Actuators SGC(R)/SVC(R)/SGM(R)/SVM(R) Profibus DP

Transcription

1 SGC()/SVC()/SGM()/SVM() Profibus DP Manual Device integration Fieldbus

2 Table of contents SGC()/SVC()/SGM()/SVM() Profibus DP ead operation instructions first. Observe safety instructions. Purpose of the document: This document contains information for the commissioning staff of the distributed control system and DCS software engineers. This document is intended to support the actuator integration into the DCS via fieldbus interface. eference documents: Operation instructions (Assembly, operation, commissioning) for actuator eference documents can be downloaded from the Internet ( or ordered directly from AUMA (refer to <Addresses>). Table of contents. Safety instructions..... Basic information on safety.. ange of application.. Warnings and notes.. eferences and symbols. General information about Profibus DP..... Basic characteristics.. Basic functions of Profibus DP.. Transfer mode.. Bus access.. Functionality.. Protective functions.7. Device types. Commissioning..... Introduction.. Parameter setting.. Bus address (slave address).. Configuring the Profibus DP interface.. Communication start-up.. AUMA user parameters (AUMA specific parameters)... Process representation input arrangement (user parameters)... Settable (user definable) signals.7. Communication monitoring.7.. Connection monitoring of the Profibus DP communication.7.. Fail Safe and Global Control Clear telegrams.8. I & M functions. Description of the data interface..... Input data (process representation input) signals... Process representation input (default process representation)... Description of the bytes in the process representation input.. Output data (process representation output)... Process representation output arrangement... Description of the output data.. Profibus DP V services Page

3 SGC()/SVC()/SGM()/SVM() Profibus DP Table of contents. Description of the Profibus DP board..... Indications (LEDs). Corrective action..... Troubleshooting.. Diagnostics 7. Technical data Profibus DP interface 8. Appendix Index... Addresses

4 Safety instructions SGC()/SVC()/SGM()/SVM() Profibus DP. Safety instructions.. Basic information on safety Standards/directives AUMA products are designed and manufactured in compliance with recognised standards and directives. This is certified in a Declaration of Incorporation and a EC Declaration of Conformity. The end user or the contractor must ensure that all legal requirements, directives, guidelines, national regulations and recommendations with respect to assembly, electrical connection, commissioning and operation are met at the place of installation. They include among others applicable configuration guidelines for fieldbus applications. Safety instructions/warnings Qualification of staff All personnel working with this device must be familiar with the safety and warning instructions in this manual and observe the instructions given. Safety instructions and warning signs on the device must be observed to avoid personal injury or property damage. Assembly, electrical connection, commissioning, operation, and maintenance must be carried out exclusively by suitably qualified personnel having been authorised by the end user or contractor of the plant only. Prior to working on this product, the staff must have thoroughly read and understood these instructions and, furthermore, know and observe officially recognised rules regarding occupational health and safety. Commissioning Operation Prior to commissioning, it is important to check that all settings meet the requirements of the application. Incorrect settings might present a danger to the application, e.g. cause damage to the valve or the installation. The manufacturer will not be held liable for any consequential damage. Such risk lies entirely with the user. Prerequisites for safe and smooth operation: Correct transport, proper storage, mounting and installation, as well as careful commissioning. Only operate the device if it is in perfect condition while observing these instructions. Immediately report any faults and damage and allow for corrective measures. Observe recognised rules for occupational health and safety. Observe the national regulations. Protective measures Maintenance The end user or the contractor are responsible for implementing required protective measures on site, such as enclosures, barriers, or personal protective equipment for the staff. Any device modification requires the consent of the manufacturer... ange of application.. Warnings and notes AUMA actuator controls are exclusively designed for the operation of AUMA actuators. Other applications require explicit (written) confirmation by the manufacturer. The following applications are not permitted, e.g.: motor control pump control No liability can be assumed for inappropriate or unintended use. Observance of these operation instructions is considered as part of the device's designated use. The following warnings draw special attention to safety-relevant procedures in these operation instructions, each marked by the appropriate signal word (DANGE, WANING, CAUTION, NOTICE).

5 SGC()/SVC()/SGM()/SVM() Profibus DP Safety instructions Indicates an imminently hazardous situation with a high level of risk. Failure to observe this warning could result in death or serious injury. Indicates a potentially hazardous situation with a medium level of risk. Failure to observe this warning could result in death or serious injury. Indicates a potentially hazardous situation with a low level of risk. Failure to observe this warning may result in minor or moderate injury. May also be used with property damage. Potentially hazardous situation. Failure to observe this warning may result in property damage. Is not used for personal injury. Arrangement and typographic structure of the warnings of hazard and respective source! Potential consequence(s) in case of non-observance (option) Measures to avoid the danger Further measure(s) Safety alert symbol warns of a potential personal injury hazard... eferences and symbols The signal word (here: DANGE) indicates the level of hazard. The following references and symbols are used in these instructions: Information The term Information preceding the text indicates important notes and information. Symbol for CLOSED (valve closed) Symbol for OPEN (valve open) Important information before the next step. This symbol indicates what is required for the next step or what has to be prepared or observed. < > eference to other sections Terms in brackets shown above refer to other sections of the document which provide further information on this topic. These terms are either listed in the index, a heading or in the table of contents and may quickly be found.

6 General information about Profibus DP SGC()/SVC()/SGM()/SVM() Profibus DP. General information about Profibus DP.. Basic characteristics For exchange of information among automation systems and between automation systems and the connected distributed field devices, the use of serial fieldbus systems for communication is state-of-the-art. Thousands of applications have proved impressively that, in comparison with conventional technology, cost savings of up to % in wiring, commissioning, and maintenance are achieved by using fieldbus technology. While in the past the fieldbus systems used were often manufacturer specific and incompatible with other bus systems, the systems employed today are almost exclusively open and standardized. This means that the user does not depend on individual suppliers and can choose within a large product range the most suitable product at the most competitive price. Profibus DP is the leading open fieldbus system in Europe and is also used successfully throughout the world. The application range includes automation in the areas of manufacturing, processing, and building. Profibus DP is an international, open fieldbus protocol which has been standardized in the fieldbus standards IEC 8 and IEC 78. This standardization ensures that the investments by manufacturers and users are protected to the best possible degree and the independence of the manufacturer is guaranteed. Profibus DP defines the technical and functional features of a serial fieldbus system allowing interconnection of distributed, digital automation devices. Profibus DP distinguishes between master and slave devices. Profibus DP is designed for fast data transmission on the field level. Here, central control devices, such as a PLC or PC, communicate via a fast serial connection with peripheral field devices such as input/output devices, valves, and actuators. Data exchange among these field devices is based on cyclic communication. The respectively necessary communication functions are defined by the Profibus DP basic functions according to IEC 8 and IEC 78. Master devices Slave device Master devices control data traffic on the bus. A master is allowed to send messages without an external request. Within the Profibus protocol, masters are also called active devices. Slave devices such as AUMA Profibus DP actuators are peripheral devices. Typical slave devices are input/output devices, valves, actuators, and measuring transducers. They do not have bus access rights, i.e. they may only acknowledge received messages or, at the request of a master, transmit messages to that master. Slaves are also called passive devices... Basic functions of Profibus DP.. Transfer mode.. Bus access.. Functionality On a cyclic basis, the master reads the input information from the slaves and writes the output information to the slaves. In addition to this cyclic data transfer of the process representation, Profibus DP also provides powerful functions for diagnostics and commissioning. Data traffic is monitored through the monitoring functions on the master and slave side. S-8 twisted pair cable or fibre optic cable AUMA actuators support baud rates up to. Mbits/s. Token-passing between the masters and polling between master and slave Mono-master or multi-master systems are possible. Master and slave devices: max. devices at a bus Peer-to-peer (process data exchange [DATA EX]) or Multicast (control commands to all slaves)

7 SGC()/SVC()/SGM()/SVM() Profibus DP General information about Profibus DP.. Protective functions.7. Device types Cyclic process data exchange between DP master and DP slaves. Additional acyclic data exchange between DP master and DP slaves for Profibus DP with V services. Checking the configuration of the DP slaves Synchronisation of inputs and/or outputs All messages are transmitted with Hamming Distance HD=. Watchdog timer at DP slaves protection for the inputs/outputs of DP slaves (Sync and Freeze) Process data exchange monitoring with configurable timer interval at the master Adjustable failure behaviour DP master class (DPM), e.g. programming/configuration tools DP master class (DPM), e.g. central controllers such as PLC, PC DP slave, e.g. AUMA Profibus DP devices. Devices with binary or analogue inputs/outputs, actuators, plug valves 7

8 Commissioning SGC()/SVC()/SGM()/SVM() Profibus DP. Commissioning.. Introduction When commissioning a Profibus DP network, the devices on the Profibus DP must be parameterized and configured using the programming software at the controls (Profibus configurator). The programming software first reads the GSD file (GeneralStationData) of the individual actuators. The GSD file contains information about the device properties needed by the master. Afterwards, the user can configure and parameterize the device at the Profibus DP for the programming software of the process control system. This information is then stored in the controls (DP master) and sent to the actuators (DP slaves) each time cyclic communication is started. The process representation input and output bytes are used to control the actuator and to supply the feedback signals. If a configuration with consistent data is selected, certain PLCs require special functional elements for the control of the Profibus DP slaves. Certification ID number Device Master Data (GSD) AUMA actuators with Profibus DP are certified by the Profibus user organisation (PNO). Each DP slave and each DP master have individual ID numbers. The ID number is required for the DP master to identify the type of device connected without signification protocol overhead. The master compares the ID numbers of the connected DP devices to the ID number in the specified configuration data. The process data transfer will only be started if the correct device types with the correct station addresses were connected to the bus. This ensures a high security against configuration errors. The PNO manages the ID numbers together with the device master data (GSD). ID number for the AUMA device types (actuators) SGC()/SVC()/SGM()/SVM(): xc77 For Profibus DP, the performance features of the devices are documented by the manufacturer and made available to the users as device data sheet and device master data. Structure, contents and coding of the device master data (GSD) are standardised. They enable comfortable configuration of any DP slaves with configuration devices by different manufacturers. GSD for the AUMA device types (actuators) SGC()/SVC()/SGM()/SVM(): AUMAC77.GSD.. Parameter setting The parameter setting is partly defined in the Profibus standard, e.g. one bit for switching bus monitoring on and off (watchdog). In addition, the Profibus DP interface can receive further user parameters thus enabling complete configuration of the process representation input. These parameters can be modified via the programming software of the controls. New programming software supports the parameter setting via text and a menu selection. For older versions, the parameters must be entered as hexadecimal numbers. Table : Structure of the parameter telegram Byte Bit emark 7 Lock Unlock Sync Freeze WD_ON WD factor WD factor MinTSD ID no. high 8

9 SGC()/SVC()/SGM()/SVM() Profibus DP Commissioning Byte Bit emark 7 ID no. low 7 Group ID 8 DPV Enable WD Base DP-V status 9 DP-V status PrmStruct DP-V status Settings for basic functions of the Profibus: WD_Base WD_Base = (time base ms) WD_Base = (time base ms) Connection monitoring time of the Profibus DP communication: T WD = ( or ms, depending on WD_Base) x (WD factor ) x (WD factor ) MinTSD Minimum response time of the actuator (in T Bit ) ID no. Group ID DP-V status ID number of the actuator Group assignment by the master Imperatively required user parameters.. Bus address (slave address).. Configuring the Profibus DP interface The relevant settings have already been made in the respective GSD file. (equired settings: DPV Enable = and PrmStruct = ). In the bytes following byte of the parameter telegram the user parameters for adaptation of the process representation input to the DCS can among others be found (AUMA specific parameters). The GSD file available on the website does not contain any user parameters for adapting the process representation input to DCS requirements. The actuator will use the default process representation with this GSD file. For further information please refer to <Process representation input (default process representation)>. Each participant at the bus is addressed via its specific bus address (slave address). The bus address may be assigned only once per fieldbus network. The bus address is stored in a non-volatile memory. On delivery, address (default value) is set for all devices. The bus address (slave address) can be set in the following ways: Locally via switches within the actuator For setting, please refer to the pertaining operation instructions to the actuator. Using the AUMA CDT service software (via PC or laptop with Bluetooth). Condition: Switch [S] within the actuator is in position ON (software mode). The latest version of the AUMA CDT can be downloaded from our website: Via fieldbus. Please note that only one device with the address (default value) may be connected to Profibus DP. A new bus address may be assigned to the actuator using the SAP (Service--Point Set Slave Address). Condition: Switch [S] within the actuator is in position ON (software mode). During configuration, the number of input and output bytes reserved for each device in the controls memory is selected. Additionally, the method of data processing is defined: consistently or non-consistently. Information Only the number of bytes determined in the configuration is transferred between DP master and DP slave. 9

10 Commissioning SGC()/SVC()/SGM()/SVM() Profibus DP The following configurations are possible with AUMA Profibus DP actuators: Number of input bytes Number of output bytes Communication start-up All these configurations (except In, Out) can be selected as consistent or inconsistent. The number of input bytes indicates how many of the maximum bytes are sent to the DP master by the DP slaves. The number of output bytes states how many of the maximum of bytes the DP master sends to the DP slave. If, for example, the configuration with 8 bytes input is selected, only the first 8 bytes are sent from the DP slave to the DP master. In this case, the master does not have access to bytes 9 to. This way, the DP master saves memory space since only 8 input bytes are reserved for the actuator. The data of the AUMA actuators should be consistently processed by the DP master. This ensures that the value of a -byte variable (position transmitter, analogue customer input) does not change after reading out the first byte and, thus, does not distort the value. If a master does not offer the possibility to use consistent configurations by means of the process control system, a non-consistent configuration can be selected. When switching on the DP master, it first sends one parameter and one configuration telegram to each DP slave. If parameters and configuration are correct, the DP slave enters the Data Exchange mode to exchange process data between controls and slave. Then, the DP master can control the DP slave and read its current state via the process representation. If communication is interrupted (e.g. when switching the slave off or in the event of Profibus cable rupture), it is automatically resumed by the DP master once the cause of the fault is eliminated... AUMA user parameters (AUMA specific parameters) The process representation input can be updated by means of the user parameters. values and selection options are defined in a specific GSD file available on request.... Process representation input arrangement (user parameters) The process representation input data can be arranged in any order. Arrangement is defined by means of the user parameters in the GSD file, available on request. Users may assign a specific indication to each Profibus DP signal. The data volume of the transmitted data depends on the type of signals selected (u8, u, i, individual signals).

11 SGC()/SVC()/SGM()/SVM() Profibus DP Commissioning... Settable (user definable) signals Table : Description of the parameter settings Prm-Text-Def GSD file () = "Bit: eserved" () = "Bit: End p. CLOSED" () = "Bit: End p. OPEN" () = "Bit: End p. CLOSED, blink" () = "Bit: End p. OPEN, blink" () = "Bit: Setpoint reached" () = "Bit: unning CLOSE" (7) = "Bit: unning OPEN" (8) = "Bit: Selector sw. LOCAL" (9) = "Bit: Sel. sw. EMOTE" () = "Bit: Sel. sw. OFF" () = "Bit: Limit sw. CLOSED" () = "Bit: Limit sw. OPEN" () = "Bit: Torque sw. CLOSE" () = "Bit: Torque sw. OPEN" () = "Bit: Device ok" () = "Bit: Failure" (7) = "Bit: Function check" (8) = "Bit: Out of spec." (9) = "Bit: Maintenance requ." () = "Bit: Fault" () = "Bit: Warnings" Designation (process representation) Bit: End p. CLOSED Bit: End p. OPEN Bit: EP CLOSED, blink Bit: EP OPEN, blink Bit: Setpoint reached Bit: unning CLOSE Bit: unning OPEN Bit: Sel. sw. LOCAL Bit: Sel. sw. EMOTE Bit: Limit sw. CLOSED Bit: Limit sw. OPEN Bit: Torque sw.close Bit: Torque sw.open Bit: Device ok Bit: Failure Bit: Function check Bit: Out of spec. Bit: Maintenance requ. Bit: Fault Bit: Warnings Description For limit seating: Limit switch operated in direction CLOSE For torque seating: Torque switch and limit switch operated in direction CLOSE For limit seating: Limit switch operated in direction OPEN For torque seating: Torque switch and limit switch operated in direction OPEN End position CLOSED reached or intermediate position reached Signal blinking: Actuator runs in direction CLOSE. End position OPEN reached or intermediate position reached. Signal blinking: Actuator runs in direction OPEN. The position setpoint is is within max. error variable (outer dead band). Is only signalled if Profibus DP master has set the Fieldbus SETPOINT bit (process representation output). An operation command in direction CLOSE is performed via fieldbus: Fieldbus CLOSE or Fieldbus SETPOINT (process representation output). This bit remains also set during operation pauses (e.g. due to the dead time or the reversing prevention time). An operation command in direction OPEN is performed via fieldbus: Fieldbus OPEN or Fieldbus SETPOINT (process representation output). This bit remains also set during operation pauses (e.g. due to the dead time or the reversing prevention time). Operation mode LOCAL active. Operation mode EMOTE active. Parameter not available. Limit switch operated in end position CLOSED Limit switch operated in end position OPEN Torque switch operated in direction CLOSE Torque switch operated in direction OPEN Collective signal : The device is ready for remote control. No AUMA warnings, AUMA faults or signals according to NAMU are present. Collective signal : Indication according to NAMU recommendation NE 7 Actuator function failure, output signals are invalid. Collective signal 8: Indication according to NAMU recommendation NE 7 The actuator is being worked on; output signals are temporarily invalid. Collective signal 7: Indication according to NAMU recommendation NE 7 Actuator is operated outside the normal operation conditions. Collective signal 9: Indication according to NAMU recommendation NE 7 ecommendation to perform maintenance. Collective signal : Contains the result of a disjunction (O operation) of all faults. The actuator cannot be operated. Collective signal : Contains the result of an O disjunction of all warnings.

12 Commissioning SGC()/SVC()/SGM()/SVM() Profibus DP Prm-Text-Def GSD file () = "Bit: Not ready EMOTE" () = "Bit: Op. pause active" (9) = "Bit: In interm. position" () = "Bit: Failure behav. active" (7) = "Bit: FailState fieldbus" (9) = "Bit: EMCY behav.act." () = "Bit: Service active" () = "Bit: Sel. sw. not EMOTE" () = "Bit: Thermal fault" (7) = "Bit: Phase fault" () = "Bit: Torque fault CLOSE" () = "Bit: Torque fault OPEN" () = "Bit: Torque fault" () = "Bit: Operat. time warning" () = "Bit: On time warning" (7) = "Bit: V DC, internal" (9) = "Bit: Internal error" (7) = "Bit: Internal warning" (7) = "Bit: No reaction" (7) = "Bit: Configuration error" (79) = "Bit: WrnefActPos" (8) = "Bit: WrnSiggeActPos" (8) = "Bit: WrnSigLossActPos" (8) = "Bit: WrnActPosition" Designation (process representation) Bit: Not ready EMOTE Bit: Op. pause active Bit: In interm. position Bit: Failure behav. act. Bit: FailState fieldbus Bit: EMCY behav. act. Bit: Service active Bit: Sel. sw. not EMOTE Bit: Thermal fault Bit: Phase failure Bit: Torque fault CLOSE Bit: Torque fault OPEN Bit: Torque fault Bit: Op. time warning Bit: On time warning Bit: V DC internal Bit: Internal error Bit: Internal warning Bit: No reaction Bit: Configuration error Bit: WrnefActPos Bit: WrnSiggeActPos Bit: WrnSigLossActPos Bit: WrnActPosition Description Collective signal : Contains the result of a disjunction (O-operation) of the signals, forming the "Not ready EMOTE" group. The actuator cannot be operated from EMOTE. The actuator is in off-time (e.g. stepping mode or reversing prevention time). The actuator is in an intermediate position e.g. neither in end position OPEN nor in end position CLOSED. The failure behaviour is active. No valid communication via fieldbus (despite available connection) Operation mode EMEGENCY is active (EMEGENCY signal was sent). Operation mode Service is active. Operation mode LOCAL active. Motor protection tripped. For external supply of electronics with V DC: One phase is missing. Torque fault in direction CLOSE Torque fault in direction OPEN Torque fault in directions CLOSE or OPEN Warning: Max. permissible operating time for an operation (OPEN-CLOSE) exceeded Warning: Max. number of motor starts (starts) or max. running time/h exceeded The internal V DC supply voltage of the controls for supply of the electronic components is outside the supply voltage limits. Collective signal : Internal error Collective signal : Internal warning No actuator reaction to operation commands within the set reaction time. Incorrect configuration, i.e. the current setting is invalid. Warning: Position feedback of actuator was not yet referenced for limit end positions. Warning: Current position feedback signal range is outside the permissible range. Warning: A signal loss has occurred for actuator position feedback. Warning: Actual position of actuator Collective signal consisting of: (79) Bit: WrnefActPos (8) = "Bit: WrnOnTiunning" (8) = "Bit: WrnOnTiStarts" (9) = "Bit: WrnSetpointPos" (9) = "Bit: Fieldbus failure" Bit: WrnOnTiunning Bit: WrnOnTiStarts Bit: WrnSetpointPos Bit: Fieldbus failure (8) Bit: WrnSiggeActPos (8) Bit: WrnSigLossActPos Warning on time max. running time/h exceeded Warning on time max. number of motor starts (starts) exceeded Warning: Loss of signal of actuator setpoint position Fieldbus failure

13 SGC()/SVC()/SGM()/SVM() Profibus DP Commissioning Prm-Text-Def GSD file (98) = "Bit: Wrong operation cmd" () = "Bit: Motor running Close" () = "Bit: Motor running Open" () = "Bit: Interlock emote" () = "Bit: Interlock Local" () = "Bit: Interlock" (7) = "Bit: Disabled" (8) = "Bit: Config. Warning" () = "Bit: Fault no reaction" () = "Bit: Config error remote" (8) = "u: Actual position" Designation (process representation) Bit: Wrong oper. cmd Bit:Motor runs CLOSE Bit:Motor runs OPEN Bit: Interlock emote Bit: Interlock Local Bit: Interlock Bit: Disabled Bit: Config. warning Bit: No reaction (fault) Description Wrong operation command Indicates that several operation commands were received simultaneously via Profibus DP (e.g. emote OPEN and emote CLOSE simultaneously or emote CLOSE/emote OPEN and emote SETPOINT simultaneously) or that the max. value for a setpoint position has been exceeded (setpoint position >,). Motor runs in direction CLOSE. Motor runs in direction OPEN. The Interlock function prevents an operation in operation mode EMOTE. The Interlock function prevents an operation in operation mode LOCAL. The Interlock function prevents an operation in operation mode EMOTE or in operation mode LOCAL. Operation mode disabled. Warning: Configuration setting is incorrect. The device can still be operated with restrictions. No reaction detected at actuator output drive. Bit: Config. error EMOTE Config. error of EMOTE interface active. u: Actual position (9) = "u: Actual Position -%" Actual position - % Actual actuator position (, per mil) Actual actuator position ( percent).7. Communication monitoring.7.. Connection monitoring of the Profibus DP communication The connection monitoring within the master has to be activated to monitor both master and cable connection between master and actuator (parameter telegram byte, bit, WD_ON = ). Only if the connection monitoring is active can the actuator react in the even of loss of communication once the monitoring time also set in the master has elapsed. The reaction of the actuator also depends on the settings for failure behaviour..7.. Fail Safe and Global Control Clear telegrams.8. I & M functions Another possibility to set the slave to a safe state in the event of a fault are the fail safe telegrams (telegrams with data length = ). If fails safe telegrams are received, the actuator remains in the DataExchange state; depending on the respective setting, the actuator may initiate the failure behaviour or the EMEGENCY behaviour. The actuator quits the Fail Safe state as soon as valid telegrams with the data length are received. Furthermore, the Global Control Clear (GC Clear) master telegrams can also be used to initiate the failure behaviour. This state can be disabled using a Global Control Operate telegram (GC Operate). The actuator controls support the I & M functions according to PNO guideline.. With the term Identification & Maintenance (I & M) functions, the Profibus user organisation e.v. (PNO) introduced a new functionality for all Profibus devices with acyclic communication channel that may prove very useful for plant operators. The I & M functions define how certain device-describing data (according to name plate) is to be uniformly stored in the Profibus devices. Engineering tools may then read and inteprete the data according to a code which can be accessed on the PNO server. This provides uniform and powerful access to all important and current device data, one of the major requirements for asset management. Part of the device-specific I & M information is the unambiguous asset identification using a manufacturer ID (MANUFACTUE_ID, for AUMA actuators = 9), the

14 Commissioning SGC()/SVC()/SGM()/SVM() Profibus DP order number (ODE_ID) of the actuator as well as the individual serial number (SEIAL_NUMBE). Further data supplements the asset information. Content Header Manufacturer specific I & M Block MANUFACTUE_ID ODE_ID SEIAL_NUMBE HADWAE_EVISION SOFTWAE_EVISION EVISION_COUNTE POFILE_ID POFILE_SPECIFIC_TYPE IM_VESION IM_SUPPOTED Size Octets Octets Octets Octets Octets Octets Octets Octets Octets Octets Octets

15 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the data interface. Description of the data interface.. Input data (process representation input) signals The process representation input allows the master (controls) to read the state of the slave (actuator).... Process representation input (default process representation) Grey bits are collective signals. They contain the results of a disjunction (O operation) of other information.

16 Description of the data interface Actuators SGC()/SVC()/SGM()/SVM() Profibus DP

17 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the data interface... Description of the bytes in the process representation input Table : Byte : Logical signals Byte : Logical signals Bits,, and 7 are collective signals. Bits and of the logical signals (byte) indicate a logical operation of the actuator, i.e. they are set when the actuator has received the command to perform an electrical operation (also active when e.g. the actuator is in a stepping pause during stepping mode or waiting for the end of the dead time). Bit Designation (process representation) Prm-Text-Def GSD file Value Description Bit: End p. OPEN () = "Bit: End p. OPEN" For limit seating: Limit switch operated in direction OPEN For torque seating: Torque switch and limit switch operated in direction OPEN Bit: End p. CLOSED () = "Bit End p. CLOSED" For limit seating: Limit switch operated in direction CLOSE For torque seating: Torque switch and limit switch operated in direction CLOSE Bit: Setpoint reached () = "Bit: Setpoint reached" The setpoint is within max. error variable (outer dead band). Is only signalled if Profibus DP master has set the Fieldbus SETPOINT bit (process representation output). Bit: Not ready EMOTE () = "Bit: Not ready E- MOTE" Collective signal : Contains the result of a disjunction (O-operation) of all bits comprised in bytes and (Not ready EMOTE and Not ready EMOTE ). The actuator cannot be operated from EMOTE. The actuator can only be operated via the local controls. In bytes and, no signals are active (all bits are set to ). Bit: unning OPEN (7) = "Bit: unning OPEN" An operation command in direction OPEN is performed via fieldbus: Fieldbus OPEN or Fieldbus SETPOINT (process representation output). This bit remains also set during operation pauses (e.g. due to the dead time or the reversing prevention time). Operation in direction OPEN via fieldbus is not executed. Bit: unning CLOSE () = "Bit: unning CLOSE" An operation command in direction CLOSE is performed via fieldbus: Fieldbus CLOSE or Fieldbus SETPOINT (process representation output). This bit remains also set during operation pauses (e.g. due to the dead time or the reversing prevention time). Operation in direction CLOSE via fieldbus is not executed. Bit: Warnings () = "Bit: Warnings" Collective signal : Contains the result of a disjunction (O-operation) of all bits of bytes 7 to (Warning to Warning ). In bytes 7 and, no warnings are active (all bits are set to ). 7 Bit: Fault () = "Bit: Fault" Collective signal : Contains the result of a disjunction (O-operation) of all bits of bytes and (Fault and Fault ). The actuator cannot be operated. In bytes and, no faults are active (all bits are set to ). 7

18 Description of the data interface Actuators SGC()/SVC()/SGM()/SVM() Profibus DP Table : Byte : Actuator signals Byte : Actuator signals Bit 7 Designation (process representation) Bit: Thermal fault Bit: Phase failure Bit: Sel. sw. EMOTE Bit: Sel. sw. LOCAL Bit: Limit sw. OPEN Bit: Limit sw. CLOSED Bit: Torque sw.open Bit: Torque sw.close Prm-Text-Def GSD file () = "Bit: Thermal fault" (7) = "Bit: Phase fault" (9) = "Bit: Sel. sw. E- MOTE" (8) = "Bit: Selector sw. LOCAL" () = "Bit: Limit sw. OPEN" () = "Bit: Limit sw. CLOSED" () = "Bit: Torque sw. OPEN" () = "Bit: Torque sw. CLOSE" Value Description Motor protection tripped For external supply of electronics with V DC: One phase is missing. All phases are available. Operation mode EMOTE Operation mode not EMOTE Operation mode LOCAL Operation mode not LOCAL Limit switch operated in end position OPEN Limit switch operated in end position CLOSED Torque switch operated in direction OPEN. Torque switch operated in direction CLOSE. Table : Byte : Device status Bytes and : Actual position Byte = high byte, byte = low byte. If a position transmitter is installed in the actuator, bytes and are used to transmit the current actuator position. The value is transmitted in per mil (value:,). Byte : Device status Bit Designation (process representation) Bit: Not ready EMOTE Bit: Warnings Bit: Fault Prm-Text-Def GSD file () = "Bit: Not ready E- MOTE" () = "Bit: Warnings" () = "Bit: Fault" Value Description Collective signal : Contains the result of a disjunction (O-operation) of all bits comprised in bytes and (Not ready EMOTE and Not ready EMOTE ). The actuator cannot be operated from EMOTE. The actuator can only be operated via the local controls. In bytes and, no signals are active (all bits are set to ). Collective signal : Contains the result of a disjunction (O-operation) of all bits of bytes 7 to (Warning to Warning ). In bytes 7 and, no warnings are active (all bits are set to ). Collective signal : Contains the result of a disjunction (O-operation) of all bits of bytes and (Fault and Fault ). The actuator cannot be operated. In bytes and, no faults are active (all bits are set to ). 8

19 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the data interface Bit Designation (process representation) Prm-Text-Def GSD file Value Description Bit: Maintenance requ. (9) = "Bit: Maintenance requ." Collective signal 9: Indication according to NAMU recommendation NE 7 ecommendation to perform maintenance. Contains the result of a disjunction (O-operation) of all bits of byte (Maintenance required). In all bits of byte, no signals are active (all bits are set to ). Bit: Out of spec. (8) = "Bit: Out of spec." Collective signal 7: Indication according to NAMU recommendation NE 7 Actuator is operated outside the normal operation conditions. Contains the result of a disjunction (O-operation) of all bits of bytes to 8 (Out of specification to ). In bytes and 8, no signals are active (all bits are set to ). Bit: Function check (7) = "Bit: Function check" Collective signal 8: Indication according to NAMU recommendation NE 7 The actuator is being worked on; output signals are temporarily invalid. Contains the result of a disjunction (O-operation) of all bits of bytes 9 and (Function check and ). In bytes 9 and, no signals are active (all bits are set to ). Bit: Failure () = "Bit: Failure" Collective signal : Indication according to NAMU recommendation NE 7 Actuator function failure, output signals are invalid. Contains the result of a disjunction (O-operation) of all bits of byte (Failure). In all bits of byte, no signals are active (all bits are set to ). 7 Bit: Device ok () = "Bit: Device ok" Sammelmeldung : The device is ready for remote control. No AUMA warnings, AUMA faults or signals according to NAMU are present. Bit 7 is set if bits to are deleted. Contains the result of a disjunction (O-operation) of bits to (device status). Table : Byte : Operation status Byte : Operation status This byte stores information about actuator movement. Bit Designation (process representation) Prm-Text-Def GSD file Value Description Bit: Op. pause active () = "Bit: Op. pause active" The actuator is in off-time (e.g. reversing prevention time) Bit: In interm. position (9) = "Bit: In interm. position" The actuator is in an intermediate position e.g. neither in end position OPEN nor in end position CLOSED. 7 Byte 7 to byte : eserve The contents are reserved for future extensions. 9

20 Description of the data interface Actuators SGC()/SVC()/SGM()/SVM() Profibus DP Table 7: Byte : Not ready EMOTE Byte : Not ready EMOTE Bit 7 Designation (process representation) Bit: Wrong oper. cmd Bit: Sel. sw. not EMOTE Bit: EMCY behav. act. Bit: FailState fieldbus Prm-Text-Def GSD file (98) = "Bit: Wrong operation cmd" () = "Bit: Sel. sw. not EMOTE"" (9) = "Bit: EMCY behav.act." (7) = "Bit: FailState fieldbus" Value Description Wrong operation command Indicates the fact that several operation commands were received simultaneously via Profibus DP (e.g. emote OPEN and emote CLOSE simultaneously or emote CLOSE/emote OPEN and emote SETPOINT simultaneously) or that the max. value for a setpoint position has been exceeded (setpoint position >,). Operation commands are ok. Operation mode LOCAL active. Operation mode EMOTE active. Operation mode EMEGENCY behaviour is active (EMEGENCY signal was sent). No valid communication via fieldbus (despite available connection) Communication via fieldbus is ok. Table 8: Byte : Not ready EMOTE Byte : Not ready EMOTE Bit 7 Designation (process representation) Bit: Service active Prm-Text-Def GSD file () = "Bit: Service active" Value Description Operation mode Service is active. Byte : Fault The fault signals contain the causes why the actuator cannot be operated. Table 9: Byte : Fault Bit Designation (process representation) Bit: Configuration error Bit: Thermal fault Bit: Phase failure Prm-Text-Def GSD file (7) = "Bit: Configuration error" () = "Bit: Thermal fault" (7) = "Bit: Phase fault" Value Description Incorrect configuration, i.e. the current setting of the actuator is invalid. Configuration is ok. Motor protection tripped For external supply of electronics with V DC: One phase is missing.

21 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the data interface Bit Designation (process representation) Prm-Text-Def GSD file Value Description Bit: Torque fault OPEN () = "Bit: Torque fault OPEN" Torque fault in direction OPEN Bit: Torque fault CLOSE () = "Bit: Torque fault CLOSE" Torque fault in direction CLOSE Bit: Internal error (9) = "Bit: Internal fault" Collective signal : Internal fault No internal fault 7 Bit: No reaction (7) = "Bit: No reaction" No actuator reaction to operation commands within the set reaction time. Byte : Fault The fault signals contain the causes why the actuator cannot be operated. Table : Byte : Fault Bit Designation (process representation) Prm-Text-Def GSD file Value Description Bit: Config. error EMOTE () = "Bit: Config error remote" Configuration error of EMOTE interface active.. 7 Byte 7: Warnings Table : Byte 7: Warnings The warning signals are for information only and do not interrupt or disable an operation (as opposed to faults). Bit Designation (process representation) Prm-Text-Def GSD file Value Description 7 Bit: No reaction (7) = "Bit: No reaction" Warning: No actuator reaction to operation commands within the set reaction time. Byte 8: Warnings Table : Byte 8: Warnings Bit Designation (process representation) Prm-Text-Def GSD file Value Description

22 Description of the data interface Actuators SGC()/SVC()/SGM()/SVM() Profibus DP Bit 7 Designation (process representation) Bit: Config. warning Prm-Text-Def GSD file (8) = Bit: Config. Warning Value Description Warning: Configuration setting is incorrect. The device can still be operated with restrictions. Byte 9: Warnings Table : Byte 9: Warnings Bit 7 Designation (process representation) Bit: Internal warning Bit: WrnOnTiStarts Bit: WrnOnTiunning Bit: Op. time warning Prm-Text-Def GSD file (7) = "Bit: Internal warning" (8) = "Bit: WrnOnTiStarts" (8) = "Bit: WrnOnTiunning" () = "Bit: Operat. time warning" Value Description Collective signal : Internal warning No internal warning Warning: Max. number of motor starts (starts) exceeded Warning: Max. running time/h exceeded Warning: Max. permissible operating time for an operation (OPEN-CLOSE) exceeded Byte : Warnings Table : Byte : Warnings Bit 7 Designation (process representation) Bit: WrnSetpointPos Bit: Failure behav. act. Prm-Text-Def GSD file (9) = "Bit: WrnSetpoint- Pos" () = "Bit: Failure behav. active" Value Description Warning: Loss of signal of actuator setpoint position The failure behaviour is active. Byte and byte : eserve The contents are reserved for future extensions. Byte : Failure Causes of the Failure signal in accordance with NAMU recommendation NE 7.

23 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the data interface Table : Byte : Failure Bit Designation (process representation) Prm-Text-Def GSD file Value Description 7 Bit: Fault () = "Bit: Fault" Collective signal : Contains the result of a disjunction (O-operation) of all bits of bytes and (Fault and Fault ). The actuator cannot be operated. In bytes and, no faults are active (all bits are set to ). Table : Byte : Out of specification Byte : Maintenance required The contents are reserved for further Maintenance required signals in accordance with NAMU recommendation NE 7. Byte : Out of specification Causes of the Out of specification signal in accordance with NAMU recommendation NE 7. Bit Designation (process representation) Prm-Text-Def GSD file Value Description 7 Bit: No reaction (7) = "Bit: No reaction" Warning: No actuator reaction to operation commands within the set reaction time. Byte : Out of specification Table 7: Byte : Out of specification Bit Designation (process representation) Prm-Text-Def GSD file Value Description 7 Bit: Config. warning (8) = Bit: Config. Warning Warning: Configuration setting is incorrect. The device can still be operated with restrictions.

24 Description of the data interface Actuators SGC()/SVC()/SGM()/SVM() Profibus DP Table 8: Byte 7: Out of specification Byte 7: Out of specification Bit 7 Designation (process representation) Bit: Internal warning Bit: WrnOnTiStarts Bit: WrnOnTiunning Bit: Op. time warning Prm-Text-Def GSD file (7) = "Bit: Internal warning" (8) = "Bit: WrnOnTiStarts" (8) = "Bit: WrnOnTiunning" () = "Bit: Operat. time warning" Value Description Collective signal : Internal warning No internal warning Warning: Max. number of motor starts (starts) exceeded Warning: Max. running time/h exceeded Warning: Max. permissible operating time for an operation (OPEN-CLOSE) exceeded Table 9: Byte 8: Out of specification Byte 8: Out of specification Bit 7 Designation (process representation) Bit: WrnSetpointPos Bit: Failure behav. act. Prm-Text-Def GSD file (9) = "Bit: WrnSetpoint- Pos" () = "Bit: Failure behav. active" Value Description Warning: Loss of signal of actuator setpoint position The failure behaviour is active. Table : Byte 9: Function check Byte 9: Function check Causes of the Function check signal in accordance with NAMU recommendation NE 7. Bit 7 Designation (process representation) Bit: Sel. sw. not EMOTE Bit: Service active Prm-Text-Def GSD file () = "Bit: Sel. sw. not EMOTE"" () = "Bit: Service active" Value Description Selector switch is in position Local control (LOCAL) or (OFF). Selector switch is in position emote control (EMOTE). Operation mode Service is active.

25 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the data interface Table : Byte : Status fieldbus Byte : Function check The contents are reserved for further Function check signals in accordance with NAMU recommendation NE 7. Byte : Status fieldbus Information on the fieldbus status. Bit Designation (process representation) Prm-Text-Def GSD file Value Description Bit: Channel active (99) = "Fieldbus Channel active" Channel is the active operation command channel. Bit: Channel DataEx (9) = Bit: Pb DataEx Ch Channel is in the data exchange state. Bit: Chan FailState fieldbus () = Bit: Fieldbus- FailsafeAct. No valid fieldbus communication via channel (application does not communicate with the DCS). Bit: Channel activity () = Bit: Chan BusComm Fieldbus communication on channel 7 Byte to byte : eserve The contents are reserved for future extensions... Output data (process representation output) The master (controls) can control the slave (actuator) via the process representation output.... Process representation output arrangement Information To perform remote operations, the selector switch must be in position emote control (EMOTE).

26 Description of the data interface Actuators SGC()/SVC()/SGM()/SVM() Profibus DP... Description of the output data Byte : Commands Table : Byte : Commands Bit Designation (process representation) Fieldbus OPEN Fieldbus CLOSE Fieldbus SETPOINT Value Description Operation command in direction OPEN No command Operation command in direction CLOSE No command un to setpoint Setpoint is provided via bytes and. No command

27 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the data interface Bit 7 Designation (process representation) Fieldbus ESET Value Description Certain indications of the actuator can be reset in operation mode emote (e.g. torque fault). No command No command (reserved) No command (reserved) No command (reserved) No command (reserved) Bits,, = operation commands Bits are used to transmit operation commands to the actuator. Only one of these bits may be set to at any given time. If several bits are set, no operation is performed and the following signal is given: Wrong oper. cmd For operation commands via bit (Fieldbus SETPOINT): Condition: Position transmitter within actuator. If the setpoint is per mil, the actuators runs to the end position CLOSED; it runs to the end position OPEN for per mil. If the limit of, is exceeded, the actuator completely runs to end position OPEN. To avoid placing too much strain on the mechanics, the reversing of direction is delayed. The default setting in the factory for the reversing prevention time is ms. Bits,,, 7 Bits through 7 are not used and must be set to. Byte : eserved The contents are reserved for future extensions. Bytes and : Setpoint position Byte = high byte, byte = low byte. The setpoint position is transmitted via bytes and (value:,), using the position controller. The value, corresponds to the maximum setpoint, i.e. end position OPEN. The value corresponds to the minimum setpoint, i.e. end position CLOSED. Byte : Additional commands Table : Byte : Additional commands Bit 7 Designation (process representation) Fieldbus EMCY Value Description No command (reserved) EMEGENCY signal, triggers EMEGENCY behaviour. No command Byte to byte : eserve The contents are reserved for future extensions... Profibus DP V services Option 7

28 Description of the data interface Actuators SGC()/SVC()/SGM()/SVM() Profibus DP Apart from the cyclic DP-V process data exchange, the Profibus DP-V services can establish an additional acyclic communication via the fieldbus. Actuator controls with activated Profibus DP-V services grant access to the contents of the device ID, the operating data, and the most important parameters for setting and the maintenance information. to the data of all actuators connected by the Profibus DP network is therefore enabled for preventive maintenance or uniform parameter setting. Actuator controls support an acyclic DP-V connection with controls (DPM = master of class ) and one acyclic DP-V connection with engineering stations (DPM = master of class ). The following DP-V fault indications are supported: ead Write Fault ind..invalid Slot.Invalid Index.Invalid Slot.Invalid Index.write length Error class.invalid parameter.access denied Application write error Error code 8 Cause An invalid slot was accessed. An invalid index was accessed. An invalid slot was accessed. An invalid index was accessed. The transmitted data length is invalid. Invalid parameter value No write access permitted Slot/index can only be read. EDD (Electronic Device Description) can be downloaded from to integrate the device-specific information, data and parameters accessible via Profibus DP-V. The availability of the Profibus DP-V services is preset in the factory. For a description of the DP-V services, refer to the appendix. 8

29 SGC()/SVC()/SGM()/SVM() Profibus DP Description of the Profibus DP board. Description of the Profibus DP board The Profibus DP board is located under the cover [] at the actuator. Hazardous voltage! isk of electric shock. When connected to the mains, the cover may only be opened by suitably qualified personnel (electricians)... Indications (LEDs) Figure : LEDs on logic board Table : LED functions LED Colour Status Function V red illuminated Fault (error) blinking The number of blinking signals indicates the ID number of the fault signal (please refer to <Corrective action> chapter of the respective operation instructions for the actuator) yellow illuminated Actuator is in end position CLOSED green illuminated Actuator is in end position OPEN V green illuminated Data Exchange Profibus The Profibus DP interface has entered Data Exchange state. Controlling the actuator by the DP master and reading the actuator state can be performed in this state only. V9 red illuminated Fault at internal CAN bus AUMA service V green off DBG, power supply V AUMA service V green off ESET, voltage supply. V AUMA service 9

30 Corrective action SGC()/SVC()/SGM()/SVM() Profibus DP. Corrective action.. Troubleshooting In case of problems with Profibus DP communication, the actuator provides important information on troubleshooting via the LEDs of the Profibus DP board. Table : Troubleshooting table Can the actuator be controlled via Profibus DP? LED [V] (DataEx) on Profibus DP board illuminated? Operation via the push button of the local controls possible? LED [V] on Profibus DP board is illuminated in green. LED [V] on Profibus DP board Yes No Yes No Yes No Yes No is blinking in green. is not illuminated Causes and remedies No fault Continue with Profibus DP communication is ok. Continue with No communication between slave and master Possible causes and remedies: S 8 wiring faulty Check wiring. Parameter data incorrect Correct parameter data in the master. not yet sent Send parameters Incorrect GSD file was possibly used Check GSD file. Configuration data incorrect Correct configuration the master. Configuration data not yet sent Send configuration data. Possible causes and remedies: Master does not send an operation command. Master sends wrong operation command. Slave possibly in fail safe state Cable connection may either be interrupted or connected with the wrong polarity Possible remedies: Check all other implemented slaves at the Profibus. Deactivate Autoclear function in the master, if required. Send GC OPEATE telegram. Check program of the controls. Check cable connection Possible causes and remedies: Faults such as torque, thermal or internal fault Check logic board, motor control and motor. Continue with. V power supply is ok.. V power supply not available V power supply is ok. V power supply not available Possible causes and remedies: Check power supply (check fuses). Check Profibus DP board... Diagnostics The serial interface and the AUMA CDT software (menu Diagnostic) can be used to check the different states of the Profibus DP interface. The <Information on Profibus> table shows the menus for the DP interface.

31 SGC()/SVC()/SGM()/SVM() Profibus DP Corrective action Table : Information on Profibus Indication in AUMA CDT DP slave address DP baud rate DP watchdog status Value and description Bus address (slave address) Baud rate Watchdog status Baud search The Profibus DP interface searches a baud rate. If no baud rate was found: Connect bus cables. Check bus cables. Switch on DP master. DP Profibus status DP Global Control Clear DP data length DP Global Control Freeze DP Global Control Sync DP config. data Baud control DP control Profibus status Wait Prm Wait Cfg Data Ex Global Control Clear Status GC Clear inactive GC Clear active Data length status Data length inactive Data length active Global Control Freeze Status GC Freeze inactive GC Freeze active Global Control Sync Status GC Sync inactive GC Sync active The detected baud rate is monitored. The DP watchdog within the master is not activated. In this case, the failure function is not available. The DP communication is monitored, the DP watchdog within the master is activated. Therefore, the failure function is also available. The Profibus DP interface is waiting for correct parameter data. The Profibus DP interface is waiting for correct configuration data. The Profibus DP interface is currently exchanging data with the master. The Profibus DP interface has received the Global Control Clear telegram and is waiting for the Global Control Operate telegram. In this mode, DP communication works perfectly, however the actuator cannot be operated via PLC. If the safety function is activated it will be initiated. The Profibus DP interface receives data telegrams of the length. In this mode, DP communication works perfectly, however the actuator cannot be operated via PLC. If the safety function is activated it will be initiated. With Unfreeze Global Control telegram the Freeze state is deactivated again. The Freeze Global Control telegram can be used to freeze the Profibus DP inputs (feedback signals). With the Unsync Global Control telegram is the Sync state is deactivated again. The Sync Global Control telegram can be used to freeze the Profibus DP outputs (operation commands). Configuration data (number of input and output bytes) set by the master.

32 Corrective action SGC()/SVC()/SGM()/SVM() Profibus DP Table 7: Profibus details Indication in AUMA CDT DP-V control DP-V connection active Channel active Profibus ID no. DP-V (SetPrm) Value and description In this state, the actuator can only be operated by means of the acyclic Profibus DP-V services (only possible if there is no cyclic DP-V connection available. At least one acyclic Profibus DP-V connection is active. Profibus interface of channel is used. xc77 For Profibus DP-V and DP-V DP-V function in the parameter telegram (SetPrm) Deactivated Activated The DP-V services were deactivated using the parameters in the parameter telegram (SetPrm). The DP-V services were activated using the parameters in the parameter telegram (SetPrm).

33 SGC()/SVC()/SGM()/SVM() Profibus DP Technical data 7. Technical data Information The following technical data includes standard and optional features. For detailed information on the customer-specific version, refer to the order-related data sheet. The technical data sheet can be downloaded from the Internet at in both German and English (please state the order number). 7.. Profibus DP interface Settings/programming the Profibus DP interface Baud rate setting Setting the Profibus DP interface Automatic baud rate recognition Setting of the Profibus DP address is performed via switches, alternatively via parameters. Configurable process representation via GSD file be freely For an optimum adaptation to the process control system, the process representation may configured. Commands and signals of the fieldbus interface Process representation output (command signals) Process representation input (feedback signals) Process representation input (fault signals) OPEN, STOP, CLOSE, position setpoint, ESET, EMEGENCY End position OPEN, CLOSED Actual position value Selector switch in position LOCAL/EMOTE Torque switch OPEN, CLOSED Limit switch OPEN, CLOSED Motor protection tripped Torque switch tripped in mid-travel Behaviour on loss of communication Stop in current The behaviour of the actuator is preset in the factory: position General Profibus DP interface data Communication protocol Network topology Transmission medium Fieldbus interface Transmission speed/cable length Device types Number of devices Bus access Supported fieldbus functions Profibus DP according to IEC 8 and IEC 78- Line (bus) structure When using repeaters, tree structures can also be implemented. Coupling and uncoupling of devices during operation without affecting other devices is possible Twisted, screened copper cable according to IEC 8 EIA-8 (S8) Baud rate and maximum cable length (segment length) without repeater: - between 9. and 9.7 kbit/s:, m - for 87. kbit/s:, m - for kbit/s: m - for, kbit/s: m Baud rate and possible cable length with repeater (total network cable length): - between 9. and 9.7 kbit/s: approx. km - for 87. kbit/s: approx. km - for kbit/s: approx. km - for, kbit/s: approx. km DP master class, e.g. central controllers such as PLC, PC,... DP master class, e.g. programming/configuration tools DP slave, e.g. devices with digital and/or analogue inputs/outputs such as actuators, sensors devices without repeater, with repeater expandable to Token-passing between masters and polling for slaves Mono-master or multi-master systems are possible. Cyclic data exchange, sync mode, freeze mode, fail-safe mode

34 Technical data SGC()/SVC()/SGM()/SVM() Profibus DP General Profibus DP interface data Profibus DP ident no. xc77

35 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix 8. Appendix 8.. The present appendix contains notes on the parameterization of the actuator controls via Profibus DP-V as a table (with read/write access codes). Several parameters (View Objects) are read or written per DP-V request. The data lengths indicated in the tables have to be considered accordingly. View Objects View Objects group several parameters enabling easy write access to the grouped parameters. The bus load is reduced as the parameters do no longer have to be read out individually. s to the table: View Object number (corresponds to Profibus DP-V index). Profibus DP-V slot is always. Data type Description Data length BOOL Logical value bytes BS8/// Bit string ///8 bytes DVCMD Process data bytes Value from the value list bytes I8// Integer values // bytes MMSS Time information bytes OS/8///8/ Octet string /8///8/ bytes S/// String /// bytes U8// Unsigned value /// bytes (8// bits) Parameter name. Is indicated in the display of actuator controls. ead and write access = ead W = Write value Permissible, settable value or setting range. Depending on the data type, scale factor and unit are also indicated in square brackets. Example: Min = [. s] Max = [. s] Corresponds to a setting range between. and. seconds Table 8: Identifications Data length = bytes - S Device designation AC. Device designation of actuator controls - S Device tag /W _GEAETE- TAG_ Information for actuator identification within the plant (e.g. KKS designation - Power Plant Classification system) - S Project name /W _POJEKT_ Project name of the plant

36 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP Table 9: Controls Data length = 8 bytes - S Order no. controls _ KOMMN STEUEUNG _ Order number of controls - S Serial no. controls _ WEKN STEUEUNG _ Serial number of controls - S Wiring diagram TPC Wiring diagram - S Date of manufacture _DATE_PO- DUCTION_ Date of manufacture of the actuator controls Table : Actuator Data length = bytes - S Order no. actuator _ KOMMN ANTIEB _ Actuator order number - S Serial no. actuator _ WEKN ANTIEB _ Actuator serial number - S Wiring diagram actuator TPA Actuator wiring diagram Table : Version Data length = bytes - S Firmware Vxx.xx.xx Firmware version Table : Firmware details Data length = bytes - S Logic Logic firmware version - S Logic (Bootloader) Logic firmware version (Bootloader) Table : Hardware article no. Data length = bytes - S ArtNo logic _ ATN LO- GIK _ Article number of 'Logic' electronics sub-assembly (A) Table : of seating Data length = 8 bytes 8- End position CLOSED /W : Limit : Torque of seating in end position CLOSED 8- End position OPEN /W : Limit : Torque of seating in end position OPEN

37 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix 8- End position CLOSED (S) : Limit : Torque Setting the type of seating in end position CLOSED (controls switch S) 8- End position OPEN (S9) : Limit : Torque Setting the type of seating in end position OPEN (controls switch S9) Table : Torque switching Data length = bytes 9- Torque by-pass /W : Function not active : Function active Enabling/disabling torque bypass. Torque by-pass' = function active means that the torque monitoring is suspended for each start and this for the time as defined in the field 'Time torque by-pass'. Consequently, unseating is possible without torque fault tripping. 9- U Torque by-pass [s] /W Min = [, s] Max = [, s] By-pass duration of torque monitoring at actuator start 9- U Tripping torque CLOSE (S7) Min = Max = 9 Setting the tripping torque in direction CLOSE (S7) 9- U Tripping torque OPEN (S) Min = Max = 9 Setting the tripping torque in direction OPEN (S) 9- U Tripping torque CLOSE /W 8 Min = Max = 9 Tripping torque in operation direction CLOSE 9- U Tripping torque OPEN /W 8 Min = Max = 9 Tripping torque in operation direction OPEN Table : Local controls Data length = bytes - Self-retaining Local /W : Off (push-to-run op.) : OPEN Setting the self-retaining local mode : CLOSE : OPEN and CLOSE : OPEN & CL w/o STOP Table 7: Profibus DP Data length = bytes - U DP slave address /W Min = Profibus DP slave address Max = - U Slave address (S, S, S) /W Min = Max = Profibus DP slave address (controls switches S, S and S) Table 8: Positioner Data length = bytes - Adaptive behaviour /W : Off : Adaptive I Setting the adaptive behaviour of the positioner - U Outer dead band /W Min = [. %] Max = [. %] Setting the outer dead band (irrelevant for adaptive behaviour) 7

38 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP - U Dead time /W Min = [. s] Setting the dead time Max = [. s] - U Dead band OPEN /W Min = [. %] Max = [. %] Setting dead band OPEN (irrelevant for adaptive behaviour) - U Dead band CLOSE /W Min = [. %] Max = [. %] Setting dead band CLOSE (irrelevant for adaptive behaviour) - U Positioner hyst. OPEN /W Min = [. %] Max = [. %] Hysteresis in direction OPEN (for adaptive positioner only) -7 U Positioner hyst. CLOSE /W Min = [. %] Max = [. %] Hysteresis in direction CLOSE (for adaptive positioner only) -8 I Tolerance CLOSE /W Min = [. %] Max = [. %] Tolerance for the function "Closing fully" for end position CLOSED -9 I Tolerance OPEN /W Min = 9 [. %] Max = [. %] Tolerance for the function "Opening fully" for end position OPEN - U Permissible starts/h /W Min = Min = 8 Permissible number of starts/h (only in combination with Adaptive behaviour = Adaptive II) - Proportional operation /W : Function not active : Function active Activating the function for proportional operation - U Proportional range /W Min = [. %] Max = [. %] Proportional range of smooth start/smooth stop - U Min speed prop. /W Min = [. %] Max = [. %] Minimum speed of proportional operation Table 9: Failure behaviour Data length = bytes - Failure behaviour /W : Good signal first Activate failure behaviour : Immediately active - Failure operation /W : STOP : CLOSE Setting the actuator reaction for active failure behaviour : OPEN : Approach position : Execute last CMD - Failure source /W : Fieldbus interface : I/O interface Failure source (failure reason) for failure behaviour : Active interface - Mmss Delay time /W Min = [. s] Max = 8 [. s] Failure operation is only executed after delay time has expired. 8

39 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix - U Failure position /W Min = [. %] Failure position in percent Max = [. %] - U Failure speed /W Min = [. %] Max = [. %] Speed used for active failure behaviour Table : EMEGENCY behaviour Data length = bytes - Failure reaction EMCY /W : Good signal first : Immediately active Failure reaction EMEGENCY. The EMEGENCY failure reaction defines the actuator behaviour once the EMEGENCY signal is initiated. - EMCY operation mode /W : emote only : emote and local Determines the availability of EMEGENCY behaviour depending on the selector switch position Local or emote - EMCY failure source /W : I/O interface : Fieldbus interface Failure source for EMEGENCY behaviour : I/O or fieldbus : Active interface - EMCY operation /W : STOP : CLOSE Actuator reaction in EME- GENCY operation mode : OPEN : Approach EMCY pos. - U EMCY position /W Min = [. %] Max = [. %] Setting the EMEGENCY position - U EMEGENCY speed /W Min = [, %] EMEGENCY speed settings Max = [, %] -7 By-pass torque /W : Off : On By-passing the torque monitoring in EMEGENCY operation mode -8 Thermal by-pass /W : Off : On By-passing the thermal monitoring in EMEGENCY operation mode -9 By-pass timer /W : Off : On By-passing the timer function in EMEGENCY operation mode - Mmss Delay time Min = [. s] Max = 8 [. s] Delay time for EMEGENCY behaviour (EMEGENCY behaviour is only executed after the delay time has expired). Table : Timer function Data length = bytes - Step mode CLOSE /W : Off : emote : Local Setting the operation mode: Stepping mode in direction CLOSE : emote and local - Mmss On time CLOSE /W Min = [. s] Max = 8 [. s] Setting the on time in direction CLOSE - Mmss Off time CLOSE /W Min = [. s] Max = 8 [. s] Setting the off time in direction CLOSE - U Start stepping CLOSE /W Min = [. %] Max = [. %] Setting the start of stepping mode in direction CLOSE 9

40 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP - U End stepping CLOSE /W Min = [. %] Max = 999 [. %] Setting the end of stepping mode in direction CLOSE - Step mode OPEN /W : Off : emote : Local Setting the operation mode: Stepping mode in direction OPEN : emote and local -7 Mmss On time OPEN /W Min = [. s] Max = [. s] Setting the on time in direction OPEN -8 Mmss Off time OPEN /W Min = [. s] Max = [. s] Setting the off time in direction OPEN

41 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix -9 U Start stepping OPEN /W Min = [. %] Max = 999 [. %] Setting the start of stepping mode in direction OPEN - U End stepping OPEN /W Min = [. %] Max = [. %] Setting the end of stepping mode in direction OPEN Table : On time monitoring Data length = bytes 7- On time monitoring /W : Function not active : Function active Enable/disable on time monitoring 7- U Perm. running time/h /W Min = [min] Max = [min] A warning is issued when exceeding the permissible running time/h. 7- U Permissible starts/h /W Min = Max = 8 A warning is issued when exceeding the permissible starts/h. Table : Motion detector Data length = bytes 8- Motion detector /W : Function not active : Function active With active motion detection the verification is made whether the actuator position changes due to the manual operation within the detection time dt by the travel difference dx. Consequently, a mechanical movement can be detected at output drive (signal: 'Handwheel operation') 8- Mmss Detect. time dt /W Min = [. s] Setting the detection time dt Max = 8 [. s] 8- U Travel diff. dx /W Min = [. %] Setting the travel difference dt Max = [. %] Table : Operating time monitoring Data length = bytes 9- Operation mode /W : Off : Manual Operation mode of operating time monitoring. The actuator operating time can be made in 'Manual' operation mode. 9- Mmss Perm.op. time, manual /W 9 Min = [. s] Perm.op. time, manual Max = [. s] Table : eaction monitoring Erläuterung Data length = bytes - Operation mode /W : Off : Manual Operation mode of operating time monitoring. The actuator operating time can be made in 'Manual' operation mode. - U Perm.op. time, manual /W Min = [. s] Perm.op. time, manual Max = [. s] Table : Actuator

42 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP Data length = 8 bytes 7- Motor prot. mode /W : Auto : eset Signal behaviour of motor protection (thermal monitoring). Auto: Automatic thermal fault reset after cooling down. eset: requires manual thermal fault reset after colling down via a E- SET command. 7- U Basic set mode (S) Min = Max = S switch defines whether the basic settings are to be made via hardware switch in controls (S - S, S - S9) (value S = = OFF) or via parameters in the software, i.e. CDT or fieldbus (value S = ) = ON 7- Closing rotation : Clockwise rotation Setting the direction of rotation : Counterclockwise rot. Table 7: Potentiometer Data length = 8 bytes 8- U Low limit Uref Min = Max = Low limit setting for Uref (monitoring the V reference voltage for potentiometer) 8- U Low limit Upoti 77 Min = Max = Low limit setting for Upote (limit monitoring the potentiometer wiper voltage)

43 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix 8- U Low limit Uspan /W Min = Max = Low limit setting of potentiometer signal range (monitoring the potentiometer span) 8- U Hysteresis Min = Hysteresis of potentiometer Max = Table 8: Phase failure monitoring Data length = bytes 9- U Tripping time /W Min = [. s] Max = [. s] Duration until phase monitoring trips Table 9: Switchgear Data length = bytes - U evers. prevent. time Min = [. s] Max = [. s] Setting the reversing prevention time Table : Motor speed Data length = bytes - U Speed LOCAL /W Min = [, %] Max = [, %] Actuator speed or operating time if operation mode LOCAL is set at the actuator. Indication is made in % of the maximum motor speed xxx - U Speed EMOTE /W Min = [, %] Max = [, %] Speed or operating time if operation mode EMOTE is set at the actuator. Indication is made in % of the maximum motor speed, depending on actuator type and actuator size. The pertaining output speed or operating time show the tables in the CDT help text (via F) and the actuator operation instructions. - Speed fieldbus /W : External : Internal External: Actuator speed or operating time in operation mode emote are determined via fieldbus. Internal: Speed or operating time are determined via parameter 'Speed remote".

44 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP - Speed I/O interface /W : External : Internal External: Actuator speed or operating time in operation mode emote are determined via analogue input AIN of I/O interface. Internal: Speed or operating time are determined via parameter 'Speed remote". Internal: Actuator speed or operating time in operation mode emote are determined via the parameter 'Speed remote'. - U Switch (S8) Min = Max = 9 Switch position S8 determines the actuator speed behaviour Table : Monitoring functions Data length = bytes - Monitor V DC intern : Function not active Monitoring internal V DC : Function active Table : Service interface Erläuterung Data length = bytes - S Device tag /W _GEAETE- TAG_ Information for actuator identification within the plant (e.g. KKS designation - Power Plant Classification system) - Service op. mode /W : Control: LOCAL : Control: LOC+EM Settings for service operation mode. Allows actuator control via remote operation of service interface depending on operation modes LOCAL or EMOTE. Table : Service functions Data length = bytes - I Create factory settings - Min = 78 Max = 77 Value = : Creates new factory settings by adopting the current settings - I eset factory settings /W - Min = 78 Max = 77 Value = : eset current settings to factory settings Table : General information Data length = 8 bytes - BOOL Torque fault OPEN Min = Torque fault OPEN active Max = - BOOL Torque fault CLOSE Min = Torque fault CLOSE active Max = - Selector switch : Local Selector switch : Off : emote - U Actual position Min = [. %] Actual position Max = [. %] - U Torque Min = [. %] Torque Max = [. %]

45 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix - Operation mode : Power Off Operation mode : EMCY stop : Off : Service : Local : Interlock : EMEGENCY 7 : emote 8 : emote II 9 : Fieldbus : Disabled -7 DrvCmd Operation command Min = Operation command Max = xffffffff -8 BOOL unning OPEN Min = unning OPEN Max = -9 BOOL unning CLOSE Min = unning CLOSE Max = - BOOL Setpoint position reached Min = Max = Setpoint position reached - BOOL Limit switch OPEN Min = Limit switch OPEN Max = - BOOL Limit switch CLOSED Min = Limit switch CLOSED Max = - BOOL Torque sw. OPEN Min = Torque switch OPEN Max = - BOOL Torque sw. CLOSED Min = Torque switch CLOSED Max = Table : Positioner Data length = 8 bytes 7- Adaptive behaviour /W : Off : Adaptive I Setting the adaptive behaviour of the positioner 7- U Setpoint position Min = [, %] Setpoint position Max = [, %] 7- U Actual position Min = [, %] Actual position Max = [, %] 7- Outer dead band Min = [, %] Outer dead band Max = [, %] 7- Outer dead b. OPEN Min = [, %] Outer dead b. OPEN Max = [, %] 7- Outer dead b. CLOSE Min = [, %] Outer dead b. CLOSE Max = [, %]

46 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP 7-7 Inner dead b. OPEN Min = [, %] Inner dead b. OPEN Max = [, %] 7-8 Inner dead b. CLOSE Min = [, %] Inner dead b. CLOSE Max = [, %] Table : On time monitoring Erläuterung Data length = 8 bytes 8- On time/h Min = Current on time/h Max = 8- Starts/h Min = Current starts/h Max = Table 7: Position transmitter Data length = bytes 8- U Low limit Uspan /W Min = Max = Low limit setting of potentiometer signal range (monitoring the potentiometer span) 8- U Volt.level diff. potent. Min = Max = Current voltage level difference of the potentiometer. 8- U aw val. pos. OPEN aw value end position OPEN 8- U aw val. pos. CLOSED aw value end position CLOSED 8- U Potent. raw value /mv Potentiometer raw value /mv [mv] Table 8: Profibus DP Data length = bytes 9- U8 DP slave address Min = Max = Profibus DP channel ; current slave address 9- DP baud rate : Mbit/s : Mbit/s Profibus DP channel ; baud rate : Mbit/s :. Mbit/s : kbit/s : 87. kbit/s : 9.7 kbit/s 7 :. kbit/s 8 : 9. kbit/s 9 : 9. kbit/s : Not available 9- DP watchdog status : Baud search : Baud control Profibus DP channel ; watchdog status : DP control 9- DP Profibus status : Wait Prm : Wait Cfg Profibus DP channel ; Profibus status : Data Ex 9- DP GC clear : GC Clear inactive : GC Clear active Profibus DP channel ; Global Control Clear

47 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix 9- DP data length : Data length inactive : Data length active Profibus DP channel ; data length 9-7 DP GC freeze : GC Freeze inactive : GC Freeze active Profibus DP channel ; Global Control Freeze 9-8 DP GC sync : GC Sync inactive : GC Sync active Profibus DP channel ; Global Control Sync Table 9: Profibus details Data length = bytes - BOOL DP-V control Min = DP-V control active Max = - BOOL DP-V active Min = DP-V connection active Max = - BOOL Channel active Min = Max = Channel is the active operation command channel - Profibus ID no. 9 9 : xc77 Profibus ID no. - edundancy (SetPrm) : Deactivated : Activated Activation of the redundancy function in the parameter telegram (SetPrm) Table : Operational info total Parameter Data length = bytes - Motor running time Min = [s] Max = 9979 [s] Motor running time throughout the lifetime - Motor starts Min = [s] Max = 9979 [s] Number of motor starts throughout the lifetime - Thermal fault Min = [s] Max = 9979 [s] Number of thermal faults throughout the lifetime - Torque fault CLOSE Min = [s] Max = 9979 [s] Number torque faults CLOSE throughout the lifetime - Torque fault OPEN Min = [s] Max = 9979 [s] Number of torque faults OPEN throughout the lifetime - Limit trip CLOSE Min = [s] Max = 9979 [s] Number of limit switch CLOSE trippings throughout the lifetime -7 Limit trip OPEN Min = [s] Max = 9979 [s] Number of limit switch OPEN trippings throughout the lifetime -8 Torque trip CLOSE Min = [s] Max = 9979 [s] Number of torque switch CLOSE trippings throughout the lifetime -9 Torque trip OPEN Min = [s] Max = 9979 [s] Number of torque switch OPEN trippings throughout the lifetime - On time warning Min = [s] Max = 9979 [s] Total number of all time intervals throughout the lifetime during which an on time warning was indicated. - On time warning Min = [s] Max = 9979 [s] Max. time span during which an on time warning was indicated. - System starts Min = [s] Max = 9979 [s] Number of AUMATIC system starts throughout the lifetime 7

48 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP Parameter - I Max. temp. controls Min = [ C] Max = + [ C] Maximum temperature of controls - I Min. temp. controls Min = [ C] Max = + [ C] Minimum temperature of controls Table : Operational info Parameter Data length = 8 bytes - Motor running time Min = [s] Motor running time Max = 9979 [s] - Motor starts Min = [s] Number of motor starts Max = 9979 [s] - Thermal fault Min = [s] Number of thermal faults Max = 9979 [s] - Torque fault CLOSE Min = [s] Number torque faults CLOSE Max = 9979 [s] - Torque fault OPEN Min = [s] Number of torque faults OPEN Max = 9979 [s] - Limit trip CLOSED Min = [s] Max = 9979 [s] Number of limit switch CLOSED trippings -7 Limit trip OPEN Min = [s] Max = 9979 [s] Number of limit switch OPEN trippings -8 Torque trip CLOSE Min = [s] Max = 9979 [s] Number of torque switch CLOSE trippings -9 Torque trip OPEN Min = [s] Max = 9979 [s] Number of torque switch OPEN trippings - On time warning Min = [s] Max = 9979 [s] Total number of all time intervals during which an on time warning was indicated. - On time warning Min = [s] Max = 9979 [s] Max. time span during which an on time warning was indicated. - System starts Min = [s] Max = 9979 [s] Number of AUMATIC system starts - I eset operating data /W Value = : Deleting operating data - I Max. tem. controls Min = [ C] Max = + [ C] Maximum temperature of controls - I Min. temp. controls Min = [ C] Max = + [ C] Minimum temperature of controls Table : Event report Data length = bytes - U File size 8 Min = File size of event report Max = - U Save interval Min = Max = Save interval for event data from buffer - U Buffer size Min = Max = Max. number of events in the buffer 8

49 SGC()/SVC()/SGM()/SVM() Profibus DP Appendix - BS System event filter : Commands : Parameterization : Enable processes : System events The event filter for System defines which system events are to be recorded into the event report. : Simulation - BS Event filter for Events 9 : PVST status : Warnings : Fault : Not ready EMOTE : Device status The event filter for Events is used to define which collective signals are to be recorded into the event report. As soon as the memory is full, the oldest events are overwritten. : Configuration warning : Out of specification 7 : Function check 8 : Maintenance required 9 : Failure : Configuration error : Hydraulics error : Wrong oper. command : Internal error : Internal warning : Fieldbus status : Hydraulics warning 7 : Failure (Cfg) 8 : Fault (Cfg) 9 : Warnings (Cfg) : Not ready EMOTE (Cfg) : Config. error E- MOTE : Collective signal : SIL status : Collective signal : Collective signal : Collective signal 7 7 : Collective signal 8 8 : FOC status 9 : Service : Service : Service 9

50 Appendix SGC()/SVC()/SGM()/SVM() Profibus DP Table : Device temperatures Data length = bytes - I Temp. controls Min = - [C ] Temperature of the controls Max = [C ] Table : Device type Data length = bytes - Size :. Size :. : 7. : 7. /. - Actuator version : SVx Actuator version : SGx - Supply voltage : VAC Supply voltage : VAC Table : Hardware equipment Data length = bytes - Logic (target) : Not available : Available 'Logic' (target configuration) electronics sub-assembly (A) - Logics : Not available : Available 'Logics' electronics sub-assembly (A) - Pos. transm. (target) : None : Potentiometer Target configuration of position transmitter : WG : MWG - Position transmitter : None : Potentiometer of position transmitter used : WG : MWG - I/O interface (target) : Not available : Available Target configuration of 'I/O interface' electronics sub-assembly (A.) - I/O interface : Not available : Available 'I/O interface' electronics subassembly (A.) -7 Fieldbus (target) : No fieldbus : Modbus Target configuration of 'Fieldbus' electronics sub-assembly (A.8) : Available -8 Fieldbus : No fieldbus : Modbus 'Fieldbus' electronics sub-assembly (A.8) : Available

51 SGC()/SVC()/SGM()/SVM() Profibus DP

52 Actuators SGC()/SVC()/SGM()/SVM() Profibus DP

53 SGC()/SVC()/SGM()/SVM() Profibus DP Index Index A Appendix B Bus access Bus address 9 C Certification 8 Commissioning, 8 Communication monitoring Connection monitoring Control Clear telegram Corrective action T Technical data Telegram 8 Transfer mode Troubleshooting U User parameters V View Objects D Data interface description Device Master Data (GSD) 8 Device types 7 Diagnostics Directives F Fail Safe telegram Functionality I I & M functions ID number 8 Input data M Maintenance O Operation Output data P (tables) Parameter setting 8 Process representation input process representation output Profibus DP-V index Profibus DP-V slot Protective functions 7 Protective measures Q Qualification of staff S Safety instructions Safety instructions/warnings Signals Slave address 9, Standards

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