PROFIBUS for motor controller CMMS/CMMD - festo.com · PROFIBUS (PROcess FIeldBUS) is a standard...

Trimming: On top: 61.5 mm Underneath: 61.5 mm Left: 43.5 mm Right: 43.5 mm

PROFIBUS for motor controller CMMS/CMMD

Description PROFIBUS CMMS-ST CMMS-AS CMMD-AS

Description554 346 en 1103a [757 738]

Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 3

Edition ____________________________________________________en 1103a

Designation _______________________________ P.BE-CMMS-FHPP-PB-SW-EN

Order no. ___________________________________________________554 346

(Festo AG & Co KG., D-73726 Esslingen, Germany, 2011)

Internet: http://www.festo.com

E-mail: [email protected]

The reproduction, distribution and utilisation of this document as well as the communica-tion of its contents to others without explicit authorisation is prohibited. Offenders will be held liable for compensation of damages. All rights reserved, in particular the right to file patent, utility model or registered design applications.

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4 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a

Index of revisions

Author:

Name of manual: P.BE-CMMS-FHPP-PB-SW-EN

File name:

File saved at:

Consec. no. Manual Index of revisions Date of amendment

001 Creation 0708NH 01.08.2007

002 Revision 1103a 02.03.2011

Trademarks

PROFIBUS, PROFIBUS-DP®, SIMATIC® are registered trademarks of the respective trade-mark owners in certain countries.


TABLE OF CONTENTS

1. General remarks ..................................................................................................... 6

1.1 Intended use ......................................................................................................... 6 1.2 Safety instructions ................................................................................................ 6 1.3 Target group.......................................................................................................... 7 1.4 Service .................................................................................................................. 7 1.5 Important user instructions ................................................................................... 7

2. Festo Handling and Positioning Profile (FHPP).................................................... 10

2.1 PROFIBUS data exchange .................................................................................... 10

3. Mounting and installation .................................................................................... 11

3.1 Mounting............................................................................................................. 11 3.2 Installation .......................................................................................................... 11

3.2.1 Connection and display elements ........................................................ 12 3.2.2 Pin assignment of PROFIBUS interface................................................. 13 3.2.3 Termination and bus terminating resistors .......................................... 14

4. Configuration of the PROFIBUS interface ............................................................. 15

4.1 Adjustment of the DIP switch on the CMMS/CMMD ............................................ 15 4.2 PROFIBUS communication................................................................................... 17 4.3 Assignment of the I/O data for CMMD................................................................. 18 4.4 PROFIBUS configuration...................................................................................... 19 4.5 PROFIBUS station configuration .......................................................................... 19 4.6 PROFIBUS master configuration .......................................................................... 19

4.6.1 Configuration with SIMATIC manager (CMMS-ST example).................. 20

5. Diagnostics ........................................................................................................... 23

5.1 Network status LED ............................................................................................. 23 5.2 PROFIBUS error codes ......................................................................................... 23

A. Technical data....................................................................................................... 24

1. General remarks


1. General remarks

1.1 Intended use

This documentation describes how to connect the field bus to the CMMP/CMMD motor controller in a PROFIBUS-DP network. It describes how to configure the PROFIBUS and explains the user protocol FHPP. For a detailed description of the FHPP parameters please refer to the FHPP documentation.

The documentation contains safety instructions which must be observed.

The complete set of information can be found in the documentation for the motor controller used:

- Description P.BE-CMM...-HW-...:

- Mechanics - electrical engineering - overview of the function range.

Please note

Always follow the safety-related instructions listed in the product manual for the motor controller used.

1.2 Safety instructions

When commissioning and programming positioning systems, you must always observe the safety regulations in the descriptions and operating instructions for the components used.

The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access to the potential danger area must be prevented by suit-able measures, such as barriers and warning signs.

Warning

Axes can move with high force and at high speed. Collisions can lead to serious injury to people and damage to components.

Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources.

Warning

Errors in parametrisation can cause injury to people and damage to property.

Enable the controller only if the axis system has been correctly in-stalled and parametrised.

1. General remarks


1.3 Target group

This manual is intended exclusively for technicians trained in control and automation tech-nology, who have experience in installing, commissioning, programming and performing diagnostics on positioning systems.

1.4 Service

Please consult your local Festo Service or write to the following e-mail address if you have any technical problems: [email protected]

1.5 Important user instructions

Danger categories

This description contains instructions on the possible dangers which can occur if the prod-uct is not used correctly. These instructions are marked (Warning, Caution, etc), printed on a shaded background and marked additionally with a pictogram. A distinction is made between the following danger warnings:

Warning

... means that failure to observe this instruction may result in seri-ous personal injury or damage to property.

Caution

... means that failure to observe this instruction may result in per-sonal injury or damage to property.

Please note

... means that failure to observe this instruction may result in dam-age to property.

The following pictogram marks passages in the text which describe activities with electro-statically sensitive devices:

Electrostatically sensitive components: Incorrect handling can re-sult in damage to components.

mailto:[email protected]�

1. General remarks


Identification of special information

The following pictograms designate texts that contain special information.

Pictograms

Information:

Recommendations, tips and references to other sources of information.

Accessories:

information on necessary or useful accessories for the Festo product.

Environment:

information on environmentally-friendly use of Festo products.

Text designations

• Bullet points indicate activities that may be carried out in any order.

1. Numerals denote activities which must be carried out in the numerical order specified.

- Arrowheads indicate general lists.

Version information

This manual refers to versions according to Table 1.1

You can find the specifications on the version status as follows:

- Hardware version and firmware version in the Festo Configuration Tool (FCT) with ac-tive device connection under "Device Data"

Controller Firmware GSD Comment

CMMS-ST-... Version 1.3.0.1.14

and up

S-ST0AB7.gsd Standard motor controller for stepper motors

CMMS-AS-... Version 1.3.0.1.16

and up

S-AS0B67.gsd Standard motor controller for servo motors

CMMD-AS-... Version 1.4.0.3.2 and

up

D-AS0B68.gsd Standard double motor controller for servo motors

Table 1.1 Controller and firmware versions

1. General remarks


For older versions:

If necessary, use the associated older version of this document.

Please note

With newer firmware versions, check whether there is a newer ver-sion of this description available: www.festo.com

www.festo.com�

2. Festo Handling and Positioning Profile (FHPP)


2. Festo Handling and Positioning Profile (FHPP) Festo has developed an optimised data profile, the "Festo Handling and Positioning Profile (FHPP)", tailored to the target applications for handling and positioning tasks.

The FHPP enables uniform control and programming for the various field bus systems and controllers from Festo.

In addition in an extensive and uniform way it defines for the user • operating modes, • I/O data structure, • parameter objects, • sequence control.

···

Fieldbus communication

Record selection Direct mode Parametrisation

1 Position Speed Torque

2

….

n

Free access to all

parameters

- read and write

···

Table 2.1 The FHPP principle

Information on the FHPP profile (parameters, device data…) is provided in the P.BE-CMM-FHPP-SW-DE documentation.

2.1 PROFIBUS data exchange

PROFIBUS (PROcess FIeldBUS) is a standard developed by the PROFIBUS User Organisa-

tion. A complete description of the field bus system can be found in the following stan-dard:

IEC 61158 „Digital data communication for measurement and control – Fieldbus for use in industrial control systems“: This standard contains several parts and defines 10 „field bus protocol types.“ PROFIBUS is specified amongst these as type 3. PROFIBUS exists in two designs. PROFIBUS-DP can be found for fast data exchange in manufacturing technology and building automation (DP = decentral periphery). The incorporation into the ISO/OSI layer model is also described in this standard.

Further information, contact addresses etc. can be found under www.PROFIBUS.com.

3. Mounting and installation



3.1 Mounting

Caution

The motor controller must be disconnected from all current carrying cables before an additional module is fitted. After switching off the operating voltage, you must wait 1 minute before the capacitors in the motor controller are fully discharged.

Caution

Make sure that measures for ESD protection are taken when han-dling the additional module.

Use a suitable screwdriver to remove the front cover over the module shaft of the motor controller. The additional module is now placed in the open module shaft so that the prin-ted circuit board slides into the guides on the sides of the module shaft. Push the board in as far as possible. The front plate of the additional module is then screwed to the motor controller housing with a Phillips screw. Make sure that the front plate fits flush with the front in order that it has conductive contact with the housing.

3.2 Installation

On the CMMS/CMMD motor contrllers the PROFIBUS interface has been designed in the form of an optional additional module.

Warning

PROFIBUS cabling

Due to the possibly very high baud rates, we recommend also the use of the standardized cable and plug connector. These are in so-me cases provided with additional diagnostic possibilities and in the event of a fault they facilitate the fast analysis of the field bus hardware.

When setting up the PROFIBUS network, it is essential that you fol-low the advice in the relevant literature or the following information and instructions in order to maintain a stable, faultless system. If the cabling is not correct, faults may occur on the PROFIBUS which cause the motor controller to switch off with a fault for safety rea-sons.



3.2.1 Connection and display elements

The following elements can be found on the front plate of the CAMC-PB:

- a green LED for the bus readiness message.

- a 9-pin DSUB socket

- two DIP switches for actuating the terminating resistors

1 two DIP switches

2 9-pin sub-D so-

cket

3 LED for the bus

readiness message

Fig. 3.1 Connecting and display elements on the PROFIBUS-DP interface

2

1

3



3.2.2 Pin assignment of PROFIBUS interface

Fig. 3.2 PROFIBUS module - pin assignment

Pin no. Name Value Type

1 Shield - Cable shield

6 +5V +5 V +5V – output (potential isolated) 1)

2 - - not assigned

7 - - not assigned

3 RxD / TxD-P Received / transmitted data B cable

8 RxD / TxD-N Received / transmitted data A cable

4 RTS / LWL Request to Send 2)

9 - - not assigned

5 GND5V 0 V Reference potential GND 5V 1)

1) Use for external bus termination or for suppling transmitter / receiver of an external LWL module.

2) Signal is optional, serves for direction control when used with an external LWL module.

Table 3.1 Connector pin assignments: PROFIBUS-DP interface

GND 5V RTS/LWL

B-cable (RxD/TxD-P) n.c.

Shield

n.c. A-cable (RxD/TxD-N) n.c. + 5V



3.2.3 Termination and bus terminating resistors

Each bus segment of a PROFIBUS network must be fitted with terminating resistors in or-der to minimize cable reflexions and to set a defined rest potential on the cable. The bus termination is made at the beginning and end of a bus segment.

An incorrect bus termination is often the cause of a fault

The terminating resistors are already provided on most commercially-available PROFIBUS plug connectors. The PROFIBUS-DP interface has its own terminating resistors for coupling to buses without terminating resistors. These can be switched via the two DIP switches on the module (both switches to ON). In order that the terminating resistors can be switched off, both switches must be set to

OFF.

In order that the network can be operated reliably, only one bus termination must be used, internal (via DIL switch) or external.

The external circuitry can also be set up discretely (see Fig. 3.3). The 5 V supply voltage required for the externally switched terminating resistors is provided at the PROFIBUS plug of the PROFIBUS-DP interface (see pin assignment in the Table 3.1).

Fig. 3.3 Bus terminal

If the set baud rate is greater than 1.5 Mbit/s, plugs with integrated series inductance (110 nH) must be used due to the capacitive load of the station and the cable reflexion thereby created.

390 ohms

390 ohms

220 ohms

GND 5 V

Line BLine A

4. Configuration of the PROFIBUS interface


4. Configuration of the PROFIBUS interface Several steps are required in order to produce a functioning PROFIBUS interface. Some of these settings should or must be carried out before the PROFIBUS communication is acti-vated. This chapter provides an overview of the relevant steps. The exact procedure is described in the following chapters in more detail.

When planning the PROFIBUS interface, the user must make firm decisions. Only then should the parametrisation of the fieldbus connection on both sides be made. We recom-mend that the parametrisation of the slave be undertaken first. Then the master should be configured. With correct parametrisation the application is ready immediately without communication faults.

As some parameters are not effective until after saving and reset, we recommend the fol-lowing procedure.

1. Adjuating the DIP switch.

2. Parametrisation and commissioning with the FCT. Especially also the adjustment of the physical units.

3. Configuration of the PROFIBUS master

For correct functioning it is necesary to define the physical units of the processing data transmitted via the fieldbus. These can be set via the FCT.

4.1 Adjustment of the DIP switch on the CMMS/CMMD

The inserted PROFIBUS module will be recognized automatically when the motor controller is switched on. In order to activate, you must deactivate the CAN interface with DIP switch 11 on the motor controller.

Each device(PROFIBUS module) in the network must be assigned a unique bus address. The MAC ID must be set with DIP switches 1 … 7 on the motor controller.



1 DIP switch 1 ... 7 (bus address)

2 DIP switch 11

3 DIP switch for terminating resistors

(these terminating resistors can be switched on via the two DIP switches)

4 PROFIBUS card slot

Fig. 4.1 Adjustment of the DIP switch on the CMMS/CMMD

Permitted bus addresses are 1 … 126.

Addresses cannot be assigned by the master because the service Set_Slave_Address is not supported. Each address is only assigned once.

1

4

2

3



DIP switch Significance

1

2

3

4

5

6

7

Bus address.

See example

8 Bootloader (If the switch is set to ON, the system searches for new firmware on the SD

card)

9

10

reserved (auto baudrate, for PROFIBUS no setting required)

11 Activation of the CAN interface, must be set to OFF for operation of the PROFIBUS card.

12 Terminating resistor of the CAN interface

Table 4.1 Assignment of the DIP switches

DIP switch ON/OFF Significance

1 ON

2 ON

3 OFF

4 ON

5 ON

6 OFF

7 ON

DIP switch 1 is the lowest-value bit. 1011011=91

Table 4.2 Bus address example

4.2 PROFIBUS communication

After setting the bus address the PROFIBUS communication can be activated. Please note that the above mentioned parameters can only be modified when the protocol is deacti-vated. All parameters are only valid when the PROFIBUS communication is deactivated and then re-activated.



Please note that the PROFIBUS communication can only be acti-vated when the parameter records have been saved and a Reset has been carried out.

4.3 Assignment of the I/O data for CMMD

With CMMD, control via FHPP for axis 1 and axis 2 always takes place over a shared field-bus interface. If an interface is activated, it is always valid for both axes.

Each axis has its own I/O data.

Assignment of the I/O data over the fieldbus depends on the control interface used:

PROFIBUS:

The two axes have a shared bus address, which is set via the DIP switches.

The I/O data for the two axes are transferred in a shared telegram of double length.

Example (with FPC):

Byte 1 ... 8: control/status bytes axis 1

Byte 9 ... 16: FPC axis 1

Byte 17 ... 24: control/status bytes axis 2

Byte 25 ... 32: FPC axis 2

Please note

With PROFIBUS and DeviceNet, the I/O data for axis 2 are read by axis 1, passed on to axis 2 and evaluated there. The answer is re-turned to axis 1 with the next internal communication task (every 1.6 ms) at the earliest. Only then can the answer be returned via the fieldbus.

This means that the processing time of the fieldbus protocol is twice as long as with CMMS.



4.4 PROFIBUS configuration

PROFIBUS configuration Cyclic I/O update Acyclic data

2 modules can be selected:

Module 1: Name = „FHPP Standard"

Identifier = 0xB7 (8 bytes I/O consistent)

PROFIBUS

Module 2: Name = „FHPP Standard +

FPC"

Identifier = 0xB7, 0xB7

(2 x 8 bytes I/O consistent)

-

Table 4.3 PROFIBUS configuration

4.5 PROFIBUS station configuration

This section provides an overview of the steps required by the slave for parametrisation and configuration. As some parameters are only effective after saving and reset, we re-commend that commissioning with the FCT without connection to the PROFIBUS be carried out first.

Note on commissioning with the Festo Configuration Tool can be found in the help to the device-specific FCT PlugIn.

Important processing data for position, velocity and acceleration are transferred in physi-

cal units. These should be parametrised before starting communication because they de-

termine how the data are to be interpreted in the motor controller.

4.6 PROFIBUS master configuration

This section provides an overview of the steps required by the master for parametrisation and configuration. We recommend the following procedure:

1. Installing the GSD file

2. Slave address

3. Configuration of the input and output data

On the part of the master, the motor controller must be incorporated in the PROFIBUS. First the GSD file is installed if this has not already been done. Finally, the address and the in-

put and output data for the slave must be configured.

In order to make commissioning fast and simple, the abilities of the PROFIBUS interface of the motor controller are described in an EDS file. By using a suitable configuration tool you can configure a device within a network. The EDS file is contained on the CD supplied with the product.



The latest version can be downloaded from our home page (www.festo.com – Sup-port/Downloads).

EDS file Manual

S-ST0AB7.gsd Motor controller CMMS-ST

S-AS0B67.gsd Motor controller CMMS-AS

D-AS0B68.gsd Motor controller CMMD-AS

Table 4.4 EDS file

Use the following icon files in order to represent the motor controller in your configuration software (e.g. SIEMENS SIMATIC S7).

Normal operating sta-tus

Diagnostic case Special operating sta-tus

Motor controller

cmmsst_n.bmp cmmsst_d.bmp cmmsst_s.bmp CMMS-ST

cmmsas_n.bmp cmmsas_d.bmp cmmsas_s.bmp CMMS-AS

cmmdas_n.bmp cmmdas_d.bmp cmmdas_s.bmp CMMD-AS

Table 4.5: Bitmap motor controller

This is shown below as an example of integration under SIEMENS SIMATIC S7.

4.6.1 Configuration with SIMATIC manager (CMMS-ST exam-ple)

The software package SIMATIC Manager serves for project planning and commissioning in conjunction with PROFIBUS masters from Siemens or compatible masters.

In order that the motor controller can be incorporated into the PROFIBUS network, it must be selected in the hardware catalogue (HW-Config) –SIMATIC…). The motor controller CMMP-ST can be found under "PROFIBUS-DP\Additional Field Devices \Drives\Festo").

1. Pull the station type „Festo CMMP-ST“ by drag and drop onto the PROFIBUS-DP mas-ter system.

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Fig. 4.2 Hardware configuration

2. Enter the PROFIBUS address in the dialogue window „Properties PROFIBUS inter-face…“ and confirm with OK.

The bitmap of the motor controller will be shown on the master system and must be se-lected.

3. Then the length of the input and output data must be defined. Pull the desired con-

figuration (with the mouse button) into the appropriate line under Module/DP identi-fier. The following modules are contained in the EDS file:

Configuration I/O range Manual

Universal module If step 7 is shown, do not use

FHPP standard 8 bytes of I/O data, consis-

tent transmission

Cyclically transmitted 8 control and status bytes.

FHPP standard

+ FPC

2 x 8 bytes of I/O data, con-

sistent transmission

As FHPP standard, additional 8 bytes I/O data for

parametrisation

Table 4.6 Configuration

With CMMD-AS one module per axis will be required.



Fig. 4.3 PROFIBUS module - CMMD-AS example with two modules "FHPP Standard + FPC"

The I/O addresses can be defined with a double click on the slot.

Fig. 4.4 PROFIBUS module - pin assignment

4. When the configuration is concluded, transfer the data to the master.

Control and parametrisation methods and the functioning of the parametrisation can be found in manual CMMS-ST-PB-S7-DE.

System functions used

An example of a project and the documentation P.BE-CMMS-ST-PB-S7 can be found on the CD.

5. Technical dataDiagnostics


5. Diagnostics

5.1 Network status LED

The network status LED shows the communication status.

LED is Status Shows:

Off No bus communication No communication via PROFIBUS.

Green Bus communication active

Table 5.1 Status LED

5.2 PROFIBUS error codes

The following specific faults can occur if the PROFIBUS module is used. A complete list can be found in the system description of the controller.

Error message

Main index

Sub-index

Meaning of the error mes-sage

Measures

0 PROFIBUS:

Faulty initialization

Technology module defective?

Please contact technical support.

22

2 PROFIBUS communication

error

Check slave address set

Check bus termination

Check wiring

Table 5.2 PROFIBUS error codes

The following faults concern FHPP, but can also occur if the PROFIBUS module is used. Please refer to the FHPP manual for detailed information.

Code Name Manual Action

70-2 FHPP:

Factor Group invalid

Calculation of the factor group leads

to invalid internal values.

Check the factor group.

70-3 FHPP:

Operation mode

change failure

Changing from the current to the

desired operating mode is not per-

mitted.

Check your application. It may be

that not every change is permitted.

Table 5.3 FHPP error codes

Error messages can be acknowledged by:

- The configuration interface,

- via the fieldbus (FHPP control word CCON),

- a falling edge at DIN5 (controller enable).

A. Technical data


A. Technical data

General technical specifications see system description for the controller used.

Range Values

Storage temperature range -25 °C to +75 °C

Operating temperature range / deratings 0 °C to 50 °C

Air humidity 0...90%, non-condensing

Installation height Up to 1000 m above sea level

Dimensions (LxWxH): approx. 92 x 65 x 19 mm suitable for the tech-

nology shaft

Weight approx. 50 g

Table A.1 Technical specifications of environment

Range Values

Communication interface PROFIBUS module

Controller PROFIBUS controller VPC3+, max. 12 MBit/s

Baud rates supported (auto baud rate) 9.6 kBit/s

19.2 kBit/s

45.45 kBit/s

93.75 kBit/s

187.5 kBit/s

500.0 kBit/s

1.5 MBit/s

3.0 MBit/s

6.0 MBit/s

12.0 MBit/s

Protocol PROFIBUS DP,

Interface Potential-isolated, D-SUB 9-pin, integrated

switchable bus terminating resistors

Special functions Supports diagnostic data, RTS signal, no fail-

safe mode, no Sync/Freeze

Table A.2 PROFIBUS technical specifications Interface

PROFIBUS for motor controller CMMS/CMMD - festo.com · PROFIBUS (PROcess FIeldBUS) is a standard...

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