Simatic S7 modules for COMPAX with profibus DP (COMPAX option F3) As of COMPAX software version V3.0 August 2000 As of profibus software version V1.

Transcription

1 Simatic S7 modules for COMPAX User Guide Simatic S7 modules for COMPAX with profibus DP (COMPAX option F3) As of COMPAX software version V3.0 August 2000 As of profibus software version V1.4 We automate motion Q U A L C E R T I F I E D DIN EN ISO 9001 I T Y S Y S T E M Reg. Nr Head office Parker Hannifin GmbH EMD Hauser P. O. Box: Robert-Bosch-Str. 22 D Offenburg, Germany Phone: +49 (0) Fax: +49 (0) Great Britain: Parker Hannifin plc EMD Digiplan 21 Balena Close Poole, Dorset BH17 7DX UK Phone: +44 (0) Fax: +44 (0) Subject to technical modification : N1 Data corresponds to state-of-the-art technology at the time of printing.

2 Simatic S7 modules for COMPAX with profibus DP Contents 1. General Software modules for COMPAX with profibus DP connection System conditions COMPAX as a profibus DP slave Data exchange with COMPAX via profibus DP COMPAX parameter settings Minimum parameter setting COMPAX parameter P196: Telegram format COMPAX parameter P194: Station address COMPAX parameter P193: Spontaneous messages COMPAX parameter P191: Behavior during bus time-out COMPAX parameters P135.. P142: Assignment of the process data channel COMPAX parameter P221.. P224: Masking of the digital...14 inputs and outputs Simatic S7 configuration for COMPAX COMPAX code modules for Simatic S Project management Communication structure and modular call-up Reading data blocks and writing data blocks Module call-up Parallel nature of module call-ups Error monitoring when calling up modules Module description FB10: Parameter setting module "ParaDn" Description of function Setting parameters Status Structure of the data area for ParameterWrite Supplementary comments Call-up example Example of a parameter DB (ParameterWrite)...28

3 7.2 FB11: Parameter setting module "ParaUp" Description of function Setting parameters Status Structure of data area for ParameterRead Supplementary comments Call-up example Example of a parameter DB (ParameterRead) FB12: Programmer module "LinesDn" Description of function Setting parameters Status Structure of the data area for ProgramLines Supplementary comments Call-up example FB13: Programming module "LinesUp" Description of function Setting parameters Status Structure of the data area for ProgramLines Supplementary comments Call-up example FB14: Curve module "CurveDn" Description of function Setting parameters Status Structure of the data area for FixPoints Supplementary comments Call-up example FB15: Curve model "CurveUp" Description of function Setting parameters Status Structure of the data range for FixPoints Supplementary comments Call-up example FB16: Positioning module "PosMod" Description of function Parameter setting Status Structure of the data area for PosPara Supplementary comments Call-up example

4 Simatic S7 modules for COMPAX with profibus DP Example of positioner DB (PosPara) FC10: Conversion module "FloatDSP" Description of function Setting parameters Status Structure of the data areas Supplementary comments Call-up example Example of a DSPNumber FC11: Conversion module "DSPFloat" Description of function Setting parameters Status Structure of data areas Supplementary comments Call-up example Troubleshooting Hardware and address errors Operating and parameter setting errors Sending error messages to Parker Bibliography

5 Unit assignment: This documentation describes simatic S7 modules which support communication between a Simatic S7 and the following units: COMPAX 10XXSL with option F3 COMPAX 25XXS with option F3 COMPAX 45XXS with option F3 COMPAX 85XXS with option F3 COMPAX P1XXM with option F3 COMPAX 02XXM with option F3 COMPAX 05XXM with option F3 COMPAX 15XXM with option F3 COMPAX 35XXM with option F3 XX: any characters F3:profibus option Key to unit designation e.g.: COMPAX 0260M: COMPAX: name 02: performance class 60: variante.g. "00": standard model M: model M: multiple axis unit S:single-axis unit HAUSER rating plate The rating plate is found on the top of the unit and contains the following information: option name serial number Compax 0260M E2 equipment name part number 5

6 Simatic S7 modules for COMPAX with profibus DP 1. General Liability waiver PARKER will not provide warranty for ensuring that these modules function perfectly under all circumstances. Using current technology, there is not generally any software, which functions perfectly under all circumstances and requirements. PARKER therefore declines any liability for direct and indirect damage of any nature caused through the use of the software modules, even if the modules are used in accordance with the descriptions provided in this manual. Product monitoring obligation Within the scope of its product monitoring obligation, PARKER attempts to detect and describe all dangers, resulting from the use of our software modules. We cannot however detect all dangers as a result of the complexity of the product and our limited knowledge of the end customer systems, which are also characterized through the use products produced by third parties. Likewise, not all characteristics of the software module are described in this manual. In the event that you have any further questions, please contact PARKER. Right of amendment PARKER has the right to update the manual and the software modules at any time without announcing such action beforehand. Software modules can also be quarantined without notification if PARKER detects dangers which do not allow for perfect operation. PARKER is not generally obliged to rectify a detected error immediately or to prepare new functions when asked to do so by a customer. Copyright This manual and the associated software modules contain information, which is the intellectual property of PARKER. The authorized user is obliged to use this information exclusively for the operation of the COMPAX position controllers and their integration. Reproduction and dissemination to third parties of the documentation or extracts of it is only permitted following approval from PARKER. The reproduction of software modules is only permitted in the sense of data back-up. 6

7 2. Software modules for COMPAX with profibus DP connection COMPAX position controllers have been available for several years now with standardized field buses. Here the profibus DP, as defined in EN 50170, proves to be a simply designed and easy to use command interface with a high degree of efficiency. Despite this, when working with position controllers with profibus DP engagement, the system programmer does however often face start-up problems as a result of the high functionality of such units. If binary controller information is still assigned actions such as positioning or referencing, non-standardized controller instructions are usually used for the unit parameter settings. Another obstacle may then be encountered since the controller computers, which exchange data with the position controllers by means of the profibus master engagement, display their data using different internal methods and data is not therefore transformed from the position controller to one particular controller computer type. As a result of the restricted band width of a DP transfer channel, associated data also often has to be transferred in blocks. The programmer is then left to handle data transformation and division or combination into or from blocks with the support of driver software. PARKER will provide you with an open collection of Simatic S7 modules 1 as handling software for some frequently repeated tasks such as the transfer of unit parameters, command lines of the record memory and of support points of the electronic curve disc to and from the position controller, but also for the creation of travel orders, including all travel parameters such as acceleration and speed. The system also supports conversion of the position controller's internal DSP data format into the standardized IEEE floating point data format and vice versa from IEEE floating point data format into the DSP data format of the position controller. The collection should be continually updated and supplemented which is why PARKER is always grateful for information from customers. For a general understanding, it is essential that you are familiar with the key contents of the operating instructions for the profibus option [1] and of the COMPAX Product Manual [2] because this product is based on knowledge of these two sources. This description is also based on a basic understanding of Step7 programming. 1 Simatic is a registered trademark of Siemens AG 7

8 Simatic S7 modules for COMPAX with profibus DP 3. System conditions The COMPAX basic unit must have software version of at least 3.x and the COMPAX profibus engagement F03 of at least Both software versions can be easily determined using the ServoTerminal (contained in the COMPAX scope of supply) [2] by requesting the S31 COMPAX status values for the basic unit and S36 for the field bus engagement. The Step7 programming package with basic or mini authorization should have a version status of at least V3.x or greater. The use of the S7 function modules is associated with certain hardware and firmware version statuses. 8

9 4. COMPAX as a profibus DP slave 4.1 Data exchange with COMPAX via profibus DP Information on the profibus DP is transferred via the cyclic exchange of data frames for request and response between the profibus DP master and profibus DP slave. The working data of these data frames in the Simatic S7 station are blended into the address area of the CPU, the working data passing from the DP slave is loaded into the input addresses (input byes (EB)) of the CPU, the working data passing to the DP slave is written from the output addresses (output bytes (AB)) of the CPU. During this process, one byte is assigned in the I/O address area of the CPU per working data byte for the request and response frame. As a result of the different selections of these address areas, the DP slave station numbers and address areas are assigned in an unambiguous manner. One address area is assigned exclusively to one DP slave. One exception here is CPU's, which have the option of supplying several DP slaves via what are commonly referred to as boilerplate units from a shared address area. In this instance, the address area assignment also takes place using the boilerplate unit number. Furthermore, different input and output address positions can be selected for some DP slaves. If a piece of working data, e.g. a nominal value, is distributed over more than one byte, this piece of working data has to be transferred in an associated manner in a profibus master I/O cycle. An associated area is designated as a consistency area. Assurance is provided for a consistency area to the effect that the working data leaves the DP master and/or reaches the DP master in an associated manner. 9

10 Simatic S7 modules for COMPAX with profibus DP 4.2 COMPAX parameter settings Minimum parameter setting If the profibus DP is to be operated, the DP master must know the bus structure. During booting up, the DP master checks whether the projected configuration is also actually available on the bus. In additional to the sheer presence of the stations, the projected length and number of consistency areas are also checked. Each COMPAX operates as an independent DP slave station, which has to have extra configuration. The configuration required is described in the appropriate COMPAX documents [1]. The configuration is undertaken in a menu-guided manner using the parameter editor of the general COMPAX configuration tool, ServoManager [2], provided that COMPAX option F3 (profibus) has been previously selected. The station number and format of the data frame can also be entered directly onto the front COMPAX screen in the sense of a minimum configuration (capable of communication) under the C menu items C01 (identical to parameter P194) and C03 (identical to parameter P196). Profibus-specific COMPAX parameters are described below. A baud rate does not have to be defined because the COMPAX engagement is set automatically to the master baud rate. All standardized baud rates are supported, the maximum is however 1.5 Mbaud. Only those parameter settings required for operation with the Simatic S7 modules are described below. The operator must note that the profibus parameters of the COMPAX are only activated once the 24V supply (logic voltage) is switched back on COMPAX parameter P196: Telegram format COMPAX supports different working data lengths and consistency areas in an application-specific manner and provides the option of configuring the input and output area separately to ensure that different input and output bytes can be issued by the programmable controller. You will find a tabular list of the set-up options in [1]. 10

11 The structure of the working data frame should be considered in more detail if further understanding is to be possible. Different pieces of information can be transferred depending on the working data length selected. The two main data types which can be transferred are command data and process data. Command data has an acyclic character and is used to read or write a unit parameter, amongst other things. Process data has a cyclic character and is often used to set nominal values or to record actual values. A permanent space is assigned for both types of data in the working data frame and both are transferred in a quasi-parallel manner in a telegram. The following terms from [1] have been selected on the basis of the PROFIBUS profile for speed changing drives. [1] also contains an explanation and diagram of these terms. The area for the command data type is designated "command identification data" (BKD) and that for the process data type as "process data" (PZD). The entire data frame, consisting of BKD and PZD, is designated as the "command-process data object" (BPO). The BKD consists of three sub-areas: "command identification" (BKE), "sub-index" (IND) and "command data" (BDA). In the BKE of the request frame, a request code is transferred to identify the type of command, the associated command data can be found in the BDA. For example, the identification for writing a parameter is in BKE and the parameter contents themselves are in BDA. In the BKE of the response frame, you will find the response code for identification of command acknowledgement. If the example is changed so that the COMPAX parameter is not changed but its current value should be queried, there will be a command code for reading a parameter in the BKE of the request frame, the command acknowledgment can be found in the BKE of the response frame and the parameter contents themselves are in the BDA of the response frame. The sub-index IND is only ever required when a command cannot be processed in an I/O cycle by the BKD. This may be the case if there is a command or acknowledgement from several partial commands or acknowledgments. One such command is e.g. the POSR-SPEED-ACCEL COMPAX command for speed-profiled travel of the servo axis, which comprises a total of three request and 3 response frames. The PZD of the request frame always consists of one control word or byte, that of the response frame consists of one status word or byte. Depending on the width of the PZD, 6 bytes of cyclic information can also be exchanged in both directions (PED or PAD). The data contents of these 6 bytes can be configured [1]. 11

12 Simatic S7 modules for COMPAX with profibus DP The presence and width of the BKD and PZD depend on the working data length selected. The working data length can be 18, 12, 8 or 1 byte. The data frames are sub-divided into the BPO1, BPO2, BPO3 and BPO4 types in accordance with these four working data lengths. Only the BPO1 and BPO2 types transfer both the PZD data type and the BKD data type. A BPO of the BPO1 and BPO2 types may consist of 2 or 3 consistency areas. As has already been described above, joint and therefore consistent transfer is only assured by the profibus DP for data within one such consistency area. Two or three-way division is possible for both BPO types. When using two-way division, all data bytes of the BKD, therefore BKE, IND and BDA are jointly transferred in both directions of travel in the first consistency area. The same applies to data of the PZD. When using threeway division, the consistency area BKD is divided firstly into BKE and IND and secondly BDA to ensure that a total of three consistency areas are created. If you remain with the selected example of the parameter writing, only two-way division can ensure that request code (BKE) and parameter contents (BDA) are assessed at the same time on the COMPAX engagement. When using three-way division, the programmer would have to previously transmit the parameter contents (BDA) e.g. using a programmable controller cycle. Valences are assigned to the BPO type, the number of consistency areas, the type of address areas issued (separate or combined I/O) and the bus protocol (DP, FMS) and are stored as a total in COMPAX parameter P196. Function Setting Valency BPO type BPO type 1 BPO type 2 BPO type 3 BPO type 4 Input/output configuration I/O together I/O separate DP configuration (consistency areas) Profibus protocol 12 3-way division: (BKD + IND/BDA/PZD) 2-way division: (BKD/PZD) FMS mode only FMS mode only Combined mode (DP and FMS mode) DP mode only

13 P196 = = 104 should be selected for the first tests. The PZD channel can be fully utilized with this setting. When using the Simatic S7 modules, only those settings printed in bold may be used from each table line COMPAX parameter P194: Station address Each DP slave logs onto the bus with its station number. COMPAX station numbers are issued exclusively within a range of 1 to 126. The S7 CPU as the DP master occupies a certain station number which must not then be issued for a COMPAX slave. Select a setting within the range P194 = COMPAX parameter P193: Spontaneous messages When using the Simatic S7 modules, spontaneous message must not generally be used unless express reference is made to them in the module descriptions. Set P193 = COMPAX parameter P191: Behavior during bus time-out This parameter is used to define the COMPAX position controller behavior during a bus time-out. If P191 = 0, all nominal values are valid until a new command arrives. When P191 = 1 or 15 this error result in an axis stop with a subsequent powering down of the axis whenever the parking brake is applied. This parameter does not affect the behavior of the Simatic S7 modules. From the point of view of safety, it is however recommended that P191 = 1 or 15 is set COMPAX parameters P135.. P142: Assignment of the process data channel The Simatic S7 modules can be used together with the functions of the cyclic channel (BPO type 1). The assignment of the PED's (COMPAX to programmable controller direction) is of no real significance to the function of the modules. 13

14 Simatic S7 modules for COMPAX with profibus DP These parameters do not affect the behavior of the Simatic S7 modules. If the PAD is assigned, ensure that no functions are triggered parallel to the functions of the BKD COMPAX parameter P221.. P224: Masking of the digital inputs and outputs Parameter P221 provides the option of operating discreet controller functions such as manual+/- or start/stop via the profibus DP. These are functions which are usually triggered via the digital inputs. Should these functions be available via profibus DP and not via the digital inputs, P221 = 63 should be set. The parameters P223 and P224 are used to assign the 16 digital outputs of the COMPAX to the profibus DP or to the COMPAX record memory in a bit-like manner. These parameters do not affect the behavior of the Simatic S7 modules. 14

15 5. Simatic S7 configuration for COMPAX The Simatic S7 configuration for COMPAX can be undertaken using the hardware configurator of the Step7 programming package. As of version status V3.x of the Simatic development environment, the configuration is usually supported by means of core unit files (GSD). Earlier version statuses of this configurator operate with what are commonly referred to as type files. Both types of configuration files form part of the COMPAX standard supply package. Following installation of the ServoManager [2], the corresponding CPX0EE95 (or CPXxxxxx.GSD) file will be in the installation directory../srvbox/data on the hard disk. Now, for example, proceed as follows: 1. The CPX0EE95.GSD or CPXxxxxx.GSD file must be copied into the../step7/s7data/gsd directory on the hard disk. 2. A SUBNET PROFIBUS must be added to the working project for the SIMATIC station. Once the change has been made to the hardware configuration, the hardware catalogue has to be refreshed once using UPDATE GSD FILES so that COMPAX is recorded in the catalogue. 3. Now open the hardware catalogue and configure all the assemblies used. The selected master engagement is then connected with the subnet PROFIBUS. Select the master address and a baud rate of no more than 1.5 MBaud. 4. You will find the "COMPAX with F03" entry in the hardware catalogue under +PROFIBUS+OTHER FIELD UNITS+MISCELLANEOUS. 5. By pressing the left-hand mouse button, a COMPAX entry appears on the line of dashes behind the DP profibus for each COMPAX. Now select an entry from the configuration list proposed for COMPAX. This entry should correspond to the settings for COMPAX parameter P196. If you have selected P196 = 104, you should select BPO_1_BKD/PZD. A station number (address) must also be specified in the dialogue. 6. Finally, you must assign I/O addresses to each of the two consistency areas. Once you have double clicked on the DP slave entries, the addresses can be edited. Use associated address areas for both consistency areas. With some Simatic CPU types (e.g. 400 series) only addresses which can be divided by four can be set whereby a gap of two bytes is created. By assigning I/O addresses to the station numbers, stations (e.g. digital input and output assemblies, COMPAX) are only activated from the user program via I/O address areas. 15

16 Simatic S7 modules for COMPAX with profibus DP The completed configuration must then be downloaded into the programmable controller and/or onto the configuration carrier. Figure 4.1 Hardware configurator S7 16

17 Figure 4.2 Hardware configurator S7, issuing of I/O addresses 6. COMPAX code modules for Simatic S7 6.1 Project management The PARKER code modules and event data modules are saved in the S7 project HAUS_xxx.S7P. All functional modules (FB) and functions (FC) are independently programmed to ensure that only the code module required has to be copied into the working project per function required. The event DB associated with the FB can be automatically created when calling up the FB through the S7 programming environment. 17

18 Simatic S7 modules for COMPAX with profibus DP 6.2 Communication structure and modular call-up Reading data blocks and writing data blocks The MODULE FB's operate internally with a status machine controlled by a step string. This machine transmits certain commands to COMPAX (BKD) at the command interface and processes status information from the command interface (BKD). The BKD (to COMPAX) is created by the MODULE FB's and must be "written" to the DP master by the user from the outgoing box by means of SYSTEM_WRITE 2. Vice versa, the BKD (from COMPAX) required by the MODULE FB's must be "read" by the DP master in the incoming box from the user program by means of SYSTEM_READ 3. The COMPAX parameter P196 is used to set parameters for the number and width of the consistency areas of COMPAX. When the requirement for two-way division of the entire COMPAX telegram applies, as it does when using the S7 modules, these areas are 10 bytes and 8 and/or 2 bytes large, i.e. direct access via the accumulator is no longer possible. Cyclical call-up of SYSTEM_READ and SYSTEM_WRITE is required, at least while processing is in progress, to ensure that the step string can be processed in the MODULE FB. The system functions for SYSTEM_WRITE with an integrated master should be called up per consistency area. If therefore e.g. there are two COMPAX position controllers in two-way division mode on the bus, both system functions should be called up a total of four times if fresh data is to be continually accessed. Access via SYSTEM_WRITE/SYSTEM_READ with an external master however occurs via all consistency areas as a whole, i.e. callup only occurs once per programmable controller cycle regardless of the number of COMPAX'. 2 SYSTEM_WRITE: The Siemens function, DPWR_DAT (SFC15), is used with integrated masters (e.g. CPU315-2DP) and function, DP_SEND (FC1), is used with explicit masters (e.g. CP342-5). 3 SYSTEM_READ: The Siemens function, DPRD_DAT (SFC14), is used with integrated masters (e.g. CPU315-2DP) and function, DP_RECV (FC2), is used with explicit masters (e.g. CP342-5). 18

19 User program including HAUSER S7 modules "RESPONSE" Example: marker memory area Incoming box MB40 MB49 MB50 MB57 BPO-type 1 E/A together 2-way division "REQUEST" Example: DB6 memory area Outgoing box ADR0.0 ADR9.0 ADR10.0 ADR17.0 SFC14 SFC15 M1.0 W#16#0 M1.0 W#16#A "DPRD_ DAT" EN LADDR RET_VAL RECORD ENO "DPRD_ DAT" EN LADDR RET_VAL RECORD ENO MW200 M2.0 P#M40.0 BYTE 10 W#16#0 P#DB6.DBX 0.0 BYTE 10 BYTE 10 MW202 P#M50.0 BYTE 8 M2.0 W#16#A P#DB6.DBX 10.0 BYTE 10 BYTE 8 "DPWR_ DAT" EN LADDR RET_VAL RECORD ENO "DPWR_ DAT" EN LADDR RET_VAL RECORD ENO MW204 MW206 Process- I / O Figure 5.1 Communication structure with DPRD_DAT and DPWR_DAT with an integrated master (e.g. CPU 315-DP2) Unlike its predecessor model, the Simatic S5, the Simatic-S7 can no longer describe the communication directly via the accumulator commands (output bytes (AB) or periphery) or read from this (input bytes (EB) or periphery), if the associated consistency area is bigger than the accumulator width (32 bits). To update the COMPAX consistency areas when using the software modules, it is essential that the system functions for reading/writing SYSTEM_READ and SYSTEM_WRITE are used. 19

20 Simatic S7 modules for COMPAX with profibus DP Module call-up The modules are FB's and/or FC's, which can be simply linked by coping and setting parameters in the user program. FB's are always used if the module call-up is required over several programmable controller cycles. During this time, the FB's edit an internal step string, the status of which is saved in the event DB. This also applies for instances where only one frame has to be transmitted and received because the response can wait several programmable controller cycles. FBxx DBxx - Instanz-DB "FB_Name" M1.0 EN P#DB6.DBX 0.0 BYTE 10 REQUEST P#M 40.0 BYTE 10 P#M 2.0 BOOL 1 RESPONSE START P#DB7.DBX 0.0 BYTE 80 FALSE TRUE USER_DATA_1 USER_DATA_2 USER_DATA_N STATUS ENO M2.1 Figure 5.2 Example of a module call-up using real parameter settings Parameter 20 Address space Type REQUEST M, DB ANY indicator RESPONSE M, DB ANY indicator START STATUS USER_DAT A M, DB, E M, DB, A ANY indicator BOOL M, DB ANY indicator BOOL Direction of flow Programmable controller- >COMPAX COMPAX- >programmable controller Programmable controller sets Programmable controller reads Data-dependent Meaning Outgoing box to COMPAX Incoming box from COMPAX =1 transfer is started =0 transfer is completed =1 transfer is completed =0 transfer underway or is not started Use-specific source and target data

21 REQUEST and RESPONSE (FB's) From the user's point of view, the setting of COMPAX addresses only occurs via the incoming and outgoing box, an explicit station address is therefore not required at the FB level. The system modules for receiving and transmitting the programmable controller firmware create a relationship between the incoming and/or outgoing box and the input and/or output addresses of the programmable controller. The relationship between the programmable controller input and/or output addresses and the station number required for setting COMPAX addresses is determined within the programmable controller with the aid of the hardware configuration. The MODULE FC's do not use an incoming and outgoing box because direct communication with the COMPAX is not usually required via the FC's. The setting of COMPAX addresses occurs via the assigned incoming and outgoing box. Station numbers are not therefore required. START and STATUS (FB's and FC's) When there is an increasing flank (FALSE following TRUE) at the START input, the MODULE FB starts to actively write in the outgoing box. START must be in place until the STATUS output of the FB's indicate that the transfer has been completed (TRUE). When there is a decreasing flank (TRUE following FALSE) at the START input, the BKD is filled with zeros once (and only once) and the programmable controller program writes to COMPAX by means of SYSTEM_WRITE and sets the STATUS output to FALSE. When using a FC's, START and STATUS are only used to start and indicate the ready message. START can be statistically set to TRUE when using the FC's. The START input with the FB's should only be in place until the STATUS reports TRUE to keep system load on COMPAX as low as possible. USER_DATA USER_DATEN is the working data which is exchanged with the COMPAX. The structure and number of pieces of user data depends on the FB or FC currently being used. 21

22 Simatic S7 modules for COMPAX with profibus DP Parallel nature of module call-ups With reference to one single COMPAX, at any one time only one MODULE FB may be called up using active START in order to transfer data. The parallel call-up of FB's, with reference to one COMPAX, is only possible if only one FB has an active START input. Note that when the flank of the START input decreases, zero bytes are transferred once into the BKD. FB's with an inactive START only implement initializations of their temporary variables and are then completed without writing to the outgoing box. On the other hand, MODULE FB's may transfer data in parallel, if they are determined for different COMPAX. If the same FB is to be used in parallel, it should be called up each time with a different event DB. Since according to the profibus DP principle, all stations are usually involved in the exchange of information, even without a current FB call-up, there is no additional expenditure (in terms of time) for the transfer of data. The programmable controller cycle time is simply increased by the FB call-up. Parallel data transfer is not possible for one COMPAX using different FB's. The same or different FB's can be called up in parallel for different COMPAX but exclusive usage of the event DB's should be noted. All MODULE FB's are capable of multiple events. 6.3 Error monitoring when calling up modules Even though the module software currently automatically monitors the arguments handed to it, step string blocking of a FB's may come about as a result of an operating error because there is a result different to that expected in the incoming box of the COMPAX. For example, this applies to the description of a protected COMPAX parameter if the associated MODULE FB is not informed that the parameter is to be transferred with a password. If a command cannot be undertaken by COMPAX via the BKD channel (writing), e.g. a positioning error during an active positioning process or the setting of parameters without the password approval required, the response ID AK=7 is used to announce that the command cannot be undertaken via the BKD channel (reading). The application programmer should monitor the FB's for AK=7. 22

23 7. Module description 7.1 FB10: Parameter setting module "ParaDn" Description of function This FB is used to transfer a parameter block (group of parameters) from the programmable controller to the COMPAX. In addition to the transfer of parameters, the following incoming or outgoing commands can also be transferred and these should be selected explicitly: number of COMPAX parameters, deactivate password (is activated again once parameter transfer is complete), validate VP, VP parameter and validate VC, VC parameter. During these processes, all parameters are read from a special data block and always have DSP format (3 bytes before the decimal point, 3 bytes after the decimal point) Setting parameters Variable Parameter- Write Data type Address area Call-up example Data type: ANY P#DB30.DBX 0.0 BYTE 16 Meaning Indicates the area (D, M) in which parameter numbers and parameter values are saved. 23

24 Simatic S7 modules for COMPAX with profibus DP Variable Number VP VC Data type Address area Call-up example Data type: BYTE Constants I/O area B#16#10 Data type: BOOL Constants I/O area M E70.0 DB7.DBX 10.0 Data type: BOOL Constants I/O area M E70.1 DB7.DBX 10.1 Meaning Number of parameters to be transferred Initiate VP command following parameter transfer Initiate VC command following parameter transfer 24

25 Variable PASS- WORD Response Request Data type Address area Call-up example Data type: BOOL Constants I/O area M E70.2 DB7.DBX 10.2 Data type: ANY P#M BYTE 10 P#DB5.DBX 0.0 BYTE 10 Data type: ANY P#M BYTE 10 P#DB6.DBX 0.0 BYTE 10 Meaning Temporarily cancel password protection Indicates the area (DB or M) in which the response from COMPAX can be found. The response from COMPAX is read via the profibus with the help of a system module (SYSTEM_READ 4 ). Indicates the area (DB or M) in which the request to COMPAX can be found. The request to COMPAX is written via the profibus with the help of a system module (SYSTEM_WRITE 5 ). 4 SYSTEM_READ: The Siemens function, DPRD_DAT (SFC14), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_RECV (FC2), is used with explicit masters (e.g. CP342-5). 5 SYSTEM_WRITE: The Siemens function, DPWR_DAT (SFC15), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_SEND (FC1), is used with explicit masters (e.g. CP342-5). 25

26 Simatic S7 modules for COMPAX with profibus DP Variable START Status Data type Address area Call-up example Data type: ANY E area P#M BOOL 1 P#E 70.4 BOOL 1 P#DB7.DBX 10.4 BOOL 1 Data type: BOOL I/O area M A DB7.DBX 10.2 Meaning Indicates a bit (DB, M, E) which starts the transfer of parameters. Bit (DB, M, A) announces that all parameters, including the incoming commands (password) and outgoing commands (VP, VC), have been transferred if selected Status The status indicates that all transfers have been successfully completed. We would recommend that the status bit is monitored. The status bit is not set, e.g. if the input and output variables does not have the format expected, if start has been deactivated before the end of the transfer, if password-protected parameters have been transferred without the password also having been transferred, if VC has been selected and the axis is in motion. 26

27 7.1.4 Structure of the data area for ParameterWrite The data area, in which all parameter numbers and values are stored, is n*8 bytes large, whereby n is the number of parameters to be transferred. The order in which the parameters are to be transferred is irrelevant to the transfer. The 8 bytes (one slot) for each parameter are made up as follows. The slots (for several parameters) must be evenly connected. Parameter Address Data type Meaning Parameter 0.0 BYTE (UINT) Parameter number (1..250) Value BYTE (UINT) Digit after the decimal point 3 (LSB) NK3 Value BYTE (UINT) Digit after the decimal point 2 NK2 Value BYTE (UINT) Digit after the decimal point 1 (MSB) NK1 Value BYTE (UINT) Digit before the decimal point 1 (LSB) VK1 Value BYTE (UINT) Digit before the decimal point 2 VK2 Value BYTE (UINT) Digit before the decimal point 3 (MSB) VK Supplementary comments The parameter values are transferred in 6 byte DSP format regardless of the internal back-up in COMPAX. FC10 can be used to change from floating comma format into DSP format and FC11 can be used for the opposite direction. The conversion of numerical formats is described in the COMPAX Product Manual. Note that the password protection is always reactivated when it has been temporarily canceled for the transfer of parameters (PASSWORD := TRUE). The COMPAX commands VP and VC are subject to certain application conditions, which can be taken from the COMPAX Product Manual (2). 27

28 Simatic S7 modules for COMPAX with profibus DP FB10 interacts closely with FB11 ("ParaUp") because the ParameterWrite/ParameterRead data areas used are compatible with one another. In the simplest scenario, the parameter record is created using ServoManager and then downloaded once into the programmable controller using FB11 (ParameterRead). If COMPAX has to be changed, then FB10 can directly download the parameter record (from ParameterWrite) into COMPAX Call-up example In this example, the parameters P11=100 and P40=-10.5 are to be set. P40 is transferred immediately without the password protection having been deactivated, P11 requests the password protection to be canceled and a subsequent VP. CALL FB 10, DB10 ParameterWrite :=P#DB7.DBX 0.0 BYTE 16 Response :=P#DB5.DBX 0.0 BYTE 10 Start :=P#M 2.0 BOOL 1 Number :=B#16#2 Password :=TRUE VP :=TRUE VC :=FALSE Status :=M2.1 Request :=P#DB6.DBX 0.0 BYTE Example of a parameter DB (ParameterWrite) Parameter Address Date Meaning Parameter 0.0 B#16#0B Transfer parameter B#16#00 Not used NK3 2.0 B#16#00 Digit after the decimal point NK2 3.0 B#16#00 Digit after the decimal point NK1 4.0 B#16#00 Digit after the decimal point VK1 5.0 B#16#64 Digit before the decimal point VK2 6.0 B#16#00 Digit before the decimal point VK3 7.0 B#16#00 Digit before the decimal point 28

29 Parameter Address Date Meaning Parameter 8.0 B#16#28 Transfer parameter B#16#00 Not used NK B#16#00 Digit after the decimal point NK B#16#00 Digit after the decimal point NK B#16#80 Digit after the decimal point VK B#16#F5 Digit before the decimal point VK B#16#FF Digit before the decimal point VK B#16#FF Digit before the decimal point 29

30 Simatic S7 modules for COMPAX with profibus DP 7.2 FB11: Parameter setting module "ParaUp" Description of function This FB is used to transfer a parameter block (group of parameters) from COMPAX to the programmable controller. All parameters between the COMPAX parameter first specified and the COMPAX parameter last specified are transferred to the programmable controller. During this, all parameters are saved by the FB in a special data block and always have DSP format (3 bytes before the decimal point, 3 bytes after the decimal point) Setting parameters Variable Parameter -Read Parameter -From Data type Address area Call-up example Data type: ANY P#DB31.DBX 0.0 BYTE 16 Data type: BYTE Constants I/O area B#16#10 Meaning Indicates the area (D, M) in which the parameters numbers and parameter values should be saved. COMPAX parameter to be transferred first 30

31 Variable Parameter -To Response Request Data type Address area Call-up example Data type: BYTE Constants I/O area B#16#12 Data type: ANY P#M BYTE 10 P#DB5.DBX 0.0 BYTE 10 Data type: ANY P#M BYTE 10 P#DB6.DBX 0.0 BYTE 10 Meaning COMPAX parameter to be transferred last Indicates the area (DB or M) in which the response from COMPAX can be found. The response from COMPAX is read via the profibus with the help of a system module (SYSTEM_READ 6 ). Indicates the area (DB or M) in which the request to COMPAX can be found. The request to COMPAX is written via the profibus with the help of a system module (SYSTEM_WRITE 7 ). 6 SYSTEM_READ: The Siemens function, DPRD_DAT (SFC14), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_RECV (FC2), is used with explicit masters (e.g. CP342-5). 7 SYSTEM_WRITE: The Siemens function, DPWR_DAT (SFC15), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_SEND (FC1), is used with explicit masters (e.g. CP342-5). 31

32 Simatic S7 modules for COMPAX with profibus DP Variable START Status Data type Address area Call-up example Data type: ANY E area P#M BOOL 1 P#E 70.4 BOOL 1 P#DB7.DBX 10.4 BOOL 1 Data type: BOOL I/O area M A DB7.DBX 10.2 Meaning Indicates a bit (DB, M, E) which starts the transfer of parameters. Bit (DB, M, A) indicates that all parameters, including the incoming commands (password) and outgoing commands (VP, VC), have been transferred if selected Status The status indicates that all transfers have been successfully completed. We would recommend that the status bit is monitored. The status bit is not set, e.g. if the input and output variables do not have the format expected Structure of data area for ParameterRead The data area in which all parameter numbers and values are saved is n*8 bytes in size, whereby n is the number of read parameters. The slots (for several parameters) are evenly connected. 32

33 Parameter Address Data type Meaning Parameter 0.0 BYTE (UINT) Parameter number (1..250) Value BYTE (UINT) Digit after the decimal point 3 (LSB) NK3 Value BYTE (UINT) Digit after the decimal point 2 NK2 Value BYTE (UINT) Digit after the decimal point 1 (MSB) NK1 Value BYTE (UINT) Digit before the decimal point 1 (LSB) VK1 Value BYTE (UINT) Digit before the decimal point 2 VK2 Value BYTE (UINT) Digit before the decimal point 3 (MSB) VK Supplementary comments The parameter values are saved in 6 byte DSP format regardless of the internal back-up in COMPAX. FC11 can be used to change from DSP into floating comma format and FC10 can be used in the opposite direction. The conversion of numerical formats is described in the COMPAX Product Manual. FB11 interacts closely with FB10 ("ParaDn") because the ParameterRead/ParameterWrite data areas used are compatible with one another. In the simplest scenario, the parameter record is created using ServoManager and then downloaded once into the programmable controller using FB11 (ParameterRead. If COMPAX has to be changed, then FB10 can directly download the parameter record (from ParameterWrite) into COMPAX Call-up example In the example, all 250 COMPAX parameters are to be stored in one 2000 byte (250 x 8 byte) DB. In the example, P1=100 and P250=1. 33

34 Simatic S7 modules for COMPAX with profibus DP CALL FB 11, DB11 Response :=P#DB5.DBX 0.0 BYTE 10 Start :=P#DB5.DBX 13.7 BOOL 1 ParameterFrom :=B#16#1 ParameterTo :=B#16#FA Status :=M11.0 Request :=P#DB6.DBX 0.0 BYTE 10 ParameterRead :=P#DB7.DBX 0.0 BYTE Example of a parameter DB (ParameterRead) Parameter Address Date Meaning Parameter 0.0 B#16#01 Parameter 1 read 1.0 B#16#00 Not used NK3 2.0 B#16#00 Digit after the decimal point NK2 3.0 B#16#00 Digit after the decimal point NK1 4.0 B#16#00 Digit after the decimal point VK1 5.0 B#16#64 Digit before the decimal point VK2 6.0 B#16#00 Digit before the decimal point VK3 7.0 B#16#00 Digit before the decimal point Parameters Parameter B#16#FA Parameter 250 read B#16#00 Not used NK B#16#00 Digit after the decimal point NK B#16#00 Digit after the decimal point NK B#16#00 Digit after the decimal point VK B#16#01 Digit before the decimal point VK B#16#00 Digit before the decimal point VK B#16#00 Digit before the decimal point 34

35 7.3 FB12: Programmer module "LinesDn" Description of function This FB is used to transfer a program block (group of program lines) from the programmable controller to COMPAX. During this transfer, all program lines are read directly by the FB from a memory area in the programmable controller and written into the record memory of the COMPAX Setting parameters Variable Program- Lines Number Respons e Data type Address area Call-up example Data type: ANY P#DB31.DBX 0.0 BYTE 1500 Data type: BYTE Constants I/O area B#16#0A Data type: ANY P#M BYTE 10 P#DB5.DBX 0.0 BYTE 10 Meaning Indicates the area (D, M) in which the program lines are saved. Number of parameters to be transferred Indicates the area (DB or M) in which the response from COMPAX can be found. The response from COMPAX is read via the profibus with the help of a system module (SYSTEM_READ 8 ). 8 SYSTEM_READ: The Siemens function, DPRD_DAT (SFC14), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_RECV (FC2), is used with explicit masters (e.g. CP342-5). 35

36 Simatic S7 modules for COMPAX with profibus DP Variable Request START Status Data type Address area Call-up example Data type: ANY P#M BYTE 10 P#DB6.DBX 0.0 BYTE 10 Data type: ANY E area P#M BOOL 1 P#E 70.4 BOOL 1 P#DB7.DBX 10.4 BOOL 1 Data type: BOOL I/O area M A DB7.DBX 10.2 Meaning Indicates the area (DB or M) in which the request to COMPAX can be found. The request to COMPAX is written via the profibus with the help of a system module (SYSTEM_WRITE 9 ). Indicates a bit (DB, M, E) which starts the transfer of program lines. Bit (DB, M, A) announces that all program lines have been transferred Status The status indicates that all transfers have been successfully completed. We would recommend that the status bit is monitored. The status bit is not set, e.g. if the input and output variables do not have the format expected. 9 SYSTEM_WRITE: The Siemens function, DPWR_DAT (SFC15), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_SEND (FC1), is used with explicit masters (e.g. CP342-5). 36

37 7.3.4 Structure of the data area for ProgramLines The special identifications for record memory commands form part of the profibus documentation (1). As a rule, two or three blocks are transferred per record line, each using 10 bytes. The FB decides from record line to record line whether two or three blocks of 10 bytes should be transferred to COMPAX. The line number is encoded in COMPAX within the 10 bytes Supplementary comments FB12 interacts closely with FB13 ("LinesUp") because the ProgramLines data areas used are compatible with one another. In the simplest scenario, the program is created using the ServoManager and is then downloaded once into the programmable controller (ProgramLines) using FB13. If COMPAX has to be changed, the FB12 can then download the program data record (STOP ProgramLines) directly into the COMPAX. You do not need to know the identification coding, but if requried, please refer to the profibus operating instructions (1). The standard COMPAX can save a maximum of 250 program lines Call-up example In the example, 100 COMPAX program lines are to be written from one 3000 byte (100 x 3 x 10 bytes) DB in to the COMPAX. CALL FB 12, DB12 ProgLines:=P#DB16.DBX 0.0 BYTE 3000 Response :=P#DB5.DBX 0.0 BYTE 10 Start :=P#M 1.3 BOOL 1 Number :=B#16#64 Status :=M2.3 Request :=P#DB6.DBX 0.0 BYTE 10 37

38 Simatic S7 modules for COMPAX with profibus DP 7.4 FB13: Programming module "LinesUp" Description of function This FB is used to transfer a program block (group of program lines) from COMPAX to the programmable controller. During this transfer, all program lines are read by FB directly from COMPAX's record memory and written into a memory area on the programmable controller Setting parameters Variable Program- Lines LineFrom LineTo Data type Address area Call-up example Data type: ANY P#DB31.DBX 0.0 BYTE 1500 Data type: BYTE Constants I/O area B#16#1 Data type: BYTE Constants I/O area B#16#32 Meaning Indicates the area (D, M) in which the program lines are to be saved. COMPAX program line to be transferred first COMPAX program line to be transferred last 38

39 Variable Response Request START Data type Address area Call-up example Data type: ANY P#M BYTE 10 P#DB5.DBX 0.0 BYTE 10 Data type: ANY P#M BYTE 10 P#DB6.DBX 0.0 BYTE 10 Data type: ANY E area P#M BOOL 1 P#E 70.4 BOOL 1 P#DB7.DBX 10.4 BOOL 1 Meaning Indicates the area (DB or M) in which the response from COMPAX can be found. The response from COMPAX is read via the profibus with the help of a system module (SYSTEM_READ 10 ). Indicates the area (DB or M) in which the request to COMPAX can be found. The request to COMPAX is written via the profibus with the help of a system module (SYSTEM_WRITE 11 ). Indicates a bit (DB, M, E) which starts the transfer of program lines. 10 SYSTEM_READ: The Siemens function, DPRD_DAT (SFC14), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_RECV (FC2), is used with explicit masters (e.g. CP342-5). 11 SYSTEM_WRITE: The Siemens function, DPWR_DAT (SFC15), is used with integrated masters (e.g. CPU315-2DP) and the function, DP_SEND (FC1), is used with explicit masters (e.g. CP342-5). 39

40 Simatic S7 modules for COMPAX with profibus DP Variable Status Data type Address area Call-up example Data type: BOOL I/O area M A DB7.DBX 10.2 Meaning Bit (DB, M, A) announces that all program lines have been transferred Status The status indicates that all transfers have been successfully completed. We would recommend that the status bit is monitored. The status bit is not set, e.g. if the input and output variables do not have the format expected Structure of the data area for ProgramLines The special identifications for record memory commands form part of the profibus documentation (1). As a rule, two or three blocks are transferred per record line, each using 10 bytes. The FB decides from record line to record line whether two or three blocks of 10 bytes are to be written into the memory area (D, M). If e.g. 10 data records are to be safely transferred, the memory area to be reserved should be at least 300 bytes Supplementary comments FB13 interacts closely with FB12 ("LinesDown") because the ProgramLines data areas used are compatible with one another. In the simplest scenario, the program is created using the ServoManager and then downloaded once into the programmable controller (ProgramLines) using FB13. If COMPAX has to be changed, the FB12 can then download the program data record (from ProgramLines) directly into the COMPAX. You do not need to know the identification coding, but if requried, please refer to the profibus operating instructions (1). The standard COMPAX can save a maximum of 250 program lines. 40