USER MANUAL FOR AXIS CONTROLVALVES WITH PROFIBUS INTERFACE FIRMWARE B99225-DV016-D-211 Rev. -, October 2015 OFFERING FLEXIBLE INTEGRATION AND ADVANCED MAINTENANCE FEATURES INCLUDING DIAGNOSTICS, MONITORING OF CHARACTERISTICS AND ABILITY TO DEFINE DYNAMIC BEHAVIORS WHAT MOVES YOUR WORLD Copyright © 2015 Moog GmbH Hanns-Klemm-Straße 28 71034 Boeblingen Germany Telephone: +49 7031 622-0 Fax: +49 7031 622-191 E-mail: [email protected] Internet: http://www.moog.com/Industrial All rights reserved. No part of these operating instructions may be reproduced in any form (print, photocopies, microfilm, or by any other means) or edited, duplicated, or distrib- uted with electronic systems without our prior written consent. Offenders will be held liable for the payment of damages. Subject to change without notice. B99225-DV016-D-211, Rev. -, October 2015 A Moog ACV with Profibus DP bus interface Table of contents Table of contents Copyright ................................................................................................................................................... A List of tables............................................................................................................................................ xvii List of figures ............................................................................................................................................xx 1 General information ..................................................................................1 1.1 About this manual ....................................................................................................................... 1 1.1.1 Reservation of changes and validity............................................................................... 1 1.1.2 Completeness ................................................................................................................ 1 1.1.3 Place of storage ............................................................................................................. 1 1.1.4 Warranty and liability...................................................................................................... 1 1.1.5 Typographical conventions............................................................................................. 2 1.2 Structure of warning notices...................................................................................................... 3 1.3 Selection and qualification of personnel .................................................................................. 3 1.4 Further documentation for the servo valve .............................................................................. 4 1.5 References ................................................................................................................................... 5 1.5.1 Profibus field bus............................................................................................................ 5 1.5.2 Device Profile ................................................................................................................. 5 1.6 Definitions .................................................................................................................................... 5 1.6.1 Internal resolution (iR).................................................................................................... 5 1.6.2 Volume flow direction ..................................................................................................... 5 1.6.3 Servo valve position and stage names........................................................................... 6 1.7 Abbreviations............................................................................................................................... 6 1.8 Trademarks .................................................................................................................................. 7 2 Access over Profibus DP .........................................................................9 2.1 Introduction.................................................................................................................................. 9 2.2 Slave reference model ................................................................................................................ 9 2.3 Device Profile............................................................................................................................... 9 2.4 Profibus DP overview................................................................................................................ 10 2.5 Profibus DP Device model DP-V1 ............................................................................................ 11 2.5.1 Slot definitions.............................................................................................................. 11 2.5.2 Parameter objects ........................................................................................................ 12 2.5.2.1 Parameter value ...................................................................................... 12 2.5.2.2 Parameter and their attributes................................................................. 12 2.5.3 Units and prefix parameter........................................................................................... 14 2.5.4 Grouping parameters in objects and blocks................................................................. 15 2.6 Information objects ................................................................................................................... 15 2.6.1 Object 0#21: Ident number........................................................................................... 15 2.6.2 Object 64#1: Bit rate..................................................................................................... 15 2.6.3 Object 0#36: Error code ............................................................................................... 16 2.6.4 Object 64#12: DP-V1 status......................................................................................... 16 2.6.5 Object 64#11: VPC3+b Status ..................................................................................... 17 2.7 Slave Network state machine (DP-V0) ..................................................................................... 18 2.8 Setting the slave address (DP-V0) ........................................................................................... 19 2.8.1 Setting the slave address by the master ...................................................................... 19 2.8.2 Setting the slave address with the "Moog Valve and Pump Configuration Software" or by using the parameter channel............................................................................... 19 2.8.2.1 Object 64#0: Module identifier................................................................. 19 2.8.2.2 Object 64#33: Actual module identifier.................................................... 20 B99225-DV016-D-211, Rev. -, October 2015 i Moog ACV with Profibus DP bus interface Table of contents 2.9 Cyclic master slave communication (DP-V0).......................................................................... 20 2.9.1 Configuration................................................................................................................ 20 2.9.1.1 Object 0#46: Telegram selection............................................................. 21 2.9.1.2 Object 64#2: Telegram configuration length ........................................... 23 2.9.1.3 Object 64#3…9: Telegram configuration bytes ....................................... 24 2.9.2 Master Watchdog ......................................................................................................... 24 2.9.3 Slave Watchdog ........................................................................................................... 24 2.9.4 Global control ............................................................................................................... 24 2.9.4.1 Object 64#34: Last global control telegram............................................. 25 2.9.4.2 Freeze / Unfreeze.................................................................................... 25 2.9.4.3 Sync / Unsync ......................................................................................... 25 2.9.5 Parameter channel (DP-V0 / DP-V1) ........................................................................... 25 2.9.5.1 Structure of the parameter channel......................................................... 26 2.9.5.2 Read a parameter value.......................................................................... 27 2.9.5.3 Write a parameter value .......................................................................... 27 2.9.5.4 Parameter channel read / write errors..................................................... 28 2.10 Diagnostic (DP-V0) .................................................................................................................... 29 2.10.1 Device diagnostic data structure .................................................................................. 29 2.10.1.1 Status bytes............................................................................................. 30 2.10.1.2 Master address byte................................................................................ 30 2.10.1.3 Device indent number word..................................................................... 31