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Users Manual
PROFIBUS DP Adapter Module
RPBA-01
Safety instructions
Overview
This chapter states the general safety instructions that must be
followed when installing and operating the RPBA-01 PROFIBUS
DP Adapter module.
The material in this chapter must be studied before attempting any
work on, or with, the unit.
In addition to the safety instructions given below, read the
complete safety instructions of the specific drive you are working
on.
Safety instructions
Safety instructions
Table of contents
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Intended audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
What this manual contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms used in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Further information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
11
11
13
13
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The RPBA-01 PROFIBUS DP Adapter module . . . . . . . . . . . . . . . . . . . . . .
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warranty and liability information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
15
16
17
17
18
19
19
21
21
23
Table of contents
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Node selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
29
29
29
30
31
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS connection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
33
33
37
DP-V0 communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service Access Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PPO message types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Control Word and the Status Word . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter handling in cyclic communication (DP) . . . . . . . . . . . . . . . . . . . .
39
39
39
40
45
46
46
46
51
DP-V1 communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service Access Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PPO message types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Control Word and the Status Word . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents
63
63
63
64
71
72
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DP-V1 read/write request sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter data transfer examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
72
72
78
88
Fault tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
PROFIdrive parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Definitions and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
PROFIBUS definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
PROFIBUS abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
RPBA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
PROFIBUS link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Table of contents
10
Table of contents
11
Introduction
Intended audience
The manual is intended for the people who are responsible for
commissioning and using an RPBA-01 PROFIBUS DP Adapter
module. The reader is expected to have a basic knowledge of
electrical fundamentals, electrical wiring practices and how to
operate the drive.
Introduction
12
Introduction
13
Further information
Further information is available on the World Wide Web from
www.profibus.com.
Introduction
14
Introduction
15
Overview
Overview
This chapter contains a short description of the PROFIBUS
standard and the RPBA-01 PROFIBUS DP Adapter module, a
delivery checklist and warranty information.
PROFIBUS standard
PROFIBUS is an open serial communication standard that
enables data exchange between all kinds of automation
components. There are three main variations of PROFIBUS:
PROFIBUS-FMS (Fieldbus Message Specification),
PROFIBUS-DP (Decentralised Periphery) and PROFIBUS-PA
(Process Automation). The RPBA-01 PROFIBUS DP Adapter
module supports the PROFIBUS DP protocol, including its DP-V1
extension.
The physical transmission medium of the bus is a twisted pair
cable (according to the RS-485 standard). The maximum length of
the bus cable is 100 to 1200 metres, depending on the selected
transmission rate (see Technical data chapter). Up to 31 nodes
can be connected to the same PROFIBUS network segment
without the use of repeaters. With repeaters, it is possible to
connect 127 nodes (including repeaters and master station) to the
network.
In PROFIBUS communication, the master station usually a
programmable logic controller (PLC) polls the nodes which
respond and take the actions requested by the master. It is also
possible to send a command to several nodes at the same
broadcast; in this case the nodes do not send a response
message to the master.
The PROFIBUS protocol family is specified in the IEC 61158
standard. The communication with a drive is defined in the
PROFIdrive Profile The PROFIBUS Profile for Adjustable Speed
Overview
16
Overview
17
PROFIBUS
master
Bus connector X1
(see chapter
Electrical installation)
Slave
stations
Fixing screw
(GND)
(frame)
DIP switch for
selecting bus
termination
ABB Drive
Rotary node
address
selection switches
ABB Drive
Top view
Diagnostic LEDs
(See chapter
Fault tracing)
Side view
Overview
18
Overview
19
PLC configuration
Install the RPBA-01 GSD file (e.g. ABB_0812.GSD).
20
21
Drive configuration
Power up the drive.
The detailed procedure of activating the drive for
communication with the module is dependent on the drive type.
Normally, a parameter must be adjusted to activate the
communication. Refer to the Firmware Manual of the drive for
Quick start-up guide
22
23
Setting
ACS800
ACS550
COMM.CW
COMM
COMM. REF
COMM
COMM.CW
COMM
COMM.CW
COMM
FIELDBUS
EXT FBA
GENERIC
PROFIBUS DP*
3
51.03 BAUDRATE
12000*
51.04 PPO-type
PPO1*
51.21 DP MODE
REFRESH
24
25
Setting
ACS800
ACS550
COMM.CW
COMM
COMM.CW
COMM
COMM.CW
COMM
COMM. REF
COMM
COMM.CW
COMM
COMM.CW
COMM
FIELDBUS
EXT FBA
ABB DRIVES
PROFIBUS DP*
51.03 BAUDRATE
1500*
51.04 PPO-TYPE
PPO2*
51.06 PZD3 IN
51.07 PZD4 OUT
51.08 PZD4 IN
51.09 PZD5 OUT
51.10 PZD5 IN
104 (CURRENT)**
2501 (CRIT SPEED SEL)**
105 (TORQUE)**
2502 (CRIT SPEED 1 LO)**
106 (POWER)**
51.12 PZD6 IN
51.21 DP MODE
51.27 FBA PAR REFRESH
0
REFRESH
26
27
Mechanical installation
WARNING! Follow the safety instructions given in this manual and
in the Hardware Manual.
Mounting
The RPBA-01 is to be inserted into its specific position in the drive.
The module is held in place with plastic retaining clips and two
screws. The screws also provide the earthing of the I/O cable
shield connected to the module, and interconnect the GND signals
of the module and the control board of the drive.
On installation of the module, the signal and power connection to
the drive is automatically made through a 34-pin connector.
Mounting procedure:
Insert the module carefully into its position inside the drive until
the retaining clips lock the module into position.
Fasten the two screws (included) to the stand-offs.
Set the bus termination switch of the module to the required
position.
Note: Correct installation of the screws is essential for fulfilling the
EMC requirements and for proper operation of the module.
Note: Make sure the drive is properly grounded. For more
information, see the drive documentation.
Mechanical installation
28
Mechanical installation
29
Electrical installation
Overview
This chapter contains:
general cabling instructions
instructions for setting module node address number and bus
termination
instructions for connecting the module to the PROFIBUS DP
network.
WARNING! Before installation, switch off the drive power supply.
Wait five minutes to ensure that the capacitor bank of the drive is
discharged. Switch off all dangerous voltages connected from
external control circuits to the inputs and outputs of the drive.
Bus termination
The DIP switch on the front of the RPBA-01 module is used to
switch on bus termination. Bus termination prevents signal
reflections from the cable ends. Bus termination must be set to ON
if the module is the last or first module on the network. When using
PROFIBUS specific D-sub connectors with built-in termination, the
RPBA-01 termination must be switched off.
Electrical installation
30
Bus termination ON
ON
ON
Node selection
Use the rotary node address selectors on the module to select the
node address number. The node address number is a decimal
number ranging from 01 to 99. The left selector represents the first
digit and the right selector the second digit. The node address can
be changed during operation, but the module must be re-initialised
for changes to take effect.
Note: When 00 is selected, the node number is defined by a
parameter in the fieldbus parameter group of the drive.
901
901
45 6
45 6
Electrical installation
23
23
78
1x
78
10x
31
PROFIBUS connection
The bus cable is connected to connector X1 on the RPBA-01.
The connector pin allocation described below follows the
PROFIBUS standard.
5
X1
9
X1
Description
Not used
Not used
RTS
Request To Send
GND
BUS
Isolated ground
+5V
7
8
9
Not used
A
Electrical installation
32
X1
RPBA-01
SHLD
A
B
A
PROFIBUS
MASTER
1
2
3
4
X1
RPBA-01
SHLD
A
B
A
B
1
2
3
4
A
B
GND
Electrical installation
33
Programming
Overview
This chapter gives information on configuring the PROFIBUS
master station and the drive for communication through the
RPBA-01 PROFIBUS DP Adapter module.
Programming
34
Note: The new settings take effect only when the module is
powered up the next time or when the module receives a Fieldbus
Adapter parameter refresh command from the drive.
Data transfer rates supported
The RPBA-01 supports the following PROFIBUS communication
speeds: 9.6 kbit/s, 19.2 kbit/s, 45.45 kbit/s, 93.75 kbit/s, 187.5
kbit/s, 500 kbit/s, 1.5 Mbit/s, 3 Mbit/s, 6 Mbit/s, 12 Mbit/s.
The RPBA-01 automatically detects the communication speed
and PPO-type used.
Table 5. The RPBA-01 configuration parameters.
Par.
no.
Parameter name
Alternative settings
Default
setting
MODULE TYPE
(Read-only)
PROFIBUS DP
NODE ADDRESS
0 to 126
BAUD RATE 1)
1500
PPO-TYPE 1)
(1) PPO 1
PZD3 OUT
PZD3 IN
PZD4 OUT
PZD4 IN
...
...
Programming
35
19
PZD10 OUT
20
PZD10 IN
21
DP MODE
27
FB PAR REFRESH
REFRESH; DONE
DONE
1)
Note: Set also the extended Parameter Data (see page 67) to
ensure proper operation of the RPBA-01 with the drive.
1 MODULE TYPE
This parameter shows the module type as detected by the drive.
The value cannot be adjusted by the user.
If this parameter is undefined, the communication between the
drive and the module has not been established.
2 NODE ADDRESS
Each device on the PROFIBUS network must have a unique node
number. This parameter is used to define a node number for the
drive it is connected to, if the node address selection switches are
set to the zero position. When the node address selector switches
are used to define the node address (node address selectors not
in zero position) this parameter indicates the set node address.
3 BAUD RATE
Indicates the communication speed detected in kbit/s.
12000
6000
3000
1500
500
187
93
45
19
9
=
12 Mbit/s
=
6 Mbit/s
=
3 Mbit/s
=
1.5 Mbit/s
=
500 kbit/s
= 187.5 kbit/s
= 93.75 kbit/s
= 45.45 kbit/s
=
19.2 kbit/s
=
9.6 kbit/s
Programming
36
4 PPO-TYPE
This parameter indicates the detected PPO message type for the
PROFIBUS communication. See Figures 6 and 10 in the chapters
DP-V0 communication and DP-V1 communication respectively for
the supported PPO message types.
5 PZD3 OUT
This parameter represents process data word 3 of the PPO type
received by the drive over the PROFIBUS network. The content is
defined by a decimal number in the range of 0 to 32767 as follows:
0
not used
1 - 99
101 - 9999
10000 - 32767
...
99
Programming
37
6 PZD3 IN
Process data word 3 of the PPO type sent from the drive to the
PROFIBUS network.
The content is defined by a decimal number in the range of 0 to
32767. See parameter PZD3 OUT for description of decimal
number allocation.
7 to 20 PZD4 OUT to PZD10 IN
See parameters PZD3 OUT and PZD3 IN.
21 DP MODE
Selects the PROFIBUS protocol version (DP-V0 or DP-V1).
Note: For DP-V0, GSD file version 1 or 2 (ABB_0812.GSD) must
be used. For DP-V1, GSD file version 3 or higher
(ABB10812.GSD) must be used.
27 FBA PAR REFRESH
Any parameter changes take effect only after the module is
restarted. Alternatively, this parameter can be set to REFRESH.
The parameter will automatically revert to DONE.
Control locations
ABB drives can receive control information from multiple sources
including digital inputs, analogue inputs, the drive control panel
and a communication module (e.g. RPBA-01). ABB drives allow
the user to separately determine the source for each type of
control information (Start, Stop, Direction, Reference, Fault Reset,
etc.). In order to give the fieldbus master station the most
complete control over the drive, the communication module must
be selected as source for this information. See the user
documentation of the drive for information on the selection
parameters.
Programming
38
Programming
39
DP-V0 communication
Overview
This chapter describes the PROFIBUS messaging used in the
communication with the drive when the RPBA-01 module is in DPV0 mode.
PROFIBUS DP
The RPBA-01 module supports the PROFIBUS-DP protocol
according to EN 50170 standard. PROFIBUS DP is a distributed
I/O system which enables the master to use a large number of
peripheral modules and field devices. The data transfer is mainly
cyclic: the master reads the input information from the slaves and
sends the output information back to the slaves.
The PROFIBUS DP protocol uses so-called PPOs
(Parameter/Process Data Objects) in cyclic communication. See
Figure 6 for the different PPO types and their composition.
Service Access Points
The services of the PROFIBUS Data Link Layer (Layer 2) are
used by PROFIBUS DP through Service Access Points (SAPs).
Precisely defined functions are assigned to individual SAPs.
For further information on Service Access Points, refer to the
manual of the PROFIBUS master, PROFIdrive The PROFIBUS
Profile for Adjustable Speed Drives (version 2.0), or the EN 50170
standard.
DP-V0 communication
40
Communication start-up
The following Service Access Points (SAPs) are used to initiate
DP communication:
SAP no.
0 (Default)
Data_Exch
61
Set_Prm
62
Chk_Cfg
60
Slave_Diag
SAP 61 (Set_Prm)
This SAP is used in the parameterisation of the drive.
Byte
0
Value
B8h
1-2
4-5
6
0Bh
0812h
00h
DP-V0 communication
41
7
Reserved
Prm_Data (Parameter Data Extended)
Type: Octet String - Length: 23
Header byte
10h
(default) 0 0 0 1 0
0 0 0
Fail-safe mode. Defines the action taken when the PLC
is switched from RUN to STOP mode.
00 = STOP (default)
01 = LAST SPEED
02 = USE FAIL-SAFE. The values of the PZDs are
defined by bytes 11-30 in the Prm_Data telegram.
Control zero mode. Defines the action taken if a
PROFIBUS telegram containing only zeros is received.
00 = USE FRAME (default). Note that, with this setting,
the drive might not be stopped (if it is running) since
also bit 10 (Remote Command) in the control word
is zero. However, the other PZDs may still be
updated, but have the value zero.
01 = IGNORE
Operation mode. Determines which control/status word
and reference/actual values are used.
00 = PROFIDRIVE (i.e. Generic drive profile)
01 = VENDOR SPECIFIC (i.e. ABB Drives profile)
(default). With this setting,
Fail-safe mode STOP equals LAST SPEED
the control word is forwarded unchanged to the
drive
if the drive has a parameter for selection of
operation mode (i.e. communication profile),
make sure that the operation modes of the
RPBA-01 and the drive match.
Reserved
9 - 10
DP-V0 communication
42
25 - 26 0-65536 Fail-safe, PZD8
27 - 28 0-65536 Fail-safe, PZD9
29 - 30 0-65536 Fail-safe, PZD10
Length in Bytes
F3 F1
12
F3 F5
20
F1
F5
12
F3 F9
F9
DP-V0 communication
43
SAP 60 (Slave_Diag)
This SAP gives diagnostic information on the slave station.
Diag_Data (Diagnostic Data)
Type: Octet String - Length: 6 (Standard) + 2 (Extended Diagnosis)
Byte
0
Description
Station_Status_1
x
Station_Status_2
x
DP-V0 communication
44
Diag_Data (Diagnostic Data)
Type: Octet String - Length: 6 (Standard) + 2 (Extended Diagnosis)
Byte
2
Description
Station_Status_3
x
0
Reserved
Diag.Ext_Diag_Overflow (Set by Slave)
Diag.Master_Add
The address of the master that parameterised this slave
Ext_Diag_Data
The number of bytes reserved for Extended Diagnosis
(including this byte)
Fixed to 2
Ext_Diag_Data
Bit 0 = Communication temporarily lost
Bit 1 = Communication permanently lost
Bit 2 - 7 = Not used
SAP 0 (Data_Exchange)
Allows the master to send output data to a slave station and to
simultaneously request input data from the same station.
Outp_Data (Output Data)
Type: Octet String - Length: 4 to 28 (depending on the selected PPO Type)
Inp_Data (Input Data)
Type: Octet String - Length: 4 to 28 (depending on the selected PPO Type)
DP-V0 communication
45
Parameter
identification
OUT area
IN area
ID
IND
IND
PKW
VALUE
VALUE
Fixed area
Process data
DW1.1 DW1.2 DW1.3 DW3.1 DW3.2 DW3.3 DW5.1 DW5.2 DW5.3 DW7.1
CW
SW
DW2.1 DW2.2 DW2.3 DW4.1 DW4.2 DW4.3 DW6.1 DW6.2 DW6.3 DW8.1
Type 1
Type 2
Type 3
Type 4
Type 5
OUT area Data sent from Master to Slave (control data)
IN area Data sent from Slave to Master (actual data)
Parameter Identification:
ID Parameter Identification
IND Index for Arrays
VALUE Parameter Value (Max. 4 bytes)
PKW Parameter ID/Value
Process Data:
CW Control Word (see Table 7.)
SW Status Word (see Table 8.)
REF Reference
ACT Actual Value
PZD Process Data (application-specific)
DW Data Word
DP-V0 communication
46
DP-V0 communication
47
Name
Value
ON
OFF1
OFF2
Normal operation.
Proceed to RAMP FUNCTION GENERATOR: ENABLE
OUTPUT
Normal operation.
Proceed to RAMP FUNCTION GENERATOR: ENABLE
ACCELERATOR
OFF3
3 OPERATION_
ENABLE
4
RAMP_OUT_
ZERO
5 RAMP_HOLD
Proceed to STATE/Description
DP-V0 communication
48
Bit
Name
Value
Proceed to STATE/Description
RAMP_IN_
ZERO
RESET
INCHING_1
INCHING_2
10
REMOTE_
CMD
11
to
15
Name
Value
RDY_ON
READY TO SWITCH ON
READY TO OPERATE
OFF1 ACTIVE
ENABLE OPERATION
DISABLE OPERATION
FAULT
No fault
1
2
3
RDY_RUN
RDY_REF
TRIPPED
DP-V0 communication
STATE/Description
49
Bit
Name
Value
OFF_2_STA
OFF2 inactive
OFF2 ACTIVE
OFF3 inactive
OFF3 ACTIVE
Warning/Alarm
No Warning/Alarm
5
6
7
8
9
10
11
to
15
OFF_3_STA
SWC_ON_INHIB
ALARM
AT_SETPOINT
REMOTE
ABOVE_LIMIT
STATE/Description
Drive-specific
DP-V0 communication
50
SWITCH-ON
INHIBIT
MAINS OFF
(SW Bit6=1)
PROFIdrive
State Machine
Power ON
NOT READY
TO SWITCH ON
A B C D
CW = Control Word
SW = Status Word
n
= Speed
I
= Input Current
RFG = Ramp Function
Generator
f
= Frequency
(SW Bit0=0)
READY TO
SWITCH ON
(SW Bit0=1)
(SW Bit2=0)
operation
inhibited
Main contactor ON
(SW Bit1=1)
(SW Bit3=1)
(CW Bit7=1)
(SW Bit1=0)
Enable operation
(CW Bit3=1)
n(f)=0 / I=0
OFF3
ACTIVE
B C D
OFF2
(SW Bit5=0) ACTIVE
n(f)=0 / I=0
(SW Bit4=0)
Main contactor OFF
(CW Bit4=0)
ENABLE
OPERATION
C D
A
(CW Bit5=0)
(SW Bit2=1)
RFG: ENABLE
OUTPUT
D
B
(CW Bit6=0)
(CW Bit4=1)
(CW Bit5=1)
Inching 1 or 2 ON
(CW Bit8=1 or Bit9=1)
INCHING 1
or
INCHING 2
ACTIVE
RFG: ENABLE
ACCELERATION
state
Inching 1 or 2 OFF
(CW Bit8=0 or Bit9=0)
C
(CW Bit6=1)
condition
rising edge
of the bit
OPERATING
Inching pause
(SW Bit8=1)
DP-V0 communication
51
IND
Process Data
CW REF
SW ACT (PD1, PD2...)
VALUE
15 14 13 12 11 10
Request Label
Response Label
*Request Signal
*Not used (=0)
Request Function
0
1
2
3
4
5
6
7
8
9
DP-V0 communication
52
Response label (Acknowledgement from Slave to Master)
Ackn.
0
1
2
3
4
5
6
7
8
9
10
Function
No response
Transfer parameter value (word)
Transfer parameter value (double word)
Transfer description element
Transfer parameter value (array word)
Transfer parameter value (array double word)
Transfer number of array elements
Task cannot be executed, followed by error number
0 = Illegal parameter number
1 = Parameter value cannot be changed
2 = Lower or upper limit violated
3 = Erroneous subindex
4 = No array
5 = Incorrect data type
6 = Setting not allowed (can only be reset)
7 = Descriptive element cannot be changed
9 = Descriptive data not available
11 = No parameter change rights
15 = Text array not available
17 = Task cannot be executed due to operating status
(e.g. parameter is currently read-only)
18 = Other error
101 = Vendor specific error
102 = Request not supported
103 = Request cannot be completed due to communication error
110 = Failure during write to non-volatile memory
111 = Request aborted due to time-out
120 = Parameter cannot be mapped to PZD
(size mismatch or non-existent)
121 = Parameter cannot be mapped to PZD (end of memory)
122 = Parameter cannot be mapped to PZD (multiple PZD write)
130 = Cannot map Control Word bit (parameter 933 - 937,
e.g. double mapping of bits)
140 = Cannot change mode to TORQUE (frequency is used)
No parameter change rights for PKW interface
Parameter data signal (word)
Parameter data signal (double word)
DP-V0 communication
53
Sub-index
Range
(Decimal)
0h
1h
0h
2h
0h
63h
Request Label
R/W
6/7
Example
No.
1, 2
99
Drive parameters
Index
Sub-index
Range
(Decimal)
0h
65h
101
0h
66h
102
27h
0Fh
Request Label
R/W*
6/7
Example
No.
1, 2
9999
DP-V0 communication
54
PROFIdrive parameters
Index
Sub-index
Range
(Decimal)
2h
393h
394h
3h
915
2h
916
9h
396h
0h
Example
No.
9h
3h
Request Label
R/W
6/7
R/W
6/7
R/W
1/2
3, 4
R/W
1/2
3,4
9
918
3B3h
0h
9h
11h
19h
947
17
25
21h
33
29h
41
3CCh
0h
972
DP-V0 communication
55
REF
PZD3
PZD4
PZD5
PZD6
Req 60 20 DB 00 00 00 00 00 04 7F 34 15 00 00 00 00 00 00 00 00
Resp 40 20 DB 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
PZD3
PZD4
PZD5
PZD6
DP-V0 communication
56
REF
PZD3
PZD4
PZD5
PZD6
Req 70 04 B2 00 00 00 00 64 04 7F 34 15 00 00 00 00 00 00 00 00
Resp 40 04 B2 00 00 00 00 64 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
PZD3
PZD4
PZD5
PZD6
DP-V0 communication
57
Read:
Request
Param. Value
CW
REF
13 96 00 00 00 00 00 00 04 7F 34 15
Response 13 96 00 00 00 00 00 02 03 37 34 15
IND
Param. Value
SW
ACT
DP-V0 communication
58
Write:
Request
Param. Value
CW
23 CB 00 00 00 00 00 01 04 7F 34 15
Response 13 CB 00 00 00 00 00 00 03 37 34 15
IND
Param. Value
SW
DP-V0 communication
REF
ACT
59
Read:
Request
CW
REF
63 B1 09 00 00 00 00 00 04 7F 34 15
Response 43 B1 09 00 00 00 23 00 03 37 34 15
Param. Value
SW
ACT
DP-V0 communication
60
REF
PZD3
PZD4
PZD5
PZD6
Req 73 93 03 00 00 00 04 B2 04 7F 34 15 00 00 00 00 00 00 00 00
Resp 43 93 03 00 00 00 04 B2 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
PZD3
PZD4
PZD5
PZD6
DP-V0 communication
61
REF
PZD3
PZD4
PZD5
PZD6
Req 73 94 03 00 00 00 00 68 04 7F 34 15 00 00 00 00 00 00 00 00
Resp 43 94 03 00 00 00 00 68 03 37 34 15 00 00 00 00 00 00 00 00
SW
ACT
PZD3
PZD4
PZD5
PZD6
DP-V0 communication
62
DP-V0 communication
63
DP-V1 communication
Overview
This chapter describes the PROFIBUS messaging used in the
communication with the drive when the RPBA-01 module is in DPV1 mode.
PROFIBUS DP
The RPBA-01 module supports the PROFIBUS-DP protocol
according to EN 50170 standard. PROFIBUS DP is a distributed
I/O system which enables the master to use a large number of
peripheral modules and field devices. The data transfer is mainly
cyclic: the master reads the input information from the slaves and
sends the output information back to the slaves.
The PROFIBUS DP protocol uses so-called PPOs
(Parameter/Process Data Objects) in cyclic communication. See
Figure 10 for the different PPO types and their composition.
Service Access Points
The services of the PROFIBUS Data Link Layer (Layer 2) are
used by PROFIBUS DP through Service Access Points (SAPs).
Precisely defined functions are assigned to individual SAPs.
For further information on Service Access Points, refer to the
manual of the PROFIBUS master, PROFIdrive The PROFIBUS
Profile for Adjustable Speed Drives (version 3.1), or the EN 50170
standard.
DP-V1 communication
64
Communication start-up
The following Service Access Points (SAPs) are used to initiate
DP communication:
SAP no.
Short Name
Name
51
Server_SAP
Acyclic Read/Write
61
Set_Prm
62
Chk_Cfg
60
Slave_Diag
0 (Default SAP)
Data_Exch
SAP 61 (Set_Prm)
This SAP is used in the parameterisation of the drive.
Byte
0
Value
B8h
1 0 1 1 1 0 0 0
LSB
Reserved
WD_On
1 = Watchdog on
Freeze_Req
1 = Slave is requested to process in freeze mode
Sync_Req
1 = Slave is requested to process in SYNC mode
00 = Min TSDR and slave-related
Unlock_Req parameters may be overwritten
10 = Slave locked for other masters.
All parameters can be carried over
Lock_Req
x1 = Slave released for other masters
1-2
4-5
6
0Bh
0812h
00h
DP-V1 communication
65
7
DPV1_Status_1
MSB
x 0 x 0 0 x x x
LSB
DP-V1 communication
66
8
DPV1_Status_2
MSB
x x x x x x 0 x
LSB
Chk_Cfg_Mode
0 = Chk_Cfg according to EN 50170 (default state)
1 = User-specific evaluation of Chk_Cfg
Reserved. To be parameterised with 0.
Enable_Update_Alarm
0 = Enable_Update_Alarm disabled
1 = Enable_Update_Alarm enabled (Not supported)
Enable_Status_Alarm
0 = Enable_Status_Alarm disabled
1 = Enable_Status_Alarm enabled (Not supported)
Enable_Manufacturer_Specific_Alarm
0 = Enable_Manufacturer_Specific_Alarm disabled
1 = Enable_Manufacturer_Specific_Alarm enabled
(Not supported)
Enable_Diagnostic_Alarm
0 = Enable_Diagnostic_Alarm disabled
1 = Enable_Diagnostic_Alarm enabled (Not
supported)
Enable_Process_Alarm
0 = Enable_Process_Alarm disabled
1 = Enable_Process_Alarm enabled (Not supported)
Enable_Pull_Plug_Alarm
0 = Enable_Pull_Plug_Alarm disabled
1 = Enable_Pull_Plug_Alarm enabled (Not
supported)
DPV1_Status_3
MSB
0 0 0 x x x x x
LSB
DP-V1 communication
67
Prm_Data (Parameter Data Extended)
Type: Octet String - Length: 23
10
Header byte
10h
(default) MSB 0 0 0 1
0 0 0 0
LSB
DP-V1 communication
68
27 - 28 0-65536 Fail-safe, PZD8
29 - 30 0-65536 Fail-safe, PZD9
31 - 32 0-65536 Fail-safe, PZD10
*PKW
size in
bytes
**PZD
size in
bytes
12
F1
F5
12
20
20
F9
DP-V1 communication
69
SAP 60 (Slave_Diag)
This SAP gives diagnostic information on the slave station.
Diag_Data (Diagnostic Data)
Type: Octet String - Length: 6 (Standard) + 2 (Extended Diagnosis)
Byte
0
Description
Station_Status_1
MSB
LSB
Station_Status_2
MSB
LSB
DP-V1 communication
70
Diag_Data (Diagnostic Data)
Type: Octet String - Length: 6 (Standard) + 2 (Extended Diagnosis)
Byte
2
Description
Station_Status_3
MSB
LSB
Reserved
Diag.Ext_Diag_Overflow (Set by Slave)
Diag.Master_Add
The address of the master that parameterised this slave
Header Byte
Specifier (0x00)
10
Communication Diagnostic
MSB
LSB
SAP 0 (Data_Exchange)
Allows the master to send output data to a slave station and to
simultaneously request input data from the same station.
Outp_Data (Output Data)
Type: Octet String - Length: 4 to 28 (depending on the selected PPO Type)
Inp_Data (Input Data)
Type: Octet String - Length: 4 to 28 (depending on the selected PPO Type)
DP-V1 communication
71
OUT area
IN area
ID
IND
IND
PKW
VALUE
VALUE
Fixed area
Process data
DW1.1 DW1.2 DW1.3 DW3.1 DW3.2 DW3.3 DW5.1 DW5.2 DW5.3 DW7.1
CW
SW
Parameter
channel
Parameter
identification
DW2.1 DW2.2 DW2.3 DW4.1 DW4.2 DW4.3 DW6.1 DW6.2 DW6.3 DW8.1
Type 1
DP-V0
Type 2
DP-V0
Type 3
DP-V1
Type 4
DP-V1
Type 5
DP-V0
Type 6
DP-V1
DP-V1 communication
72
DP-V1 communication
73
Name
Value
ON
OFF1
OFF2
Normal operation.
Proceed to RAMP FUNCTION GENERATOR: ENABLE
OUTPUT
Normal operation.
Proceed to RAMP FUNCTION GENERATOR: ENABLE
ACCELERATOR
OFF3
3 OPERATION_
ENABLE
4
RAMP_OUT_
ZERO
5 RAMP_HOLD
Proceed to STATE/Description
DP-V1 communication
74
Bit
Name
Value
Proceed to STATE/Description
RAMP_IN_
ZERO
RESET
INCHING_1
INCHING_2
10
REMOTE_
CMD
11
12
13
14
15
DP-V1 communication
75
Name
Value
RDY_ON
READY TO SWITCH ON
READY TO OPERATE
OFF1 ACTIVE
ENABLE OPERATION
DISABLE OPERATION
FAULT
No fault
OFF2 inactive
OFF2 ACTIVE
OFF3 inactive
OFF3 ACTIVE
Warning/Alarm
No Warning/Alarm
1
2
3
4
5
6
7
8
9
10
RDY_RUN
RDY_REF
TRIPPED
OFF_2_STA
OFF_3_STA
SWC_ON_INHIB
ALARM
AT_SETPOINT
REMOTE
ABOVE_LIMIT
STATE/Description
DP-V1 communication
76
Bit
Name
Value
STATE/Description
11
12
13
14
15
DP-V1 communication
77
SWITCH-ON
INHIBIT
MAINS OFF
(SW Bit6=1)
PROFIBUS
State Machine
Power ON
NOT READY
TO SWITCH ON
A B C D
CW = Control Word
SW = Status Word
n
= Speed
I
= Input Current
RFG = Ramp Function
Generator
f
= Frequency
(SW Bit0=0)
READY TO
SWITCH ON
(SW Bit0=1)
(SW Bit2=0)
operation
inhibited
Main contactor ON
(SW Bit1=1)
Fault
FAULT
(SW Bit3=1)
(CW Bit7=1)
(SW Bit1=0)
n(f)=0 / I=0
Enable operation
(CW Bit3=1)
OFF3
ACTIVE
B C D
OFF2
(SW Bit5=0) ACTIVE
n(f)=0 / I=0
(SW Bit4=0)
Main contactor OFF
(CW Bit4=0)
ENABLE
OPERATION
C D
A
(CW Bit5=0)
(SW Bit2=1)
RFG: ENABLE
OUTPUT
D
B
(CW Bit6=0)
(CW Bit4=1)
(CW Bit5=1)
Inching 1 or 2 ON
(CW Bit8=1 or Bit9=1)
INCHING 1
or
INCHING 2
ACTIVE
RFG: ENABLE
ACCELERATION
state
Inching 1 or 2 OFF
(CW Bit8=0 or Bit9=0)
C
(CW Bit6=1)
condition
rising edge
of the bit
OPERATING
Inching pause
(SW Bit8=1)
DP-V1 communication
78
DP-V1
Slave
Parameter request
Write response
without data
Read request DB47
without data
Read response ()
without data
Parameter
processing
Read response
with data
Parameter response
DP-V1 communication
79
request will be repeated by the master until the RPBA-01 has the
PROFIdrive response data ready.
If the write request is invalid, a negative response is returned with
a DP-V1 error code (see Table 17).
DP-V1 communication
80
LE LEr SD
68h x
DA
68h xx
DP trailer
SA
FC
DSA
SSA
DU
FCS ED
xx
xx
xx
xx
16h
SD = Start Delimiter
LE = Length
LEr = Length repeated
DA = Destination Address
SA = Source Address
FC = Function Code
DSAP = Destination Service Access Point
SSAP = Source Service Access Point
DU = Data Unit for DP services
FCS = Frame Checking Sequence
ED = End Delimiter
Data unit
DP-V1 Command/Response
DU0
DU1
DU2
DU3
Data
Byte
Meaning
Value
DU0
Function number
DU1
Slot number
DU2
Index
47 (0x2F)
DU3
Data length
DU4DUn
PROFIdrive data
81
Meaning
Idle REQ, RES
Data transport REQ, RES
Resource manager REQ
Initiate REQ, RES
Abort REQ
Alarm REQ, RES
Read REQ, RES
Write REQ, RES
Data transport negative response
Initiate negative response
Alarm negative response
Read negative response
Write negative response
DU0
DU1
DU2
DU3
Error_Code_2: Always 0
DP-V1 communication
82
LSB
Error class
Meaning
09
(Reserved)
10 (0x0A)
Application
0 = Read error
1 = Write error
2 = Module failure
3 7 = Reserved
8 = Version conflict
9 = Feature not supported
10 15 = User-specific
11 (0x0B)
Access
0 = Invalid index
1 = Write length error
2 = Invalid slot
3 = Type conflict
4 = Invalid area
5 = State conflict
6 = Access denied
7 = Invalid range
8 = Invalid parameter
9 = Invalid type
10 15 = User-specific
12 (0x0C)
Resource
13 15
User-specific
DP-V1 communication
Error code
83
Description
Range
Byte/
Word
Request
Reference
1 255
Byte
Request ID
Request
Parameter (01h)
Change
Parameter (02h)
Byte
Axis
To be set to 0 or 1.
0 255
Byte
No. of
Number of parameters that are present
Parameters in the request.
1 37
Byte
Attribute
Byte
Value (10h)
Description (20h)
Text (30h)
No. of
Elements
0, 1 234
Byte
Parameter
Index
1 65535
Word
Subindex
0 65535
Word
Format*
See Table 20
Byte
Number of
Values*
0 234
Byte
Values*
See
Format
field
DP-V1 communication
84
Description
Range
Response
Reference
1 255
Response
ID
Axis
To be set to 1.
0 255
No. of
Parameters
1 37
Format*
See Table 20
Number of
Values*
0 234
Values*
Type
0x00
(Reserved)
0x01 0x36
0x37 0x3F
(Reserved)
0x40
Zero
0x41
Byte
0x42
Word
0x43
Double word
0x44
Error
0x45 0xFF
(Reserved)
DP-V1 communication
85
Meaning
Used at
00h
Impermissible parameter
number
01h
02h
03h
Invalid subindex
04h
No array
05h
06h
07h
09h
0Bh
No operation priority
0Fh
11h
14h
Value impermissible
15h
DP-V1 communication
86
16h
Parameter address
impermissible
17h
Illegal format
18h
65h
FF
Manufacturer-specific
65h
Vendor-specific error
Vendor-specific error
66h
67h
Communication error
68h
6Dh
Manufacturer-specific
6Eh
Non-volatile error
6Fh
Time-out error
70h
77h
Manufacturer-specific
78h
79h
7Ah
7Bh
81h
Manufacturer-specific
82h
DP-V1 communication
87
83h
8Bh
Manufacturer-specific
8Ch
90h
Illegal Request ID
8Dh
FFh
Manufacturer-specific
DP-V1 communication
88
DP 5F 01 2F 0A 05 01 01 01 10 01 00 04 00 B4 DP
trailer
header DP-V1 Command
PROFIdrive V3 Parameter Channel
DP-V1 communication
89
DP 5E 01 2F 08 05 01 01 01 42 01 05 64 DP
trailer
header DP-V1 Response
PROFIdrive V3 Parameter Channel
DP 5E 01 2F 08 05 81 01 01 44 01 00 14 DP
trailer
header DP-V1 Response
PROFIdrive V3 Parameter Channel
DP-V1 communication
90
DP 5F 01 2F 16 06 01 01 03 10 01 00 04 00 B4
DP-V1 communication
10 01 00 04 00 B5
(Par. Channel continued)
10 01 00 04 00 B6
(Par. Channel continued)
DP
trailer
91
5F 01 2F 10 06 01 01 03 42 01 01 90
DP
42 01 03 84
(Par. Channel contd)
42 01 01 F4
(Par. Channel contd)
DP
trailer
The values 190h (400), 384h (900) and 1F4h (500) are returned.
Example 2a: Writing a drive parameter
To determine the parameter number and subindex for drive
parameter reading, multiply the parameter number by one
hundred and then convert it to hexadecimal. The low byte is the
subindex (IND), and the high byte is the parameter index (PNU).
For example, drive parameter number 12.02 corresponds to 12.02
100 = 1202 = 4B2h.
DP-V1 communication
92
Function number
Slot number
Index
Data length
Request reference
Request ID (02h = Change)
Axis
Number of parameters
Attribute (10h = Value)
Number of elements
Parameter index
Subindex
Format (42h = Word)
Number of values
Value
DP 5F 01 2F 0E 07 02 01 01 10 01 00 04 00 B2 42 01 02 58 DP
trailer
header DP-V1 Command
PROFIdrive V3 Parameter Channel
Slot number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Axis (mirrored)
Number of parameters
DP
header
5E 01 2F 04 07 02 01 01
PROFIdrive V3
DP-V1 Response
Parameter Channel
DP-V1 communication
DP
trailer
93
5F 01 2F 14 08 02 01 02 10 01 00 04 00 B2
DP
10 01 00 04 00 B3
(Par. Channel continued)
42 01 01 2C
(Par. Channel contd)
42 01 01 F4
(Par. Channel contd)
DP
trailer
Value
Number of values
Format (42h = Word)
DP-V1 communication
94
Slot number
Slot number
Index
Data length
Request reference (mirrored)
Response ID
Axis (mirrored)
Number of parameters
DP
header
5E 01 2F 04 08 02 01 02
PROFIdrive V3
DP-V1 Response
Parameter Channel
DP
trailer
DP 5F 01 2F 0A 09 01 01 01 10 00 03 96 00 00 DP
trailer
header DP-V1 Command
PROFIdrive V3 Parameter Channel
DP-V1 communication
95
DP 5E 01 2F 08 09 01 01 01 42 01 23 00 DP
trailer
header DP-V1 Response PROFIdrive V3 Parameter Channel
96
DP 5F 01 2F 0E 0A 02 01 01 10 01 03 93 00 03 42 01 04 B6 DP
trailer
header DP-V1 Command
PROFIdrive V3 Parameter Channel
DP 5E 01 2F 08 0A 01 01 01 42 01 00 68 DP
trailer
header DP-V1 Response PROFIdrive V3 Parameter Channel
DP-V1 communication
97
DP 5F 01 2F 0A 0B 01 01 01 10 01 03 94 00 03 DP
trailer
header DP-V1 Command
PROFIdrive V3 Parameter Channel
DP 5E 01 2F 08 0B 01 01 01 42 01 04 B5 DP
trailer
header DP-V1 Response PROFIdrive V3 Parameter Channel
DP-V1 communication
98
DP-V1 communication
99
Fault tracing
LED indications
The RPBA-01 module is equipped with three diagnostic LEDs.
The description of the LEDs is below.
Off-Line On-Line
ERROR
Name
ERROR
Host
Indication
Off-line
On-line
Colour Function
Red
Green
Red
Fault tracing
100
Host Indication
Name
Fault tracing
ERROR
Host
Indication
Off-line
On-line
Colour Function
Green
Red
101
PROFIdrive parameters
Table 22. PROFIdrive profile-specific parameters.
Parameter
915
916
918
919
927
R
R/W
928
R/W
929
R/W
R/W
R/W
Description
PROFIdrive parameters
102
Parameter
930
Description
R/W
Unsigned16
933
R/W
Unsigned16
934
R/W
Unsigned16
935
R/W
Unsigned16
936
R/W
Unsigned16
937
R/W
Unsigned16
939
R/W
Unsigned16
940
R/W
Unsigned16
941
R/W
Unsigned16
942
R/W
Unsigned16
PROFIdrive parameters
103
Parameter
943
945
947
948
952
R/W
953
954
955
956
957
958
959
960
961
R
R
R
R
R
R
R
R
R
R/W
Description
Unsigned16
PROFIdrive parameters
104
Parameter
963
Description
Unsigned16
964
Unsigned16
965
Octet String2
967
968
970
R
R
R/W
Unsigned16
Unsigned16
Unsigned16
971
R/W
Unsigned16
PROFIdrive parameters
105
Parameter
972
Description
R/W
Software reset
Value
Description
0
No action
1
Re-boot PROFIBUS module
The parameter must do a zero-to-one
transition and the motor must be stopped.
Unsigned16
PROFIdrive parameters
106
PROFIdrive parameters
107
Communication
Object
Control Word
Cyclic
Communication
Device Class
Drivecast
Fault
GSD File
Index
Information Report
108
Master
Multicast
Name
Nibble
Set of 4 bits
Object Dictionary
Object List
Parameter
Parameter Number
Parameter address
Parameter/Process
Data Object
Process Data
Profile
Request Label
Response Label
Slave
Status Word
109
Warning
PROFIBUS abbreviations
The text in italics is the original German term.
.con
Confirmation
.ind
Indication
.req
Request
.res
Response
ACT
Actual Value
Istwert
AK
ALI
CR
Communication Reference
Kommunikationsreferenz (Kommunikationsbeziehung)
DP
Decentralised Periphery
Dezentrale Peripherie
DP-ALI
DP-V1
FDL
FMS
FSU
HIW
HSW
Main Reference
Hauptsollwert
Definitions and abbreviations
110
ISW
KR (KB)
see ACT
see CR
PA
Process Automation
Prozessautomatisierung
PD
Process Data
Prozessdaten
PKE
Parameter Identification
Parameter-Kennung
PKW
PNU
Parameter Number
Parameternummer
PPO
PWE
Parameter Value
Parameter-Wert
PZD
see PD
PZDO
SAP
SOW
Reference
Sollwert
SPM
Request Signal
Spontanmeldung
STW
Control Word
Steuerwort
ZSW
Status Word
Zustandswort
111
Technical data
RPBA-01
Enclosure:
95 mm
34 mm
20
mm
62 mm
Mounting: Into the option slot on the control board of the drive.
Degree of protection: IP20
Ambient conditions: The applicable ambient conditions specified
for the drive in its Hardware Manual are in effect.
Hardware settings:
Rotary switches for node address selection (address range
00 to 99)
DIP switch for bus termination selection
Technical data
112
Software settings:
Input/Output/User Parameter data/Diagnostics format
Maximum cyclic I/O data size: 28 bytes in, max 28 bytes out,
max. 56 bytes total
Maximum acyclic I/O data size: 240 bytes in, max. 240 bytes
out, max. 480 bytes total
Maximum User Parameter data/Diagnostics length: 26 bytes
Connectors:
34-pin parallel bus connector
9-pin female DSUB connector
Current consumption:
350 mA max. (5 V), supplied by the control board of the drive
General:
Estimated min. lifetime: 100 000 h
All materials UL/CSA-approved
Complies with EMC standards EN 50081-2 and EN 50082-2
Technical data
113
PROFIBUS link
Compatible devices: All devices compatible with the PROFIBUS
DP protocol
Size of the link: 127 stations including repeaters (31 stations and
1 repeater per segment)
Medium: Shielded, twisted pair RS-485 cable
Termination: built in the module
Specifications:
Line A
PROFIBUS DP
Parameter
Line B
DIN 19245 Part 1
Unit
Impedance
135 to 165
(3 to 20 MHz)
100 to 130
(f > 100 kHz)
Capacitance
< 30
< 60
pF/m
Resistance
< 110
/km
Wire gauge
> 0.64
> 0.53
mm
> 0.22
mm2
93.75 187.5
500
1500
3000
6000
12000
Line A (m)
1200
1000
400
200
100
100
100
Line B (m)
1200
600
200
Topology: Multi-drop
Serial communication type: Asynchronous, half Duplex
Transfer rate: 9.6 kbit/s, 19.2 kbit/s, 45.45 kbit/s, 93.75 kbit/s,
187.5 kbit/s, 500 kbit/s, 1.5 Mbit/s, 3 Mbit/s, 6 Mbit/s, or 12 Mbit/s
(automatically detected by RPBA-01)
Protocol: PROFIBUS DP
Technical data
114
Technical data
3AFE64504215 REV F EN
EFFECTIVE: 20.06.2005
ABB Oy
AC Drives
P.O. Box 184
FIN-00381 HELSINKI
FINLAND
Telephone
+358 10 22 11
Fax
+358 10 22 22681
Internet
http://www.abb.com
ABB Inc.
Automation Technologies
Drives & Motors
16250 West Glendale Drive
New Berlin, WI 53151
USA
Telephone
262 785-3200
800-HELP-365
Fax
262 780-5135