Manual. MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP. Edition 04/2006 FB / EN

Transcription

1 Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP Edition 4/ / EN FB41111 Manual

2 SEW-EURODRIVE Driving the world

3 Contents 1 Important Notes Important notes and designated use Explanation of symbols Safety Notes Preliminary information General safety notes Shipping/putting into storage Installation/assembly Startup/Operation Introduction Assembly/Installation Instructions Connection and terminal description of the XFP11A option Pin assignment Shielding and routing bus cables Bus termination Setting the station address Operating displays XFP11A option GSD files Project Planning and Startup Project planning for the DP master Startup of the servo inverter Setting process data using the PDO Editor PROFIBUS-DP Operating Characteristics Controlling the servo inverter PROFIBUS-DP timeout Response fieldbus timeout Parameter setting via PROFIBUS-DP Return codes for parameter setting Special cases DP-V1 Functions Introduction to PROFIBUS DP-V Characteristics of SEW servo inverters Structure of the DP-V1 parameter channel Project planning for a C1 master Appendix Error Diagnostics Diagnostic procedures Technical Data XFP11A option Manual - MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 3

4 Important Notes 1 Important notes and designated use Manual 1 Important Notes This manual does not replace the detailed operating instructions! Only electrical specialists are allowed to perform installation and startup observing applicable accident prevention regulations and the MOVIAXIS MX operating instructions! 1.1 Important notes and designated use Documentation Read through this manual carefully before you start installation and startup of MOVIAXIS multi-axis servo inverters with the XFP11A PROFIBUS option card. This manual assumes that the user has access to and is familiar with the MOVIAXIS documentation, in particular the MOVIAXIS MX system manual. In this manual, cross references are marked with " ". For example, ( Sec. X.X) means: Further information can be found in section X.X of this manual. As a prerequisite to fault-free operation and fulfillment of warranty claims, you must adhere to the information in the documentation. Bus systems General safety notes for bus systems: This communication system allows you to adjust the MOVIAXIS multi-axis servo inverter to your specific application very accurately. As with all bus systems, there is a danger of invisible, external (as far as the servo inverter is concerned) modifications to the parameters which give rise to changes in the servo inverter behavior. This may result in unexpected (not uncontrolled) system behavior. Liability for defects Incorrect handling or any action performed that is not specified in these operating instructions could impair the properties of the product. In this case, you lose any right to claim under limited warranty against SEW-EURODRIVE GmbH & Co KG. Product names and trademarks The brands and product names in these operating instructions are trademarks or registered trademarks of the titleholders. 4 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

5 Important Notes Explanation of symbols Explanation of symbols Safety and warning notes Always observe the safety and warning instructions in this publication. Electrical hazard Possible consequences: Severe or fatal injuries. Hazard Possible consequences: Severe or fatal injuries. Hazardous situation Possible consequences: Slight or minor injuries. Harmful situation Possible consequences: Damage to the unit and the environment. Tips and useful information. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 5

6 Safety Notes 2 Preliminary information 2 Safety Notes 2.1 Preliminary information The following safety notes apply to the fieldbus interface XFP11A PROFIBUS DP. Please also consider the supplementary safety notes in the individual sections of these operating instructions. 2.2 General safety notes Never install damaged products or take them into operation. Submit a complaint to the shipping company immediately in the event of damage. During or after operation, gearmotors, gear units and motors have: Live parts Moving parts Hot surfaces (may be the case) Only qualified personnel may carry out the following work: Transportation Putting into storage Installation/assembly Connection Startup Maintenance Servicing The following information and documents must be observed during these processes: Relevant operating instructions and wiring diagrams Warning and safety signs on the gear unit/gearmotor System-specific regulations and requirements National/regional regulations governing safety and the prevention of accidents Serious injuries and property damage may result from: Improper use Incorrect installation or operation Unauthorized removal of necessary protection covers or the housing 6 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

7 Safety Notes Shipping/putting into storage 2 General safety notes for bus systems This communication system allows you to adjust the MOVIAXIS multi-axis servo inverter to your specific application very accurately. As with all bus systems, there is a danger of invisible, external (as far as the inverter is concerned) modifications to the parameters which give rise to changes in the inverter behavior. This may result in unexpected (uncontrolled) system behavior. 2.3 Shipping/putting into storage Inspect the shipment for any damage that may have occurred in transit as soon as you receive the delivery. Inform the shipping company immediately. Do not operate the product if it is damaged. Use suitable, sufficiently rated handling equipment if necessary. Possible damage caused by incorrect storage! Store the product unit in a dry, dust-free room if it is not to be installed straight away. 2.4 Installation/assembly Adhere to the instructions in section 4, "Assembly and Installation Notes." 2.5 Startup/Operation Adhere to the instructions in section 5, "Project Planning and Startup." Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 7

8 Introduction 3 Startup/Operation 3 Introduction Content of the manual This user manual describes how to install the PROFIBUS XPF11A option card in the MOVIAXIS MX multi-axis servo inverter and how to start up the MOVIAXIS with the PROFIBUS fieldbus system. Properties The MOVIAXIS MX multi-axis servo inverter enables you to use the XFP11A option to connect to higher-level automation systems via PROFIBUS thanks to its powerful, universal fieldbus interface. MOVIAXIS and PROFIBUS The unit behavior of the servo inverter which forms the basis of PROFIBUS operation is referred to as the unit profile. It is independent of any particular fieldbus and is therefore a uniform feature. This feature allows the user to develop fieldbus-independent drive applications. Access to all information MOVIAXIS MX offers digital access to all drive parameters and functions via the PROFIBUS interface. The servo inverter is controlled via fast, cyclic process data. At the same time you can also read back actual values from the servo inverter, such as the actual speed, current, unit status, fault numbers or reference signals. Cyclical and acyclical data exchange via PROFIBUS DPV (version ) While process data exchange usually takes place cyclically, drive parameters can be read or written acyclically via functions such as READ or WRITE or via the MOVILINK paramter channel. This parameter data exchange enables you to implement applications in which all the important drive parameters are stored in the master programmable controller, so that there is no need to make parameter settings manually on the servo inverter itself. Cyclical and acyclical data exchange via PROFIBUS DPV1 (version 1) The PROFIBUS-DPV1 specification introduced new acyclical read/write services within the context of the PROFIBUS-DP expansions. These acyclical services are inserted into special telegrams during ongoing cyclical bus operation and thus ensure compatibility between PROFIBUS-DP (version ) and PROFIBUS-DP V1 (Version 1). 8 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

9 Introduction Startup/Operation 3 Configuring the PROFIBUS option card Generally, the PROFIBUS option card has been designed so that all fieldbus-specific settings, such as the station address and the default bus parameter can be made using the hardware switch on the option card. This manual setting means the servo inverter can be integrated into the PROFIBUS environment and switched on within a very short period of time. The parameter setting process can be performed in a completely automated process by the PROFIBUS master (parameter download). This forward-looking variant shortens the system startup time and simplifies the documentation of your application program because all the important drive parameters can now be stored directly in your control program. [1] PROFIBUS Master Digital I/O Analog I/O PROFIBUS Figure 1: PROFIBUS with MOVIAXIS [1] = visualization 56552AXX Monitoring functions Using a fieldbus system demands additional monitoring functions in the drive engineering, for example, time monitoring of the fieldbus (fieldbus timeout) or stop concepts. You can, for example, adapt the monitoring functions of MOVIAXIS specifically to your application. You can determine, for instance, which of the servo inverter s fault responses should be triggered in the event of a bus error. It is a good idea to use a stop function for many applications. However you can also freeze the last setpoints so that the drive continues to operate with the most recently valid setpoints (for example, conveyor belt). As the range of functions for the control terminals is also guaranteed in fieldbus mode, you can continue to implement rapid stop concepts using the terminals of the servo inverter, irrespective of the fieldbus used. Diagnostics The MOVIAXIS servo inverter offers numerous diagnostic options for startup and service. For example, you can use the integrated fieldbus monitor to control setpoint values sent from the higher-level controller as well as the actual values. Fieldbus monitor Furthermore, you are supplied with a variety of additional information about the status of the fieldbus option card. The fieldbus monitor function in conjunction with the MOVITOOLS MotionStudio PC software offers you an easy-to-use diagnostic tool for setting all drive parameters (including the fieldbus parameters) and for displaying the fieldbus and device status information in detail. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 9

10 Assembly/Installation Instructions 4 Connection and terminal description of the XFP11A option 4 Assembly/Installation Instructions 4.1 Connection and terminal description of the XFP11A option Part number Front view of XFP11A Description DIP switches Terminal Function 56596AXX RUN: PROFIBUS operation LED (green) Indicates that the bus electronics are operating correctly. BUS FAULT: PROFIBUS error LED (red) Indicates PROFIBUS-DP error. See also section X31: PROFIBUS connection X31:1 X31:2 X31:3 X31:4 X31:5 X31:6 X31:7 X31:8 X31:9 N.C. N.C. RxD / TxD-P CNTR-P DGND (M5V) VP (P5V/1 ma) N.C. RxD/TxD-N DGND (M5V) nc ADDRESS: DIP switch for setting the PROFIBUS station address nc Significance: 1 Significance: 2 Significance: 4 Significance: 8 Significance: 16 Significance: 32 Significance: 64 Reserved See also section Pin assignment Connection to the PROFIBUS network using a 9-pin sub D plug according to IEC The T-bus connection must be made using a plug with the corresponding configuration. [2] RxD/TxD-P RxD/TxD-N CNTR-P DGND (M5V) VP (P5V/1mA) DGND (M5V) [3] [1] Figure 2: Assignment of 9-pin sub D plug to IEC AXX [1] 9-pin sub D plug [2] Signal line, twisted [3] Conductive connection over a large area is necessary between plug housing and the shield 1 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

11 Assembly/Installation Instructions Shielding and routing bus cables 4 Connection MOVIAXIS / PROFIBUS As a rule, the XFP11A option is connected to the PROFIBUS system using a shielded twisted-pair cable. Observe the maximum supported transmission rate when selecting the bus connector. The twisted-pair cable is connected to the PROFIBUS connector using pins 3 (R D/T D-P) and 8 (R D/T D-N). Communication takes place via these two contacts. The RS-485 signals R D/T D-P and R D/T D-N must be connected to the same contact in all PROFIBUS stations. Otherwise, no communication is possible via the bus medium. The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic adapter (reference = pin 9) via pin 4 (CNTR-P). Baud rates greater than 1.5 MBaud The XFP11A option with baud rates > 1.5 MBaud can only be operated with special 12 MBaud Profibus connectors. 4.3 Shielding and routing bus cables The PROFIBUS interface supports RS-485 transmission technology and requires the cable type A to IEC as the physical medium for PROFIBUS. This cable must be a shielded, twisted-pair cable. Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments. The following measures ensure the best possible shielding: Manually tighten the mounting screws on the connectors, modules, and equipotential bonding conductors. Use only connectors with a metal housing or a metallized housing. Connect the shielding in the connector over a wide surface area. Apply the shielding of the bus line on both ends. Route signal and bus cables in separate cable ducts. Do not route them parallel to power cables (motor leads). Use metallic, grounded cable racks in industrial environments. Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route. Avoid using plug connectors to extend bus cables. Route the bus cables closely along existing grounding surfaces. In case of fluctuations in the ground potential, a compensating current may flow via the bilaterally connected shield that is also connected to the protective earth (PE). Make sure you supply adequate equipotential bonding according in accordance with relevant VDE regulations in such a case. 4.4 Bus termination The XFP11A option is not provided with bus terminating resistors. This enables the bus system to be put into operation more easily and reduces the number of error sources. Use a plug with an integrated bus terminating resistor if the XFP11A option is at the beginning or end of a PROFIBUS segment and only one PROFIBUS cable is leading to the XFP11A. Switch on the bus terminating resistors for this PROFIBUS connector. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 11

12 Assembly/Installation Instructions 4 Setting the station address 4.5 Setting the station address The PROFIBUS station address is set using DIP switches 2 to 2 6 on the option card. MOVIAXIS supports the address range The default setting for the PROFIBUS station address is 4: nc axx 2 Significance: 1 = 2 1 Significance: 2 = 2 2 Significance: 4 1 = Significance: 8 = 2 4 Significance: 16 = 2 5 Significance: 32 = 2 6 Significance: 64 = Any change made to the PROFIBUS station address during ongoing operation does not take effect immediately. The change takes effect when the servo inverter is switched on again (power supply + 24 V OFF/ON). The servo inverter displays the current station address in the plug-in "Parameter tree" under "/Communication/Basic settings." Example: Setting the PROFIBUS station address nc AXX 2 Significance: 1 1 = Significance: 2 = 2 2 Significance: 4 = 2 3 Significance: 8 = 2 4 Significance: 16 1 = Significance: 32 = 2 6 Significance: 64 = 12 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

13 Assembly/Installation Instructions Operating displays XFP11A option Operating displays XFP11A option PROFIBUS LEDs The PROFIBUS interface XFP11A option card has two LEDs that indicate the current status of the XFP11A option and the PROFIBUS system. LED RUN (green) The RUN LED indicates that the bus electronics are operating correctly Red Green Function On On = orange: Firmware waits for boot synchronization via DpRAM Off On Firmware is in "RUN" status Flashes (ca. 4Hz) Off Fatal error while executing the Profibus stack Off Off Flashes (ca. 2Hz) Flashes (ca. 4Hz) The higher-level system (servo inverter + controller) has signaled a reset via the DpRAM and is still in "reset" status Invalid Profibus address (address exceeds 125) LED BUS FAULT (red) The LED BUS FAULT displays PROFIBUS-DP errors. Red Green Function On Off No baud rate or master detected Off Off Unit is currently exchanging data with the DP master ("data exchange" status). Flashing Off Unit has detected the baud rate, but is not addressed by DP master. Unit was not configured, or configured incorrectly by the master. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 13

14 Assembly/Installation Instructions 4 GSD files 4.7 GSD files Current versions of the GSD files for the XFP11A option are available on the SEW homepage " under the heading "Software." Both GSD files can be used at the same time in one STEP7 project. Once you have downloaded and unpacked the software, two directories for the operating modes PROFIBUS DP and PROFIBUS DP-V1 are displayed. Installing the GSD file in STEP7 Install the file as follows: Start the Simatic Manager. Open an existing project and start the hardware configuration. Close the project window in the hardware configuration, else a new file version cannot be installed. Choose "Extras/Install new GSD.../" from the menu and select the new GSD file with the name SEW_66.GSD. The software installs the GSD file and the associated bitmap files in the Step7 system. The current GSD file corresponds to GSD revision 4. This version does not reflect the revision level of the SEW GSD file. You find the current version number in the info field of the hardware catalog of the hardware configuration. The SEW drive is available under the following path in the hardware catalog: Figure 3: Hardware catalog 56954axx 14 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

15 Project Planning and Startup Project planning for the DP master I 5 5 Project Planning and Startup This section provides you with information on project planning for the DP master and startup of the servo inverter for fieldbus operation. 5.1 Project planning for the DP master Proceed as follows for project planning for the XFP11A control card with PROFIBUS DP interface: Install/copy the GSD file according to the requirements of your project planning software. After successful installation, the unit is displayed under the slave family "Drives/SEW/DPV1". Now add the "XFP11A" option card to the PROFIBUS structure using drag and drop. Assign the station address. Figure 4: Assigning the station address 57289axx Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 15

16 I Project Planning and Startup 5 Project planning for the DP master The XFP11A option card is now preconfigured with the configuration 3PD. To change the PD configuration, you have to delete the 3PD module in slot 3. You can then insert another PD module into slot 3 by drag and drop from the list in the hardware catalog into the folder "XFP11A." Figure 5: Changing the PD configuration 5729axx Optionally, you can perform project planning for a MOVILINK parameter channel in the cyclic process data. To do so, delete the "Empty" entry from slot 2 and replace it by "Param (4words)" using drag and drop. Next enter the I/O or peripheral addresses for the configured data widths. You can now start PROFIBUS-DP. The red "BUS-FAULT" LED indicates the status of the project planning. Data consistency Consistent data is data that has to be transmitted between the programmable controller and the servo inverter as one block at all times and must never be transmitted separately. Data consistency is especially important for transmitting position values or complete positioning tasks. This is because data that is not transmitted consistently could be from different program cycles of the programmable controller, which would lead to undefined values being transmitted to the servo inverter. For PROFIBUS DP, data communication between the programmable controller and drive engineering devices is usually carried out with the setting Data integrity over entire length. 16 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

17 Project Planning and Startup Startup of the servo inverter I Startup of the servo inverter For detailed information about this topic, refer to the MOVIAXIS operating instructions, page Setting process data using the PDO Editor For detailed information about this topic, refer to the MOVIAXIS operating instructions, page 15. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 17

18 I PROFIBUS-DP Operating Characteristics 6 Controlling the servo inverter 6 PROFIBUS-DP Operating Characteristics This chapter describes the basic characteristics of the servo inverter with PROFIBUS- DP. 6.1 Controlling the servo inverter The servo inverter is controlled via the process data channel which is up to 16 I/O words in length. These process data words may be mapped in the I/O or peripheral area of the controller if a programmable controller is used as DP master and can be addressed as usual. PW16 PW158 PW156 PW154 PW152 PW15 PW148 PA 3 PA 2 PA 1 [2] [1] [1] PA 1 PE 1 PA 2 PE 2 PA 3 PE 3 PA 16 PE 16 PW16 PE 3 PW158 PE 2 PW156 PE 1 PW154 PW152 PW15 PW148 Figure 6: Mapping PROFIBUS data in the PLC address range 56553AXX [1] 8 byte MOVILINK parameter channel [2] PLC address range PE1... PE16 PA1... PA16 Process input data Process output data For additional information on programming and project planning, refer to the README_GSD66.PDF file included in the GSD file. Control example for Simatic S7 The servo inverter is controlled using Simatic S7 in accordance with the selected process data configuration either directly using load and transfer commands or by means of special system functions, SFC 14 DPRD_DAT and SFC15 DPWR_DAT. In principle, S7 data lengths of 3 bytes or more than 4 bytes must be transmitted using system functions SFC14 and SFC Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

19 PROFIBUS-DP Operating Characteristics Controlling the servo inverter I 6 STEP7 example program This example is a special and free service that demonstrates only the basic approach to generating a PLC program as a non-binding sample. We are not liable for the contents of the sample program. //Start of cyclical program processing in OB1 BEGIN NETWORK TITLE =Copy PI data from servo inverter to DB3, word /2/4 CALL SFC 14 (DPRD_DAT) //Read DP slave record LADDR := W#16#24 //Input address 576 RET_VAL:= MW 3 //Result in flag word 3 RECORD := P#DB3.DBX. BYTE 6 //Pointer NETWORK TITLE =PLC program with drive application // PLC program uses the process data in DB3 for // drive control L DB3.DBW //Load PI1 (status word 1) L DB3.DBW 2 //Load PI2 (actual speed value) L DB3.DBW 4 //Load PI3 (no function) L W#16#8 T DB3.DBW 2//Write 8hex to PO1 (control word 1 = FCB speed control) L 15 T DB3.DBW 22//Write 15dec to PO2 (speed setpoint = 15 1/min) L 7 T DB3.DBW 24//Write 7dec to PO3 (acceleration 7 1/s min) //End of cyclical program processing in OB1 NETWORK TITLE =Copy PO data from DB3, word 2/22/24 to the servo inverter CALL SFC 15 (DPWR_DAT) //Write DP slave record LADDR := W#16#24 //Output address 576 = 24hex RECORD := P#DB3.DBX 2. BYTE 6 //Pointer to DB/DW RET_VAL:= MW 32 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 19

20 I PROFIBUS-DP Operating Characteristics 6 PROFIBUS-DP timeout 6.2 PROFIBUS-DP timeout 6.3 Response fieldbus timeout If the data transfer via PROFIBUS-DP is faulty or interrupted, the response monitoring time in MOVIAXIS elapses (if configured in the DP master). The "BUS-FAULT" LED lights up (or flashes) to indicate that no new user data is being received. At the same time, MOVIAXIS performs the fault response selected with P831 Fieldbus timeout response. Fieldbus timeout displays the response monitoring time specified by the DP master during the PROFIBUS-DP startup. The timeout can only be changed via the DP master. Although modifications made using the keypad or MOVITOOLS MotionStudio are displayed, they do not have any effect and are overwritten when the DP is next started up. Response fieldbus timeout is used to set the fault response that is triggered via the fieldbus timeout monitoring function. The setting made here must correspond to the setting in the master system (S7: response monitoring). 2 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

21 PROFIBUS-DP Operating Characteristics Parameter setting via PROFIBUS-DP I Parameter setting via PROFIBUS-DP With PROFIBUS-DP, the drive parameters are accessed via the 8 byte MOVILINK parameter channel. This channel offers extra parameter services in addition to the conventional READ and WRITE services. Structure of the 8 byte MOVILINK parameter channel PROFIBUS-DP enables access to the servo inverter parameters via the "parameter process data object" (PPO). This PPO is transmitted cyclically and contains the process data channel [2] and a parameter channel [1] that can be used to exchange acyclical parameter values. [1] [1] [2] [2] Figure 7: Communication via PROFIBUS-DP 56554AXX The following table shows the structure of the 8 byte MOVILINK parameter channel. In principle, the parameter channel is made up of a management byte, an index word, a subindex in byte and four data bytes. Byte Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Management Subindex Index high Index low MSB data Data Data LSB data Parameter index 4-byte data Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 21

22 I PROFIBUS-DP Operating Characteristics 6 Parameter setting via PROFIBUS-DP Index and subindex are determined using the tool tip of the parameter tree. Figure 8: Tool tip of the parameter tree ade 22 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

23 PROFIBUS-DP Operating Characteristics Parameter setting via PROFIBUS-DP I 6 Management of the 8 byte MOVILINK parameter channel The entire procedure for setting parameters is coordinated using management byte. This byte provides important service parameters such as service identifier, data length, version and status of the service performed. The following table shows that bits, 1, 2 and 3 contain the service identifier, and define which service is performed. Bit 4 and bit 5 specify the data length in bytes for the write service; it should be set to 4 bytes for SEW servo inverters. 7 / MSB / LSB Service identifier = No service 1 = Read parameter 1 = Write parameter 11 = Write parameter volatile 1 = Read minimum 11 = Read maximum 11 = Read default 111 = Read scale 1 = Read attribute Data length = 1 byte 1 = 2 bytes 1 = 3 bytes 11 = 4 bytes (must be set) Handshake bit Must be changed on every new task in cyclical transmission. Status bit = No fault in service execution 1 = Fault in service execution Bit 6 is used as handshake between the controller and the servo inverter. It triggers the implementation of the transmitted service in the servo inverter. In PROFIBUS-DP the parameter channel is transmitted cyclically with the process data. For this reason, the implementation of the service in the servo inverter must be triggered by edge control using the handshake bit 6. For this purpose, the value of this bit is altered for each new service that is to be executed. The servo inverter uses the handshake bit to signal whether the service has been executed or not. The service was executed if the handshake bit received in the controller is identical with the transmitted handshake bit. Status bit 7 indicates whether it was possible to execute the service properly or if errors occurred. Index addressing Byte 2: Index high and byte 3: Index low determines the parameter read or written via the fieldbus system. The parameters of a servo inverter are addressed with a uniform index regardless of the connected fieldbus system. The subindex of the parameter is indicated in byte 1. Data range As shown in the following table, the data is contained in byte 4 through byte 7 of the parameter channel. This means up to 4 bytes of data can be transmitted per service. The data is always entered with right-justification; that is, byte 7 contains the least significant data byte (data LSB) whereas byte 4 is the most significant data byte (data MSB). Byte Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Management Subindex Index high Index low MSB data Data Data LSB data High byte 1 Low byte 1 High byte 2 Low byte 2 High word Low word Double word Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 23

24 I PROFIBUS-DP Operating Characteristics 6 Parameter setting via PROFIBUS-DP Incorrect service execution The status bit in the management byte is set to signal that a service has been executed incorrectly. If the received handshake bit is identical to the transmitted handshake bit, the servo inverter has executed the service. If the status bit now signals an error, the error code is entered in the data range of the parameter telegram. Byte send back the return code in a structured format ( see the chapter "Return Codes"). Byte Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Management Subindex Index high Index low Error class Error code Add. code high: Status bit = 1: Incorrect execution of a service Add. code low Reading a parameter with PROFI- BUS-DP (Read) Due to the cyclical transfer of the parameter channel, to execute a READ service via the 8 byte MOVILINK parameter channel, the handshake bit may only be changed if the complete parameter channel has been set up for the specific service. As a result, adhere to the following sequence when reading a parameter: 1. Enter the index of the parameter to be read in byte 2 (index high) and byte 3 (index low). 2. Enter the service identifier for the read service in the management byte (byte ). 3. Transfer the read service to the servo inverter by changing the handshake bit. Since this is a read service, the sent data bytes (bytes 4...7) and the data length (in the management byte) are ignored and do not need to be set. The servo inverter now processes the read service and sends back the service confirmation by changing the handshake bit. 7 / MSB / LSB /1 1) X 2) X 2) 1 Service identifier 1 = Read parameter Data length Not relevant for Read service Handshake bit Must be changed on every new task in cyclical transmission. Status bit = No fault in service execution 1 = Fault in service execution 1) Bit value is changed 2) Not relevant The above table shows how a READ service is coded in the management byte. The data length is not relevant, you only need to enter the service identifier for the READ service. This service is now activated in the servo inverter when the handshake bit changes. For example, it would be possible to activate the read service with the management byte coding 1hex or 41hex. 24 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

25 PROFIBUS-DP Operating Characteristics Parameter setting via PROFIBUS-DP I 6 Writing a parameter with PROFI- BUS-DP (Write) Due to the cyclical transfer of the parameter channel, to execute a WRITE service via the 8 byte MOVILINK parameter channel, the handshake bit may only be changed if the complete parameter channel has been set up for the specific service. Observe the following sequence when writing a parameter: 1. Enter the index of the parameter to be written in byte 2 (index high) and byte 3 (index low) as well as the subindex in byte Enter the data to be written in bytes Enter the service identifier and the data length for the write service in the management byte (byte ). 4. Transfer the write service to the servo inverter by changing the handshake bit. The servo inverter now processes the write service and sends back the service confirmation by changing the handshake bit. The following table shows how a WRITE service is coded in the management byte. The data length is 4 bytes for all parameters of SEW servo inverters. This service is now transferred to the servo inverter when the handshake bit changes. Consequently, a write service on the SEW servo inverter always has the management byte coding 32hex or 72hex. 7 / MSB / LSB /1 1) Service identifier 1 = Write parameter Data length 11 = 4 bytes Handshake bit Must be changed on every new task in cyclical transmission. Status bit = No fault in service execution 1 = Fault in service execution 1) Bit value is changed Parameter setting sequence with PROFIBUS-DP Taking the example of the WRITE service, the following figure represents a process of setting parameters between the controller and the servo inverter via PROFIBUS-DP. To simplify the sequence, the following figure only shows the management byte of the parameter channel. The parameter channel is only received and returned by the servo inverter while the controller is preparing the parameter channel for the write service. The service is not activated until the moment when the handshake bit is changed (in this example, when it changes from to 1). The servo inverter now interprets the parameter channel and processes the write service, but continues to answer all messages with handshake bit =. The executed service is acknowledged with a change of the handshake bit in the response message of the servo inverter. The controller now detects that the received handshake bit is once again the same as the one which was sent. It can now prepare another parameter setting procedure. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 25

26 I PROFIBUS-DP Operating Characteristics 6 Parameter setting via PROFIBUS-DP Control PROFIBUS-DP(V) Servo inverter (slave) XXX... Parameter channel is received, but 111XXX not evaluated Parameter channel is prepared for the write service Handshake bit is changed and the service is transferred to the servo inverter XXX XXX XXX XXX Write service is performed, handshake bit is changed Service confirmation is received as the send and receive handshake bits are the same again 1111XXX XXX... Parameter channel is received, but not evaluated Parameter data format When parameters are set via the fieldbus interface, the same parameter coding is used as with the serial system bus. Refer to the MOVIAXIS project planning manual for the data formats and value ranges of the individual parameters. 26 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

27 PROFIBUS-DP Operating Characteristics Return codes for parameter setting I Return codes for parameter setting Elements In the event of an incorrect parameter setting, the servo inverter sends back various return codes to the master which set the parameters. These codes provide detailed information about what caused the error. Generally, these return codes are structured. The servo inverter distinguishes between the following elements: Error class Error code Additional code These return codes are described in detail in the project planning manual and are not included in this documentation. However, the following special cases can occur in connection with PROFIBUS: Error class The error class element provides a more exact classification of the error type. MOVIAXIS supports the following error classes defined in accordance with EN 517 (V2): Class (hex) Designation Meaning 1 vfd state Status error of the virtual field device 2 application reference Error in application program 3 definition Definition error 4 resource Resource error 5 service Error during execution of service 6 access Access error 7 ov Error in the object list 8 other Other error (see additional code) The error class is generated by the communication software of the fieldbus interface if there is an error in communication. However, this does not apply to error class 8, Other error. Return codes sent from the servo drive system are all included in Error class 8 = Other error. The error can be identified more precisely using the additional code element. Error code The error code element provides a means for more precisely identifying the cause of the error within the error class. It is generated by the communication software of the fieldbus card in the event of an error in communication. For Error class 8 = Other error, only Error code = (Other error code) is defined. In this case, detailed identification is made using the additional code. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 27

28 I PROFIBUS-DP Operating Characteristics 6 Special cases Additional code The additional code contains the return codes specific to SEW dealing with incorrect parameter settings of the servo inverter. These codes are returned to the master under Error class 8 = Other error. The following table shows all possible codings for the additional code. Add. code high (hex) Add. code low (hex) Meaning No error 1 Illegal parameter index 11 Function / parameter not implemented 12 Read access only 13 Parameter lock is active 14 Factory setting is active 15 Value for parameter too large 16 Value for parameter too small 17 Required option card missing for this function/parameter 18 Error in system software 19 Parameter access only via RS-485 process interface to X13 1A Parameter access only via RS-485 diagnostics interface 1B Parameter is access-protected 1C Controller inhibit required 1D Invalid value for parameter 1E Factory setting was activated 1F Parameter was not saved in EEPROM 2 Parameter cannot be changed with enabled output stage 6.6 Special cases Special return codes Errors in the parameter settings that cannot be identified either automatically by the application layer of the fieldbus system or by the system software of the servo inverter are treated as special cases. The following is a list of errors that can occur depending on the fieldbus option card used: Incorrect coding of a service via parameter channel Incorrect length specification of a service via parameter channel Internal communication error Error class: 5, Error code: 3, Add high:, Add low: Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

29 PROFIBUS-DP Operating Characteristics Special cases I 6 Incorrect service code in the parameter channel Incorrect code was specified in the management byte or reserved byte during parameter setting via the parameter channel. The following table shows the return code for this special case. Code (dec) Meaning Error class: 5 Service Error code: 5 Illegal parameter Add. code high: - Add. code low: - Troubleshooting: Check bits and 1 in the parameter channel. Incorrect length specification in parameter channel A data length other than 4 data bytes was specified in a read or write service during parameter setting via the parameter channel. The following table displays the return codes. Code (dec) Meaning Error class: 6 Access Error code: 8 Type conflict Add. code high: - Add. code low: - Troubleshooting: Check bit 4 and bit 5 for the data length in management byte of the parameter channel. Both bits must be set to 1. Internal communication error The return code listed in the following table is sent back if a communication error has occurred within the system. The parameter service transferred via the fieldbus may not have been performed and should be repeated. If this error occurs again, switch off the servo inverter completely and then back on again so it is re-initialized. Code (dec) Meaning Error class: 6 Access Error code: 2 Hardware fault Add. code high: - Add. code low: - Troubleshooting: Repeat the read or write service. If this error occurs again, disconnect the servo inverter from the supply system and then reconnect it. Contact SEW-EURODRIVE Service for advice if this error occurs continuously. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 29

30 I DP-V1 Functions 7 Introduction to PROFIBUS DP-V1 7 DP-V1 Functions 7.1 Introduction to PROFIBUS DP-V1 This chapter describes the functions and terms used for operating SEW servo inverters on PROFIBUS DP-V1. Refer to the PROFIBUS user organization or visit for detailed technical information on PROFIBUS DP-V1. The PROFIBUS DP-V1 specification introduced new acyclical read/write services within the context of the PROFIBUS DP-V1 expansions. These acyclical services are inserted into special telegrams during cyclical bus operation and thus ensure compatibility between PROFIBUS DP (version ) and PROFIBUS DP V1 (Version 1). The acyclical read/write services can be used to exchange larger data quantities between master and slave (servo inverter) than it would be possible to transfer in the cyclical input or output data using the 8-byte parameter channel, for example. The advantage of the acyclical data exchange via DP-V1 lies in the minimum load on the cyclical bus operation since DP-V1 telegrams are only added to the bus cycle if required. The DP-V1 parameter channel provides the user with two options: The higher-level controller can access all the device information of the SEW DP-V1 slaves. This means that cyclical process data and unit settings can be read, stored in the controller and modified in the slave. It is also possible to route the service and startup tool MOVITOOLS MotionStudio via the DP-V1 parameter channel instead of using a proprietary RS-485 connection. Once you have installed the MOVITOOLS MotionStudio-Software, you can access detailed information in the folder...\sew\movitools\. The main features of PROFIBUS DP-V1 are explained below. C1-Master C2-Master C2-Master Param Cyclic OUT Data PD PROFIBUS DP-V1 Acyclic DP-V1 C1-Services Param Cyclic IN Data PD SEW Drive Acyclic DP-V1 C2-Services Acyclic DP-V1 C2-Services 52123AXX 3 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

31 DP-V1 Functions Introduction to PROFIBUS DP-V1 I 7 Class 1 master (C1 master) The PROFIBUS DP-V1 network differentiates between master classes. The C1 master essentially performs the cyclical data exchange with the slaves. A typical C1 master is a control system, such as a PLC, that exchanges cyclic process data with the slave. If the DPV1 function has been activated via the GSD file, the acyclical connection between C1 master and slave is established automatically when the cyclical connection of the PROFIBUS-DP is being established. Only one C1 master can be operated in a PROFIBUS DP-V1 network. Class 2 master (C2 master) The C2 master itself does not perform cyclical data exchange with the slaves. Examples of a typical C2 master are visualization systems or temporarily installed programming devices (Notebook/PC). The C2 master uses exclusively acyclic connections for communication with the slaves. The acyclic connections between C2 master and slave are established by the Initiate service. The connection is established once the Initiate service has been performed successfully. An established connection enables cyclical data exchange with the slaves using Read or Write services. Several C2 masters can be active in a DP-V1 network. The number of C2 connections, established simultaneously for a slave, is determined by the slave. SEW servo inverters support two parallel C2 connections. Data sets (DS) The user data transported via a DP-V1 service are collected in data sets. Each data set is represented uniquely by its length, a slot number and an index. The structure of data set 47 is used for DP-V1 communication with the SEW servo inverter. This data set is defined as the DP-V1 parameter channel for drives as of V3.1 in the PROFIdrive profile drive engineering of the PROFIBUS user organization. Different procedures for accessing parameter data in the inverter are provided via this parameter channel. DP-V1 services The DP-V1 expansions offer new services, which can be used for acyclical data exchange between master and slave. The system distinguishes between the following services: C1 master Connection type: MSAC1 (master/slave acyclical C1) Read Read data set Write Write data set C2 master Connection type: MSAC2 (master/slave acyclical C2) INITIATE Establish C2 connection ABORT Disconnect C2 connection Read Read data set Write Write data set DP-V1 alarm handling In addition to the acyclical services, the DP-V1 specification also defines extended alarm handling. Alarm handling now distinguishes between different alarm types. As a result, unit-specific diagnostics cannot be evaluated in DP-V1 operation via the 'DDLM_SlaveDiag' DP-V1 service. DP-V1 alarm handling has not been defined for drive engineering as a servo inverter does not usually transfer its status information via cyclical process data communication. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 31

32 I DP-V1 Functions 7 Characteristics of SEW servo inverters 7.2 Characteristics of SEW servo inverters The SEW fieldbus interfaces to PROFIBUS DP-V1 have the same communication features for the DP-V1 interface. The drives are usually controlled via a C1 master with cyclical process data in accordance with the DP-V1 standard. This C1 master (usually a PLC) can also use an 8-byte MOVILINK parameter channel during cyclical data exchange to perform the parameter services with XFP11A. The read and write services give the C1 master access to connected stations via the DP-V1 C1 channel. Two additional C2 channels can be connected in parallel to these parameter setting channels. The first C2 master as a visualization device, for example could use these channels to read parameter data, and a second C2 master in the form of a notebook could use them to configure the drive using the MOVITOOLS MotionStudio software. C1-Master C2-Master C2-Master Acyclic DP-V1 C1-Services DP: 8 Byte Param DP: PD Acyclic DP-V1 C2-Services PROFIBUS DP-V1 Acyclic DP-V1 C2-Services SEW PROFIBUS DP-V1 Interface Cyclic IN/Out DP Parameterbuffer C1-Parameterbuffer C2-Parameterbuffer C2-Parameterbuffer cyclic Process Data Drive System Parameterbuffer Figure 9: Parameter setting channels for PROFIBUS DP-V AXX 7.3 Structure of the DP-V1 parameter channel Generally, the parameter setting of the drives to the PROFIdrive DPV1 parameter channel of profile version 3. is implemented via data set index 47. The Request ID entry is used to distinguish between parameter access based on PROFIdrive profile or via SEW-EURODRIVE MOVILINK services. The following table shows the possible codes of the individual elements. The data set structure is the same for PROFIdrive and MOVILINK access. DPV1 READ/WRITE PROFIdrive Parameter Channel DS47 SEW MOVILINK 53125AXX 32 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

33 DP-V1 Functions Structure of the DP-V1 parameter channel I 7 The following MOVILINK services are supported: 8-byte MOVILINK parameter channel with all the services supported by the servo inverter such as Read parameter Write parameter Write parameter volatile The following PROFIdrive services are supported: Reading (request parameter) individual parameters of the type double word Writing (change parameter) individual parameters of the type double word Table 1: Elements of data set DS47 Field Data Type Values Request Reference Unsigned8 x Reserved x1... xff Request ID Unsigned8 x1 Request parameter (PROFIdrive) x2 Change parameter (PROFIdrive) x4 SEW MOVILINK service Response ID Unsigned8 Response (+): x Reserved x1 Request parameter (+) (PROFIdrive) x2 Change parameter (+) (PROFIdrive) x4 SEW MOVILINK service (+) Response ( ): x81 Request parameter ( ) (PROFIdrive) x82 Change parameter ( ) (PROFIdrive) xc SEW MOVILINK service ( ) Axis Unsigned8 x... xff Number of axis No. of Unsigned8 x1... x DWORDs (24 DP-V1 data bytes) parameters Attributes Unsigned8 x1 Value For SEW MOVILINK (Request ID = x4): x No service x1 Read parameter x2 Write parameter x3 Write parameter volatile x4... xf Reserved No. of elements Unsigned8 x for non-indexed parameters x1... x75 Quantity Parameter Number Unsigned16 x... xffff MOVILINK parameter index Subindex Unsigned16 x SEW: Format Unsigned8 x43 Double word x44 Error No. of Values Unsigned8 x... xea Quantity Error Value Unsigned16 x... x64 PROFIdrive error codes x8 + MOVILINK -AdditionalCode Low For SEW MOVILINK 16 Bit Error Value Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 33

34 I DP-V1 Functions 7 Structure of the DP-V1 parameter channel Procedure for setting parameters via data set 47 Parameter access takes place with the combination of the DP-V1 services write and read. The parameter setting request is transferred to the slave using the Write.req, followed by slave-internal processing. The master now sends a Read.req to pick up the parameter setting response. The master repeats the Read.req if the Read.res from the slave is negative. As soon as the parameter processing in the servo inverter is concluded, it answers with a positive response Read.res. The user data now contain the parameter setting response of the parameter setting request that was previously sent with Write.req (see Figure 1. This mechanism applies to a C1 as well as a C2 master. Master PROFIBUS-DPV1 Slave (Drive) Parameter Request WRITE.req DS47 with data (parameter request) Parameter Request WRITE.res without data READ.req DS47 without data READ.res(-) without data Parameter Processing READ.req DS47 without data Parameter Response READ.res(+) with data (parameter response) Parameter Response Figure 1: Telegram sequence for parameter access via PROFIBUS DP-V AXX 34 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

35 DP-V1 Functions Structure of the DP-V1 parameter channel I 7 DP-V1 master processing sequence If the bus cycles are very short, the request for the parameter response arrives before the servo inverter has concluded parameter access in the device. This means that the response data from the servo inverter is not yet available. In this case, the servo inverter sends a negative answer with the Error_Code _1 = xb5 (status conflict) to the DP- V1 level. The DP-V1 master must then repeat the request with the Read.req header until it receives a positive response from the servo inverter. Send Write.request with Parameterdata Check Write. response Write.response negative Write.response positive Send DS_Read.req with Parameterdata Read. response State Conflict? yes no Other Errors or Timeout yes no Parameter transfer ok, data available Parameter transfer aborted with ERROR Figure 11: Sequence 53127AXX Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 35

36 I DP-V1 Functions 7 Structure of the DP-V1 parameter channel Addressing connected servo inverters The structure of the DS47 data set defines an "axis" element. This element is used to reach multi-axis drives that are operated via one PROFIBUS interface. The "axis" element addresses one of the devices connected via the PROFIBUS interface. This mechanism can be used, for example, by the SEW bus modules for MOVIMOT or UFP for MOVITRAC 7. Addressing a MOVIAXIS on PROFIBUS DP-V1 With the setting Axis =, the parameter of the servo inverter can be accessed directly. Since there are no drive devices connected to MOVIAXIS, access with Axis > is returned with an error code. C1-Master C2-Master C2-Master Acyclic DPV1 C1-Services Param Param Cyclic OUT Data Cyclic IN Data PD PD Acyclic DPV1 C2-Services Axis = PROFIBUS DPV1 Acyclic DPV1 C2-Services Axis = Axis = Figure 12: Addressing a MOVIAXIS directly via PROFIBUS DP-V1 with axis = 56556AXX MOVILINK parameter requests The MOVILINK parameter channel of the SEW servo inverter is directly mapped in the structure of data set 47. The request ID 4 (SEW MOVILINK service) is used to exchange MOVILINK parameter setting requests. Parameter access with MOVILINK services usually takes place according to the structure described below. The typical message sequence for data set 47 is used. Request ID: 4 SEW MOVILINK service The actual service is defined by the data set element Attribute in the MOVILINK parameter channel. The high nibble of this element corresponds to the service nibble in the management byte of the DP parameter channel. 36 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

37 DP-V1 Functions Structure of the DP-V1 parameter channel I 7 Example for reading a parameter via MOVILINK The following tables give an example of the structure of the Write.request and Read.req user data for reading an individual parameter via the MOVILINK parameter channel. Sending parameter request The following tables show the coding of the user data for the Write.req service specifying the DP-V1 header. The Write.req service is used to transfer the parameter setting request to the servo inverter. The heat sink temperature (index 9795, subindex 1) is read. Table 2: Write.request header for transferring the parameter request Service: Write.request Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 1 1 byte user data for parameter request Table 3: Write.req USER DATA for MOVILINK "Read parameter" Byte Field Value Description Request reference x1 Individual reference number for the parameter setting request is mirrored in the parameter response 1 Request ID x4 SEW MOVILINK service 2 Axis x Axis number; = single axis 3 No. of parameters x1 1 parameter 4 Attributes x1 MOVILINK service Read parameter 5 No. of elements x = access to direct value, no subelement 6..7 Parameter Number x2643 Heat sink temperature index 9795 dec 8..9 Subindex x1 Subindex 1 Query parameter response The following table shows the coding of the Read.req user data including the DP-V1 header. Table 4: Read.req for requesting the parameter response Service: Read.request Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 24 Maximum length of response buffer in the DP-V1 master Positive MOVILINK parameter setting response The table shows the Read.res user data with the positive response data of the parameter setting request. For example, the parameter value for the heat sink temperature (index 9795, subindex 1) is returned. Table 5: DP-V1 header of the positive Read.response with parameter response Service: Read.request Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 1 1 byte user data in response buffer Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 37

38 I DP-V1 Functions 7 Structure of the DP-V1 parameter channel Table 6: Positive response for MOVILINK service Byte Field Value Description Response reference x1 Reflected reference number from the parameter setting order 1 Response ID x4 Positive MOVILINK response 2 Axis x Reflected axis number; = single axis 3 No. of parameters x1 1 parameter 4 Format x43 Parameter format: Double word 5 No. of values x1 1 value 6..7 Value Hi x23 Higher-order part of the parameter 8..9 Value Lo xaeca Lower-order part of the parameter Decoding: 1) 23 AECA = dec >> C heat sink temperature 1) For information on user defined units, refer to the project planning manual. Example for writing a parameter via MOVILINK The following tables show an example of the structure of the Write and Read services. In the example, the acceleration of FCB5 "speed control" is written volatile with the value 1) 3 1/min s (local acceleration: Index 9598, subindex 6). The MOVILINK service Write Parameter volatile is used for this purpose. Send Write parameter volatile request Table 7: DP-V1 header of the Write.request with parameter request Service: Write.request Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length byte user data for order buffer Table 8: Write.req user data for MOVILINK service "Write parameter volatile" Byte Field Value Description Request reference x1 Individual reference number for the parameter setting request is mirrored in the parameter response 1 Request ID x4 SEW MOVILINK service 2 Axis x Axis number; = single axis 3 No. of parameters x1 1 parameter 4 Attributes x3 MOVILINK service Write parameter volatile 5 No. of elements x = access to direct value, no subelement 6..7 Parameter Number x257e FCB5 "speed control" local acceleration, index Subindex x6 Subindex 6 1 Format x43 Double word 11 No. of values x1 Change 1 parameter value Value HiWord x Higher-order part of the parameter value Value LoWord xbb8 Lower-order part of the parameter value After sending this Write.request, the Write.response is received. If there was no status conflict in processing the parameter channel, a positive Write.response occurs. Otherwise, the status fault is located in Error_code_1. 38 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

39 DP-V1 Functions Structure of the DP-V1 parameter channel I 7 Query parameter response The following table shows the coding of the Write.req user data including the DP-V1 header. Table 9: Read.req for requesting the parameter response Field Value Description Function_Num Read.req Slot_Number X Slot_Number not used Index 47 Index of data set Length 24 Maximum length of response buffer in DP master Positive response to Write Parameter volatile Table 1: DP-V1 header of the positive Read.response with parameter response Service: Read.response Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 4 4 byte user data in response buffer Table 11: Positive response for MOVILINK service Write Parameter Byte Field Value Description Response reference x1 Reflected reference number from the parameter setting request 1 Response ID x4 Positive MOVILINK response 2 Axis x Reflected axis number; = single axis 3 No. of parameters x1 1 parameter Negative parameter response The following table shows the coding of a negative response of a MOVILINK service. Bit 7 is entered in the the response ID if the response is negative. Table 12: Negative response for MOVILINK service Service: Read.response Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 8 8 byte user data in response buffer Byte Field Value Description Response reference x1 Reflected reference number from the parameter setting request 1 Response ID xc Negative MOVILINK response 2 Axis x Reflected axis number; = single axis 3 No. of parameters x1 1 parameter 4 Format x44 Error 5 No. of values x1 1 error code 6..7 Error value x811 MOVILINK return code e. g. ErrorClass x8, add. code x11 (see the table MOVILINK return codes for DP-V1) Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 39

40 I DP-V1 Functions 7 Structure of the DP-V1 parameter channel MOVILINK return codes of parameter setting for DP- V1 The following table shows the return codes that are returned by the SEW DP-V1 interface in case of an error in the DP-V1 parameter access. MOVILINK Return code (hex) x81 x811 x812 x813 x814 x815 x816 x817 x818 x819 x81a x81b x81c x81d x81e x81f x82 x821 x822 x823 x824 x55 x62 x52 Description Invalid index, parameter index does not exist in the unit Function / parameter not implemented Read access only Parameter lock activated Factory setting is active Value for parameter too large Value for parameter too small Required option card not installed Error in system software Parameter access via RS-485 process interface only Parameter access via RS-485 diagnostic interface only Parameter is access-protected Controller inhibit is required Invalid value for parameter Factory setting was activated Parameter was not saved in EEPROM Parameter cannot be changed with output stage enabled/reserved Reserved Reserved Parameter may only be changed with IPOS program stop Parameter may only be changed with deactivated auto setup Incorrect coding of management and reserved byte Communication error between servo inverter system and fieldbus option card Timeout of secondary connection (e.g. during reset or with Sys-Fault) 4 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

41 DP-V1 Functions Structure of the DP-V1 parameter channel I 7 PROFIdrive parameter orders The PROFIdrive parameter channel of SEW servo inverters is directly mapped in the structure of data set 47. Parameter access with PROFIdrive services usually takes place according to the structure described below. The typical message sequence for data set 47 is used. PROFIdrive only defines the two request IDs Request ID:x1request parameter (PROFIdrive) Request ID:x2change parameter (PROFIdrive) This means there is restricted data access in comparison with the MOVILINK services. The request ID = 2 = Change Parameter (PROFIdrive) results in remanent write access to the selected parameter. Consequently, the internal flash/eeprom of the servo inverter is written with each write access. Use the MOVILINK service "Write parameter volatile" if parameters must be written cyclically at short intervals. With this service, you only alter the parameter values in the RAM of the servo inverter. Example for reading a parameter via PROFIdrive The following tables give an example of the structure of the Write.request and Read.req user data for reading an individual parameter via the MOVILINK parameter channel. Sending parameter request The following tables show the coding of the user data for the Write.req service specifying the DP-V1 header. The Write.req service is used to transfer the parameter setting request to the servo inverter. In the example, the part number is read (firmware"basic units/part number", index 971, subindex 3). Table 13: Write.request header for transferring the parameter request Service: Write.request Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 1 1 byte user data for parameter request Table 14: Write.req USER DATA for PROFIdrive "Request parameter" Byte Field Value Description Request reference x1 Individual reference number for the parameter setting order that is reflected in the parameter response 1 Request ID x1 Request parameter (PROFIdrive) 2 Axis x Axis number; = single axis 3 No. of parameters x1 1 parameter 4 Attributes x1 Access to parameter value 5 No. of elements x = access to direct value, no subelement 6..7 Parameter Number x25e5 Firmware "Basic unit/part number, index Subindex x3 Subindex 3 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 41

42 I DP-V1 Functions 7 Structure of the DP-V1 parameter channel Query parameter response The following table shows the coding of the Read.req user data including the DP-V1 header. Table 15: Read.req for requesting the parameter response Service: Read.request Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 24 Maximum length of response buffer in the DP-V1 master Positive PROFIdrive parameter response The table shows the Read.res user data with the positive response data of the parameter setting request. For example, the parameter value for the firmware "Basic units/part number" is returned (index 971, subindex 3). Table 16: DP-V1 header of the positive Read.response with parameter response Service: Read.request Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 1 1 byte user data in response buffer Table 17: Positive response for PROFIdrive service Byte Field Value Description Response reference x1 Reflected reference number from the parameter setting order 1 Response ID x1 Positive response for Request Parameter 2 Axis x Reflected axis number; = single axis 3 No. of parameters x1 1 parameter 4 Format x43 Parameter format: Double word 5 No. of values x1 1 value 6..7 Value Hi x824 Higher-order part of the parameter 8..9 Value Lo x9458 Lower-order part of the parameter ) >> Firmware "Basic units/part number" 1) For information on user defined units, refer to the project planning manual. 42 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

43 DP-V1 Functions Structure of the DP-V1 parameter channel I 7 Example for writing a parameter via PROFIdrive The following tables show an example of the structure of the Write and Read services. In the example, the torque limit of of FCB5 "speed control" is written remanent with the value 1 % (local torque limit, index 9598, subindex 4, 1 % corresponds to the parameter value 1 dec = 186A) 1). See also the example for writing a parameter via MOVILINK ". The PROFIdrive service change parameter is used for this purpose. Send "Write parameter "request Table 18: DP-V1 header of the Write.request with parameter request Service: Write.request Slot_Number random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length byte user data for order buffer Table 19: Write.req user data for PROFIdrive service "change parameter" Byte Field Value Description Request reference x1 Individual reference number for the parameter setting order is reflected in the parameter response 1 Request ID x2 Change parameter (PROFIdrive) 2 Axis x1 Axis number; = single axis 3 No. of parameters x1 1 parameter 4 Attributes x1 Access to parameter value 5 No. of elements x = access to direct value, no subelement 6..7 Parameter Number x257e FCB5 "speed control" local torque limit, index Subindex x4 Subindex 4 1 Format x43 Double word 11 No. of values x1 Change 1 parameter value Value HiWord x1 Higher-order part of the parameter value Value LoWord x86a Lower-order part of the parameter value After sending this Write.request, the Write.response is received. If there was no status conflict in processing the parameter channel, a \positive Write.response occurs. Otherwise, the status fault is located in Error_code_1. Query parameter response The following table shows the coding of the Write.req user data including the DP-V1 header. Table 2: Read.req for requesting the parameter response Field Value Description Function_Num Read.req Slot_Number X Slot_Number not used Index 47 Index of data set Length 24 Maximum length of response buffer in DP-V1 master 1) For information on user defined units, refer to the project planning manual. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 43

44 I DP-V1 Functions 7 Structure of the DP-V1 parameter channel Positive response to Write Parameter Table 21: DP-V1 header of the positive Read.response with parameter response Service: Read.response Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 4 4 byte user data in response buffer Table 22: Positive response for PROFIdrive service Change parameter Byte Field Value Description Response reference x1 Reflected reference number from the parameter setting order 1 Response ID x2 Positive PROFIdrive response 2 Axis x1 Reflected axis number; = single axis 3 No. of parameters x1 1 parameter Negative parameter response The following table shows the coding of a negative response of a PROFIdrive service. Bit 7 is entered in the Response ID if the response is negative. Table 23: Negative response for PROFdrive service Service: Read.response Slot_Number Random, (is not evaluated) Index 47 Index of the data set; constant index 47 Length 8 8 byte user data in response buffer Byte Field Value Description Response reference x1 Reflected reference number from the parameter setting order 1 Response ID x81x82 Negative response for Request Parameter Negative response for Change Parameter 2 Axis x Reflected axis number; = single axis 3 No. of parameters x1 1 parameter 4 Format x44 Error 5 No. of values x1 1 error code 6..7 Error value x811 MOVILINK return code e. g. ErrorClass x8, add. code x11 (see the table MOVILINK return codes for DP-V1) 44 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

45 DP-V1 Functions Structure of the DP-V1 parameter channel I 7 PROFIdrive return codes for DP-V1 The following table shows the coding of the error number in the PROFIdrive DP-V1 parameter response according to PROFIdrive profile V3.1. This table applies if you use the PROFIdrive services "Request Parameter" or "Change Parameter." Error no. Meaning Used at Supplem. information x Impermissible parameter number Access to unavailable parameter x1 Parameter value cannot be changed Change access to a parameter value that cannot be changed Subindex x2 Low or high limit exceeded Change access with value outside the Subindex value limits x3 Faulty subindex Access to unavailable subindex Subindex x4 No array Access with subindex to non-indexed parameter x5 Incorrect data type Change access with value that does not match the data type of the parameter x6 x7 Setting not permitted (can only be reset) Description element cannot be changed Change access with value unequal to where this is not permitted Change access to a description element that cannot be changed x8 Reserved (PROFIdrive Profile V2: PPO-Write requested in IR not available) x9 No description data available Access to unavailable description (parameter value is available) xa Reserved (PROFIdrive Profile V2: Access group wrong) xb No operation priority Change access without rights to change parameters xc Reserved (PROFIdrive Profile V2: wrong password) xd Reserved (PROFIdrive Profile V2: Text cannot be read in cyclic data transfer) xe Reserved (PROFIdrive Profile V2: Name cannot be read in cyclic data transfer) xf No text array available Access to text array that is not available (parameter value is available) x1 Reserved (PROFIdrive Profile V2: No PPO write) x11 Request cannot be executed because of operating state Access is temporarily not possible for reasons that are not specified in detail x12 Reserved (PROFIdrive Profile V2: other error) x13 Reserved (PROFIdrive Profile V2: Data cannot be read in cyclic interchange) x14 Value impermissible Change access with a value that is within the value limits but is not permissible for other long-term reasons (parameter with defined single values) x15 Response too long The length of the current response exceeds the maximum transmittable length x16 Parameter address impermissible Illegal value or value which is not supported for the attribute, number of elements, parameter number or subindex or a combination x17 Illegal format Write request: Illegal format or format of the parameter data which is not supported x18 Number of values is not consistent Write request: Number of parameter data values that do not match the number of elements in the parameter address Subindex Subindex Subindex Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 45

46 I DP-V1 Functions 7 Project planning for a C1 master Error no. Meaning Used at Supplem. information x19 axis nonexistent Access to an axis which does not exist - up to x64 Reserved - - x65..xff Manufacturer-specific Project planning for a C1 master The GSD file SEWA63.GSD is required for the project planning of a DP-V1 C1 master. This file activates the DP-V1 functions of the XFP11A. Therefore, the functions of the GSD file and the XFP11A firmware must correspond with one another. When you implement the DP-V1 functions, SEW-EURODRIVE provides you with two GSD files ( chapter "GSD files"). Operating mode (DP-V1 mode) The DP-V1 operating mode can usually be activated during project planning for a C1 master. All DP slaves, which have the DP-V1 functions enabled in their GSD files and which support DP-V1, will then be operated in the DP-V1 mode. Standard DP slaves will still be run via PROFIBUS-DP. This ensures mixed mode is run for DP-V1 and DPcapable modules. Depending on the specification of the master functionality, a DP-V1- capable station, that was configured using the DP-V1 GSD file, can run in the "DP operating mode. 7.5 Appendix Program example for SIMATIC S7 The STEP7 code stored in the GSD file shows how parameters are accessed via the STEP7 system function blocks SFB 52/53. You can copy the STEP7 code and import/compile it as STEP7 source. Technical data for MOVIAXIS DFP21/MCH41 GSD file for DP-V1: SEWA63.GSD Module name for project planning: MOVIAXIS XFP11A Number of parallel C2 connections: 2 Supported data set: Index 47 Supported slot number: Recommendation: Manufacturer code: 1A hex (SEW-EURODRIVE) Profile ID: C2 response timeout 1s Max. length C1 channel: 24 bytes Max. length C2 channel: 24 bytes 46 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

47 DP-V1 Functions Appendix I 7 Error codes of the DP-V1 services This table shows possible error codes of DP-V1 services that may occur in the event of an error in the communication on DP-V1 telegram level. This table is relevant if you want to write your own parameter assignment block based on the DP-V1 services because the error codes are reported directly back on the telegram level. Bit: Error_Class Error_Code Error_Class (from DP- V1 specification) x... x9 hex = reserved xa = application Error_Class (from DP-V1 specification) x = read error x1 = write error x2 = module failure x3 to x7 = reserved x8 = version conflict x9 = feature not supported xa to xf = user specific DP-V1 parameter channel xb = access x = invalid index xb = No data block Index 47 (DB47); parameter requests are not supported x1 = write length error x2 = invalid slot x3 = type conflict x4 = invalid area x5 = state conflict xb5 = Access to DB 47 temporarily not possible due to internal processing status x6 = access denied x7 = invalid range xb7 = Write DB 47 with error in the DB 47 header x8 = invalid parameter x9 = invalid type xa to xf = user specific xc = resource x = read constraint conflict x1 = write constraint conflict x2 = resource busy x3 = resource unavailable x4..x7 = reserved x8..xf = user specific xd...xf = user specific Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 47

48 Error Diagnostics 8 Diagnostic procedures 8 Error Diagnostics 8.1 Diagnostic procedures The diagnostic procedures described in the following section demonstrate the fault analysis methods for the most frequent problems: Servo inverter does not work on PROFIBUS-DP Servo inverter cannot be controlled using the DP master You find additional information in the online help. 48 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

49 Error Diagnostics Diagnostic procedures 8 Diagnostic problem 1: servo inverter does not work on PROFIBUS. Initial status: Servo inverter is physically connected to PROFIBUS Servo inverter configured in DP master and bus communication is active Is the bus connector plugged in? No [A] Yes OFF [B] Response of the LED BUS FAULT? ON [C] FLASHES Servo inverter detects baud rate (P92 Baud rate fieldbus). However it was not configured, or was configured incorrectly, in the DP master. Check the configured bus address and the bus address set using the DIP switches (P93 Fieldbus address) Are the bus addresses the same? No [D] Yes You may have configured an incorrect unit type or defined the configuration incorrectly Delete the project planning for the servo inverter from the DP network. Perform project planning for the servo inverter again, choosing the unit designation "MOVIAXIS+DFP21." To simplify the project planning process, use a predefined configuration (for example, "Param + 3PD"). Do not change any of the preset configuration data! Assign the address range for your control system. Load the configuration in the DP master and restart bus communication. [A] Check the bus cabling. [B] Servo inverter is currently exchanging data cyclically with the DP master. P9 PD configuration displays the configuration with which the servo inverter is controlled via DP. Bus communication is functioning properly (for problems with controlling or setpoint selection via PROFIBUS DP, continue with Diagnostic problem 2). [C] Servo inverter does not detect the baud rate (P92 Baud rate fieldbus)! Check the bus cabling. [D] Adapt the bus addresses. Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 49

50 Error Diagnostics 8 Diagnostic procedures Diagnostic problem 2: Servo inverter cannot be controlled using the DP master. Initial status: Bus communication with servo inverter OK (LED BUS FAULT off) Servo inverter running with 24 V (no supply voltage) The problem is either caused by incorrect parameter settings in the servo inverter or a faulty control program in the DP master. Use P94... P97 (setpoint description PO1... PO3) to check whether the setpoints sent by the controller are received correctly. To do so, send a setpoint other than as a test in each output word. Setpoints received? Yes [A] No Check that the correct settings have been made for the following inverter parameters: P1 SETPOINT SOURCE FIELDBUS P11 CONTROL SIGNAL SOURCE FIELDBUS P876 ENABLE PO DATA YES Settings OK? No [B] Yes The problem may be caused by your control program in the DP master. Check that the address used in the program is the same as the address for project planning. Note that the servo inverter requires consistent data and access must take place within the control program, if necessary, via special system functions (for example, Simatic S7, SFC 14/15). [A] Setpoints are not transferred. Check whether the servo inverter has been enabled at the terminals. [B] Correct settings. 5 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

51 Technical Data XFP11A option kva i P f n Hz 9 9 Technical Data 9.1 XFP11A option XFP11A option Part number Power consumption P = 3 W PROFIBUS protocoloptions PROFIBUS DP and DP-V1 to IEC Automatic baud rate detection 9.6 kbaud MBaud Connection technology Bus termination Station address Name of the GSD file DP ident. number Application-specific parameter-setting data (Set-Prm application data) Via 9-pin sub D plug Pin assignment to IEC Not integrated, implement using suitable PROFIBUS plug with terminating resistors that can be switched on , adjustable via DIP switches SEW_66.GSD (PROFIBUS DP) SEWA63.GSD (PROFIBUS DP-V1) 66 hex = dec Length: 9 bytes Hex parameter settings,,,6,81,,,1,1 = DP diagnosticsalarm = OFF Hex parameter settings,,,6,81,,,1, = DP diagnosticsalarm = ON Diagnostics data Standard diagnostics: 6 bytes Tools for startup PC program MOVITOOLS MotionStudio Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 51

52 n kva 9 f Technical Data i XFP11A option P Hz DP Configuration Slot 1 Slot 2 Slot 3 The servo inverter must be given a specific DP configuration by the DP master to define the type and number of input and output data used for transmission. The configuration telegram comprises the DP configurations for slots 1 to 3. The DP configurations column shows which configuration data is sent to the servo inverter when the PROFIBUS DP connection is being established. Parameter data configuration Meaning / comments Empty Reserved x Parameter data configuration Meaning / comments DP Configuration DP Configuration Empty No parameter channel configured x Param (4words) MOVILINK parameter channel configured xc, x87, x87 Parameter data configuration 1 PD 2 PD 3 PD 4 PD 5 PD 6 PD 7 PD 8 PD 9 PD 1 PD 11 PD 12 PD 13 PD 14 PD 15 PD 16 PD 32 PD Meaning / comments Process data exchange via 1 process data word Process data exchange via 2 process data words Process data exchange via 3 process data words Process data exchange via 4 process data words Process data exchange via 5 process data words Process data exchange via 6 process data words Process data exchange via 7 process data words Process data exchange via 8 process data words Process data exchange via 9 process data words Process data exchange via 1 process data words Process data exchange via 11 process data words Process data exchange via 12 process data words Process data exchange via 13 process data words Process data exchange via 14 process data words Process data exchange via 15 process data words Process data exchange via 16 process data words Process data exchange via 32 process data words DP Configuration xc, xc, xc xc, xc1, xc1 xc, xc2, xc2 xc, xc3, xc3 xc, xc4, xc4 xc, xc5, xc5 xc, xc6, xc6 xc, xc7, xc7 xc, xc8, xc8 xc, xc9, xc9 xc, xca, xca xc, xc7, xc7 xc, xcc, xcc xc, xcd, xcd xc, xce, xce xc, xcf, xcf xc, xdf, xdf 52 Manual MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP

53 Index A Additional code 28 B Baud rate 51 Bus termination 51 C Communication error, internal 29 Configuration 9 Connection DFP21B option 1 Connection technology 51 Control 18 Control example 18 D data format, parameter 26 DFP21B Connection 1 Terminal description 1 Diagnostics 9 DP ident number 51 E Error class 27 Error code 27 F Fault Diagnostics 48 Fieldbus monitor 9 G GSD file 51 I Ident number 51 incorrect performance of a service 24 Index addressing 23 internal communication error 29 L Length specification 29 M Monitoring functions 9 N Notes, important 4 P parameter channel 21 Parameter channel data range 23 parameter channel structure 21 Parameter channel, management, Parameter channel management 23 Parameter channel, structure 21 Parameter data format 26 Parameter setting via PROFIBUS-DP 21 Parameter, read 24 Parameter, write 25 Parameter-setting data 51 Part number 51 PROFIBUS-DP Timeout 2 PROFIBUS-Schnittstelle DFP21B Anschluss 1 Programming example STEP7 19 Protocol options 51 R READ 24 read parameter 24 S Safety notes 5 Safety notes for bus systems 4, 7 Service coding 29 Service performance, incorrect 24 Simatic S7 18 Startup 17 Station address 51 STEP7 19 Storage 7 T Technical Data 51 Terminal description DFP21B option 1 Timeout 2 Transport 7 W Warning notes 5 WRITE 25 Write parameter 25 Manual - MOVIAXIS MX Fieldbus Interface XFP11A PROFIBUS DP 53

54 Address List Address List Germany Headquarters Production Sales Service Competence Center France Production Sales Service Assembly Sales Service Bruchsal Central Gear units / Motors Central Electronics North East South SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 42 D Bruchsal P.O. Box Postfach 323 D Bruchsal SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 1 D Graben-Neudorf SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 42 D Bruchsal SEW-EURODRIVE GmbH & Co KG Alte Ricklinger Straße 4-42 D-3823 Garbsen (near Hannover) SEW-EURODRIVE GmbH & Co KG Dänkritzer Weg 1 D-8393 Meerane (near Zwickau) SEW-EURODRIVE GmbH & Co KG Domagkstraße 5 D Kirchheim (near München) West SEW-EURODRIVE GmbH & Co KG Siemensstraße 1 D-4764 Langenfeld (near Düsseldorf) Drive Service Hotline / 24 Hour Service Additional addresses for service in Germany provided on request! Haguenau Bordeaux Lyon Paris SEW-USOCOME 48-54, route de Soufflenheim B. P F-6756 Haguenau Cedex SEW-USOCOME Parc d'activités de Magellan 62, avenue de Magellan - B. P. 182 F-3367 Pessac Cedex SEW-USOCOME Parc d'affaires Roosevelt Rue Jacques Tati F-6912 Vaulx en Velin SEW-USOCOME Zone industrielle 2, rue Denis Papin F-7739 Verneuil I'Etang Additional addresses for service in France provided on request! Tel Fax sew@sew-eurodrive.de Tel Fax sc-mitte-gm@sew-eurodrive.de Tel Fax sc-mitte-e@sew-eurodrive.de Tel Fax sc-nord@sew-eurodrive.de Tel Fax sc-ost@sew-eurodrive.de Tel Fax sc-sued@sew-eurodrive.de Tel Fax sc-west@sew-eurodrive.de SEWHELP Tel Fax sew@usocome.com Tel Fax Tel Fax Tel Fax Austria Assembly Sales Service Wien SEW-EURODRIVE Ges.m.b.H. Richard-Strauss-Strasse 24 A-123 Wien Tel Fax sew@sew-eurodrive.at Belgium Assembly Sales Service Brüssel SEW Caron-Vector S.A. Avenue Eiffel 5 B-13 Wavre Tel Fax info@caron-vector.be Bulgaria Sales Sofia BEVER-DRIVE GmbH Bogdanovetz Str.1 BG-166 Sofia Tel Fax bever@fastbg.net 54

55 Address List Italy Assembly Sales Service Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s. Via Bernini,14 I-22 Solaro (Milano) Tel Fax sewit@sew-eurodrive.it Netherlands Assembly Sales Service Rotterdam VECTOR Aandrijftechniek B.V. Industrieweg 175 NL-344 AS Rotterdam Postbus 185 NL-34 AB Rotterdam Tel Fax info@vector.nu Switzerland Assembly Sales Service Basel Alfred lmhof A.G. Jurastrasse 1 CH-4142 Münchenstein bei Basel Tel Fax info@imhof-sew.ch 55

56 Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services How we re driving the world With people who think fast and develop the future with you. With a worldwide service network that is always close at hand. With drives and controls that automatically improve your productivity. With comprehensive knowledge in virtually every branch of industry today. With uncompromising quality that reduces the cost and complexity of daily operations. SEW-EURODRIVE Driving the world With a global presence that offers responsive and reliable solutions. Anywhere. With innovative technology that solves tomorrow s problems today. With online information and software updates, via the Internet, available around the clock. SEW-EURODRIVE GmbH & Co KG P.O. Box 323 D Bruchsal / Germany Phone Fax sew@sew-eurodrive.com