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CD1pm_ProfibusProtocol_en_1.5

CD1pm_ProfibusProtocol_en_1.5

Product catalog summary

Introduction
This technical manual provides guidance on the PROFIBUS Communication Profile for the INFRANOR XtrapulsCD1-pm drive, focusing on hardware version 2.0 and firmware from version 52B.68. It advises consulting the XtrapulsCD1-pm Installation and User Guides for installation and commissioning.

Warnings and Safety Instructions
Emphasizes the importance of reading all instructions before operating the amplifiers. Maintenance should be performed by skilled technicians. Compliance with standards and CE approval depends on following the amplifier manuals' recommendations.

Environmental Compliance
INFRANOR products are categorized under WEEE Category 9. The document outlines the company's membership in RECYLUM for WEEE recycling in France and provides disposal instructions per the 2002/96/EC directive.

ESD Information
Amplifiers are designed to resist electrostatic discharges, but proper storage and handling are crucial to prevent damage. Guidelines are provided to minimize ESD risks.

Waste Management
Details waste categorization and disposal instructions for packaging, documents, mechanics, heatsinks, and electronic components, emphasizing recycling and adherence to regional regulations.

Contents Overview
The manual is structured into chapters covering PROFIBUS communication, operation, and parameter setting. Key sections include PPO message configuration, parameter setting examples, global control, and detailed operation modes such as position and speed/torque modes.

Chapter Summaries

Chapter 1 - PROFIBUS Communication: Discusses PPO messages, configuration, parameter setting, and global control.
Chapter 2 - PROFIBUS Operation: Covers communication, position mode, speed/torque mode, and driving of the positioner.
Chapter 3 - Parameter Setting: Provides a comprehensive list and description of parameters, including motor, current, speed modulation, and positioner parameters.

Conclusion
INFRANOR reserves the right to change any information without notice and disclaims responsibility for damages due to improper handling or incorrect descriptions.

Position Sensor and Encoder Parameters
Outlines parameters for encoder output and input, motor feedback selection, and the use of Hall Effect Sensors. Discusses motor phasing and the use of SinCos tracks for motor feedback.

Profibus Communication Overview
Describes the Profibus communication system as a master-slave setup, with the INFRANOR® positioner acting as a slave. Key parameters include the amplifier address on the bus, communication speed, and configuration set in the PLC (master).

PPO Messages
PPO messages consist of PKW and PZD modules, cyclically transferred by the PROFIBUS DP Data_Exchange function. Details the structure and function of these messages, including the use of SFC14 and SFC15 functions in STEP7® software.

Configuration and Parameter Setting
Configuration of PPO types is typically provided by the GSD file but can be manually defined. Provides examples of parameter setting and explains communication rules for instruction/reply between master and slave.

Profibus Operation
The positioner is controlled via Profibus using the PZD data area. Details the control word structure, input commands, and status indicators for position mode operation.

Positioner Control
Outlines the control process for the positioner, including enabling and disabling procedures. Describes the OFF1, OFF2, and OFF3 functions for disabling the motor.

Feedback and Status
Feedback is provided through the HIW in the PZD area, with specific bits indicating the running sequence and programmable logic outputs.

Operation Diagrams
Includes diagrams illustrating the positioner behavior during operation, showing actions possible when the positioner is in 'Operation enabled' status.

Speed/Torque Mode
Details the control word and status word for speed and torque modes, with specific bits indicating operational conditions and errors.

Parameter Settings
Provides a comprehensive list of parameters, including motor pole pairs, resolver shift, current limits, speed modulation, and more.

PZD Data Mapping
Explains how to change the PZD data mapping for input commands and feedback.

Key Notes
Emphasizes the importance of checking the positioner status to ensure command execution and provides examples of enabling sequences.

Parameter Descriptions
Outlines various parameters necessary for the operation of synchronous motors and positioners, including motor pole pairs, phase order, and position sensor offset.

Motor Parameters
Essential parameters for motor operation include motor pole pairs, phase order, and position sensor offset.

Current Parameters
Defines parameters related to current limitations, including stop current limit, maximum current, rated current, and I2t mode.

Speed Modulation
Speed modulation parameters allow for dynamic adjustment of motor speed during operation.

Current Loops
Details on current/voltage rating identification and digital PI regulators for D-Q current loops.

Positioner Parameters
Parameters such as positioner mode, maximum speed, motor rotation direction, and acceleration ramp are discussed.

Regulator Gains
Explains the structure of the regulator used in the XtrapulsCD1-pm, including proportional and integral gains for speed and position loops.

Auto-tuning Procedure
Identifies motor and load parameters to calculate regulator gain parameters.

Critical Information
Emphasizes the importance of executing certain procedures with the positioner disabled and ensuring safety during motor operations.

Technical Document Summary

Specifications

Forward Acceleration Gain (PNU 737): Defines the feedforward acceleration amplitude to reduce following error during motor acceleration and deceleration.
Feedforward Speed 2 Gain (PNU 738): Combines damping speed gain and feedforward friction gain to mitigate load viscous friction effects.
Speed Loop Damping Gain (PNU 739): Used to achieve maximum servo loop stiffness.

Application Parameters

Position Resolution (PNU 740): Defines position increments per motor revolution.
Position Following Error Threshold (PNU 741): Triggers an error when position deviation exceeds this value.
Positioner Configuration (PNU 742): Includes settings for limit switches, speed limitations, and profile types.

Encoder Output and Input

Encoder Output Resolution (PNU 750): Defines encoder resolution, limited by maximum application speed.
Encoder Input Zero Mark Pitch (PNU 751): Determines encoder pulse count between Zero Mark signals for protection.

Manual Motion Parameters

Manual Motion Speed (PNU 760): Speed parameter in rpm, limited by maximum speed settings.
Acceleration and Deceleration Ramps (PNU 761, 762): Define time for acceleration and deceleration at maximum speed.

Homing and Position Commands

Homing Configuration (PNU 766): Configures manual homing settings.
Position Input Command (PNU 767): Defines position input for manual motion in absolute or relative mode.

Monitoring and Faults

Positioner Error Code (PNU 773): Provides error codes for various positioner faults.
Power Stage Faults (PNU 778): Lists potential power stage errors and their bit representations.

Sequence Reading/Writing

Sequence Control (PNU 782): Manages sequence validity and type (positioning, homing, etc.).
Position in Sequence (PNU 783): Defines position for sequences, with variations based on resolution.

Parameter Overview
Provides detailed information on various parameters used in the XtrapulsCD1-pm Profibus Communication Profile for controlling motor sequences.

Acceleration and Deceleration
Defines the ramp times for positioning, speed, and torque sequences.

Delay/Running Time
Specifies delay at the end of positioning, constant speed motion time, or timeout for homing sequences.

Link and Counter Parameters
Manage sequence transitions and conditional jumps.

Start/Stop Conditions
Defined by input status, with specific bits indicating which inputs must be set to 0 or 1.

Logic Outputs
Programmable logic outputs control the effect on outputs during sequences.

Torque and Speed Modifications
Define torque as a percentage of maximum current and speed as a percentage of max speed.

Analog and Logic Inputs
Provide readings from analog and logic inputs, with specific configurations for input and output polarities.

PZD Feedback Mapping
Allows modification of feedback signals from PZD3 to PZD6.

Error Codes
Provide descriptions for various faults, including EEPROM checksum errors, homing timeouts, power overvoltage, and motor overtemperature.

Technical Document Summary

Fault Codes and Monitoring
Identifies fault codes such as current sensor offset, overcurrent, and undervoltage.

Parameter Setting
Includes PZD Command Mapping and Regulator Parameters.

Position Control
Parameters for gain calculation and error protection modes.

Encoder and Position Settings
Includes Absolute Encoder Settings and Position Initialization.

Additional Features
Includes SinCos Input Error Compensation and Cogging Torque procedures.

Second Position Sensor Configuration (PNU 885): Used to close the position loop with a secondary sensor.

Second Position Sensor Scaling (PNU 886): Modifies the position resolution value for the second sensor input.

Encoder Output Parameters:

Enable Encoder Output (PNU 887): Enables the encoder output on the X3 connector for electronic gearing applications.

Encoder Output Division Ratio (PNU 888): Reduces the encoder output resolution.

Encoder Output Deadband (PNU 889): Introduces a deadband at standstill to prevent oscillations.

Encoder Input Parameters:

Encoder Input Selection (PNU 890): Allows selection of the encoder type connected to the X3 connector.

Encoder Input Resolution (PNU 891): Defines the resolution of the encoder on the motor shaft.

Enable Encoder Interpolation (PNU 892): Enables pulse interpolation for SINCOS encoder types.

Motor Feedback Selection (PNU 893): Determines the sensor used to close the servo motor control loops.

Motor Feedback Programming (PNU 894): Modifies encoder input and motor feedback selection.

Hall Effect Sensor (PNU 895): Required for synchronous motors, involves phase shift calculation.

Motor Phasing (PNU 896): Initiates the motor phasing procedure.

Phasing OK Output (PNU 897): Displays the status of motor phasing.

SinCos Tracks Motor Feedback (PNU 898): Used to close the servo motor control loops.

Specific Function Activation (PNU 899): Activates specific functions in the servo drive.

Catalog excerpts

XtrapulsCD1-pm Profibus Communication Profile PROFIBUS Communication Profile XtrapulsCD1-pm Profibus Communication Profile

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XtrapulsCD1-pm Profibus Communication Profile ! This is a general manual describing the PROFIBUS Communication Profile of the INFRANOR XtrapulsCD1-pm drive (hardware release version 2.0 and firmware release from version 52B.68). For the installation and commissioning of the drive, please refer to the appropriate manuals (XtrapulsCD1-pm Installation Guide and XtrapulsCD1pm User Guide). Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Maintenance procedures should be...

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XtrapulsCD1-pm Profibus Communication Profile Waste category Recyclable waste Recyclable waste Recyclable waste Recyclable waste Electronical boards and components WEEE (Waste Electronic and Electrical Equipment) Dangerous industrial waste Waste management Waste disposal centre / collection point of recyclable waste Waste disposal centre / collection point of recyclable waste Waste disposal centre / metal collection point Waste disposal centre / metal collection point France: http://www.ecosystem.eco/fr/sousrubrique/solutions Abroad: Country-specific regulation  Sorting instructions may vary...

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XtrapulsCD1-pm Profibus Communication Profile Contents PAGE

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XtrapulsCD1-pm Profibus Communication Profile

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XtrapulsCD1-pm Profibus Communication Profile The Profibus communication is a master-slave communication. The INFRANOR® positioner is a slave positioner and the only important parameter to be defined for the communication is the amplifier address on the bus. All other parameters (communication speed, configuration, communication parameters) are defined in the PLC (master) and will be automatically sent to the positioner: - the available communication speeds are: 9,6 KB, 19,2 KB, 93,72 KB, 187,5 KB, 500 KB, 1,5 MB, 3 MB, 6 MB, 12 MB and will be automatically detected by the positioner. - the configuration...

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XtrapulsCD1-pm Profibus Communication Profile A PPO message can contain 1 or 2 modules called PKW and PZD. Each module (PKW or PZD) is defined as input-output and is consistant over the whole module length. The communication is made by the reading or writing of PPO messages (the PKW and PZD modules are input and output at the same time). The master sends a message by a PPO-write and receives a message by PPOread. The PPO-write and PPO-read messages are cyclically transferred by the PROFIBUS DP Data_Exchange function. The modules are consistant. This means that the different words of a same message...

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XtrapulsCD1-pm Profibus Communication Profile Normally, the identifiers of the various PPO types are automatically provided by the GSD file. Otherwise, they can be manually defined with values indicated in the table below: The reply code mentioned in the table above contains the normal replies associated with the instructions. Chapter 1 - Profibus Communication

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XtrapulsCD1-pm Profibus Communication Profile Reply codes (slave -> master): Chapter 1 - Profibus communication

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XtrapulsCD1-pm Profibus Communication Profile Example 1: modification of the sequence 2 speed value at 1000 rpm. Example 2: modification of the sequence 5 position value at 200. - The master sends an instruction to the slave with the message "PPO write". It repeats this instruction until it gets a reply from the slave by "PPO read". This procedure guarantees the operator the instruction/reply communication. - Just one single instruction can be executed at once. - A slave provides the reply until the master sends a new instruction. - An instruction (8 bytes) must be completely transferred in a...

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XtrapulsCD1-pm Profibus Communication Profile The positioner is driven by Profibus with the PZD data area. Master -> slave (PLC -> positioner): Slave -> master (positioner -> PLC): Note: For switching from "Profibus" mode to local mode or vice versa, the positioner must be disabled. The input command is contained in HSW (2nd word of PZD - PPO write). For the positioner operation mode (bit 6 of the control word) PZD2 has got the following meaning. Bits 0 to 7: number of the sequence to be executed. Bits 8 to 15: logic inputs (bits 0 to 7). These inputs are used for the sequence start (or stop)...

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XtrapulsCD1-pm Profibus Communication Profile Note: When the motor reaches a limit switch, the following error is activated (bit 8) and the positioner fault is not activated (bit 3). The motor remains enabled. The feedback is included in HIW (2nd word of PZD - PPO read). In Position mode, PZD2 has got the following meaning: Bits 0 to 7 of the HIW: number of the running sequence (otherwise 0xFF). Bits 8 to 15 of the HIW: programmable logic outputs (0 to 7). PZD3 contains the current monitor in the motor. PZD4 contains the motor speed. PZD5 (MSB) and PZD6 (lSb) contain the motor position. Chapter...

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XtrapulsCD1-pm Profibus Communication Profile 2.5 – POSITIONER CONTROL PROCESS DIAGRAM Power ON ENABLE inhibited OFF1 control = xxxx x1xx xxxx xxx0 ENABLE not ready C.3 = 0 Operation inhibition control xxxx x1xx xxxx x110 Ready for ENABLE Operation inhibited Motor stop disabled Operation enabled Enabling. Indicates bit n of the control word (see section 2.1). Indicates bit n of the status word (see section 2.3). This diagram describes the positioner behaviour: The enabling process includes 5 stages: "ENABLE inhibited", "ENABLE not ready", "Ready for ENABLE", "Ready" and "Operation enabled". The...

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XtrapulsCD1-pm Profibus Communication Profile 2.6 – POSITIONER OPERATION DIAGRAM Operation enabled Drive task over Homing over Electronic gearing Manual move Brake with max. deceleration Positioner function Execution of a sequence Acknowledgment of the command by S.12 When position is reached, S.10 = 1 Continue drive task C.5 = 1 Brake with ramp Intermediate stop Manual move Homing over When the positioner is in "Operation enabled" status, the following actions are possible: - starting a sequence execution (bit 6), - jog+ or jog- (bit 8 or 9), - homing (bit 11), - absolute positioning (bit 12),...

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CD1pm_ProfibusProtocol_en_1.5

CD1pm_ProfibusProtocol_en_1.5

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