Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services

MOVIAXIS® MX FB411110

Fieldbus Interface XFP11A

PROFIBUS DP

Edition 04/2006
11355514 / EN Manual
SEW-EURODRIVE – Driving the world
 Contents

1 Important Notes................................................................................................. 4
1.1 Important notes and designated use......................................................... 4 1
1.2 Explanation of symbols ............................................................................. 5
2 Safety Notes ...................................................................................................... 6 2
2.1 Preliminary information ............................................................................. 6
2.2 General safety notes................................................................................. 6
2.3 Shipping/putting into storage .................................................................... 7 3
2.4 Installation/assembly................................................................................. 7
2.5 Startup/Operation...................................................................................... 7
3 Introduction ....................................................................................................... 8 4
4 Assembly/Installation Instructions................................................................ 10
4.1 Connection and terminal description of the XFP11A option ................... 10 5
4.2 Pin assignment ....................................................................................... 10
4.3 Shielding and routing bus cables ............................................................ 11
4.4 Bus termination ....................................................................................... 11 6
4.5 Setting the station address ..................................................................... 12
4.6 Operating displays XFP11A option ......................................................... 13
4.7 GSD files................................................................................................. 14 7
5 Project Planning and Startup......................................................................... 15
5.1 Project planning for the DP master ......................................................... 15
5.2 Startup of the servo inverter.................................................................... 17 8
5.3 Setting process data using the PDO Editor ............................................ 17
6 PROFIBUS-DP Operating Characteristics ................................................... 18 9
6.1 Controlling the servo inverter .................................................................. 18
6.2 PROFIBUS-DP timeout........................................................................... 20
6.3 Response fieldbus timeout...................................................................... 20
10
6.4 Parameter setting via PROFIBUS-DP .................................................... 21
6.5 Return codes for parameter setting ........................................................ 27
6.6 Special cases.......................................................................................... 28
11
7 DP-V1 Functions ............................................................................................. 30
7.1 Introduction to PROFIBUS DP-V1 .......................................................... 30
7.2 Characteristics of SEW servo inverters .................................................. 32 12
7.3 Structure of the DP-V1 parameter channel............................................. 32
7.4 Project planning for a C1 master ............................................................ 46
7.5 Appendix ................................................................................................. 46 13
8 Error Diagnostics ............................................................................................ 48
8.1 Diagnostic procedures ............................................................................ 48
14
9 Technical Data................................................................................................. 51
9.1 XFP11A option........................................................................................ 51
15

16

17

18

19

Manual - MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 3

 Important Notes
1 Important notes and designated use

1 Important Notes
Manual

• This manual does not replace the detailed operating instructions!

• Only electrical specialists are allowed to perform installation and startup
observing applicable accident prevention regulations and the MOVIAXIS® MX
operating instructions!

1.1 Important notes and designated use

Documentation • Read through this manual carefully before you start installation and startup of
MOVIAXIS® multi-axis servo inverters with the XFP11A PROFIBUS option card.
• This manual assumes that the user has access to and is familiar with the MOVIAXIS®
documentation, in particular the MOVIAXIS® MX system manual.
• In this manual, cross references are marked with "→". For example, (→ Sec. X.X)
means: Further information can be found in section X.X of this manual.
• As a prerequisite to fault-free operation and fulfillment of warranty claims, you must
adhere to the information in the documentation.

Bus systems General safety notes for bus systems:

This communication system allows you to adjust the MOVIAXIS® multi-axis servo
inverter to your specific application very accurately. As with all bus systems, there is a
danger of invisible, external (as far as the servo inverter is concerned) modifications to
the parameters which give rise to changes in the servo inverter behavior. This may result
in unexpected (not uncontrolled) system behavior.

Liability for Incorrect handling or any action performed that is not specified in these operating
defects instructions could impair the properties of the product. In this case, you lose any right to
claim under limited warranty against SEW-EURODRIVE GmbH & Co KG.

Product names The brands and product names in these operating instructions are trademarks or
and trademarks registered trademarks of the titleholders.

4 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Important Notes
Explanation of symbols
1

1.2 Explanation of symbols

Safety and Always observe the safety and warning instructions in this publication.
warning notes

Electrical hazard
Possible consequences: Severe or fatal injuries.

Hazard
Possible consequences: Severe or fatal injuries.

Hazardous situation
Possible consequences: Slight or minor injuries.

Harmful situation
Possible consequences: Damage to the unit and the environ-
ment.

Tips and useful information.

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 5

 Safety Notes
2 Preliminary information

2 Safety Notes
2.1 Preliminary information

The following safety notes apply to the fieldbus interface XFP11A PROFIBUS DP.
Please also consider the supplementary safety notes in the individual sections of
these operating instructions.

2.2 General safety notes

Never install damaged products or take them into operation.

Submit a complaint to the shipping company immediately in the event of damage.

During or after operation, gearmotors, gear units and motors have:

• Live parts
• Moving parts
• Hot surfaces (may be the case)

Only qualified personnel may carry out the following work:

• Transportation
• Putting into storage
• Installation/assembly
• Connection
• Startup
• Maintenance
• Servicing

The following information and documents must be observed during these processes:
• Relevant operating instructions and wiring diagrams
• Warning and safety signs on the gear unit/gearmotor
• System-specific regulations and requirements
• National/regional regulations governing safety and the prevention of accidents

Serious injuries and property damage may result from:

• Improper use
• Incorrect installation or operation
• Unauthorized removal of necessary protection covers or the housing

6 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Safety Notes
Shipping/putting into storage
2

General safety This communication system allows you to adjust the MOVIAXIS® multi-axis servo
notes for bus inverter to your specific application very accurately. As with all bus systems, there is a
systems danger of invisible, external (as far as the inverter is concerned) modifications to the
parameters which give rise to changes in the inverter behavior. This may result in
unexpected (uncontrolled) system behavior.

2.3 Shipping/putting into storage

Inspect the shipment for any damage that may have occurred in transit as soon
as you receive the delivery. Inform the shipping company immediately. Do not
operate the product if it is damaged.
Use suitable, sufficiently rated handling equipment if necessary.

Possible damage caused by incorrect storage!

Store the product unit in a dry, dust-free room if it is not to be installed straight away.

2.4 Installation/assembly
Adhere to the instructions in section 4, "Assembly and Installation Notes."

2.5 Startup/Operation
Adhere to the instructions in section 5, "Project Planning and Startup."

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 7

 Introduction
3 Startup/Operation

3 Introduction
Content of the This user manual describes how to install the PROFIBUS XPF11A option card in the
manual MOVIAXIS® MX multi-axis servo inverter and how to start up the MOVIAXIS® with the
PROFIBUS fieldbus system.

Properties The MOVIAXIS® MX multi-axis servo inverter enables you to use the XFP11A option to
connect to higher-level automation systems via PROFIBUS thanks to its powerful,
universal fieldbus interface.

MOVIAXIS® and The unit behavior of the servo inverter which forms the basis of PROFIBUS operation is
PROFIBUS referred to as the unit profile. It is independent of any particular fieldbus and is therefore
a uniform feature. This feature allows the user to develop fieldbus-independent drive
applications.

Access to all MOVIAXIS® MX offers digital access to all drive parameters and functions via the
information PROFIBUS interface. The servo inverter is controlled via fast, cyclic process data. At the
same time you can also read back actual values from the servo inverter, such as the
actual speed, current, unit status, fault numbers or reference signals.

Cyclical and acycli- While process data exchange usually takes place cyclically, drive parameters can be
cal data exchange read or written acyclically via functions such as READ or WRITE or via the MOVILINK®
via PROFIBUS paramter channel. This parameter data exchange enables you to implement applica-
DPV0 (version 0) tions in which all the important drive parameters are stored in the master programmable
controller, so that there is no need to make parameter settings manually on the servo
inverter itself.

Cyclical and acycli- The PROFIBUS-DPV1 specification introduced new acyclical read/write services within
cal data exchange the context of the PROFIBUS-DP expansions. These acyclical services are inserted into
via PROFIBUS special telegrams during ongoing cyclical bus operation and thus ensure compatibility
DPV1 (version 1) between PROFIBUS-DP (version 0) and PROFIBUS-DP V1 (Version 1).

8 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Introduction
Startup/Operation
3

Configuring the Generally, the PROFIBUS option card has been designed so that all fieldbus-specific
PROFIBUS option settings, such as the station address and the default bus parameter can be made using
card the hardware switch on the option card. This manual setting means the servo inverter
can be integrated into the PROFIBUS environment and switched on within a very short
period of time. The parameter setting process can be performed in a completely auto-
mated process by the PROFIBUS master (parameter download). This forward-looking
variant shortens the system startup time and simplifies the documentation of your appli-
cation program because all the important drive parameters can now be stored directly
in your control program.

[1]

PROFIBUS Master

Digital I/O Analog I/O

PROFIBUS
56552AXX
Figure 1: PROFIBUS with MOVIAXIS® [1] = visualization

Monitoring Using a fieldbus system demands additional monitoring functions in the drive engineer-
functions ing, for example, time monitoring of the fieldbus (fieldbus timeout) or stop concepts. You
can, for example, adapt the monitoring functions of MOVIAXIS® specifically to your
application. You can determine, for instance, which of the servo inverter’s fault
responses should be triggered in the event of a bus error. It is a good idea to use a stop
function for many applications. However you can also freeze the last setpoints so that
the drive continues to operate with the most recently valid setpoints (for example,
conveyor belt). As the range of functions for the control terminals is also guaranteed in
fieldbus mode, you can continue to implement rapid stop concepts using the terminals
of the servo inverter, irrespective of the fieldbus used.

Diagnostics The MOVIAXIS® servo inverter offers numerous diagnostic options for startup and
service. For example, you can use the integrated fieldbus monitor to control setpoint
values sent from the higher-level controller as well as the actual values.

Fieldbus monitor Furthermore, you are supplied with a variety of additional information about the status
of the fieldbus option card. The fieldbus monitor function in conjunction with the
MOVITOOLS® MotionStudio PC software offers you an easy-to-use diagnostic tool for
setting all drive parameters (including the fieldbus parameters) and for displaying the
fieldbus and device status information in detail.

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 9

 Assembly/Installation Instructions
4 Connection and terminal description of the XFP11A option

4 Assembly/Installation Instructions
4.1 Connection and terminal description of the XFP11A option
Part number
DIP
Front view of XFP11A Description switches Function
Terminal
56596AXX RUN: PROFIBUS operation Indicates that the bus electronics are operating
LED (green) correctly.

BUS FAULT: PROFIBUS error Indicates PROFIBUS-DP error.

LED (red) See also section 3.6.
X31:1 N.C.
0 1 X31:2 N.C.
X31:3 RxD / TxD-P
20 X31:4 CNTR-P
21 X31: PROFIBUS connection X31:5
X31:6
DGND (M5V)
VP (P5V/100 mA)
22 X31:7 N.C.
X31:8 RxD/TxD-N
23 X31:9 DGND (M5V)
Significance: 1
20
4
2 21
Significance: 2
Significance: 4
22
25 ADDRESS: DIP switch for
23
Significance: 8

26
setting the PROFIBUS station Significance: 16
24
address Significance: 32
25
nc 26
Significance: 64
Reserved
nc
See also section 3.5.

4.2 Pin assignment

Connection to the PROFIBUS network using a 9-pin sub D plug according to IEC 61158.
The T-bus connection must be made using a plug with the corresponding configuration.

[2]

RxD/TxD-P 3
1 RxD/TxD-N 8
6
CNTR-P 4
[3]
DGND (M5V) 5
9 VP (P5V/100mA) 6
5
DGND (M5V) 9

[1]
06227AXX
Figure 2: Assignment of 9-pin sub D plug to IEC 61158

[1] 9-pin sub D plug

[2] Signal line, twisted
[3] Conductive connection over a large area is necessary between plug housing and
the shield

10 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Assembly/Installation Instructions
Shielding and routing bus cables
4

Connection As a rule, the XFP11A option is connected to the PROFIBUS system using a shielded
MOVIAXIS® / twisted-pair cable. Observe the maximum supported transmission rate when selecting
PROFIBUS the bus connector.
The twisted-pair cable is connected to the PROFIBUS connector using pins 3
(R×D/T×D-P) and 8 (R×D/T×D-N). Communication takes place via these two contacts.
The RS-485 signals R×D/T×D-P and R×D/T×D-N must be connected to the same
contact in all PROFIBUS stations. Otherwise, no communication is possible via the bus
medium.
The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic adapter
(reference = pin 9) via pin 4 (CNTR-P).

Baud rates The XFP11A option with baud rates > 1.5 MBaud can only be operated with special
greater than 1.5 12 MBaud Profibus connectors.
MBaud

4.3 Shielding and routing bus cables

The PROFIBUS interface supports RS-485 transmission technology and requires the
cable type A to IEC 61158 as the physical medium for PROFIBUS. This cable must be
a shielded, twisted-pair cable.
Correct shielding of the bus cable attenuates electrical interference that may occur in
industrial environments. The following measures ensure the best possible shielding:
• Manually tighten the mounting screws on the connectors, modules, and equipotential
bonding conductors.
• Use only connectors with a metal housing or a metallized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus line on both ends.
• Route signal and bus cables in separate cable ducts. Do not route them parallel to
power cables (motor leads).
• Use metallic, grounded cable racks in industrial environments.
• Route the signal cable and the corresponding equipotential bonding close to each
other using the shortest possible route.
• Avoid using plug connectors to extend bus cables.
• Route the bus cables closely along existing grounding surfaces.
In case of fluctuations in the ground potential, a compensating current may flow via the
bilaterally connected shield that is also connected to the protective earth (PE). Make
sure you supply adequate equipotential bonding according in accordance with relevant
VDE regulations in such a case.

4.4 Bus termination

The XFP11A option is not provided with bus terminating resistors. This enables the bus
system to be put into operation more easily and reduces the number of error sources.
Use a plug with an integrated bus terminating resistor if the XFP11A option is at the
beginning or end of a PROFIBUS segment and only one PROFIBUS cable is leading to
the XFP11A.
Switch on the bus terminating resistors for this PROFIBUS connector.

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 11

 Assembly/Installation Instructions
4 Setting the station address

4.5 Setting the station address

The PROFIBUS station address is set using DIP switches 20 to 26 on the option card.
MOVIAXIS® supports the address range 0...125.
The default setting for the PROFIBUS station address is 4:

0 1

20 20 → Significance: 1 × 0 = 0
21 21 → Significance: 2 × 0 = 0
22 → Significance: 4 × 1 = 4
22 23 → Significance: 8 × 0 = 0
23 24 → Significance: 16 × 0 = 0
25 → Significance: 32 × 0 = 0
26 → Significance: 64 × 0 = 0
24
25
26
nc
56596axx

Any change made to the PROFIBUS station address during ongoing operation does not
take effect immediately. The change takes effect when the servo inverter is switched on
again (power supply + 24 V OFF/ON). The servo inverter displays the current station
address in the plug-in "Parameter tree" under "/Communication/Basic settings."
Example: Setting the PROFIBUS station address 17

0 1

20 20 → Significance: 1 × 1 = 1
21 21 → Significance: 2 × 0 = 0
22 → Significance: 4 × 0 = 0
22 23 → Significance: 8 × 0 = 0
23 24 → Significance: 16 × 1 = 16
25 → Significance: 32 × 0 = 0
26 → Significance: 64 × 0 = 0
24
25
26
nc
56847AXX

12 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Assembly/Installation Instructions
Operating displays XFP11A option
4

4.6 Operating displays XFP11A option

PROFIBUS LEDs The PROFIBUS interface XFP11A option card has two LEDs that indicate the current
status of the XFP11A option and the PROFIBUS system.

LED RUN (green) • The RUN LED indicates that the bus electronics are operating correctly
Red Green Function
On On = orange: Firmware waits for boot synchronization via DpRAM
Off On Firmware is in "RUN" status
Flashes
Off Fatal error while executing the Profibus stack
(ca. 4Hz)
Flashes The higher-level system (servo inverter + controller) has signaled a reset via the
Off
(ca. 2Hz) DpRAM and is still in "reset" status
Flashes
Off Invalid Profibus address (address exceeds 125)
(ca. 4Hz)

LED BUS FAULT • The LED BUS FAULT displays PROFIBUS-DP errors.
(red)
Red Green Function
On Off No baud rate or master detected
Off Off Unit is currently exchanging data with the DP master ("data exchange" status).
• Unit has detected the baud rate, but is not addressed by DP master.
Flashing Off
• Unit was not configured, or configured incorrectly by the master.

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 13

 Assembly/Installation Instructions
4 GSD files

4.7 GSD files

Current versions of the GSD files for the XFP11A option are available on the SEW
homepage "http://www.sew-eurodrive.de" under the heading "Software." Both GSD files
can be used at the same time in one STEP7 project. Once you have downloaded and
unpacked the software, two directories for the operating modes PROFIBUS DP and
PROFIBUS DP-V1 are displayed.

Installing the Install the file as follows:

GSD file in STEP7 • Start the Simatic Manager.
• Open an existing project and start the hardware configuration.
• Close the project window in the hardware configuration, else a new file version
cannot be installed. Choose "Extras/Install new GSD.../" from the menu and select
the new GSD file with the name SEW_6006.GSD.
The software installs the GSD file and the associated bitmap files in the Step7 system.
The current GSD file corresponds to GSD revision 4. This version does not reflect
the revision level of the SEW GSD file. You find the current version number in the info
field of the hardware catalog of the hardware configuration.
The SEW drive is available under the following path in the hardware catalog:

56954axx
Figure 3: Hardware catalog

14 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Project Planning and Startup I
Project planning for the DP master
5
0

5 Project Planning and Startup

This section provides you with information on project planning for the DP master and
startup of the servo inverter for fieldbus operation.
5.1 Project planning for the DP master
Proceed as follows for project planning for the XFP11A control card with PROFIBUS DP
interface:
• Install/copy the GSD file according to the requirements of your project planning
software. After successful installation, the unit is displayed under the slave family
"Drives/SEW/DPV1".
• Now add the "XFP11A" option card to the PROFIBUS structure using drag and drop.
• Assign the station address.

57289axx
Figure 4: Assigning the station address

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 15

 I Project Planning and Startup
5 Project planning for the DP master
0

• The XFP11A option card is now preconfigured with the configuration 3PD. To change
the PD configuration, you have to delete the 3PD module in slot 3. You can then
insert another PD module into slot 3 by drag and drop from the list in the hardware
catalog into the folder "XFP11A."

57290axx
Figure 5: Changing the PD configuration
• Optionally, you can perform project planning for a MOVILINK parameter channel in
the cyclic process data. To do so, delete the "Empty" entry from slot 2 and replace it
by "Param (4words)" using drag and drop.
• Next enter the I/O or peripheral addresses for the configured data widths.
You can now start PROFIBUS-DP. The red "BUS-FAULT" LED indicates the status of
the project planning.

Data consistency Consistent data is data that has to be transmitted between the programmable controller
and the servo inverter as one block at all times and must never be transmitted
separately.
Data consistency is especially important for transmitting position values or complete
positioning tasks. This is because data that is not transmitted consistently could be from
different program cycles of the programmable controller, which would lead to undefined
values being transmitted to the servo inverter.
For PROFIBUS DP, data communication between the programmable controller and
drive engineering devices is usually carried out with the setting Data integrity over entire
length.

16 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Project Planning and Startup I
Startup of the servo inverter
5
0

5.2 Startup of the servo inverter

For detailed information about this topic, refer to the MOVIAXIS® operating instructions,
page 76.

5.3 Setting process data using the PDO Editor

For detailed information about this topic, refer to the MOVIAXIS® operating instructions,
page 105.

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 17

 I PROFIBUS-DP Operating Characteristics
6 Controlling the servo inverter
0

6 PROFIBUS-DP Operating Characteristics

This chapter describes the basic characteristics of the servo inverter with PROFIBUS-
DP.
6.1 Controlling the servo inverter
The servo inverter is controlled via the process data channel which is up to 16 I/O words
in length. These process data words may be mapped in the I/O or peripheral area of the
controller if a programmable controller is used as DP master and can be addressed as
usual.

PW160 PA 3
PW158 PA 2
PW156 PA 1
PW154
PW152
PW150
PW148

[1] PA 1 PA 2 PA 3 PA 16
[2]
[1] PE 1 PE 2 PE 3 PE 16

PW160 PE 3
PW158 PE 2
PW156 PE 1
PW154
PW152
PW150
PW148

56553AXX
Figure 6: Mapping PROFIBUS data in the PLC address range

[1] 8 byte MOVILINK® parameter

channel
[2] PLC address range

PE1 ... PE16 Process input data

PA1 ... PA16 Process output data

• For additional information on programming and project planning, refer to the

README_GSD6006.PDF file included in the GSD file.

Control example The servo inverter is controlled using Simatic S7 in accordance with the selected
for Simatic S7 process data configuration either directly using load and transfer commands or by
means of special system functions, SFC 14 DPRD_DAT and SFC15 DPWR_DAT.
In principle, S7 data lengths of 3 bytes or more than 4 bytes must be transmitted using
system functions SFC14 and SFC15.

18 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 PROFIBUS-DP Operating Characteristics I
Controlling the servo inverter
6
0

STEP7 example This example is a special and free service that demonstrates only the basic approach to
program generating a PLC program as a non-binding sample.
We are not liable for the contents of the sample program.
//Start of cyclical program processing in OB1
BEGIN
NETWORK
TITLE =Copy PI data from servo inverter to DB3, word 0/2/4
CALL SFC 14 (DPRD_DAT) //Read DP slave record
LADDR := W#16#240 //Input address 576
RET_VAL:= MW 30 //Result in flag word 30
RECORD := P#DB3.DBX 0.0 BYTE 6 //Pointer
NETWORK
TITLE =PLC program with drive application
// PLC program uses the process data in DB3 for
// drive control
L DB3.DBW 0//Load PI1 (status word 1)
L DB3.DBW 2 //Load PI2 (actual speed value)
L DB3.DBW 4 //Load PI3 (no function)
L W#16#8000
T DB3.DBW 20//Write 8000hex to PO1 (control word 1 = FCB speed control)
L 1500
T DB3.DBW 22//Write 1500dec to PO2 (speed setpoint = 1500 1/min)
L 7000
T DB3.DBW 24//Write 7000dec to PO3 (acceleration 7000 1/s × min)
//End of cyclical program processing in OB1
NETWORK
TITLE =Copy PO data from DB3, word 20/22/24 to the servo inverter
CALL SFC 15 (DPWR_DAT) //Write DP slave record
LADDR := W#16#240 //Output address 576 = 240hex
RECORD := P#DB3.DBX 20.0 BYTE 6 //Pointer to DB/DW
RET_VAL:= MW 32

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 19

 I PROFIBUS-DP Operating Characteristics
6 PROFIBUS-DP timeout
0

6.2 PROFIBUS-DP timeout

If the data transfer via PROFIBUS-DP is faulty or interrupted, the response monitoring
time in MOVIAXIS® elapses (if configured in the DP master). The "BUS-FAULT" LED
lights up (or flashes) to indicate that no new user data is being received. At the same
time, MOVIAXIS® performs the fault response selected with P831 Fieldbus timeout
response.
Fieldbus timeout displays the response monitoring time specified by the DP master
during the PROFIBUS-DP startup. The timeout can only be changed via the DP master.
Although modifications made using the keypad or MOVITOOLS® MotionStudio are
displayed, they do not have any effect and are overwritten when the DP is next started
up.
6.3 Response fieldbus timeout
Response fieldbus timeout is used to set the fault response that is triggered via the field-
bus timeout monitoring function. The setting made here must correspond to the setting
in the master system (S7: response monitoring).

20 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 PROFIBUS-DP Operating Characteristics I
Parameter setting via PROFIBUS-DP
6
0

6.4 Parameter setting via PROFIBUS-DP

With PROFIBUS-DP, the drive parameters are accessed via the 8 byte MOVILINK®
parameter channel. This channel offers extra parameter services in addition to the
conventional READ and WRITE services.

Structure of the PROFIBUS-DP enables access to the servo inverter parameters via the "parameter
8 byte process data object" (PPO). This PPO is transmitted cyclically and contains the process
MOVILINK® data channel [2] and a parameter channel [1] that can be used to exchange acyclical
parameter parameter values.
channel

[1] [2]

[1] [2]
56554AXX
Figure 7: Communication via PROFIBUS-DP
The following table shows the structure of the 8 byte MOVILINK® parameter channel. In
principle, the parameter channel is made up of a management byte, an index word, a
subindex in byte and four data bytes.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Manage- Index high Index low MSB data Data Data LSB data
Subindex
ment Parameter index 4-byte data

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 21

 I PROFIBUS-DP Operating Characteristics
6 Parameter setting via PROFIBUS-DP
0

Index and subindex are determined using the tool tip of the parameter tree.

58635.ade
Figure 8: Tool tip of the parameter tree

22 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 PROFIBUS-DP Operating Characteristics I
Parameter setting via PROFIBUS-DP
6
0

Management of The entire procedure for setting parameters is coordinated using management byte 0 .
the 8 byte This byte provides important service parameters such as service identifier, data length,
MOVILINK® version and status of the service performed. The following table shows that bits 0, 1, 2
parameter channel and 3 contain the service identifier, and define which service is performed. Bit 4 and bit
5 specify the data length in bytes for the write service; it should be set to 4 bytes for SEW
servo inverters.
7 / MSB 6 5 4 3 2 1 0 / LSB
Service identifier
0000 = No service
0001 = Read parameter
0010 = Write parameter
0011 = Write parameter volatile
0100 = Read minimum
0101 = Read maximum
0110 = Read default
0111 = Read scale
1000 = Read attribute
Data length
00 = 1 byte
01 = 2 bytes
10 = 3 bytes
11 = 4 bytes (must be set)
Handshake bit
Must be changed on every new task in cyclical transmission.
Status bit
0 = No fault in service execution
1 = Fault in service execution

Bit 6 is used as handshake between the controller and the servo inverter. It triggers the
implementation of the transmitted service in the servo inverter. In PROFIBUS-DP the
parameter channel is transmitted cyclically with the process data. For this reason, the
implementation of the service in the servo inverter must be triggered by edge control
using the handshake bit 6. For this purpose, the value of this bit is altered for each new
service that is to be executed. The servo inverter uses the handshake bit to signal
whether the service has been executed or not. The service was executed if the hand-
shake bit received in the controller is identical with the transmitted handshake bit. Status
bit 7 indicates whether it was possible to execute the service properly or if errors
occurred.

Index addressing Byte 2: Index high and byte 3: Index low determines the parameter read or written via
the fieldbus system. The parameters of a servo inverter are addressed with a uniform
index regardless of the connected fieldbus system. The subindex of the parameter is
indicated in byte 1.

Data range As shown in the following table, the data is contained in byte 4 through byte 7 of the
parameter channel. This means up to 4 bytes of data can be transmitted per service.
The data is always entered with right-justification; that is, byte 7 contains the least
significant data byte (data LSB) whereas byte 4 is the most significant data byte (data
MSB).
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage- Subindex Index high Index low MSB data Data Data LSB data
ment
High byte 1 Low byte 1 High byte 2 Low byte 2
High word Low word
Double word

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 I PROFIBUS-DP Operating Characteristics
6 Parameter setting via PROFIBUS-DP
0

Incorrect service The status bit in the management byte is set to signal that a service has been executed
execution incorrectly. If the received handshake bit is identical to the transmitted handshake bit,
the servo inverter has executed the service. If the status bit now signals an error, the
error code is entered in the data range of the parameter telegram. Byte 4 ... 7 send back
the return code in a structured format (→ see the chapter "Return Codes").
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage- Subindex Index high Index low Error class Error code Add. code Add. code
ment high: low
Status bit = 1: Incorrect execution of a service

Reading a param- Due to the cyclical transfer of the parameter channel, to execute a READ service via the
eter with PROFI- 8 byte MOVILINK® parameter channel, the handshake bit may only be changed if the
BUS-DP (Read) complete parameter channel has been set up for the specific service. As a result, adhere
to the following sequence when reading a parameter:
1. Enter the index of the parameter to be read in byte 2 (index high) and byte 3 (index
low).
2. Enter the service identifier for the read service in the management byte (byte 0).
3. Transfer the read service to the servo inverter by changing the handshake bit.
Since this is a read service, the sent data bytes (bytes 4...7) and the data length (in the
management byte) are ignored and do not need to be set.
The servo inverter now processes the read service and sends back the service
confirmation by changing the handshake bit.
7 / MSB 6 5 4 3 2 1 0 / LSB
0 0/11) X2) X2) 0 0 0 1
Service identifier
0001 = Read parameter
Data length
Not relevant for Read service
Handshake bit
Must be changed on every new task in cyclical transmission.
Status bit
0 = No fault in service execution
1 = Fault in service execution
1) Bit value is changed
2) Not relevant

The above table shows how a READ service is coded in the management byte. The data
length is not relevant, you only need to enter the service identifier for the READ service.
This service is now activated in the servo inverter when the handshake bit changes. For
example, it would be possible to activate the read service with the management byte
coding 01hex or 41hex.

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 PROFIBUS-DP Operating Characteristics I
Parameter setting via PROFIBUS-DP
6
0

Writing a parame- Due to the cyclical transfer of the parameter channel, to execute a WRITE service via
ter with PROFI- the 8 byte MOVILINK® parameter channel, the handshake bit may only be changed if
BUS-DP (Write) the complete parameter channel has been set up for the specific service. Observe the
following sequence when writing a parameter:
1. Enter the index of the parameter to be written in byte 2 (index high) and byte 3 (index
low) as well as the subindex in byte 1.
2. Enter the data to be written in bytes 4...7.
3. Enter the service identifier and the data length for the write service in the manage-
ment byte (byte 0).
4. Transfer the write service to the servo inverter by changing the handshake bit.
The servo inverter now processes the write service and sends back the service
confirmation by changing the handshake bit.
The following table shows how a WRITE service is coded in the management byte. The
data length is 4 bytes for all parameters of SEW servo inverters. This service is now
transferred to the servo inverter when the handshake bit changes. Consequently, a write
service on the SEW servo inverter always has the management byte coding 32hex or
72hex.
7 / MSB 6 5 4 3 2 1 0 / LSB
0 0/11) 1 1 0 0 1 0
Service identifier
0010 = Write parameter
Data length
11 = 4 bytes
Handshake bit
Must be changed on every new task in cyclical transmission.
Status bit
0 = No fault in service execution
1 = Fault in service execution
1) Bit value is changed

Parameter setting Taking the example of the WRITE service, the following figure represents a process of
sequence with setting parameters between the controller and the servo inverter via PROFIBUS-DP. To
PROFIBUS-DP simplify the sequence, the following figure only shows the management byte of the
parameter channel.
The parameter channel is only received and returned by the servo inverter while the
controller is preparing the parameter channel for the write service. The service is not
activated until the moment when the handshake bit is changed (in this example, when it
changes from 0 to 1). The servo inverter now interprets the parameter channel and
processes the write service, but continues to answer all messages with handshake bit =
0. The executed service is acknowledged with a change of the handshake bit in the
response message of the servo inverter. The controller now detects that the received
handshake bit is once again the same as the one which was sent. It can now prepare
another parameter setting procedure.

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 I PROFIBUS-DP Operating Characteristics
6 Parameter setting via PROFIBUS-DP
0

Control PROFIBUS-DP(V0) Servo inverter (slave)

-- 00110010XXX... → Parameter channel is received, but
← 00110010XXX... -- not evaluated

Parameter channel is
prepared for the write
service
Handshake bit is
changed and the service
is transferred to the
servo inverter -- 01110010XXX... →
← 00110010XXX... --
-- 01110010XXX... →
← 00110010XXX... -- Write service is performed, hand-
shake bit is changed
Service confirmation is ← 01110010XXX... --
received as the send
and receive handshake
bits are the same again
-- 01110010XXX... → Parameter channel is received, but
not evaluated

Parameter data When parameters are set via the fieldbus interface, the same parameter coding is used
format as with the serial system bus.
Refer to the MOVIAXIS® project planning manual for the data formats and value ranges
of the individual parameters.

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 PROFIBUS-DP Operating Characteristics I
Return codes for parameter setting
6
0

6.5 Return codes for parameter setting

Elements In the event of an incorrect parameter setting, the servo inverter sends back various
return codes to the master which set the parameters. These codes provide detailed
information about what caused the error. Generally, these return codes are structured.
The servo inverter distinguishes between the following elements:
• Error class
• Error code
• Additional code
These return codes are described in detail in the project planning manual and are not
included in this documentation. However, the following special cases can occur in
connection with PROFIBUS:

Error class The error class element provides a more exact classification of the error type.
MOVIAXIS® supports the following error classes defined in accordance with EN 50170
(V2):
Class (hex) Designation Meaning
1 vfd state Status error of the virtual field device
2 application reference Error in application program
3 definition Definition error
4 resource Resource error
5 service Error during execution of service
6 access Access error
7 ov Error in the object list
8 other Other error (see additional code)

The error class is generated by the communication software of the fieldbus interface if
there is an error in communication. However, this does not apply to error class 8, Other
error. Return codes sent from the servo drive system are all included in Error class 8 =
Other error. The error can be identified more precisely using the additional code
element.

Error code The error code element provides a means for more precisely identifying the cause of the
error within the error class. It is generated by the communication software of the fieldbus
card in the event of an error in communication. For Error class 8 = Other error, only Error
code = 0 (Other error code) is defined. In this case, detailed identification is made using
the additional code.

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 I PROFIBUS-DP Operating Characteristics
6 Special cases
0

Additional code The additional code contains the return codes specific to SEW dealing with incorrect
parameter settings of the servo inverter. These codes are returned to the master under
Error class 8 = Other error. The following table shows all possible codings for the
additional code.

Add. code Add. code low Meaning

high (hex) (hex)
00 00 No error
00 10 Illegal parameter index
00 11 Function / parameter not implemented
00 12 Read access only
00 13 Parameter lock is active
00 14 Factory setting is active
00 15 Value for parameter too large
00 16 Value for parameter too small
00 17 Required option card missing for this function/parameter
00 18 Error in system software
00 19 Parameter access only via RS-485 process interface to X13
00 1A Parameter access only via RS-485 diagnostics interface
00 1B Parameter is access-protected
00 1C Controller inhibit required
00 1D Invalid value for parameter
00 1E Factory setting was activated
00 1F Parameter was not saved in EEPROM
00 20 Parameter cannot be changed with enabled output stage

6.6 Special cases

Special return Errors in the parameter settings that cannot be identified either automatically by the
codes application layer of the fieldbus system or by the system software of the servo inverter
are treated as special cases. The following is a list of errors that can occur depending
on the fieldbus option card used:
• Incorrect coding of a service via parameter channel
• Incorrect length specification of a service via parameter channel
• Internal communication error
• Error class: 0 × 05,
• Error code: 0 × 03,
• Add high: 0 × 00,
• Add low: 0 × 02.

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 PROFIBUS-DP Operating Characteristics I
Special cases
6
0

Incorrect service Incorrect code was specified in the management byte or reserved byte during parameter
code in the param- setting via the parameter channel. The following table shows the return code for this
eter channel special case.
Code (dec) Meaning
Error class: 5 Service
Error code: 5 Illegal parameter
Add. code high: 0 -
Add. code low: 0 -

Troubleshooting:
Check bits 0 and 1 in the parameter channel.

Incorrect length A data length other than 4 data bytes was specified in a read or write service during
specification in parameter setting via the parameter channel. The following table displays the return
parameter channel codes.
Code (dec) Meaning
Error class: 6 Access
Error code: 8 Type conflict
Add. code high: 0 -
Add. code low: 0 -

Troubleshooting:
Check bit 4 and bit 5 for the data length in management byte 0 of the parameter channel.
Both bits must be set to 1.

Internal communi- The return code listed in the following table is sent back if a communication error has
cation error occurred within the system. The parameter service transferred via the fieldbus may not
have been performed and should be repeated. If this error occurs again, switch off the
servo inverter completely and then back on again so it is re-initialized.
Code (dec) Meaning
Error class: 6 Access
Error code: 2 Hardware fault
Add. code high: 0 -
Add. code low: 0 -

Troubleshooting:
Repeat the read or write service. If this error occurs again, disconnect the servo inverter
from the supply system and then reconnect it. Contact SEW-EURODRIVE Service for
advice if this error occurs continuously.

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 I DP-V1 Functions
7 Introduction to PROFIBUS DP-V1
0

7 DP-V1 Functions
7.1 Introduction to PROFIBUS DP-V1
This chapter describes the functions and terms used for operating SEW servo inverters
on PROFIBUS DP-V1. Refer to the PROFIBUS user organization or visit
www.profibus.com for detailed technical information on PROFIBUS DP-V1.
The PROFIBUS DP-V1 specification introduced new acyclical read/write services within
the context of the PROFIBUS DP-V1 expansions. These acyclical services are inserted
into special telegrams during cyclical bus operation and thus ensure compatibility
between PROFIBUS DP (version 0) and PROFIBUS DP V1 (Version 1).
The acyclical read/write services can be used to exchange larger data quantities
between master and slave (servo inverter) than it would be possible to transfer in the
cyclical input or output data using the 8-byte parameter channel, for example. The
advantage of the acyclical data exchange via DP-V1 lies in the minimum load on the
cyclical bus operation since DP-V1 telegrams are only added to the bus cycle if required.
The DP-V1 parameter channel provides the user with two options:
• The higher-level controller can access all the device information of the SEW DP-V1
slaves. This means that cyclical process data and unit settings can be read, stored
in the controller and modified in the slave.
• It is also possible to route the service and startup tool MOVITOOLS® MotionStudio
via the DP-V1 parameter channel instead of using a proprietary RS-485 connection.
Once you have installed the MOVITOOLS® MotionStudio-Software, you can access
detailed information in the folder...\SEW\MOVITOOLS\.
The main features of PROFIBUS DP-V1 are explained below.
C1-Master

C2-Master C2-Master

Cyclic OUT Data

Param PD
PROFIBUS DP-V1
Param PD
Cyclic IN Data
Acyclic DP-V1
C2-Services
Acyclic DP-V1
Acyclic DP-V1
C1-Services
C2-Services

SEW
Drive
52123AXX

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 DP-V1 Functions I
Introduction to PROFIBUS DP-V1
7
0

Class 1 master The PROFIBUS DP-V1 network differentiates between master classes. The C1 master
(C1 master) essentially performs the cyclical data exchange with the slaves. A typical C1 master is
a control system, such as a PLC, that exchanges cyclic process data with the slave. If
the DPV1 function has been activated via the GSD file, the acyclical connection between
C1 master and slave is established automatically when the cyclical connection of the
PROFIBUS-DP is being established. Only one C1 master can be operated in a
PROFIBUS DP-V1 network.

Class 2 master The C2 master itself does not perform cyclical data exchange with the slaves. Examples
(C2 master) of a typical C2 master are visualization systems or temporarily installed programming
devices (Notebook/PC). The C2 master uses exclusively acyclic connections for
communication with the slaves. The acyclic connections between C2 master and slave
are established by the Initiate service. The connection is established once the Initiate
service has been performed successfully. An established connection enables cyclical
data exchange with the slaves using Read or Write services. Several C2 masters can
be active in a DP-V1 network. The number of C2 connections, established simulta-
neously for a slave, is determined by the slave. SEW servo inverters support two parallel
C2 connections.

Data sets (DS) The user data transported via a DP-V1 service are collected in data sets. Each data set
is represented uniquely by its length, a slot number and an index. The structure of data
set 47 is used for DP-V1 communication with the SEW servo inverter. This data set is
defined as the DP-V1 parameter channel for drives as of V3.1 in the PROFIdrive profile
drive engineering of the PROFIBUS user organization. Different procedures for
accessing parameter data in the inverter are provided via this parameter channel.

DP-V1 services The DP-V1 expansions offer new services, which can be used for acyclical data
exchange between master and slave. The system distinguishes between the following
services:
C1 master Connection type: MSAC1 (master/slave acyclical C1)
Read Read data set
Write Write data set

C2 master Connection type: MSAC2 (master/slave acyclical C2)

INITIATE Establish C2 connection
ABORT Disconnect C2 connection
Read Read data set
Write Write data set

DP-V1 alarm In addition to the acyclical services, the DP-V1 specification also defines extended
handling alarm handling. Alarm handling now distinguishes between different alarm types. As a
result, unit-specific diagnostics cannot be evaluated in DP-V1 operation via the
'DDLM_SlaveDiag' DP-V1 service. DP-V1 alarm handling has not been defined for drive
engineering as a servo inverter does not usually transfer its status information via
cyclical process data communication.

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 I DP-V1 Functions
7 Characteristics of SEW servo inverters
0

7.2 Characteristics of SEW servo inverters

The SEW fieldbus interfaces to PROFIBUS DP-V1 have the same communication
features for the DP-V1 interface. The drives are usually controlled via a C1 master with
cyclical process data in accordance with the DP-V1 standard. This C1 master (usually
a PLC) can also use an 8-byte MOVILINK® parameter channel during cyclical data
exchange to perform the parameter services with XFP11A. The read and write services
give the C1 master access to connected stations via the DP-V1 C1 channel.
Two additional C2 channels can be connected in parallel to these parameter setting
channels. The first C2 master as a visualization device, for example could use these
channels to read parameter data, and a second C2 master in the form of a notebook
could use them to configure the drive using the MOVITOOLS® MotionStudio software.
C1-Master C2-Master C2-Master
Acyclic DP-V1
C1-Services

DP: 8 Byte Param

PROFIBUS DP-V1
Acyclic DP-V1
DP: PD Acyclic DP-V1
C2-Services
C2-Services

Cyclic IN/Out C1-Parameterbuffer

C2-Parameterbuffer

C2-Parameterbuffer
DP Parameterbuffer
SEW PROFIBUS
DP-V1 Interface

cyclic

Process Data Parameterbuffer

Drive System
53124AXX
Figure 9: Parameter setting channels for PROFIBUS DP-V1

7.3 Structure of the DP-V1 parameter channel

Generally, the parameter setting of the drives to the PROFIdrive DPV1 parameter
channel of profile version 3.0 is implemented via data set index 47. The Request ID entry
is used to distinguish between parameter access based on PROFIdrive profile or via
SEW-EURODRIVE MOVILINK® services. The following table shows the possible codes
of the individual elements. The data set structure is the same for PROFIdrive and
MOVILINK® access.

PROFIdrive
DPV1
Parameter Channel SEW MOVILINK®
READ/WRITE DS47
53125AXX

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 DP-V1 Functions I
Structure of the DP-V1 parameter channel
7
0

The following MOVILINK® services are supported:

• 8-byte MOVILINK® parameter channel with all the services supported by the servo
inverter such as
– Read parameter
– Write parameter
– Write parameter volatile

The following PROFIdrive services are supported:

• Reading (request parameter) individual parameters of the type double word
• Writing (change parameter) individual parameters of the type double word
Table 1: Elements of data set DS47
Field Data Type Values
Request Unsigned8 0x00 Reserved
Reference 0x01 ... 0xFF
Request ID Unsigned8 0x01 Request parameter (PROFIdrive)
0x02 Change parameter (PROFIdrive)
0x40 SEW MOVILINK® service
Response ID Unsigned8 Response (+):
0x00 Reserved
0x01 Request parameter (+) (PROFIdrive)
0x02 Change parameter (+) (PROFIdrive)
0x40 SEW MOVILINK® service (+)

Response (–):
0x81 Request parameter (–) (PROFIdrive)
0x82 Change parameter (–) (PROFIdrive)
0xC0 SEW MOVILINK® service (–)
Axis Unsigned8 0x00 ... 0xFF Number of axis 0 ... 255
No. of Unsigned8 0x01 ... 0x13 1 ... 19 DWORDs (240 DP-V1 data bytes)
parameters
Attributes Unsigned8 0x10 Value

For SEW MOVILINK® (Request ID = 0x40):

0x00 No service
0x10 Read parameter
0x20 Write parameter
0x30 Write parameter volatile
0x40 ... 0xF0 Reserved
No. of elements Unsigned8 0x00 for non-indexed parameters
0x01 ... 0x75 Quantity 1 ... 117
Parameter Unsigned16 0x0000 ... 0xFFFF MOVILINK® parameter index
Number
Subindex Unsigned16 0x0000 SEW: 0 ... 255
Format Unsigned8 0x43 Double word
0x44 Error
No. of Values Unsigned8 0x00 ... 0xEA Quantity 0 ... 234
Error Value Unsigned16 0x0000 ... 0x0064 PROFIdrive error codes
0x0080 + MOVILINK®-AdditionalCode Low
For SEW MOVILINK® 16 Bit Error Value

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 I DP-V1 Functions
7 Structure of the DP-V1 parameter channel
0

Procedure for Parameter access takes place with the combination of the DP-V1 services write and
setting read. The parameter setting request is transferred to the slave using the Write.req,
parameters via followed by slave-internal processing.
data set 47 The master now sends a Read.req to pick up the parameter setting response. The
master repeats the Read.req if the Read.res from the slave is negative. As soon as the
parameter processing in the servo inverter is concluded, it answers with a positive
response Read.res. The user data now contain the parameter setting response of the
parameter setting request that was previously sent with Write.req (see Figure 10. This
mechanism applies to a C1 as well as a C2 master.

Master PROFIBUS-DPV1 Slave (Drive)

Parameter WRITE.req DS47
Request with data (parameter request) Parameter
Request

WRITE.res
without data

READ.req DS47
without data Parameter
Processing
READ.res(-)
without data

READ.req DS47
without data

Parameter
Parameter READ.res(+) Response
Response with data (parameter response)

53127AXX
Figure 10: Telegram sequence for parameter access via PROFIBUS DP-V1

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 DP-V1 Functions I
Structure of the DP-V1 parameter channel
7
0

DP-V1 master If the bus cycles are very short, the request for the parameter response arrives before
processing the servo inverter has concluded parameter access in the device. This means that the
sequence response data from the servo inverter is not yet available. In this case, the servo inverter
sends a negative answer with the Error_Code _1 = 0xB5 (status conflict) to the DP-
V1 level. The DP-V1 master must then repeat the request with the Read.req header until
it receives a positive response from the servo inverter.
Send Write.request
with Parameterdata

Check Write. Write.response

response negative

Write.response
positive
Send DS_Read.req
with Parameterdata

Read.
response yes
State
Conflict?

no

Other Errors yes

or Timeout

no

Parameter transfer Parameter transfer

ok, data available aborted with ERROR

53127AXX
Figure 11: Sequence

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 I DP-V1 Functions
7 Structure of the DP-V1 parameter channel
0

Addressing The structure of the DS47 data set defines an "axis" element. This element is used to
connected servo reach multi-axis drives that are operated via one PROFIBUS interface. The "axis"
inverters element addresses one of the devices connected via the PROFIBUS interface. This
mechanism can be used, for example, by the SEW bus modules for MOVIMOT® or UFP
for MOVITRAC® 07.

Addressing a With the setting Axis = 0, the parameter of the servo inverter can be accessed directly.
MOVIAXIS® on Since there are no drive devices connected to MOVIAXIS®, access with Axis > 0 is
PROFIBUS DP-V1 returned with an error code.
C1-Master

C2-Master C2-Master

Cyclic OUT Data

Param PD
PROFIBUS DPV1
Param PD
Cyclic IN Data
Acyclic DPV1
C2-Services
Acyclic DPV1
Acyclic DPV1
C1-Services Axis = 0 C2-Services

Axis = 0 Axis = 0

56556AXX
Figure 12: Addressing a MOVIAXIS® directly via PROFIBUS DP-V1 with axis = 0

MOVILINK® The MOVILINK® parameter channel of the SEW servo inverter is directly mapped in the
parameter structure of data set 47. The request ID 0×40 (SEW MOVILINK® service) is used to
requests exchange MOVILINK® parameter setting requests. Parameter access with MOVILINK®
services usually takes place according to the structure described below. The typical
message sequence for data set 47 is used.
Request ID: 0×40 SEW MOVILINK® service
The actual service is defined by the data set element Attribute in the MOVILINK®
parameter channel. The high nibble of this element corresponds to the service nibble in
the management byte of the DP parameter channel.

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 DP-V1 Functions I
Structure of the DP-V1 parameter channel
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0

Example for read- The following tables give an example of the structure of the Write.request and Read.req
ing a parameter via user data for reading an individual parameter via the MOVILINK® parameter channel.
MOVILINK®

Sending parameter request

The following tables show the coding of the user data for the Write.req service specifying
the DP-V1 header. The Write.req service is used to transfer the parameter setting
request to the servo inverter. The heat sink temperature (index 9795, subindex 1) is
read.
Table 2: Write.request header for transferring the parameter request
Service: Write.request
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 10 10 byte user data for parameter request

Table 3: Write.req USER DATA for MOVILINK ®"Read parameter"

Byte Field Value Description
0 Request reference 0x01 Individual reference number for the parameter
setting request is mirrored in the parameter
response
1 Request ID 0x40 SEW MOVILINK® service
2 Axis 0x00 Axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Attributes 0x10 MOVILINK® service “Read parameter”
5 No. of elements 0x00 0 = access to direct value, no subelement
6..7 Parameter Number 0x2643 Heat sink temperature index 9795dec
8..9 Subindex 0x0001 Subindex 1

Query parameter response

The following table shows the coding of the Read.req user data including the DP-V1
header.
Table 4: Read.req for requesting the parameter response
Service: Read.request
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 240 Maximum length of response buffer in the DP-V1 master

Positive MOVILINK® parameter setting response

The table shows the Read.res user data with the positive response data of the parame-
ter setting request. For example, the parameter value for the heat sink temperature (in-
dex 9795, subindex 1) is returned.
Table 5: DP-V1 header of the positive Read.response with parameter response
Service: Read.request
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 10 10 byte user data in response buffer

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 I DP-V1 Functions
7 Structure of the DP-V1 parameter channel
0

Table 6: Positive response for MOVILINK® service

Byte Field Value Description
0 Response reference 0x01 Reflected reference number from the parameter
setting order
1 Response ID 0x40 Positive MOVILINK® response
2 Axis 0x00 Reflected axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Format 0x43 Parameter format: Double word
5 No. of values 0x01 1 value
6..7 Value Hi 0x0203 Higher-order part of the parameter
8..9 Value Lo 0xAECA Lower-order part of the parameter
Decoding:1)
0 × 0203 AECA = 33795786dec
>> 33.79 °C heat sink temperature
1) For information on user defined units, refer to the project planning manual.

Example for writing The following tables show an example of the structure of the Write and Read services.
a parameter via In the example, the acceleration of FCB05 "speed control" is written volatile with the
MOVILINK® value1) 3000 1/min×s (local acceleration: Index 9598, subindex 6). The MOVILINK®
service Write Parameter volatile is used for this purpose.

Send „Write parameter volatile“ request

Table 7: DP-V1 header of the Write.request with parameter request
Service: Write.request
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 16 16 byte user data for order buffer

Table 8: Write.req user data for MOVILINK® service "Write parameter volatile"
Byte Field Value Description
0 Request reference 0x01 Individual reference number for the parameter
setting request is mirrored in the parameter
response
1 Request ID 0x40 SEW MOVILINK® service
2 Axis 0x00 Axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Attributes 0x30 MOVILINK® service Write parameter volatile
5 No. of elements 0x00 0 = access to direct value, no subelement
6..7 Parameter Number 0x257E FCB05 "speed control" local acceleration, index
9598
8..9 Subindex 0x0006 Subindex 6
10 Format 0x43 Double word
11 No. of values 0x01 Change 1 parameter value
12..13 Value HiWord 0x0000 Higher-order part of the parameter value
14..15 Value LoWord 0x0BB8 Lower-order part of the parameter value

After sending this Write.request, the Write.response is received. If there was no status
conflict in processing the parameter channel, a positive Write.response occurs. Other-
wise, the status fault is located in Error_code_1.

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 DP-V1 Functions I
Structure of the DP-V1 parameter channel
7
0

Query parameter response

The following table shows the coding of the Write.req user data including the DP-V1
header.
Table 9: Read.req for requesting the parameter response
Field Value Description
Function_Num Read.req
Slot_Number X Slot_Number not used
Index 47 Index of data set
Length 240 Maximum length of response buffer in DP master

Positive response to “Write Parameter volatile”

Table 10: DP-V1 header of the positive Read.response with parameter response
Service: Read.response
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 4 4 byte user data in response buffer

Table 11: Positive response for MOVILINK® service „Write Parameter“

Byte Field Value Description
0 Response reference 0x01 Reflected reference number from the parameter
setting request
1 Response ID 0x40 Positive MOVILINK® response
2 Axis 0x00 Reflected axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter

Negative parame- The following table shows the coding of a negative response of a MOVILINK® service.
ter response Bit 7 is entered in the the response ID if the response is negative.
Table 12: Negative response for MOVILINK® service
Service: Read.response
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 8 8 byte user data in response buffer

Byte Field Value Description

0 Response reference 0x01 Reflected reference number from the parameter setting request
1 Response ID 0xC0 Negative MOVILINK® response
2 Axis 0x00 Reflected axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Format 0x44 Error
5 No. of values 0x01 1 error code
6..7 Error value 0x0811 MOVILINK® return code
e. g. ErrorClass 0x08, add. code 0x11
(see the table MOVILINK® return codes for DP-V1)

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 39

 I DP-V1 Functions
7 Structure of the DP-V1 parameter channel
0

MOVILINK® return The following table shows the return codes that are returned by the SEW DP-V1
codes of parame- interface in case of an error in the DP-V1 parameter access.
ter setting for DP-
MOVILINK® Description
V1 Return code (hex)
0x0810 Invalid index, parameter index does not exist in the unit
0x0811 Function / parameter not implemented
0x0812 Read access only
0x0813 Parameter lock activated
0x0814 Factory setting is active
0x0815 Value for parameter too large
0x0816 Value for parameter too small
0x0817 Required option card not installed
0x0818 Error in system software
0x0819 Parameter access via RS-485 process interface only
0x081A Parameter access via RS-485 diagnostic interface only
0x081B Parameter is access-protected
0x081C Controller inhibit is required
0x081D Invalid value for parameter
0x081E Factory setting was activated
0x081F Parameter was not saved in EEPROM
0x0820 Parameter cannot be changed with output stage enabled/reserved
0x0821 Reserved
0x0822 Reserved
0x0823 Parameter may only be changed with IPOS program stop
0x0824 Parameter may only be changed with deactivated auto setup
0x0505 Incorrect coding of management and reserved byte
0x0602 Communication error between servo inverter system and fieldbus option card
0x0502 Timeout of secondary connection (e.g. during reset or with Sys-Fault)

40 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 DP-V1 Functions I
Structure of the DP-V1 parameter channel
7
0

PROFIdrive The PROFIdrive parameter channel of SEW servo inverters is directly mapped in the
parameter orders structure of data set 47. Parameter access with PROFIdrive services usually takes
place according to the structure described below. The typical message sequence for
data set 47 is used.
PROFIdrive only defines the two request IDs
Request ID:0x01request parameter (PROFIdrive)
Request ID:0x02change parameter (PROFIdrive)
This means there is restricted data access in comparison with the MOVILINK® services.
The request ID = 0×02 = Change Parameter (PROFIdrive) results in remanent write
access to the selected parameter. Consequently, the internal flash/EEPROM of the
servo inverter is written with each write access. Use the MOVILINK® service "Write
parameter volatile" if parameters must be written cyclically at short intervals. With this
service, you only alter the parameter values in the RAM of the servo inverter.

Example for read- The following tables give an example of the structure of the Write.request and Read.req
ing a parameter via user data for reading an individual parameter via the MOVILINK® parameter channel.
PROFIdrive

Sending parameter request

The following tables show the coding of the user data for the Write.req service specifying
the DP-V1 header. The Write.req service is used to transfer the parameter setting
request to the servo inverter.
In the example, the part number is read (firmware"Basic units/part number", index 9701,
subindex 30).
Table 13: Write.request header for transferring the parameter request
Service: Write.request
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 10 10 byte user data for parameter request

Table 14: Write.req USER DATA for PROFIdrive "Request parameter"

Byte Field Value Description
0 Request reference 0x01 Individual reference number for the parameter
setting order that is reflected in the parameter
response
1 Request ID 0x01 Request parameter (PROFIdrive)
2 Axis 0x00 Axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Attributes 0x10 Access to parameter value
5 No. of elements 0x00 0 = access to direct value, no subelement
6..7 Parameter Number 0x25E5 Firmware "Basic unit/part number, index 9701
8..9 Subindex 0x0030 Subindex 30

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 41

 I DP-V1 Functions
7 Structure of the DP-V1 parameter channel
0

Query parameter response

The following table shows the coding of the Read.req user data including the DP-V1
header.
Table 15: Read.req for requesting the parameter response
Service: Read.request
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 240 Maximum length of response buffer in the DP-V1 master

Positive PROFIdrive parameter response

The table shows the Read.res user data with the positive response data of the parame-
ter setting request. For example, the parameter value for the firmware "Basic units/part
number" is returned (index 9701, subindex 30).
Table 16: DP-V1 header of the positive Read.response with parameter response
Service: Read.request
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 10 10 byte user data in response buffer

Table 17: Positive response for PROFIdrive service

Byte Field Value Description
0 Response reference 0x01 Reflected reference number from the parameter
setting order
1 Response ID 0x01 Positive response for „Request Parameter“
2 Axis 0x00 Reflected axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Format 0x43 Parameter format: Double word
5 No. of values 0x01 1 value
6..7 Value Hi 0x0824 Higher-order part of the parameter
8..9 Value Lo 0x9458 Lower-order part of the parameter
0×082494581)
>> Firmware "Basic units/part number"
1) For information on user defined units, refer to the project planning manual.

42 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 DP-V1 Functions I
Structure of the DP-V1 parameter channel
7
0

Example for writing The following tables show an example of the structure of the Write and Read services.
a parameter via In the example, the torque limit of of FCB05 "speed control" is written remanent with the
PROFIdrive value 100 % (local torque limit, index 9598, subindex 4, 100 000 % corresponds to the
parameter value 100 000dec = 0×186A0)1).
See also the example for writing a parameter via MOVILINK®". The PROFIdrive service
change parameter is used for this purpose.

Send "Write parameter "request

Table 18: DP-V1 header of the Write.request with parameter request
Service: Write.request
Slot_Number 0 random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 16 16 byte user data for order buffer

Table 19: Write.req user data for PROFIdrive service "change parameter"
Byte Field Value Description
0 Request reference 0x01 Individual reference number for the parameter
setting order is reflected in the parameter
response
1 Request ID 0x02 Change parameter (PROFIdrive)
2 Axis 0x01 Axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Attributes 0x10 Access to parameter value
5 No. of elements 0x00 0 = access to direct value, no subelement
6..7 Parameter Number 0x257E FCB05 "speed control" local torque limit, index
9598
8..9 Subindex 0x0004 Subindex 4
10 Format 0x43 Double word
11 No. of values 0x01 Change 1 parameter value
12..13 Value HiWord 0x0001 Higher-order part of the parameter value
14..15 Value LoWord 0x86A0 Lower-order part of the parameter value

After sending this Write.request, the Write.response is received. If there was no status
conflict in processing the parameter channel, a \positive Write.response occurs. Other-
wise, the status fault is located in Error_code_1.

Query parameter response

The following table shows the coding of the Write.req user data including the DP-V1
header.
Table 20: Read.req for requesting the parameter response
Field Value Description
Function_Num Read.req
Slot_Number X Slot_Number not used
Index 47 Index of data set
Length 240 Maximum length of response buffer in DP-V1 master

1) For information on user defined units, refer to the project planning manual.

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 43

 I DP-V1 Functions
7 Structure of the DP-V1 parameter channel
0

Positive response to “Write Parameter”

Table 21: DP-V1 header of the positive Read.response with parameter response
Service: Read.response
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 4 4 byte user data in response buffer

Table 22: Positive response for PROFIdrive service „Change parameter“

Byte Field Value Description
0 Response reference 0x01 Reflected reference number from the parameter
setting order
1 Response ID 0x02 Positive PROFIdrive response
2 Axis 0x01 Reflected axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter

Negative parame- The following table shows the coding of a negative response of a PROFIdrive service.
ter response Bit 7 is entered in the Response ID if the response is negative.
Table 23: Negative response for PROFdrive service
Service: Read.response
Slot_Number 0 Random, (is not evaluated)
Index 47 Index of the data set; constant index 47
Length 8 8 byte user data in response buffer

Byte Field Value Description

0 Response reference 0x01 Reflected reference number from the parameter setting order
1 Response ID 0x810x82 Negative response for Request Parameter Negative response
for Change Parameter
2 Axis 0x00 Reflected axis number; 0 = single axis
3 No. of parameters 0x01 1 parameter
4 Format 0x44 Error
5 No. of values 0x01 1 error code
6..7 Error value 0x0811 MOVILINK® return code
e. g. ErrorClass 0x08, add. code 0x11
(see the table MOVILINK® return codes for DP-V1)

44 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 DP-V1 Functions I
Structure of the DP-V1 parameter channel
7
0

PROFIdrive return The following table shows the coding of the error number in the PROFIdrive DP-V1
codes for DP-V1 parameter response according to PROFIdrive profile V3.1. This table applies if you use
the PROFIdrive services "Request Parameter" or "Change Parameter."
Error no. Meaning Used at Supplem. infor-
mation
0x00 Impermissible parameter Access to unavailable parameter 0
number
0x01 Parameter value cannot be Change access to a parameter value Subindex
changed that cannot be changed
0x02 Low or high limit exceeded Change access with value outside the Subindex
value limits
0x03 Faulty subindex Access to unavailable subindex Subindex
0x04 No array Access with subindex to non-indexed 0
parameter
0x05 Incorrect data type Change access with value that does not 0
match the data type of the parameter
0x06 Setting not permitted (can Change access with value unequal to 0 Subindex
only be reset) where this is not permitted
0x07 Description element cannot Change access to a description element Subindex
be changed that cannot be changed
0x08 Reserved (PROFIdrive Profile V2: PPO-Write -
requested in IR not available)
0x09 No description data avail- Access to unavailable description 0
able (parameter value is available)
0x0A Reserved (PROFIdrive Profile V2: Access group -
wrong)
0x0B No operation priority Change access without rights to change 0
parameters
0x0C Reserved (PROFIdrive Profile V2: wrong pass- -
word)
0x0D Reserved (PROFIdrive Profile V2: Text cannot be -
read in cyclic data transfer)
0x0E Reserved (PROFIdrive Profile V2: Name cannot be -
read in cyclic data transfer)
0x0F No text array available Access to text array that is not available 0
(parameter value is available)
0x10 Reserved (PROFIdrive Profile V2: No PPO write)
0x11 Request cannot be exe- Access is temporarily not possible for 0
cuted because of operating reasons that are not specified in detail
state
0x12 Reserved (PROFIdrive Profile V2: other error)
0x13 Reserved (PROFIdrive Profile V2: Data cannot be
read in cyclic interchange)
0x14 Value impermissible Change access with a value that is within Subindex
the value limits but is not permissible for
other long-term reasons (parameter with
defined single values)
0x15 Response too long The length of the current response 0
exceeds the maximum transmittable
length
0x16 Parameter address imper- Illegal value or value which is not sup- 0
missible ported for the attribute, number of ele-
ments, parameter number or subindex or
a combination
0x17 Illegal format Write request: Illegal format or format of 0
the parameter data which is not sup-
ported
0x18 Number of values is not Write request: Number of parameter data 0
consistent values that do not match the number of
elements in the parameter address

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 45

 I DP-V1 Functions
7 Project planning for a C1 master
0

Error no. Meaning Used at Supplem. infor-

mation
0x19 axis nonexistent Access to an axis which does not exist -
up to 0x64 Reserved - -
0x65..0xFF Manufacturer-specific - -

7.4 Project planning for a C1 master

The GSD file SEWA6003.GSD is required for the project planning of a DP-V1 C1
master. This file activates the DP-V1 functions of the XFP11A. Therefore, the functions
of the GSD file and the XFP11A firmware must correspond with one another. When you
implement the DP-V1 functions, SEW-EURODRIVE provides you with two GSD files
(→chapter "GSD files").

Operating mode The DP-V1 operating mode can usually be activated during project planning for a C1
(DP-V1 mode) master. All DP slaves, which have the DP-V1 functions enabled in their GSD files and
which support DP-V1, will then be operated in the DP-V1 mode. Standard DP slaves will
still be run via PROFIBUS-DP. This ensures mixed mode is run for DP-V1 and DP-
capable modules. Depending on the specification of the master functionality, a DP-V1-
capable station, that was configured using the DP-V1 GSD file, can run in the "DP“
operating mode.

7.5 Appendix
Program example The STEP7 code stored in the GSD file shows how parameters are accessed via the
for SIMATIC S7 STEP7 system function blocks SFB 52/53. You can copy the STEP7 code and
import/compile it as STEP7 source.

Technical data for

MOVIAXIS®
GSD file for DP-V1: SEWA6003.GSD
DFP21/MCH41
Module name for project planning: MOVIAXIS XFP11A
Number of parallel C2 connections: 2
Supported data set: Index 47
Supported slot number: Recommendation: 0
Manufacturer code: 10A hex (SEW-EURODRIVE)
Profile ID: 0
C2 response timeout 1s
Max. length C1 channel: 240 bytes
Max. length C2 channel: 240 bytes

46 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 DP-V1 Functions I
Appendix
7
0

Error codes of This table shows possible error codes of DP-V1 services that may occur in the event of
the DP-V1 an error in the communication on DP-V1 telegram level. This table is relevant if you want
services to write your own parameter assignment block based on the DP-V1 services because
the error codes are reported directly back on the telegram level.

Bit: 7 6 5 4 3 3 2 0

Error_Class Error_Code

Error_Class (from DP- Error_Class (from DP-V1 DP-V1 parameter channel

V1 specification) specification)
0x0 ... 0x9 hex =
reserved
0xA = application 0x0 = read error
0x1 = write error
0x2 = module failure
0x3 to 0x7 = reserved
0x8 = version conflict
0x9 = feature not supported
0xA to 0xF = user specific
0xB = access 0x0 = invalid index 0xB0 = No data block Index 47 (DB47); param-
eter requests are not supported
0x1 = write length error
0x2 = invalid slot
0x3 = type conflict
0x4 = invalid area
0x5 = state conflict 0xB5 = Access to DB 47 temporarily not possi-
ble due to internal processing status
0x6 = access denied
0x7 = invalid range 0xB7 = Write DB 47 with error in the DB 47
header
0x8 = invalid parameter
0x9 = invalid type
0xA to 0xF = user specific
0xC = resource 0x0 = read constraint conflict
0x1 = write constraint conflict
0x2 = resource busy
0x3 = resource unavailable
0x4..0x7 = reserved
0x8..0xF = user specific
0xD...0xF = user specific

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 47

 Error Diagnostics
8 Diagnostic procedures

8 Error Diagnostics
8.1 Diagnostic procedures
The diagnostic procedures described in the following section demonstrate the fault
analysis methods for the most frequent problems:
• Servo inverter does not work on PROFIBUS-DP
• Servo inverter cannot be controlled using the DP master
You find additional information in the online help.

48 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Error Diagnostics
Diagnostic procedures
8

Diagnostic problem 1: servo inverter does not work on PROFIBUS.

Initial status:
• Servo inverter is physically connected to PROFIBUS
• Servo inverter configured in DP master and bus communication is
active
↓
Is the bus connector plugged in? No → [A]
Yes
↓
OFF → [B]
Response of the LED BUS FAULT?
ON → [C]
FLASHES
↓
Servo inverter detects baud rate (P092 Baud rate fieldbus). However it was
not configured, or was configured incorrectly, in the DP master.
↓
Check the configured bus address and the bus address set using the DIP
switches (P093 Fieldbus address)
↓
Are the bus addresses the same? No → [D]
Yes
↓
You may have configured an incorrect unit type or defined the configuration
incorrectly
↓
Delete the project planning for the servo inverter from the DP network.
↓
Perform project planning for the servo inverter again, choosing the unit des-
ignation "MOVIAXIS+DFP21."
To simplify the project planning process, use a predefined configuration (for
example, "Param + 3PD"). Do not change any of the preset configuration
data!
Assign the address range for your control system.
↓
Load the configuration in the DP master and restart bus communication.

[A] Check the bus cabling.

[B] Servo inverter is currently exchanging data cyclically with the DP master.
P090 PD configuration displays the configuration with which the servo
inverter is controlled via DP.
↓
Bus communication is functioning properly (for problems with controlling or
setpoint selection via PROFIBUS DP, continue with Diagnostic problem
2).

[C] Servo inverter does not detect the baud rate (P092 Baud rate fieldbus)!
↓
Check the bus cabling.

[D] Adapt the bus addresses.

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 49

 Error Diagnostics
8 Diagnostic procedures

Diagnostic problem 2:
Servo inverter cannot be controlled using the DP master.
Initial status:
• Bus communication with servo inverter OK (LED BUS FAULT off)
• Servo inverter running with 24 V (no supply voltage)
↓
The problem is either caused by incorrect parameter settings in the servo
inverter or a faulty control program in the DP master.
↓
Use P094 ... P097 (setpoint description PO1 ... PO3) to check whether the
setpoints sent by the controller are received correctly.
To do so, send a setpoint other than 0 as a test in each output word.
↓
Setpoints received? Yes → [A]
No
↓
Check that the correct settings have been made for the following inverter
parameters:
• P100 SETPOINT SOURCE FIELDBUS
• P101 CONTROL SIGNAL SOURCE FIELDBUS
• P876 ENABLE PO DATA YES
↓
Settings OK? No → [B]
Yes
↓
The problem may be caused by your control program in the DP master.
↓
Check that the address used in the program is the same as the address for
project planning.
Note that the servo inverter requires consistent data and access must take
place within the control program, if necessary, via special system functions
(for example, Simatic S7, SFC 14/15).

[A] Setpoints are not transferred.

Check whether the servo inverter has been enabled at the terminals.

[B] Correct settings.

50 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Technical Data kVA n
XFP11A option
f 9
i
P Hz

9 Technical Data
9.1 XFP11A option

XFP11A option
Part number 824 932 6
Power consumption P=3W
PROFIBUS protocol-
PROFIBUS DP and DP-V1 to IEC 61158
options
Automatic baud rate
9.6 kBaud ... 12 MBaud
detection
• Via 9-pin sub D plug
Connection technology
• Pin assignment to IEC 61158
Not integrated, implement using suitable PROFIBUS plug with terminat-
Bus termination
ing resistors that can be switched on.
Station address 0 ... 125, adjustable via DIP switches
• SEW_6006.GSD (PROFIBUS DP)
Name of the GSD file
• SEWA6003.GSD (PROFIBUS DP-V1)
DP ident. number 6006hex = 24582dec
• Length: 9 bytes
Application-specific
• Hex parameter settings 00,00,00,06,81,00,00,01,01 = DP diagnostics-
parameter-setting data
alarm = OFF
(Set-Prm application
• Hex parameter settings 00,00,00,06,81,00,00,01,00 = DP diagnostics-
data)
alarm = ON
Diagnostics data • Standard diagnostics: 6 bytes
Tools for startup • PC program MOVITOOLS® MotionStudio

Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 51

 kVA n Technical Data
9 f
XFP11A option
i
P Hz

DP Configuration The servo inverter must be given a specific DP configuration by the DP master to define
the type and number of input and output data used for transmission. The configuration
telegram comprises the DP configurations for slots 1 to 3. The DP configurations column
shows which configuration data is sent to the servo inverter when the PROFIBUS DP
connection is being established.
Slot 1
Parameter data Meaning / comments DP Configuration
configuration
Empty Reserved 0x00

Slot 2
Parameter data Meaning / comments DP Configuration
configuration
Empty No parameter channel configured 0x00
Param (4words) MOVILINK® parameter channel config- 0xC0, 0x87, 0x87
ured

Slot 3
Parameter data Meaning / comments DP Configuration
configuration
Process data exchange via 1 process
1 PD 0xC0, 0xC0, 0xC0
data word
Process data exchange via 2 process
2 PD 0xC0, 0xC1, 0xC1
data words
Process data exchange via 3 process
3 PD 0xC0, 0xC2, 0xC2
data words
Process data exchange via 4 process
4 PD 0xC0, 0xC3, 0xC3
data words
Process data exchange via 5 process
5 PD 0xC0, 0xC4, 0xC4
data words
Process data exchange via 6 process
6 PD 0xC0, 0xC5, 0xC5
data words
Process data exchange via 7 process
7 PD 0xC0, 0xC6, 0xC6
data words
Process data exchange via 8 process
8 PD 0xC0, 0xC7, 0xC7
data words
Process data exchange via 9 process
9 PD 0xC0, 0xC8, 0xC8
data words
Process data exchange via 10 process
1 0PD 0xC0, 0xC9, 0xC9
data words
Process data exchange via 11 process
11 PD 0xC0, 0xCA, 0xCA
data words
Process data exchange via 12 process
12 PD 0xC0, 0xC7, 0xC7
data words
Process data exchange via 13 process
13 PD 0xC0, 0xCC, 0xCC
data words
Process data exchange via 14 process
14 PD 0xC0, 0xCD, 0xCD
data words
Process data exchange via 15 process
15 PD 0xC0, 0xCE, 0xCE
data words
Process data exchange via 16 process
16 PD 0xC0, 0xCF, 0xCF
data words
Process data exchange via 32 process
32 PD 0xC0, 0xDF, 0xDF
data words

52 Manual – MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP

 Index

A Parameter, write 25
Additional code 28 Parameter-setting data 51
Part number 51
B PROFIBUS-DP Timeout 20
Baud rate 51 PROFIBUS-Schnittstelle DFP21B
Bus termination 51 Anschluss 10
C Programming example STEP7 19
Protocol options 51
Communication error, internal 29
Configuration 9 R
Connection READ 24
DFP21B option 10 read parameter 24
Connection technology 51
Control 18 S
Control example 18 Safety notes 5
Safety notes for bus systems 4, 7
D Service coding 29
data format, parameter 26 Service performance, incorrect 24
DFP21B Simatic S7 18
Connection 10 Startup 17
Terminal description 10 Station address 51
Diagnostics 9 STEP7 19
DP ident number 51 Storage 7
E T
Error class 27 Technical Data 51
Error code 27 Terminal description
F DFP21B option 10
Timeout 20
Fault Diagnostics 48
Transport 7
Fieldbus monitor 9
W
G
Warning notes 5
GSD file 51
WRITE 25
I Write parameter 25
Ident number 51
incorrect performance of a service 24
Index addressing 23
internal communication error 29
L
Length specification 29
M
Monitoring functions 9
N
Notes, important 4
P
parameter channel 21
Parameter channel data range 23
parameter channel structure 21
Parameter channel, management, Parameter chan-
nel management 23
Parameter channel, structure 21
Parameter data format 26
Parameter setting via PROFIBUS-DP 21
Parameter, read 24

Manual - MOVIAXIS® MX Fieldbus Interface XFP11A PROFIBUS DP 53

 Address List

Address List
Germany
Headquarters Bruchsal SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-0
Production Ernst-Blickle-Straße 42 Fax +49 7251 75-1970
Sales D-76646 Bruchsal http://www.sew-eurodrive.de
P.O. Box sew@sew-eurodrive.de
Postfach 3023 • D-76642 Bruchsal
Service Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1710
Competence Center Gear units / Ernst-Blickle-Straße 1 Fax +49 7251 75-1711
Motors D-76676 Graben-Neudorf sc-mitte-gm@sew-eurodrive.de
Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1780
Electronics Ernst-Blickle-Straße 42 Fax +49 7251 75-1769
D-76646 Bruchsal sc-mitte-e@sew-eurodrive.de
North SEW-EURODRIVE GmbH & Co KG Tel. +49 5137 8798-30
Alte Ricklinger Straße 40-42 Fax +49 5137 8798-55
D-30823 Garbsen (near Hannover) sc-nord@sew-eurodrive.de
East SEW-EURODRIVE GmbH & Co KG Tel. +49 3764 7606-0
Dänkritzer Weg 1 Fax +49 3764 7606-30
D-08393 Meerane (near Zwickau) sc-ost@sew-eurodrive.de
South SEW-EURODRIVE GmbH & Co KG Tel. +49 89 909552-10
Domagkstraße 5 Fax +49 89 909552-50
D-85551 Kirchheim (near München) sc-sued@sew-eurodrive.de
West SEW-EURODRIVE GmbH & Co KG Tel. +49 2173 8507-30
Siemensstraße 1 Fax +49 2173 8507-55
D-40764 Langenfeld (near Düsseldorf) sc-west@sew-eurodrive.de
Drive Service Hotline / 24 Hour Service +49 180 5 SEWHELP
+49 180 5 7394357
Additional addresses for service in Germany provided on request!

France
Production Haguenau SEW-USOCOME Tel. +33 3 88 73 67 00
Sales 48-54, route de Soufflenheim Fax +33 3 88 73 66 00
Service B. P. 20185 http://www.usocome.com
F-67506 Haguenau Cedex sew@usocome.com
Assembly Bordeaux SEW-USOCOME Tel. +33 5 57 26 39 00
Sales Parc d'activités de Magellan Fax +33 5 57 26 39 09
Service 62, avenue de Magellan - B. P. 182
F-33607 Pessac Cedex
Lyon SEW-USOCOME Tel. +33 4 72 15 37 00
Parc d'Affaires Roosevelt Fax +33 4 72 15 37 15
Rue Jacques Tati
F-69120 Vaulx en Velin
Paris SEW-USOCOME Tel. +33 1 64 42 40 80
Zone industrielle Fax +33 1 64 42 40 88
2, rue Denis Papin
F-77390 Verneuil I'Etang
Additional addresses for service in France provided on request!

Austria
Assembly Wien SEW-EURODRIVE Ges.m.b.H. Tel. +43 1 617 55 00-0
Sales Richard-Strauss-Strasse 24 Fax +43 1 617 55 00-30
Service A-1230 Wien http://sew-eurodrive.at
sew@sew-eurodrive.at

Belgium
Assembly Brüssel SEW Caron-Vector S.A. Tel. +32 10 231-311
Sales Avenue Eiffel 5 Fax +32 10 231-336
Service B-1300 Wavre http://www.caron-vector.be
info@caron-vector.be

Bulgaria
Sales Sofia BEVER-DRIVE GmbH Tel. +359 2 9151160
Bogdanovetz Str.1 Fax +359 2 9151166
BG-1606 Sofia bever@fastbg.net

54
 Address List

Italy
Assembly Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s. Tel. +39 02 96 9801
Sales Via Bernini,14 Fax +39 02 96 799781
Service I-20020 Solaro (Milano) sewit@sew-eurodrive.it

Netherlands
Assembly Rotterdam VECTOR Aandrijftechniek B.V. Tel. +31 10 4463-700
Sales Industrieweg 175 Fax +31 10 4155-552
Service NL-3044 AS Rotterdam http://www.vector.nu
Postbus 10085 info@vector.nu
NL-3004 AB Rotterdam

Switzerland
Assembly Basel Alfred lmhof A.G. Tel. +41 61 417 1717
Sales Jurastrasse 10 Fax +41 61 417 1700
Service CH-4142 Münchenstein bei Basel http://www.imhof-sew.ch
info@imhof-sew.ch

55
Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services

How we’re driving the world

With people who With comprehensive With uncompromising

think fast and With a worldwide With drives and controls knowledge in virtually quality that reduces the
develop the service network that is that automatically every branch of cost and complexity of
future with you. always close at hand. improve your productivity. industry today. daily operations.

SEW-EURODRIVE
Driving the world

With a global presence With innovative With online information

that offers responsive technology that solves and software updates,
and reliable solutions. tomorrow’s problems via the Internet, available
Anywhere. today. around the clock.

SEW-EURODRIVE GmbH & Co KG

Ernst-Blickle-Str. 42 · 76646 Bruchsal / Germany
Tel. +49 7251 75-0 · Fax +49 7251 75-1970
sew@sew-eurodrive.com
www.sew-eurodrive.com