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6.6
6.6.1

PROFIBUS
PROFIBUS Connection

PROFIBUS Connection Position, Address Switch, and Diagnostic LED

The PROFIBUS connection, address switch, and diagnostics LED are located on the control unit.
X126 PROFIBUS connection LEDs RDY DP1 OPT MOD PROFIBUS diagnosis LED

PROFIBUS address switch

Fig. 6-22

View of the control unit with PROFIBUS interface

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PROFIBUS Connection
The PROFIBUS is connected by means of a 9-pin Sub-D socket (X126). The connections are electrically isolated.
Table 6-4 X126 - PROFIBUS connection Pin 1 2
1

Signal name SHIELD M24_SERV RxD/TxD-P CNTR-P DGND VP P24_SERV RxD/TxD-N -

Meaning Ground connection Power supply for teleservice, ground Receive / transmit data P (B/B') Control signal PROFIBUS data reference potential (C/C') Supply voltage plus Power supply for teleservice P, + (24 V) Receive / transmit data N (A/A') Not used

Range 0V RS485 TTL 5 V 10 % 24 V (20.4 V - 28.8 V) RS485

3 4 5
9

6 7 8 9

Connectors
The cables must be connected via PROFIBUS connectors because they contain terminating resistors.

PROFIBUS plug without PG/PC connection 6ES7972-0BA41-0XA0

PROFIBUS plug with PG/PC connection 6ES7972-0BB41-0XA0

Fig. 6-23

PROFIBUS connectors

Bus Terminating Resistor

The bus terminating resistor must be switched on or off depending on its position in the bus, otherwise the data will not be transmitted properly. Principle: the terminating resistors must only be switched on at both ends of the bus line; the resistors must be switched off at all other connectors. The cable shield must be connected at both ends over large-surface area contacts.

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First bus node

Last bus node

on off Bus terminator

on off Bus terminator

on off

From previous bus node

To next bus node

Fig. 6-24

Position of the bus terminating resistors

Cable Routing

Feed the PROFIBUS cable into the electronics module from above Route the bus cable on the line provided and secure it to the line using cable bindings

The cable must be fed through without a bus plug.

Shield connection

Fig. 6-25

Cable routing

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6.6.2 6.6.2.1

Control via PROFIBUS General information

"DP1 (PROFIBUS)" Diagnostics LED

The PROFIBUS diagnostics LED is located on the front of the control unit (see 6.6.1) Its statuses are described in the following table.
Table 6-5 Color -----Green Green Description of the DP1 LED Status OFF Continuous Flashing 0.5 Hz Description Cyclic communication has not (yet) taken place. PROFIBUS is ready for communication and cyclic communication is running Full cyclic communication is not yet taking place. Possible causes: The master is not transmitting setpoints. Red Continuous Cyclic communication has been interrupted.

6.6.2.2

Setting the PROFIBUS Address

Two methods are available for setting the PROFIBUS address: The address switches (DIP switches) on the front of the control unit behind the cover plate (see 6.6.1). If you use the address switch, parameter p0918 is read only and displays the address that is set. If the switch is reset, the new setting does not become effective until the control unit is switched on. Entering parameter p0918 on the operator panel. You can only do this if the address has been set to 0 or 127 using the address switch, that is, all switches from S1 to S7 are set to ON or OFF. In this case, changes become effective immediately.
Table 6-6 Switch S1 S2 S3 S4 S5 S6 S7 PROFIBUS address switches Significance 2 =1 2 =2 22 = 4 2 =8 24 = 16 25 = 32 26 = 64
3 1 0

Technical specifications

Significance

20 21 22 23 24 25 26 1 2 4 8 16 32 64 ON OFF S1 ... S7 ON OFF 1 + 4 + 32 = 37

Example

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6.6.2.3

Setting the PROFIBUS Ident Number

The PROFIBUS Ident Number (PNO-ID) can be set using p2042. SINAMICS can be operated on PROFIBUS with various identities. This allows a PROFIBUS GSD that is independent of the device to be used (e.g. PROFIdrive VIK-NAMUR with Ident Number 3AA0 hex). 0: SINAMICS S/G 1: VIK-NAMUR A new setting only becomes effective after POWER ON, reset or download. NOTE The advantages of Totally Integrated Automation (TIA) can only be utilized when selecting "0".

6.6.3

Telegrams and Process Data

General information
Selecting a telegram via CU parameter p0922 determines which process data is transferred between the master and slave. From the perspective of the slave (SINAMICS G150), the received process data comprises the receive words and the process data to be sent the send words. The receive and send words comprise the following elements: Receive words: Control words and setpoints Send words: Status words and actual values

"Profibus" Default Settings

When the "Profibus" default setting is chosen for command and setpoint selection (see 6.4.1), "Free telegram" (p0922 = 999) is selected. The receive telegram is parameterized as follows as a result of the default setting (plan 622):
CTW 1 N_SETP

The send telegram is parameterized as follows (factory setting, plan 623):

STW 1 N_ACT I_ACT M_ACT P_ACT Fault

You do not have to make any further settings in order to use these telegrams.

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User-Defined Telegram Selection

a. Standard telegrams Standard telegrams are structured in accordance with PROFIdrive profile V3 or internal company specifications. The internal process data links are established automatically in accordance with the telegram number setting in CU parameter p0922. The following standard telegrams can be set via parameter p0922:

p0922 = 1 p0922 = 2 p0922 = 3 p0922 = 4 p0922 = 20

-> Speed control, 2 words -> Speed control, 4 words -> Speed control, 1 position encoder -> Speed control, 2 position encoder -> NAMUR telegram

p0922 = 352 -> PCS7 telegram

Depending on the setting in p0922, the interface mode of the control and status word is automatically set:

p0922 = 1, 352, 999: STW 1/ZSW 1: Interface Mode SINAMICS / MICROMASTER, p2038 = 0 p0922 = 20: STW 1/ZSW 1: Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2

b. Free telegrams (p0922 = 999) Send and receive telegrams can be configured as required by using BICO technology to interconnect the send and receive words. The default process data assigned under a) is retained during the switchover to p0922 = 999, although it can be changed or supplemented at any time. To maintain compliance with the PROFIdrive profile, however, the following assignments should be retained:

Interconnect PZD receive word 1 as control word 1 (CTW 1) Interconnect PZD send word 1 as status word 1 (STW 1)

For more information about possible interconnections, see function diagrams FD2460 and FD2470 and the simplified diagrams 620 to 622.

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Structure of the Telegrams

Table 6-7 Structure of the telegrams PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9 PZD 10

Telegr. PZD 1 1 2 3 4 20 352 999

CTW 1 N_setp_A STW 1 N_act_A CTW 1 STW 1 CTW 1 STW 1 CTW 1 STW 1 N_setp_B N_act_B N_setp_B N_act_B N_setp_B N_act_B CTW2 STW2 CTW2 STW2 CTW2 STW2 G1_CTW G1_STW G1_CTW G1_STW Further allocation: see FP2420 G1_XACT1 G1_XACT2

CTW 1 N_setp_A STW 1 N_act_GLATT Ia_act_GLATT M_act_GLATT P_act_GLATT MELD_NAMUR CTW 1 N_setp_A CTW 1 STW 1 free free PCS7_3 free free PCS7_4 free free PCS7_5 free free PCS7_6 free free free free free free free free free free STW 1 N_act_GLATT Ia_act_GLATT M_act_GLATT WARN_CODE FAULT_CODE

6.6.4
Overview
Table 6-8

Description of Control Words and Setpoints

Overview of control words and setpoints Description Control word 1 (Interface Mode SINAMICS / MICROMASTER, p2038 = 0) Control word 1 (Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2) Control word 2 (Interface Mode SINAMICS / MICROMASTER, p2038 = 0) Speed setpoint A (16 bit) Speed setpoint B (32 bit) PCS7-specific setpoints p1070 p1155 Parameter See Table 6-9 See Table 6-10 Function diagram FD2442 FD2441 FD2444 FD3030 FD3080

Abbreviation CTW 1 CTW 1 CTW 2 N_setp_A N_setp_B PCS7_x

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Control Word 1 (CTW 1) (Interface Mode SINAMICS / MICROMASTER, p2038 = 0)

Table 6-9 Bit Control word 1 (Interface Mode SINAMICS / MICROMASTER, p2038 = 0) Meaning Explanation 0: Deceleration on the deceleration ramp (p1121), then pulse block, main contactor (if fitted) is opened. Operating condition BICO

0 = OFF1 (OFF1) 1 = ON 0 = Coast to stop (OFF2)

BI: p0840

0: Pulse block, main contactor (if fitted) is opened

1 = Do not coast to stop Note: Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845. 0 = Fast stop (OFF3) 0: Deceleration on the rapid-stop ramp (p1115), then pulse block, main contactor (if fitted) is opened.

BI: p0844 BI: p0845

2 1 = No emergency stop

BI: p0848

Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849. 0 = Disable operation 1 = Enable operation 0 = Set ramp generator to zero 1 = Enable ramp-function generator 0 = Freeze ramp generator 1 = Restart ramp generator 1: The speed setpoint at the input of the ramp-function generator is enabled. 6 1 = Enable speed setpoint 0 = Inhibit speed setpoint 0: The speed setpoint at the input of the ramp-function generator is set to zero. The drive brakes in accordance with the rampdown time set in p1121. A positive signal transition acknowledges all the current faults 1 BI: p1142 0: The current setpoint is frozen at the ramp generator output. 1: Enable inverter, pulse enable, ramp-up with active setpoint 0: Pulse inhibit. The motor coasts down. The "Ready To Run" status remains set. 0: The ramp generator output is set to setpoint "0".

BI: p0852

BI: p1140

BI: p1141

7 8 9 10

0 -> 1 = Acknowledge error

BI: p2103

Note: The error is acknowledged at a 0/1 edge via BI: p2103, BI: p2104, or BI: p2105. Reserved Reserved 1: PROFIBUS control words and setpoints are analyzed. 0: PROFIBUS control words and setpoints are not analyzed.

1 = Control via PLC

BI: p0854

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Bit

Meaning

Explanation

Operating condition

BICO

Note: This bit should not be set to "1" until the PROFIBUS slave has returned an appropriate status via STW1.9 = "1". 11 12 13 1 = Direction of rotation changeover Reserved 1 = Increase motorized potentiometer 1 = Decrease motorized potentiometer 14 1: CCW phase sequence 0: CW phase sequence BI: p1113 BI: p1035 BI: p1036

Note: If motorized potentiometer up and down are both 0 or 1 simultaneously, the momentary setpoint is frozen. Reserved

15

Control Word 1 (CTW 1) (Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2)

Table 6-10 Bit Control word 1 (Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2) Meaning Explanation 0: Deceleration on the deceleration ramp (p1121), then pulse block, main contactor (if fitted) is opened. Operating condition BICO

0 = OFF1 (OFF1) 1 = ON 0 = Coast to stop (OFF2)

BI: p0840

0: Pulse block, main contactor (if fitted) is opened

1 = Do not coast to stop Note: Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845. 0 = Fast stop (OFF3) 0: Deceleration on the rapid-stop ramp (p1115), then pulse block, main contactor (if fitted) is opened.

BI: p0844 BI: p0845

2 1 = No emergency stop

BI: p0848

Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849. 0 = Disable operation 1 = Enable operation 0 = Set ramp generator to zero 1 = Enable ramp-function generator 0 = Freeze ramp generator 0: The current setpoint is frozen at the ramp generator output. 1: Enable inverter, pulse enable, ramp-up with active setpoint 0: Pulse inhibit. The motor coasts down. The "Ready To Run" status remains set. 0: The ramp generator output is set to setpoint "0".

BI: p0852

BI: p1140

BI: p1141

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Bit

Meaning 1 = Restart ramp generator

Explanation

Operating condition

BICO

1: The speed setpoint at the input of the ramp-function generator is enabled. 6 1 = Enable speed setpoint 0 = Inhibit speed setpoint 0: The speed setpoint at the input of the ramp-function generator is set to zero. The drive brakes in accordance with the rampdown time set in p1121. A positive signal transition acknowledges all the current faults 1 BI: p1142

7 8 9

0 -> 1 = Acknowledge error

BI: p2103

Note: The error is acknowledged at a 0/1 edge via BI: p2103, BI: p2104, or BI: p2105. Reserved Reserved 1: PROFIBUS control words and setpoints are analyzed. 0: PROFIBUS control words and setpoints are not analyzed.

1 = Control via PLC 10

BI: p0854

Note: This bit should not be set to "1" until the PROFIBUS slave has returned an appropriate status via STW1.9 = "1". 11 12 13 14 1 = Direction of rotation changeover Reserved Reserved Reserved 1 = Data set 2 0 = Data set 1 1: Parameter data set changeover (DDS) data set 2 is active 0: Parameter data set changeover (DDS) data set 1 is active 1: CCW phase sequence 0: CW phase sequence BI: p1113

15

BI: p0820

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Speed Setpoint (N_Setp_A)

Speed setpoint with 16-bit resolution incl. sign bit. Bit 15 determines the setpoint sign:

Bit = 0 Bit = 1

positive setpoint negative setpoint

The speed setpoint is normalized via parameter p2000. N_setp_A = 4000 hex or 16384 dec = speed in p2000

Speed Setpoint (N_Setp_B)

Speed setpoint with 32-bit resolution incl. sign bit. Bit 32 determines the setpoint sign:

Bit = 0 Bit = 1

positive setpoint negative setpoint

The speed setpoint is normalized via parameter p2000. N_setp_B = 4000 0000 hex or 1073741824 dec = speed in p2000

PCS7-Specific Setpoints (PCS7 x)

Depending on the configuration, KP adaptation values for the speed controller and acceleration values or other setpoints, for example, are transferred here. Depending on their application, these variables are generally normalized via parameters p2000 to p2004.

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6.6.5
Overview
Table 6-11

Description of Status Words and Actual Values

Overview of status words and actual values Description Status word 1 (Interface Mode SINAMICS / MICROMASTER, p2038 = 0) Status word 1 (Interface Mode PROFIdrive VIKNAMUR, p2038 = 2) Status word 2 (Interface Mode SINAMICS / MICROMASTER, p2038 = 0) Actual speed value A (16 bit) Actual speed value B (32 bit) Actual current Actual torque value Actual power value Actual speed value smoothed Actual current smoothed Actual torque value smoothed Actual power value smoothed Alarm code Error code r0063[0] r0063 r0068[0] r0080[0] r0082[0] r0063[1] r0068[1] r0080[1] r0082[1] r3113, See Table 6-14 r2132 r2131 Parameter See Table 6-12 Function diagram FD2452

Abbreviation STW 1

See Table 6-13

FD2451

STW 1

FD2454

STW 2 N_act_A N_act_B Ia_act M_act P_act N_act_GLATT Ia_act_GLATT M_act_GLATT P_act_GLATT Alarm code Fault code

FD4715 FD4710 FD6714 FD6714 FD6714 FD4715 FD6714 FD6714 FD6714 -FD8065 FD8060

MELD_NAMUR VIK-NAMUR signaling bit bar

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Status Word 1 (Interface Mode SINAMICS / MICROMASTER, p2038 = 0)

Table 6-12 Bit 0 Status word 1 (Interface Mode SINAMICS / MICROMASTER, p2038 = 0) Meaning 1 Ready to power up 0 1 1 Ready to run 0 1 2 Operation enabled 0 1 Explanation Ready to power up Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited. Not ready to power up Ready to run Voltage at line module (i.e. line contactor closed (if used)), field being built up. Not ready to run Cause: No ON command has been issued. Operation enabled Enable electronics and pulses, then ramp up to active setpoint. Operation inhibited Fault present The drive is faulty and is, therefore, out of service. The drive switches to Power-on inhibit once the fault has been acknowledged and the cause has been remedied. The active faults are stored in the fault buffer. No fault present No active fault in the fault buffer. No OFF2 active Coasting active (OFF2) An OFF2 command is present. No OFF3 active Coasting active (OFF3) An OFF3 command is present. Power-on inhibit A restart is only possible through OFF1 followed by ON. No power-up inhibit Power up is possible. Alarm present The drive is operational again. No acknowledgement necessary. The active alarms are stored in the alarm buffer. No alarm present No active alarm is present in the alarm buffer. Setpoint/actual value monitoring within tolerance bandwidth Actual value within a tolerance bandwidth; dynamic overshoot or shortfall permitted for t < tmax, tmax can be parameterized. See FD8010 Setpoint/actual value monitoring not within tolerance band BICO BO: r0899.0

BO: r0899.1

BO: r0899.2

Fault present 0 1 0 1 0 1

BO: r2139.3

No OFF2 active / coasting active (OFF2)

BO: r0899.4

0 = Fast stop active (OFF3)

BO: r0899.5

Power-on inhibit 0 1

BO: r0899.6

Alarm present 0 1 Speed setpoint/actual value deviation within tolerance bandwidth 0

BO: r2139.7

BO: r2197.7

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Bit 9

Meaning Control requested for PLC A "1" is always present f or n comparison value reached or exceeded 1 0 1 0

Explanation Control from the PLC Local operation f or n comparison value reached or exceeded f or n comparison value not reached

BICO BO: r0899.9 BO: r2199.1

10

11 12 13 14

Note: The message is parameterized as follows: p2141 Threshold value p2142 Hysteresis I, M, or P limit not reached / 1 I, M or P limit not reached I, M, or P limit reached 0 I, M or P limit reached Reserved Alarm, motor overtemperature Motor rotates forwards (n_act >= 0) 0 = Alarm, power module thermal overload 1 0 1 0 1 0 Motor overtemperature alarm active Motor overtemperature alarm not active Motor rotates forwards (n_act 0) Motor not rotating forwards (n_act < 0)

BO: r1407.7

BO: r2135.14 BO: r2197.3

15

No alarm present BO: Alarm, power module thermal overload The overtemperature alarm for the power module is r2135.15 active.

Status Word 1 (Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2)

Table 6-13 Bit 0 Status word 1 (Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2) Meaning 1 Ready to power up 0 1 1 Ready to run 0 1 2 Operation enabled 0 1 Explanation Ready to power up Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited. Not ready to power up Ready to run Voltage at line module (i.e. line contactor closed (if used)), field being built up. Not ready to run Cause: No ON command has been issued. Operation enabled Enable electronics and pulses, then ramp up to active setpoint. Operation inhibited Fault present The drive is faulty and is, therefore, out of service. The drive switches to Power-on inhibit once the fault has been acknowledged and the cause has been remedied. The active faults are stored in the fault buffer. No fault present No active fault in the fault buffer. BICO BO: r0899.0

BO: r0899.1

BO: r0899.2

Fault present 0

BO: r2139.3

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Bit 4

Meaning No OFF2 active / coasting active (OFF2) 1 0 1

Explanation No OFF2 active Coasting active (OFF2) An OFF2 command is present. No OFF3 active Coasting active (OFF3) An OFF3 command is present. Power-on inhibit A restart is only possible through OFF1 followed by ON. No power-up inhibit Power up is possible. Alarm present The drive is operational again. No acknowledgement necessary. The active alarms are stored in the alarm buffer. No alarm present No active alarm is present in the alarm buffer. Setpoint/actual value monitoring within tolerance bandwidth Actual value within a tolerance bandwidth; dynamic overshoot or shortfall permitted for t < tmax, tmax can be parameterized. See FD8010 Setpoint/actual value monitoring not within tolerance band Control from the PLC Local operation f or n comparison value reached or exceeded f or n comparison value not reached

BICO BO: r0899.4

0 = Fast stop active (OFF3)

0 1

BO: r0899.5

Power-on inhibit 0 1

BO: r0899.6

Alarm present 0 1 Speed setpoint/actual value deviation within tolerance bandwidth 0

BO: r2139.7

BO: r2197.7

Control requested for PLC A "1" is always present f or n comparison value reached or exceeded

1 0 1 0

BO: r0899.9 BO: r2199.1

10

11 12 13 14 15

Note: The message is parameterized as follows: p2141 Threshold value p2142 Hysteresis I, M, or P limit not reached / 1 I, M or P limit not reached I, M, or P limit reached 0 I, M or P limit reached Reserved Alarm, motor overtemperature Motor rotates forwards (n_act >= 0) Reserved 1 0 1 0 Motor overtemperature alarm active Motor overtemperature alarm not active Motor rotates forwards (n_act 0) Motor not rotating forwards (n_act < 0)

BO: r1407.7

BO: r2135.14 BO: r2197.3

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NAMUR signaling bit bar

Table 6-14 Bit 00 01 02 03 04 05 06 07 08 09 10 11 15 Line supply fault DC link overvoltage Fault, drive converter power electronics Overtemperature, drive converter Ground fault Motor overload Bus error External safety trip Fault, motor encoder Error, internal communications Fault, infeed Other faults/errors NAMUR signaling bit bar Meaning Fault, drive converter data electronics / SW error No No No No No No No No No No No No No 0-signal 1-signal Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes

Actual Speed Value (N_Act_A, N_Act_GLATT)

Actual speed value with 16-bit resolution incl. sign bit. Bit 15 determines the actual value sign:

Bit = 0 Bit = 1

positive actual value negative actual value

The actual speed value is normalized via parameter p2000. N_act = 4000 hex or 16384 dec = speed in p2000

Actual Speed Value (N_Act_B)

Actual speed value with 32-bit resolution incl. sign bit. Bit 32 determines the actual value sign:

Bit = 0 Bit = 1

positive actual value negative actual value

The actual speed value is normalized via parameter p2000. N_act_B = 4000 0000 hex or 1073741824 dec = speed in p2000

Actual Current Value (Ia_Act, Ia_Act_GLATT)

Actual current value with 16-bit resolution The actual current value is normalized via parameter p2002. Ia_act = 4000 hex or 16384 dec = current in p2002

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Actual Torque Value (M_Act, M_Act_GLATT)

Actual torque value with 16-bit resolution incl. sign bit. Bit 15 determines the actual value sign:

Bit = 0 Bit = 1

positive actual value negative actual value

The actual torque value is normalized via parameter p2003. M_act = 4000 hex or 16384 dec = torque in p2003

Actual Power Value (P_Act, P_Act_GLATT)

Actual power value with 16-bit resolution incl. sign bit. Bit 15 determines the actual value sign:

Bit = 0 Bit = 1

positive actual value negative actual value

The actual power value is normalized via parameter p2004. P_act = 4000 hex or 16384 dec = power in p2004

Alarm Code (WARN_CODE)

The number of the current alarm and the last alarm to occur are output here. Decimal notation is used (i.e. value 7910 dec = A07910 (motor overtemperature)).

Fault Code (FAULT_CODE)

The number of the oldest fault still active is output here. Decimal notation is used (i.e. value 7860 dec = F07860 (external fault 1)).

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