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2004-25-05
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
Your trainer:
Flemming Huusmann
Global Product Management, Fieldbus
Danfoss Drives A/S
DG-596
DK-6300 Graasten, Denmark
mailto:fhu@danfoss.com
Tel.: +45 74 88 43 62 (Direct)
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
Sales 2007:
Total number of fieldbus options: 86,000
PROFIbus options: 78,000
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
FC 300 PROFIBUS
Operating instructions
MG.33.C4.02
New Concept
Standardized design
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
PROFIBUS Terms
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
PROFIBUS Profiles
PROFIdrive
Application profile developed for drives (AC, servos, etc.)
To ensure capability between different drive manufactures
Applications: Motion Control
Synchronisation
A-cyclical parameterization
High dynamic applications
DD introduced the first PROFIdrive product to the market in 1994
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
RS-485 basics
Resistance:
<110 ohm/km
Capacitance:
<30pF/m
Damping:
Cross Section:
Cable type:
Screening:
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
RS-485 basics
The two wires in the twisted-pair cable carry the Data line plus(B-line) and
Data line minus(A-line) signals.
PROFIBUS cables usually come colour coded. Normally red and green are
used.
When red and green wires are being used the following recommendations
apply:
RedB-line (RxD/TxD-P)
(Remember: B-red)
GreenA-line (RxD/TxD-N)
It is essential that the colour scheme for A and B be used
consistently throughout the network to avoid improper operation.
This is a common wiring error in the field!
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
RS-485 basics
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
RS-485 basics
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
10
RS-485 basics
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
11
RS-485 basics
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
12
RS-485 basics
Network terminated
at one end only
Network terminated
at both ends
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
13
Topology
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
14
Topology
Or with drops/T-connections:
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
15
Topology
Nodes
1 segment:
32 nodes
(31 slave)
2 segments:
64 nodes
(1 repeater
61 slaves)
3 segments:
96 nodes
(2 repeaters
91 slaves)
4 segments:
128 nodes
(3 repeaters
121 slaves)
9,6 187,5
Kbps
1000
2000
3000
4000
500 kbps
400
800
1200
1600
1,5 Mbps
200
400
600
800
3-12 Mbps
100
200
300
400
Bit rate
Drives Division
Confidential / Property of Danfoss Drives A/S
16
Topology
Drop cables:
A drop cable is a connection from the main bus cable to a node, in form
of a T-connection
Bit rate
9,693,75 Kbps
96
187,5 Kbps
75
500 Kbps
30
1,5 Mbps
10
3-12 Mbps
2005-10-02
Flemming Huusmann/DD-SPMP
None
Drives Division
Confidential / Property of Danfoss Drives A/S
17
EMC Precautions
In order to ensure interference-free PROFIbus
communication, always:
Use correct PROFIbus cable.
Use same cable throughout entire network.
Connect cable-screen to ground at all nodes.
Ensure all nodes have same ground potential.
Keep min. 200 mm distance to motor and
brake-resistor cable. Cross only in 90 angel.
ALWAYS use screened motor cable !
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
18
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
19
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
20
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
21
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
22
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
23
Address setting
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
24
Bus termination
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
25
Note:
Baudrate and PPO-type are set by the master and auto-detected by the drive !
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
26
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
27
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
28
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
29
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
30
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
31
Drives Division
Confidential / Property of Danfoss Drives A/S
32
Drives Division
Confidential / Property of Danfoss Drives A/S
33
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
34
PPO types
Drives Division
Confidential / Property of Danfoss Drives A/S
35
Hexadecimal base
All data are handled in hexadecimal format.
This makes is easier to convert from binary in byte-format.
Decimal
Hex
Binary
10
11
12
13
14
15
0
1
Decimal
Hex
12
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
36
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
37
(Not used)
Parameter number
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
38
10=>1000=3E8hex
FC Profile
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
39
Process data
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
40
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
41
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
42
Controlword, FC profile
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
43
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
44
Control Word
Control Word
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
45
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
46
Reference
PCD 2 contains a 16-bit speed set point in
percentage format.
The value is transmitted in integers (032767).
The value 16384 (4000 Hex) corresponds to
100%.
Negative numbers are formed with the aid of
the twos complement.
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
47
Negative numbers:
Each bit of the number is inverted (zeros are replaced with ones and vice versa),
but then one (000...0001) is added
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
48
Fixed
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
49
Fixed
Fixed
Fixed
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
50
Power-up:
Auto Remote Start Inhibit
CTW 047E:
Auto Remote Control Ready
CTW 047F:
Ramping
- toggling bit 0....
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
51
PROFIbus Test-tool
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
52
PROFIbus Test-tool
Scan Network
for available devices
COM settings
Profile
Language
Slave
node address
Select
Drive type
Select
Telegram type
Start
PROFIbus master
Wizard for
CTW and reference
Received data
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
53
VLT 5000
Old common 500 Group
FC 300
800 Group
900 Group
1000 Group
PROFIbus
DeviceNet
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
54
FC RS485
Par. 8-01 Control Site
FC USB
Motor
Option A
(Fieldbus)
controller
Option B
(I/O, feedback)
Option C
(FPF, MCO)
Digital inputs
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
55
[0]
Freeze Output
[1]
Stop
[2]
Jogging
[3]
Max. Speed
[4]
[5]
Select set-up 1
[7]
Select set-up 2
[8]
Select set-up 3
[9]
Select set-up 4
[10]
Note:
In certain cases the timeout
function is activated immediately,
e.g. upon loss of communication.
2005-10-02
Flemming Huusmann/DD-SPMP
[0]
Drives Division
Confidential / Property of Danfoss Drives A/S
56
Drives Division
Confidential / Property of Danfoss Drives A/S
57
[0]
[0]
Do reset
[1]
- After selecting
[1] par. 8-06
returns to [0]
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
58
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
59
Function:
None
3-02 Minimum Reference
3-03 Maximum Reference
3-12 Catch Up/Slow Down Value
3-41 Ramp 1 Ramp Up Time
3-42 Ramp 1 Ramp Down Time
Drives Division
Confidential / Property of Danfoss Drives A/S
60
Function:
16-50 External Reference
16-51 Pulse Reference
16-52 Feedback [Unit]
16-53 Digi Pot Reference
16-60 Digital Input
16-61 Terminal 53 Switch Setting
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
61
Function:
0-126
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
62
Function:
[101]
PRO 2
[102]
PRO 3
[103]
PRO 4
[104]
PRO 5
[105]
PRO 6
[106]
PRO 7
[107]
PRO 8
[108]
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
63
Function:
Disable
[0]
[1]
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
64
Function:
Factory setup
[0]
Setup 1
[1]
Setup 2
[2]
Setup 3
[3]
Setup 4
[4]
*Active setup
[9]
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
65
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
66
Function:
*Off
[0]
[1]
[2]
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
67
Profibus DP diagnosis
Profibus master
Disable (default)
[0]
Trigger on alarms
[1]
Trigger alarm/warn.
[2]
Note:
Enabling diagnosis may cause increased
bus traffic.
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
68
Profibus DP diagnosis
Profibus master
Standard diag.
D
g.
ia
re
q.
g
ia
D
es
.r
p.
S
Vendor spec.
diag.
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
69
Profibus DP diagnosis
Alarm word
Warning word
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
70
Profibus DP diagnosis
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
71
Profibus DP diagnosis
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
72
Troubleshooting
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
73
Troubleshooting
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
74
Troubleshooting
Check relation between CTW bits and I/Os
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
75
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
76
Multiple masters
Cylical data exhange
Acylical parameter access
Dynamically established connections (MCL2)
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
77
Processing time
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
78
PROFIBUS
telegram
header
Data unit
DP-V1
command/response
Profidrive V3 parameter
channel
DU
0
Req. /resp.
Header
DU
1
DU
2
DU
3
2005-10-02
Flemming Huusmann/DD-SPMP
PROFIBUS
Telegram
trailer
Data
Drives Division
Confidential / Property of Danfoss Drives A/S
79
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
80
PROFIBUS in detail
7-layer OSI-model
User-layer
Layer 7,
application
Layer 3 to 6
DP Profile
DP functions
DP-V1
DP-V0
Not used
Layer 1, physical
RS-485 / FO
FDL
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
81
PROFIBUS in detail
States of a DP-slave
Parameterization:
The slave receives the bus-parameters, watchdog parameters
and salve-specific data from the master.
Configuration:
The master compares the requested configuration with the actual
configuration of the slave.
Data exchange:
After a successful parameterization and configuration the master
enters the data-exchange-mode with the salve.
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
82
PROFIBUS in detail
Statemachine for DP-slave
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
83
PROFIBUS in detail
PROFIBUS analyzers
www.profitrace.com
www.softing.com
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
84
PROFIBUS in detail
PROFIBUS analyzers, example
2005-10-02
Flemming Huusmann/DD-SPMP
Drives Division
Confidential / Property of Danfoss Drives A/S
85