931E-931K - PROFIBUS-DP Communication - v2-1 - EN

KHB 13.
0004−EN
.Bò*
Ä.Bò*ä
Communication Manual
Servo Drives 930
931EPx, 931KPx
PROFIBUS−DP
l
0Fig. 0Tab. 0
2 l KHB 13.0004−EN 2.1

Contents i
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
KHB 13.0004−EN 2.1 l 3

i Contents
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
7.3.1 Speed setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.3.2 Acceleration value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
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
8.2.1 Control word 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.2.2 Status word 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.3.1 Control word 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8.3.2 Status word 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
8.4 State diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4 l KHB 13.0004−EN 2.1

Contents i
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
KHB 13.0004−EN 2.1 l 5

1 About this documentation
Document history
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!
ƒ The features of the PROFIBUS−DP for servo inverters of the 931 series are described
in detail.
ƒ Typical applications are illustrated by use of examples.
ƒ Furthermore, 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.
I Tip!
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
6 l KHB 13.0004−EN 2.1

About this documentation 1
Conventions used
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−docu@Lenze.de
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
KHB 13.0004−EN 2.1 l 7

Notes used
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 of personal injury through dangerous electrical voltage.
{ Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.
} Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
(
Danger of property damage.
Stop! 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
I Tip! Useful tip for simple handling
, Reference to another documentation
8 l KHB 13.0004−EN 2.1

Product description 2
Product features
2 Product description
2.1 Product features
ƒ Support of the PROFIBUS−DP−V0 communication profile

ƒ Drive profile:
– PROFIdrive
ƒ Automatic baud rate detection (9.6 kbps ... 12 Mbps)
KHB 13.0004−EN 2.1 l 9

3 Technical data
Communication
3 Technical data
3.1 Communication
Field Values
Communication profile Profibus DP
(DIN 19245 part 1 and part 3)
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 1200 m (depending on baud rate and cable type)
segment
Bus connection X4.1, X4.2 9−pin Sub−D socket (931E), 5−pin M12 connector (931K)
10 l KHB 13.0004−EN 2.1

Electrical installation 4
Wiring
4 Electrical installation
4.1 Wiring
Basic wiring of the PROFIBUS

0
931x 931x 931x

X4.1/X4.2 X4.1/X4.2 X4.1/X4.2
1 1 1
£ 1200 m
931e_037
Fig. 1 Basic wiring
Element Note
0 Control system E.g. PC or PLC with PROFIBUS−DP master interface module
1 Bus 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!
ƒ Separate control cables from motor cables.
ƒ Connect control/data cable shields correctly:
– On both sides for cables with digital signals.
ƒ Observe 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).
KHB 13.0004−EN 2.1 l 11

Wiring
Number of bus stations
M
R R
S S S S S
1 2 3
2133PFB004
Segment Master (M) Slave (S) Repeater (R)

1 1 31 −
2 30 −
2 − 30 1
3 − 30 1
I Tip!
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
ƒ the baud rate used
ƒ the number of repeaters used
12 l KHB 13.0004−EN 2.1

Electrical installation 4
Wiring
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!
ƒ The baud rate depends on the data volume, cycle time and number of bus
stations.
ƒ The baud rate selected should be as low as possible. The lower the baud
rate, the more insensitive the PROFIBUS is to parasitic coupling.
I Tip!
For high baud rates, we recommend to consider the application of optical
fibres.
Advantages of optical fibres:
ƒ External electromagnetic interferences have no effects on the transmission
path.
ƒ Bus 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
KHB 13.0004−EN 2.1 l 13

Assignment of the interfaces
931E servo inverter
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 − −
2 − −
9 5 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)
6 1 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 Signal Specification
no.
1 n. c. Not assigned
2 RxD/TxD− Receive / Transmit data −N (A line)
N
3 DGND Data Ground (reference potential to VP)
4 RxD/TxD− Receive / Transmit data −plus (B line)
P
5 Shield Shield
Output contact Pin Signal Specification
pattern no.
1 VP Power supply plus (5V)
2 RxD/TxD− Receive / Transmit data −N (A line)
N
3 DGND Data Ground (reference potential to VP)
4 RxD/TxD− Receive / Transmit data −plus (B line)
P
5 Shield Shield
14 l KHB 13.0004−EN 2.1

PROFIBUS communication 5
The data telegram
Structure of the receive message
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.
ƒ Receive telegrams contain output data which is transmitted from the PLC (master)
to the controller (slave).
ƒ Response 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:
l Receive message 0: "positioning" mode (value of byte 0: E0h)
l Receive message 1: "speed control" mode (value of byte 0: E1h)
) Note!
ƒ To 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)
ƒ In the PLC you have to enter the identifier in byte 0 of the receive message.
The identifier sets the operating mode of the controller.
– E1h: speed control mode
– E0h: positioning mode
KHB 13.0004−EN 2.1 l 15

The data telegram
Structure of the response message
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)
Telegram identifier (not changeable). In the telegram editor the corresponding response message has to
be assigned to the receive message:
l Response message 0: "positioning" mode (value of byte 0: F0h)
l Response 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.
ƒ Use 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)
Telegram identifier
ƒ Structure 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:
l Read access: 41h
l Write access: 42h
l No access: 00h
16 l KHB 13.0004−EN 2.1

PROFIBUS communication 5
The data telegram
Structure of the receive and response message with PKW mechanism
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)
Telegram identifier
ƒ Structure 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:
l Write access: 42h
) Note!
ƒ The PNU 2000 must be entered under the same address in the receive
message and in the corresponding response message!
ƒ For 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.
ƒ The transmission of a parameter is not acknowledged by the controller.
KHB 13.0004−EN 2.1 l 17

Consistent parameter data
Structure of the receive and response message with PKW mechanism
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):
Central Processing ó Dual Port Memory ó PROFIBUS Master

Unit (CPU) (DPM)
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:
ƒ The PROFIBUS master only transfers the data as a complete data record.
ƒ The CPU can only access completely updated data records.
ƒ The PROFIBUS master cannot read or write data as long as the CPU accesses
consistent data.
The result is shown in the following example:
0 1
Central Processing ó Dual Port Memory ó PROFIBUS Master
Unit (CPU) (DPM)
0 CPU wants to read!

1 PROFIBUS 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.
18 l KHB 13.0004−EN 2.1

Commissioning 6
Important notes
6 Commissioning
6.1 Important notes
Before you switch on the controller for the first time in the PROFIBUS−DP network, check
ƒ the entire wiring for completeness, short circuit, and earth fault,
ƒ and 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)
l You need a PC and the »Small Drives Control (SDC)« PC software
1. Switch on the controller Software manual for
2. Establish RS232 communication between the PC and the controller the controller
3. Set the node address

l Selection of the node address via »Small Drives Control (SDC)« ^ 21
l Selection 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
B Configuration 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 ^ 24
telegram editor (project creation). The data width depends on the entries in the
telegram editor
5. Save, compile and transfer the project Documentation for
the master
C Activation of communication
1. Activate communication on the master Documentation for
the master
2. Activate communication on the slave ^ 21
D Running 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.
KHB 13.0004−EN 2.1 l 19

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

Commissioning 6
Node address setting
6.3.1 Node address setting
Selecting the node address via »Small Drives Control (SDC)«

1. Open the Parameters W Fieldbus W Profibus... W Operating parameters... menu.
931E_020, 931E_21
2. Enter the desired node address for the controller in the Slave node number input
box.
3. Tick the Profibus active check box.
– If the check box is enabled, the Slave node number input box is disabled.
4. Click on the Save & Reset button to save the settings.
– After saving, the assigned node address is displayed in the Effective slave node
number box.
5. Click on the OK button.
) Note!
The dialog box displays that the communication between master and slave
has been established successfully:
ƒ The Data Exchange box is lit green.
ƒ The baud rate set on the master is displayed in the Baud rate box.
KHB 13.0004−EN 2.1 l 21

6 Commissioning
Selecting the node address via the digital inputs DIN0 ... DIN5
You assign the node address to the controller by adding to the preset slave node number
an offset via DIN0 ... DIN5.
1. Open the Parameters W Fieldbus W Profibus... W Operating parameters... menu.
931E_020, 931E_22
2. Enter the desired value in the Slave node number input box.
3. Click on the + Offset (DIN) (inactive) button (see arrow in the screenshot of the
"Profibus" dialog box).
– The Digital inputs dialog box opens.
4. Tick the Offset node number (field bus) check box.
– Tick the AIN’s used as DIN’s check box (if necessary) to use DIN0 ... DIN3 as well for
the offset.
– Adjustable offset: 0 ... 63 with DIN0 ... DIN5 or 16, 32, 48 with DIN4, DIN5
– Click on the OK button.
5. Set the digital inputs DINx for the desired offset.
Calculation of the offset:
Offset = DIN0 × 20 + DIN1 × 21 + DIN2 × 22 + DIN3 × 23 + DIN4 × 24 + DIN5 × 25
Example:
The node address of the controller is to be "35". In the Slave node number input box "3"
is entered. So the offset must be "32":
Offset = DIN0 × 20 + DIN1 × 21 + DIN2 × 22 + DIN3 × 23 + DIN4 × 24 + DIN5 × 25
32 = 0 × 20 + 0 × 21 + 0 × 22 + 0 × 23 + 0 × 24 + 1 × 25
6. Click on the Save & Reset button to save the settings.

– Important: After clicking on the button, the states of the digital inputs are read
once. The offset is added to the slave node number. Subsequent changes have no
effect.
– After saving, the assigned node address is displayed in the Effective slave node
number box.
22 l KHB 13.0004−EN 2.1

Commissioning 6
931E_23
7. Click on the OK button.
) Note!
The dialog box displays that the communication between master and slave
has been established successfully:
ƒ The Data Exchange box is lit green.
ƒ The baud rate set on the master is displayed in the Baud rate box.
KHB 13.0004−EN 2.1 l 23

6 Commissioning
Definition of parameter numbers (PNU) in the telegram editor
6.3.2 Definition of parameter numbers (PNU) in the telegram editor
ƒ Parameter numbers (PNU) can be used to address drive objects (e.g. process and
parameter data).
– Parameter numbers can comprise several subindexes under which objects are
represented. When defining the PNU, the respective subindex must be defined as
well.
ƒ With the telegram editor you can define all PNUs required for the application. The
PNUs are stored in the controller.
– Define the PNUs before activating communication to the master.
1. Open the Parameters W Fieldbus W Profibus... W Profibus telegram editor... menu.
931E_024
2. Select "Receive telegram" in the Telegram type box.

– Each telegram may contain a maximum of 10 entries.
– The length of the telegram must not exceed 32 bytes.
3. Select the receive telegram 0 or 1 and the corresponding respond telegram in the
Telegram editor box.
– Use the receive and response message 0 for the "positioning" mode.
– Use the receive and response message 1 for the "speed control" mode.
– Byte 0 (telegram identifier, not visible) and the entries for byte 1 (ADR − 1) and
byte 2 / byte 3 (ADR − 2) are necessary for faultless communication. Do not change
these entries.
24 l KHB 13.0004−EN 2.1

Commissioning 6
) Note!
ƒ If the response message does not correspond to the receive message, the
master receives incorrect data from the controller.
ƒ In the PLC you have to enter the identifier in byte 0 of the receive message.
The identifier sets the operating mode of the controller.
– E1h: speed control mode
– E0h: positioning mode
4. Click on the Append entry button to enter a PNU.
– If you want to enter the PNU in hexadecimal notation, activate the hexadecimal
format in the Append entry box.
– If you want to change a PNU, select the PNU and click on the Change entry button.
– If you want to delete the PNU entered last, click on the Delete last entry button.
) Note!
ƒ If necessary, enter PNU 2010 as a wildcard to make the telegram length
match the parameterised telegram length of the master.
ƒ Check that the parameterised telegram length corresponds to the memory
allocation (see arrows in the screenshot of the "Profibus telegram editor"
dialog box).
KHB 13.0004−EN 2.1 l 25

6 Commissioning
931E_025
5. Select "Respond telegram" in the Telegram type field.

– Byte 0 (telegram identifier, not visible) and the entries for byte 1 (ADR − 1) and
byte 2 / byte 3 (ADR − 2) are necessary for faultless communication. Do not change
these entries.
6. Click on the Append entry button to enter a PNU.
– If you want to enter the PNU in hexadecimal notation, activate the hexadecimal
format in the Append entry box.
– If you want to change a PNU, select the PNU and click on the Change entry button.
– If you want to delete the PNU entered last, click on the Delete last entry button.
) Note!
ƒ If necessary, enter PNU 2010 as a wildcard to make the telegram length
match the parameterised telegram length of the master.
ƒ Check that the parameterised telegram length corresponds to the memory
allocation (see arrows in the screenshot of the "Profibus telegram editor"
dialog box).
26 l KHB 13.0004−EN 2.1

Commissioning 6
Control system configuration
6.4 Control system configuration
The control system must be configured before communication with the controller is
possible.
Installing the device data base file (*.GSE)

For the configuration you have to install the device data base file "931E0A6D.GSE" on the
master.
1. Download the GSE file from the Internet.
– You can find the GSE file in the "Services & Downloads" area at
http://www.Lenze.com.
2. Install the GSE file.
– Installation notes are given in the documentation for the master and in the
documentation for the configuration tool.
Creating a project
ƒ Please refer to the documentation for the configuration tool if you want to create a
project.
) Note!
Use of data consistency
ƒ We recommend to use exclusively configurations with consistency to avoid
data conflicts between the PROFIBUS−DP master and the CPU of the control
system.
– If the telegram has, for instance, a length of 8 bytes of data, the PLC must
be able to process the 8 bytes of data continuously (consistently).
ƒ Detailed description of consistency: (¶ 18)
ƒ Please note that the processing of consistent data varies between different
control systems. This must be considered in the configuration tool.
– It may be necessary to use system functions of the PLC to ensure the data
consistency.
– Please refer to the documentation for the PLC to find out which data
length can be processed consistently by the CPU.
KHB 13.0004−EN 2.1 l 27

6 Commissioning
"Speed control" mode
Description
6.5 "Speed control" mode
6.5.1 Description
The following functions are available:

ƒ Setpoint generation via ramp generator (limit function)
ƒ Speed detection via angle encoder by differentiation
ƒ Speed control with appropriate input and output signals
ƒ Limitation of speed setpoint (via PROFIBUS or analog input)
ƒ Monitoring of actual speed (velocity controller)
Limit Function
target velocity [speed units]

(PNU 1010) Multiplier Profile Velocity
velocity encoder factor (1)
[inc]
acceleration velocity control [acceleration units] velocity demand value (2)
(PNU 1011.0) Profile Acceleration
deceleration velocity control [acceleration units]

(PNU 1011.1) Multiplier Profile Deceleration
quick stop [acceleration units]

Quick Stop Deceleration
deceleration (0)
acceleration factor (1)
position actual value Differentiation velocity actual value

(PNU 1100.0) d/dt (PNU 1101.0)
velocity demand value (2)

Velocity
control effort
Controller
velocity control
parameter set (0)
status word 1
velocity window time (2) (PNU 968.0, Bit 8,
velocity = 0)
velocity actual value Timer
(PNU 1101.0) status word 1
Window (PNU 968.0, Bit 10,
Comparator velocity reached)
velocity window
931e_030
Fig. 2 Signal routing for the "speed control" mode

0 Function can be parameterised via SDC
1 Physical unit, can be parameterised via SDC
2 Internal signal
28 l KHB 13.0004−EN 2.1

Commissioning 6
Commissioning with PROFIdrive
6.5.2 Commissioning with PROFIdrive
) Note!
ƒ The bit assignment of the control word 1 and the status word 1 is described
in the chapter "Device control". (¶ 54)
ƒ To enable the PLC to control the controller via PROFIBUS, bit 10 of the
control word 1 must be set statically. When the communication self−test has
been completed successfully, bit 9 of the status word 1 is set.
Description PNU Subind Length Parameter

ex
UNIT16 Bit 3 Bit 2 Bit 1 Bit 0
A Running the controller up via the state machine
1. Control word 1 (WO) 967 0 16 0 1 1 0
SWITCHING_ON_INHIBITED
2. Status word 1 (RO) 968 0 16 0 0 0 1
3. Control word 1 (WO) 967 0 16 0 1 1 1
READY_FOR_SWITCH_ON
4. Status word 1 (RO) 968 0 16 0 0 1 1
READY_FOR_SWITCH_ON
5. Control word 1 (WO) 967 0 16 1 1 1 1
Enable operation
6. Status word 1 (RO) 968 0 16 0 1 1 1
Operation
B Control operation
7. Selection of setpoints
Note: Controller parameters cannot be
changed via PNUs.
KHB 13.0004−EN 2.1 l 29

6 Commissioning
"Positioning" mode
PNUs for parameter setting
6.5.3 PNUs for parameter setting
PNU Name Possible settings Characteristics
Lenze Selection Description

1010 0 Target Velocity 0 0 {1 rpm} 6000 INT32 RW
Selection of the speed

setpoint.
l If the speed control mode
is selected in SDC, the
selector under "setpoint
selection" changes over if
required: AIN0/1, Profibus
or RS232
1011 Acceleration for UINT32 RW
Velocity Control Setting the acceleration and
deceleration for the speed
control mode
0 Acceleration 10000 0 {1 rpm/s} 20000 Acceleration, the value set is
Velocity Control valid for both directions of
rotation
l Reads out only the actual
value for the positive
direction of rotation
1 Deceleration 10000 0 {1 rpm/s} 20000 Deceleration, the value set is
rotation
2 All Accelerations 10000 0 {1 rpm/s} 20000 Acceleration and
Velocity Control deceleration, the value set is
valid for both directions of
rotation
l Writes the value set to
PNU 1011, subindexes 0
and 1
l Reads out the actual value
for the positive direction
of rotation under
PNU 1011, subindex 0
1101 0 Velocity Actual {1 rpm} INT32 RO
Value Actual speed value. The value
is scaled to the physical unit
set for PROFIBUS.
1102 0 Current Actual {1 } INT32 RO
Value Actual value of active current.
The value refers to the rated
motor current.
6.6 "Positioning" mode
30 l KHB 13.0004−EN 2.1

Commissioning 6
"Positioning" mode
Setting of homing
6.6.1 Setting of homing
control word 1 Homing

(PNU 967.0, Bit 11)
home offset status word 1
(PNU 1051.0) (PNU 968.0 Bit 11)
homing method
(PNU 1050.0)
home speed (0) position demand value (1)
home acceleration (0)
931e_028
Fig. 3 Signal routing for homing

0 Function can be parameterised via SDC
1 Internal signal
Adjustment
ƒ Homing speed
– First the drive searches for the limit switch using the search speed. For
determining the position of the switching edge exactly, the drive changes to the
creep speed. Both speeds are set in SDC.
ƒ Acceleration
– The acceleration is set in SDC.
ƒ Homing mode
– A description of the different homing methods is given in the software manual of
the controller.
ƒ Shifting of the zero position
– Via PNU 1051.0 the zero position of the drive can be shifted. The value under
PNU 1051.0 is added to the value of the homing point (e.g. limit switch position).
) Note!
Traversing to the zero position is not part of the homing run. If the controller
knows all parameters required (e.g. the position of the zero pulse), no physical
movement is executed.
KHB 13.0004−EN 2.1 l 31

6 Commissioning
"Positioning" mode
Positioning
6.6.2 Positioning
position factor (1)

home offset (PNU 1051.0) polarity (1)
target_postion [position units] Limit Multiplier

(PNU 1001.0) Function
2
position set number (PNU 1000)
profile velocity (PNU 1001.1) 3

position demand value (0)
Position
acceleration positioning (PNU 1001.3) Trajectory control effort (0)
[inc]
Control
deceleration positioning (PNU 1001.4) Generator
Function
all accelerations positioning (PNU 1001.5)
Quick Stop
position profile type

(PNU 1003.0)
931e_032
Fig. 4 Signal routing for the "positioning" mode

0 Internal signal
1 Physical unit, can be parameterised via SDC
2 Trajectory generator
3 Position controller
ƒ The target position is transferred to the trajectory generator via PNU 1001.0. The
trajectory generator generates the position setpoint for the position controller.
Trajectory generator and position controller can be set independently of each other.
32 l KHB 13.0004−EN 2.1

Commissioning 6
"Positioning" mode
Positioning
Adjustment
ƒ Simple travel task
– Select position data set (0 63) under PNU 1002. (¶ 35)
– Activation: Control word 1, set bit 6 from 0 ® 1.
– The controller stops when the target position has been reached. Bit 10 of status
word 1 is used to signal the reaching of the target position to the master.
v2
v1
t0 t1 t2 t3 t
931e_407
Fig. 5 Simple travel task
ƒ Sequence of travel tasks

– Select position data set (0 63) under PNU 1002. (¶ 35)
– Activation: Control word 1, set bit 13 = 0.
– When a target position has been reached, the controller immediately starts to
approach the next target position.
v
v2
v1
t0 t2 t1 t3 t
931e_408
Fig. 6 Sequence of travel tasks
) Note!
It is possible to interrupt the running travel task and immediately start the
next travel task:
ƒ Select PROFIBUS position data set (68) under PNU 1002. (¶ 36)
ƒ Activation: Control word 1, set bit 13 = 1.
– Interruption of the positioning process. Start of next travel task.
KHB 13.0004−EN 2.1 l 33

6 Commissioning
"Positioning" mode
Positioning
Transfer of travel task
1
Bit 10
(1) (2) t
Control word 1
1
Bit 4
(3) t
1
Bit 5
(4) t
1
Bit 6
(5) t
1
Bit 9
t
Status word 1
1
Bit 10
(6) t
1
Bit 11
(0) t
931e_031
Fig. 7 Transfer of travel task to the controller

t(0) Status word 1, bit 11 = HIGH: home position is valid
t(1)−(2) Data transfer (acceleration, target position, speed) from master to corresponding
position data set (^ 32)
(PNU 1000 = 68: selection of PROFIBUS position data set)
t(3) Control word 1, bit 4 = HIGH: do not cancel travel task
t(4) Control word 1, bit 5 = HIGH: no intermediate stop
t(5) Control word 1, bit 6 = LOW−HIGH edge: activate travel task
t(6) Status word 1, bit 10 = HIGH: target position reached
34 l KHB 13.0004−EN 2.1

Commissioning 6
"Positioning" mode
Static position data sets
6.6.3 Static position data sets
The settings (positioning, start delay, start during positioning) and the driving profile
(travelling speed, acceleration, time constant without jerk) of the position data sets 0 ... 63,
which can be parameterised with »Small Drives Control (SDC)«, are divided into four
groups (see software manual for the controller).
ƒ You can, for instance, select a travelling speed for the "Positioning 0 15" group
(position data sets 0 15). This also applies to the position data sets 16 31,
32 47 and 48 63.
ƒ The target positions 0 63 are parameterised in SDC. Only approaching/activating
of the target positions (PNU 1002.0 = 0 63) is controlled via PROFIBUS.
) Note!
Please observe that you have to jump between the groups if e.g. the travelling
speeds differ.
"Settings" tab sheet

ƒ Open the Parameters W Positioning W Destination parameters... menu.
931E_33
ƒ All settings have to be made in SDC.

ƒ The driving profile is specified via PROFIBUS.
KHB 13.0004−EN 2.1 l 35

6 Commissioning
"Positioning" mode
Dynamic position data set
6.6.4 Dynamic position data set
If the application requires positioning with different settings and driving profiles, use
dynamic positioning via position data set 68:
ƒ Selection of the driving profile via PROFIBUS.
ƒ Changing between absolute and relative positioning via control word 1.
ƒ Interruption of a running positioning task and approaching of a new target via a
start command.
"Settings" tab sheet

ƒ Open the Parameters W Positioning W Destination parameters... menu.
931e_34
ƒ Settings required in SDC:

– Messages (0..63) box (see software manual for the controller)
– Start delay (0..15) box (see software manual for the controller)
ƒ Control via PROFIBUS, control word 1:
– Bit 12 can be used to select between "relative" and "absolute" in the Positioning
(0..15) box.
– Bit 4 can be used to select "Ignore start command" in the Start during positioning
box and bit 13 to select "Wait for end of positioning run" or "Interrupt actual
positioning".
36 l KHB 13.0004−EN 2.1

Commissioning 6
"Positioning" mode
Commissioning with PROFIdrive
6.6.5 Commissioning with PROFIdrive
) Note!
ƒ The bit assignment of the control word 1 and the status word 1 is described
in the chapter "Device control". (¶ 54)
ƒ To enable the PLC to control the controller via PROFIBUS, bit 10 of the
control word 1 must be set statically. When the communication self−test has
been completed successfully, bit 9 of the status word 1 is set.
Description PNU Subind Length Parameter

ex
UNIT16 Bit 11 Bit 3 Bit 2 Bit 1 Bit 0
A Running the controller up via the state machine
1. Control word 1 (WO) 967 0 16 0 0 1 1 0
2. Status word 1 (RO) 968 0 16 0 0 0 0 1
3. Control word 1 (WO) 967 0 16 0 0 1 1 1
READY_FOR_SWITCH_ON
4. Status word 1 (RO) 968 0 16 0 0 0 1 1
READY_FOR_SWITCH_ON
5. Control word 1 (WO) 967 0 16 0 1 1 1 1
Enable operation
6. Status word 1 (RO) 968 0 16 0 0 1 1 1
Operation
B Execute homing
7. Parameterise homing
Method via PNU 1050
Offset via PNU 1051
Accelerations via PNU 1001
8. Control word 1 (WO) 967 0®1
Start
9. Status word 1 (RO)
Homing not yet completed or has 968 0
failed with an error
Homing successfully completed 968 1
C Control operation
10. Selection of setpoints
Note: Controller parameters
cannot be changed via PNUs.
KHB 13.0004−EN 2.1 l 37

6 Commissioning
"Positioning" mode
6.6.6 PNUs for parameter setting

1000 0 Position Set 68 UINT16 RW
Number 0 ... 63 Standard position data sets Position data sets of the
controller. The selected data
set can be parameterised via
64 ... 67 Reserved PNU 1001.
For position data set 68,
additional settings can be
68 PROFIBUS position data set transferred via bits 4, 12 and
13 of control word 1.
1001 Position Data INT32 RW
Parameterisation of the
position data set selected via
PNU 1000.
0 Target Position 0 −32768 {1 inc} 32768 Target position
1 Profile Velocity 1000 0 {1 rpm} 3000 Travelling speed
3 Acceleration 10000 0 {1 rpm/s} 20000 Acceleration
Positioning
4 Deceleration 10000 0 {1 rpm/s} 20000 Deceleration
Positioning
5 All Accelerations 10000 0 {1 rpm/s} 20000 Acceleration and deceleration
Positioning l Writes the set value to
PNU 1001.3 and
PNU 1001.4.
l Reads out PNU 1001.3
only.
1002 0 Start Set Number 68 UINT8 RW
0 ... 63 Standard position data sets When positioning is started

64 ... 67 Reserved via control word 1, the
selected data set is activated.
68 PROFIBUS position data set
1003 0 Motion Profile Type 0 UNIT16 RW
0 Jerk−limited ramp is deactivated The acceleration/deceleration

time of the ramp cannot be
adjusted. When the ramp is
2 Jerk−limited ramp is activated activated, the maximum time
(50 ms) is set automatically.
1050 0 Homing Method 1 INT8 RW
Homing to Selection of the homing

1 the negative limit switch with zero method to be used.
pulse evaluation
2 the positive limit switch with zero
pulse evaluation
17 the negative limit switch
18 the positive limit switch
33, 34 the zero pulse
35 the actual position (no movement)
−1 the negative end stop with zero pulse
evaluation
−2 the positive end stop with zero pulse
evaluation
−17 the negative end stop
−18 the positive end stop
38 l KHB 13.0004−EN 2.1

Commissioning 6
"Positioning" mode

1051 0 Home Offset 0 −32767 {1 inc} 32767 INT32 RW
Definition of the distance

between the zero position
and the reference point of a
homing sequence.
l Positive values shift the
zero point to the positive
direction with respect to
the reference point.
KHB 13.0004−EN 2.1 l 39

6 Commissioning
Actual values
Actual position
6.7 Actual values
6.7.1 Actual position
ƒ Reading the actual position.

Due to the physical units, the resulting value may be higher than the maximum value
which can be represented by PNU 1100.

1100 0 Position Actual {1 inc} INT32 RO
Value Actual position value. The
value is scaled to the physical
unit set for PROFIBUS.
6.7.2 Actual speed value
ƒ Reading the actual speed value.


set for PROFIBUS.
6.7.3 Actual value of active current
ƒ Reading the actual value of the active current.


Value Actual value of active current.
The value refers to the rated
motor current.
40 l KHB 13.0004−EN 2.1

Commissioning 6
Actual values
Digital outputs
6.7.4 Digital outputs
ƒ States of the digital outputs.


1140 0 Digital Outputs 0 UINT32 RW
Bit Value Triggering of the digital

0 00000001h Holding brake outputs.
(read only) Important! Up to 10 ms may
pass between triggering and
1 ... 15 Reserved switching of the output.
16 00010000h Ready for The state of an output can be
operation (read checked by reading out the
only) parameter.
17, 18 00060000h DOUT1, DOUT2
(read and write)
19 ... 32 Reserved
6.7.5 Digital inputs
ƒ Reading the states of the digital inputs.


1141 0 Digital Inputs 0 UINT32 RO
Bit Value Actual states of the digital

0 00000001h Negative limit inputs.
switch (DIN7) The available digital inputs
depend on the
1 Reserved parameterisation of the
2 00000002h Positive limit controller
switch (DIN7)
3 00000008h Controller enable
is missing (DIN9)
16 ... 25 03FF0000h DIN0 ... DIN9
26 ... 32 Reserved
KHB 13.0004−EN 2.1 l 41

6 Commissioning
Actual values
Motor data
6.7.6 Motor data
ƒ Via PNU 1290.1 (iit Ratio Motor) you can read out the actual utilisation of the I2t
limitation in [].

1160 Temperature Reading of different
temperatures.
0 Power stage {1 °C} INT16 RO
temperature Reading of the current power
stage temperature.
1 Motor temperature {1 °C} INT16 RO
Reading of the current motor

temperature.
1290 Motor Data Overload protection for the
motor connected.
0 iit Time Motor 2000 0 {1 ms} 10000 UNIT16 RW
Time for which the motor is

fed with the specified
maximum current.
l When the time has
elapsed, the motor current
is automatically limited to
the rated current set.
1 iit Ratio Motor {1 } UNIT16 RO
Reading−out of the actual

utilisation of the I2t
limitation.
6.7.7 Operating modes

1500 0 Operating Mode UINT8 RO
00h Speed control Reading−out of the operating

10h Positioning mode.
42 l KHB 13.0004−EN 2.1

Parameter setting 7
Physical units
7 Parameter setting
7.1 Physical units
) Note!
Application−specific parameters depend on the physical units. For this reason
set the physical units before starting to parameterise the application.
With the »Small Drives Control (SDC)« program you can parameterise the controller in such
a way that the physical quantities can be entered/read out on the drive directly in the
desired units (e.g. position values of a linear axis in millimetres and speeds in millimetres
per second).
ƒ Open the Parameters W Fieldbus W Profibus... W Display units... menu.
931E_026
Quantity Designation Unit Explanation

Length position_units Increments 65535 increments per revolution
Speed speed_units rpm Revolutions per minute
Acceleration acceleration_units rpm/s Speed increase per second
KHB 13.0004−EN 2.1 l 43

7 Parameter setting
Physical units
UE
x1
UA x2
931e_415
Fig. 8 Gearbox factors

UE Input−end speed
UA Output−end speed
x1 Position_units in degrees
x2 Position_units in mm
Notes on settings
ƒ From the set physical units conversion factors are automatically generated
internally. The conversion factors consist of a numerator and a denominator and
may not be longer than 32 bits.
ƒ The value of the feed constant is ignored for the respective physical unit if the feed
constant has a translatory unit and a rotatory unit is selected for the physical
quantity.
ƒ If the entries for the factors or physical units are incorrect, an overflow occurs and
the value is rejected.
ƒ Examples for incorrect settings:
Incorrect setting Effect
Position in [revolutions] and The feed constant is ignored.
feed constant in [mm/revolution]
Position in [mm] and The feed constant is considered as a gearbox factor.
feed constant without a unit
Position in [mm] and The feed constant is evaluated using the factor 1000.
feed constant in [mm/revolution]
ƒ The error message 59 ("General arithmetic error") is generated

– if incorrect settings result in values which cannot be represented after internal
conversion,
– if transition states occur which cause the overflow of physical units.
Remedy:
– Check the settings of the physical units and correct them if necessary.
– Save the settings and carry out a reset. If the error message 59 is not generated
anymore, the physical units are valid.
44 l KHB 13.0004−EN 2.1

Parameter setting 7
Global parameters
Saving of parameter set
7.2 Global parameters
7.2.1 Saving of parameter set
ƒ Saving parameters on the controller.


971 0 Transfer into a 0 UNIT16 RW
non−volatile 0 No action Save current parameter set
memory and all position data sets
1 Save
Also saves position data set
2 ... 655 Reserved 68.
35
7.2.2 Setting of manual jog (inching mode)
ƒ Simplified access to the values for inching speed and acceleration.


1040 Jog Value Simplified access to the
inching values.
This type of access reduces
the amount of data to be
transferred in the cyclic data
telegram. Internally all
parameters are written.
0 Jog Velocity 100 0 {1 rpm} 6000 INT32 RW
Inching speed
l The physical unit is the
PROFIBUS speed
1 Symmetrical Jog 10000 0 {1 rpm/s} 20000 UINT32 RW
Accelerations Inching acceleration
PROFIBUS acceleration
l The value read is the
acceleration
KHB 13.0004−EN 2.1 l 45

7 Parameter setting
Global parameters
Motor data
7.2.3 Motor data
ƒ Via PNU 1290.0 (iit Time Motor) you can set the duration of the maximum motor
current.
When the time has elapsed, the motor current is automatically limited to the
parameterised rated motor current.
ƒ Via PNU 1290.1 (iit Ratio Motor) you can read out the actual utilisation of the I2t
limitation in [].

temperatures.
stage temperature.

temperature.
motor connected.

maximum current.
l When the time has
elapsed, the motor current
is automatically limited to
the rated current set.

limitation.
46 l KHB 13.0004−EN 2.1

Parameter setting 7
Speed setpoint
7.3.1 Speed setpoint
ƒ Setting the speed setpoint.

In the "speed control" mode the "speed setpoint" selector is selected automatically.


setpoint.
or RS232
KHB 13.0004−EN 2.1 l 47

7 Parameter setting
Acceleration value
7.3.2 Acceleration value
ƒ Parameterising the acceleration values for the speed control mode.

PNU 1011.0 and PNU 1011.1 both enable access to the acceleration for CW and CCW
direction of rotation. If a value is transferred, it is valid for both directions of rotation.
PNU 1011.2 enables access to the acceleration and deceleration ramp for both directions
of rotation. If a value is transferred, it is valid for accelerating and decelerating in both
directions of rotation.
The data is interpreted according to the selected physical units. (¶ 43)
Please observe that only the actual value of the acceleration ramp for the positive direction
of rotation is read.

control mode
rotation
rotation
rotation
and 1
of rotation under
48 l KHB 13.0004−EN 2.1

Parameter setting 7
"Positioning" mode
Selection of position data set for parameter setting
7.4.1 Selection of position data set for parameter setting
ƒ Selecting the position data set of the controller to be parameterised via PNU 1001.
The position data set for PROFIBUS can be parameterised via the "SDC" program and saved
in the controller. In this way the parameters of an application which do not have to be
changed during operation can be specified permanently. You just have to enter, for
instance, the values for accelerations once. These values then do not have to be transferred.

64 ... 67 Reserved PNU 1001.
7.4.2 Setting of positioning profile parameters
ƒ Changing the parameters of the position data set selected via PNU 1000.
The data is interpreted according to the selected physical units. (¶ 43)

PNU 1000.
Positioning
Positioning
5 All Accelerations 10000 0 {1 rpm/s} 20000 Acceleration and deceleration
Positioning l Writes the set value to
PNU 1001.3 and
PNU 1001.4.
only.
KHB 13.0004−EN 2.1 l 49

7 Parameter setting
"Positioning" mode
Position data set at starting of positioning
7.4.3 Position data set at starting of positioning
ƒ Selection of the position data set to be started via the control word 1 when a
command to start a positioning process is issued.
The controller is provided with 64 storable standard position data sets which can be
selected via 8 bits.


7.4.4 Jerk limitation
ƒ Activation of the jerk−limited ramp.

With the activation the maximum time (50 ms) is automatically set for the ramp. Only the
activation can be controlled via Profibus.

0 Jerk−limited ramp is deactivated The acceleration/deceleration

2 Jerk−limited ramp is activated activated, the maximum time
(50 ms) is set automatically.
50 l KHB 13.0004−EN 2.1

Parameter setting 7
"Positioning" mode
Homing modes
7.4.5 Homing modes
ƒ Selection of the homing method.

A detailed description of the different methods is given in the software manual for the
controller.


pulse evaluation
pulse evaluation
evaluation
evaluation
KHB 13.0004−EN 2.1 l 51

7 Parameter setting
"Positioning" mode
Homing offset
7.4.6 Homing offset
ƒ Defining the distance between the home position (zero position) and the reference
point of a homing run.
Positive values shift the zero point to the positive direction with respect to the reference
point.
0 1
Home Offset
x
2
931_029
Fig. 9 Interpretation of the home offset

0 Reference point, first zero pulse
1 Zero position
2 Limit switch


homing sequence.
52 l KHB 13.0004−EN 2.1

Parameter setting 7
Error management
Setting of responses
7.5 Error management
7.5.1 Setting of responses
ƒ Selection of the error number for which a response is to be set.

A description of the error messages and the possible responses is given in the chapter
"Table of error messages". (¶ 62)

1610 Error Management Error management
0 Error Number UNIT8 RW
1h {1} 40h Selection of the error number

for which a response is to be
set under PNU 1610.1.
Overview of error numbers:
^ 62
1 Error Reaction Code UNIT8 RW
00h No response Response of the controller to

03h Warning an error event.
Notes on settings: ^ 62
05h Emergency stop
08h Power stage off (motor coasts to
standstill)
KHB 13.0004−EN 2.1 l 53

8 Device control
Important notes
8 Device control
8.1 Important notes
} Danger!
Uncontrolled motor movements can occur
If the power stage of the controller is inhibited, the motor coasts to stop
without braking.
Possible consequences:
ƒ Injury to persons through uncontrolled machine movements.
Protective measures:
ƒ Install a mechanical motor brake which is activated automatically when the
power stage is inhibited.
The controller is controlled via PROFIdrive by means of a data word (LOW byte and HIGH
byte):
ƒ The master uses the control word 1 to control the essential function of the
controller.
– The assignment of the control word 1 corresponds to the PROFIdrive profile. Some
functions have manufacturer−specific definitions.
– The controller first accepts the parameter data and then evaluates the control
word 1. This ensures that the sequence of the positioning steps is correct.
– State changes triggered via the control word 1 first have to be confirmed via the
status word 1 before another command can be sent via the control word 1.
ƒ The controller (slave) uses the status word 1 to signal its state to the master.
– The assignment of the status word 1 corresponds to the PROFIdrive profile. Some
functions have manufacturer−specific definitions.
– The status word 1 displays the different states of the controller.
54 l KHB 13.0004−EN 2.1

Device control 8
Control word 1
8.2.1 Control word 1
Control word 1 in "speed control" mode

Bit Command Value Meaning
0 ON / OFF (OFF 1) See chapter "State diagram" ^ 59
1 No coast stop (no OFF 2)
Coast stop (OFF 2)
2 No quick stop (no OFF 3)
Quick stop (OFF 3)
3 Enable operation
Disable operation
4 Enable ramp generator 0 Inhibit all speed setpoints.
1 Enable all speed setpoints.
5 Stop ramp generator 0 Stop setpoint ramp.
1 Activate setpoint ramp.
6 Enable setpoint 0 Deactivate all ramp setpoint inputs.
1 Enable all ramp setpoint inputs.
7 Acknowledge error 0®1 Acknowledge the error.
8 Inching mode 1 on/off 0®1 Inching mode with travelling speed and positive speed
setpoint.
1®0 Stop inching mode with delay.
9 Inching mode 2 on/off 0®1 Inching mode with travelling speed and negative speed
setpoint.
10 Control authority 0 The control authority of the master is deactivated.
1 The master requests the control authority.
11 15 Device−specific No function.
0 ® 1: LOW−HIGH edge
1 ® 0: HIGH−LOW edge
KHB 13.0004−EN 2.1 l 55

8 Device control
Status word 1
8.2.2 Status word 1
Status word 1 in "speed control" mode

Bit State Value Meaning
0 READY_FOR_SWITCH_ON See chapter "State diagram" ^ 59
1 READY_TO_OPERATE
2 OPERATION
3 Fault present 0 Error pending.
1 No error.
4 No coast stop (no OFF 2) 0 Command "OFF 2" of control word 1.
Coast stop (OFF 2) (Power stage is off)
1 Command "no OFF 2" of control word 1.
5 No quick stop (no OFF 3) 0 Command "OFF 3" of control word 1.
Quick stop (OFF 3) (Quick stop is active)
6 Switching on inhibited 0 The self−test of the controller has not been completed.
Switching on not inhibited Communication with the master is not possible.
1 The self−test of the controller is completed.
Communication with the master is possible.
7 Warning present 0 No warning.
No warning present 1 Warning is active or setpoint is inhibited by limit
switch in at least one direction of rotation.
8 Speed error 0 The actual speed is not within the parameterisable
signalling window around the setpoint speed.
1 The actual speed is within the parameterisable
signalling window around the setpoint speed.
9 Control authority 0 The master has no control authority.
1 The master has the control authority.
10 Actual speed 0 Actual speed < freely configurable reference speed. The
sign is taken into account.
1 Actual speed > freely configurable reference speed. The
sign is taken into account.
11 15 Device−specific No function.
56 l KHB 13.0004−EN 2.1

Device control 8
"Positioning" mode
Control word 1
8.3.1 Control word 1
Control word 1 in "positioning" mode

Bit Command Value Meaning
0 ON / OFF (OFF 1) See chapter "State diagram" ^ 59
1 No coast stop (no OFF 2)
Coast stop (OFF 2)
2 No quick stop (no OFF 3)
Quick stop (OFF 3)
3 Enable operation
Disable operation
4 Cancel travel task 0 Cancel positioning/do not start Settings only
positioning. take effect for
position data set
1 Do not cancel positioning. 68.
5 Intermediate stop 0 Do not start positioning.
1 No intermediate stop.
0®1 Accelerate drive to travelling speed.
1®0 Stop drive with delay.
6 Activate travel task 0®1 Start the position data set which is set under
(manufacturer−specific) PNU 1002/0. For PNU 1002/0 = 68 the settings of bits
4, 12 and 13 are transferred.
7 Acknowledge error 0®1 Acknowledge the error.
8 Inching mode 1 on/off 0®1 Start inching mode in positive direction.
9 Inching mode 2 on/off 0®1 Start inching mode in negative direction.
10 Control authority 0 The control authority of the master is deactivated.
1 The master requests the control authority.
11 Start/stop homing 0 No homing.
1 Continue homing.
0®1 Start homing.
1®0 If homing is active, it is cancelled without error.
If homing is completed, the command does not cause
any action.
12 Positioning 0 Absolute positioning.
(manufacturer−specific) 1 Relative positioning.
Settings only
13 Start during a running positioning 0 Start next positioning after take effect for
(manufacturer−specific) completion of the active position data set
positioning. 68.
1 Cancel active positioning and start
next positioning.
14, 15 Device−specific No function.
0 ® 1: LOW−HIGH edge
1 ® 0: HIGH−LOW edge
KHB 13.0004−EN 2.1 l 57

8 Device control
"Positioning" mode
Status word 1
8.3.2 Status word 1
Status word 1 in "positioning" mode

Bit State Value Meaning
0 READY_FOR_SWITCH_ON See chapter "State diagram" ^ 59
1 READY_TO_OPERATE
2 OPERATION
3 Fault present 0 Error pending.
1 No error.
4 No coast stop (no OFF 2) 0 Command "OFF 2" of control word 1.
Coast stop (OFF 2) (Power stage is off)
5 No quick stop (no OFF 3) 0 Command "OFF 3" of control word 1.
Quick stop (OFF 3) (Quick stop is active)
6 Switching on inhibited 0 The self−test of the controller has not been completed.
Switching on not inhibited Communication with the master is not possible.
1 The self−test of the controller is completed.
Communication with the master is possible.
7 Warning present 0 No warning
No warning present 1 Warning is active or setpoint is inhibited by limit
switch in at least one direction of rotation.
8 Following error 0 Following error.
1 No following error.
9 Control authority 0 The master has no control authority.
1 The master has the control authority.
10 Target position 0 The running positioning is active or the actual position
is not within the target window.
1 The running positioning has been completed and the
actual position is within the target window.
11 Home position 0 Homing has not been carried out or the position
information has become invalid due to an error.
1 Homing has been completed successfully.
12 Traversing task acknowledge 0 The travel task has been accepted.
1 The controller is accepting a new travel task.
13 Actual speed 0 The actual speed is out of the signalling window
referred to the reference speed (see Messages dialog
box in SDC and the description in the software manual
for the controller).
1 The actual speed is within the signalling window
referred to the reference speed (see Messages dialog
box in SDC and the description in the software manual
for the controller).
14, 15 Device−specific No function.
58 l KHB 13.0004−EN 2.1

Device control 8
State diagram
Status word 1
8.4 State diagram
Power on
S1: SWITCHING_ON_INHIBITED
(1) (6) (12)
S2: READY_FOR_SWITCH_ON
(2) (5)
(8) (10)
S3: SWITCHED_ON
(7) (3) (4) (11) (9)
S4:OPERATION
931e_027
Fig. 10 Simplified state diagram
Controller states
Status word 1
State Bit 6 Bit 2 Bit 1 Bit 0 Description
0040h 0004h 0002h 0001h
Power on Switch−on and initialisation of the controller.
Communication via PROFIBUS is not yet possible.
SWITCHING_ON_INHIBITED 1 0 0 0 The initialisation is completed.
The power stage is deactivated, the motor
produces zero torque.
Communication via PROFIBUS is possible.
The controller changes to this state when an error
message occurs.
READY_FOR_SWITCH_ON 0 0 0 1 Waiting for the controller to be enabled.
The controller can be enabled via DIN9 = HIGH or
via the controller enable logic "DIN9 and
PROFIBUS".
SWITCHED_ON 0 0 1 1 The controller is enabled (DIN9 = HIGH).
OPERATION 0 1 1 1 The controller is operating. The drive is controlled
according to the selected operating mode.
KHB 13.0004−EN 2.1 l 59

8 Device control
State diagram
Status word 1
Commands and state transitions of the controller

Control word 1
Command Bit 3 Bit 2 Bit 1 Bit 0 State Description
transitions
0008h 0004h 0002h 0001h
OFF × 1 1 0 1, 5, 11 The controller is inhibited
(DIN9 = LOW). The motor is braked
to standstill in a controlled manner.
ON × 1 1 1 2 The controller is enabled
(DIN9 = HIGH).
Coast stop × × 0 × 6, 7, 8 The power stage is deactivated. The
drive coasts.
Quick stop × 0 1 × 9, 10, 12 The controller is inhibited
Disable operation 0 1 1 1 4 The controller is inhibited
Enable operation 1 1 1 1 3 The controller is enabled
(DIN9 = HIGH), the power stage is
activated. The drive is controlled
according to the selected operating
mode.
× Bit state is not relevant
60 l KHB 13.0004−EN 2.1

Troubleshooting and fault elimination 9
Fault elimination
9 Troubleshooting and fault elimination
9.1 Fault elimination
Fault Remedy
The controller operates faultlessly but the Correct the message assignment in SDC:
PLC does not receive any process data. l Assign the response message 0 to the receive message 0 and
the response message 1 to the receive message 1.
The controller is in the wrong operating Check the telegram identifier in byte 0:
mode / does not receive any control l "Positioning" mode: Byte 0 = E0h (receive message 0/response
commands. message 0).
l "Speed control" mode: Byte 0 = E1h (receive
message 1/response message 1).
The master signals an error during data Check the memory area used by the PLC in the hardware
transmission (e.g. access error). configuration.
The power stage is active but the motor Enter the torque setpoint limitation in the receive message:
does not rotate. l For limitation via analog input (PNU 1022.0 = 1, 2), apply a
voltage at input (AIN).
l For limitation via PROFIBUS (PNU 1022.0 = 7), enter the setpoint
directly via PNU 1022.1.
No processing of the PROFIdrive profile, but Check that the controller enable logic is entered in the receive
the motor is rotating. message and that the value is set appropriately.
9.2 Error messages
9.3 Transfer of error messages
The error messages of the controller are coded in the error numbers 1 ... 64. These error
numbers can be read via PNU 1601:
ƒ PNU 1601.0 transfers the error numbers 1 ... 32
ƒ PNU 1601.1 transfers the error numbers 33 ... 64

1601 Error Code Error messages
0 Error Field 0 UINT32 RO
Error numbers 1 ... 32 of the

controller

controller
KHB 13.0004−EN 2.1 l 61

9
9.4 Table of error messages
62
How to read the table

Response Symbol Meaning
Table of error messages

Troubleshooting and fault elimination
Type A Switch−off of power stage The motor coasts to standstill.
H Emergency stop The motor is decelerated to zero speed at its current limit. An installed holding brake is applied. The power stage
is switched off.
W Warning The power stage remains switched on. The controller continues operating. The generated warning message can
be read via the fieldbus or the RS232 interface.
O Off No response. The warning message is suppressed.
Setting þ Lenze setting
¨ Setting is possible
− Setting is not possible
l
KHB 13.0004−EN 2.1
KHB 13.0004−EN
Error Meaning Activation Response Cause Remedy

number time
A H W O
03 Motor overtemperature < 100 ms þ þ þ ¨ Motor overtemperature l Check if the motor cooling via the motor housing is
impeded as a result of deposits, etc. (if necessary, clean the
motor).
2.1
l Are there any other sources of heat near the motor that
may additionally increase the ambient temperature and
thus lead to a reduced heat loss dissipation?
l Check the controller settings, poor settings will lead to an
unnecessary heat generation.
l Reduce the load torque of the motor.
l Check the setting of the temperature sensor.
l Check the resolver and encoder cable for an open circuit.
l Check the resolver position adjustment.
04 Overtemperature/ < 100 ms þ þ − − Overtemperature/undertemperature of l Check if the controller has been correctly mounted into the
undertemperature of the controller control cabinet:
power electronics – Heatsink must have large−surface contact with the
housing of the control cabinet.

– If required, remove other sources of heat from the
vicinity of the controller.
l Clean the ventilation slots of the controller.
l
l Optimise the controller settings (poor settings will lead to

an unnecessary heat generation).
l Carry out a resolver position adjustment.
05 SinCos supply error < 5 ms þ − − − Resolver or SinCos encoder error, reliable l Check resolver plug connection.
06 SinCos−RS485 communication < 5 ms þ − − − detection only possible after approx. ½ l Check resolver cable for open or short circuit.
error motor revolution l Check pin assignment of resolver cable plug.
l Correct encoder parameters.
07 SinCos track signal error < 5 ms þ − − −

08 Resolver, track signal error or < 5 ms þ − − −
carrier failure
09 5V−electronic supply error < 5 ms þ − − − Angle encoder/ Hall−effect sensor Replace encoder.
defective.
Collapse of supply voltage due to a wiring Check the wiring.
error on X2
l Error on techno module X8. Send the controller in for repair.
l Voltage supply failure.
10 12V−electronic supply error < 5 ms þ − − − Angle encoder or SinCos encoder defective. Replace encoder.
error on X2
Voltage supply failure. Electronic error on the controller. Send the controller in for
repair.
63
9
9
64

number time
A H W O
11 Error in 24V supply for logic < 5 ms þ − − − l 24V supply for logic too high or too low. Send the controller in for repair.
l Load capacity of 24V supply for logic is
too low, e.g. when activating the
holding brake.

Holding brake defective. Replace holding brake.
Overload of brake output due to incorrect Replace with appropriate holding brake.
dimensioning of the brake.
error on X3
13 Offset current measurement < 5 ms þ − − − Send the controller in for repair.
error
14 DC bus / power stage < 10 ms þ − − − Short circuit in the motor winding, short Replace motor.
overcurrent circuit between motor winding and
housing.
Short circuit in the motor cable, between Replace motor cable.
two phase or between phase and shield.
Controller defective (power stage Send the controller in for repair.
l
defective, insulation fault).

15 DC−bus undervoltage < 1 ms þ þ þ ¨ DC−bus voltage too low. l Check DC bus voltage, adapt undervoltage tripping
threshold, if necessary.
16 DC bus overvoltage < 1 ms þ − − − DC−bus voltage > 70 V. l Check correct functioning of power supply unit and
whether the supply voltage for the power stage is within
the permissible range (19.2 V DC ... 57.6 V DC).
l Set a flatter gradient for the deceleration ramp.
l Connect an external brake resistor to X2.
l Check whether other devices connected to the power
stage cause the overvoltage.
19 I2t error of motor (I2t at 100%) < 100 ms þ þ þ ¨ I2t error of motor. l Adapt i2t time of motor.
l Carry out a resolver position adjustment.
20 I2t error of controller (I2t at < 100 ms þ þ þ ¨ I2t error of controller. l Check the selected motor data.
100%) l Optimise the controller setting.
l Adapt the travel profile (e.g. adapt the acceleration ramps).
26 I2t at 80% < 100 ms þ þ þ ¨ I2t error.
27 Motor temperature 5 °C < 100 ms þ þ þ ¨ Motor is overloaded. Check drive dimensioning.
below maximum value
þ þ þ ¨ Controller is overloaded.
KHB 13.0004−EN 2.1
28 Power stage temperature 5 °C < 100 ms l Check drive dimensioning.

below maximum value l Check ambient temperature in the control cabinet and
heat dissipation of the heatsink.
KHB 13.0004−EN

number time
A H W O
29 Following error monitoring < 5 ms þ þ þ ¨ Motor is blocked. l Optimise controller setting to improve the smooth
running characteristics.
l Adapt travel profile (e.g. reduce acceleration and
2.1
deceleration ramps).
l Increase following error margin/response delay.
31 Limit switch error < 1 ms þ þ þ ¨ Incorrect configuration of limit switch. Check limit switch configuration.
Incorrect wiring of limit switch. Ensure correct wiring of limit switch.
Limit switch defective. Replace limit switch.
35 Time−out at quick stop < 5 ms þ ¨ ¨ ¨ Angle encoder error occurred. Check encoder.
Motor identification failed. Repeat motor identification.
Acceleration too high. Check settings.
36 Homing error < 5 ms þ þ þ ¨ Homing run completed with errors. Check homing configuration.
Incorrect parameter setting for controller Check settings of controller and angle encoder.

and angle encoder.
40 Error: Motor and angle < 5 ms þ ¨ ¨ ¨ Homing run completed with errors. l Check resolver plug connection.
encoder identification l Check resolver cable for open or short circuit.
l
l Check pin assignment of resolver cable plug.

Incorrect parameter setting for controller Check settings of controller and angle encoder.
and angle encoder.
43 Course program: Unknown < 5 ms þ þ ¨ ¨ Contact Lenze.
command
44 Course program: Invalid jump < 5 ms þ þ ¨ ¨ l The digital inputs for START1 and Correct the settings.
target START2 are set at the same time.
l The jump target or the target position

is invalid.
55 PROFIBUS communication < 5 ms þ þ þ ¨ l Communication is interfered l Check installation with regard to EMC requirements.
error l Double nodes in network l Check node number setting
56 RS232 communication error < 5 ms þ þ þ ¨ Communication is interfered. Ensure EMC−compliant wiring.
57 Position data set error < 5 ms þ ¨ ¨ ¨ Conflict between acceleration and selected Contact Lenze.
travelling speed.
58 Faulty operating mode < 5 ms þ þ þ ¨ Selection of wrong operating mode. Switch to the correct operating mode while the power stage
is switched on.
60 Error in preliminary < 5 ms þ ¨ ¨ ¨ Internal error. Contact Lenze.
positioning calculation
62 Stack overflow < 5 ms þ ¨ ¨ ¨
63 Checksum error < 5 ms þ ¨ ¨ ¨
64 Initialisation error < 5 ms þ ¨ ¨ ¨
65
9
10 Appendix
Table of parameter numbers (PNU)
10 Appendix
10.1 Table of parameter numbers (PNU)
ƒ The PNUs are numerically sorted in ascending order to form a "reference book".
ƒ How to read the table:
Column Abbreviation Meaning
PNU XXXX Parameter number XXXX
1 Subindex 1 of PNU XXXX (PNU XXXX.1)
2 Subindex 2 of PNU XXXX (PNU XXXX.2)
Name Name of the PNU
Possible settings
Lenze Lenze setting (value at delivery or after restoring the delivery state)
Selection 1 {%} 99 Minimum value {unit} maximum value
Characteristics
Object type REC Record
ARR Array, composed type (field)
VAR Variable
Data type UINT8 Unsigned integer, 1 byte without sign
UINT16 Unsigned integer, 2 bytes without sign
UINT32 Unsigned integer, 4 bytes without sign
INT8 Integer, 1 byte with sign
INT16 Integer, 2 bytes with sign
INT32 Integer, 4 bytes with sign
Access RO Read only
RW Read/write
WO Write only
Description Short, important explanations


967 0 Control word 1 0 UNIT16 RW
Control of the device

functions of the controller
968 0 Status word 1 0 UNIT16 RO
Current state of the

controller
971 0 Transfer into a 0 UNIT16 RW
non−volatile 0 No action Save current parameter set
memory and all position data sets
1 Save
Also saves position data set
2 ... 655 Reserved 68.
35
66 l KHB 13.0004−EN 2.1

Appendix 10

64 ... 67 Reserved PNU 1001.
PNU 1000.
Positioning
Positioning
Positioning deceleration
l Writes the set value to
PNU 1001.3 and
PNU 1001.4.
only.

0 Jerk−limited ramp is deactivated The

acceleration/deceleration
2 Jerk−limited ramp is activated activated, the maximum
time (50 ms) is set
automatically.

setpoint.
or RS232
KHB 13.0004−EN 2.1 l 67

10 Appendix

control mode
rotation
rotation
rotation
and 1
of rotation under
68 l KHB 13.0004−EN 2.1

Appendix 10

1022 Current Limitation Selection of the torque
limitation independently of
the operating mode
0 Limit Current Input 0 INT8 RW
Channel 0 No limitation Selection of the source for
1 Limitation via AIN0 the limitation
2 Limitation via AIN1

3 Limitation via RS232
7 Limitation via PROFIBUS
1 Limit Current 0 {1 mA} 40000 INT32 RW
Selection of the current value

to which the torque is
limited proportionally
l For limitation via AIN0,
AIN1:
– The selected current
value is achieved at an
input voltage of 10 V
l For limitation via RS232,
PROFIBUS:
– The current value is
specified directly
1040 Jog Value Simplified access to the
inching values.
This type of access reduces
the amount of data to be
transferred in the cyclic data
telegram. Internally all
parameters are written.
0 Jog Velocity 100 0 {1 rpm} 6000 INT32 RW
Inching speed
PROFIBUS speed
1 Symmetrical Jog 10000 0 {1 rpm/s} 20000 UINT32 RW
Accelerations Inching acceleration
PROFIBUS acceleration
l The value read is the
acceleration

pulse evaluation
pulse evaluation
evaluation
evaluation
KHB 13.0004−EN 2.1 l 69

10 Appendix


homing sequence.
1100 0 Position Actual {1 inc} INT32 RO
Value Actual position value. The
value is scaled to the physical
unit set for PROFIBUS.
set for PROFIBUS.
Value Actual value of active
current. The value refers to
the rated motor current.
1140 0 Digital Outputs 0 UINT32 RW
Bit Value Triggering of the digital

0 00000001h Holding brake outputs.
(read only) Important! Up to 10 ms may
pass between triggering and
1 ... 15 Reserved switching of the output.
16 00010000h Ready for The state of an output can be
operation (read checked by reading out the
only) parameter.
17, 18 00060000h DOUT1, DOUT2
(read and write)
19 ... 32 Reserved
1141 0 Digital Inputs 0 UINT32 RO
Bit Value Actual states of the digital

0 00000001h Negative limit inputs.
switch (DIN7) The available digital inputs
depend on the
1 Reserved parameterisation of the
2 00000002h Positive limit controller
switch (DIN7)
3 00000008h Controller enable
is missing (DIN9)
16 ... 25 03FF0000h DIN0 ... DIN9
26 ... 32 Reserved
70 l KHB 13.0004−EN 2.1

Appendix 10

1150 DC_link_circuit_
voltage
0 {1 V} UINT32 RO

temperatures.
stage temperature.

temperature.
1200
0 Gearbox factor 1 {} 32768 UINT32 RW
PROFIBUS
numerator
1 Gearbox factor 1 {} 32768 UINT32 RW
PROFIBUS
denominator
1201
0 Feed constant 1 {} 32768 UINT32 RW
PROFIBUS
numerator
PROFIBUS
denominator
PROFIBUS variable
index
3 Feed constant 1 {} 128 INT8 RW
PROFIBUS con.
index
1202
0 Representation 1 {} 128 UINT8 RW
position PROFIBUS
var.
1 Representation 1 {} 128 INT8 RW
position PROFIBUS
con.
1203
speed PROFIBUS
var.
speed PROFIBUS
con.
1204
acceleration
PROFIBUS var.
acceleration
PROFIBUS con.
KHB 13.0004−EN 2.1 l 71

10 Appendix

motor connected.

maximum current.
l When the time has
elapsed, the motor
current is automatically
limited to the rated
current set.

limitation.
1350 0 Enable Logic 0 UNIT16 RW
Controller is enabled via: Selection of the source for

0 Digital input DIN 9 controller enable
1 Digital input DIN 9 and RS232

3 Digital input DIN 9 and PROFIBUS

1601 Error Code Error messages


controller

controller
1610 Error Management Error management
0 Error Number UNIT8 RW
1h {1} 40h Selection of the error number

for which a response is to be
set under PNU 1610.1.
Overview of error numbers:
^ 62
1 Error Reaction Code UNIT8 RW
00h No response Response of the controller to

03h Warning an error event.
Notes on settings: ^ 62
05h Emergency stop
08h Power stage off (motor coasts to
standstill)
72 l KHB 13.0004−EN 2.1

Appendix 10

2000 0 PKW Access 0 2× RW
UINT32
Byte Value Meaning Manufacturer−specific access

0 00h No access to the parameter identifier
value (PKW).
41h Read access In the receive and response
42h Write access messages only one access is
possible. For this access the
(All other values are corresponding PNU must be
reserved) entered under the same
1, 2 Parameter number (PNU) address in all receive and
response messages used and
3 Subindex of PNU
it must be parameterised
4 ... 7 Data accordingly.
2010 Placeholder
0 8 Bit 0 UINT8 RW
1 16 Bit 0 UINT16 RW
2 32 Bit 0 UINT32 RW
Wildcard to adapt the

telegram length of the slave
to the telegram length of the
master.
2011 0 Element 0 0 UINT32 RW
32−bit wildcard to adapt the

telegram length of the slave
to the telegram length of the
master.
The function is identical to
that of PNU 2010,
subindex 2.
KHB 13.0004−EN 2.1 l 73

11 Index
11 Index
A I
Actual position, 40 Inching mode (manual jog), setting, 45
Actual speed value, 40 Initial switch−on, 19
Actual value of effective current, 40 Inputs, digital, 41
Installation, electrical, 11
B
Basic wiring of the PROFIBUS, 11 J
Baud rate, 10 Jerk limitation, 50
C M
Cable length, per bus segment, 10 Manual jog (inching mode), setting, 45
Cable specification, 13 Modes for homing, 51
Command, control word 1, 55 , 57 Motor data, 42 , 46
Commissioning, 19
− Defining the positioning profile, setting of positioning N
profile parameters, 49 Network topology, 10
− Initial switch−on, 19
Notes, definition, 8
− Setting of homing, 31
homing modes, 51 Number of bus stations, 12
Communication, PROFIBUS, 15
Communication profile, 10 O
Consistent parameter data, 18 Offset, for homing, 52
Control word 1 Outputs, digital, 41

− "Positioning" mode, 57
− "Speed control" mode, 55 P
Parameter data, consistent , 18
D Parameter setting, 43
Definition of notes used, 8 Parameters, positioning profile parameters, setting, 49
Device control, 54 Position data set
Digital inputs, 41 − At starting of positioning, 50
Digital outputs, 41 − Selection for parameter setting, 49
Drive profile, 10 Positioning, 32

− Actual position, 40
− Control word 1, 57
E − Data set at starting of positioning, 50
Electrical installation, 11 − Selection of data set for parameter setting, 49
− Status word 1, 58
F Positioning profile parameters, setting, 49
Fault elimination, 61 Product description, 9
Product features, 9
H PROFIBUS, communication, 15
Homing, offset setting, 52
PROFIBUS−DP function module, communication medium,
Homing modes, 51 10
74 l KHB 13.0004−EN 2.1

Index 11
R Speed setpoint, 47
Receive message, structure, 15 State diagram, 59
Response message, structure, 16 Status word 1

− "Positioning" mode, 58
− "Speed control" mode, 56
S
Switch on, initial, 19
Safety instructions
− definition, 8
− layout, 8 T
Saving, parameter set, 45 Technical data, 10
Saving of parameter set, 45 Transmission cable, specification, 13
Setting of homing, 31 Troubleshooting and fault elimination, 61

− homing modes, 51
Specification of the transmission cable, 13 V
Speed control Validity of the documentation, 6
− Control word 1, 55
− Status word 1, 56
KHB 13.0004−EN 2.1 l 75

Q
© 07/2010
F Lenze Drives GmbH Service Lenze Service GmbH
Postfach 10 13 52 Breslauer Straße 3
D−31763 Hameln D−32699 Extertal
Germany Germany
( +49(0)5154/ 82−0 ( 008000/ 2446877 (24 h helpline)
Ê +49(0)5154/ 82−28 00 Ê +49(0)5154/ 82−11 12
Lenze@Lenze.de Service@Lenze.de
ü www.Lenze.com
KHB 13.0004−EN § .Bò* § § 2.1 § TD34

10 9 8 7 6 5 4 3 2 1

931E-931K - PROFIBUS-DP Communication - v2-1 - EN

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

931E-931K - PROFIBUS-DP Communication - v2-1 - EN

Uploaded by

Copyright:

Available Formats

KHB 13.

Servo Drives 930

2 l KHB 13.0004−EN 2.1

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

KHB 13.0004−EN 2.1 l 3

6.7 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

4 l KHB 13.0004−EN 2.1

9 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

KHB 13.0004−EN 2.1 l 5

1 About this documentation

1.1 Document history

Material number Version Description

6 l KHB 13.0004−EN 2.1

Your opinion is important to us!

1.2 Conventions used

This documentation uses the following conventions to distinguish between different

KHB 13.0004−EN 2.1 l 7

1.3 Notes used

Pictograph and signal word Meaning

) Note! Important note to ensure troublefree operation

I Tip! Useful tip for simple handling

, Reference to another documentation

8 l KHB 13.0004−EN 2.1

2.1 Product features

ƒ Support of the PROFIBUS−DP−V0 communication profile

KHB 13.0004−EN 2.1 l 9

10 l KHB 13.0004−EN 2.1

Basic wiring of the PROFIBUS

931x 931x 931x

Fig. 1 Basic wiring

KHB 13.0004−EN 2.1 l 11

Number of bus stations

Segment Master (M) Slave (S) Repeater (R)

12 l KHB 13.0004−EN 2.1

Specification of the transmission cable

KHB 13.0004−EN 2.1 l 13

4.2 Assignment of the interfaces

4.2.1 931E servo inverter

9 5 3 RxD/TxD−P Data line B (received/transmitted data plus)

4.2.2 931K servo inverter

14 l KHB 13.0004−EN 2.1

5.1 The data telegram

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

KHB 13.0004−EN 2.1 l 15

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

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...

Data 2nd PNU

ƒ Structure of PNU 2000:

16 l KHB 13.0004−EN 2.1

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...

Data 2nd PNU

ƒ Structure of PNU 2000:

KHB 13.0004−EN 2.1 l 17

5.2 Consistent parameter data

Central Processing ó Dual Port Memory ó PROFIBUS Master

Data communication with existing consistency

0 CPU wants to read!