Kollmorgen AKT-PRB-000-000, Installation Manual

Page 1: ...al Installation Manual Revision 1 1 June 2011 AKT PRB 000 000 PROFIBUS Coupler Keep all manuals as a product component during the life span of the product Pass all manuals to future users owners of th...

Page 2: ...parties translated copied or duplicated in any form in whole or in part without the express written permission of Kollmorgen Registered Trademarks Kollmorgen is a registered trademark of Danaher Corp...

Page 3: ...ower Contacts 16 3 4 Power Supply 17 3 4 1 Power Contacts Supply Up 18 3 4 2 Power Contacts 18 3 4 3 Configuration and Programming Interface 18 3 4 4 Electrical Isolation 19 3 5 PROFIBUS Connection 19...

Page 4: ...4 2 Reserved Bus Terminals 49 7 4 3 Assign Bus Terminals to Freely Choose Process Image Addresses 49 7 4 4 Setting the Multi configuration Mode 49 7 4 5 Rules for Multi configuration Mode 49 7 4 6 En...

Page 5: ...Performance Box Controllers INTRODUCTION 5 Appendix B B 1 AKT PRB 000 000 Mechanical Drawing 76...

Page 6: ...ons other than those described in the documentation are not permitted and nullify any liability from Kollmorgen 1 3 Personnel Qualification This description is only intended for the use of trained spe...

Page 7: ...Coupler inserts further signals in this byte Inputs and outputs are clearly separated The Bus Coupler automatically begins a further byte if the number of inputs or outputs exceeds 8 bits The Bus Coup...

Page 8: ...tandard Bus current 4 max 500 mA Starting current 2 5 x continuous current Standard Bus current up to 1750 mA BK3x00 Power contact voltage Up Maximum 24 VDC Power contact current load Up Maximum 10 A...

Page 9: ...are The controller can therefore be located at an operating panel in a control room or at some similar place The Bus Terminals form the decentralized input output level of the controller in the contro...

Page 10: ...locations within the terminal strip Up to 64 terminals can be used within one terminal strip This count does include potential feed terminals but not the end terminal Bus Couplers for Various Fieldbu...

Page 11: ...meter data this is indicated in the diagnostic data and the slave either remains in or enters the WAIT PRM state Configuration Data The configuration data is sent from the master to the slave in the C...

Page 12: ...xchange telegram States in the Master The master distinguishes between the CLEAR state all outputs are set to the Fail_Safe value and the OPERATE state all outputs have the process value The Master is...

Page 13: ...cal volume and high modularity When planning a project it must be assumed that at least one Bus Coupler and a number of Bus Terminals will be used The mechanical dimensions of the Bus Couplers are ind...

Page 14: ...attached to the Bus Coupler on the right hand side When plugging the components together be sure to assemble the housings with groove and tongue against each other A properly working connection can n...

Page 15: ...holding the wire securely and permanently 3 3 Wiring The section provides potential groups insulation testing and PE information for the PROFIBUS Coupler 3 3 1 Potential Groups The Bus Terminals stati...

Page 16: ...r Bus Terminal Controller can also be made use of to feed the power contacts 3 3 3 PE Power Contacts The power contact labeled PE can be used as a protective earth For safety reasons this contact mate...

Page 17: ...and over the Standard Bus the electronics of the Bus Terminals It is electrically separated from the potential of the field level DANGER For the compliance of the UL requirements Us should only be sup...

Page 18: ...s Terminal Controller there are three spring contacts for the power contact connections The spring contacts are hidden in slots so that they can not be accidentally touched By attaching a Bus Terminal...

Page 19: ...Bus is thus electrically isolated from everything else 3 5 PROFIBUS Connection This section provides information about the PROFIBUS connection for the PROFIBUS Coupler 3 5 1 M12 Circular Connector The...

Page 20: ...s this can lead to destruction of the device Pin 3 and pin 8 are the Profibus signals These must never be swapped over as this will prevent communication Shield is connected to the D Sub housing that...

Page 21: ...ed in the Profibus standard see Profibus layer 1 Physical Layer The types of area where a fieldbus system can be used is largely determined by the choice of the transmission medium and the physical bu...

Page 22: ...d rates greater than 1 5 MBaud The correct cable is a basic requirement for correct operation of the bus system If a simple 1 5 Mbaud cable is used reflections and excessive attenuation can lead to so...

Page 23: ...gment consists of at most 32 devices 126 devices are permitted in a Profibus network Repeaters are required to refresh the signal in order to achieve this number Each repeater is counted as one device...

Page 24: ...een A and B at the end of the lead approx 110 Ohm 3 Resistance between A at the start and A at the end of the lead approx 0 Ohm 4 Resistance between B at the start and B at the end of the lead approx...

Page 25: ...while this is happening After completion of the self test the Bus Coupler starts to test the attached Bus Terminals the Bus Terminal Test and reads in the configuration The Bus Terminal configuration...

Page 26: ...in the KAS Integrated Development Environment IDE 5 1 Scan Devices For ease of use the KAS IDE Scan Device feature provides automatic integration of I O devices This allows you to automatically locate...

Page 27: ...UTOMATIC CONFIGURATION 27 Also I O slices can also be added in the project explorer of the IDE For more detailed information on these procedures refer to the section EtherCAT Scan Device in the KAS ID...

Page 28: ...are indicated in the last column by Extended The standard settings are contained both in the standard and the extended GSE file Byte Bit Value Description GSE file 0bin MSAC_C1 connection is not acti...

Page 29: ...automatic Standard Bus reset Standard 0bin Terminal diagnosis is not active default see Terminal diagnosis 7 1 1bin Terminal diagnosis is active Standard 0bin Diagnostic data for digital terminals inc...

Page 30: ...PROFIBUS error Standard Bus outputs become 0 10 0 1 10bin Reaction to Standard Bus error DP inputs remain unchanged Standard 00bin Reaction to Standard Bus error DP data exchange is abandoned default...

Page 31: ...guration mode Extended 40 0 7 X Maximum length of the configuration data see Multi configuration mode Extended 41 56 0 7 X Assignment of terminals 65 to 128 see Multi configuration mode Extended 6 2 C...

Page 32: ...ed in regardless of whether digital terminals are plugged in between the complex terminals or of how many there may be Complex Function Module Description Associated CfgData as hex code 0xB4 in GSE fi...

Page 33: ...byte oriented analog or complex signal processing Two groups are created one for inputs and the other for outputs Each group has the byte oriented channels in ascending sequence starting from the low...

Page 34: ...Image Once it has been switched on the Bus Coupler finds out how many Bus Terminals are inserted and creates an assignment list The analog and digital channels divided into inputs and outputs are ass...

Page 35: ...ximately 10 by means of the following formula 4 channel terminals or terminals with more than 6 bytes of data require two or more Standard Bus cycles The number of Standard Bus cycles is in register o...

Page 36: ...Standard Bus cycle is called from the main task Acyclic communication or events result in heavy jitter in the Standard Bus cycle DPV1 terminal diagnosis etc because all of these functions are also cal...

Page 37: ...tion of the Standard Bus cycle plus approx 20 to allow for the lower priority processes on the coupler is shorter than the DP cycle time Synchronous Mode With Optimized Input Update one cycle In optim...

Page 38: ...ly after reception of the Data_Exchange telegram from the master which means that the outputs are generated as quickly as possible The second cycle is started after a delay time that begins after comp...

Page 39: ...er precisely one or two Standard Bus cycles are always being carried out during one DP cycle a Standard Bus cycle counter can be transferred in the input data from the Bus Coupler to the master This i...

Page 40: ...is addressed via an index Index Access Description 1 2 R W Module assignment in multi configuration mode 5 R Firmware information 9 19 R W Device configuration Table 9 90 R Standard Bus status Table 9...

Page 41: ...of the function module 127 R W 4 32 must be divisible by 4 Parameters 0x03F8 0x03FF of the function module 6 4 2 DPV1 at the Coupler This section covers DPV1 at the coupler Module Assignment The mult...

Page 42: ...configured module missing 1 1 15 Byte 15 bit 6 7 Assignment of module 64 0 DP DataExchange default 2 disabled configured module missing Byte 0 bit 0 1 Assignment of module 65 0 DP DataExchange default...

Page 43: ...e table 0 register 247 0 5 10 11 Reserved Terminal Composition The terminal composition can be read by DPV1 A word is transmitted for each terminal containing the terminal number for complex terminals...

Page 44: ...n The same data can also be accessed by a DPV1 Write In this case the Bus Coupler compares the value that has been written with the true value returning a negative DPV1 Write response if the data does...

Page 45: ...dard Bus error 1 Bus Terminal number following which the Standard Bus error is detected Diagnostic data Cycle Time Measuring The duration of the process data cycle can be measured with DPV1 The cycle...

Page 46: ...ata Description Byte 0 1 Minimum cycle time in s INTEL format low byte first Byte 2 3 Minimum cycle time in s INTEL format low byte first Byte 4 5 Mean cycle time in s INTEL format low byte first 0 98...

Page 47: ...with the structure of the process image in the coupler The decision on a module to module basis as to whether the module is mapped in compact or complex form which would otherwise be possible under DP...

Page 48: ...he CfgData check can be set in the UserPrmData Byte Bit Value Description 1 0 1bin CfgData checking is deactivated In general the I O data from the modules terminals or IE modules is written by the co...

Page 49: ...tal terminal within the existing terminal structure which can for instance be useful if digital terminals with different input voltages are used also has the consequence that the offsets of the digita...

Page 50: ...gree with the non disabled Bus Terminals to be expected from the DP configuration the Bus Terminal will normally set the Stat_Diag bit in the diagnostic data with the consequence that it is not yet re...

Page 51: ...64 0 DP DataExchange default 2 disabled Multi Config mode 41 0 1 Assignment for terminal 65 0 DP DataExchange default 2 disabled Multi Config mode 56 6 7 Assignment for terminal 128 0 DP DataExchange...

Page 52: ...sters 0 31 Register Bit Description 0 1 Assignment for terminal 1 0 DP DataExchange default 2 disabled Multi Config mode 2 3 Assignment for terminal 2 0 DP DataExchange default 2 disabled Multi Config...

Page 53: ...ps 7 5 2 Exceeding the Output Data Length OutputData By default a maximum of 128 bytes of output data is set on the Bus Coupler The maximum length of the DP buffer can be changed The amount however by...

Page 54: ...on or a software reset before the new value is adopted Byte Bit Description 12 4 7 15 dec or 0xF hex the maximum DP buffer lengths are changed using the values from UserPrmData 37 40 37 0 7 Maximum l...

Page 55: ...ltage The left hand LED indicates the presence of the 24 V supply for the Bus Coupler The right hand LED indicates the presence of the supply to the power contacts The two Standard Bus LEDs I O RUN I...

Page 56: ...DP start up Off Off Off Data exchange with the master is not started Starts the PLC Off On On No bus activity Start the master check the bus cable Off On Off blinking Bus error with reaction to PROFI...

Page 57: ...o many entries in the table for the programmed configuration 1 pulse 2 Unknown data type Software update required for the coupler 0 Programmed configuration incorrect Check programmed configuration fo...

Page 58: ...o longer correct 16 pulses n Length of the Standard Bus data bit length is no longer correct n bit length after booting 17 pulses n Number of Bus Terminals is no longer correct n number of Bus Termina...

Page 59: ...a Set_Prm or Global_Control 0x00 5 InvalidSlaveResponse slave response not DP compatible 0x00 6 PrmFault slave reports a Parameterization error 0x00 7 MasterLock slave currently exchanging data with a...

Page 60: ...data is too great too many modules are inserted 10 7 The length of the DP output data is too great too many modules are inserted 11 0 7 Error on an internal bus Standard Bus IP Link etc 12 0 7 Error c...

Page 61: ...it 6 of the status bytes is set except for the serial interface modules where bit 3 of the status byte is set 17 6 7 Associated channel number 0 3 17 0 5 Status byte of the faulty channel bits 0 5 18...

Page 62: ...as containing an error the offset of the faulty byte 1 Error code 3 Error code 3 indicates that a combination of functions selected in the UserPrmData is not allowed The error argument describes the...

Page 63: ...error Error Argument Description 1 The length of the CfgData received is not correct 2 The syntax of the CfgData received is not correct 3 The length of the DP input data that has been calculated fro...

Page 64: ...rd Bus is interrupted or suffers from a relatively long malfunction the coupler enters the Standard Bus error state Depending on the setting made for Reaction to Standard Bus error in the UserPrmData...

Page 65: ...ly by means of a DPV1 Write Slot number Index Byte Value 0 2 1 1 2 0 0 99 3 0 8 3 2 Terminal Diagnostics If terminal diagnosis has been activated then each channel of a complex terminals is examined t...

Page 66: ...after that If the diagnostic bits of digital terminals with diagnosis or the status of complex terminals is mapped into the process image then the controller program always has consistency between th...

Page 67: ...n the DP configuration tool Standard GSE files The standard GSE file contains all the important and fundamental properties required for operation of any master controller The Bus Coupler can be parame...

Page 68: ...pp 1 12 MBaud MaxTsdr_9 6 60 MaxTsdr_19 2 60 MaxTsdr_93 75 60 MaxTsdr_187 5 60 MaxTsdr_500 100 MaxTsdr_1 5M 150 MaxTsdr_3M 250 MaxTsdr_6M 350 MaxTsdr_12M 550 Redundancy 0 No redundant data transmissio...

Page 69: ...12 Value 13 Error in Terminal No 13 Value 14 Error in Terminal No 14 Value 15 Error in Terminal No 15 Value 16 Error in Terminal No 16 Value 17 Error in Terminal No 17 Value 18 Error in Terminal No 18...

Page 70: ...it_Diag_Area_End Terminal Types Module SPS Interface 0xB1 EndModule Module KL1501 Alternative 4 Bytes 0xB3 EndModule Module KL1501 Alternative 6 Bytes 0xB5 EndModule Module KL1501 Standard 5 Bytes 0xB...

Page 71: ...Module Module KL6001 Alternative 4 Bytes 0xB3 EndModule Module KL6001 Alternative 6 Bytes 0xB5 EndModule Module KL6001 Standard 2 Bytes 0xB1 EndModule Module KL6001 Standard 3 Bytes 0xB2 EndModule Mod...

Page 72: ...96 Bit Digital Inputs 0x1B EndModule Module 104 Bit Digital Inputs 0x1C EndModule Module 112 Bit Digital Inputs 0x1D EndModule Module 120 Bit Digital Inputs 0x1E EndModule Module 128 Bit Digital Input...

Page 73: ...NTEL Text 1 MOTOROLA EndPrmText Reference No 6 PrmText 7 Text 0 Terminal Bus Cycle is stopped Text 1 Outputs are set to 0 Text 2 Outputs remain unchanged EndPrmText Reference No 7 PrmText 8 Text 0 Dat...

Page 74: ...Data 8 Reaction to Terminal Bus Error Reference No 8 BitArea 2 3 0 0 2 Default 0 Min 0 Max 2 Prm_Text_Ref 8 Reference to Text Definition 8 EndExtUserPrmData ExtUserPrmData 9 Max Length of Diagnostic D...

Page 75: ...5 Ext_User_Prm_Data_Ref 9 6 Reference No 6 Ext_User_Prm_Data_Const 10 0x00 Bits 4 7 are assigned 0 Ext_User_Prm_Data_Ref 10 7 Reference No 7 Ext_User_Prm_Data_Ref 10 8 Reference No 8 Ext_User_Prm_Data...

Page 76: ...I O Terminal APPENDIX B 76 APPENDIX B This section provides the mechanical drawing of the I O terminal B 1 AKT PRB 000 000 Mechanical Drawing...

Page 77: ...h solutions that are unmatched in performance reliability and ease of use giving machine builders an irrefutable marketplace advantage For assistance with your application needs contact us at 540 633...