Lenze 931KPx Use and care manual

KHB 13.0004−EN
.Bò*
Ä.Bò*ä
Communication Manual
Servo Drives 930
l
931EPx, 931KPx
PROFIBUS−DP

l
2 KHB 13.0004−EN 2.1
0Fig. 0Tab. 0

Contents i
l3
KHB 13.0004−EN 2.1
1 About this documentation 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Document history 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Conventions used 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Notes used 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Product description 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Product features 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Technical data 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Communication 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Electrical installation 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Wiring 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Assignment of the interfaces 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 931E servo inverter 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 931K servo inverter 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 PROFIBUS communication 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 The data telegram 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Structure of the receive message 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Structure of the response message 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Structure of the receive and response message with PKW mechanism 16.
5.2 Consistent parameter data 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Commissioning 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Important notes 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Initial switch−on 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Settings on the controller (slave) 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Node address setting 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 Definition of parameter numbers (PNU) in the telegram editor 24. . . . . . .
6.4 Control system configuration 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 "Speed control" mode 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Description 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.2 Commissioning with PROFIdrive 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.3 PNUs for parameter setting 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 "Positioning" mode 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.1 Setting of homing 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.2 Positioning 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.3 Static position data sets 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.4 Dynamic position data set 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.5 Commissioning with PROFIdrive 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.6 PNUs for parameter setting 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi
l4 KHB 13.0004−EN 2.1
6.7 Actual values 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.1 Actual position 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Actual speed value 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.3 Actual value of active current 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.4 Digital outputs 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.5 Digital inputs 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.6 Motor data 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.7 Operating modes 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Parameter setting 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Physical units 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Global parameters 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Saving of parameter set 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 Setting of manual jog (inching mode) 45. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.3 Motor data 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 "Speed control" mode 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Speed setpoint 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Acceleration value 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 "Positioning" mode 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1 Selection of position data set for parameter setting 49. . . . . . . . . . . . . . . .
7.4.2 Setting of positioning profile parameters 49. . . . . . . . . . . . . . . . . . . . . . . . .
7.4.3 Position data set at starting of positioning 50. . . . . . . . . . . . . . . . . . . . . . . .
7.4.4 Jerk limitation 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.5 Homing modes 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.6 Homing offset 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5 Error management 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1 Setting of responses 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Device control 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Important notes 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 "Speed control" mode 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.1 Control word 1 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.2 Status word 1 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 "Positioning" mode 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.1 Control word 1 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.2 Status word 1 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 State diagram 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
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KHB 13.0004−EN 2.1
9 Troubleshooting and fault elimination 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Fault elimination 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Error messages 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Transfer of error messages 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7 Table of error messages 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Appendix 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Table of parameter numbers (PNU) 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Index 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About this documentation
Document history
1
l
6 KHB 13.0004−EN 2.1
1 About this documentation
Contents
This documentation contains descriptions for PROFIBUS with servo inverters of the 931
series.
)Note!
This documentation completes the mounting instructions coming with the
931 servo inverter and the corresponding hardware manual.
The mounting instructions and the hardware manual contain safety
instructions which must be observed!
ƒThe features of the PROFIBUS−DP for servo inverters of the 931 series are described
in detail.
ƒTypical applications are illustrated by use of examples.
ƒFurthermore, this documentation contains:
– the most important technical data for PROFIBUS communication;
– information on the installation and commissioning of the PROFIBUS network;
– information on the PROFIBUS data transfer, PROFIBUS monitoring functions,
communication−relevant parameters, and different operating modes.
The theoretical connections are only explained as far as required for understanding the
PROFIBUS communication for servo inverters of the 931 series.
All trade names listed in this manual are trademarks of their respective owners.
Validity information
The information given in this documentation is valid for servo inverters of the 931 series.
Target group
This documentation addresses to all persons designing, installing, commissioning, and
setting the servo inverters of the 931 series.
ITip!
Documentation and software updates for further Lenze products can be found
on the Internet in the "Services & Downloads" area under
http://www.Lenze.com
1.1 Document history
Material number Version Description
.Bò* 2.1 07/2010 TD34 Textual supplement to chapter 4.1 and 5.1
13336309 4.0 07/2010 TD34 Extended by the servo inverter 931K, general
revision
13201464 1.0 06/2007 TD23 First edition

About this documentation
Conventions used
1
l7
KHB 13.0004−EN 2.1
Your opinion is important to us!
These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.
If you have suggestions for improvement, please e−mail us to:
feedback−[email protected]
Thank you for your support.
Your Lenze documentation team
1.2 Conventions used
This documentation uses the following conventions to distinguish between different
types of information:
Type of information Identification Examples/notes
Spelling of numbers
Decimal separator Point In general, the decimal point is used.
For instance: 1234.56
Text
Program name » « PC software
For example: »Engineer«, »Global Drive
Control« (GDC)
Icons
Page reference ^Reference to another page with additional
information
For instance: ^16 = see page 16

About this documentation
Notes used
1
l
8 KHB 13.0004−EN 2.1
1.3 Notes used
The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
}Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and signal word Meaning
{Danger!
Danger of personal injury through dangerous electrical voltage.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
}Danger!
Danger of personal injury through a general source of danger.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
(Stop!
Danger of property damage.
Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.
Application notes
Pictograph and signal word Meaning
)Note! Important note to ensure troublefree operation
ITip! Useful tip for simple handling
,Reference to another documentation

Product description
Product features
2
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KHB 13.0004−EN 2.1
2 Product description
2.1 Product features
ƒSupport of the PROFIBUS−DP−V0 communication profile
ƒDrive profile:
– PROFIdrive
ƒAutomatic baud rate detection (9.6 kbps ... 12 Mbps)

Technical data
Communication
3
l
10 KHB 13.0004−EN 2.1
3 Technical data
3.1 Communication
Field Values
Communication profile
(DIN 19245 part 1 and part 3)
Profibus DP
Communication medium RS485
Drive profile PROFIdrive
Network topology Without repeater: line / with repeaters: line or tree
PROFIBUS−DP device Slave
Baud rate [kbps] 9.6 ... 12000
Maximum cable length per bus
segment
1200 m (depending on baud rate and cable type)
Bus connection X4.1, X4.2 9−pin Sub−D socket (931E), 5−pin M12 connector (931K)

Electrical installation
Wiring
4
l11
KHB 13.0004−EN 2.1
4 Electrical installation
4.1 Wiring
Basic wiring of the PROFIBUS
£1200 m
931x 931x 931x
X4.1/X4.2 X4.1/X4.2 X4.1/X4.2
0
111
931e_037
Fig. 1 Basic wiring
Element Note
0Control system E.g. PC or PLC with PROFIBUS−DP master interface module
1Bus cable Adapt baud rate to bus cable length
931X PROFIBUS slave Appropriate standard device
)Note!
When using a repeater, up to 125 stations can communicate via PROFIBUS.
EMC−compliant wiring
For wiring according to EMC requirements, please observe the following points:
)Note!
ƒSeparate control cables from motor cables.
ƒConnect control/data cable shields correctly:
– On both sides for cables with digital signals.
ƒObserve the information on wiring according to EMC guidelines given in the
documentation for the standard device.
Wiring procedure
1. Do not change the bus topology, i.e. do not use stubs.
2. Observe wiring notes given in the documentation for the control system.
3. Only use cables that comply with the listed specifications.
4. Activate bus terminating resistors at the first and last physical station.
When using sub plugs Lenze recommends to use sub−D plugs with internal series
inductance (110 nH).

Electrical installation
Wiring
4
l
12 KHB 13.0004−EN 2.1
Number of bus stations
M
123
SS S S S
RR
2133PFB004
Segment Master (M) Slave (S) Repeater (R)
11
2
31
30
−
−
2− 30 1
3− 30 1
ITip!
Repeaters do not have a station address but in the calculation of the
maximum number of stations they reduce the number of stations by 1 on
each side of the segment.
Repeaters can be used to build up line and tree topologies. In this case, the
maximum total bus system expansion depends on
ƒthe baud rate used
ƒthe number of repeaters used

Electrical installation
Wiring
4
l13
KHB 13.0004−EN 2.1
Baud rates
Baud rate [kbps] Length of the transmission cable [m]
9.6 ... 93.75 1200
187.5 1000
500 400
1500 200
3000 100
6000 100
12000 100
)Note!
ƒThe baud rate depends on the data volume, cycle time and number of bus
stations.
ƒThe baud rate selected should be as low as possible. The lower the baud
rate, the more insensitive the PROFIBUS is to parasitic coupling.
ITip!
For high baud rates, we recommend to consider the application of optical
fibres.
Advantages of optical fibres:
ƒExternal electromagnetic interferences have no effects on the transmission
path.
ƒBus lengths of several kilometres are also possible with higher baud rates.
The bus length is
– independent of the baud rate.
– depend on the optical fibre used.
Specification of the transmission cable
Please follow the specifications of the PROFIBUS user organisation (PUO) for signal cables:
Bus cable specification
Specific resistance 135 − 165 W/km, (f = 3 − 20 MHz)
Capacitance per unit length £30 nF/km
Loop resistance < 110 W/km
Core diameter > 0.64 mm
Core cross−section > 0.34 mm2
Cores Double twisted, insulated and shielded

Electrical installation
Assignment of the interfaces
931E servo inverter
4
l
14 KHB 13.0004−EN 2.1
4.2 Assignment of the interfaces
4.2.1 931E servo inverter
The controller is connected to the PROFIBUS via the 9−pin Sub−D socket X4.1/X4.2.
View Pin Designation Explanation
1
6
5
9
1 − −
2 − −
3 RxD/TxD−P Data line B (received/transmitted data plus)
4 RTS Request to send
(received/transmitted data, no differential signal)
5 M5V2 Data reference potential (ground to 5V)
6 P5V2 5 V DC / 30 mA (bus termination)
7 − −
8 RxD/TxD−N Data line A (received/transmitted data minus)
9 − −
4.2.2 931K servo inverter
The controller is connected to the PROFIBUS via the M12 connector X4.1/X4.2.
X4.1 / X4.2 PROFIBUS
Input contact pattern Pin
no.
Signal Specification
1n. c. Not assigned
2 RxD/TxD−
N
Receive / Transmit data −N (A line)
3 DGND Data Ground (reference potential to VP)
4 RxD/TxD−
P
Receive / Transmit data −plus (B line)
5 Shield Shield
Output contact
pattern
Pin
no.
Signal Specification
1 VP Power supply plus (5V)
2 RxD/TxD−
N
Receive / Transmit data −N (A line)
3 DGND Data Ground (reference potential to VP)
4 RxD/TxD−
P
Receive / Transmit data −plus (B line)
5 Shield Shield

PROFIBUS communication
The data telegram
Structure of the receive message
5
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KHB 13.0004−EN 2.1
5 PROFIBUS communication
5.1 The data telegram
The controller supports the communication protocol DP in the power section DP−V0. The
controller and the PLC communicate via receive telegram and response telegram. Enter
parameter numbers (PNU) in these telegrams to address objects of the drive (e.g. process
data and parameter data). Telegrams are transmitted cyclically. The telegram length
depends on the settings of the telegram editor in the SDC.
ƒReceive telegrams contain output data which is transmitted from the PLC (master)
to the controller (slave).
ƒResponse telegrams contain input data which is transmitted from the
controller (slave) to the PLC (master).
5.1.1 Structure of the receive message
ADR = 1 ADR = 2 ADR = 4 ADR = 8 ADR = 12 ADR = 16
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...
Data 3rd PNU
Data 2nd PNU
Data 1st PNU
Control word 1 (PNU 967) (^54)
Mandatory wildcard (PNU 2010.0)
Telegram identifier (not changeable). Selecting the receive message in the telegram editor automatically
sets the operating mode:
lReceive message 0: "positioning" mode (value of byte 0: E0h)
lReceive message 1: "speed control" mode (value of byte 0: E1h)
)Note!
ƒTo enable the PLC to receive the process data from the controller, you have
to assign the corresponding response message to the receive message in
"SDC". (¶24)
ƒIn the PLC you have to enter the identifier in byte 0 of the receive message.
The identifier sets the operating mode of the controller.
–E1
h: speed control mode
–E0
h: positioning mode

PROFIBUS communication
The data telegram
Structure of the response message
5
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16 KHB 13.0004−EN 2.1
5.1.2 Structure of the response message
ADR = 1 ADR = 2 ADR = 4 ADR = 8 ADR = 12 ADR = 16
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...
Data 3rd PNU
Data 2nd PNU
Data 1st PNU
Status word 1 (PNU 968)
Mandatory wildcard (PNU 2010.0)
Telegram identifier (not changeable). In the telegram editor the corresponding response message has to
be assigned to the receive message:
lResponse message 0: "positioning" mode (value of byte 0: F0h)
lResponse message 1: "speed control" mode (value of byte 0: F1h)
5.1.3 Structure of the receive and response message with PKW mechanism
The PKW mechanism (PKW = parameter identifier value) enables a variable read/write
access to the parameters of the controller with a defined telegram structure.
ƒUse the PNU 2000 for the PKW mechanism.
Receive message
The PNU 2000 can be entered in the telegram editor, for instance under address 4.
ADR = 1 ADR = 2 ADR = 4 ADR = 12 ADR = 16
1st DWORD 2nd DWORD
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...
Data 2nd PNU
PNU 2000
Control word 1 (PNU 967) (^54)
Mandatory wildcard (PNU 2010.0)
Telegram identifier
ƒStructure of PNU 2000:
(two data double words (2 × 4 bytes))
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4  7
Parameter value
Subindex of PNU
PNU to be accessed by the master
Identifier:
lRead access: 41h
lWrite access: 42h
lNo access: 00h

PROFIBUS communication
The data telegram
Structure of the receive and response message with PKW mechanism
5
l17
KHB 13.0004−EN 2.1
Response message
The PNU 2000 must be entered under the same address as in the receive message.
ADR = 1 ADR = 2 ADR = 4 ADR = 12 ADR = 16
1st DWORD 2nd DWORD
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...
Data 2nd PNU
PNU 2000
Status word 1 (PNU 968)
Mandatory wildcard (PNU 2010.0)
Telegram identifier
ƒStructure of PNU 2000:
(two data double words (2 × 4 bytes))
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4  7
Parameter value
Subindex of PNU
PNU requested by the master
Identifier:
lWrite access: 42h
)Note!
ƒThe PNU 2000 must be entered under the same address in the receive
message and in the corresponding response message!
ƒFor reasons relating to the address register of the master’s CPU (see
documentation for the master), we recommend to use variables of the type
"double word" for the telegram.
If the telegram is generated byte by byte, a shift in the data telegram may
result which causes transmission errors.
ƒThe transmission of a parameter is not acknowledged by the controller.

PROFIBUS communication
Consistent parameter data
Structure of the receive and response message with PKW mechanism
5
l
18 KHB 13.0004−EN 2.1
5.2 Consistent parameter data
In the PROFIBUS communication system, a permanent data exchange takes place between
the master computer (CPU + PROFIBUS master) and the slave.
The PROFIBUS master and the CPU (central processing unit) of the master computer access
a common storage medium for this purpose − the dual port memory (DPM).
The DPM enables a data exchange into both directions (read/write):
ó
óPROFIBUS Master Dual Port Memory
(DPM)
Central Processing
Unit (CPU)
Without any further data organisation, a slower write action of the PROFIBUS master
might be overtaken by a faster read action of the CPU within a cycle.
To prevent this from happening, the parameter data to be transferred must be marked as
"consistent".
Data communication with existing consistency
With consistency either "read" or "write" is possible in the data memory if master and CPU
have access at the same time:
ƒThe PROFIBUS master only transfers the data as a complete data record.
ƒThe CPU can only access completely updated data records.
ƒThe PROFIBUS master cannot read or write data as long as the CPU accesses
consistent data.
The result is shown in the following example:
ó
óPROFIBUS Master Dual Port Memory
(DPM)
Central Processing
Unit (CPU)
01
0CPU wants to read!
1PROFIBUS master wants to write at the same time!
1. Due to the fact that the PROFIBUS master can only write if the CPU does not read, the
PROFIBUS master has to wait until the CPU has read all of the data.
2. The PROFIBUS master only writes complete data records into the DPM.
Configuration of consistent data
Consistency is achieved by configuring the PROFIBUS master accordingly. Use the
corresponding instructions of your configuration software for this purpose.

Commissioning
Important notes
6
l19
KHB 13.0004−EN 2.1
6 Commissioning
6.1 Important notes
Before you switch on the controller for the first time in the PROFIBUS−DP network, check
ƒthe entire wiring for completeness, short circuit, and earth fault,
ƒand whether the bus system is terminated by terminating resistors at the first and
last bus station.
6.2 Initial switch−on
)Note!
Keep to the switch−on sequence!
Step Procedure See
A Settings on the controller (slave)
lYou need a PC and the »Small Drives Control (SDC)« PC software
1. Switch on the controller Software manual for
the controller
2. Establish RS232 communication between the PC and the controller
3. Set the node address
lSelection of the node address via »Small Drives Control (SDC)« ^21
lSelection of the node address via the digital inputs DIN0 ... DIN5 ^22
4. Define the parameter numbers (PNU) in the telegram editor ^24
5. Save the settings in the parameter set of the controller
BConfiguration of the control system (master)
1. Switch on the control system Documentation for
the master
2. Install the device data base file (*.GSE) ^27
3. Enter the slave addresses
4. Configure the input data and output data according to the settings in the
telegram editor (project creation). The data width depends on the entries in the
telegram editor
^24
5. Save, compile and transfer the project Documentation for
the master
CActivation of communication
1. Activate communication on the master Documentation for
the master
2. Activate communication on the slave ^21
DRunning the controller up via the PROFIdrive state machine
1. "Speed control" mode ^28
2. "Positioning" mode ^30
The drive is controlled according to the setpoints specified by the PLC and the operating mode set.

Commissioning
Settings on the controller (slave)
6
l20 KHB 13.0004−EN 2.1
6.3 Settings on the controller (slave)
)Note!
The controller parameters are set using the »Small Drives Control (SDC)« PC
software.
ƒEstablish an RS232 connection for communication between the PC and the
controller. For a detailed description please refer to the controller’s software
manual.
ƒSave all settings in the parameter set of the controller using the command
File WParameter set WSave parameter set (flash) to prevent the settings
from getting lost in the case of a reset or mains switching.