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

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...

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...

XtrapulsCD1-pm Profibus Communication Profile Contents PAGE

XtrapulsCD1-pm Profibus Communication Profile

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...

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...

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

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

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...

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)...

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...

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...

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),...