Fagor Profibus-DP Protocol (MCP-MCPi) User manual

Brand: Fagor

Model: Profibus-DP Protocol (MCP-MCPi)

Type: User manual

FAGOR AUTOMATION S.COOP.

MCP/MCPi

~ Profibus-DP protocol ~

Ref.0612

2/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

Title MCP/MCPi. PROFIBUS-DP communications protocol.

Type of documentation Architecture, structure and communication in PROFIBUS-DP networks.

Name MAN_ MCP/MCPi_PROFIBUS-DP (in.)

Reference Ref.0612

Software From version V01.01 on (MCP) - From version V01.01 on (MCPi)

WinDDSSetup From version V06.15 on

Electronic document MAN_MCP&MCPi_PROFIBUS-DP.pdf

Headquarters FAGOR AUTOMATION S. COOP.

Bº San Andrés 19, Apdo. 144

20500 ARRASATE- MONDRAGÓN

www.fagorautomation.com

info@fagorautomation.es

Telephone: 34-943-719200

Fax: 34-943-771118 (Technical Service Department)

The information described in this manual may be subject to changes due to

technical modifications. FAGOR AUTOMATION, S. Coop. reserves the right to

change the contents of this manual without prior notice.

The contents of this manual have been verified and matched with the product

described here. Even so, it may contain involuntary errors that make it impossible

to ensure an absolute match. However, the contents of this document are regularly

checked and updated implementing the pertinent corrections in a later edition.

transcribed, stored in a backup device or translated into another language without

Fagor Automation’s permission.

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 3/28

WARRANTY

INITIAL WARRANTY:

All products manufactured or marketed by FAGOR carry a 12-month warranty for the end

user.

In order to prevent the possibility of having the time period from the time a product leaves our

warehouse until the end user actually receives it run against this 12-month warranty, the OEM

or distributor must communicate to FAGOR the destination, identification and installation date

of the machine by filling out the Warranty Form that comes with each product.

The starting date of the warranty for the user will be the one appearing as the installation

date of the machine on the Warranty Form.

This system ensures the 12-month warranty period for the user.

FAGOR offers a 12-month period for the OEM or distributor for selling and installing the product.

This means that the warranty starting date may be up to one year after the product has left our

warehouse so long as the warranty control sheet has been sent back to us. This translates into

the extension of warranty period to two years since the product left our warehouse. If this sheet

has not been sent to us, the warranty period ends 15 months from when the product left our

warehouse.

FAGOR is committed to repairing or replacing its products from the time when the first such

product was launched up to 8 years after such product has disappeared from the product

catalog.

It is entirely up to FAGOR to determine whether a repair is to be considered under warranty.

EXCLUDING CLAUSES:

The repair will take place at our facilities. Therefore, all shipping expenses as well as travelling

expenses incurred by technical personnel are NOT under warranty even when the unit is under

warranty.

The warranty will be applied so long as the equipment has been installed according to the

instructions, it has not been mistreated or damaged by accident or negligence and has been

handled by personnel authorized by FAGOR.

If once the service call or repair has been completed, the cause of the failure is not to be blamed

on the FAGOR product, the customer must cover all generated expenses according to current

fees.

No other implicit or explicit warranty is covered and FAGOR AUTOMATION shall not be held

responsible, under any circumstances, of the damage which could be originated.

SERVICE CONTRACTS:

Service and Maintenance Contracts are available for the customer within the warranty period

as well as outside of it.

4/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

DECLARATION OF CONFORMITY

Manufacturer: Fagor Automation, S. Coop.

Bº San Andrés 19, C.P. 20500, Mondragón -Guipúzcoa- (SPAIN)

We hereby declare, under our responsibility that the product:

Fagor AC Brushless Servo Drive System

consisting of the following modules and motors:

Drives modules:: MCP and MCPi series

AC Motors FXM, FKM, FSA and FSP series

mentioned on this declaration,

with the basic requirements of the European Directives 73/23/CE on Low Voltage

(Basic Safety Regulation; Electrical Equipment on Machines EN60204-1:95) and

92/31/CEon Electromagnetic Compatibility (EN 61800-3:1996, Specific Regulation

on Electromagnetic Compatibility for Servo Drive systems).

In Mondragón, 15.07.06

INTRODUCTION

This manual offers detailed description of the PROFIBUS-DP protocol on the physical

layer based on EIA RS 485 of the MCP and MCPi drives, of the PROFIBUS-DP

architecture, structure and communication in the network and on how to start up the unit.

When installed for the first time, it is a good idea to read the whole document.

Should you have any doubts or questions, please do not hesitate to contact our

technicians at any of our subsidiaries worldwide.

Thank you for choosing Fagor.

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 5/28

GENERAL INDEX

PROFIBUS-DP PROTOCOL.......................................................................................7

Introduction............................................................................................................7

Network architecture.............................................................................................7

Structure ..................................................................................................................7

Connection cable.....................................................................................................8

Connecting the devices to the bus...........................................................................9

Maximum length.......................................................................................................9

State machine.......................................................................................................10

Types of communication.....................................................................................10

GSD files...............................................................................................................12

Governing the drive - Assembly.........................................................................12

Startup ..................................................................................................................19

Communication speed selection............................................................................19

Setting the node number........................................................................................19

Status indicator LED's............................................................................................19

Display messages..................................................................................................20

Parameters, variables and commands ..............................................................21

Velocity loop...........................................................................................................21

Current loop...........................................................................................................22

General..................................................................................................................22

Feedback...............................................................................................................23

Limits......................................................................................................................23

Home search..........................................................................................................23

Position loop ..........................................................................................................24

Commands.............................................................................................................25

Diagnosis...............................................................................................................25

Miscellaneous........................................................................................................25

6/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

BLANK PAGE

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 7/28

PROFIBUS-DP PROTOCOL

Introduction

PROFIBUS (Process Field Bus) is a standard open field bus communication

protocol, independent from the manufacturer and used to control industrial

processes. It has been designed to interconnect digital I/O field devices separated

from each other and communicated at high speed in automation of manufacturing,

processes and construction.

Thus, the PROFIBUS-DP (Decentralized Periphery) profile is aimed at sensors/

actuators linked to processors (PLC's) or terminals. This DP profile describes a

system consisting of a controller and several I/O (input/output) devices separated

from each other and communicated at high speed. It uses a physical layer based on

EIA RS 485 and complies with the IEC 61158/EN 50170 standard. It has master or

active stations (stations for monitoring and diagnosis, information centralizing

elements such as PLC's, PC's, etc.) and slave or passive stations (sensors,

actuators, drives, feedback devices, etc.).

The master device communicates with the slaves of the network via the RS 485 serial

bus. A slave module is any slave that processes and returns information to the master

station. The master initiates all the communications. It requests information from the

slave devices and these in turn respond to the master's request always playing a

passive role because they have no control over the communications line.

Network architecture

 Structure

A PROFIBUS network has a linear bus structure or a tree with line terminating

resistors. To build a PROFIBUS-DP, follow the data supplied in the following table

always bearing in mind that the minimum configuration consists in one master station

and one slave station.

TABLE 1.

Maximum number of slave

devices exchanging data in

the network.

126. Numbered between 0 and 125.

Maximum number of slave

devices by segment.

32. Although the maximum total number of slave devices is

126, they may be divided into groups called segments.

These segments are joined with repeaters in charge of

amplifying and renewing the signal. Using repeaters makes

it possible to isolate the segments galvanically from each

other.

Possible transmission

speeds (in kbits/s).

9.6 - 19.2 - 45.45 - 93.75 - 187.5 - 500 - 1500 - 3000 - 6000

- 12000. The same transmission speed must be selected

permitted by all the devices that make up the Profibus

network.

Maximum number of

repeaters in series.

The maximum number of repeaters that may be connected

between any two slave devices is 4 as instructed by the EN

50170 standard. This number may be higher depending on

the type of repeater and manufacturer. Refer to the product

specifications given by the manufacturer.

8/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

 Connection cable

The interconnection of all the devices in the PROFIBUS-DP network requires a

PROFIBUS communications cable whose requirements are described in the

European standard EN 50179. Different models may be selected depending on the

type of installation and the physical structure of the cable.

The standard type-A cable has a pair of twisted wires with outside shield.

FIGURE 1.

PROFIBUS-DP network. Connection diagram for the line terminating resistors at connector

SUB-D M9 of the PROFIBUS cable according to the EN 50170 standard.

FIGURE 2.

Standard type-A PROFIBUS cable with a 9-pin male SUB-D type connector.

BUS MASTER

Segment 1

Segment 2

SSS

Segment 3

Slave device with

bus terminating

resistor

Repeater with bus

terminating resistor

Repeater without bus

terminating resistor

Slave device with

bus terminating

resistor

Slave device with

bus terminating resistor

Slave device with

bus terminating resistor

Slave device without

bus terminating resistor

390

220

390

VP (pin 6)

B-line (pin 3)

A-line (pin 8)

DGND (pin 5)

Important note: Line terminating resistors must be

physically installed at both ends of the PROFIBUS-DP

network and also at both ends of each segment. On

the rest, no resistor must be installed. Refer to the fig-

ure and follow the diagram to connect the resistors to

the pins of the SUB-D M9 connector. This figure pro-

vides the values of the resistors to be installed and then

the pinout of the SUB-D F9 connector of the drive that

the pin numbering refers to.

Signal

red

green

shield

SUB-D M9

Front view

Note:

the shield must be connected to the metal housing of connector SUB-D M9

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 9/28

 Connecting the devices to the bus

Each drive is connected to the device through its SUB-D F9 connector and the

PROFIBUS cable. If it is a model of the MCP family, this connector is located on its

front plate next to the rotary switches (x1, x19) and on top of the module if it belongs

to the MCPi family.

To connect all the devices to the network, all the A and B lines as well as the shields

of each module must be connected to each other.

The user must install externallythe line terminating resistors, with the indicated

values, at the two devices at both ends of the network and at the two devices

at both ends of each segments, and only there, (see the diagram of

FIGURE 1.)

to avoid rebounds during transmission.



Maximum length

When connecting the modules to each other with a standard A-type cable, the

following table shows the maximum length for each segment according to the

communication speed.

FIGURE 3.

Pinout of the 9-pin female SUB-D type connector at the drive.

Note. If the user wishes not to make the connector with the resistors, he can

always use off-the-shelf connectors available on the market, that already carry

the terminating resistor in the connector itself and the selector that enables or

disables that transmission.

TABLE 2. Maximum length per segment according to the transmission speed with

PROFIBUS-DP and using a standard A-type cable.

Data

transfer

rate in kbit/s

9.6 19.2 45.45 93.75 187.5 500 1500 3000 6000 12000

Maximum

segment length

in meters

1200 1200 1200 1200 1000 400 200 100 100 100

Pin Signal Meaning

3 B RxD / TxD - P

5 GND

Supply GND.

for the terminating resistor

6 VP

Supply +5V

for the terminating resistor

8 A RxD / TxD - N

chassis shield

Front view of the

connector.

10/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

State machine

In order to make it easier to understand the PROFIBUS-DP communications

protocol, we here offer a short description of the various states that a slave (passive)

device may be in.

Types of communication

The data exchange in PROFIBUS-DP is carried out by sending telegrams from the

master device to the slave device and vice versa. PROFIBUS-DP uses two types

of communication (at ISO/OSI levels, layer 2).

 SRD (Send and Request Data with acknowledge)

A telegram is sent from the master device to the slave module and the latter

responds to the master with another telegram after a specified period of time.

Everything is set in a communication cycle.

FIGURE 4.

State machine.

POWER_ON

WAIT_PRM

Parameter setting

DATA_EXCH

Data exchange

WAIT_CFG

configuration

e s

e mac

es.

rans

iti

between them is done depending on the events

taking place between the master and the slave

devices.

 POWER ON. Initial state by default afte

starting up the unit.

 WAIT_PRM. State in which the parameters

for the slave device to operate in the network

are set (running time, watchdog, etc.).

 WAIT_CFG. State in which to configure the

number of input and output bytes to exchange

when goes into DATA_EXCH. The maste

device runs a check on the data it receives

from the slave module. If it is not accepted, it

returns to the WAIT_PRM state.

 DATA_EXCH. Master-slave I/O exchange

state. Diagnosis messages (Diagnosis Tele-

gram) and global control messages (Global

Control Telegram) may also appear.

 Diagnosis Telegram. With this type o

messages, the master device is informed o

the slave module state (state of its state

machine, parameter setting, whether its

configuration is correct or not, etc.).

 Global Control Telegram. The slave

modules are informed periodically about the

state of the master device.

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 11/28

 SDN (Send Data with No acknowledge)

Service used by the master device to send a message, simultaneously, to a group

of slave modules (multicast) or to all the slave modules (broadcast). None of the

slave devices responds to the message sent by the master.

Once the two types of communication are known, the general structure of a telegram

in a communication between master and slave is the following:

The user data is incorporated in the DU cell (Data Unit) specified within the given

general structure of the telegram and is limited to a maximum of 244 bytes per node

and telegram. The rest of the bytes make up the header providing the following

information:

SD. Start Delimiter. Beginning of telegram. Observe that it is repeated in two places.

LE. Length of the telegram (user data, DA, SA, FC, DSAP and SSAP).

LEr. Length of the repeated telegram.

DA. Destination Address. Destination address.

SA. Source Address. Sender's (source) direction.

FC. Function Code. Function code.

DSAP. Destination Service Access Point. Destination service access point.

SSAP. Source Service Access Point. Source service access point.

Both DSAP and SSAP may be used to define the type of service of the sent telegram.

FCS. Frame Checking Sequence. Frame testing sequence.

ED. End Delimiter. End of telegram. Always 0x16.

The header of the telegrams is 11 bytes long, except in I/O data exchange where

the header is 9 bytes long (the DSAP and the SSAP are not sent).

SD LE LEr SD DA SA FC DSPA SSAP DU FCS ED

1 byte 1 byte 1 byte 1 byte 1 byte 1 byte 1 byte 1 byte 1 byte variable 1 byte 1 byte

0x3E Configuration check data

0x3D Send parameter data

0x3C Read diagnosis data

0x3B Read configuration data

0x3A Control commands to the slave module

0x39 Read outputs

0x38 Read inputs

12/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

Each telegram byte is sent in 11 bits through the RS 485 as follows:

 1 start bit

 8 data bits

 1 parity bit (even parity)

 1 stop bit

Data transmission is set in NRZ mode (Non Return to Zero). The 0 or 1 signal does

not change in the duration of the bit and if there is no transmission, the line signal

stays at 1. A beginning of the transmission with a start bit causes the signal to change

to 0.

To transmit a variable of more than 8 bits (e.g. a 16-bit word type variable), it first

sends the most significant byte followed by the least significant byte.

GSD files

The information of the unit that implements the PROFIBUS protocol is in a text file

with extension GSD.

The GSD files of each one of the units that make up the network are added to the

data base of the master device making it possible to establish communication with

units from other manufacturers and other different models.

Therefore, using this file and the network configuration tool available at the master

module, set the system parameters and the network start-up.

The information contained in a GSD file is:

 Name of the manufacturer, product and its version.

 Protocol implemented.

 Product identifier number.

 Communication speeds supported

 Communication time

 Name of the manufacturer, product and its version,.

Governing the drive - Assembly

With PROFIBUS-DP, two data structures have been implemented (8 input bytes and

8 output bytes) called Assembly. These two structures have been thought of to be

able to govern the servo drives in real time from the master device. They consist of:

 AssemblyIn that makes it possible to control the drive from the master device.

It can modify the values of its parameters and variables.

Start Byte to be transmitted. Parity Stop

0 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7

even

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 13/28

 AssemblyOut that lets the drive return information on its status and, at the same

time, the values of the variables requested by the module.

AssemblyIn - Control

I_Fast: Bit to activate the fast input (as next-block event) through the communications

bus.

Starting_Block (7 bits): Indicates the block number from which it will begin

executing in the movements table.

Drive_Enable: Bit to activate the Drive Enable of the unit through the

communications bus as long the relevant hardware input is activated. The final signal

interpreted by the unit is given by a logic "AND" between the value of the physical

Drive_Enable input and the Drive_Enable bit of the AssemblyIn.

Speed _Enable: Bit to activate the Speed Enable of the unit through the

communications bus as long the relevant hardware input is activated. The final signal

interpreted by the unit is given by a logic "AND" between the value of the physical

Speed_Enable input and the Speed_Enable bit of the AssemblyIn.

Home_Switch: Bit to activate the Home_Switch (home search or reference switch)

through the communications bus.

Lim + : Bit to activate the positive travel limit switch through the communications bus.

Lim - : Bit to activate the negative travel limit switch through the communications bus.

Reset: Digital control of the Reset signal. If the drive is in manual mode (LV13 = 0),

activating this bit implies acting upon the Jog- signal. If it is in automatic mode,

activating this signal resets the movement sequencer.

Stop: Bit to interrupt the movement in progress.

Start: Digital control of the Start signal. If the drive is in manual mode (LV13 = 0),

activating this bit implies acting upon the Jog+ signal. If it is in automatic mode, there

could be two possible situtations:

 When activating Start for the first time or after resetting movements, the position

sequencer will start executing the block indicated in the bits of Starting_Block.

 If a Stop signal is activated while executing a block, the unit stops. If a Start signal

is then activated, the unit resumes the execution of the block right where it

stopped when the Stop signal was activated.

TABLE 3. AssemblyIn.

B7 B6 B5 B4 B3 B2 B1 B0

Byte 0 I_Fast Starting_Block

Byte 1

Drive_

Enable

Speed_

Enable

Home-

Switch

Lim - Lim+

Reset *

Jog - **

Stop

Start *

Jog + **

Byte 2 Dir_Var Bits 0-7

Byte 3

Command_

Toggle_Bit

Command Dir_Var Bits 8-12

Byte 4 Data_Byte 0

Byte 5 Data_Byte 1

Byte 6 Data_Byte 2

Byte 7 Data_Byte 3

* KernelOperationMode

 LV13 = 0, i.e. in automatic mode.

** KernelOperationMode  LV13 = 1, i.e. in jog mode.

14/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

Command: Field of the AssemblyIn that indicates the action to carry out by the

master element. Refer to the practical examples documented later on.

Dir_Var: Field of the AssemblyIn structure that depending on the command

requested by the master device can indicate either the IdA identifier of a variable or

the position block to be read/written by the master device. Refer to the practical

examples documented later on.

Command Toggle Bit: Bit for the master module to validate the command requested

in the Command bits of the AssemblyIn. This is done negating the current status of

this bit.

AssemblyOut - Status

Ref_Done:Bit that indicates to the master element that the "home search" action

has been carried out successfully.

Reg_Status: Bits that indicate the current drive status.

Warning: Bit that indicates that the drive is in a warning state.

Error Bit that indicates that an error has occurred at the drive.

In_Position: Bit that indicates that the target position of a block has been reached.

The positioning drive is within the in-position zone indicated in parameter PP57 -

Position Window -.

Speed_Enable: Bit that shows the internal status of the drive's Speed_Enable signal.

It takes into account both the physical input and the bit of the AssemblyIn.

Active_Block: Bits that indicate the number of the block of the positioning table

currently in execution.

0 Read a parameter/variable

1 Write a parameter/variable

2 Reading in the movements table

3 Writing in the movements table

TABLE 4. AssemblyOut.

B7 B6 B5 B4 B3 B2 B1 B0

Byte 0 Ref_Done Reg_Status Warning Error In_Position --- Speed_Enable

Byte 1 ------ Active_Block

Byte 2

Command_

Toggle_Bit_

Resp

Command_

Resp

Command

_Ok

Operation_Status

Byte 3

------- ------- ---- ------- ------- ------- ---- -------

Byte 4 Data_Byte_Resp 0

Byte 5 Data_Byte_Resp 1

Byte 6 Data_Byte_Resp 2

Byte 7 Data_Byte_Resp 3

(----) Reserved bits.

0 Internal Start-up test completed.

1 Control established. Waiting for power

2 Power ON. Power and control set, but without torque at the motor

3 Torque ON. Motor with torque (enabled)

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 15/28

Command_Toggle_Bit_Resp: After receiving a new command by changing the

value of Command_Toggle_Bit, the drive starts executing it. When the execution is

over, it makes a copy of the value of Command_Toggle Bit in

Command_Toggle_Bit_Resp. Thus, the master module is informed that the

command has been completed.

Command_Resp: Reflection of the command indicated in the "Command" bits of

the AssemblyIn.

Command_OK: After receiving a new command by changing the value of

Command_Toggle_Bit; the bit "Command_OK" will be executed when the requested

command has been executed successfully. It will be set to zero whenever the

execution of the command generates errors.

Operation_Status: Bits that show the "mode" and the "status" of the unit's movement

sequencer.

Data_Byte_Resp 0-3: Data bytes that contain the data (value of the variable,

parameter or values of the positioning table) requested by the master module. The

Data_Byte_Resp 0 contains the least significant byte of the requested variable

whereas Data_Byte_Resp 3 contains the most significant byte.

FIGURE 5.

Operating mode of the drive.

STOP

AUTOMATIC

MODE

BLOCK IN EXECUTION

Waiting for JOG

mode to be

deactivated

Waiting for the

START signal

Reset

from

0-1-2-3-4-5

Change to

KernelOperationMode

JOG

MODE

JOG mode

working

KernelManMode

(INCREMENTAL)

& END OF

MOVEMENT

From all the

states

Alarm

BLOCK

PAUSE

Waiting for the

START signal not

to be active

KernelStartSignal

& KernelStopSignal

& KernelResetSignal

BlockEnd

KernelResetSignal

KernelStopSignal

Mnemonics & simbols

(A negated)

“A” signal active

Operation Mode

State

“A” signal not active

Example:

KernelStopSignal

= KernelStopSignal not active

= KernelStopSignal active

from

10-11-12

Change to

KernelOperationMode

KernelStopSignal

KernelStartSignal

JogPositiveSignal

& JogNegativeSignal

& KernelStopSignal

KernelStartSignal

KernelStopSignal

JogPositiveSignal

OR JogNegativeSignal

& KernelStopSignal

& KernelResetSignal

JogPositiveSignal

& JogNegativeSignal

(CONTINUOUS)

& KernelManMode

OR KernelResetSignal

OR KernelStopSignal

Transitions between states

16/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

The structure of the Assembly makes it easier for a master device to carry out various

operations with the drive using a single type of communication message. As an

example, the PLC's carry out operations cyclically with the different slave modules

using the same type of quick message.

See some practical examples that show how the master device must configure each

bit of the AssemblyIN to carry out the required operations.

To read a parameter or a variable of the drive, set the "Command" field to 0.

Then, enter in the 13 bits of the "Dir_Var" field the Id Assembly for the parameter or

variable to be read. This identifier is provided in the last column of the description

tables of the OEM-specific objects. Thus, for example, to read the SV2 variable

(velocity feedback), enter the Id Assembly value of SV2 in hexadecimal format

1282h. See TABLE 9.

Finally, set "Command_Toggle_Bit" bit to 1 to execute the command.

To write in a parameter or variable of the drive, set the "Command" field to 1.

Then, enter in the 13 bits of the "Dir_Var" field the Id Assembly for the parameter or

variable to be read. This identifier is provided in the last column of the description

tables of the OEM-specific objects. Thus, for example, to write in the parameter CP20

(current limit), enter the Id Assembly value of CP20 in hexadecimal format

245h.

See

TABLE 10.

The value to be written in the parameter or variable must be entered in the first four

data bytes and in the required units. See the units in the section on parameters,

variables and commands of the manual of the corresponding MCP or MCIPi drive.

Thus, for example, for a current limit (according to parameter CP20) of 5 A, write a

value of 500 cA (hundredths of an Amp)in the 4 "Data_Bytes"

Finally, set "Command_Toggle_Bit" bit to 1 to execute the command.

Once the slave module has received the message, it checks that the parameter exists

and tries to write in it. If it is successful, the "Command_OK" bit of the message

AssemblyOut is activated.

Structure of the assembly. Practical examples.

Note. See some practical examples that show how the master module must

configure each bit of the AssemblyIN to carry out the required operations.

Reading a parameter/variable

Writing a parameter/variable

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 17/28

The MCP/MCPi integrate a positioning loop and a positioning feature. The sequence

of movements to be carried out by the positioning feature is programmed using a table

of 127 blocks. Each block indicates a position and it may contain the various

parameters (absolute or incremental position, maximum positioning feedrate,

activation of outputs after executing the block, etc.) that the positioning drive complies

with during the execution of the block.

It is possible to read/write all the elements that make up the movements table using

the Assembly messages. The structure of the positioning block shown in

TABLE 5.

describes the 16 words that make up the block. The most significant word is the first

one from the left (word 15) and the least significant one is the first one from the right

(word 0).

Movements table

TABLE 5. Structure of the positioning block.

Descript.

of the field

Re-

served

LOOP NEXT PROGOUT EVENT

TYPE TIME

InRpos (real) 0001h

0001h to 0080h

InTpos (theoretical) 0002h

0000h

“ OR ”

00000000h InBand 0003h 0000h

Value 0000h a Parts counter a ActSpeedReached 0004h a

FFFFh SC00h 000000FFh NextSpeedReached 0005h FFFFh

END=xxFEh

“OR”

FastInput

0100h

WORD Nr 15-12 11 10 9-8 7 6

Field

description

VELPOS POSDEST

VALUE MODE

Absolute 0000 0001h

00000000h 00000000h

Incremental 0000 0002h

Value to to + infinite 0000 0003h

FFFFFFFFh FFFFFFFFh - infinite 0000 0004h

stop 0000 0005h

WORD Nr 5-4 3-2 1-0

Word Nr 10, <next block> has two bytes with different functions.

Low Byte: indicates the number of the next block to execute (valid values between 1 and 127 and also

254).

High Byte: SC (Conditional jump). To increment the "parts made" counter at the block (REG2), this

byte must take a value other than zero. When the parts counter matches the desired number of parts

(REG1), the next block to be executed will be the one indicated in this byte.

END (xxFEh): Regardless of the value of the high byte (xxh), entering FEh in the low byte will mean

the last block of the program.

If you wish the "next block" condition to be "theoretical position reached" or the activation of the fast input,

the value to enter will be 0102h

18/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

To read data in the movements table of the drive, set the "Command" field of the

AssemblyIn to 2. The element of the table is selected from the field "Dir_Var". Its 8

least significant bits will indicate the number of the positioning block and the 5 most

significant bits will indicate the "word" to read within the block.

The parameter table is accessed in sets of 4 bytes and it is a must to access even

"word" numbers to avoid interpreting data incorrectly.

Example.

To read the value of the target position (words 2 and 3, where the origin is the lowest

one, i.e. 2) of block number 19, enter the hexadecimal value 213h in the "Dir_Var"

field of the AssemblyIn. Now, when the command is going to be executed, set the

"Command_Toggle_Bit" to 1.

Once the slave module has received the message, it checks that the requested

information exists and, if so, it activates the command "Commmand_OK" and returns

the target position through the AssemblyOut messages until the

Command_Toggle_Bit changes again (change of command or table data

requested).

To write data in the movements table of the drive, set the "Command" field of the

AssemblyIn to 3. The element of the table is selected from the field "Dir_Var". Its 8

least significant bits will indicate the number of the positioning block and the 5 most

significant bits will indicate the "word" to write within the block.

The parameter table is accessed in sets of 4 bytes and it is a must to access even

"word" numbers to avoid interpreting data incorrectly.

Example.

To change the type of event (next-block condition of the positioning feature, word

7) write words 6 and 7 at the same time. Thus, wen changing a block of the positioning

feature when the position loop reaches the final theoretical position (type 2 event),

write the hexadecimal value 20000h in the Data_Byte". Now, when the command is

going to be executed, set the "Command_Toggle_Bit" to 1.

Once the slave module has received the message, it checks that the data to be written

exists and, if they are written successfully, activates the command "Command_OK"

of the AssemblyOut message.

Reading the movements table

Writing in the movements table

MCP/MCPi - Ref.0612 PROFIBUS-DP protocol - 19/28

Startup

 Communication speed selection

The drive has an automatic speed search function. This is selected at the master

device.



Setting the node number

 Status indicator LED's

The drive has two two-color indicator LED's. They are, MS (Module Status) and

NS (Network Status). The MS indicator shows the unit status and the NS

indicator informs of the status of the unit within the PROFIBUS network.

In an initial running process of the unit, these LED's follow this sequence of states

in order to verify that everything is OK.

Note. This figure matches part of the front plate of an MCP drive. The SUB-D

F9 connector for connecting the drive to the field bus appears on the front plate

of the module next to the node selecting rotary switches as shown in the

image. If the user has an MCPi drive, the SUB-D F9 connector is not located

on the front plate of the module (as on the MCP) but on top.

ent

y any mo

e w

n t

us,

t must

assigned a unique identifier number to differentiate it

from any other unit of the network, thus avoiding

collisions. This identifying number ID will be referred to

as node number.

The unit's node number is set using the two node

selecting rotary switches x1 and X10 (NODE). Each has

positions 0, 1, 2, ...,9. The drive will be identified in the

network with the node number assigned to it after

resetting it. According to the setting of the rotary

switches of the figure, the node number assigned to the

drive is: 0 x 10 + 1 x 1 = 1.

SUB-D F9

connector

green

250 ms ON

red

green

red

20/28 - PROFIBUS-DP protocol MCP/MCPi - Ref.0612

MS indicator (Module Status)

This indicator informs about the unit status as such. The states that may be

reached, at this time, are:

Indicador NS (Network Status)

This indicator informs about the unit status within the PROFIBUS network. The

states that may be reached are:



Display messages

TABLE 6. MS indicator.

LED

status

Unit

status

Interpretation

Blinking green Running The drive is error free

Blinking read Error The drive is in an error state

TABLE 7. NS indicator.

LED

status

Unit

status

Meaning

OFF Communication

speed

search.

The drive does not detect any

communication speed.

1. There is no activity on the network or

2. The cable is disconnected.

Blinking green Data

is being

exchanged.

There is I/O data exchange (AssemblyIn/

AssemblyOut) between the drive module

and the master device.

Blinking red No data

is being

exchanged.

1. Watchdog. No message has been

received from the master device for a while

and since WD_ON was activated, the

protection has kicked in.

2. The master element has forced the slave

to quit this state.

3. Parameter setting or configuration

problems. See diagnosis at the master

device.

Steady red No data

is being

exchanged.

1. The node number selector is positioned

wrong or damaged or

2. The Profibus communication card is

defective or damaged.

TABLE 8. Display messages.

Error Meaning

E420 The drive has come out of the data exchange state.

E421 Error when initializing the PROFIBUS communication card.

- The node number selector is positioned wrong or damaged.

- The Profibus communication card is defective or damaged.

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Fagor Profibus-DP Protocol (MCP-MCPi) User manual

Fagor Profibus-DP Protocol (MCP-MCPi) User manual

Fagor Profibus-DP Protocol (MCP-MCPi) User manual

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