operation of the drive.
© 2008 AC Technology Corporation
No part of this documentation may be copied or made available to third parties without the explicit written approval
of AC Technology Corporation. All information given in this documentation has been carefully selected and tested
for compliance with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. AC
Tech does not accept any responsibility nor liability for damages that may occur. Any necessary corrections will be
implemented in subsequent editions.
About These Instructions

i P94PFB01A
Contents
1 Safety Information ........................................................................................................................................1
1.1 Warnings, Cautions and Notes .......................................................................................................1
1.1.1 General...........................................................................................................................1
1.1.2 Application......................................................................................................................1
1.1.3 Installation......................................................................................................................1
1.1.4 Electrical Connection ......................................................................................................2
1.1.5 Operation........................................................................................................................2
2 Introduction ..................................................................................................................................................3
2.1 Fieldbus Overview .........................................................................................................................3
2.2 Module Specification .....................................................................................................................3
2.3 Module Identification Label ............................................................................................................3
3 Installation....................................................................................................................................................4
3.1 Mechanical Installation ..................................................................................................................4
3.2 PROFIBUS DP Connector................................................................................................................5
3.3 Electrical Installation......................................................................................................................6
3.3.1 Cable Types....................................................................................................................6
3.3.2 Network Limitations........................................................................................................6
3.3.3 Connections and Shielding..............................................................................................7
3.3.4 Network Termination ......................................................................................................7
4 Commissioning.............................................................................................................................................8
4.1 Overview .......................................................................................................................................8
4.2 Configuring the Network Master ....................................................................................................8
4.2.1 Master Support Files.......................................................................................................8
4.2.2 PROFIBUS-DP Master Setup Procedure...........................................................................8
4.3 Configuring the PositionServo PROFIBUS DP Module......................................................................9
4.3.1 Connecting .....................................................................................................................9
4.3.2 Connect to the Drive with MotionView OnBoard...............................................................9
4.3.3 Setting the Network Protocol...........................................................................................10
4.3.4 PROFIBUS-DP Node Settings...........................................................................................11
4.3.5 Node Address .................................................................................................................12
4.3.6 Baud / Data Rate ............................................................................................................12
4.3.7 Data Mapping .................................................................................................................12
4.3.8 Re-Initialising..................................................................................................................13
4.3.9 Non-Module Parameter Settings .....................................................................................13
5. Cyclic Data Access .......................................................................................................................................14
5.1 What is Cyclic Data? ......................................................................................................................14
5.2 Channel Data Sizes........................................................................................................................14
5.3 Mapping Cyclic Data......................................................................................................................15
5.3.1 Data IN (Din) Channels....................................................................................................15
5.3.2 Data OUT (Dout) Channels...............................................................................................16

P94PFB01A ii
Contents
6. Acyclic Parameter Access.............................................................................................................................17
6.1 What is Acyclic Data? ....................................................................................................................17
6.2 Setting the Acyclic Mode...............................................................................................................17
6.2.1 Acyclic Modes ................................................................................................................17
6.2.2 Acyclic Mode 1 ...............................................................................................................18
6.2.3 Acyclic Mode 2 ...............................................................................................................18
6.3 Modes 1 & 2 – 8BAD Format .........................................................................................................18
6.3.1 8BAD - Function Code (Byte 0)........................................................................................19
6.3.2 8BAD – Access Control and Status (Byte 1).....................................................................19
6.3.3 8BAD – PID Index (Bytes 2 and 3) ...................................................................................20
6.3.4 8BAD – Data (Bytes 4 to 7) .............................................................................................20
6.4 Acyclic Parameter Access Examples ..............................................................................................20
6.4.1 Example 1: Read Velocity Accel Limit..............................................................................20
6.4.2 Example 2: Write to Velocity Accel Limit..........................................................................21
7 Drive Control and Status ...............................................................................................................................22
7.1 Overview .......................................................................................................................................22
7.2 Control BITs...................................................................................................................................22
7.2.1 Software Enable/Disable.................................................................................................22
7.2.2 Drive Reset (Cold Boot) ...................................................................................................22
7.2.3 Suspend Motion..............................................................................................................22
7.2.4 Stop Motion ...................................................................................................................23
7.3 Status Word...................................................................................................................................23
7.3.1 Status Flags Register......................................................................................................23
7.3.2 Extened Status Bits ........................................................................................................24
8 Advanced Features .......................................................................................................................................25
8.1 Module Firmware...........................................................................................................................25
8.2 Node Address Lock........................................................................................................................25
8.3 PROFIBUS Status ...........................................................................................................................25
8.4 PROFIBUS DP Timeout Action.........................................................................................................26
8.4.1 Module Timeout Action ...................................................................................................26
8.4.2 Master Monitor Timeout Action .......................................................................................27
8.4.3 Data Exchange Timeout Action .......................................................................................27
8.5 Sync and Freeze ............................................................................................................................28
8.5.1 Sync and Freeze Overview..............................................................................................28
8.5.2 Sync and Freeze Status ..................................................................................................28
9 Diagnostics...................................................................................................................................................29
9.1 Faults ............................................................................................................................................29
9.2 Troubleshooting.............................................................................................................................29
10 Parameter Quick Reference ..........................................................................................................................30

1 P94PFB01A
Safety Information
1 Safety Information
1.1 Warnings, Cautions and Notes
1.1.1 General
Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, moving
and rotating. Some surfaces can be hot.
Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation
creates the risk of severe injury to personnel or damage to equipment.
All operations concerning transport, installation, and commissioning as well as maintenance must be
carried out by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report
664 or DIN VDE0110 and national regulations for the prevention of accidents must be observed).
According to this basic safety information, qualified skilled personnel are persons who are familiar with
the installation, assembly, commissioning, and operation of the product and who have the qualifications
necessary for their occupation.
1.1.2 Application
Drive controllers are components designed for installation in electrical systems or machinery. They are
not to be used as appliances. They are intended exclusively for professional and commercial purposes
according to EN 61000-3-2. The documentation includes information on compliance with EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. the starting of operation as directed)
is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98/37/EC
(Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting drive as directed) is only allowed when there is compliance to the EMC Directive
(89/336/EEC).
The drive controllers meet the requirements of the Low Voltage Directive 73/23/EEC. The harmonised
standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
The availability of controllers is restricted according to EN 61800-3. These products can cause
radio interference in residential areas. In the case of radio interference, special measures may be
necessary for drive controllers.
1.1.3 Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not
change any insulation distances during transport or handling. Do not touch any electronic components
and contacts. Controllers contain electrostatically sensitive components, which can easily be damaged by
inappropriate handling. Do not damage or destroy any electrical components since this might endanger
your health! When installing the drive ensure optimal airflow by observing all clearance distances in the
drive's user manual. Do not expose the drive to excessive: vibration, temperature, humidity, sunlight, dust,
pollutants, corrosive chemicals or other hazardous environments.

P94PFB01A 2
Safety Information
1.1.4 Electrical Connection
When working on live drive controllers, applicable national regulations for the prevention of accidents (e.g.
VBG 4) must be observed.
The electrical installation must be carried out in accordance with the appropriate regulations (e.g.
cable cross-sections, fuses, PE connection). Additional information can be obtained from the regulatory
documentation.
The regulatory documentation contains information about installation in compliance with EMC (shielding,
grounding, filters and cables). These notes must also be observed for CE-marked controllers.
The manufacturer of the system or machine is responsible for compliance with the required limit values
demanded by EMC legislation.
1.1.5 Operation
Systems including controllers must be equipped with additional monitoring and protection devices according
to the corresponding standards (e.g. technical equipment, regulations for prevention of accidents, etc.).
You are allowed to adapt the controller to your application as described in the documentation.
DANGER!
• After the controller has been disconnected from the supply voltage, do not touch the live
components and power connection until the capacitors have discharged. Please observe the
corresponding notes on the controller.
• Do not continuously cycle input power to the controller more than once every three minutes.
• Close all protective covers and doors during operation.
WARNING!
Network control permits automatic starting and stopping of the inverter drive. The system design
must incorporate adequate protection to prevent personnel from accessing moving equipment
while power is applied to the drive system.
Table 1: Pictographs used in these instructions
Pictograph Signal word Meaning Consequences if ignored
DANGER! Warning of Hazardous Electrical
Voltage.
Reference to an imminent
danger that may result in death
or serious personal injury if the
corresponding measures are not
taken.
WARNING! Impending or possible danger
for persons
Death or injury
STOP! Possible damage to equipment Damage to drive system or its
surroundings
NOTE Useful tip: If observed, it will
make using the drive easier

3 P94PFB01A
Introduction
2 Introduction
The following information is provided to explain how the PositionServo drive operates on a PROFIBUS
network; it is not intended to explain how PROFIBUS itself works. Therefore, a working knowledge of
PROFIBUS is assumed, as well as familiarity with the operation of the PositionServo drive.
2.1 Fieldbus Overview
The PROFIBUS DP fieldbus is an internationally accepted communications protocol designed for commercial
and industrial installations of factory automation and motion control applications. High data transfer
rates combined with it’s efficient data formatting, permit the coordination and control of multi-node
applications.
2.2 Module Specification
Auto detection of data rates
Supported baudrates: 12Mbps, 6Mbps, 3Mbps, 1.5Mbps, 500kbps, 187.5kbps, 93.75kbps, 45.45kbps,
19.2kbps, 9.6kbps.
Scalable amount of input and output process data channels (maximum of 12 in either direction).
Parameter access data channel
2.3 Module Identification Label
Figure 1 illustrates the labels on the PositionServo PROFIBUS DP communications module. The PositionServo
PROFIBUS DP module is identifiable by:
One label affixed to the side of the module.
The TYPE identifier in the center of the label: E94ZAPFB1.
The port (interface) identifier, P24, on the right hand side of label.
TYPE: E94ZAPFB1
ID-NO: 13251083
039080825
E94ZAPFB1000XX1A10
Made in USA
Communications
PROFIBUS DP Module
P24
A: Fieldbus Protocol
B: Model Number
C: Lenze Order Number
D: Firmware Revision
E: Hardware Revision
A
B
C
DE
Figure 1: PositionServo PROFIBUS DP Module Label
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P94PFB01A 4
Installation
3 Installation
3.1 Mechanical Installation
Ensure that for reasons of safety, the AC supply, DC supply and +24V DC backup supply have been
disconnected before opening the bay cover plate.
Remove the two COMM module screws that secure Option Bay 1. With the aid of a flat head screw
driver, gently pry up the Option Bay 1 cover plate and remove.
Fit the 6 way pin header into the module before fitting the module into the drive.
Install the PROFIBUS DP Module into the drive.
Replace the two COMM module screws that secure Option Bay 1. Using a phillips-head screwdriver,
replace the GROUND screw as illustrated in Figure 2.
Figure 2: Installing the PROFIBUS-DP Communications Module
1.
2.
3.
4.
5.

5 P94PFB01A
Installation
3.2 PROFIBUS DP Connector
Table 2 identifies the terminals and describes the function of each. Figure 3 illustrates the PROFIBUS DP
DB-9 connector.
Table 2: PROFIBUS DP D-Type Connections
Pin Number Function Description
1 Shield Cable Shield Connection
2 N/C No Connection
3 RxD / TxD-P Data Line B (Red)
4 N/C No Connection
5 DGND Data Ground
6 +5V 5V Output Supply
7 N/C No Connection
8 RxD / TxD-N Data Line A (Green)
9 N/C No Connection
54 3 21
987 6
Figure 3: PROFIBUS DP Connector
NOTE
The PositionServo PROFIBUS DP module is equipped with a D sub-type connector.
Always ensure that any connectors used on the network are fully approved for use
with PROFIBUS DP. Some available connector types have built in termination that
allows the network to be isolated, which can be very useful when fault finding. For
data rates above 1.5Mbs, use a connector fitted with integrated inductors.

P94PFB01A 6
Installation
3.3 Electrical Installation
3.3.1 Cable Types
Due to the high data rates used on PROFIBUS DP networks it is paramount that correctly specified quality
cable is used. The use of low quality cable will result in excess signal attenuation and data loss. Cable
specifications and approved manufacturers are available from the official PROFIBUS website at: http://
www.profibus.com
3.3.2 Network Limitations
There are several limiting factors that must be taken into consideration when designing a PROFIBUS DP
network, for full details refer to the official “Installation Guidelines for PROFIBUS DP/FMS” which is available
from http://www.profibus.com. However, here is a simple checklist:
PROFIBUS DP networks are limited to a maximum of 125 nodes.
Only 32 nodes may be connected on a single network segment.
A network may be built up from one or several segments with the use of network repeaters.
Maximum total network length is governed by the data rate used. Refer to Table 3.
Minimum of 1 meter of cable between nodes.
Use fiber optic segments to:
Extend networks beyond normal cable limitations.
Overcome different ground potential problems.
Overcome very high electromagnetic interference.
Spurs or T connections are only acceptable by the PROFIBUS DP specification when operating at data
rates of 1.5Mbps or less, however it is strongly advised not to use spurs as extreme care must be taken
during the network design phase to avoid problems.
Table 3: Standard “Type A” Cable Network Length Specifications
Baud Rate Maximum Segment Length Recommended Maximum Total Network Length
9.6kbps 1200 meters 6000 meters
19.2kbps 1200 meters 6000 meters
45.45kbps 1200 meters 6000 meters
93.75kbps 1000 meters 5000 meters
187.5kbps 1000 meters 5000 meters
500kbps 400 meters 2000 meters
1.5Mbps 200 meters 1000 meters
3Mbps 100 meters 500 meters
6Mbps 100 meters 500 meters
12Mbps 100 meters 500 meters
NOTE
The recommended maximum network length is achievable with the use of repeaters.
Due to signal propagation delay within the repeaters it is recommended that no
more than 4 repeaters be used between any two network nodes
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7 P94PFB01A
Installation
3.3.3 Connections and Shielding
The PositionServo PROFIBUS DP module is equipped with a D sub-type connector.
Always ensure that any connectors used on the network are fully approved for use with PROFIBUS DP.
Some available connector types have built in termination that allows the network to be isolated, which
can be very useful when fault finding. For data rates above 1.5Mbs, use a connector fitted with integrated
inductors.
3.3.4 Network Termination
In high speed fieldbus networks such as PROFIBUS DP it is essential to install the specified termination
resistors, i.e. one at both ends of a network segment. Failure to do so will result in signals being reflected
back along the cable which will cause data corruption.
PROFIBUS-DP uses active (powered) termination. Therefore it is strongly recommended that "stand alone"
active termination units are used to maintain the integrity of the network. If the PositionServo is used to
provide network termination, in the event of a power loss to the drive, network termination will also be
lost.
P R O FIB U S D P
ne tw o rk
P R O FIB U S D P
M aster
+ Term ination
A B
Position S erv o
P R O FIB U S D P
O ption M od ule
B
IN
A
O U T
A
IN
B
O U T
M in 1m
P R O FIB U S D P
ne tw o rk
M in 1m
D Type
Connector
Position S erv o
P R O FIB U S D P
O ption M od ule
B
IN
A
IN
Term inating
D T ype
Connector
Figure 4a: Network without Active Termination
P R O FIB U S D P
ne tw o rk
P R O FIB U S D P
M aster
+ Term ination
A B
M in 1m
Active
Term ination
M od ule
A B
P R O FIB U S D P
ne tw o rk
M in 1m
Position S erv o
P R O FIB U S D P
O ption M od ule
BIN AO U T
AIN BO U T
P R O F IB U S D P
ne tw o rk
M in 1m
D Type
Connector
Position S erv o
P R O FIB U S D P
O ption M od ule
BIN
AIN
D T ype
Connector
AO U T BO U T
Figure 4b: Network with Active Termination

P94PFB01A 8
Commissioning
4 Commissioning
4.1 Overview
It is assumed that the user has familiarised themselves with how to set parameters using MotionView
software. Refer to the PositionServo with MVOB User Manual (S94PM01) for more details.
The details that follow provide a step-by-step guide to quickly and easily set-up a PositionServo drive to
communicate on a PROFIBUS DP fieldbus network, in a basic format. There are many more features and
settings available for the PROFIBUS DP option module, for details on these refer to the fuller description in
the sections that follow.
4.2 Configuring the Network Master
4.2.1 Master Support Files
Most PROFIBUS-DP master configuration software utilises GSD files to configure the network profile and
communications with the relevant devices. GSD files are text files that contain information about the device
timings, features supported and available data formats for the PROFIBUS-DP device. Device icon files are
also supplied for use with the PROFIBUS-DP configuration software.
NOTE
Many manufacturers offer language-specific GSD files for their PROFIBUS-DP devices. In this case the
term and file suffix “GSD” is used for their primary/default language choice and additional files may
be available for alternative languages and will be named differently. For example, for manufacturers
where English is not the primary language it may be possible to obtain GSD and GSE files where the
GSD file is written in the native/home language and the GSE file will is written in English etc.
The PositionServo GSD files are available on the CD ROM that ships with the drive and on the Lenze-AC
Tech website.
4.2.2 PROFIBUS-DP Master Setup Procedure
The method for configuring master devices differs greatly between manufacturers. Provided herein is a
very basic, generic guide to setting up a network master.
Launch the Master configuration software.
Install/Import the required GSD support file(s) using the wizard tool if provided.
Setup master PROFIBUS DP port with required cirteria such as node address and baudrate etc.
Add or “drag and drop” the required slave devices from the GSD library to the PROFIBUS DP network
which is typically depicted on screen.
Configure the slave node address, ensuring that each node has a unique and individual address.
Configure each slave's I/O data size. (This is typically done by dragging and dropping the required
amount of modules from the GSD file library or picking the modules from a list).
NOTE: Although there are only 4 modules listed in the GSD file, these can be used several times to create
the required amount of data.
1.
2.
3.
4.
5.
6.

9 P94PFB01A
Commissioning
Additional Field Devices
General
Drives
Lenze PositionServo
PROFIBUS DP
Lenze SMVector
Switching Devices
I/O
Gateway
Compatible PROFIBUS DP Slaves
+
+
+
+
+
+
+
CiR Object
Figure 5: PROFIBUS DP Master Setup
Save the configuration and download to the master.
4.3 Configuring the PositionServo PROFIBUS DP Module
4.3.1 Connecting
With the drive power disconnected, install the PROFIBUS DP module and connect the network cable as
instructed in the preceeding sections. Ensure the drive Run/Enable terminal is disabled then apply the
correct voltage to the drive (refer to drive's user manual for voltage supply details).
4.3.2 Connect to the Drive with MotionView OnBoard
Refer to the PositionServo User Manual, section 6.2 for full details on configuring and connecting a drive
via MotionView OnBoard (MVOB) software. Contained herein is a brief description of launching MVOB and
communicating with the drive.
Open the PC’s web browser. Enter the drive’s default IP address [192.168.124.120] in the browser’s
Address window.
The authentication screen may be displayed if the PC does not have Java RTE version 1.4 or higher. If
so, to remedy this situation, download the latest Java RTE from http://www.java.com.
When MotionView has finished installing, a Java icon entitled [MotionView OnBoard] will appear on
your desktop and the MVOB splash screen is displayed. Click [Run] to enter the MotionView program.
Once MotionView has launched, verify motor is safe to operate, click [YES, I have] then select [Connect]
from the Main toolbar (top left). The Connection dialog box will appear.
Select [Discover] to find the drive(s) on the network available for connection.
[Discover] may fail to find the drive’s IP address on a computer with both a wireless network card and
a wired network card (or a PC with more than one network connection). If this happens, try one of the
following remedies:
Disable the wireless network card and then use [Discover].
Type in the drive’s IP address manually at the box [IP Address].
Then click [Connect]
7.
1.
2.
3.
4.
5.

P94PFB01A 10
Commissioning
Highlight the drive (or drives) to be connected and click [Connect] in the dialog box.
Figure 6: Connection Box with Discovered Drive
In the lower left of the MotionView display, the Message WIndow will contain the connection status message.
The message “Successfully connected to drive B04402200450_192.168.124.120” indicates that the drive
B04402200450 with IP address 192.168.124.120 is connected.
4.3.3 Setting the Network Protocol
In the left-hand node tree of MotionView OnBoard, click on the [Communications] folder. Using the drop
down menu, select [PROFIBUS-DP] as the requied fieldbus selection.
Figure 7: Fieldbus Selection
The Important Message box (to REBOOT) is displayed because the Communication setting has been changed
(from None to PROFIBUS DP in this example). Click [Ok] to dismiss the dialog box. Reboot the drive.
6.

11 P94PFB01A
Commissioning
Figure 8: REBOOT Message
4.3.4 PROFIBUS-DP Node Settings
To access the PositionServo PROFIBUS-DP node settings, click on the [PROFIBUS-DP] folder icon.
Figure 9: PROFIBUS DP Settings

P94PFB01A 12
Commissioning
4.3.5 Node Address
Figure 10: PROFIBUS DP Node Address
PID283 - Node Address
Default: 126 Range: 0 - 126
Access: RW Type: Integer
Set PID283 to the required value. The default address is 126. The permissible address range is: 0 – 125.
Each node on the network must have an individual address, if two of more nodes have duplicate addresses
this may prevent the network from functioning correctly. Node 126 is a special node address intended for
“New” nodes only where by node configuration is performed via a network master device.
4.3.6 Baud / Data Rate
The PositionServo PROFIBUS-DP module automatically detects and synchronises to the data rate of the
network to which it has been connected.
4.3.7 Data Mapping
The PositionServo PROFIBUS-DP module has support for up to 12 cyclic data channels in both
directions.
Cyclic data configuration is described in full in section 5.
The default mapping for PositionServo PROFIBUS-DP is 4 Data IN links and 2 Data OUT links, the
configuration is shown in Table 4.
Table 4: Default Mapped Cyclic Data
Data OUT Link Mapped Function Data Format Data IN Link Mapped Function Data Format
1 52 – VAR_ENABLE RAM Integer 1 54 – VAR_STATUS RAM Integrer
2 139 – VAR_IREF RAM Float 2 215 – VAR_APOS RAM Float
3 7 –VAR_VELOCITY_ACTUAL RAM Float
4 188 – VAR_PHCUR RAM Float
NOTE
The data size of each IN and OUT Link / Channel is 4 Bytes per link.
The terms “OUT data” and “IN data” describe the direction of data transfer as seen by the PROFIBUS-
DP network master controller.
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13 P94PFB01A
Commissioning
4.3.8 Re-Initialising
To activate any changes made the drive has to be reinitialized. Hence the warning within MotionView
Figure 11: REBOOT Message
This can be done by cycling the power to the drive.
4.3.9 Non-Module Parameter Settings
In addition to configuring the PROFIBUS-DP option module and depending upon the application there may
be several drive based parameters that will need to be set using MotionView or an Indexer program or via
the PROFIBUS parameter access channel. Such as:
PID34 – Drive Mode (VAR_DRIVEMODE)
PID37 – Reference (VAR_REFERENCE)
PID29 – Enable switch funtion (VAR_ENABLE_SWITCH_TYPE)
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P94PFB01A 14
Cyclic Data Access
5. Cyclic Data Access
5.1 What is Cyclic Data?
Cyclic / Process / Polled data is the name given to the method used to transfer routine process data
between the network master and slave nodes.
Cyclic data transfer must be configured during network setup.
The terms “OUT data” and “IN data” describe the direction of data transfer as seen by the PROFIBUS
DP network master controller.
The cyclic data source and destinations are configured and controlled by the PositionServo PROFIBUS
DP module's mapping capabilities.
5.2 Channel Data Sizes
During network setup, it is necessary to program the network master with the amount of IN and OUT
cyclic data used for each slave device that it is associated with. This process is simplified with the use
of GSD support files (refer to paragraph 4.2.2, PROFIBUS-DP Master Setup Procedure, for details).
The amount of cyclic data configured in each PositionServo PROFIBUS-DP module must be equal to
the amount configured in the network master. Failure to do this may result in lost data and/or network
master configuration errors.
Figure 12: Set Channel Data Size
Each cyclic channels utilises 4 Bytes of data.
The IN and OUT data sizes can also be set by using PID285 and PID284 respectively.
PID285 - IN Data Size
Default: 4 Range: 0 - 12
Access: RW Type: Integer
PID284 - OUT Data Size
Default: 2 Range: 0 - 12
Access: RW Type: Integer
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15 P94PFB01A
Cyclic Data Access
5.3 Mapping Cyclic Data
5.3.1 Data IN (Din) Channels
The PROFIBUS-DP module has 12 cyclic IN channels each of which utilises 4 Bytes of data.
The amount of IN channels activated and mappable is set by PID285.
IN data mapping can be set via the MVOB [Communications] [PROFIBUS DP] folder:
Figure 13: PROFIBUS DP Communications folder
Or PIDs 298 - 309 can be used to directly edit the IN mapping details.
PID298 to PID309 - Din Mapping Channels
Default: Various Range: 0 - 999
Access: RW Type: Integer
Table 5 lists the default mapping source data for IN data being sent from the drive to the network master.
Table 5 – IN Data (Din) Mappings
PID Din Channel Default Format Function
PID298 Channel 1 mapping 54 Integer VAR_STATUS
PID299 Channel 2 mapping 215 Float VAR_APOS
PID300 Channel 3 mapping 7 Float VAR_VELOCITY_ACTUAL
PID301 Channel 4 mapping 188 Float VAR_PHCUR
PID302 Channel 5 mapping 116 Integer VAR_V16
PID303 Channel 6 mapping 117 Float VAR_V17
PID304 Channel 7 mapping 118 Integer VAR_V18
PID305 Channel 8 mapping 119 Float VAR_V19
PID306 Channel 9 mapping 120 Integer VAR_V20
PID307 Channel 10 mapping 121 Float VAR_V21
PID308 Channel 11 mapping 122 Integer VAR_V22
PID309 Channel 12 mapping 123 Float VAR_V23
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P94PFB01A 16
Cyclic Data Access
5.3.2 Data OUT (Dout) Channels
The PROFIBUS-DP module has 12 cyclic OUT channels each of which utilises 4 Bytes of data.
The amount of OUT channels activated and mappable is set by PID284.
OUT data mapping can be set via the MVOB [Communications] [PROFIBUS DP] folder:
Figure 14: PROFIBUS DP Communications folder
Or PIDs 286 - 297 can be used to directly edit the OUT mapping details.
PID286 to PID297 - Dout Mapping Channels
Default: Various Range: 0 - 999
Access: RW Type: Integer
Table 6 lists the default mapping destinations for OUT going data being sent from the network
master.
Table 6 – OUT Data (Dout) Mappings
PID Dout Channel Default Format Function
PID286 Channel 1 mapping 52 Integer VAR_ENABLE
PID287 Channel 2 mapping 139 Float VAR_IREF
PID288 Channel 3 mapping 102 Integer VAR_V2
PID289 Channel 4 mapping 103 Float VAR_V3
PID290 Channel 5 mapping 104 Integer VAR_V4
PID291 Channel 6 mapping 105 Float VAR_V5
PID292 Channel 7 mapping 106 Integer VAR_V6
PID293 Channel 8 mapping 107 Float VAR_V7
PID294 Channel 9 mapping 108 Integer VAR_V8
PID295 Channel 10 mapping 109 Float VAR_V9
PID296 Channel 11 mapping 110 Integer VAR_V10
PID297 Channel 12 mapping 111 Float VAR_V11
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