GB/T 25740.1-2013PROFIBUS and PROFINET technical profile PROFI drive -- Part 1: Profile specifications (English PDF)

1 Scope 1

2 Normative references 1

3 Terms, Definitions and Abbreviations 1

11 Generic driver object structure 20

The main function of the type of drive shaft 12 model object 21

13 Classification PROFIdriveP-Device Fig. 21

14 Classification map PROFIdrive drive unit 21

Figure 15 PROFIdrive communication between devices available Services Overview 22

16 Applications Class 123

17 Applications Class 224

18 Applications Class 325

Figure 19 Application class 426

20 Applications Class 526

21 Application Class 627

Figure 22 Example. Global Overview of multi-axis parameters and local parameters/Modular drive unit 40

23 word and double word byte order 41 24 basic mode parameter access data stream 50

Figure 25 PROFIdrive axis type DO generic functional components 65

Figure 26 PROFIdrive axis type DO Function Block Diagram 66

General state diagram in Figure 27 for all operating modes 75 28 applications have common functionality Class 1 functionality PROFIdrive axis DO 77 29 for applying speed class 1 and class 4 applications setpoint channel 78

Figure 30 has the function PROFIdrive application classes 4 axis DO common functions 79

FIG. 31 is used to simplify the application class speed setting channel 4 (optional) 80

32 general-purpose application class has 3 functions PROFIdrive axis DO 81 Under 33 program function sub-mode motion controller 82 FIG. 34 motion controller function in the MDI child mode 83

Figure 35 Figure 84 positioning mode state

36 return to the origin program. setting the home position 86 37 return to the origin program. termination by the controller 86 Activate 38 moving tasks 86 39 mobile task immediately change 87

Figure 40 Configuration example 96 packets

Figure 41 without DSC control circuit based on the location of the speed setpoint interface structure 98

42 with DSC based on the location of the speed setpoint interface control circuit configuration 99

Figure 43 Sensor Interface Example (Sensor 1. two actual value/Sensor 2. an actual value) 102

Figure 44 Example 1. The actual value of the format 105

Figure 45 Example 2. The actual value of the format 105

Figure 46 Example 3. The actual value of the format 106

Figure 47 Example 4. The actual value of the format 106

Figure 48 Example 5. actual value of the format 106

Figure 49 Example 6. The actual value of the format 106

Example 7 Figure 50. Actual Value Format 107

Figure 51 Example 8. The actual value of the format 107

52 position with state and state transition indication of the feedback interface 112 53 sensors can acknowledge the error acknowledgment 118 54 sensors can not confirm error acknowledgment 118 Timing Diagram Figure 55. Measurement Operation - Timing 1119 Timing Diagram Figure 56. Operation Measurement - Timing 2120 Reference numeral 57 a timing diagram 121 search Overview Figure 58 on PROFIdrive diagnostic mechanisms 123

59 Warning Mechanism to run 124

Figure 60 Fault buffer mechanism 125 Overview

61 fault buffer Fault acknowledgment mechanism 126

62 Fault handling mechanism in fault message buffer 127

63 Faults with the fault buffer exemplary sequence 129

Figure 64 lists examples of error number 130

Figure 65 Drive reset. direct start (P972 = 1) 136

Figure 66 Example. LS controller 139 permanent failure

Figure 67 Example. Controller LS temporary failure (negative deviation) 139

Figure 68 Example. LS temporary failure of the controller (positive bias; two-step) 139

Figure 69 Example. DOLS permanent failure 140

Figure 70 Example. DOLS temporary failure (negative deviation) 140

Figure 71 Example. DOLS temporary failure (negative deviation; double step) 140

Diagram 72 DOSign-Of-Life Failure counter (axis-specific) value of the transmission controller Sign-Of-Life 141 FIG. 73 according to the drive-integrated VIK-NAMUR functions and interfaces 156 FIG. 74 is based on the basic structure of the interface VIK-NAMUR guidelines drivers 156

Figure 75 VIK-NAMUR speed process technology operating mode setpoint channel 160

Figure 76 process technology mode, control word 1 bit 15 and the status word bits for 10,11,13,14 1 160

Figure 77 process technology mode, NMI and 161 external interlock

Table 1 standard data types 8

Table 2 profiles specific data type 8

Table 3 N2, N4 ranges 9

Table 4 N2, N4 encoder 9

Table 5 X2, X4 ranges 10

Table 6 X2, X4 encoding (e.g., x = 12,28) 10

Table 7 E2 ranges 10

10 Table 8 E2 coding

Table 9 C4 ranges 11

11 Table 10 V2 coding

Table 11 L2 code 11

Table 12 T2, T4 in the range 12

Table 13 D2 ranges from 12

Table 14 R2 ranges from 12

Table 15 Application Class 22

27 Table 16 Parameter Definition

Table 17 Parameter Description element 28

Table 18 Parameter Description element "identifier (ID)" 28

Table 19 Parameter Description element "Tag Properties" 29

Table 20 for SI units and convert variable index index 30

Table 21 Conversion index conversion value (SI units) 34

Table 22 Variable Index and conversion index (US unit) 35

Table 23 Conversion index conversion value (USA unit) 37

Table 24 Parameter Description element "IO Data Reference/IO data normalization." 38

Table 25 for the text Parameter Description array 38

Table 26 Boolean data type text array 39

Table 27 Data type V2 (bit sequence) of the text array 39

The basic mode parameter request Table 28 42

Table 29 Basic model parameters in response to 42

Table 30 Attribute, NumberofElements and Subindex combination allows 45

Table 31 Basic mode parameter access Parameter request/response parameter field is coded 45

Table 32 Basic model parameters in response to the error number 47

Table 33 General manager handles state machine parameters 50

Table 34 Sequence 1. parameter request 51

Table 35 Sequence 1. The data for the "Word" data type parameter is responding to 52

Table 36 Sequence 1. data "Doubleword" data type parameter is responding to 52

Table 37 Sequence 1. Negative Response parameter 52

Table 38 Sequence 2. parameter request 53

Table 39 Sequence 2. Parameter Positive Response 53

Table 40 Sequence 2. Negative Response parameter 53

Table 41 Sequence 3. parameter request 54

Table 42 Sequence 3. Parameter Positive Response 54

Table 43 Sequence 3. Negative Response parameter 54

Table 44 Sequence 4. parameter request 55

Table 45 Sequence 4. Parameter Positive Response 55

Table 46 Sequence 4. Negative Response parameter 55

Table 47 Sequence 5. parameter request 56

Table 48 Sequence 5. Parameter Positive Response 56

Table 49 Sequence 5. Negative Response parameter 56

Table 50 Sequence 6. parameter request 57

Table 51 Sequence 6. Positive Response parameters. access to all parameters are correct 57

Table 52 Sequence 6. Parameter negative response. first and third arguments access to the right, the second parameter access error 58

Table 53 Sequence 7. parameter request 58

Table 54 Sequence 7. Positive Response parameters. access to all parameters correctly 59

Table 55 Sequence 7. Parameter negative response. first and third arguments access to the right, the second parameter access error 59

Table 56 Sequence 8. parameter request 60

Table 57 Sequence 8. Parameter data type "Word" data (such as ID) of positive response 60

Sequence 58 Table 8. Parameters having a positive response to text 60

Table 59 Sequence 8. Negative Response parameter 61

Table 60 Sequence 9. parameter request 61

Table 61 Sequence 9. Parameter Positive Response 61

Table 62 Sequence 9. Negative Response parameter 62

Sequence 10 Table 63. Parameter request 62 Sequence 10 Table 64. Positive response parameter 62 Sequence 10 Table 65. Negative Response parameter 63

Table 66 Sequence 11. request a value of the request, and text description 63

Sequence 11 Table 67. Positive response parameters. access to all parameters are correct 64

Table 68-bit control word 1 each assignment Overview 67

(STW1) to control word 1 bit assignments Table 69 common control speed control/positioning control 67 Comments

Table 70 speed control mode control word 1 (STW1) a dedicated 68-bit assignment Comments

Table 71 Control word positioning mode 1 (STW1) a dedicated 69-bit assignment Comments

Table 2 72-bit control word for each assignment overview 70

73 Table 2 encoder control word each bit assignment Overview 70

Table 74 Status word The bits of the assignment Overview 1 of 70

Table 75 Speed \u200b\u200bcontrol mode/positioning mode status word 1 (ZSW1) bit in common assignment Comments 71

Table 76 speed control mode 1 status word assignment (ZSW1) dedicated 72-bit Detailed

Table 77 positioning mode status word 1 (ZSW1) a dedicated 73-bit assignment Comments

Table 78 Status word The bits assigned Overview 2 73

Table 79 Encoder status word are each assigned 73 bits

Table 80 Parameter 924 "pulse enable bit status word" structure 74

Table 81 SATZANW signal definitions 83

Table 82 AKTSATZ signal definitions 85

Table 83 MDI_MOD signal definitions 85

Table 84 signal assignment list 88

85 standard message definition table 1 of 90

Table 86 standard message defined 2 90

87 standard message definition table 3 of 90

Table 88 standard message defined 4 91

89 standard message table definition 91 5

Table 90 standard message Definition 6 92

91 standard message definition table 7 92

Table 92 standard message defined 9 92

93 Table 93 define the standard message 8

93 Table 94 parameters for configuring message

Table 95 P922 encoder 94

Table 96 DOIO normalized data sample A/Example B, the parameter value 97

Table 97 DOIO normalized data sample A/Example B, Parameter Description element 97

Table 98 DOIO normalized data sample C, the parameter value 97

Table 99 Example C, normalized DOIO data element Parameter Description 98

Table 100 Parameters 979 structures (sensor format) 103

Table 101 Parameters 979 sub-index 0 (first portion) 103

Table 102 Parameters 979 sub-index 1 (sensor type) 103

Table 103 Parameters 979 sub-index 2 (sensor resolution) 104

Table 104 Gx_XIST2 assignment (position actual value sensor -x -2) 107

Table 105 Gx_XIST2 error code 108

Table 106 sensor control word 109

Table 107 sensor status word 110

Table 108 Status 113

109 Conversion Table 115

Table 110 sensor control word priority 117

Sample table 111 with additional peripheral equipment control standard message 122

Table 112 fault buffer parameters 128

Fault code sample 129 Table 113

Table 114 Fault class property definitions 130

Table 115 PROFIdrive fault class definition 130

Table 116 Parameters 964 (drive unit identification) of the structure 132

Definition table 117 profiles identification number 132

Table 118 Parameters 975 structures (DO logo) 132

Table 119 parameter P975.5 structure 133

Table 120 parameter P975.5 DO-133 type class definition

Table 121 bits in parameter P975.6 DO subclass identification allocated 133 1

Table 122 Parameters 974 structures (basic mode parameter access ID) 134

Table 123 PROFIdriveI

Table 124 PROFIdrive parameter value is defined 135

Table 125 PROFIdrive error code definitions 136

Application-specific class table 126 DO function 142

Table 127 "active mark monitoring" parameter 143

Table 128 "DOIO data packets to select and configure" parameter 143

Table 129 "Sensor Interface" parameter 143

Table 130 "failure buffering" parameter 144

Parameters Table 131 "warning mechanism" 144

Table 132 "closed-loop control mode" parameter 144

Table 133 "is set and stored locally parameter set" Parameter 144

Table 134 "Setups complete set of parameters" parameter 144

layerprotocolspecification-Type10elements) IEC 61800-7 (all parts) Adjustable speed electrical power drive systems and electric drive system profiles using the common interface (Adjustable speedelectricalpowerdrivesystems-Genericinterfaceanduseofprofilesforpowerdrivesystems) IEC 61800-7-1 Adjustable speed electrical power drive systems - Part 7-1. Electrical Transmission and use a common interface specification given interfaces Yi (Adjustablespeedelectricalpowerdrivesystems-Part 7-1. Genericinterfaceanduseofprofilesfor powerdrivesystems-Interfacedefinition) IEC 61800-7-303 speed electrical power drive systems - Part 7-303. electric drive system using a common interface and line regulation row Mapping gauge type 3 to network technologies (Adjustablespeedelectricalpowerdrivesystems-Part 7-303. Genericin-terfaceanduseofprofilesforpowerdrivesystems-Mappingofprofiletype3tonetworktechnolo-gies)

3 Terms, definitions and abbreviations

3.1 Terms and Definitions the following terms and definitions apply to this document.